CN114994708B - Wind speed inversion method, device, equipment and medium - Google Patents
Wind speed inversion method, device, equipment and medium Download PDFInfo
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- CN114994708B CN114994708B CN202210844523.9A CN202210844523A CN114994708B CN 114994708 B CN114994708 B CN 114994708B CN 202210844523 A CN202210844523 A CN 202210844523A CN 114994708 B CN114994708 B CN 114994708B
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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
- 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
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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Abstract
The application discloses a wind speed inversion method, a device, equipment and a medium, which relate to the technical field of airborne wind lidar and comprise the following steps: acquiring attitude data of the mobile platform under a geographic coordinate system by using an inclination angle sensor and a magnetic compass in the mobile platform, and acquiring first emergent direction data of a laser beam of the wind lidar under a preset mobile platform coordinate system; determining second emergent direction data of the laser beam under a geographic coordinate system based on the attitude data and the first emergent direction data; measuring echo data of each distance library by using a wind measuring laser radar, determining a first distance library which is larger than a preset threshold value in the echo data and a second distance library which is not larger than the preset threshold value in the echo data, and acquiring ground speed information and height information in the first distance library; and carrying out wind speed inversion by using the ground speed information, the height information, the second emergent direction data and the second distance library to obtain the horizontal speed, the vertical speed and the wind direction of the actual wind speed. The inversion cost of the wind speed can be reduced.
Description
Technical Field
The invention relates to the technical field of airborne wind lidar, in particular to a wind speed inversion method, a wind speed inversion device, wind speed inversion equipment and a wind speed inversion medium.
Background
The wind measurement laser radar emits laser beams, echo signals are generated after the laser beams encounter aerosol particles in the atmosphere, atmospheric motion information in the direction of the laser beams can be obtained by receiving the echo signals, a plurality of beams are emitted by combining a wedge-shaped mirror or a servo system, and wind speed and wind direction information in the atmosphere can be inverted by the radial speed of the same distance library of the beams. The atmospheric boundary layer is an important channel for the exchange of material energy between the earth and the atmosphere, the influence of the change of the earth surface and the human activities on the climate is reflected in various meteorological processes of the atmospheric boundary layer, and the change of the atmospheric layer reacts on the earth surface and deeply influences the human beings. The wind field is used as an important atmospheric boundary layer kinetic parameter and is very important for momentum, energy and substance transportation in continents and oceans. The accurate, rapid and large-range measurement of the wind field has important significance for atmospheric dynamics prediction models, the research of interaction between ocean atmosphere and land, atmospheric flux, the guarantee of military activities and atmospheric environment monitoring.
The airborne wind lidar has the advantages of high moving speed and wide coverage range, and can be used for efficiently observing a large-range sea-land wind field. However, relative to a fixed wind lidar, an airborne platform is in a moving state, the outgoing direction of a laser radar beam carried by the airborne platform is subjected to spatial change due to the movement angle, speed and height of the platform, the error of a finally inverted wind speed result is large, in order to obtain a real atmospheric wind field, the error brought by the moving platform needs to be corrected, the angle, speed and height of the laser radar beam relative to an airplane are mainly corrected to the angle of a geographic coordinate system, and the ground speed and the flying height are corrected. The current main correction method is to correct errors generated by platform motion by installing an inertial navigation system, but the inertial navigation system is expensive, the installation distance of an antenna needs 1-4 meters, and certain small unmanned aerial vehicles even do not have installation conditions. In addition, the ground speed data of the airplane needs to be read in real time for speed correction, and the cost needs to be increased for communication between the wind measurement laser radar and the airplane, so that the inversion cost of the wind speed is greatly increased finally.
In conclusion, how to reduce the inversion cost of wind speed is a problem to be solved in the field.
Disclosure of Invention
In view of the above, the present invention provides a wind speed inversion method, apparatus, device and medium, which can reduce the wind speed inversion cost. The specific scheme is as follows:
in a first aspect, the present application discloses a wind speed inversion method, including:
acquiring attitude data of the mobile platform under a geographic coordinate system by using an inclination angle sensor and a magnetic compass in the mobile platform, and acquiring first emergent direction data of a laser beam of the wind lidar under a preset mobile platform coordinate system;
determining second emergent direction data of the laser beam under the geographic coordinate system based on the attitude data and the first emergent direction data;
measuring echo data of each distance library by using the wind lidar, determining a first distance library which is larger than a preset threshold value in the echo data and a second distance library which is not larger than the preset threshold value in the echo data, and then acquiring ground speed information and height information in the first distance library;
and carrying out wind speed inversion by using the ground speed information, the height information, the second emergent direction data and the second distance library so as to obtain the horizontal speed, the vertical speed and the wind direction of the actual wind speed.
