CN112255429A - Three-dimensional wind parameter measuring method and system - Google Patents

Three-dimensional wind parameter measuring method and system Download PDF

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CN112255429A
CN112255429A CN202011126573.0A CN202011126573A CN112255429A CN 112255429 A CN112255429 A CN 112255429A CN 202011126573 A CN202011126573 A CN 202011126573A CN 112255429 A CN112255429 A CN 112255429A
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array
transmitting
wind
signal
wind speed
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CN112255429B (en
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李新波
王晓玉
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Jilin University
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Jilin University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
    • G01P5/24—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft by measuring the direct influence of the streaming fluid on the properties of a detecting acoustical wave
    • G01P5/245—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft by measuring the direct influence of the streaming fluid on the properties of a detecting acoustical wave by measuring transit time of acoustical waves
    • 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
    • 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

Abstract

The invention relates to a three-dimensional wind parameter measuring method and a three-dimensional wind parameter measuring system, and relates to the technical field of wind measurement. The method comprises the following steps: determining a transmitting array flow pattern of the transmitting array and a receiving array flow pattern of the receiving array according to the component of the wind speed on a connecting line of the transmitting array and the reflector and the radius of the circular arc; determining a receiving array signal according to a transmitting array flow pattern and a receiving array flow pattern; according to the received array signals, a wind speed vector is obtained by using a matched filter, column stack processing and an MUSIC algorithm; and determining the wind parameters in the three-dimensional space according to the vector synthesis relation of the wind speed vector and the wind parameters in the rectangular space coordinate system. The invention extracts the receiving signal corresponding to each transmitting signal of the transmitting array respectively through the matched filtering processing of the receiving array, which is equivalent to synthesizing a virtual array element and increasing the array aperture, thereby improving the measuring precision and the anti-interference capability of the three-dimensional wind parameters.

Description

Three-dimensional wind parameter measuring method and system
Technical Field
The invention relates to the technical field of wind measurement, in particular to a three-dimensional wind parameter measuring method and system.
Background
The wind parameters in the three-dimensional space mainly comprise wind speed, azimuth angle and pitch angle. The wind signal is widely applied to the fields of aerospace, meteorological observation, wind energy systems, pneumatic testing and the like as a common physical quantity, and the wind speed is an important parameter in the aspects of wind power generation, buildings and the like. Therefore, the method has very important significance for accurately measuring the wind parameters. At present, anemometers mainly used for anemometry include mechanical anemometry, ultrasonic anemometry, and thermoelectric anemometry. When the mechanical wind speed and direction sensor works, mechanical movement exists, and the friction resistance of the mechanical wind speed and direction sensor influences the wind measuring effect and the service life; the ultrasonic wind speed and direction sensor directly influences the measurement precision of wind parameters on the measurement precision of signal propagation time in upwind and downwind; thermoelectric wind speed and direction sensors are expensive and cannot adapt to drastic changes in temperature. Therefore, how to improve the measurement accuracy of wind speed and wind direction is an urgent problem to be solved in the field of wind measurement. However, the wind measurement method based on the array signal processing theory has poor measurement accuracy of wind parameters under low signal-to-noise ratio.
Disclosure of Invention
The invention aims to provide a three-dimensional wind parameter measuring method and a three-dimensional wind parameter measuring system, and solves the problem that the existing wind measuring method is poor in measuring accuracy.
In order to achieve the purpose, the invention provides the following scheme:
a three-dimensional wind parameter measurement method is applied to an ultrasonic array, and the ultrasonic array comprises the following steps: the device comprises a first subarray positioned on a xoy plane of a space rectangular coordinate system and a second subarray positioned on a yoz plane; the first subarray is used for measuring a wind speed vector of a wind parameter in a xoy plane, and the second subarray is used for measuring a wind speed vector of the wind parameter in a yoz plane;
the first sub-array and the second sub-array comprise a transmitting array and a receiving array; the transmitting array comprises N transmitting ultrasonic sensors, and the receiving array comprises N receiving ultrasonic sensors;
the transmitting array and the receiving array are both positioned on an arc with a reflector as a circle center and a radius of R, and the transmitting array and the receiving array are centrosymmetric with the reflector as a center; the transmitting ultrasonic sensor is used for transmitting ultrasonic signals which are orthogonal to each other; the transmitting ultrasonic sensor comprises a reference transmitting ultrasonic sensor and a non-reference transmitting ultrasonic sensor; the receiving ultrasonic sensor comprises a reference receiving ultrasonic sensor and a non-reference receiving ultrasonic sensor;
included angles between any two adjacent transmitting ultrasonic sensors in the transmitting array are equal;
the three-dimensional wind parameter measuring method comprises the following steps:
determining a transmitting array flow pattern of the transmitting array and a receiving array flow pattern of the receiving array according to the component of the wind speed on the connecting line of the transmitting ultrasonic sensor and the reflector and the radius of the circular arc;
determining a receiving array signal according to the transmitting signal of the transmitting array, the flow pattern of the transmitting array and the flow pattern of the receiving array;
according to the received array signals, performing matched filter and column stack processing to obtain an observation data matrix;
obtaining the wind speed vector of the xoy plane and the wind speed vector of the yoz plane by utilizing an MUSIC algorithm according to the observation data matrix;
and determining the wind parameters in the three-dimensional space according to the vector composition relation of the wind speed vector of the xoy plane, the wind speed vector of the yoz plane and the wind parameters in the space rectangular coordinate system.
Optionally, the determining, according to the component of the wind speed on the connecting line between the transmitting ultrasonic sensor and the reflector and the radius of the arc, a transmitting array flow pattern of the transmitting array and a receiving array flow pattern of the receiving array specifically includes:
utilizing the component of the wind speed on the connecting line of the transmitting ultrasonic sensor and the reflector and the radius of the circular arc, and obtaining the wind speed through a formula
Figure BDA0002733800450000021
Determining a time at which a transmission signal of the transmitting ultrasonic sensor reaches the reflector; in the formula, tpRepresenting the time when the transmitting signal of the p-th transmitting ultrasonic sensor reaches the reflector, R represents the radius of the circular arc, and c represents the sound velocity; vpRepresenting the component of the wind speed at the p-th line connecting the transmitting ultrasonic sensor and the reflector, p is 1,2p＝V'cos(θ'+ipα), V' represents windWind speed value of parameter in xoy plane or yoz plane, V ═ VxThe time represents the wind speed value of the wind parameter in the xoy plane, V ═ VzThe time represents the wind speed value of the wind parameter in the yoz plane; theta' denotes the azimuth angle of the wind parameter in the xoy plane or the yoz plane, theta ═ thetaxTime denotes the azimuth angle of the wind parameter in the xoy plane, theta ═ thetazRepresenting the azimuth angle, i, of the wind parameter in the yoz planepRepresenting an intermediate parameter; alpha represents an included angle between the connecting lines of the two adjacent transmitting ultrasonic sensors and the reflector respectively;
using the time of the transmitting signal of the transmitting ultrasonic sensor reaching the reflector by the formula taup＝tp-t1Determining a time delay; tau ispRepresenting the time delay, t1Representing the time when the emission signal of the reference emission ultrasonic sensor reaches the reflector, wherein the time delay is the difference between the time when the emission signal of the reference emission ultrasonic sensor reaches the reflector and the time when the emission signal of the reference emission ultrasonic sensor reaches the reflector;
determining a transmit array flow pattern for the transmit array using the time delay; the emission array flow pattern a (θ ', V') of the emission array is:
Figure BDA0002733800450000031
wherein j represents an imaginary unit, pi represents a circumferential ratio, and f represents a transmission signal frequency;
determining a receive array flow pattern b (θ ', V') ═ a (θ ', V') for the receive array from a transmit array flow pattern a (θ ', V') for the transmit array, the reference transmit and receive ultrasonic sensors being symmetric about the reflector and the transmit and receive arrays being symmetric about the reflector.
Optionally, the determining a receiving array signal according to the transmitting signal of the transmitting array, the transmitting array flow pattern, and the receiving array flow pattern specifically includes:
utilizing the emission signal of the emission array and the flow pattern of the emission array, and obtaining the emission signal by the formula x ═ eta a (theta ', V')TS, determining a reflector echo x;
wherein η represents the complex amplitude of the reflected signal of the reflector; a (theta ', V') represents a guide vector of the emission signal, namely an emission array flow pattern; s represents a transmission signal, S ═ S1,s2,…,sN]，sNRepresenting the transmit signal of the nth transmitting ultrasonic sensor;
determining a receiving array signal y by using the reflector echo and the receiving array flow pattern through a formula y ═ b (theta ', V') x + E;
in the formula, b (θ ', V') represents a steering vector of the reception signal, i.e., a reception array flow pattern; e represents complex gaussian noise.
