CN111746775A - A high-altitude balloon flight direction control system and method - Google Patents

Abstract

The invention relates to a system and method for controlling the flight direction of a high-altitude balloon. The system includes a high-altitude balloon, a parachute and a pod connected in sequence, and also includes a net light device, a net weight device and a control module. The net light device is connected with the top of the high-altitude balloon and is always It is in the state of net weight, and obtains its position information and the corresponding wind speed and direction in real time, and sends it to the control module; the net weight device is connected to the bottom of the pod and is always in the state of net weight, and obtains its position information and the corresponding wind speed and direction in real time, and sends it to A control module; the control module is configured to control the flying direction of the high-altitude balloon based on the position information of the net light 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 present invention can control the high-altitude balloon to select the best flight direction and speed in real time, so that the flight trajectory can be optimized, so as to realize long-term air-holding within a certain range, or circuitous flight within a larger range.

Description

A high-altitude balloon flight direction control system and method

technical field

The present invention relates to the technical field of aerostats, and in particular, to a system and method for controlling the flight direction of a high-altitude balloon.

Background technique

A high-altitude balloon is an unpowered aerostat that flies in the stratosphere. Its lift-off and flight working principles are constructed according to Archimedes' law of buoyancy and Newton's second law. After the high-altitude balloon reaches the flying height, it starts to fly with the wind. The direction of the flying depends on the wind direction at the altitude, and the flying speed is basically the same as the wind speed at the height of the balloon. However, for most parts of the earth, the wind speed and direction at different altitudes at the same location are very different, and this difference has certain latitude and seasonal laws.

Taking most mid-latitude regions as an example, there are strong westerly winds at low tropospheric heights in summer and autumn, and easterly winds at stratospheric heights. At the transition height between westerly and easterly winds, there is a transition layer called "quasi-zero wind layer". In the quasi-zero wind layer, the wind speed is very small, and even there is still wind. It is the existence of this atmospheric phenomenon that has sparked new research hotspots in recent decades. A high-altitude balloon is undoubtedly the ideal platform for a permanent hold at this altitude. But at this altitude, the wind field is in an unstable and uncertain state, which is concentrated in temporal and geographical differences, as well as drastic changes in the height profile. Even at the same height, the wind speed and direction of two places that are far away will be quite different; the wind speed and wind direction at the same height at the same location will also be quite different at different times, especially during the day and night when solar radiation, ground radiation, etc. occur. Large changes will also occur; in the quasi-zero wind layer, the changes in the height of the wind field are more severe, and the wind direction may even change by more than 90° within the height range of tens of meters. These have brought great difficulty to the forecast of the wind field in the quasi-zero wind layer, and so far, it has not been possible to accurately predict or forecast. When the high-altitude balloon flies level in the quasi-zero wind layer, with the change of time and flight location, its flight speed and direction will also change, and this change will make the high-altitude balloon deviate from the original flight trajectory, even beyond the airspace border and had to terminate the flight. It can be seen from this that how to control the flight direction of the high-altitude balloon so as to select the best flight direction and speed has become an urgent technical problem to be solved.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a high-altitude balloon flight direction control system and method. Through the fine measurement of the wind field in the adjacent height profile during the high-altitude balloon flight, the high-altitude balloon can measure the wind field of the nearby height profile in real time during the high-altitude balloon flight. Time domain and geographical changes, control the high-altitude balloon to select the best flight direction and speed in real time, so as to optimize the flight trajectory, achieve long-term airborne within a certain range, or fly around in a larger range.

According to a first aspect of the present invention, a high-altitude balloon flight direction control system is provided, comprising a balloon device, the balloon device comprising a high-altitude balloon, a parachute and a pod connected in sequence, the system further comprising a net light device, a net weight device and control module, which,

The net light device is connected with the top of the high-altitude balloon, is always in a net light state, and obtains its position information and corresponding wind speed and direction in real time, and sends it to the control module;

The net weight device is connected with the bottom of the pod, and is always in a net weight state, and obtains its position information and the corresponding wind speed and direction in real time, and sends it to the control module;

The control module is configured to control the flying 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.

Further, the control module controls the flying 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, and determines the flight direction of the high-altitude balloon. The target flying wind layer is adjusted to the target flying wind layer of the high-altitude balloon, and then the flying direction and flying speed of the high-altitude balloon are controlled.

Further, the system also includes a first positioning part and a first wind speed measuring part installed at the bottom of the high-altitude balloon, wherein,

The first positioning part is used to acquire the position information of the high-altitude balloon in real time, and send it to the control module;

The first wind speed measurement part is used to acquire the wind speed and wind direction of the high-altitude balloon in real time, and send it to the control module.

Further, the net light device comprises one or more net light parts connected in series, each of the net light parts comprises a net light ball and a second positioning part and a second wind speed measurement installed at the bottom of the net light ball Department, of which,

The two adjacent net light balls are connected by ropes, and the number of net light parts and the length of each rope are set according to the flight requirements of the high-altitude ball;

The second positioning part is used to measure the position of the clean light ball in real time, and the second wind speed measurement part is used to measure the wind speed and wind direction of the clean light ball in real time.

