CN112572809B - Hybrid icing detection method suitable for unmanned aerial vehicle platform - Google Patents
Hybrid icing detection method suitable for unmanned aerial vehicle platform Download PDFInfo
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- CN112572809B CN112572809B CN202011496410.1A CN202011496410A CN112572809B CN 112572809 B CN112572809 B CN 112572809B CN 202011496410 A CN202011496410 A CN 202011496410A CN 112572809 B CN112572809 B CN 112572809B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D15/00—De-icing or preventing icing on exterior surfaces of aircraft
- B64D15/20—Means for detecting icing or initiating de-icing
Abstract
The invention belongs to the technical field of icing detection of an aviation aircraft, and discloses an icing detection method, which comprises the following steps: -acquiring an icing sensor resonant frequency; -resolving the icing sensor resonant frequency; -obtaining an icing alert and an icing rate characteristic for the drone; -acquiring icing thickness indicator image data; -parsing the ice layer visual information; -obtaining an icing thickness characteristic of the drone; and integrating the icing rate and the icing thickness information to obtain the icing condition of the unmanned aerial vehicle. The detection method is simple and reliable in structure, and can give icing strength information and icing degree information, so that the accuracy and comprehensiveness of icing detection are remarkably improved, and the icing condition on the surface of the unmanned aerial vehicle can be visually observed by picking up visual signals.
Description
Technical Field
The invention belongs to the technical field of icing detection of aviation aircraft design, and relates to a hybrid icing detection method suitable for an unmanned aerial vehicle platform.
Background
The icing of the airplane refers to the phenomenon of ice layer accumulation on the surface of the airplane body, and is mainly formed by freezing supercooled water drops in clouds or rain after colliding with the airplane body or formed by desublimation of water vapor in the atmosphere on the surface of the airplane body, and the icing of the airplane is a phenomenon seriously damaging the flight safety: the icing on the surfaces of the wings and the airplane body can seriously damage the flow field of the airplane, reduce the aerodynamic efficiency, increase the aerodynamic resistance of the airplane, influence the stable operation of the airplane and increase the stalling risk.
According to statistics, cloud layers which are easy to freeze are mainly divided into layer clouds and accumulated clouds, and the main ice layers which are easy to form comprise frost ice, open ice and mixed ice. According to the icing characteristics under different meteorological conditions, under general conditions, two parameters of icing strength and icing degree are adopted to measure different icing characteristics. The icing intensity is a measure of the degree of damage of icing to flight safety, and is usually based on the speed of ice formation on the surface of the aircraft. The icing intensity can be classified into weak icing, light icing, moderate icing, and strong icing according to the icing rate per unit area, as shown in table 1.
TABLE 1 freezing Strength
The severity of the icing of the aircraft cannot be comprehensively measured because the icing intensity cannot reflect the flight time of the aircraft in the icing environment. To solve this problem, the concept of the degree of icing is introduced. The icing degree refers to the thickness of icing on the surface of the airplane body in the total flight time of the airplane in an icing environment. Similar to the icing intensity, the icing degree can also be divided into four grades of weak icing, light icing, moderate icing and strong icing, as shown in table 2.
TABLE 2 degree of icing
In order to reduce the maintenance of the airplane caused by icing and improve the viability of the airplane, an anti-icing/deicing device is arranged on the airplane, and an icing condition of the environment where the airplane is located is detected by an icing detection method, so that the method is also a main auxiliary anti-icing means. Currently, icing detection methods commonly used on aircraft platforms mainly include: a radiation-ray type icing detection method, a differential pressure type icing detection method, a magnetostrictive vibration cylinder type icing detection method, a piezoelectric diaphragm type icing detection method and an optical fiber type icing detection method.
From the service conditions of various unmanned aerial vehicle platforms at present, the above-mentioned method all has certain defect more or less:
1. the radiation-type icing detection method can bring health hazards to unmanned aerial vehicle operators and ground service maintainers;
2. the pressure difference type icing detection method is large in size, not suitable for an unmanned aerial vehicle platform and slow in response speed;
3. the magnetostrictive vibration cylinder type icing detection method has the advantages of complex device structure, high production process requirement and difficult calibration;
4. the piezoelectric diaphragm type icing detection method has high requirement on sensitive materials of the device, complex production process and difficult assembly;
5. the optical fiber type icing detection method is one of novel icing detection means provided in recent years, has the advantages of high detection sensitivity, simple structure, high reliability and the like, but is greatly influenced by external light, can only realize point detection, and cannot comprehensively reflect the surface icing condition of the unmanned aerial vehicle.
