Radar synthetic wind speed resolving method, device and equipment and storage medium

Abstract

The invention relates to a radar synthetic wind speed resolving method, device and equipment and a storage medium, and is applied to the field of radar speed measurement, the radar synthetic wind speed resolving method comprises the steps that radar sight wind speed and the rotation angle of a radar are acquired, and the rotation angle is the angle of a radar roll angle; performing radar beam azimuth calculation according to the rotation angle to obtain a radar beam vector; and performing synthetic wind speed calculation according to the radar sight wind speed and the radar beam vector, and generating scalar wind speed and wind direction. The method has the technical effect that the calculation accuracy of the synthetic wind speed is improved.

Description

Technical Field

[0001] This application relates to the field of radar speed measurement technology, and in particular to a radar synthetic wind speed calculation method, apparatus, equipment and storage medium. Background Technology

[0002] A wind turbine (i.e., a wind power generator) is a device that converts wind energy into electrical energy. Wind speed, wind direction, and turbulence change rapidly over time in front of the nacelle. By installing radar on the wind turbine, wind speed, wind direction, and wind shear can be measured in real time and around the clock within a range of hundreds of meters in front of the turbine, providing early warnings of gusts or extreme wind conditions. This allows for faster yaw alignment, improving overall power generation efficiency and operational safety.

[0003] Currently, commonly used radar synthetic wind speed calculation methods are mainly for fixed nacelle radars. However, when the radar rotates, the resulting rotation can lead to inaccurate synthetic wind speed calculations, which may affect the power generation efficiency and service life of wind turbines. Summary of the Invention

[0004] To help address the problem that the influence of radar rotation can lead to inaccurate calculations of synthetic wind speed, thereby affecting the power generation efficiency and service life of wind turbines, this application provides a radar synthetic wind speed calculation method, apparatus, equipment, and storage medium.

[0005] Firstly, this application provides a radar synthetic wind speed calculation method, which adopts the following technical solution: The method includes: Obtain the radar line-of-sight wind speed and the radar rotation angle, wherein the rotation angle is the radar roll angle; The radar beam orientation is calculated based on the rotation angle to obtain the radar beam vector. The synthesized wind speed is calculated based on the radar line-of-sight wind speed and the radar beam vector, and a scalar wind speed and wind direction are generated.

[0006] In one specific implementation, the step of calculating the radar beam azimuth based on the rotation angle to obtain the radar beam vector includes: Calculate the initial vector of the radar beam when it is stationary; Based on the initial beam vector and the preset three-dimensional coordinate transformation formula, the radar beam vector under the rotation angle is calculated and obtained.

[0007] In one specific implementation, the calculation of the initial beam vector of the radar in a stationary state includes:

[0008] in, This represents the preset horizontal angle between the i-th radar beam and the radar's central axis. This represents the preset vertical angle between the i-th radar beam and the radar's central axis. Indicates the preset distance value. This represents the initial beam vector of the i-th radar beam when the radar is stationary; The step of calculating and obtaining the radar beam vector at the rotation angle based on the initial beam vector and a preset three-dimensional coordinate transformation formula includes:

[0009] in, Indicates the rotation angle, This represents a preset three-dimensional coordinate transformation formula. Let represent the initial beam vector of the i-th radar beam when the radar is stationary. This indicates the rotation angle of the i-th radar beam. The radar beam vector below.

[0010] In one specific implementation, the step of calculating the synthesized wind speed based on the radar line-of-sight wind speed and the radar beam vector, and generating scalar wind speed and wind direction, includes: Select a radar measurement section, and generate several measurement points based on the intersections of the radar beam with the measurement section at different rotation angles; Calculate the components of the radar beam vector at several measurement points in the direction perpendicular to the ground, the direction of the radar central axis, and the direction perpendicular to both the direction perpendicular to the ground and the direction of the radar central axis, and set the components in the three directions as radar beam components. The radar line-of-sight wind speed is calculated based on the radar beam components corresponding to several measurement points. The horizontal line-of-sight wind speed is calculated in the direction perpendicular to the ground and the radar central axis, and the axial line-of-sight wind speed is calculated in the direction of the radar central axis. The scalar wind speed and wind direction are calculated and generated based on the horizontal line-of-sight wind speed and the axial line-of-sight wind speed.

[0011] In one specific implementation, the calculation of the radar beam vector at several measurement point locations, in the direction perpendicular to the ground, the direction of the radar central axis, and the direction perpendicular to both the direction perpendicular to the ground and the direction of the radar central axis, and the setting of the components in these three directions as radar beam components, includes:

[0012] in, These respectively represent the radar beam vector in the direction of the radar center axis at the measurement point, the direction perpendicular to the ground and the direction perpendicular to the radar center axis, and the component in the direction perpendicular to the ground; The calculation of the radar line-of-sight wind speed based on the radar beam components corresponding to the plurality of measurement points includes the horizontal line-of-sight wind speed in the direction perpendicular to the ground and the radar central axis, and the axial line-of-sight wind speed in the direction of the radar central axis.

