CN108357683A - A kind of small drone icing detection method based on pitot - Google Patents
A kind of small drone icing detection method based on pitot Download PDFInfo
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- CN108357683A CN108357683A CN201711485956.5A CN201711485956A CN108357683A CN 108357683 A CN108357683 A CN 108357683A CN 201711485956 A CN201711485956 A CN 201711485956A CN 108357683 A CN108357683 A CN 108357683A
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- pitot
- pressure
- static pressure
- static
- icing detection
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D15/00—De-icing or preventing icing on exterior surfaces of aircraft
- B64D15/20—Means for detecting icing or initiating de-icing
Abstract
The invention discloses a kind of small drone icing detection method based on pitot, belongs to icing detection technology field.This method, whether abnormal to determine whether freezing according to dynamic pressure, stagnation pressure data, deterministic process is as follows：Static pressure signal and stagnation pressure signal are directly obtained to recycle by pitot on unmanned plane and atmosphere parameter measurement system, if in t0Moment, the continuous 15s or more of static pressure numerical value keep constant value Ps(t0), then illustrate static port ice blockage；If in t0Moment, stagnation pressure numerical value bust are kept constant after a period of time, then pitot port freezes；If either way occurred, illustrate that two holes all freeze.So no matter which kind of situation occur, it can judge to have begun to freeze.This icing detection method need not additionally be increased other devices, be easily determined whether frozen using the pitot and atmosphere data detection system of itself on unmanned plane, be suitable for the icing detection of small drone.
Description
Technical field
The present invention relates to icing detection technology fields, analyze and research to air speed test system, fly from unmanned plane is practical
Market condition is set out, and by proposing a kind of icing detection technology based on pitot to the analysis of static pressure, stagnation pressure data, can be applied
In small drone icing detection.
Background technology
Aircraft icing can influence flying quality, threaten flight safety, air crash can be caused when serious.Freezing sensor
Monitoring icing signal in real time coordinates airborne deicer to work, flight safety under the conditions of icing meteorology is effectively ensured.
The icing detection typical method having proposed at present has camera method, Fiber Optic Sensor, capacitance method, the resonance method etc., but existing
Or some freezing sensors do not have real-time or expensive, and are required for being modified unmanned plane, it is not suitable for
In small drone.
When aircraft airspeed pipe freezes, the pitot port and static port of pitot may be blocked because of icing, aircraft stagnation pressure
Value and static pressure propose a kind of base it is possible that exception is inspired so as to cause certain atmospheric parameter data exceptions by this
In the small drone icing detection technology of pitot, whether judge to tie extremely according to the surveyed static pressure of pitot and stagnation pressure data
Whether ice phenomenon occurs.
Invention content
The present invention proposes a kind of icing detection technique suitable for small drone, can use the air speed of unmanned plane script
Pipe need not do surface any change, and signal detection is easy, cheap, is suitable for small drone.
In order to study the relationship between understanding stagnation pressure, static pressure data and freezing, it is necessary to first understand stagnation pressure, static pressure number
The influence factor of value.Before influence factor is discussed, the definition of following several parameters is first taken off：
Indicator air speed Vi：It is assumed that atmospheric density is not with height change, static pressure and atmospheric temperature are constant, are marked with sea level
The air speed that the air static pressure and atmospheric temperature in quasi- face calculate.
Pressure altitude Hp：From unmanned plane to the vertical range of a standard atmospheric pressure air pressure plane (760mmHg).
As shown in Figure 1, pitot is to measure air-flow stagnation pressure and static pressure to determine a kind of tube of air velocity, lead to
Often it is installed in the region that aircraft exterior air-flow is less subject to influence, such as aeroplane nose or the leading edge of a wing etc..It tests the speed
When, air speed tube head is directed at incoming, the aperture A that head direction of flow is opened at this time is known as pitot port, experiences incoming stagnation pressure Po
(the sum of static pressure and dynamic pressure)；It is equably provided with a row static pressure hole B on housing tube wall, experiences incoming static pressure Ps。
Known stagnation pressure Po, static pressure Ps, dynamic pressure PqRelationship is：
Po=Ps+Pq (1)
The flying speed of unmanned plane is all relatively low (Ma is far smaller than 1), and (pressure altitude of flying generally in troposphere
HpLess than 11000 meters).Known within this range：
Consider that unmanned plane is in subsonic speed and air compresses, indicator air speed Vi(Km/h) with dynamic pressure Pq(kPa) relational expression is：
It is as shown in Figure 2 that the functional relation between dynamic pressure and indicator air speed is drawn with matlab：
Dynamic pressure increases with the increase of indicator air speed as can be seen from Figure 2.
