A method, system, device, product and medium for lidar wake vortex inversion

Abstract

The present invention relates to the field of aviation safety technologies, and provides a method, a system, a device, a product and a medium for lidar wake vortex inversion. The method includes: obtaining meteorological parameters, aircraft type parameters and ADS-B data, and calculating the wake vortex circulation; constructing an axial scanning coordinate system; constructing a first radial velocity algorithm; calculating the background wind velocity through the first radial velocity algorithm; constructing a second radial velocity algorithm through the background wind velocity and the first radial velocity algorithm; determining range gates and obtaining corresponding probe point coordinate pairs, and traversing the absolute values of the gradients of the probe point coordinate pairs in the set of probe points to obtain the relative vortex core position; obtaining a first true vortex core position and a second true vortex core position and the distance therebetween in the region where the relative vortex core position is located, and iterating until the distance therebetween converges to determine the true vortex core position. The present invention effectively eliminates the interference of the background wind, and realizes the axial scanning of the aircraft wake based on lidar by calculating the true vortex core position.

Description

Technical Field

[0001] The present invention relates to the technical field of aviation safety, and particularly to a method, system, device, product and medium for lidar wake vortex inversion. Background Art

[0002] With the continuous increase in air traffic density, the air safety problems caused by aircraft wakes have attracted increasing attention. Accurately monitoring and analyzing the characteristics of aircraft wakes is of great significance for improving flight safety and formulating reasonable flight interval strategies. Among them, wake detection based on airborne lidar helps to monitor the wake vortices of the preceding aircraft and implement formation flight.

[0003] At present, most of the research on lidar wakes focuses on ground lidar detection, mainly ground tangential scanning, while airborne axial scanning is more complex. Ground wake detection uses fixed ground radars, with a wider detection range, capable of monitoring the wakes of multiple aircraft, and is suitable for airport area monitoring. However, tangential scanning is not applicable to airborne lidar. The purpose of airborne lidar is to detect the wake situation in front of the aircraft. If RHI (Range-Height Indicator) scanning, PPI (Plan Position Indicator) scanning, etc. are used, there will be the following problems: First, the detection range is limited and the wake information in front of the aircraft cannot be obtained in time. Second, if the direction of the wake in front is parallel to the aircraft's heading, then the lidar detection axis will be basically perpendicular to the wake vortex, and the velocity component of the wake vortex in the lidar detection direction will be very small, resulting in the inability to correctly identify the wake, and when the aircraft enters this wake area, serious accidents such as altitude drop and roll will occur.

[0004] Airborne lidar relies on the aircraft's forward-looking Doppler lidar for real-time wake detection, with a closer detection range and higher accuracy. However, restricted by the installation position and flight conditions, the wake vortex inversion process is more complex, and the different intensities of the left and right wake vortices and the small angle gate interval will also lead to incorrect identification of the vortex core position. Summary of the Invention

[0005] The present invention aims to at least solve one of the technical problems existing in the related art. For this purpose, the present invention provides a method, system, device, product and medium for lidar wake vortex inversion to achieve the monitoring of the wake vortices of the preceding aircraft.

[0006] The present invention provides a method for lidar wake vortex inversion, including:

[0007] S1: Obtain meteorological parameters, aircraft type parameters and ADS-B data, and calculate the wake vortex circulation through the meteorological parameters, aircraft type parameters and ADS-B data;

[0008] S2: Select the scanning mode and the type of coordinate system of the lidar, and construct an axial scanning coordinate system based on the scanning mode and the type of coordinate system;

[0009] S3: Obtain the coordinates of the detection points, the left vortex axis, and the right vortex axis in the axial scanning coordinate system, and construct a first radial velocity algorithm based on the coordinates of the detection points, the left vortex axis, the right vortex axis, and the wake circulation;

[0010] S4: Obtain the non-wake region and the wake region in the axial scanning coordinate system, calculate the background wind speed in the non-wake region using the first radial velocity algorithm; construct a second radial velocity algorithm for the wake region based on the background wind speed and the first radial velocity algorithm;

[0011] S5: Determine the range gates in the wake region, obtain the set of coordinates of the detection points in the range gates, obtain the coordinate pairs of the detection points in the set of coordinates of the detection points, obtain the absolute value of the coordinate pair gradient of the coordinate pairs of the detection points using the second radial velocity algorithm, and obtain the relative vortex core position based on the absolute value of the coordinate pair gradient;

[0012] S6: In the region where the relative vortex core position is located, obtain the first true vortex core position and the second true vortex core position using the second radial velocity algorithm, calculate the distance between the first true vortex core position and the second true vortex core position, and iterate the second true vortex core position until the distance between the first true vortex core position and the second true vortex core position converges to obtain the true vortex core position.

[0013] According to a lidar wake inversion method provided by the present invention, step S3 further includes:

[0014] S31: Obtain the coordinates of any point in the axial scanning coordinate system as the coordinates of the detection points, and obtain the left vortex axis and the right vortex axis through the aircraft type parameters and ADS-B data;

[0015] S32: Obtain the coordinates of any point on the left vortex axis as the coordinates of the left vortex axis point, calculate the left virtual vortex core position through the coordinates of the left vortex axis point and the coordinates of the detection points, obtain the coordinates of any point on the right vortex axis as the coordinates of the right vortex axis point, and calculate the right virtual vortex core position through the coordinates of the right vortex axis point and the coordinates of the detection points;

[0016] S33: Calculate the left distance between the coordinates of the detection points and the left virtual vortex core position through the left virtual vortex core position and the coordinates of the detection points, and calculate the right distance between the coordinates of the detection points and the right virtual vortex core position through the right virtual vortex core position and the coordinates of the detection points;

[0017] S34: Calculate the left absolute radial velocity of the coordinates of the detection points relative to the left virtual vortex core position through the left distance and the wake circulation, and calculate the right absolute radial velocity of the coordinates of the detection points relative to the right virtual vortex core position through the right distance and the wake circulation;

[0018] S35: Calculate the left radial velocity vector and the right radial velocity vector successively through the left distance and the right distance respectively;

[0019] S36: Construct the first radial velocity algorithm through the detection point coordinates, the left absolute radial velocity, the right absolute radial velocity, the left radial velocity vector and the right radial velocity vector.