[0013] in, The terms refer to the radar line-of-sight wind speeds in the direction of the radar's central axis, the direction perpendicular to the ground, the direction perpendicular to the radar's central axis, and the direction perpendicular to the ground, respectively, representing the axial line-of-sight wind speed, horizontal line-of-sight wind speed, and vertical line-of-sight wind speed. The radar line-of-sight wind speed represents the i-th radar beam; The step of calculating and generating the scalar wind speed and wind direction based on the horizontal line-of-sight wind speed and the axial line-of-sight wind speed includes:

[0014]

[0015] Where V represents the scalar wind speed. Indicates wind direction. Indicates the axial line-of-sight wind speed. This indicates the wind speed at horizontal line of sight.

[0016] In one specific implementation, after calculating the synthesized wind speed based on the radar line-of-sight wind speed and the radar beam vector, and generating scalar wind speed and wind direction, the method further includes: On the radar measurement cross section, the area composed of several measurement points is designated as the beam scanning area; The beam scanning area is uniformly divided into several measurement areas in the horizontal direction relative to the ground. The ground height and scalar wind speed corresponding to different measurement areas are determined based on the measurement points in the measurement area. Based on the ground height corresponding to different measurement areas, the scalar wind speed corresponding to different measurement areas, and the preset hub height, the wind shear coefficient and the scalar wind speed corresponding to the hub height are calculated by fitting the standard vertical wind shear formula.

[0017] In a specific feasible implementation, the step of calculating the wind shear coefficient and the scalar wind speed corresponding to the hub height based on the ground height corresponding to different measurement areas, the scalar wind speed corresponding to different measurement areas, and the preset hub height, according to the standard vertical wind shear formula, includes:

[0018] in, This indicates the ground elevation corresponding to different measurement areas. This represents the scalar wind speed corresponding to different measurement areas. This indicates the preset wheel hub height. This represents the wind shear coefficient generated by the fitting. This represents the scalar wind speed corresponding to the fitted hub height.

[0019] Secondly, this application provides a radar synthetic wind speed calculation device, which adopts the following technical solution: the device includes: The radar data acquisition module is used to acquire the radar line-of-sight wind speed and the radar rotation angle, wherein the rotation angle is the radar roll angle. The radar beam calculation module is used to calculate the radar beam azimuth based on the rotation angle to obtain the radar beam vector. The synthetic wind speed calculation module is used to calculate the synthetic wind speed based on the radar line-of-sight wind speed and the radar beam vector, and generate scalar wind speed and wind direction.

[0020] Thirdly, this application provides a computer device that adopts the following technical solution: it includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as any of the radar synthetic wind speed calculation methods described above.

[0021] Fourthly, this application provides a computer-readable storage medium, which adopts the following technical solution: storing a computer program that can be loaded by a processor and executed by any of the above-mentioned radar synthetic wind speed calculation methods.

[0022] In summary, this application has the following beneficial technical effects: By installing the wind-measuring lidar at the wind turbine hub, the obstruction rate of the wind-measuring lidar by the wind turbine blades can be reduced, improving the utilization rate of the lidar and enabling its application in scenarios where the attitude of the radar continuously changes during wind speed synthesis. Furthermore, considering that the rotation of the lidar with the hub will affect the results of the synthesized wind speed calculation, this application obtains the lidar's attitude to account for the impact of different rotation angles on the wind speed calculation error, thereby improving the accuracy of the synthesized wind speed calculation and achieving efficient and safe wind turbine operation and reliable wind field forecasting. Attached Figure Description

[0023] Figure 1 This is a schematic diagram illustrating the traditional installation method of wind-measuring lidar; Figure 2 This is a schematic diagram illustrating the effectiveness of wind turbine blades in blocking a planar beam of radar in traditional radar installation methods. Figure 3 This is a schematic diagram illustrating the efficiency of the planar beam of radar blocked by the wind turbine blades in the current radar installation method. Figure 4This is a flowchart of the radar synthetic wind speed calculation method in the embodiments of this application; Figure 5 This is a schematic diagram illustrating the attitude of the radar in a stationary state in an embodiment of this application; Figure 6(a) is a schematic diagram illustrating the elevation angle of the radar after rotation in an embodiment of this application; Figure 6(b) is a schematic diagram illustrating the roll angle after the radar rotates in an embodiment of this application; Figure 7 This is a schematic diagram illustrating the radar beam in a stationary state in an embodiment of this application; Figure 8 This is a schematic diagram illustrating the horizontal and vertical angles between the radar beam and the radar central axis in the embodiments of this application; Figure 9 This is a schematic diagram used in the embodiments of this application to illustrate the radar beam after the radar is rotated; Figure 10 This is a schematic diagram illustrating the measurement points formed by the radar beam and the radar measurement cross section in the embodiments of this application; Figure 11 This is a schematic diagram illustrating the beam scanning area and several measurement areas in the embodiments of this application; Figure 12 This is a schematic diagram of the radar synthetic wind speed calculation device in the embodiments of this application; Figure 13 This is a schematic diagram used to illustrate a computer device in the embodiments of this application.

