CN116106840B - Unmanned carrier-based aircraft radar measurement error determination method, device, equipment and medium - Google Patents
Unmanned carrier-based aircraft radar measurement error determination method, device, equipment and medium Download PDFInfo
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- 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
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Abstract
The invention discloses a method, a device, equipment and a medium for determining radar measurement errors of an unmanned carrier-based aircraft, wherein the method comprises the steps of obtaining flight data, environment data and radar measurement data in the landing process of the unmanned carrier-based aircraft in a marine environment; calculating the wind speed and the wind speed variation of the ship wake on each component according to the flight data and the environment data; according to the wind speed and the wind speed variation, coupling wind speed data of the ship wake flow on each component; according to the wind speed data, calculating influence data of ship wake flow on the pose of the unmanned carrier-based aircraft; calculating radar measurement errors of the unmanned carrier-based aircraft according to the influence data and the radar measurement data; the invention can solve the technical problem of low navigation and positioning accuracy when unmanned carrier-borne aircraft automatically landing in a complex marine environment.
Description
Technical Field
The invention relates to a method, a device, equipment and a medium for determining radar measurement errors of an unmanned carrier-based aircraft, and belongs to the technical field of carrier-based aircraft.
Background
In recent years, airborne radar target tracking, pose estimation, and the like have become research hotspots in the field of radar signal processing. The method brings difficulty and challenges to effective measurement of the airborne radar under the background of complex interference such as ocean atmosphere, ship wake and the like. The airborne radar is generally installed on a machine head or a machine body, and detects a target by emitting radio waves to obtain information such as a distance from the target to an electromagnetic wave emitting point, a distance change rate (radial speed), an azimuth, an altitude and the like, thereby obtaining an accurate position of the target. In the landing process of the UAV in a complex marine environment under the influence of the tail flow, the measurement accuracy of the radar plays a vital role in whether the carrier-borne can safely landing. Therefore, research on the influence of ship wake on unmanned aerial vehicle measurement accuracy is an important basic guarantee for improving radar measurement accuracy.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a method, a device, equipment and a medium for determining the radar measurement error of an unmanned carrier-borne aircraft, which can accurately calculate the radar measurement error of the unmanned carrier-borne aircraft under the influence of a ship wake, thereby improving the radar measurement accuracy.
In order to achieve the above purpose, the invention is realized by adopting the following technical scheme:
in a first aspect, the invention provides a method for determining a radar measurement error of an unmanned carrier-borne aircraft, comprising the following steps:
acquiring flight data, environment data and radar measurement data in the landing process of an unmanned carrier-borne aircraft in a marine environment;
calculating the wind speed and the wind speed variation of the ship wake on each component according to the flight data and the environment data;
according to the wind speed and the wind speed variation, coupling wind speed data of the ship wake flow on each component;
according to the wind speed data, calculating influence data of ship wake flow on the pose of the unmanned carrier-based aircraft;
calculating radar measurement errors of the unmanned carrier-based aircraft according to the influence data and the radar measurement data;
wherein the components include an atmospheric turbulence component, a random component, a periodic component, and a steady state component.
