CN108169511A - Three dimensions carrys out the wind velocity measurement system and method for wind - Google Patents
Three dimensions carrys out the wind velocity measurement system and method for wind Download PDFInfo
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- CN108169511A CN108169511A CN201810027623.6A CN201810027623A CN108169511A CN 108169511 A CN108169511 A CN 108169511A CN 201810027623 A CN201810027623 A CN 201810027623A CN 108169511 A CN108169511 A CN 108169511A
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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
- G01P5/24—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft by measuring the direct influence of the streaming fluid on the properties of a detecting acoustical wave
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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
- G01P13/00—Indicating or recording presence, absence, or direction, of movement
- G01P13/02—Indicating direction only, e.g. by weather vane
- G01P13/025—Indicating direction only, e.g. by weather vane indicating air data, i.e. flight variables of an aircraft, e.g. angle of attack, side slip, shear, yaw
Abstract
The present invention discloses wind velocity measurement system and method that a kind of three dimensions carrys out wind, and the wind velocity measurement system that the three dimensions carrys out wind includes：First ultrasonic sensor；Four the second ultrasonic sensors, each second ultrasonic sensor is using first ultrasonic sensor as origin O, in xoy planes, the first quaternary arc array of evenly distributed formation；Four third ultrasonic sensors, each third ultrasonic sensor is using first ultrasonic sensor as origin O, in yoz planes, the second quaternary arc array of evenly distributed formation；Data processor is connect respectively with each second ultrasonic sensor, each third ultrasonic sensor.The present invention carries out wind speed and direction detection by the array of ultrasonic sensors that a hair eight is received, no-rotary part, it is quick on the draw to the change of wind information, without mechanical wear, maintenance cost is low, and service life is long, and then is determined in three dimensions come the wind speed of wind, azimuth and pitch angle by data processor, quick and precisely, precision is high.
Description
Technical field
The present invention relates to three-dimensional survey wind technical field, more particularly to a kind of three dimensions come wind wind velocity measurement system and
Method.
Background technology
Wind is a kind of very common natural phenomena, in sides such as meteorology, aviation, military affairs, high ferro, navigation and arm discharge calibrations
Face, the space of wind speed and wind is come to accurate measurement request it is very high.Mainly there is non-ultrasonic anemometer on domestic market
With two major class of ultrasonic wind meter.Non-ultrasonic anemometer mainly swashs including mechanical anemometer, heat-sensitive type anemometer, Doppler
Flash ranging bearing etc..Wherein mechanical anemometer is then due to containing rotating module inside it, so reaction speed is slow, there is mechanical mill
Damage, and be easily damaged, the service life is shorter, but also can only test out wind speed wind direction information in two-dimensional space, but advantage is cost
It is relatively low.And heat-sensitive type anemometer, then due to principle defect, measurement range and measurement accuracy are all relatively low.Its advantage be it is small,
There is scalable probe, can be measured in small space.Laser doppler anemometer general cost is high, and volume is bigger than normal, is mostly
By vehicle-mounted mobile, it is commonly used in the meteorological detection of large-scale activity, it is difficult to promote, but its advantage is that acquisition range of information is wide, data
Accurately.
It is opposite with for non-ultrasonic anemometer, the occupation rate of market bigger of ultrasonic wind meter, ultrasonic wind meter
It is divided into one-dimensional, two-dimentional, three-dimensional, and with the increase of dimension, price also gradually becomes expensive.The wherein one-dimensional survey wind of ultrasonic wave
Instrument and ultrasonic two-dimensional anemometer are for non-ultrasonic anemometer, and measurement accuracy can be higher, and small, easily just
It takes, but the three-dimensional information for carrying out wind in space can not be obtained, do not applied in certain domain variabilities；And for ultrasonic wave three-dimensional anemometer
For, the space wind information of acquisition is more.
But ultrasonic wave three-dimensional anemometer currently on the market is also to measure x based on time difference method mostly, y, the speed in z-axis
Component is spent, space is being obtained come the information of wind by Space vector modulation, measurement accuracy is largely depended on to super
The sensor of acoustic signals from transmitting ultrasonic signal travels to propagation time between the sensor of received ultrasonic signal (i.e.
Degree get over the time) measurement accuracy and hardware working performance, influence factor is more, causes measurement accuracy relatively low.
Invention content
The object of the present invention is to provide the wind velocity measurement systems and method that a kind of three dimensions carrys out wind, can improve in three-dimensional space
Between in measurement accuracy.
To achieve the above object, the present invention provides following schemes：
A kind of three dimensions carrys out the wind velocity measurement system of wind, and the wind velocity measurement system that the three dimensions carrys out wind includes：
First ultrasonic sensor, for emitting ultrasonic signal；
Four the second ultrasonic sensors, each second ultrasonic sensor is using first ultrasonic sensor as original
Point O, in xoy planes, the first quaternary arc array of evenly distributed formation, for receiving the first ultrasonic sensor transmitting
Ultrasonic signal；
Four third ultrasonic sensors, each third ultrasonic sensor is using first ultrasonic sensor as original
Point O, in yoz planes, the second quaternary arc array of evenly distributed formation, for receiving the first ultrasonic sensor transmitting
Ultrasonic signal；
Data processor is connect respectively with each second ultrasonic sensor, each third ultrasonic sensor, is used
It is received in the ultrasonic signal and each third ultrasonic sensor received according to each second ultrasonic sensor
The ultrasonic signal arrived determines to come wind speed, azimuth and the pitch angle of wind in three dimensions.