[0024] Reference numerals: 1201, Radar data acquisition module; 1202, Radar beam calculation module; 1203, Composite wind speed calculation module. Detailed Implementation

[0025] The following combination Figures 1-13 This application will be described in further detail.

[0026] This application discloses a radar synthetic wind speed calculation method. This method can calculate the radar line-of-sight wind speed, and calculate the scalar wind speed and wind direction by considering the influence of radar rotation, thereby improving the accuracy of the synthetic wind speed calculation and thus improving the power generation efficiency and service life of wind turbines.

[0027] A wind turbine (i.e., a wind power generator) is a device that converts wind energy into electrical energy. Wind speed, wind direction, and turbulence change rapidly over time in front of the nacelle. By installing radar on the wind turbine, wind speed, wind direction, and wind shear can be measured in real time and around the clock within a range of hundreds of meters in front of the turbine, providing early warnings of gusts or extreme wind conditions. This allows for faster yaw alignment, improving overall power generation efficiency and operational safety.

[0028] The traditional method of radar installation is to mount the wind-measuring lidar on the top of the nacelle, referring to... Figure 1 By emitting a laser beam in front of the impeller for measurement, the radar can remain directly in front of the impeller when the wind turbine yaws and directly facing the incoming wind direction when the turbine is running normally. It can be used for short-term wind speed prediction, feedforward control, and power curve analysis. However, the nacelle is located behind the impeller, and the wind-measuring radar mounted on the nacelle is also behind the impeller, resulting in intermittent obstruction of the radar beam by the blades. Based on traditional radar installation methods, the blade obstruction rate of the lower plane beam is generally 40-60% during normal turbine operation, and this obstruction rate increases further with the number of blades, significantly reducing the radar's efficiency. (Refer to...) Figure 2 The horizontal axis represents distance, and the vertical axis represents beam efficiency. With traditional radar installation methods, due to blade obstruction, the efficiency of the upper beam is 80%, while the efficiency of the lower beam is less than 60%. As wind turbine blades become larger, the efficiency due to obstruction will further decrease. Furthermore, traditional radar installation methods are limited by installation conditions and beam angle; for example, mounting brackets sometimes need to be nearly 2 meters long, increasing installation difficulty and operational risks.

[0029] To minimize the impact of blade shading, wind-measuring lidar is typically installed at the hub of the wind turbine. Installing the lidar in front of the rotor at the hub positions it at the very front of the turbine, effectively avoiding obstruction from other turbine components and improving efficiency. (Refer to...) Figure 3 As shown, the beam efficiency remains at approximately 100%. Since the hub is generally a rotating component, the radar is typically installed with a fixed connection to the hub, taking into account factors such as cost and reliability.

[0030] When a wind-measuring radar is mounted on a wind turbine hub, the hub's rotation causes the radar to rotate as well. Currently, commonly used radar synthetic wind speed calculation methods primarily target fixed nacelle radars. However, when the radar rotates, the resulting rotation can lead to inaccurate synthetic wind speed calculations, potentially affecting the wind turbine's power generation efficiency and operational lifespan. To improve the accuracy of synthetic wind speed calculations, this application provides a radar synthetic wind speed calculation method.

[0031] Reference Figure 4 The method includes the following steps: S10: Obtain the radar line-of-sight wind speed and the radar rotation angle, where the rotation angle is the radar roll angle.

[0032] Specifically, this involves acquiring the radar's line-of-sight wind speed and its rotation angle. The line-of-sight wind speed can be obtained through the radar's optical module and calculation module. This involves sequentially acquiring the projected wind speed along the beam direction at a specified distance L for each radar beam, i.e., the line-of-sight wind speed. Measuring the radar's angle is primarily to obtain the radar's attitude after rotation. Radar rotation typically occurs in two directions, thus yielding the pitch and roll angles. (Refer to...) Figure 5 , represents the radar's attitude in a stationary state, and see Figure 6(a) for the radar's elevation angle after rotation. Refer to Figure 6(b) for the roll angle after the radar rotates. A schematic diagram. When calculating the composite wind speed, the radar roll angle is mainly used. Calculations are performed, therefore, the radar roll angle is... Set as the radar rotation angle The radar's attitude, i.e., its elevation angle. and roll angle It can be obtained through tilt sensors installed on radar.

[0033] S20, calculate the radar beam azimuth based on the rotation angle to obtain the radar beam vector.

