Method and device for correcting wind speed error of variable integral wind laser radar in multiple sea conditions

Abstract

The present disclosure provides a method and device for correcting the wind speed error of a variable integral wind laser radar in multiple sea conditions, which can be applied to the field of laser radar technology. The method for correcting the wind speed error of the variable integral wind laser radar in multiple sea conditions includes: obtaining the attitude data of the wind laser radar and the signal-to-noise ratio of the echo signal; minimizing the relative error value between the simulation information of the degree of freedom coordinate value and the measurement information of the degree of freedom coordinate value to obtain the correction information of the degree of freedom coordinate value; determining the target pulse accumulation number from the pulse accumulation number query table based on the signal-to-noise ratio and the buoy amplitude; accumulating the initial pulse power spectrum based on the target pulse accumulation number to obtain the target pulse power spectrum; obtaining the corrected radial wind speed based on the center frequency corresponding to the maximum power density in the target pulse power spectrum and the correction information of the degree of freedom coordinate value; inverting based on the corrected radial wind speed to obtain the target wind speed vector.

Description

Technical Field

[0001] The present disclosure relates to the field of laser radar technology, and more specifically to a method and device for correcting wind speed errors of a multi-sea-condition variable-integral wind-measuring laser radar. Background Art

[0002] Offshore wind measurement has important development significance in the fields of emergency rescue, meteorological monitoring, wind resource measurement, etc. In traditional offshore measurements, fixed-platform wind radars are usually used to detect offshore wind fields in order to obtain the wind speed of offshore wind fields. Furthermore, scientists use floating wind laser radars to measure offshore wind fields. However, due to the influence of marine environmental factors, the wind field information measured by floating wind laser radars has large errors.

[0003] In the process of realizing the above-mentioned inventive concept, the inventors found that due to marine environmental factors such as wave movement in the related technology, radial velocity error, multi-pulse accumulation error, parameter estimation error and attitude correction error were introduced into the measurement process of the wind measuring lidar, resulting in the technical problem that the accurate wind speed could not be inverted. Summary of the invention

[0004] In view of the above problems, the present disclosure provides a method and device for correcting wind speed errors of a multi-sea-condition variable-integral wind-measuring lidar.

[0005] According to the first aspect of the present disclosure, a method for correcting wind speed errors of a multi-sea-condition variable-integral wind laser radar is provided, comprising: obtaining attitude data of the wind laser radar and the signal-to-noise ratio of the echo signal, wherein the attitude data comprises measurement information of degree-of-freedom coordinate values ​​and buoy amplitude, and the measurement information of the degree-of-freedom coordinate values ​​characterizes motion coordinate values ​​of the buoy platform in the motion degrees of freedom acquired by the motion sensor; minimizing the relative error value between the simulation information of the degree-of-freedom coordinate values ​​and the measurement information of the degree-of-freedom coordinate values ​​to obtain correction information of the degree-of-freedom coordinate values, wherein the simulation information of the degree-of-freedom coordinate values ​​is obtained by simulating the buoy model. The motion coordinate value of the buoy platform in the motion degree of freedom is obtained; based on the signal-to-noise ratio and the buoy amplitude, the target pulse accumulation number is determined from the pulse accumulation number lookup table, wherein the pulse accumulation number lookup table is established according to the historical attitude data; based on the target pulse accumulation number, the initial pulse power spectrum is accumulated to obtain the target pulse power spectrum, wherein the initial pulse power spectrum is obtained according to the echo signal of the predetermined pulse sent by the wind measuring laser radar to the offshore wind farm; according to the correction information of the center frequency and the degree of freedom coordinate value corresponding to the maximum power density in the target pulse power spectrum, the corrected radial wind speed is obtained; based on the corrected radial wind speed, the target wind speed vector is obtained by inversion.

[0006] According to an embodiment of the present disclosure, a pulse accumulation number query table is established based on historical posture data, including: obtaining the Clamer-Rao lower bound and motion deviation based on the historical posture data; constructing the variance of the relative radial velocity based on the Clamer-Rao lower bound and motion deviation; and parameterizing the variance of the relative radial velocity to obtain a pulse accumulation number query table.

[0007] According to an embodiment of the present disclosure, a corrected radial wind speed is obtained based on correction information of the center frequency and degree of freedom coordinate values ​​corresponding to the maximum power density in the target pulse power spectrum, including: calculating the Doppler wind speed based on the center frequency corresponding to the maximum power density in the target pulse power spectrum; and obtaining the corrected radial wind speed based on the correction information of the degree of freedom coordinate values ​​and the Doppler wind speed.

[0008] According to an embodiment of the present disclosure, a corrected radial wind speed is obtained according to correction information of degree of freedom coordinate values ​​and Doppler wind speed, including: obtaining a yaw correction value, a pitch correction value and a roll correction value from the correction information of the degree of freedom coordinate values; obtaining a rotation matrix according to the yaw correction value, the pitch correction value and the roll correction value; obtaining a target laser direction vector coordinate according to the rotation matrix and the laser direction vector coordinate in a local coordinate system, wherein the target laser direction vector coordinate is the laser direction vector coordinate in a natural geographic reference system; obtaining a corrected radial wind speed according to the target laser direction vector coordinate and the Doppler wind speed.

[0009] According to an embodiment of the present disclosure, a corrected radial wind speed is obtained according to the target laser direction vector coordinates and the Doppler wind speed, including: obtaining a radar velocity vector, wherein the radar velocity vector represents a velocity vector of a wind measuring laser radar acquired by a motion sensor; and calculating the corrected radial wind speed according to the target laser direction vector coordinates, the Doppler wind speed and the radar velocity vector.

[0010] According to an embodiment of the present disclosure, the modified radial wind speed is inverted to obtain a target wind speed vector, including: based on the target laser direction vector coordinates, the modified radial wind speed is inverted to obtain the target wind speed vector.

[0011] According to an embodiment of the present disclosure, simulation information of degree of freedom coordinate values ​​includes translational degree of freedom coordinate simulation values ​​and rotational angle degree of freedom coordinate simulation values, and measurement information of degree of freedom coordinate values ​​includes translational degree of freedom coordinate measurement values ​​and rotational angle degree of freedom coordinate measurement values; the difference between the simulation information of the degree of freedom coordinate values ​​and the measurement information of the degree of freedom coordinate values ​​is minimized to obtain correction information of the degree of freedom coordinate values, including: obtaining a translational degree of freedom relative error value based on the translational degree of freedom coordinate simulation values ​​and the translational degree of freedom coordinate measurement values; obtaining an angular degree of freedom relative error value based on the rotational angle degree of freedom coordinate simulation values ​​and the rotational angle degree of freedom coordinate measurement values; summing the translational degree of freedom relative error value and the angular degree of freedom relative error value to obtain an average relative error value; minimizing the average relative error value to obtain correction information of the degree of freedom coordinate values.

[0012] According to an embodiment of the present disclosure, simulation information of degree of freedom coordinate values ​​is calculated based on a buoy model, including: performing parametric modeling based on the degree of freedom coordinate value vectors of the buoy load and the buoy platform to obtain the buoy model; and obtaining simulation information of the degree of freedom coordinate values ​​based on the buoy model.

[0013] The second aspect of the present disclosure provides a device for correcting wind speed errors of a multi-sea-condition variable-integral wind laser radar, characterized in that it includes: an acquisition module for acquiring attitude data of the wind laser radar and the signal-to-noise ratio of the echo signal, wherein the attitude data includes measurement information of degree-of-freedom coordinate values ​​and buoy amplitude, and the measurement information of the degree-of-freedom coordinate values ​​represents the motion coordinate values ​​of the buoy platform on the motion degrees of freedom acquired by the motion sensor; a minimization module for minimizing the relative error value between the simulation information of the degree-of-freedom coordinate values ​​and the measurement information of the degree-of-freedom coordinate values ​​to obtain correction information of the degree-of-freedom coordinate values, wherein the simulation information of the degree-of-freedom coordinate values ​​is the correction information of the buoy platform obtained by simulating the buoy model. The motion coordinate value of the platform in the motion degree of freedom; a determination module, used to determine the target pulse accumulation number from the pulse accumulation number lookup table based on the signal-to-noise ratio and the buoy amplitude, wherein the pulse accumulation number lookup table is established according to the historical attitude data; an accumulation module, used to accumulate the initial pulse power spectrum based on the target pulse accumulation number to obtain the target pulse power spectrum, wherein the initial pulse power spectrum is obtained based on the echo signal of the predetermined pulse sent by the wind measuring laser radar to the offshore wind farm; an acquisition module, used to obtain the corrected radial wind speed according to the correction information of the center frequency and the degree of freedom coordinate value corresponding to the maximum power density in the target pulse power spectrum; an inversion module, used to perform inversion based on the corrected radial wind speed to obtain the target wind speed vector.

