CN111746775A - High-altitude balloon flight direction control system and method - Google Patents
High-altitude balloon flight direction control system and method Download PDFInfo
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Abstract
The invention relates to a high-altitude balloon flight direction control system and a method, wherein the system comprises a high-altitude balloon, a parachute and a nacelle which are sequentially connected, and further comprises a light purifying device, a heavy purifying device and a control module, wherein the light purifying device is connected with the top of the high-altitude balloon and is always in a light purifying state, and position information and corresponding wind speed and direction of the light purifying device are acquired in real time and sent to the control module; the net weight device is connected with the bottom of the nacelle and is always in a net weight state, and the position information and the corresponding wind speed and direction of the net weight device are obtained in real time and sent to the control module; and the control module is used for controlling the flight direction of the high-altitude balloon based on the position information of the net weight device and the corresponding wind speed and direction as well as the position information of the net weight device and the corresponding wind speed and direction. The invention can control the high-altitude balloon to select the optimal flight direction and speed in real time, thereby optimizing the flight track, and realizing long-time sky parking in a certain range or roundabout flight in a larger range.
Description
Technical Field
The invention relates to the technical field of aerostats, in particular to a system and a method for controlling the flight direction of a high-altitude balloon.
Background
The high-altitude balloon is an unpowered aerostat flying in stratosphere, and the working principle of levitation and flying is constructed according to Archimedes buoyancy law and Newton's second law. After the high-altitude balloon reaches the flying altitude, the high-altitude balloon begins to fly with the wind, the flying direction depends on the wind direction of the altitude, and the flying speed is basically the same as the wind speed of the altitude of the balloon. However, for most regions on the earth, the wind speeds and the wind directions at different heights in the same place are greatly different, and the difference has certain latitude and seasonal rules.
Taking most of the mid-latitude areas as an example, strong west wind often exists at the height of the troposphere in low altitude in summer and autumn, and east wind exists at the height of the stratosphere. At the transition altitude between the west wind and the east wind, there is a transition layer, called the "quasi-zero wind layer". In the quasi-zero wind layer, the wind speed is very small, and even static wind can occur. It is the existence of such atmospheric phenomena that has led to new research hotspots in recent decades. A tall air ball is certainly an ideal platform to be permanently airborne at this height. But at this altitude, the wind field is in an unstable and uncertain state, which is concentrated in time and regional differences, as well as drastic changes in the altitude profile. Even at the same height, the wind speed and the wind direction of two places which are far away from each other have a large difference; the wind speed and the wind direction at the same height in the same place have larger difference at different time, and especially can be greatly changed when solar irradiation, ground radiation and the like are greatly changed in the daytime and at night; in the quasi-zero wind layer, the wind field changes more severely in height, and the wind direction changes even more than 90 degrees in the height range of dozens of meters. These have brought about great difficulties in the forecasting of the wind field of the quasi-zero wind layer, and the forecasting cannot be accurately predicted or forecasted until now. When the high-altitude balloon flies in the quasi-zero wind layer, the flying speed and direction of the high-altitude balloon can change along with the change of time and flying place, and the change can make the high-altitude balloon deviate from the original flying track and even exceed the boundary of an airspace, so that the flight has to be stopped. Therefore, how to control the flight direction of the high-altitude balloon and select the optimal flight direction and speed becomes an urgent technical problem to be solved.
Disclosure of Invention
The invention aims to provide a high-altitude balloon flight direction control system and method, which can measure time domain and regional changes of a wind field of a nearby altitude profile in real time in the flight process of a high-altitude balloon through the fine measurement of the wind field in the adjacent altitude profile in the flight process of the high-altitude balloon, and control the high-altitude balloon to select the optimal flight direction and speed in real time, so that the flight track can be optimized, and long-time sky parking in a certain range or roundabout flight in a larger range can be realized.
According to a first aspect of the invention, there is provided a high-altitude balloon flight direction control system, comprising a balloon apparatus, the balloon apparatus comprising a high-altitude balloon, a parachute and a pod connected in series, the system further comprising a net weight apparatus, a net weight apparatus and a control module, wherein,
the light purifying device is connected with the top of the high-altitude balloon and is always in a light purifying state, and the position information and the corresponding wind speed and direction of the light purifying device are acquired in real time and sent to the control module;
the net weight device is connected with the bottom of the nacelle and is always in a net weight state, and the position information and the corresponding wind speed and direction of the nacelle are acquired in real time and sent to the control module;
the control module is used for controlling the flight direction of the high-altitude balloon based on the position information of the net weight device and the corresponding wind speed and direction, and the position information of the net weight device and the corresponding wind speed and direction.
Furthermore, the control module controls the flight direction of the high-altitude balloon based on the position information of the net light device and the corresponding wind speed and direction, determines the target flight wind layer of the high-altitude balloon, adjusts the high-altitude balloon to the target flight wind layer, and further controls the flight direction and the flight speed of the high-altitude balloon.
Further, the system also comprises a first positioning part and a first wind speed measuring part which are arranged at the bottom of the high-altitude balloon, wherein,
the first positioning part is used for acquiring the position information of the high-altitude balloon in real time and sending the position information to the control module;
the first wind speed measuring part is used for acquiring the wind speed and the wind direction of the high-altitude balloon in real time and sending the wind speed and the wind direction to the control module.
Further, the light purifying device comprises one or more light purifying parts connected in series, each light purifying part comprises a light purifying ball, and a second positioning part and a second wind speed measuring part which are arranged at the bottom of the light purifying ball,
the two adjacent net light balls are connected by adopting ropes, and the number of the net light parts and the length of each rope are set according to the flight requirement of the high-altitude balloon;
the second positioning part is used for measuring the position of the light net ball in real time, and the second wind speed measuring part is used for measuring the wind speed and the wind direction of the light net ball in real time.
