CN210720778U - Three-dimensional electric field of integration unmanned aerial vehicle device of exploring air - Google Patents
Three-dimensional electric field of integration unmanned aerial vehicle device of exploring air Download PDFInfo
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- CN210720778U CN210720778U CN201921489036.5U CN201921489036U CN210720778U CN 210720778 U CN210720778 U CN 210720778U CN 201921489036 U CN201921489036 U CN 201921489036U CN 210720778 U CN210720778 U CN 210720778U
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Abstract
The utility model provides a three-dimensional electric field of integration unmanned aerial vehicle device of exploring space, this detection device includes: the system comprises an electric field detection device, an unmanned aerial vehicle and a signal processing device; wherein, electric field detection device includes: connecting device and N one-dimensional electric field sensors, wherein N is more than or equal to 6: each electric field sensor is fixedly arranged on the unmanned aerial vehicle through a connecting device; the electric field detection device at least obtains electric field detection data in 6 directions of the front, the rear, the left, the right, the upper and the lower of the unmanned aerial vehicle; the signal processing device is arranged on the unmanned aerial vehicle, is electrically connected with the electric field sensor and is used for receiving electric field detection data and processing the acquired electric field detection data. The utility model discloses a realize the reliable measurement of three-dimensional electric field through one-dimensional electric field sensor, and the effectual signal of having eliminated is undulant.
Description
Technical Field
The utility model relates to a space environment surveys technical field, especially relates to an integration unmanned aerial vehicle three-dimensional electric field device and method of exploring the sky.
Background
The atmospheric electric field is an important parameter for researching space weather science and space environment, and is also an important measurement parameter for knowing thunderstorm electricity conditions. Its value and its variation can be used for representing solar activity, thunderstorm activity, earthquake activity and atmospheric environmental pollution, etc. The real-time monitoring and detection of the atmospheric electric field can improve the capability of forecasting disasters such as thunderstorms, earthquakes and the like, and can also provide space electric environment state data for space activities.
At present, the atmospheric electric field strength is usually measured by a ground atmospheric average electric field instrument, but the accurate research on charge distribution, the position and the polarity of a charge center, a starting mechanism and the like in a cloud layer has certain limitation only by analyzing according to an electric field measured value obtained by the ground atmospheric average electric field instrument. And measurement of the electric field to the air atmosphere can compensate for this deficiency to some extent.
The existing detection method of the aerial electric field generally adopts a detection method of a sensor such as a rotary vane type sensor, a double-ball type sensor, a rocket type sensor and the like, and is used for realizing the detection of one or two components of the aerial vector electric field. However, due to the above-mentioned method of detecting an electric field in the air, it is necessary to use a corresponding vehicle, such as a conventional vehicle: balloons, airplanes, rockets, etc. The method has the defects that the characteristic detection area is difficult to enter in the thunderstorm strong convection area by means of the detection method of the electric field of the sounding balloon; by means of a detection method for detecting an electric field of the rocket, the rocket to be launched is generally disposable, and the resource consumption is high; with the detection method of detecting the electric field of an aircraft, the costs are high, and particularly in thunderstorm weather, the aircraft pilot is at great risk. Along with unmanned aerial vehicle is in each field wide application, it can fly under bad weather condition to the running cost is lower, can obtain the application in electric field exploration field.
However, at present, the electric field sounding device based on the unmanned aerial vehicle is mainly designed and manufactured by adopting a field-grinding principle, is limited by a structure, and is easy to cause icing and dewing on the surface of equipment in a high-altitude low-temperature environment, so that the defects of short circuit inside the equipment and equipment failure are caused, and the flying posture is difficult to control. With the application of the micro-electro-mechanical technology in electric field detection, the MEMS electric field instrument has low power consumption which is less than 1W, no rotating part and high reliability, and is gradually popularized in China. In order to measure the three-dimensional electric field in the thunderstorm cloud, the technicians in the field are also researching an integrated three-dimensional electric field sensor, but due to the close distance, a certain coupling interference problem exists.
Therefore, it is an urgent technical problem to be solved in the art to provide a device for acquiring three-dimensional electric field detection data efficiently, safely and accurately by using a one-dimensional electric field sensor.