Optionally, the data processor is the microcontroller of STM32 series.
Optionally, distance, each third ultrasound of each second ultrasonic sensor to the first ultrasonic sensor
Wave sensor is respectively 10cm to the distance of the first ultrasonic sensor.
Optionally, two neighboring second ultrasonic sensor and the first ultrasonic sensor in the first quaternary arc array
Two neighboring third ultrasonic sensor and the first ultrasonic sensor line in the angle of line, the second quaternary arc array
Angle be respectively 20 °.
Optionally, the model MA40S4S of first ultrasonic sensor, it is each second ultrasonic sensor, each
The model of second ultrasonic sensor is respectively MA40S4R.
To achieve the above object, the present invention provides following schemes：
A kind of three dimensions carrys out the wind measurement method of wind, and the wind measurement method that the three dimensions carrys out wind includes：
Using first ultrasonic sensor as origin O, in xoy planes, evenly distributed four the second supersonic sensings
Device forms the first quaternary arc array, to receive the ultrasonic signal of the first ultrasonic sensor transmitting；The first surpassed with described
Sonic sensor is origin O, and in yoz planes, evenly distributed four third ultrasonic sensors form the second quaternary arc array,
To receive the ultrasonic signal of the first ultrasonic sensor transmitting；
The ultrasonic signal and each third supersonic sensing received according to each second ultrasonic sensor
The ultrasonic signal that device receives determines to come wind speed, azimuth and the pitch angle of wind in three dimensions.
Optionally, wind speed, azimuth and the pitch angle of wind are carried out in the determining three dimensions, is specifically included：
Choose the level side that different space wind is projected in the horizontal wind speed component in xoy planes and the wind in xoy planes
Parallactic angle and corresponding space wind are projected in the Vertical Square parallactic angle of the vertical velocity component in yoz planes and the wind in yoz planes；
The level side of the horizontal wind speed component in xoy planes and the wind in xoy planes is projected in for each group of space wind
Parallactic angle, the ultrasonic signal that four the second ultrasonic sensors in the first quaternary arc array receive, described in calculating
First output power of the first quaternary arc array；Multiple first output powers form the first output power spectrum；
The first maximum output power is selected from first output power spectrum, and determines the first maximum output
The corresponding space wind of power is projected in the horizontal azimuth θ of the horizontal wind speed component V1 in xoy planes and the wind in xoy planes；
The vertical of the vertical velocity component in yoz planes and the wind in yoz planes is projected in for each group of space wind
Azimuth, the ultrasonic signal that four third ultrasonic sensors in the second quaternary arc array receive, calculates institute
State the second output power of the second quaternary arc array；Multiple second output powers form the second output power spectrum；
The second maximum output power is selected from second output power spectrum, and determines the second maximum output
The corresponding space wind of power is projected in the Vertical Square parallactic angle of the vertical velocity component V2 in yoz planes and the wind in yoz planes
According to the horizontal wind speed component V1, horizontal azimuth θ, vertical velocity component V2 and Vertical Square parallactic angleDetermine three
Carry out wind speed, azimuth and the pitch angle of wind in dimension space.
Optionally, first output power for calculating the first quaternary arc array, specifically includes：
The output signal of the first quaternary arc array is determined according to the following formula：
x1(t)=A1s(t)+n1(t)；
τ11=0；
Wherein, x1(t) the output signal formation of four the second ultrasonic sensors in the first quaternary arc array is represented
Output signal vector array, s (t) represent the ultrasonic signal array of the first ultrasonic sensor transmitting, n1(t) four the are represented
The noise vector array that the noise signal received of two ultrasonic sensors is formed, A1Represent the flow pattern of the first quaternary arc array
Vector；τ1jRepresent the time delay between each second ultrasonic sensor and the first benchmark array element in the first quaternary arc array, inferior horn
The location label that 1j is each second ultrasonic sensor, j=1 are marked, the 2,3,4, first benchmark array element is that location label is 11
Two ultrasonic sensors, R represent the distance of each second ultrasonic sensor to the first ultrasonic sensor, and c represents ideal situation
The spread speed of lower sound wave, two neighboring second ultrasonic sensor of the α expressions in the first quaternary arc array is with the first surpassing
The angle of sonic sensor line；W=2 π f are the phase angular amplitude of the ultrasonic signal array of transmitting, and f=40kHz is transmitting
Ultrasonic signal array frequency；
The output power P of the first quaternary arc array is calculated according to the following formula1(θ,V1)：
P1(θ, V1)=aH(θ,V1)K1a(θ,V1)；
K1=E (x1(t)x1 H(t))；
Wherein, K1Represent the output signal x of the first quaternary arc array1(t) covariance matrix, H represent conjugate matrices, E
() represents expectation function.