Optionally, the flight data includes: initial speed of unmanned carrier-based aircraftUnmanned carrier-based aircraft at moment +.>Speed variation of>Glide angle->Unmanned carrier-based aircraft at moment +.>Pitch angle of->Course angle->Roll angle->；
The environmental data includes: atmospheric turbulence scale in horizontal, transverse and vertical directionsAnd atmospheric turbulence intensity->Deck wind speed->Ship running speed->Ship pitching amplitude->Ship pitching frequency；
The radar measurement data includes: unmanned carrier-based aircraft is at momentRadar range, pitch angle, azimuth angle measurements +.>Unmanned carrier-based aircraft is at moment +.>Radar position coordinate measurement of (2)>。
Optionally, the wind speed on the atmospheric turbulence component is:
；
in the method, in the process of the invention,for time->A wind speed in a horizontal direction above the atmospheric turbulence component,for time->Wind speed in transverse direction on the atmospheric turbulence component, < ->For the moment of timeWind speed in vertical direction on the atmospheric turbulence component, < ->For presetting demarcation point, < >>For time->White gaussian noise>Is a preset constant;
the wind speed on the steady state component is:
；
；
in the method, in the process of the invention,respectively is time->Wind speed in horizontal, vertical and transverse directions on the steady-state component of (2);For time->The horizontal distance of the unmanned carrier-based aircraft from the ship pitching center,，the total landing time;
the wind speed on the periodic component is:
；
；
in the method, in the process of the invention,respectively is time->Wind speed in horizontal, vertical, transverse direction, +.>For random phase +.>Is the instant moment;
the wind speed on the random component is:
；
in the method, in the process of the invention,wind speeds in the horizontal direction, the transverse direction and the vertical direction on the random component respectively;Is->And->Root mean square of>Is->The time constant of (2) is within the range +.>，Is Gaussian white noise, s is complex frequency.
Optionally, the wind speed variation on the atmospheric turbulence component is:
；
in the method, in the process of the invention,respectively is time->The wind speed variation in the horizontal direction, the transverse direction and the vertical direction on the atmospheric turbulence component;Expression +.f for horizontal direction, lateral direction and vertical direction of variation of wind speed of turbulent air flow of atmosphere respectively>，Expressions of the variation of the wind speed of the turbulent air of the atmosphere in the horizontal direction, the horizontal direction and the vertical direction, respectively,/->The method comprises the steps of carrying out a first treatment on the surface of the Wherein:
；
in the method, in the process of the invention,for the sampling period +.>Is Gaussian white noise;
the amount of wind change on the steady-state component is:
；
；
；
in the method, in the process of the invention,respectively is time->The wind speed variation in the horizontal direction, the transverse direction and the vertical direction on the steady-state component;
the wind speed variation over the periodic component is:
；
；
in the method, in the process of the invention,respectively is time->Wind speed variation in horizontal, transverse and vertical directions in periodic component between +.>Is->Is a horizontal component of (2);
the wind speed variation on the random component is:
；
；
in the method, in the process of the invention,respectively is time->The wind speed variation in the horizontal direction, the transverse direction and the vertical direction on the random component.
Optionally, the coupling the wind speed data of the ship wake on each component according to the wind speed and the wind speed variation comprises:
；
in the method, in the process of the invention,respectively is time->First->Wind speed data in horizontal direction, transverse direction and vertical direction on each component;And is an atmospheric turbulence component;And is a steady-state component;And is a periodic component;And is a random component.
Optionally, the influence data of the pose of the unmanned carrier-based aircraft are:
；
in the method, in the process of the invention,the displacement variation amounts of the unmanned carrier-based aircraft in the z-axis direction, the y-axis direction and the x-axis direction are respectively +.>For the transfer matrix of the accessory coordinate system to the inertial coordinate system,>for time->Velocity components of the unmanned carrier-based aircraft in the y-axis direction and in the x-axis direction of the inertial coordinate system, +.>For time->Pitch angle, course angle and roll angle variation of unmanned carrier-borne aircraft.
Optionally, the radar measurement error of the unmanned carrier-borne aircraft is:
；
；
；
in the method, in the process of the invention,for time->Radar distance measurement error of unmanned carrier-borne aircraft,/->Is the actual value of the measured target position coordinates;Any angle through which a radar azimuth axis and a pitching axis rotate is set;Distance from center of unmanned carrier-based aircraft to radar antenna, < ->The distance from the center of the unmanned carrier-based aircraft to the measured target is set;For time->Radar azimuth angle measurement error of unmanned carrier-borne aircraft, < ->For time->And measuring an error of a radar pitch angle of the unmanned carrier-borne aircraft.