Optionally, the obtaining an observation data matrix by using a matched filter and column stack processing according to the received array signal specifically includes:
determining the matched filtering output of the ith fast beat number by using a matched filter according to the receiving array signal; ith fast beat number matched filter output XiComprises the following steps:
Figure BDA0002733800450000041
wherein L represents the total number of fast beats, i ═ 1, 2., L; y isi(n) a received array signal representing the ith fast beat number; si(n) a transmission signal representing the ith fast beat number; h represents conjugate transpose; n represents a sampling time;
performing column stacking processing on all the matched filtering outputs of the fast beat number to obtain an observation data matrix; the observation data matrix Y is: y ═ vec (X)1),vec(X2),...,vec(XL)](ii) a In the formula, vec () represents column stack processing.
Optionally, the obtaining of the wind speed vector of the xoy plane and the wind speed vector of the yoz plane by using the MUSIC algorithm according to the observation data matrix specifically includes:
using the observation data momentsDetermining a covariance matrix of the received array signals; the covariance matrix R is: r ═ E (YY)H) (ii) a Wherein E () represents YYH(iii) a desire;
performing eigenvalue decomposition on the covariance matrix to obtain a noise subspace; the noise subspace comprises eigenvectors corresponding to the last G-K eigenvalues of the covariance matrix which are arranged from large to small; g represents the total number of eigenvalues of the covariance matrix, and K represents the number of reflectors;
using said noise subspace by
Figure BDA0002733800450000042
Determining a MUSIC spatial spectrum function; in the formula, P (V ', theta') represents a MUSIC spatial spectrum function; w (theta ', V') represents the joint steering vector of the transmit array and the receive array,
Figure BDA0002733800450000043
UNrepresenting a noise subspace;
(V ', theta') corresponding to the maximum value of the MUSIC spatial spectrum function is a wind speed vector of the xoy plane or the yoz plane; the wind speed vector of the xoy plane is (V)x,θx) (ii) a The wind speed vector of the yoz plane is (V)z,θz)。
Optionally, the determining the wind parameter in the three-dimensional space according to the vector synthesis relationship between the wind speed vector of the xoy plane and the wind speed vector of the yoz plane, and the vector synthesis relationship between the wind parameter in the space rectangular coordinate system specifically includes:
determining a calculation formula of the wind parameters according to the vector synthesis relation of the wind parameters in the space rectangular coordinate system; the calculation formula of the wind parameters comprises a pitch angle formula, a wind speed formula and an azimuth angle formula;
according to the wind speed vector of the xoy plane and the wind speed vector of the yoz plane, utilizing a pitch angle formula
Figure BDA0002733800450000051
Determining pitch angle of wind parameter
Figure BDA0002733800450000052
According to the wind speed vector of the xoy plane and the wind speed vector of the yoz plane, utilizing a wind speed formula
Figure BDA0002733800450000053
Determining a wind speed V of a wind parameter;
according to the wind speed vector of the xoy plane, an azimuth angle formula theta is usedxAnd determining the azimuth angle theta of the wind parameter.
A three-dimensional wind parameter measurement system comprising:
the array flow pattern determining module is used for determining a transmitting array flow pattern of the transmitting array and a receiving array flow pattern of the receiving array according to the component of the wind speed on the connecting line of the transmitting ultrasonic sensor and the reflector and the radius of the circular arc;
the receiving array signal determining module is used for determining a receiving array signal according to the transmitting signal of the transmitting array, the transmitting array flow pattern and the receiving array flow pattern;
the observation data matrix determining module is used for utilizing a matched filter and column stack processing to obtain an observation data matrix according to the receiving array signal;
the wind speed vector determining module is used for obtaining a wind speed vector of the xoy plane and a wind speed vector of the yoz plane by utilizing an MUSIC algorithm according to the observation data matrix;
and the wind parameter determining module is used for determining the wind parameters in the three-dimensional space according to the wind speed vector of the xoy plane, the wind speed vector of the yoz plane and the vector synthetic relation of the wind parameters in the space rectangular coordinate system.
Optionally, the array flow pattern determining module specifically includes:
a time determining unit for determining the time of the transmitted signal reaching the reflector, which is used for utilizing the component of the wind speed on the connecting line of the transmitted ultrasonic sensor and the reflector and the radius of the circular arc, and passing through a formula
Figure BDA0002733800450000054
Determining a time at which a transmission signal of the transmitting ultrasonic sensor reaches the reflector; in the formula, tpRepresenting the time when the transmitting signal of the p-th transmitting ultrasonic sensor reaches the reflector, R represents the radius of the circular arc, and c represents the sound velocity; vpRepresenting the component of the wind speed at the p-th line connecting the transmitting ultrasonic sensor and the reflector, p is 1,2p＝V'cos(θ'+ipα), V' represents the value of the wind speed of the wind parameter in the xoy plane or the yoz plane, V ═ VxThe time represents the wind speed value of the wind parameter in the xoy plane, V ═ VzThe time represents the wind speed value of the wind parameter in the yoz plane; theta' denotes the azimuth angle of the wind parameter in the xoy plane or the yoz plane, theta ═ thetaxTime denotes the azimuth angle of the wind parameter in the xoy plane, theta ═ thetazRepresenting the azimuth angle, i, of the wind parameter in the yoz planepRepresenting an intermediate parameter; alpha represents an included angle between the connecting lines of the two adjacent transmitting ultrasonic sensors and the reflector respectively;
a time delay determining unit for determining the time of the transmitted signal of the transmitting ultrasonic sensor reaching the reflector by the formula taup＝tp-t1Determining a time delay; tau ispRepresenting the time delay, t1Representing the time when the emission signal of the reference emission ultrasonic sensor reaches the reflector, wherein the time delay is the difference between the time when the emission signal of the reference emission ultrasonic sensor reaches the reflector and the time when the emission signal of the reference emission ultrasonic sensor reaches the reflector;
a transmitting array flow pattern determining unit for determining a transmitting array flow pattern of the transmitting array by using the time delay; the emission array flow pattern a (θ ', V') of the emission array is:
Figure BDA0002733800450000061
wherein j represents an imaginary unit, pi represents a circumferential ratio, and f represents a transmission signal frequency;
a receiving array flow pattern determining unit for determining a receiving array flow pattern b (θ ', V') ═ a (θ ', V') of the receiving array according to a transmitting array flow pattern a (θ ', V') of the transmitting array, the reference transmitting ultrasonic sensor and the reference receiving ultrasonic sensor being symmetric with respect to the reflector, and the transmitting array and the receiving array being symmetric with respect to the reflector.
Optionally, the receiving array signal determining module specifically includes:
a reflector echo determination unit for using the emission signal of the emission array and the flow pattern of the emission array by the formula x ═ η a (θ ', V')TS, determining a reflector echo x;
wherein η represents the complex amplitude of the reflected signal of the reflector; a (theta ', V') represents a guide vector of the emission signal, namely an emission array flow pattern; s represents a transmission signal, S ═ S1,s2,…,sN]，sNRepresenting the transmit signal of the nth transmitting ultrasonic sensor;
a receiving array signal determining unit for determining a receiving array signal y by using the reflector echo and the receiving array flow pattern through a formula of y ═ b (θ ', V') x + E;
in the formula, b (θ ', V') represents a steering vector of the reception signal, i.e., a reception array flow pattern; e represents complex gaussian noise.