Atmospheric pressure (i.e. static pressure P where aircrafts) and aircraft pressure altitude HpIt is related, both for unmanned plane
Between functional relation be (HpUnit is Kpa)：
(HpWhen 11000 meters of ＜)
It is as shown below that the functional relation between static pressure and pressure altitude is drawn with matlab：
As can be seen from Figure 3：Static pressure declines with the rising of pressure altitude.
Then according to formula (1) Po=Ps+PqIt can be seen that stagnation pressure is related with air speed and flying height, and with flying height
Rising reduce, increase with the increase of speed.
By analyzing above, can obtain to draw a conclusion：
A. dynamic pressure is main related with air speed, and air speed is bigger, and dynamic pressure is bigger；
B. static pressure is related with height, and flying height rises, and static pressure reduces；
C. stagnation pressure is related to height and air speed.
It is easy to block because of icing when unmanned plane is in high airflight, at pitot full pressure hole and static pressure hole, to lead
Cause static pressure or stagnation pressure value abnormal.
If unmanned plane is in t0Moment does not freeze, then in t1Moment (t1>t0), normal work data are respectively：Static pressure Ps(t1)、
Stagnation pressure Po(t1), dynamic pressure Pq(t1)=Po(t1)-Ps(t1), computing speed Vi(t1)。
If unmanned plane is in t0It freezes after moment, (t0Critical point) at this time flying height be h0., then because icing is led
Data exception is caused to be divided into following three kinds of situations：
(1) static pressure hole plug, pitot hole are normal：
Due to static pressure hole plug, static pressure numerical value remains unchanged, according to influence of static pressure factor, pressure altitude numerical value Hp(t1)
It will remain unchanged.I.e.：
P′s(t1)=Ps(t0)；(t1>t0)
H′p(t1)=Hp(t0)；(t1>t0)
Since pitot hole is normal, stagnation pressure numerical value is normal, i.e.,：P′o(t1)=Po(t1)。
(2) full pressure hole freezes, and static pressure hole is normal：
Since static pressure hole is normal, static pressure numerical value is normal, according to influence of static pressure factor, pressure altitude numerical value Hp(t1) also will just
Often.I.e.：
P′s(t1)=Ps(t1)；H′p(t1)=Hp(t1)；
Since pitot hole is because of ice blockage, stagnation pressure numerical value remains unchanged, i.e.,：P′o(t1)=Ps(to)<Po(to)。
(3) static pressure hole plug, total head hole plug：
If pitot pitot hole and static pressure hole all block, static pressure numerical value remains unchanged, according to influence of static pressure factor,
Pressure altitude numerical value Hp(t1) will also remain unchanged.I.e.：
P′s(t1)=Ps(t0)；(t1>t0)
H′p(t1)=Hp(t0)；(t1>t0)
Stagnation pressure numerical value remains unchanged, i.e.,：P′o(t1)=Ps(to)<Po(to)
When practical unmanned plane steady operation, it is impossible to it is completely in same pressure altitude, always has certain deviation,
When encountering cold airflow or freezing, this phenomenon is more prominent, and speed is also the same.In conjunction with actual conditions, the present invention carries
Whether a kind of small drone icing detection method based on pitot for going out extremely judges to be according to dynamic pressure, stagnation pressure data
No icing, this method deterministic process are as follows：
Static pressure signal is directly obtained and stagnation pressure is believed to recycle by pitot on unmanned plane and atmosphere parameter measurement system
Number, if in t0Moment, the continuous 15s or more of static pressure numerical value keep constant value Ps(t0), then illustrate static port ice blockage,
I.e.：
Ps(t)=Ps(t0)(t0<t<t0+15)
If in t0Moment, stagnation pressure numerical value bust are kept constant after a period of time, then pitot port freezes；
If either way occurred, illustrate that two holes all freeze.So no matter which kind of situation occur, it can judge
It has begun to freeze.
This icing detection method, need not be additional using the pitot and atmosphere data detection system of itself on unmanned plane
Increase other devices, easily determine whether frozen, is suitable for the icing detection of small drone.
