CN113064221B - Unmanned aerial vehicle meteorological observation system - Google Patents
Unmanned aerial vehicle meteorological observation system Download PDFInfo
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Abstract
The invention relates to an unmanned aerial vehicle meteorological observation system which comprises a first compound wing unmanned aerial vehicle meteorological observation subsystem, a second compound wing unmanned aerial vehicle meteorological observation subsystem, a multi-rotor unmanned aerial vehicle meteorological observation subsystem and a data center, wherein each meteorological observation subsystem is provided with an aircraft, a sensor subsystem, a command control platform subsystem and a comprehensive guarantee platform subsystem. The unmanned aerial vehicle observation system based on various combinations and observation modes can realize high-definition resolution detection of disaster areas, make up the defects of the existing satellite remote sensing in the aspects of disaster prevention and reduction, and more efficiently exert the benefits of weather in the aspects of disaster prevention and reduction; the ecological meteorological remote sensing monitoring on different landforms and climatic zones is realized, the observation and evaluation work of a land surface ecological system is realized, and a guidance basis is provided for ecological civilized construction such as loess plateau water and soil loss, Qinling mountain water culvert land culture and the like; the authenticity check of the satellite ground product is realized; monitoring of meteorological environment of the boundary layer is achieved, and haze research of the boundary layer is carried out.
Description
Technical Field
The invention belongs to the technical field of meteorology, relates to a meteorology observation system, and particularly relates to an unmanned aerial vehicle meteorology observation system.
Background
At present, the satellite remote sensing system is mainly relied on when meteorological observation is carried out. However, the conventional satellite remote sensing system has many defects in the aspects of disaster prevention and reduction due to the influence of satellite distribution, satellite observation accuracy, satellite detection capability and the like.
With the development of unmanned aerial vehicle technology, someone begins to use unmanned aerial vehicle to carry out meteorological observation to make up the defect that relies on satellite remote sensing system alone and bring.
However, the existing system for meteorological observation by using an unmanned aerial vehicle is limited by the model of the unmanned aerial vehicle, so that the low-altitude horizontal long-distance observation, the large-area observation, the fast observation, the low-altitude vertical observation and the short-distance small-area low-speed horizontal observation are difficult to realize, and the observation effect is poor.
Moreover, the existing system for carrying out meteorological observation by using the unmanned aerial vehicle is limited by carrying capacity and processing capacity of a single unmanned aerial vehicle, so that the type and the quantity of data obtained by the unmanned aerial vehicle are limited, and the requirement of the current meteorological observation is difficult to meet.
In view of the above technical defects of the prior art, a need for developing a novel unmanned aerial vehicle meteorological observation system is urgent.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides an unmanned aerial vehicle meteorological observation system, which belongs to an unmanned aerial vehicle observation system based on various combinations and observation modes of a composite wing unmanned aerial vehicle and a multi-rotor unmanned aerial vehicle, and has strong observation capability and good effect.
In order to achieve the above purpose, the invention provides the following technical scheme:
an unmanned aerial vehicle meteorological observation system comprises a first compound wing unmanned aerial vehicle meteorological observation subsystem, a second compound wing unmanned aerial vehicle meteorological observation subsystem, a multi-rotor unmanned aerial vehicle meteorological observation subsystem and a data center, wherein the first compound wing unmanned aerial vehicle meteorological observation subsystem collects first related data of middle and low altitude and transmits the first related data to a first data preprocessing module on the ground; the second composite wing unmanned aerial vehicle meteorological observation subsystem collects second related data of medium and low altitudes and transmits the second related data to a second data preprocessing module on the ground; the multi-rotor unmanned aerial vehicle meteorological observation subsystem acquires third relevant data of low altitude and transmits the third relevant data to a third data preprocessing module on the ground; and the data center comprehensively processes the data of the first data preprocessing module, the second data preprocessing module and the third data preprocessing module and then outputs an observation result.
Preferably, the first compound wing unmanned aerial vehicle meteorological observation subsystem comprises a first compound wing aircraft, a first sensor subsystem, a first command control platform subsystem and a first comprehensive guarantee platform subsystem, the first sensor subsystem is installed on the first compound wing aircraft and used for collecting first related data around the first compound wing aircraft in the flight process of the first compound wing aircraft, the first command control platform subsystem comprises a first command control device and a first sight distance link device, the first command control device is used for realizing remote control operation on the first compound wing aircraft and displaying information of the first compound wing aircraft in real time, the first sight distance link device comprises a first airborne data link and a first ground data link, and the first ground data link is used for transmitting remote control data to the first compound wing aircraft, the first onboard data link is used for transmitting the first relevant data to the ground, the first integrated support platform subsystem comprises a first data preprocessing module, and the first data preprocessing module is responsible for realizing remote control over the first sensor subsystem and preprocessing the first relevant data;
the second compound wing unmanned aerial vehicle meteorological observation subsystem comprises a second compound wing aircraft, a second sensor subsystem, a second commanding control platform subsystem and a second comprehensive guarantee platform subsystem, the second sensor subsystem is installed on the second compound wing aircraft and used for collecting second related data around the second compound wing aircraft in the flying process of the second compound wing aircraft, the second commanding control platform subsystem comprises a second commanding control device and a second sight distance link device, the second commanding control device is used for realizing remote control operation of the second compound wing aircraft and displaying information of the second compound wing aircraft in real time, the second sight distance link device comprises a second airborne data link and a second ground data link, and the second ground data link is used for transmitting remote control data to the second compound wing aircraft, the second airborne data link is used for transmitting the second related data to the ground, the second comprehensive guarantee platform subsystem comprises a second data preprocessing module, and the second data preprocessing module is responsible for realizing remote control over the second sensor subsystem and preprocessing the second related data;
the multi-rotor unmanned aerial vehicle meteorological observation subsystem comprises a multi-rotor aircraft, a third sensor subsystem, a third command control platform subsystem and a third comprehensive guarantee platform subsystem, wherein the third sensor subsystem is installed on the multi-rotor aircraft and used for collecting third relevant data around the multi-rotor aircraft in the flying process of the multi-rotor aircraft, the third command control platform subsystem comprises a third command control device and a third sight distance link device, the third command control device is used for realizing remote control operation of the multi-rotor aircraft and displaying information of the multi-rotor aircraft in real time, the third sight distance link device comprises a third airborne data link and a third ground data link, the third ground data link is used for transmitting remote control data to the multi-rotor aircraft, and the third airborne data link is used for transmitting the third relevant data to the ground, the third comprehensive guarantee platform subsystem comprises a third data preprocessing module, and the third data preprocessing module is responsible for realizing remote control of the third sensor subsystem and preprocessing of third related data.
Preferably, the first sensor subsystem comprises a first airborne image sensor, an airborne hyperspectral imager, an airborne bi-photographic thermal infrared temperature measurement imager and a tilt camera, the first airborne image sensor is used for collecting temperature, humidity, air pressure, wind direction and wind speed data around the first composite wing aircraft during the flight of the first composite wing aircraft, and the airborne hyperspectral imager is used for collecting image information and spectral information around the first composite wing aircraft during the flight of the first composite wing aircraft so as to detect forest physical characteristics with abundant spectral characteristics and research spectral information of ground surface objects; the airborne double-shooting thermal infrared temperature measurement imager is used for acquiring data and images of places with temperature differences around the first compound wing aircraft in the flying process of the first compound wing aircraft, and the tilt camera is used for acquiring tilt photography images of 6 tilt angles around the first compound wing aircraft in the flying process of the first compound wing aircraft, so that a ground surface three-dimensional model is obtained.
Preferably, the second sensor subsystem comprises a second airborne meteorological sensor, an airborne multispectral imager and a visible light camera, wherein the second airborne meteorological sensor is used for collecting temperature, humidity, air pressure, wind direction and wind speed data around the second composite wing aircraft during the flight process of the second composite wing aircraft, the airborne multispectral imager is used for collecting information radiated or reflected by the same target around the second composite wing aircraft on different narrow spectral bands during the flight process of the second composite wing aircraft so as to obtain image information of different spectral bands of the target, and the visible light camera is used for collecting images around the second composite wing aircraft during the flight process of the second composite wing aircraft.