Optionally, the acquiring, by using an inclination sensor and a magnetic compass in the mobile platform, the attitude data of the mobile platform in the geographic coordinate system includes:
the method comprises the steps of acquiring a first pitch angle and a first roll angle of a mobile platform under a geographic coordinate system by using an inclination angle sensor in the mobile platform, and acquiring a heading angle of the mobile platform under the geographic coordinate system by using a magnetic compass in the mobile platform.
Optionally, the acquiring first outgoing direction data of the laser beam of the wind lidar in a preset mobile platform coordinate system includes:
and acquiring a second pitch angle and an azimuth angle of a laser beam of the wind measuring laser radar under a preset mobile platform coordinate system.
Optionally, the determining second exit direction data of the laser beam in the geographic coordinate system based on the attitude data and the first exit direction data includes:
calculating a transformation matrix of the attitude data from the geographic coordinate system to the preset mobile platform coordinate system;
and determining second emission direction data of the laser beam under the geographic coordinate system by using the transformation matrix and the first emission direction data.
Optionally, the acquiring ground speed information and altitude information in the first distance library includes:
and acquiring the radial speed and the radial distance in the first distance library to obtain ground speed information and height information.
Optionally, the performing wind speed inversion by using the ground speed information, the altitude information, the second exit direction data, and the second distance library to obtain a horizontal speed, a vertical speed, and a wind direction of an actual wind speed includes:
and obtaining the altitude-corrected radial speed by using the ground speed information, the altitude information and the second distance library, and performing wind speed inversion by using the altitude-corrected radial speed and the second emergence direction data to obtain the horizontal speed, the vertical speed and the wind direction of the actual wind speed.
Optionally, the obtaining of the radial velocity after altitude correction by using the ground speed information, the altitude information, and the second distance library includes:
and obtaining a height library of each laser beam by using the height information and a preset resolution, and interpolating the ground speed information based on the height library to obtain a radial speed after height correction.
In a second aspect, the present application discloses a wind speed inversion apparatus, comprising:
the data acquisition module is used for acquiring attitude data of the mobile platform under a geographic coordinate system by using a tilt angle sensor and a magnetic compass in the mobile platform and acquiring first emergent direction data of a laser beam of the wind lidar under a preset mobile platform coordinate system;
the data determination module is used for determining second emergent direction data of the laser beam under the geographic coordinate system based on the attitude data and the first emergent direction data;
the information acquisition module is used for measuring echo data of each distance library by using the wind lidar, determining a first distance library which is larger than a preset threshold value in the echo data and a second distance library which is not larger than the preset threshold value in the echo data, and then acquiring ground speed information and height information in the first distance library;
and the wind speed inversion module is used for performing wind speed inversion by utilizing the ground speed information, the height information, the second emergent direction data and the second distance library so as to obtain the horizontal speed, the vertical speed and the wind direction of the actual wind speed.
In a third aspect, the present application discloses an electronic device, comprising:
a memory for storing a computer program;
a processor for executing the computer program to implement the steps of the wind speed inversion method disclosed in the foregoing.
In a fourth aspect, the present application discloses a computer readable storage medium for storing a computer program; wherein the computer program when executed by a processor implements the steps of the wind speed inversion method disclosed in the foregoing.