SUMMERY OF THE UTILITY MODEL
The utility model provides an integration unmanned aerial vehicle three-dimensional electric field device and method of exploring the sky for solve or partially solve the defect among the prior art.
The embodiment of the utility model provides an integration unmanned aerial vehicle three-dimensional electric field device of exploring air, this device of exploring air includes: the system comprises an electric field detection device, an unmanned aerial vehicle and a signal processing device; wherein, electric field detection device includes: the device is connected with N one-dimensional electric field sensors, wherein N is more than or equal to 6; each electric field sensor is fixedly arranged on the unmanned aerial vehicle through a connecting device; the electric field detection device at least obtains electric field detection data in 6 directions of the front, the rear, the left, the right, the upper and the lower of the unmanned aerial vehicle; the signal processing device is arranged on the unmanned aerial vehicle, is electrically connected with the electric field sensor and is used for receiving electric field detection data and processing the acquired electric field detection data.
When N is 6, the connecting device comprises 3 mutually perpendicular and orthogonal equal-length connecting rods L1, L2 and L3, wherein the perpendicular and orthogonal points are coincident with the center point of the unmanned aerial vehicle; the connecting rods L1, L2 and L3 are all hollow rod-shaped structures, and each tail end of the rod-shaped structure of each electric field sensor is fixedly provided with one electric field sensor.
Further, the embodiment of the utility model provides an integration unmanned aerial vehicle three-dimensional electric field device of exploring air still includes: the temperature and humidity pressure sonde is arranged at the middle part of the body of the unmanned aerial vehicle or at a mounting position below the middle part of the body of the unmanned aerial vehicle and is used for acquiring temperature and humidity pressure data of a corresponding position; the temperature-humidity pressure sonde is electrically connected with the signal processing device; correspondingly, the signal processing device is also used for receiving the temperature and humidity pressure data and processing the temperature and humidity pressure data.
Further, the embodiment of the utility model provides an integration unmanned aerial vehicle three-dimensional electric field device of exploring air still includes: the attitude controller is used for acquiring the body attitude information of the unmanned aerial vehicle; the attitude controller is electrically connected with the signal processing device; correspondingly, the signal processing device is also used for receiving the body attitude information and processing the acquired body attitude information.
The signal processing device comprises a signal receiving module, an operation module and a signal transmitting module, wherein the signal receiving module is electrically connected with the signal transmitting module; the signal receiving module is used for receiving electric field detection data, temperature, humidity and pressure data and fuselage attitude information; and the signal transmitting module is used for transmitting the received electric field detection data, the temperature, humidity and pressure data and the machine body posture information to the ground data processing device.
Furthermore, the signal processing device also comprises an operation module, and the operation module, the signal receiving module and the signal transmitting module are electrically connected; the operation module is used for calculating and processing the electric field detection data, the temperature, humidity and pressure data and the body attitude information received by the signal receiving module and sending the calculation and processing result to the ground data processing device through the signal transmitting module.
Further, the embodiment of the utility model provides an integration unmanned aerial vehicle three-dimensional electric field device of exploring air still includes: and the GPS device is used for acquiring the position and the time information of the unmanned aerial vehicle and sending the position and the time information of the unmanned aerial vehicle to the ground data processing device.