Optionally, second output power for calculating the second quaternary arc array, specifically includes：
The output signal of the second quaternary arc array is determined according to the following formula：
x2(t)=A2s(t)+n2(t)；
τ21=0；
Wherein, x2(t) represent four third ultrasonic sensors in the second quaternary arc array receives what signal was formed
Output signal vector array, s (t) represent the ultrasonic signal array of the first ultrasonic sensor transmitting, n2(t) four the are represented
The noise vector array that the noise signal received of three ultrasonic sensors is formed, A2Represent the flow pattern of the second quaternary arc array
Vector；τ2jRepresent the time delay between each third ultrasonic sensor and the second benchmark array element in the second quaternary arc array, inferior horn
The location label that 2j is each third ultrasonic sensor, j=1 are marked, the 2,3,4, second benchmark array element is that location label is 21
Three ultrasonic sensors, R represent each third ultrasonic sensor to the distance of the first ultrasonic sensor, c expression ideal situations
The spread speed of lower sound wave, two neighboring third ultrasonic sensor of the α expressions in the second quaternary arc array is with the first surpassing
The angle of sonic sensor line；W=2 π f are the phase angular amplitude of the ultrasonic signal array of transmitting, and f=40kHz is transmitting
Ultrasonic signal array frequency；
The output power of the second quaternary arc array is calculated according to the following formula
K2=E (x2(t)x2 H(t))；
Wherein, K2Represent the output signal x of the second quaternary arc array2(t) covariance matrix, H represent conjugate matrices, E
() represents expectation function.
Optionally, it is described according to the horizontal wind speed component V1, horizontal azimuth θ, vertical velocity component V2 and Vertical Square
Parallactic angleIt determines to come in three dimensions wind speed, azimuth and the pitch angle of wind, specifically includes：
Azimuths of the horizontal azimuth θ to carry out wind in three dimensions；
It is determined in three dimensions come the wind speed V of wind according to the following formula：
It is determined in three dimensions come the pitch angle of wind according to the following formula
According to specific embodiment provided by the invention, the invention discloses following technique effects：
The present invention carries out wind speed and direction detection, no-rotary part, to wind by the array of ultrasonic sensors that a hair eight is received
The change of information is quick on the draw, and no mechanical wear, maintenance cost is low, and service life is long, and then determines three by data processor
Carry out wind speed, azimuth and the pitch angle of wind in dimension space, quick and precisely, precision is high.
Description of the drawings
It in order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the present invention
Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the layout drawing that three dimensions of the present invention carrys out each ultrasonic sensor in the wind velocity measurement system of wind；
Fig. 2 is the flow chart for the wind measurement method that three dimensions of the present invention carrys out wind；
Fig. 3 is the specific embodiment flow chart for the wind measurement method that three dimensions of the present invention carrys out wind；
Fig. 4 is the perspective view of space wind；
Fig. 5 is perspective view of the space wind in xoy planes；
Fig. 6 is perspective view of the space wind in yoz planes；
Fig. 7 is the error comparison diagram of different wind speed root mean square；
Fig. 8 is the root-mean-square error comparison diagram that different wind directions are handed over；
Fig. 9 is the root-mean-square error comparison diagram of different pitch angles.
Symbol description：
11-the second ultrasonic sensor, the 12-the second ultrasonic sensor, the 13-the second ultrasonic sensor, 14-the
Two ultrasonic sensors, 21-third ultrasonic sensor, 22-third ultrasonic sensor, 23-third supersonic sensing
Device, 24-third ultrasonic sensor.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide the wind velocity measurement system that a kind of three dimensions carrys out wind, the ultrasonic wave received by a hair eight
Sensor array carries out wind speed and direction detection, and no-rotary part is quick on the draw to the change of wind information, no mechanical wear, safeguards
At low cost, service life is long, and then is determined in three dimensions come the wind speed of wind, azimuth and pitch angle by data processor,
Quick and precisely, precision is high.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, it is below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is described in further detail.
As shown in Figure 1, the wind velocity measurement system that three dimensions of the present invention carrys out wind includes the first ultrasonic sensor, for sending out
Penetrate ultrasonic signal；Four the second ultrasonic sensors are (as shown in Figure 1, the second ultrasonic sensor 11, the second supersonic sensing
Device 12, the second ultrasonic sensor 13 and the second ultrasonic sensor 14), each second ultrasonic sensor is with described first
Ultrasonic sensor is origin O, and in xoy planes, the first quaternary arc array of evenly distributed formation described the first surpasses for receiving
The ultrasonic signal of sonic sensor transmitting；
Four third ultrasonic sensors (as shown in Figure 1, third ultrasonic sensor 21, the second ultrasonic sensor 22,
Second ultrasonic sensor 23 and the second ultrasonic sensor 24), each third ultrasonic sensor is with the described first ultrasound
Wave sensor is origin O, in yoz planes, the second quaternary arc array of evenly distributed formation, for receiving first ultrasonic wave
The ultrasonic signal of sensor emission；
Data processor is connect respectively with each second ultrasonic sensor, each third ultrasonic sensor, is used
It is received in the ultrasonic signal and each third ultrasonic sensor received according to each second ultrasonic sensor
The ultrasonic signal arrived determines to come wind speed, azimuth and the pitch angle of wind in three dimensions.