Preferably, the third sensor subsystem comprises a third on-board meteorological sensor for collecting temperature, humidity, air pressure, wind direction and wind speed data around the multi-rotor aircraft during flight, an on-board atmospheric composition sensor for collecting CO, SO2, NO2, O3, PM2.5 and PM10 particulate matter concentrations around the multi-rotor aircraft during flight, a visible light camera for collecting live-action images around the multi-rotor aircraft during flight, and a multi-band micro blackcarbon meter for collecting black carbon concentrations around the multi-rotor aircraft during flight.
Preferably, the first command control device includes a first portable ruggedized computer, a first flight operation box, and a first safety device, the first portable ruggedized computer is responsible for completing flight monitoring and mission planning of the first composite wing aircraft, the first flight operation box is used for taking off and landing control by a flight operator in a handheld manner during a taking off and landing phase of the first composite wing aircraft, and the first safety device is used for supporting ground station operation, taking off environment measurement, and ground position positioning during flight of the first composite wing aircraft.
Preferably, the second command control device includes a second portable ruggedized computer, a second flight operation box, and a second security device, the second portable ruggedized computer is responsible for completing flight monitoring and mission planning of the second composite wing aircraft, the second flight operation box is used for taking off and landing control by a flight operator in a handheld manner during a taking off and landing phase of the second composite wing aircraft, and the second security device is used for supporting ground station operation, taking off environment measurement, and ground position positioning during flight of the second composite wing aircraft.
Preferably, the third command and control device comprises a remote controller and a ground command and control station, the flying attitude, speed and mode of the multi-rotor aircraft are controlled by the remote controller in a line-of-sight range or during taking off and landing, and the flying attitude, speed and mode of the multi-rotor aircraft are controlled by the ground command and control station when the multi-rotor aircraft is out of the line-of-sight range or during free flight.
Preferably, the multi-rotor aircraft is provided with an aircraft body, a recoil landing mechanism, a water sample collection control mechanism and a wireless receiving circuit, wherein the recoil landing mechanism comprises a gas tank, an electromagnetic valve, a wind driven generator and a control circuit; the water sample collecting mechanism comprises a prompting circuit and a probe, the signal output end of the wind driven generator is electrically connected with the signal input end of the control circuit, and the power output end of the control circuit is electrically connected with the power input end of the electromagnetic valve; the probe is electrically connected with the signal input end of the prompt circuit.
Preferably, the electromagnetic valve of the recoil landing mechanism is a normally closed valve core electromagnetic valve, and compressed air is added into the air tank.
Compared with the prior art, the unmanned aerial vehicle meteorological observation system has the following beneficial technical effects:
1. the unmanned aerial vehicle observation system based on multiple combinations and observation modes of the composite wing unmanned aerial vehicle (one main unmanned aerial vehicle and one standby unmanned aerial vehicle) and the multi-rotor unmanned aerial vehicle can realize horizontal long-distance, large-area and quick observation of medium and low altitude, can realize vertical observation of the low altitude and short-distance small-area low-speed horizontal observation, and has more comprehensive observation and better effect.
2. The high-definition resolution detection of disaster areas can be realized by carrying different types of sensors through different types of unmanned aerial vehicles, the defects of the existing satellite remote sensing in the aspects of disaster prevention and reduction are overcome, and the benefits of weather in the aspects of disaster prevention and reduction are more effectively exerted.
3. It carries the ecological meteorology remote sensing monitoring on can realizing different topography landforms and climatic zone through the unmanned aerial vehicle of different grade type and carries on the sensor of different grade type, realizes that land surface ecosystem observes and assesses work, provides the guide basis for ecological civilization construction such as loess plateau water and soil loss, Qinling mountain water culvert foster land.
4. It carries the sensor of different grade type through the unmanned aerial vehicle of different grade type and can realize satellite ground product authenticity check-up.
5. Its unmanned aerial vehicle through the different grade type carries on the sensor of different grade type can realize boundary layer meteorological environment monitoring, is convenient for develop the research of boundary layer haze.
6. At unmanned aerial vehicle body descending speed too fast, it can produce reverse thrust upwards, just so can slow down the descending speed of unmanned aerial vehicle body in a certain time, has prevented that the unmanned aerial vehicle body from descending too fast and leading to damaging.
7. It can control unmanned aerial vehicle body rise when the water sample is gathered and accomplish the collection water sample, and the operation of giving flight control personnel has brought the facility, has effectively prevented because of the misoperation, cause the unmanned aerial vehicle body to fall into the aquatic.
Drawings
Fig. 1 is a schematic diagram of the unmanned aerial vehicle meteorological observation system according to the present invention.
Fig. 2 is a schematic diagram showing the configuration of the first composite wing drone meteorological observation subsystem of the drone meteorological observation system of the present invention.
Fig. 3 is a schematic diagram showing the configuration of a second composite wing drone meteorological observation subsystem of the drone meteorological observation system of the present invention.
Fig. 4 is a schematic diagram of the multi-rotor unmanned aerial vehicle meteorological observation subsystem of the unmanned aerial vehicle meteorological observation system of the present invention.
Fig. 5 is a schematic structural diagram of a multi-rotor aircraft of a multi-rotor unmanned aerial vehicle meteorological observation subsystem of the unmanned aerial vehicle meteorological observation system of the present invention.
Fig. 6 and 7 are circuit diagrams of a multi-rotor aircraft.
Detailed Description
The present invention is further described with reference to the following drawings and examples, which are not intended to limit the scope of the present invention.
The invention relates to an unmanned aerial vehicle meteorological observation system which is an unmanned aerial vehicle observation system based on various combinations and observation modes of a composite wing unmanned aerial vehicle (one master and one slave) and a multi-rotor unmanned aerial vehicle, can realize horizontal long-distance, large-area and quick observation of a medium and low altitude, can realize vertical observation of the low altitude and short-distance small-area low-speed horizontal observation, and has more comprehensive observation and better effect.
Fig. 1 shows a schematic configuration diagram of the unmanned aerial vehicle meteorological observation system of the present invention. As shown in fig. 1, the unmanned aerial vehicle meteorological observation system of the present invention includes a first compound wing unmanned aerial vehicle meteorological observation subsystem, a second compound wing unmanned aerial vehicle meteorological observation subsystem, a multi-rotor unmanned aerial vehicle meteorological observation subsystem, and a data center.
The first compound wing unmanned aerial vehicle meteorological observation subsystem and the second compound wing unmanned aerial vehicle meteorological observation subsystem are used for medium and low altitude observation, horizontal observation, long-distance and large-area observation, high-speed observation and long-time observation. And one of the first composite wing unmanned aerial vehicle meteorological observation subsystem and the second composite wing unmanned aerial vehicle meteorological observation subsystem is used as a host machine, the other one is used as a standby machine, and the host machine and the standby machine complement each other.
The multi-rotor unmanned aerial vehicle meteorological observation subsystem is used for low-altitude observation, vertical observation, short-distance and small-area observation.
In the invention, the height range of the medium-low altitude is 4000-6000m, the height range of the low altitude is 3000-4000m, the observation requirements of various complex terrains, landforms, disasters, atmosphere and the like can be realized through the configuration of the observation subsystem combining the medium-low altitude and the low altitude, and different observation results are comprehensively output by carrying different data acquisition sensors.
Fig. 2 shows a schematic configuration diagram of a first composite wing drone meteorological observation subsystem of the drone meteorological observation system of the present invention. As shown in fig. 2, the first composite wing unmanned aerial vehicle meteorological observation subsystem comprises a first composite wing aircraft, a first sensor subsystem, a first command control platform subsystem and a first comprehensive guarantee platform subsystem.
A compound wing aircraft (i.e., a compound wing drone) is a drone having both fixed wings and rotor wings. Can give consideration to partial characteristics of the rotor-wing aircraft and the fixed-wing aircraft. The take-off and landing mode of the composite wing unmanned aerial vehicle adopts a vertical take-off and landing technology, a runway is not needed, full autonomous take-off and landing can be realized under a complex terrain environment, the advantages of high flying speed, long endurance time and heavy load are taken into consideration, the composite wing unmanned aerial vehicle is greatly convenient to use, the system preparation time is shortened, and the quick response capability of the system is improved.