[0020] According to a method for lidar wake vortex inversion provided by the present invention, step S4 further includes:

[0021] S41: Obtain the wake region and the non-wake region in the axial scanning coordinate system through the left virtual vortex core position and the right virtual vortex core position;

[0022] S42: Sample the detection point coordinates in the non-wake region to obtain a non-wake region detection point coordinate sample;

[0023] S43: Calculate the background wind radial velocity of the non-wake region detection point coordinate sample through the first radial velocity algorithm, and obtain the background wind speed by calculating the average value of the background wind radial velocity;

[0024] S44: Substitute the background wind speed into the first radial velocity algorithm to construct the second radial velocity algorithm for the wake region.

[0025] According to a method for lidar wake vortex inversion provided by the present invention, step S5 further includes:

[0026] S51: Select range gates in the wake region, select detection point coordinates on the range gates to form a detection point coordinate set, and obtain adjacent detection point coordinates in the detection point coordinate set to form a detection point coordinate pair, where the detection point coordinate pair includes a first detection point coordinate and a second detection point coordinate;

[0027] S52: Calculate the first radial velocity of the first detection point coordinate through the second radial velocity algorithm; calculate the second radial velocity of the second detection point coordinate through the second radial velocity algorithm;

[0028] S53: Obtain the absolute value of the coordinate pair gradient of the detection point coordinate pair by calculating the absolute value of the gradient of the first radial velocity and the second radial velocity;

[0029] S54: Calculate the absolute value of all coordinate pair gradients, and take the position where the detection point coordinate pair with the largest absolute value of the coordinate pair gradient is located as the relative vortex core position.

[0030] According to a method for lidar wake vortex inversion provided by the present invention, step S6 further includes:

[0031] S61: Select a first angular gate in the region where the relative vortex core position is located, and divide the region where the relative vortex core position is located through the first angular gate to obtain a first angular gate set; the coordinate of one end of the first angular gate is the first angular gate detection point coordinate, and the coordinate of the other end of the first angular gate is the second angular gate detection point coordinate;

[0032] S62: Calculate the first angular gate radial velocity of the first angular gate detection point coordinate through the second radial velocity algorithm; calculate the second angular gate radial velocity of the second angular gate detection point coordinate through the second radial velocity algorithm;

[0033] S63: Obtain the first gradient absolute value of the first angular gate by calculating the gradient absolute value of the first angular gate radial velocity and the second angular gate radial velocity, calculate all the first gradient absolute values in the first angular gate set, and take the position where the first angular gate with the largest first gradient absolute value is located as the first true vortex core position;

[0034] S64: Select a second angular gate in the region where the relative vortex core position is located, and divide the region where the relative vortex core position is located through the second angular gate to obtain a second angular gate set, the coordinate of one end of the second angular gate is the third angular gate detection point coordinate, and the coordinate of the other end of the second angular gate is the fourth angular gate detection point coordinate;

[0035] S65: Calculate the third angular gate radial velocity of the third angular gate detection point coordinate through the second radial velocity algorithm; calculate the fourth angular gate radial velocity of the fourth angular gate detection point coordinate through the second radial velocity algorithm;

[0036] S66: Obtain the second gradient absolute value of the second angular gate by calculating the gradient absolute value of the third angular gate radial velocity and the fourth angular gate radial velocity, calculate all the second gradient absolute values in the second angular gate set, and take the position where the second angular gate with the largest second gradient absolute value is located as the second true vortex core position;

[0037] S67: Calculate the distance between the first true vortex core position and the second true vortex core position, and iterate the second true vortex core position in the region where the relative vortex core position is located until the distance between the first true vortex core position and the second true vortex core position converges, and take the iterated second true vortex core position as the true vortex core position.

[0038] According to a method for lidar wake vortex inversion provided by the present invention, in step S2, the type of coordinate system is a Cartesian coordinate system, and the scanning mode is an axial scanning mode.

[0039] The present invention also provides a lidar wake vortex inversion system for executing a method for lidar wake vortex inversion as described in any one of the above, including:

[0040] Wake Vortex Circulation Module: It is used to obtain meteorological parameters, aircraft type parameters, and ADS-B data, and calculate the wake vortex circulation through the meteorological parameters, aircraft type parameters, and ADS-B data;

[0041] Axial Scanning Coordinate System Module: It is used to select the scanning mode and coordinate system type of the lidar, and construct the axial scanning coordinate system through the scanning mode and coordinate system type;

[0042] First Radial Velocity Algorithm Module: It is used to obtain the detection point coordinates, left vortex axis, and right vortex axis in the axial scanning coordinate system, and construct the first radial velocity algorithm through the detection point coordinates, left vortex axis, right vortex axis, and wake vortex circulation;

[0043] Second Radial Velocity Algorithm Module: It is used to obtain the non-wake region and wake region in the axial scanning coordinate system, calculate the background wind speed in the non-wake region through the first radial velocity algorithm; construct the second radial velocity algorithm of the wake region through the background wind speed and the first radial velocity algorithm;

[0044] Relative Vortex Core Position Calculation Module: It is used to determine the range gate in the wake region, obtain the set of detection point coordinates of the range gate, obtain the detection point coordinate pairs in the set of detection point coordinates, obtain the absolute value of the coordinate pair gradient of the detection point coordinate pairs through the second radial velocity algorithm, and obtain the relative vortex core position through the absolute value of the coordinate pair gradient;

[0045] True Vortex Core Position Calculation Module: It is used to obtain the first true vortex core position and the second true vortex core position through the second radial velocity algorithm in the region where the relative vortex core position is located, calculate the distance between the first true vortex core position and the second true vortex core position, and iterate the second true vortex core position until the distance between the first true vortex core position and the second true vortex core position converges, and obtain the true vortex core position.

[0046] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, it implements a lidar wake vortex inversion method as described in any one of the above.

[0047] The present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements a lidar wake vortex inversion method as described in any one of the above.

[0048] The present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute a lidar wake vortex inversion method as described in any one of the above.

[0049] One or more of the above technical solutions in the embodiments of the present invention have at least one of the following technical effects:

[0050] A method, system, device, product and medium for lidar wake vortex inversion provided by the present invention constructs a first radial velocity algorithm in the three-dimensional lidar axial scanning coordinate system, eliminates the background wind speed of the environment, constructs a second radial velocity algorithm to improve the measurement accuracy of the radial velocity of the detection point and the detection accuracy of the vortex core position, and solves the problem that the vortex core position inverted by the traditional gradient method is near the same-side vortex core when the angular resolution is too high by calculating the distance between the first true vortex core position and the second true vortex core position. The present invention helps to better monitor the wake vortex of the front aircraft and implement small-spacing formation flight.

[0051] The additional aspects and advantages of the present invention will be partly given in the following description, partly will become obvious from the following description, or will be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0053] Figure 1 It is a schematic flowchart of a method for lidar wake vortex inversion provided by the present invention.