[0034] Specifically, based on the obtained radar rotation angle That is, the radar roll angle It can solve the radar beam vector after the radar has rotated, so that the wind speed can be calculated by synthesizing the line of sight based on the radar beam vector.

[0035] It should be noted that in practical applications, radar synthetic wind speed calculation usually uses data over a period of time. Therefore, the acquired radar line-of-sight wind speed data and the processed radar beam vector are cached by a preset data caching module for T seconds until the current moment before calculation.

[0036] S30 calculates the composite wind speed based on the radar line-of-sight wind speed and radar beam vector, and generates scalar wind speed and wind direction.

[0037] Specifically, after calculating the radar beam vector, the original radar line-of-sight wind speed can be converted into a scalar wind speed and its corresponding wind direction. By converting the radar line-of-sight wind speed into a scalar wind speed and its corresponding wind direction, directly usable meteorological information can be provided for the assessment of wind turbine yaw, pitch, and load.

[0038] In this application, by installing the wind-measuring lidar at the wind turbine hub, the obstruction rate of the wind-measuring lidar by the wind turbine blades can be reduced, thereby improving the utilization rate of the lidar. Furthermore, considering that the rotation of the lidar with the hub will affect the results of the synthetic wind speed calculation, this application obtains the lidar's attitude to account for the impact of different rotation angles on the wind speed calculation error, thereby improving the accuracy of the synthetic wind speed calculation and achieving efficient and safe operation of the wind turbine as well as reliable wind field forecasting.

[0039] In one embodiment, the method of calculating the radar beam azimuth based on the rotation angle to obtain the radar beam vector can be specifically executed as follows: First, the initial vector of the radar beam in a stationary state is calculated, which can be expressed as:

[0040] in, This represents the preset horizontal angle between the i-th radar beam and the radar's central axis. This represents the preset vertical angle between the i-th radar beam and the radar's central axis. Indicates the preset distance value. This represents the initial vector of the i-th radar beam when the radar is stationary.

[0041] It should be noted that radar typically emits multiple radar beams; this embodiment uses four radar beams as an example. The horizontal angle between the i-th radar beam and the radar's central axis, and the vertical angle between the i-th radar beam and the radar's central axis, are preset values, which can be understood as angle values ​​pre-set at the factory. (Refer to...) Figure 7 This diagram illustrates the four radar beams of a stationary radar. The center line of the rectangle represents the radar's central axis. The diagram shows the angles between the radar beams on either side of the radar's central axis in the horizontal direction and the radar's central axis. Consistency means that the angles between the upper two beams and the lower two beams and the radar's central axis are consistent; the angles between the radar beams on either side of the radar's central axis in the vertical direction relative to the ground and the radar's central axis are also consistent. Consistency means that the angles between the left and right beams and the radar's central axis are consistent. (Refer to...) Figure 8 This is a schematic diagram showing the horizontal and vertical angles between the radar beam and the radar central axis. Assume the horizontal angle... The included angle is 15°, perpendicular to the vertical. If the angle is 12.5°, then the horizontal and vertical angles between the two beams are 30° and 25° respectively. These horizontal angles of 15° and vertical angles of 12.5° are set at the factory and will not change as the radar rotates or operates.

[0042] After calculating the initial beam vector of the radar in a stationary state, the radar beam vector under the rotation angle is calculated and obtained according to the initial beam vector and the preset three-dimensional coordinate transformation formula. The calculation method can be expressed as follows:

[0043] in, Indicates the rotation angle. This represents a preset three-dimensional coordinate transformation formula. Let represent the initial beam vector of the i-th radar beam when the radar is stationary. This indicates the rotation angle of the i-th radar beam. The radar beam vector below.

[0044] Among them, the preset three-dimensional coordinate transformation formula This can usually be expressed as: ; in, = This represents the coordinates of the radar's rotation centerline, that is, the coordinates of the radar's central axis. This indicates the radar's rotation angle.

[0045] Reference Figure 9 This is a schematic diagram of the radar beam vector after rotation. The solid lines in the diagram represent the radar beam vector, and the dashed circles represent the impeller surface, i.e., the location where the radar is installed. As the radar rotates, the radar beam also rotates, but the central axis of the radar remains unchanged.

[0046] In this application, by performing beam analysis on the radar beam, the coordinate data obtained from radar measurements can be converted from the original radar coordinate system to the actual ground coordinate system, facilitating subsequent processing to obtain the true wind speed and direction. Furthermore, by obtaining the radar beam vector at different rotation angles through beam analysis, the accuracy of the actual scalar wind speed calculation can be improved, reducing errors.

