CN109188019A - Tri-dimensional wind speed wind direction measurement method based on multiple signal classification algorithm - Google Patents
Tri-dimensional wind speed wind direction measurement method based on multiple signal classification algorithm Download PDFInfo
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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
- G01P5/245—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 by measuring transit time of acoustical waves
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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
- G01P13/04—Indicating positive or negative direction of a linear movement or clockwise or anti-clockwise direction of a rotational movement
- G01P13/045—Indicating positive or negative direction of a linear movement or clockwise or anti-clockwise direction of a rotational movement with speed indication
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Abstract
The tri-dimensional wind speed wind direction measurement method based on multiple signal classification algorithm that the invention proposes a kind of, ultrasonic sensor is arranged according to certain mode, and by the speed of three-dimensional space apoplexy, pitch angle and azimuthal information establish mathematical relationship appropriate, calculate Delay when each sensor receives information, the covariance matrix of information data received by sensor array is subjected to subspace classification using multiple signal classification algorithm, and by calculating spectral function and search spectrum peak value, obtain the velocity magnitude about wind, the information at azimuth and pitch angle, to accurately measure the wind in three-dimensional space.The present invention do not depend on actual signal reach each sensor in the case that with the wind with time difference when contrary wind, but the time delay transmitted signals to up to each receiving sensor is calculated using the mathematical relationship between wind vector and each sensor.This method is realized simply, less by artificial and environmental factor without carrying out timing.
Description
Technical field
The invention belongs to wind speed and direction fields of measurement, and in particular to a kind of three-dimensional velocity based on multiple signal classification algorithm
Direction measuring method for wind.
Background technique
Currently, the measurement for wind speed and direction, the measuring instrument being primarily present has airspeedometer based on radiating principle, cup type
Airspeedometer and ultrasonic aerovane etc..Wherein, ultrasonic aerovane has reliability, accuracy high, and loss is low, makes
It is long with the service life, the advantages that strong antijamming capability, it is most widely used in practice.
Measure the most common method of wind speed be time-of-flight method (Time of Flight, TOF), based on principle be to work as
When propagation distance determines, wind speed and flight time inversely proportional relationship.However it is measured using ultrasonic aerovane
When, the aerial spread speed of ultrasonic wave can be superimposed with the air velocity on wind direction, if the direction of propagation of ultrasonic wave and wind
To identical, then ultrasonic propagation velocity quickening；Conversely, then spread speed slows down.So same wind speed may correspond to different surveys
Measure result.Therefore, present invention combination wind vector decomposes and TOF carries out measuring wind speed.
Measurement for wind direction generallys use the algorithm estimation direction of arrival (Direction- based on array signal processing
Of-arrival, DOA), array of ultrasonic sensors is combined with array signal processing algorithm, by space according to certain side
The array of ultrasonic sensors of formula arrangement receives measurement data, using the MUSIC algorithm in array signal processing algorithm to these
Measurement data carries out relevant treatment, the arrival bearing of extraterrestrial target signal to be measured is estimated and extract, to obtain the pitch angle of wind
With the information such as azimuth.
In fact, natural wind can be counted as trivector, other than having East, West, South, North direction and velocity magnitude,
Also there is vertical component.The three-dimensional information for accurately measuring wind has far-reaching directive significance for actual production.Such as
3d space preview wind-force information can provide instructive information for wind power generating set angular adjustment, facilitate land productivity to greatest extent
With wind energy etc..At present in practical applications, wind is often considered as two-dimensional vector, only measures the azimuth of wind and wind speed or only surveyed
Pitch angle and the azimuth of wind are measured, and ignores the vertical component or velocity component of wind.
Summary of the invention
The present invention is in view of the above-mentioned problems, ultrasonic sensor is arranged according to certain mode, and by three-dimensional space apoplexy
Speed, pitch angle and azimuthal information establish mathematical relationship appropriate, calculate when each sensor receives information when
Prolong information, using multiple signal classification (Multiple Signal classification, MUSIC) algorithm by sensor array
The covariance matrix of received information data carries out subspace classification, and by calculating spectral function and search spectrum peak value, can be with
The information of the velocity magnitude about wind, azimuth and pitch angle is obtained, to accurately measure the wind in three-dimensional space.