[0054] Figure 2 It is a schematic structural diagram of a lidar wake vortex inversion system provided by the present invention.

[0055] Figure 3 It is a schematic structural diagram of a lidar wake vortex inversion device provided by the present invention.

[0056] Reference numerals:

[0057] 100, wake vortex circulation module; 200, axial scanning coordinate system module; 300, first radial velocity algorithm module; 400, second radial velocity algorithm module; 500, relative vortex core position calculation module; 600, true vortex core position calculation module; 810, processor; 820, communication interface; 830, memory; 840, communication bus. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0058] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without creative efforts shall fall within the protection scope of the present invention. The following embodiments are used to illustrate the present invention, but shall not be used to limit the scope of the present invention.

[0059] In the description of the embodiments of the present invention, it should be noted that the terms "first", "second", and "third" are only used for descriptive purposes and shall not be construed as indicating or implying relative importance.

[0060] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the embodiments of the present invention. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0061] The following Figure 1 describes the embodiments of the present invention.

[0062] Figure 1 It is a schematic flow chart of a method for inverting the wake vortex of a lidar. The present invention preferably selects an embodiment, and the specific implementation process of this embodiment is divided into 6 steps, where S1 is to calculate the wake vortex circulation, S2 is to obtain the axial scanning coordinate system according to the lidar axial scanning method and coordinate system selection, S3 is to construct the first radial velocity algorithm, S4 is to construct the second radial velocity algorithm, S5 is to calculate the relative vortex core position, and S6 is to calculate the true vortex core position.

[0063] The present invention provides a method for inverting the wake vortex of a lidar, including:

[0064] S1: Obtain meteorological parameters, aircraft type parameters, and ADS-B data, and calculate the wake vortex circulation through the meteorological parameters, aircraft type parameters, and ADS-B data;

[0065] Further, the purpose of this stage is to obtain meteorological parameters, aircraft type parameters, and ADS-B (Automatic Dependent Surveillance - Broadcast) data, and calculate the wake vorticity circulation through the meteorological parameters, aircraft type parameters, and ADS-B data for subsequent calculations:

[0066]

[0067] Among them, represents the wake vorticity circulation, m is the aircraft mass, g is the acceleration due to gravity, ρ ∞ is the atmospheric density, V ∞ is the aircraft flight speed, ρ ∞ and V ∞ The data are obtained from the ADS-B data and meteorological parameters, b 0 is the initial vorticity core spacing of the wingtip wake, usually b 0 = π B / 4, where B is the wingspan of the aircraft, B, m The data are obtained from the aircraft type parameters.

[0068] S2: Select the scanning mode and coordinate system type of the lidar, and construct an axial scanning coordinate system through the scanning mode and coordinate system type.

[0069] Further, the purpose of this stage is to determine the scanning mode of the lidar and construct an axial scanning coordinate system to provide a coordinate system for subsequent modeling and scanning.

[0070] Among them, in step S2, the coordinate system type is the Cartesian coordinate system, and the scanning mode is the axial scanning method.

[0071] Using the axial scanning method can enable the lidar to have a larger detection range and higher accuracy, and also have a better detection effect on the wake parallel to the aircraft heading. The axial scanning coordinate system uses the Cartesian coordinate system. The scanning range is determined according to the scanning mode of the lidar. Based on the scanning range, the position where the airborne lidar is located is taken as the origin of the coordinate axis, x The positive direction of the axis is the projection of the x axis of the fuselage coordinate system onto the horizontal plane, z The positive direction of the axis is vertically upward, y The positive direction of the axis can be x axis, zAn axial scanning coordinate system that forms a right - hand system with the positive direction of the axis. The advantage of this coordinate system with the aircraft as the carrier is that it avoids the influence of the still wind, because the still wind only makes the aircraft and the wake vortex move parallelly, but does not cause a change in the relative position of the wake vortex with respect to the aircraft. The rectangular coordinates ([ X, Y, Z ) of any detection point in the axial scanning coordinate system are:

[0072]

[0073] Among them, r represents the radial distance, represents the polar angle, represents the azimuth angle, X is the x - axis coordinate value of the detection point, Y is the y - axis coordinate value of the detection point, and Z is the z - axis coordinate value of the detection point.

[0074] S3: Obtain the detection point coordinates, the left vortex axis, and the right vortex axis in the axial scanning coordinate system, and construct a first radial velocity algorithm through the detection point coordinates, the left vortex axis, the right vortex axis, and the wake vortex circulation;

[0075] Furthermore, in this stage, it is to obtain the left and right vortex axes and the detection point coordinates in the axial scanning coordinate system, and construct a first radial velocity algorithm through the detection point coordinates, the left vortex axis, the right vortex axis, and the wake vortex circulation.

[0076] Among them, step S3 further includes:

[0077] S31: Obtain the coordinates of any point in the axial scanning coordinate system as the detection point coordinates, and obtain the left vortex axis and the right vortex axis through the aircraft type parameters and ADS - B data;

[0078] S32: Obtain the coordinates of any point on the left vortex axis as the left vortex axis point coordinates, calculate the left virtual vortex core position through the left vortex axis point coordinates and the detection point coordinates, obtain the coordinates of any point on the right vortex axis as the right vortex axis point coordinates, and calculate the right virtual vortex core position through the right vortex axis point coordinates and the detection point coordinates;

[0079] S33: Calculate the left distance between the detection point coordinates and the left virtual vortex core position through the left virtual vortex core position and the detection point coordinates, and calculate the right distance between the detection point coordinates and the right virtual vortex core position through the right virtual vortex core position and the detection point coordinates;

[0080] S34: Calculate the left absolute radial velocity of the detection point coordinates relative to the left virtual vortex core position through the left distance and the wake vortex circulation, and calculate the right absolute radial velocity of the detection point coordinates relative to the right virtual vortex core position through the right distance and the wake vortex circulation;

[0081] S35: Calculate the left radial velocity vector and the right radial velocity vector successively through the left distance and the right distance respectively;

[0082] S36: Construct the first radial velocity algorithm based on the detection point coordinates, left absolute radial velocity, right absolute radial velocity, left radial velocity vector, and right radial velocity vector.

