A servo type embedded atmospheric data detection device and system

Abstract

The application discloses a kind of follow-up embedded atmospheric data detection device and system, including distributed pressure acquisition module, angle of attack controller, yaw angle controller and data acquisition control module.Distributed pressure acquisition module is the spherical shell of built-in air guide pipe, shell is equipped with several pressure acquisition holes, is connected to data acquisition control system through built-in air guide pipe to complete the measurement of air pressure.Yaw angle controller includes motor, encoder and inner frame structure, distributed pressure acquisition module is connected with yaw angle controller, yaw angle is controlled by motor and its position is fed back by encoder.Angle of attack controller includes motor, encoder and pedestal, the inner frame of yaw angle controller is connected with angle of attack controller, the angle of attack of pressure acquisition module is controlled by motor and accurately fed back by encoder.The application has the ability of real-time tracking airflow direction, improves total, static pressure measurement accuracy, large angle of attack measurement accuracy, reduces aerodynamic response time, and simplifies the calibration difficulty of atmospheric data system.

Description

Technical Field

[0001] This invention relates to the field of atmospheric data systems, and in particular to a servo-type embedded atmospheric data detection device and system. Background Technology

[0002] For aircraft, the atmospheric data system measures parameters such as total atmospheric pressure, static pressure, total temperature, and angle of attack during flight, and outputs important atmospheric motion parameters that affect flight safety and performance, such as vacuum speed, angle of attack (also known as angle of attack), sideslip angle, barometric altitude, indicated airspeed, and Mach number. It is an important information source for flight control systems and airborne navigation systems.

[0003] Obtaining accurate flight parameters such as angle of attack, sideslip angle, and dynamic pressure is crucial for the stable control of an aircraft. Traditional extended pitot tubes and angle of attack / sideslip angle sensing systems have some inherent problems, such as measurement failure at low speeds and high maneuvers; significant aerodynamic delay; and slow response.

[0004] Traditional multi-hole probes have limited flow angle measurement range. Three-hole probes are often used for stable two-dimensional flow field measurements, with a typical measurement range of ±18°. Five-hole probes are used for three-dimensional flow field measurements, and theoretically, the measurement range can reach ±40°. However, to ensure the accuracy of the measurement values, the pneumatic probe is usually calibrated to a five-hole probe angle range of ±30°. In high subsonic measurement environments, the measurement range of seven-hole probes can reach 65°. In low subsonic measurement environments, the measurement range can reach 75°, but its calibration is complex and its practical use is limited. Summary of the Invention

[0005] To address the aforementioned issues, this invention provides a servo-type embedded atmospheric data detection device and system capable of outputting accurate angle of attack and yaw angle. Simultaneously, the servo-type distributed pressure sampling module has the ability to follow the airflow direction at any time, ensuring a short atmospheric data measurement response time and improving the measurement accuracy and real-time performance of the entire atmospheric data system.

[0006] The technical solution adopted in this invention is as follows:

[0007] A follow-up embedded atmospheric data detection device includes a base 1, characterized in that the base 1 is provided with an angle-of-attack controller 3, a yaw angle controller 4 and a distributed pressure sampling module 5; wherein, the distributed pressure sampling module 5 is a spherical shell, which is fitted inside the frame of the yaw angle controller 4, and is placed together with the yaw angle controller 4 inside the base 1 and connected to the two arms of the base; the angle-of-attack controller 3 is also connected to the two arms of the base.

[0008] Preferably, the angle of attack controller 3 includes an angle of attack control motor 31 and an angle of attack feedback encoder 32 arranged coaxially, which are respectively installed on the two arms of the base 1. The extended shaft is provided with a step and a spline; the step and spline cooperate with the yaw angle controller 4 to limit the circumferential and axial connection of the yaw angle controller 4 installed therein.

[0009] Preferably, the yaw angle controller 4 includes a yaw angle frame 43, a yaw angle control motor 41, and a yaw angle feedback encoder 42. The yaw angle control motor 41 and the yaw angle feedback encoder 42 are respectively bolted to the upper and lower arms of the hollow hemispherical yaw angle frame 43. The extended shaft is provided with a step and a spline to provide axial and circumferential positioning constraints for the distributed pressure mining system 5 installed therein.

