A wind field monitoring method and system

Abstract

The present invention provides a wind field monitoring method and system, which relates to the technical field of wind field monitoring. By obtaining the low-altitude wind speed and wind direction profile data of the target area; at the same time, obtaining the instantaneous wind speed, wind direction observation data and UAV attitude data at different heights and positions near the ground of the target area through an airborne weather station carried by the UAV; correcting the wind speed and wind direction data at different heights obtained by the UAV according to the UAV attitude data; combining the low-altitude wind speed and wind direction profile data of the target area to perform data correction on the wind speed and wind direction data obtained by the UAV; performing spatial simulation of the regional wind field according to the low-altitude wind speed and wind direction profile data of the target area and the dense observation data collected by the UAV to generate near-real-time three-dimensional spatial data of the wind speed and wind direction in the near-ground area. This method and system are economical and efficient, with clear physical processes, and the implementation process is fast, flexible and mobile, and is suitable for quickly obtaining continuous three-dimensional wind field information in the regional space in various different regions and scenarios.

Description

Technical Field

[0001] The present invention relates to the technical field of wind field monitoring, and in particular, to a wind field monitoring method and system. Background Art

[0002] Common existing wind field profile monitoring methods include wind measurement towers with multiple layers of sensors, low-altitude ultrasonic wind measurement radars, ground microwave radars, coherent Doppler lidars, etc., all of which can achieve wind field information monitoring at specific positions on the ground. However, when facing regional wind field monitoring, such as in complex terrains and underlaying surface scenarios like forest fire sites, the terrain and underlaying surface will cause huge spatial heterogeneity in the near-surface wind field, and this regional wind field information is of great significance for aircraft fire fighting and rescue operations of forest fire fighting and rescue teams. Therefore, the commonly used ground observation schemes cannot meet the requirements of wind field monitoring in such heterogeneous surface areas, and a rapid monitoring method for regional wind fields suitable for complex environments is particularly important.

[0003] Most of the existing methods are fixed-point observation methods, such as meteorological towers, ground microwave radars combined with radiosondes, which are all used for long-term fixed-point meteorological wind field monitoring in the meteorological system. The equipment and facilities are fixed, and the investment is huge. They are mostly arranged at flat and representative meteorological stations; the latest coherent Doppler lidar can efficiently and accurately obtain three-dimensional wind speed and direction information of the boundary layer at the observation position. However, in essence, it is only a movable ground observation, and the obtained is still the profile data of a fixed area above the equipment, and the cost of this equipment is relatively high; the low-altitude ultrasonic wind measurement radar can obtain wind field information in the near-surface layer. Although the cost is relatively low, like the coherent Doppler lidar, it also belongs to ground observation. When facing harsh ground environments where personnel cannot approach, as well as complex terrains and underlaying surfaces, such as forest fire scenarios, even movable ground observation equipment, such as new portable low-altitude wind measurement radars, coherent Doppler and lidars, on the one hand, the mobility of the equipment is not enough, and the mobility will be greatly restricted in complex terrain environments. On the other hand, the spatial representativeness of ground observation equipment completely cannot adapt to the regional near-surface wind field monitoring in complex terrain environments and cannot meet the requirements of regional fine wind fields. Summary of the Invention

[0004] The purpose of the present invention is to provide a wind field monitoring method and system to improve the problems in the existing technical solutions that the mobility of ground observation equipment is insufficient, the spatial representativeness of ground observation equipment completely cannot adapt to the regional near-surface wind field monitoring in complex terrain environments, and cannot meet the requirements of regional fine wind fields.

[0005] In a first aspect, an embodiment of the present application provides a wind field monitoring method, including the following steps:

[0006] Obtain the low-altitude wind speed and wind direction profile data of the target area;

[0007] Obtain the instantaneous wind speed and wind direction observation data and the UAV attitude data at different heights and positions near the ground in the target area by carrying an airborne weather station on the UAV;

[0008] Combine the UAV attitude data to correct the wind speed and wind direction observation data of the airborne weather station to obtain the UAV wind speed and wind direction correction data;

[0009] Based on the relatively fixed low-altitude wind speed and wind direction profile data of the target area, comprehensively correct the wind speed and wind direction correction data obtained by the UAV to obtain the UAV wind speed and wind direction observation data;

[0010] Conduct spatial simulation of the wind field in the target area according to the low-altitude wind speed and wind direction profile data and the observation data of the target area, and generate three-dimensional spatial data of the wind speed and wind direction in the near-real-time area near the ground.

