Method and system for measuring wind field at air-drop track

Abstract

The invention provides a method and system for measuring a wind field at an air-drop track, and belongs to the technical field of air-drop. According to the method, the three-dimensional space array is constructed through the unmanned aerial vehicle group, high-precision measurement and dynamic modeling of wind field parameters are achieved, then, the wind field distribution model at the air-drop trajectory is constructed, the model can accurately reflect the spatial change characteristics of the wind speed and the wind direction, a scientific basis is provided for air-drop task planning, the material delivery accuracy is effectively improved, and the method is suitable for large-scale popularization and application. The method reduces the influence of a complex wind field on task execution, fully utilizes the attitude data of the unmanned aerial vehicle, reduces the system load and equipment cost, improves the cruising ability and system economy of the unmanned aerial vehicle, and finally, can flexibly adjust the measurement scale and precision according to the task requirements, adapts to the wind field measurement tasks in various complex terrains and environments, and improves the measurement efficiency. The method greatly improves the precision and efficiency of wind field measurement, is widely suitable for the scenes of military material delivery, disaster rescue and the like, and guarantees the high success rate and economic feasibility of tasks.

Description

Technical Field

[0001] The present invention relates to the field of airdrop technology, and in particular to a method and system for measuring a wind field at an airdrop trajectory. Background Art

[0002] In modern airdrop operations, particularly those involving relief supplies, military equipment, and scientific instruments, airdrop vehicles often need to accurately deliver supplies under complex meteorological conditions. Wind fields are a key meteorological factor affecting airdrop accuracy, and their measurement and analysis are crucial for optimizing the airdrop process and improving delivery precision.

[0003] In the existing technology, mainstream airdrop aircraft can only rely on the atmospheric sensors on the aircraft body to obtain the wind speed and direction at the aircraft's location. For airdrop scenarios, the wind profile of the airdrop medium during its fall is unknown. Therefore, relying solely on the wind speed and direction at the aircraft body affects the accuracy of the delivery.

[0004] Practice has shown that small drones can carry pitot-static tubes and related instruments to measure wind, but rotorcraft drones themselves have problems such as poor endurance, small payload, and small payload installation space. Carrying more sensors on a drone puts a heavy load on the drone, and the wind measuring equipment on the rotorcraft drone platform will be disturbed by the rotor turbulence, affecting the accuracy of meteorological detection; ground-based wind measurement radar equipment is expensive, and the wind speed value obtained is the average value of the wind field parameters in a relatively large space, making it difficult to accurately obtain the wind field parameters at a specific location in the air. Wildfires may occur in deep mountains and forests that are difficult to reach, and it may be very difficult to transport the radar and power supply to the vicinity of the fire area. Summary of the Invention

[0005] To solve the above-mentioned problems in the prior art, the present invention provides a method and system for measuring the wind field at the airdrop trajectory. The invention forms an aerial array of drones in three-dimensional space that is coordinated with the delivery plan to achieve high-precision measurement of wind field parameters at the airdrop trajectory. At the same time, the hovering posture data of the drones when resisting wind force is used to invert single-point wind field parameters, and a wind field distribution model is constructed through data fusion technology, thereby improving the accuracy of wind speed and wind direction judgment. Finally, by reducing the number of sensors carried by the drones, the system load is effectively reduced, the endurance of the measurement system is improved, and costs are saved. To achieve the above-mentioned purpose, the technical solution is as follows:

[0006] In one aspect, the present invention provides a method for measuring a wind field at an airdrop trajectory. The method is implemented by a wind field measurement system at an airdrop trajectory. The method comprises:

[0007] S1. Obtain a delivery plan based on task requirements;

[0008] S2. Store the delivery plan in the data pool and summarize it to obtain the theoretical trajectory model of the airdrop;

[0009] S3. Obtain the constellation command of the drone swarm based on the theoretical trajectory model of the airdrop;

[0010] S4. Control the drone swarm to a designated location according to the constellation command of the drone swarm, and obtain the position data and hovering attitude data of the drones in the drone swarm;

[0011] S5. Obtain single-point wind field parameters through inversion processing based on the position data and hovering attitude data of the UAVs in the UAV swarm;

[0012] S6. Based on the single-point wind field parameters and the theoretical trajectory model of the airdrop, a fusion process is performed within the same altitude layer to obtain the wind field parameters at the airdrop trajectory within the altitude layer;

[0013] S7. Obtain a wind field distribution model at the airdrop trajectory based on all wind field parameters at the airdrop trajectory within the altitude layer.

[0014] Optionally, the method further includes:

[0015] According to the wind field distribution model at the airdrop trajectory, delivery aiming processing is performed to obtain the delivery parameters of the airdrop vehicle after the wind field distribution model is corrected.