A kind of tri-dimensional wind speed wind direction measurement method based on multiple signal classification algorithm, comprising:
Emit and receive signal using array of ultrasonic sensors；
Sampling is carried out to the signal received and obtains reception information, and calculates the propagation delay of ultrasonic signal；
It calculates the covariance matrix for receiving information and carries out Subspace Decomposition；
Using noise subspace calculate spectral function, search for spectral function peak value, obtain the speed of wind in corresponding three-dimensional space,
Azimuth information；
Spectral function is sought again using resulting speed and azimuth information, and pitch angle letter is then obtained by spectrum peak search
Breath.
Further, array of ultrasonic sensors includes a transmitting ultrasonic sensor and five reception supersonic sensings
Device.
Further, ultrasonic sensor is located on the same horizontal plane, and the reception ultrasonic sensor is evenly arranged in
It is the center of circle, radius on 1/4 circular arc of R to emit ultrasonic sensor, phase between every two adjacent reception ultrasonic sensor
Every angle be 22.5 °；One of ultrasonic sensor that receives is located at the transmitting ultrasonic sensor X-axis direction.
Further, τiThe propagation delay of i-th of sensor, i=1~5, then τ are reached for signaliExpression formula are as follows:
V in formulaiIt is the wind speed V in three-dimensional space in transmitting ultrasonic sensor and i reception ultrasonic sensor line
On component, viExpression formula be:
Wherein β is the pitch angle of three-dimensional space apoplexy, and θ is the azimuth of three-dimensional space apoplexy, and α is adjacent reception ultrasonic wave
Angle between sensor, i.e., 22.5 °.
Further, received signal vector A (θ, β, V) calculation method are as follows:
Wherein, f emits the ultrasonic frequency of ultrasonic sensor transmitting.
Further, the covariance matrix for receiving data matrix is Rx:
Rx=E (X (t) XH(t))
Wherein, H indicates conjugate transposition；X (t) is to receive data matrix,
X (t)=[x1(t),x2(t),x3(t),x4(t),x5(t)]T
Т representing matrix transposition；RxEstimated value are as follows:
Receive signal is influenced by noise, therefore receives signal covariance matrix RxIt can be decomposed into signal subspace again
With noise subspace two parts, it may be assumed that
Wherein USRepresentation signal subspace, UNRepresent noise subspace, ∑SIt is the diagonal matrix of signal characteristic value composition, ∑N
It is the diagonal matrix of noise characteristic value composition.The estimated value of signal covariance matrix will be receivedFeature decomposition is carried out, correspondence is acquired
Signal and noise subspace, it may be assumed that
Further, the Power estimation formula of MUSIC algorithm are as follows:
β is considered as definite value to bring into A (θ, β, V), changes θ and V, calculates spectral function by above formula, spectrum peak is searched and obtains in real time
Wind speed V and azimuth angle theta value.
Further, the value of resulting wind speed V and azimuth angle theta are considered as definite value to bring into again in A (θ, β, V), change β, weight
It is new to calculate spectral function, it searches spectrum peak and obtains the value of real-time pitch angle β.
The present invention handles the signal for the three-dimensional information comprising wind that array of ultrasonic sensors receives, and utilizes
MUSIC algorithm obtains signal subspace and noise subspace, enhances useful signal, and according to useful signal characteristic and institute
The information for including effectively measures velocity magnitude, azimuth and the pitch angle information of outlet air.In addition, present invention whole process is not artificially done
In advance, this method can be seen that with preferable measurement accuracy by the simulation experiment result of algorithm, realizes to wind speed and direction three
The real-time and accurate measurement of n dimensional vector n.
Detailed description of the invention
Fig. 1 is array of ultrasonic sensors planar structure schematic diagram in method of the invention；
Fig. 2 is that three-dimensional sensors array surveys wind schematic diagram in method of the invention；
Fig. 3 is the simulation result diagram in the emulation experiment of the method for the present invention；
Fig. 4 is SNR in the emulation experiment of the method for the present invention for the influence diagram of the evaluated error of wind speed；
Fig. 5 is SNR in the emulation experiment of the method for the present invention for the influence diagram of azimuthal evaluated error.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.
