CN113092813A - System and method for detecting self-adaptive wind speed and wind direction under parachute landing situation - Google Patents

System and method for detecting self-adaptive wind speed and wind direction under parachute landing situation Download PDF

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CN113092813A
CN113092813A CN202110276181.0A CN202110276181A CN113092813A CN 113092813 A CN113092813 A CN 113092813A CN 202110276181 A CN202110276181 A CN 202110276181A CN 113092813 A CN113092813 A CN 113092813A
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wind speed
wind
speed value
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vector
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CN113092813B (en
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刘巍
姚敏
赵敏
郭瑞鹏
罗广东
高超宇
吕港
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
    • G01P5/24—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft by measuring the direct influence of the streaming fluid on the properties of a detecting acoustical wave
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P13/00—Indicating or recording presence, absence, or direction, of movement
    • G01P13/02—Indicating direction only, e.g. by weather vane
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/393—Trajectory determination or predictive tracking, e.g. Kalman filtering

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Abstract

The invention discloses a system and a method for detecting self-adaptive wind speed and direction in a parafoil airborne situation. The method comprises the following steps: carrying out zero point online calibration by utilizing an ultrasonic anemometer and a rotatable wearing platform; carrying out main wind direction calibration on the ultrasonic anemometer; the wind speed transient phenomenon is regarded as the action of turbulent wind, and the turbulent wind field information is calculated according to GPS information acquired by a GPS antenna. The invention improves the accuracy of wind speed and wind direction detection.

Description

System and method for detecting self-adaptive wind speed and wind direction under parachute landing situation
Technical Field
The invention belongs to the field of parafoil airborne landing, and particularly relates to a wind speed and direction detection system and method.
Background
Under the situation of parachute landing, the wind speed and the wind direction have great influence on the flight state of the parafoil, so that the accurate acquisition of the wind speed and the wind direction of the parafoil airdrop landing area is particularly important. When the ultrasonic anemoscope is used for measuring wind speed and direction, the anemoscope is easily influenced by zero drift, water mist ice, main wind direction, effective range of measuring range and turbulent wind, and accurate wind field data are difficult to acquire.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention provides a system and a method for detecting self-adaptive wind speed and wind direction in an parachute landing situation.
In order to achieve the technical purpose, the technical scheme of the invention is as follows:
the utility model provides a self-adaptation wind speed and direction detecting system under parafoil airborne situation, includes paratrook helmet, ultrasonic wave anemoscope, rotatable formula wearing platform, GPS antenna and information processing module, ultrasonic wave anemoscope, rotatable formula wearing platform, GPS antenna are connected with information processing module through the serial ports respectively, the ultrasonic wave anemoscope is installed on the paratrook helmet through rotatable formula wearing platform, the ultrasonic wave anemoscope includes first group's transducer probe and second group's transducer probe, first group's transducer probe is including the first transmitting transducer and the first receiving transducer of constituteing first dimension measuring channel, the transducer probe is received including the second transmitting transducer and the second receiving transducer of constituteing second dimension measuring channel to the second group, first dimension measuring channel and second dimension measuring channel mutually perpendicular.
Furthermore, the forehead of the paratrooper helmet is provided with a groove for installing the GPS antenna, the GPS antenna is a square antenna, and four corners of the square antenna are fixed in the groove through screws.
Furthermore, the information processing module is installed at the tail of the paratrooper helmet, a micro battery is arranged in the information processing module, an operating button is arranged on the shell of the information processing module and used for achieving starting and stopping of the system, the information processing module is provided with an SD clamping groove, an SD card is arranged in the SD clamping groove, and data of the information processing module are stored through the SD card.
A self-adaptive wind speed and direction detection method under a parafoil airborne situation comprises the following steps:
(1) carrying out zero point online calibration by utilizing an ultrasonic anemometer and a rotatable wearing platform;
(2) carrying out main wind direction calibration on the ultrasonic anemometer;
(3) the wind speed transient phenomenon is regarded as the action of turbulent wind, and the turbulent wind field information is calculated according to GPS information acquired by a GPS antenna.