[0016] Optionally, the delivery plan includes any one or more of: the model of the airdrop vehicle, the type of delivery medium, the delivery speed of the airdrop vehicle, the delivery height of the airdrop vehicle, the longitude of the delivery ground target, the latitude of the delivery ground target, or the height of the delivery ground target.

[0017] Optionally, in S2, the delivery plan is stored in a data pool and summarized to obtain a theoretical trajectory model of the airdrop, including:

[0018] S21. Transmitting the delivery plan via a data link to obtain a modulation signal for the airdrop vehicle;

[0019] S22. Demodulate the modulated signal of the airdrop vehicle to obtain a demodulated signal of the airdrop vehicle;

[0020] S23. The demodulated signals of the airdrop vehicle are aggregated and stored in a data pool, and processed in the data pool to obtain a theoretical trajectory model of the airdrop.

[0021] Optionally, in S3, based on the theoretical trajectory model of the airdrop, a constellation instruction for the drone swarm is obtained, including:

[0022] S31. Obtaining an airdrop curve, an airdrop vehicle's drop height, and a drop height of a ground target based on the theoretical trajectory model of the airdrop;

[0023] S32. Calculate the airdrop height difference based on the airdrop vehicle's drop height and the drop height of the ground target.

[0024] S33. Obtain multiple airdrop height layers by averaging the airdrop height differences.

[0025] S34. Obtaining a distribution instruction for the drone swarm within the altitude layer according to the airdrop curve and the airdrop altitude layer;

[0026] S35. Integrate the distribution instructions of multiple drone swarms within the altitude layer to obtain the constellation instructions of the drone swarm.

[0027] Optionally, the rules for distributing instructions to the drone swarm within this altitude layer are as follows:

[0028] Rule 1: The number of drones deployed in the airdrop altitude layer must be no less than 2;

[0029] Rule 2: The difference in the number of drones distributed on both sides of the plane of the airdrop curve is no more than 2;

[0030] Rule 3: The plane of the airdrop curve must be at least 20 meters away from the drone;

[0031] Rule 4: The distance between drones must be no less than three times the outer diameter of the drone and no less than 6 meters;

[0032] Rule 5: When the number of drones available to the drone swarm is small, the drone swarm will cycle between the airdrop altitude levels. When the drone swarm cycles between the airdrop altitude levels, it is not allowed to cross the plane of the airdrop curve laterally;

[0033] Rule 6: The drones in the drone swarm can autonomously avoid dangerous objects at the designated location and hover in a safe location nearby.

[0034] Optionally, in S5, the single-point wind field parameters are obtained through inversion processing based on the position data and hovering attitude data of the UAVs in the UAV group, including:

[0035] S51. Obtain single-point wind field data based on the hovering posture data of the drones in the drone swarm module by looking up a chart;

[0036] S52, averaging multiple sets of single-point wind field data within a fixed time period to obtain averaged single-point wind field data;

[0037] S53. Obtain single-point wind field parameters by integrating the position data of the UAVs in the UAV swarm and the averaged single-point wind field data.

[0038] Optionally, in S6, a fusion process is performed within the same altitude layer based on the single-point wind field parameters and the theoretical trajectory model of the airdrop to obtain the wind field parameters at the airdrop trajectory within the altitude layer, including:

[0039] S61. Obtaining position data of a single UAV and averaged single-point wind field data based on the single-point wind field parameters;

[0040] S62. Obtain an airdrop curve based on the theoretical trajectory model of the airdrop;

[0041] S63. According to the airdrop curve, a point intersecting with the bottom surface of the altitude layer is selected to obtain a target point of the altitude layer;

[0042] S64, according to the position data of the single UAV and the target point of the altitude layer, the weight of the single UAV in the same airdrop altitude layer is obtained by formula (1),

[0043]

[0044] Where: i is the i-th airdrop altitude layer, k is the k-th drone, n i is the number of drones at the i-th airdrop altitude layer, λ ik is the weight of the kth UAV at the ith airdrop altitude layer, M ik is the straight-line distance between the kth UAV at the i-th airdrop altitude layer and the target point at the altitude layer, M ij is the straight-line distance between the jth UAV at the i-th airdrop altitude layer and the target point at the altitude layer;

[0045] S65. Based on the weight of the individual drones in the same airdrop altitude layer and the averaged single-point wind field data, the wind field parameters at the airdrop trajectory in the altitude layer are obtained by formula (2):

[0046]

[0047] Where: The wind field parameters of the i-th drop altitude layer, is the average single-point wind field data of the kth UAV at the i-th airdrop altitude layer.

