## 4 Experiment  
An experimental platform was implemented to verify the effectiveness of the theory and simulation, as shown in Figure 12. The experimental platform comprises a DC power supply, a wireless power transmitter PCB, a transmitter coil with ferrite, a receiver coil with ferrite, a wireless power receiver PCB, load resistance, and an acrylic plate with 1 mm thickness. The magnetic shielding performance of Case3 and Case4 is similar, with a fixed distance between primary and secondary windings. It can be seen from Table 3 that the coupling coefficient of Case3 is smaller than that of Case4. Therefore, the MCRWPT system based on Case3 has a higher output power capability under the same gap, and the structure of Case3 is simple and easy to process. Hence, the experimental winding structure is the same as Case3. Litz wire was used to form the two coils. The transmitting coil has six turns of Litz wire made with 105 strands of American-wire-gauge 40, and the receiving coil is the same as the transmitting coil. The coil parameters measured by the precision LCR digital bridge TH2838H are shown in Table 4. Compared with the simulation results of Case3 in Table 3, there are errors in the coil parameters tested in the experiment, which may be caused by inaccurate simulation modeling. However, it does not affect the analysis of system characteristics through simulation. The main circuit components and parameters used in the experimental prototype are shown in Figure 13. The TS61002 is a high-voltage full-bridge driver used to drive N-channel devices. Furthermore, the input voltage \(U_{IN}\) is 19 V. The internal resistance \(R_{S}\) of the power supply is related to the inverter and its pre-circuit and is considered a small value in this experiment. A DC-DC converter, TS30042, was used to maintain an input voltage of 5.0 V to the load resistance. TS30042 has a maximum output power of 10 W. The load resistance was designed to be 2.5 \(\Omega\) to test the designed system with an output power of 10 W. The specific configuration of the inverter and DC-DC converter's peripheral circuits \begin{table}
\begin{tabular}{c c} \hline
**Parameters [Unit]** & **Case3** \\ \hline \(R_{1}\)\(\left[\Omega\right]\) & 0.25 \\ \(R_{2}\)\(\left[\Omega\right]\) & 0.28 \\ \(L_{1}\)\(\left[\mathrm{\mu H}\right]\) & 28.109 \\ \(L_{2}\)\(\left[\mathrm{\mu H}\right]\) & 28.328 \\ \(k\) & 0.8258 \\ \hline \end{tabular}
\end{table} 
Table 4: Parameters of coils via experiment. Figure 12: Experimental prototype of an MCRWPT system. can be referred to in their data sheets. In order to reduce the electromagnetic interference generated by the DC-DC converter, refer to the TS30042 data sheet for the PCB layout of the DC-DC converter and peripheral components. The experimental prototype of the MCRWPT system is applied to the uniaxial rotation module inertial navigation system (URMINS) designed by our laboratory. The URMINS consists of three same uniaxial rotation modules and one navigation and power management module. The rotation axes of the three uniaxial rotation modules are perpendicular to each other and form a Cartesian coordinate system. Each module transmits the demodulated specific forces and angular rates to the CAN bus's navigation and power management module. The navigation and power management module furnishes the vehicle's current position, velocity, and attitude. Figure 14 shows that the MCRWPT system is applied to a uniaxial rotation module prototype. The motor drives the rotating unit to rotate continuously in the uniaxial rotation module at a low speed. The load on the rotating unit mainly consists of two single-axis fiber optic gyroscopes, two single-axis quartz flexible accelerometers, wireless communication PCB 1#, and an information processing unit. The power required by the load does not exceed 10 W, the voltage is 5 V, and the startup and normal operating currents are within 2 A, so the experimental prototype of the MCRWPT system can supply power to the uniaxial rotation module.