[0014] A third aspect of the present invention provides an electronic device, comprising: one or more processors; a memory for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors execute the above method.

[0015] The fourth aspect of the present invention also provides a computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, causes the processor to execute the above method.

[0016] The fifth aspect of the present invention also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0017] According to the method and device for correcting the wind speed error of the multi-sea-condition variable integral wind laser radar disclosed in the present invention, by obtaining the attitude data of the wind laser radar and the signal-to-noise ratio of the echo signal, the relative error value between the measurement information of the degree of freedom coordinate value in the attitude data and the simulation information of the degree of freedom coordinate data obtained by buoy model simulation is minimized to obtain the correction information of the degree of freedom coordinate value, and then the target pulse accumulation number is determined from the pulse accumulation number query table based on the signal-to-noise ratio and the buoy amplitude, multiple pulse power spectra are obtained according to the target pulse accumulation number, the multiple pulse power spectra are accumulated with the initial pulse power spectrum to obtain the target pulse power spectrum, the center frequency corresponding to the maximum power density is determined from the target pulse power spectrum, the corrected radial wind speed is obtained according to the correction information of the center frequency and the degree of freedom coordinate value, and the target wind speed vector is obtained by inversion based on the corrected radial wind speed. The correction of the multi-pulse accumulation error, parameter estimation error, attitude error and radial speed error introduced by the wind laser radar due to the wave motion is realized, so as to obtain the accurate wind speed vector of the offshore wind field, and improve the detection accuracy of the wind laser radar for the offshore wind field and the error correction efficiency.

[0018] According to the embodiments of the present disclosure, since a pulse accumulation number lookup table is constructed based on historical attitude data, in the process of correcting the wind speed error, it is only necessary to obtain the target pulse accumulation number from the pulse accumulation number lookup table based on the current signal-to-noise ratio and buoy amplitude, so as to set the relevant parameters of the pulse signal of the wind measuring laser radar according to the lookup table, further reduce the errors introduced by the jitter of the radar platform and the pulse power spectrum, and obtain the correct speed information of the offshore wind field. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above contents and other objects, features and advantages of the present disclosure will become more apparent through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, in which:

[0020] Figure 1A diagram schematically shows an application scenario of a method for correcting wind speed errors of a multi-sea-state variable-integral wind laser radar according to an embodiment of the present invention;

[0021] Figure 2 A flow chart schematically shows a method for correcting wind speed errors of a multi-sea-state variable-integrated wind laser radar according to an embodiment of the present disclosure;

[0022] Figure 3 A flowchart of obtaining correction information of degree of freedom coordinate values ​​according to an embodiment of the present disclosure is schematically shown;

[0023] Figure 4 A schematic diagram of a coordinate frame for posture correction according to an embodiment of the present disclosure is schematically shown;

[0024] Figure 5 A schematic diagram of a pulse accumulation number lookup table according to an embodiment of the present disclosure is schematically shown;

[0025] Figure 6 A structural block diagram of a device for correcting wind speed errors of a multi-sea-state variable-integral wind-measuring laser radar according to an embodiment of the present invention is schematically shown;

[0026] Figure 7 A block diagram of an electronic device for a method for correcting wind speed errors of a multi-sea-state variable-integral wind laser radar according to an embodiment of the present invention is schematically shown. DETAILED DESCRIPTION

[0027] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present disclosure. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0028] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0029] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0030] When using expressions such as "at least one of A, B, and C, etc.", they should generally be interpreted according to the meaning of the expression commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0031] In the technical solution of the present invention, the user information (including but not limited to user personal information, user image information, user device information, such as location information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved are all information and data authorized by the user or fully authorized by all parties, and the collection, storage, use, processing, transmission, provision, disclosure and application of the relevant data comply with relevant laws, regulations and standards, take necessary confidentiality measures, do not violate public order and good morals, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0032] Offshore wind measurement has important development significance in the fields of emergency rescue, meteorological monitoring, wind resource measurement, etc. The wind towers used for traditional offshore wind measurement have high construction costs and small detection range. Therefore, researchers have developed an offshore floating laser radar that can measure offshore wind fields. The offshore floating laser radar has high temporal and spatial resolution and high-precision atmospheric wind field detection capabilities, and can conduct long-term continuous observations of the sea-air boundary layer wind field. It is easy to maintain, relatively simple to build, and has little negative impact on the ocean, so it is widely used in various scenarios.

[0033] However, due to the influence of marine environmental factors, the floating wind laser radar at sea will produce errors as the waves move, resulting in large errors in the wind speed inverted from the radar platform affected by the wave movement. During the research and development process, the researchers found that due to marine environmental factors such as wave movement, the relevant technology introduced radial velocity errors, multi-pulse accumulation errors, parameter estimation errors and attitude correction errors into the measurement process of the wind laser radar, thus failing to invert the accurate wind speed.

[0034] In view of this, an embodiment of the present disclosure provides a method for correcting wind speed errors of a multi-sea condition variable-integral wind laser radar, which is characterized by comprising: obtaining attitude data of the wind laser radar and the signal-to-noise ratio of the echo signal, wherein the attitude data includes measurement information of degree-of-freedom coordinate values ​​and buoy amplitude, and the measurement information of the degree-of-freedom coordinate values ​​represents the motion coordinate values ​​of the buoy platform on the motion degrees of freedom acquired by the motion sensor; minimizing the relative error value between the simulation information of the degree-of-freedom coordinate values ​​and the measurement information of the degree-of-freedom coordinate values ​​to obtain correction information of the degree-of-freedom coordinate values, wherein the simulation information of the degree-of-freedom coordinate values ​​is based on the buoy model. The motion coordinate values ​​of the buoy platform in the motion degrees of freedom are obtained by simulation; based on the signal-to-noise ratio and the buoy amplitude, the target pulse accumulation number is determined from the pulse accumulation number lookup table, wherein the pulse accumulation number lookup table is established based on the historical attitude data; based on the target pulse accumulation number, the initial pulse power spectrum is accumulated to obtain the target pulse power spectrum, wherein the initial pulse power spectrum is obtained based on the echo signal of the predetermined pulse sent by the wind measuring laser radar to the offshore wind farm; based on the correction information of the center frequency and the degree of freedom coordinate values ​​corresponding to the maximum power density in the target pulse power spectrum, the corrected radial wind speed is obtained; based on the corrected radial wind speed, inversion is performed to obtain the target wind speed vector.

[0035] Figure 1 The application scenario diagram of the method for correcting wind speed errors based on a multi-sea-state variable-integral wind-measuring lidar according to an embodiment of the present invention is schematically shown.

[0036] like Figure 1 As shown, the application scenario according to this embodiment may include a first radar device 101, an observation object 102 and a receiver 103. The first radar device 101 is used to send an electromagnetic wave signal to the observation object 102, and the observation object 102 may be a wind field to be measured.

[0037] The user may use the first radar device 101 to interact with the observed object 102 and the receiver 103 to receive or send signals, etc.

[0038] The receiver 103 may be a receiver for receiving various echo signals, for example, receiving and processing the signal sent by the first radar device 101 (for example only). The receiver 103 may analyze and process the received signal and other data, and feed back the processing result (for example, a web page, information, or data obtained or generated according to a user request) to the terminal device.

[0039] It should be noted that the method for correcting the wind speed error of the multi-sea-state variable-integrated wind laser radar provided in the embodiment of the present invention can generally be executed by the receiver 103. Accordingly, the device for correcting the wind speed error of the multi-sea-state variable-integrated wind laser radar provided in the embodiment of the present invention can generally be arranged in the receiver 103. The method for correcting the wind speed error of the multi-sea-state variable-integrated wind laser radar provided in the embodiment of the present invention can also be executed by a receiver or a receiver cluster that is different from the receiver 103 and can communicate with the first radar device 101 and / or the receiver 103. Accordingly, the device for correcting the wind speed error of the multi-sea-state variable-integrated wind laser radar provided in the embodiment of the present invention can also be arranged in a receiver or a receiver cluster that is different from the receiver 103 and can communicate with the first radar device 101 and / or the receiver 103.

[0040] It should be understood that Figure 1 The number of radar devices, observation objects and receivers in the embodiment is only for illustration. Any number of radar devices, observation objects and receivers may be provided according to implementation requirements.

[0041] The following will be based on Figure 1 The scene described by Figure 2~Figure 5 The method for correcting wind speed errors of a multi-sea-state variable-integral wind-measuring lidar in the disclosed embodiment is described in detail.