Wherein, distance R, each third ultrasonic wave of each second ultrasonic sensor to the first ultrasonic sensor
Sensor is respectively 10cm to the distance R's of the first ultrasonic sensor.Two neighboring second in the first quaternary arc array
Two neighboring third surpasses in the angle α of ultrasonic sensor and the first ultrasonic sensor line, the second quaternary arc array
The angle α of sonic sensor and the first ultrasonic sensor line is respectively 20 °.Further, first supersonic sensing
The model MA40S4S of device, each second ultrasonic sensor, each second ultrasonic sensor model be respectively
MA40S4R.Wherein, the data processor is there are many kinds of data processors, can be FPGA or the monolithic of STM32 series
Machine.
In addition, the present invention also provides the wind measurement methods that a kind of three dimensions carrys out wind.As shown in Figures 2 and 3, it is of the invention
The wind measurement method that three dimensions carrys out wind includes：
Step 100：Arrange ultrasonic sensor：Using first ultrasonic sensor as origin O, in xoy planes,
Even four the second ultrasonic sensors of arrangement form the first quaternary arc array, to receive the first ultrasonic sensor transmitting
Ultrasonic signal；Using first ultrasonic sensor as origin O, in yoz planes, evenly distributed four third ultrasonic waves pass
Sensor forms the second quaternary arc array, to receive the ultrasonic signal of the first ultrasonic sensor transmitting；
Step 200：The ultrasonic signal and each third received according to each second ultrasonic sensor surpasses
The ultrasonic signal that sonic sensor receives determines to come wind speed, azimuth and the pitch angle of wind in three dimensions.
Wherein, as shown in figure 4, projection vector of the space wind on horizontal plane xoy be expressed as in the form of polar (V1,
θ), the projection vector on vertical plane yoz is expressed as in the form of polarWith the first of rectangular coordinate system in space,
2nd, three, on the basis of four-quadrant, it is rotated clockwise to what projection vector position was formed on horizontal plane xoy faces with positive direction of the y-axis
Deflection angle θ is the horizontal azimuth (as shown in Figure 5) of wind.Using rectangular coordinate system in space second and third, six, seven quadrants is bases
Standard is rotated clockwise to the deflection angle that projection vector position formed on vertical plane yoz faces with positive direction of the y-axisFor wind
Vertical Square parallactic angle(as shown in Figure 6).And angle of the pitch angle of space wind vector for vector between z-axis positive direction, if
ForAnd
Projection vector (V1, θ) and vertical plane yoz of the form representation space vector on horizontal plane xoy under polar coordinate system
On valueIt is known.Then according to the method for space resolution of vectors in mathematics it is found that the space vector under spherical coordinate systemTerminal under rectangular coordinate system x, y, the projection coordinate in z-axis can be expressed as：
Vx=V1sin θ ... ... ... ... (1)；
So spherical coordinates down space vectorIt can also be expressed as in rectangular coordinate system in space：
And the length of the vector is：
The cosine value come the angle between z-axis positive direction of space vector is represented by：
Then its angle is represented by：
It can determine that original space is sweared by space come projection vector of the wind on horizontal plane xoy and vertical plane yoz
Measure expression-form.
Based on above-mentioned discussion, determine that the feelings of projection components of the wind on plane xoy and vertical plane yoz are carried out in space respectively
Condition.
If space has and one is comprising informationTo carry out wind as shown in Figure 4：
Wherein, V1 for the space come wind wind speed projected on plane xoy obtained by horizontal wind speed component, θ is horizontal plane
The deflection angle that projection vector position formed is rotated clockwise to positive direction of the y-axis on xoy faces, θ is the horizontal azimuth of wind.
Then the space come wind projected on plane xoy obtained by wind speed component in the second ultrasonic sensor 11, the second supersonic sensing
Device 12, the second ultrasonic sensor 13,14 wind speed of the second ultrasonic sensor component be：
Similarly it is found that by rectangular coordinate system in space second and third, on the basis of six, seven quadrants, then the wind is in yoz planes
Projection be illustrated in fig. 5 shown below：
Wherein, V2 be the space wind wind speed projected on plane yoz obtained by vertical velocity component,For horizontal plane yoz
The deflection angle that projection vector position formed is rotated clockwise to positive direction of the y-axis on face,Vertical Square parallactic angle for wind.Then
The space wind is in the wind speed component obtained by the projection on plane yoz in third ultrasonic sensor 21, third ultrasonic sensor
22nd, third ultrasonic sensor 23, the component of wind speed is respectively on third ultrasonic sensor 24：
The space supersonic sensor array structure received based on a hair eight and beamforming algorithm realization wind is described below
The specific method and realize process that fast wind direction measures.