[0011] In the above implementation process, obtain the low-altitude wind speed and wind direction profile data of the target area; then obtain the wind speed and wind direction observation data at different spatial positions near the ground in the target area and the synchronous UAV attitude data by carrying an airborne weather station on the UAV; due to the high-speed movement state of the multi-rotor UAV platform and the disturbance of the airflow by the structure, it is necessary to combine the UAV platform attitude information and the wind profile data provided by the ground ultrasonic anemometer radar to correct the data and obtain the true wind speed and wind direction data at the instantaneous position of the UAV flight. Therefore, first correct the observation data of the airborne automatic weather station according to the UAV attitude data to initially obtain the UAV wind speed and wind direction correction data; then comprehensively correct the UAV wind speed and wind direction correction data in combination with the low-altitude wind speed and wind direction profile data of the target area to obtain the UAV observation data; by virtue of the high-speed mobility of the UAV platform, obtain the observation data at different spatial positions near real-time and generate the near-real-time three-dimensional wind field results of the area. By integrating the UAV platform + airborne automatic weather station equipment and portable ultrasonic anemometer radar, and comprehensively analyzing the underlying surface topography and vegetation data, conduct sampling scheme planning and UAV platform flight path planning. Through the integrated operation of high-mobility wind measurement software and hardware, realize the monitoring, fusion and simulation of multi-source meteorological observation data, and can complete the efficient low-altitude wind field observation in harsh terrains and complex environments in the area in a mobile, flexible and fast manner, overcoming the deficiencies of the existing ground monitoring methods in terms of mobility, flexibility and spatial representativeness. Ground observation and UAV mobile observation complement each other, are economical and efficient, have clear physical processes, are simple to operate, and the implementation process is fast, flexible and mobile, suitable for various different regions and scenarios, and can quickly obtain the continuous three-dimensional wind field information of the regional space.

[0012] Based on the first aspect, in some embodiments of the present invention, the steps of performing spatial simulation of the wind field in the target area according to the low-altitude wind speed and direction profile data and observation data of the target area to generate three-dimensional spatial data of wind speed and direction in the near-surface near-real-time area are as follows:

[0013] Perform grid processing on the low-altitude wind speed and direction profile data and observation data of the target area respectively to generate point-like instantaneous wind field observation data;

[0014] Based on the boundary layer logarithmic profile equation to describe the near-surface wind field characteristics and combined with the fluid mass and momentum conservation equations, perform spatial simulation of the wind field in the target area according to the UAV dense point-like instantaneous wind field observation data to generate three-dimensional spatial data of wind speed and direction in the near-surface near-real-time area.

[0015] Based on the first aspect, in some embodiments of the present invention, the steps of performing spatial simulation of the wind field in the target area according to the low-altitude wind speed and direction profile data and observation data of the target area to generate three-dimensional spatial data of wind speed and direction in the near-surface near-real-time area are as follows:

[0016] Screen the low-altitude wind speed and direction profile data and observation data of the target area to obtain the low-altitude wind speed and direction profile data and dense observation data within time T;

[0017] Respectively average the low-altitude wind speed and direction profile data within time T and the dense observation data at different spatial positions to obtain the low-altitude average wind speed and direction profile data and the average observation data at different positions;

[0018] Perform spatial simulation according to the low-altitude average wind speed and direction profile data and the average observation data to generate three-dimensional spatial data of wind speed and direction in the near-surface near-real-time area.

[0019] Based on the first aspect, in some embodiments of the present invention, the steps of obtaining the near-surface layer wind speed and direction observation data and UAV attitude data of the target area by using a UAV equipped with an airborne weather station include the following steps:

[0020] Obtain the terrain information of the target area and the vegetation information of the target area;

[0021] Determine the flight path according to the terrain information of the target area and the vegetation information of the target area;

[0022] The UAV equipped with an airborne weather station flies according to the flight path to obtain the near-surface wind speed and direction observation data at different heights in the target area and the synchronous UAV attitude data.

[0023] Based on the first aspect, in some embodiments of the present invention, the steps of determining the flight path according to the terrain information of the target area and the vegetation information of the target area include the following steps:

[0024] Judge whether the regional vegetation and terrain are uniform based on the terrain information and vegetation information of the target area. If so, use the three-dimensional surrounding flight mode to determine the flight path; if not, use the skip flight mode to determine the flight path.

[0025] Based on the first aspect, in some embodiments of the present invention, the following steps are further included:

[0026] Judge whether the target area is an airspace control area. If so, obtain and use the vertical up and down flight mode according to the flyable peripheral area to determine the flight path; if not, determine the flight path according to the terrain information and vegetation information of the target area.

[0027] In a second aspect, an embodiment of the present application provides a wind field monitoring system, including:

[0028] A low-altitude wind speed and direction data acquisition module for acquiring the low-altitude wind speed and direction profile data of the target area;

[0029] An unmanned aerial vehicle (UAV) wind field data acquisition module for acquiring the near-surface layer wind speed and direction observation data and UAV attitude data of the target area through a UAV-mounted onboard weather station;

[0030] A first data correction module for correcting the wind speed and direction observation data obtained by the UAV onboard weather station in the target area according to the UAV attitude data to obtain the UAV instantaneous wind speed and direction data;

[0031] A second data correction module for further correcting the wind speed and direction data obtained by the UAV based on the low-altitude wind speed and direction profile data of the target area to obtain the observation data;

[0032] A space simulation module for simulating the wind field in the three-dimensional space of the target area according to the low-altitude wind speed and direction profile data and dense observation data of the target area to generate near-real-time three-dimensional wind field data.