Further, the specific process of step (1) is as follows:
(1a) respectively measuring to obtain wind speed values V in the first dimension measuring channel and the second dimension measuring channel01And V02And will V01And V02Calculating to obtain a wind speed value V of the current surrounding environment in a vector addition mode00；
(1b) The vector direction of one of the first dimension measuring channel and the second dimension measuring channel is adjusted by rotating the rotatable wearing platform to be parallel to the vector direction of the current wind direction, so that the wind speed value V of the measuring channel vertical to the vector direction of the current wind direction is measured and stored for the first time11And a wind speed value V in the measurement channel parallel to the current wind direction vector direction12；
(1c) The rotatable wearing platform is rotated for the second time, the measuring channel vertical to the vector direction of the current wind direction is adjusted to the vector direction parallel to the vector direction of the current wind direction, and therefore the wind speed value V of the measuring channel vertical to the vector direction of the current wind direction is measured and stored for the second time21And the wind speed value V of the measurement channel parallel to the current wind direction vector direction22(ii) a Rotating the rotatable wearing platform for the third time to enable the first-dimension measuring channel and the second-dimension measuring channel to return to the initial vector direction;
(1d) the information processing module converts the wind speed value V into a wind speed value V12Wind speed value V22Respectively corresponding to the wind speed value V00Comparing if the wind speed value V12Wind speed value V22Respectively corresponding to the wind speed value V00When the difference rate is not greater than the set value A, the current wind speed and the wind direction of the surrounding environment are not obviously changed in the first measurement and the second measurement, the wind speed in the vector direction perpendicular to the current wind direction is considered to be zero, and the wind speed value V is considered to be a wind speed value11And the wind speed value V21Respectively serving as zero values of the corresponding measurement channels, updating and storing the zero values in the information processing module; if the wind speed value V is12And/or wind speed value V22With wind speed value V00If the difference rate of (2) exceeds A, the current wind speed and wind direction of the surrounding environment have changed significantly in the first measurement or the second measurement, and the wind speed in the vector direction perpendicular to the current wind direction cannot be considered as zero, so that the steps (1a) to (1c) need to be repeated until the wind speed value V is reached12Wind speed value V22Respectively corresponding to the wind speed value V00Until the difference rate of (2) is not greater than (A), and determining a zero value.
Further, the set value a was taken to be 3%.
Further, the specific process of step (2) is as follows:
the method comprises the steps of firstly estimating the main wind direction of a measurement area, then adjusting the direction of the ultrasonic anemoscope through the rotatable wearable platform, and adjusting the middle value of the measuring range of the ultrasonic anemoscope to the main wind direction, so that the transient of a wind direction angle is reduced.
Further, the method for estimating the prevailing wind direction in the measurement area is to detect the prevailing wind direction on the ground of the measurement area by means of an anemometer.
Further, the specific process of step (3) is as follows:
(3a) the original point of the inertial coordinate system and the original point position of the wind coordinate system are coincided at the calibration original point of the ultrasonic anemometer, and the three-axis direction of the inertial coordinate system is parallel to the three-axis direction of the geodetic coordinate system;
(3b) measuring the average wind x-axis component and y-axis component V under a wind coordinate system by an ultrasonic anemometerf,X、Vf,YConverting into average wind x and y axis components V under inertial coordinate systemc,x、Vc,y；
(3c) The GPS information is collected by a GPS antenna,to obtain airspeed V0And the speed of the x, y-axis component of the parafoil system at time period i
Figure BDA0002976731030000031
Calculating the x-axis component V and the y-axis component V of turbulent wind according to the following formulat,x、Vt,y：
Figure BDA0002976731030000032
Figure BDA0002976731030000033
In the above formula, #iIndicating the yaw angle of the parafoil system for the ith time period.
Adopt the beneficial effect that above-mentioned technical scheme brought:
the invention solves the problem that the ultrasonic anemometer is easily influenced by zero drift, water mist ice, main wind direction, effective range of measuring range and turbulent wind when measuring the wind speed and the wind direction, and simultaneously provides a method for accurately acquiring wind field data. The invention provides important reference for the control in the process of the air-drop homing of the parafoil and the completion of actions such as windward alignment, sparrow landing and the like in the final landing stage.