[0010] As a preferred embodiment, the distributed pressure sampling module 5 is a spherical shell with a built-in air guide pipe. The shell has several pressure sampling holes arranged in a regular pattern, and the air pressure is measured through the built-in air guide pipe.

[0011] Preferably, the yaw controller frame 43 and the two arms of the base 1 are connected by the splined shafts of the angle of attack control motor 31 and the angle of attack feedback encoder 32.

[0012] Preferably, a gap is left between the yaw controller frame 43 and the base 1 to maintain relative rotational freedom.

[0013] As a preferred embodiment, a gap is left between the distributed pressure sampling module 5 and the yaw controller frame 43 to maintain relative rotational freedom.

[0014] This invention also discloses a servo-type embedded atmospheric data system, which includes a base 1, a data control module 2, an angle-of-attack controller 3, a yaw angle controller 4, and a distributed pressure sampling module 5. The distributed pressure sampling module 5 is connected to the data acquisition and control module through a built-in air guide tube and then through an air guide hose to complete the acquisition of total pressure and static pressure. The angle-of-attack controller 3 and the yaw angle controller 4 are connected to the data acquisition module 2 by a power supply cable, a control cable, and a data acquisition cable, respectively. Through the drive control signal of the data acquisition module 2, the angle of attack and yaw angle are controlled and the angle is accurately measured.

[0015] As a preferred option, the surface of the distributed pressure sampling module 5 can be equipped with several pressure sampling ports as needed, and the data can be directly transmitted to the data acquisition and control module 2 through the built-in air guide pipe. Based on the model relationship between pressure distribution and atmospheric parameters, atmospheric characteristic parameters are calculated, and then other more flight parameters are calculated for use in flight control.

[0016] As a preferred embodiment, the distributed pressure sampling module 5, under the action of the angle of attack controller 3 and the yaw angle controller 4, moves according to the airflow direction and always remains within a certain flow angle orientation.

[0017] The beneficial effects of this invention are:

[0018] (1) The following embedded atmospheric data system disclosed in this invention controls the angle of the following distributed pressure sampling module by a motor, so that it actively follows the direction of airflow, thereby improving the accuracy of total pressure and static pressure measurement and increasing the measurement range of flow angle.

[0019] (2) The follow-up embedded atmospheric data system disclosed in this invention moves the measurement module to a region closer to the pressure port and uses an electrical signal instead of a pressure signal to ensure a shorter atmospheric data measurement response time and expand the speed range of atmospheric pressure data detection.

[0020] (3) The servo-type embedded atmospheric data system disclosed in this invention reduces the difficulty of calibration. First, during calibration, it is only necessary to ensure that the atmospheric data system is installed horizontally, and the data calibration of the flow angle can be completed by deflecting the motor at different angles; second, it is only necessary to complete the data calibration of a small angle range, and the measurement of a large flow angle can be transformed into the measurement of a small flow angle by deflecting the angle. Attached Figure Description

[0021] Figure 1 This is an overall schematic diagram of one embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of the structure of one embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of the base and angle of attack controller structure according to an embodiment of the present invention;

[0024] Figure 4 This is a schematic diagram of a yaw angle controller according to an embodiment of the present invention;

[0025] Figure 5 This is a schematic diagram of a distributed pressure sampling module according to an embodiment of the present invention;

[0026] Figure 6 This is a schematic diagram of a data acquisition module according to an embodiment of the present invention;

[0027] Figure 7 This is a schematic diagram illustrating the application of aircraft redundancy according to an embodiment of the present invention;

[0028] Figure 8 This is a schematic diagram of the pressure measurement hole distribution of a follow-up probe model according to an embodiment of the present invention.