Optionally, the observation data matrix determining module specifically includes:
a matched filter output determining unit, configured to determine, according to the received array signal, a matched filter output of an ith fast beat number by using a matched filter; ith fast beat number matched filter output XiComprises the following steps:
Figure BDA0002733800450000071
wherein L represents the total number of fast beats, i ═ 1, 2., L; y isi(n) a received array signal representing the ith fast beat number; si(n) a transmission signal representing the ith fast beat number; h represents conjugate transpose; n represents the time of samplingA (c) is added;
the observation data matrix determining unit is used for performing column stacking processing on all the matched filter outputs with fast beat numbers to obtain an observation data matrix; the observation data matrix Y is: y ═ vec (X)1),vec(X2),...,vec(XL)](ii) a In the formula, vec () represents column stack processing.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a three-dimensional wind parameter measuring method and a three-dimensional wind parameter measuring system. The method comprises the following steps: determining a transmitting array flow pattern of a transmitting array and a receiving array flow pattern of a receiving array according to the component of the wind speed on a connecting line of the transmitting ultrasonic sensor and the reflector and the radius of the circular arc; determining a receiving array signal according to the transmitting signal of the transmitting array, the flow pattern of the transmitting array and the flow pattern of the receiving array; according to the received array signals, performing matched filter and column stack processing to obtain an observation data matrix; according to the observation data matrix, obtaining a wind speed vector of the xoy plane and a wind speed vector of the yoz plane by utilizing an MUSIC algorithm; and determining the wind parameters in the three-dimensional space according to the wind speed vector of the xoy plane, the wind speed vector of the yoz plane and the vector synthesis relation of the wind parameters in the space rectangular coordinate system. The invention adopts the ultrasonic sensors as the transmitting array elements, realizes the ultrasonic sensor array structure with N ultrasonic sensors for multiple sending and multiple receiving through the action of reflectors, and can respectively extract the receiving signals corresponding to each transmitting signal of the transmitting array after the transmitting array elements transmit the ultrasonic signals which are orthogonal to each other and the receiving array is processed by matched filtering, which is equivalent to synthesizing the virtual array elements and increasing the array aperture, thereby improving the measuring precision and the anti-interference capability of the three-dimensional wind parameters.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a flowchart of a three-dimensional wind parameter measurement method according to an embodiment of the present invention;
FIG. 2 is a block diagram of an ultrasound array provided by an embodiment of the present invention;
fig. 3 is a structural diagram of a second sub-array provided in the embodiment of the present invention;
FIG. 4 is an exploded and composite view of a three-dimensional wind vector provided by an embodiment of the present invention;
FIG. 5 is a root mean square error simulation diagram of wind speeds provided by an embodiment of the present invention;
FIG. 6 is a simulation diagram of the root mean square error of the azimuth angle provided by the embodiment of the invention;
fig. 7 is a root mean square error simulation diagram of the pitch angle provided by the embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.
The invention aims to provide a three-dimensional wind parameter measuring method and a three-dimensional wind parameter measuring system, and solves the problem that the existing wind measuring method is poor in measuring accuracy.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The embodiment provides a three-dimensional wind parameter measurement method, which is applied to an ultrasonic array, wherein the ultrasonic array comprises the following components: the first subarray is located on a xoy plane of a space rectangular coordinate system, and the second subarray is located on a yoz plane of the space rectangular coordinate system; the first subarray is used for measuring a wind speed vector of the wind parameter in the xoy plane, and the second subarray is used for measuring a wind speed vector of the wind parameter in the yoz plane. The wind velocity vector includes: a wind speed value and a wind direction value.
The first sub-array and the second sub-array comprise a transmitting array and a receiving array; the transmit array includes N transmit ultrasonic sensors and the receive array includes N receive ultrasonic sensors.
The transmitting ultrasonic sensors are used for transmitting ultrasonic signals which are orthogonal to each other, namely the transmitting signals of two adjacent transmitting ultrasonic sensors are sinusoidal signals with the phase difference of 90 degrees. The transmitting signal is received by the receiving ultrasonic sensor through the reflector, and the transmitting array and the receiving array jointly act to form NN signal transmission channels, so that the array aperture is enlarged.
The transmitting array and the receiving array are both positioned on an arc with a reflector as a circle center and a radius of R, and the transmitting array and the receiving array are centrosymmetric with the reflector as a center; the transmitting ultrasonic sensor comprises a reference transmitting ultrasonic sensor and a non-reference transmitting ultrasonic sensor; the receiving ultrasonic sensors include a reference receiving ultrasonic sensor and a non-reference receiving ultrasonic sensor. The reflector serves to focus the transmitted signal to a point and then transmit the focused signal to the receiving array.
The included angles between any two adjacent transmitting ultrasonic sensors in the transmitting array are equal.
In the field of array signal processing, in order to obtain a useful parameterized model, the assumption about waveform transmission must be simplified, and in this embodiment, it is assumed that the transmission characteristics of the transmitting array element are only related to the position of the transmitting array element and not related to the size of the transmitting array element, the reception characteristics of the receiving array element are only related to the position of the array element and not related to the size of the array element (i.e., the array element is considered to be a point), and the characteristics of the reflector are only related to the position of the reflector; the array element is an ultrasonic sensor.
Fig. 2 is a structural diagram of an ultrasound array according to an embodiment of the present invention, where the ultrasound array of the present embodiment is a multiple-in-multiple-out (MIMO) ultrasound array, and a first sub-array and a second sub-array each include 8 ultrasound transducers. Referring to fig. 2, the sub-array 1 (i.e., the first sub-array) is formed by the ultrasonic sensors n1 to n8 located on the xoy plane of the spatial rectangular coordinate system, and the sub-array 2 (i.e., the second sub-array) is formed by the ultrasonic sensors m1 to m8 located on the yoz plane of the spatial rectangular coordinate system, wherein n1 to n4 are respectively centrosymmetric with n5 to n8, m1 to m4 are respectively centrosymmetric with m5 to m8, and an included angle α between two adjacent array elements in four array elements in the same direction and a connecting line between the two adjacent array elements and a reflector is 20 °.
Each array element is positioned on an arc with a radius of R and a reflector as a circle center, and because the subarrays are symmetrical about the center of the reflector, 4 array elements on any one side of a y axis can be used as transmitting array elements, and 4 array elements on the other side can be used as receiving array elements.
In order to measure three-dimensional wind parameters, wind speed and direction parameters of a subarray 1 and a subarray 2 need to be estimated, wherein the wind speed and direction parameter to be estimated of the subarray 1 is (V)x,θx) The wind speed and direction parameter to be estimated of the subarray 2 is (V)z,θz)。
Fig. 1 is a flowchart of a three-dimensional wind parameter measurement method according to an embodiment of the present invention, and referring to fig. 1, the three-dimensional wind parameter measurement method includes:
step 101, determining a transmitting array flow pattern of a transmitting array and a receiving array flow pattern of a receiving array according to the component of the wind speed on the connecting line of the transmitting ultrasonic sensor and the reflector and the radius of the circular arc.
Step 101 specifically includes:
the component of the wind speed on the connecting line of the transmitting ultrasonic sensor and the reflector and the radius of the arc are utilized, and the formula is used
Figure BDA0002733800450000101
Determining the time when the transmitting signal of the transmitting ultrasonic sensor reaches the reflector; in the formula, tpThe time when the transmitting signal of the p-th transmitting ultrasonic sensor reaches the reflector is shown, R represents the radius of the circular arc, and c represents the sound velocity; vpThe component of wind speed in the line between the p-th transmitting ultrasonic sensor and the reflector is shown, and p is 1,2p＝V'cos(θ'+ipα), V' represents the value of the wind speed of the wind parameter in the xoy plane or the yoz plane, V ═ VxThe time represents the wind speed value of the wind parameter in the xoy plane, V ═ VzThe time represents the wind speed value of the wind parameter in the yoz plane; theta' represents the orientation of the wind parameter in the xoy or yoz planeAngle theta ═ thetaxTime denotes the azimuth angle of the wind parameter in the xoy plane, theta ═ thetazRepresenting the azimuth angle, i, of the wind parameter in the yoz planepRepresenting an intermediate parameter; alpha represents the included angle between the connecting lines of two adjacent transmitting ultrasonic sensors and the reflector respectively. i.e. ip-ip-1When p is an even number, 1,
Figure BDA0002733800450000102
by using the time of the transmitting signal of the transmitting ultrasonic sensor reaching the reflector, the time can be obtained by the formulap＝tp-t1Determining a time delay; tau ispRepresenting the time delay, t1The time delay is the difference between the time of the transmitting signal of the transmitting ultrasonic sensor reaching the reflector and the time of the transmitting signal of the reference transmitting ultrasonic sensor reaching the reflector.
Determining a transmit array flow pattern for the transmit array using the time delay; the emission array flow pattern a (θ ', V') of the emission array is:
Figure BDA0002733800450000103
where j denotes an imaginary unit, pi denotes a circumferential ratio, and f denotes a transmission signal frequency.