[0048] On the other hand, the present invention provides a system for measuring the wind field at an airdrop trajectory, which is applied to a method for measuring the wind field at an airdrop trajectory. The system includes:

[0049] The delivery plan generation module is used to obtain the delivery plan according to task requirements;

[0050] The data transmission and aggregation module is used to store the delivery plan in the data pool and aggregate it to obtain the theoretical trajectory model of the airdrop;

[0051] The constellation command generation module is used to obtain the constellation command of the drone group based on the theoretical trajectory model of the airdrop;

[0052] The drone swarm module is used to control the drone swarm to reach the designated location according to the constellation command of the drone swarm and obtain the position data and hovering attitude data of the drones in the drone swarm;

[0053] The wind field single-point inversion module is used to obtain the single-point wind field parameters through inversion processing based on the position data and hovering attitude data of the UAVs in the UAV group;

[0054] The wind field data fusion module is used to perform fusion processing within the same altitude layer based on the single-point wind field parameters and the theoretical trajectory model of the airdrop, and obtain the wind field parameters at the airdrop trajectory within the altitude layer;

[0055] The wind field model establishment module is used to obtain the wind field distribution model at the airdrop trajectory based on the wind field parameters at the airdrop trajectory in all the altitude layers.

[0056] Optionally, the data transmission and aggregation module includes:

[0057] Data link module, used to realize communication and data transmission between the airdrop vehicle and the data and communication transmission module;

[0058] The data and communication transmission module is used to realize data transmission and aggregation between the drone swarm module and the data link module;

[0059] The data and communication transmission module includes:

[0060] A data link antenna unit, used for receiving and sending data link signals of the airdrop vehicle;

[0061] A data link signal modulation and demodulation unit, used to realize the modulation and demodulation of the data link signal of the airdrop vehicle;

[0062] The drone swarm module controls the antenna unit, which is used to receive and send control signals of the drone swarm module;

[0063] The UAV swarm module control signal modulation and demodulation unit is used to realize the modulation and demodulation of the control signal of the UAV swarm module;

[0064] The data pool is used to collect, store and manage data from the airdrop vehicle and the drone swarm module, and provide data service support.

[0065] Compared with the prior art, the technical solution of the present invention has at least the following beneficial effects:

[0066] On the one hand, the above scheme constructs a three-dimensional spatial array through a swarm of drones, realizing high-precision measurement and dynamic modeling of wind field parameters. On the other hand, by generating delivery plans and drone constellation instructions based on mission requirements, the drone swarm can be flexibly deployed to the designated location of the airdrop trajectory, and the hovering attitude data and position data are used to invert the single-point wind field parameters. Then, the wind field distribution model at the airdrop trajectory is constructed through data fusion technology. This model can accurately reflect the spatial variation characteristics of wind speed and direction, providing a scientific basis for airdrop mission planning, effectively improving the accuracy of material delivery, and reducing the impact of complex wind fields on mission execution. Thirdly, while reducing the number of complex sensors carried by drones, the drone's own data is fully utilized, which reduces the system load and equipment cost, and improves the drone's endurance and system economy. Fourthly, the measurement scale and accuracy can be flexibly adjusted according to mission requirements to adapt to wind field measurement tasks in various complex terrains and environments, greatly improving the accuracy and efficiency of wind field measurement. It is widely applicable to scenarios such as military material delivery and disaster relief, ensuring a high success rate and economic feasibility of the mission. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0068] Figure 1 is a flow chart of an embodiment of a method for measuring a wind field at an airdrop trajectory of the present invention;

[0069] Figure 2 This is a flow chart of obtaining a theoretical airdrop trajectory model according to an embodiment of a method for measuring a wind field at an airdrop trajectory of the present invention;

[0070] Figure 3 This is a flow chart of generating constellation instructions for a drone swarm according to an embodiment of a method for measuring a wind field at an airdrop trajectory of the present invention;

[0071] Figure 4 This is a flow chart of obtaining single-point wind field parameters according to an embodiment of a method for measuring a wind field at an airdrop trajectory of the present invention;

[0072] Figure 5 This is a flow chart of an embodiment of a method for measuring a wind field at an airdrop trajectory of the present invention for obtaining wind field parameters at an airdrop trajectory within an altitude layer;

[0073] Figure 6 Schematic diagram of airdrop altitude layer stratification according to an embodiment of a method for measuring a wind field at an airdrop trajectory of the present invention;

[0074] Figure 7 3 is a schematic diagram of rule 3 of the distribution instructions of the drone swarm within the altitude layer of an embodiment of the method for measuring the wind field at the airdrop trajectory of the present invention;

[0075] Figure 8 4 is a schematic diagram of rule 4 of the distribution instructions of the drone swarm within the altitude layer of an embodiment of the method for measuring the wind field at the airdrop trajectory of the present invention;

[0076] Figure 9 This is a wind speed variation attitude angle balancing curve diagram of an embodiment of a method for measuring a wind field at an airdrop trajectory of the present invention;

[0077] Figure 10 is a system block diagram of an embodiment of a system for measuring a wind field at an airdrop trajectory of the present invention;

[0078] Figure 11 2. It is a data transmission diagram of an embodiment of a measurement system for a wind field at an airdrop trajectory of the present invention;

[0079] Figure 12 It is a block diagram of the data and communication transmission module of an embodiment of the measurement system of the wind field at the airdrop trajectory of the present invention. DETAILED DESCRIPTION

[0080] The technical solution of the present invention is described below in conjunction with the accompanying drawings.

