Method and system for measuring deformation of large airship envelope, and large airship

Abstract

The present application relates to the technical fields of stratosphere airship, and discloses a kind of measurement method of large airship gas bag deformation quantity, comprising the following steps: the large airship includes gas bag and the pod below gas bag;A reference point is arranged on the pod, and more than two measuring points are arranged on the gas bag;The positioning signal of the reference point and more than two measuring points is continuously received, and the position change relative to the reference point in each measuring point before and after two times of measurement is obtained, so as to obtain the deformation quantity of the bag body.The scheme solves the technical problem of large airship gas bag deformation quantity measurement by the change of relative position of reference point and measuring point, realizes the quantifiable and accurate measurement of airship gas bag deformation quantity.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of stratosphere airship, in particular to a large airship gasbag deformation measurement method, a measurement system and a large airship. BACKGROUND

[0002] Large airships have very extensive military and civilian values, for example, they have great application values in missile defense, communication, remote sensing, space observation and atmospheric measurement.

[0003] The gasbag of a large airship is filled with a lifting gas with a density smaller than air to generate buoyancy to make the airship take off. Figure 1 As shown in the figure, Figure 1 The airship includes an airbag 2 and a helium gasbag 1, and the airship takes off by filling the helium gasbag 1 with helium. During flight, the gasbag will cause changes in the shape due to changes in the external environment and its own pressure, and the large changes in the shape will affect the flight performance and safety of the airship. Therefore, technical means need to be taken to collect the data of the gasbag of the airship to provide a basis for flight operation and use.

[0004] The existing technical solution is to measure the pressure difference data between the inside and outside of the gasbag of the airship by using a differential pressure sensor. A plurality of measurement points are arranged on the airship to collect the air pressure difference information inside and outside the gasbag, and the state and deformation of the gasbag are calculated by the pressure difference data. The gasbag change detection by the differential pressure sensor detection pressure difference mode cannot give real-time gasbag deformation information, and there is no specific detection precision data, only the general change trend of the gasbag can be obtained.

[0005] Therefore, it is urgent to develop a large airship gasbag deformation measurement method to realize the quantifiable and accurate measurement of the deformation of the gasbag.

[0006] The above information disclosed in the background section is only used to strengthen the understanding of the background of the present application, and therefore it can include information that does not constitute prior art known to those of ordinary skill in the art. SUMMARY

[0007] The present application provides a large airship gasbag deformation measurement method, a measurement system and a large airship, thereby at least to some extent overcoming one or more problems caused by the limitations and defects of the prior art.

[0008] Other characteristics and advantages of the present application will become apparent from the following detailed description, or will be learned by practice of the present application.

[0009] According to a first aspect of the present application, a large airship gasbag deformation measurement method is disclosed, comprising the following steps:

[0010] The large airship includes a gasbag and a nacelle located below the gasbag;

[0011] a reference point is arranged on the gondola, and two or more measuring points are arranged on the airbag;

[0012] positioning signals of the reference point and the two or more measuring points are continuously received, and a position change of each measuring point relative to the reference point between two measurements is obtained, so as to obtain a deformation amount of the airbag.

[0013] According to an example embodiment of the present application, the two or more measuring points include a first measuring point and a second measuring point, the first measuring point is located at a front end of the airbag, and the second measuring point is located at a rear end of the airbag.

[0014] According to an example embodiment of the present application, the first measuring point and the second measuring point are both located on an axis of the airbag.

[0015] According to an example embodiment of the present application, the method of continuously receiving the positioning signals of the reference point and the two or more measuring points and obtaining the position change of each measuring point relative to the reference point between two measurements includes obtaining a distance change amount of the measuring point relative to the reference point by using a real-time kinematic carrier phase difference technology.

[0016] According to an example embodiment of the present application, the method of obtaining the distance change amount of the measuring point relative to the reference point by using the real-time kinematic carrier phase difference technology includes that a reference station receiver at the reference point receives a positioning signal of the reference point and calculates position information of the reference point, and a mobile station receiving all-in-one machine at each measuring point sends double-frequency carrier phase correction information to the reference station receiver, each mobile station receiving all-in-one machine receives a positioning signal of the measuring point and calculates the positioning signal of the measuring point and the double-frequency carrier phase correction information to obtain coordinate information of the position of each measuring point relative to the reference point.