Therefore, the attitude data of the mobile platform under a geographic coordinate system is obtained by using the inclination angle sensor and the magnetic compass in the mobile platform, and the first emergent direction data of the laser beam of the wind lidar under a preset mobile platform coordinate system is obtained; determining second emergent direction data of the laser beam under the geographic coordinate system based on the attitude data and the first emergent direction data; measuring echo data of each distance library by using the wind lidar, determining a first distance library which is larger than a preset threshold value in the echo data and a second distance library which is not larger than the preset threshold value in the echo data, and then acquiring ground speed information and height information in the first distance library; and carrying out wind speed inversion by using the ground speed information, the height information, the second emergent direction data and the second distance library so as to obtain the horizontal speed, the vertical speed and the wind direction of the actual wind speed. Therefore, according to the method, the attitude data of the mobile platform under the geographic coordinate system is acquired by using the inclination angle sensor and the magnetic compass which are low in price, the cost can be greatly reduced, the second emergent direction data under the geographic coordinate system can be calculated by combining the first emergent direction data of the laser beam of the wind measurement laser radar, and then the ground speed information and the height information are acquired by measuring the echo data of each distance base by using the wind measurement laser radar, so that the horizontal speed, the vertical speed and the wind direction of the actual wind speed are reversed, data transmission with the mobile platform is not required to be established, and the independence of the wind measurement laser radar is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a flow chart of a wind speed inversion method disclosed herein;
FIG. 2 is a flow chart of a specific wind speed inversion method disclosed herein;
FIG. 3 is a flow chart of a specific wind speed inversion method disclosed herein;
FIG. 4 is a schematic illustration of a specific wind speed inversion disclosed herein;
FIG. 5 is a schematic structural diagram of a wind speed inversion apparatus disclosed in the present application;
fig. 6 is a block diagram of an electronic device disclosed in the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The airborne wind lidar has the advantages of high moving speed and wide coverage range, and can be used for efficiently observing a large-range sea-land wind field. However, relative to a fixed wind lidar, an airborne platform is in a moving state, the outgoing direction of a laser radar beam carried by the airborne platform is subjected to spatial change due to the movement angle, speed and height of the platform, the error of a finally inverted wind speed result is large, in order to obtain a real atmospheric wind field, the error brought by the moving platform needs to be corrected, the angle, speed and height of the laser radar beam relative to an airplane are mainly corrected to the angle of a geographic coordinate system, and the ground speed and the flying height are corrected. The current main correction method is to correct errors generated by platform motion by installing an inertial navigation system, but the inertial navigation system is expensive, the installation distance of an antenna needs 1-4 meters, and certain small unmanned aerial vehicles even do not have installation conditions. In addition, the speed correction needs to read ground speed data of the airplane in real time, and the communication between the wind measurement laser radar and the airplane needs to increase the cost, so that the inversion cost of the wind speed is greatly increased finally.
Therefore, a wind speed inversion scheme is correspondingly provided, and the wind speed inversion cost can be reduced.
Referring to fig. 1, an embodiment of the present application discloses a wind speed inversion method, including:
step S11: attitude data of the mobile platform under a geographic coordinate system is acquired by using an inclination angle sensor and a magnetic compass in the mobile platform, and first emergent direction data of a laser beam of the wind lidar under a preset mobile platform coordinate system is acquired.
In this embodiment, before acquiring the attitude data of the mobile platform in the geographic coordinate system by using the tilt sensor and the magnetic compass in the mobile platform, the mobile platform and the preset mobile platform coordinate system may be determined first, for example, if the mobile platform is an airplane, the preset mobile platform coordinate system is preset
、 
、
Comprises the following steps:
the axis is directed towards the nose of the aircraft,
the axis is directed to the right side of the aircraft,
the axis points to the bottom of the aircraft.Wherein the geographic coordinate system
、
、
Comprises the following steps:
the axis is directed to the north direction,
the axis is directed to the east,
the shaft is directed towards the ground.
Step S12: and determining second emergent direction data of the laser beam under the geographic coordinate system based on the attitude data and the first emergent direction data.
In this embodiment, the determining second exit direction data of the laser beam in the geographic coordinate system based on the attitude data and the first exit direction data specifically includes: calculating a transformation matrix of the attitude data from the geographic coordinate system to the preset mobile platform coordinate system; and determining second emission direction data of the laser beam in the geographic coordinate system by using the transformation matrix and the first emission direction data.
Step S13: and measuring echo data of each distance library by using the wind lidar, determining a first distance library which is larger than a preset threshold value in the echo data and a second distance library which is not larger than the preset threshold value in the echo data, and then acquiring ground speed information and height information in the first distance library.
In this embodiment, the wind lidar emits a laser beam, and the entire measurement distance is divided into a plurality of distance regions, called a distance library, by the data acquisition system. The ground speed information refers to the speed of the mobile platform moving relative to the earth's surface, and the ground speed is not equal to the airspeed due to the presence of wind. In the prior art, the ground speed information is generally directly measured by an airborne Doppler navigation radar.
Step S14: and performing wind speed inversion by using the ground speed information, the height information, the second emergent direction data and the second distance library to obtain the horizontal speed, the vertical speed and the wind direction of the actual wind speed.
