A wind tunnel model attitude angle measurement system and measurement method

Abstract

The present invention discloses a wind tunnel model attitude angle measurement system and measurement method, which respectively connects a wind tunnel data acquisition system, an inertial measurement unit IMU, and an attitude solution device by using shielded cables and connecting cables, and obtains the initial alignment information and error information of the wind tunnel model provided by the wind tunnel data acquisition system, and the real-time angular rate and acceleration parameters provided by the inertial measurement unit IMU, and the attitude solution device calculates and obtains the attitude angle parameters corresponding to the wind tunnel model. It can be seen that the wind tunnel model attitude angle measurement system in the embodiment of the present application is not only easy to install and connect, but also can avoid errors in the test process, and obtain more accurate wind tunnel model attitude angle measurement results. Therefore, it has the technical effect of improving the installation efficiency of the wind tunnel model attitude angle measurement system and the accuracy of the measurement results.

Description

Technical Field

[0001] The invention relates to the technical field of electronic measurement, and in particular to a wind tunnel model attitude angle measurement system and a measurement method. Background Art

[0002] Wind tunnel model attitude angle measurement refers to the method of measuring airflow parameters and model aerodynamic characteristics in a wind tunnel. In order to obtain data on the aerodynamic characteristics of an aircraft through wind tunnel experiments, it is necessary to correctly measure both the aerodynamic characteristics of the model and the airflow parameters of the wind tunnel. In some special experiments, there are other items that require measurement. Miniaturized, high-precision electrical signal sensors, high-speed data acquisition and real-time processing systems are widely used in wind tunnel measurements. Non-contact measurement methods are increasingly being used because they do not insert detection instruments into the flow field and do not cause additional interference to the flow field.

[0003] At present, the existing methods for real-time measurement of three-dimensional attitude angles of wind tunnel models include: nominal value substitution method of support mechanism, gravity acceleration sensor measurement method, video image measurement method, and ultrasonic measurement method. The method used in this system is to use an inertial measurement unit as the core sensor for measurement. However, the above existing methods all have various corresponding defects, for example: the nominal value substitution method of the support mechanism cannot measure the angle error caused by the elastic deformation of gravity and the deformation caused by aeroelasticity between the mechanism and the model; and the gravity acceleration sensor measurement method will be disturbed by non-gravitational acceleration during the test, resulting in low accuracy, and the acceleration of the carrier motion and the acceleration caused by gas disturbance will affect the measurement accuracy, and the sideslip angle cannot be measured. Other methods also have defects such as the sensors are relatively dispersed, sensitive to the interference of the ultrasonic propagation path, affected by the change of refractive index during the line of sight propagation, susceptible to interference, dispersed sensors and difficult to deploy.

[0004] It can be seen that in the prior art, there are technical problems such as unreasonable equipment design for measuring the attitude angle of wind tunnel models, which leads to unavoidable cumulative errors, low accuracy of test results, and difficult installation and layout. Summary of the invention

[0005] The present application provides a wind tunnel model attitude angle measurement system and measurement method, which are used to solve the technical problems in the prior art that the irrational design of equipment for wind tunnel model attitude angle measurement leads to inevitable cumulative errors, low accuracy of test results, and difficult installation and layout.

[0006] The first aspect of the present application provides a wind tunnel model attitude angle measurement system comprising:

[0007] A wind tunnel model, comprising a wind tunnel data acquisition system, wherein the wind tunnel data acquisition system is used to determine initial alignment information and error information of the wind tunnel model, wherein the initial alignment information comprises an initial position and an initial heading angle corresponding to the wind tunnel model;

[0008] An inertial measurement unit (IMU) is placed in the wind tunnel model to measure motion parameters generated based on the wind tunnel model, wherein the motion parameters include angular velocity and acceleration parameters;

[0009] an attitude solving device, connected to the inertial measurement unit IMU and the wind tunnel data acquisition system, for calculating and obtaining the attitude angle of the wind tunnel model based on the initial alignment information, the error information, and the motion parameters, wherein the attitude angle includes heading angle, pitch angle, roll angle, sideslip angle, and angle of attack;

[0010] A shielded cable, connecting the attitude solving device and the inertial measurement unit IMU, for transmitting and receiving data and supplying power to the inertial measurement unit IMU;

[0011] A connecting cable is used to connect the wind tunnel data acquisition system and the attitude solving device, so as to send the attitude angle, the initial alignment information and the error information to the wind tunnel data acquisition system.