Disclosure of Invention
The purpose of the invention is as follows: the hybrid icing detection method is suitable for an unmanned aerial vehicle platform, integrates two icing detection means of electronic monitoring and visual observation, can realize icing rate characteristic analysis by using a simple resonant circuit, can realize icing thickness characteristic analysis by using a simple image processing technology, can give icing strength and icing degree information by comprehensive comparison with icing database parameters, and can provide unmanned aerial vehicle icing condition image data for ground operators.
A hybrid icing detection method for a drone platform, the method being implemented by a hybrid icing detection apparatus, the apparatus comprising: icing rate electrical measurement module 1, icing visual observation module 4 and host computer 7, icing rate electrical measurement module includes: the icing sensor 2 and the icing resolver 3 are arranged on the front edge of the wing and electrically connected with the icing resolver arranged on the rear cabin of the wing, and the icing resolver is electrically connected with an upper computer; the icing visual observation module comprises: the icing thickness indicator is arranged below the wing and is a wing surface structure of a generation of measuring scales, the optical observation device is arranged on the machine head and is used for observing the icing thickness indicator, and the optical observation device is electrically connected with an upper computer;
the method comprises the following steps:
the method comprises the following steps: the icing rate electric measurement module acquires a resonance signal of an icing sensor;
step two: the icing rate electric measurement module analyzes the icing sensor resonance signal;
step three: the upper computer obtains the icing rate characteristic according to the icing sensor resonance signal analysis result;
step four: the upper computer acquires image data of the icing thickness indicator through the icing visual observation module;
step five: the upper computer analyzes the ice layer visual information based on the icing thickness indicator image data and acquires the icing thickness characteristic of the unmanned aerial vehicle;
step six: the host computer synthesizes the speed characteristic of icing and the thickness characteristic of icing and judges the icing condition of the unmanned aerial vehicle.
Further, the resonance frequency signal comprises an icing sensor fundamental frequency signal and a frequency-icing thickness comparison signal.
Further, the icing sensor resonant frequency analysis process comprises:
the resonance circuit converts frequency information of a resonance signal of the icing sensor into voltage information, calculates an icing rate signal according to the voltage information and transmits the icing rate signal to an upper computer; the upper computer calculates the icing rate characteristic according to the icing rate signal;
the upper computer is also provided with an icing alarm frequency threshold, and icing alarm is carried out if the resonance signal frequency of the icing sensor exceeds the icing alarm frequency threshold.
Further, the resonant tank includes: a resonance starting circuit and a resonance circuit; the starting resonant circuit and the resonant circuit are integrated in the icing sensor to avoid the influence of parasitic capacitance.
Further, the icing sensor resonance signal triggers an icing alarm time to serve as an initial time of image data analysis;
and the upper computer adjusts the image data refreshing frequency of the icing thickness indicator according to the icing rate.
Further, the image data parsing process includes: and acquiring the ice layer visual information according to the difference value of the basic image data when the ice layer is not frozen and the frozen image data which is continuously refreshed.
Further, the ice layer visual information includes: and the characteristic information and the indicator scale information are compared to obtain the ice layer thickness visual characteristic, and the icing thickness characteristic is obtained according to the ice layer thickness visual characteristic.
Further, the upper computer compares the collected icing rate characteristic and icing thickness characteristic with icing database information obtained by a statistical method to give icing intensity and icing degree information of the environment.
Further, the icing database information includes: the icing intensity grade, the icing degree grade, the icing rate-icing intensity grade corresponding relation and the icing thickness-icing degree grade corresponding relation data.
Advantageous effects
1. The icing rate detection based on the resonant circuit has the advantages of simple structure, small volume, low energy consumption, accurate detection result and high reliability;
2. icing image processing based on the icing thickness indicator has simple algorithm and visual data;
3. the hybrid icing detection method comprehensively provides icing strength and icing degree parameter information, is more comprehensive and scientific, and further improves the accuracy, reliability and detection redundancy of icing detection;
4. the comprehensive judgment of the electrical measurement signals and the visual signals is beneficial to the most accurate judgment of the aircraft operators and the control of the aircraft in the icing environment.
Drawings
FIG. 1 is a schematic block diagram of a hybrid icing detection method suitable for use with an unmanned aerial vehicle platform;
FIG. 2 is an exemplary illustration of a hybrid icing detection method for an unmanned aerial vehicle platform;
FIG. 3 is a flow chart of a hybrid icing detection method suitable for use with an unmanned aerial vehicle platform;
wherein: the system comprises a 1-icing rate electrical measurement module, a 2-icing sensor, a 3-icing resolver, a 4-icing visual observation module, a 5-icing thickness indicator, a 6-optical observation device, a 7-upper computer and an 8-ground command system.