Therefore, in the invention, the first composite wing unmanned aerial vehicle meteorological observation subsystem selects the composite wing aircraft, and the meteorological observation requirement can be met.
The first sensor subsystem is mounted on the first composite-wing aircraft for collecting first relevant data about the first composite-wing aircraft during flight thereof.
In the present invention, the first sensor subsystem may include a first airborne image sensor, an airborne hyperspectral imager, an airborne dual-camera thermal infrared thermometry imager, and a tilt camera.
The first airborne weather sensor mainly comprises an air temperature sensor, a humidity sensor, an air pressure sensor, a wind direction sensor and a wind speed sensor, and is used for collecting temperature, humidity, air pressure, wind direction and wind speed data around the first composite wing aircraft in the flying process of the first composite wing aircraft.
The airborne hyperspectral imager is used for collecting image information and spectral information around the first compound wing aircraft in the flying process of the first compound wing aircraft so as to detect forest physical characteristics with abundant spectral characteristics and research spectral information of ground surface objects.
Specifically, the imager can directly acquire the spatial information of the target, the spectrometer can acquire the material structure information of the target according to the characteristic spectrum of the target, and the spectral imager has the dual functions of the imager and the spectrometer, so that the image information and the spectral information of the target can be acquired simultaneously, and a better basis is provided for analyzing and judging the attribute of the target. The hyperspectral imaging technology can simultaneously acquire a data cube of two-dimensional image information and one-dimensional spectral information, and has the measurement and analysis capabilities of positioning, timing, qualitative and quantitative. The hyperspectral data obtained by the airborne hyperspectral imager has nanoscale spectral resolution, so that remote sensing quantitative analysis of subdivided spectra can be performed, and the airborne hyperspectral imager is particularly suitable for detecting forest physical characteristics with abundant spectral characteristics. Such as tree species classification, leaf area index, biomass, accumulation, canopy density, tree height and breast diameter detection. Therefore, the method can be used for observing and evaluating the terrestrial ecology and verifying satellite observation data.
Through the airborne hyperspectral imager carried by the first compound wing aircraft, observation data with a larger scale can be rapidly acquired, and the spectral information of surface objects can be researched in a large area, such as plant diseases and insect pests, plant stress resistance breeding, plant physiology and ecology, growth conditions of crops in different growth periods, species identification, soil moisture distribution conditions, water environment, water algal bloom and the like. The measured data may be batch processed to calculate tens of vegetation indices such as NDVI, RVI, EVI, GVI, PVI, etc.
The airborne double-shooting thermal infrared temperature measurement imager is used for acquiring data and images of places with temperature differences around the first compound wing aircraft in the flying process of the first compound wing aircraft.
Specifically, the thermal infrared temperature measurement imager is an optical imaging objective lens which receives infrared radiation energy distribution of a measured object and transmits radiation signals to a photosensitive element of the thermal infrared imager so as to obtain an infrared thermography, and the thermography corresponds to a thermal distribution field on the surface of an object. The system is provided with an RGB camera, and can supplement image information. The double-shooting thermal infrared temperature measurement imager can realize thermal infrared temperature measurement imaging and visible light imaging.
And the data and the image can be obtained by the onboard double-camera thermal infrared imager only at the place with the temperature difference, so that the application is developed. Such as: in the field of remote sensing, the temperature distribution of landmark objects such as soil, rocks, vegetation, water or artificial targets is detected; in the field of agriculture and forestry, detecting a temperature distribution image of a crop or a forest land canopy; regional-scale urban thermal environment studies, and the like.
The oblique camera is used for acquiring oblique photographic images of 6 oblique angles around the first compound wing aircraft in the flying process of the first compound wing aircraft, so that a ground surface three-dimensional model is obtained.
Specifically, the oblique camera can efficiently acquire high-quality oblique photographic images of 6 oblique angles, and a high-quality and high-precision earth surface three-dimensional model can be produced through post-processing.
The first command control platform subsystem comprises first command control equipment and first line-of-sight link equipment.
The first command control equipment is used for realizing remote control operation on the first composite wing aircraft and displaying information of the first composite wing aircraft in real time. The first line-of-sight link device includes a first onboard data link and a first terrestrial data link. The first ground data link is used to transmit remote control data to the first composite-wing aircraft. The first onboard data link is used for transmitting the first relevant data to the ground.
Specifically, the first command control device mainly realizes remote control operation of the first composite wing aircraft and airborne equipment thereof by the ground, and is responsible for mission planning and flight path control, aircraft parameter display, ground station parameter display, map flight path display, data recording, scout image display, mission equipment operation, data distribution and the like.
The first command control equipment mainly comprises a first portable ruggedized computer, a first flight operation box and first safety equipment. Has the functions of water resistance, impact resistance and dust prevention.
The first portable ruggedized computer is the core of the first command control device and is responsible for completing flight monitoring, task planning and the like of flight measurement and control data, servo data, video image data, receiving, decoding and encoding, flight control, task planning and air route control, flight parameter display, ground parameter display, video image display, map track display, recording and playback functions and the like. The remote control system has the functions of producing, sending and recording remote control instructions; the functions of processing, storing and displaying the composite telemetering data are realized; the double seats of flight control and task control are provided, so that the double seats are convenient for task operation and use; two paths of network ports are reserved, and the function of forwarding and pushing the video data is achieved; the system has the functions of task planning and management; displaying information such as the position of the airplane, a preset track, a flight track and the like on a map in real time; the control and state display function of the link equipment is provided; the system has the functions of controlling task equipment and displaying states; the device has the functions of automatic fault alarm and out-of-control alarm; recording all data of the data chain and relevant information of the ground station in real time; an emergency backup power supply is arranged in the emergency backup power supply; task planning and track control; the mission or flight point can be modified in flight; automatic track control/manual track control. The unmanned aerial vehicle and task load monitoring system provides a unified and convenient graphical user interface, a control interface and monitoring parameters for a user, and is a center for unmanned aerial vehicle and task load operation and monitoring.
The first flight operation box is used for the handheld visual takeoff/landing control of a flight operator in the takeoff and landing stages of the unmanned aerial vehicle, and can also be used for quickly and manually operating the unmanned aerial vehicle in the cruise flight and mission flight stages according to conditions.
The first protection equipment mainly comprises equipment for supporting ground station operation, takeoff environment measurement, ground position positioning and the like in the flight of the unmanned aerial vehicle.
The first line-of-sight link is composed of a first airborne data link and a first ground data link. An uplink radio link and a downlink radio link are formed. The uplink transmits remote control data to the unmanned aerial vehicle, and the downlink transmits telemetering data and high-definition video information to the ground. The first ground data link adopts a directional receiving antenna, so that the automatic tracking function can be realized, and the receiving quality of telemetering data is ensured.
The first line-of-sight link has unmanned aerial vehicle remote control data, telemetry data and task load data transmission capabilities. The remote measuring link can simultaneously transmit remote measuring and task load data; the remote control link adopts spread spectrum and encryption technology, and has strong anti-seize control, anti-multipath and adaptability in complex electromagnetic environment; the measurement and control system has a positioning function for the unmanned aerial vehicle, and the unmanned aerial vehicle can operate or safely return to the home through positioning information provided by the measurement and control system when satellite navigation is interfered, tricked or invalid; the directional antenna servo has the functions of manual operation, digital guiding, tracking and the like.
The first integrated support platform subsystem comprises a first data preprocessing module. The first data preprocessing module is responsible for realizing remote control over the first sensor subsystem and preprocessing the first related data.
Specifically, the first integrated support platform subsystem comprises a first data preprocessing module and a first auxiliary component.
The first data preprocessing module is responsible for realizing simple preprocessing of data and image data transmitted by the remote control and data link of the first sensor subsystem.
In consideration of the composition of the first sensor subsystem, the first data preprocessing module may include a first weather data ground acquisition and processing submodule, a control and graph preprocessing submodule matched with the hyperspectral imager, a control and graph preprocessing submodule matched with the dual-camera infrared temperature measurement imager, and a control and image preprocessing submodule matched with the oblique camera.