Further, the net weight device comprises one or more net weight parts connected in series, each of the net weight parts comprises a net weight ball and a third positioning part and a third wind speed measuring part installed at the bottom of the net weight ball, wherein,

The two adjacent net weight balls are connected by ropes, and the number of net weight parts and the length of each rope are set according to the flight requirements of the high-altitude balloon;

The third positioning part is used to measure the position of its corresponding net weight ball in real time, and the third wind speed measurement part is used to measure the wind speed and wind direction of its corresponding net weight ball in real time.

Further, when the target flight layer is located at the current position corresponding to any net weight ball, the control module controls to reduce the flying height of the high-altitude balloon to the target flight layer, specifically including:

A corresponding amount of buoyant gas is discharged from the high-altitude balloon according to the height to be lowered, the high-altitude balloon slowly accelerates and descends, and when the high-altitude balloon is at a preset distance from the target flight layer, the high-altitude balloon is controlled until the high-altitude balloon reaches the target flight layer, and the braking measure includes controlling the throwing out of the pod from the pod with a weighted sand whose total weight is equal to the buoyancy of the discharged buoyant gas;

If the height actually reached by the high-altitude balloon is still higher than the target flight layer, repeat the above process for fine-tuning until the high-altitude balloon reaches the target flight layer.

Further, when the target flight layer is located at the current position corresponding to any clear light ball, the control module controls to raise the flight height of the high-altitude balloon to the target flight layer, specifically including:

The weight of the balloon device is reduced according to the required height of the high-altitude balloon, including throwing a corresponding weight of sand from the pod, the high-altitude balloon rises, and the air density decreases as the height of the system increases, When the atmospheric pressure decreases, the volume of the buoyant gas inside the high-altitude balloon expands. After filling the entire sphere of the high-altitude balloon, the buoyant gas that continues to expand is discharged from the high-altitude balloon, and the net buoyancy of the system continues to decrease until it reaches a state of floating weight balance. , the flying height of the high-altitude balloon reaches the target flight layer;

If the height actually reached by the high-altitude balloon is still lower than the target flight layer, repeat the above process for fine-tuning until the high-altitude balloon reaches the target flight layer.

According to a second aspect of the present invention, a method for controlling the flight direction of a high-altitude balloon is provided, comprising:

Obtain the position information and the corresponding wind speed and direction at multiple heights on the top of the high-altitude balloon through the net light device located on the upper part of the high-altitude balloon;

Obtain position information and corresponding wind speed and direction at multiple heights at the bottom of the high-altitude balloon through the net weight device located at the bottom of the high-altitude balloon;

The flying direction of the high-altitude balloon is controlled 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.

Further, when the target flight layer is located at the current position corresponding to any net weight ball, the position information based on 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 Wind direction controls the flight direction of the high-altitude balloon, including:

A corresponding amount of buoyant gas is discharged from the high-altitude balloon according to the height to be lowered, the high-altitude balloon slowly accelerates and descends, and when the high-altitude balloon is at a preset distance from the target flight layer, the high-altitude balloon is controlled until the high-altitude balloon reaches the target flight layer, and the braking measure includes controlling the throwing out of the pod from the pod with a weighted sand whose total weight is equal to the buoyancy of the discharged buoyant gas;

If the height actually reached by the high-altitude balloon is still higher than the target flight layer, repeat the above process for fine-tuning until the high-altitude balloon reaches the target flight layer.

Further, when the target flight layer is located at the current position corresponding to any net light ball, 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 Control the flight direction of the high-altitude balloon, including:

The weight of the balloon device is reduced according to the required height of the high-altitude balloon, including throwing a corresponding weight of sand from the pod, the high-altitude balloon rises, and the air density decreases as the height of the system increases, When the atmospheric pressure decreases, the volume of the buoyant gas inside the high-altitude balloon expands. After filling the entire sphere of the high-altitude balloon, the buoyant gas that continues to expand is discharged from the high-altitude balloon, and the net buoyancy of the system continues to decrease until it reaches a state of floating weight balance. , the flying height of the high-altitude balloon reaches the target flight layer;

If the height actually reached by the high-altitude balloon is still lower than the target flight layer, repeat the above process for fine-tuning until the high-altitude balloon reaches the target flight layer.

Compared with the prior art, the present invention has obvious advantages and beneficial effects. By the above-mentioned technical scheme, a kind of high-altitude balloon flight direction control system and method provided by the present invention can achieve considerable technical progress and practicability, and has extensive industrial value, which at least has the following advantages:

Through the fine measurement of the wind field in the adjacent height profiles during the flight of the high-altitude balloon, the present invention enables the real-time measurement of the time domain and regional changes of the wind field of the nearby height profile during the flight of the high-altitude balloon, and controls the high-altitude balloon to select the best flight direction in real time. and speed, so that the flight trajectory can be optimized, long-term airborne within a certain range, or roundabout flight within a larger range.

The above description is only an overview of the technical solutions of the present invention, in order to be able to understand the technical means of the present invention more clearly, it can be implemented according to the content of the description, and in order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand , the following specific preferred embodiments, and in conjunction with the accompanying drawings, are described in detail as follows.