[0029] In the diagram: 1. Base, 2. Data control module, 3. Angle of attack controller, 4. Yaw angle controller, 5. Distributed pressure sampling module, 31. Angle of attack control motor, 32. Angle of attack feedback encoder, 41. Yaw angle control motor, 42. Yaw angle feedback encoder, 43. Yaw angle frame, 51. Air duct. Detailed Implementation

[0030] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0031] Example 1

[0032] This invention provides a servo-driven embedded atmospheric data system capable of outputting accurate angles of attack and yaw angles. Simultaneously, the servo-driven distributed pressure sampling module possesses the ability to continuously follow the airflow direction, improving the accuracy of total pressure and static pressure sensing. Furthermore, the close integration of the data acquisition and control module with the distributed pressure sampling module ensures a short atmospheric data measurement response time, thereby improving the measurement accuracy and real-time performance of the entire atmospheric data system. Figures 1-8 As shown.

[0033] like Figures 1 to 2 As shown, a servo-type embedded atmospheric data detection device is applied to aircraft (such as...). Figure 7 As shown), it mainly includes base 1 (as shown). Figure 3 As shown), angle of attack controller 3 (as shown) Figure 3 As shown), yaw angle controller 4 (as shown) Figure 4 As shown), distributed pressure sampling module 5 (such as...) Figure 5 As shown), data acquisition and control module 2 (as shown) Figure 6 (As shown).

[0034] In this embodiment, the base 1 has a U-shaped open slot, and the yaw angle controller 4 is correspondingly disposed within this U-shaped open slot. The yaw angle controller 4 is a hollow hemisphere, in which a spherical distributed pressure sampling module 5 is embedded. Angle of attack controllers 3 are disposed on the left and right arms of the base 1, i.e., on the two arms of the U-shaped open slot. The yaw angle controller 4 and the angle of attack controller 3 are connected by connectors to achieve axial and circumferential positioning constraints. The yaw angle controller 4 and the distributed pressure sampling module 5 are connected by connectors to achieve axial and circumferential positioning constraints.

[0035] The angle-of-attack controller 3 includes an angle-of-attack control motor 31 and an angle-of-attack feedback encoder 32. The angle-of-attack control motor 31 and the angle-of-attack feedback encoder 32 are coaxial and are respectively bolted to the left and right arms of the base 1. The extended shafts of the angle-of-attack control motor 31 and the angle-of-attack feedback encoder 32 have steps and splines, while the left and right arms of the yaw controller frame 43 have corresponding spline grooves at corresponding positions. The yaw controller frame 43 is circumferentially limited to the angle-of-attack control motor 31 and the angle-of-attack feedback encoder 32 through the splines, and axially limited through the steps on the shafts.

[0036] The angle of attack controller 3 is connected to the data acquisition and control module 2. Specifically, the cables of the angle of attack control motor 31 and the angle of attack feedback encoder 32 are arranged along the inner side of the left and right arms of the base 1, and transition through the hole at the bottom of the base to the mounting surface of the data acquisition and control module 2, and are connected to complete the transmission of drive and measurement signals.

[0037] The yaw angle controller 4 includes a yaw angle frame 43, a yaw angle control motor 41, and a yaw angle feedback encoder 42. The yaw controller frame 43 is connected to the left and right arms of the base 1 via the splined shafts of the angle-of-attack control motor 31 and the angle-of-attack feedback encoder 32. The yaw angle control motor 41 and the yaw angle feedback encoder 42 are coaxially mounted on the upper and lower arms of the yaw controller frame 43 via threaded connections. The motor shaft and encoder shaft are equipped with splines and steps, and their circumferential limiting is achieved through the splined holes at corresponding positions of the distributed pressure sampling module 5. Axial limiting along the yaw angle control motor 41 is achieved through limiting on the motor shaft and encoder shaft. The distributed pressure sampling module 5 and the yaw controller frame 43 are sized to maintain a certain gap and relative rotational freedom. The yaw controller frame 43 and the base 1 are sized to maintain a certain gap and relative rotational freedom. When the motor is energized, the relative angle relationship between the yaw controller frame 43 and the base 1 can be controlled.