[0047] In one embodiment, the method of calculating the synthetic wind speed based on the radar line-of-sight wind speed and the radar beam vector, and generating scalar wind speed and direction, can be specifically implemented as follows: First, a radar measurement section is selected, and several measurement points are generated based on the intersections of the radar beam with the measurement section at different rotation angles. The radar measurement section can be selected using existing methods, and the distance between the section and the radar can be set by the user. (Refer to...) Figure 10 A radar measurement section is selected at a certain distance from the radar. At a preset distance, the radar beam vector intersects with the radar measurement section to form several measurement points. Figure 10The image shows four measurement points formed by the radar and the radar measurement cross section when the radar is stationary. In actual applications, since the radar will rotate by a certain angle, the four radar beams can move by different angles and form several measurement points with the radar measurement cross section. All measurement points can be fitted into a circle.

[0048] Next, the components of the radar beam vector at several measurement points are calculated in the direction perpendicular to the ground, the direction of the radar central axis, and the direction perpendicular to both the direction perpendicular to the ground and the direction of the radar central axis. These three components are then defined as radar beam components. The calculation method can be expressed as follows:

[0049] in, These represent the components of the radar beam vector at the measurement point: the radar central axis direction, the direction perpendicular to the ground, the direction perpendicular to the radar central axis direction, and the direction perpendicular to the ground. The radar central axis direction is parallel to the ground and perpendicular to the ground direction. In other words, a single radar beam vector is decomposed into components in three directions.

[0050] Then, based on the radar beam components corresponding to several measurement points, the horizontal line-of-sight wind speed in the direction perpendicular to the ground and the radar central axis, and the axial line-of-sight wind speed in the direction of the radar central axis are calculated. The calculation method can be expressed as follows:

[0051] in, The radar line-of-sight wind speeds are represented by the axial, horizontal, and vertical line-of-sight wind speeds along the radar's central axis, in the direction perpendicular to the ground, and in the direction perpendicular to the radar's central axis. This represents the radar line-of-sight wind speed for the i-th radar beam.

[0052] This represents the components of wind speed along the radar line of sight in three directions. Generally, considering that the wind speed in the vertical direction relative to the ground is relatively small, it can be treated as 0 by default. Setting it to 0 minimizes the impact of the vertical component, reducing data volume and computational load, thus improving system data processing speed. However, in practical applications, if the actual vertical wind speed component is large and its impact cannot be ignored, it is necessary to set it to 0. To take into account and avoid excessive errors caused by ignoring the vertical component, users can choose according to their actual situation; no restrictions are imposed here. The radar line-of-sight wind speed to be calculated is expressed in terms of the wind speed in the three directions of the measurement point, thereby obtaining the wind speed components in the direction of the radar's central axis and the horizontal wind speed components relative to the ground, in order to calculate the scalar wind speed and the corresponding wind direction.

[0053] Finally, scalar wind speed and direction are calculated and generated based on the horizontal and axial line-of-sight wind speeds. The calculation method can be expressed as follows:

[0054]

[0055] Where V represents scalar wind speed. Indicates wind direction. Indicates the axial line-of-sight wind speed. This indicates the wind speed at horizontal line of sight.

[0056] In this application, the wind speed in the horizontal direction relative to the ground and the wind speed in the direction of the radar's central axis are calculated from different measurement points on the measurement cross section. This allows for the calculation of scalar wind speed and corresponding wind direction. Considering the influence of different rotation angles of the radar, errors can be reduced and the accuracy of wind speed calculation can be improved. As a result, the obtained wind speed and wind direction are more consistent with the real atmospheric field, enabling efficient and safe operation of wind turbines and reliable wind field forecasting.

[0057] In one embodiment, considering that the distance between the measurement point and the hub position affects the accuracy of the scalar wind speed calculation result, after calculating the synthetic wind speed based on the radar line-of-sight wind speed and radar beam vector, and generating the scalar wind speed and wind direction, the following steps can also be performed: First, on the radar measurement cross-section, the area composed of several measurement points is designated as the beam scanning area. (Refer to...) Figure 11 The light speed scanning area can be understood as the original four light beams forming several measurement points with the radar measurement cross section as the radar continues to rotate. These measurement points can be fitted to form a circle, which is the light beam scanning area in the figure.

[0058] Then, the beam scanning area is uniformly divided into several measurement areas in the horizontal direction relative to the ground. Specifically, refer to... Figure 11 The beam scanning area is evenly divided into 6 regions. Within each region, the accumulated data over T seconds can be approximated as indicating that the measured wind is uniform and unchanged. The number of measurement regions can be set by the user; this example uses 6 measurement regions, but the actual number of regions is not limited.

[0059] Next, based on the measurement points in the measurement area, the ground altitude corresponding to different measurement areas and the corresponding scalar wind speed are determined. By using the actual installation location of the radar, the divided areas, and the preset distance value L, the actual altitude of the different divided areas can be determined. At different altitudes, different measurement points are assigned to their respective areas, and the corresponding scalar wind speed can be calculated using the above calculation method and the measurement points within the corresponding areas.