Further, the net weight device comprises one or more net weight parts connected in series, each net weight part comprises a net weight ball, a third positioning part and a third wind speed measuring part, wherein the third positioning part and the third wind speed measuring part are arranged at the bottom of the net weight ball,
the two adjacent net weight balls are connected by adopting ropes, and the number of the net weight parts and the length of each rope are set according to the flight requirement of the high-altitude balloon;
the third positioning part is used for measuring the position of the net weight ball corresponding to the third positioning part in real time, and the third wind speed measuring part is used for measuring the wind speed and the wind direction of the net weight ball corresponding to the third wind speed measuring part in real time.
Further, when the target flight level is located at a current position corresponding to any one of the net weight balls, the control module controls to reduce the flying height of the high-altitude balloon to the target flight level, and the method specifically includes:
discharging a corresponding amount of buoyancy lifting gas from the high-altitude balloon according to the required height to be reduced, slowly accelerating the high-altitude balloon to descend, and taking braking measures on the high-altitude balloon when the high-altitude balloon is a preset distance away from a target flight level until the high-altitude balloon reaches the target flight level, wherein the braking measures comprise controlling the throwing of weighted sand with the total weight equal to the buoyancy of the discharged buoyancy lifting gas from the nacelle;
and if the actually achieved altitude of the high-altitude balloon is still higher than the target flight level, repeating the process for fine adjustment until the high-altitude balloon reaches the target flight level.
Further, when the target flight level is located at the current position corresponding to any net light ball, the control module controls to raise the flight altitude of the high-altitude balloon to the target flight level, which specifically includes:
the weight of the balloon device is reduced according to the required raised height of the high-altitude balloon, the weight of the balloon device is reduced, the weight of the weight-corresponding sand is thrown out of the nacelle, the high-altitude balloon rises, the air density is reduced along with the increase of the height of the system, the atmospheric pressure is reduced, the volume of the buoyancy gas floating inside the high-altitude balloon is expanded, after the whole high-altitude balloon is inflated, the continuously expanded buoyancy gas is discharged from the high-altitude balloon, the net buoyancy of the system is continuously reduced until a buoyancy weight balance state is reached, and the flying height of the high-altitude balloon reaches a target flight level;
and if the actually achieved altitude of the high-altitude balloon is still lower than the target flight level, repeating the process for fine adjustment until the high-altitude balloon reaches the target flight level.
According to a second aspect of the invention, there is provided a high-altitude balloon flight direction control method, comprising:
acquiring position information and corresponding wind speed and direction at a plurality of heights on the top of the high-altitude balloon through a light purifying device positioned at the upper part of the high-altitude balloon;
acquiring position information and corresponding wind speed and direction at a plurality of altitudes at the bottom of the high-altitude balloon through a dead weight device positioned at the lower part of the high-altitude balloon;
and controlling the flight direction of the high-altitude balloon based on the position information of the light purifying device and the corresponding wind speed and direction as well as the position information of the heavy purifying device and the corresponding wind speed and direction.
Further, when the target flight level is located at a current position corresponding to any one of the net weight balls, the controlling the flight direction of the high-altitude balloon based on the position information of the net weight device and the corresponding wind speed and direction, and the position information of the net weight device and the corresponding wind speed and direction includes:
discharging a corresponding amount of buoyancy lifting gas from the high-altitude balloon according to the required height to be reduced, slowly accelerating the high-altitude balloon to descend, and taking braking measures on the high-altitude balloon when the high-altitude balloon is a preset distance away from a target flight level until the high-altitude balloon reaches the target flight level, wherein the braking measures comprise controlling the throwing of weighted sand with the total weight equal to the buoyancy of the discharged buoyancy lifting gas from the nacelle;
and if the actually achieved altitude of the high-altitude balloon is still higher than the target flight level, repeating the process for fine adjustment until the high-altitude balloon reaches the target flight level.
Further, when the target flight level is located at a current position corresponding to any net light ball, controlling the flight direction of the high-altitude balloon based on the position information of the net light device and the corresponding wind speed and direction, and the position information of the net heavy device and the corresponding wind speed and direction includes:
the weight of the balloon device is reduced according to the required raised height of the high-altitude balloon, the weight of the balloon device is reduced, the weight of the weight-corresponding sand is thrown out of the nacelle, the high-altitude balloon rises, the air density is reduced along with the increase of the height of the system, the atmospheric pressure is reduced, the volume of the buoyancy gas floating inside the high-altitude balloon is expanded, after the whole high-altitude balloon is inflated, the continuously expanded buoyancy gas is discharged from the high-altitude balloon, the net buoyancy of the system is continuously reduced until a buoyancy weight balance state is reached, and the flying height of the high-altitude balloon reaches a target flight level;
and if the actually achieved altitude of the high-altitude balloon is still lower than the target flight level, repeating the process for fine adjustment until the high-altitude balloon reaches the target flight level.