Figure BDA0002733800450000111
And determining a receiving array flow pattern b (theta ', V') of the receiving array, namely a (theta ', V'), according to the transmitting array flow pattern a (theta ', V') of the transmitting array, the reference transmitting ultrasonic sensor and the reference receiving ultrasonic sensor are symmetrical to the reflector, and the transmitting array and the receiving array are symmetrical to the reflector. The conventional calculation is that the flow pattern of a receiving array of the receiving array is determined according to the component of the wind speed on a connecting line of a reflector and a receiving ultrasonic sensor and the radius of a circular arc, and the specific process of determining the flow pattern of the receiving array is the same as the specific process of determining the flow pattern of a transmitting array of the transmitting array. In this embodiment, the transmitting array and the receiving array are symmetric with respect to the reflector, so that a component of the wind speed on a connecting line of the reflector and the receiving array is equal to a component of the wind speed on a connecting line of the transmitting array and the reflector, and the transmitting array and the receiving array are symmetric with respect to the reflector, and a reference array element (a reference transmitting ultrasonic sensor) of the selected transmitting array and a reference array element (a reference receiving ultrasonic sensor) of the receiving array are also symmetric with respect to the reflector, and further b (θ ', V') ═ a (θ ', V'); the receiving array elements and the transmitting array elements are on the circular arc with the reflector as the center of a circle, so that the construction process of the receiving array can be omitted to reduce the calculation complexity.
Step 102, determining a receiving array signal according to the transmitting signal of the transmitting array, the transmitting array flow pattern and the receiving array flow pattern.
Step 102 specifically includes:
utilizing emission signals of the emission array and the flow pattern of the emission array, and obtaining the emission signal by the formula x ═ eta a (theta ', V')TS determines the reflector echo x.
Wherein η represents the complex amplitude of the reflected signal of the reflector; a (theta ', V') represents a guide vector of the emission signal, namely an emission array flow pattern; s represents a transmission signal, S ═ S1,s2,…,sN]，sNRepresenting the transmit signal of the nth transmitting ultrasonic sensor.
Using the reflector echo and the receive array flow pattern, the receive array signal y is determined by the formula y ═ b (θ ', V') x + E.
In the formula, b (θ ', V') represents a steering vector of the reception signal, i.e., a reception array flow pattern; e represents complex gaussian noise.
And 103, processing by using a matched filter and a column stack according to the received array signals to obtain an observation data matrix.
Step 103 specifically comprises:
determining the matched filtering output of the ith fast beat number by using a matched filter according to the received array signal; ith fast beat number matched filter output XiComprises the following steps:
Figure BDA0002733800450000121
wherein L represents the total number of fast beats, i ═ 1, 2., L; y isi(n) a received array signal representing the ith fast beat number; si(n) a transmission signal representing the ith fast beat number; h represents conjugate transpose; n represents a sampling time.
Performing column stacking processing on all the matched filtering outputs of the fast beat number to obtain an observation data matrix; the observed data matrix Y is: y ═ vec (X)1),vec(X2),...,vec(XL)](ii) a In the formula, vec () represents column stack processing.
And step 104, obtaining the wind speed vector of the xoy plane and the wind speed vector of the yoz plane by utilizing the MUSIC algorithm according to the observation data matrix.
Step 104 specifically includes:
determining a covariance matrix of the received array signal by using the observation data matrix; the covariance matrix R is: r ═ E (YY)H)。
Wherein E () represents YYHThe expectation is that.
The joint steering vector passing formula of the transmitting array and the receiving array can be further used
Figure BDA0002733800450000122
A covariance matrix is determined. Wherein w (theta ', V') represents a joint steering vector of the transmitting array and the receiving array,
Figure BDA0002733800450000123
η＝[η1,η2,...,ηL]representing the complex amplitude of the reflector reflection signal corresponding to the snapshot number; sigmav 2Representing a complex gaussian noise variance; i denotes an identity matrix.
Performing eigenvalue decomposition on the covariance matrix to obtain a noise subspace; the noise subspace comprises eigenvectors corresponding to the last G-K eigenvalues of the covariance matrix arranged from large to small; g represents the total number of eigenvalues of the covariance matrix, and K represents the number of reflectors. The covariance matrix is subjected to eigenvalue decomposition to obtain a plurality of eigenvalues, each eigenvalue corresponds to an eigenvector, and in the embodiment, the number of reflectors is 1, so that only one large eigenvalue exists, and the rest are small eigenvalues.
Using noise subspace, by formula
Figure BDA0002733800450000131
Determining a MUSIC spatial spectrum function; in the formula, P (V ', theta') represents a MUSIC spatial spectrum function; w (theta ', V') represents the joint steering vector of the transmit array and the receive array,
Figure BDA0002733800450000132
UNrepresenting a noise subspace.
The (V ', theta') corresponding to the maximum value of the MUSIC spatial spectrum function is a wind speed vector of the xoy plane or the yoz plane; the wind velocity vector of the xoy plane is (V)x,θx) (ii) a The wind velocity vector of the yoz plane is (V)z,θz). And P (V ', theta') is a three-dimensional function, all values of theta and V are input in the measuring range, all values of P (V ', theta') corresponding to the input theta and V are calculated, the maximum value of P (V ', theta') is found, and theta and V corresponding to the maximum value of P (V ', theta') are determined as wind speed vectors. The measurement range is: the wind speed scanning range is 0 m/s-60 m/s, and the step length is 0.1 m/s; the azimuth angle scanning range is 0-359 degrees, and the step size is 1 degree.
And 105, determining the wind parameters in the three-dimensional space according to the vector composition relation of the wind speed vector of the xoy plane, the wind speed vector of the yoz plane and the wind parameters in the space rectangular coordinate system.
Step 105 specifically includes:
determining a calculation formula of the wind parameters according to the vector synthesis relation of the wind parameters in the space rectangular coordinate system; the calculation formula of the wind parameters comprises a pitch angle formula, a wind speed formula and an azimuth angle formula.
According to the wind speed vector of the xoy plane and the wind speed vector of the yoz plane, a pitch angle formula is utilized
Figure BDA0002733800450000133
Determining pitch angle of wind parameter
Figure BDA0002733800450000134
According to the wind speed vector of the xoy plane and the wind speed vector of the yoz plane, utilizing a wind speed formula
Figure BDA0002733800450000135
The wind speed V of the wind parameter is determined.
According to the wind speed vector of the xoy plane, the azimuth angle formula theta is equal to thetaxAnd determining the azimuth angle theta of the wind parameter.
In this embodiment, taking the subarray 2 as an example, the three-dimensional wind parameter measurement method is specifically described as follows:
first, construct an array flow pattern
The array structure of the sub-array 2 is shown in fig. 3, and an emitting array is formed by using ultrasonic sensors m 1-m 4, an emitting array element is formed by using ultrasonic sensors m 1-m 4, a receiving array is formed by using ultrasonic sensors m 5-m 8, and an array flow pattern is formed by using ultrasonic sensors m 5-m 8 as receiving array elements. And the included angle between the connecting line of the two adjacent ultrasonic sensors in the transmitting array or the receiving array and the reflector is alpha. The component V of the wind speed on the connecting line of the transmitting array element and the reflectorpComprises the following steps:
Vp＝Vzcos(θz+ipα)
wherein ipRepresenting the intermediate parameter. In this embodiment, the transmitting array includes 4 transmitting ultrasonic sensors, so
Figure BDA0002733800450000141
Component V of wind speed on connecting line of transmitting ultrasonic sensor and reflectorpThe method specifically comprises the following steps:
Figure BDA0002733800450000142
in the formula, VpRepresenting the component of the wind speed on the line between the p-th transmitting ultrasonic sensor and the reflector, wherein p is 1,2,3 and 4; vzThe time represents the wind speed value of the wind parameter in the yoz plane; thetazHour represents the wind parameter at yozAn azimuth of the plane; and alpha represents the included angle between two adjacent ultrasonic sensors.
Defining m1 as a reference array element, and the time of each transmitted signal of the ultrasonic sensor reaching the reflector is
Figure BDA0002733800450000143
The time of the transmitting signal of each transmitting array element reaching the reflector is delayed to the time of the transmitting signal of the reference array element reaching the reflector by taup＝tp-t1，p＝1,2,3,4。
The expression of the delay time of the transmission signals of the ultrasonic sensors m1 to m4 is:
Figure BDA0002733800450000151
wherein: r is the radius of the arc and c is the speed of sound.
The array flow pattern of the transmit array is then:
Figure BDA0002733800450000152
where j denotes an imaginary unit, pi denotes a circumferential ratio, and f denotes a transmission signal frequency.