[0081] In the embodiments of the present invention, words such as "exemplarily" and "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as an "exemplary" in the present invention should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of the word "exemplary" is intended to present concepts in a concrete manner. Furthermore, in the embodiments of the present invention, "and / or" can mean both or either of the two.

[0082] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0083] like Figure 1 The flowchart of an embodiment of a method for measuring a wind field at an airdrop trajectory of the present invention is shown. The present invention provides a method for measuring a wind field at an airdrop trajectory. The method is implemented by a wind field measurement system at an airdrop trajectory. The method includes:

[0084] S1. Obtain a delivery plan based on task requirements;

[0085] Specifically, the delivery plan includes: any one or more of the model of the airdrop vehicle, the type of delivery medium, the delivery speed of the airdrop vehicle, the delivery height of the airdrop vehicle, the longitude of the delivery ground target, the latitude of the delivery ground target or the height of the delivery ground target.

[0086] S2. Store the delivery plan in the data pool and summarize it to obtain the theoretical trajectory model of the airdrop;

[0087] Specifically, if Figure 2 The flowchart of the embodiment of the method for measuring the wind field at the airdrop trajectory of the present invention for obtaining the theoretical trajectory model of the airdrop is shown. In S2, the delivery plan is stored in the data pool and summarized to obtain the theoretical trajectory model of the airdrop, including:

[0088] S21. Transmitting the delivery plan via a data link to obtain a modulation signal for the airdrop vehicle;

[0089] S22. Demodulate the modulated signal of the airdrop vehicle to obtain a demodulated signal of the airdrop vehicle;

[0090] S23. The demodulated signals of the airdrop vehicle are aggregated and stored in a data pool, and processed in the data pool to obtain a theoretical trajectory model of the airdrop.

[0091] The data link mode includes: any one or more of VHF, Iridium, Maritime Satellite Communication or ATG.

[0092] S3. Obtain the constellation command of the drone swarm based on the theoretical trajectory model of the airdrop;

[0093] Specifically, if Figure 3 The flowchart of the embodiment of the method for measuring the wind field at the airdrop trajectory of the present invention for generating the constellation instructions of the drone swarm is shown. In S3, the constellation instructions of the drone swarm are obtained according to the theoretical trajectory model of the airdrop, including:

[0094] S31. Obtaining an airdrop curve, an airdrop vehicle's drop height, and a drop height of a ground target based on the theoretical trajectory model of the airdrop;

[0095] S32, according to the drop height H of the airdrop vehicle K and the height H of the ground target D , the airdrop height difference H is obtained by calculation,

[0096] H=H K -H D (3)

[0097] S33. Obtain multiple airdrop height layers by averaging the airdrop height difference H.

[0098] Furthermore, if Figure 6 The schematic diagram of the airdrop height layer layering of the embodiment of the method for measuring the wind field at the airdrop trajectory of the present invention is shown as follows. Let Δ be the layer spacing, then the number of wind field height layers that the drone group module needs to measure is N=H / Δ-1. From low to high, the height layer that the drone group needs to measure is H D +Δ、H D +2*Δ、···、H D +N*Δ.

[0099] S34. Obtaining a distribution instruction for the drone swarm within the altitude layer based on the theoretical trajectory model of the airdrop and the airdrop altitude layer;

[0100] S35. Integrate the distribution instructions of multiple drone swarms within the altitude layer to obtain the constellation instructions of the drone swarm.

[0101] Specifically, if Figure 7 The schematic diagram of rule 3 of the drone group distribution instruction within the altitude layer of the embodiment of the method for measuring the wind field at the airdrop trajectory of the present invention and the Figure 8 The schematic diagram of Rule 4 of the drone swarm distribution instructions within the altitude layer of the embodiment of the method for measuring the wind field at the airdrop trajectory of the present invention is shown. The rules followed by the drone swarm distribution instructions within the altitude layer are as follows:

[0102] Rule 1: The number of drones deployed in the airdrop altitude layer must be no less than 2;

[0103] Rule 2: The difference in the number of drones distributed on both sides of the plane of the airdrop curve is no more than 2;

[0104] Rule 3: The plane of the airdrop curve must be at least 20 meters away from the drone;

[0105] Rule 4: The distance between drones must be no less than three times the outer diameter of the drone and no less than 6 meters;

[0106] Rule 5: When the number of drones available to the drone swarm is small, the drone swarm will cycle between the airdrop altitude levels. When the drone swarm cycles between the airdrop altitude levels, it is not allowed to cross the plane of the airdrop curve laterally;

[0107] Rule 6: The drones in the drone swarm can autonomously avoid dangerous objects at the designated location and hover in a safe location nearby.