[0033] In the above implementation process, the low-altitude wind speed and direction data acquisition module acquires the low-altitude wind speed and direction profile data of the target area; the UAV wind field data acquisition module acquires the near-surface wind speed and direction observation data and UAV attitude data of the target area through the UAV carrying an onboard meteorological station; due to the influence of the high-speed moving state of the multi-rotor UAV platform on the meteorological observation data, it is necessary to combine the UAV platform attitude information and the wind profile data provided by the ground ultrasonic anemometer radar to correct the UAV observation data, and the true wind speed and direction data of the UAV instantaneous position can be obtained. The first data correction module corrects the initial wind speed and direction observation data obtained by the UAV onboard meteorological station according to the UAV attitude data to obtain the UAV instantaneous wind speed and direction correction data; the second data correction module corrects the UAV wind speed and direction correction data again based on the low-altitude wind speed and direction profile data of the target area to obtain the observation data; the space simulation module performs a spatial simulation of the wind field in the target area according to the low-altitude wind speed and direction profile data and the observation data of the target area, generates regional three-dimensional wind field simulation data, and with the help of the high-speed mobility of the UAV platform, obtains observation data at different spatial positions near real-time, and generates a near real-time three-dimensional wind field result for the region. By integrating the UAV platform + onboard automatic meteorological station equipment and a portable ultrasonic anemometer radar, and comprehensively analyzing the underlying surface topography and vegetation data, sampling scheme planning and UAV platform flight path planning are carried out. Through the integrated operation of high-mobility wind measurement software and hardware, the monitoring, fusion and simulation of multi-source meteorological observation data can be realized, and the efficient low-altitude wind field observation of harsh terrains and complex environments can be completed flexibly, quickly and maneuverably in the region, overcoming the deficiencies of the existing ground monitoring methods in terms of mobility, flexibility and spatial representativeness. Ground observation and UAV mobile observation complement each other, are economical and efficient, have clear physical processes, are easy to operate, and the implementation process is fast, flexible and maneuverable. They are applicable to various different regions and scenarios and can quickly obtain continuous three-dimensional wind field information in the regional space. Based on the second aspect, in some embodiments of the present invention, the space simulation module includes:

[0034] A grid processing unit, configured to perform grid processing on the low-altitude wind speed and direction profile data and the observation data of the target area respectively, and generate point-like instantaneous wind field observation data;

[0035] A regional wind field simulation unit, based on the boundary layer logarithmic profile equation to describe the near-surface wind field characteristics and combined with the fluid mass and momentum conservation equations, performs a spatial simulation of the wind field in the target area according to the point-like instantaneous wind field observation data, and generates three-dimensional spatial data of the wind speed and direction in the near-surface near real-time region.

[0036] In a third aspect, an embodiment of the present application provides an electronic device, which includes a memory for storing one or more programs; a processor. When the one or more programs are executed by the processor, the method according to any one of the first aspects above is implemented.

[0037] Fourthly, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method according to any one of the above first aspects is implemented.

[0038] The embodiments of the present invention have at least the following advantages or beneficial effects:

[0039] The embodiments of the present invention provide a wind field monitoring method and system. By obtaining the low-altitude wind speed and wind direction profile data of a target area; then obtaining the wind speed and wind direction observation data and synchronous unmanned aerial vehicle (UAV) attitude data at different spatial positions near the ground in the target area through an airborne weather station carried by the UAV; due to the high-speed movement state and the disturbance of the airflow by the structure of the multi-rotor UAV platform, it is necessary to combine the UAV platform attitude information and the wind profile data provided by the ground ultrasonic anemometer radar for data correction to obtain the true wind speed and wind direction data at the instantaneous position of the UAV flight. Therefore, it is necessary to correct the observation data of the airborne automatic weather station according to the UAV attitude data to initially obtain the UAV wind speed and wind direction correction data; then comprehensively correct the UAV wind speed and wind direction correction data in combination with the low-altitude wind speed and wind direction profile data of the target area to obtain the UAV observation data; by giving full play to the high-speed mobility of the UAV platform, dense observation data at different spatial positions can be obtained near real-time, and then the spatial simulation of the wind field in the target area is carried out in combination with the low-altitude wind speed and wind direction profile data of the target area. By integrating the UAV platform + airborne automatic weather station equipment and portable ultrasonic anemometer radar, and comprehensively analyzing the underlying surface topography and vegetation data, the sampling plan and the UAV platform flight path are planned. Through the integrated operation of high-mobility wind measurement software and hardware, the monitoring, fusion and simulation of multi-source meteorological observation data can be realized, and the efficient low-altitude wind field observation of harsh terrain and complex environment can be completed flexibly, quickly and efficiently in the region, overcoming the deficiencies of the existing ground monitoring methods in terms of mobility, flexibility and spatial representativeness. The ground observation and the UAV mobile observation complement each other, are economical and efficient, have clear physical processes, are simple to operate, and the implementation process is fast, flexible and mobile, are applicable to various different regions and scenarios, and can quickly obtain the continuous three-dimensional wind field information of the regional space. Description of the Drawings

