CN108152529A - A kind of method based on flight parameter calculation of wind speed and wind direction - Google Patents

A kind of method based on flight parameter calculation of wind speed and wind direction Download PDF

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Publication number
CN108152529A
CN108152529A CN201711064897.4A CN201711064897A CN108152529A CN 108152529 A CN108152529 A CN 108152529A CN 201711064897 A CN201711064897 A CN 201711064897A CN 108152529 A CN108152529 A CN 108152529A
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speed
wind
coordinate system
air
angle
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曹世坤
李锐
冯文梁
李涛
陈斌
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Chengdu Aircraft Industrial Group Co Ltd
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Chengdu Aircraft Industrial Group Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P13/00—Indicating or recording presence, absence, or direction, of movement
    • G01P13/02—Indicating direction only, e.g. by weather vane

Abstract

The present invention relates to wind-force and the detection field of wind direction, more particularly to the method based on flight parameter calculation of wind speed and wind direction, wind speed is calculated according to the vector correlation between wind speed, air speed and ground velocity, needs to use the flight parameters such as air speed, ground velocity, attitude angle and Pneumatic angle in wind speed solution procedure.Static pressure, dynamic pressure and the resolving of static temperature applied fluid mechanics principle that air speed is obtained by airborne pitot measurement show that ground velocity show that Pneumatic angle can directly be measured by airborne angle sensor by the integrated navigation system resolving of unmanned plane.The method of use is vector triangle method, i.e., forming vector triangle relationship to the relative velocity vector of air with unmanned plane according to wind vector, the proper velocity vector of unmanned plane over the ground at unmanned plane barycenter solves wind speed.This method easy to use and flexible, can region greatly continuously measure, estimation frequency it is relatively high, the dimensional wind information of small dimensional variation can be calculated, so as to for unmanned plane flight control high-precision real-time Wind parameters in wind is provided.

Description

A kind of method based on flight parameter calculation of wind speed and wind direction
Technical field
The present invention relates to the detection field of wind-force and wind direction more particularly to the side based on flight parameter calculation of wind speed and wind direction Method.
Technical background
Unmanned plane is widely used in military domain or civil field at present, and in unmanned plane during flying Wind parameters in wind (wind speed size, wind direction) influences whether takeoff and landing performance, cruise performance and flight control etc. in the process, therefore Wind parameters in wind can be measured in real time in flight phase of unmanned vehicle, it can be to the raising of the flying quality of unmanned plane and flight track Control is advantageous, it is ensured that unmanned plane during flying safety.Wind speed is space vector, with traditional measuring device (such as balloon, anemobiagraph) Directly measuring wind speed, there are the conditions limitations such as measurement result spatial spreading, measurement accuracy be low, and airborne measuring wind speed technology can not It is limited by general condition, advantage is had more in terms of wind speed is surveyed.
The means of airborne measurement wind speed mainly have horizontal velocity return-to-zero method, dead reckoning, vector triangle method etc. at present. Horizontal velocity return-to-zero method can be the radius inside turn flight of horizontal plane very little the characteristics of using unmanned plane, orbit one It encloses, for relative atmospheric, it is zero that aircraft, which has returned to the sum of same point, horizontal velocity vector, and average level wind speed is put down equal to aircraft Horizontal ground velocity.This method biggest advantage is that measuring apparatus is simple, it is higher to survey wind speed precision, and error is less than 1m/s, but surveys Wind speed method is cumbersome, and the fixed point being appropriate only under conventional occasion surveys wind speed, is not suitable for long endurance, big region performs reconnaissance mission Unmanned plane surveys wind speed.Its basic thought of dead reckoning is according to three kinds of relative motion, transport motion and absolute movement movements Vector modulation relationship, by the unmanned plane that the unmanned plane absolute movement position of measurement and dead reckoning obtain relative to air cloud cluster Relative position, the wind field as transport motion is resolved.Dead reckoning is only applicable to the unmanned plane of low cost configuration Survey wind speed, it is only necessary to less sensor measurement element, but its resolving frequency is relatively low, and survey wind speed precision is poor, the wind of acquisition Field information is not comprehensive enough.