[0083] For the above steps, the specific implementation in this embodiment is as follows:

[0084] In the axial scanning coordinate system, first perform scanning according to ADS-B data and aircraft type parameters to determine the left and right vortex axes of the aircraft. At the same time, the unit direction vectors of the left and right vortex axes can be determined n =( n x ,n y ,n z )(where n x ,n y , n z are the vector components of the left and right vortex axes on the x-axis, y-axis, and z-axis respectively) and the detection point coordinates ([[]] of any detection point, and then obtain the point coordinate on the right vortex axis as the right vortex axis point coordinate X, Y, Z ) P 0( x 0 ,y 0 ,z 0), where x 0 ,y 0 , z 0 are the coordinate values of the point on the right vortex axis on the x-axis, y-axis, and z-axis respectively. Obtain the point coordinate on the left vortex axis as the left vortex axis point coordinate P 2( x 2 ,y 2 ,z 2), where x 2 ,y 2 ,z 2 are the coordinate values of the point on the left vortex axis on the x-axis, y-axis, and z-axis respectively. Through the left vortex axis point coordinate P 2, the right vortex axis point coordinate P 0, the detection point coordinates ([[]] and the unit direction vector X, Y, Z ) and the left vortex core position parameter n can be calculated t L and the right vortex core position parameter t R :

[0085] t L = n x ( X- x 2)+ n y ( Y - y 2)+ n z ( Z - z 2)

[0086] t R = n x ( X - x 0)+ n y ( Y - y 0)+ n z ( Z - z 0)

[0087] Through the left vortex core position parameter t L and the right vortex core position parameter t R the left virtual vortex core position ([[]] x L ,y L ,z L ) and the right virtual vortex core position ([[]] x R ,y R ,z R ) can be calculated successively, where x L ,y L ,z L are successively the coordinate values of the left virtual vortex core position on the x-axis, y-axis, and z-axis, x R ,y R ,z R are successively the coordinate values of the right virtual vortex core position on the x-axis, y-axis, and z-axis:

[0088]

[0089] Through the coordinates of the detection point, the left virtual vortex core position ([[]] x L ,y L ,zL ) and the right virtual vortex core position ( x R ,y R ,z R ) can successively calculate the left distance between the detection point coordinates and the left virtual vortex core position and the right distance between the detection point coordinates and the right virtual vortex core position :

[0090]

[0091] Through the left distance calculate the left absolute radial velocity of the detection point coordinates relative to the left virtual vortex core position , through the right distance calculate the right absolute radial velocity of the detection point coordinates relative to the right virtual vortex core position :

[0092]

[0093]

[0094] Among them, r c represents the vortex core radius. Usually, take r c = 0.052 b 0.

[0095] Calculate the relative left virtual vortex core position ( ) and the relative right virtual vortex core position ( )

[0096]

[0097] Among them, is the X-axis coordinate value of the relative left virtual vortex core position, is the Y-axis coordinate value of the relative left virtual vortex core position, is the Z-axis coordinate value of the relative left virtual vortex core position, is the X-axis coordinate value of the relative right virtual vortex core position, is the Y-axis coordinate value of the relative right virtual vortex core position, is the Z-axis coordinate value of the relative right virtual vortex core position.

[0098] Among them, T R 、 T L are successively the rotation transformation matrices of the right virtual vortex core position and the left virtual vortex core position respectively. T represents the transpose, TL , T R The matrices of

[0099]

[0100] are respectively as follows: Among them, the right middle variable of the matrix M R = n · P 0, and the left middle variable of the matrix M L = n · P 2

[0101] Through the relative left virtual vortex core position ( ) and the relative right virtual vortex core position ( ), the left radial velocity vector of the detection point coordinates relative to the left vortex axis and the right radial velocity vector of the detection point coordinates relative to the right vortex axis can be calculated successively:

[0102]

[0103] Then calculate the left composite radial velocity , and the right composite radial velocity :

[0104]

[0105]

[0106] Among them represents the left radial absolute value, and represents the right radial absolute value.

[0107] The expression of the first radial velocity algorithm is:

[0108]

[0109] Among them, represents the first radial velocity obtained through the first radial velocity algorithm, and the first composite velocity = + , and the detection point coordinate vector =- X , Y , Z , that is, the vector value of the detection point coordinates.

[0110] S4: acquiring a non-wake area and a wake area in the axial scanning coordinate system, calculating a background wind velocity in the non-wake area by using a first radial velocity algorithm; and constructing a second radial velocity algorithm for the wake area by using the background wind velocity and the first radial velocity algorithm;

[0111] Furthermore, in this stage, in order to distinguish the non-wake area and the wake area in the measurement area, the background wind speed is calculated by the first radial velocity algorithm in the non-wake area, and the second radial velocity algorithm is constructed by the background wind speed and the first radial velocity algorithm.

[0112] Wherein, step S4 further comprises:

[0113] S41: acquiring the wake region and the non-wake region in the axial scanning coordinate system according to the left virtual vortex core position and the right virtual vortex core position;

[0114] S42: sampling the coordinates of the detection points in the non-wake area to obtain the coordinate samples of the detection points in the non-wake area;

[0115] S43: Calculating the background wind radial velocity of the non-wake area detection point coordinate sample by a first radial velocity algorithm, and obtaining the background wind velocity by calculating the average value of the background wind radial velocity;

[0116] S44: Substituting the background wind speed into the first radial velocity algorithm to construct a second radial velocity algorithm for the wake region.

[0117] With respect to the above steps, the specific implementation methods in this embodiment are as follows:

[0118] First, the area in the axial scanning coordinate system is divided into the wake area (close to the wake, the radial velocity is greatly affected by the wake) and the non-wake area (far away from the wake, the radial velocity is mainly affected by the background wind). The division of the wake area and the non-wake area is based on the vortex core radius of the left virtual vortex core position and the right virtual vortex core position. r c To determine. Set the distance from the left virtual vortex core position ( x L ,y L ,z L ) and the right virtual vortex core position ( x R ,y R ,z R ) Four times the vortex core radius r c The area within is divided into the wake area, and the other parts are the non-wake area. Since the non-wake area is far away from the wake vortex, it can be considered that the radial velocity detected in this area is mainly affected by the background wind.

[0119] Subsequently, a number of non-wake region detection points are evenly selected in the non-wake region as non-wake region detection point samples. The non-wake region detection point samples are substituted into the first radial velocity algorithm to obtain the background wind radial velocity of the non-wake region detection point samples, and then the average value of the background wind radial velocity is calculated to obtain the background wind speed. V wind Substituting the background wind speed into the first radial velocity algorithm can construct the second radial velocity algorithm. The expression of the second radial velocity algorithm is:

[0120]

[0121] Where represents the second radial velocity obtained by the second radial velocity algorithm, where the second combined velocity = + - V wind .