[0017] As a second aspect of the present application, a measuring system for a deformation amount of an airbag of a large airship is disclosed, including a reference station receiver and two or more mobile station receiving all-in-one machines; the large airship includes an airbag and a gondola located below the airbag;

[0018] The reference station receiver is arranged on the gondola and is used to receive a positioning signal of a reference point and calculate position information of the reference point;

[0019] The two or more mobile station receiving all-in-one machines are arranged on the airbag and are used to receive a positioning signal of a measuring point and obtain a position change of each measuring point relative to the reference point between two measurements.

[0020] According to an example embodiment of the present application, the measuring system measures according to the measuring method.

[0021] According to an example embodiment of the present application, the reference station receiver and each mobile station receiver are connected,

[0022] The reference station receiver is further configured to send the dual-frequency carrier phase correction information to each mobile station receiver.

[0023] Each mobile station receiver is further configured to receive the dual-frequency carrier phase correction information, and each mobile station receiver is configured to solve the position of each measurement point relative to the reference point by using the positioning signal of the measurement point and the dual-frequency carrier phase correction information.

[0024] According to an example embodiment of the present application, the reference station receiver comprises a first receiving antenna, a first satellite receiving module and a first information processing module; the first receiving antenna and the first satellite receiving module are connected, configured to receive the positioning signal of GPS and / or Beidou, and send the positioning signal to the first satellite receiving module; the first satellite receiving module is connected with the first information processing module, configured to solve the position information of the reference point, send the position information to the first information processing module, and send the dual-frequency carrier phase correction information to the mobile station receiver; the first information processing module receives the position information of the reference point and the position of the measurement point relative to the reference point.

[0025] The mobile station receiver comprises a second receiving antenna and a second satellite receiving module; the second receiving antenna and the second satellite receiving module are connected, configured to receive the positioning signal of GPS and / or Beidou, and send the positioning signal to the second satellite receiving module; the second satellite receiving module is configured to receive the dual-frequency carrier phase correction information, and solve the position of the measurement point relative to the reference point, and send the position of the measurement point relative to the reference point to the first information processing module.

[0026] According to an example embodiment of the present application, the first information processing module is further configured to obtain the position information of the reference point and the measurement point, and the airbag deformation data according to the position information of the reference point and the position of the measurement point relative to the reference point.

[0027] According to an example embodiment of the present application, the mobile station receiver further comprises a second information processing module, and the second information processing module is connected with the second satellite receiving module, and the second information processing module can configure the second satellite receiving module.

[0028] According to an example embodiment of the present application, the first information processing module can configure the first satellite receiving module.

[0029] According to an example embodiment of the present application, one of the mobile station receiving units is arranged at the front end of the airbag and on the axis of the airbag, and the other mobile station receiving unit is arranged at the rear end of the airbag and on the axis of the airbag.

[0030] According to an example embodiment of the present application, the measuring system further comprises a user terminal connected to the first information processing module, for receiving the position information of the reference point and the measuring point and the airbag deformation data.

[0031] According to an example embodiment of the present application, the measuring system further comprises a power management module, through which the user terminal provides power to the reference station receiver and the mobile station receiving unit.

[0032] According to a third aspect of the present application, a large airship is disclosed, comprising the measuring system, the airbag and a gondola arranged below the airbag.

[0033] The reference station receiver of the measuring system is arranged on the gondola, and one of the two or more mobile station receiving units is arranged at the front end of the airbag and on the axis of the airbag, and the other mobile station receiving unit is arranged at the rear end of the airbag and on the axis of the airbag.

[0034] The present application has the following advantages:

[0035] The present application solves the technical problem of measuring the deformation of the airbag of a large airship by the relative position change of the reference point and the measuring point, and realizes the quantifiable and accurate measurement of the deformation of the airbag of the airship. Based on the deformation of the airbag, the stratospheric airship realizes the point flight, autonomous control and the control of the pressure difference between the inside and outside of the airship. BRIEF DESCRIPTION OF DRAWINGS

[0036] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description of example embodiments thereof by referring to the accompanying drawings.