[0038] The yaw angle controller 4 is connected to the data acquisition and control module 2. Specifically, the cables of the yaw angle control motor 41 and the encoder 42 are arranged along the inner sides of the upper and lower arms of the yaw angle controller frame 43 and pass through the holes along the bottom plate of the yaw angle controller frame 43 and the base 1 to the data acquisition and control module 2, and are connected to complete the transmission of drive and measurement signals. A certain length of cable needs to be reserved to ensure the normal operation of the yaw angle control motor 41 and the encoder 42 when the yaw angle controller frame 43 undergoes pitching motion under the drive of the angle of attack control motor.

[0039] The distributed pressure sampling module 5 can be equipped with several pressure sampling ports on its surface as needed. Data is transmitted directly to the data acquisition and control module 2 via an internal air guide pipe. Based on the model relationship between pressure distribution and atmospheric parameters, atmospheric characteristic parameters are calculated, and further flight parameters are calculated for flight control. Under the action of the angle-of-attack controller 3 and the yaw controller 4, the distributed pressure sampling module 5 moves according to the airflow direction, always maintaining a flow angle orientation with high measurement accuracy. The moving distributed pressure sampling module 5 has an angular rotation range of -75° to 75° along the yaw direction and -90° to 90° along the angle of attack direction.

[0040] The servo characteristics of the atmospheric data detection device are based on the angle of attack control motor 31 and the yaw angle control motor 41 to complete the angle adjustment of the distributed pressure sampling module 5. The angle of attack feedback encoder 32 and the yaw angle feedback encoder 42 are used to provide real-time high-precision feedback of the pressure distribution data collected by the distributed pressure sampling module for calculating the actual angle of attack and yaw angle.

[0041] The data acquisition and control module 2 is installed on the lower surface of the base, close to the pressure sampling port of the distributed pressure sampling module 5, effectively reducing aerodynamic delay time and ensuring a short atmospheric data measurement response time. Simultaneously, the air duct 51 of the distributed pressure sampling module 5 has a flexible hose in its rotating part with a reserved rotation length, ensuring that normal air pressure detection is not affected when the distributed pressure sampling module 5 is driven away from its initial position. The drive control and data transmission cables of the angle-of-attack and yaw angle controllers are also directly connected to the data acquisition and control module 2, while the aircraft's avionics system is connected through the interface of the data acquisition and control module 2 to complete power supply and data acquisition. The data acquisition and control module 2 mainly has three functions: pressure data acquisition via the air duct 51 connecting to the distributed pressure sampling module 5; output of drive and control signals for the angle-of-attack control motor 31 and the yaw angle control motor 41; and power supply and signal acquisition for the angle-of-attack feedback sensor 31 and the yaw angle feedback sensor 42.

[0042] Working process of the servo-type embedded atmospheric data detection device:

[0043] The data acquisition and control module 2, mounted on base 1, is installed in the designated position with the aircraft via threaded holes. The pre-reserved electrical interface on the module connects to the aircraft's avionics system, enabling power-on operation. For example... Figure 6The diagram shows the redundant installation and use of the aforementioned servo-type embedded atmospheric data system on an aircraft. After power-on and program self-test, the angle of the distributed pressure sampling system is zeroed using the encoder's zero position, simultaneously homing the pressure sensor, allowing atmospheric data measurement to begin. If the initial measurement reveals a large airflow angle, to improve the measurement accuracy of total pressure, static pressure, and related angles, the angle of the distributed pressure sampling system can be adjusted using an angle-of-attack motor or a yaw motor. Accurate feedback is provided through the encoder. The atmospheric data system is calibrated to a relatively precise ±5° range for measurement at the current angle, and the actual measured angle is calculated using the rotation angle feedback from the encoder.

[0044] Example 2

[0045] This invention also discloses a servo-type embedded atmospheric data system, including a base 1, a data control module 2, an angle-of-attack controller 3, a yaw angle controller 4, and a distributed pressure sampling module 5. The distributed pressure sampling module 5 is connected to the data acquisition and control module via a built-in air guide tube and then a flexible air guide tube to collect total pressure and static pressure. The angle-of-attack controller 3 and the yaw angle controller 4 are connected to the data acquisition module 2 via power cables, control cables, and data acquisition cables, respectively. Through the drive control signals from the data acquisition module 2, the angles of attack and yaw are controlled, and precise angle measurements are achieved.

