CN105912019A - Powered parafoil system's air-drop wind field identification method - Google Patents
Powered parafoil system's air-drop wind field identification method Download PDFInfo
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Abstract
The invention provides a powered parafoil system's air-drop wind field identification method which can dynamically identify the wind speed and wind direction of a wind field that a powered parafoil system flies across so as to provide necessary information for reference to control the trajectory of the parafoil system and the operations for flared landing. The identification process for a wind field is divided into three steps. Firstly, through a GPS module, the positions concerned information of the powered parfoil system can be obtained. Based on the change in the positions of the powered parafoil system, the flying speed and the direction of the powered parafoil system can be calculated. Secondly, the Kalman filtering algorithm is adopted to have the flying speed of the powered parafoil system undergo a filtering process so as to get accurate speed concerned information. Thirdly, the recursive least square algorithm is introduced to online update the identification results of the wind field.
Description
Technical field
The invention belongs to unmanned airborne vehicle control field, relate to distinguishing of the wind field information to Powered parafoil system flight environment
Knowledge method.
Background technology
Parafoil is a kind of differentiation and next extraordinary parachute from typical round parachute, from producing more than 50 year so far
History.The feature of parafoil is to have controllability, glide, security and big load ratio, it is possible to realize turning by handling umbrella rope
Action, controls the heading of parafoil.Along with development and the transformation of military strategy thought of science and technology, accurately air-drop is with " fixed
Point is lossless " application in fields such as military affairs, Aero-Space of landing is more and more extensive.In modernized war, ground combat troop
Weapon, ammunition, the supplementing in time of provisions, convenience and high-efficiency can be realized by air-drop；When there are major natural disasters, by sky
The mode thrown can the very first time by disaster relief supplies and equipment conveying to disaster center, complete emergency rescue mission；In space flight thing
In industry, the safe retrieving of the equipment such as spaceship, satellite, guided missile can save resource, reduces space trash；Additionally, civilian
In field, parafoil is also used for moving, cruises, sightseeing etc..Parafoil compensate for tradition air-drop technology accuracy, security is not enough lacks
Point, it is possible to control and sparrow fall technology realization accurately air-drop and stable landing by handling, it is ensured that load and land with less speed,
Alleviate impact and concussion.
Powered parafoil system adds thrust devices in the load of common paraglider system, not only inherits all of parafoil
Feature, and the air-drop error that drop altitude deficiency is brought can be made up, expand the range of application of parafoil.Such as should in cruise
In with, Powered parafoil system has compared with the aircraft such as fixed-wing unmanned plane, four rotors that speed is low, cost performance is high, security
The advantage that height, length in cruising time and antijamming capability are strong, therefore has broader practice prospect.
Due to the portability of the material of parafoil own, during flight, parafoil can be by the stronger interference of wind field after inflation
Effect.Powered parafoil system, when tasks such as performing cruise carries out track following, carries out certain compensation to known wind speed and direction
Strategy can improve the tracking accuracy of system, increases the stability of system.In sparrow fall technology, implement sparrow fall operation first have to by
Paraglider system alignment impact point against the wind, and the most drop-down parafoil trailing edge flap is to maximum lower deviator, increases the wing with moment
The ascending aorta banding of umbrella, quickly reduces the speed of paraglider system, protection load grease it in.Based on above reason, wind field identification
Research steerable parasail delivery system and Powered parafoil system are had practical significance.
At present the wind speed and direction acquisition methods of wind field is broadly divided into device measuring and model prediction two kinds.The latter mainly uses
In the research of the mean wind speed wind direction such as weather forecast and wind power plant, such as, the history meteorological data of wind power plant is carried out
Modeling and analysis, the overall wind direction in can predicting a period of time and wind conditions, for the deployment of wind-driven generator with towards carrying
For instructing, but the mean wind speed wind direction that obtains of the method can not meet Powered parafoil system and go home and Trajectory Tracking Control is in real time
The requirement of wind field information.Device measuring has preferable real-time by contrast.Pitot is that the high-speed aircrafts such as aircraft are commonly used
The device that tests the speed, it is possible to achieve measuring wind speed, but inapplicable for Powered parafoil system that speed is relatively low, and can not obtain
Wind direction information.The external a kind of GPS of utilization proposed and gyroscope, should to the method measuring paraglider system local environment wind speed and direction
Method utilize the dynamic characteristic of paraglider system and paraglider system flying speed over the ground and yaw angle come identification wind field wind speed and
Wind direction.But the load of paraglider system and parafoil itself are that one flexibly connects, and have relative motion, the yaw angle that gyroscope is surveyed
Degree and paraglider system heading have certain deviation, and therefore measurement result has bigger deviation, and certainty of measurement is poor.