In a second aspect, the present invention provides an unmanned ship-based aircraft radar measurement error determining apparatus, the apparatus comprising:
the data acquisition module is used for acquiring flight data, environment data and radar measurement data in the landing process of the unmanned carrier-borne aircraft in the marine environment;
the wind speed calculation module is used for calculating the wind speed and the wind speed variation of the ship wake on each component according to the flight data and the environmental data; the components include an atmospheric turbulence component, a random component, a periodic component, and a steady state component;
the wind speed determining module is used for coupling wind speed data of the ship wake on each component according to the wind speed and the wind speed variation;
the influence calculation module is used for calculating influence data of ship wake flow on the pose of the unmanned ship-based aircraft according to the wind speed data;
and the error calculation module is used for calculating the radar measurement error of the unmanned carrier-based aircraft according to the influence data and the radar measurement data.
In a third aspect, the present invention provides an electronic device, including a processor and a storage medium;
the storage medium is used for storing instructions;
the processor is operative according to the instructions to perform steps according to the method described above.
In a fourth aspect, the present invention provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the above method.
Compared with the prior art, the invention has the beneficial effects that:
the method, the device, the equipment and the medium for determining the measurement error of the unmanned carrier-based aircraft radar can consider the influence of the ship wake on the measurement reference of the unmanned carrier-based aircraft radar, and solve the technical problem of low navigation positioning accuracy when the unmanned carrier-based aircraft (UCA) automatically lands on the ship in a complex marine environment.
Drawings
Fig. 1 is a flowchart of a method for determining a radar measurement error of an unmanned carrier-based aircraft according to an embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
Example 1
As shown in fig. 1, the invention provides a method for determining the radar measurement error of an unmanned carrier-borne aircraft, which comprises the following steps:
1. acquiring flight data, environment data and radar measurement data in the landing process of an unmanned carrier-borne aircraft in a marine environment;
in this embodiment:
the flight data includes: initial speed of unmanned carrier-based aircraftUnmanned carrier-based aircraft at moment +.>Speed variation of (2)Glide angle->Unmanned carrier-based aircraft at moment +.>Pitch angle of->Course angle->Roll angle->；
The environmental data includes: atmospheric turbulence scale in horizontal, transverse and vertical directionsAnd atmospheric turbulence intensity->Deck wind speed->Speed of shipShip pitching amplitude->Ship pitching frequency->；
The radar measurement data includes: unmanned carrier-based aircraft is at momentRadar range, pitch angle, azimuth angle measurementsUnmanned carrier-based aircraft is at moment +.>Radar position coordinate measurement of (2)>。
Calculating the wind speed and the wind speed variation of the ship wake on each component according to the flight data and the environment data; the components include atmospheric turbulence components, random components, periodic components, and steady state components.
2.1, wind speed on the atmospheric turbulence component is:
；
in the method, in the process of the invention,for time->Wind speed in horizontal direction on the atmospheric turbulence component, < ->For time->Wind speed in transverse direction on the atmospheric turbulence component, < ->For time->Wind speed in vertical direction on the atmospheric turbulence component, < ->For presetting demarcation point, < >>For time->The white gaussian noise is generated by the white gaussian noise,is a preset constant.
2.2, the wind speed variation on the atmospheric turbulence component is:
；
in the method, in the process of the invention,respectively is time->The wind speed variation in the horizontal direction, the transverse direction and the vertical direction on the atmospheric turbulence component;Expressions of the variation of the wind speed of the turbulent air of the atmosphere in the horizontal direction, the horizontal direction and the vertical direction, respectively,/->，Respectively the expressions of the air turbulence wind speed variation in the horizontal direction, the transverse direction and the vertical direction,the method comprises the steps of carrying out a first treatment on the surface of the Wherein:
；
in the method, in the process of the invention,for the sampling period +.>Is white gaussian noise.