Compared with the prior art, the invention has obvious advantages and beneficial effects. By means of the technical scheme, the high-altitude balloon flight direction control system and the method provided by the invention can achieve considerable technical progress and practicability, have industrial wide utilization value and at least have the following advantages:
according to the invention, through the refined measurement of the wind field in the adjacent altitude section in the flight process of the high-altitude balloon, the time domain and the regional change of the wind field of the adjacent altitude section can be measured in real time in the flight process of the high-altitude balloon, and the high-altitude balloon is controlled to select the optimal flight direction and speed in real time, so that the flight trajectory can be optimized, and long-time sky parking in a certain range or roundabout flight in a larger range can be realized.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above-mentioned and other objects, features, and advantages of the present invention more clearly understandable, the following preferred embodiments are described in detail with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic view of a high-altitude balloon flight direction control system according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method for controlling the flight direction of a high-altitude balloon according to an embodiment of the present invention;
FIG. 3 is a top view of horizontal wind velocity between flying balls at different heights for a high-altitude balloon flight direction control system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of east-west wind speeds between balls flying at different heights of a high-altitude balloon flight direction control system according to an embodiment of the invention;
FIG. 5 is a schematic view of an embodiment of the invention showing the deflation of the deflation valve of the balloon in the high altitude balloon flight direction control system;
FIG. 6 is a schematic diagram illustrating the start of the ascent of a thrown weight sand balloon of the high-altitude balloon flight direction control system according to an embodiment of the present invention;
fig. 7 is a schematic view of a shaped balloon of the high-altitude balloon flight direction control system according to an embodiment of the present invention, vented through an exhaust tube until the balloon flies flat again.
[ notation ] to show
1: and 2, high-altitude balloon: parachute
3: the nacelle 4: air exhaust valve
5: exhaust pipe 11: a first positioning part
12: first wind speed measurement unit 6: light cleaning device
7: net weight device 61: net light part
610: clean light ball 611: second positioning part
612: second wind speed measurement unit 8: rope
601: first net light portion 602: second net light part
603: third net light portion 604: fourth net light part
71: net weight part 710: net weight ball
711: the third positioning portion 712: third wind speed measuring part
701: first net weight portion 702: second net weight part
703: third net weight portion 704: fourth net weight part
Detailed Description
Hereinafter, embodiments of the present invention will be described in detail by way of examples with reference to the accompanying drawings. However, it should be noted that the examples described herein are only intended to illustrate specific embodiments of the present invention so that those skilled in the art can practice the invention after reading the present specification, and not to limit the scope of the present invention. Furthermore, the drawings are not necessarily to scale, the shapes and structures of the devices may be shown in full or in full, so that the spirit and principles of the invention may be better understood. Moreover, it should be understood that portions of the present method that are obvious to those skilled in the art may not be repeated herein, but are essential to the present invention and should be incorporated as a part of the overall content of the present invention.
The embodiment of the invention provides a high-altitude balloon flight direction control system, which comprises a balloon device, as shown in figure 1, wherein the balloon device comprises a high-altitude balloon 1, a parachute 2 and a hanging cabin 3 which are sequentially connected, a task load is generally arranged in the hanging cabin 3, buoyancy gas, generally helium or hydrogen, is filled in the high-altitude balloon 1 and is used for providing buoyancy for lifting and parking for the system, an exhaust valve 4 can be arranged on the top of the high-altitude balloon 1 according to flight requirements, an exhaust pipe 5 can be arranged at the lower part of the zero-pressure high-altitude balloon 1 and is used for exhausting the buoyancy gas after the balloon is inflated, the internal and external pressure difference of the high-altitude balloon 1 is ensured to be within a safe range, and the exhaust pipe 5 can be a hose and is communicated with the internal buoyancy gas and the external atmosphere. The parachute 2 is used for decelerating the mission load and the nacelle 3 in the landing process after the flight is finished, and the landing speed of the nacelle 3 is ensured to be within a safe range. The nacelle 3 is the brain of the whole system, the mission load is arranged in the nacelle 3, the space for installing all equipment participating in the flight system is provided, the temperature is ensured to be within the safety range of the equipment during the flight, a control device for the counterweight sand and the counterweight sand can be arranged in the nacelle 3, and when the total weight of the system needs to be reduced, the counterweight sand is controlled, and the counterweight sand can be thrown out so as to reduce the total weight of the system. It will be appreciated that the high-altitude balloon 11 may be a zero-pressure balloon or an overpressure balloon, depending on flight requirements.
The system further comprises a net weight device 6, a net weight device 7 and a control module (not shown in the figure). The light purifying device 6 is connected with the top of the high-altitude balloon 1, is always in a light purifying state, acquires position information and corresponding wind speed and direction in real time, and sends the position information and the corresponding wind speed and direction to the control module. The net weight device 7 is connected with the bottom of the nacelle 3, is always in a net weight state, acquires position information and corresponding wind speed and direction in real time, and sends the position information and the corresponding wind speed and direction to the control module. The control module is used for controlling the flight direction of the high-altitude balloon 1 based on the position information of the light and clear device 6 and the corresponding wind speed and direction, and the position information of the heavy and clear device 7 and the corresponding wind speed and direction.
As an example, the control module controls the flight direction of the high-altitude balloon 1 based on the position information and the corresponding wind speed and direction of the light weight device 6 and the position information and the corresponding wind speed and direction of the heavy weight device 7, determines the target flight wind layer of the high-altitude balloon 1, adjusts the high-altitude balloon 1 to the target flight wind layer, and then controls the flight direction and the flight speed of the high-altitude balloon 1.
As an example, the system further comprises a first positioning part 11 and a first wind speed measuring part 12 which are installed at the bottom of the high-altitude balloon 1, wherein the first positioning part 11 is used for acquiring the position information of the high-altitude balloon 1 in real time and sending the position information to the control module; the first wind speed measuring part 12 is configured to obtain the wind speed and the wind direction of the high-altitude balloon 1 in real time, and send the wind speed and the wind direction to the control module.