Summary of the invention
It is an object of the invention to provide one and carry out online wind according to GPS location data and Powered parafoil system dynamic characteristic
The method of identification, it is achieved Dynamic Identification to the wind speed and direction of wind field during Powered parafoil system flight, to realize height
Precision track following and sparrow fall are landed.
For achieving the above object, the present invention adopts the following technical scheme that
The discrimination method of Powered parafoil air-drop wind field, the method comprises the following steps:
1st step, according to GPS location data calculate current power paraglider system flying speed.
The real-time flight speed of Powered parafoil system is calculated by GPS location data and obtains.At Powered parafoil flight course
In, the position location data of GPS locating module collection is carried out real time record, if the longitude and latitude of double GPS location data
For P1And P2, the most now the horizontal flight speed of Powered parafoil system is
V=(P2-P1)·f (1)
In formula, V represents the horizontal flight speed of Powered parafoil system, including warp-wise, the velocity component of broadwise both direction.f
Represent the sample frequency of GPS locating module.
2nd step, horizontal flight speed to Powered parafoil system are filtered processing.
GPS locating module is in operation and can cause certain position error because of reasons such as noises, obtains so calculating in the 1st step
The Powered parafoil system level flying speed obtained also comprises control information, is one group of measurement sequence comprising noise.In order to filter
Noise signal, obtains smoothing more really rate signal, needs to enter the horizontal flight speed of the Powered parafoil system obtained
Row filtering processes.In filtering, horizontal flight speed V of Powered parafoil system is divided into warp-wise speed VxWith broadwise speed
VyKalman filter is used to be filtered processing respectively.
3rd step, wind field identification
According to Powered parafoil system and the relative velocity of air, the relative velocity on Powered parafoil system and ground and wind speed it
Between vector correlation, wind field is carried out identification.Identification result is the wind direction of wind field and wind speed divides in the speed of warp-wise and broadwise
Amount.For realizing real-time and the stability of wind field identification, the least square method of band forgetting factor is introduced wind field identification process；Logical
Cross least square method of recursion identification and the identification result of wind field is carried out online updating.Concrete steps include:
1) power wing is calculated according to the horizontal velocity of Powered parafoil system at the filter result of warp-wise and broadwise velocity component
Horizontal velocity size after umbrella system filter；
2) wind speed and direction is entered by the horizontal velocity by Powered parafoil system and the velocity component in warp-wise and broadwise thereof
Row identification；
3) wind field identification result is updated.
Powered parafoil system air-drop wind field discrimination methods based on GPS location data need not increase volume on original system
External equipment, it is only necessary to based on the data of GPS location, in conjunction with Powered parafoil system dynamic characteristic in wind field, use recursion
Least squares identification wind speed is the component of each reference axis under horizontal coordinates, wind field is carried out real-time online identification, has relatively
Good economy and practicality.
The theory deduction process of the inventive method:
1, Powered parafoil system wind field identification principle
Powered parafoil system under Wind, its relatively face movement speed can be varied from, according to Powered parafoil system
The kinetic characteristic of system, is decomposed into wind speed and Powered parafoil system relative to air speed by Powered parafoil relative to the flying speed on ground
The vector of degree.As it is shown in figure 1, Powered parafoil system is that wind speed is relative with Powered parafoil system empty relative to the flying speed on ground
The vector of gas speed.
In figure, Ψ represents Euler's yaw angle, and β represents yaw angle, V0Represent the Powered parafoil system speed relative to air,
I.e. air speed, VWRepresenting wind speed, V represents the Powered parafoil system speed relative to the earth, i.e. ground velocity.Ground velocity is can be positioned by GPS
The actual speed that module records.From figure 1 it appears that V0、VWA triangle of velocity vectors is formed with V.χ0、ΨWDivide with χ
It is not V0、VWAngle with V Yu direct north.