[0108] Furthermore, when the number of drones available to the drone swarm module is small, the drone swarm module cycles up and down between the airdrop altitude layers and stops to refresh the wind field parameters of each airdrop altitude layer. The drone swarm module does not cross the plane of the airdrop curve laterally when the airdrop altitude layer changes. When the number of drones available to the drone swarm module is large, exceeding the number required for an airdrop altitude layer, the excess drones are assigned to the new airdrop altitude layer, which can speed up the cycle of all airdrop altitude layers. The extreme case is that the drone swarm covers all airdrop altitude layers and does not need to be cycled;

[0109] For airdrop levels that are close to the ground, there may be tall trees or fire that prevent the drone from occupying an ideal position. The drones can be arranged out of a straight line. If a large fire prevents the drone from lowering its altitude, the current airdrop level will be abandoned. The drone will rise to a higher airdrop level for measurement, and the wind field parameters of the higher airdrop level will be used instead of the wind field parameters of the abandoned airdrop level.

[0110] If a drone deviates from its designated position due to the continuous influence of extremely strong winds and cannot return to its original position, or if forcing it to return to its original position is costly and unsafe, the measurement of that point will be abandoned. If necessary, the drone will be landed in a safe place and recovered manually afterwards.

[0111] S4. Control the drone swarm to a designated location according to the constellation command of the drone swarm, and obtain the position data and hovering attitude data of the drones in the drone swarm;

[0112] S5. Obtain single-point wind field parameters through inversion processing based on the position data and hovering attitude data of the UAVs in the UAV swarm;

[0113] Specifically, if Figure 4 The flowchart of the embodiment of the method for measuring the wind field at the airdrop trajectory of the present invention for obtaining single-point wind field parameters is shown. In S5, the single-point wind field parameters are obtained by inversion processing based on the position data and hovering posture data of the drones in the drone group, including:

[0114] S51. Obtain single-point wind field data based on the hovering posture data of the drones in the drone swarm module by looking up a chart;

[0115] Furthermore, if Figure 9 The wind speed change attitude angle balancing curve diagram of the embodiment of the method for measuring the wind field at the airdrop trajectory of the present invention is shown. The curve is obtained by the wind tunnel test of the drones in the drone swarm module, and the hovering attitude data of the drones is converted into wind speed.

[0116] S52, averaging multiple sets of single-point wind field data within a fixed time period to obtain averaged single-point wind field data;

[0117] S53. Obtain single-point wind field parameters by integrating the position data of the UAVs in the UAV swarm and the averaged single-point wind field data.

[0118] S6. Based on the single-point wind field parameters and the theoretical trajectory model of the airdrop, a fusion process is performed within the same altitude layer to obtain the wind field parameters at the airdrop trajectory within the altitude layer;

[0119] Specifically, if Figure 5 The flow chart of the embodiment of the method for measuring the wind field at the airdrop trajectory of the present invention is shown, wherein S6 performs a fusion process within the same altitude layer based on the single-point wind field parameters and the theoretical trajectory model of the airdrop to obtain the wind field parameters at the airdrop trajectory within the altitude layer, including:

[0120] S61. Obtaining position data of a single UAV and averaged single-point wind field data based on the single-point wind field parameters;

[0121] S62. Obtain an airdrop curve based on the theoretical trajectory model of the airdrop;

[0122] S63. According to the airdrop curve, a point intersecting with the bottom surface of the altitude layer is selected to obtain a target point of the altitude layer;

[0123] S64, according to the position data of the single UAV and the target point of the altitude layer, the weight of the single UAV in the same airdrop altitude layer is obtained by formula (1),

[0124]

[0125] Where: i is the i-th airdrop altitude layer, k is the k-th drone, n i is the number of drones at the i-th airdrop altitude layer, λ ik is the weight of the kth UAV at the ith airdrop altitude layer, M ik is the straight-line distance between the kth UAV at the i-th airdrop altitude layer and the target point at the altitude layer, M ij is the straight-line distance between the jth UAV at the i-th airdrop altitude layer and the target point at the altitude layer;

[0126] S65. Based on the weight of the individual drones in the same airdrop altitude layer and the averaged single-point wind field data, the wind field parameters at the airdrop trajectory in the altitude layer are obtained by formula (2):

[0127]

[0128] Where: The wind field parameters of the i-th drop altitude layer, is the average single-point wind field data of the kth UAV at the i-th airdrop altitude layer.