As an example, the light and clean device 6 includes one or more light and clean parts 61 connected in series, each light and clean part 61 includes a light and clean ball 610 and a second positioning part 611 and a second wind speed measuring part 612 installed at the bottom of the light and clean ball 610, wherein the inside of each light and clean ball 610 is filled with uplift gas. Two adjacent clean light balls 610 are connected by a rope 8, and it can be understood that the clean light ball 610 directly connected with the high-altitude balloon 1 is also directly connected to the top of the high-altitude balloon 1 by the rope 8. It should be noted that the number of the net light portions 61 and the length of each rope 8 are set according to the flight requirements of the high-altitude balloon 1; the second positioning part 611 is configured to measure a position of the light net ball 610 in real time, and the second wind speed measuring part 612 is configured to measure a wind speed and a wind direction of the light net ball 610 in real time. In this embodiment, according to the height direction, the following are sequentially performed from low to high: the first clear light part 601, the second clear light part 602, the third clear light part 603, the fourth clear light part 604, and the clear light ball 610 may be streamlined, may be of an inverted water droplet type, or may use a latex ball. During the flight of the system, the net light ball 610 is always on top of the system.
As an example, the dead weight device 7 includes one or more dead weight parts 71 connected in series, each of the dead weight parts 71 includes a dead weight ball 710, and a third positioning part 711 and a third wind speed measuring part 712 installed at the bottom of the dead weight ball 710, wherein two adjacent dead weight balls 710 are connected by a rope 8, and the number of the dead weight parts 71 and the length of each rope 8 are set according to the flight requirement of the high altitude balloon 1; the third positioning part 711 is configured to measure the position of the corresponding net weight sphere 710 in real time, and the third wind speed measuring part 712 is configured to measure the wind speed and the wind direction of the corresponding net weight sphere 710 in real time. In the embodiment, 4 are taken as examples, and according to the height, the sequence from high to low is as follows: the first net weight part 701, the second net weight part 702, the third net weight part 703 and the fourth net weight part 704, and the lower net weight ball 710 may be of a ball type and have a certain overpressure capacity. During flight of the system, the lower net weight sphere 710 is always located in the lower portion of the system.
The first positioning portion 11, the second positioning portion 611, and the third positioning portion 711 may be GPS positioning devices, and are used to display the longitude and latitude of the position in real time. The first, second and third anemometry 12, 612, 712 may be anemometers. It should be noted that the latitude and longitude displayed by the GPS positioning device is an accurate position. The wind speed and the wind direction measured by the anemometer are wind field data relative to the flying air flow, and the measured wind speed and the measured wind direction relative to the ground can be calculated only by decoupling the wind field data relative to the flying air flow from the flying speed and the flying direction of the high-altitude balloon 1. The first positioning unit 11, the first wind speed measuring unit 12, the second positioning unit 611, the second wind speed measuring unit 612, the third positioning unit 711, and the third wind speed measuring unit 712 may directly send the measured data to the control module, or send the measured data to the communication device disposed in the nacelle 3 through the local area network, and then package the data by the communication device to the control module.
As an example, when the target flight level is located at the current position corresponding to any of the net weight balls 710, the control module controls to reduce the flying altitude of the high-altitude balloon 1 to the target flight level, which specifically includes: discharging a corresponding amount of buoyancy lifting gas from the high-altitude balloon 1 according to the height required to be reduced, slowly accelerating the high-altitude balloon 1 to descend, and when the distance between the high-altitude balloon 1 and a target flight level is a preset distance, taking braking measures on the high-altitude balloon 1 until the high-altitude balloon 1 reaches the target flight level, wherein the braking measures comprise controlling the throwing of counterweight sand with the total weight equal to the buoyancy of the discharged buoyancy lifting gas from the pod 3; if the actually achieved altitude of the high-altitude balloon 1 is still higher than the target flight level, the process is repeated for fine adjustment until the high-altitude balloon 1 reaches the target flight level.
As an example, when the target flight level is located at the current position corresponding to any net light ball 610, the control module controls to raise the flight altitude of the high-altitude balloon 1 to the target flight level, specifically including: the weight of the balloon device is reduced according to the required lifting height of the high-altitude balloon 1, the weight of the balloon device is reduced, the high-altitude balloon 1 is thrown out of the pod 3, the weight of the counter weight sand is corresponding to the weight, the air density is reduced along with the increase of the height of the system, the atmospheric pressure is reduced, the volume of the buoyancy lifting gas in the high-altitude balloon 1 is expanded, after the whole high-altitude balloon 1 is inflated, the continuously expanded buoyancy lifting gas is discharged from the high-altitude balloon 1, the net buoyancy of the system is continuously reduced until a buoyancy weight balance state is reached, and the flying height of the high-altitude balloon 1 reaches a target flight level; if the actual height reached by the high-altitude balloon 1 is still lower than the target flight level, the process is repeated for fine adjustment until the high-altitude balloon 1 reaches the target flight level.
The embodiment of the invention also provides a high-altitude balloon flight direction control method, as shown in fig. 2, comprising the following steps:
step S1, acquiring position information and corresponding wind speed and direction at a plurality of altitudes at the top of the high-altitude balloon 1 through the light purifying device 6 positioned at the upper part of the high-altitude balloon 1;
step S2, acquiring position information and corresponding wind speed and direction at a plurality of altitudes at the bottom of the high-altitude balloon 1 through the dead weight device 7 positioned at the lower part of the high-altitude balloon 1;
and step S3, controlling the flight direction of the high-altitude balloon 1 based on the position information of the net weight device 6 and the corresponding wind speed and direction, and the position information of the net weight device 7 and the corresponding wind speed and direction.
As an example, when the target flight level is located at the current position corresponding to any net weight ball 710, the step S3 includes:
step S31, discharging a corresponding amount of buoyancy gas from the high-altitude balloon 1 according to the height required to be reduced, slowly accelerating and descending the high-altitude balloon 1, and taking braking measures for the high-altitude balloon 1 when the distance between the high-altitude balloon 1 and a target flight level is a preset distance until the high-altitude balloon 1 reaches the target flight level, wherein the braking measures comprise controlling the gravity sand with the total weight equal to the buoyancy of the discharged buoyancy gas to be thrown from the pod 3.