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0041] Figure 1 It is a flowchart of a wind field monitoring method provided by an embodiment of the present invention;

[0042] Figure 2Flow chart of the device system and method provided by the embodiments of the present invention;

[0043] Figure 3 Schematic diagram of the leapfrog flight path provided by the embodiments of the present invention;

[0044] Figure 4 Schematic diagram of the three-dimensional surround flight path provided by the embodiments of the present invention;

[0045] Figure 5 Block diagram of the structure of a wind field monitoring system provided by the embodiments of the present invention;

[0046] Figure 6 Block diagram of the structure of an electronic device provided by the embodiments of the present invention.

[0047] Icons: 110 - Low-altitude wind speed and direction data acquisition module; 120 - UAV wind field data acquisition module; 130 - First data correction module; 140 - Second data correction module; 150 - Space simulation module; 101 - Memory; 102 - Processor; 103 - Communication interface. Detailed implementation manners

[0048] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are some, but not all, of the embodiments of the present application. The components of the embodiments of the present application usually described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0049] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application claimed, but merely represents the selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the scope of protection of the present application.

[0050] Embodiment

[0051] The following will describe in detail some embodiments of the present application with reference to the accompanying drawings. Without conflict, the following various embodiments and the features in the embodiments can be combined with each other.

[0052] Please refer to Figure 1-2 , Figure 1 which is a flow chart of a wind field monitoring method provided by the embodiments of the present invention, Figure 2 and is a flow chart of the device system and method provided by the embodiments of the present invention. The wind field monitoring method includes the following steps:

[0053] Step S110: Obtain the low-altitude wind speed and wind direction profile data of the target area; the above-mentioned obtaining can be through a portable ultrasonic wind measurement radar as a ground observation, placed as close as possible to the target area. Regardless of the distance and whether it is within the range, turn it on as soon as possible and work as a mobile ground observation to obtain the low-altitude wind speed and wind direction profile data.

[0054] Step S120: Use an unmanned aerial vehicle (UAV) to carry an airborne weather station to obtain the instantaneous wind speed and wind direction observation data and UAV attitude data at different heights and positions near the ground in the target area; the above-mentioned near-ground wind speed and wind direction observation data include meteorological data such as wind speed and wind direction obtained by the airborne weather station. The above-mentioned UAV can be a multi-rotor UAV. The multi-rotor UAV platform will provide power and UAV attitude information, carry an airborne weather station, and transmit the wind speed and wind direction and other meteorological data and UAV attitude data obtained by the airborne weather station to the ground data processing module in real time through the data transmission system of the UAV platform via the data transmission radio of the UAV.

[0055] Among them, the above-mentioned data acquisition can be obtained by the UAV flying according to the flight path to collect data, specifically including the following steps:

[0056] First, obtain the terrain information of the target area and the vegetation information of the target area; the above-mentioned vegetation information of the target area includes vegetation coverage, vegetation type, and vegetation height data. The above-mentioned obtaining can be to obtain the terrain, vegetation coverage, vegetation type, and vegetation height data of the target area in advance, or it can be that the current multi-rotor UAV platform carries loads such as visible light / near-infrared and lidar to obtain information such as vegetation coverage, vegetation type, and vegetation height data of the area.

[0057] Then, determine the flight path according to the terrain information of the target area and the vegetation information of the target area;

[0058] The above-mentioned determination of the flight path can be to judge whether the vegetation and terrain in the area are uniform according to the terrain information of the target area and the vegetation information of the target area. If so, use a three-dimensional surrounding flight mode to determine the flight path; if not, use a skip flight mode to determine the flight path.

[0059] Please refer to Figure 3 , Figure 3 which is the schematic diagram of the skip flight path provided by the embodiment of the present invention. Among them, the process of determining the flight path using the skip flight mode includes the following steps:

[0060] I. Obtain the coordinates of the target point or the center point of the target area; for example, the location of the forest fire site.