[0122] S5: Determine range gates in the wake region, obtain the set of detection point coordinates of the range gates, obtain detection point coordinate pairs from the set of detection point coordinates, obtain the absolute value of the coordinate pair gradient of the detection point coordinate pairs through the second radial velocity algorithm, and obtain the relative vortex core position through the absolute value of the coordinate pair gradient;

[0123] Furthermore, in this stage, range gates are determined in the wake region, detection point coordinate pairs are obtained in the range gates, and the relative vortex core position is obtained by traversing the absolute values of the gradients of the detection point coordinate pairs in the set of detection point coordinates.

[0124] Among them, step S5 further includes:

[0125] S51: Select range gates in the wake region, select detection point coordinates on the range gates to form a set of detection point coordinates, and obtain adjacent detection point coordinates in the set of detection point coordinates to form detection point coordinate pairs. The detection point coordinate pairs include first detection point coordinates and second detection point coordinates;

[0126] S52: Calculate the first radial velocity of the first detection point coordinates through the second radial velocity algorithm; calculate the second radial velocity of the second detection point coordinates through the second radial velocity algorithm;

[0127] S53: Obtain the absolute value of the coordinate pair gradient of the detection point coordinate pairs by calculating the absolute value of the gradient of the first radial velocity and the second radial velocity;

[0128] S54: Calculate the absolute values of all coordinate pair gradients, and take the position where the detection point coordinate pair with the largest absolute value of the coordinate pair gradient is located as the relative vortex core position.

[0129] For the above steps, the specific implementation in this embodiment is as follows:

[0130] According to the characteristics of the wake vortex, the velocity directions above and below the vortex core region are opposite. Therefore, the absolute value of the gradient of the Doppler radial velocity at the same pair of detection point coordinates should reach the maximum at the vortex core. First, select the measurement distance of the lidar within the vortex core region to obtain the range gate. Then, select several detection point coordinates on the range gate as the detection point coordinate set, and obtain adjacent detection point coordinates in the detection point coordinate set as the detection point coordinate pair. The detection point coordinate pair includes the first detection point coordinate and the second detection point coordinate. Subsequently, calculate the first radial velocity of the first detection point coordinate through the second radial velocity algorithm; calculate the second radial velocity of the second detection point coordinate through the second radial velocity algorithm. Finally, obtain the absolute value of the gradient of the coordinate pair by taking the absolute value of the gradient of the first radial velocity and the second radial velocity:

[0131]

[0132] Among them, D r ( n , i ) represents the absolute value of the gradient at the r -th point scanned from top to bottom at the n -th horizontal angle of the range gate at the distance i , that is, the absolute value of the gradient of the coordinate pair; { V ( r , φ n , θ i )} represents the second radial velocity of the second detection point coordinate at a position where the distance from the radar is r and the horizontal angle is φ n , and the elevation angle is θ i . represents the first radial velocity of the first detection point coordinate at a position where the distance from the radar is r and the horizontal angle is φ n , and the elevation angle is . The elevation angle difference between two scans and detections of the lidar is called the angle gate. Subsequently, traverse all detection point coordinate pairs in the detection point set, and take the position where the detection point coordinate pair with the maximum absolute value of the gradient of the coordinate pair is located as the relative vortex core position. The position where the detection point coordinate pair is located is the position of the midpoint of the line connecting the first detection point coordinate and the second detection point coordinate.

[0133] S6: In the region where the relative vortex core position is located, obtain the first true vortex core position and the second true vortex core position through the second radial velocity algorithm, calculate the distance between the first true vortex core position and the second true vortex core position, and iterate the second true vortex core position until the distance between the first true vortex core position and the second true vortex core position converges to obtain the true vortex core position.

[0134] Furthermore, this step is to converge the distance between the first true vortex core position and the second true vortex core position through iteration; due to the different left and right wake strengths and the small angle gate interval, the obtained true vortex core position may be near the vortex core on the same side, which obviously does not conform to the actual situation. Iteration can effectively avoid this situation.

[0135] Among them, step S6 further includes:

[0136] S61: Select a first angle gate in the region where the relative vortex core position is located, and divide the region where the relative vortex core position is located through the first angle gate to obtain a first angle gate set; the coordinate of one end of the first angle gate is the first angle gate detection point coordinate, and the coordinate of the other end of the first angle gate is the second angle gate detection point coordinate;

[0137] S62: Calculate the first angle gate radial velocity of the first angle gate detection point coordinate through the second radial velocity algorithm; calculate the second angle gate radial velocity of the second angle gate detection point coordinate through the second radial velocity algorithm;

[0138] S63: Obtain the first gradient absolute value of the first angle gate by calculating the absolute value of the gradient of the first angle gate radial velocity and the second angle gate radial velocity, calculate all the first gradient absolute values in the first angle gate set, and take the position where the first angle gate with the largest first gradient absolute value is located as the first true vortex core position;

[0139] S64: Select a second angle gate in the region where the relative vortex core position is located, and divide the region where the relative vortex core position is located through the second angle gate to obtain a second angle gate set. The coordinate of one end of the second angle gate is the third angle gate detection point coordinate, and the coordinate of the other end of the second angle gate is the fourth angle gate detection point coordinate;

[0140] S65: Calculate the third angle gate radial velocity of the third angle gate detection point coordinate through the second radial velocity algorithm; calculate the fourth angle gate radial velocity of the fourth angle gate detection point coordinate through the second radial velocity algorithm;

[0141] S66: Obtain the second gradient absolute value of the second angular gate by calculating the absolute value of the gradient of the third angular gate radial velocity and the fourth angular gate radial velocity. Calculate all the second gradient absolute values in the set of second angular gates, and take the position where the second angular gate with the largest second gradient absolute value is located as the second true vortex core position;

[0142] S67: Calculate the distance between the first true vortex core position and the second true vortex core position, and iterate the second true vortex core position in the region where the relative vortex core position is located until the distance between the first true vortex core position and the second true vortex core position converges. Take the iterated second true vortex core position as the true vortex core position.

[0143] For the above steps, the specific implementation method in this embodiment is as follows:

[0144] First, obtain the first angular gate by selecting the first angular measurement division of the lidar in the region where the relative vortex core position is located. Here, the first angular gate is taken as 5°. Then, divide the region where the relative vortex core position is located successively through the first angular gate to obtain a set of first angular gates. The coordinate of one end of the first angular gate is the first angular gate detection point coordinate, and the coordinate of the other end of the first angular gate is the second angular gate detection point coordinate. Subsequently, calculate the first angular gate radial velocity of the first angular gate detection point coordinate by the second radial velocity algorithm, calculate the second angular gate radial velocity of the second angular gate detection point coordinate by the second radial velocity algorithm, and then obtain the first gradient absolute value of the first angular gate by taking the absolute value of the gradient of the first angular gate radial velocity and the second angular gate radial velocity. Traverse the set of first angular gates in the region where the relative vortex core position is located, calculate the first gradient absolute value of all first angular gates, and take the position where the first angular gate with the largest first gradient absolute value is located as the first true vortex core position. The position where the first angular gate is located is the position of the midpoint of the connection line between the first angular gate detection point coordinate and the second angular gate detection point coordinate.