It is in the prior art 2016108132493 there is also the invention of measurement of correlation wind speed and direction, such as number of patent application, Shen Please day be 2016.09.10, a kind of entitled patent application of the speed and wind direction measuring method for wind based on ultrasonic resonance principle, skill Art scheme is by transmitting of the ultrasound in resonant cavity and receives come accurate calculation of wind speed wind direction；As number of patent application is The invention Shen of the method for 2009102600860, applying date 2009.12.24, a kind of entitled anemometer and measurement wind speed and direction Please, it discloses a kind of method for measuring wind speed and direction, equally wind speed and direction is measured using ultrasonic wave.For another example patent Shen Please be number for 201010102257X, applying date 2010.1.27, entitled high-altitude sky-parking aircraft wind speed and direction real-time measuring side The patent application of method and device, this method are made of measuring device and wind speed and direction extraction algorithm, can reliably extract wind speed and wind To information.More than patent is compared, this patent is more focused on the computational methods of wind speed and direction, and this method is suitable for large-scale unmanned plane section It grinds and takes a flight test, shapes the stages such as take a flight test, ultrasonic wave is not used to carry out wind speed and direction measurement, does not need to install other additional on unmanned plane What measuring apparatus, but the flight parameter that the various sensors and integrated navigation system according to entrained by unmanned plane itself provide, It calculates local wind speed and direction real-time during unmanned plane during flying, can be provided for the flight of unmanned plane control higher The real-time Wind parameters in wind of precision, and then allow ground monitoring personnel that can understand each stage state of flight of unmanned plane in real time, and make Corresponding control, so as to ensure unmanned plane during flying safety.At present through the multiple Flight Test application verification of certain type unmanned plane, this method Survey wind performance accurately and reliably.
Invention content
Unmanned plane can not directly be measured in order to make up unmanned aerial vehicle onboard sensor in the prior art to take off, climbing, patrolling The technological gap of local wind speed and direction in real time in the mission phases such as boat, downslide, landing, present invention offer one kind is based on flight ginseng The method of number calculation of wind speed and wind direction.
A kind of method based on flight parameter calculation of wind speed and wind direction, it is characterised in that：According to wind speed, air speed and ground velocity it Between vector correlation calculate wind speed, need to use the flights such as air speed, ground velocity, attitude angle and Pneumatic angle in wind speed solution procedure Parameter.Static pressure, dynamic pressure and the static temperature applied fluid mechanics principle that air speed is obtained by airborne pitot measurement, which resolve, to be obtained, ground velocity Show that Pneumatic angle can directly be measured by airborne angle sensor by the integrated navigation system resolving of unmanned plane.
According to the wind vector V at unmanned plane barycenterw, the proper velocity vector V of unmanned plane over the ground, i.e. ground velocity, with nobody Machine is to the relative velocity vector V of airk, i.e. air speed forms vector triangle relationship：V=Vk+VwSolve wind speed.
First by air speed VkBody coordinate system is transformed into from air path axis system, reconvert to earth axes is finally converted To east northeast day navigational coordinate system, transformational relation is as follows：
rb=Lbara=(Lab)T ra
Wherein, r represents vector, Lab、LbaTransposed matrix each other, ra、rbIt is illustrated respectively in air path axis system, body coordinate system Under vector, LabFor the transition matrix of air path axis system to body coordinate system,
The transformational relation of body coordinate system and earth axes is as follows：
rg=Lgbrb=(Lbg)Trb
Similarly, r represents vector, Lbg、LgbTransposed matrix each other, rgRepresent the vector under earth axes, LbgFor body Coordinate system to earth axes transition matrix,
From transition matrix it is found that the solution of wind speed removes known ground velocity V and air speed VkOutside, it is also necessary to the gas of known aircraft flight Dynamic angle (angle of attack, yaw angle β) and attitude angle (pitching angle theta, roll angle φ, yaw angle ψ).