Description of drawings

1 is a schematic diagram of a high-altitude balloon flight direction control system provided by an embodiment of the present invention;

2 is a flowchart of a method for controlling the flight direction of a high-altitude balloon provided by an embodiment of the present invention;

Fig. 3 is the top view of the horizontal wind speed between each ball flying at different altitudes of the high-altitude balloon flight direction control system provided by an embodiment of the present invention;

4 is a schematic diagram of the east-west wind speed between each ball flying at different altitudes of the high-altitude balloon flight direction control system provided by an embodiment of the present invention;

Fig. 5 is the schematic diagram of opening the exhaust valve balloon and lowering the height of the high-altitude balloon flight direction control system provided by an embodiment of the present invention;

Fig. 6 is the schematic diagram of the start of the rising of the ballast ball of the high-altitude balloon flight direction control system provided by an embodiment of the present invention;

Fig. 7 is a schematic diagram of the high-altitude balloon flight direction control system provided by an embodiment of the present invention after the formed balloon is exhausted through the exhaust pipe until the balloon flies level again.

【Symbol Description】

1: High-altitude balloon 2: Parachute

3: Pod 4: Exhaust Valve

5: Exhaust pipe 11: First positioning part

12: The first wind speed measurement section 6: Net light device

7: Net weight device 61: Net light part

610: Net light ball 611: Second positioning part

612: Second wind speed measurement section 8: Rope

601: First Net Light 602: Second Net Light

603: Third Net Light 604: Fourth Net Light

71: Net Weight 710: Net Weight Balls

711: Third positioning unit 712: Third wind speed measuring unit

701: The first net weight part 702: The second net weight part

703: The third net weight part 704: The fourth net weight part

Detailed ways

The specific embodiments of the present invention will be described in detail below based on examples and with reference to the accompanying drawings. However, it should be noted that the examples described herein are only used to illustrate the specific embodiments of the present invention, so that those skilled in the art can implement the present invention after reading the contents of this specification, rather than limiting the protection scope of the present invention. In addition, the drawings are not drawn strictly in accordance with the actual scale, and do not fully reflect the shape or structure of the device, but are only to facilitate the understanding of the spirit and principle of the present invention. Therefore, in some drawings, for the sake of clarity The structures therein may be enlarged in part or in whole, and some structures may be omitted in some figures to show the corresponding technical solutions more clearly. In addition, it should be understood that parts of the method that are obvious to those skilled in the art may not be repeated herein, but these contents belong to the essential contents of the present invention, and thus should be incorporated into the present invention. part of the overall content.

An embodiment of the present invention provides a high-altitude balloon flight direction control system, as shown in FIG. 1, including a balloon device, the balloon device includes a high-altitude balloon 1, a parachute 2 and a pod 3 connected in sequence, and the task load is generally installed in the Inside the pod 3, the high-altitude balloon 1 is filled with buoyant gas, generally helium or hydrogen, which is used to provide the system with buoyancy for lift-off and air-holding. The air valve 4, the zero-pressure high-altitude balloon 1 can be provided with an exhaust pipe 5 at the lower part, which is used to discharge the floating gas after the balloon is full, to ensure that the internal and external pressure difference of the high-altitude balloon 1 is within a safe range, and the exhaust pipe 5 can be Hose, in communication with internal buoyant gas and external atmosphere. The parachute 2 is used to decelerate the landing task load and its pod 3 after completing the flight, so as to ensure that the landing speed of the pod 3 is within a safe range. Pod 3 is the brain of the entire system. The task load is installed in pod 3, providing installation space for all equipment involved in the flight system, and ensuring that the temperature is within the safe range of the equipment during the flight, and pod 3 can also be installed. Equipped with a control device for counterweight sand and counterweight sand, when the total weight of the system needs to be reduced, the counterweight sand is controlled, and the counterweight sand can be thrown out to reduce the total weight of the system. It can be understood that, according to flight requirements, the high-altitude balloon 11 can be a zero-pressure balloon or a super-pressure balloon.

The system also includes a net weight device 6, a net weight device 7 and a control module (not shown in the figure). Wherein, the net light device 6 is connected with the top of the high-altitude balloon 1, is always in a net light state, and obtains its position information and the corresponding wind speed and direction in real time, and sends it to the control module. The net weight device 7 is connected with the bottom of the pod 3, is always in a net weight state, and obtains its position information and the corresponding wind speed and direction in real time, and sends it to the control module. The control module is used to control the flying 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, as well as the position information of the net weight 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 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, and determines the flight direction of the high-altitude balloon 1 . The target flying wind layer of the high-altitude balloon 1 is adjusted to the target flying wind layer of the high-altitude balloon 1 , and then the flying direction and flying speed of the high-altitude balloon 1 are controlled.

As an example, the system further includes a first positioning part 11 and a first wind speed measuring part 12 installed at the bottom of the high-altitude balloon 1 , wherein the first positioning part 11 is used to acquire the high-altitude balloon 1 in real time and send it to the control module; the first wind speed measurement part 12 is used to acquire the wind speed and direction of the high-altitude balloon 1 in real time, and send it to the control module.