Drawings
FIG. 1 is a schematic diagram of the system architecture of the present invention; description of reference numerals: 1. an ultrasonic anemometer; 2. a rotatable wearable platform; 3. a GPS antenna; 4. an information processing module;
FIG. 2 is a schematic diagram of a first zero calibration step in the present invention;
FIG. 3 is a schematic diagram of a second zero calibration step in the present invention;
FIG. 4 is a schematic diagram of a third zero calibration step in the present invention;
FIG. 5 is a wind chart of an airborne experiment;
FIG. 6 is a parafoil coordinate system diagram;
FIG. 7 is a schematic view of laminar flow;
FIG. 8 is a schematic view of turbulence;
FIG. 9 is a graph of airborne experimental wind speed;
fig. 10 is an exploded view of the velocity vector of the present invention.
Detailed Description
The technical scheme of the invention is explained in detail in the following with the accompanying drawings.
The invention designs a self-adaptive wind speed and direction detection system under a parafoil airborne situation, which comprises an parachute helmet, an ultrasonic anemometer, a rotatable wearing platform, a GPS antenna and an information processing module as shown in figure 1, the ultrasonic anemoscope, the rotatable wearing platform and the GPS antenna are respectively connected with the information processing module through serial ports, the ultrasonic anemoscope is arranged on the paratrooper helmet through a rotatable wearing platform and comprises a first group of transducer probes and a second group of transducer probes, the first set of transducer probes comprises a first transmitting transducer and a first receiving transducer constituting a first dimension measurement channel, the second group of transducer probes comprises a second transmitting transducer and a second receiving transducer which form a second dimension measuring channel, and the first dimension measuring channel and the second dimension measuring channel are vertical to each other. And the ultrasonic anemograph is provided with a navigation attitude sensor.
In this embodiment, preferably, the forehead of the paratrooper helmet is provided with a groove for installing the GPS antenna, the GPS antenna is a square antenna, and four corners of the square antenna are fixed in the groove by screws. The information processing module is arranged at the tail part of the paratrooper helmet, a micro battery is arranged in the information processing module, an operating button is arranged on the shell of the information processing module and used for realizing the on-off of the system, the information processing module is provided with an SD clamping groove, an SD card is arranged in the SD clamping groove, and the data of the information processing module is stored through the SD card.
The invention also provides a self-adaptive wind speed and direction detection method under the parachute landing situation.
One, zero point on-line self calibration
Plane wind speed component V of wind fieldW,XAnd VW,YIt is established by mean wind plus turbulent wind or gusts.
Figure BDA0002976731030000051
Wherein Vc,xIs the x-axis component of the mean wind, Vc,yIs the y-component of the mean wind; vt,xIs the x-axis component, V, of the turbulent windt,yIs the y-axis component of the turbulent wind. X, y components V of the mean windc,xAnd Vc,yCan be measured by an ultrasonic anemometer, but in actual measurement, the x and y axis components V of turbulent windt,xAnd Vt,yThe measurement is difficult, and turbulent wind can bring errors to the detection of the anemometer, and wind speed transient phenomenon is generated.
Firstly, before airborne measurement is carried out, equipment is started, and zero point online self-calibration is carried out on the basis of a rotatable wearable platform.
The method comprises the following steps: as shown in fig. 2, wind speed values V in the first dimension measurement channel and the second dimension measurement channel are measured and obtained respectively01And V02And will V01And V02Calculating to obtain a wind speed value V of the current surrounding environment in a vector addition mode00。
Step two: as shown in fig. 3, according to the measurement result of the current vector wind direction, the rotatable wearing platform is rotated for the first time by the stepping motor, the vector direction of one of the first dimension measurement channel and the second dimension measurement channel is adjusted to be parallel to the vector direction of the current wind direction, and thus the wind speed value V of the measurement channel perpendicular to the vector direction of the current wind direction is measured and stored for the first time respectively11And a wind speed value V in the measurement channel parallel to the current wind direction vector direction12。
Step three: as shown in fig. 4, the measuring channel perpendicular to the vector direction of the current wind direction is adjusted to the vector direction parallel to the vector direction of the current wind direction by the second rotation, so that the wind speed value V of the measuring channel perpendicular to the vector direction of the current wind direction is measured and stored for the second time21And a wind speed value V in the measurement channel parallel to the current wind direction vector direction22. Through the third rotation, the first dimension measuring channel and the second dimension measuring channel of the ultrasonic anemometerThe dimension measurement channel reverts to the original vector direction.