[0012] Optionally, the connecting cable is used to connect a power source to provide power to the wind tunnel model attitude angle measurement system.

[0013] Optionally, the shielded cable is also used to shield electromagnetic interference emitted by the wind tunnel model.

[0014] Optionally, the system further comprises a mechanism zero return device for resetting the heading angle currently determined in the system to the heading angle at the zero position moment, and / or resetting the current sideslip angle in the system to zero.

[0015] On the other hand, the embodiment of the present application further provides a method for measuring the real-time attitude angle of a wind tunnel model, which is applied to the wind tunnel model attitude angle measurement system as described in the first aspect, comprising:

[0016] Determining initial alignment information of the wind tunnel model through the wind tunnel data acquisition system, wherein the initial alignment information includes an initial position and an initial heading angle corresponding to the wind tunnel model;

[0017] Obtaining, by measuring with the inertial measurement unit, zero-position motion parameters corresponding to the wind tunnel model at the zero-position moment when measurement starts, the zero-position motion parameters including angular velocity and acceleration parameters of the wind tunnel model at the zero-position moment;

[0018] The attitude solving device calculates the zero attitude angle of the wind tunnel model at the zero position time based on the initial alignment information and the zero position motion parameter, wherein the zero attitude angle includes the heading angle, the pitch angle, and the roll angle of the wind tunnel model at the zero position time;

[0019] Obtaining real-time motion parameters of the wind tunnel model by measuring with the inertial measurement unit;

[0020] The attitude solving device calculates the real-time attitude angle with respect to the wind tunnel model based on the zero attitude angle and the real-time motion parameters, and the real-time attitude angle includes the real-time heading angle, pitch angle, roll angle, sideslip angle, and angle of attack.

[0021] Optionally, determining the initial alignment information of the wind tunnel model by the wind tunnel data acquisition system includes:

[0022] Determining error information of the wind tunnel model by the attitude solving device, wherein the error information includes a roll angle error of the wind tunnel model in a roll angle direction, an angle of attack error in an angle of attack direction, and a sideslip angle error of the wind tunnel model between a longitudinal axis and a measurement line of a heading angle;

[0023] The attitude solving device performs an initial alignment operation based on the zero-position motion parameter and the initial alignment information to obtain the zero-position attitude angle of the wind tunnel model at the zero-position moment, including:

[0024] The attitude solving device performs an initial alignment operation based on the zero-position motion parameter, the error information and the initial alignment information to obtain the zero-position attitude angle of the wind tunnel model at the zero-position moment; and / or,

[0025] The step of obtaining a real-time attitude angle corresponding to the wind tunnel model by the attitude solving device based on the zero attitude angle and the real-time motion parameter calculation includes:

[0026] The attitude solving device calculates a real-time attitude angle corresponding to the wind tunnel model based on the zero attitude angle, the error information and the real-time motion parameter.

[0027] Optionally, determining the error information of the wind tunnel model by using the wind tunnel data acquisition system includes:

[0028] Setting the wind tunnel model at a zero position in a predetermined coordinate system so that the angle of attack and the roll angle of the wind tunnel model are near the zero position;

[0029] Determine by high-precision measuring equipment that the angle of attack, the roll angle, and the sideslip angle of the wind tunnel model in the predetermined coordinate system have differences from the zero position, namely, the angle of attack difference, the roll angle difference, and the sideslip angle difference;

[0030] The angle of attack difference is determined as the angle of attack error, the roll angle difference is determined as the roll angle error, and the sideslip angle difference is determined as the sideslip angle error.

[0031] Optionally, determining the error information of the wind tunnel model by using the wind tunnel data acquisition system includes:

[0032] Setting the wind tunnel model at a zero position in a predetermined coordinate system so that the angle of attack and the roll angle of the wind tunnel model are near the zero position;

[0033] Obtaining a first angle of attack and a first roll angle of the wind tunnel model based on the predetermined coordinate system by measuring with a high-precision measuring device;

[0034] During the change of the first angle of attack, a first increment of the first roll angle changing with the first angle of attack is measured and determined by a high-precision measuring device, and sent to the attitude solving device;

[0035] Obtaining a second angle of attack and a second roll angle of the wind tunnel model based on the predetermined coordinate system through the inertial measurement unit IMU;

[0036] During the change of the second roll angle, determining a second increment of the second angle of attack as the second roll angle changes by the inertial measurement unit IMU, and sending the second increment to the attitude solving device;

[0037] The sideslip angle error is determined by the attitude solving device based on the first increment and the second increment.