[0145] Similarly, by selecting the second angular measurement division of the lidar in the region where the relative vortex core position is located, a second angular gate is obtained. Here, the second angular gate is taken as 0.4°. Then, the region where the relative vortex core position is located is successively divided by the second angular gate to obtain a set of second angular gates. The coordinate of one end of the second angular gate is the coordinate of the third angular gate detection point, and the coordinate of the other end of the second angular gate is the coordinate of the fourth angular gate detection point. Subsequently, the third angular gate radial velocity of the coordinate of the third angular gate detection point is calculated by the second radial velocity algorithm, and the fourth angular gate radial velocity of the coordinate of the fourth angular gate detection point is calculated by the second radial velocity algorithm. Then, the absolute value of the gradient of the third angular gate radial velocity and the fourth angular gate radial velocity is obtained, and the absolute value of the second gradient of the second angular gate is obtained. Traverse the set of second angular gates in the region where the relative vortex core position is located, find the absolute value of the second gradient of all second angular gates, and take the position where the second angular gate with the largest absolute value of the second gradient is located as the second true vortex core position. The position where the second angular gate is located is the position of the midpoint of the line connecting the coordinate of the third angular gate detection point and the coordinate of the fourth angular gate detection point.

[0146] Finally, the distance between the first true vortex core position and the second true vortex core position is calculated in the axial scan coordinate system. When the distance between the first true vortex core position and the second true vortex core position is greater than a certain threshold (20 m in this embodiment), it is considered that the distance between the first true vortex core position and the second true vortex core position has not converged. At this time, the position where the second angular gate with the second largest absolute value of the second gradient is located is taken as the second true vortex core position, and this process is repeated to iterate the second true vortex core position until the distance between the first true vortex core position and the second true vortex core position converges, and the iterated second true vortex core position is taken as the true vortex core position.

[0147] The present invention also verifies the effectiveness of the lidar wake vortex inversion method. The present invention simulates the lidar wake vortex inversion method through setting different wake vortex environment parameters in Experiment 1 and Experiment 2. The wake vortex environment parameters set in Experiment 1 and Experiment 2 are shown in Table 1:

[0148] Table 1 Wake vortex environment parameters in Experiment 1 and Experiment 2

[0149]

[0150] Experiment 1 and Experiment 2 are for the identification of the vortex core position, and the identification results are shown in Table 2:

[0151] Table 2 Identification results of the true vortex core position in Experiment 1 and Experiment 2 under uniform background wind

[0152]

[0153] As can be seen from Table 2, this method can better monitor the wake of the leading aircraft by calculating the distance between the first true vortex core position and the second true vortex core position, improving the accuracy of vortex core position identification.

[0154] In summary, a lidar wake vortex inversion method provided by the present invention can solve the problem that the vortex core position inverted by the traditional gradient method is near the same-side vortex core when the angular resolution is too high, and can effectively exclude the interference of the background wind, so that the present invention helps to better monitor the wake vortex of the leading aircraft and implement small-spacing formation flight.

[0155] Next, a lidar wake vortex inversion system provided by the present invention will be described. The lidar wake vortex inversion system described below can be mutually corresponding and referred to the lidar wake vortex inversion method described above.

[0156] Figure 2 An example of the structural schematic diagram of a lidar wake vortex inversion system is shown in Figure 2 and is used to execute a lidar wake vortex inversion method as described above, including:

[0157] Wake vortex circulation module 100: used to obtain meteorological parameters, aircraft type parameters and ADS-B data, and calculate the wake vortex circulation through the meteorological parameters, aircraft type parameters and ADS-B data;

[0158] Axial scanning coordinate system module 200: used to select the scanning mode and coordinate system type of the lidar, and construct an axial scanning coordinate system through the scanning mode and coordinate system type;

[0159] First radial velocity algorithm module 300: used to obtain the detection point coordinates, left vortex axis and right vortex axis in the axial scanning coordinate system, and construct a first radial velocity algorithm through the detection point coordinates, left vortex axis, right vortex axis and wake vortex circulation;

[0160] Second radial velocity algorithm module 400: used to obtain the non-wake region and wake region in the axial scanning coordinate system, calculate the background wind speed in the non-wake region through the first radial velocity algorithm; construct a second radial velocity algorithm for the wake region through the background wind speed and the first radial velocity algorithm;

[0161] Relative vortex core position calculation module 500: used to determine the range gate in the wake region, obtain the set of detection point coordinates of the range gate, obtain the detection point coordinate pairs in the set of detection point coordinates, obtain the absolute value of the coordinate pair gradient of the detection point coordinate pairs through the second radial velocity algorithm, and obtain the relative vortex core position through the absolute value of the coordinate pair gradient;

[0162] True vortex core position calculation module 600: It is used to obtain the first true vortex core position and the second true vortex core position in the area where the relative vortex core position is located through the second radial velocity algorithm, calculate the distance between the first true vortex core position and the second true vortex core position, and iterate the second true vortex core position until the distance between the first true vortex core position and the second true vortex core position converges, so as to obtain the true vortex core position.

[0163] On the other hand, Figure 3 An example of the physical structure diagram of an electronic device is shown in Figure 3 As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830, and a communication bus 840. Among them, the processor 810, the communication interface 820, and the memory 830 complete mutual communication through the communication bus 840. The processor 810 can call the logical instructions in the memory 830 to execute a method for lidar wake vortex inversion. The method includes:

[0164] S1: Obtain meteorological parameters, aircraft type parameters, and ADS-B data, and calculate the wake vortex circulation through the meteorological parameters, aircraft type parameters, and ADS-B data;

[0165] S2: Select the scanning mode and coordinate system type of the lidar, and construct an axial scanning coordinate system through the scanning mode and coordinate system type;

[0166] S3: Obtain the detection point coordinates, the left vortex axis, and the right vortex axis in the axial scanning coordinate system, and construct a first radial velocity algorithm through the detection point coordinates, the left vortex axis, the right vortex axis, and the wake vortex circulation;

[0167] S4: Obtain the non-wake area and the wake area in the axial scanning coordinate system, calculate the background wind speed in the non-wake area through the first radial velocity algorithm; construct a second radial velocity algorithm for the wake area through the background wind speed and the first radial velocity algorithm;

[0168] S5: Determine the range gate in the wake area, obtain the set of detection point coordinates of the range gate, obtain the detection point coordinate pairs in the set of detection point coordinates, obtain the absolute value of the coordinate pair gradient of the detection point coordinate pairs through the second radial velocity algorithm, and obtain the relative vortex core position through the absolute value of the coordinate pair gradient;

[0169] S6: In the area where the relative vortex core position is located, obtain the first true vortex core position and the second true vortex core position through the second radial velocity algorithm, calculate the distance between the first true vortex core position and the second true vortex core position, and iterate the second true vortex core position until the distance between the first true vortex core position and the second true vortex core position converges, so as to obtain the true vortex core position.