[0061] II. Obtain the area including the observation position of the portable wind measurement radar and the target area range;

[0062] III. Based on obtaining the regional terrain, vegetation cover type, and vegetation type, through the spatial overlay of three raster data of terrain height, vegetation cover type, and vegetation, the entire region is divided into patches with different attribute combinations, and different regions are classified. Then, spatial overlay is performed based on the vector format. Among them, the terrain data is divided into three layers: height, slope, and aspect. The three layers of terrain data can be divided into different categories according to the principles of 25m, 20 degrees, and 30 degrees.

[0063] IV. Select representative typical patches from all patches according to the selection of as uniform a spatial distribution as possible, and plan a planar flight path that can connect all typical patches.

[0064] V. Fly from the ground and vertically rise to a height of 150 - 200 meters above the ground. Using the centroid of the next typical patch as the target point, follow an arc-shaped trajectory and gradually lower the height until reaching the target point 10 meters above the ground. Then quickly rise vertically to a height of 150 - 200 meters above the ground.

[0065] VI. Repeat the trajectories of the above two path points to gradually connect all typical patches in an approximate "leapfrog" form to obtain wind speed and wind direction observation data at different heights in the near-surface layer of the region. The above steps I, II, and V are completed by the flight of the unmanned aerial vehicle, and IV - VI are completed in the route planning of the unmanned aerial vehicle platform.

[0066] Please refer to Figure 4 , Figure 4 which is the schematic diagram of the three-dimensional surrounding flight path provided by the embodiment of the present invention. Among them, if the regional vegetation and terrain are relatively uniform, a three-dimensional surrounding flight mode is used to determine the flight path, including using a three-dimensional surrounding flight mode centered on the target area or the demarcation point, flying around the center point from the edge, gradually approaching the center point, and the flight height also gradually increasing. The lowest flight height is 10m above the ground, and the highest elevation is 50 meters from the point of interest. If it is a target point such as a fire point or a fire line, the highest height can be 150 meters above the fire point.

[0067] The above determination of the flight path can also be to judge whether the target area is an airspace control area. If so, obtain and determine the flight path according to the flyable peripheral area using the vertical up and down flight mode; if not, determine the flight path according to the terrain information and vegetation information of the target area. When encountering airspace control and the unmanned aerial vehicle platform cannot fly according to the planned flight track in the area, it should obtain the flyable periphery and perform fixed-point profile observations according to the vertical up and down path at a frequency of 5 minutes. During the observation interval, the unmanned aerial vehicle platform should stay at a height of 25m - 50m above the ground for fixed-point and fixed-height monitoring.

[0068] Finally, the drone carrying the airborne weather station flies along the flight path to obtain the wind speed and direction observation data and the drone attitude data at different heights and position points near the ground in the target area. Flying along the flight path can meet the requirement of obtaining the wind speed and direction observation data and the drone attitude data in different scenarios.

[0069] Step S130: Correct the wind speed and direction observation data originally obtained by the airborne automatic weather station according to the drone attitude data to obtain the wind speed and direction correction data of the near-surface layer; the above data correction refers to addressing the deficiencies in the original observation data caused by multi-rotor drones. Wind tunnel and simulation experiments can be used to study the interference of the rotor wind field on the observation data, and a look-up table can be established to build a correction model, thereby using the correction model to correct the wind speed and direction observation data of the near-surface layer.

[0070] Step S140: Correct the drone wind speed and direction correction data based on the low-altitude wind speed and direction profile data of the target area to obtain the drone observation data; the above data correction is because although the wind speed and direction of the airborne weather station have corrected the drone airflow and attitude information through the model, there may still be certain deviations. Taking the wind profile data of the low-altitude wind measurement radar as the benchmark, the wind speed and direction data obtained by the drone are systematically corrected again. Different altitude segmented linear fitting methods can be used to correct the drone wind speed and direction data again as the drone observation data.

[0071] Step S150: Conduct a spatial simulation of the wind field in the target area based on the low-altitude wind speed and direction profile data and the dense drone observation data of the target area to generate three-dimensional spatial data of the wind speed and direction in the near-real-time area near the ground. The above spatial simulation includes the following steps:

[0072] First, perform grid processing on the low-altitude wind speed and direction profile data and the observation data of the target area respectively to generate point-like instantaneous wind field observation data; through grid processing, it is processed into point-like instantaneous wind field observation data at different heights.

[0073] Then, based on the boundary layer logarithmic profile equation to describe the near-surface wind field characteristics and combined with the fluid mass and momentum conservation equations, conduct a spatial simulation of the wind field in the target area according to the point-like instantaneous wind field observation data to generate the spatial distribution of the wind speed and direction, so as to obtain the three-dimensional spatial data of the wind speed and direction in the near-real-time area near the ground. By simulating the regional wind field, the visualization of the three-dimensional wind field monitoring in the near-surface layer area is realized.