[0038] Optionally, the method further comprises:

[0039] After the test duration based on the wind tunnel model is greater than or equal to the first duration, the wind tunnel model is reset to zero, and the current heading angle of the wind tunnel model attitude angle measurement system is reset to the heading angle at the zero position moment.

[0040] Optionally, the method further comprises:

[0041] After the test duration based on the wind tunnel model is greater than or equal to the second duration, the wind tunnel model is reset to zero, and the current sideslip angle of the wind tunnel model attitude angle measurement system is reset to zero.

[0042] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0043] The technical solution in the embodiment of the present application can be connected to the wind tunnel data acquisition system, the inertial measurement unit IMU, and the attitude solution device by using shielded cables and connecting cables, and the attitude solution device calculates the attitude angle parameters corresponding to the wind tunnel model by obtaining the initial alignment information and error information of the wind tunnel model provided by the wind tunnel data acquisition system, and the real-time angular rate and acceleration parameters provided by the inertial measurement unit IMU. It can be seen that the wind tunnel model attitude angle measurement system in the embodiment of the present application is not only easy to install and connect, but also can avoid the cumulative error in the test process, and obtain a more accurate wind tunnel model attitude angle measurement result. Therefore, it has the technical effect of improving the installation efficiency of the wind tunnel model attitude angle measurement system and the accuracy of the measurement results.

[0044] The embodiments of the present application also have at least the following technical effects or advantages:

[0045] Furthermore, the technical solution of the embodiment of the present application can use a metal material that shields electromagnetic radiation as the outer shell shielding layer of the shielded cable during operation, and the shielding layer is grounded to achieve shielding of electromagnetic interference. The transmission power line in the shielded cable can adopt a multi-core parallel and thickened design to achieve a smaller voltage drop effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A structural diagram of a wind tunnel model attitude angle measurement system provided by an embodiment of the present invention;

[0047] Figure 2 The present invention provides a flow chart of a method for measuring the real-time attitude angle of a wind tunnel model. DETAILED DESCRIPTION

[0048] The present application provides a wind tunnel model attitude angle measurement system and measurement method, which are used to solve the technical problems in the prior art that the irrational design of equipment for wind tunnel model attitude angle measurement leads to inevitable cumulative errors, low accuracy of test results, and difficult installation and layout.

[0049] The technical solution in the embodiment of the present application is to solve the above technical problems, and the overall idea is as follows:

[0050] The technical solution in the embodiment of the present application can be connected to the wind tunnel data acquisition system, the inertial measurement unit IMU, and the attitude solution device by using shielded cables and connecting cables, and the attitude solution device calculates the attitude angle parameters corresponding to the wind tunnel model by obtaining the initial alignment information and error information of the wind tunnel model provided by the wind tunnel data acquisition system, and the real-time angular rate and acceleration parameters provided by the inertial measurement unit IMU. It can be seen that the wind tunnel model attitude angle measurement system in the embodiment of the present application is not only easy to install and connect, but also can avoid the cumulative error in the test process, and obtain a more accurate wind tunnel model attitude angle measurement result. Therefore, it has the technical effect of improving the installation efficiency of the wind tunnel model attitude angle measurement system and the accuracy of the measurement results.

[0051] The technical solution of the present application is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present application and the specific features in the embodiments are detailed descriptions of the technical solution of the present application, rather than limitations on the technical solution of the present application. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments can be combined with each other.

[0052] The term "and / or" in this article is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0053] Embodiment 1

[0054] Please refer to Figure 1 , Embodiment 1 of the present application provides a wind tunnel model attitude angle measurement system, comprising:

[0055] A wind tunnel model, comprising a wind tunnel data acquisition system 101, wherein the wind tunnel data acquisition system is used to determine initial alignment information and error information of the wind tunnel model, wherein the initial alignment information comprises an initial position and an initial heading angle corresponding to the wind tunnel model;

[0056] An inertial measurement unit IMU102 is placed in the wind tunnel model to measure motion parameters generated based on the wind tunnel model, wherein the motion parameters include angular velocity and acceleration parameters;

[0057] an attitude solving device 103, connected to the inertial measurement unit IMU and the wind tunnel data acquisition system, for calculating and obtaining the attitude angle of the wind tunnel model based on the initial alignment information, the error information, and the motion parameters, wherein the attitude angle includes heading angle, pitch angle, roll angle, sideslip angle, and angle of attack;

[0058] A shielded cable 104, connecting the attitude solving device and the inertial measurement unit IMU, for transmitting and receiving data and supplying power to the inertial measurement unit IMU;

[0059] The connecting cable 105 connects the wind tunnel data acquisition system and the attitude solving device, and is used to send the attitude angle, the initial alignment information, and the error information to the wind tunnel data acquisition system.