Detailed Description
The present section is an embodiment of the present invention for explaining and explaining the technical solution of the present invention.
The invention relates to a hybrid icing detection method suitable for an unmanned aerial vehicle platform, and a basic architecture block diagram of the hybrid icing detection method is shown in figure 1. The icing rate electric measuring module 1 consists of an icing sensor 2 and an icing resolver 3, the icing sensor resonance signal is analyzed by the icing rate electric measuring module 1, and the upper computer 7 acquires an icing alarm and icing rate characteristics according to the icing sensor resonance signal analysis result; the icing visual observation module 4 is composed of an icing thickness indicator 5 and an optical observation device 6, and visual information such as basic image data when the ice is not frozen and continuously refreshed icing image data is acquired by the icing visual observation module 4. Icing speed electricity is surveyed module 1, is frozen visual observation module 4 and is connected with host computer 7 respectively, and the image data who will freeze speed signal and icing thickness indicator 5 transmits for host computer 7, and the integration of icing database information is in host computer 7, and host computer analytic icing speed characteristic and the thickness characteristic that freezes to judge unmanned aerial vehicle condition of freezing in view of the above, pass to the ground command system 8 in through the link down at last.
Another embodiment of the present invention is described below with reference to fig. 2.
Depending on the type of drone used in the present invention, the drone needs to cruise for a long time at 7500m altitude (inclusive). According to the definition (the height is 0-6100 m) of icing meteorological conditions in GJB2195 general Specification for airplane surface hot gas heating type anti-icing systems and HB7171 general Specification for airplane thermal anti-icing systems, the interval which is most likely to encounter icing meteorological conditions and needs to detect the icing environment is just below 7500 m.
As shown in fig. 2, the hybrid icing detection method implementation device suitable for the unmanned aerial vehicle platform comprises an icing rate electrical measurement module 1, an icing visual observation module 4 and an upper computer 7; the icing rate electrical measurement module comprises: an icing sensor 2 and an icing resolver 3; the icing visual observation module comprises: an ice thickness indicator 5 and an optical observation device 6. The icing sensor 2 is arranged at the front edge of the wing and is connected with an icing resolver 3 arranged at the rear cabin of the wing through an onboard wiring harness, and the icing resolver 3 is connected with an upper computer 7 through the wiring harness; the icing thickness indicator 5 is arranged below the wing and is of a wing surface structure with an icing thickness measuring scale, the optical observation device 6 can be arranged at any position where the icing indicator 5 can be clearly observed, in the embodiment, the optical observation device 6 is arranged at the machine head and integrated in a ground monitoring system of the unmanned aerial vehicle platform, a CCD image sensing element is adopted, the icing thickness indicator has visible light and infrared observation capacity, and is connected with an upper computer 7 through a wiring harness. The upper computer 7 is responsible for analyzing the icing rate characteristic and the icing thickness characteristic, giving icing strength and icing degree information after comprehensive calculation, and further transmitting the information to a ground command system through an airborne link.
Based on the example, the specific implementation of the hybrid icing detection method based on electronic monitoring and visual observation and suitable for the unmanned aerial vehicle platform is described in detail with reference to fig. 3;
the first step, picking up basic data; the basic data mainly comprises: the icing sensor basic frequency information and the icing indicator basic image data are respectively collected by the icing electric measurement module and the icing vision module and are transmitted to the upper computer;
secondly, resolving an icing alarm and uploading the alarm to an upper computer;
thirdly, resolving the icing rate: if the icing speed is more than 0mm/min, uploading the speed information to an upper computer, and carrying out the next step. If the icing rate is =0mm/min, skipping image data analysis and directly downloading the icing state;
and fourthly, determining the frequency of refreshing the image data. In the embodiment, the refresh frequency spectrum of the image data is determined by test data and is not limited to a test method for obtaining in other applications;
fifthly, refreshing the image data, and acquiring the image data by the upper computer according to the refreshing frequency;
and sixthly, picking up visual information of the ice layer, and realizing by the upper computer through comparing and refreshing image data with basic image data: the ice layer visual information comprises: the upper computer can read the icing thickness signal visually according to the indicator scale information;
analyzing the icing state, and giving out icing intensity and icing degree data by integrating an icing rate signal, an icing thickness signal and icing database information by the upper computer;
and eighthly, downloading the icing image and information: and the upper computer downloads the indicator image data and the icing state information through a data chain, so that the ground command system can make a decision conveniently.