[0042] Figure 2 The flowchart of the method for correcting wind speed errors of a multi-sea-state variable-integrated wind laser radar according to an embodiment of the present disclosure is schematically shown.

[0043] like Figure 2 As shown, the method for correcting wind speed errors of a multi-sea-state variable-integrated wind laser radar of this embodiment includes operations S210 to S260.

[0044] In operation S210 , attitude data of the wind laser radar and a signal-to-noise ratio of an echo signal are obtained.

[0045] According to an embodiment of the present disclosure, the posture data includes measurement information of degree of freedom coordinate values ​​and buoy amplitude, and the measurement information of degree of freedom coordinate values ​​represents the motion coordinate values ​​of the buoy platform in the motion freedom degree acquired by the motion sensor.

[0046] According to an embodiment of the present disclosure, the wind measuring laser radar includes six degrees of freedom, and the six degrees of freedom are respectively along the north direction of the earth in the north-east ground navigation coordinate system, the east direction of the earth in the north-east ground navigation coordinate system, the downward direction perpendicular to the earth's surface in the north-east ground navigation coordinate system, the rotation angle around the north direction of the earth in the north-east ground navigation coordinate system, the rotation angle around the east direction of the earth in the north-east ground navigation coordinate system, and the rotation angle around the downward direction perpendicular to the earth's surface in the north-east ground navigation coordinate system.

[0047] According to an embodiment of the present disclosure, the measurement information of the degree of freedom coordinate values ​​collected by the motion sensor includes the speed of the buoy platform in the north direction of the earth in the north-east ground navigation coordinate system, the speed of the buoy platform in the east direction of the earth in the north-east ground navigation coordinate system, the speed of the buoy platform in the downward direction perpendicular to the earth's surface in the north-east ground navigation coordinate system, the rotation angle of the buoy platform around the north direction of the earth in the north-east ground navigation coordinate system, the rotation angle of the buoy platform around the east direction of the earth in the north-east ground navigation coordinate system, and the rotation angle of the buoy platform around the downward direction perpendicular to the earth's surface in the north-east ground navigation coordinate system.

[0048] According to an embodiment of the present disclosure, a wind measuring laser radar can transmit a predetermined number of pulse signals to an offshore wind farm, obtain a pulse power spectrum corresponding to each pulse signal based on multiple echo signals corresponding to the multiple pulse signals, accumulate all pulse power spectra, and calculate the average signal-to-noise ratio.

[0049] In operation S220, a relative error value between the simulation information of the degree of freedom coordinate values ​​and the measurement information of the degree of freedom coordinate values ​​is minimized to obtain correction information of the degree of freedom coordinate values.

[0050] According to an embodiment of the present disclosure, the simulation information of the degree of freedom coordinate values ​​is the motion coordinate values ​​of the buoy platform in the motion freedom degrees obtained by simulating the buoy model.

[0051] According to an embodiment of the present disclosure, the simulation information of the degree of freedom coordinate numerical value includes simulating the buoy platform according to the buoy model, and obtaining the speed of the simulated buoy platform in the north direction of the earth in the north-east ground navigation coordinate system, the speed of the simulated buoy platform in the east direction of the earth in the north-east ground navigation coordinate system, the speed of the simulated buoy platform in the downward direction perpendicular to the earth's surface in the north-east ground navigation coordinate system, the rotation angle of the simulated buoy platform around the north direction of the earth in the north-east ground navigation coordinate system, the rotation angle of the simulated buoy platform around the east direction of the earth in the north-east ground navigation coordinate system, and the rotation angle of the simulated buoy platform around the downward direction perpendicular to the earth's surface in the north-east ground navigation coordinate system.

[0052] According to the embodiments of the present disclosure, by obtaining correction information of the degree of freedom coordinate values, abnormal values ​​in the posture data can be corrected to correct the posture correction error and obtain correct posture data.

[0053] In operation S230, a target pulse accumulation number is determined from a pulse accumulation number lookup table based on the signal-to-noise ratio and the buoy amplitude.

[0054] According to an embodiment of the present disclosure, a pulse accumulation number lookup table is established based on historical posture data.

[0055] According to an embodiment of the present disclosure, the target pulse accumulation number can be characterized as the number of pulse signals for power spectrum accumulation that the laser wind radar can be regarded as emitting in the same direction, wherein the laser wind radar can be regarded as emitting pulses in the same direction, which can be characterized as the direction of the laser emitted by the laser method remains unchanged within the predetermined pulse accumulation time. Although the laser has been shaking with the platform and switching directions (horizontally rotating 90°), the laser beam emitted by the radar does not switch directions during this predetermined pulse accumulation time, and because the predetermined pulse accumulation time is too short, the shaking of the laser beam can be ignored.

[0056] For example, the signal-to-noise ratio is 0.15, the buoy amplitude is 0.1 m, and based on the signal-to-noise ratio and the buoy amplitude, the pulse accumulation number lookup table determines that the target pulse accumulation number emitted toward the north of the earth is 300.

[0057] In operation S240, the initial pulse power spectrum is accumulated based on the target pulse accumulation number to obtain a target pulse power spectrum.

[0058] According to an embodiment of the present disclosure, the wind measuring laser radar can transmit multiple pulse signals to the offshore wind farm, each pulse signal has a corresponding pulse power spectrum, and the initial pulse power spectrum is the pulse power spectrum corresponding to any pulse signal, that is, the initial pulse power spectrum is obtained based on the single pulse signal emitted by the wind measuring laser radar to the offshore wind farm.

[0059] According to an embodiment of the present disclosure, based on the target pulse accumulation number, a target pulse accumulation number of initial pulse power spectra are obtained from a plurality of initial pulse power spectra corresponding to a plurality of pulse signals sent by a wind measuring laser radar to an offshore wind farm, and the target pulse accumulation number of initial pulse power spectra are accumulated to obtain a target pulse power spectrum.

[0060] According to an embodiment of the present disclosure, the target pulse power spectrum may be characterized as a number of initial pulse power spectra corresponding to the pulse signal accumulated with the target pulse.

[0061] For example, if the target pulse accumulation number is 30, and the wind measuring laser radar sends 100 pulse signals to the offshore wind farm, 30 initial pulse power spectra corresponding to the 30 pulse signals are obtained, and the above 30 initial pulse power spectra are accumulated to obtain the target pulse power spectrum.

[0062] In operation S250, a corrected radial wind speed is obtained according to correction information of a central frequency and a degree of freedom value corresponding to a maximum power density in a target pulse power spectrum.

[0063] According to an embodiment of the present disclosure, the maximum power density is determined from the target pulse power spectrum, and the corrected radial wind speed is obtained based on the correction information of the center frequency and the degree of freedom value corresponding to the maximum power density.

[0064] According to an embodiment of the present disclosure, by obtaining the target pulse power spectrum and the corrected radial wind speed, the motion error and estimation error corresponding to the pulse power spectrum and the radial wind speed error are corrected, thereby avoiding interference with the radial wind speed inversion due to multi-pulse cumulative errors, parameter estimation errors and radial wind speed errors.

[0065] In operation S260, inversion is performed based on the modified radial wind speed to obtain a target wind speed vector.

[0066] According to an embodiment of the present disclosure, the correct target wind speed vector of the offshore wind farm is obtained by inverting the correct modified radial wind speed obtained by eliminating the error.

[0067] According to the embodiment of the present disclosure, by acquiring the attitude data of the wind laser radar, minimizing the difference between the measured information of the degree of freedom value in the attitude data and the simulated information of the degree of freedom data obtained by simulating the buoy model, the correction information of the degree of freedom value is obtained, and then the target pulse accumulation number is determined from the pulse accumulation number query table based on the signal-to-noise ratio and the buoy amplitude in the attitude data, and multiple pulse power spectra are obtained according to the target pulse accumulation number. The multiple pulse power spectra are accumulated with the initial pulse power spectrum to obtain the target pulse power spectrum, and the center frequency corresponding to the maximum pulse power is determined from the target pulse power spectrum. According to the correction information of the center frequency and the degree of freedom value, the corrected radial wind speed is obtained, and the target wind speed vector is obtained by inversion based on the corrected radial wind speed. The correction of the multi-pulse accumulation error, parameter estimation error, attitude error and radial speed error introduced by the wind laser radar due to the wave movement is realized, so as to obtain the accurate wind speed vector of the offshore wind field, and improve the detection accuracy of the wind laser radar for the offshore wind field and the error correction efficiency.