[0060] The attitude solving device 103 may specifically be a general-purpose central processing unit (CPU), an application specific integrated circuit (English: Application Specific Integrated Circuit, abbreviated as: ASIC), or one or more integrated circuits for controlling program execution.

[0061] Furthermore, the wind tunnel model attitude angle measurement system may also include a memory, and the number of the memory may be one or more. The memory may include a read-only memory (ROM), a random access memory (RAM), and a disk memory.

[0062] Optionally, the connecting cable 105 is used to connect a power source to provide power to the wind tunnel model attitude angle measurement system. In actual operation, the wind tunnel model attitude angle measurement system can also be powered by a self-carried storage battery or by connecting to a power socket. Those skilled in the art can set it up according to their needs.

[0063] Optionally, the shielded cable 104 is also used to shield the electromagnetic interference emitted by the wind tunnel model. During operation, a metal material that shields electromagnetic radiation can be used as the outer shell shielding layer of the shielded cable, and the shielding layer can be grounded to achieve shielding of electromagnetic interference. The transmission power line in the shielded cable can adopt a multi-core parallel and thickened design to achieve a smaller voltage drop effect.

[0064] Optionally, the wind tunnel model attitude angle measurement system in the embodiment of the present application further includes a mechanism zeroing device, which is used to reset the heading angle currently determined in the system to the heading angle at the zero position moment, and / or reset the current sideslip angle in the system to zero. Since the gyroscope in the inertial measurement unit IMU has errors, the cumulative error of the sideslip angle will be caused as the number of measurements increases during the actual operation process, and the wind tunnel model attitude angle measurement system in the embodiment of the present application can clear the sideslip angle through the mechanism zeroing device, thereby ensuring the accuracy of the measurement result.

[0065] It can be seen that the technical solution in the embodiment of the present application can be connected to the wind tunnel data acquisition system, the inertial measurement unit IMU, and the attitude solution device by using shielded cables and connecting cables, and by obtaining the initial alignment information and error information of the wind tunnel model provided by the wind tunnel data acquisition system, and the real-time angular rate and acceleration parameters provided by the inertial measurement unit IMU, the attitude solution device calculates the attitude angle parameters corresponding to the wind tunnel model, and sends the relevant parameters to the predetermined device. It can be seen that the wind tunnel model attitude angle measurement system in the embodiment of the present application is not only easy to install and connect, but also can avoid the cumulative error in the test process, and obtain a more accurate wind tunnel model attitude angle measurement result. Therefore, it has the technical effect of improving the installation efficiency of the wind tunnel model attitude angle measurement system and the accuracy of the measurement results.

[0066] Embodiment 2

[0067] Please refer to Figure 2 Embodiment 2 of the present application provides a method for measuring the real-time attitude angle of a wind tunnel model, which is applied to the wind tunnel model attitude angle measurement system as described in Embodiment 1, and includes:

[0068] Step 201: determining initial alignment information of the wind tunnel model through the wind tunnel data acquisition system, wherein the initial alignment information includes an initial position and an initial heading angle corresponding to the wind tunnel model;

[0069] Step 202: obtaining, by measuring with the inertial measurement unit, zero-position motion parameters corresponding to the wind tunnel model at the zero-position time when measurement starts, the zero-position motion parameters including angular velocity and acceleration parameters of the wind tunnel model at the zero-position time;

[0070] Step 203: the attitude solving device calculates the zero attitude angle of the wind tunnel model at the zero position time based on the initial alignment information and the zero position motion parameter, and the zero position attitude angle includes the heading angle, pitch angle, and roll angle of the wind tunnel model at the zero position time;

[0071] Step 204: obtaining real-time motion parameters of the wind tunnel model by measuring with the inertial measurement unit;

[0072] Step 205: The attitude solving device calculates a real-time attitude angle relative to the wind tunnel model based on the zero attitude angle and the real-time motion parameters, wherein the real-time attitude angle includes a real-time heading angle, a pitch angle, a roll angle, a sideslip angle, and an angle of attack.