Description of the drawings
Fig. 1 is pitot structural schematic diagram；
Fig. 2 is dynamic pressure and indicator air speed curved line relation schematic diagram；
Fig. 3 is static pressure and pressure altitude graph of relation；
Fig. 4 is static pressure data graph of relation at any time before and after static pressure hole plug in embodiment 1；
Fig. 5 is stagnation pressure data graph of relation at any time before and after stagnation pressure hole plug in embodiment 2；
Fig. 6 is static pressure data graph of relation at any time before and after pitot hole and static pressure hole plug in embodiment 3；
Fig. 7 is stagnation pressure data graph of relation at any time before and after pitot hole and static pressure hole plug in embodiment 3.
Embodiment：
Example one is embodied：
Unmanned plane in high-altitude flight, encounter icing meteorology condition be easy freeze, when on unmanned plane pitot static pressure hole because
When ice blockage, relation curve is as shown in figure at any time for static pressure data before and after static pressure hole plug：
As can be seen from the figure：Static pressure data have fluctuation or variation before the 8th second, and static pressure data are protected after 8 seconds
Hold invariable, this process maintains 15 seconds or more, it is possible to think that static pressure hole was because of ice blockage at the 8th second.
Example two is embodied：
Unmanned plane in high-altitude flight, encounter icing meteorology condition be easy freeze, when on unmanned plane pitot pitot hole because
When ice blockage, relation curve is as shown in Figure 5 at any time for stagnation pressure data before and after stagnation pressure hole plug：
As can be seen from the figure：Decline suddenly in the 10th second stagnation pressure, stagnation pressure data keep constant constant, institute after 10 seconds
Can consider that at the 10th second, pitot hole was because of ice blockage.
Example three is embodied：
Unmanned plane in high-altitude flight, encounter icing meteorology condition be easy freeze, when on unmanned plane pitot pitot hole and
When static pressure hole is because of ice blockage, before and after pitot hole and static pressure hole plug stagnation pressure data and differential pressure at any time relation curve such as Fig. 6,
7：
It can be seen that by Fig. 6-7：Static pressure data are kept constant after the 10th second, and stagnation pressure data are unexpected at the 10th second
Decline, keeps constant later.So static pressure hole and pitot hole were because of ice blockage at the 10th second.
Claims (1)
1. a kind of small drone icing detection method based on pitot, which is characterized in that according to dynamic pressure, stagnation pressure data whether
For exception to determine whether freezing, this method deterministic process is as follows：
Static pressure signal and stagnation pressure signal are directly obtained to recycle by pitot on unmanned plane and atmosphere parameter measurement system, if
In t0Moment, the continuous 15s or more of static pressure numerical value keep constant value Ps(t0), then illustrate static port ice blockage, i.e.,：
Ps(t)=Ps(t0)(t0<t<t0+15)
If at the t0 moment, stagnation pressure numerical value bust is kept constant after a period of time, then pitot port freezes；
If either way occurred, illustrate that two holes all freeze.
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| CN201711485956.5A CN108357683B (en) | 2017-12-29 | 2017-12-29 | Small unmanned aerial vehicle icing detection method based on airspeed head |
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| CN201711485956.5A CN108357683B (en) | 2017-12-29 | 2017-12-29 | Small unmanned aerial vehicle icing detection method based on airspeed head |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112407297A (en) * | 2020-11-19 | 2021-02-26 | 四川探索者航空科技有限公司 | Aircraft icing detection method, system and device |
| CN113859580A (en) * | 2021-11-19 | 2021-12-31 | 重庆艾维瑞科技有限公司 | Aircraft pulls measuring device |
| CN114113672A (en) * | 2022-01-21 | 2022-03-01 | 中国空气动力研究与发展中心空天技术研究所 | Head cover sealed waterproof airspeed head |
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| GB1398085A (en) * | 1971-06-23 | 1975-06-18 | Kendall H M | Sensor for carburettor icing |
| GB2284266B (en) * | 1993-11-25 | 1998-01-07 | Sextant Avionique | Procedure & devices to determine the severity of icing conditions for an aircraft |
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| CN112407297A (en) * | 2020-11-19 | 2021-02-26 | 四川探索者航空科技有限公司 | Aircraft icing detection method, system and device |
| CN113859580A (en) * | 2021-11-19 | 2021-12-31 | 重庆艾维瑞科技有限公司 | Aircraft pulls measuring device |
| CN114113672A (en) * | 2022-01-21 | 2022-03-01 | 中国空气动力研究与发展中心空天技术研究所 | Head cover sealed waterproof airspeed head |
| CN114113672B (en) * | 2022-01-21 | 2022-04-15 | 中国空气动力研究与发展中心空天技术研究所 | Head cover sealed waterproof airspeed head |
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| CN108357683B (en) | 2021-03-23 |
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