[0046] Specifically, the distributed pressure sampling module 5 is a spherical shell with an internal air guide tube. The shell has several pressure sampling holes, which are connected to the data acquisition and control system via the internal air guide tube to measure air pressure. The yaw angle controller 4 includes a motor, encoder, and internal frame. The distributed pressure sampling module 5 is connected to the yaw angle controller 4, and the yaw angle is controlled by the motor, with the encoder providing feedback on its position. The angle of attack controller 3 includes a motor, encoder, and base. The inner frame of the yaw angle controller 4 is connected to the angle of attack controller 3, and the angle of attack of the pressure sampling module is controlled by the motor, with precise feedback from the encoder.

[0047] The distributed pressure sampling module 5 can have several pressure sampling ports on its surface, such as 7, 9, or even more. In this invention, 7 pressure sampling ports are set, and the pressure is directly transmitted to the pressure sensor on the data acquisition and control module 2 through the air guide pipe 51. Based on the model relationship between pressure distribution and atmospheric parameters, atmospheric characteristic parameters are calculated, and then other flight parameters are calculated for flight control. The model relationship between pressure distribution and atmospheric parameters needs to be calibrated in a wind tunnel using the dynamic embedded atmospheric data system to obtain the correlation coefficients at various flow angles, ultimately obtaining the required model relationship. The calibration of the atmospheric data system can be performed in stages, with precise calibration within ±5°, and coarse calibration when the airflow angle is large.

[0048] Example 3

[0049] The present invention uses a model relating pressure distribution to atmospheric parameters to calculate atmospheric characteristic parameters and other flight parameters as follows:

[0050] In this embodiment, the distribution of pressure measuring holes in the servo probe model is as follows: Figure 8 As shown in the figure, φ and λ are the circumferential angle and conical angle of the pressure measuring hole, respectively. The distribution data of the circumferential angle and conical angle of each pressure measuring hole are shown in Table 1 below.

[0051] Table 1. Circumferential angle and conical angle of each pressure testing hole

[0052] Pressure test hole 1 Pressure test hole 2 Pressure testing hole 3 Pressure testing hole 4 Pressure test hole 5 Pressure testing hole 6 Pressure testing hole 7 Inscribed angle φ 0 0 60 120 180 240 300 Cone angle λ 0 11.5 11.5 11.5 11.5 11.5 11.5

[0053] The servo probe was set to rotate in the following states: forward, up (15°), down (15°), left (15°), and right (15°). The flight status measurements for each rotation state are shown in Table 2 below.

[0054] Table 2 Flight Status Parameters

[0055]

[0056] The model relationship between pressure distribution and atmospheric parameters is used to calculate atmospheric characteristic parameters, and then to calculate other flight parameters for flight control. Specifically:

[0057] The aerodynamic model used is:

[0058] p(θ i )=q c [cos 2 (θ i )+εsin 2 (θ i )]+p ∞ (1)

[0059] In the formula, p(θ) i ) represents the pressure at the i-th pressure measuring port of the sensor; q c Indicates dynamic pressure; p ∞ Represents static pressure; θ i Let represent the incoming jet angle, which is the angle between the surface normal direction at point i and the velocity vector. Its functional relationship with the angle of attack α and the sideslip angle β is as follows:

[0060]

[0061] Where: φ i For an inscribed angle, λ i The cone angle and the position angle of the sensor are both the cone angle and the position angle of the sensor.

[0062] make:

[0063] a i =cosαcosλ i +sinαsinλ i cosφ i (3)

[0064] b i =sinλ i sinφ i

[0065] Equation (1) can be written as:

[0066] cos(θ i ) = a i cos(β)+b i sin(β) (4)

[0067] The three pressures are combined using equation (1), and then the three are decoupled from the local angle of attack and sideslip angle.