The embodiment of the utility model provides a three-dimensional electric field of integration unmanned aerial vehicle device of exploring space. Through setting up mutually perpendicular orthogonal connecting rod to with a plurality of one-dimensional electric field sensors around unmanned aerial vehicle evenly distributed, realized realizing the reliable measurement of three-dimensional electric field through one-dimensional electric field sensor, and the effectual signal that has eliminated is undulant.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural view of the integrated unmanned aerial vehicle three-dimensional electric field sounding device provided by the utility model; wherein, L1, L2 and L3 are three mutually orthogonal connecting rods respectively; wherein use unmanned aerial vehicle's dead ahead to be the true north direction. E1-E is an electric field sensor fixedly arranged on the connecting rod L1 and used for sensing the electric field facing east; E1-W is the electric field sensor fixed on the connecting rod L1 with the sensing surface facing west, E2-S is the electric field sensor fixed on the connecting rod L2 with the sensing surface facing south, E2-N is the electric field sensor fixed on the connecting rod L2 with the sensing surface facing down, E3-U is the electric field sensor fixed on the connecting rod L3 with the sensing surface facing up, E3-D is the electric field sensor fixed on the connecting rod L1 with the sensing surface facing east; WSY is a temperature and humidity pressure sonde.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship indicated based on the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
The embodiment of the utility model provides an integration unmanned aerial vehicle three-dimensional electric field device of exploring air, this detection device include but are not limited to: the system comprises a one-dimensional electric field detection device, an unmanned aerial vehicle and a signal processing device; wherein, electric field detection device includes: the device is connected with N electric field sensors, wherein N is more than or equal to 6;
each electric field sensor is fixedly arranged on the unmanned aerial vehicle through a connecting device; the electric field detection device at least obtains electric field detection data in 6 directions of the front, the rear, the left, the right, the upper and the lower of the unmanned aerial vehicle;
the signal processing device is arranged on the unmanned aerial vehicle, is electrically connected with the electric field sensor and is used for receiving electric field detection data and processing the electric field detection data.
Wherein, electric field detection device is used for acquireing the three-dimensional electric field detection data in the region of setting for using unmanned aerial vehicle as the center, and wherein should set for regional size by every electric field sensor and the central distance decision of unmanned aerial vehicle. The farther the distance between the electric field sensor and the center of the unmanned aerial vehicle is, the larger the set area is. Accordingly, the better the signal fluctuation eliminating effect of all the acquired electric field detection data is, and therefore, the space electric environment state data can be better provided according to the acquired result after the electric field detection data is processed.
Wherein, the electric field sensor can adopt an MEMS one-dimensional electric field sensor developed based on a micro-motor system, and the measurement range of the MEMS one-dimensional electric field sensor is as follows: -100KV/m- +100KV/m, the sounding height is 0-30km, and the resolution is as follows: 50V/m.
Further, the embodiment of the present invention does not specifically limit the number of the electric field sensors, but requires at least 6 electric field detection data for at least 6 directions such as the front, the rear, the left, the right, the top, and the bottom of the unmanned position. Specific angles of the 6 directions are not particularly limited, and examples thereof include: the direction may be 6 directions including a straight front direction, a straight rear direction, a straight left side and a straight right side orthogonal to the straight front direction on the same plane, and a straight upper side and a straight lower side orthogonal to a plane formed by the straight front direction and the straight left side. The four directions of the right front, right rear, right left and right may be rotated clockwise or counterclockwise by any angle to form new 4 directions and 6 directions of the right upper and lower directions.
Further, when electric field sensor's number sets up more and more, can acquire the electric field detection data of more directions, nevertheless because unmanned aerial vehicle's loading capacity is limited, when increasing electric field sensor, should synthesize the total weight of considering increased electric field sensor and the connecting device of fixed this sensor to and the influence of the connecting device of increased electric field sensor and fixed this sensor to unmanned aerial vehicle's flight gesture. The utility model discloses bright embodiment does not specifically restrict to specifically setting up how many electric field sensor.
Furthermore, the signal processing device can comprise an ARM, an FPGA, a DSP chip or a single chip microcomputer so as to have preliminary calculation processing capacity, acquire electric field detection data uploaded by all electric field sensors and comprehensively process all electric field detection data. The comprehensive processing mode can include: and storing, transmitting to a ground receiving device or simply processing.
Further, the mode that signal processor is connected with electric field sensor electricity can be through RS232 interface, the RS485 interface connection who sets up on electric field sensor, also can realize wireless connection through GPRS or wifi, and is this the embodiment of the utility model provides a do not do specifically and restrict.
The embodiment of the utility model provides a three-dimensional electric field of integration unmanned aerial vehicle device of exploring space. Through setting up mutually perpendicular orthogonal connecting rod to with a plurality of electric field sensor around unmanned aerial vehicle evenly distributed, realized realizing the reliable measurement of three-dimensional electric field through one-dimensional electric field sensor, and the effectual signal fluctuation of having eliminated.