[0037] Figure 1 A structure diagram of a large airship in the prior art is shown.

[0038] Figure 2 A structure diagram of a large airship in the first embodiment is shown.

[0039] Figure 3 A structure diagram of the measuring system is shown.

[0040] Figure 4 A structure diagram of the reference station receiver is shown.

[0041] Wherein, 1—helium airbag, 2—airbag, 3—reference station receiver, 4—gondola, 5—airbag, 6—mobile station receiver integrated machine, A—first measuring point, B—second measuring point, C—reference point. DETAILED DESCRIPTION

[0042] Example implementations will now be described more fully with reference to the accompanying drawings. Example implementations can be implemented in any

[0043] Moreover, described features, structures, or characteristics can be combined in any suitable manner in one or more implementations. In the following description, numerous specific details are provided to give a thorough understanding of implementations of the application. One skilled in the relevant art will recognize, however, that the

[0044] As a first embodiment of the present application, the purpose of the present application is to disclose a large airship, as shown in Figure 2 The large airship airbag deformation measurement system, the airbag 5 and the gondola 4 located below the airbag 5.

[0045] As shown in Figure 3 The measurement system includes a reference station receiver 3, two or more mobile station receiver integrated machines 6, a plurality of data cables, a plurality of power cables, a user terminal and a power management module. The reference station receiver 3 is fixed on the gondola 4, preferably located at the front of the gondola 4, and the fixed position is the reference point C. This scheme takes two mobile station receiver integrated machines 6 as an example, in order to achieve more accurate measurement, 3, 5 or more mobile station receiver integrated machines 6 can be set. As shown in Figure 2 The left and right sides of the figure are the front and rear of the airbag 5 respectively, and the mobile station receiver integrated machine 6 is arranged on the left side of the airbag 5, which is fixed on the front end of the airbag 5 and located on the axis of the airbag 5, and the position is the first measuring point A. The mobile station receiver integrated machine 6 located on the right side of the airbag 5 is fixed on the rear end of the airbag 5 and located on the axis of the airbag 5, and the position is the second measuring point B. As shown in Figure 3As shown, the user terminal provides power supply for the reference station receiver 3 and the mobile station receiving all-in-one machine 6 through the power management module, and the power management module is connected with the reference station receiver 3 and the mobile station receiving all-in-one machine 6 through power cables. The reference station receiver 3, the mobile station receiving all-in-one machine 6 and the user terminal are connected through data cables. The reference station receiver 3 receives the positioning signal of the reference point C, calculates the position information of the reference point C, sends the double-frequency carrier phase correction information to each mobile station receiving all-in-one machine 6, and the mobile station receiving all-in-one machine 6 uses the satellite signal received by the receiving antenna and the correction information (i.e. the double-frequency carrier phase correction information) input by the C point to perform high-precision differential fusion calculation, finally obtains the high-precision coordinate information of the relative C point position and sends it to the reference station receiver 3. The reference station receiver 3 obtains the boat body motion heading data and the airbag 5 deformation data according to the position information of the reference point C and the position information of the mobile station receiving all-in-one machine 6, and transmits them to the user terminal.

[0046] According to the component integration design and modular design concept, the complexity of equipment installation and docking interface is reduced, the reference station receiver 3 and the mobile station receiving all-in-one machine 6 can adopt unified component integration packaging processing, and are completely consistent in hardware design, and different receivers are configured accordingly when used. Since the structure of the reference station receiver 3 and the mobile station receiving all-in-one machine 6 is basically the same, the modules in the components are distinguished by "first" and "second" in the following.