[0068]

[0069] definition:

[0070] Γ ik =p i -p k , Γ ji =p j -p i , Γ kj =p k -p j (6)

[0071] Substituting into equation (5), we get

[0072] Γ ik cos 2 θ j +Γ ji cos 2 θ k +Γ kj cos 2 θ i =0 (7)

[0073] When φ≠±90°, cos 2 Since β≠0, substitute (7) into (4) and divide by cos 2 β, we get:

[0074] Γ ik [a j +b j tanβ] 2 +Γji [a k +b k tanβ] 2 +Γ kj [a i +b i tanβ] 2 =0 (8)

[0075] In this equation, the angle of attack and sideslip angle can be written as functions of the measured pressure.

[0076] Solve for angle of attack

[0077] Choose three pressure measurement points on the vertical plane, i.e., φ = 0°, ±180°, at which point b i =0, equation (8) can be changed to:

[0078]

[0079] When α≠±90°, cosα≠0, equation (9) divided by cosα yields:

[0080]

[0081] According to trigonometric function formulas:

[0082] cos 2 λ = 1 - sin 2 λ (11)

[0083] Substituting (11) into (10) gives:

[0084]

[0085] definition:

[0086] A=(Γ ik sin 2 λ j +Γ ji sin 2 λ k +Γ kj sin 2 λ i (13)

[0087] B=(Γ ik cosφ j sinλ j cosλ j +Γ ji cosφ k sinλ k cosλ k +Γ kj cosφ i sinλi cosλ i

[0088] Therefore, equation (12) can be simplified as:

[0089] A[tan 2 α-1]+2Btanα=0 (14)

[0090] because:

[0091]

[0092] Substitute (15) into (14):

[0093] -Acos 2α+2B cosαsinα (16)

[0094] =-Acos 2α+Bsin 2α=0

[0095] The solution to the equation is:

[0096] When |α|≤45°

[0097]

[0098] When |α|>45°

[0099]

[0100] Solve for the sideslip angle

[0101] Expanding equation (8), we obtain a quadratic equation in terms of tanβ:

[0102]

[0103] definition:

[0104]

[0105] B′=Γ ik a j b j +Γ ji a k b k +Γ kj a i b i

[0106]

[0107] Then equation (19) can be simplified to:

[0108] A′tan 2 β+2B′tanβ+C′=0 (21)

[0109] The two roots of equation (21) are:

[0110]

[0111] Multiplying the two roots gives:

[0112]

[0113] After sorting, we get:

[0114]

[0115] When the pressure at three points on the same horizontal plane is taken, the outer two points φ = ±90°, so cosφ i =0, so equation (22) can be simplified to:

[0116]

[0117] Therefore, the relationship between the two solutions along the transverse direction of the pressure measurement point is:

[0118]

[0119] Where β2 is a function of β1 and angle of attack α.

[0120] Solve for static pressure, dynamic pressure and Mach number.

[0121] After determining the angle of attack and sideslip angle, substituting them into equation (4) yields the incident angle θ. Combining the seven pressure values, equation (1) can be written as:

[0122]

[0123] Using equation (27) through linear iteration, we obtain:

[0124]

[0125] in,

[0126] Ω i =cos 2 (θ i )+εsin 2 (θ i (29)

[0127] In equation (29), ε is q c and p ∞ Since it is a function, the equation is nonlinear and requires iterative calculation.

[0128] definition:

[0129]

[0130] in,

[0131]

[0132] Thus, equation (28) can be rewritten as:

[0133]

[0134] In equation (32), the subscript j represents the result of the j-th iteration, from which q can be obtained. c and p ∞ The value of .

[0135] Using the isentropic flow condition,

[0136]

[0137] Where γ = 1.4, we get:

[0138]

[0139] The Mach number is obtained through Taylor expansion:

[0140]

[0141] This invention has the ability to track airflow direction in real time, improves the accuracy of total and static pressure measurement, the accuracy of measurement at large angles of attack, reduces aerodynamic response time, and simplifies the calibration difficulty of atmospheric data systems.

[0142] The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They should not be construed as limiting the scope of protection of the present invention. All equivalent transformations or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention. Technical aspects, shapes, and structures not described in detail in this invention are all well-known technologies.