[0074] During the continuous flight of the UAV, the above steps are continuously repeated, and the results of the near-surface layer in the observed and simulated areas are updated in real time. The observation data used by the data processing module in the regional simulation must be within a certain time, such as 5 minutes, and then the averaged profile data within 5 minutes and the averaged observation data at the same spatial position within 5 minutes are used for spatial simulation. Taking 5 minutes as the time window, the observation results of the UAV weather station and the averaged wind field data observed by the ultrasonic anemometer radar within the nearest 5 minutes are used for regional wind field simulation. A three-dimensional spatial distribution map of the wind field is generated at a frequency of 5 minutes, and the dynamic results of the spatial wind field are generated in chronological order.

[0075] Specifically, it can be completed through the following steps:

[0076] First, screen the low-altitude wind speed and direction profile data and observation data of the target area to obtain the low-altitude wind speed and direction profile data and dense observation data within T time;

[0077] Then, calculate the average value of the low-altitude wind speed and direction profile data within T time respectively, and calculate the spatial average value of the dense UAV observations according to the 10m spatial grid for the dense observation data, to obtain the low-altitude average wind speed and direction profile data and the averaged observation data after UAV sampling;

[0078] Finally, perform spatial simulation based on the low-altitude wind speed and direction profile data and observation data to generate three-dimensional spatial data of the wind speed and direction in the near-real-time area near the ground.

[0079] During the implementation process, the portable wind radar should be deployed first and operate continuously as much as possible. Especially when the UAV platform pauses the observation process due to battery replacement, the continuous observation of the low-altitude ultrasonic anemometer radar should be ensured first.

[0080] In the above implementation process, the low-altitude wind speed and direction profile data of the target area are obtained; then, the wind speed and direction observation data and the synchronous UAV attitude data at different spatial positions near the ground of the target area are obtained by the UAV carrying an onboard weather station; due to the disturbance of the airflow caused by the high-speed movement state and structure of the multi-rotor UAV platform, it is necessary to combine the UAV platform attitude information and the wind profile data provided by the ground ultrasonic anemometer radar for data correction to obtain the real wind speed and direction data at the instantaneous position of the UAV flight. Therefore, it is necessary to correct the observation data of the onboard automatic weather station according to the UAV attitude data to initially obtain the UAV wind speed and direction correction data; then, the UAV wind speed and direction correction data are comprehensively corrected by combining the low-altitude wind speed and direction profile data of the target area to obtain the UAV observation data; by giving full play to the high-speed mobility of the UAV platform, dense observation data at different spatial positions are obtained near real-time, and then the spatial simulation of the wind field in the target area is carried out by combining the low-altitude wind speed and direction profile data of the target area. By integrating the UAV platform + onboard automatic weather station equipment and the portable ultrasonic anemometer radar, and comprehensively analyzing the underlying surface topography and vegetation data, the sampling scheme planning and the UAV platform flight path planning are carried out. Through the integrated operation of the high-mobility wind measurement software and hardware, the monitoring, fusion and simulation of multi-source meteorological observation data can be realized, and the efficient low-altitude wind field observation of bad terrain and complex environment can be completed flexibly, quickly and maneuverably within the region, overcoming the deficiencies of the existing ground monitoring methods in terms of mobility, flexibility and spatial representativeness. The ground observation and the UAV mobile observation complement each other, are economical and efficient, have clear physical processes, are easy to operate, and the implementation process is fast, flexible and maneuverable. They are applicable to various different regions and scenarios and can quickly obtain the continuous three-dimensional wind field information of the regional space.

[0081] Based on the same inventive concept, the present invention also proposes a wind field monitoring system. Please refer to Figure 5 , Figure 5 which is a structural block diagram of a wind field monitoring system provided by an embodiment of the present invention. The wind field monitoring system includes:

[0082] A low-altitude wind speed and direction data acquisition module 110, configured to acquire low-altitude wind speed and direction profile data of a target area;

[0083] A UAV wind field data acquisition module 120, configured to acquire wind speed and direction observation data and UAV attitude data at different heights and spatial positions near the ground of the target area by the UAV carrying an onboard weather station;

[0084] A first data correction module 130, configured to correct the original wind speed and direction observation data of the onboard automatic weather station in the target area according to the UAV attitude data to obtain UAV wind speed and direction correction data;

[0085] The second data correction module 140 is configured to perform data correction on the UAV-borne wind speed and direction correction data again based on the low-altitude wind speed and direction profile data of the target area to obtain UAV observation data;

[0086] The spatial simulation module 150 is configured to perform spatial simulation of the wind field in the target area according to the low-altitude wind speed and direction profile data and the observation data of the target area, and generate three-dimensional spatial data of the wind speed and direction in the area near the ground height in near real time.