As an example, the net light device 6 includes one or more net light parts 61 connected in series, each of the net light parts 61 includes a net light ball 610 and a second light ball 610 installed at the bottom of the net light ball 610 The positioning part 611 and the second wind speed measuring part 612, wherein each net light ball 610 is filled with buoyant gas. The two adjacent clean light balls 610 are connected by ropes 8 . It can be understood that the clean light ball 610 directly connected to 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 net light parts 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 used to measure the position of the net light ball 610 in real time, and the The second wind speed measuring part 612 is used to measure the wind speed and wind direction of the net light ball 610 in real time. In this embodiment, according to the height direction, the order from low to high is: the first clean light portion 601, the second clean light portion 602, the third clean light portion 603, and the fourth clean light portion 604. The clean light ball 610 may be Streamlined, can also be poured drop, or use latex balls. During the flight of the system, the net light ball 610 is always located on the upper part of the system.

As an example, the net weight device 7 includes one or more net weight parts 71 connected in series, and each of the net weight parts 71 includes a net weight ball 710 and a third positioning part 711 and a third positioning part 711 installed at the bottom of the net weight ball 710 . Three wind speed measuring parts 712, wherein two adjacent net weight balls 710 are connected by ropes 8, and the number of net weight parts 71 and the length of each rope 8 are set according to the flight requirements of the high-altitude balloon 1; the third The positioning part 711 is used to measure the position of the corresponding net weight ball 710 in real time, and the third wind speed measurement part 712 is used to measure the wind speed and wind direction of the corresponding net weight ball 710 in real time. In this embodiment, four are used as examples. According to the height, the order from high to low is: the first net weight part 701, the second net weight part 702, the third net weight part 703, the fourth net weight part 704, and the lower net weight ball 710 can be It is spherical and has a certain overpressure capability. During the flight of the system, the lower net weight ball 710 is always located in the lower part of the system.

The first positioning part 11, the second positioning part 611, and the third positioning part 711 can all be GPS positioning devices for displaying the latitude and longitude of the location in real time. The first wind speed measuring part 12, the second wind speed measuring part 612 and the third wind speed measuring part 712 may be anemometers. It should be noted that the longitude and latitude displayed by the GPS positioning device are accurate positions. The wind speed and direction measured by the anemometer is the wind field data relative to the flight airflow. It is necessary to decouple the wind field data relative to the flight airflow from the flight speed and direction of the high-altitude balloon 1 to calculate the measured wind speed and direction relative to the ground. The first positioning part 11 , the first wind speed measuring part 12 , the second positioning part 611 , the second wind speed measuring part 612 , the third positioning part 711 , and the third wind speed measuring part 712 can directly send the measured data to the The control module, or through the local area network, is first sent to the communication device disposed in the pod 3, and then packaged by the communication device, and sent to the control module.

As an example, when the target flight level is located at the current position corresponding to any net weight ball 710, the control module controls to lower the flying height of the high-altitude balloon 1 to the target flight level, which specifically includes: lowering the flight height as required The height of the high-altitude balloon 1 discharges a corresponding amount of buoyant gas from the high-altitude balloon 1, and the high-altitude balloon 1 slowly accelerates and descends. until the high-altitude balloon 1 reaches the target flight layer, and the braking measures include controlling the throwing of counterweight sand from the pod 3 with a total weight equal to the buoyancy of the discharged buoyant gas; if the high-altitude balloon 1 If the actually reached altitude is still higher than the target flight level, the above process is repeated for fine adjustment until the high-altitude balloon 1 reaches the target flight level.

As an example, when the target flight layer is located at the current position corresponding to any clean light ball 610, the control module controls to raise the flight height of the high-altitude balloon 1 to the target flight layer, specifically including: according to the The required height of the high-altitude balloon 1 reduces the weight of the balloon device, including throwing out the corresponding weight of sand from the pod 3, the high-altitude balloon 1 rises, and the air density decreases as the system height increases , the atmospheric pressure decreases, the volume of the buoyant gas inside the high-altitude balloon 1 expands, and after filling the entire sphere of the high-altitude balloon 1, the buoyant gas that continues to expand is discharged from the high-altitude balloon 1, and the net buoyancy of the system continues to decrease until it reaches In the floating weight balance state, the flying height of the high-altitude balloon 1 reaches the target flight level; if the actual height of the high-altitude balloon 1 is still lower than the target flight level, repeat the above process for fine-tuning until the high-altitude balloon 1 reaches the target flight level .

The embodiment of the present invention also provides a kind of high-altitude balloon flight direction control method, as shown in Figure 2, comprises the following steps:

Step S1, obtain the position information and the corresponding wind speed and wind direction at a plurality of heights at the top of the high-altitude balloon 1 by being positioned at the top clean light device 6 of the high-altitude balloon 1;

Step S2, obtain the position information and the corresponding wind speed and direction at a plurality of heights at the bottom of the high-altitude balloon 1 by the net weight device 7 positioned at the bottom of the high-altitude balloon 1;

Step S3: Control the flying 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, as well as the position information of the net weight device 7 and the corresponding wind speed and direction.

As an example, when the target flight layer is located at the current position corresponding to any net weight ball 710, the step S3 includes:

Step S31, discharge a corresponding amount of buoyant gas from the high-altitude balloon 1 according to the height to be lowered, the high-altitude balloon 1 slowly accelerates and descends, and when the high-altitude balloon 1 is a preset distance from the target flight layer, The high-altitude balloon 1 takes braking measures until the high-altitude balloon 1 reaches the target flight level, and the braking measures include controlling the total weight thrown from the pod 3 to be equal to the buoyancy of the buoyant gas discharged. Heavy sand.