The first auxiliary parts comprise a generator, a charger, a maintenance tool and the like. The generator is responsible for providing power for ground control platforms and the like. The charger is responsible for charging the battery power system.
Fig. 3 shows a schematic diagram of the second composite wing drone meteorological observation subsystem of the drone meteorological observation system of the present invention. As shown in FIG. 3, the second composite wing unmanned aerial vehicle meteorological observation subsystem comprises a second composite wing aircraft, a second sensor subsystem, a second commanding control platform subsystem and a second comprehensive guarantee platform subsystem.
The second composite-wing aircraft is of the same type as the first composite-wing aircraft and will not be described here for the sake of simplicity.
The second sensor subsystem is mounted on the second composite wing aircraft for collecting second relevant data about the second composite wing aircraft during flight thereof.
In the invention, the second sensor subsystem comprises a second airborne meteorological sensor, an airborne multispectral imager and a visible light camera,
the second airborne meteorological sensor is the same as the first airborne meteorological sensor, mainly comprises an air temperature sensor, a humidity sensor, an air pressure sensor, an air direction sensor and an air speed sensor, and is used for collecting temperature, humidity, air pressure, air direction and air speed data around the second composite wing aircraft in the flying process of the second composite wing aircraft.
The airborne multispectral imager is used for collecting information radiated or reflected by the same target on different narrow spectral bands around the second composite wing aircraft in the flying process of the second composite wing aircraft so as to obtain image information of different spectral bands of the target.
Specifically, the onboard multispectral imager receives information radiated or reflected by the same target on different narrow spectral bands through the combination of the spectroscope and the photosensitive detector, so that image information of several different spectral bands of the target can be obtained. In the invention, the airborne multispectral imager is applied to multiple fields of agriculture and forestry remote sensing, resource environment remote sensing, disaster investigation, precision agriculture, forestry, water environment, oceanography and the like, and can obtain spectral image data of different wave bands of various objects on the ground surface in real time. By analyzing the spectrum data, the researches such as classification of national and local resources, disaster prediction and evaluation, crop estimation, farmland pesticide effect evaluation, pest monitoring, plant biochemical parameter inversion, physiological reaction conditions of plants to environmental factors (diseases and pests) and the like can be carried out.
The visible light camera is used for collecting images around the second composite wing aircraft during the flying process of the second composite wing aircraft.
Specifically, the visible light camera can be installed the fuselage below of second composite wing unmanned aerial vehicle, accomplishes the high definition image of flight in-process and shoots.
And the second commanding control platform subsystem comprises second commanding control equipment and second line-of-sight link equipment. And the second commanding control equipment is used for realizing remote control operation on the second composite wing aircraft and displaying the information of the second composite wing aircraft in real time. The second line-of-sight link device includes a second onboard data link and a second ground data link. The second ground data link is used to transmit remote control data to the second composite wing aircraft. The second airborne data link is used for transmitting the second relevant data to the ground.
The second commanding control equipment comprises a second portable ruggedized computer, a second flight operating box and second safeguard equipment. And the second portable reinforced computer is responsible for finishing the flight monitoring and mission planning of the second composite wing aircraft. And the second flight operation box is used for carrying out take-off and landing control by a flight operator in a hand-held visual mode in the take-off and landing stage of the second composite wing aircraft. And the second guarantee equipment is used for supporting ground station operation, takeoff environment measurement and ground position positioning in the flight of the second composite wing aircraft.
In the invention, the second command control platform subsystem is the same as the first command control platform subsystem, and is only used for realizing the control of the second composite wing aircraft. Therefore, for the sake of simplicity, a detailed description thereof will not be provided herein.
The second integrated support platform subsystem comprises a second data preprocessing module. And the second data preprocessing module is responsible for realizing the remote control of the second sensor subsystem and the preprocessing of the second related data.
Specifically, the second integrated support platform subsystem comprises a second data preprocessing module and the first auxiliary component.
The second data preprocessing module is responsible for realizing simple preprocessing of data and image data transmitted by the remote control and data link of the second sensor subsystem.
In view of the composition of the second sensor subsystem, the second data preprocessing module may include a second meteorological data ground acquisition processing sub-module, a control and graphics preprocessing sub-module associated with a multispectral imager, and a control and graphics preprocessing sub-module associated with a visible light camera.
Fig. 4 shows a schematic configuration diagram of a multi-rotor unmanned aerial vehicle meteorological observation subsystem of the unmanned aerial vehicle meteorological observation system. As shown in fig. 4, many rotor unmanned aerial vehicle meteorological observation subsystems include many rotor crafts, third sensor branch system, third command control platform branch system and third comprehensive guarantee platform branch system.
The multi-rotor unmanned aerial vehicle meteorological observation subsystem is mainly used for low-altitude and vertical observation, short-distance and small-area low-speed horizontal observation.
Wherein, many rotor crafts select for use four rotor electricelectric unmanned aerial vehicle. This unmanned aerial vehicle structure wholly adopts carbon fiber material as the raw materials, has advantages such as light in weight, structural strength height. The aircraft has the characteristics of long endurance, large load, strong environmental adaptability, good reliability, easiness in operation and the like, can fly autonomously over the beyond-the-horizon, can be conveniently carried with various airborne sensors, and can meet the meteorological observation requirement.
As shown in fig. 5, in the present invention, the multi-rotor aircraft includes an aircraft body 1, a recoil landing mechanism, a water sample collection control mechanism, and a wireless receiving circuit 9.
The recoil landing mechanism comprises a rectangular gas tank 2, an electromagnetic valve 3, a small wind driven generator 4 and a control circuit 5. The gas tank 2 is mounted at the lower end of the housing of the aircraft body 1 via a screw nut. An exhaust pipe 21 communicated with the inside of the gas tank is vertically welded at the front part and the rear part of the lower end of the gas tank 2. Two electromagnetic valves 3 are provided. One ends of the two electromagnetic valves 3 are connected with the exhaust pipe 21 through screw threads. An air-adding nozzle 22 is installed at the upper portion of the left side end of the air tank 2. The other ends of the two electromagnetic valves 3 are respectively provided with a nozzle 31 (the inner diameter of the upper end is larger, and the inner diameter of the lower end is smaller). The middle part of the gas tank 2 is welded with three support rods and a fixing ring. The lower ends of the three support rods are welded with a hollow annular plate 23. The wind power generator 4 is mounted at the lower end of the annular plate 23 (the blades are horizontally located at the lower end) via a screw nut.
The water sample collection control mechanism comprises a prompt circuit 6 and a probe 7. The lower end of the fixing ring is sleeved with a rope 8. The probe 7 is two metal copper sheets. Two metal copper sheets 7 are bonded on a plastic substrate. The plastic base plate is mounted at the side end of the rope 8.
The wireless receiving circuit 9 is installed in a flight control end shell of the aircraft body 1. The control circuit 5 and the prompting circuit 6 are mounted on a circuit board which is mounted in a component box inside the aircraft body 1.
As shown in fig. 5-7, the electromagnetic valve DC of the recoil landing mechanism is a normally closed valve core electromagnetic valve, compressed air (8bar) is added into the air tank through the air adding nozzle 22, the small-sized wind driven generator 4 is a small-sized alternating current wind driven generator, and the output voltage is alternating current 6V. The control circuit of the recoil landing mechanism comprises a rectifier bridge stack A1, an electrolytic capacitor C1, an adjustable resistor RP, an NPN triode Q1, a relay K1 and a photoelectric switch A4, which are connected through a lead. The photoelectric switch a4(51) is separately vertically installed on the lower end side of the gas tank 2 with the detector head of the photoelectric switch a4 facing downward. And the 3-pin anode of the power output end of the rectifier bridge stack A1 is connected with the anode of the electrolytic capacitor C1 and one end of the adjustable resistor RP. The other end of the adjustable resistor RP is connected with the base of an NPN triode Q1. The collector of the NPN triode Q1 is connected with the negative power supply input end of the relay K1. The relay K1 controls the power input end to be connected with the positive power input end. The normally open contact end of the relay K1 is connected with the pin 1 of the positive power supply input end of the photoelectric switch A1. The negative power input end 2 pin of the photoelectric switch A1 is connected with the negative electrode of the electrolytic capacitor C1, the emitting electrode of the NPN triode Q1 and the negative electrode of the power output end of the rectifier bridge stack A1.