It should be noted that, if the altitude actually reached by the high-altitude balloon 1 is still higher than the target flight level, the above step S31 is repeated to perform fine adjustment until the high-altitude balloon 1 reaches the target flight level.
As an example, when the target flight level is located at the current position corresponding to any net light ball 610, the step S3 includes:
step S32, reducing the weight of the balloon device according to the height required to be raised by the high-altitude balloon 1, including throwing out the counter weight sand with the corresponding weight from the pod 3, raising the high-altitude balloon 1, reducing the air density along with the increase of the system height, reducing the atmospheric pressure, expanding the volume of the buoyancy gas in the high-altitude balloon 1, discharging the continuously expanded buoyancy gas from the high-altitude balloon 1 after the whole sphere of the high-altitude balloon 1 is inflated, continuously reducing the net buoyancy of the system until the buoyancy weight balance state is reached, and enabling the flying height of the high-altitude balloon 1 to reach the target flight level.
It should be noted that, if the altitude actually reached by the high-altitude balloon 1 is still lower than the target flight level, step S32 is repeated to perform fine adjustment until the high-altitude balloon 1 reaches the target flight level.
The following is a specific example, the embodiment of the present invention can measure in real time within a range of thousands of meters, but the altitude adjustment capability of the high-altitude balloon 1 generally only performs altitude adjustment of thousands of meters, and the altitude adjustment with too large span can cause the system to lose the weight balance, and the flight planning needs to be performed again. For the wind field of the stratosphere, the general trend is stable, the violent conversion of the wind speed and the wind direction is concentrated on the height of the quasi-zero wind layer, and the typical flight in the quasi-zero wind layer is taken as an example for explanation in the embodiment. Generally, the thickness of the quasi-zero wind layer is between hundreds of meters and one or two kilometers, the system of the embodiment of the invention selects real-time measurement of wind field within 800 meters above and below the high-altitude balloon 1, the length of the rope 8 connected between the upper net light ball 610 and the lower net heavy ball 710 is 200 meters, and the length of the rope 8 connected between the lower net light ball 710 and the lower net heavy ball 710 is 200 meters.
In the flying process, if the wind field is the same in the range of 800 meters above and below the whole system, all the net light balls 610 and the net heavy balls 710 are distributed on one vertical line, the rope 8 connecting all the balls is vertical to the ground, the projections of all the net light balls 610 and the net heavy balls 710 on the ground are superposed with the high-altitude balloon 1, the longitude and latitude recorded by all the second positioning parts 611 and the third positioning parts 711 are the same as the position displayed by the central first positioning part 11 arranged at the lower part of the high-altitude balloon 1, and the measurement results of all the first wind speed measurement part 12, the second wind speed measurement part 612 and the third wind speed measurement part 712 are also the same.
However, considering that the wind field is very unstable in the height section, the difference between the wind speed and the wind direction at the same height is very large, especially for the quasi-zero wind layer. The net light balls 610 and the net heavy balls 710 are deviated from the respective positions under the action of high-altitude wind with different sizes and directions in the cross sections with different heights, and finally the balance state is achieved. At this time, the relative positions of the net light ball 610 and the net heavy ball 710 and the measured wind speed and direction projection are as shown in fig. 3 and 4, the high-altitude balloon 1 flies southwest at the height H0, and the first net light part 601 at the HA height at 200 m on the high-altitude balloon is subjected to a larger northeast wind than the high-altitude balloon 1, so that the first net light part 601 deflects westwards; a second net light part 602 with the height of HB at the 400 m position on the upper part of the high-altitude balloon 1 is subjected to wind in the southwest direction relative to the high-altitude balloon 1, so that the second net light ball 610 deflects to the northeast; by analogy, the rest balls can be subjected to position deviation under the action of relative airflow, and the carried wind speed measuring part can measure the wind speed of the height relative to the first positioning part 11 and the first wind speed measuring part 12.
A typical east-west flight profile was taken and the system east-west flight profile is shown in FIG. 4. At a certain moment, the high-altitude balloon 1 flies westwards at the height H0 at a speed of v0, the first net light part 601 at the height HA of the high-altitude balloon 1 is deflected westwards by the action of the east wind vA larger than the high-altitude balloon 1, the wind speed measured by the second positioning part 611 and the second wind speed measuring part 612 at the bottom of the first net light part 601 is the wind speed relative to the actual wind speed v0 of the high-altitude balloon 1, and the wind speed of the first net light part 601 relative to the ground is v0+ vA; the west wind vC measured by the third net light portion 603 at the upper HC level of the high-altitude balloon 1 is subjected to a smaller east wind or west wind than the high-altitude balloon 1, so that the third net light portion 603 is deflected eastward, and the wind speed measured by the second locator portion 611 and the second wind speed measurement portion 612 at the bottom of the third net light portion 603 is a wind speed magnitude relative to the actual wind speed v0 of the high-altitude balloon 1, and the wind speed magnitude relative to the ground of the third net light portion 603 is v 0-vC. The longitude and latitude of the positions and the wind speed measured by the heights of the other net light balls 610 and the net heavy balls 710 can be similar.
The wind field component of the high-altitude balloon 1 in the north-south direction and the relative position and wind speed in the altitude section are also the same as those in the east-west direction.