Kinetic characteristic according to Powered parafoil, it can be assumed that the air speed of wind speed and paraglider system keeps constant, by figure
Vector correlation can obtain:
In formula, x and y represents two reference axis of level right angle coordinate system respectively, is respectively directed to due east and direct north, Vx
And VyRepresent that Powered parafoil ground velocity V is at x-axis and the component of y-axis both direction respectively.VWxAnd VWyRepresent that wind speed is at x-axis and y respectively
Axial component.
Two parts in formula (2) are carried out square summation, obtain equation:
Choosing 3 points in Powered parafoil track, the ground speed calculating the Powered parafoil system obtained is respectively V1、V2
And V3.One group of equation is obtained according to formula (3):
V in formula (4)xiAnd VyiRepresent speed V respectivelyiComponent (i=1,2,3) in x-axis and y-axis.
From it is assumed above that, the V in formula0And VWKeep constant, speed V, VxAnd VyCan be calculated by gps data and obtain
, therefore three equatioies in formula (4) are subtracted each other successively, can obtain:
So far, wind field identification problem becomes the common problem solving linear equation in two unknowns group.Solution of equations is:
It is pointed out that in equation set (4), two groups of equatioies are identical when parafoil linearly navigates by water, it is impossible to wind field is carried out
Identification, therefore data point must select in parafoil turning path, i.e. needs the Powered parafoil system of selection in guarantee formula (4)
Ground velocity V1、V2And V3Direction and vary in size.
2, the real-time update of wind field identification result
Single calculation result is limited by GPS positioning precision, and result has contingency, there is certain error, in order to
Improve the precision and stability of wind field identification result, the present invention introduces least square method of recursion identification result is changed online
In generation, updates.
If
Y (k)=(V (k)2-V(k-1)2)/2 (7)
θ (k)=[VWx(k) VWy(k)]T (9)
In formula (7)-(9), (k) represents the variable value in the k moment, and (k-1) represents the value in a front sampling time in k moment.Then
Equation in equation set (5) all can be rewritten as:
Shown in wind field prediction recurrence formula such as formula (11) with forgetting factor:
In formula, λ represents forgetting factor, and θ (k) represents that the wind field identification result in k moment, K (k) and P (k) represent least square
Method is at the intermediate variable in k moment.
3, the filtering of Powered parafoil system flight speed processes
Being a complicated process owing to GPS locating module carries out positioning, disturbing factor is complicated and cannot all avoid,
Calculated the Powered parafoil system ground speed that obtains by GPS location data and process needing to be filtered before wind field identification,
To improve the precision of wind field identification.
Kalman filtering algorithm is the filtering algorithm being most widely used in navigation field.Selection card Germania the most of the present invention
Filtering algorithm is as the preprocess method of Powered parafoil system flight velocity information.In Kalman filtering algorithm, system mode
Equation with measuring equation is:
Xk=Φk|k-1Xk-1+Γk-1Wk-1 (12)
Zk=HkXk+Vk (13)
X in formulakFor the state matrix of Powered parafoil system, Φk|k-1For the state-transition matrix in k-1 moment to k moment,
Γk-1For the noise transfer matrix in k-1 moment, Wk-1For system noise, ZkFor systematic survey vector, HkFor systematic survey matrix, Vk
Represent system noise.Noise characteristic is described as E (Wk)=q, E (Vk)=r, E (WkWi T)=Q δi, E (VkVi T)=R δi, wherein q and
R is respectively Wk-1And VkAverage, R and Q is respectively Wk-1And VkCovariance, δiFor Kronecker function.
Kalman filtering algorithm is described as:
Xk|k-1=Φk|k-1Xk-1+Γk-1q (14)
εk=Zk-HkXk|k-1-r (15)
Xk=Xk|k-1+Kkεk (18)
Pk=[I-KkHk]Pk|k-1[I-KkHk]T (19)
Advantages of the present invention and good effect:
1, the inventive method need not increase extras on original system, it is only necessary to the GPS of Powered parafoil system
Based on the data of location, in conjunction with Powered parafoil system kinetic characteristic in wind, can realize dropping the most accurate of wind field
Identification, has preferable economy and practicality.