The prompting circuit of the water sample collection control mechanism comprises a resistor R1, an NPN triode Q2 and a wireless transmitting circuit module finished product A2 of the type SF 2000. The resistor R1, the NPN triode Q2 and the finished product A2 of the wireless transmitting circuit module are connected through a lead. One end of the resistor R1 is connected with pin 1 of the positive power supply input end of the wireless transmitting circuit module A2. The collector of the NPN triode Q2 is connected with the pin 2 of the negative power supply input end of the wireless transmitting circuit module A2.
The two contacts under the first transmitting key S1 of the finished wireless transmitting circuit module A2 are connected together in advance through wires. The wireless receiving circuit comprises a wireless receiving circuit module finished product A3 of model SF2000, a resistor R2, an NPN triode Q3 and a sounder B, which are connected through circuit board wiring.
The pin 1 of the positive power input end of the wireless receiving circuit module A3 is connected with the positive power input end of the sounder B. One of the output terminals 4 of the wireless receiving circuit module a3 is connected to one end of the resistor R2. The other end of the resistor R2 is connected with the base of an NPN triode Q3. The collector of the NPN triode Q3 is connected with the negative power input end of the annunciator B.
Two poles of a storage battery G in the unmanned aerial vehicle body are connected with a positive power input end of a power input end relay K1 of the control circuit, an emitting electrode of an NPN triode Q1, a pin 1 of a positive power input end of a wireless emitting circuit module A2 of a power input end of the prompt circuit and an emitting electrode of an NPN triode Q2 through leads respectively. Two output ends of the wind driven generator M are respectively connected with pins 1 and 2 of a rectifier bridge stack A1 of a signal input end of the control circuit through leads. The 3 pin and the 2 pin of the photoelectric switch A4 at the power output end of the control circuit are respectively connected with the power input ends of the two electromagnetic valves DC through leads. The two copper sheets (with the interval of 2mm) of the probe T are respectively connected with the other end of a resistor R1 at the signal input end of the prompting circuit and the base electrode of an NPN triode Q2 through leads. The power input end of the wireless receiving circuit is connected with the pins 1 and 3 of the wireless receiving circuit module A3 and the two poles of the storage battery G1 in the flight control end of the unmanned aerial vehicle body through leads respectively. The photoelectric switch A4 is a PNP type remote infrared reflection photoelectric switch finished product with the model number GP18-300DN1, the photoelectric switch A4 is provided with two power supply input ends 1 and 2 pins and a high level output end 3 pin, when the photoelectric switch A4 works, when an infrared light beam emitted by a transmitting head of a lower end detecting head within the range of 3 meters at the farthest is blocked by an article, a receiving head of the detecting head receives the infrared light beam, then the high level output end 3 pin outputs high level, and when no article is blocked, the high level is not output; the farthest detection distance of the photoelectric switch A4 is 3 meters, an adjusting knob is arranged in the upper side end of the shell, the detection distance of the adjusting knob becomes shorter when the adjusting knob is adjusted leftwards, and the detection distance becomes farther when the adjusting knob is adjusted rightwards.
After a power supply output by the storage battery G enters the detection circuit and the prompt circuit, the circuits are in an electrified working state; after the power supply output by the storage battery G1 enters the wireless receiving circuit, the wireless receiving circuit is in an electrified working state. When unmanned aerial vehicle descends at every turn, because little aerogenerator M is located unmanned aerial vehicle's lower extreme, consequently ascending air current can blow aerogenerator's blade and rotate, and then its electric energy that sends is rectified through rectifier bridge heap A1, and electrolytic capacitor C1 filtering converts direct current power supply into. When the landing speed of the unmanned aerial vehicle body is proper, the landing speed is relatively slow, and the electric energy generated by the wind driven generator M is relatively low, so that the voltage of the positive pole of the direct-current power supply rectified by the rectifier bridge stack A1 is reduced through the adjustable resistor RP and limited to be lower than 0.7V, the NPN triode Q1 is in a cut-off state, the valve core of the electromagnetic valve DC can not be powered on, and the unmanned aerial vehicle lands in a flight control state. When the unmanned aerial vehicle body is due to misoperation of flight control personnel, or the voltage of a storage battery in the unmanned aerial vehicle body is reduced to cause the falling speed to be too high, the falling speed is relatively high, the electric energy generated by the blades of the wind driven generator M rotating relatively fast is relatively high, and the positive pole of a direct current power supply rectified by the rectifier bridge stack A1 is reduced voltage and limited current through the adjustable resistor RP and then is higher than 0.7V, so that the NPN triode Q1 is in a conducting state, the collector outputs low level to enter the negative power input end of the relay K1, and the relay K1 is electrified to attract the control power input end and the normally open contact end to be closed. Since the positive power input terminal of the photoelectric switch a4 and the normally open contact terminal of the relay K1 are closed, the photoelectric switch a4 is electrically operated at this moment. When photoelectric switch A4 got electric work, unmanned aerial vehicle body fall to within 3 meters from ground, the infrared light beam of photoelectric switch's detecting head transmission is owing to be blockked its 3 feet and can export the power input end that the high level got into two solenoid valve DCs, then, its inside case of two solenoid valve DCs got electric work and opens. Two solenoid valve DCs get electric valve core and open the back, compressed air in the gas pitcher 2 can be fast from 2 lower extremes of gas pitcher through two solenoid valve DC lower part nozzles 31 high-speed discharges that the case was opened, produce reverse thrust upwards, just so can slow down the descending speed of unmanned aerial vehicle body in the certain time, prevented that the unmanned aerial vehicle body from descending too fast and lead to damaging. Through the above, when the unmanned aerial vehicle works, when the landing speed of the unmanned aerial vehicle body is too high and the ground clearance is within 3 meters, compressed air in the air tank can be ejected downwards at a high speed in the opposite direction to generate a reverse acting force, so that the unmanned aerial vehicle body 1 can be landed in a backflushing effect, and the unmanned aerial vehicle body with the too high landing speed and the ground are prevented from being impacted to generate damage (the electromagnetic valve is started about 3 meters away from the ground, so that when the unmanned aerial vehicle is started at too high altitude, the unmanned aerial vehicle body is not landed to the ground after the compressed air in the air tank is ejected, and the stable landing of the unmanned aerial vehicle body is influenced).