It should be noted that, if the height actually reached by the high-altitude balloon 1 is still higher than the target flight layer, the above step S31 is repeated to perform fine-tuning until the high-altitude balloon 1 reaches the target flight layer.

As an example, when the target flight layer is located at the current position corresponding to any clean light ball 610, the step S3 includes:

Step S32, reducing the weight of the balloon device according to the required height of the high-altitude balloon 1, including throwing out the corresponding weight of sand from the pod 3, the high-altitude balloon 1 rises, and as the height of the system increases , the air density decreases, the atmospheric pressure decreases, the volume of the buoyant gas inside the high-altitude balloon 1 expands, and after filling the entire sphere of the high-altitude balloon 1, the buoyant gas that continues to expand is discharged from the high-altitude balloon 1, and the net buoyancy of the system continues. Decrease until the floating weight balance state is reached, and the flying height of the high-altitude balloon 1 reaches the target flight level.

It should be noted that, if the height actually reached by the high-altitude balloon 1 is still lower than the target flight level, step S32 is repeated to perform fine-tuning until the high-altitude balloon 1 reaches the target flight level.

A specific example is described below. In the embodiment of the present invention, real-time measurement can be performed in the range of several kilometers, but the height adjustment capability of the high-altitude balloon 1 is generally only adjusted for the height of several kilometers, and the height adjustment of an excessively large span will cause the system to lose Floating weight balance requires re-planning of the flight. For the wind field in the stratosphere, the general trend is relatively stable, and the violent transition of wind speed and direction is concentrated at the height of the quasi-zero wind layer. In this embodiment, a typical flight in the quasi-zero wind layer is taken as an example for illustration. Generally speaking, the thickness of the quasi-zero wind layer is between several hundred meters and one or two kilometers. The lengths of the ropes 8 between the balls 610 are both 200 meters, and the lengths of the ropes 8 connecting the lower net weight balls 710 are also 200 meters.

During the flight, if the wind field is the same within the range of 800 meters up and down the entire system, all the net light balls 610 and the net weight balls 710 are distributed on a vertical line, the rope 8 connecting the balls is perpendicular to the ground, and all the net light balls are perpendicular to the ground. The projections of 610 and the net weight ball 710 on the ground coincide with the high-altitude balloon 1, and the latitude and longitude recorded by all the second positioning parts 611 and the third positioning parts 711 are the same as the positions displayed by the central first positioning part 11 installed at the lower part of the high-altitude balloon 1, All of the first wind speed measurement unit 12 , the second wind speed measurement unit 612 , and the third wind speed measurement unit 712 have the same measurement results.

However, considering that the wind field is very unstable in the height profile, the wind speed and direction at the same height are very different, especially for the quasi-zero wind layer. Under the action of high-altitude winds of different sizes and directions in different height profiles, the net light balls 610 and the net weight balls 710 deviate from their respective positions, and finally reach an equilibrium state. At this time, the relative positions of the net light ball 610 and the net weight ball 710 and the projection of the measured wind speed and direction are shown in Figures 3 and 4. The high-altitude balloon 1 flies to the southwest at the height of H0, and at the height of HA at the upper 200 meters, the The first clear light part 601 is subjected to a larger northeasterly wind than the high-altitude balloon 1, which makes the first clear light part 601 deflect westward; the second clear light part 602 at the height of HB at 400 meters above the high-altitude balloon 1 is affected by the relatively high-altitude balloon 1. The wind in the southwest direction makes the second net light ball 610 deflect to the northeast; and so on, the position of the other balls will be shifted under the action of the relative air flow, and the carried wind speed measurement unit will also measure the height relative to the first position. part 11 and the wind speed of the first wind speed measurement part 12 .

A typical east-west flight profile is selected, and the east-west flight profile of the system is shown in Figure 4. At a certain moment, the high-altitude balloon 1 flies westward at a speed of v0 at the height of H0, and the first net light portion 601 at the upper HA height is subjected to the action of a greater easterly wind vA than that of the high-altitude balloon 1 and deflects westward, The wind speed measured by the second positioning part 611 and the second wind speed measuring part 612 at the bottom of the first clean light part 601 is the wind speed relative to the actual wind speed v0 of the high-altitude balloon 1. At this time, the wind speed of the first clean light part 601 relative to the ground The size is v0+vA; the westerly wind vC measured by the third net light part 603 at the height of the upper HC of the high-altitude balloon 1 is subject to the action of the easterly or west wind which is smaller than that of the high-altitude balloon 1, so that the third net light part 603 deviates eastward The wind speed measured by the second positioning part 611 and the second wind speed measuring part 612 at the bottom of the third clean light part 603 is relative to the actual wind speed v0 of the high-altitude balloon 1. At this time, the relative ground of the third clean light part 603 The wind speed magnitude is v0-vC. The longitude, latitude and wind speed of the positions measured at the heights of the other net light balls 610 and net weight balls 710 can also be deduced by analogy.

The wind field components of the high-altitude balloon 1 in the north-south direction and the relative position and wind speed in the height profile are also the same as in the east-west direction.