2.3, wind speed on steady state component is:
；
；
in the method, in the process of the invention,respectively is time->Wind speed in horizontal, vertical and transverse directions on the steady-state component of (2);For time->The horizontal distance of the unmanned carrier-based aircraft from the ship pitching center,，the total landing time is taken as the ship landing time.
2.4, the wind variation on steady-state component is:
；
；
；
in the method, in the process of the invention,respectively is time->The wind speed variation in the horizontal direction, the transverse direction and the vertical direction on the steady-state component.
2.5 wind speed on the periodic component is:
；
；
in the method, in the process of the invention,respectively is time->Wind speed in horizontal, vertical, transverse direction, +.>For random phase +.>Is the instant in time.
2.6, the wind speed variation on the periodic component is:
；
；
in the method, in the process of the invention,respectively is time->Wind speed variation in horizontal, transverse and vertical directions in periodic component between +.>Is->Is included in the horizontal component of (a).
2.7, wind speed on random component is:
；
in the method, in the process of the invention,wind speeds in the horizontal direction, the transverse direction and the vertical direction on the random component respectively;Is->And->Root mean square of>Is->The time constant of (2) is within the range +.>，Is Gaussian white noise, s is complex frequency.
2.8, the wind speed variation on the random component is:
；
；
in the method, in the process of the invention,respectively is time->The wind speed variation in the horizontal direction, the transverse direction and the vertical direction on the random component.
3. According to the wind speed and the wind speed variation, coupling wind speed data of the ship wake flow on each component; comprising the following steps:
；
in the method, in the process of the invention,respectively is time->First->Wind speed data in horizontal direction, transverse direction and vertical direction on each component;And is an atmospheric turbulence component;And is a steady-state component;And is a periodic component;And is a random component.
4. According to the wind speed data, calculating influence data of ship wake flow on the pose of the unmanned carrier-based aircraft;
；
in the method, in the process of the invention,the displacement variation amounts of the unmanned carrier-based aircraft in the z-axis direction, the y-axis direction and the x-axis direction are respectively +.>For the transfer matrix of the accessory coordinate system to the inertial coordinate system,>for time->Velocity components of the unmanned carrier-based aircraft in the y-axis direction and in the x-axis direction of the inertial coordinate system, +.>For time->Pitch angle, course angle and roll angle variation of unmanned carrier-borne aircraft.
5. Calculating radar measurement errors of the unmanned carrier-based aircraft according to the influence data and the radar measurement data;
the radar measurement error of the unmanned carrier-based aircraft is as follows:
；
；/>
；
in the method, in the process of the invention,for time->Radar distance measurement error of unmanned carrier-borne aircraft,/->Is the actual value of the measured target position coordinates;Any angle through which a radar azimuth axis and a pitching axis rotate is set;Distance from center of unmanned carrier-based aircraft to radar antenna, < ->The distance from the center of the unmanned carrier-based aircraft to the measured target is set;For time->Radar azimuth angle measurement error of unmanned carrier-borne aircraft, < ->For time->And measuring an error of a radar pitch angle of the unmanned carrier-borne aircraft.
Example two
The embodiment of the invention provides an unmanned carrier-based aircraft radar measurement error determining device, which comprises:
the data acquisition module is used for acquiring flight data, environment data and radar measurement data in the landing process of the unmanned carrier-borne aircraft in the marine environment;
the wind speed calculation module is used for calculating the wind speed and the wind speed variation of the ship wake on each component according to the flight data and the environmental data; the components include an atmospheric turbulence component, a random component, a periodic component, and a steady state component;
the wind speed determining module is used for coupling wind speed data of the ship wake on each component according to the wind speed and the wind speed variation;
the influence calculation module is used for calculating influence data of ship wake flow on the pose of the unmanned ship-based aircraft according to the wind speed data;
and the error calculation module is used for calculating the radar measurement error of the unmanned carrier-based aircraft according to the influence data and the radar measurement data.