When the water sample of river or a certain region of lake need be gathered to the unmanned aerial vehicle body, fix rope 8 at solid fixed ring's lower extreme, then gather cask 10 at the lower extreme installation of rope to the height that probe T is located rope 8 is adjusted to the water sample degree of depth that gathers as required (for example need gather the regional 1 meter deep water sample of target, just install probe T about 1 meter to the altitude mixture control of rope side). When gathering the water sample, the flight control personnel slowly descend at the remote control unmanned aerial vehicle body, can sink after in cask 10 gets into water, and probe T also can slowly contact the surface of water simultaneously. When the probe is not in contact with the water surface, the resistance between the two copper sheets of the probe T is infinite, the NPN triode Q2 cannot be conducted, and then the wireless transmitting circuit module A2 cannot transmit wireless signals. When the bucket 10 enters the water to a suitable depth (e.g., one meter), the probe T will contact the water surface. When the probe contacts the water surface, the two copper sheets of the probe T are submerged by water, so that the positive electrode of a power supply output by the storage battery G can be subjected to voltage reduction and current limiting through the two copper sheets T, the water and the resistor R1 and enters a base electrode (higher than 0.7V) of the NPN triode Q2, then the NPN triode Q2 is conducted with a collector to output a low level and enters a negative power supply input end of the wireless transmitting circuit module A2, and the wireless transmitting circuit module A2 is electrified to work. Since the two lower contacts of the first button S1 of the wireless transmitting circuit module a2 are connected by wires in advance, the wireless transmitting circuit module a2 now transmits the first wireless close signal. After the wireless transmitting circuit module A2 transmits a first path of wireless closed signal (the transmitting distance of the wireless signal can reach 2000 meters), the wireless receiving circuit module A3 at the flying control end of the unmanned aerial vehicle body can receive the first path of wireless closed signal, and then 4 pins (2, 5, 6 and 7 pins are suspended) of the wireless receiving circuit module can output high level, the high level is subjected to voltage reduction and current limitation through a resistor R2 and enters the base of an NPN triode Q3, the NPN triode Q3 is conducted with a collector and outputs low level to enter the negative power input end of a buzzer B, so the buzzer B is powered on to give a loud prompt sound to prompt a flying control person that the unmanned aerial vehicle body collects a water sample, and a collecting barrel of the unmanned aerial vehicle body is located at a certain depth below the water surface. Through the above, when a water sample is collected, the collected water sample depth can be set through setting the height of the detection head on the rope, when the water sample is collected, the probe is just submerged by the water surface, the wireless transmitting circuit module A2 can transmit a wireless signal to the wireless receiving circuit in real time, the wireless receiving circuit can prompt a flight control worker through the sounding of the buzzer B after receiving the wireless signal, so that the flight control worker can control the ascending height of the unmanned aerial vehicle body to complete water sample collection, convenience is brought to the operation of the flight control worker, and the unmanned aerial vehicle body is effectively prevented from falling into water due to improper operation. In fig. 2 and 3, the resistances of the resistors R1 and R2 are 1K; the model of the NPN triode Q1, Q2 and Q3 is 9013; relay K1 is a dc relay; the electrolytic capacitor C1 is 470 mu F/25V; the model of the adjustable resistor RP is 8M; the audible alarm B is an active continuous audible alarm finished product with the model SF 12. Before batch production, the resistance value of the adjustable resistor RP needs to be determined, a technician detects the voltage generated by the wind driven generator M when the fastest safe landing speed allowed by the unmanned aerial vehicle body is slightly high, then an adjustable voltage-stabilizing direct-current power supply is used for replacing the wind driven generator and pins 3 and 4 of a rectifier bridge stack A1 to be respectively connected on the ground according to the detected voltage, then the resistance value of the adjustable resistor RP is slowly adjusted, and the resistance value of the adjustable resistor RP is adjusted to be in place just after the electromagnetic valve DC is electrified; in subsequent practical use, thereby the unmanned aerial vehicle body will open the case safety landing of DC of solenoid valve when the maximum allowable safety landing speed is above. After the resistance value of the adjustable resistor RP is adjusted, a technician disconnects the stabilized voltage supply to test the resistance value of the adjustable resistor RP at the moment, and the measured resistance value is the resistance value required by the subsequent batch production of the adjustable resistor RP (the resistance value of the adjustable resistor RP can be directly adjusted in place in the subsequent production according to the detected resistance value data of the adjustable resistor RP or replaced by a fixed resistor with the same resistance value without testing again).
And the third sensor subsystem is installed on the multi-rotor aircraft and used for acquiring third relevant data around the multi-rotor aircraft in the flying process of the multi-rotor aircraft.
In the present invention, the third sensor subsystem includes a third on-board meteorological sensor, an on-board atmospheric composition sensor, a visible light camera, and a multi-band miniature jettach.
The third airborne meteorological sensor is the same as the first airborne meteorological sensor and the second airborne meteorological sensor, mainly comprises air temperature, humidity, air pressure, wind direction and wind speed sensors, and is used for collecting temperature, humidity, air pressure, wind direction and wind speed data around the multi-rotor aircraft in the flying process of the multi-rotor aircraft.
The airborne atmospheric composition sensor is used for collecting the particulate matter concentrations of CO, SO2, NO2, O3, PM2.5 and PM10 around the multi-rotor aircraft during flight.
Specifically, in the present invention, the airborne atmospheric composition sensor is selected so as to satisfy the following technical criteria, thereby enabling accurate measurement of atmospheric composition.
Technical index of atmospheric composition sensor
The visible light camera is used for collecting real-scene images around the multi-rotor aircraft in the flying process of the multi-rotor aircraft.
Specifically, the visible light camera can be hung below the multi-rotor aircraft, and live-action monitoring is achieved.
In order to obtain better monitoring effect, the visible light camera should meet the following technical indexes:
individual target identification distance: less than or equal to 800m (visibility is less than or equal to 2km, humidity is less than or equal to 80 percent, and the target is 1.8m multiplied by 0.5 m);
typical target recognition distance: 2000m (visibility is less than or equal to 5km, humidity is less than or equal to 80 percent, and the target is 6m multiplied by 4 m);
visible light observer: the number of visible light pixels is more than or equal to 1920 multiplied by 1080;
optical zoom power: 30 times of optical continuous zooming;
meanwhile, the live-action monitoring equipment has a storage function and can provide pictures in JPEG, TIFF and R-JPEG formats, 8bit MOV, MP4, 14bit TIFF sequences and images in SEQ formats. Can work under the environment of minus 20 ℃ to plus 50 ℃.
The multiband micro black carbon instrument is used for collecting the black carbon concentration around the multi-rotor aircraft during the flight process of the multi-rotor aircraft.
The concentration of black carbon aerosol in the Guanzhong region of Shaanxi is far higher than that of black carbon aerosol in other regions of China and most cities of Asia, and the black carbon aerosol can be mixed with organic matters to increase an absorption section, so that the atmospheric thermodynamic structure and the air pollution development process are influenced. The black carbon observation in the Guanzhong region has important significance for the atmospheric pollution research. The multiband micro black carbon instrument provides light absorption information of different carbon-containing particle components through spectral measurement, and can be used for identifying carbon emission caused by different combustion sources.
According to the regulations of the optical attenuation method for measuring the black carbon concentration in the meteorological industry standard QX/T68-2007 atmospheric black carbon aerosol observation-optical attenuation method issued by the China meteorological office, the requirements of observation on absorption coefficient spectral change in atmospheric environment research and the requirements of unmanned aerial vehicle observation on light weight, small size and the like of load equipment are considered, and the multi-band micro black carbon instrument is selected to carry out vertical observation on the black carbon concentration.
And the subsystem of the third command control platform comprises third command control equipment and third line-of-sight link equipment. And the third command control equipment is used for realizing remote control operation on the multi-rotor aircraft and displaying the information of the multi-rotor aircraft in real time. The third line-of-sight link device includes a third onboard data link and a third terrestrial data link. The third ground data link is used to transmit remote control data to the multi-rotor aircraft. The third onboard data link is used for transmitting the third correlation data to the ground.
Specifically, the third command and control equipment comprises a remote controller and a ground command and control station. Wherein, many rotor crafts are used when the stadia within range or unmanned aerial vehicle take off and land the flight attitude, speed, the mode of remote controller control aircraft and control camera realize zooming, function such as shoot, video recording.
The multi-rotor aircraft is responsible for the ground command and control station outside the sight distance or when the multi-rotor aircraft automatically flies. The ground command control station adopts an industrial PC computer as a main control core, and equipment such as a remote control ground end and a data transmission radio station are arranged in the ground command control station, so that the ground command control station has waterproof, dustproof and shockproof functions, realizes the functions of unmanned aerial vehicle remote control, data receiving and processing and the like, realizes the ground monitoring and operation of an unmanned aerial vehicle flight platform and task load, and has basic functions of flight monitoring, map navigation, air route planning, emergency planning, task playback, and the like.
In the invention, the third line-of-sight link has the remarkable characteristics of strong anti-environmental-interference capability, long transmission distance, high video definition, small delay, strong non-line-of-sight transmission capability and the like, and meets the real-time image transmission requirement of the unmanned aerial vehicle.
The third integrated guarantee platform subsystem comprises a third data preprocessing module. The third data preprocessing module is responsible for realizing remote control of the third sensor subsystem and preprocessing of the third related data, and mainly realizes receiving, collecting, sorting and simple displaying of ground end data and images.
In consideration of the composition of the third sensor subsystem, the third data preprocessing module comprises a third meteorological data ground acquisition and processing submodule, an atmospheric composition ground acquisition and processing submodule, an image preprocessing submodule matched with a visible light camera and a ground preprocessing submodule matched with a multiband micro black carbon instrument.