[0060] Finally, based on the ground height corresponding to different measurement areas, the scalar wind speed corresponding to different measurement areas, and the preset hub height, the wind shear coefficient and the scalar wind speed corresponding to the hub height are calculated using the standard vertical wind shear formula. The calculation method can be expressed as follows:

[0061] in, This indicates the ground elevation corresponding to different measurement areas. This represents the scalar wind speed corresponding to different measurement areas. This indicates the preset wheel hub height. This represents the wind shear coefficient generated by the fitting. This represents the scalar wind speed corresponding to the fitted hub height.

[0062] In this application, considering that the distance between different measurement points and the actual hub height may affect the accuracy of the actual scalar wind speed result, wind speed correction can be performed by calculating the wind shear coefficient and the scalar wind speed corresponding to the hub height. If the wind shear coefficient is close to the preset wind shear coefficient and the error is small, no correction is needed. If the error is too large, the cause needs to be investigated and corrected to avoid the error affecting the synthetic wind speed calculation, thereby improving the accuracy of the scalar wind speed. In addition, according to the parameter settings, wind speed and direction data at multiple height levels can be calculated. Compared with the traditional method that can only calculate data at the upper and lower height levels, the accuracy of wind speed calculation can be further improved.

[0063] Figure 4 This is a flowchart illustrating the radar-synthetic wind speed calculation method in one embodiment. It should be understood that, although... Figure 4 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows; unless explicitly stated otherwise, there is no strict order requirement for the execution of these steps, and they can be executed in other orders; and Figure 4 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0064] Based on the above method, this application also discloses a radar synthetic wind speed calculation device.

[0065] Reference Figure 12 The device includes the following modules: The radar data acquisition module 1201 is used to acquire the radar line-of-sight wind speed and the radar rotation angle, where the rotation angle is the radar roll angle. The radar beam calculation module 1202 is used to calculate the radar beam azimuth based on the rotation angle to obtain the radar beam vector. The synthetic wind speed calculation module 1203 is used to calculate the synthetic wind speed based on the radar line-of-sight wind speed and the radar beam vector, and generate scalar wind speed and wind direction.

[0066] In one embodiment, the radar beam calculation module 1202 is specifically used to calculate the initial vector of the radar beam in a stationary state; and to calculate and obtain the radar beam vector under the rotation angle based on the initial vector of the beam and a preset three-dimensional coordinate transformation formula.

[0067] In one embodiment, the radar beam calculation module 1202 calculates the initial vector of the radar beam in a stationary state by means of:

[0068] in, This represents the preset horizontal angle between the i-th radar beam and the radar's central axis. This represents the preset vertical angle between the i-th radar beam and the radar's central axis. Indicates the preset distance value. This represents the initial beam vector of the i-th radar beam when the radar is stationary; The calculation method for obtaining the radar beam vector at the rotation angle, based on the initial beam vector and a preset three-dimensional coordinate transformation formula, includes:

[0069] in, Indicates the rotation angle. This represents a preset three-dimensional coordinate transformation formula. Let represent the initial beam vector of the i-th radar beam when the radar is stationary. This indicates the rotation angle of the i-th radar beam. The radar beam vector below.

[0070] In one embodiment, the synthetic wind speed calculation module 1203 is specifically used to select a radar measurement section and generate several measurement points based on the intersections of the radar beam with the measurement section at different rotation angles; calculate the components of the radar beam vector at the locations of the several measurement points in the direction perpendicular to the ground, the direction of the radar central axis, and the direction perpendicular to both the direction perpendicular to the ground and the direction of the radar central axis, and set the components in the three directions as radar beam components; calculate the horizontal line-of-sight wind speed in the direction perpendicular to both the direction perpendicular to the ground and the direction of the radar central axis and the axial line-of-sight wind speed in the direction of the radar central axis based on the radar beam components corresponding to the several measurement points; and calculate and generate scalar wind speed and wind direction based on the horizontal line-of-sight wind speed and the axial line-of-sight wind speed.

[0071] In one embodiment, the synthetic wind speed calculation module 1203 calculates the components of the radar beam vector at several measurement points in the direction perpendicular to the ground, the direction of the radar central axis, and the direction perpendicular to both the direction perpendicular to the ground and the direction of the radar central axis. These three components are then defined as radar beam components. The calculation method for the radar beam components includes:

[0072] in, These represent the radar beam vector in the direction of the radar center axis at the measurement point, the direction perpendicular to the ground, the direction perpendicular to the radar center axis, and the component in the direction perpendicular to the ground, respectively. The radar line-of-sight wind speed is calculated based on the radar beam components corresponding to several measurement points. The calculation methods include: (1) Horizontal line-of-sight wind speed perpendicular to both the direction perpendicular to the ground and the radar central axis, and axial line-of-sight wind speed along the radar central axis.