In this embodiment, the wind speed and the wind direction refer to the air movement speed and direction, the wind lidar measures the speed components of different positions of a certain small area by emitting a plurality of laser beams with different azimuth angles and different pitch angles, and synthesizes the speed components to obtain the wind speed and the wind direction of the small area, and it can be understood that the wind speed includes a horizontal speed and a vertical speed.
Therefore, the attitude data of the mobile platform under a geographic coordinate system is obtained by using the inclination angle sensor and the magnetic compass in the mobile platform, and the first emergent direction data of the laser beam of the wind lidar under a preset mobile platform coordinate system is obtained; determining second emergent direction data of the laser beam under the geographic coordinate system based on the attitude data and the first emergent direction data; measuring echo data of each distance library by using the wind lidar, determining a first distance library which is larger than a preset threshold value in the echo data and a second distance library which is not larger than the preset threshold value in the echo data, and then acquiring ground speed information and height information in the first distance library; and performing wind speed inversion by using the ground speed information, the height information, the second emergent direction data and the second distance library to obtain the horizontal speed, the vertical speed and the wind direction of the actual wind speed. Therefore, according to the method, the attitude data of the mobile platform under the geographic coordinate system is acquired by using the inclination angle sensor and the magnetic compass which are low in price, the cost can be greatly reduced, the second emergent direction data under the geographic coordinate system can be calculated by combining the first emergent direction data of the laser beam of the wind measurement laser radar, and then the ground speed information and the height information are acquired by measuring the echo data of each distance base by using the wind measurement laser radar, so that the horizontal speed, the vertical speed and the wind direction of the actual wind speed are reversed, data transmission with the mobile platform is not required to be established, and the independence of the wind measurement laser radar is ensured.
Referring to fig. 2, an embodiment of the present application discloses a specific wind speed inversion method, including:
step S21: the method comprises the steps of acquiring a first pitch angle and a first roll angle of a mobile platform under a geographic coordinate system by using a tilt sensor in the mobile platform, and acquiring a course angle of the mobile platform under the geographic coordinate system by using a magnetic compass in the mobile platform.
In this embodiment, for example, the mobile platform is an airplane, the wind lidar is fixed at the bottom of the airplane, a magnetic compass is mounted on the wind lidar to measure a heading angle of the airplane, and a tilt sensor is mounted to measure a first pitch angle and a roll angle of the airplane, wherein the magnetic compass measures the heading angle of the airplane movement by fixing directivity using geomagnetism, and the geographic coordinate system measures the heading angle of the airplane movement by fixing directivity using geomagnetism
、
、
Comprises the following steps:
the axis is directed to the north direction,
the axis is directed to the east,
the axis being directed towards the ground, wherein the winding is
The shaft rotating at a first pitch angle
And wound around
The axis rotating by a roll angle
And wound around
The axis rotating at a course angle
。
Step S22: and acquiring a second pitch angle and an azimuth angle of a laser beam of the wind measuring laser radar under a preset mobile platform coordinate system.
In this embodiment, for example, the mobile platform is an airplane, and the coordinate system of the mobile platform is preset
、 
、
Comprises the following steps:
the axis is directed towards the nose of the aircraft,
axis pointing to the right side of the aircraft, Z 0 The axis points to the bottom of the aircraft. The wind measurement laser radar downwards emits a laser beam to the atmosphere through a belly window, a wedge-shaped mirror behind an emitting lens of the wind measurement laser radar rotates according to a preset angle, the laser beam is subjected to conical scanning at intervals, an azimuth angle and a second pitch angle are recorded by the laser beam, and the wind measurement laser radar is a 0-degree laser beam and a second pitch angle
The positive axis direction is consistent and the azimuth angle is
Is a laser beam
-
In-plane projection of
Angle of positive axis, second pitch angle
Is a laser beam and
-
angle of plane, point of measurement of laser beam
Can be expressed as a vector in the plane coordinate system
The expression is as follows:
step S23: and determining second emergent direction data of the laser beam under the geographic coordinate system based on the first pitch angle, the roll angle, the course angle, the second pitch angle and the azimuth angle.