When the transmitting array element, the reflecting object and the receiving array element in the transmitting array element, the reflecting object and the receiving array element which are positioned on a straight line are used as the reference array elements of the transmitting array and the receiving array, the array flow patterns of the receiving array and the transmitting array are consistent. Because the sub-arrays are symmetrical about the center of the reflector, the wind vectors have equal components on the connecting lines of m1 and m5, m2 and m6, m3 and m7, and m4 and m8, and if the transmitting array and the receiving array respectively take the sensor m1 and the sensor m5 as reference arrays, the array flow patterns of the receiving array and the transmitting array are consistent. Therefore, selecting two array elements in a straight line with the reflector as the reference array element can simplify the array flow pattern.
In this embodiment, the sensor m5 is used as a reference array element, and the array flow pattern of the receiving array is obtained as follows:
Figure BDA0002733800450000161
where f is the transmit signal frequency.
Determining a received array signal
Transmitting signal S ═ S1,s2,s3,s4]，s1,s2,s3,s4Are orthogonal to each other, and only one point target (reflector) is arranged in space, and the guide vector of the transmitted signal is expressed as a (theta)z,Vz)，
Figure BDA0002733800450000162
Representing the complex amplitude of the target reflected signal, C being the complex set. The target echo (i.e., the reflector echo) can be expressed as:
x＝ηa(θz,Vz)TS (5)
the steering vector of the received signal is denoted b (θ)z,Vz) The received array signal may be expressed as:
y＝b(θz,Vz)x+E＝b(θz,Vz)ηa(θz,Vz)TS+E (6)
wherein y ∈ CN×LIs the output of the receive array element; e is as large as CN×LComplex gaussian noise with zero mean, spatial white and time; n represents the number of receiving array elements, L represents the total number of fast beat numbers, and C is a complex number set.
Equation (5) may also be used as the echo signal model, and equation (6) may also be used as the received signal model.
Three, matched filtering and column stack processing
For the ultrasonic array with the transmitting array element M and the receiving array element N, if M transmitting array elements simultaneously transmit M linear independent orthogonal waveform signals sm∈C1×L(M-1, 2 … M, M-N), at the receiving end, signals from different transmitting array elements are separated by matched filtering, so that MN mutually independent channels, that is, MN channels can be formedAnd independent receiving and transmitting antenna pairs. In this embodiment, there are 4 transmitting array elements and 4 receiving array elements, so that the antenna pair can be equivalent to 16 independent transmitting and receiving antenna pairs, which is equivalent to synthesizing a virtual array element and increasing the array aperture. Performing matched filtering by using the transmitting signal and the data received by the array to obtain the matched filtering output X of the ith fast beat numberiComprises the following steps:
Figure BDA0002733800450000171
where L is the snapshot number, i is 1,2i(n) array reception signal of ith fast beat at sampling time n, Si(n) is the ith fast beat number of the transmitted signal at sampling time n ·HRepresenting the conjugate transpose, η, of a vector or matrixiComplex amplitude of reflection signal of i-th fast beat, T transposes, Ei(n) complex gaussian noise for the ith fast beat number; rssIs a unit diagonal matrix, Rss＝Si(n)Si(n)H；ResRepresents Ei(n) and Si(n)HMultiplication of Res＝Ei(n)Si(n)H. The fast beat number refers to the number of sampling points in the time domain, and the array signal refers to a set of a plurality of signals arranged (arrayed) according to a certain rule.
Since the transmit signal S is a known orthogonal independent signal and each transmit array element has equal power, RssIs an identity diagonal matrix. Xi∈CN×MA handle XiIn a row in sequence, then:
Figure BDA0002733800450000172
wherein vec () represents arranging the matrix into a column vector by columns, i.e., performing a column stacking process;
Figure BDA0002733800450000173
represents the Kronecker product;
Figure BDA0002733800450000174
w(θz,Vz)∈CMN×1a joint steering vector for the transmit array and the receive array; v is an element of CMN×1Is that the mean is zero and the variance is sigmav 2Complex Gaussian noise of (a)eIs the variance, σ, of Gaussian white noisev 2Is the variance of the complex gaussian noise and,
Figure BDA0002733800450000181
when there are L fast beat numbers, the fast beat data after passing through the matched filter is represented as:
Y＝[vec(X1),vec(X2),...,vec(XL)]，Y∈CMN×L (9)
y may also be represented as an observation data matrix.
Fourthly, wind parameter estimation is carried out by adopting MUSIC algorithm
Estimation of wind speed and wind direction values (wind speed vectors) (V) by applying MUSIC algorithm through observation data matrix Yz,θz). The basic idea of the MUSIC method is to perform eigen decomposition on a covariance matrix of arbitrary array output data to obtain a signal subspace corresponding to a signal component and a noise subspace orthogonal to the signal component, and then estimate parameters of a signal by using orthogonality of the two subspaces.
The covariance matrix R of the observed data matrix is:
Figure BDA0002733800450000182
wherein E () represents YYHY denotes an observation data matrix, w (θ)z,Vz) Representing a joint steering vector of the transmit and receive arrays, η ═ η1,η2,...,ηL]Representing complex amplitude, σ, of reflected signal of reflector corresponding to snapshot numberv 2Is the complex gaussian noise variance and I is the identity matrix.
And (3) carrying out characteristic value decomposition on R:
Figure BDA0002733800450000183
in the formula of USFor signal subspaces consisting of eigenvectors corresponding to large eigenvalues, sigmaSDiagonal matrix composed of large eigenvalues, UNFor noise subspaces consisting of eigenvectors corresponding to small eigenvalues, sigmaNA diagonal matrix composed of small eigenvalues.
And decomposing the characteristic values of the R to obtain G characteristic values, and arranging the G characteristic values from large to small, wherein the first K characteristic values are large characteristic values, and the last G-K characteristic values are small characteristic values. Wherein G is the logarithm of independent receiving and transmitting antennas, and K is the number of reflectors.
The MUSIC spatial spectrum function with wind parameters is:
Figure BDA0002733800450000191
wherein w (θ)z,Vz) For joint steering vectors of transmit and receive arrays, w (θ)z,Vz) Is a variable, UNThe covariance matrix is subjected to eigenvalue decomposition to obtain a noise subspace.
Looking for P (V)z,θz) Maximum value of function, P (V)z,θz) Maximum value of function corresponds to (V)z,θz) The value is the measured value of the wind speed and the wind direction of the yoz surface.
Similarly, only the wind speed and direction value (V) of the yoz plane is neededz,θz) Converted into the value of wind speed and direction (V) of xoy planex,θx) Obtaining the wind parameter (V) in the xoy plane through the steps from one to fourx,θx) Is measured. And will not be described in detail herein.
Five, three-dimensional wind parameter information
According to the position relation between the xoy surface and the yoz surface and the parameter (V)x,θx) And (V)z,θz)，The three-dimensional parameters of the measurement signals, i.e. wind speed V, azimuth angle theta and pitch angle, can be obtained by vector synthesis
Figure BDA0002733800450000192
FIG. 4 is an exploded and composite view of a three-dimensional wind vector.
Three dimensional wind parameters
Figure BDA0002733800450000193
The coordinates in the rectangular space coordinate system are (VX, VY, VZ):
Figure BDA0002733800450000194
vector
Figure BDA0002733800450000195
The die length of (a) is:
Figure BDA0002733800450000196
Figure BDA0002733800450000197
the formula for calculating the pitch angle is therefore:
Figure BDA0002733800450000198
the formula for calculating the wind speed is:
Figure BDA0002733800450000199
the formula for calculating the azimuth is:
θ＝θx (18)
wind direction value theta measured by subarray 1xI.e. the azimuth angle of the three-dimensional wind parameter.
This embodiment still provides a three-dimensional wind parameter measurement system, and three-dimensional wind parameter measurement system includes:
and the array flow pattern determining module is used for determining a transmitting array flow pattern of the transmitting array and a receiving array flow pattern of the receiving array according to the component of the wind speed on a connecting line between the transmitting ultrasonic sensor and the reflector and the radius of the circular arc.