[0170] In addition, when the logical instructions in the above-mentioned memory 830 are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0171] On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute a lidar wake vortex inversion method provided by the above-mentioned various methods. The method includes:

[0172] S1: Obtain meteorological parameters, aircraft type parameters, and ADS-B data, and calculate the wake vortex circulation through the meteorological parameters, aircraft type parameters, and ADS-B data;

[0173] S2: Select the scanning mode and coordinate system type of the lidar, and construct an axial scanning coordinate system through the scanning mode and coordinate system type;

[0174] S3: Obtain the detection point coordinates, left vortex axis, and right vortex axis in the axial scanning coordinate system, and construct a first radial velocity algorithm through the detection point coordinates, left vortex axis, right vortex axis, and wake vortex circulation;

[0175] S4: Obtain the non-wake region and wake region in the axial scanning coordinate system. Calculate the background wind speed in the non-wake region through the first radial velocity algorithm; construct a second radial velocity algorithm for the wake region through the background wind speed and the first radial velocity algorithm;

[0176] S5: Determine the range gate in the wake region, obtain the set of detection point coordinates of the range gate, obtain the detection point coordinate pairs in the set of detection point coordinates, obtain the absolute value of the coordinate pair gradient of the detection point coordinate pairs through the second radial velocity algorithm, and obtain the relative vortex core position through the absolute value of the coordinate pair gradient;

[0177] S6: In the region where the relative vortex core position is located, obtain the first true vortex core position and the second true vortex core position through the second radial velocity algorithm, calculate the distance between the first true vortex core position and the second true vortex core position, and iterate the second true vortex core position until the distance between the first true vortex core position and the second true vortex core position converges to obtain the true vortex core position.

[0178] In another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements a method for lidar wake vortex inversion provided by the above-mentioned various methods. The method includes:

[0179] S1: Obtain meteorological parameters, aircraft type parameters, and ADS-B data, and calculate the wake vortex circulation through the meteorological parameters, aircraft type parameters, and ADS-B data;

[0180] S2: Select the scanning mode and coordinate system type of the lidar, and construct an axial scanning coordinate system through the scanning mode and coordinate system type;

[0181] S3: Obtain the detection point coordinates, left vortex axis, and right vortex axis in the axial scanning coordinate system, and construct the first radial velocity algorithm through the detection point coordinates, left vortex axis, right vortex axis, and wake vortex circulation;

[0182] S4: Obtain the non-wake region and wake region in the axial scanning coordinate system, calculate the background wind speed in the non-wake region through the first radial velocity algorithm; construct the second radial velocity algorithm for the wake region through the background wind speed and the first radial velocity algorithm;

[0183] S5: Determine the range gate in the wake region, obtain the set of detection point coordinates of the range gate, obtain the detection point coordinate pairs in the set of detection point coordinates, obtain the absolute value of the coordinate pair gradient of the detection point coordinate pairs through the second radial velocity algorithm, and obtain the relative vortex core position through the absolute value of the coordinate pair gradient;

[0184] S6: In the region where the relative vortex core position is located, obtain the first true vortex core position and the second true vortex core position through the second radial velocity algorithm, calculate the distance between the first true vortex core position and the second true vortex core position, and iterate the second true vortex core position until the distance between the first true vortex core position and the second true vortex core position converges to obtain the true vortex core position.

[0185] The system, device, product, and medium embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, i.e., they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0186] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0187] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. However, these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for inverting the wake vortex of a lidar, characterized in that, Including: S1: Obtain meteorological parameters, aircraft type parameters, and ADS-B data, and calculate the wake vorticity circulation through the meteorological parameters, aircraft type parameters, and ADS-B data; S2: Select the scanning mode and coordinate system type of the lidar, and construct an axial scanning coordinate system through the scanning mode and coordinate system type; S3: Obtain the detection point coordinates, left vortex axis, and right vortex axis in the axial scanning coordinate system, and construct a first radial velocity algorithm through the detection point coordinates, left vortex axis, right vortex axis, and wake vorticity circulation; S4: Obtain the non-wake region and wake region in the axial scanning coordinate system, calculate the background wind speed in the non-wake region through the first radial velocity algorithm; construct a second radial velocity algorithm for the wake region through the background wind speed and the first radial velocity algorithm; S5: Determine the range gate in the wake region, obtain the set of detection point coordinates of the range gate, obtain the detection point coordinate pairs in the set of detection point coordinates, obtain the absolute value of the coordinate pair gradient of the detection point coordinate pairs through the second radial velocity algorithm, and obtain the relative vortex core position through the absolute value of the coordinate pair gradient; S6: In the region where the relative vortex core position is located, obtain the first true vortex core position and the second true vortex core position through the second radial velocity algorithm, calculate the distance between the first true vortex core position and the second true vortex core position, and iterate the second true vortex core position until the distance between the first true vortex core position and the second true vortex core position converges to obtain the true vortex core position.

2. The method for lidar wake vortex inversion according to claim 1, wherein Step S3 further includes: S31: Obtain the coordinates of an arbitrary point in the axial scanning coordinate system as the detection point coordinates, and obtain the left vortex axis and the right vortex axis through the aircraft type parameters and ADS-B data; S32: Obtain the coordinates of an arbitrary point on the left vortex axis as the left vortex axis point coordinates, calculate the left virtual vortex core position through the left vortex axis point coordinates and the detection point coordinates, obtain the coordinates of an arbitrary point on the right vortex axis as the right vortex axis point coordinates, and calculate the right virtual vortex core position through the right vortex axis point coordinates and the detection point coordinates; S33: Calculate the left distance between the detection point coordinates and the left virtual vortex core position through the left virtual vortex core position and the detection point coordinates, and calculate the right distance between the detection point coordinates and the right virtual vortex core position through the right virtual vortex core position and the detection point coordinates; S34: Calculate the left absolute radial velocity of the detection point coordinates relative to the left virtual vortex core position through the left distance and the wake vorticity circulation, and calculate the right absolute radial velocity of the detection point coordinates relative to the right virtual vortex core position through the right distance and the wake vorticity circulation; S35: Calculate the left radial velocity vector and the right radial velocity vector respectively in sequence through the left distance and the right distance; S36: Construct a first radial velocity algorithm through the detection point coordinates, left absolute radial velocity, right absolute radial velocity, left radial velocity vector, and right radial velocity vector.