The embodiment of the invention can measure in real time within a range of thousands of meters, but the altitude adjusting capability of the high-altitude balloon 1 generally only adjusts the altitude of thousands of meters, and the altitude adjustment with too large span can cause the system to lose the floating weight balance, so that the flight planning needs to be carried out again. For the wind field of the stratosphere, the general trend is stable, the violent conversion of the wind speed and the wind direction is concentrated on the height of the quasi-zero wind layer, and the embodiment takes the typical flight in the quasi-zero wind layer as an example for explanation. Generally, the thickness of the quasi-zero wind layer is between hundreds of meters and one or two kilometers, the system according to the embodiment of the invention selects real-time measurement of wind field within 800 meters above and below the high-altitude balloon 1, the length of the rope 8 connecting the upper net light ball 610 is 200 meters, and the length of the rope 8 connecting the lower net heavy ball 710 is 200 meters.
In the flying process, if the wind field is the same in the range of 800 meters above and below the whole system, all the net light balls 610 and the net heavy balls 710 are distributed on one vertical line, the rope 8 connecting all the balls is vertical to the ground, the projections of all the net light balls 610 and the net heavy balls 710 on the ground are superposed with the high-altitude balloon 1, the longitude and latitude recorded by all the second positioning parts 611 and the third positioning parts 711 are the same as the position displayed by the central first positioning part 11 arranged at the lower part of the high-altitude balloon 1, and the measurement results of all the first wind speed measurement part 12, the second wind speed measurement part 612 and the third wind speed measurement part 712 are also the same.
However, considering that the wind field is very unstable in the height section, the difference between the wind speed and the wind direction at the same height is very large, especially for the quasi-zero wind layer. The net light balls 610 and the net heavy balls 710 are deviated from the respective positions under the action of high-altitude wind with different sizes and directions in the cross sections with different heights, and finally the balance state is achieved. At this time, the relative positions of the net light ball 610 and the net heavy ball 710 and the measured wind speed and direction projection are as shown in fig. 3 and 4, the high-altitude balloon 1 flies southwest at the height H0, and the first net light part 601 at the HA height at 200 m on the high-altitude balloon is subjected to a larger northeast wind than the high-altitude balloon 1, so that the first net light part 601 deflects westwards; a second net light part 602 with the height of HB at the 400 m position on the upper part of the high-altitude balloon 1 is subjected to wind in the southwest direction relative to the high-altitude balloon 1, so that the second net light ball 610 deflects to the northeast; by analogy, the rest balls can be subjected to position deviation under the action of relative airflow, and the carried wind speed measuring part can measure the wind speed of the height relative to the first positioning part 11 and the first wind speed measuring part 12.
A typical east-west flight profile was taken and the system east-west flight profile is shown in FIG. 4. At a certain moment, the high-altitude balloon 1 flies westwards at the height H0 at a speed of v0, the first net light part 601 at the height HA of the high-altitude balloon 1 is deflected westwards by the action of the east wind vA larger than the high-altitude balloon 1, the wind speed measured by the second positioning part 611 and the second wind speed measuring part 612 at the bottom of the first net light part 601 is the wind speed relative to the actual wind speed v0 of the high-altitude balloon 1, and the wind speed of the first net light part 601 relative to the ground is v0+ vA; the west wind vC measured by the third net light portion 603 at the upper HC level of the high-altitude balloon 1 is subjected to a smaller east wind or west wind than the high-altitude balloon 1, so that the third net light portion 603 is deflected eastward, and the wind speed measured by the second locator portion 611 and the second wind speed measurement portion 612 at the bottom of the third net light portion 603 is a wind speed magnitude relative to the actual wind speed v0 of the high-altitude balloon 1, and the wind speed magnitude relative to the ground of the third net light portion 603 is v 0-vC. The longitude and latitude of the positions and the wind speed measured by the heights of the other net light balls 610 and the net heavy balls 710 can be similar.
The wind field component of the high-altitude balloon 1 in the north-south direction and the relative position and wind speed in the altitude section are also the same as those in the east-west direction.
For the high-altitude balloon 1 in flight, the optimal flight direction and speed can be selected according to the position and wind speed data of the upper net light ball 610 and the lower net heavy ball 710, and the flight wind layer can be selected mainly by adjusting the level flight height of the high-altitude balloon 1, so that the optimal flight direction and flight speed can be selected. The specific method comprises the following steps:
1) flying height reducing mode
When the position of the net weight ball 710 positioned at the lower part of the high-altitude balloon 1 and the wind speed and the wind direction displayed by the anemometer carried by the high-altitude balloon 1 are more favorable for the high-altitude balloon 1 to fly, the flying height of the high-altitude balloon 1 is selected to be reduced to the height of the target net weight ball 710.
Taking the flying height H0 of the high-altitude balloon 1 as an example of adjusting the flying height Hb of the second dead weight part 702, when the positions of the third positioning part 711 and the third wind speed measuring part 712 corresponding to the second dead weight part 71 and the measured wind speed and direction are more favorable for the high-altitude balloon 1 to fly, the flying height of the high-altitude balloon 1 and the whole system is selected to be reduced, and the main operation process comprises the following steps:
taking the example that the exhaust valve 4 is arranged at the top of the high-altitude balloon 1 as an example, the exhaust valve 4 at the top of the high-altitude balloon 1 is opened, the buoyancy-rising gas is exhausted under the action of the pressure gradient of the internal buoyancy-rising gas, at the moment, the buoyancy-weight balance state of the system is broken, the system is converted from the buoyancy-weight balance into net weight, and then the system slowly accelerates to descend. Specifically, the buoyancy gas can be slowly discharged in a way of inching or staged action, and the total amount of the discharged buoyancy gas is reduced as much as possible, and the whole process is shown in fig. 5.
The high-altitude balloon 1 and the entire system will reduce altitude in the decreasing speed of the wave motion, and when the flying altitude decreases from H0 to a distance Hb of about 30 m, the braking action is initiated. The braking measure can be to throw out a part of the distributed heavy sand to enable the system to reach the floating weight balance state again, the heavy sand needs to be slowly and sectionally thrown in the operation process, and the total weight of the thrown heavy sand is equal to the buoyancy of the uplifted gas discharged before, so that the system can reach the floating weight balance state again. This operation is shown in fig. 6.