Based on the above description of the embodiments, as an alternative embodiment, when N is 6, that is, when the number of the electric field sensors is set to 6, the detecting means may be set to: the connecting device comprises 3 mutually perpendicular and orthogonal connecting rods L1, L2 and L3 with equal length, and the perpendicular and orthogonal points are coincident with the central point of the unmanned aerial vehicle; the connecting rods L1, L2 and L3 are all hollow rod-shaped structures, and each tail end of the rod-shaped structure of each electric field sensor is fixedly provided with one electric field sensor.
As shown in fig. 1, the unmanned plane faces the north, and the plane where the unmanned plane is located is parallel to the horizontal plane. Wherein, the shape of the connecting rod that shows in the figure is the straight-bar, and is right this the embodiment of the utility model provides a do not specifically prescribe a limit to, can be the arc pole also can other shapes, nevertheless use the connecting device that the connecting rod is constituteed not to cause the hindrance to unmanned aerial vehicle flight attitude's adjustment for the standard.
Specifically, the length of each connecting rod can set up 2 times of unmanned aerial vehicle yardstick, and every connecting rod all can set up to hollow structure. The connecting rod with the hollow structure can facilitate the signal wire and the power wire of the electric field sensor to pass through. Simultaneously, every electric field sensor symmetric distribution is around unmanned aerial vehicle center in order to guarantee dynamic balance. Form rigid connection to use unmanned aerial vehicle attitude data.
Furthermore, the material of connecting rod can be made by plastics, carbon steel, aluminum alloy or other stereoplasm light material, to this, the embodiment of the utility model provides a do not specifically limit. But every connecting rod end is non-metallic material to avoid taking place the distortion by unmanned aerial vehicle itself to the space electric field as far as possible, furthest's assurance is measured the precision of structure.
Further, can set up an installation module in unmanned aerial vehicle inside central point, installation module's shape can be for square, spheroid or cuboid. Correspondingly, each connecting rod is divided into two symmetrical parts which are respectively fixed on the corresponding sides of the installation modules. Wherein, connecting rod L1 is run through by the east and west direction unmanned aerial vehicle, and connecting rod L2 is run through by north and south direction unmanned aerial vehicle, and connecting rod L3 runs through from top to bottom unmanned aerial vehicle. An electric field sensor is fixed at the end of each connecting rod, and the induction surface of each electric field sensor faces back to the direction of the unmanned aerial vehicle. Wherein, electric field sensor can fix on the connecting rod with the detachable mode to according to actual measurement needs, change the electric field sensor of different models, perhaps overhaul and maintain electric field sensor.
Based on above-mentioned embodiment content, as an optional embodiment, connecting device and unmanned aerial vehicle can be for integrated into one piece formula structure, also can be detachable structure.
Specifically, when connecting device and unmanned aerial vehicle set up to detachable construction, can be provided with the installation module on unmanned aerial vehicle. When different numbers of electric field sensors are selected according to actual needs, the number of connecting rods needs to be increased properly. As described in the above embodiments, for example, when the mounting module is a sphere, a plurality of mounting holes for fixing the connecting rod are uniformly formed in advance on the outer surface of the sphere. An electromagnetic device or a buckling device and the like are arranged in each mounting hole and used for fixing the connecting rod at a set position after the connecting rod enters the mounting hole.
Based on above-mentioned embodiment content, as an optional embodiment, the embodiment of the utility model provides a still include warm and humid pressure sonde, this warm and humid pressure sonde sets up on the mount position below unmanned aerial vehicle's fuselage middle part or unmanned aerial vehicle fuselage middle part for acquire the warm and humid pressure data of relevant position. The temperature and humidity pressure sonde is electrically connected with the signal processing device. Correspondingly, the signal processing device is also used for receiving the temperature and humidity pressure data and processing the acquired temperature and humidity pressure data.
When unmanned aerial vehicle carries out aerial three-dimensional detection task, not only need acquire electric field detection data, still often will synthesize warm and humid pressure data and other relevant environmental data to more accurate acquisition space electrical environment state data.