The ultrasonic signal that first ultrasonic sensor emits is represented by the form of narrow band signal：
U (t) is the amplitude for emitting signal, referred to as slow time-varying amplitude modulation function (or real envelope)；For transmitting signal
Phase, referred to as slow changeable phases modulation function；W=2 π f, f=40kHz are the frequency of incoming signal；τ is apart from reference instant t's
Time span.
And u (t- τ) ≈ u (t) ... ... ... ... ... (18)；
Then from four formulas above：
s1(t- τ)=s (t) e-jwτ............................(20)；
8 ultrasonic sensor array elements (i.e. the second ultrasonic sensor 11, the second ultrasonic sensors 12, second at this time
13 and second ultrasonic sensor 14 of ultrasonic sensor, third ultrasonic sensor 21, the second ultrasonic sensor 22, second
The output signal of 23 and second ultrasonic sensor 24 of ultrasonic sensor is：
nij(t) noise received for j-th of array element of i-th of array, and it is only each other between the noise of each array element reception
It is vertical.τijRepresent that signal reaches j-th of array element of i-th of array relative to the time delay of the reference array element of i-th of array.Wherein, i=
1 or 2, j=1,2,3,4；That is, i-th of array represents the first quaternary arc array or the second quaternary arc array, array element represents corresponding battle array
Ultrasonic sensor in row, subscript ij are the location label of each ultrasonic sensor.
Using vector form represent the first quaternary arc array received to signal as：
x1(t)=A1s(t)+n1(t)............................(22)；
WhereinFlow pattern vector representation form for the first quaternary arc array.
Similarly understand：Using vector form represent the output signal of the second quaternary arc array as：
x2(t)=A2s(t)+n2(t)...........................(23)；
WhereinFlow pattern vector representation form for the second quaternary arc array.
And emit signal and travel to time of array element ij and be：
Wherein i=1,2, j=1,2,3,4, the c=340m/s spread speed for ideally sound wave, VijRepresentation space
The spread speed on horizontal plane and vertical plane on j-th of array element direction of i-th of array, R=10cm are each battle array to wind respectively
Array member is to the distance of information source.The benchmark of each array element in using the second ultrasonic sensor of serial number 11 as the first quaternary arc array
Array element, then the delay, τ in the first quaternary arc array between each array element and benchmark array element1jFor：
τ11=0......................................... (25)；
Wherein, location labels of the subscript 1j for each second ultrasonic sensor, j=1, the 2,3,4, first benchmark array element are
Location label is 11 the second ultrasonic sensor.
So：
I.e. it is believed that A1It is the array manifold arrow of the first quaternary arc array
Amount.And under the premise of the structure determination of the first quaternary arc array, the array manifold A of the first quaternary arc array1Only with delay, τ1i
It is related, and τ1iIt is the horizontal wind speed component V1 being projected on horizontal plane xoy come wind by space and is projected in hanging down on horizontal plane xoy
True azimuth θ comes determining.
Conversely speaking, namely array manifold vector A1Determine, also just illustrate that space is carried out wind and is projected on horizontal plane xoy
Horizontal wind speed component V1 and the horizontal azimuth θ of wind that is projected on horizontal plane xoy determine, you can with array manifold vector
A1, that is, a (θ, V1) carrys out representation space and carrys out wind speed component and the wind direction angle information that wind is projected on horizontal plane xoy.
And the method for the best weight vector based on Wave beam forming is understood：If only there are one the electric waves from direction in space
θk, direction vector is a (θk), then when weight vector W is taken as a (θk) when, output maximum y (n)=a (θk)Ha(θk)=M.Therefore,
When taking weight vectors W1=a (θ, V1), the output y of the first quaternary arc array can be made1(n)=a (θ, V1)HA (θ, V1) is maximum；Together
Reason is it is found that take weight vectorsWhen, the output of the second quaternary arc array can be made
Reach maximum.
Therefore, the weight vectors of the first quaternary arc array and the second quaternary arc array be taken as respectively the first quaternary arc array and
The array manifold vector form of second quaternary arc array, i.e.,：
And the array of the first quaternary arc array exports and is expressed as formula (9) with vector form, i.e.,：
x1(t)=A1s(t)+n1(t) (9)
And for the first quaternary arc array, this desired signal be believed that only there are one, as wind is carried out in water in space
The space wind component signal with two parameter wind speed and direction information of projection gained on plane xoy.According to beamforming algorithm
It is found that the weighted summation of each array element output of the first quaternary arc array is represented by：
It is expressed as with vector form：
y1(t)=a (θ, V1)HX (t)=W1Hx1(t)..........(32)。
The output power of the conventional beamformer of available first quaternary arc array is at this time：
P1(θ, V1)=E [y1(t)2]=W1HK1W1=aH(θ,V1)K1a(θ,V1).......(33)。
Matrix K1Output signal x for the first quaternary arc array1(t) covariance matrix, i.e.,
K1=E (x1(t)x1 H(t))..........................(34)。
At this point, the output of each array element of the first quaternary arc array is weighted summation, i.e., by antenna within the time
Array beams " guiding " have arrived same direction, and traversal space is then only needed to carry out the wind horizontal wind speed on horizontal plane xoy point
The horizontal azimuth θ of V1 and the wind on horizontal plane xoy is measured, is selected in power spectrum P1Corresponding V1 and θ at (θ, V1) maximum value
The level orientation that horizontal wind speed component V1 of the wind on horizontal plane xoy and the wind on horizontal plane xoy are come in space can be estimated
Angle θ.