The array flow pattern determination module specifically comprises:
a time determining unit for determining the time of the transmitted signal reaching the reflector by using the component of the wind speed on the connecting line of the transmitted ultrasonic sensor and the reflector and the radius of the circular arc
Figure BDA0002733800450000201
Determining the time when the transmitting signal of the transmitting ultrasonic sensor reaches the reflector; in the formula, tpThe time when the transmitting signal of the p-th transmitting ultrasonic sensor reaches the reflector is shown, R represents the radius of the circular arc, and c represents the sound velocity; vpThe component of wind speed in the line between the p-th transmitting ultrasonic sensor and the reflector is shown, and p is 1,2p＝V'cos(θ'+ipα), V' represents the value of the wind speed of the wind parameter in the xoy plane or the yoz plane, V ═ VxThe time represents the wind speed value of the wind parameter in the xoy plane, V ═ VzThe time represents the wind speed value of the wind parameter in the yoz plane; theta' denotes the azimuth angle of the wind parameter in the xoy plane or the yoz plane, theta ═ thetaxTime denotes the azimuth angle of the wind parameter in the xoy plane, theta ═ thetazRepresenting the azimuth angle, i, of the wind parameter in the yoz planepRepresenting an intermediate parameter; alpha represents the included angle between the connecting lines of two adjacent transmitting ultrasonic sensors and the reflector respectively.
A time delay determining unit for determining the time of arrival of the transmitted signal of the transmitting ultrasonic sensor at the reflecting object by the formula taup＝tp-t1Determining a time delay; tau ispRepresenting the time delay, t1The time of the transmitted signal of the reference transmitting ultrasonic sensor reaching the reflector is represented, and the time delay is the time of the transmitted signal of the transmitting ultrasonic sensor reaching the reflector and the reference transmitting ultrasonicTime difference of arrival of the emission signal of the wave sensor at the reflector.
The emission array flow pattern determining unit is used for determining an emission array flow pattern of the emission array by using time delay; the emission array flow pattern a (θ ', V') of the emission array is:
Figure BDA0002733800450000211
where j denotes an imaginary unit, pi denotes a circumferential ratio, and f denotes a transmission signal frequency.
And the receiving array flow pattern determining unit is used for determining a receiving array flow pattern b (theta ', V') -a (theta ', V') of the receiving array according to the transmitting array flow pattern a (theta ', V') of the transmitting array, the reference transmitting ultrasonic sensor and the reference receiving ultrasonic sensor are symmetrical to the reflector, and the transmitting array and the receiving array are symmetrical to the reflector.
And the receiving array signal determining module is used for determining the receiving array signal according to the transmitting signal of the transmitting array, the transmitting array flow pattern and the receiving array flow pattern.
The receiving array signal determining module specifically comprises:
a reflector echo determination unit for using the emission signal of the emission array and the emission array flow pattern by the formula x ═ η a (θ ', V')TS determines the reflector echo x.
Wherein η represents the complex amplitude of the reflected signal of the reflector; a (theta ', V') represents a guide vector of the emission signal, namely an emission array flow pattern; s represents a transmission signal, S ═ S1,s2,…,sN]，sNRepresenting the transmit signal of the nth transmitting ultrasonic sensor.
And the receiving array signal determining unit is used for determining the receiving array signal y by using the reflector echo and the receiving array flow pattern through the formula of y-b (theta ', V') x + E.
In the formula, b (θ ', V') represents a steering vector of the reception signal, i.e., a reception array flow pattern; e represents complex gaussian noise.
And the observation data matrix determining module is used for processing by utilizing the matched filter and the column stack according to the received array signals to obtain an observation data matrix.
The observation data matrix determination module specifically includes:
a matched filter output determining unit, configured to determine, according to the received array signal, a matched filter output of the ith fast beat number by using a matched filter; ith fast beat number matched filter output XiComprises the following steps:
Figure BDA0002733800450000212
wherein L represents the total number of fast beats, i ═ 1, 2., L; y isi(n) a received array signal representing the ith fast beat number; si(n) a transmission signal representing the ith fast beat number; h represents conjugate transpose; n represents a sampling time.
The observation data matrix determining unit is used for performing column stacking processing on all the matched filter outputs with fast beat numbers to obtain an observation data matrix; the observed data matrix Y is: y ═ vec (X)1),vec(X2),...,vec(XL)](ii) a In the formula, vec () represents column stack processing.
And the wind speed vector determining module is used for obtaining a wind speed vector of the xoy plane and a wind speed vector of the yoz plane by utilizing an MUSIC algorithm according to the observation data matrix.
The wind speed vector determination module specifically comprises:
a covariance matrix determination unit for determining a covariance matrix of the received array signal using the observed data matrix; the covariance matrix R is: r ═ E (YY)H)。
Wherein E () represents YYHThe expectation is that.
The noise subspace determination unit is used for carrying out eigenvalue decomposition on the covariance matrix to obtain a noise subspace; the noise subspace comprises eigenvectors corresponding to the last G-K eigenvalues of the covariance matrix arranged from large to small; g represents the total number of eigenvalues of the covariance matrix, and K represents the number of reflectors.
A MUSIC spatial spectral function determination unit for utilizing the noise subspace by a formula
Figure BDA0002733800450000221
Determining a MUSIC spatial spectrum function; in the formula, P (V ', theta') represents a MUSIC spatial spectrum function; w (theta ', V') represents the joint steering vector of the transmit array and the receive array,
Figure BDA0002733800450000222
UNrepresenting a noise subspace.
A wind speed vector determining unit, which is used for determining (V ', theta') corresponding to the maximum value of the MUSIC spatial spectrum function as a wind speed vector of the xoy plane or the yoz plane; the wind velocity vector of the xoy plane is (V)x,θx) (ii) a The wind velocity vector of the yoz plane is (V)z,θz)。
And the wind parameter determination module is used for determining the wind parameters in the three-dimensional space according to the wind speed vector of the xoy plane, the wind speed vector of the yoz plane and the vector synthesis relation of the wind parameters in the space rectangular coordinate system.
The wind parameter determination module specifically comprises:
the wind parameter calculation formula determination unit is used for determining a calculation formula of the wind parameter according to the vector synthesis relation of the wind parameter in the space rectangular coordinate system; the calculation formula of the wind parameters comprises a pitch angle formula, a wind speed formula and an azimuth angle formula.
A pitch angle determining unit for determining the pitch angle according to the wind speed vector of the xoy plane and the wind speed vector of the yoz plane by using a pitch angle formula
Figure BDA0002733800450000231
Determining pitch angle of wind parameter
Figure BDA0002733800450000232
A wind speed determining unit for determining the wind speed according to the wind speed vector of the xoy plane and the wind speed vector of the yoz plane by using a wind speed formula
Figure BDA0002733800450000233
The wind speed V of the wind parameter is determined.
OrientationAn angle determining unit for determining an azimuth angle theta according to the wind speed vector of the xoy plane by using an azimuth angle formula thetaxAnd determining the azimuth angle theta of the wind parameter.
In order to verify the measurement accuracy and the anti-interference capability of the invention, a root mean square error simulation experiment is carried out. Selecting the arc radius R of the transmitting array and the receiving array as 10 cm; the frequency of ultrasonic waves transmitted by each transmitting array element in the transmitting array is 40 KHz; the fast beat number is 5000; the noise is zero mean, complex gaussian random noise; the target reflection coefficient eta is constant during one sampling period and independently changes among different snapshot numbers, and the variance of the target reflection coefficient
Figure BDA0002733800450000234
Selecting a step length of 5dB in a range of SIGNAL-to-noise ratio (SIGNAL-noise ratio) SNR (SIGNAL-to-noise ratio) of-40 dB to 0 dB; the wind speed scanning range is 0 m/s-60 m/s, and the step length is 0.1 m/s; the azimuth angle scanning range is 0-359 degrees, and the step size is 1 degree.
Three groups of wind speed and direction parameters in the table 1 are used as input, 100 Monte Carlo experiments are respectively carried out under each signal-to-noise ratio within the range of SNR (signal to noise ratio) of-40 db to 0db by adopting the three-dimensional wind parameter measuring method and the three-dimensional wind parameter measuring system, and the wind parameter values obtained through simulation are used for the root mean square error experiment.
TABLE 1 wind parameter input and estimated values
Figure BDA0002733800450000235
The root mean square error formula is
Figure BDA0002733800450000241
Wherein, RMSE is root mean square error, Q is the number of monte carlo experiments, and Q is 100 in the experiment; x is the number ofcqFor the result of the q-th simulation,
Figure BDA0002733800450000242
the wind parameter is given. The root mean square error experimental simulation results are shown in fig. 5-7.