[0073] in, The radar line-of-sight wind speeds are represented by the axial, horizontal, and vertical line-of-sight wind speeds along the radar's central axis, in the direction perpendicular to the ground, and in the direction perpendicular to the radar's central axis. The radar line-of-sight wind speed represents the i-th radar beam; Scalar wind speed and direction are calculated and generated based on horizontal and axial line-of-sight wind speeds. The calculation methods include:

[0074]

[0075] Where V represents scalar wind speed. Indicates wind direction. Indicates the axial line-of-sight wind speed. This indicates the wind speed at horizontal line of sight.

[0076] In one embodiment, the synthetic wind speed calculation module 1203 is further configured to: define a region composed of several measurement points as a beam scanning region on the radar measurement cross section; uniformly divide the beam scanning region into several measurement regions in the horizontal direction relative to the ground; determine the ground height corresponding to different measurement regions and the scalar wind speed corresponding to different measurement regions based on the measurement points in the measurement regions; and calculate and generate the wind shear coefficient and the scalar wind speed corresponding to the hub height based on the ground height corresponding to different measurement regions, the scalar wind speed corresponding to different measurement regions, and the preset hub height, according to the standard vertical wind shear formula.

[0077] In one embodiment, the synthetic wind speed calculation module 1203 calculates the wind shear coefficient and the scalar wind speed corresponding to the hub height based on the ground height corresponding to different measurement areas, the scalar wind speed corresponding to different measurement areas, and the preset hub height, using a standard vertical wind shear formula fitting method.

[0078] in, This indicates the ground elevation corresponding to different measurement areas. This represents the scalar wind speed corresponding to different measurement areas. This indicates the preset wheel hub height. This represents the wind shear coefficient generated by the fitting. This represents the scalar wind speed corresponding to the fitted hub height.

[0079] The radar synthetic wind speed calculation device provided in this application embodiment can be applied to the radar synthetic wind speed calculation method provided in the above embodiment. For relevant details, please refer to the above method embodiment. Its implementation principle and technical effect are similar, and will not be repeated here.

[0080] It should be noted that the radar synthetic wind speed calculation device provided in this embodiment is only illustrated by the above-described division of functional modules / units when performing radar synthetic wind speed calculation. In practical applications, the above functions can be assigned to different functional modules / units as needed, that is, the internal structure of the radar synthetic wind speed calculation device can be divided into different functional modules / units to complete all or part of the functions described above. Furthermore, the implementation method of the radar synthetic wind speed calculation method provided in the above method embodiment and the implementation method of the radar synthetic wind speed calculation device provided in this embodiment belong to the same concept. The specific implementation process of the radar synthetic wind speed calculation device provided in this embodiment is detailed in the above method embodiment and will not be repeated here.

[0081] This application also discloses a computer device.

[0082] Specifically, such as Figure 13As shown, the computer device can be a desktop computer, laptop computer, handheld computer, or cloud server, etc. The computer device may include, but is not limited to, a processor and memory. The processor and memory can be connected via a bus or other means. The processor can be a Central Processing Unit (CPU). The processor can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, graphics processing units (GPUs), embedded neural network processing units (NPUs) or other dedicated deep learning coprocessors, discrete gate or transistor logic devices, discrete hardware components, or combinations of the above types of chips.

[0083] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the program instructions / modules corresponding to the methods in the above embodiments of this application. The processor executes various functional applications and data processing by running the non-transitory software programs, instructions, and modules stored in the memory, thereby implementing the methods in the above embodiments. The memory may include a program storage area and a data storage area, wherein the program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created by the processor, etc. Furthermore, the memory may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0084] This application also discloses a computer-readable storage medium.

[0085] Specifically, the computer-readable storage medium is used to store a computer program, which, when executed by a processor, implements the methods described in the above-described method embodiments. Those skilled in the art will understand that implementing all or part of the processes in the methods described in the above-described embodiments of this application can be accomplished by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments described above. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk drive (HDD), or solid-state drive (SSD), etc.; the storage medium can also include combinations of the above types of memory.

[0086] This specific embodiment is merely an explanation of the present invention and is not intended to limit the invention. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they are within the scope of the claims of the present invention.

Claims

1. A method for calculating radar synthetic wind speed, characterized in that: The method includes: Obtain the radar line-of-sight wind speed and the radar rotation angle, wherein the rotation angle is the radar roll angle; The radar beam orientation is calculated based on the rotation angle to obtain the radar beam vector. The synthesized wind speed is calculated based on the radar line-of-sight wind speed and the radar beam vector, and a scalar wind speed and wind direction are generated.

2. The method according to claim 1, characterized in that: The step of calculating the radar beam azimuth based on the rotation angle to obtain the radar beam vector includes: Calculate the initial vector of the radar beam when it is stationary; Based on the initial beam vector and the preset three-dimensional coordinate transformation formula, the radar beam vector under the rotation angle is calculated and obtained.

