CN111766609A - Mobile split type laser radar - Google Patents
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- CN111766609A CN111766609A CN202010653330.6A CN202010653330A CN111766609A CN 111766609 A CN111766609 A CN 111766609A CN 202010653330 A CN202010653330 A CN 202010653330A CN 111766609 A CN111766609 A CN 111766609A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/95—Lidar systems specially adapted for specific applications for meteorological use
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
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Abstract
A high-precision split type laser Doppler radar three-dimensional wind field profile detection system can achieve automatic observation, attitude compensation and environmental data acquisition in the moving process on a mobile platform. The system comprises a wind measurement laser radar optical scanning part, a wind measurement laser radar data acquisition and processing part, a mobile carrier, a stable platform, an atmospheric parameter measuring module, a water surface parameter measuring module, a platform attitude and motion state measuring module, a satellite positioning module, a thermal management module, a data display module, a power supply module and a communication unit. If the stable platform is installed, the wind measurement laser radar optical scanning part, the platform attitude and motion state measuring module, the satellite positioning module and the thermal management module are installed on the stable platform, the atmospheric parameter measuring module and the communication unit are directly installed on the installation plate of the mobile carrier, and otherwise, the functional module is directly installed on the installation plate of the mobile carrier.
Description
Technical Field
The invention belongs to the field of three-dimensional wind field detection systems, and particularly relates to a mobile platform laser radar three-dimensional wind field profile detection system capable of realizing automatic observation, attitude compensation and environmental data acquisition in a mobile state.
Background
In the fields of wind power anemometry, meteorology and military, the traditional anemometer tower is high in construction cost and long in construction period, is difficult to construct particularly in complex terrain areas and deep ocean surfaces, cannot be moved once being built, and is high in failure rate and poor in measurement accuracy due to the fact that the mechanical wind cups are adopted for measurement. The time and the region of the flying sounding balloon are limited, and the use of a specific airspace each time requires complicated examination and approval by related departments, so that the freedom and the operability are greatly reduced. If the wind measurement data is used for correcting the trajectory of the missile in real time, the fixed wind measurement device is easy to strike by the enemy at a precise fixed point, the viability is low, and the battle effectiveness of the army is restricted. If the traditional fixed laser wind measuring radar is directly used in the moving process, the measured data will deviate due to the continuous shaking of the equipment and the self-movement.
The movable split type laser wind measuring radar can constantly measure the wind speed and the wind direction at dozens of meters to thousands of meters above the radar all the time during the traveling process, correct the wind speed and wind direction measuring error caused by continuous shaking and movement according to the real-time data generated by the attitude and the speed sensor, and output correct horizontal wind speed and wind direction data. The system does not need to invest in building a anemometer tower, does not need to undergo complex approval for flying the sounding balloon, can be used for fast moving measurement in a complex outdoor terrain or water area, and has strong flexibility and viability. The system can accept the wide-voltage power supply capability and the extreme environment adaptability of various power supplies, is suitable for the installation and transportation capability of multiple carriers, obviously improves the applicability and the reliability, and simultaneously ensures the investment return rate of users.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the high-precision split type laser radar three-dimensional wind field profile detection system can meet the requirements of realizing automatic observation, attitude compensation and environmental data acquisition on a mobile platform.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: the movable split type laser radar comprises a wind measurement laser radar optical scanning part, a wind measurement laser radar data acquisition and processing part, a movable carrier, a stable platform, an atmospheric parameter measuring module, a water surface parameter measuring module, a platform attitude and motion state measuring module, a satellite positioning module, a heat management module, a data display module, a power supply module and a communication unit. Wherein, if a stable platform is installed, the wind measurement laser radar optical scanning part, the platform attitude and motion state measuring module, the satellite positioning module and the thermal management module are installed on the stable platform, the atmospheric parameter measuring module and the communication unit are directly installed on the installation plate of the mobile carrier, otherwise, the functional modules are directly installed on the installation plate of the mobile carrier, the wind measurement laser radar data processing part and the power supply module are installed inside the equipment cabin of the mobile carrier, the water surface parameter measuring module is installed at the bottom of the mobile carrier, the wind measurement laser radar optical scanning part, the atmospheric parameter measuring module, the water surface parameter measuring module, the power supply module, the communication module platform attitude and motion state measuring module, the satellite positioning module and the data display module are respectively connected with the wind measurement laser radar data acquisition processing part, and finally, data are sent to a remote client through the communication module, and the real-time display can be realized through the data display module.