The balloon can be caused to fly flat at the target height Hb by means of fine adjustment, according to the comparison between the height at which the balloon flies flat again and the target height Hb.
2) Method for increasing flying height
If the position of the net light ball 610 on the upper part of the high-altitude balloon 1 and the measured wind speed and direction are more favorable for flying, the level flying height H0 of the high-altitude balloon 1 is adjusted to the target height. Taking the altitude HC of the high-altitude balloon 1 adjusted to the third net light portion 603 as an example, the main operation process includes:
and (3) throwing the counterweight sand in the nacelle 3 to reduce the weight of the high-altitude balloon 1 and the whole system, so that the system loses the floating weight balance and is in a net light state. Under the buoyancy of the buoyant gas, the system begins to rise, as shown in fig. 6.
Taking the exhaust pipe 5 arranged at the bottom of the high-altitude balloon 1 as an example, as the height of the system increases, the air density decreases, the atmospheric pressure decreases, the volume of the buoyancy gas in the high-altitude balloon 1 expands, after the whole sphere is inflated, the continuously expanded buoyancy gas can be exhausted from the exhaust pipe 5 at the bottom of the high-altitude balloon 1, and as the process is carried out, the net buoyancy of the system continuously decreases until the buoyancy weight balance state is reached, and the system flies horizontally again. As shown in fig. 7. If the altitude HC of the high-altitude balloon 1 entering the level flight again is not the altitude HC of the third net light portion 603 before adjustment, the above process may be repeated to perform fine adjustment until the altitude HC of the third net light portion 603 before the high-altitude balloon 1 arrives, or the level flight direction and speed of the high-altitude balloon 1 have reached the ideal state.
The high-altitude balloon 1 operates in the same manner as the high-altitude balloon 1 reaches the altitude of the other net light ball 610 in the same manner as the altitude HC of the third net light portion 603.
When the high-altitude balloon 1 reaches the flying altitude to be adjusted, the net light balls 610 at the upper part and the net heavy balls 710 at the lower part of the high-altitude balloon 1 are distributed at the upper and lower altitudes of the high-altitude balloon 1 again, and the wind field distribution in a certain altitude range at the upper part and the lower part of the high-altitude balloon 1 can be measured and displayed in real time again. If the original wind speed and direction of the high-altitude balloon 1 cannot meet the optimal flight strategy, the flight altitude can be adjusted and selected for many times in an iterative mode.
The system and the method of the embodiment of the invention thoroughly solve the problem that the wind field near the altitude of the high-altitude balloon 1 is measured in the flying process, which is not solved so far.
All balloons and equipment of the system are measured on line, the heights of the balloons and the equipment change correspondingly along with the change of the height of the high-altitude balloon 1, a wind field near the flying height of the high-altitude balloon 1 is always measured in real time, and real-time and accurate decision basis is provided for the selection of the flying height of the high-altitude balloon 1.
All the net light balls 610 and the net heavy balls 710 on the upper portion and the lower portion of the high-altitude balloon 1 device are measured in situ, only the third positioning portion 711 and the third wind speed measuring portion 712 on the lower portion and data transmission components thereof consume little energy, local power supply of the small solar cell panel can be increased, energy is not consumed additionally in other portions, the system has long-time flight capability, and theoretically, a flight task of days, tens of days or even months can be carried out.
According to the invention, through the refined measurement of the wind field in the adjacent altitude section in the flying process of the high-altitude balloon 1, the time domain and regional changes of the wind field in the adjacent altitude section can be measured in real time in the flying process of the high-altitude balloon 1, and the high-altitude balloon 1 is controlled to select the optimal flying direction and speed in real time, so that the flying track can be optimized, and long-time sky parking in a certain range or roundabout flying in a larger range can be realized.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A high-altitude balloon flight direction control system is characterized by comprising a balloon device, wherein the balloon device comprises a high-altitude balloon, a parachute and a pod which are sequentially connected,
the system further comprises a net weight device, a net weight device and a control module, wherein,
the light purifying device is connected with the top of the high-altitude balloon and is always in a light purifying state, and the position information and the corresponding wind speed and direction of the light purifying device are acquired in real time and sent to the control module;
the net weight device is connected with the bottom of the nacelle and is always in a net weight state, and the position information and the corresponding wind speed and direction of the nacelle are acquired in real time and sent to the control module;
the control module is used for controlling the flight direction of the high-altitude balloon based on the position information of the net weight device and the corresponding wind speed and direction, and the position information of the net weight device and the corresponding wind speed and direction.
2. The high-altitude-balloon flight direction control system of claim 1,
the control module controls the flight direction of the high-altitude balloon based on the position information of the net light device and the corresponding wind speed and direction, determines the target flight wind layer of the high-altitude balloon, adjusts the high-altitude balloon to the target flight wind layer, and then controls the flight direction and the flight speed of the high-altitude balloon.
3. The high-altitude-balloon flight direction control system of claim 1,
the system also comprises a first positioning part and a first wind speed measuring part which are arranged at the bottom of the high-altitude balloon, wherein,
the first positioning part is used for acquiring the position information of the high-altitude balloon in real time and sending the position information to the control module;
the first wind speed measuring part is used for acquiring the wind speed and the wind direction of the high-altitude balloon in real time and sending the wind speed and the wind direction to the control module.