[0129] S7. Obtain a wind field distribution model at the airdrop trajectory based on all wind field parameters at the airdrop trajectory within the altitude layer.

[0130] Specifically, all wind field parameters at the airdrop trajectory within the altitude layer are integrated according to the altitude to obtain the wind field distribution model at the airdrop trajectory.

[0131] Specifically, the method further includes:

[0132] According to the wind field distribution model at the airdrop trajectory, delivery aiming processing is performed to obtain the delivery parameters of the airdrop vehicle after the wind field distribution model is corrected.

[0133] In another embodiment, according to the mission requirements of the target fire scene, the emergency rescue command system sets a connected flame retardant belt consisting of three consecutive delivery target points A1, A2, and A3. Point A1 is executed by the fire extinguisher F1, point A2 is executed by the fire extinguisher F2, and point A3 is executed by the fire extinguisher F3 to form a delivery plan; according to the delivery plan, the data link module and the data and communication transmission module are used to transmit and summarize, and a data pool is obtained to form the entry order of the fire extinguishers F1, F2, and F3; for the fire extinguisher F1, according to the water it delivers, the flight altitude and speed during delivery, the drone swarm generates a constellation command according to the constellation command generation module. The drone constellation positions at different airdrop altitude layers, the drone swarm modules move between the airdrop altitude layers respectively, resist the wind at the specified position, and invert the single-point wind field parameters through the drone attitude data and the wind field single-point inversion module. The wind field parameters at the airdrop trajectory within the altitude layer are obtained through the wind field data fusion module and sent back to the fire extinguisher F1. The fire extinguisher F1 integrates the wind field parameters at the airdrop trajectory within the altitude layer according to the altitude to obtain the wind field distribution model at the airdrop trajectory; the fire extinguisher F1 is equipped with a delivery aiming module. Because the wind field distribution model at the airdrop trajectory is obtained, the delivery point of the fire extinguisher F1 is controlled by the CCRP algorithm, which increases the delivery accuracy.

[0134] For fire extinguishers F2 and F3, their delivery target points are A2 and A3, and the delivery media are fire extinguishing agent and fire extinguishing bags respectively. The height and speed during delivery are different, so the curvature of the parabola segment is different, and the target points at different altitude layers are different. The constellation command generation module generates new constellation instructions, and the drones are rearranged.

[0135] like Figure 10The system block diagram of the embodiment of the wind field measurement system at the airdrop trajectory of the present invention is shown. The present invention provides a wind field measurement system at the airdrop trajectory. The system is implemented by a wind field measurement method at the airdrop trajectory. The system includes: a delivery plan generation module, a data transmission and aggregation module, a constellation command generation module, a drone swarm module, a wind field single point inversion module, a wind field data fusion module and a wind field model establishment module. Specifically,

[0136] The delivery plan generation module is used to obtain the delivery plan according to task requirements;

[0137] The data transmission and aggregation module is used to store the delivery plan in the data pool and aggregate it to obtain the theoretical trajectory model of the airdrop;

[0138] The constellation command generation module is used to obtain the constellation command of the drone group based on the theoretical trajectory model of the airdrop;

[0139] The drone swarm module is used to control the drone swarm to reach the designated location according to the constellation command of the drone swarm and obtain the position data and hovering attitude data of the drones in the drone swarm;

[0140] The wind field single-point inversion module is used to obtain the single-point wind field parameters through inversion processing based on the position data and hovering attitude data of the UAVs in the UAV group;

[0141] The wind field data fusion module is used to perform fusion processing within the same altitude layer based on the single-point wind field parameters and the theoretical trajectory model of the airdrop, and obtain the wind field parameters at the airdrop trajectory within the altitude layer;

[0142] The wind field model establishment module is used to obtain the wind field distribution model at the airdrop trajectory based on the wind field parameters at the airdrop trajectory in all the altitude layers.

[0143] Furthermore, if Figure 11 The data transmission schematic diagram of the embodiment of the measurement system of the wind field at the airdrop trajectory of the present invention is shown, and the data transmission and aggregation module includes:

[0144] Data link module, used to realize communication and data transmission between the airdrop vehicle and the data and communication transmission module;

[0145] The data and communication transmission module is used to realize data transmission and aggregation between the drone swarm module and the data link module;

[0146] like Figure 12 The data and communication transmission module block diagram of the embodiment of the measurement system of the wind field at the airdrop trajectory of the present invention is shown, and the data and communication transmission module includes:

[0147] A data link antenna unit, used for receiving and sending data link signals of the airdrop vehicle;

[0148] A data link signal modulation and demodulation unit, used to realize the modulation and demodulation of the data link signal of the airdrop vehicle;

[0149] The drone swarm module controls the antenna unit, which is used to receive and send control signals of the drone swarm module;

[0150] The UAV swarm module control signal modulation and demodulation unit is used to realize the modulation and demodulation of the control signal of the UAV swarm module;

[0151] The data pool is used to collect, store and manage data from the airdrop vehicle and the drone swarm module, and provide data service support.

