CN106052663B - The device and method of azimuth determination precision is improved in coherent wind laser radar - Google Patents
The device and method of azimuth determination precision is improved in coherent wind laser radar Download PDFInfo
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- CN106052663B CN106052663B CN201610345307.4A CN201610345307A CN106052663B CN 106052663 B CN106052663 B CN 106052663B CN 201610345307 A CN201610345307 A CN 201610345307A CN 106052663 B CN106052663 B CN 106052663B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
- G01C17/02—Magnetic compasses
- G01C17/28—Electromagnetic compasses
- G01C17/32—Electron compasses
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/95—Lidar systems specially adapted for specific applications for meteorological use
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses the device and method for improving azimuth determination precision in a kind of coherent wind laser radar, this method first calibrates electronic compass；Then rotating platform drives electronic compass rotation under the control of control circuit board, records the azimuth of the angle of rotating platform and the electronic compass of reading；After the azimuth pretreatment to electronic compass, it is fitted using linear least square method, calculates the intercept and slope in linear functional relation formula；Azimuth is finally calculated according to the goniometer of rotating platform.The present invention obtains the angle of precision more higher than electronic compass with control circuit board and motor driver, the present invention can improve azimuthal measurement accuracy in coherent wind laser radar since rotating platform is using worm gear structure.The present invention does not need additional equipment or artificial participation, completion and is automatically performed under the control of algorithm by the device in coherent wind laser radar, and the present invention has many advantages, such as that convenient, fast, intelligent, precision is high.
Description
Technical field
The present invention relates to coherent wind laser radar technique field, more particularly, to being mentioned in a kind of coherent wind laser radar
The device and method of high azimuth determination precision.
Background technique
The active atmospheric remote sensing instrument that coherent wind laser radar gets up as new development in recent years has small in size, energy
Enough measurements under the conditions of clear sky and the advantages that Wind field measurement precision is high, time and spatial resolution are high.In aerospace, distant
It has broad application prospects in the military and civil fields such as sense telemetering, meteorological observation, it is pre- such as to can be used for aviation disaster weather
Report carries out early warning to the wind shear near airports airspace, thus avoid taking off in descent because of weather reason caused by
Accident, reasonable takeoff and landing density service can be arranged for airport；It can also be used for the wind direction of flak position and the reality of wind speed
When measure, provide amendment data for weapon system transmitting, improve hit rate.In the use aspects of wind energy resources, coherent wind swashs
The accurate wind field data of optical radar measurement correct the yaw error of wind-driven generator, and blower is enable preferably to be directed at wind
To improving the generating efficiency of wind energy resources.
It is v by the frequency that local oscillator frequency stabilized carbon dioxide laser issues when coherent wind laser radar works0Continuous laser, through point
Local oscillator light source is used as after beam all the way, another way output frequency after shift frequency, amplification is v0+f0High power laser light signal, high power
By scanner homed on its target space after the emitted optical system collimation of laser signal.Gas in the atmosphere such as grit and suspended particles is molten
Micelle can generate scatter echo to laser.Due to Doppler effect, the return laser beam light frequency of scattering can swash relative to transmitting
Light frequency generates a frequency displacement relevant to particulate speed, and the received optical system of echo optical signal is collected, converged to
The photosurface of signal optical detector, and with local oscillator photomixing, detector response both difference frequency, and export carrier frequency be f0The arteries and veins of+△ f
Rush signal.Difference frequency output and transmitting laser frequency displacement f to sounder0It is compared, can extrapolate in measurement point atmosphere
Particulate relative to the radial motion speed of system and direction, by the way that range gate is arranged, measure space different distance
The radial velocity data for locating each scanned samples point, to obtained in whole scanning processes radial wind speed, angle and distance data
Carry out vector processing, available dimensional wind distributed intelligence.
The schematic diagram that laser radar scans when working is as shown in Figure 1, the positive direction that the due east direction (east) is x-axis, due north
(north) direction is positive direction of the y-axis, and being directed toward zenith (zenith) is z-axis positive direction, and V (u, v, w) is atmospheric wind, scanning
Pitch angle and azimuth are respectively α and θ, and the radial wind speed measured under fixed pitch angle and azimuth condions is vr.?