Referring to fig. 5-7, it can be seen from simulation results that the root mean square error of the wind parameter measured by the present invention decreases with the increase of the signal-to-noise ratio (SNR), and when the SNR is greater than-10 dB, the root mean square error of the wind speed decreases to zero; when the signal-to-noise ratio is larger than-15 dB, the root mean square errors of the azimuth angle and the pitch angle are reduced to zero, and the three-dimensional wind parameter measuring method and the three-dimensional wind parameter measuring system have high measuring accuracy and high anti-interference capability.
The invention adopts the arc transmitting array and the arc receiving array in the three-dimensional space, and the transmitting and receiving array of each subarray is symmetrical about the center of the reflector, thereby simplifying the construction steps of the array flow pattern and completing the measurement of the three-dimensional wind parameters. And the arc receiving array and the arc transmitting array in the sub-array receive and reflect signals through reflectors to realize a multi-sending and multi-receiving array model.
The array type wind measuring structure of the ultrasonic sensor avoids the problem that the wind measuring accuracy is influenced by the accuracy of measuring the ultrasonic propagation time of a wind parameter measuring instrument adopting the time difference method principle. The array type wind measuring structure adopts the ultrasonic sensors to transmit and receive signals, the ultrasonic signals reach all receiving array elements due to the existence of the wind signals, time delay exists when the ultrasonic signals reach all the receiving array elements, and the wind signal parameters are detected through a parameter estimation algorithm.
For an ultrasonic array with N receiving array elements, M transmitting array elements simultaneously transmit linear independent orthogonal waveforms, signals from different transmitting array elements are separated at a receiving end through a matched filter to form MN mutually independent channels, namely a virtual array element is formed, and the aperture of a wind measuring array is increased; the signal passed through the matched filter is then processed in a column-stack and the stacked data is then used to make measurements of the wind parameters.
The existing array wind measuring device has the defects that the wind measuring precision is greatly influenced by a signal-to-noise ratio because the array structure or the sub-array structure of the existing array wind measuring device only has one transmitting array element, and the accurate measurement cannot be carried out when the signal-to-noise ratio is low. The invention mainly adopts the ultrasonic sensor for transmitting orthogonal signals as a transmitting array element, realizes a sensor array structure with multiple transmitting and multiple receiving through the action of a reflector, can respectively extract a receiving signal corresponding to each transmitting array element through matched filtering processing at a receiving end, is equivalent to synthesizing a virtual array element, and increases the array aperture. Under the condition that the number of the receiving array elements is the same, compared with an array wind measuring method of the existing array wind measuring device, the method improves the success rate of parameter measurement and reduces the root mean square error of the parameter measurement. And under the condition of lower signal-to-noise ratio, the wind parameter value which can not be measured by the existing array wind measuring structure can be accurately measured. And the root mean square error experiment of the wind speed and the wind direction proves that the wind speed value can be accurately measured when the signal-to-noise ratio is-10 dB, and the wind direction value can be accurately measured when the signal-to-noise ratio is-15. Therefore, the invention improves the measurement precision of the three-dimensional wind parameters and the anti-interference capability of the ultrasonic array. The MUSIC algorithm can be replaced by DOA estimation algorithm based on a propagation operator, conventional beam forming algorithm and the like.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims (10)

1. A three-dimensional wind parameter measurement method is applied to an ultrasonic array, and the ultrasonic array comprises the following steps: the device comprises a first subarray positioned on a xoy plane of a space rectangular coordinate system and a second subarray positioned on a yoz plane; the first subarray is used for measuring a wind speed vector of a wind parameter in a xoy plane, and the second subarray is used for measuring a wind speed vector of the wind parameter in a yoz plane;
the first sub-array and the second sub-array comprise a transmitting array and a receiving array; the transmitting array comprises N transmitting ultrasonic sensors, and the receiving array comprises N receiving ultrasonic sensors;
the transmitting array and the receiving array are both positioned on an arc with a reflector as a circle center and a radius of R, and the transmitting array and the receiving array are centrosymmetric with the reflector as a center; the transmitting ultrasonic sensor is used for transmitting ultrasonic signals which are orthogonal to each other; the transmitting ultrasonic sensor comprises a reference transmitting ultrasonic sensor and a non-reference transmitting ultrasonic sensor; the receiving ultrasonic sensor comprises a reference receiving ultrasonic sensor and a non-reference receiving ultrasonic sensor;
included angles between any two adjacent transmitting ultrasonic sensors in the transmitting array are equal;
the three-dimensional wind parameter measuring method comprises the following steps:
determining a transmitting array flow pattern of the transmitting array and a receiving array flow pattern of the receiving array according to the component of the wind speed on the connecting line of the transmitting ultrasonic sensor and the reflector and the radius of the circular arc;
determining a receiving array signal according to the transmitting signal of the transmitting array, the flow pattern of the transmitting array and the flow pattern of the receiving array;
according to the received array signals, performing matched filter and column stack processing to obtain an observation data matrix;
obtaining the wind speed vector of the xoy plane and the wind speed vector of the yoz plane by utilizing an MUSIC algorithm according to the observation data matrix;
and determining the wind parameters in the three-dimensional space according to the vector composition relation of the wind speed vector of the xoy plane, the wind speed vector of the yoz plane and the wind parameters in the space rectangular coordinate system.
2. The three-dimensional wind parameter measurement method according to claim 1, wherein the determining of the transmitting array flow pattern of the transmitting array and the receiving array flow pattern of the receiving array according to the component of the wind speed on the connecting line of the transmitting ultrasonic sensor and the reflector and the radius of the circular arc comprises:
utilizing the component of the wind speed on the connecting line of the transmitting ultrasonic sensor and the reflector and the radius of the circular arc, and obtaining the wind speed through a formula
Figure FDA0002733800440000011
Determining a time at which a transmission signal of the transmitting ultrasonic sensor reaches the reflector; in the formula, tpRepresenting the time when the transmitting signal of the p-th transmitting ultrasonic sensor reaches the reflector, R represents the radius of the circular arc, and c represents the sound velocity; vpRepresenting the component of the wind speed at the p-th line connecting the transmitting ultrasonic sensor and the reflector, p is 1,2p＝V'cos(θ'+ipα), V' represents the value of the wind speed of the wind parameter in the xoy plane or the yoz plane, V ═ VxThe time represents the wind speed value of the wind parameter in the xoy plane, V ═ VzThe time represents the wind speed value of the wind parameter in the yoz plane; theta' denotes the azimuth angle of the wind parameter in the xoy plane or the yoz plane, theta ═ thetaxTime denotes the azimuth angle of the wind parameter in the xoy plane, theta ═ thetazRepresenting the azimuth angle, i, of the wind parameter in the yoz planepRepresenting an intermediate parameter; alpha represents an included angle between the connecting lines of the two adjacent transmitting ultrasonic sensors and the reflector respectively;
using the time of the transmitting signal of the transmitting ultrasonic sensor reaching the reflector by the formula taup＝tp-t1Determining a time delay; tau ispRepresenting the time delay, t1Representing the time when the emission signal of the reference emission ultrasonic sensor reaches the reflector, wherein the time delay is the difference between the time when the emission signal of the reference emission ultrasonic sensor reaches the reflector and the time when the emission signal of the reference emission ultrasonic sensor reaches the reflector;
determining a transmit array flow pattern for the transmit array using the time delay; the emission array flow pattern a (θ ', V') of the emission array is:
Figure FDA0002733800440000021
wherein j represents an imaginary unit, pi represents a circumferential ratio, and f represents a transmission signal frequency;
determining a receive array flow pattern b (θ ', V') ═ a (θ ', V') for the receive array from a transmit array flow pattern a (θ ', V') for the transmit array, the reference transmit and receive ultrasonic sensors being symmetric about the reflector and the transmit and receive arrays being symmetric about the reflector.
3. The three-dimensional wind parameter measurement method according to claim 2, wherein determining a receive array signal from the transmit signal of the transmit array, the transmit array flow pattern, and the receive array flow pattern, specifically comprises:
utilizing the emission signal of the emission array and the flow pattern of the emission array, and obtaining the emission signal by the formula x ═ eta a (theta ', V')TS, determining a reflector echo x;
wherein η represents the complex amplitude of the reflected signal of the reflector; a (theta ', V') represents a guide vector of the emission signal, namely an emission array flow pattern; s represents a transmission signal, S ═ S1,s2,…,sN]，sNRepresenting the transmit signal of the nth transmitting ultrasonic sensor;
determining a receiving array signal y by using the reflector echo and the receiving array flow pattern through a formula y ═ b (theta ', V') x + E;
in the formula, b (θ ', V') represents a steering vector of the reception signal, i.e., a reception array flow pattern; e represents complex gaussian noise.