[0087] In the above implementation process, the low-altitude wind speed and direction data acquisition module 110 acquires the low-altitude wind speed and direction profile data of the target area; the UAV wind field data acquisition module 120 acquires the near-surface layer wind speed and direction observation data and the UAV attitude data of the target area through the UAV-borne meteorological station; the first data correction module 130 corrects the wind speed and direction observation data obtained by the UAV-borne meteorological station in the target area according to the UAV attitude data to obtain the UAV instantaneous spatial wind speed and direction correction data; the second data correction module 140 performs data correction on the UAV wind speed and direction correction data again based on the low-altitude wind speed and direction profile data of the target area to obtain the UAV wind field observation data. The spatial simulation module 150 performs spatial simulation of the wind field in the target area according to the low-altitude wind speed and direction profile data and the UAV observation data to generate wind speed and direction monitoring data. Through the high-speed mobility of the UAV platform, dense observation data at different spatial positions are generated, and then near-real-time three-dimensional wind field results of the area are generated through the model. By combining the UAV platform + the airborne automatic meteorological station equipment and the portable ultrasonic wind profiler radar, and comprehensively analyzing the underlying surface topography and vegetation data, the sampling scheme planning and the UAV platform flight path planning are carried out, and the high-mobility wind measurement software and hardware integration operation is carried out to realize the monitoring, fusion and simulation of multi-source meteorological observation data, and the efficient low-altitude wind field observation of harsh terrain and complex environment can be completed flexibly and quickly in the area, overcoming the deficiencies of the existing ground monitoring methods in terms of mobility, flexibility and spatial representativeness. The ground observation and the UAV mobile observation complement each other, with low economic cost, suitable for various different regions and scenarios, clear physical processes, simple operation, fast, flexible and mobile implementation process, and can quickly obtain the continuous three-dimensional wind field information in the regional space, which is economical and efficient.

[0088] Among them, the spatial simulation module 150 includes:

[0089] The grid processing unit is configured to perform grid processing on the low-altitude wind speed and direction profile data and the observation data of the target area respectively to generate point-like instantaneous wind field observation data;

[0090] The regional wind field simulation unit describes the characteristics of the near-surface wind field based on the boundary layer logarithmic profile equation and combines the fluid mass and momentum conservation equations. According to the dense punctual instantaneous wind field observation data of unmanned aerial vehicles, it conducts spatial simulation of the wind field in the target area to generate three-dimensional spatial data of the wind speed and direction in the near-real-time near-surface area.

[0091] Please refer to Figure 5 , Figure 5 which is a schematic structural block diagram of an electronic device provided by an embodiment of the present application. The electronic device includes a memory 101, a processor 102, and a communication interface 103. The memory 101, the processor 102, and the communication interface 103 are directly or indirectly electrically connected to each other to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines. The memory 101 can be used to store software programs and modules, such as the program instructions / modules corresponding to a wind field monitoring system provided by an embodiment of the present application. The processor 102 executes various functional applications and data processing by executing the software programs and modules stored in the memory 101. The communication interface 103 can be used for signaling or data communication with other node devices.

[0092] Among them, the memory 101 can be, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc.

[0093] The processor 102 can be an integrated circuit chip with signal processing capabilities. The processor 102 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0094] It can be understood that Figure 5 the structure shown is only illustrative, and the electronic device may also include more or fewer components than those shown in Figure 5 it, or have a configuration different from that shown in Figure 5 it. Figure 5 Each component shown in it can be implemented by hardware, software, or a combination thereof.

[0095] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are only illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions, and operations of devices, methods, and computer program products according to multiple embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0096] In addition, in each embodiment of the present application, the functional modules can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part.

[0097] If the above functions are implemented in the form of software function modules and sold or used as an independent product, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0098] The above are only the preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various modifications and changes can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

[0099] For those skilled in the art, it is obvious that the present application is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic characteristics of the present application. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present application is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application. Any reference signs in the claims should not be regarded as limiting the claims involved.

Claims

1. A wind field monitoring method, characterized in that, it includes the following steps: Obtain the low-altitude wind speed and wind direction profile data of the target area; Obtain the instantaneous wind speed and wind direction observation data and the UAV attitude data at different heights and positions near the ground of the target area through a UAV carrying an airborne weather station; Combine the UAV attitude data to correct the wind speed and wind direction observation data of the airborne weather station to obtain the UAV wind speed and wind direction correction data; Based on the low-altitude wind speed and wind direction profile data of the target area, correct the UAV wind speed and wind direction correction data to obtain the corrected observation data; According to the low-altitude wind speed and wind direction profile data of the target area and the corrected observation data, perform a spatial simulation of the wind field in the target area to generate three-dimensional spatial data of the wind speed and wind direction in the near-real-time area near the ground; The step of performing a spatial simulation of the wind field in the target area according to the low-altitude wind speed and wind direction profile data of the target area and the observation data to generate three-dimensional spatial data of the wind speed and wind direction in the near-real-time area near the ground includes the following steps: Perform grid processing on the low-altitude wind speed and wind direction profile data of the target area and the corrected observation data respectively to generate point-like instantaneous wind field observation data; Based on the boundary layer logarithmic profile equation to describe the near-surface wind field characteristics and combined with the fluid mass and momentum conservation equations, perform a spatial simulation of the wind field in the target area according to the point-like instantaneous wind field observation data to generate three-dimensional spatial data of the wind speed and wind direction in the near-real-time area near the ground; It also includes: Screen the low-altitude wind speed and wind direction profile data of the target area and the corrected observation data to obtain the low-altitude wind speed and wind direction profile data and dense observation data within T time; Respectively calculate the time average of multiple observations at different spatial positions for the low-altitude wind speed and wind direction profile data and the dense observation data within T time to obtain the low-altitude average wind speed and wind direction profile data and the average observation data; Perform a spatial simulation according to the low-altitude average wind speed and wind direction profile data and the average observation data to generate three-dimensional spatial data of the wind speed and wind direction in the near-real-time area near the ground.