The wind measurement laser radar optical scanning part and the wind measurement laser radar data acquisition processing part are used for observing backscattering signals on a laser beam propagation path, obtaining radial wind speeds at different distances by analyzing Doppler frequency shift information of the backscattering signals, then compensating angle deviation of the laser beam relative to a geodetic coordinate system caused by platform shaking through data provided by an inertia measurement unit of a platform attitude and motion state measurement module, correcting the radial wind speed deviation through motion speed parameters provided by satellite positioning data, and finally performing inversion calculation to obtain correct horizontal wind speed and wind direction data. The visible field environment of the wind measurement laser radar optical scanning part adopts an airtight structure to prevent internal condensation or adopts an active ventilating and dehumidifying device to discharge internal vapor, and a windscreen wiper is installed on the outer side of an optical window of the wind measurement laser radar optical scanning part and used for cleaning the outer surface of the optical window.
The mobile carrier is used for installing and moving a split type laser radar three-dimensional wind field profile detection system, and the specific types include but are not limited to vehicles, ships, aircrafts, people or animals with proper switching structures attached to the people or animals, water surface floaters, floating ocean platforms, robots and the like.
The atmospheric parameter measurement module is connected with the wind lidar data acquisition and processing part as an optional module, and is used for detecting environmental parameters such as atmospheric temperature, humidity, pressure, wind speed and direction and the like and providing basic data for lidar wind measurement.
The water surface parameter measuring module is connected with the wind measurement laser radar data acquisition and processing part as an optional module and is used for observing water body environment parameters such as waves, underwater temperature, flow velocity, salinity, turbidity and the like.
The platform attitude and motion state measurement module is connected with the wind lidar data acquisition and processing part, and the generated data is used for compensating errors generated by platform motion.
The thermal management module is used for controlling the working temperature of each functional module exposed outside the equipment cabin of the mobile carrier.
The data display module is connected with the wind lidar data acquisition and processing part as an optional module and used for displaying a real-time data product and serving as a human-computer interaction interface during system setting.
The power supply module is used for supplying power to the whole set of system, and comprises but is not limited to a solar battery, a fuel cell, a lithium battery, a wind driven generator, a gasoline and diesel generator and the like.
The stabilizing platform is used for isolating the mobile carrier from the wind measurement laser radar optical scanning part, filtering high-frequency impact force transmitted by the mobile carrier in motion and assisting in keeping the wind measurement laser radar optical scanning part stable in posture, and alleviating the adverse effect of vibration impact and excessive displacement in the moving process on a system, and can be a passive dynamic vibration reduction vibration isolator or an active multi-degree-of-freedom servo stabilizing device.
(III) advantageous effects
The invention provides a mobile split type laser radar. Compared with the prior art, the method has the following beneficial effects:
(1) the mobile platform and the laser wind measuring radar are combined, the defect that the traditional fixed wind measuring radar and the wind measuring tower can only carry out fixed position observation is overcome, the application of the laser wind measuring technology is expanded to various mobile carriers, and real, real-time, continuous and reliable three-dimensional wind profile measurement in a mobile state is realized. The invention has the characteristics of flexible use, strong adaptability, low application cost and accurate and reliable measurement, is an important supplement for the measurement data of the traditional earth surface and high-altitude meteorological observation system, and provides a brand new choice for the application of meteorological forecast, resource exploration, military support, aerospace and the like.
Drawings
FIG. 1 is a view of the installation of the system structure of the present invention;
fig. 2 is an electrical connection diagram of the modules of the present invention.