Step four: the information processing module converts the wind speed value V into a wind speed value V12Wind speed value V22Respectively corresponding to the current wind speed value V00Making a comparison if the wind speed value V12Wind speed value V22Respectively corresponding to the current wind speed value V00The difference rate of the wind speed and the wind direction is not more than 3%, which indicates that the current wind speed and the wind direction of the surrounding environment do not change significantly during the first measurement and the second measurement, and at this time, the wind speed in the vector direction perpendicular to the current wind direction can be considered as zero. Thus, the wind speed value V can be adjusted11And the wind speed value V21And respectively as the zero values of the corresponding measuring channels, and updating and storing the zero values in the controller. If the wind speed V is12At the current wind speed V00And the wind speed V22At the current wind speed V00If one or two of the difference rates exceeds 3%, it indicates that the current wind speed and wind direction of the surrounding environment have changed significantly at the first measurement or the second measurement. The wind speed in the vector direction perpendicular to the current wind direction may not be considered zero at this time. At the moment, the steps from the first step to the third step need to be repeated until the wind speed value V is reached12Wind speed value V22Respectively corresponding to the current wind speed value V00Until the difference rate of (2) is not more than 3%, and determining a zero point value.
Second, main wind direction calibration
The wind direction angle range of the known two-dimensional ultrasonic anemometer is [0 degrees, 360 degrees ], when a wind direction signal is measured, when the wind direction angle is increased to 360 degrees, then the wind direction angle is upward, and due to the limitation of the range, the output of the sensor can only jump to 0 degree for value. For example, the wind direction angle at a certain time is 350 °, the next adjacent time should be 370 °, the angle change amount is only 20 ° in the polar coordinate system, the 370 ° exceeds the range of the ultrasonic anemometer, and the angle obtained by the ultrasonic anemometer at the next time is 10 °, so that the angle change amount is no longer 20 °, but is-340 °. So if the wind direction angle is always near the extreme value, large fluctuations in wind direction angle will persist. Fig. 5 is a wind direction measurement data diagram of an airdrop experiment. In fig. 5, the wind direction angle jumps around the extreme values 360 ° and 0 °, and the wind direction angle transient phenomenon is more.
The prevailing wind direction of the measurement area is estimated first. Two estimation modes are provided, wherein the first mode is that a balloon provided with a GPS device is released in a measurement area, and the prevailing wind direction of the measurement area is estimated according to the track of the balloon; the second is to detect the prevailing wind direction directly on the ground of the measurement area by means of an anemometer. The first mode has higher precision, the second mode is simpler and more convenient, the measuring speed is higher, and the wind can not generate excessive change in a short time. In this embodiment, the main wind direction of the measurement area is estimated by the second way, and then the direction of the anemometer is adjusted by the rotatable wearable platform, and the anemometer range middle value (i.e. 180 °) is adjusted to the main wind direction, so as to avoid the transient of the wind direction angle.
Third, detection of turbulent wind in wind speed component
As shown in fig. 6, an inertial coordinate system odxdydzdOrigin odAnd the wind coordinate system ofxfyfzfOrigin ofThe position is coincided with the calibration origin of the anemometer, and the directions of the other three axes of the inertial coordinate system are parallel to the directions of the three axes of the geodetic coordinate system.
The transformation between the inertial coordinate system and the wind coordinate system needs to be determined by the three-axis Euler angles of the attitude of the parachute-animal system, wherein the Euler angles comprise a yaw angle psi, a pitch angle theta and a roll angle phi and can be measured by a navigation attitude sensor.
Vd＝VfBf-d (2)
Wherein VdXYZ axes velocity matrix for inertial coordinate system:
Figure BDA0002976731030000071
wherein VfIs an XYZ-axis velocity matrix of a wind coordinate system,
Figure BDA0002976731030000072
wind coordinate system transformationTransformation matrix B being an inertial coordinate systemf-dComprises the following steps:
Figure BDA0002976731030000081
after the coordinate system is converted, wind speed and wind direction information can be more conveniently solved.
The wind passing through the measurement zone of the ultrasonic anemometer should be kept as laminar as possible, as shown in fig. 7. When turbulence is encountered, as shown in fig. 8, the measured values will be subject to error. In order to reduce errors caused by turbulent wind during airborne landing, a GPS system is introduced for calibration.