Similarly it is found that for the second quaternary arc array, using the third ultrasonic sensor array element of serial number 21 as
The benchmark array element of each array element in two quaternary arc arrays, then each array element and the base of the second quaternary arc array in the second quaternary arc array
Delay, τ between quasi- array element2jFor：
τ21=0...................................... (35)；
Wherein, location labels of the subscript 2j for each third ultrasonic sensor, j=1, the 2,3,4, second benchmark array element are
Location label is 21 third ultrasonic sensor.
So：
I.e. it is believed that A2It is the array manifold of the second quaternary arc array
Vector.
Similarly, the weight vectors of the second quaternary arc array are regarded as the array manifold vector shape with the second quaternary arc array
The consistent vector of formulaThe output of the second quaternary arc array is calculated using beamforming algorithm, and then obtains the second quaternary
The output power of the conventional beamformer of arc array, can be within the same time by the wave beam " guiding " of the second quaternary arc array
Onto desired orientation.Then only need traverse space come wind projected on vertical plane yoz obtained by vertical velocity component V2 and
The Vertical Square parallactic angle of the wind projected on yoz facesSelection is in power spectrumAt maximum value corresponding V2 andJust
Space can be estimated and carry out vertical velocity component V2 and the Vertical Square parallactic angle that wind is projected on vertical plane yoz
Wherein, the output power of the conventional beamformer of the second quaternary arc array is：
Matrix K2Output signal x for the second quaternary arc array2(t) covariance matrix, i.e.,
K2=E (x2(t)x2 H(t))..........................(40)；
Wherein, H represents conjugate matrices, and E () represents expectation function.
By two step above, parameter V1, V2, θ can be determined,Value, then according to space vector decompose relational expression,
Determine that wind speed V, the pitch angle of wind are come in spaceAnd azimuth angle theta in the horizontal plane.
It is described according to the horizontal wind speed component V1, horizontal azimuth θ, vertical velocity component V2 and Vertical Square parallactic angleReally
Determine to come in three dimensions wind speed, azimuth and the pitch angle of wind, specifically include：
(1) azimuths of the horizontal azimuth θ to carry out wind in three dimensions.
(2) due to the space wind vector on horizontal plane xoy and vertical plane yoz on vector component (V1, θ) and
Value it is known that so the terminal of the space vector in x, y, the component in z-axis can be expressed as：
Vx=V1sin θ ... ... ... ... .. (1)；
So wind vector is carried out in spaceRepresentation under rectangular coordinate system can be：
And the length of the vector is represented by：
The cosine value come the angle between z-axis positive direction of space vector is represented by：
Then its angle is represented by：
Space vector can to sum up be representedThree parameter values, i.e. the wind speed size of space wind vector and side
Position information.
In order to verify the feasibility of the algorithm, the emulation experiment of verification feasibility is devised, emulation experiment is soft in matlab
It is carried out on part, the signal frequency of the ultrasonic signal of analog transmissions is 40KHz, arc radius R=10cm, and ultrasonic signal connects
It receives as near field environment, that is, the ultrasonic signal for thinking ultrasonic sensor transmitting is spherical wave, and array element noise is additive white gaussian
Noise.The wind speed scanning range that wind is carried out in space is 0~60m/s, step-length 0.1m/s；The azimuth angle theta being projected on horizontal plane xoy
Scanning range for 0~359 °, step-length is 1 degree；Space pitch angleRanging from 0~179 °；Number of snapshots are 5000, are being believed
When making an uproar than SNR=10dB, following three groups of random wind speed and direction parameters are estimated respectively：
(1) V=15m/s, theta=63 °,
(2) V=32m/s, theta=127 °,
(3) V=58m/s, theta=265 °,
The experimental result of three groups of parameters is respectively：
(1) V=15.0106m/s, theta=63 °,
(2) V=31.8979m/s, theta=127 °,
(3) V=57.9225m/s, theta=264 °,
By simulation result it is found that in signal-to-noise ratio snr=10dB, the air speed error of space wind is less than within 0.2m/s
The minimum threshold wind velocity of minimum anemometer；The error of azimuth and pitch angle is also all 0.2°Within the scope of, so, it can be said that
In certain allowable range of error, method proposed by the present invention is feasible.
But due to the presence of ambient noise, estimated result has certain error, further, by analyzing with noise
The root-mean-square error of the wind speed of wind, azimuth and pitch angle is carried out in space during than variation, determines to join under conditions of different signal-to-noise ratio
The accuracy of number estimated result.400 independent loops experiments are done under each different signal-to-noise ratio, and define error root formula
For：
Wherein n is experiment number；I=1~n；xiFor ith experimental result,For parameter true value；Then three groups of parameters is equal
Square error value with signal-to-noise ratio situation of change.