The following detailed description of the solution procedure of this method：
(1) by air speed VkBody coordinate system is transformed into from air path axis system, input flight parameter has angle of attack (°), yaw angle β (°) according to the transition matrix between air path axis system and body coordinate system, can obtain
Vkb=(Lab)TVka, i.e.,
Wherein, Vkxa、Vkya、VkzaAir speed V is represented respectivelykThree components under air path axis system, Vkxb、Vkyb、VkzbPoint It Biao Shi not air speed VkThree components under body coordinate system.Due to the Ox in air path axis systemaAxis is directed toward the sky of aircraft always Fast direction, therefore Vkya=Vkza=0, it can thus be appreciated that：
Do not considering that pitot deformation and pressure tap are devious, it is along Ox that pitot, which measures air speed,bAxis side To speed, i.e. VkxbFor the true air speed V in flight parametert(m/s), therefore
(2) by air speed VkEarth axes are transformed into from body coordinate system, input flight parameter has pitching angle theta (°), rolling Angle φ (°), yaw angle (course angle) ψ (°) according to the transition matrix between air path axis system and body coordinate system, can obtain
Vkg=(Lbg)TVkb, i.e.,
Wherein, Vkxg、Vkyg、VkzgAir speed V is represented respectivelykThree components under earth axes, therefore：
(3) by air speed VkEast northeast day navigational coordinate system is transformed into from earth axes, is led by earth axes and east northeast day Navigate coordinate system definition it is found that
Wherein, VK north、VK east、VK daysAir speed V is represented respectivelykThree components under east northeast day navigational coordinate system.
(4) wind speed under east northeast day navigational coordinate system is calculated, input flight parameter has north orientation speed VNorth(m/s), east orientation Speed VEast(m/s), sky orientation speed VMy god(m/s), i.e. the component in ground velocity V three directions under east northeast day navigational coordinate system.By V=Va +VwIt can obtain
Vw=V-Va, i.e.,
So
Wind speed size at this timeWind direction can be by wind speed in east northeast day navigational coordinate system Under three component VW north、VW east、VW daysIt is obtained.
The beneficial effects are mainly as follows：
1st, the method that the present invention uses is vector triangle method, i.e., according to the wind vector V at unmanned plane barycenterw, nobody The proper velocity vector V (i.e. ground velocity) of machine over the ground is with unmanned plane to the relative velocity vector V of airk(i.e. air speed) forms vector three Angular relationship：V=Vk+Vw(unmanned plane surveys the basic principle of wind speed) solves wind speed.This method easy to use and flexible, can big region Continuous to measure, estimation frequency is relatively high, can calculate the dimensional wind information of small dimensional variation, so as to flying for unmanned plane Row control provides high-precision real-time Wind parameters in wind.
2nd, the invention has the advantages that easy to use and flexible, can region greatly continuously measure, estimation frequency it is relatively high, The dimensional wind information of small dimensional variation can be calculated, is verified through the multiple Flight Test of certain type unmanned plane, surveys wind dependable performance, Meet design needs.Use this method that can provide the real-time Wind parameters in wind of degree of precision for the flight control of unmanned plane, and then It allows ground monitoring personnel that can understand each stage state of flight of unmanned plane in real time, and makes corresponding control, so as to ensure nobody Machine flight safety.
Description of the drawings
The present invention is further described with implementation steps below in conjunction with the accompanying drawings.
Fig. 1 is ground velocity V and air speed V when having windaBetween relationship.
Fig. 2 is the relationship of air path axis system and body coordinate system.
Fig. 3 is the relationship of body coordinate system and earth axes.
Fig. 4 is the flow chart that this method solves wind speed.
Specific embodiment
Embodiment 1
A kind of method based on flight parameter calculation of wind speed and wind direction, it is characterised in that：According to wind speed, air speed and ground velocity it Between vector correlation calculate wind speed, need to use the flights such as air speed, ground velocity, attitude angle and Pneumatic angle in wind speed solution procedure Parameter.Static pressure, dynamic pressure and the static temperature applied fluid mechanics principle that air speed is obtained by airborne pitot measurement, which resolve, to be obtained, ground velocity Show that Pneumatic angle can directly be measured by airborne angle sensor by the integrated navigation system resolving of unmanned plane.