[0047] Figure 4 The dashed box in FIG. 1 is a structural diagram of the reference station receiver 3, which includes a first receiving antenna (i.e. a satellite antenna), a first satellite receiving module (i.e. a satellite receiving module), a first information processing module (i.e. an information processing module) and a power module. The first receiving antenna and the first satellite receiving module are connected, used for receiving satellite positioning signals of GPS and / or Beidou, and sending the positioning signals to the first satellite receiving module. The first satellite receiving module is connected with the first information processing module, used for calculating the position information of the reference point C according to the positioning signals, sending the position information to the first information processing module, and sending the double-frequency carrier phase correction information to the mobile station receiving all-in-one machine 6 at the same time. The first information processing module receives the position information of the reference point C and the position of the measurement point relative to the reference point C (i.e. the relative position data input of the mobile station in the figure) sent by the mobile station receiving all-in-one machine 6, calculates the position information of the reference point C and the measurement point, obtains the airbag 5 deformation data by deformation measurement algorithm, obtains the boat body motion heading data, and transmits the calculated data to the user terminal. The first information processing module is also used for configuring the first satellite receiving module, sending instructions to the first satellite receiving module, setting the integrated component as a reference station to realize the function of the reference station. The power module provides power supply for the first satellite receiving module and the first information processing module.

[0048] The mobile station receiving integrated machine 6 comprises a second receiving antenna, a second satellite receiving module, a second information processing module and a power module. The second receiving antenna and the second satellite receiving module are connected, used for receiving satellite positioning signals of GPS and / or Beidou, and sending the positioning signals to the second satellite receiving module. The second satellite receiving module is used for receiving double-frequency carrier phase correction information, and calculating the position of the measuring point relative to the reference point C, and sending the position of the measuring point relative to the reference point C to the first information processing module. The second information processing module sends the position of the measuring point relative to the reference point C to the first information processing module, and the second information processing module is also used for configuring the second satellite receiving module, and setting the integrated component as a mobile station by sending instructions to the second satellite receiving module, so as to realize the function of the mobile station. The power module provides power for the second satellite receiving module and the second information processing module.

[0049] The conversion of the functions of the reference station and the mobile station is realized through the configuration function of the information processing module. Figure 4 The double-headed arrow above the satellite receiving module indicates that the satellite receiving module can send double-frequency carrier phase correction information when it is a reference station, and can receive double-frequency carrier phase correction information when it is a mobile station. Figure 4 The single-headed arrow on the right side of the information processing module indicates that when the receiver is a reference station receiver 3, the relative position information of the mobile station can be received, and the information is operated to output the airbag 5 deformation data.

[0050] The above measurement system is used to measure the deformation of the airbag of the large airship, and the method is as follows:

[0051] A reference point C is arranged on the gondola 4, and two or more measuring points (including the first measuring point A and the second measuring point B) are arranged on the airbag 5.

[0052] The positioning signals of the reference point C and the two or more measuring points are continuously received, and the position of each measuring point relative to the reference point C is obtained before and after the measurement, so as to obtain the deformation of the airbag 5.

[0053] Specifically, the reference station receiver 3 is fixed at the reference point C of the gondola 4, the mobile station receiving integrated machine 6 is fixed at the first measuring point A at the front end of the airbag 5, and the mobile station receiving integrated machine 6 is fixed at the second measuring point B at the rear end of the airbag 5. The mobile station receiving integrated machine 6 can also be fixed at other places of the airbag 5. Among them, the first measuring point A is located at the front end of the airbag 5, the second measuring point B is located at the rear end of the airbag 5, and the first measuring point A and the second measuring point B are both located on the axis of the airbag 5.

[0054] Since the air bag 5 is a flexible structure, deformation will occur during movement. The scheme obtains deformation data by relative positioning. Specifically, the scheme uses a high-precision dynamic RTK (real time kinematic) differential method based on a GPS / Beidou receiver to solve high-precision position information using satellite signal dual-frequency carrier phase measurement technology, and then solves the required boat body deformation data through a background deformation measurement algorithm. RTK (real time kinematic) difference: real-time dynamic carrier phase difference technology. Generally, two GPS / Beidou receivers are required to work simultaneously to achieve RTK difference, one is placed at a known coordinate point (i.e. reference station), and the other is a point device to be measured (the point to be measured can be a real-time moving carrier, i.e. mobile station). The mobile station uses the positioning correction parameters provided by the reference station to solve its own position data, achieving high-precision centimeter-level position coordinate information.