Under the conditions of a certain fixed pitch angle, by measuring multiple groups different orientations-radial direction wind speed (θ, vr) right, and pass through certain algorithm
It is finally inversed by atmospheric wind.Therefore, azimuthal precision determines the precision of atmospheric wind to a certain extent.
Commonly measuring azimuthal instrument has compass and north finder.1, compass is by three dimensional reluctance sensor, double-shaft tilt angle
Sensor and processor (MCU) are constituted.Three dimensional reluctance sensor is used to measure earth magnetic field, and obliquity sensor is the magnetic in compass
It is compensated when power instrument non-standard state；MCU handles signal and the data output of magnetometer and obliquity sensor and soft iron, hard
Iron compensation.The magnetometer is to use three mutually perpendicular magnetoresistive sensors, and the magnetoresistive sensor in each axial direction is detected at this
Geomagnetic field intensity on direction, forward direction are known as the vector value of the magnetoresistive sensor detection earth's magnetic field in the direction x in the direction x,
To the left or the magnetoresistive sensor in the direction y detection earth's magnetic field is in the vector value in the direction y, and downwards or the magnetoresistive sensor in the direction z detects
Vector value of the earth's magnetic field in the direction z.The sensitivity of the magnetoresistive sensor in each direction is according to earth's magnetic field in this direction
Resolute is adjusted to Best Point, and has low-down cross axis sensitivity.The analog output signal that magnetoresistive sensor generates carries out
It is sent into MCU after amplification to be handled, azimuth is calculated.The general azimuthal precision of lining is lower, and measurement accuracy is
Spend this magnitude.2, north finder is a by high-precision dual-axis dynamic tuned gyroscope, can by measuring rotational-angular velocity of the earth,
The autonomous real north value for determining appended carrier, not by external magnetic field or other environment interference and influence；In addition, it can also be with
The measurement and amendment of level angle are carried out in conjunction with acceleration, it is expensive although the precision of north finder is very high, using being limited
System.
Summary of the invention
The first purpose of this invention is to provide a kind of convenient, fast, intelligent, with high accuracy coherent wind laser thunder
Up to the middle device for improving azimuth determination precision.
Second object of the present invention, which is to provide in a kind of coherent wind laser radar, improves azimuth determination precision
Method, this method does not need additional equipment or artificial participation, completely by the device in coherent wind laser radar in software
It is automatically performed under control.
What the first purpose of this invention was realized in：
The device that azimuth determination precision is improved in a kind of coherent wind laser radar, is characterized in：Including control circuit board,
Motor driver, conducting slip ring, motor, rotating platform, electronic compass and power supply, electronic compass and control circuit board, motor drive
Dynamic device, conducting slip ring, motor are sequentially connected in series and are followed by rotating platform, and power supply is that control circuit board and motor driver are powered, control
On the one hand circuit board is communicated with electronic compass, control electronic compass realizes magnetic disturbance calibration and reads the azimuth letter of electronic compass
On the other hand breath controls motor driver to control the rotation of motor；Under the driving of motor driver, motor band rotating platform
Rotation, motor and rotating platform pass through Worm Wheel System；Electronic compass is fixed on the rotating platform, and always with rotating platform
Make simultaneously, synchronous rotary, the power supply line of motor, the power supply line of control line and electronic compass, communication data line pass through conduction respectively
Slip ring connection, rotating platform and electronic compass can be in 360 ° of continuous rotations of both direction.