3. The method according to claim 2, characterized in that: The initial beam vector of the radar in a stationary state includes: in, This represents the preset horizontal angle between the i-th radar beam and the radar's central axis. This represents the preset vertical angle between the i-th radar beam and the radar's central axis. Indicates the preset distance value. This represents the initial beam vector of the i-th radar beam when the radar is stationary; The step of calculating and obtaining the radar beam vector at the rotation angle based on the initial beam vector and a preset three-dimensional coordinate transformation formula includes: in, Indicates the rotation angle, This represents a preset three-dimensional coordinate transformation formula. Let represent the initial beam vector of the i-th radar beam when the radar is stationary. This indicates the rotation angle of the i-th radar beam. The radar beam vector below.

4. The method according to claim 1, characterized in that: The step of calculating the synthesized wind speed based on the radar line-of-sight wind speed and the radar beam vector, and generating scalar wind speed and wind direction, includes: Select a radar measurement section, and generate several measurement points based on the intersections of the radar beam with the measurement section at different rotation angles; Calculate the components of the radar beam vector at several measurement points in the direction perpendicular to the ground, the direction of the radar central axis, and the direction perpendicular to both the direction perpendicular to the ground and the direction of the radar central axis, and set the components in the three directions as radar beam components. The radar line-of-sight wind speed is calculated based on the radar beam components corresponding to several measurement points. The horizontal line-of-sight wind speed is calculated in the direction perpendicular to the ground and the radar central axis, and the axial line-of-sight wind speed is calculated in the direction of the radar central axis. The scalar wind speed and wind direction are calculated and generated based on the horizontal line-of-sight wind speed and the axial line-of-sight wind speed.

5. The method according to claim 4, characterized in that: The calculation of the radar beam vector at several measurement points includes the components in the direction perpendicular to the ground, the direction of the radar central axis, and the direction perpendicular to both the direction perpendicular to the ground and the direction of the radar central axis, and the setting of these three components as radar beam components. in, These respectively represent the radar beam vector in the direction of the radar center axis at the measurement point, the direction perpendicular to the ground and the direction perpendicular to the radar center axis, and the component in the direction perpendicular to the ground; The calculation of the radar line-of-sight wind speed based on the radar beam components corresponding to the plurality of measurement points includes the horizontal line-of-sight wind speed in the direction perpendicular to the ground and the radar central axis, and the axial line-of-sight wind speed in the direction of the radar central axis. in, The terms refer to the radar line-of-sight wind speeds in the direction of the radar's central axis, the direction perpendicular to the ground, the direction perpendicular to the radar's central axis, and the direction perpendicular to the ground, respectively, representing the axial line-of-sight wind speed, horizontal line-of-sight wind speed, and vertical line-of-sight wind speed. The radar line-of-sight wind speed represents the i-th radar beam; The step of calculating and generating the scalar wind speed and wind direction based on the horizontal line-of-sight wind speed and the axial line-of-sight wind speed includes: Where V represents the scalar wind speed. Indicates wind direction. Indicates the axial line-of-sight wind speed. This indicates the wind speed at horizontal line of sight.

6. The method according to claim 4, characterized in that: After performing the synthetic wind speed calculation based on the radar line-of-sight wind speed and the radar beam vector, and generating scalar wind speed and wind direction, the method further includes: On the radar measurement cross section, the area composed of several measurement points is designated as the beam scanning area; The beam scanning area is uniformly divided into several measurement areas in the horizontal direction relative to the ground. The ground height and scalar wind speed corresponding to different measurement areas are determined based on the measurement points in the measurement area. Based on the ground height corresponding to different measurement areas, the scalar wind speed corresponding to different measurement areas, and the preset hub height, the wind shear coefficient and the scalar wind speed corresponding to the hub height are calculated by fitting the standard vertical wind shear formula.

7. The method according to claim 6, characterized in that: The process of calculating the wind shear coefficient and the scalar wind speed corresponding to the hub height based on the ground height, scalar wind speed, and preset hub height for different measurement areas, using a standard vertical wind shear formula, includes: in, This indicates the ground elevation corresponding to different measurement areas. This represents the scalar wind speed corresponding to different measurement areas. This indicates the preset wheel hub height. This represents the wind shear coefficient generated by the fitting. This represents the scalar wind speed corresponding to the fitted hub height.

8. A radar-synthetic wind speed calculation device, characterized in that: The device includes: The radar data acquisition module (1201) is used to acquire the radar line-of-sight wind speed and the radar rotation angle, wherein the rotation angle is the radar roll angle. The radar beam calculation module (1202) is used to calculate the radar beam azimuth based on the rotation angle to obtain the radar beam vector. The synthetic wind speed calculation module (1203) is used to calculate the synthetic wind speed based on the radar line-of-sight wind speed and the radar beam vector, and generate scalar wind speed and wind direction.

9. A computer device, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer program is stored that can be loaded by a processor and executed according to any one of claims 1 to 7.

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