CN112034196A - Method for measuring the vacuum speed of an aircraft and method for adjusting the direction of a laser atmospheric probe - Google Patents
Method for measuring the vacuum speed of an aircraft and method for adjusting the direction of a laser atmospheric probe Download PDFInfo
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- CN112034196A CN112034196A CN202010894989.0A CN202010894989A CN112034196A CN 112034196 A CN112034196 A CN 112034196A CN 202010894989 A CN202010894989 A CN 202010894989A CN 112034196 A CN112034196 A CN 112034196A
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- 230000005283 ground state Effects 0.000 claims description 9
- 238000005259 measurement Methods 0.000 abstract description 7
- 238000001514 detection method Methods 0.000 description 3
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/36—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P13/00—Indicating or recording presence, absence, or direction, of movement
- G01P13/02—Indicating direction only, e.g. by weather vane
- G01P13/025—Indicating direction only, e.g. by weather vane indicating air data, i.e. flight variables of an aircraft, e.g. angle of attack, side slip, shear, yaw
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Abstract
The invention discloses a method for measuring the vacuum speed of an airplane and a direction adjusting method of a laser atmospheric probe, wherein the direction adjusting method comprises the following steps: determining a direction of a current speed of the aircraft based on the flight plan and the positioning information of the aircraft; calculating to obtain the current attitude angle of the airplane based on the triaxial acceleration and the angular rate of the airplane; calculating a rotation angle required to rotate one of the three laser atmosphere probes towards a direction close to the current speed based on the direction and the attitude angle of the current speed and the initial angles of the three laser atmosphere probes; and adjusting the directions of the three laser atmosphere probes based on the rotation angle. According to the method for measuring the vacuum speed of the airplane and the direction adjusting method of the laser atmosphere probe, the signal-to-noise ratio of a signal for measuring or calculating the vacuum speed of the airplane can be improved, the accuracy or precision of calculation of the vacuum speed is further improved, and the measurement result of the vacuum speed is stable and consistent in accuracy.
Description
Technical Field
The invention relates to measurement of the vacuum speed of an airplane, in particular to a method for measuring the vacuum speed of the airplane and a direction adjusting method of a laser atmosphere probe.
Background
The existing laser radar based on the Doppler frequency shift guides a laser beam into an intermediate medium to be measured, and obtains the relative speed of the airplane according to the Doppler frequency shift by directly detecting the echo of the scattered laser and researching the Doppler frequency shift of the laser wavelength, namely, calculating the vacuum speed of the airplane.
However, there are still some problems with the existing methods of measuring the true airspeed of an aircraft. Since the detection direction and the detection angle of the existing laser atmosphere probe of the aircraft are fixed, the relative relationship (i.e., the included angle) between the direction of the vacuum velocity of the aircraft and the emission direction of the laser beam emitted by the laser atmosphere probe will change along with the flight process of the aircraft, which may cause the intensity of the returned scattering signal to change significantly, and the amplitude of the change may sometimes even be up to two or three orders of magnitude, which in turn may cause considerable change in the signal-to-noise ratio of the signal based on in the calculation process of the vacuum velocity of the aircraft, so that the accuracy or precision of the calculation of the vacuum velocity of the aircraft is unstable.
Therefore, it is desirable to provide a new method for measuring the vacuum velocity of an aircraft and a method for adjusting the direction of a laser atmospheric probe, so as to improve the signal-to-noise ratio of a signal used for measuring or calculating the vacuum velocity of the aircraft, thereby improving the accuracy or precision of the calculation of the vacuum velocity of the aircraft, or enabling the calculation of the vacuum velocity of the aircraft to have more consistent accuracy or precision.
Disclosure of Invention
The invention provides a novel method for measuring the vacuum speed of an airplane and a direction adjusting method of a laser atmospheric probe, aiming at overcoming the defects that the accuracy of a measuring result of the conventional method for measuring the vacuum speed of the airplane is not high enough or the stability of the accuracy is not good enough.
The invention solves the technical problems through the following technical scheme:
the invention provides a direction adjusting method of a laser atmosphere probe for measuring the vacuum speed of an airplane, wherein the airplane comprises three laser atmosphere probes with adjustable directions, and the direction adjusting method is characterized by comprising the following steps:
determining a direction of a current speed of the aircraft based on the flight plan and the positioning information of the aircraft;
measuring the triaxial acceleration and the angular rate of the airplane, and calculating to obtain the current attitude angle of the airplane based on the triaxial acceleration and the angular rate;
calculating a rotation angle required to rotate one of the three laser atmosphere probes towards a direction close to the current speed based on the direction of the current speed, the attitude angle and initial angles of the three laser atmosphere probes, wherein the three laser atmosphere probes always keep mutually orthogonal orientations;
adjusting the directions of the three laser atmospheric probes based on the rotation angle so that one of the three laser atmospheric probes faces a direction approaching the current speed.