Embodiment 2
A kind of method based on flight parameter calculation of wind speed and wind direction, it is characterised in that：According to wind speed, air speed and ground velocity it Between vector correlation calculate wind speed, need to use the flights such as air speed, ground velocity, attitude angle and Pneumatic angle in wind speed solution procedure Parameter.Static pressure, dynamic pressure and the static temperature applied fluid mechanics principle that air speed is obtained by airborne pitot measurement, which resolve, to be obtained, ground velocity Show that Pneumatic angle can directly be measured by airborne angle sensor by the integrated navigation system resolving of unmanned plane.
According to the wind vector V at unmanned plane barycenterw, the proper velocity vector V of unmanned plane over the ground, i.e. ground velocity, with nobody Machine is to the relative velocity vector V of airk, i.e. air speed forms vector triangle relationship：V=Vk+VwSolve wind speed.
First by air speed VkBody coordinate system is transformed into from air path axis system, reconvert to earth axes is finally converted To east northeast day navigational coordinate system, transformational relation is as follows：
rb=Lbara=(Lab)T ra
Wherein, r represents vector, Lab、LbaTransposed matrix each other, ra、rbIt is illustrated respectively in air path axis system, body coordinate system Under vector, LabFor the transition matrix of air path axis system to body coordinate system,
The transformational relation of body coordinate system and earth axes is as follows：
rg=Lgbrb=(Lbg)Trb
Similarly, r represents vector, Lbg、LgbTransposed matrix each other, rgRepresent the vector under earth axes, LbgFor body Coordinate system to earth axes transition matrix,
From transition matrix it is found that the solution of wind speed removes known ground velocity V and air speed VkOutside, it is also necessary to the gas of known aircraft flight Dynamic angle (angle of attack, yaw angle β) and attitude angle (pitching angle theta, roll angle φ, yaw angle ψ).
Embodiment 3
During this method Derivation, be related to the conversion of Common Coordinate, thus before method derives it is necessary to The definition of aircraft Common Coordinate is illustrated.Common Coordinate mainly includes air-flow coordinate, body coordinate in this method System and earth axes, wherein subscript a represent air path axis system, and subscript b represents body coordinate system, and subscript g represents ground coordinate System；In addition with non-common east northeast day navigational coordinate system.
Air path axis system Oxayaza：Air path axis system is also known as velocity coordinate system or wind axes.Its origin O is located at aircraft Barycenter, OxaAxis is directed toward the air speed direction of aircraft always；OzaAxle position is in symmetrical plane, perpendicular to OxaAxis, under direction；Oya Axis is perpendicular to OxazaPlane is directed toward right.
Body coordinate system Oxbybzb：Body coordinate system is a kind of moving axes for being fixed on aircraft and being moved with aircraft System.Since the coordinate system is the most frequently used, therefore usually it is reduced to Oxyz expressions.Its origin O is located at aircraft barycenter, OxbAxis is flying In row device symmetrical plane, it is parallel to the Average aerodynamic string of fuselage axis or wing, before direction；OzbAxis also in symmetrical plane, hangs down Directly in OxbAxis, under direction；OybAxis is directed toward right perpendicular to symmetrical plane.
Earth axes Ogxgygzg：Earth axes are integrally fixed at a kind of coordinate system of earth surface.Origin OgPositioned at ground Certain arbitrarily selected fixed point (such as aircraft takeoff point) of face, OgxgAxis is directed toward ground level direct north, OgzgAxis vertical is downward, Ogyg The vertical O of axisgxgzgPlane is determined by the right-hand rule.