Plane wind speed component V of wind fieldW,XAnd VW,YIt is established by mean wind plus turbulent wind or gust, as in equation (1). The average wind x, y axis component V under the wind coordinate systemf,XVf,YMeasured by an ultrasonic anemometer, the average wind x-axis component and the y-axis component are converted into an average wind V under an inertial coordinate system through a conversion matrix of a formula (5)c,x，Vc,yAnd then substituted into the following formula of an inertial coordinate system for calculation. X, y components V of turbulent windt,xAnd Vt,yIt is difficult to measure and turbulent wind can cause errors in the detection of the anemometer, producing wind speed transients, as shown in fig. 9. The wind speed transient phenomenon is regarded as the action of turbulent wind, and the turbulent wind field information can be analyzed by introducing the GPS information of the parafoil system.
The velocity profile of the parafoil system during flight is plotted as an exploded view of the velocity vector, as shown in figure 10.
In FIG. 10,. psi.0Representing the velocity, i.e. airspeed, of the parafoil system relative to the air, V, assuming it is constantWRepresenting the wind speed, V representing the velocity of the parafoil system relative to the ground, i.e. the ground speed, it can be easily seen from the vector diagram that the ground speed vector is equal to the vector sum of the wind speed vector, the wind field and the airspeed vector, which is called a velocity vector triangle, and a method for identifying the wind field information only by means of the parafoil system position information is described below. The parachute rope of the parafoil is arranged to be pulled down at one side, the pulling-down amplitude is kept constant, and the parafoil system is in a turning flight state, whereinIn the case where the airspeed and the wind speed are not changed, equations (2) and (3) are derived from the vector relationship.
Figure BDA0002976731030000082
Figure BDA0002976731030000083
Wherein x and y represent north-south and east-west axes, respectively;
Figure BDA0002976731030000091
and
Figure BDA0002976731030000092
the speed components in the x direction and the y direction of the parafoil system in the ith time period are respectively represented and can be calculated by the position sampling information of the satellite positioning system; psiiRepresenting the yaw angle of the parafoil system in the ith time period; vW,XAnd VW,YRepresenting the plane wind speed component.
When formula (1) is substituted for formula (6), formula (8):
Figure BDA0002976731030000093
measuring yaw angle psi by attitude sensoriV is measured by an anemometerc,xAnd Vc,y. The x and y axis components V of the turbulent wind can be solved by the joint type (7) and (8)t,xAnd Vt,y。
The embodiments are only for illustrating the technical idea of the present invention, and the technical idea of the present invention is not limited thereto, and any modifications made on the basis of the technical scheme according to the technical idea of the present invention fall within the scope of the present invention.

Claims (9)

1. A self-adaptation wind speed and direction detecting system under parafoil airborne situation is characterized in that: including paratrooper helmet, ultrasonic wave anemoscope, rotatable formula wearing platform, GPS antenna and information processing module, ultrasonic wave anemoscope, rotatable formula wearing platform, GPS antenna are connected with information processing module through the serial ports respectively, the ultrasonic wave anemoscope is installed on paratrooper helmet through rotatable formula wearing platform, the ultrasonic wave anemoscope includes first group transducer probe and second group transducer probe, first group transducer probe is including the first transmitting transducer and the first receiving transducer of constituteing first dimension measuring channel, second group transducer probe is including the second transmitting transducer and the second receiving transducer of constituteing second dimension measuring channel, first dimension measuring channel and second dimension measuring channel mutually perpendicular.
2. The system for detecting the self-adaptive wind speed and direction under the parachute landing situation of claim 1, wherein: the forehead of the paratrooper helmet is provided with a groove for installing the GPS antenna, the GPS antenna is a square antenna, and four corners of the square antenna are fixed in the groove through screws.
3. The system for detecting the self-adaptive wind speed and direction under the parachute landing situation of claim 1, wherein: the information processing module is arranged at the tail part of the paratrooper helmet, a micro battery is arranged in the information processing module, an operating button is arranged on the shell of the information processing module and used for realizing the on-off of the system, the information processing module is provided with an SD clamping groove, an SD card is arranged in the SD clamping groove, and the data of the information processing module is stored through the SD card.
4. A self-adaptive wind speed and direction detection method under a parafoil airborne situation is characterized by comprising the following steps:
(1) carrying out zero point online calibration by utilizing an ultrasonic anemometer and a rotatable wearing platform;
(2) carrying out main wind direction calibration on the ultrasonic anemometer;
(3) the wind speed transient phenomenon is regarded as the action of turbulent wind, and the turbulent wind field information is calculated according to GPS information acquired by a GPS antenna.