According to one embodiment of the invention, the direction of the current speed of the aircraft relative to a local ground coordinate system is calculated based on the flight plan and the positioning information of the aircraft.
According to one embodiment of the present invention, the attitude angle is obtained by integral calculation based on the three-axis acceleration and the angular velocity, wherein the attitude angle is an included angle of an aircraft coordinate system of the aircraft relative to the ground coordinate system.
According to one embodiment of the invention, the initial angles of the three laser atmospheric probes are the angles they make in the aircraft coordinate system.
According to an embodiment of the present invention, the direction adjustment method further includes:
judging whether the aircraft is in a flying state or a ground state according to the landing gear signal, and when the aircraft is judged to be in the flying state, executing the steps of calculating the direction of the current speed, calculating the attitude angle and calculating the rotation angle.
According to an embodiment of the present invention, the direction adjustment method further includes:
and when the airplane is judged to be in the ground state, adjusting the directions of the three laser atmosphere probes so as to enable the three laser atmosphere probes to be far away from the horizontal direction.
The invention also provides a method for measuring the true airspeed of an aircraft, wherein the aircraft includes three laser atmospheric probes whose directions are adjustable, characterized in that the method includes:
determining a direction of a current speed of the aircraft based on the flight plan and the positioning information of the aircraft;
measuring the triaxial acceleration and the angular rate of the airplane, and calculating to obtain the current attitude angle of the airplane based on the triaxial acceleration and the angular rate;
calculating a rotation angle required to rotate one of the three laser atmosphere probes towards a direction close to the current speed based on the direction of the current speed, the attitude angle and initial angles of the three laser atmosphere probes, wherein the three laser atmosphere probes always keep mutually orthogonal orientations;
adjusting the directions of the three laser atmospheric probes based on the rotation angle so that one of the three laser atmospheric probes faces a direction approaching the current speed;
measuring Doppler frequency shift along three directions by using the three adjusted laser atmosphere probes, and further determining three velocity components along the three directions;
calculating a true airspeed of the aircraft from the three velocity components.
According to one embodiment of the invention, the direction of the current speed of the aircraft relative to a local ground coordinate system is calculated based on the flight plan and the positioning information of the aircraft.
According to one embodiment of the present invention, the attitude angle is obtained by integral calculation based on the three-axis acceleration and the angular velocity, wherein the attitude angle is an included angle of an aircraft coordinate system of the aircraft relative to the ground coordinate system.
According to an embodiment of the invention, the method further comprises:
judging whether the aircraft is in a flying state or a ground state according to landing gear signals, and when the aircraft is judged to be in the flying state, executing the steps of calculating the direction of the current speed, calculating the attitude angle, calculating the rotation angle, adjusting the directions of the three laser atmospheric probes, calculating the three speed components and calculating the vacuum speed.
On the basis of the common knowledge in the field, the above preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.
The positive progress effects of the invention are as follows:
according to the method for measuring the vacuum speed of the airplane and the direction adjusting method of the laser atmosphere probe, the signal-to-noise ratio of a signal for measuring or calculating the vacuum speed of the airplane can be improved, and the accuracy or precision of calculation of the vacuum speed is improved by ensuring a better signal-to-noise ratio, so that the vacuum speed calculated under various conditions has more stable and consistent accuracy or precision.
Drawings
Fig. 1 is a flowchart of a method of adjusting the direction of a laser atmospheric probe for measuring the vacuum speed of an aircraft according to a preferred embodiment of the present invention.
Detailed Description
The following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, is intended to be illustrative, and not restrictive, and it is intended that all such modifications and equivalents be included within the scope of the present invention.
In the following detailed description, directional terms, such as "left", "right", "upper", "lower", "front", "rear", and the like, are used with reference to the orientation as illustrated in the drawings. Components of embodiments of the present invention can be positioned in a number of different orientations and the directional terminology is used for purposes of illustration and is in no way limiting.
The direction adjusting method of the laser atmosphere probe for measuring the vacuum speed of the airplane according to the preferred embodiment of the invention aims at the airplane provided with three laser atmosphere probes with adjustable directions. Wherein the three laser atmospheric probes may constitute a set of probes, and in the method described below, the three laser atmospheric probes may always maintain orthogonal orientations to each other.