[0068] According to the embodiments of the present disclosure, since a pulse accumulation number lookup table is constructed based on historical attitude data, in the process of correcting the wind speed error, it is only necessary to obtain the target pulse accumulation number from the pulse accumulation number lookup table based on the current signal-to-noise ratio and buoy amplitude, so as to set the relevant parameters of the pulse signal of the wind measuring laser radar according to the lookup table, further avoid the errors introduced by the jitter of the radar platform and the pulse power spectrum, and obtain the correct speed information of the offshore wind field.

[0069] According to an embodiment of the present disclosure, the simulation information of the degree of freedom coordinate value is calculated based on the buoy model, including:

[0070] According to an embodiment of the present disclosure, parametric modeling is performed based on the buoy load and the numerical vector of the degree of freedom coordinates of the buoy platform to obtain a buoy model.

[0071] According to an embodiment of the present disclosure, the buoy load may include a first-order wave frequency load, a second-order wave frequency load, a wind load, a flow load, and other loads, wherein the second-order wave frequency load includes a high-frequency load and a low-frequency load.

[0072] According to an embodiment of the present disclosure, the degree of freedom coordinate numerical vector includes the translation of the buoy platform in the north direction of the earth in the north-east ground navigation coordinate system, the translation of the buoy platform in the east direction of the earth in the north-east ground navigation coordinate system, the translation of the buoy platform in the downward direction perpendicular to the earth's surface in the north-east ground navigation coordinate system, the rotation angle of the buoy platform around the north direction of the earth in the north-east ground navigation coordinate system, the rotation angle of the buoy platform around the east direction of the earth in the north-east ground navigation coordinate system, and the rotation angle of the buoy platform around the downward direction perpendicular to the earth's surface in the north-east ground navigation coordinate system.

[0073] According to an embodiment of the present disclosure, a dynamic differential equation is established for the buoy platform according to the buoy load, mass matrix, damping matrix, stiffness matrix and numerical vector of degree of freedom coordinates. The dynamic differential equation is shown in formula (1).

[0074] (1);

[0075] Among them, F1 can be characterized as the first-order wave frequency load, F2 can be characterized as the second-order wave frequency load, and F wind It can be characterized as wind load, F current It can be characterized as flow load, F others Can be characterized as other loads, can be represented as a mass matrix, can be represented as the additional mass matrix, can be represented as a damping matrix, where the damping includes radiation damping and viscous damping, K can be represented as a stiffness matrix, where the stiffness includes hydrostatic stiffness and mooring system stiffness, and X can be represented as a numerical vector of degree of freedom coordinates. It can be represented as the first-order derivative of the numerical vector of the degree of freedom coordinates, It can be characterized as the second derivative of the numerical vector of degree of freedom coordinates.

[0076] According to an embodiment of the present disclosure, X can be characterized as , where a can be represented as the translation of the buoy platform in the north direction of the earth in the north-east ground navigation coordinate system, b can be represented as the translation of the buoy platform in the east direction of the earth in the north-east ground navigation coordinate system, c can be represented as the translation of the buoy platform in the downward direction perpendicular to the earth's surface in the north-east ground navigation coordinate system, roll can be represented as the rotation angle of the buoy platform around the north direction of the earth in the north-east ground navigation coordinate system, pitch can be represented as the rotation angle of the buoy platform around the east direction of the earth in the north-east ground navigation coordinate system, and yaw can be represented as the rotation angle of the buoy platform in the downward direction perpendicular to the earth's surface in the north-east ground navigation coordinate system.

[0077] According to an embodiment of the present disclosure, Can be characterized as ,in, It can be represented as the velocity of the buoy platform in the north direction of the earth in the north-east navigation coordinate system. It can be represented as the velocity of the buoy platform in the east direction of the earth in the north-east navigation coordinate system. It can be expressed as the speed of the buoy platform in the downward direction perpendicular to the earth's surface in the north-east navigation coordinate system. It can be represented as the angular velocity of the buoy platform around the north direction of the earth in the north-east navigation coordinate system. It can be represented as the angular velocity of the buoy platform around the earth's east direction in the north-east navigation coordinate system. It can be represented as the angular velocity of the buoy platform in the downward direction perpendicular to the earth's surface in the north-east navigation coordinate system.

[0078] According to an embodiment of the present disclosure, Can be characterized as ,in, It can be represented as the acceleration of the buoy platform in the north direction of the earth in the north-east navigation coordinate system. It can be represented as the acceleration of the buoy platform in the east direction of the earth in the north-east navigation coordinate system. It can be represented as the acceleration of the buoy platform in the downward direction perpendicular to the earth's surface in the north-east navigation coordinate system. It can be represented as the angular acceleration of the buoy platform around the north direction of the earth in the north-east navigation coordinate system. It can be represented as the angular acceleration of the buoy platform around the earth in the north-east navigation coordinate system. It can be represented as the angular acceleration of the buoy platform in the downward direction perpendicular to the earth's surface in the north-east navigation coordinate system.

[0079] According to an embodiment of the present disclosure, the dynamic differential equation of the buoy platform is parameterized and modeled to obtain a buoy model.

[0080] According to an embodiment of the present disclosure, simulation information of the degree of freedom coordinate values ​​is obtained based on the buoy model.

[0081] According to the embodiments of the present disclosure, since parametric modeling is performed based on the buoy load and the degree of freedom coordinate numerical vector to obtain a buoy model, simulation information of the degree of freedom coordinate values ​​is obtained based on the obtained buoy model, thereby realizing the establishment of a model of the buoy platform, and the simulation information of the degree of freedom coordinate values ​​is obtained based on the model, so as to facilitate processing with the measurement information of the degree of freedom coordinate values ​​collected by the motion sensor to obtain accurate correction information of the degree of freedom coordinate values, thereby correcting the attitude data.

[0082] Figure 3 The flowchart of obtaining correction information of the degree of freedom coordinate value according to an embodiment of the present disclosure is schematically shown.

[0083] like Figure 3 As shown, the method of obtaining correction information of the degree of freedom coordinate values ​​in this embodiment includes operations S310 to S340.

[0084] According to an embodiment of the present disclosure, the difference between the simulation information of the degree of freedom coordinate value and the measurement information of the degree of freedom coordinate value is minimized to obtain the correction information of the degree of freedom coordinate value, including:

[0085] According to an embodiment of the present disclosure, the simulation information of the degree of freedom coordinate values ​​includes the translational degree of freedom coordinate simulation values ​​and the rotational angle degree of freedom coordinate simulation values, and the measurement information of the degree of freedom coordinate values ​​includes the translational degree of freedom coordinate measurement values ​​and the rotational angle degree of freedom coordinate measurement values.

[0086] In operation S310, a relative error value of the translational degree of freedom is obtained according to the translational degree of freedom coordinate simulation value and the translational degree of freedom coordinate measurement value.

[0087] According to an embodiment of the present disclosure, the translational degree of freedom coordinate simulation values ​​may include simulating the translation of the buoy platform in the north direction of the earth in the north-east navigation coordinate system, simulating the translation of the buoy platform in the east direction of the earth in the north-east navigation coordinate system, and simulating the translation of the buoy platform in the downward direction perpendicular to the earth's surface in the north-east navigation coordinate system.

[0088] According to an embodiment of the present disclosure, the translational degree of freedom coordinate measurement value may include the translation of the buoy platform in the north direction of the earth in the north-east navigation coordinate system collected by the motion sensor, the translation of the buoy platform in the east direction of the earth in the north-east navigation coordinate system collected by the motion sensor, and the translation of the buoy platform in the downward direction perpendicular to the earth's surface in the north-east navigation coordinate system collected by the motion sensor.

[0089] According to an embodiment of the present disclosure, the relative error value of the translational degree of freedom is obtained by subtracting the simulated value of the translational degree of freedom coordinate from the measured value of the translational degree of freedom coordinate. The calculation formula (2) of the relative error value of the translational degree of freedom is as follows.

[0090] (2);

[0091] Among them, d can be represented as the relative error value of the translational degree of freedom, ve can be represented as the measured value of the translational degree of freedom coordinate, and ve' can be represented as the simulated value of the translational degree of freedom coordinate.