The present invention provides a kind of tri-dimensional wind speed wind direction measurement method based on multiple signal classification algorithm, and this method passes through super
Sonic sensor array realizes that the array contains six ultrasonic sensors.
Array of ultrasonic sensors is set first.It includes six ultrasonic sensors that array of ultrasonic sensors, which has altogether,
In transmitting ultrasonic sensor for emitting signal, five reception ultrasonic sensors are for receiving signal.Transmitting ultrasound
Wave sensor is No. 0 ultrasonic sensor；Other five reception ultrasonic sensors are respectively 1~No. 5 ultrasonic sensor.
Fig. 1 shows array of ultrasonic sensors planar structure schematic diagram, it is seen that No. 0~No. 5 ultrasonic waves pass
Sensor is located on the same horizontal plane, and No. 1~No. 5 ultrasonic sensors, which are evenly arranged in using No. 0 sensor as the center of circle, radius, is
On 1/4 circular arc of R, it is 22.5 ° that angle is separated by between every two adjacent ultrasonic wave sensor；No. 3 ultrasonic sensors are passed to No. 0
Sensor direction is X-axis direction.
Then, transmitting ultrasonic sensor emits signal, receives ultrasonic sensor and receives signal, and passes to ultrasonic wave is received
The signal that sensor receives carries out sampling and obtains reception information, and calculates the propagation delay of ultrasonic signal.
No. 0 transmitting ultrasonic sensor is S (t) with the frequency emissioning signal of such as f=200kHz, the signal of transmitting；It is right
It receives the information that array of ultrasonic sensors receives to be sampled, and result is analyzed and processed.
Array received data matrix is X (t), then
X (t)=[x1(t),x2(t),x3(t),x4(t),x5(t)]T(1),
Т representing matrix transposition；
The signal that i-th of receiving sensor receives is xi(t), wherein i=1~5,
Wherein ni(t) it is the noise on No. i-th sensor, and assumes that the noise of each array element is the steady white noise that mean value is 0
Sound process, and uncorrelated between the noise of each array element, between noise and signal uncorrelated；
τiThe propagation delay of i-th of array element, i=1~5, then τ are reached for signaliExpression formula are as follows:
Fig. 2 shows three-dimensional sensors arrays to survey wind schematic diagram, according to the geometry of each sensor and wind speed and direction angle
Relationship, v in formula (3)iIt is component of the wind speed V on No. 0 sensor and i sensor line in three-dimensional space, viExpression formula
It is:
Wherein β is the pitch angle of three-dimensional space apoplexy, and θ is the azimuth of three-dimensional space apoplexy, α be adjacent sensors with
The angle of No. 0 sensor line, i.e., 22.5 °.
Wherein:
Formula (2) is write as vector form,
X (t)=A (θ, β, V) S (t)+N (t) (5),
Wherein N (t) is the vector form of sensor noise,
N (t)=[n1(t),n2(t),n3(t),n4(t),n5(t)]T(6)；
A (θ, β, V) is signal vector, can be obtained by formula (2):
By formula (7) convolution (3) and formula (4), can obtain:
Later, it calculates and receives the covariance matrix value of information and carry out Subspace Decomposition, utilize noise subspace meter
Spectral function is calculated, spectral function peak value is searched for, obtains the speed of wind, azimuth information in corresponding three-dimensional space, utilize resulting speed
Degree and azimuth information seek spectral function again, and spectrum peak search obtains pitch angle information.
The covariance matrix for receiving data X (t) matrix is Rx, then
Rx=E (X (t) XH(t)) (9),
Wherein, H indicates conjugate transposition.
It is influenced due to receiving signal by noise, utilizes MUSIC algorithm, can will receive the covariance square of data
Battle array carries out feature decomposition, obtains orthogonal signal subspace and noise subspace, the parameter of signal is estimated using orthogonality.It will
RxEigenvalues Decomposition and descending sequence are carried out, maximum characteristic value and corresponding feature vector are signal subspace, remaining
Characteristic value and corresponding feature vector be noise subspace, it may be assumed that
Wherein USRepresentation signal subspace, UNRepresent noise subspace, ∑SIt is the diagonal matrix of signal characteristic value composition, ∑N
It is the diagonal matrix of noise characteristic value composition.