2, the flying speed of Powered parafoil system is filtered processing by the present invention by Kalman filtering algorithm, reduces
GPS positions the noise impact on wind field identification result, improves wind field identification precision.
3, the present invention carries out real-time online renewal by the least square method of recursion of band forgetting factor to wind field identification result,
Avoid the accidental error of the identification result that each time point independently calculates, add the accuracy of wind field identification result with effective
Property.
4, the present invention to Powered parafoil system air-drop wind field identification result can be used for Powered parafoil system track optimization,
Track In Track controls and sparrow fall controls, and improves track optimization effect, increases the stability that Powered parafoil system is flown in wind field,
Guaranteeing the contrary wind landing steady near peace that sparrow fall controls, the development and application to Powered parafoil system has important engineer applied
It is worth.
Accompanying drawing explanation
Fig. 1 Powered parafoil system wind field identification principle figure.
Fig. 2 wind field identification flow chart
Fig. 3 Powered parafoil system is at constant wind horizontal trajectory after the match.
Fig. 4 Powered parafoil system is at constant wind ground speed after the match.
Fig. 5 Powered parafoil system is at constant wind wind field identification result after the match.
Fig. 6 Powered parafoil system horizontal movement track under prominent wind environment.
Fig. 7 Powered parafoil system identification result under prominent wind environment.
Fig. 8 Powered parafoil system horizontal movement track in Variable Wind Field.
Fig. 9 Powered parafoil system identification result to Variable Wind Field.
Figure 10 Powered parafoil system follows the tracks of horizontal trajectory during circular reference track.
Figure 11 Powered parafoil system follows the tracks of wind field identification result during circular reference track.
Figure 12 Powered parafoil system landing mission horizontal trajectory.
The identification result of Figure 13 Powered parafoil system landing wind field.
Detailed description of the invention:
In emulation, the GPS module sample frequency of simulation is 4Hz, is ground velocity according to the paraglider system speed that gps signal obtains
Component in x-axis and y-axis, so selecting the expansion state observation wave filter of second order to divide ground velocity component in x-axis and y-axis
It is not filtered processing.The identification flow process of Powered parafoil system air-drop wind field is as shown in Figure 2.
Embodiment 1: single lower control partially (emulation 1)
(1) Powered parafoil system is in constant wind wind field identification after the match
Partially control under the list of Powered parafoil system circumferentially to move under windless condition, the radius of circumference and lower deviator size
Relevant.When add wind field affect time, Powered parafoil track under the effect of wind field along wind field direction skew.
Fig. 3 shows at VWDuring the wind field of=(12) m/s, Powered parafoil system is the level under inclined 40% control action under list
Track.The parameter of Powered parafoil system is shown in Table 1.
Table 1 Powered parafoil systematic parameter
Can be seen that from Fig. 3 and Fig. 4 Powered parafoil system is threadingly advanced along wind direction, its ground speed is along with its flight side
To the difference with wind direction angle in cyclically-varying.
1) Powered parafoil system flight speed is calculated
For more closing to reality situation, sample frequency and the positioning precision of simulation process simulation GPS carry out information gathering,
The sample frequency of GPS locating module is 4Hz, and position root-mean-square difference is 1.2m.(if x (k-1), y (k-1)) and (x (k), y (k))
Represent respectively and on Powered parafoil system flight track, put the coordinate in horizontal plane projection, sample frequency be 4Hz, obtain power wing
The velocity component V being engraved in during umbrella system k in x-axis and y-axisx(k) and Vy(k) be:
Vx(k)=4 (x (k)-x (k-1)) (22)
Vy(k)=4 (y (k)-y (k-1)) (23)
Such that it is able to flying speed V (k) obtaining Powered parafoil system is:
Fig. 4 is Powered parafoil system movement velocity when being affected by wind field under inclined state under list.