Claims

1. A servo-type embedded atmospheric data detection device, comprising a base (1), characterized in that, The base (1) is provided with an angle-of-attack controller (3), a yaw angle controller (4), and a distributed pressure sampling module (5); wherein, the distributed pressure sampling module (5) is a spherical shell, which is fitted inside the frame of the yaw angle controller (4), and is placed together with the yaw angle controller (4) inside the base (1) and connected to the two arms of the base; the angle-of-attack controller (3) is also connected to the two arms of the base; The angle of attack controller (3) includes an angle of attack control motor (31) and an angle of attack feedback encoder (32) arranged coaxially, which are respectively installed on the two arms of the base (1). The extended shaft is provided with a step and a spline; the step and spline cooperate with the yaw angle controller (4) to limit the circumferential and axial connection of the yaw angle controller (4) installed therein; The yaw angle controller (4) includes a yaw angle frame (43), a yaw angle control motor (41), and a yaw angle feedback encoder (42). The yaw angle control motor (41) and the yaw angle feedback encoder (42) are respectively bolted to the upper and lower arms of the hollow hemispherical yaw angle frame (43). The extended shaft is provided with steps and splines to provide axial and circumferential positioning constraints for the distributed pressure sampling module (5) installed therein.

2. The servo-type embedded atmospheric data detection device according to claim 1, characterized in that, The distributed pressure sampling module (5) shown is a spherical shell with a built-in air guide pipe. There are several pressure sampling holes arranged in a regular pattern on the shell. The air pressure is measured through the built-in air guide pipe.

3. The servo-type embedded atmospheric data detection device according to claim 1, characterized in that, The two arms of the yaw angle frame (43) and the base (1) are connected by the splined shaft of the angle of attack control motor (31) and the angle of attack feedback encoder (32).

4. The servo-type embedded atmospheric data detection device according to claim 1, characterized in that, A gap is left between the yaw angle frame (43) and the base (1) to maintain relative rotational freedom.

5. The servo-type embedded atmospheric data detection device according to claim 2, characterized in that, A gap is left between the distributed pressure extraction module (5) and the yaw angle frame (43) to maintain relative rotational freedom.

6. A servo-type embedded atmospheric data system, characterized in that, It includes a base (1), an angle-of-attack controller (3), a yaw angle controller (4), a distributed pressure sampling module (5), and a data acquisition and control module (2). The distributed pressure sampling module (5) is connected to the data acquisition and control module (2) through a gas guide hose (51). The angle-of-attack controller (3) and the yaw angle controller (4) are also connected to the data acquisition and control module (2). The angle of attack controller (3) includes an angle of attack control motor (31) and an angle of attack feedback encoder (32) arranged coaxially, which are respectively installed on the two arms of the base (1). The extended shaft is provided with a step and a spline; the step and spline cooperate with the yaw angle controller (4) to limit the circumferential and axial connection of the yaw angle controller (4) installed therein; The yaw angle controller (4) includes a yaw angle frame (43), a yaw angle control motor (41), and a yaw angle feedback encoder (42). The yaw angle control motor (41) and the yaw angle feedback encoder (42) are respectively bolted to the upper and lower arms of the hollow hemispherical yaw angle frame (43). The extended shaft is provided with steps and splines to provide axial and circumferential positioning constraints for the distributed pressure sampling module (5) installed therein. The angle of attack controller (3) and yaw controller (4) adjust the angle of attack and yaw angle of the distributed pressure sampling module (5) respectively under the command control of the data acquisition control module (2), and at the same time feed back the collected pressure distribution data to calculate the actual angle of attack and yaw angle.

7. The servo-type embedded atmospheric data system according to claim 6, characterized in that, The distributed pressure sampling module (5) has several pressure sampling ports set on its surface as needed, and transmits the data directly to the data acquisition and control module (2) through the built-in air guide pipe. Based on the model relationship between pressure distribution and atmospheric parameters, atmospheric characteristic parameters are calculated, and then other more flight parameters are calculated for use in flight control.

8. The servo-type embedded atmospheric data system according to claim 6, characterized in that, The distributed pressure sampling module (5) moves according to the airflow direction under the action of the angle of attack controller (3) and the yaw angle controller (4), and always stays within a certain flow angle orientation.

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