[0092] For example, the simulated translation of the buoy platform in the north direction of the earth in the north-east navigation coordinate system is 10m, the simulated translation of the buoy platform in the east direction of the earth in the north-east navigation coordinate system is 50m, the simulated translation of the buoy platform in the downward direction perpendicular to the earth's surface in the north-east navigation coordinate system is 30m, the translation of the buoy platform in the north direction of the earth in the north-east navigation coordinate system collected by the motion sensor is 20m, the translation of the buoy platform in the east direction of the earth in the north-east navigation coordinate system collected by the motion sensor is 70m, and the translation of the buoy platform in the north-east navigation coordinate system collected by the motion sensor is In the north-east navigation coordinate system, the translation in the downward direction perpendicular to the earth's surface is 30 m. According to formula (2), the relative error value of the translational degree of freedom in the north direction of the earth is 0.25, the relative error value of the translational degree of freedom in the east direction of the earth is 0.08, and the relative error value of the translational degree of freedom perpendicular to the earth's surface downward is 0. The relative error value of the translational degree of freedom in the north direction of the earth, the relative error value of the translational degree of freedom in the east direction of the earth, and the relative error value of the translational degree of freedom perpendicular to the earth's surface downward is added together to obtain a relative error value of 0.33.

[0093] In operation S320, a relative error value of the angular freedom degree is obtained according to the rotation angle freedom degree coordinate simulation value and the rotation angle freedom degree coordinate measurement value.

[0094] According to an embodiment of the present disclosure, the rotation angle degree of freedom coordinate simulation value may include a simulated buoy platform's rotation angle around the north direction of the earth in a north-east navigation coordinate system, a simulated buoy platform's rotation angle around the east direction of the earth in a north-east navigation coordinate system, and a simulated buoy platform's rotation angle in a downward direction perpendicular to the earth's surface in a north-east navigation coordinate system.

[0095] According to an embodiment of the present disclosure, the rotation angle degree of freedom coordinate measurement values ​​may include the rotation angle of the buoy platform around the north direction of the earth in the north-east navigation coordinate system collected by the motion sensor, the rotation angle of the buoy platform around the east direction of the earth in the north-east navigation coordinate system collected by the motion sensor, and the rotation angle of the buoy platform around the north-east navigation coordinate system in the downward direction perpendicular to the earth's surface collected by the motion sensor.

[0096] According to an embodiment of the present disclosure, the angle freedom coordinate relative error value is obtained by subtracting the rotation angle freedom coordinate simulation value from the rotation angle freedom coordinate measurement value. The calculation formula (3) of the angle freedom relative error value is as follows.

[0097] (3);

[0098] Among them, q can be represented as the relative error value of the angle degree of freedom, qe can be represented as the measured value of the rotation angle degree of freedom coordinate, and qe' can be represented as the simulated value of the rotation angle degree of freedom coordinate.

[0099] For example, the simulated buoy platform's rotation angle around the north of the earth in the northeast navigation coordinate system is 10°, the simulated buoy platform's rotation angle around the north of the earth in the northeast navigation coordinate system is 50°, the simulated buoy platform's rotation angle around the east of the earth in the northeast navigation coordinate system is 30°, the motion sensor's rotation angle around the east of the earth in the northeast navigation coordinate system is 40°, the motion sensor's rotation angle around the northeast of the earth in the downward direction perpendicular to the earth's surface in the northeast navigation coordinate system is 80°, and the motion sensor's rotation angle around the buoy platform is 20°. The rotation angle perpendicular to the earth's surface downward in the north-east navigation coordinate system is 60°. According to formula (3), the relative error of the angular freedom in the north direction of the earth is 0.56, the relative error of the angular freedom in the east direction of the earth is 0.14, and the relative error of the angular freedom perpendicular to the earth's surface downward is 0.25. The relative error of the angular freedom in the north direction of the earth, the relative error of the angular freedom in the east direction of the earth, and the relative error of the angular freedom perpendicular to the earth's surface downward are added together to obtain a relative error of 0.95.

[0100] In operation S330, the relative error value of the translational degree of freedom and the relative error value of the angular degree of freedom are summed up to obtain an average relative error value.

[0101] For example, the relative error value of the translational degree of freedom is 0.33, and the relative error value of the angular degree of freedom is 0.95, so the average relative error value is 1.28.

[0102] In operation S340, the average relative error value is minimized to obtain correction information of the degree of freedom coordinate value.

[0103] According to an embodiment of the present disclosure, the parameters of the buoy model are adjusted so that the average relative error value obtained after calculation between the simulation information of the degree of freedom coordinate values ​​obtained according to the buoy model and the measurement information of the degree of freedom coordinate values ​​is minimized.

[0104] According to an embodiment of the present disclosure, when the obtained average relative error value is the minimum value, the simulation information of the degree of freedom coordinate values ​​corresponding to the minimum average relative error value is determined as the correction information of the degree of freedom coordinate values.

[0105] According to the embodiments of the present disclosure, a relative error value of the translational degree of freedom is obtained based on the simulation value of the translational degree of freedom coordinate and the measurement value of the translational degree of freedom coordinate, and a relative error value of the angular degree of freedom is obtained based on the simulation value of the rotational angle of freedom coordinate and the measurement value of the rotational angle of freedom coordinate. Then, the relative error value of the translational degree of freedom and the relative error value of the angular degree of freedom are summed up to obtain an average relative error value. Finally, the average relative error value is minimized, and the simulation information of the degree of freedom coordinate value corresponding to the minimum average relative error value is determined as the correction information of the degree of freedom coordinate value. This realizes the elimination of abnormal values ​​in the attitude data caused by the measurement error of the motion sensor by performing kinematic analysis on the buoy model, thereby correcting the attitude data.

[0106] According to an embodiment of the present disclosure, a pulse accumulation number query table is established based on historical posture data, including:

[0107] According to an embodiment of the present disclosure, the Cramé-Rao lower bound and the motion deviation are obtained based on historical posture data.

[0108] According to an embodiment of the present disclosure, historical posture data is simulated to obtain the Cramer-Rao lower bound and motion deviation, so as to construct a pulse accumulation number query table.

[0109] According to an embodiment of the present disclosure, the variance of the relative radial velocity is constructed based on the Clamer-Rao lower bound and the motion deviation.

[0110] According to an embodiment of the present disclosure, the variance of the relative radial velocity can be calculated according to formula (4), which is shown as follows.

[0111] (4);

[0112] in, It can be represented as the Cramer-Rao lower bound, can be characterized as motion deviation, can be characterized as the variance of the relative radial velocity, It can be characterized by the wavelength of the emitted laser, F s It can be characterized as the sampling frequency, It can be represented as the normalized second-order moment of the Gaussian power spectrum, N can be represented as the number of sampling points in a single range gate, M can be represented as the number of pulse accumulations, CNR can be represented as the signal-to-noise ratio, a r (t) can be represented as the radial acceleration of the buoy at the measurement time t, T r It can be characterized as the pulse repetition frequency.

[0113] According to an embodiment of the present disclosure, the variance of the relative radial velocity is parameterized and modeled to obtain a pulse accumulation number lookup table.

[0114] According to an embodiment of the present disclosure, the horizontal axis in the pulse accumulation number lookup table is the signal-to-noise ratio, and the vertical axis is the buoy amplitude.

[0115] According to an embodiment of the present disclosure, when a pulse accumulation number lookup table is obtained, the target pulse accumulation number corresponding to the current moment can be determined from the pulse accumulation number lookup table based on the signal-to-noise ratio and the buoy amplitude calculated from the pulse power spectrum.

[0116] According to an embodiment of the present disclosure, by obtaining the Clamer-Rao lower bound and the motion deviation based on historical attitude data, constructing the variance of the relative radial velocity based on the Clamer-Rao lower bound and the motion deviation, parameterizing the variance of the relative radial velocity and obtaining a pulse accumulation number lookup table, the number of pulse signals used for power spectrum accumulation is accurately determined, and by establishing a pulse accumulation number lookup table, accurate radar operating parameters are queried from the table based on the pulse accumulation number lookup table, thereby reducing errors and improving the detection accuracy of offshore wind farms.

[0117] According to an embodiment of the present disclosure, the corrected radial wind speed is obtained according to the correction information of the center frequency and the degree of freedom coordinate value corresponding to the maximum power density in the target pulse power spectrum, including:

[0118] According to an embodiment of the present disclosure, the Doppler wind speed is calculated based on the center frequency corresponding to the maximum power density in the target pulse power spectrum.

[0119] According to an embodiment of the present disclosure, the maximum power density is determined from the target pulse power spectrum, the center frequency corresponding to the maximum power density is determined according to the maximum power density, and the Doppler wind speed is calculated according to the center frequency.

[0120] According to an embodiment of the present disclosure, accurate Doppler wind speed is obtained by calculating the target pulse power spectrum, so as to correct the parameter estimation error associated with the integration time of the target pulse power spectrum and the multi-pulse accumulation error introduced due to the different Doppler frequency shifts corresponding to the integration of multiple pulse power spectra.

[0121] According to an embodiment of the present disclosure, a corrected radial wind speed is obtained based on the correction information of the degree of freedom coordinate value and the Doppler wind speed.