[0073] In actual operation, step 201 and step 202 are executed in any order.

[0074] Optionally, determining the initial alignment information of the wind tunnel model by the wind tunnel data acquisition system includes:

[0075] Determining error information of the wind tunnel model by the attitude solving device, wherein the error information includes a roll angle error of the wind tunnel model in a roll angle direction, an angle of attack error in an angle of attack direction, and a sideslip angle error of the wind tunnel model between a longitudinal axis and a measurement line of a heading angle;

[0076] The attitude solving device performs an initial alignment operation based on the zero-position motion parameter and the initial alignment information to obtain the zero-position attitude angle of the wind tunnel model at the zero-position moment, including:

[0077] The attitude solving device performs an initial alignment operation based on the zero-position motion parameter, the error information and the initial alignment information to obtain the zero-position attitude angle of the wind tunnel model at the zero-position moment; and / or,

[0078] The step of obtaining a real-time attitude angle corresponding to the wind tunnel model by the attitude solving device based on the zero attitude angle and the real-time motion parameter calculation includes:

[0079] The attitude solving device calculates a real-time attitude angle corresponding to the wind tunnel model based on the zero attitude angle, the error information and the real-time motion parameter.

[0080] Optionally, determining the error information of the wind tunnel model by using the wind tunnel data acquisition system includes:

[0081] Setting the wind tunnel model at a zero position in a predetermined coordinate system so that the angle of attack and the roll angle of the wind tunnel model are near the zero position;

[0082] Determine by high-precision measuring equipment that the angle of attack, the roll angle, and the sideslip angle of the wind tunnel model in the predetermined coordinate system have differences from the zero position, namely, the angle of attack difference, the roll angle difference, and the sideslip angle difference;

[0083] The angle of attack difference is determined as the angle of attack error, the roll angle difference is determined as the roll angle error, and the sideslip angle difference is determined as the sideslip angle error.

[0084] In the technical solution of the embodiment of the present application, the predetermined coordinate system may be a wind tunnel coordinate system.

[0085] It should be pointed out that the difference between the angle of attack and the roll angle in this step and the zero position in the predetermined coordinate system may refer to the difference compared to the X-axis, Y-axis or Z-axis respectively. A person skilled in the art can easily know the corresponding error value method based on the prior art, and for the sake of brevity of the specification, it will not be elaborated here.

[0086] Optionally, determining the error information of the wind tunnel model by using the wind tunnel data acquisition system includes:

[0087] Setting the wind tunnel model at a zero position in a predetermined coordinate system so that the angle of attack and the roll angle of the wind tunnel model are near the zero position;

[0088] Obtaining a first angle of attack and a first roll angle of the wind tunnel model based on the predetermined coordinate system by measuring with a high-precision measuring device;

[0089] During the change of the first angle of attack, a first increment of the first roll angle changing with the first angle of attack is measured and determined by a high-precision measuring device, and sent to the attitude solving device;

[0090] Obtaining a second angle of attack and a second roll angle of the wind tunnel model based on the predetermined coordinate system through the inertial measurement unit IMU;

[0091] During the change of the second roll angle, determining a second increment of the second angle of attack as the second roll angle changes by the inertial measurement unit IMU, and sending the second increment to the attitude solving device;

[0092] The sideslip angle error is determined by the attitude solving device based on the first increment and the second increment.

[0093] Optionally, the method further comprises:

[0094] After the test duration based on the wind tunnel model is greater than or equal to the first duration, the wind tunnel model is reset to zero, and the current heading angle of the wind tunnel model attitude angle measurement system is reset to the heading angle at the zero position moment.

[0095] Optionally, the method further comprises:

[0096] After the test duration based on the wind tunnel model is greater than or equal to the second duration, the wind tunnel model is reset to zero, and the current sideslip angle of the wind tunnel model attitude angle measurement system is reset to zero.

[0097] It should be noted that the first duration and the second duration in the embodiment of the present application may refer to the duration corresponding to the accumulated error of the system. That is to say, no matter how many times the test is performed within the first duration or the second duration, as long as the test duration reaches the first duration or the second duration, the technical solution in the embodiment of the present application will reset the heading angle or sideslip angle in the system, thereby eliminating the accumulated error. In actual operation, the first duration and the second duration can be set as needed.