3. A method for inverting the wake vortex of a lidar according to claim 1, characterized in that, Step S4 further includes: S41: Obtain the wake region and the non-wake region in the axial scanning coordinate system through the left virtual vortex core position and the right virtual vortex core position; S42: Sample the detection point coordinates in the non-wake region to obtain the non-wake region detection point coordinate samples; S43: Calculate the background wind radial velocity of the detection point coordinate samples in the non-wake region through the first radial velocity algorithm, and obtain the background wind velocity by calculating the average value of the background wind radial velocity; S44: Substitute the background wind velocity into the first radial velocity algorithm to construct the second radial velocity algorithm for the wake region.

4. A method for inverting the wake vortex of a lidar according to claim 1, characterized in that, Step S5 further includes: S51: Select range gates in the wake region, select detection point coordinates on the range gates to form a detection point coordinate set, and obtain adjacent detection point coordinates in the detection point coordinate set to form detection point coordinate pairs, where the detection point coordinate pairs include first detection point coordinates and second detection point coordinates; S52: Calculate the first radial velocity of the first detection point coordinates through the second radial velocity algorithm; calculate the second radial velocity of the second detection point coordinates through the second radial velocity algorithm; S53: Obtain the absolute value of the coordinate pair gradient of the detection point coordinate pair by calculating the absolute value of the gradient of the first radial velocity and the second radial velocity; S54: Calculate the absolute value of all coordinate pair gradients, and take the position where the detection point coordinate pair with the largest absolute value of the coordinate pair gradient is located as the relative vortex core position.

5. A method for inverting the wake vortex of a lidar according to claim 1, characterized in that Step S6 further includes: S61: Select a first angular gate in the region where the relative vortex core position is located, and divide the region where the relative vortex core position is located through the first angular gate to obtain a first angular gate set; the coordinates of one end of the first angular gate are the first angular gate detection point coordinates, and the coordinates of the other end of the first angular gate are the second angular gate detection point coordinates; S62: Calculate the first angular gate radial velocity of the first angular gate detection point coordinates through the second radial velocity algorithm; calculate the second angular gate radial velocity of the second angular gate detection point coordinates through the second radial velocity algorithm; S63: Obtain the first absolute value of the gradient of the first angular gate by calculating the absolute value of the gradient of the first angular gate radial velocity and the second angular gate radial velocity, calculate the first absolute value of the gradient of all the first angular gates in the first angular gate set, and take the position where the first angular gate with the largest first absolute value of the gradient is located as the first true vortex core position; S64: Select a second angular gate in the region where the relative vortex core position is located, and divide the region where the relative vortex core position is located through the second angular gate to obtain a second angular gate set, the coordinates of one end of the second angular gate are the third angular gate detection point coordinates, and the coordinates of the other end of the second angular gate are the fourth angular gate detection point coordinates; S65: Calculate the third angular gate radial velocity of the third angular gate detection point coordinates through the second radial velocity algorithm; calculate the fourth angular gate radial velocity of the fourth angular gate detection point coordinates through the second radial velocity algorithm; S66: Obtain the second absolute value of the gradient of the second angular gate by calculating the absolute value of the gradient of the third angular gate radial velocity and the fourth angular gate radial velocity, calculate the second absolute value of the gradient of all the second angular gates in the second angular gate set, and take the position where the second angular gate with the largest second absolute value of the gradient is located as the second true vortex core position; S67: Calculate the distance between the first true vortex core position and the second true vortex core position, and iterate the second true vortex core position in the region where the relative vortex core position is located until the distance between the first true vortex core position and the second true vortex core position converges. Take the iterated second true vortex core position as the true vortex core position.

6. The method for inverting the wake vortex of a lidar according to claim 1, characterized in that, In step S2, the type of the coordinate system is the Cartesian coordinate system, and the scanning mode is the axial scanning mode.

7. A lidar wake vortex inversion system for performing a lidar wake vortex inversion method according to any one of claims 1 to 6, characterized in that, It includes: Wake Vorticity Module: used to obtain meteorological parameters, aircraft type parameters, and ADS-B data, and calculate the wake vorticity through the meteorological parameters, aircraft type parameters, and ADS-B data; Axial Scanning Coordinate System Module: used to select the scanning mode and the type of the coordinate system of the lidar, and construct an axial scanning coordinate system through the scanning mode and the type of the coordinate system; First Radial Velocity Algorithm Module: used to obtain the detection point coordinates, the left vortex axis, and the right vortex axis in the axial scanning coordinate system, and construct a first radial velocity algorithm through the detection point coordinates, the left vortex axis, the right vortex axis, and the wake vorticity; Second Radial Velocity Algorithm Module: used to obtain the non-wake region and the wake region in the axial scanning coordinate system, calculate the background wind speed in the non-wake region through the first radial velocity algorithm; construct a second radial velocity algorithm for the wake region through the background wind speed and the first radial velocity algorithm; Relative Vortex Core Position Calculation Module: used to determine the range gate in the wake region, obtain the set of detection point coordinates of the range gate, obtain the detection point coordinate pairs in the set of detection point coordinates, obtain the absolute value of the coordinate pair gradient of the detection point coordinate pairs through the second radial velocity algorithm, and obtain the relative vortex core position through the absolute value of the coordinate pair gradient; True Vortex Core Position Calculation Module: used to obtain the first true vortex core position and the second true vortex core position through the second radial velocity algorithm in the region where the relative vortex core position is located, calculate the distance between the first true vortex core position and the second true vortex core position, and iterate the second true vortex core position until the distance between the first true vortex core position and the second true vortex core position converges, and obtain the true vortex core position.

8. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of a lidar wake inversion method according to any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of a lidar wake inversion method according to any one of claims 1 to 6.

10. A computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, characterized in that, When the program instructions are executed by the computer, the computer can execute the steps of a lidar wake inversion method according to any one of claims 1 to 6.

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