In the embodiment of the present invention, real-time measurement can be performed in the range of several thousand meters, but the height adjustment capability of the high-altitude balloon 1 is generally only adjusted for the height of several thousand meters, and the height adjustment of an excessively large span will cause the system to lose its weight balance and need to re-fly planning. For the wind field in the stratosphere, the general trend is relatively stable, and the violent transformation of wind speed and direction is concentrated at the height of the quasi-zero wind layer. This embodiment will take a typical flight in the quasi-zero wind layer as an example to illustrate. Generally speaking, the thickness of the quasi-zero wind layer is between several hundred meters and one or two kilometers. The lengths of the ropes 8 between the balls 610 are both 200 meters, and the lengths of the ropes 8 connecting the lower net weight balls 710 are also 200 meters.

During the flight, if the wind field is the same within the range of 800 meters up and down the entire system, all the net light balls 610 and the net weight balls 710 are distributed on a vertical line, the rope 8 connecting the balls is perpendicular to the ground, and all the net light balls are perpendicular to the ground. The projections of 610 and the net weight ball 710 on the ground coincide with the high-altitude balloon 1, and the latitude and longitude recorded by all the second positioning parts 611 and the third positioning parts 711 are the same as the positions displayed by the central first positioning part 11 installed at the lower part of the high-altitude balloon 1, All of the first wind speed measurement unit 12 , the second wind speed measurement unit 612 , and the third wind speed measurement unit 712 have the same measurement results.

However, considering that the wind field is very unstable in the height profile, the wind speed and direction at the same height are very different, especially for the quasi-zero wind layer. Under the action of high-altitude winds of different sizes and directions in different height profiles, the net light balls 610 and the net weight balls 710 deviate from their respective positions, and finally reach an equilibrium state. At this time, the relative positions of the net light ball 610 and the net weight ball 710 and the projection of the measured wind speed and direction are shown in Figures 3 and 4. The high-altitude balloon 1 flies to the southwest at the height of H0, and at the height of HA at the upper 200 meters, the The first clear light part 601 is subjected to a larger northeasterly wind than the high-altitude balloon 1, which makes the first clear light part 601 deflect westward; the second clear light part 602 at the height of HB at 400 meters above the high-altitude balloon 1 is affected by the relatively high-altitude balloon 1. The wind in the southwest direction makes the second net light ball 610 deflect to the northeast; and so on, the position of the other balls will be shifted under the action of the relative air flow, and the carried wind speed measurement unit will also measure the height relative to the first position. part 11 and the wind speed of the first wind speed measurement part 12 .

A typical east-west flight profile is selected, and the east-west flight profile of the system is shown in Figure 4. At a certain moment, the high-altitude balloon 1 flies westward at a speed of v0 at the height of H0, and the first net light portion 601 at the upper HA height is subjected to the action of a greater easterly wind vA than that of the high-altitude balloon 1 and deflects westward, The wind speed measured by the second positioning part 611 and the second wind speed measuring part 612 at the bottom of the first clean light part 601 is the wind speed relative to the actual wind speed v0 of the high-altitude balloon 1. At this time, the wind speed of the first clean light part 601 relative to the ground The size is v0+vA; the westerly wind vC measured by the third net light portion 603 at the height of the upper HC of the high-altitude balloon 1 is subject to the effect of the easterly or west wind smaller than that of the high-altitude balloon 1, so that the third net light portion 603 deviates eastward The wind speed measured by the second positioning part 611 and the second wind speed measuring part 612 at the bottom of the third clean light part 603 is relative to the actual wind speed v0 of the high-altitude balloon 1. At this time, the relative ground of the third clean light part 603 The wind speed magnitude is v0-vC. The longitude, latitude and wind speed of the positions measured at the heights of the other net light balls 610 and net weight balls 710 can also be deduced by analogy.

The wind field components of the high-altitude balloon 1 in the north-south direction and the relative position and wind speed in the height profile are also the same as 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 weight ball 710 , mainly by adjusting the level flying height of the high-altitude balloon 1 to select the flight wind layer, and then choose the best flight direction and flight speed. Specific practices include:

1) Decrease the flight altitude

When the position of the net weight ball 710 located at the lower part of the high-altitude balloon 1 and the wind speed and direction displayed by the anemometer carried by the high-altitude balloon 1 are more favorable for the flight of the high-altitude balloon 1, the flight 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 to be adjusted to the flying height Hb of the second net weight portion 702 as an example, when the positions of the third positioning portion 711 and the third wind speed measuring portion 712 corresponding to the second net weight portion 71 and the measured wind speed and direction are more When it is beneficial to the flight of high-altitude balloon 1, choose to lower the flying height of high-altitude balloon 1 and the whole system. The main operation process includes:

Taking the exhaust valve 4 on the top of the high-altitude balloon 1 as an example, open the exhaust valve 4 on the top of the high-altitude balloon 1, and discharge the buoyant gas under the action of the internal buoyant gas pressure gradient. At this time, the floating weight balance of the system is broken. The system changes from floating weight balance to net weight, and then slowly accelerates and descends. Specifically, the buoyant gas can be slowly discharged by jogging or staged action, and the total amount of discharged buoyant gas can be reduced as much as possible. The whole process is shown in Figure 5.