When having wind, ground velocity V and air speed VkRelationship it is as shown in Figure 1.Ground velocity V is equal to air speed VkWith wind speed VwVector sum, i.e.,
V=Vk+Vw
Known ground velocity V and air speed V as a result,kWith regard to wind speed V can be solvedw.But due to the air speed V of aircraftkIn air-flow coordinate Under system, and ground velocity is under east northeast day navigational coordinate system, it is therefore desirable to by air speed VkIt is transformed under east northeast day navigational coordinate system, so as to Acquire the wind speed V under east northeast day navigational coordinate systemw。
This method emphasis carries out Derivation around the conversion of each coordinate system, first by air speed VkIt is converted from air path axis system To body coordinate system, reconvert to earth axes is finally transformed into east northeast day navigational coordinate system.Air path axis system is sat with body Relationship such as Fig. 2 of system is marked, transformational relation is as follows：
rb=Lbara=(Lab)T ra
Wherein, r represents vector, Lab、LbaTransposed matrix each other, ra、rbIt is illustrated respectively in air path axis system, body coordinate system Under vector, LabFor the transition matrix of air path axis system to body coordinate system,
The relationship of body coordinate system and earth axes such as Fig. 3, transformational relation are as follows：
rg=Lgbrb=(Lbg)Trb
Similarly, r represents vector, Lbg、LgbTransposed matrix each other, rgRepresent the vector under earth axes, LbgFor body Coordinate system to earth axes transition matrix,
From transition matrix it is found that the solution of wind speed removes known ground velocity V and air speed VkOutside, it is also necessary to the gas of known aircraft flight Dynamic angle (angle of attack, yaw angle β) and attitude angle (pitching angle theta, roll angle φ, yaw angle ψ).This is described in detail with reference to Fig. 4 The solution procedure of method：
(1) by air speed VkBody coordinate system is transformed into from air path axis system, input flight parameter has angle of attack (°), yaw angle β (°) according to the transition matrix between air path axis system and body coordinate system, can obtain
Vkb=(Lab)TVka, i.e.,
Wherein, Vkxa、Vkya、VkzaAir speed V is represented respectivelykThree components under air path axis system, Vkxb、Vkyb、VkzbPoint It Biao Shi not air speed VkThree components under body coordinate system.Due to the Ox in air path axis systemaAxis is directed toward the sky of aircraft always Fast direction, therefore Vkya=Vkza=0, it can thus be appreciated that：
Do not considering that pitot deformation and pressure tap are devious, it is along Ox that pitot, which measures air speed,b
The speed of axis direction, i.e. VkxbFor the true air speed V in flight parametert(m/s), therefore
(2) by air speed VkEarth axes are transformed into from body coordinate system, input flight parameter has pitching angle theta (°), rolling Angle W (°), yaw angle (course angle) ψ (°) according to the transition matrix between air path axis system and body coordinate system, can obtain
Vkg=(Lbg)TVkb, i.e.,
Wherein, Vkxg、Vkyg、VkzgAir speed V is represented respectivelykThree components under earth axes, therefore：
(3) by air speed VkEast northeast day navigational coordinate system is transformed into from earth axes, is led by earth axes and east northeast day Navigate coordinate system definition it is found that
Wherein, VK north、VK east、VK daysAir speed V is represented respectivelykThree components under east northeast day navigational coordinate system.
(4) wind speed under east northeast day navigational coordinate system is calculated, input flight parameter has north orientation speed VNorth(m/s), east orientation Speed VEast(m/s), sky orientation speed VMy god(m/s), i.e. the component in ground velocity V three directions under east northeast day navigational coordinate system.By V=Va +VwIt can obtain
Vw=V-Va, i.e.,
So
Wind speed size at this timeWind direction can be by wind speed in east northeast day navigational coordinate system Under three component VW north、VW east、VW daysIt is obtained.

Claims (4)

  1. A kind of 1. method based on flight parameter calculation of wind speed and wind direction, it is characterised in that：According between wind speed, air speed and ground velocity Vector correlation calculate wind speed, need to use the flights such as air speed, ground velocity, attitude angle and Pneumatic angle ginseng in wind speed solution procedure Number.Static pressure that air speed is obtained by airborne pitot measurement, dynamic pressure and the resolving of static temperature applied fluid mechanics principle obtain, ground velocity by The integrated navigation system resolving of unmanned plane show that Pneumatic angle can directly be measured by airborne angle sensor.