Example III
Based on the first embodiment, the embodiment of the invention provides electronic equipment, which comprises a processor and a storage medium;
the storage medium is used for storing instructions;
the processor is operative according to the instructions to perform steps according to the method described above.
Example IV
Based on the first embodiment, the embodiment of the present invention provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of the above method.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (6)
1. The unmanned carrier-based aircraft radar measurement error determining method is characterized by comprising the following steps of:
acquiring flight data, environment data and radar measurement data in the landing process of an unmanned carrier-borne aircraft in a marine environment; the flight data includes: initial speed of unmanned carrier-based aircraftUnmanned carrier-based aircraft at moment +.>Speed variation of>Glide angle->Unmanned carrier-based aircraft at moment +.>Pitch angle of->Course angle->Roll angle->The method comprises the steps of carrying out a first treatment on the surface of the The environmental data includes: atmospheric turbulence scale in horizontal, transverse and vertical directions +.>And atmospheric turbulence intensity->Deck wind speed->Ship running speed->Ship pitching amplitude->Ship pitching frequency->The method comprises the steps of carrying out a first treatment on the surface of the The radar measurement data includes: unmanned carrier-based aircraft at moment +.>Radar range, pitch angle, azimuth angle measurements +.>Unmanned carrier-based aircraft is at moment +.>Radar position coordinate measurement of (2)>；
Calculating the wind speed and the wind speed variation of the ship wake on each component according to the flight data and the environment data; the components include an atmospheric turbulence component, a random component, a periodic component, and a steady state component;
the wind speed on the atmospheric turbulence component is:
；
in the method, in the process of the invention,for time->Wind speed in horizontal direction on the atmospheric turbulence component, < ->For time->Wind speed in transverse direction on the atmospheric turbulence component, < ->For time->Wind speed in vertical direction on the atmospheric turbulence component, < ->For presetting demarcation point, < >>For time->The white gaussian noise is generated by the white gaussian noise,is a preset constant;
the wind speed on the steady state component is:
；
；
in the method, in the process of the invention,respectively is time->Wind speed in horizontal, vertical and transverse directions on the steady-state component of (2);For time->Horizontal distance of unmanned carrier-based aircraft from the ship pitching center, +.>， The total landing time;
the wind speed on the periodic component is:
；
；
in the method, in the process of the invention,respectively is time->Wind speed in horizontal, vertical, transverse direction, +.>For random phase +.>Is the instant moment;
the wind speed on the random component is:
；
in the method, in the process of the invention,wind speeds in the horizontal direction, the transverse direction and the vertical direction on the random component respectively;is->And->Root mean square of>Is->The time constant of (2) is within the range +.>，White gaussian noise, s is complex frequency;
the wind speed variation on the atmospheric turbulence component is as follows:
；
in the method, in the process of the invention,respectively is time->The wind speed variation in the horizontal direction, the transverse direction and the vertical direction on the atmospheric turbulence component;Expressions of the variation of the wind speed of the turbulent air of the atmosphere in the horizontal direction, the horizontal direction and the vertical direction, respectively,/->，Respectively the expressions of the air turbulence wind speed variation in the horizontal direction, the transverse direction and the vertical direction,the method comprises the steps of carrying out a first treatment on the surface of the Wherein:
；
in the method, in the process of the invention,for the sampling period +.>Is Gaussian white noise;
the amount of wind change on the steady-state component is:
；
；
；
in the method, in the process of the invention,respectively is time->The wind speed variation in the horizontal direction, the transverse direction and the vertical direction on the steady-state component;
the wind speed variation over the periodic component is:
；
；
in the method, in the process of the invention,respectively is time->Wind speed variation in horizontal, transverse and vertical directions in periodic component between +.>Is->Is a horizontal component of (2);
the wind speed variation on the random component is:
；
；
in the method, in the process of the invention,respectively is time->Wind speed variation in the horizontal direction, the transverse direction and the vertical direction on random components;
according to the wind speed and the wind speed variation, coupling wind speed data of the ship wake flow on each component; the wind speed data of the ship wake on each component according to the wind speed and the wind speed variation comprises the following steps:
；
in the method, in the process of the invention,respectively is time->First->Wind speed data in horizontal direction, transverse direction and vertical direction on each component;And is an atmospheric turbulence component;And is a steady-state component;And is a periodic component;and is a random component;
according to the wind speed data, calculating influence data of ship wake flow on the pose of the unmanned carrier-based aircraft;
and calculating the radar measurement error of the unmanned carrier-based aircraft according to the influence data and the radar measurement data.