In practice, the array for receiving signal is limited, according to receiving the signal phasor that receives of ultrasonic sensor,
Obtain RxEstimated value are as follows:
It willIt is decomposed into signal subspace and noise subspace, is obtained:
Actually due to the presence of noise, the steering vector of noise subspace and signal subspace is not exclusively orthogonal, therefore
The Power estimation formula of MUSIC algorithm are as follows:
Spectrum peak search is carried out according to signal parameter range: β being first considered as definite value and is brought into A (θ, β, V), changes θ and V, by formula
(12) spectral function is calculated, spectrum peak is searched and obtains the value of real-time wind speed V and azimuth angle theta.
The value of resulting wind speed V and azimuth angle theta are considered as definite value to bring into again in A (θ, β, V), changes β, recalculates spectrum
Function searches spectrum peak and obtains the value of real-time pitch angle β.This is arrived, velocity magnitude, pitch angle and the side of the wind in three-dimensional space
Azimuth angle information all obtains.
Emulation experiment is carried out below.Emulation experiment condition are as follows: array of ultrasonic sensors is as shown in Fig. 2, R=0.1m.It is super
Sonic sensor 0 is used as sound source, and transmitting ultrasonic wave is incident in array of ultrasonic sensors, wind speed and direction information are as follows: wind speed is
12.5m/s；Azimuth is 134 °, and pitch angle is 40 °.Ultrasonic wave array element noise is additive white Gaussian noise.Number of snapshots are 1000,
Signal-to-noise ratio changes to 20B from 0dB, is divided into 5dB.To 20 independent emulation experiments are done in each case, estimation performance is used
Root-mean-square error (RMSE) is judged, and the RMSE of Signal parameter estimation is defined as follows:
Simulation result is as shown in Figure 3.Refering to Fig. 3, the wind in three-dimensional space that wind detection method provided by the invention estimates
Fast wind direction information is consistent with actual information.Fig. 4 is influence of the SNR for the evaluated error of wind speed, Fig. 5 is SNR for orientation
The influence of the evaluated error at angle.It can be seen from the figure that SNR is for wind speed size and azimuth size under the experiment condition
Influence error within an acceptable range, and as SNR constantly increases, this method measurement wind speed and azimuthal error constantly subtract
Small, precision is continuously improved.In the present invention, pitch angle size is first considered as it is known that acquired results by wind speed and azimuthal estimation
Parameter as estimation pitch angle size again, therefore SNR influences to can be ignored not for the evaluated error of pitch angle size in the present invention
Meter.
In conclusion using it is provided by the invention using array of ultrasonic sensors based on multiple signal classification algorithm
Tri-dimensional wind speed wind direction measurement method is feasible.
The present invention is calculated to transmit signals to using the mathematical relationship between wind vector and each sensor and be sensed up to each reception
The time delay of device, to obtain the signal vector comprising wind speed, deflection and pitch angle information.This method realize it is simple, without into
Row timing, less by artificial and environmental factor, furthermore the distance of emission sensor to receiving sensor can be in a certain range
Flexibly change, carries out many experiments more conducively to carry out recruitment evaluation.
MUSIC algorithm is the classical algorithm of comparison, was proposed by Schmidt et al. in 1979, is the mark of Estimation of Spatial Spectrum
Will algorithm obtains corresponding signal subspace and noise by the way that the covariance matrix of array data is carried out feature decomposition
Space constructs space spectral function using the orthogonality of two spaces, then by spectrum peak search, detects the DOA of signal.MUSIC is calculated
Method is in specific condition in resolution ratio with higher, estimated accuracy and stability.Therefore, the advantages of being based on above-mentioned algorithm, will
Use of information MUSIC algorithm principle obtained by receiving sensor, which carries out Subspace Decomposition, spectrum peak search etc., can finally obtain effectively
Speed, the information at azimuth and pitch angle of wind, and velocity resolution has reached 0.1m/s, angular resolution has reached 1 °.