2) filtering of Powered parafoil system level speed processes
The noise statistics information of the precision setting Kalman filter of GPS locating module accordingly is right according to formula (12)-(19)
The flying speed of Powered parafoil system is filtered, and the flying speed obtaining filtered Powered parafoil system isCorresponding x
The velocity component of axle and y-axis isWith
3) wind field identification
By Powered parafoil system flight speed after filtering at x-axis and the velocity component of y-axisWithSubstitution formula
(7)-(10), utilize the least square method of recursion of band forgetting factor to be iterated wind field identification result updating.
Under one side inclined time Powered parafoil system when stable wind field Dynamic Identification result be presented in Fig. 5.
As shown in Figure 5, owing in identification algorithm, the forgetting factor primary condition of least square method is set to 0, so
The identification result of starting stage is in concussion state, belongs to invalid data.Wind direction identification result before 30s and true wind direction
Farther out, after 30s, identification result reaches stable state, only fluctuates up and down around true wind angle under noise contributions in deviation.
The identification result maximum deflection difference value of wind direction is 3.5 °, and mean absolute error reaches 0.93 °.Fig. 5 again shows that, the identification knot of wind speed
Fruit reaches stable after through certain time, and compared with the identification result of wind direction, the stabilization time of wind speed identification result is the longest,
Just reaching stable after 40s, during 40s, the error of wind speed identification is 0.14m/s.After wind speed identification result is stable, error is in
Less scope, worst error reaches 0.13m/s when 182s, and the mean absolute error of wind speed is 0.04m/s.
Under result in Fig. 5 shows that the method makes Powered parafoil system partially act under list, distinguished during by stablizing wind field
Know result ideal, wind speed and direction all has higher identification precision.
(2) Powered parafoil system wind field identification in prominent wind
Wind field in actual environment, in addition to stable component, also includes turbulent and prominent wind, to the wind field identification side carried
When method is estimated, need to consider the prominent wind impact on identification result.The initial value of simulated environment Wind Field is set as VW=(2
4) m/s adds V in the 75s momentWThe prominent wind of=(0-2) m/s, constant wind superposition dash forward wind time paraglider system movement locus exist
Fig. 6 is given.
Due to the change of initial wind field setting value, the speed that the horizontal movement track of paraglider system moves along wind direction increases,
The intersection of the movement locus of each circle reduces.Now wind direction and wind speed identification result are presented in Fig. 7.
It can be seen from figure 7 that the identification result of wind direction is affected less by prominent wind.Wind direction is predicted after adding prominent wind from standard
Really identification reduces 5.1 °, and after 90s dashes forward wind effect disappearance, identification wind direction result increases subsequently, is kept above actual wind direction
The result that angle is 3 ° lasts till 129s, retrieves the accurate recognition result to wind angle afterwards.
The identification result of wind speed is affected relatively big by prominent wind, and the trend of identification result is identical with wind vector, adds at prominent wind
Moment starts identification air speed value and declines, and at most have dropped 0.16m/s, and after prominent wind disappears, the air speed value of identification rises rapidly,
Big error has reached 0.32m/s, and prominent wind lasts till 125s to the impact of wind speed identification result.
(3) Variable Wind Field impact on identification result
The wind field discrimination method that the present invention is carried use the least square method of band forgetting factor wind field is distinguished in real time
Knowing, when identification process Wind Field changes, identification result remains to the wind field after change is produced preferable identification effect.
The initial value of simulated environment Wind Field is set as VW=(1 2) m/s, changes wind field into V in the 100s momentW=(1
3)m/s.Identification mode is inclined 50% free flight under paraglider system one side.
Fig. 8 is paraglider system horizontal movement track in Variable Wind Field.
As can be seen from Figure 8, paraglider system movement velocity along wind direction in initial wind field is less, the wind when the 3rd circle
Field changes, and wind speed component on the y axis is become 3m/s from 2m/s, then the speed that paraglider system moves with wind field increases, rotation
Turn the 3rd circle time interior drift distance in y-axis direction more than variable quantity during the second circle.
Wind speed, the identification result of wind direction are shown in Fig. 8.