Meanwhile, the third integrated security platform subsystem further comprises a second accessory. The second accessory includes a charger and a service tool.
The data center is accessed to the airborne data of the unmanned aerial vehicle and comprises first relevant data after the pretreatment of the first data pretreatment module, second relevant data after the pretreatment of the second data pretreatment module, third relevant data after the pretreatment of the third data pretreatment module, and external data such as water conservancy, natural resources, environmental protection, traffic, population economy and the like, and data management is carried out.
Meanwhile, the data center can provide a model analysis component, a data service, a visualization component and the like, and provides applications of data resource management, model management, data processing and calculation, online evaluation analysis, thematic drawing and report output, evaluation result visualization analysis and the like for users.
The data center adopts an advanced data center technology as a support, and provides data support for upper-layer service application. Based on a database and a GIS technology, the unified data storage, management, application and service database which is constructed facing meteorological service application and information is a software and hardware facility for centralizing, integrating, sharing and analyzing a service system and data resources, and an organic combination of data, service application and the like.
The data center has the following functions:
(1) unmanned aerial vehicle data upload
The model of the sensor carried by the unmanned aerial vehicle is used for determining a data transmission protocol and an interface, and data are guaranteed to be synchronously exchanged and converged to a data center.
Remote sensing monitoring data achievement in the whole environment range of Shaanxi province is obtained based on an unmanned aerial vehicle, and the remote sensing monitoring data achievement comprises unmanned aerial vehicle remote sensing image data, thermal infrared data, multispectral data, hyperspectral data and the like.
The unmanned aerial vehicle remote sensing image data mainly comprises an oblique photography model; DSM; DOM; mapping the product; obtaining ground object classification; analysis of coating changes (quantity, quality) topical interpretation data and derivatives.
The thermal infrared data comprises a monoscopic thermal infrared temperature map and a thermal infrared image; splicing a large image by thermal infrared; a single pixel temperature value; thermal infrared images (corridors, ships, dykes; shoals, vegetation, etc.), thermal radiation imaging maps, etc.
The multispectral remote sensing data mainly comprises true color RGB images; each single band image, such as a red light image, a near infrared image; a false color CIR image; normalizing the vegetation index NDVI; and water quality inversion results, such as total phosphorus inversion results, ammonia nitrogen inversion results and Chemical Oxygen Demand (COD) inversion results.
The hyperspectral remote sensing image mainly comprises crop pest and disease damage results extracted based on a model algorithm; leaf area index of the crop; hyperspectral Vegetation Index (VIs); whole hyperspectral cube data; an image classification result graph based on different characteristic parameters and different classification algorithms; extracting a result from the image of the shadow area of the forest region; arable Soil Organic Matter (SOM); spectral features of the vegetation soil surface; a soil moisture value; and (4) calculating a result image by using models such as raw data grassland species classification and the like.
(2) Database construction
The unmanned aerial vehicle acquires achievement data in real time, the achievement data is synchronously exchanged to the data center through data, other data achievements are collected historically and comprise basic geography, basic geology and various detection special data, a data model and a data structure of the database are designed according to characteristics and types of the data, the data achievement is finished to be put in a warehouse, and unified management is carried out through a data management background.
1) Basic geographic data result warehousing
And basic geographic data results submitted by the meteorological bureau and all affiliated units are put into a warehouse, and the results comprise the results of boundary and administrative data, digital line drawing maps (DLG), Digital Elevation Models (DEM), Digital Orthographic Maps (DOM), oblique photography result data, place name address data, water system data, traffic data, landform landscape types, land utilization current situation survey data, house survey result data, area planning data, population distribution data and the like formed in regional surveying and mapping work.
2) Basic geological survey achievement warehousing
And warehousing the collected basic geological survey results, wherein the collected basic geological survey results comprise regional geological mapping data results with different scales formed in regional geological survey work, hydraulic engineering ring geological special topic survey data results, geological disaster monitoring, evaluating and treating data results and the like.
Regional geological mapping data results and corresponding thematic data results. The scale is divided into three scales of small, medium and large, and mainly comprises the following components: 1: 5 ten thousand geological map spatial data, 1: 25 million geological map spatial data, 1: 50 ten thousand of geological map spatial data, especially, each unit masters a large number of 1: 1 ten thousand, 1: 5 thousand, 1: 2 thousand, 1: 1 thousand of large scale data.
The result of the hydraulic engineering ring geological special topic survey mainly comprises: 1: 5 ten thousand hydrogeological survey data, 1: 25 million hydrogeological survey data, 1: 5 ten thousand key cities and economic development area water conservancy project ring geological survey map spatial data, 1: 50 thousands of results such as hydrogeological map space data, geological environment comprehensive survey data and the like.
The geological disaster monitoring, evaluating and treating achievements mainly comprise data achievements adopted by work such as geological disaster investigation, monitoring, evaluation and protection and related theoretical and technical research, emergency disposal and the like.
3) All detection special data storage
The test result data obtained based on the meteorological instrument comprises detection result data such as aerosol content, greenhouse gas content, precipitation value, wind direction angle, wind speed value, gas temperature value, humidity value and air pressure value.
(3) Data pre-processing
Online format conversion, coordinate conversion (e.g., unified conversion to CGCS2000 coordinates) is provided for data entering the data center.
1) Online format conversion
And a format conversion tool is provided online, conversion of different data formats is realized, the data formats are unified into a mainstream data format, data exchange and sharing are realized, and general editing of the data is supported. For example, wt,. wl,. wp in mapgis format may be converted to shp format supported by Arcgis.
2) Coordinate transformation
And providing a coordinate conversion tool, and realizing the conversion between coordinate systems through coordinate parameter setting, such as the conversion from Beijing 54 or Xian 80 to CGCS2000 coordinates.
3) Online display
In a data management module of the data center, a data online preview function is provided, target data can be displayed on a map, meanwhile, style editing can be carried out on the target data, and effects are rendered through attribute fields.
(4) Data management
The data entering the data center and the result data issued after analysis and calculation are managed, multi-source data such as basic data, remote sensing images, land resources, water resources, meteorology, vegetation indexes, air quality and natural disasters are uniformly managed, a data resource catalog is provided, data metadata information is provided, and online browsing, downloading and standard OGC service of the data are realized.
Therefore, in the unmanned aerial vehicle meteorological observation system, the first compound wing unmanned aerial vehicle meteorological observation subsystem and the second compound wing unmanned aerial vehicle meteorological observation subsystem can complement the multi-rotor unmanned aerial vehicle meteorological observation subsystem, so that mid-sole air image observation (temperature, humidity, air pressure, wind profile and the like), satellite product ground authenticity verification, disaster investigation (disaster imaging), ecological meteorological observation (ground surface image, ground surface temperature, vegetation index, ground object type, underlying surface image, temperature and the like), boundary layer meteorological and environment vertical observation, field meteorological emergency guarantee and the like are realized, and the requirements of meteorological observation are met.
The above examples of the present invention are merely examples for clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. Not all embodiments are exhaustive. All obvious changes and modifications which are obvious to the technical scheme of the invention are covered by the protection scope of the invention.