The high-altitude balloon 1 and the whole system will reduce the altitude in the fluctuating deceleration. When the flying altitude is reduced from H0 to about 30 meters away from Hb, the braking measures will be started. The braking measure can be to throw out a part of the counterweight sand to make the system reach the balance of the floating weight again. During the operation, it is necessary to slowly and segmentally throw the counterweight sand. The total weight of the thrown counterweight sand is the same as the previously discharged floating gas The buoyancy is equal, and the system can reach the buoyant equilibrium state again. This operation process is shown in Figure 6.

According to the comparison between the height of the balloon and the target height Hb when the balloon is in level flight again, the balloon can be made to fly level at the target height Hb by means of fine adjustment.

2) Increase the flight height method

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, adjust the level flying height H0 of the high-altitude balloon 1 to the target height. Taking the height HC of the high-altitude balloon 1 adjusted to the third clean light portion 603 as an example, the main operation process includes:

Throwing the counterweight sand in the pod 3 reduces the weight of the high-altitude balloon 1 and the entire system, and the system loses its buoyant balance and is in a state of net light. Under the buoyancy of the buoyant gas, the system begins to rise, as shown in Figure 6.

Taking the exhaust pipe 5 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, and the volume of the floating gas inside the high-altitude balloon 1 expands. The lift gas will be discharged from the exhaust pipe 5 at the bottom of the high-altitude balloon 1. With the progress of this process, the net buoyancy of the system will continue to decrease until it reaches the balance of the floating weight, and the system will fly level again. As shown in Figure 7. If the height HC at which the high-altitude balloon 1 enters level flight again is not the height HC of the third clean light portion 603 before adjustment, the above process can be repeated for fine-tuning until the high-altitude balloon 1 reaches the height HC of the third clean light portion 603 before, or the high-altitude balloon The level flight direction and speed of 1 have reached the ideal state.

The operation manner of the high-altitude balloon 1 reaching the height of the other clear light balls 610 is the same as that of reaching the height HC of the third clear light portion 603.

When the high-altitude balloon 1 reaches the flying height to be adjusted, the net light ball 610 on the upper part and the net weight ball 710 on the lower part will be distributed again at the upper and lower heights of the high-altitude balloon 1, and the wind in the upper and lower parts of the high-altitude balloon 1 is within a certain height range. The field distribution can again be measured and displayed in real time. If the original up and down wind speed and direction of the high-altitude balloon 1 cannot meet the optimal flight strategy, the flight height can be adjusted and selected multiple times through an iterative method.

Through the system and method described in the embodiments of the present invention, the measurement of the wind field near the height of the high-altitude balloon 1 during the flight is completely solved, which is an unsolved problem so far.

All the balloons and equipment of the system are measured online. As the height of the high-altitude balloon 1 changes, their heights also change correspondingly. The wind field near the flying height of the high-altitude balloon 1 is always measured in real time, which is the difference between the flying height of the high-altitude balloon 1. Choose to provide real-time and accurate decision-making.

All the net light balls 610 and the lower net weight balls 710 located in the upper part of the high-altitude balloon 1 device are in-situ measurement, only the lower third positioning part 711 and the third wind speed measuring part 712 and their data transmission components consume very little energy , can increase the local power supply of small solar panels, and other energy consumption is not additional, the system has the ability to fly for a long time, theoretically, it can carry out several days, dozens of days or even several months of flight missions.

The present invention enables the high-altitude balloon 1 to measure the time domain and regional changes of the nearby height profile wind field in real time during the flight of the high-altitude balloon 1, and controls the high-altitude balloon 1 to select the most The optimal flight direction and speed can be optimized, so that the flight trajectory can be optimized to achieve long-term airborne within a certain range, or roundabout flight within a larger range.

The above are only preferred embodiments of the present invention, and are not intended to limit the present invention in any form. Although the present invention has been disclosed above with preferred embodiments, it is not intended to limit the present invention. The technical personnel, within the scope of the technical solution of the present invention, can make some changes or modifications to equivalent examples of equivalent changes by using the technical content disclosed above, but any content that does not depart from the technical solution of the present invention, according to the present invention Any simple modifications, equivalent changes and modifications made to the above embodiments still fall within the scope of the technical solutions of the present invention.

Claims (10)