Fig. 8 shows, paraglider system achieves the wind speed and direction to non-Variable Wind Field after 40s and achieves high accuracy
Stablize identification.After 100s Wind field variety, the identification result of wind direction has reached stable within 20s, and does not occurs bigger
Fluctuation.Owing to new identification result is to continue computing on the basis of former result to obtain, so wind direction during wind field change
Identification result error change is less, and worst error value occurs in 107s, and error amount is 7.2 °.
For the identification result of wind speed, as can be seen from Figure 8, the wind field required time after paraglider system picks out change
Shorter than picking out the wind field used time from original state, after wind field changes, 20s just achieves reasonable wind speed identification result, but
And the Identification Errors of about 0.3m/s between actual value is until 155s is just eliminated.After 155s, the wind speed identification of paraglider system
Result fluctuates around the little scope of true wind speed, reaches more satisfactory state.
Simulation analysis shows, paraglider system inclined free flight can realize accurately distinguishing of the wind speed and direction to wind field under list
Know, and identification required time is less than the time needed for paraglider system moves one week.From simulation result it can be seen that paraglider system
The identification effect of wind direction is better than the identification effect to wind speed, obtains stable wind direction required time by identification short, at wind direction
Quickly tracking can be realized in the case of little error when changing.
Embodiment 2: the wind field identification (emulation 2) during Trajectory Tracking Control
Paraglider system under list under inclined state wind field identification precision ideal, but the fortune of paraglider system in some cases
Dynamic region is restricted, and does not allow it to fly with the wind under inclined state under list, it is therefore desirable to consider that paraglider system is in slave mode
Under wind field identification.
Previous section describes the control method of paraglider system track reference track, and paraglider system can be in linear active disturbance rejection
Follow the tracks of circular trace under the manipulation of controller, follow the tracks of the method for circular trace by the motion of paraglider system by controlling paraglider system
Region is limited in certain scope.Figure 10 is paraglider system VWThe wind field of=(1 2) m/s is followed the tracks of fixed high circular trace collection
Floor projection track during wind direction Identification Data, the radius of reference locus is 150m.
Figure 10 and Figure 11 is paraglider system identification result when following the tracks of circular trace in wind field.
In the result that Figure 11 shows, due to the shadow of the highly controlled middle thrust variation of the motion state of paraglider system
Ringing, the fluctuation that the identification result of wind field produces after stabilization is more than single lower situation about partially handling.The maximum of wind direction identification result
Being 5 °, mean absolute error is 2.3 °.
Wind speed identification result in Figure 11 has also showed that bigger error, the wind speed identification result one after 80s
Straight less than true air speed value.The worst error of the wind speed identification result after Wen Ding is 0.15m/s, and the average absolute value of error is than single
Increase more time the most inclined, reached 0.08m/s.
Simulation result shows, paraglider system can realize the high accuracy identification to wind field when following the tracks of circular trace.
Embodiment 3: the wind field identification (emulation 3) of Powered parafoil system landing period
Powered parafoil system partially or can go out residing wind field with accurate recognition by the way of following the tracks of circular trace under single
Wind speed and direction, wind field information Powered parafoil is gone home control, track following and sparrow fall operation all there is important effect.This
Embodiment is as a example by the Landing Control of Powered parafoil system, and wind field is entered by the mode following the tracks of circular trace first with Powered parafoil
Row identification, carries out being directed at against the wind and implement to land subsequently.
Figure 12 and Figure 13 represents the horizontal trajectory of landing mission, wind field identification result.Stable wind field added in system is vowed
Amount is Vw=(0 3) m/s.
It can be recognized from fig. 12 that the reference locus radius of Powered parafoil system is 150m, under the effect of wind field, power wing
The ultimate range of the horizontal trajectory deviation circular reference track of umbrella system is 8.1m, maintains preferably in wind direction identification process
Track following effect.