As shown in Figure 7：In signal-to-noise ratio snr ＜ 10dB, wind speed is smaller, then the error root of estimated result is just smaller；When
During snr ＞ 10dB, error root value only changes in a small range, and with the increase of signal-to-noise ratio, and error root value tends to
Stablize.In general, Fig. 7 shows：In certain allowable range of error, this extracting method can come space the wind of wind
Speed realizes accurate estimation.
As shown in Figure 8 it is found that in signal-to-noise ratio snr ＜ 10dB, for big wind angle θ=265 ° parameter value, estimation
As a result error root value fluctuates within 0.2 degree；As snr ＞ 10dB, the error root value of estimated result is with noise
The increase of ratio and reduce, and when signal-to-noise ratio reaches certain value, error root value tends towards stability；For parameter θ=127 °
For estimation, in this experiment, belong to deadbeat estimation；For parameter θ=63 °, the error root value of estimated result
General morphologictrend be constantly to reduce with the increase of signal-to-noise ratio, and when signal-to-noise ratio reaches certain value, error root
Value tends towards stability.In general, Fig. 8 shows：In certain allowable range of error, this extracting method can come space
The azimuth information of wind realizes accurate estimation.
As shown in figure 9, for parameterAnd parameterFor, in signal-to-noise ratio snr ＜
During 10dB, the error amount of estimated result can reduce with the increase of signal-to-noise ratio；As signal-to-noise ratio snr ＞ 10dB, estimation
As a result error amount tends towards stability；In general, Fig. 9 is shown：In certain allowable range of error, this extracting method can
Accurately estimated with the pitch angle information realization for carrying out wind to space.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.
Specific case used herein is expounded the principle of the present invention and embodiment, and above example is said
The bright method and its core concept for being merely used to help understand the present invention；Meanwhile for those of ordinary skill in the art, foundation
The thought of the present invention, in specific embodiments and applications there will be changes.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (10)
1. a kind of three dimensions carrys out the wind velocity measurement system of wind, which is characterized in that the three dimensions comes the measuring wind speed system of wind
System includes：
First ultrasonic sensor, for emitting ultrasonic signal；
Four the second ultrasonic sensors, each second ultrasonic sensor using first ultrasonic sensor as origin O,
In xoy planes, the first quaternary arc array of evenly distributed formation, for receiving the ultrasound of the first ultrasonic sensor transmitting
Wave signal；
Four third ultrasonic sensors, each third ultrasonic sensor using first ultrasonic sensor as origin O,
In yoz planes, the second quaternary arc array of evenly distributed formation, for receiving the ultrasound of the first ultrasonic sensor transmitting
Wave signal；
Data processor is connect respectively with each second ultrasonic sensor, each third ultrasonic sensor, for root
What the ultrasonic signal and each third ultrasonic sensor received according to each second ultrasonic sensor received
Ultrasonic signal determines to come wind speed, azimuth and the pitch angle of wind in three dimensions.
2. three dimensions according to claim 1 carrys out the wind velocity measurement system of wind, which is characterized in that the data processor
Microcontroller for STM32 series.
3. three dimensions according to claim 1 carrys out the wind velocity measurement system of wind, which is characterized in that each second ultrasound
Wave sensor to the distance of the first ultrasonic sensor, each third ultrasonic sensor to the first ultrasonic sensor away from
From be respectively 10cm.
4. three dimensions according to claim 1 carrys out the wind velocity measurement system of wind, which is characterized in that the first quaternary arc
The angle of two neighboring second ultrasonic sensor and the first ultrasonic sensor line, the second quaternary arc array in array
In the angle of two neighboring third ultrasonic sensor and the first ultrasonic sensor line be respectively 20 °.
5. three dimensions according to claim 1 carrys out the wind velocity measurement system of wind, which is characterized in that first ultrasonic wave
The model MA40S4S of sensor, each second ultrasonic sensor, each second ultrasonic sensor model difference
For MA40S4R.
6. a kind of three dimensions carrys out the wind measurement method of wind, which is characterized in that the three dimensions comes the measuring wind speed side of wind
Method includes：
Using first ultrasonic sensor as origin O, in xoy planes, evenly distributed four the second ultrasonic sensor shapes
Into the first quaternary arc array, to receive the ultrasonic signal of the first ultrasonic sensor transmitting；With first ultrasonic wave
Sensor is origin O, and in yoz planes, evenly distributed four third ultrasonic sensors form the second quaternary arc array, to connect
Receive the ultrasonic signal of the first ultrasonic sensor transmitting；
The ultrasonic signal and each third ultrasonic sensor received according to each second ultrasonic sensor connects
The ultrasonic signal received determines to come wind speed, azimuth and the pitch angle of wind in three dimensions.