[0122] According to the embodiments of the present disclosure, the Doppler wind speed is calculated according to the center frequency corresponding to the maximum power density in the target pulse power spectrum, and the corrected radial wind speed is obtained according to the correction information of the degree of freedom coordinate value and the Doppler wind speed, thereby realizing the correction of the multi-pulse cumulative error and the Doppler estimation error introduced by the pulse power spectrum. The correct target pulse power spectrum is obtained by determining the cumulative number of target pulses, and the correct Doppler wind speed is calculated according to the target pulse power spectrum. The corrected radial wind speed is calculated according to the correction information of the degree of freedom coordinate value and the corrected Doppler wind speed, thereby eliminating the deviation of the radial component of the velocity of the buoy platform caused by beams in different emission directions, and improving the detection precision and accuracy of the wind measuring laser radar.

[0123] According to an embodiment of the present disclosure, the corrected radial wind speed is obtained according to the correction information of the degree of freedom coordinate value and the Doppler wind speed, including:

[0124] According to an embodiment of the present disclosure, a pitch correction value, a pitch correction value, and a roll correction value are acquired from correction information of degree of freedom coordinate values.

[0125] According to an embodiment of the present disclosure, correction information of degree of freedom coordinate values ​​includes a translational degree of freedom correction value and a rotational angle degree of freedom correction value, the translational degree of freedom correction value includes an earth north translational degree of freedom correction value, an earth east translational degree of freedom correction value, and a downward translational degree of freedom correction value perpendicular to the earth's surface, the rotational angle degree of freedom correction value includes a yaw correction value, a pitch correction value, and a roll correction value, wherein the yaw correction value may be a rotation angle (yaw) of the buoy platform perpendicular to the earth's surface downward in a north-east ground navigation coordinate system, the pitch correction value may be a rotation angle (pitch) of the buoy platform in the east direction of the earth in the north-east ground navigation coordinate system, and the roll correction value may be a rotation angle (roll) of the buoy platform in the north direction of the earth in the north-east ground navigation coordinate system.

[0126] According to an embodiment of the present disclosure, a rotation matrix is ​​obtained according to the yaw correction value, the pitch correction value, and the roll correction value.

[0127] According to an embodiment of the present disclosure, the rotation matrix can be calculated according to formula (5), which is shown as follows.

[0128] (5);

[0129] Among them, m can be represented as a rotation matrix.

[0130] According to an embodiment of the present disclosure, the target laser direction vector coordinates are obtained based on the rotation matrix and the laser direction vector coordinates in the local coordinate system.

[0131] According to an embodiment of the present disclosure, the target laser direction vector coordinates are laser direction vector coordinates in a natural geographic reference system.

[0132] According to an embodiment of the present disclosure, the target laser direction vector coordinates can be calculated according to formula (6), which is shown below.

[0133] (6);

[0134] in, It can be represented as the target laser direction vector coordinates, It can be represented as the laser direction vector coordinates in the local coordinate system.

[0135] According to an embodiment of the present disclosure, the target laser direction vector coordinates can also be used Indicates that .

[0136] According to an embodiment of the present disclosure, a corrected radial wind speed is obtained according to the target laser direction vector coordinates and the Doppler wind speed.

[0137] According to an embodiment of the present disclosure, a pitch correction value, a pitch correction value and a roll correction value are obtained from the correction information of the corrected degree of freedom coordinate values, and then a rotation matrix is ​​obtained according to the above-mentioned degree of freedom coordinate correction values. The rotation matrix and the laser direction vector coordinates in the local coordinate system are used to obtain the target laser direction vector coordinates in the natural geographic reference system, thereby realizing the conversion of the laser direction vector coordinates in different coordinate systems. Then, according to the target laser direction vector coordinates and the Doppler wind speed, the corrected radial wind speed is obtained, thereby eliminating the deviation caused by the radial component of the velocity of the buoy platform, so as to obtain the correct radial wind speed, thereby improving the detection precision and accuracy of the wind measuring laser radar.

[0138] According to an embodiment of the present disclosure, a corrected radial wind speed is obtained according to the target laser direction vector coordinates and the Doppler wind speed, including:

[0139] According to an embodiment of the present disclosure, a radar velocity vector is acquired.

[0140] According to an embodiment of the present disclosure, the radar velocity vector represents the first-order derivative of the translation vector of the wind measuring laser radar acquired by the motion sensor.

[0141] According to an embodiment of the present disclosure, the corrected radial wind speed is calculated based on the target laser direction vector coordinates, the Doppler wind speed and the radar speed vector.

[0142] According to an embodiment of the present disclosure, the corrected radial wind speed can be calculated according to formula (7), which is shown as follows.

[0143] (7);

[0144] in, It can be represented as the modified radial wind speed, It can be represented as Doppler wind speed, It can be represented as the target laser direction vector coordinates, It can be represented as a radar velocity vector.

[0145] According to an embodiment of the present disclosure, by acquiring the radar velocity vector collected by the motion sensor, the corrected radial wind speed is calculated according to the target laser direction vector coordinates, the Doppler wind speed and the radar velocity vector, thereby achieving the correct corrected radial wind speed, eliminating the radial velocity error and obtaining an accurate wind speed vector.

[0146] According to an embodiment of the present disclosure, the modified radial wind speed is inverted to obtain a target wind speed vector, including:

[0147] According to an embodiment of the present disclosure, the corrected radial wind speed is inverted based on the target laser direction vector coordinates to obtain the target wind speed vector.

[0148] According to the embodiments of the present disclosure, the laser wind measuring radar can emit pulse signals in multiple directions to detect offshore wind fields. When the direction of the laser beam changes due to the shaking of the buoy platform, it is necessary to determine the cumulative number of target pulses that can be regarded as corresponding to the same emission direction, and emit a corresponding number of pulse power spectra based on the cumulative number of target pulses corresponding to each direction, so as to calculate the Doppler wind speed and corrected radial wind speed in each direction, and invert multiple corrected radial wind speeds based on the target laser direction vector coordinates to obtain the target wind speed vector.

[0149] According to the embodiments of the present disclosure, when the corrected radial wind speeds obtained are no less than two, the target wind speed vector can be inverted based on the corrected radial wind speeds. Since the laser wind measuring radar can detect the offshore wind farm based on the pulse signals emitted in three directions in the natural geographic coordinate system, the corrected radial wind speeds in three directions can be obtained. It can also be assumed that the corrected radial wind speed in the vertical direction is close to zero, that is, the wind speed in the vertical direction is much smaller than the wind speed in the horizontal direction. The offshore wind farm can be detected based on the pulse signals emitted in two directions in the natural geographic coordinate system, thereby obtaining the corrected radial wind speeds in two directions. The target wind speed vector is then inverted based on the corrected radial wind speeds obtained in the above two cases.

[0150] According to the embodiments of the present disclosure, when no less than two corrected radial wind speeds are obtained, the target wind speed vector is obtained by dividing the corrected radial wind speed by the target laser direction vector coordinates. This achieves the goal of obtaining the correct target wind speed vector of the offshore wind field while eliminating the multi-pulse accumulation error, Doppler frequency shift estimation error, attitude data error and radial speed error introduced by the laser wind radar, thereby improving the detection precision and accuracy of the wind laser radar.

[0151] Figure 4 A schematic diagram of a coordinate frame for posture correction according to an embodiment of the present disclosure is schematically shown.

[0152] like Figure 4 As shown, a coordinate frame for attitude correction is shown, in which the coordinate frame includes a north-east navigation coordinate system and a local coordinate system, N, E, S, W, and D respectively represent the north, east, south, west, and downward directions of the earth in the north-east navigation coordinate system, x, y, and z respectively represent the x-axis, y-axis, and z-axis in the local coordinate system, roll represents the roll correction value of the buoy, pitch represents the pitch correction value of the buoy, and yaw represents the heading correction value of the buoy. and It can be represented as the laser direction vector coordinates in two different directions, and The elevation angles in the local coordinate system are the same, resulting in the cone shape shown in the figure, and in the local coordinate system, their projections on the xy plane differ by 90 degrees, and the elevation angle is 60 degrees.

[0153] Figure 5 The figure schematically shows a pulse accumulation number lookup table according to an embodiment of the present disclosure.

[0154] like Figure 5 As shown, a pulse accumulation number query table is shown, the horizontal axis of the pulse accumulation number query table is characterized by the signal-to-noise ratio, and the vertical axis is characterized by the buoy amplitude. The target pulse accumulation number is determined from the pulse accumulation number query table based on the signal-to-noise ratio and the buoy amplitude.