In the figure, 1 is a power supply module, 2 is a platform attitude and motion state measuring module, 3 is a wind measurement laser radar optical scanning part, 4 is a satellite positioning module, 5 is a thermal management module, 6 is a stable platform, 7 is a communication unit, 8 is an atmospheric parameter measuring module, 9 is a mobile carrier, 10 is a wind measurement laser radar data acquisition and processing part, 11 is a water surface parameter measuring module, and 12 is a data display module.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-2, an embodiment of the present invention provides a technical solution: the mobile split type laser radar comprises a wind measurement laser radar optical scanning part 3, a wind measurement laser radar data acquisition processing part 10, a mobile carrier 9, a platform attitude and motion state measuring module 2, a satellite positioning module 4, a heat management module 5, a data display module 12, a power supply module 1 and a communication unit 7, a stable platform 6, an atmospheric parameter measuring module 8 and a water surface parameter measuring module 11 can be selected and arranged, if the stable platform 6 is installed, the wind lidar optical scanning part 3, the platform attitude and motion state measuring module 2, the satellite positioning module 4 and the thermal management module 5 are installed on the stable platform 6, the atmospheric parameter measuring module 8 and the communication unit 7 are directly installed on the installation plate of the mobile carrier 9, otherwise, the functional modules are directly installed on the installation plate of the mobile carrier 9. The wind measurement laser radar data processing part 10 and the power supply module 1 are installed inside an equipment cabin of the mobile carrier 9, and the water surface parameter measuring module 11 is installed at the bottom of the mobile carrier 9. The wind measurement laser radar optical scanning part 3, the atmospheric parameter measuring module 8, the water surface parameter measuring module 11, the power supply module 1, the communication module 7, the platform attitude and motion state measuring module 2, the satellite positioning module 4 and the data display module 12 are respectively connected with the wind measurement laser radar data acquisition and processing part 10, and finally data are transmitted to a remote client through the communication module 7 and can also be displayed in real time through the data display module 12.
The operation process of the mobile split type laser radar three-dimensional wind field profile detection system comprises the following contents:
1. the laser radar continuously or discontinuously scans the space to be measured according to the space scale and the space-time resolution required by the three-dimensional wind field profile of the space to be measured;
2. the system observes the backward scattering signals on the laser propagation path and obtains the radial wind speeds at different distances by analyzing the Doppler frequency shift information of the backward scattering signals;
3. and compensating the angle deviation of the laser beam relative to a geodetic coordinate system caused by the shaking of the platform by using attitude data output by the platform attitude and motion state measuring module 2, correcting the radial wind speed deviation by using output speed data, and finally performing inversion calculation to obtain correct horizontal wind speed and wind direction data. In the present embodiment, the attitude data and satellite positioning data of the inertial measurement unit IMU of the mobile platform, preferably including a gyroscope and an accelerometer, are used to compensate for errors caused by platform motion. The module provides information such as angle, angular velocity, angular acceleration, speed, acceleration, absolute position and the like of the mobile platform;
4. the data generated by the atmosphere parameter measuring module 8 and the water surface parameter measuring module 11 which can be selected and installed are integrated, compressed and packaged by the wind measuring laser radar data acquisition and processing part 10, and then transmitted to the remote server by the communication module 7 in real time or intermittently.
The invention combines the mobile platform and the laser wind-measuring radar, overcomes the defect that the traditional fixed wind-measuring radar and the wind-measuring tower can only carry out fixed position observation, expands the application of the laser wind-measuring technology to various mobile carriers, realizes real, real-time, continuous and reliable three-dimensional wind profile measurement in the moving process without region limitation, and greatly expands the application occasions of the laser wind-measuring radar.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The mobile split type laser radar is characterized by comprising a wind measurement laser radar optical scanning part (3), a wind measurement laser radar data acquisition and processing part (10), a mobile carrier (9), a platform attitude and motion state measuring module (2), a satellite positioning module (4), a heat management module (5), a data display module (12), a power supply module (1) and a communication unit (7), wherein the wind measurement laser radar data processing part (10) and the power supply module (1) are installed inside an equipment cabin of the mobile carrier (9), a water surface parameter measuring module (11) is installed at the bottom of the mobile carrier (9), the wind measurement laser radar optical scanning part (3), an atmospheric parameter measuring module (8), a water surface parameter measuring module (11), the power supply module (1), the communication module (7), the platform attitude and motion state measuring module (2), The satellite positioning module (4) and the data display module (12) are respectively connected with the wind-measuring laser radar data acquisition processing part (10).
2. The mobile split lidar of claim 1, wherein: the wind measurement laser radar optical scanning part (3) and the wind measurement laser radar data acquisition processing part (10) emit laser beams to the atmosphere through a laser light source, receive backscattering signals of the atmosphere (aerosol particles and dust), obtain radial wind speeds at different distances by analyzing Doppler frequency shift information of the backscattering signals on a laser propagation path, compensate angle deviation of the laser beams relative to a geodetic coordinate system caused by platform shaking through angle data provided by the platform attitude and motion state measuring module (2), correct radial wind speed deviation through data provided by the satellite positioning module (4) or motion speed data provided by the platform attitude and motion state measuring module (2), and finally obtain correct horizontal wind speed and wind direction data through inversion calculation.