Referring to fig. 1, the direction adjustment method includes:
determining a direction of a current speed of the aircraft based on the flight plan and the positioning information of the aircraft;
measuring the triaxial acceleration and the angular rate of the airplane, and calculating to obtain the current attitude angle of the airplane based on the triaxial acceleration and the angular rate;
calculating a rotation angle required to rotate one of the three laser atmosphere probes towards a direction close to the current speed based on the direction and the attitude angle of the current speed and the initial angles of the three laser atmosphere probes;
and adjusting the directions of the three laser atmosphere probes based on the rotation angle, so that one of the three laser atmosphere probes faces to a direction close to the current speed.
It should be understood that the initial angle referred to herein may refer to the original mounting angle of the three laser atmospheric probes relative to the aircraft (or aircraft coordinate system).
Alternatively, according to some preferred embodiments of the present invention, the directions or orientations of the three laser atmosphere probes may be continuously adjusted according to the above direction adjustment method, and in such embodiments, the initial angle referred to herein may refer to an angle to which the three laser atmosphere probes were adjusted at the previous time/moment during the continuous adjustment process.
Based on the embodiment, the direction of the atmospheric laser probe can be adjusted during the flight of the airplane according to the flight plan so as to be at the optimal detection angle for calculating the vacuum speed of the airplane based on the Doppler frequency shift, thereby improving and guaranteeing the measurement accuracy of the vacuum speed.
According to some embodiments of the present invention, a direction of a current speed of the aircraft relative to a local ground coordinate system may be calculated based on the flight plan and positioning information of the aircraft. And, an attitude angle can be obtained by integral calculation based on the three-axis acceleration and the angular rate, wherein the attitude angle is an included angle of an airplane coordinate system of the airplane relative to a ground coordinate system. It should be understood that the measurement of the three-axis acceleration and angular rate together with the process of calculating the attitude angle based on the data integrals may be implemented in some embodiments using the inertial measurement system or inertial measurement unit that the aircraft is originally provided with, and no new components may need to be added.
Further preferably, the initial angles of the three laser atmospheric probes are the angles of the three laser atmospheric probes in the plane coordinate system.
It will be appreciated that, according to the above-described embodiment, the orientation (or angle) of the laser beam direction in the aircraft's own coordinate system is determined taking into account the angle of the laser atmosphere probe, the aircraft attitude angle determines the orientation (or angle) of the aircraft's own coordinate system relative to the local ground coordinate system, and the orientation of the direction of the current speed in the ground coordinate system is obtained based on the flight plan, so that the rotation angle can be calculated by the coordinate transformation relationship between the two coordinate systems, and can be determined such that one of the laser atmosphere probes is oriented in a direction close to the current speed of the aircraft, or in a direction substantially coincident with the current speed of the aircraft.
By the mode, under various different flight attitudes or conditions in the flight process, the direction of one laser atmospheric probe can be ensured to be close to the direction of the current speed of the airplane, the signal-to-noise ratio of a scattered light signal detected by the laser atmospheric probe can be kept at a relatively high level, and the vacuum speed can be accurately or precisely measured or calculated.
In some more specific embodiments, one of the three laser atmospheric probes may be provided as the primary probe and continuously adjusted in the above method to ensure that the primary probe is always oriented in a direction substantially coincident with the current speed of the aircraft.
According to some preferred embodiments of the present invention, the direction adjustment method further comprises:
judging whether the aircraft is in a flight state or a ground state according to the landing gear signal;
when the airplane is judged to be in a flying state, the steps of calculating the direction of the current speed, calculating an attitude angle and calculating a rotation angle are executed;
when the airplane is judged to be in the ground state, the directions of the three laser atmosphere probes are adjusted, so that the three laser atmosphere probes are far away from the horizontal direction.
Therefore, the damage of laser emitted by the laser atmosphere probe to the eyes of ground personnel in a ground state can be completely avoided.
According to some further preferred embodiments of the present invention, a method for calculating or measuring the true air speed of the aircraft or a method for monitoring the true air speed of the aircraft in real time can be formed on the basis of the above-mentioned method for adjusting the direction, in combination with the calculation step.
Compared to the above direction adjustment method, the method for calculating the vacuum speed may further include:
measuring Doppler frequency shift along three directions by using the three adjusted laser atmospheric probes, and further determining three velocity components along three directions;
the true airspeed of the aircraft is calculated from the three velocity components.