Specifically, in the embodiment of the utility model provides an in, through install warm and humid pressure sonde on unmanned aerial vehicle for the warm and humid pressure data of the assigned position of the electric field that awaits measuring of real-time measurement. Wherein, warm and humid pressure sonde sets up in unmanned aerial vehicle's centre, for example sets up on the installation module, also can be through setting up the string basket in unmanned aerial vehicle lower part carry position to be fixed in this string basket with warm and humid pressure sonde.
Furthermore, the temperature and humidity pressure sonde and the signal processing device can be electrically connected through hard connection modes such as optical fibers and network port connection, and can also communicate in a wireless mode to transmit the temperature and humidity pressure data obtained through detection to the signal processing device in real time. To which kind of connection and communication mode of adoption, the embodiment of the utility model provides a do not do specifically and restrict.
Further, the detection probe of the temperature and humidity pressure sonde can be fixed on the unmanned aerial vehicle, and the main machine part of the temperature and humidity pressure sonde is placed on the ground. The detection probe can send data acquired by detection to a host part of the temperature and humidity pressure sonde in real time in a wireless transmission mode, and the acquisition of the temperature and humidity pressure data at a specified position is completed. Correspondingly, the signal processing device is also used for comprehensively processing the acquired temperature, humidity and pressure data and the electric field detection data.
Based on the content of the above embodiment, as an optional embodiment, the embodiment of the present invention further includes an attitude controller, and the attitude controller is electrically connected to the signal processing device; the attitude controller is used for acquiring the body attitude information of the unmanned aerial vehicle; correspondingly, the signal processing device is also used for receiving the body attitude information and processing the body attitude information.
Specifically, because all electric field sensor all are fixed in on the unmanned aerial vehicle, when unmanned aerial vehicle's fuselage gesture is different, the electric field that every electric field sensor acquireed surveys the direction of data also can change correspondingly. Therefore, it is possible to acquire the actual directions of all the electric field detection data acquired at that time, based on the body attitude information fed back from the attitude controller, and to comprehensively process the body attitude information and the electric field detection data in the signal processing device.
Further, because unmanned aerial vehicle's is small, the ability of anti-wind resistance and external disturbance is not weak relatively, can reflect unmanned aerial vehicle's flight gesture in real time through attitude controller, after unmanned aerial vehicle reachd the assigned position, can control unmanned aerial vehicle according to the unmanned aerial vehicle's of acquireing real-time flight gesture, make it keep static at the test position, and control unmanned aerial vehicle's aircraft nose orientation for setting for the orientation. The unmanned aerial vehicle can be controlled to move at a constant speed and stably according to the acquired real-time flight attitude of the unmanned aerial vehicle, and the test of a plurality of test points in the area is completed.
Based on the above description of the embodiments, as an alternative embodiment, the signal processing apparatus includes but is not limited to: the device comprises a signal receiving module, an operation module and a signal transmitting module, wherein the signal receiving module, the operation module and the signal transmitting module are electrically connected; the signal receiving module is used for receiving the electric field detection data, the temperature, humidity and pressure data and the machine body attitude information; the operation module is used for carrying out data processing on the received electric field detection data, the temperature, humidity and pressure data and the fuselage attitude information; and the signal transmitting module is used for transmitting the processing result of the operation module to the ground data processing device.
Specifically, because unmanned aerial vehicle's volume is less, load and duration have restricted its ability to data processing, especially the embodiment of the utility model provides a three-dimensional electric field of integration unmanned aerial vehicle sounding device, the data bulk that detects is big, and correspondingly, the work load that carries out the operation to all detected data is also great. In order to solve the above problem well, a signal receiving module and a signal transmitting module may be disposed in the signal processing apparatus, wherein the receiving module is connected to all the detecting apparatuses, such as: and the device is connected with an electric field sensor in the electric field detection device, a detection probe of the temperature and humidity pressure sonde, an attitude controller and the like so as to acquire detection data acquired by all the detection devices in real time.
And further, all the acquired detection data are sent to the ground data processing device through the signal transmitting module in real time.