What second object of the present invention was realized in：
A kind of method that azimuth determination precision is improved in coherent wind laser radar, is characterized in：Specific step is as follows：
A, first electronic compass is calibrated, to improve the diamagnetic interference performance of electronic compass measurement process, improves electronics
The azimuth determination precision of compass：Control circuit board issues the order for starting calibration to electronic compass, and electronic compass correctly returns；
Control circuit board issues the order rotated 1 week to motor driven, makes rotating platform that electronic compass be driven to rotate 1 week；Then, it controls
Circuit board issues to electronic compass and completes calibration command, and electronic compass correctly returns, and terminates calibration；At this point, note rotating platform
Angle is 0 °, and the angle of rotating platform increases when being rotated clockwise, and when rotating counterclockwise, the angle of rotating platform subtracts
It is small；
B, electronic compass data are acquired：Control circuit board is issued to motor driver and is ordered, and makes rotating platform and electronics sieve
The fixed angle of disc spins, control panel plate record the angle of rotating platform and the azimuth of electronic compass；The process is repeated, directly
To the angle of the rotating platform of 1 complete cycle of record and the azimuth of electronic compass, the acquisition of electronic compass data is completed；
C, data processing is carried out to the azimuth of the angle of rotating platform and electronic compass：Due to being the data for acquiring 1 week,
When the direction of rotation of rotating platform is that azimuth increases direction, if there are 360 ° to 0 ° jumps in the azimuth that will appear electronic compass
The case where change, can be handled by the method to after the jump data plus 360 °；The direction of rotation of rotating platform is azimuth
When reducing direction, there is the case where 0 ° to 360 ° jump if there is the azimuth of electronic compass, it can be by after the jump
The method that data plus-minus goes 360 ° is handled, and makes the azimuth increments or decrements sequence of the electronic compass of acquisition；
D, to treated electronic compass data acquisition line least square fitting, azimuth and the rotation of electronic compass are obtained
Turn the linear functional relation formula between the angle of platform；
E, when coherent wind laser radar works, the angle of rotating platform is read, which is substituted into obtained in step D
In linear functional relation formula, azimuth is calculated, then calculated azimuth handle 360 ° of modulo operations, can obtained
To azimuth this moment.
The working principle of the invention：
The present invention utilizes the high-precision angle-data of rotating platform with worm gear structure to electronics sieve of low precision
The azimuth that disk measurement obtains is fitted, using the method for linear least square fitting, the orientation of available electronic compass
Linear functional relation formula between angle and the angle of rotating platform reads rotating platform when coherent wind laser radar works
Angle substitutes into the angle in linear functional relation formula obtained in upper step, calculates azimuth, then calculated orientation
Angle carries out 360 ° of modulus processing can be obtained azimuth this moment, and the azimuth is than directly by the azimuth of electronic compass reading
With higher precision.In azimuthal measurement process, the power supply line and control signal wire of motor by conducting slip ring respectively with
Power supply is connected with motor driver, allows electronic compass clockwise or the continuous 360 ° of rotations of inverse needle both direction.
The present invention can be obtained since rotating platform is using worm gear structure with control circuit board and motor driver
To the angle of precision more higher than electronic compass, therefore azimuthal measurement in coherent wind laser radar can be improved in the present invention
Precision.The present invention does not need additional equipment or artificial participation, completes by the device in coherent wind laser radar in algorithm
It is automatically performed under control, the present invention has many advantages, such as that convenient, fast, intelligent, precision is high.
Detailed description of the invention
Fig. 1 is the schematic diagram scanned when laser radar works；
Fig. 2 is the principle of the present invention block diagram, in figure：1 control circuit board, 2 motor drivers, 3 conducting slip rings, 4 motors, 5
Rotating platform, 6 electronic compass, 7 power supplys；
Fig. 3 is the step schematic diagram of electronic compass calibration；
Fig. 4 is the pretreatment process figure of bearing data.
Specific embodiment
Below with reference to embodiment and compares attached drawing invention is further described in detail.
The device of azimuth determination precision is improved in a kind of coherent wind laser radar, including control circuit board 1, motor drive
Dynamic device 2, conducting slip ring 3, motor 4, rotating platform 5, electronic compass 6 and power supply 7, electronic compass 6 and control circuit board 1, motor
Driver 2, conducting slip ring 3, motor 4, which are sequentially connected in series, is followed by rotating platform 5, and power supply 7 is control circuit board 1 and motor driver 2
Power supply, 1 one side of control circuit board are communicated with electronic compass 6, and control electronic compass 6 realizes magnetic disturbance calibration and reads electronics sieve
On the other hand the azimuth information of disk controls motor driver 2 to control the rotation of motor 4；In the driving of motor driver 2
Under, motor 4 is rotated with rotating platform 5, and motor 4 and rotating platform 5 pass through Worm Wheel System；Electronic compass 6 is fixed on rotation
On platform 5, and make synchronous rotary simultaneously always with rotating platform 5, the electricity of the power supply line of motor 4, control line and electronic compass 6
Source line, communication data line are connected by conducting slip ring 3, and rotating platform 5 and electronic compass 6 can be in 360 ° of both direction continuous rotations
Turn.