Specifically, velocity components in three directions of the aircraft (i.e., corresponding to the orientations of the three laser atmospheric probes) can be derived and calculated from doppler shifts in the three directions, which are orthogonal to each other, so that further calculating the vector sum thereof can calculate a velocity vector, the velocity vector and the mode thereof being the calculation result of the vacuum velocity.
According to the method for measuring the vacuum speed of the aircraft and the direction adjusting method of the laser atmosphere probe in the preferred embodiment of the invention, the signal-to-noise ratio of the signal for measuring or calculating the vacuum speed of the aircraft can be improved, and the aircraft can be ensured to be capable of keeping high-precision and high-accuracy vacuum speed measurement or calculation in various flight attitudes/flight conditions/flight processes by ensuring a better signal-to-noise ratio.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that these are by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (10)
1. A method of directional adjustment of a laser atmospheric probe for measuring the true airspeed of an aircraft, wherein the aircraft includes three laser atmospheric probes whose directions are adjustable, characterized in that the method of directional adjustment includes:
determining a direction of a current speed of the aircraft based on the flight plan and the positioning information of the aircraft;
measuring the triaxial acceleration and the angular rate of the airplane, and calculating to obtain the current attitude angle of the airplane based on the triaxial acceleration and the angular rate;
calculating a rotation angle required to rotate one of the three laser atmosphere probes towards a direction close to the current speed based on the direction of the current speed, the attitude angle and initial angles of the three laser atmosphere probes, wherein the three laser atmosphere probes always keep mutually orthogonal orientations;
adjusting the directions of the three laser atmospheric probes based on the rotation angle so that one of the three laser atmospheric probes faces a direction approaching the current speed.
2. A method of directional adjustment according to claim 1, characterized in that the direction of the current speed of the aircraft relative to a local ground coordinate system is calculated on the basis of the flight plan and positioning information of the aircraft.
3. The method of claim 2, wherein the attitude angle is obtained by an integral calculation based on the three-axis acceleration and angular velocity, wherein the attitude angle is an angle of an aircraft coordinate system of the aircraft relative to the ground coordinate system.
4. A method of direction adjustment according to claim 3, wherein the initial angles of the three laser atmospheric probes are the angles they make in the aircraft coordinate system.
5. The direction adjustment method of claim 1, further comprising:
judging whether the aircraft is in a flying state or a ground state according to the landing gear signal, and when the aircraft is judged to be in the flying state, executing the steps of calculating the direction of the current speed, calculating the attitude angle and calculating the rotation angle.
6. The direction adjustment method according to claim 5, characterized in that the direction adjustment method further comprises:
and when the airplane is judged to be in the ground state, adjusting the directions of the three laser atmosphere probes so as to enable the three laser atmosphere probes to be far away from the horizontal direction.
7. A method for measuring the true airspeed of an aircraft, wherein the aircraft includes three laser atmospheric probes that are adjustable in direction, the method comprising:
determining a direction of a current speed of the aircraft based on the flight plan and the positioning information of the aircraft;
measuring the triaxial acceleration and the angular rate of the airplane, and calculating to obtain the current attitude angle of the airplane based on the triaxial acceleration and the angular rate;
calculating a rotation angle required to rotate one of the three laser atmosphere probes towards a direction close to the current speed based on the direction of the current speed, the attitude angle and initial angles of the three laser atmosphere probes, wherein the three laser atmosphere probes always keep mutually orthogonal orientations;
adjusting the directions of the three laser atmospheric probes based on the rotation angle so that one of the three laser atmospheric probes faces a direction approaching the current speed;
measuring Doppler frequency shift along three directions by using the three adjusted laser atmosphere probes, and further determining three velocity components along the three directions;
calculating a true airspeed of the aircraft from the three velocity components.
8. A method of directional adjustment according to claim 7, characterized in that the direction of the current speed of the aircraft relative to a local ground coordinate system is calculated on the basis of the flight plan and positioning information of the aircraft.
9. The method of claim 8, wherein the attitude angle is obtained by an integral calculation based on the three-axis acceleration and angular velocity, wherein the attitude angle is an angle of an aircraft coordinate system of the aircraft relative to the ground coordinate system.
10. The direction adjustment method of claim 7, further comprising:
judging whether the aircraft is in a flying state or a ground state according to landing gear signals, and when the aircraft is judged to be in the flying state, executing the steps of calculating the direction of the current speed, calculating the attitude angle, calculating the rotation angle, adjusting the directions of the three laser atmospheric probes, calculating the three speed components and calculating the vacuum speed.
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Application publication date: 20201204 |