Further, to prevent an accident, a data storage device may be provided in the signal processing device for performing storage processing before sending all the detection data to the surface data processing device.
It should be noted that the embodiment of the utility model provides a three-dimensional electric field of integration unmanned aerial vehicle surveys empty device does not connect through what kind of mode to signal receiving module and states electric field detection data, warm and humid pressure data and fuselage gesture information and do specifically prescribe a limit. And the method for sending the acquired data to the ground data processing device by the signal transmitting module is not particularly limited.
Based on the above embodiment, as an optional embodiment, the signal processing apparatus may further include an operation module, wherein the operation module, the signal receiving module and the signal transmitting module are electrically connected; the operation module is used for calculating and processing the electric field detection data, the temperature, humidity and pressure data and the body attitude information received by the signal receiving module and sending the calculation and processing result to the ground data processing device through the signal transmitting module.
Specifically, because unmanned aerial vehicle is when the air flight, the variability of position to and the restriction of the various factors such as flight environment is abominable, flight height, all data that will acquire when needs send ground data processing apparatus in real time, often need great energy consumption. Therefore, can set up the operation module on unmanned aerial vehicle, carry out preliminary processing to information such as electric field detection data, warm and humid pressure data and fuselage gesture that acquire. Such as: the real-time acquired detection data is stored in a set time period, and then the data stored in the set time period is packed and sent to a ground data processing device according to a set frequency, so that the data sending frequency is reduced. Another example is: the obtained electric field detection data can be averaged, and then the averaged result is sent to a ground data processing device, so that the size of the sent data can be reduced. It should be noted that the embodiment of the present invention does not limit the processing procedure of the operation module.
Based on above-mentioned embodiment content, as an optional embodiment, the utility model provides a detection device still includes the GPS device, and this GPS device is used for acquireing unmanned aerial vehicle's position and time information to with unmanned aerial vehicle's position and time information transmission to ground data processing device.
It is known that the average electric field of the atmosphere has certain fluctuation at different positions, particularly in a convection cloud, and the fluctuation is larger along with the difference of the positions and the test time. On the other hand, due to the effect of each complex environmental factor in the air, the unmanned aerial vehicle is difficult to ensure to keep the same detection position unchanged. In view of the above, the embodiment of the utility model provides a detection device, through setting up the GPS device, acquire unmanned aerial vehicle's position and time information in real time to all data transmission that will acquire are to ground data processing apparatus, in order to overcome the aforesaid not enough.
Specifically, the position and time information acquired by the GPS device can be input to the signal processing device and transmitted to the ground data processing device via the signal transmitting module. Or the real-time communication with the ground data processing device can be directly realized through the GPS device, and the acquired position and time information can be transmitted to the ground data processing device. Therefore, the embodiments of the present invention are not particularly limited.
Further, the embodiment of the utility model provides a still provide a three-dimensional electric field of integration unmanned aerial vehicle surveys empty device, wherein, signal processing device or ground data processing device carry out the method of handling to the electric field detection data who acquires includes: the electric field detection data obtained by two electric field sensors in the same direction and the opposite direction are averaged. Wherein the magnitude of the average represents the magnitude of the electric field in the direction; the positive and negative of the average number represent the actual direction of the directional electric field; the magnitude of the electric field and the actual direction of the electric field constitute the electric field vector in that direction. It should be noted that, in the embodiment of the present invention, the difference and the distance between two opposite electric fields may also be taken, and the electric field variation gradient is obtained according to the above calculation method, which is not specifically limited by the present invention.
According to the method, electric field vectors in all directions are obtained, all the electric field vectors are combined, and electric field detection data of the position where the unmanned aerial vehicle is located are obtained, wherein the electric field detection data comprise the combined electric field directions and the electric field sizes.
Further, can be according to the electric field detection data of unmanned aerial vehicle position to and temperature and humidity pressure data, flight attitude information, GPS information etc. synthesize the space electric environment state data who acquires this position. The embodiment of the utility model provides a three-dimensional electric field of integration unmanned aerial vehicle device of exploring space through the connecting rod that sets up mutually perpendicular quadrature to with a plurality of one-dimensional electric field sensor around unmanned aerial vehicle evenly distributed, realized realizing the reliable measurement of three-dimensional electric field through one-dimensional electric field sensor, and the undulant influence of effectual elimination electric field, and can definitely detect out the gradient and the true direction electric field in electric field.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.