[0055] The scheme uses a dynamic reference RTK difference mode. In the implementation process, the setting of the reference point is critical. Since the air bag 5 will deform itself under different environments, this deformation is the data required by the scheme, so the reference point cannot be set on the air bag 5 and can only be set on the pod 4. The reference point C will not deform during movement and is used as the differential reference point of the boat body (i.e. reference point). The reference station receiver 3 is set on the reference point C to receive GPS / Beidou satellite signals. The first measurement point A and the second measurement point B will deform during movement and are used as the differential mobile measurement points of the boat body (i.e. measurement points). The mobile station all-in-one machine 6 is set on the first measurement point A and the second measurement point B to receive GPS / Beidou satellite signals. The first measurement point A and the second measurement point B are set on the axis of the air bag 5 and can be used as the calculation points of the boat body movement heading data at the same time.

[0056] The component uses the change amount data of the positions and distances of points A and B relative to point C, and combines the change amount of the positions and distances between points A and B to determine the deformation of the entire air bag 5. In operation, the reference station receiver 3 and the mobile station receiver all-in-one machine 6 continuously receive satellite signals. In the two measurements before and after, the reference station receiver 3 receives the positioning signals of the reference point C through the first receiving antenna, and at the same time of solving the position information of itself, the first satellite receiving module sends the double-frequency carrier phase correction information to the second satellite receiving module of the mobile station receiver all-in-one machine 6 at the first measurement point A and the second measurement point B, and also sends the double-frequency carrier phase correction information to the second satellite receiving module of the mobile station receiver all-in-one machine 6 at other measurement points. The mobile station receiver all-in-one machine 6 at the first measurement point A and the second measurement point B receives the positioning signals of the measurement points through the second receiving antenna, and the second satellite receiving module solves the high-precision differential fusion through the positioning signals of the measurement points and the double-frequency carrier phase correction information, and finally obtains the high-precision coordinate information with an error of centimeter level, and other measurement points should also be calculated in the same way. The reference point C obtains the position change amount data on the X, Y and Z axes according to the position information of itself and the position information of points A and B, and outputs six groups of data ΔX A-C , ΔY A-C , ΔZ A-C , ΔX B-C , ΔY B-C , ΔZ B-C respectively, which represent the differences between the positions of points A and B and the position of point C on the X, Y and Z axes. ΔX A-C , ΔY A-C , ΔZ A-C , ΔX B-C , ΔY B-C , ΔZ B-C The changes of the six groups of data are equivalent to the deformation amount of the air bag in the X, Y and Z directions. X and Y are two directions perpendicular to each other in the horizontal direction, and Z is the vertical direction.

[0057] The second satellite receiving module sends the coordinate information relative to the position of the reference point C to the first information processing module through the second information processing module, the first information processing module solves the position information of the reference point C and the measurement points, obtains the air bag deformation data through the deformation measurement algorithm, and transmits the heading information relative to the reference station to the user end.

[0058] Through the above method, the deformation data of the air bag of the airship can be accurately calculated in real time, and the heading data of the airship body is obtained through the position information of points A and B relative to the reference point C, so that the airship can be controlled to fly at a fixed point and be controlled autonomously.

[0059] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

[0060] It is to be understood that the application is not limited to the precise structures hereinabove described and shown in the drawings, for purposes of illustration and education only, and that variations in changes can be made by persons skilled in the art without departing from the scope of the present application. The scope of the application is limited only by the claims that follow.

Claims

1. A method of measuring the deformation amount of a large airship envelope, characterized by, The method comprises the following steps: The large airship comprises a gas bag and a gondola located below the gas bag; A reference point is arranged on the gondola, and two or more measuring points are arranged on the gas bag; The positioning signals of the reference point and the two or more measuring points are continuously received, and the position change of each measuring point relative to the reference point in the front and back two measurements is obtained, so as to obtain the deformation amount of the gas bag; the reference point obtains the position change amount data on the X, Y and Z axes according to the position information of the reference point, the first measuring point and the second measuring point, and outputs six groups of data at regular time intervals, and the six groups of data respectively represent the difference between the first measuring point and the second measuring point and the reference point in the X, Y and Z axial directions, which is equivalent to the deformation amount of the gas bag in the X, Y and Z directions; The two or more measuring points comprise a first measuring point and a second measuring point, the first measuring point is located at the front end of the gas bag, and the second measuring point is located at the rear end of the gas bag; The first measuring point and the second measuring point are both located on the axis of the gas bag.