Through this embodiment, this kind of hybrid that is applicable to unmanned aerial vehicle platform freezes detection method based on electronic monitoring and visual observation, simple structure, redundancy, reliability are high, have avoided shortcomings such as the traditional detection method that freezes redundancy is low, technology complicacy, point monitoring, can effectively, audio-visually carry out the detection that freezes, are applicable to small, the low unmanned aerial vehicle platform of consumption, can provide scientific, comprehensive unmanned aerial vehicle flight environment condition data that freezes.
Claims (9)
1. The utility model provides a hybrid icing detection method suitable for unmanned aerial vehicle platform which characterized in that: the method is implemented by a hybrid icing detection apparatus, the apparatus comprising: icing rate electrical measurement module (1), icing visual observation module (4) and host computer (7), icing rate electrical measurement module includes: the icing sensor is arranged at the front edge of the wing and is electrically connected with the icing resolver arranged at the rear cabin of the wing, and the icing resolver is electrically connected with an upper computer; the icing visual observation module comprises: the icing thickness indicator is arranged below the wing and is a wing surface structure of a measuring scale for one generation, the optical observation device is arranged at the machine head and is used for observing the icing thickness indicator, and the optical observation device is electrically connected with an upper computer;
the method comprises the following steps:
the method comprises the following steps: the icing rate electric measurement module acquires a resonance signal of an icing sensor;
step two: the icing rate electric measurement module analyzes the icing sensor resonance signal;
step three: the upper computer obtains the icing rate characteristic according to the icing sensor resonance signal analysis result;
step four: the upper computer acquires image data of the icing thickness indicator through the icing visual observation module;
step five: the upper computer analyzes the ice layer visual information based on the icing thickness indicator image data and acquires the icing thickness characteristic of the unmanned aerial vehicle;
step six: and the upper computer synthesizes the icing rate characteristic and the icing thickness characteristic to judge the icing condition of the unmanned aerial vehicle.
2. The hybrid icing detection method for a drone platform of claim 1, wherein the icing sensor resonance signal comprises an icing sensor fundamental frequency signal and a frequency-icing thickness contrast signal.
3. The hybrid icing detection method for drone platforms of claim 1, wherein the icing sensor resonant frequency resolution process comprises:
the resonance circuit converts frequency information of a resonance signal of the icing sensor into voltage information, calculates an icing rate signal according to the voltage information and transmits the icing rate signal to an upper computer; the upper computer calculates the icing rate characteristic according to the icing rate signal;
the upper computer is also provided with an icing alarm frequency threshold, and icing alarm is carried out if the resonance signal frequency of the icing sensor exceeds the icing alarm frequency threshold.
4. The hybrid icing detection method for a drone platform according to claim 3, wherein the resonant tank comprises: a resonance starting circuit and a resonance circuit; the starting resonant circuit and the resonant circuit are integrated in the icing sensor.
5. The hybrid icing detection method for unmanned aerial vehicle platforms of claim 4,
the icing warning moment triggered by the icing sensor resonance signal is used as the initial moment of image data analysis;
and the upper computer adjusts the image data refreshing frequency of the icing thickness indicator according to the icing rate.
6. The hybrid icing detection method for drone platforms of claim 5, wherein the image data parsing process includes: and acquiring the ice layer visual information according to the difference value of the basic image data when the ice layer is not frozen and the frozen image data which is refreshed continuously.
7. The hybrid icing detection method for drone platforms of claim 6, wherein the ice layer visual information includes: and the characteristic information and the indicator scale information are compared to obtain the ice layer thickness visual characteristic, and the icing thickness characteristic is obtained according to the ice layer thickness visual characteristic.
8. The hybrid icing detection method for the unmanned aerial vehicle platform according to claim 7, wherein the upper computer compares the collected icing rate characteristic and icing thickness characteristic with the information of the icing database obtained by a statistical method to give information of icing intensity and icing degree of the environment.
9. The hybrid icing detection method for a drone platform of claim 8, wherein the icing database information includes: the icing intensity grade, the icing degree grade, the icing rate-icing intensity grade corresponding relation and the icing thickness-icing degree grade corresponding relation data.
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| FR3123426B1 (en) | 2021-05-25 | 2024-02-09 | Airbus Operations Sas | DEVICE FOR MEASURING THE THICKNESS OF AN ACCRETION OF FROST ON A SURFACE AND AIRCRAFT PROVIDED WITH SUCH A DEVICE |
| CN115214894B (en) * | 2022-08-31 | 2022-11-22 | 中国空气动力研究与发展中心低速空气动力研究所 | Method for accurately determining optimal installation position of icing sensor and storage medium |
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