Claims (9)
1. An integrated unmanned aerial vehicle three-dimensional electric field sounding device is characterized by comprising an electric field sounding device, an unmanned aerial vehicle and a signal processing device;
the electric field detection device includes: the device is connected with N one-dimensional electric field sensors, wherein N is more than or equal to 6;
each electric field sensor is fixedly arranged on the unmanned aerial vehicle through the connecting device; the electric field detection device at least acquires electric field detection data in 6 directions such as the front, the rear, the left side, the right side, the upper side and the lower side of the unmanned aerial vehicle;
the signal processing device is arranged on the unmanned aerial vehicle, is electrically connected with the electric field sensor and is used for receiving the electric field detection data and processing the electric field detection data.
2. The integrated three-dimensional electric field sounding device of unmanned aerial vehicle of claim 1, wherein when N is 6, the connecting device comprises 3 mutually perpendicular and orthogonal equal-length connecting rods L1, L2 and L3, the perpendicular and orthogonal points being coincident with the central point of the unmanned aerial vehicle;
the connecting rods L1, L2 and L3 are all hollow rod-shaped structures, and each tail end of each connecting rod is fixedly provided with one electric field sensor.
3. The integrated unmanned aerial vehicle three-dimensional electric field sounding device of claim 1, wherein the connecting device and the unmanned aerial vehicle are of an integrated structure or a detachable structure.
4. The integrated unmanned aerial vehicle three-dimensional electric field sounding device of claim 1, further comprising a temperature and humidity pressure sonde, wherein the temperature and humidity pressure sonde is arranged at a mounting position in the middle of the unmanned aerial vehicle body or below the middle of the unmanned aerial vehicle body and is used for acquiring temperature and humidity pressure data of a corresponding position; the temperature and humidity pressure sonde is electrically connected with the signal processing device;
correspondingly, the signal processing device is also used for receiving the temperature and humidity pressure data and processing the temperature and humidity pressure data.
5. The integrated unmanned aerial vehicle three-dimensional electric field sounding device of claim 4, further comprising an attitude controller for acquiring fuselage attitude information of the unmanned aerial vehicle; the attitude controller is electrically connected with the signal processing device;
correspondingly, the signal processing device is also used for receiving the fuselage attitude information and processing the fuselage attitude information.
6. The integrated unmanned aerial vehicle three-dimensional electric field sounding device of claim 5, wherein the signal processing device comprises a signal receiving module and a signal transmitting module, and the signal receiving module and the signal transmitting module are electrically connected;
the signal receiving module is used for receiving the electric field detection data, the temperature, humidity and pressure data and the machine body attitude information; and the signal transmitting module is used for transmitting the electric field detection data, the temperature, humidity and pressure data and the machine body posture information to a ground data processing device.
7. The integrated unmanned aerial vehicle three-dimensional electric field sounding device of claim 6, wherein the signal processing device further comprises an operation module, and the operation module, the signal receiving module and the signal transmitting module are electrically connected;
the operation module is used for calculating and processing the electric field detection data, the temperature and humidity pressure data and the body attitude information received by the signal receiving module and sending the calculation and processing result to the ground data processing device through the signal transmitting module.
8. The integrated unmanned aerial vehicle three-dimensional electric field sounding device of claim 1, further comprising a GPS device, wherein the GPS device is configured to acquire the position and time information of the unmanned aerial vehicle and send the position and time information of the unmanned aerial vehicle to a ground data processing device.
9. The integrated unmanned aerial vehicle three-dimensional electric field sounding device of claim 1, wherein the one-dimensional electric field sensor is a MEMS electric field sensor.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110441831A (en) * | 2019-09-06 | 2019-11-12 | 中国气象科学研究院 | A kind of integration no-manned plane three-dimensional electric field sounder and method |
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