[0152] The present invention provides a method and system for measuring the wind field at an airdrop trajectory. The invention constructs a three-dimensional spatial array through a swarm of drones, thereby realizing high-precision measurement and dynamic modeling of wind field parameters. Secondly, the delivery plan and drone constellation instructions are generated according to task requirements. The drone swarm can be flexibly deployed to the specified position of the airdrop trajectory, and the hovering attitude data and position data are used to invert the single-point wind field parameters. Then, a wind field distribution model at the airdrop trajectory is constructed through data fusion technology. The model can accurately reflect the spatial variation characteristics of wind speed and direction, providing a scientific basis for airdrop mission planning, effectively improving the accuracy of material delivery, and reducing the impact of complex wind fields on mission execution. Thirdly, while reducing the number of complex sensors carried by drones, the invention fully utilizes the drone's own data, reduces the system load and equipment cost, and improves the drone's endurance and system economy. Finally, the measurement scale and accuracy can be flexibly adjusted according to task requirements, adapting to wind field measurement tasks in various complex terrains and environments, greatly improving the accuracy and efficiency of wind field measurement, and is widely applicable to scenarios such as military material delivery and disaster relief, ensuring a high success rate and economic feasibility of the mission.

[0153] It will be appreciated that the present invention is described by way of the above embodiments and should not be construed as limiting the embodiments of the present invention and the scope of the present invention. It will be appreciated by those skilled in the art that various changes or equivalent replacements may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application fall within the scope protected by the present invention.

Claims

1. A method for measuring the wind field at an airdrop trajectory, characterized in that: The method comprises: S1. Obtain a delivery plan based on task requirements; S2. Storing and summarizing the delivery plan in a data pool to obtain a theoretical trajectory model of the airdrop; S3. Obtaining constellation instructions for the drone swarm based on the theoretical trajectory model of the airdrop; S4. Control the drone swarm to a designated location according to the constellation command of the drone swarm, and obtain position data and hovering attitude data of the drones in the drone swarm; S5. Obtaining single-point wind field parameters through inversion processing based on the position data and hovering attitude data of the drones in the drone swarm; S6. Performing a fusion process within the same altitude layer based on the single-point wind field parameters and the theoretical trajectory model of the airdrop to obtain the wind field parameters at the airdrop trajectory within the altitude layer; S7. Obtain a wind field distribution model at the airdrop trajectory based on the wind field parameters at the airdrop trajectory in all the altitude layers.

2. The method for measuring the wind field at the airdrop trajectory according to claim 1, characterized in that: The method further comprises: According to the wind field distribution model at the airdrop trajectory, delivery aiming processing is performed to obtain delivery parameters of the airdrop vehicle after the wind field distribution model is corrected.

3. The method for measuring the wind field at the airdrop trajectory according to claim 1, characterized in that: The delivery plan includes: any one or more of the model of the airdrop vehicle, the type of delivery medium, the delivery speed of the airdrop vehicle, the delivery height of the airdrop vehicle, the longitude of the delivery ground target, the latitude of the delivery ground target or the delivery height of the delivery ground target.

4. The method for measuring the wind field at the airdrop trajectory according to claim 1, characterized in that: In S2, the delivery plan is stored in a data pool and summarized to obtain a theoretical trajectory model of the airdrop, including: S21. Transmitting the delivery plan via a data link to obtain a modulation signal for the airdrop vehicle; S22. Demodulate the modulated signal of the airdrop vehicle to obtain a demodulated signal of the airdrop vehicle; S23. Summarize and store the demodulated signals of the airdrop vehicle into a data pool, and process the signals in the data pool to obtain a theoretical trajectory model of the airdrop.

5. The method for measuring the wind field at the airdrop trajectory according to claim 1, characterized in that: In S3, the constellation command of the drone group is obtained according to the theoretical trajectory model of the airdrop, including: S31. Obtaining an airdrop curve, an airdrop vehicle's drop height, and a drop height of a ground target based on the theoretical airdrop trajectory model; S32. Calculate the airdrop height difference based on the airdrop vehicle's drop height and the drop height of the ground target. S33. Obtain multiple airdrop height layers by averaging the airdrop height differences. S34. Obtaining a distribution instruction for a swarm of drones within the altitude layer according to the airdrop curve and the airdrop altitude layer; S35. Integrate the drone swarm distribution instructions within the multiple altitude layers to obtain the drone swarm constellation instructions.