4. The high-altitude-balloon flight direction control system of claim 3,
the light purifying device comprises one or more light purifying parts connected in series, each light purifying part comprises a light purifying ball, a second positioning part and a second wind speed measuring part, the second positioning part and the second wind speed measuring part are arranged at the bottom of the light purifying ball, wherein,
the two adjacent net light balls are connected by adopting ropes, and the number of the net light parts and the length of each rope are set according to the flight requirement of the high-altitude balloon;
the second positioning part is used for measuring the position of the net light ball in real time, and the second wind speed measuring part is used for measuring the wind speed and the wind direction of the net light ball in real time.
5. The high-altitude-balloon flight direction control system of claim 4,
the net weight device comprises one or more net weight parts connected in series, each net weight part comprises a net weight ball, a third positioning part and a third wind speed measuring part, the third positioning part and the third wind speed measuring part are arranged at the bottom of the net weight ball, wherein,
the two adjacent net weight balls are connected by adopting ropes, and the number of the net weight parts and the length of each rope are set according to the flight requirement of the high-altitude balloon;
the third positioning part is used for measuring the position of the net weight ball corresponding to the third positioning part in real time, and the third wind speed measuring part is used for measuring the wind speed and the wind direction of the net weight ball corresponding to the third wind speed measuring part in real time.
6. The high-altitude-balloon flight direction control system of claim 5,
when the target flight level is located at the current position corresponding to any net weight ball, the control module controls to reduce the flight altitude of the high-altitude balloon to the target flight level, and the control module specifically comprises:
discharging a corresponding amount of buoyancy lifting gas from the high-altitude balloon according to the required height to be reduced, slowly accelerating the high-altitude balloon to descend, and taking braking measures on the high-altitude balloon when the high-altitude balloon is a preset distance away from a target flight level until the high-altitude balloon reaches the target flight level, wherein the braking measures comprise controlling the throwing of weighted sand with the total weight equal to the buoyancy of the discharged buoyancy lifting gas from the nacelle;
and if the actually achieved altitude of the high-altitude balloon is still higher than the target flight level, repeating the process for fine adjustment until the high-altitude balloon reaches the target flight level.
7. The high-altitude-balloon flight direction control system of claim 5,
when the target flight level is located at the current position corresponding to any net light ball, the control module controls to raise the flight altitude of the high-altitude balloon to the target flight level, and the method specifically comprises the following steps:
the weight of the balloon device is reduced according to the required height of the high-altitude balloon, the weight of the balloon device is reduced, the weight of the high-altitude balloon is thrown out of the pod, the weight of the high-altitude balloon is corresponding to the weight of the high-altitude balloon, the air density is reduced along with the increase of the height of the system, the atmospheric pressure is reduced, the volume of the buoyancy gas in the high-altitude balloon is expanded, after the whole high-altitude balloon is inflated, the continuously expanded buoyancy gas is discharged from the high-altitude balloon, the net buoyancy of the system is continuously reduced until a buoyancy weight balance state is reached, and the flying height of the high-altitude balloon reaches;
and if the actually achieved altitude of the high-altitude balloon is still lower than the target flight level, repeating the process for fine adjustment until the high-altitude balloon reaches the target flight level.
8. A high-altitude balloon flight direction control method is characterized by comprising the following steps:
acquiring position information and corresponding wind speed and direction at a plurality of heights on the top of the high-altitude balloon through a light purifying device positioned at the upper part of the high-altitude balloon;
acquiring position information and corresponding wind speed and direction at a plurality of altitudes at the bottom of the high-altitude balloon through a dead weight device positioned at the lower part of the high-altitude balloon;
and controlling the flight direction of the high-altitude balloon based on the position information of the net weight device and the corresponding wind speed and direction as well as the position information of the net weight device and the corresponding wind speed and direction.
9. The high-altitude-balloon flight direction control method according to claim 8,
when the target flight level is located at a current position corresponding to any one of the net weight balls, controlling the flight direction of the high-altitude balloon based on the position information of the net weight device and the corresponding wind speed and direction, and the position information of the net weight device and the corresponding wind speed and direction, including:
discharging a corresponding amount of buoyancy lifting gas from the high-altitude balloon according to the required height to be reduced, slowly accelerating the high-altitude balloon to descend, and taking braking measures on the high-altitude balloon when the high-altitude balloon is a preset distance away from a target flight level until the high-altitude balloon reaches the target flight level, wherein the braking measures comprise controlling the throwing of weighted sand with the total weight equal to the buoyancy of the discharged buoyancy lifting gas from the nacelle;
and if the actually achieved altitude of the high-altitude balloon is still higher than the target flight level, repeating the process for fine adjustment until the high-altitude balloon reaches the target flight level.
10. The high-altitude-balloon flight direction control method according to claim 8,
when the target flight level is located at the current position corresponding to any net light ball, controlling the flight direction of the high-altitude balloon based on the position information of the net light device and the corresponding wind speed and direction, and the position information of the net weight device and the corresponding wind speed and direction, wherein the method comprises the following steps:
the weight of the balloon device is reduced according to the required height of the high-altitude balloon, the weight of the balloon device is reduced, the weight of the high-altitude balloon is thrown out of the pod, the weight of the high-altitude balloon is corresponding to the weight of the high-altitude balloon, the air density is reduced along with the increase of the height of the system, the atmospheric pressure is reduced, the volume of the buoyancy gas in the high-altitude balloon is expanded, after the whole high-altitude balloon is inflated, the continuously expanded buoyancy gas is discharged from the high-altitude balloon, the net buoyancy of the system is continuously reduced until a buoyancy weight balance state is reached, and the flying height of the high-altitude balloon reaches;
and if the actually achieved altitude of the high-altitude balloon is still lower than the target flight level, repeating the process for fine adjustment until the high-altitude balloon reaches the target flight level.
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Application publication date: 20201009 |