[0155] Figure 6 The structural block diagram of the device for correcting wind speed errors of a multi-sea-state variable-integral wind laser radar according to an embodiment of the present invention is schematically shown.

[0156] like Figure 6 As shown, the device for correcting wind speed errors of multi-sea-state variable-integrated wind-measuring lidar applied to a receiver in this embodiment includes: an acquisition module 610, a minimization module 620, a determination module 630, an accumulation module 640, a obtaining module 650 and an inversion module 660.

[0157] The acquisition module 610 is used to obtain the attitude data of the wind laser radar and the signal-to-noise ratio of the echo signal, wherein the attitude data includes the measurement information of the degree of freedom coordinate value and the buoy amplitude, and the measurement information of the degree of freedom coordinate value represents the motion coordinate value of the buoy platform in the motion freedom degree acquired by the motion sensor. The acquisition module 610 can be used to perform the operation S210 described above, which will not be repeated here.

[0158] The minimization module 620 is used to minimize the relative error between the simulation information of the degree of freedom coordinate value and the measurement information of the degree of freedom coordinate value to obtain the correction information of the degree of freedom coordinate value, wherein the simulation information of the degree of freedom coordinate value is the motion coordinate value of the buoy platform in the motion degree of freedom obtained by simulating the buoy model. The minimization module 620 can be used to perform the operation S220 described above, which will not be repeated here.

[0159] The determination module 630 is used to determine the target pulse accumulation number from the pulse accumulation number query table based on the signal-to-noise ratio and the buoy amplitude, wherein the pulse accumulation number query table is established based on the historical posture data. The determination module 630 can be used to perform the operation S230 described above, which will not be described in detail here.

[0160] The accumulation module 640 is used to accumulate the initial pulse power spectrum based on the target pulse accumulation number to obtain the target pulse power spectrum, wherein the initial pulse power spectrum is obtained according to the echo signal of the predetermined pulse sent by the wind laser radar to the offshore wind farm. The accumulation module 640 can be used to perform the operation S240 described above, which will not be described in detail here.

[0161] The obtaining module 650 is used to obtain the corrected radial wind speed according to the correction information of the center frequency and the degree of freedom coordinate value corresponding to the maximum power density in the target pulse power spectrum. The obtaining module 650 can be used to perform the operation S250 described above, which will not be described in detail here.

[0162] The inversion module 660 is used to perform inversion based on the modified radial wind speed to obtain a target wind speed vector. The inversion module 660 can be used to perform the operation S260 described above, which will not be described in detail here.

[0163] According to an embodiment of the present invention, the determination module 630 includes: a first acquisition submodule, a first construction submodule and a first obtaining submodule.

[0164] The first acquisition submodule is used to obtain the Cramer-Rao lower bound and motion deviation according to the historical posture data.

[0165] The first construction submodule is used to construct the variance of the relative radial velocity according to the Cramé-Rao lower bound and the motion deviation.

[0166] The first submodule is used to perform parameterized modeling on the variance of the relative radial velocity and obtain a pulse accumulation number lookup table.

[0167] According to an embodiment of the present invention, the obtaining module 650 includes: a first calculating submodule and a first obtaining submodule.

[0168] The first calculation submodule is used to calculate the Doppler wind speed according to the center frequency corresponding to the maximum power density in the target pulse power spectrum.

[0169] The first obtaining submodule is used to obtain the corrected radial wind speed according to the correction information of the degree of freedom coordinate value and the Doppler wind speed.

[0170] According to an embodiment of the present invention, the first obtaining submodule includes: a first obtaining unit, a first obtaining unit, a second obtaining unit and a third obtaining unit.

[0171] The first acquisition unit is used to acquire a pitch correction value, a pitch correction value and a roll correction value from correction information of the degree of freedom coordinate values.

[0172] The first obtaining unit is used to obtain a rotation matrix according to the yaw correction value, the pitch correction value and the roll correction value.

[0173] The second obtaining unit is used to obtain the target laser direction vector coordinates according to the rotation matrix and the laser direction vector coordinates in the local coordinate system, wherein the target laser direction vector coordinates are the laser direction vector coordinates in the natural geographic reference system.

[0174] The third obtaining unit is used to obtain the corrected radial wind speed according to the target laser direction vector coordinates and the Doppler wind speed.

[0175] According to an embodiment of the present invention, the third obtaining unit includes: a first obtaining subunit and a first calculating subunit.

[0176] The first acquisition subunit is used to acquire a radar velocity vector, wherein the radar velocity vector represents a velocity vector of a wind measuring laser radar acquired by a motion sensor.

[0177] The first calculation subunit is used to calculate the corrected radial wind speed according to the target laser direction vector coordinates, the Doppler wind speed and the radar speed vector.

[0178] According to an embodiment of the present invention, the inversion module 660 includes: a first inversion submodule.

[0179] The first inversion submodule is used to invert the corrected radial wind speed based on the target laser direction vector coordinates to obtain the target wind speed vector.

[0180] According to an embodiment of the present invention, the minimization module 620 includes: a second obtaining submodule, a third obtaining submodule, a second calculating submodule and a first minimization submodule.

[0181] The second obtaining submodule is used to obtain the relative error value of the translational degree of freedom according to the translational degree of freedom coordinate simulation value and the translational degree of freedom coordinate measurement value.

[0182] The third submodule is used to obtain the relative error value of the angle degree of freedom according to the rotation angle degree of freedom coordinate simulation value and the rotation angle degree of freedom coordinate measurement value.

[0183] The second calculation submodule is used to sum the relative error value of the translational degree of freedom and the relative error value of the angular degree of freedom to obtain an average relative error value.

[0184] The first minimization submodule is used to minimize the average relative error value to obtain correction information of the degree of freedom coordinate value.

[0185] According to an embodiment of the present invention, the minimization module 620 includes: a first modeling submodule and a fourth obtaining submodule.

[0186] The first modeling submodule is used to perform parameterized modeling according to the buoy load and the numerical vector of the degree of freedom coordinates of the buoy platform to obtain a buoy model.

[0187] The fourth submodule is used to obtain simulation information of the degree of freedom coordinate values ​​according to the buoy model.

[0188] According to an embodiment of the present invention, any multiple modules among the acquisition module 610, the minimization module 620, the determination module 630, the accumulation module 640, the acquisition module 650 and the inversion module 660 can be combined in one module for implementation, or any one of the modules can be split into multiple modules. Alternatively, at least part of the functions of one or more of these modules can be combined with at least part of the functions of other modules and implemented in one module. According to an embodiment of the present invention, at least one of the acquisition module 610, the minimization module 620, the determination module 630, the accumulation module 640, the acquisition module 650 and the inversion module 660 can be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on a chip, a system on a substrate, a system on a package, an application specific integrated circuit (ASIC), or can be implemented by hardware or firmware such as any other reasonable way of integrating or packaging the circuit, or implemented in any one of the three implementation methods of software, hardware and firmware or in a proper combination of any of them. Alternatively, at least one of the acquisition module 610, the minimization module 620, the determination module 630, the accumulation module 640, the obtaining module 650 and the inversion module 660 may be at least partially implemented as a computer program module, which may perform corresponding functions when executed.

[0189] Figure 7 A block diagram of an electronic device for a method for correcting wind speed errors of a multi-sea-state variable-integral wind laser radar according to an embodiment of the present invention is schematically shown.

[0190] like Figure 7 As shown, the electronic device according to an embodiment of the present invention includes a processor 701, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 702 or a program loaded from a storage part 708 to a random access memory (RAM) 703. The processor 701 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or a related chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 701 may also include an onboard memory for caching purposes. The processor 701 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present invention.

[0191] In RAM 703, various programs and data required for the operation of the electronic device are stored. The processor 701, ROM 702 and RAM 703 are connected to each other via a bus 704. The processor 701 performs various operations of the method flow according to the embodiment of the present invention by executing the programs in ROM 702 and / or RAM 703. It should be noted that the program can also be stored in one or more memories other than ROM 702 and RAM 703. The processor 701 can also perform various operations of the method flow according to the embodiment of the present invention by executing the programs stored in the one or more memories.

[0192] According to an embodiment of the present invention, the electronic device may further include an input / output (I / O) interface 705, which is also connected to the bus 704. The electronic device 700 may further include one or more of the following components connected to the I / O interface 705: an input portion 706 including a keyboard, a mouse, etc.; an output portion 707 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage portion 708 including a hard disk, etc.; and a communication portion 709 including a network interface card such as a LAN card, a modem, etc. The communication portion 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to the I / O interface 705 as needed. A removable medium 711, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 710 as needed, so that a computer program read therefrom is installed into the storage portion 708 as needed.