2. The method of claim 1, wherein The method for continuously receiving the positioning signals of the reference point and the two or more measuring points and obtaining the position change of each measuring point relative to the reference point in the front and back two measurements comprises: obtaining the distance change amount of the measuring point relative to the reference point by means of real-time dynamic carrier phase difference technology.

3. The method of claim 2, wherein The method for obtaining the distance change amount of the measuring point relative to the reference point by means of real-time dynamic carrier phase difference technology comprises: a reference station receiver at the reference point receives the positioning signal of the reference point and calculates the position information of the reference point, and simultaneously sends double-frequency carrier phase correction information to each mobile station receiving all-in-one machine, each mobile station receiving all-in-one machine receives the positioning signal of the measuring point and calculates the coordinate information of the position of each measuring point relative to the reference point by means of the positioning signal of the measuring point and the double-frequency carrier phase correction information.

4. A system for measuring the deformation of a large airship envelope, comprising: It comprises: A reference station receiver and two or more mobile station receiving all-in-one machines; the large airship comprises a gas bag and a gondola located below the gas bag; The reference station receiver is arranged on the gondola and is used for receiving the positioning signal of the reference point and calculating the position information of the reference point; The two or more mobile station receiving all-in-one machines are arranged on the gas bag and are used for receiving the positioning signal of the measuring point and obtaining the position change of each measuring point relative to the reference point in the front and back two measurements; The reference point obtains the position change amount data on the X, Y and Z axes according to the position information of the reference point, the first measuring point and the second measuring point, and outputs six groups of data at regular time intervals, and the six groups of data respectively represent the difference between the first measuring point and the second measuring point and the reference point in the X, Y and Z axial directions, which is equivalent to the deformation amount of the gas bag in the X, Y and Z directions; The two or more measuring points comprise a first measuring point and a second measuring point, the first measuring point is located at the front end of the gas bag, and the second measuring point is located at the rear end of the gas bag; The first measuring point and the second measuring point are both located on the axis of the gas bag.

5. The system for measuring the deformation of a large airship envelope according to claim 4, wherein The reference station receiver and each mobile station receiving all-in-one machine are connected, The reference station receiver is also used for sending double-frequency carrier phase correction information to each mobile station receiving all-in-one machine; Each mobile station receiving all-in-one is also used for receiving double frequency carrier phase correction information, each mobile station receiving all-in-one is calculated by the positioning signal of the measuring point and the double frequency carrier phase correction information, so as to obtain the position change of each measuring point relative to the reference point in the two times of measurement.

6. The system for measuring the deformation of a large airship envelope according to claim 5, wherein The reference station receiver comprises a first receiving antenna, a first satellite receiving module and a first information processing module; the first receiving antenna and the first satellite receiving module are connected, used for receiving the positioning signal of GPS and / or Beidou, and sending the positioning signal to the first satellite receiving module; the first satellite receiving module is connected with the first information processing module, used for calculating the position information of the reference point, sending the position information to the first information processing module, and sending the double frequency carrier phase correction information to the mobile station receiving all-in-one; The first information processing module receives the position information of the reference point and the position change of the measuring point relative to the reference point; The mobile station receiving all-in-one comprises a second receiving antenna and a second satellite receiving module; The second receiving antenna and the second satellite receiving module are connected, used for receiving the positioning signal of GPS and / or Beidou, and sending the positioning signal to the second satellite receiving module; the second satellite receiving module is used for receiving the double frequency carrier phase correction information, and calculating the position change of the measuring point relative to the reference point, and sending the position change of the measuring point relative to the reference point to the first information processing module.

7. The system for measuring the deformation of a large airship envelope according to claim 6, wherein The first information processing module is also used for obtaining the position information of the reference point and the measuring point and the airbag deformation data according to the position information of the reference point and the position change of the measuring point relative to the reference point.

8. A large airship characterized by, The measuring system, the airbag and the nacelle located below the airbag comprise the measuring system according to any one of claims 4-7; The reference station receiver of the measuring system is arranged on the nacelle; one of the two or more mobile station receiving all-in-ones is arranged at the front end of the airbag and on the axis of the airbag, and the other mobile station receiving all-in-one is arranged at the rear end of the airbag and on the axis of the airbag.

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