Control circuit board 1 is issued to motor driver 2 and is ordered, to control the angle that motor 4 and rotating platform 5 rotate, control
The data line of system order is transmitted by conducting slip ring 3, and control circuit board 1 is communicated with electronic compass 6, and control electronic compass realizes magnetic
Interference calibration and the azimuth information for reading electronic compass；Electronic compass 6 is fixed on rotating platform 5, simultaneously with rotating platform 5
Synchronous rotary.
A kind of method that azimuth determination precision is improved in coherent wind laser radar, specific step is as follows：
A, electronic compass 1 is calibrated, to improve the measurement accuracy of electronic compass 6：The step of calibration as shown in figure 3,
Control circuit board 1 to electronic compass 6 issue start calibration order, wait electronic compass 6 correctly return after, control circuit board 1 to
Motor driver 2 issues order, makes rotating platform 5 that electronic compass 6 be driven to rotate 1 week；Then, control circuit board 1 is to electronics sieve
Disk 6 issues the order for terminating calibration, terminates calibration after waiting electronic compass 6 correctly to return；At this point, the angle of note rotating platform 5 is
0 °, the angle of rotating platform 5 increases when being rotated clockwise, and when rotating counterclockwise, the angle of rotating platform 5 reduces；
B, the angle of rotating platform 5 and the azimuth of electronic compass 6 are acquired：Control circuit board 1 is issued to motor driver 2
(similarly, counterclockwise rotation can also use the method) rotation angle commands clockwise, rotating platform 5 under the drive of motor 4 with
Electronic compass 6 rotates jointly；After rotating platform 5 stops, control circuit board 1 records the angle of current rotating platform 5, note
For α0；Control circuit board 1 issues to electronic compass 6 and reads azimuth order, and after the reply for receiving electronic compass 6, record is worked as
Preceding azimuth, is denoted as θ0；Then 5 angle of rotating platform and the azimuthal data of electronic compass 6 are just obtained to (α0,θ0)；Control
Circuit board 1 issues rotation angle commands to motor driver 2 again, and rotating platform 5 is under the drive of motor 4 and electronic compass 6
It rotates jointly；After rotating platform 5 stops, control circuit board 1 records the angle of current rotating platform 5, is denoted as α1；Control
Circuit board 1 issues to electronic compass 6 and reads azimuth order, after the reply for receiving electronic compass 6, records current orientation
Angle is denoted as θ1；Then 5 angle of rotating platform and the azimuthal data of electronic compass 6 are just obtained to (α1,θ1)；Equally, control electricity
After road plate 1 issues n times rotation angle commands to motor driver 2, rotating platform 5 rotates a whole circumference；Then N group is just obtained
5 angle of rotating platform and the azimuthal data of electronic compass 6 are to (αi,θi), i=0,1 ..., N-1；
C, the pretreatment of 5 angle of rotating platform and 6 bearing data of electronic compass：Reading when due to rotating in the clockwise direction
The azimuth of the electronic compass 6 taken is to gradually increase, it is possible to will appear the case where azimuth is by 360 ° to 0 ° jumps；In the inverse time
The azimuth for the electronic compass 6 that needle direction is read when rotating is to be gradually reduced, it is possible to will appear azimuth and be jumped by 0 ° to 360 °
The case where change, it is therefore desirable to which 6 bearing data of electronic compass of reading is pre-processed；By taking electronic compass 6 rotates clockwise as an example,
As shown in figure 4, i, i=0,1 ... in figure, N-1 is the subscript of 6 bearing data of electronic compass for the flow chart of data prediction,
βi, i=0,1 ..., N-1 are pretreated 6 bearing data of electronic compass, if the 6 azimuth number of electronic compass currently read
When according to being less than previous, the azimuth of current electronic compass 6 adds 360；Otherwise, the data currently read are taken；
D, linear least square fitting is used to pretreated 6 bearing data of electronic compass；5 angle of rotating platform with
Pretreated 6 azimuth of electronic compass there are linear relationship,
Y=kx+b (1)
In formula, x is 5 angle of rotating platform, and y is pretreated 6 azimuth of electronic compass, and k is slope, and b is intercept；It can
With 5 angle [alpha] of rotating platform obtained using measurementi, i=0,1 ..., 6 azimuthal angle beta of N-1 and pretreated electronic compassi, i=
0,1 ..., N-1 calculates slope using linear least square methodAnd intercept
Thus it is possible to obtain,
Therefore, the functional relation of available rotating platform angle [alpha] and azimuth γ,
E, azimuth is calculated according to the goniometer of rotating platform：Coherent wind laser radar in actual work, according to rotation
Turn the angle a that platform real-time measurement obtains and be calculate by the following formula out azimuth ω,
Mod (x, y) is indicated to x modulus y operation in formula, such as mod (1,360)=1, mod (361,360)=1, mod (-
1,360)=359.