4. The method according to claim 3, wherein the obtaining an observed data matrix using matched filters and column stacking processing according to the received array signals specifically comprises:
using matched filtering based on the received array signalA filter for determining the matched filtering output of the ith fast beat number; ith fast beat number matched filter output XiComprises the following steps:
Figure FDA0002733800440000031
wherein L represents the total number of fast beats, i ═ 1, 2., L; y isi(n) a received array signal representing the ith fast beat number; si(n) a transmission signal representing the ith fast beat number; h represents conjugate transpose; n represents a sampling time;
performing column stacking processing on all the matched filtering outputs of the fast beat number to obtain an observation data matrix; the observation data matrix Y is: y ═ vec (X)1),vec(X2),...,vec(XL)](ii) a In the formula, vec () represents column stack processing.
5. The three-dimensional wind parameter measurement method according to claim 4, wherein the obtaining of the wind speed vector of the xoy plane and the wind speed vector of the yoz plane by using a MUSIC algorithm according to the observation data matrix specifically comprises:
determining a covariance matrix of the received array signals using the observation data matrix; the covariance matrix R is: r ═ E (YY)H) (ii) a Wherein E () represents YYH(iii) a desire;
performing eigenvalue decomposition on the covariance matrix to obtain a noise subspace; the noise subspace comprises eigenvectors corresponding to the last G-K eigenvalues of the covariance matrix which are arranged from large to small; g represents the total number of eigenvalues of the covariance matrix, and K represents the number of reflectors;
using said noise subspace by
Figure FDA0002733800440000041
Determining a MUSIC spatial spectrum function; in the formula, P (V ', theta') represents a MUSIC spatial spectrum function; w (theta ', V') represents the joint steering vector of the transmit array and the receive array,
Figure FDA0002733800440000045
UNrepresenting a noise subspace;
(V ', theta') corresponding to the maximum value of the MUSIC spatial spectrum function is a wind speed vector of the xoy plane or the yoz plane; the wind speed vector of the xoy plane is (V)x,θx) (ii) a The wind speed vector of the yoz plane is (V)z,θz)。
6. The method according to claim 5, wherein the determining the wind parameter in the three-dimensional space according to the vector composition relationship between the wind speed vector of the xoy plane and the wind speed vector of the yoz plane, and the wind parameter in the rectangular spatial coordinate system specifically comprises:
determining a calculation formula of the wind parameters according to the vector synthesis relation of the wind parameters in the space rectangular coordinate system; the calculation formula of the wind parameters comprises a pitch angle formula, a wind speed formula and an azimuth angle formula;
according to the wind speed vector of the xoy plane and the wind speed vector of the yoz plane, utilizing a pitch angle formula
Figure FDA0002733800440000042
Determining pitch angle of wind parameter
Figure FDA0002733800440000044
According to the wind speed vector of the xoy plane and the wind speed vector of the yoz plane, utilizing a wind speed formula
Figure FDA0002733800440000043
Determining a wind speed V of a wind parameter;
according to the wind speed vector of the xoy plane, an azimuth angle formula theta is usedxAnd determining the azimuth angle theta of the wind parameter.
7. A three-dimensional wind parameter measurement system, comprising:
the array flow pattern determining module is used for determining a transmitting array flow pattern of the transmitting array and a receiving array flow pattern of the receiving array according to the component of the wind speed on the connecting line of the transmitting ultrasonic sensor and the reflector and the radius of the circular arc;
the receiving array signal determining module is used for determining a receiving array signal according to the transmitting signal of the transmitting array, the transmitting array flow pattern and the receiving array flow pattern;
the observation data matrix determining module is used for utilizing a matched filter and column stack processing to obtain an observation data matrix according to the receiving array signal;
the wind speed vector determining module is used for obtaining a wind speed vector of the xoy plane and a wind speed vector of the yoz plane by utilizing an MUSIC algorithm according to the observation data matrix;
and the wind parameter determining module is used for determining the wind parameters in the three-dimensional space according to the wind speed vector of the xoy plane, the wind speed vector of the yoz plane and the vector synthetic relation of the wind parameters in the space rectangular coordinate system.
8. The three-dimensional wind parameter measurement system of claim 7, wherein the array flow pattern determination module specifically comprises:
a time determining unit for determining the time of the transmitted signal reaching the reflector, which is used for utilizing the component of the wind speed on the connecting line of the transmitted ultrasonic sensor and the reflector and the radius of the circular arc, and passing through a formula
Figure FDA0002733800440000051
Determining a time at which a transmission signal of the transmitting ultrasonic sensor reaches the reflector; in the formula, tpRepresenting the time when the transmitting signal of the p-th transmitting ultrasonic sensor reaches the reflector, R represents the radius of the circular arc, and c represents the sound velocity; vpRepresenting the component of the wind speed at the p-th line connecting the transmitting ultrasonic sensor and the reflector, p is 1,2p＝V'cos(θ'+ipAlpha), V' represents the wind speed value of the wind parameter in the xoy plane or the yoz plane,V’＝Vxthe time represents the wind speed value of the wind parameter in the xoy plane, V ═ VzThe time represents the wind speed value of the wind parameter in the yoz plane; theta' denotes the azimuth angle of the wind parameter in the xoy plane or the yoz plane, theta ═ thetaxTime denotes the azimuth angle of the wind parameter in the xoy plane, theta ═ thetazRepresenting the azimuth angle, i, of the wind parameter in the yoz planepRepresenting an intermediate parameter; alpha represents an included angle between the connecting lines of the two adjacent transmitting ultrasonic sensors and the reflector respectively;
a time delay determining unit for determining the time of the transmitted signal of the transmitting ultrasonic sensor reaching the reflector by the formula taup＝tp-t1Determining a time delay; tau ispRepresenting the time delay, t1Representing the time when the emission signal of the reference emission ultrasonic sensor reaches the reflector, wherein the time delay is the difference between the time when the emission signal of the reference emission ultrasonic sensor reaches the reflector and the time when the emission signal of the reference emission ultrasonic sensor reaches the reflector;
a transmitting array flow pattern determining unit for determining a transmitting array flow pattern of the transmitting array by using the time delay; the emission array flow pattern a (θ ', V') of the emission array is:
Figure FDA0002733800440000061
wherein j represents an imaginary unit, pi represents a circumferential ratio, and f represents a transmission signal frequency;
a receiving array flow pattern determining unit for determining a receiving array flow pattern b (θ ', V') ═ a (θ ', V') of the receiving array according to a transmitting array flow pattern a (θ ', V') of the transmitting array, the reference transmitting ultrasonic sensor and the reference receiving ultrasonic sensor being symmetric with respect to the reflector, and the transmitting array and the receiving array being symmetric with respect to the reflector.
9. The three-dimensional wind parameter measurement system according to claim 8, wherein the receive array signal determination module specifically comprises:
a reflector echo determination unit for using the emission signal of the emission array and the flow pattern of the emission array by the formula x ═ η a (θ ', V')TS, determining a reflector echo x;
wherein η represents the complex amplitude of the reflected signal of the reflector; a (theta ', V') represents a guide vector of the emission signal, namely an emission array flow pattern; s represents a transmission signal, S ═ S1,s2,…,sN]，sNRepresenting the transmit signal of the nth transmitting ultrasonic sensor;
a receiving array signal determining unit for determining a receiving array signal y by using the reflector echo and the receiving array flow pattern through a formula of y ═ b (θ ', V') x + E;
in the formula, b (θ ', V') represents a steering vector of the reception signal, i.e., a reception array flow pattern; e represents complex gaussian noise.
10. The three-dimensional wind parameter measurement system according to claim 9, wherein the observation data matrix determination module specifically comprises:
a matched filter output determining unit, configured to determine, according to the received array signal, a matched filter output of an ith fast beat number by using a matched filter; ith fast beat number matched filter output XiComprises the following steps:
Figure FDA0002733800440000062
wherein L represents the total number of fast beats, i ═ 1, 2., L; y isi(n) a received array signal representing the ith fast beat number; si(n) a transmission signal representing the ith fast beat number; h represents conjugate transpose; n represents a sampling time;
the observation data matrix determining unit is used for performing column stacking processing on all the matched filter outputs with fast beat numbers to obtain an observation data matrix; the observation data matrix Y is: y ═ vec (X)1),vec(X2),...,vec(XL)](ii) a In the formula, vec () represents column stack processing.
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