[0098] The foregoing Figure 1The various changes and specific examples in the wind tunnel model attitude angle measurement system in the embodiment are also applicable to the wind tunnel model real-time attitude angle measurement method in this embodiment. Through the above detailed description of the wind tunnel model attitude angle measurement system, those skilled in the art can clearly know the implementation method of the wind tunnel model real-time attitude angle measurement method in this embodiment, so for the sake of brevity of the specification, it will not be described in detail here.

[0099] It can be seen that the technical solution in the embodiment of the present application can be connected to the wind tunnel data acquisition system, the inertial measurement unit IMU, and the attitude solution device by using shielded cables and connecting cables, and by obtaining the initial alignment information and error information of the wind tunnel model provided by the wind tunnel data acquisition system, and the real-time angular rate and acceleration parameters provided by the inertial measurement unit IMU, the attitude solution device calculates and obtains the attitude angle parameters corresponding to the wind tunnel model. It can be seen that the wind tunnel model attitude angle measurement system in the embodiment of the present application is not only easy to install and connect, but also can avoid the cumulative error in the test process, and obtain a more accurate wind tunnel model attitude angle measurement result. Therefore, it has the technical effect of improving the installation efficiency of the wind tunnel model attitude angle measurement system and the accuracy of the measurement results.

[0100] The embodiments of the present application also have at least the following technical effects or advantages:

[0101] Furthermore, the technical solution of the embodiment of the present application can use a metal material that shields electromagnetic radiation as the outer shell shielding layer of the shielded cable during operation, and the shielding layer is grounded to achieve shielding of electromagnetic interference. The transmission power line in the shielded cable can adopt a multi-core parallel and thickened design to achieve a smaller voltage drop effect.

[0102] In the embodiments of the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the units or division of units are only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0103] The functional units in the embodiment of the present invention may be integrated into one processing unit, or the units may be independent physical modules.

[0104] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the technical solution of the embodiment of the present application can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device, such as a personal computer, a mobile terminal, a server, or a network device, or a processor to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: a universal serial bus flash drive (Universal Serial Bus flash drive), a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, and other media that can store program codes.

[0105] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0106] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Furthermore, the various method steps in the technical solution of the present application can be reversed and the order can be changed while still falling within the scope of the invention covered by the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for measuring the real-time attitude angle of a wind tunnel model, characterized in that: include: A wind tunnel model, comprising a wind tunnel data acquisition system, wherein the wind tunnel data acquisition system is used to determine initial alignment information and error information of the wind tunnel model, wherein the initial alignment information comprises an initial position and an initial heading angle corresponding to the wind tunnel model; An inertial measurement unit (IMU) is placed in the wind tunnel model to measure motion parameters generated based on the wind tunnel model, wherein the motion parameters include angular velocity and acceleration parameters; an attitude solving device, connected to the inertial measurement unit IMU and the wind tunnel data acquisition system, for calculating and obtaining the attitude angle of the wind tunnel model based on the initial alignment information, the error information, and the motion parameters, wherein the attitude angle includes heading angle, pitch angle, roll angle, sideslip angle, and angle of attack; A shielded cable, connecting the attitude solving device and the inertial measurement unit IMU, for transmitting and receiving data and supplying power to the inertial measurement unit IMU; A connecting cable is used to connect the wind tunnel data acquisition system and the attitude solving device, so as to send the attitude angle, the initial alignment information and the error information to the wind tunnel data acquisition system; Determining initial alignment information of the wind tunnel model through the wind tunnel data acquisition system, wherein the initial alignment information includes an initial position and an initial heading angle corresponding to the wind tunnel model; Obtaining, by measuring with the inertial measurement unit, zero-position motion parameters corresponding to the wind tunnel model at the zero-position moment when measurement starts, the zero-position motion parameters including angular velocity and acceleration parameters of the wind tunnel model at the zero-position moment; The attitude solving device calculates the zero attitude angle of the wind tunnel model at the zero position time based on the initial alignment information and the zero position motion parameter, wherein the zero attitude angle includes the heading angle, the pitch angle, and the roll angle of the wind tunnel model at the zero position time; Obtaining real-time motion parameters of the wind tunnel model by measuring with the inertial measurement unit; The attitude solving device calculates the real-time attitude angle with respect to the wind tunnel model based on the zero attitude angle and the real-time motion parameters, wherein the real-time attitude angle includes a real-time heading angle, a pitch angle, a roll angle, a sideslip angle, and an angle of attack; Determining initial alignment information of the wind tunnel model by the wind tunnel data acquisition system includes: Determining error information of the wind tunnel model by the attitude solving device, wherein the error information includes a roll angle error of the wind tunnel model in a roll angle direction, an angle of attack error in an angle of attack direction, and a sideslip angle error of the wind tunnel model between a longitudinal axis and a measurement line of a heading angle; The attitude solving device performs an initial alignment operation based on the zero-position motion parameter and the initial alignment information to obtain the zero-position attitude angle of the wind tunnel model at the zero-position moment, including: The attitude solving device performs an initial alignment operation based on the zero-position motion parameter, the error information and the initial alignment information to obtain the zero-position attitude angle of the wind tunnel model at the zero-position moment; and / or, The step of obtaining a real-time attitude angle corresponding to the wind tunnel model by the attitude solving device based on the zero attitude angle and the real-time motion parameter calculation includes: The attitude solving device calculates a real-time attitude angle corresponding to the wind tunnel model based on the zero attitude angle, the error information and the real-time motion parameter.