Claims (10)
1. An unmanned aerial vehicle meteorological observation system is characterized by comprising a first compound wing unmanned aerial vehicle meteorological observation subsystem, a second compound wing unmanned aerial vehicle meteorological observation subsystem, a multi-rotor unmanned aerial vehicle meteorological observation subsystem and a data center,
the first composite wing unmanned aerial vehicle meteorological observation subsystem collects first relevant data of low altitude in the height range of 4000-; the second composite wing unmanned aerial vehicle meteorological observation subsystem collects second relevant data of low altitude in the height range of 4000-; the multi-rotor unmanned aerial vehicle meteorological observation subsystem collects third relevant data with the height range of 3000-4000m low altitude, and transmits the third data to a third data preprocessing module on the ground; the data center comprehensively processes the data of the first data preprocessing module, the second data preprocessing module and the third data preprocessing module and then outputs an observation result;
the multi-rotor aircraft is provided with a recoil landing mechanism, and the recoil landing mechanism comprises a rectangular gas tank, an electromagnetic valve, a wind driven generator and a control circuit; the control circuit comprises a rectifier bridge stack A1, an electrolytic capacitor C1, an adjustable resistor RP, an NPN triode Q1, a relay K1 and a photoelectric switch A4, which are connected through a lead; the photoelectric switch A4 is independently vertically arranged on one side of the lower end of the gas tank, and the detection head of the photoelectric switch A4 faces downwards; the 3-pin anode of the power output end of the rectifier bridge stack A1 is connected with the anode of the electrolytic capacitor C1 and one end of the adjustable resistor RP; the other end of the adjustable resistor RP is connected with the base electrode of an NPN triode Q1; the collector of the NPN triode Q1 is connected with the negative power input end of the relay K1; the relay K1 controls the power supply input end to be connected with the positive power supply input end; the normally open contact end of the relay K1 is connected with the pin 1 at the positive power supply input end of the photoelectric switch A1; a pin 2 at the negative power input end of the photoelectric switch A1 is connected with the negative electrode of the electrolytic capacitor C1, the emitting electrode of the NPN triode Q1 and the negative electrode of the power output end of the rectifier bridge pile A1; two output ends of the wind driven generator are respectively connected with pins 1 and 2 of a rectifier bridge stack A1 of a signal input end of the control circuit through leads.
2. The UAV weather observation system of claim 1, wherein the first composite wing UAV weather observation subsystem comprises a first composite wing aircraft, a first sensor subsystem, a first command and control platform subsystem, and a first integrated support platform subsystem, the first sensor subsystem being mounted on the first composite wing aircraft for collecting first relevant data around the first composite wing aircraft during flight thereof, the first command and control platform subsystem comprising a first command and control device for remote control of the first composite wing aircraft and real-time display of information of the first composite wing aircraft, and a first line-of-sight link device comprising a first onboard data link and a first ground data link for transmission of remote control data to the first composite wing aircraft, the first onboard data link is used for transmitting the first relevant data to the ground, the first integrated support platform subsystem comprises a first data preprocessing module, and the first data preprocessing module is responsible for realizing remote control over the first sensor subsystem and preprocessing the first relevant data;
the second compound wing unmanned aerial vehicle meteorological observation subsystem comprises a second compound wing aircraft, a second sensor subsystem, a second commanding control platform subsystem and a second comprehensive guarantee platform subsystem, the second sensor subsystem is installed on the second compound wing aircraft and used for collecting second related data around the second compound wing aircraft in the flying process of the second compound wing aircraft, the second commanding control platform subsystem comprises a second commanding control device and a second sight distance link device, the second commanding control device is used for realizing remote control operation of the second compound wing aircraft and displaying information of the second compound wing aircraft in real time, the second sight distance link device comprises a second airborne data link and a second ground data link, and the second ground data link is used for transmitting remote control data to the second compound wing aircraft, the second airborne data link is used for transmitting the second related data to the ground, the second comprehensive guarantee platform subsystem comprises a second data preprocessing module, and the second data preprocessing module is responsible for realizing remote control over the second sensor subsystem and preprocessing the second related data;
the multi-rotor unmanned aerial vehicle meteorological observation subsystem comprises a multi-rotor aircraft, a third sensor subsystem, a third command control platform subsystem and a third comprehensive guarantee platform subsystem, wherein the third sensor subsystem is installed on the multi-rotor aircraft and used for collecting third relevant data around the multi-rotor aircraft in the flying process of the multi-rotor aircraft, the third command control platform subsystem comprises a third command control device and a third sight distance link device, the third command control device is used for realizing remote control operation of the multi-rotor aircraft and displaying information of the multi-rotor aircraft in real time, the third sight distance link device comprises a third airborne data link and a third ground data link, the third ground data link is used for transmitting remote control data to the multi-rotor aircraft, and the third airborne data link is used for transmitting the third relevant data to the ground, the third comprehensive guarantee platform subsystem comprises a third data preprocessing module, and the third data preprocessing module is responsible for realizing remote control of the third sensor subsystem and preprocessing of third related data.
3. The unmanned aerial vehicle meteorological observation system of claim 2, wherein the first sensor subsystem comprises a first airborne image sensor for collecting temperature, humidity, air pressure, wind direction and wind speed data around the first compound wing aircraft during flight thereof, an airborne hyperspectral imager for collecting image information and spectral information around the first compound wing aircraft during flight thereof to facilitate detection of forest physical characteristics with abundant spectral characteristics and study of spectral information of surface objects, an airborne bi-camera thermal infrared thermometry imager, and a tilt camera; the airborne double-shooting thermal infrared temperature measurement imager is used for acquiring data and images of places with temperature differences around the first compound wing aircraft in the flying process of the first compound wing aircraft, and the tilt camera is used for acquiring tilt photography images of 6 tilt angles around the first compound wing aircraft in the flying process of the first compound wing aircraft, so that a ground surface three-dimensional model is obtained.
4. The UAV meteorological observation system of claim 3, wherein the second sensor subsystem comprises a second airborne meteorological sensor for collecting temperature, humidity, air pressure, wind direction and wind speed data of the surroundings of the second composite wing aircraft during flight thereof, an airborne multispectral imager for collecting information radiated or reflected by the same target in different narrow spectral bands of the surroundings thereof during flight thereof to obtain image information of the different spectral bands of the target, and a visible light camera for collecting images of the surroundings of the second composite wing aircraft during flight thereof.
5. The unmanned aerial vehicle meteorological observation system of claim 4, wherein the third sensor subsystem comprises a third airborne meteorological sensor for collecting temperature, humidity, air pressure, wind direction and wind speed data around the multi-rotor aircraft during flight thereof, an airborne atmospheric composition sensor for collecting CO, SO2, NO2, O3, PM2.5 and PM10 particulate matter concentrations around the multi-rotor aircraft during flight thereof, a visible light camera for collecting live-action images around the multi-rotor aircraft during flight thereof, and a multi-band micro blackcarbon meter for collecting black carbon concentrations around the multi-rotor aircraft during flight thereof.
6. The unmanned aerial vehicle meteorological observation system of claim 5, wherein the first command and control device comprises a first portable ruggedized computer, a first flight operations box and a first security device, the first portable ruggedized computer is responsible for completing flight monitoring and mission planning of the first composite wing aircraft, the first flight operations box is used for taking-off and landing control by a flight operator through hand-held vision during a taking-off and landing phase of the first composite wing aircraft, and the first security device is used for supporting ground station operation, taking-off environment measurement and ground position location during flight of the first composite wing aircraft.
7. The unmanned aerial vehicle meteorological observation system of claim 6, wherein the second command control device comprises a second portable ruggedized computer, a second flight operations box and a second security device, the second portable ruggedized computer is responsible for completing flight monitoring and mission planning of the second composite wing aircraft, the second flight operations box is used for taking-off and landing control by a flight operator through hand-held vision during a taking-off and landing phase of the second composite wing aircraft, and the second security device is used for supporting ground station operation, taking-off environment measurement and ground position location during flight of the second composite wing aircraft.
8. The unmanned meteorological observation system of claim 7, wherein the third command and control device comprises a remote controller and a ground command and control station, the multi-rotor aircraft is controlled by the remote controller in its attitude, speed, mode during the range of line of sight or during take-off and landing, and is controlled by the ground command and control station in its attitude, speed, mode during the range of line of sight or during free flight.
9. The unmanned aerial vehicle meteorological observation system of any one of claims 2-8, wherein the multi-rotor aircraft comprises an aircraft body, a recoil landing mechanism, a water sample collection control mechanism and a wireless receiving circuit; the water sample collection control mechanism comprises a prompt circuit and a probe, the signal output end of the wind driven generator is electrically connected with the signal input end of the control circuit, and the power output end of the control circuit is electrically connected with the power input end of the electromagnetic valve; the probe is electrically connected with the signal input end of the prompting circuit.
10. The unmanned aerial vehicle meteorological observation system of claim 9, wherein the solenoid valve of the recoil landing mechanism is a normally closed spool solenoid valve, and compressed air is added to the air tank.
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