3. The mobile split lidar of claim 1, wherein: the structure of the wind measuring laser radar optical scanning part (3) can be completely airtight or provided with an active ventilating and dehumidifying device, and a wiper is arranged on the outer side of the laser emission light window.
4. The mobile split lidar of claim 1, wherein: the atmospheric parameter measurement module (8) can be optionally installed and used for measuring environmental parameters such as atmospheric temperature, humidity, pressure, wind speed and direction and the like and providing data supplement for the laser radar wind measurement system.
5. The mobile split lidar of claim 1, wherein: the water surface parameter measuring module (11) can be optionally installed and is used for observing water body environment parameters such as waves, underwater temperature, flow velocity, salinity, turbidity and the like.
6. The mobile split lidar of claim 1, wherein: the platform attitude and motion state measuring module (2) is used for detecting the relative angle and relative speed data of the system relative to a geodetic coordinate system and compensating the measuring error generated by the platform motion.
7. The mobile split lidar of claim 1, wherein: the output data of the whole system can be displayed on site in real time through an optional data display module (12).
8. The mobile split lidar of claim 1, wherein: the whole system can be powered by various power supplies with different voltages, and is suitable for various power supplies and severe power supply environments.
9. The mobile split lidar of claim 1, wherein: a stable platform (6) can be optionally arranged between the wind measurement laser radar optical scanning part (3) and the moving carrier (9) and used for filtering high-frequency impact force transmitted by the moving carrier (9) and assisting in keeping the attitude of the wind measurement laser radar optical scanning part (3) stable, and adverse effects of vibration impact and excessive displacement in the moving process on system measurement are relieved.
10. The mobile split lidar of claim 1, wherein: the thermal management module (5) can be optionally arranged and used for controlling the temperature of the system.
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| CN202010653330.6A CN111766609A (en) | 2020-07-08 | 2020-07-08 | Mobile split type laser radar |
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| CN202010653330.6A CN111766609A (en) | 2020-07-08 | 2020-07-08 | Mobile split type laser radar |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112711035A (en) * | 2020-12-17 | 2021-04-27 | 安徽科创中光科技有限公司 | Portable wind lidar system capable of automatically correcting trajectory track |
| CN112731313A (en) * | 2020-12-18 | 2021-04-30 | 中国电子科技集团公司第三十八研究所 | State analysis system and state analysis method for passive stable platform of ball-borne radar |
| CN113075684A (en) * | 2021-04-06 | 2021-07-06 | 浙江师范大学 | Novel Sas atmosphere laser radar based on TDLAS technology |
| CN113433532A (en) * | 2021-07-07 | 2021-09-24 | 清华大学苏州汽车研究院（吴江） | Laser radar attitude calibration method and device based on particle swarm algorithm |
| CN115421162A (en) * | 2022-09-30 | 2022-12-02 | 上海能源科技发展有限公司 | Floating type continuous wave laser wind finding radar device and system |
| WO2023051579A1 (en) * | 2021-09-30 | 2023-04-06 | 华为技术有限公司 | Laser radar system and vehicle |
| CN117516547A (en) * | 2023-12-15 | 2024-02-06 | 哈尔滨工业大学（威海） | Unmanned ship-borne radar pose compensation device and method |
| CN118033675A (en) * | 2024-04-11 | 2024-05-14 | 珠海光恒科技有限公司 | Handheld laser wind-finding radar system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112711035A (en) * | 2020-12-17 | 2021-04-27 | 安徽科创中光科技有限公司 | Portable wind lidar system capable of automatically correcting trajectory track |
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| CN115421162A (en) * | 2022-09-30 | 2022-12-02 | 上海能源科技发展有限公司 | Floating type continuous wave laser wind finding radar device and system |
| CN117516547A (en) * | 2023-12-15 | 2024-02-06 | 哈尔滨工业大学（威海） | Unmanned ship-borne radar pose compensation device and method |
| CN117516547B (en) * | 2023-12-15 | 2024-05-14 | 哈尔滨工业大学（威海） | Unmanned ship-borne radar pose compensation method |
| CN118033675A (en) * | 2024-04-11 | 2024-05-14 | 珠海光恒科技有限公司 | Handheld laser wind-finding radar system |
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