Claims (1)
1. improving the method for azimuth determination precision in a kind of coherent wind laser radar, it is characterised in that：Specific step is as follows：
A, first electronic compass is calibrated, to improve the diamagnetic interference performance of electronic compass measurement process, improves electronic compass
Azimuth determination precision：Control circuit board issues the order for starting calibration to electronic compass, and electronic compass correctly returns；Control
Circuit board issues the order rotated 1 week to motor driven, makes rotating platform that electronic compass be driven to rotate 1 week；Then, control circuit
Plate issues to electronic compass and completes calibration command, and electronic compass correctly returns, and terminates calibration；At this point, the angle of note rotating platform
It is 0 °, the angle of rotating platform increases when being rotated clockwise, and when rotating counterclockwise, the angle of rotating platform reduces；
B, electronic compass data are acquired：Control circuit board is issued to motor driver and is ordered, and revolves rotating platform and electronic compass
Turn fixed angle, control panel plate records the angle of rotating platform and the azimuth of electronic compass；Repeat the process, Zhi Daoji
The angle of the rotating platform of 1 complete cycle and the azimuth of electronic compass are recorded, the acquisition of electronic compass data is completed；
C, data processing is carried out to the azimuth of the angle of rotating platform and electronic compass：Due to being the data for acquiring 1 week, rotation
When the direction of rotation of platform is that azimuth increases direction, if there are 360 ° to 0 ° jumps in the azimuth that will appear electronic compass
Situation can be handled by the method to after the jump data plus 360 °；The direction of rotation of rotating platform is azimuth reduction
When direction, there is the case where 0 ° to 360 ° jump if there is the azimuth of electronic compass, it can be by after the jump data
It adds and subtracts the method for going 360 ° to handle, makes the azimuth increments or decrements sequence of the electronic compass of acquisition；
D, to treated electronic compass data acquisition line least square fitting, azimuth and the rotary flat of electronic compass are obtained
Linear functional relation formula between the angle of platform；
E, when coherent wind laser radar works, the angle of rotating platform is read, which is substituted into linear obtained in step D
In functional relation, azimuth is calculated, then calculated azimuth handle 360 ° of modulo operations, this can be obtained
The azimuth at quarter.
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| CN107045130B (en) * | 2017-03-07 | 2021-12-28 | 北京理工大学 | Portable full-automatic micro-pulse wind lidar system |
| CN108717195B (en) * | 2018-05-24 | 2020-12-25 | 远景能源有限公司 | Coherent Doppler wind lidar system and control method thereof |
| WO2019234926A1 (en) * | 2018-06-08 | 2019-12-12 | 三菱電機株式会社 | Laser radar device |
| CN110646775B (en) * | 2019-09-29 | 2023-03-14 | 凯迈（洛阳）测控有限公司 | Control method for quickly switching photoelectric radar from rotary scanning to staring mode |
| CN113311436B (en) * | 2021-04-30 | 2022-07-12 | 中国人民解放军国防科技大学 | Method for correcting wind measurement of motion attitude of laser wind measuring radar on mobile platform |
| CN114994708B (en) * | 2022-07-19 | 2022-12-06 | 青岛镭测创芯科技有限公司 | Wind speed inversion method, device, equipment and medium |
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