[0193] The present invention also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiment; or may exist independently without being assembled into the device / apparatus / system. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed, the method according to the embodiment of the present invention is implemented.

[0194] According to an embodiment of the present invention, the computer-readable storage medium may be a non-volatile computer-readable storage medium, for example, it may include but is not limited to: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, an apparatus or a device. For example, according to an embodiment of the present invention, the computer-readable storage medium may include the ROM 702 and / or RAM 703 described above and / or one or more memories other than ROM 702 and RAM 703.

[0195] The embodiment of the present invention also includes a computer program product, which includes a computer program, and the computer program contains program code for executing the method shown in the flowchart. When the computer program product is run in a computer system, the program code is used to enable the computer system to implement the method for correcting wind speed errors of a multi-sea state variable integral wind laser radar provided in the embodiment of the present invention.

[0196] The computer program executes the above functions defined in the system / device of the embodiment of the present invention when it is executed by the processor 701. According to the embodiment of the present invention, the system, device, module, unit, etc. described above can be implemented by a computer program module.

[0197] In one embodiment, the computer program may rely on tangible storage media such as optical storage devices, magnetic storage devices, etc. In another embodiment, the computer program may also be transmitted and distributed in the form of signals on a network medium, and downloaded and installed through the communication part 709, and / or installed from the removable medium 711. The program code contained in the computer program may be transmitted using any appropriate network medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0198] In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 709, and / or installed from the removable medium 711. When the computer program is executed by the processor 701, the above functions defined in the system of the embodiment of the present invention are performed. According to the embodiment of the present invention, the system, device, means, module, unit, etc. described above can be implemented by a computer program module.

[0199] It will be appreciated by those skilled in the art that the features described in the various embodiments and / or claims of the present disclosure may be combined and / or combined in a variety of ways, even if such combinations and / or combinations are not explicitly described in the present disclosure. In particular, the features described in the various embodiments and / or claims of the present disclosure may be combined and / or combined in a variety of ways without departing from the spirit and teachings of the present disclosure. All of these combinations and / or combinations fall within the scope of the present disclosure.

Claims

1. A method for correcting wind speed errors of a multi-sea-state variable-integral wind-measuring laser radar, characterized in that: include: Acquire the attitude data of the wind laser radar and the signal-to-noise ratio of the echo signal, wherein the attitude data includes the measurement information of the degree of freedom coordinate values ​​and the buoy amplitude, and the measurement information of the degree of freedom coordinate values ​​represents the motion coordinate values ​​of the buoy platform in the motion degree of freedom acquired by the motion sensor; Minimizing the relative error between the simulated information of the degree of freedom coordinate values ​​and the measured information of the degree of freedom coordinate values ​​to obtain the correction information of the degree of freedom coordinate values, wherein the simulated information of the degree of freedom coordinate values ​​is the motion coordinate values ​​of the buoy platform on the motion degree of freedom obtained by simulating the buoy model; Based on the signal-to-noise ratio and the buoy amplitude, determining a target pulse accumulation number from a pulse accumulation number lookup table, wherein the pulse accumulation number lookup table is established based on historical posture data; Based on the target pulse accumulation number, the initial pulse power spectrum is accumulated to obtain the target pulse power spectrum, wherein the initial pulse power spectrum is obtained according to the echo signal of the predetermined pulse sent by the wind measuring laser radar to the offshore wind farm; Obtaining a corrected radial wind speed according to correction information of a center frequency corresponding to a maximum power density in the target pulse power spectrum and a value of the degree of freedom coordinate; An inversion is performed based on the modified radial wind speed to obtain a target wind speed vector.

2. The method according to claim 1, wherein: The pulse accumulation number query table is established based on historical posture data, including: According to the historical posture data, obtaining the Cramer-Rao lower bound and the motion deviation; constructing a variance of relative radial velocity according to the Cramer-Rao lower bound and the motion deviation; The variance of the relative radial velocity is parameterized and modeled to obtain the pulse accumulation number lookup table.

3. The method according to claim 1, wherein: The step of obtaining the corrected radial wind speed according to the correction information of the center frequency corresponding to the maximum power density in the target pulse power spectrum and the degree of freedom coordinate value comprises: Calculating the Doppler wind speed according to the center frequency corresponding to the maximum power density in the target pulse power spectrum; The corrected radial wind speed is obtained according to the correction information of the degree of freedom coordinate value and the Doppler wind speed.

4. The method according to claim 3, wherein: The step of obtaining the corrected radial wind speed according to the correction information of the degree of freedom coordinate value and the Doppler wind speed includes: Obtaining a pitch correction value, a pitch correction value, and a roll correction value from the correction information of the degree of freedom coordinate values; Obtaining a rotation matrix according to the yaw correction value, the pitch correction value and the roll correction value; According to the rotation matrix and the laser direction vector coordinates in the local coordinate system, the target laser direction vector coordinates are obtained, wherein the target laser direction vector coordinates are the laser direction vector coordinates in the natural geographic reference system; The corrected radial wind speed is obtained according to the target laser direction vector coordinates and the Doppler wind speed.

5. The method according to claim 4, wherein: The step of obtaining the corrected radial wind speed according to the target laser direction vector coordinates and the Doppler wind speed includes: Acquire a radar velocity vector, wherein the radar velocity vector represents a velocity vector of the wind measuring laser radar acquired by the motion sensor; The corrected radial wind speed is calculated according to the target laser direction vector coordinates, the Doppler wind speed and the radar speed vector.

6. The method according to claim 1, wherein: The inversion based on the modified radial wind speed to obtain the target wind speed vector includes: Based on the target laser direction vector coordinates, the corrected radial wind speed is inverted to obtain the target wind speed vector.

7. The method according to claim 1, wherein: The simulation information of the degree of freedom coordinate values ​​includes a translational degree of freedom coordinate simulation value and a rotational degree of freedom coordinate simulation value, and the measurement information of the degree of freedom coordinate values ​​includes a translational degree of freedom coordinate measurement value and a rotational degree of freedom coordinate measurement value; The step of minimizing the difference between the simulated information of the degree of freedom coordinate values ​​and the measured information of the degree of freedom coordinate values ​​to obtain the corrected information of the degree of freedom coordinate values ​​includes: Obtaining a relative error value of the translational degree of freedom according to the translational degree of freedom coordinate simulation value and the translational degree of freedom coordinate measurement value; Obtaining a relative error value of the angular degree of freedom according to the rotational angle degree of freedom coordinate simulation value and the rotational angle degree of freedom coordinate measurement value; The relative error value of the translational degree of freedom and the relative error value of the angular degree of freedom are summed up to obtain an average relative error value; The average relative error value is minimized to obtain correction information of the degree of freedom coordinate value.

8. The method according to claim 1, wherein: The simulation information of the degree of freedom coordinate values ​​is calculated based on the buoy model, including: Perform parameterized modeling according to the buoy load and the numerical vector of the degree of freedom coordinates of the buoy platform to obtain a buoy model; According to the buoy model, simulation information of the degree of freedom coordinate values ​​is obtained.

9. A device for correcting wind speed errors of a variable-integrated wind laser radar in multiple sea conditions, characterized in that: include: An acquisition module is used to acquire the attitude data of the wind laser radar and the signal-to-noise ratio of the echo signal, wherein the attitude data includes the measurement information of the degree of freedom coordinate values ​​and the buoy amplitude, and the measurement information of the degree of freedom coordinate values ​​represents the motion coordinate values ​​of the buoy platform in the motion freedom degree acquired by the motion sensor; A minimization module is used to minimize the relative error between the simulation information of the degree of freedom coordinate value and the measurement information of the degree of freedom coordinate value to obtain the correction information of the degree of freedom coordinate value, wherein the simulation information of the degree of freedom coordinate value is the motion coordinate value of the buoy platform on the motion degree of freedom obtained by simulating the buoy model; A determination module, configured to determine a target pulse accumulation number from a pulse accumulation number lookup table based on the signal-to-noise ratio and the buoy amplitude, wherein the pulse accumulation number lookup table is established based on historical posture data; An accumulation module, used for accumulating the initial pulse power spectrum based on the target pulse accumulation number to obtain a target pulse power spectrum, wherein the initial pulse power spectrum is obtained according to the echo signal of the predetermined pulse sent by the wind measuring laser radar to the offshore wind farm; An obtaining module, used for obtaining a corrected radial wind speed according to correction information of a center frequency corresponding to a maximum power density in the target pulse power spectrum and a value of the degree of freedom coordinate; The inversion module is used to perform inversion based on the modified radial wind speed to obtain a target wind speed vector.

10. An electronic device comprising: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors execute the method according to any one of claims 1 to 8.

Images