In this embodiment, the laser beam emitting azimuth recorded inside the wind lidar
And a second pitch angle
The space coordinate system taking the wind measurement laser radar as the origin is taken as the reference, when the wind measurement laser radar is installed on the ground, the geographic coordinate system is taken as the reference, and if the laser radar is installed on the mobile platform, the mobile platform coordinate system is taken as the reference. However, the movement of the wind speed is based on a geographic coordinate system, so that the airborne wind lidar needs to adjust the azimuth angle of a laser beam
And a second pitch angle
And converting the mobile platform coordinate system reference into a geographic coordinate system reference. By first pitch angle
Roll angle
Angle of course
Second pitch angle
And azimuth angle
Determining second emergent direction data of the laser beam in the geographic coordinate system, wherein the second emergent direction data is a pitch angle in the geographic coordinate system
And azimuth angle in geographic coordinate system
And is combined withAnd some point of laser beam measurement
Expressed as in a geographic coordinate system
The expression is as follows:
in the formula (I), the compound is shown in the specification,
、
、
respectively expressed as first pitch angle
Roll angle
Angle of course
A transformation matrix from a geographic coordinate system to an aircraft coordinate system;
azimuth angle of laser beam in geographic coordinate system
And a pitch angle in a geographic coordinate system
The expression of (a) is as follows:
step S24: and measuring echo data of each distance library by using the wind lidar, determining a first distance library which is larger than a preset threshold value in the echo data and a second distance library which is not larger than the preset threshold value in the echo data, and then acquiring ground speed information and height information in the first distance library.
Step S25: and performing wind speed inversion by using the ground speed information, the height information, the second emergent direction data and the second distance library to obtain the horizontal speed, the vertical speed and the wind direction of the actual wind speed.
Therefore, according to the wind speed inversion method, the tilt angle sensor is used for acquiring the first pitch angle and the roll angle of the mobile platform in the geographic coordinate system, the magnetic compass in the mobile platform is used for acquiring the course angle of the mobile platform in the geographic coordinate system, the wind measuring laser radar is used for acquiring the second pitch angle and the azimuth angle in the preset mobile platform coordinate system, a high inertial navigation system is not required to be introduced, the data acquisition cost is reduced, and the wind speed inversion cost is further reduced.
Referring to fig. 3, the embodiment of the present application discloses a specific wind speed inversion method, including:
step S31: attitude data of the mobile platform under a geographic coordinate system is acquired by using an inclination angle sensor and a magnetic compass in the mobile platform, and first emergent direction data of a laser beam of the wind lidar under a preset mobile platform coordinate system is acquired.
In this embodiment, the attitude data in the geographic coordinate system includes a first pitch angle, a roll angle, and a heading angle, and the first outgoing direction data in the preset mobile platform coordinate system includes a second pitch angle and an azimuth angle.
Step S32: and determining second emergent direction data of the laser beam under the geographic coordinate system based on the attitude data and the first emergent direction data.
In this embodiment, the attitude data in the geographic coordinate system and the first exit direction data in the preset mobile platform coordinate system are used to obtain the second exit direction data in the geographic coordinate system, that is, the pitch angle in the geographic coordinate system
And azimuth angle in geographic coordinate system
。
Step S33: and measuring the echo data of each distance library by using the wind lidar, determining a first distance library which is larger than a preset threshold value in the echo data and a second distance library which is not larger than the preset threshold value in the echo data, and acquiring the radial speed and the radial distance in the first distance library to obtain ground speed information and height information.
In this embodiment, as shown in fig. 4, a specific schematic diagram of wind speed inversion is shown, where a mobile platform is an airplane, a wind lidar is mounted on the airplane, and speed correction and altitude correction are required to be performed by using acquired echo data and second exit direction data, where a radial speed measured by a radial laser beam of an airborne wind lidar is also based on an airplane coordinate system, except for a wind speed component, a ground speed component of the airplane is also superimposed, and a component of the ground speed needs to be removed, that is, speed correction is performed; the change of the flying height of the airplane causes the radial laser beam of the wind measuring laser radar to deviate from the height of the distance library, namely the laser beams of the same distance library are not in the same height horizontal plane, because the distribution of the wind speed on the height does not meet the uniform assumption, the wind speed needs to be processed, and the wind speed is inverted by the radial speed on the same height horizontal plane.