7. three dimensions according to claim 6 carrys out the wind measurement method of wind, which is characterized in that the determining three-dimensional space
Between in come wind speed, azimuth and the pitch angle of wind, specifically include：
Choose the horizontal azimuth that different space wind is projected in the horizontal wind speed component in xoy planes and the wind in xoy planes
And corresponding space wind is projected in the Vertical Square parallactic angle of the vertical velocity component in yoz planes and the wind in yoz planes；
The horizontal azimuth of the horizontal wind speed component in xoy planes and the wind in xoy planes is projected in for each group of space wind,
The ultrasonic signal that four the second ultrasonic sensors in the first quaternary arc array receive, calculates the described 1st
First output power of first arc array；Multiple first output powers form the first output power spectrum；
The first maximum output power is selected from first output power spectrum, and determines the first output power of the maximum
Corresponding space wind is projected in the horizontal azimuth θ of the horizontal wind speed component V1 in xoy planes and the wind in xoy planes；
The vertical orientations of the vertical velocity component in yoz planes and the wind in yoz planes are projected in for each group of space wind
Angle, the ultrasonic signal that four third ultrasonic sensors in the second quaternary arc array receive calculate described the
Second output power of two quaternary arc arrays；Multiple second output powers form the second output power spectrum；
The second maximum output power is selected from second output power spectrum, and determines the second output power of the maximum
Corresponding space wind is projected in the Vertical Square parallactic angle of the vertical velocity component V2 in yoz planes and the wind in yoz planes
According to the horizontal wind speed component V1, horizontal azimuth θ, vertical velocity component V2 and Vertical Square parallactic angleDetermine three-dimensional space
Between in come wind speed, azimuth and the pitch angle of wind.
8. three dimensions according to claim 7 carrys out the wind measurement method of wind, which is characterized in that described to calculate described the
First output power of one quaternary arc array, specifically includes：
The output signal of the first quaternary arc array is determined according to the following formula：
x1(t)=A1s(t)+n1(t)；
τ11=0；
Wherein, x1(t) the output letter that the output signal of four the second ultrasonic sensors in the first quaternary arc array is formed is represented
Number vector array, s (t) represent the ultrasonic signal array of the first ultrasonic sensor transmitting, n1(t) four second ultrasounds are represented
The noise vector array that the noise signal received of wave sensor is formed, A1Represent the flow pattern vector of the first quaternary arc array；
τ1jRepresent the time delay between each second ultrasonic sensor and the first benchmark array element in the first quaternary arc array, subscript 1j is
The location label of each second ultrasonic sensor, j=1, the 2,3,4, first benchmark array element are the second ultrasound that location label is 11
Wave sensor, R represent the distance of each second ultrasonic sensor to the first ultrasonic sensor, and c represents ideally sound wave
Spread speed, α represents the second two neighboring ultrasonic sensor in the first quaternary arc array and the first ultrasonic wave biography
The angle of sensor line；W=2 π f are the phase angular amplitude of the ultrasonic signal array of transmitting, and f=40kHz is the ultrasound of transmitting
The frequency of wave signal array；
The output power P of the first quaternary arc array is calculated according to the following formula1(θ,V1)：
P1(θ, V1)=aH(θ,V1)K1a(θ,V1)；
K1=E (x1(t)x1 H(t))；
Wherein, K1Represent the output signal x of the first quaternary arc array1(t) covariance matrix, H represent conjugate matrices, E () table
Show expectation function.
9. three dimensions according to claim 7 carrys out the wind measurement method of wind, which is characterized in that described to calculate described the
Second output power of two quaternary arc arrays, specifically includes：
The output signal of the second quaternary arc array is determined according to the following formula：
x2(t)=A2s(t)+n2(t)；
τ21=0；
Wherein, x2(t) the output letter for receiving signal and being formed of four third ultrasonic sensors in the second quaternary arc array is represented
Number vector array, s (t) represent the ultrasonic signal array of the first ultrasonic sensor transmitting, n2(t) four third ultrasounds are represented
The noise vector array that the noise signal received of wave sensor is formed, A2Represent the flow pattern vector of the second quaternary arc array；
τ2jRepresent the time delay between each third ultrasonic sensor and the second benchmark array element in the second quaternary arc array, subscript 2j is
The location label of each third ultrasonic sensor, j=1, the 2,3,4, second benchmark array element are the third ultrasound that location label is 21
Wave sensor, the distance of each third ultrasonic sensor of R expressions to the first ultrasonic sensor, c represent ideally sound wave
Spread speed, α represents two neighboring third ultrasonic sensor in the second quaternary arc array and the first ultrasonic wave biography
The angle of sensor line；W=2 π f are the phase angular amplitude of the ultrasonic signal array of transmitting, and f=40kHz is the ultrasound of transmitting
The frequency of wave signal array；
The output power of the second quaternary arc array is calculated according to the following formula
K2=E (x2(t)x2 H(t))；
Wherein, K2Represent the output signal x of the second quaternary arc array2(t) covariance matrix, H represent conjugate matrices, E () table
Show expectation function.
10. three dimensions according to claim 7 carrys out the wind measurement method of wind, which is characterized in that described in the basis
Horizontal wind speed component V1, horizontal azimuth θ, vertical velocity component V2 and Vertical Square parallactic angleDetermine to come in three dimensions the wind of wind
Speed, azimuth and pitch angle, specifically include：
Azimuths of the horizontal azimuth θ to carry out wind in three dimensions；
It is determined in three dimensions come the wind speed V of wind according to the following formula：
It is determined in three dimensions come the pitch angle of wind according to the following formula
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