1. a high-altitude balloon flight direction control system, is characterized in that, comprises balloon device, and described balloon device comprises high-altitude balloon, parachute and pod connected successively, The system also includes a net light device, a net weight device, and a control module, wherein, The net light device is connected to the top of the high-altitude balloon and is always in a net light state, and obtains its position information and the corresponding wind speed and direction in real time, and sends it to the control module; The net weight device is connected to the bottom of the pod and is always in a net weight state, and obtains its position information and the corresponding wind speed and direction in real time, and sends it to the control module; The control module is configured to control the flying 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. high-altitude balloon flight direction control system according to claim 1, is characterized in that, The control module controls the flying 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, and determines the target flying wind of the high-altitude balloon. layer, adjust the high-altitude balloon to the target flight wind layer, and then control the flying direction and flying speed of the high-altitude balloon. 3. high-altitude balloon flight direction control system according to claim 1, is characterized in that, The system also includes a first positioning part and a first wind speed measuring part installed at the bottom of the high-altitude balloon, wherein, The first positioning part is used to acquire the position information of the high-altitude balloon in real time, and send it to the control module; The first wind speed measurement part is used to acquire the wind speed and wind direction of the high-altitude balloon in real time, and send it to the control module. 4. high-altitude balloon flight direction control system according to claim 3, is characterized in that, The net light device includes one or more net light parts connected in series, each of the net light parts includes a net light ball and a second positioning part and a second wind speed measuring part installed at the bottom of the net light ball, wherein , The two adjacent net light balls are connected by ropes, and the number of net light parts and the length of each rope are set according to the flight requirements of the high-altitude ball; The second positioning part is used to measure the position of the clean light ball in real time, and the second wind speed measurement part is used to measure the wind speed and wind direction of the clean light ball in real time. 5. high-altitude balloon flight direction control system according to claim 4, is characterized in that, The net weight device comprises one or more net weight parts connected in series, each of the net weight parts comprises a net weight ball and a third positioning part and a third wind speed measuring part installed at the bottom of the net weight ball, wherein, The two adjacent net weight balls are connected by ropes, and the number of net weight parts and the length of each rope are set according to the flight requirements of the high-altitude balloon; The third positioning part is used to measure the position of the corresponding net weight ball in real time, and the third wind speed measurement part is used to measure the wind speed and wind direction of the corresponding net weight ball in real time. 6. high-altitude balloon flight direction control system according to claim 5, is characterized in that, When the target flight layer is located at the current position corresponding to any net weight ball, the control module controls to lower the flying height of the high-altitude balloon to the target flight layer, specifically including: A corresponding amount of buoyant gas is discharged from the high-altitude balloon according to the height to be lowered, the high-altitude balloon slowly accelerates and descends, and when the high-altitude balloon is at a preset distance from the target flight layer, the high-altitude balloon is controlled until the high-altitude balloon reaches the target flight layer, and the braking measure includes controlling the throwing out of the pod from the pod with a weighted sand whose total weight is equal to the buoyancy of the discharged buoyant gas; If the height actually reached by the high-altitude balloon is still higher than the target flight layer, repeat the above process for fine-tuning until the high-altitude balloon reaches the target flight layer. 7. high-altitude balloon flight direction control system according to claim 5, is characterized in that, When the target flight layer is located at the current position corresponding to any clear light ball, the control module controls to raise the flight height of the high-altitude balloon to the target flight layer, specifically including: The weight of the balloon device is reduced according to the required height of the high-altitude balloon, including throwing a corresponding weight of sand from the pod, the high-altitude balloon rises, and the air density decreases as the height of the system increases, When the atmospheric pressure decreases, the volume of the buoyant gas inside the high-altitude balloon expands. After filling the entire high-altitude balloon, the buoyant gas that continues to expand is discharged from the high-altitude balloon, and the net buoyancy of the system continues to decrease until it reaches a state of floating weight balance. , the flying height of the high-altitude balloon reaches the target flight layer; If the height actually reached by the high-altitude balloon is still lower than the target flight layer, repeat the above process for fine-tuning until the high-altitude balloon reaches the target flight layer. 8. A method for controlling the flight direction of a high-altitude balloon, comprising: Obtain the position information and the corresponding wind speed and direction at multiple heights on the top of the high-altitude balloon through the net light device located on the upper part of the high-altitude balloon; Obtain position information and corresponding wind speed and direction at multiple heights at the bottom of the high-altitude balloon through the net weight device located at the bottom of the high-altitude balloon; The flying direction of the high-altitude balloon is controlled 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. 9. high-altitude balloon flight direction control method according to claim 8, is characterized in that, When the target flight layer is located at the current position corresponding to any net weight ball, the control system 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 Describe the flight direction of the high-altitude balloon, including: A corresponding amount of buoyant gas is discharged from the high-altitude balloon according to the height to be lowered, the high-altitude balloon slowly accelerates and descends, and when the high-altitude balloon is at a preset distance from the target flight layer, the high-altitude balloon is controlled until the high-altitude balloon reaches the target flight layer, and the braking measure includes controlling the throwing out of the pod from the pod with a weighted sand whose total weight is equal to the buoyancy of the discharged buoyant gas; If the height actually reached by the high-altitude balloon is still higher than the target flight layer, repeat the above process for fine-tuning until the high-altitude balloon reaches the target flight layer. 10. The high-altitude balloon flight direction control method according to claim 8, characterized in that, When the target flight layer is located at the current position corresponding to any net light ball, control the High-altitude balloon flight directions, including: The weight of the balloon device is reduced according to the required height of the high-altitude balloon, including throwing a corresponding weight of sand from the pod, the high-altitude balloon rises, and the air density decreases as the height of the system increases, When the atmospheric pressure decreases, the volume of the buoyant gas inside the high-altitude balloon expands. After filling the entire high-altitude balloon, the buoyant gas that continues to expand is discharged from the high-altitude balloon, and the net buoyancy of the system continues to decrease until it reaches a state of floating weight balance. , the flying height of the high-altitude balloon reaches the target flight layer; If the height actually reached by the high-altitude balloon is still lower than the target flight level, repeat the above process to perform fine-tuning until the high-altitude balloon reaches the target flight level.

Images