5. The method for detecting self-adaptive wind speed and wind direction under the parachute landing situation of claim 4, wherein the specific process of the step (1) is as follows:
(1a) respectively measuring to obtain wind speed values V in the first dimension measuring channel and the second dimension measuring channel01And V02And will V01And V02Calculating to obtain a wind speed value V of the current surrounding environment in a vector addition mode00；
(1b) The vector direction of one of the first dimension measuring channel and the second dimension measuring channel is adjusted by rotating the rotatable wearing platform to be parallel to the vector direction of the current wind direction, so that the wind speed value V of the measuring channel vertical to the vector direction of the current wind direction is measured and stored for the first time11And a wind speed value V in the measurement channel parallel to the current wind direction vector direction12；
(1c) The rotatable wearing platform is rotated for the second time, the measuring channel vertical to the vector direction of the current wind direction is adjusted to the vector direction parallel to the vector direction of the current wind direction, and therefore the wind speed value V of the measuring channel vertical to the vector direction of the current wind direction is measured and stored for the second time21And the wind speed value V of the measurement channel parallel to the current wind direction vector direction22(ii) a Rotating the rotatable wearing platform for the third time to enable the first-dimension measuring channel and the second-dimension measuring channel to return to the initial vector direction;
(1d) the information processing module converts the wind speed value V into a wind speed value V12Wind speed value V22Respectively corresponding to the wind speed value V00Comparing if the wind speed value V12Wind speed value V22Respectively corresponding to the wind speed value V00When the difference rate is not greater than the set value A, the current wind speed and the wind direction of the surrounding environment are not obviously changed in the first measurement and the second measurement, the wind speed in the vector direction perpendicular to the current wind direction is considered to be zero, and the wind speed value V is considered to be a wind speed value11And the wind speed value V21Respectively serving as zero values of the corresponding measurement channels, updating and storing the zero values in the information processing module; if the wind speed value V is12And/or wind speed value V22With wind speed value V00If the difference rate of (2) exceeds A, the current wind speed and wind direction of the surrounding environment have changed significantly in the first measurement or the second measurement, and the wind speed in the vector direction perpendicular to the current wind direction cannot be considered as zero, so that the steps (1a) to (1c) need to be repeated until the wind speed value V is reached12Wind speed value V22Respectively corresponding to the wind speed value V00Until the difference rate of (2) is not greater than (A), and determining a zero value.
6. The method for detecting self-adaptive wind speed and direction under the parachute landing situation of claim 5, wherein the method comprises the following steps: the set value A is taken as 3 percent.
7. The method for detecting self-adaptive wind speed and wind direction under the parachute landing situation of claim 4, wherein the specific process of the step (2) is as follows:
the method comprises the steps of firstly estimating the main wind direction of a measurement area, then adjusting the direction of the ultrasonic anemoscope through the rotatable wearable platform, and adjusting the middle value of the measuring range of the ultrasonic anemoscope to the main wind direction, so that the transient of a wind direction angle is reduced.
8. The method for detecting the self-adaptive wind speed and direction under the parachute landing situation of claim 7, wherein the method for estimating the prevailing wind direction in the measurement area is to detect the prevailing wind direction on the ground of the measurement area through an anemometer.
9. The method for detecting self-adaptive wind speed and direction under the parachute landing situation of claim 4, wherein the specific process of the step (3) is as follows:
(3a) the original point of the inertial coordinate system and the original point position of the wind coordinate system are coincided at the calibration original point of the ultrasonic anemometer, and the three-axis direction of the inertial coordinate system is parallel to the three-axis direction of the geodetic coordinate system;
(3b) measuring the average wind x-axis component and y-axis component V under a wind coordinate system by an ultrasonic anemometerf,X、Vf,YConverting into average wind x and y axis components V under inertial coordinate systemc,x、Vc,y；
(3c) GPS information is collected through a GPS antenna to obtain airspeed V0And the speed of the x, y-axis component of the parafoil system at time period i
Figure FDA0002976731020000031
Calculating the x-axis component V and the y-axis component V of turbulent wind according to the following formulat,x、Vt,y：
Figure FDA0002976731020000032
Figure FDA0002976731020000033
In the above formula, #iIndicating the yaw angle of the parafoil system for the ith time period.
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