2. A method for measuring the real-time attitude angle of a wind tunnel model according to claim 1, characterized in that: The connecting cable is used to connect a power source to provide power to the wind tunnel model attitude angle measurement system.

3. A method for measuring the real-time attitude angle of a wind tunnel model as claimed in claim 1, characterized in that: The shielded cable is also used to shield the electromagnetic interference emitted by the wind tunnel model.

4. A method for measuring the real-time attitude angle of a wind tunnel model as claimed in claim 1, characterized in that: The system also includes a mechanism zero return device for resetting the heading angle currently determined in the system to the heading angle at the zero position moment, and / or resetting the current sideslip angle in the system to zero.

5. A method for measuring the real-time attitude angle of a wind tunnel model as claimed in claim 1, characterized in that: Determining the error information of the wind tunnel model by the wind tunnel data acquisition system includes: Setting the wind tunnel model at a zero position in a predetermined coordinate system so that the angle of attack and the roll angle of the wind tunnel model are near the zero position; Determine by high-precision measuring equipment that the angle of attack, the roll angle, and the sideslip angle of the wind tunnel model in the predetermined coordinate system have differences from the zero position, namely, the angle of attack difference, the roll angle difference, and the sideslip angle difference; The angle of attack difference is determined as an angle of attack error, the roll angle difference is determined as a roll angle error, and the sideslip angle difference is determined as a sideslip angle error.

6. A method for measuring the real-time attitude angle of a wind tunnel model as claimed in claim 1, characterized in that: Determining the error information of the wind tunnel model by the wind tunnel data acquisition system includes: Setting the wind tunnel model at a zero position in a predetermined coordinate system so that the angle of attack and the roll angle of the wind tunnel model are near the zero position; Obtaining a first angle of attack and a first roll angle of the wind tunnel model based on the predetermined coordinate system by measuring with a high-precision measuring device; During the change of the first angle of attack, a first increment of the first roll angle changing with the first angle of attack is measured and determined by a high-precision measuring device, and sent to the attitude solving device; Obtaining a second angle of attack and a second roll angle of the wind tunnel model based on the predetermined coordinate system through the inertial measurement unit IMU; During the change of the second roll angle, determining a second increment of the second angle of attack as the second roll angle changes by the inertial measurement unit IMU, and sending the second increment to the attitude solving device; The sideslip angle error is determined by the attitude solving device based on the first increment and the second increment.

7. A method for measuring the real-time attitude angle of a wind tunnel model as claimed in claim 1, characterized in that: The method further comprises: After the test duration based on the wind tunnel model is greater than or equal to the first duration, the wind tunnel model is reset to zero, and the current heading angle of the wind tunnel model attitude angle measurement system is reset to the heading angle at the zero position moment.

8. A method for measuring the real-time attitude angle of a wind tunnel model as claimed in claim 1, characterized in that: The method further comprises: After the test duration based on the wind tunnel model is greater than or equal to the second duration, the wind tunnel model is reset to zero, and the current sideslip angle of the wind tunnel model attitude angle measurement system is reset to zero.

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