Claims (8)
1. a kind of tri-dimensional wind speed wind direction measurement method based on multiple signal classification algorithm, comprising:
Emit and receive signal using array of ultrasonic sensors；
Sampling is carried out to the signal received and obtains reception information, and calculates the propagation delay of ultrasonic signal；
It calculates the covariance matrix for receiving information and carries out Subspace Decomposition；
Spectral function is calculated using noise subspace, spectral function peak value is searched for, obtains the speed, orientation of wind in corresponding three-dimensional space
Angle information；
Spectral function is sought again using resulting speed and azimuth information, and pitch angle information is then obtained by spectrum peak search.
2. a kind of tri-dimensional wind speed wind direction measurement method based on multiple signal classification algorithm according to claim 1, special
Sign is: the array of ultrasonic sensors includes a transmitting ultrasonic sensor and five reception ultrasonic sensors.
3. a kind of tri-dimensional wind speed wind direction measurement method based on multiple signal classification algorithm according to claim 2, special
Sign is: the ultrasonic sensor is located on the same horizontal plane, and the reception ultrasonic sensor is evenly arranged in send out
It penetrates on 1/4 circular arc that ultrasonic sensor is the center of circle, radius is R, is separated by angle between every two adjacent reception ultrasonic sensor
Degree is 22.5 °；One of ultrasonic sensor that receives is located at the transmitting ultrasonic sensor X-axis direction.
4. a kind of tri-dimensional wind speed wind direction measurement method based on multiple signal classification algorithm according to claim 3, special
Sign is: τiThe propagation delay of i-th of sensor, i=1~5, then τ are reached for signaliExpression formula are as follows:
V in formulaiIt is the wind speed V in three-dimensional space in transmitting ultrasonic sensor and point on i reception ultrasonic sensor line
Amount, viExpression formula be:
Wherein β is the pitch angle of three-dimensional space apoplexy, and θ is the azimuth of three-dimensional space apoplexy, and α is adjacent reception supersonic sensing
Angle between device, i.e., 22.5 °.
5. a kind of tri-dimensional wind speed wind direction measurement method based on multiple signal classification algorithm according to claim 4, special
Sign is, received signal vector A (θ, β, V) calculation method are as follows:
Wherein, f emits the ultrasonic frequency of ultrasonic sensor transmitting.
6. a kind of tri-dimensional wind speed wind direction measurement method based on multiple signal classification algorithm according to claim 5, special
Sign is: the covariance matrix for receiving data matrix is Rx:
Rx=E (X (t) XH(t))
Wherein, H indicates conjugate transposition；X (t) is to receive data matrix,
X (t)=[x1(t),x2(t),x3(t),x4(t),x5(t)]T
Т representing matrix transposition；Mathematic expectaion in above formula is estimated using average value, then RxEstimated valueIt may be expressed as:
Receive signal is influenced by noise, therefore receives signal covariance matrix RxIt can be decomposed into signal subspace again and make an uproar
Phonon space two parts, it may be assumed that
Wherein USRepresentation signal subspace, UNRepresent noise subspace, ∑SIt is the diagonal matrix of signal characteristic value composition, ∑NIt is noise
Eigenvalue cluster at diagonal matrix；The estimated value of signal covariance matrix will be receivedFeature decomposition is carried out, corresponding signal is obtained
And noise subspace, it may be assumed that
7. a kind of tri-dimensional wind speed wind direction measurement method based on multiple signal classification algorithm according to claim 6, special
Sign is: the Power estimation formula of MUSIC algorithm are as follows:
β is considered as definite value to bring into A (θ, β, V), changes θ and V, calculates spectral function by above formula, spectrum peak is searched and obtains real-time wind
The value of fast V and azimuth angle theta.
8. a kind of tri-dimensional wind speed wind direction measurement method based on multiple signal classification algorithm according to claim 7, special
Sign is: the value of resulting wind speed V and azimuth angle theta being considered as definite value and brought into A (θ, β, V) again, changes β, recalculates spectrum
Function searches spectrum peak and obtains the value of real-time pitch angle β.
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| CN109813930A (en) * | 2019-03-12 | 2019-05-28 | 吉林大学 | Speed and wind direction measuring method for wind based on reflecting type ultrasonic sensor array |
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