In this embodiment, the wind lidar measures a radial velocity before correction of
The distance library is represented as
，
The number of laser beams scanned by the wind lidar in one complete scan,
the distance library quantity of one laser beam of the wind lidar is determined, when the laser beam reaches the ground, an echo signal in echo data of the wind lidar becomes large, and a preset threshold value is set according to the intensity of the echo signal
If the distance library
When the intensity of the echo signal exceeds a preset threshold value, a distance library is extracted
As a component of the ground speed of the aircraft on the wind lidar radial beam
Radial velocity measured by wind lidar
Plus the component of ground speed in the radial beam of the lidar
I.e. the ground speed information, wherein the ground speed information is the component of the real wind speed corrected for the ground speed on the radial laser beam
。
In this embodiment, a distance library is obtained
Is a radial distance of
Pitch angle under corresponding laser beam geographic coordinate system
The flight altitude of the aircraft corresponding to each radial laser beam
Can be expressed as:
step S34: and obtaining the altitude-corrected radial speed by using the ground speed information, the altitude information and the second distance library, and performing wind speed inversion by using the altitude-corrected radial speed and the second emergence direction data to obtain the horizontal speed, the vertical speed and the wind direction of the actual wind speed.
In this embodiment, the obtaining of the radial velocity after altitude correction by using the ground speed information, the altitude information, and the second distance library specifically includes: and obtaining a height library of each laser beam by using the height information and a preset resolution, and interpolating the ground speed information based on the height library to obtain a radial speed after height correction. Dividing the flying height into height libraries according to the resolution r
，
The number of height bins for a laser beam of the wind lidar is expressed as
And to ground speed information
Interpolation is carried out to obtain the radial velocity after height correction
And completing the height correction. Highly corrected radial velocity
Corresponding laser beam elevation angle under geographic coordinate system
And azimuth angle in geographic coordinate system
，
Is the vertical velocity of the wind speed and,
is the horizontal velocity of the wind speed,
in the direction of wind, then
Can be expressed as:
the horizontal velocity, vertical velocity and wind direction of the wind speed can be inverted by solving equations for a plurality of radial beams.
Therefore, the wind-measuring laser radar can be installed at the bottom of an airplane platform, downward laser beams are emitted to measure the radial speed of the multiple laser beams, the speed component of the airplane platform on the radial laser beams and the height difference of the different radial laser beams are corrected, and the low-price tilt angle sensor and the magnetic compass are combined, so that the limitation of an installation space is avoided, the conversion of a coordinate system can be realized, the cost is effectively reduced, airplane data do not need to be accessed, the independence of equipment is ensured, and other airplanes can be deployed at any time.
Referring to fig. 5, an embodiment of the present application discloses a wind speed inversion apparatus, including:
the data acquisition module 11 is configured to acquire attitude data of the mobile platform in a geographic coordinate system by using a tilt sensor and a magnetic compass in the mobile platform, and acquire first outgoing direction data of a laser beam of the wind lidar in a preset mobile platform coordinate system;
a data determining module 12, configured to determine second exit direction data of the laser beam in the geographic coordinate system based on the attitude data and the first exit direction data;
the information acquisition module 13 is configured to measure echo data of each distance library by using the wind lidar, determine a first distance library which is greater than a preset threshold in the echo data and a second distance library which is not greater than the preset threshold in the echo data, and then acquire ground speed information and height information in the first distance library;
and the wind speed inversion module 14 is configured to perform wind speed inversion by using the ground speed information, the altitude information, the second emergence direction data, and the second distance library to obtain a horizontal speed, a vertical speed, and a wind direction of an actual wind speed.
Therefore, the attitude data of the mobile platform under a geographic coordinate system is acquired by using an inclination angle sensor and a magnetic compass in the mobile platform, and the first emergent direction data of the laser beam of the wind lidar under a preset mobile platform coordinate system is acquired; determining second emergent direction data of the laser beam under the geographic coordinate system based on the attitude data and the first emergent direction data; measuring echo data of each distance library by using the wind lidar, determining a first distance library which is larger than a preset threshold value in the echo data and a second distance library which is not larger than the preset threshold value in the echo data, and then acquiring ground speed information and height information in the first distance library; and performing wind speed inversion by using the ground speed information, the height information, the second emergent direction data and the second distance library to obtain the horizontal speed, the vertical speed and the wind direction of the actual wind speed. Therefore, according to the method, the attitude data of the mobile platform under the geographic coordinate system is acquired by using the inclination angle sensor and the magnetic compass which are low in price, the cost can be greatly reduced, the second emergent direction data under the geographic coordinate system can be calculated by combining the first emergent direction data of the laser beam of the wind measurement laser radar, and then the ground speed information and the height information are acquired by measuring the echo data of each distance base by using the wind measurement laser radar, so that the horizontal speed, the vertical speed and the wind direction of the actual wind speed are reversed, data transmission with the mobile platform is not required to be established, and the independence of the wind measurement laser radar is ensured.