Removing Powered parafoil system alignment and landing times against the wind, the effective time that can be used for wind direction identification is 130s.From
In Figure 13 it can be seen that the identification result of wind speed when 20s close to actual value, wind direction identification result distinguishing in the 20s moment
Knowing error is 8.4 °, reaches more satisfactory state.Powered parafoil system rotates a circle time-consuming 69s from initial position, thus may be used
Know and can realize the accurate recognition to wind direction, the wind in 69s moment in Powered parafoil system surrounding target rotates a circle the time
Being 0.63 ° to Identification Errors, the error of wind speed identification result is 0.004m/s, and identification precision is higher.As shown in figure 12, power wing
Umbrella system, after obtaining wind direction identification result, continues track reference track and realizes turning to turning point.Due to Powered parafoil system
Right-angled bend can not be realized, so suitably by turning point position in advance, emulation selects the position of distance y-axis 75m on reference locus
Put as track switching point.After track is switched to be directed at against the wind, Powered parafoil system gradually controls to reduce height, attached at impact point
Nearly landing, landing point distance objective point 7.1m.
Claims (4)
1. a discrimination method for Powered parafoil system air-drop wind field, is characterized in that, comprise the following steps:
(1) according to GPS location data calculating current power paraglider system flying speed:
The real-time flight speed of Powered parafoil system is calculated by GPS location data and obtains；In Powered parafoil flight course, right
The location data of GPS locating module collection carry out real time record, if the longitude and latitude of double GPS location data is P1And P2, then
Now Powered parafoil system level flying speed is
V=(P2-P1)·fk (1)
In formula, V represents the horizontal flight speed of Powered parafoil system, can be analyzed to warp-wise, the velocity component of broadwise both direction；f
Represent the sample frequency of GPS locating module；K represents longitude and latitude and the conversion coefficient being converted to m, earth radius calculate and obtain；
(2) the horizontal flight speed to Powered parafoil system is filtered processing:
GPS locating module is in operation can be because self-noise reason produces certain position error, so calculating in step (1)
The horizontal flight speed of the Powered parafoil system obtained there is also error, is one group of measurement sequence comprising noise；Make an uproar for filtering
Acoustical signal, obtains smoothing more really rate signal, needs to be filtered processing to the horizontal flight velocity information obtained；
(3) wind field identification:
According between Powered parafoil system and the relative velocity of air, Powered parafoil system and the relative velocity on ground and wind speed
Vector correlation, carries out identification to wind field；Identification result is that the wind direction of wind field and wind speed are at warp-wise and the velocity component of broadwise；
(4) repeat step (1) to (3), wind field identification result is carried out online real-time update.
2. the discrimination method of Powered parafoil system air-drop wind field as claimed in claim 1, is characterized in that, in described step (2)
To the filter processing method of Powered parafoil system level speed it is: the Powered parafoil system level speed that will calculate in step (1)
It is decomposed in warp-wise speed VxWith broadwise speed Vy, use Kalman filter to be filtered processing respectively.
3. the discrimination method of Powered parafoil system air-drop wind field as claimed in claim 1, is characterized in that, described step (3) is right
Wind field carries out identification and includes step in detail below:
1) Powered parafoil system is calculated according to the horizontal velocity of Powered parafoil system in the aluminium foil result of warp-wise and broadwise velocity component
Unite filtered horizontal velocity size；
2) wind speed and direction is distinguished by the horizontal velocity by Powered parafoil system and the velocity component in warp-wise and broadwise thereof
Know；
3) wind field identification result is updated.
4. the discrimination method of Powered parafoil system air-drop wind field as claimed in claim 3, is characterized in that, in described step (3)
It is: according to wind field identification principle, for realizing real-time and the stability of wind field identification result that band is lost to the method for wind field identification
The least square method of recursion forgetting the factor introduces in wind field identification process；By least square method of recursion identification, the identification of wind field is tied
Fruit carries out online updating.
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| CN114237051A (en) * | 2021-12-16 | 2022-03-25 | 江苏理工学院 | Power parafoil height control method based on fractional order sliding mode backstepping method |
| CN114740762A (en) * | 2022-05-07 | 2022-07-12 | 南开大学 | Power parafoil semi-physical simulation system based on active-disturbance-rejection decoupling control strategy |
| CN116306333A (en) * | 2022-12-09 | 2023-06-23 | 中国能源建设集团广东省电力设计研究院有限公司 | Aerodynamic evaluation method and system for high-altitude wind energy capture device |
| CN116306333B (en) * | 2022-12-09 | 2023-10-20 | 中国能源建设集团广东省电力设计研究院有限公司 | Aerodynamic evaluation method and system for high-altitude wind energy capture device |
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