2. The wind field monitoring method according to claim 1, characterized in that, the step of obtaining the instantaneous wind speed and wind direction observation data and the UAV attitude data at different heights and positions near the ground of the target area through a UAV carrying an airborne weather station includes the following steps: Obtain the terrain information of the target area and the vegetation information of the target area; Determine the flight path according to the terrain information of the target area and the vegetation information of the target area; The UAV carrying the airborne weather station flies according to the flight path to obtain the wind speed and wind direction observation data at different heights near the ground of the target area and the synchronous UAV attitude data.

3. The wind field monitoring method according to claim 2, characterized in that, the step of determining the flight path according to the terrain information of the target area and the vegetation information of the target area includes the following steps: Judge whether the regional vegetation and terrain are uniform according to the terrain information of the target area and the vegetation information of the target area. If so, use the three-dimensional surrounding flight mode to determine the flight path; if not, use the skip flight mode to determine the flight path.

4. The wind field monitoring method according to claim 2, characterized in that, it also includes the following steps: Determine whether the target area is an airspace control area. If so, obtain and determine the flight path using a vertical up and down flight mode based on the flyable peripheral area. If not, determine the flight path based on the terrain information and vegetation information of the target area.

5. A wind field monitoring system characterized in that it includes: A low-altitude wind speed and direction data acquisition module for acquiring low-altitude wind speed and direction profile data of the target area; A drone wind field data acquisition module for acquiring instantaneous wind speed and direction observation data and drone attitude data at different heights and positions near the ground in the target area by mounting an onboard weather station on the drone; A first data correction module for correcting the wind speed and direction observation data of the onboard weather station in combination with the drone attitude data to obtain corrected drone wind speed and direction data; A second data correction module for correcting the corrected drone wind speed and direction data based on the low-altitude wind speed and direction profile data of the target area to obtain corrected observation data; A spatial simulation module for performing spatial simulation of the wind field in the target area according to the low-altitude wind speed and direction profile data and the observation data of the target area, generating three-dimensional spatial data of wind speed and direction in the near-real-time area near the ground, including: performing grid processing on the low-altitude wind speed and direction profile data and the corrected observation data of the target area respectively to generate point-like instantaneous wind field observation data; describing the near-surface wind field characteristics based on the boundary layer logarithmic profile equation and combining the fluid mass and momentum conservation equations, and performing spatial simulation of the wind field in the target area according to the point-like instantaneous wind field observation data to generate three-dimensional spatial data of wind speed and direction in the near-real-time area near the ground; further including: screening the low-altitude wind speed and direction profile data and the corrected observation data of the target area to obtain the low-altitude wind speed and direction profile data and dense observation data within T time; respectively obtaining the time average of multiple observations at different spatial positions of the low-altitude wind speed and direction profile data and the dense observation data within T time to obtain low-altitude average wind speed and direction profile data and average observation data; performing spatial simulation according to the low-altitude average wind speed and direction profile data and the average observation data to generate three-dimensional spatial data of wind speed and direction in the near-real-time area near the ground.

6. The wind field monitoring system according to claim 5, characterized in that the spatial simulation module includes: A grid processing unit for performing grid processing on the low-altitude wind speed and direction profile data and the observation data of the target area respectively to generate point-like instantaneous wind field observation data; A regional wind field simulation unit for describing the near-surface wind field characteristics based on the boundary layer logarithmic profile equation and combining the fluid mass and momentum conservation equations, and performing spatial simulation of the wind field in the target area according to the point-like instantaneous wind field observation data to generate three-dimensional spatial data of wind speed and direction in the near-real-time area near the ground.

7. An electronic device characterized in that it includes: A memory for storing one or more programs; A processor; When the one or more programs are executed by the processor, the method described in any one of claims 1-4 is implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that When the computer program is executed by a processor, it implements the method according to any one of claims 1 to 4.

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