In some embodiments, the data obtaining module 11 includes:
the first angle data acquisition unit is used for acquiring a first pitch angle and a first roll angle of the mobile platform under a geographic coordinate system by using an inclination angle sensor in the mobile platform and acquiring a course angle of the mobile platform under the geographic coordinate system by using a magnetic compass in the mobile platform.
In some embodiments, the data obtaining module 11 includes:
and the second angle data acquisition unit is used for acquiring a second pitch angle and an azimuth angle of the laser beam of the wind lidar under a preset mobile platform coordinate system.
In some embodiments, the data determining module 12 includes:
the second emergent direction data determining unit is used for calculating a transformation matrix of the attitude data from the geographic coordinate system to the preset mobile platform coordinate system; and determining second emission direction data of the laser beam under the geographic coordinate system by using the transformation matrix and the first emission direction data.
In some specific embodiments, the information obtaining module 13 includes:
and the ground speed and height information acquisition unit is used for acquiring the ground speed information and the height information by the radial speed and the radial distance in the first distance library.
In some embodiments, the wind speed inversion module 14 includes:
and the inversion unit is used for obtaining the radial velocity after altitude correction by using the ground speed information, the altitude information and the second distance library, and performing wind speed inversion by using the radial velocity after altitude correction and the second emergence direction data to obtain the horizontal velocity, the vertical velocity and the wind direction of the actual wind speed.
In some embodiments, the inversion unit comprises:
and the radial speed acquisition unit is used for obtaining a height library of each laser beam by utilizing the height information and a preset resolution, and interpolating the ground speed information based on the height library to obtain a radial speed after height correction.
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application. The method specifically comprises the following steps: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input output interface 25, and a communication bus 26. Wherein the memory 22 is used for storing a computer program, which is loaded and executed by the processor 21 to implement the relevant steps of the wind speed inversion method performed by an electronic device disclosed in any of the foregoing embodiments.
In this embodiment, the power supply 23 is configured to provide a working voltage for each hardware device on the electronic device; the communication interface 24 can create a data transmission channel between the electronic device and an external device, and a communication protocol followed by the communication interface is any communication protocol applicable to the technical solution of the present application, and is not specifically limited herein; the input/output interface 25 is configured to obtain external input data or output data to the outside, and a specific interface type thereof may be selected according to specific application requirements, which is not specifically limited herein.
The processor 21 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. The processor 21 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 21 may also include a main processor and a coprocessor, where the main processor is a processor for Processing data in a wake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 21 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the display screen. In some embodiments, the processor 21 may further include an AI (Artificial Intelligence) processor for processing a calculation operation related to machine learning.
In addition, the storage 22 is used as a carrier for storing resources, and may be a read-only memory, a random access memory, a magnetic disk or an optical disk, etc., the resources stored thereon include an operating system 221, a computer program 222, data 223, etc., and the storage mode may be a transient storage mode or a permanent storage mode.
The operating system 221 is used for managing and controlling various hardware devices and computer programs 222 on the electronic device, so as to implement the operation and processing of the mass data 223 in the memory 22 by the processor 21, and may be Windows, unix, linux, or the like. The computer program 222 may further include a computer program that can be used to perform other specific tasks in addition to the computer program that can be used to perform the wind speed inversion method by the electronic device disclosed in any of the foregoing embodiments. The data 223 may include data received by the electronic device and transmitted from an external device, or may include data collected by the input/output interface 25 itself.
Further, an embodiment of the present application also discloses a computer-readable storage medium, in which a computer program is stored, and when the computer program is loaded and executed by a processor, the method steps executed in the wind speed inversion process disclosed in any of the foregoing embodiments are implemented.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
The wind speed inversion method, device, equipment and medium provided by the invention are described in detail above, and the principle and the implementation mode of the invention are explained in the text by applying specific examples, and the description of the above examples is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (8)
1. A method of wind speed inversion, comprising:
acquiring attitude data of a mobile platform under a geographic coordinate system by using an inclination angle sensor and a magnetic compass in the mobile platform, and acquiring first emergent direction data of a laser beam of a wind lidar under a preset mobile platform coordinate system;
determining second emergent direction data of the laser beam under the geographic coordinate system based on the attitude data and the first emergent direction data;
measuring echo data of each distance library by using the wind lidar, determining a first distance library which is larger than a preset threshold value in the echo data and a second distance library which is not larger than the preset threshold value in the echo data, and then acquiring ground speed information and height information in the first distance library;
carrying out wind speed inversion by using the ground speed information, the height information, the second emergent direction data and the second distance library to obtain the horizontal speed, the vertical speed and the wind direction of the actual wind speed;
wherein, the acquiring the ground speed information and the altitude information in the first distance library comprises:
acquiring the radial speed and the radial distance in the first distance library to obtain ground speed information and height information;
the wind speed inversion is performed by using the ground speed information, the altitude information, the second emergence direction data and the second distance library to obtain the horizontal speed, the vertical speed and the wind direction of the actual wind speed, and the method comprises the following steps:
and obtaining the altitude-corrected radial speed by using the ground speed information, the altitude information and the second distance library, and performing wind speed inversion by using the altitude-corrected radial speed and the second emergence direction data to obtain the horizontal speed, the vertical speed and the wind direction of the actual wind speed.
