Testing the aerodynamics of micro- and nano-UAVs without actually flying is highly challenging. To address this issue, we introduce Open Gimbal, a specially designed 3 Degrees of Freedom platform that caters to the unique requirements of micro- and nano-UAVs. This platform allows for unrestricted and free rotational motion, enabling comprehensive experimentation and evaluation of these UAVs. Our approach focuses on simplicity and accessibility. We developed an open-source, 3D printable electro-mechanical design that has minimal size and low complexity. This design facilitates easy replication and customization, making it widely accessible to researchers and developers. Addressing the challenges of sensing flight dynamics at a small scale, we have devised an integrated wireless batteryless sensor subsystem. Our innovative solution eliminates the need for complex wiring and instead uses wireless power transfer for sensor data reception. To validate the effectiveness of open gimbal, we thoroughly evaluate and test its communication link and sensing performance using a typical nano-quadrotor. Through comprehensive testing, we verify the reliability and accuracy of open gimbal in real-world scenarios. These advancements provide valuable tools and insights for researchers and developers working with mUAVs and nUAVs, contributing to the progress of this rapidly evolving field.

翻译：在不实际飞行的条件下测试微型与纳米无人机的空气动力学特性极具挑战性。针对这一问题，我们提出开放式万向节（Open Gimbal），这是一种专为满足微型与纳米无人机独特需求而设计的三自由度平台。该平台支持无约束的自由旋转运动，能够实现对上述无人机的全面实验与评估。我们的设计遵循简洁性与易用性理念，开发出一种尺寸最小化、低复杂度的开源三维打印机电一体化方案，便于研究人员和开发者进行复制与定制。为解决小尺度飞行器动力学传感难题，我们设计了一体化无线无电池传感器子系统。这一创新方案摒弃了复杂布线需求，转而采用无线能量传输实现传感器数据接收。为验证开放式万向节的有效性，我们以典型纳米四旋翼飞行器为对象，对其通信链路与传感性能进行了全面评估与测试。通过系统性实验，我们验证了开放式万向节在实际场景中的可靠性与准确性。这些进展为从事微型与纳米无人机研究的科研人员和开发者提供了宝贵的工具与见解，有力推动了这一快速演进领域的发展进程。