  2. 2. a kind of method based on flight parameter calculation of wind speed and wind direction according to claim 1, it is characterised in that：According to Wind vector V at unmanned plane barycenterw, the proper velocity vector V of unmanned plane over the ground, i.e. ground velocity, with unmanned plane to the phase of air To velocity vector Vk, i.e. air speed forms vector triangle relationship：V=Vk+VwSolve wind speed.
  3. 3. a kind of method based on flight parameter calculation of wind speed and wind direction according to claim 2, it is characterised in that：First By air speed VkBody coordinate system is transformed into from air path axis system, reconvert to earth axes is finally transformed into the navigation of east northeast day Coordinate system, transformational relation are as follows：
    rb=Lbara=(Lab)Tra
    Wherein, r represents vector, Lab、LbaTransposed matrix each other, ra、rbIt is illustrated respectively under air path axis system, body coordinate system Vector, LabFor the transition matrix of air path axis system to body coordinate system,
    The transformational relation of body coordinate system and earth axes is as follows：
    rg=Lgbrb=(Lbg)Trb
    Similarly, r represents vector, Lbg、LgbTransposed matrix each other, rgRepresent the vector under earth axes, LbgFor body coordinate It is the transition matrix to earth axes,
    From transition matrix it is found that the solution of wind speed removes known ground velocity V and air speed VkOutside, it is also necessary to the Pneumatic angle of known aircraft flight (angle of attack, yaw angle β) and attitude angle (pitching angle theta, roll angle φ, yaw angle ψ).
  4. 4. a kind of method based on flight parameter calculation of wind speed and wind direction according to claim 3, it is characterised in that：
    The following detailed description of the solution procedure of this method：
    (1) by air speed VkBody coordinate system is transformed into from air path axis system, input flight parameter has an angle of attack (°), yaw angle β (°), According to the transition matrix between air path axis system and body coordinate system, can obtain
    Vkb=(Lab)TVka, i.e.,
    Wherein, Vkxa、Vkya、VkzaAir speed V is represented respectivelykThree components under air path axis system, Vkxb、Vkyb、VkzbIt represents respectively Air speed VkThree components under body coordinate system.Due to the Ox in air path axis systemaAxis is directed toward the air speed side of aircraft always To, therefore Vkya=Vkza=0, it can thus be appreciated that：
    Do not considering that pitot deformation and pressure tap are devious, it is along Ox that pitot, which measures air speed,bThe speed of axis direction Degree, i.e. VkxbFor the true air speed V in flight parametert(m/s), therefore
    (2) by air speed VkEarth axes are transformed into from body coordinate system, input flight parameter has pitching angle theta (°), roll angle φ (°), yaw angle (course angle) ψ (°) according to the transition matrix between air path axis system and body coordinate system, can obtain
    Vkg=(Lbg)TVkb, i.e.,
    Wherein, Vkxg、Vkyg、VkzgAir speed V is represented respectivelykThree components under earth axes, therefore：
    (3) by air speed VkEast northeast day navigational coordinate system is transformed into from earth axes, by earth axes and east northeast day navigation coordinate The definition of system it is found that
    Wherein, VK north、VK east、VK daysAir speed V is represented respectivelykThree components under east northeast day navigational coordinate system.
    (4) wind speed under east northeast day navigational coordinate system is calculated, input flight parameter has north orientation speed VNorth(m/s), east orientation speed VEast(m/s), sky orientation speed VMy god(m/s), i.e. the component in ground velocity V three directions under east northeast day navigational coordinate system.By V=Va+VwIt can
    Vw=V-Va, i.e.,
    So
    Wind speed size at this timeWind direction can be by wind speed under east northeast day navigational coordinate system Three component VW north、VW east、VW daysIt is obtained.
CN201711064897.4A 2017-11-02 2017-11-02 A kind of method based on flight parameter calculation of wind speed and wind direction Pending CN108152529A (en)

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