2. The wind speed inversion method of claim 1, wherein the acquiring attitude data of the mobile platform in a geographic coordinate system by using an inclination sensor and a magnetic compass in the mobile platform comprises:
the method comprises the steps of acquiring a first pitch angle and a first roll angle of a mobile platform under a geographic coordinate system by using an inclination angle sensor in the mobile platform, and acquiring a heading angle of the mobile platform under the geographic coordinate system by using a magnetic compass in the mobile platform.
3. The wind speed inversion method according to claim 1, wherein the obtaining of the first emergence direction data of the laser beam of the wind lidar in a preset mobile platform coordinate system comprises:
and acquiring a second pitch angle and an azimuth angle of a laser beam of the wind measuring laser radar under a preset mobile platform coordinate system.
4. The wind speed inversion method of claim 1, wherein the determining second exit direction data of the laser beam in the geographic coordinate system based on the attitude data and the first exit direction data comprises:
calculating a transformation matrix of the attitude data from the geographic coordinate system to the preset mobile platform coordinate system;
and determining second emission direction data of the laser beam in the geographic coordinate system by using the transformation matrix and the first emission direction data.
5. The wind speed inversion method of claim 1, wherein the obtaining a height-corrected radial velocity using the ground speed information, the height information, and the second distance library comprises:
and obtaining a height library of each laser beam by using the height information and a preset resolution, and interpolating the ground speed information based on the height library to obtain a radial speed after height correction.
6. A wind speed inversion apparatus, comprising:
the data acquisition module is used for acquiring attitude data of the mobile platform under a geographic coordinate system by using an inclination angle sensor and a magnetic compass in the mobile platform and acquiring first emergent direction data of a laser beam of the wind lidar under a preset mobile platform coordinate system;
the data determination module is used for determining second emergent direction data of the laser beam under the geographic coordinate system based on the attitude data and the first emergent direction data;
the information acquisition module is used for measuring echo data of each distance library by using the wind lidar, determining a first distance library which is larger than a preset threshold value in the echo data and a second distance library which is not larger than the preset threshold value in the echo data, and then acquiring ground speed information and height information in the first distance library;
the wind speed inversion module is used for performing wind speed inversion by using the ground speed information, the height information, the second emergent direction data and the second distance library so as to obtain the horizontal speed, the vertical speed and the wind direction of the actual wind speed;
the information acquisition module is specifically configured to:
acquiring the radial speed and the radial distance in the first distance library to obtain ground speed information and height information;
the wind speed inversion module is specifically used for:
and obtaining the height-corrected radial speed by using the ground speed information, the height information and the second distance library, and performing wind speed inversion by using the height-corrected radial speed and the second emergence direction data to obtain the horizontal speed, the vertical speed and the wind direction of the actual wind speed.
7. An electronic device, comprising:
a memory for storing a computer program;
a processor for executing the computer program for carrying out the steps of the wind speed inversion method according to any of claims 1 to 5.
8. A computer-readable storage medium for storing a computer program; wherein the computer program when executed by a processor implements the steps of a wind speed inversion method according to any of claims 1 to 5.
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| CN115436906B (en) * | 2022-11-07 | 2023-03-14 | 成都远望探测技术有限公司 | Method for improving accuracy of radar detection target position and wind field inversion information |
| CN117829223B (en) * | 2023-12-27 | 2024-08-06 | 航天天目(重庆)卫星科技有限公司 | GNSS-R sea surface wind speed inversion and correction method based on machine learning |
| CN117724116B (en) * | 2024-02-07 | 2024-04-12 | 珠海光恒科技有限公司 | Non-level-adjustment foundation type laser wind-finding radar correction method |
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