6. The method for measuring the wind field at the airdrop trajectory according to claim 5, characterized in that: The rules for distributing drone swarms within the altitude layer are as follows: Rule 1: The number of drones deployed in the airdrop altitude layer must be no less than 2; Rule 2: The difference in the number of drones distributed on both sides of the plane of the airdrop curve is no more than 2; Rule 3: The straight-line distance between the plane of the airdrop curve and the drone must be no less than 20 meters; Rule 4: The distance between drones must be no less than three times the outer diameter of the drone and no less than 6 meters; Rule 5: When the number of available drones in the drone swarm is small, the drone swarm will cycle between the airdrop levels. When the drone swarm cycles between the airdrop levels, it is not allowed to cross the plane of the airdrop curve laterally. Rule 6: The drones in the drone swarm can autonomously avoid dangerous objects at the designated location and hover in a safe location nearby.

7. The method for measuring the wind field at the airdrop trajectory according to claim 1, characterized in that: In S5, the single-point wind field parameters are obtained through inversion processing based on the position data and hovering posture data of the drones in the drone group, including: S51. Obtain single-point wind field data based on the hovering posture data of the drones in the drone swarm module by looking up a chart; S52, averaging the multiple groups of single-point wind field data within a fixed time period to obtain averaged single-point wind field data; S53. Obtain single-point wind field parameters by integrating the position data of the drones in the drone swarm and the averaged single-point wind field data.

8. The method for measuring the wind field at the airdrop trajectory according to claim 1, characterized in that: In S6, a fusion process is performed within the same altitude layer based on the single-point wind field parameters and the theoretical trajectory model of the airdrop to obtain the wind field parameters at the airdrop trajectory within the altitude layer, including: S61. Obtaining position data of a single UAV and averaged single-point wind field data based on the single-point wind field parameters; S62. Obtaining an airdrop curve according to the theoretical trajectory model of the airdrop; S63. According to the airdrop curve, a point intersecting with the bottom surface of the altitude layer is selected to obtain a target point of the altitude layer; S64, according to the position data of the single UAV and the target point of the altitude layer, the weight of the single UAV in the same airdrop altitude layer is obtained by formula (1), Where: i is the i-th airdrop altitude layer, k is the k-th drone, n i is the number of drones at the i-th airdrop altitude layer, λ ik is the weight of the kth UAV at the ith airdrop altitude layer, M ik is the straight-line distance between the kth UAV at the i-th airdrop altitude layer and the target point at the altitude layer, M ij is the straight-line distance between the jth UAV at the i-th airdrop altitude layer and the target point at the altitude layer; S65, according to the weight of the single UAV in the same airdrop altitude layer and the averaged single-point wind field data, the wind field parameters at the airdrop trajectory in the altitude layer are obtained by formula (2), Where: The wind field parameters of the i-th drop altitude layer, is the average single-point wind field data of the kth UAV at the i-th airdrop altitude layer.

9. A system for measuring the wind field at an airdrop trajectory, characterized in that: The system comprises: The delivery plan generation module is used to obtain the delivery plan according to task requirements; The data transmission and aggregation module is used to store the delivery plan into the data pool and aggregate it to obtain the theoretical trajectory model of the airdrop; A constellation command generation module is used to obtain constellation commands for the drone swarm based on the theoretical trajectory model of the airdrop; A drone swarm module is used to control the drone swarm to reach a specified location according to the constellation instructions of the drone swarm, and obtain the position data and hovering attitude data of the drones in the drone swarm; A wind field single-point inversion module is used to obtain single-point wind field parameters through inversion processing based on the position data and hovering posture data of the drones in the drone group; A wind field data fusion module is used to perform fusion processing within the same altitude layer based on the single-point wind field parameters and the theoretical trajectory model of the airdrop, so as to obtain the wind field parameters at the airdrop trajectory within the altitude layer; The wind field model establishment module is used to obtain the wind field distribution model at the airdrop trajectory based on the wind field parameters at the airdrop trajectory in all the altitude layers.

10. The wind field measurement system at the airdrop trajectory according to claim 9, characterized in that: The data transmission and aggregation module includes: Data link module, used to realize communication and data transmission between the airdrop vehicle and the data and communication transmission module; The data and communication transmission module is used to realize data transmission and aggregation between the drone swarm module and the data link module; The data and communication transmission module includes: a data link antenna unit, configured to receive and transmit data link signals from the airdrop vehicle; A data link signal modulation and demodulation unit, used to realize modulation and demodulation of the data link signal of the airdrop vehicle; A drone swarm module control antenna unit, used to receive and send control signals of the drone swarm module; The UAV swarm module control signal modulation and demodulation unit is used to realize the modulation and demodulation of the control signal of the UAV swarm module; The data pool is used to collect, store and manage data from the airdrop vehicle and the drone swarm module, and provide data service support.

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