2. The unmanned carrier-based aircraft radar measurement error determination method of claim 1, wherein the influence data of the unmanned carrier-based aircraft pose is:
；
in the method, in the process of the invention,the displacement variation amounts of the unmanned carrier-based aircraft in the z-axis direction, the y-axis direction and the x-axis direction are respectively +.>For the transfer matrix of the accessory coordinate system to the inertial coordinate system,>for time->Velocity components of the unmanned carrier-based aircraft in the y-axis direction and in the x-axis direction of the inertial coordinate system, +.>For time->Pitch angle, course angle and roll angle variation of unmanned carrier-borne aircraft.
3. The unmanned carrier-based aircraft radar measurement error determination method of claim 2, wherein the unmanned carrier-based aircraft radar measurement error is:
；
；
；
in the method, in the process of the invention,for time->Radar distance measurement error of unmanned carrier-borne aircraft,/->Is the actual value of the measured target position coordinates;Any angle through which a radar azimuth axis and a pitching axis rotate is set;Distance from center of unmanned carrier-based aircraft to radar antenna, < ->The distance from the center of the unmanned carrier-based aircraft to the measured target is set;For time->Radar azimuth angle measurement error of unmanned carrier-borne aircraft, < ->For time->And measuring an error of a radar pitch angle of the unmanned carrier-borne aircraft.
4. An unmanned carrier-based aircraft radar measurement error determination device, characterized in that the device is adapted to the unmanned carrier-based aircraft radar measurement error determination method according to any one of claims 1-3, the device comprising:
the data acquisition module is used for acquiring flight data, environment data and radar measurement data in the landing process of the unmanned carrier-borne aircraft in the marine environment;
the wind speed calculation module is used for calculating the wind speed and the wind speed variation of the ship wake on each component according to the flight data and the environmental data; the components include an atmospheric turbulence component, a random component, a periodic component, and a steady state component;
the wind speed determining module is used for coupling wind speed data of the ship wake on each component according to the wind speed and the wind speed variation;
the influence calculation module is used for calculating influence data of ship wake flow on the pose of the unmanned ship-based aircraft according to the wind speed data;
and the error calculation module is used for calculating the radar measurement error of the unmanned carrier-based aircraft according to the influence data and the radar measurement data.
5. An electronic device, comprising a processor and a storage medium;
the storage medium is used for storing instructions;
the processor being operative according to the instructions to perform the steps of the method according to any one of claims 1-3.
6. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the steps of the method according to any of claims 1-3.
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| WO2014045930A1 (en) * | 2012-09-20 | 2014-03-27 | 古野電気株式会社 | Radar device for ships and speed measuring method |
| CN105116390B (en) * | 2015-08-05 | 2017-11-14 | 中国人民解放军海军航空工程学院 | Towards marine radar calibration measured value and AIS true value point to construction method |
| CN111894802B (en) * | 2020-07-10 | 2021-05-04 | 南京理工大学 | Fan wake zone yaw error correction method based on Jensen model and double-beam radar |
| CN115345091A (en) * | 2022-09-02 | 2022-11-15 | 北京瑞科同创能源科技有限公司 | CFD-based wind finding radar correction method and device, electronic equipment and storage medium |
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