In recent years, drone companies, led by Shenzhen DJI Innovations Technology Co., Ltd., have become increasingly prominent in the industry worldwide, which has also led to a number of outstanding technology-innovative companies joining the drone R&D team. As an aerial platform, drones can have multiple functions through the onboard equipment they carry. Since multi-rotor aircraft have many advantages such as vertical take-off and landing, low cost, simple structure, and stable performance, more and more companies are focusing on the research of multi-rotor aircraft industry applications (such as aerial photography, plant protection, logistics, low-altitude detection, etc.

  However, the current drone industry is still a blue ocean industry, and the testing of drones is not perfect. Commercial drone companies represented by DJI Innovations pay more attention to the actual user experience, so they often conduct test flights at suitable locations after the design is completed; however, the cost of field debugging of drones is high, the data is complex, the security is poor, and there are many interference factors. In addition, nowadays, there are more and more requirements for the functions and performance of drones, and many drones need to adapt to some harsh or extremely harsh flight conditions. In summary, as the requirements for drone test flights are gradually increasing, the simulation platform for testing the flight capabilities of drones has become increasingly indispensable.

  The existing drone test platforms on the market are two-axis two-degree-of-freedom, and can only test the forward, backward, left and right movements of the drone. The movement of the z-axis needs to be simulated by the manual up and down movement of the underlying platform, and the data cannot be read. In addition, the pitch angle, yaw angle, and rotation angle generated by the actual flight of the drone cannot be monitored in real time through the test platform. Due to its single function, low degree of universality, and incomplete test sensors, it cannot meet the needs of comprehensive, fast, accurate, and visual testing。

Therefore, it is necessary to design a new three-axis three-degree-of-freedom, integrated multi-sensor small multi-rotor test and simulation platform to simulate the real motion state of the drone through rotation in the x, y, and z directions and translation in the z direction. The platform needs to integrate force tactile sensors and the drone's internal parameter sensors to collect and monitor the various lifting states of the drone in real time, and integrate the obtained measurement and calculation data to realize the monitoring of drone flight data collection and detection and the test of drone flight performance.