Laser radar trailing vortex inversion method, system, device, product and medium

Abstract

The invention relates to the technical field of aviation safety, and provides a laser radar trailing vortex inversion method, system and device, a product and a medium. The method comprises the following steps: acquiring meteorological parameters, model parameters and ADS-B data, and calculating trailing vortex circular rector; constructing an axial scanning coordinate system; constructing a first radial speed algorithm; background wind speed is calculated through a first radial speed algorithm; constructing a second radial speed algorithm through the background wind speed and the first radial speed algorithm; determining a range gate, obtaining a corresponding detection point coordinate pair, and traversing gradient absolute values of the detection point coordinate pair in the detection point set to obtain a relative vortex core position; and obtaining a first real vortex core position, a second real vortex core position and a distance between the two positions in an area where the relative vortex core position is located, and iterating to the distance convergence between the two positions to determine a real vortex core position. According to the method, interference of background wind is effectively eliminated, and airplane wake flow axial scanning based on the laser radar is realized by calculating the real vortex core position.

Description

Technical Field

[0001] The present invention relates to the field of aviation safety technology, and in particular to a laser radar wake vortex inversion method, system, equipment, product and medium. Background Art

[0002] As air traffic density continues to increase, air safety issues caused by aircraft wakes are receiving increasing attention. Accurately monitoring and analyzing the characteristics of aircraft wakes is of great significance for improving flight safety and formulating reasonable flight spacing strategies. Among them, wake detection based on airborne laser radar helps to monitor the tail vortex of the leading aircraft and implement formation flying.

[0003] At present, the wake research based on LiDAR is mostly focused on ground LiDAR detection, mainly ground tangential scanning, while airborne axial scanning is more complicated. Ground wake detection uses fixed ground radar, which has a wider detection range and can monitor the wake of multiple aircraft, which is suitable for airport area monitoring. However, tangential scanning is not suitable for airborne LiDAR. The purpose of airborne LiDAR is to detect the wake in front of the aircraft. If RHI (Range-Height Indicator) scanning, PPI (Plan Position Indicator) scanning, etc. are used, the following problems will occur: First, the detection range is limited, and the wake information in front of the aircraft cannot be obtained in time. Second, if the direction of the front wake is parallel to the aircraft heading, then the LiDAR detection axis will be basically perpendicular to the wake vortex, and the velocity component of the wake vortex in the LiDAR detection direction will be very small, resulting in the inability to correctly identify the wake. If the aircraft enters the wake area, it will cause serious accidents such as altitude drop and roll.

[0004] Airborne lidar relies on the aircraft's forward-looking Doppler lidar for real-time wake detection, which has a closer detection distance and higher accuracy. However, due to limitations on installation location and flight conditions, the wake vortex inversion process is more complicated. In addition, the different intensities of the left and right wake vortices and the small angle gate interval can also lead to errors in the identification of the vortex core position. Summary of the invention

[0005] The present invention aims to solve at least one of the technical problems existing in the related art. To this end, the present invention provides a laser radar wake vortex inversion method, system, equipment, product and medium to achieve monitoring of the front aircraft wake vortex.

[0006] The present invention provides a laser radar wake vortex inversion method, comprising: S1: Obtain meteorological parameters, aircraft model parameters and ADS-B data, and calculate the tail vortex circulation through meteorological parameters, aircraft model parameters and ADS-B data; S2: Select the scanning mode and coordinate system type of the laser radar, and construct an axial scanning coordinate system through the scanning mode and coordinate system type; S3: acquiring the detection point coordinates, the left vortex axis and the right vortex axis in the axial scanning coordinate system, and constructing a first radial velocity algorithm through the detection point coordinates, the left vortex axis, the right vortex axis and the tail vortex circulation; S4: acquiring a non-wake area and a wake area in the axial scanning coordinate system, calculating a background wind velocity in the non-wake area by using a first radial velocity algorithm; and constructing a second radial velocity algorithm for the wake area by using the background wind velocity and the first radial velocity algorithm; S5: determining a range gate in the wake region, obtaining a detection point coordinate set of the range gate, obtaining a detection point coordinate pair in the detection point coordinate set, obtaining a coordinate pair gradient absolute value of the detection point coordinate pair by a second radial velocity algorithm, and obtaining a relative vortex core position by the coordinate pair gradient absolute value; S6: In the area where the relative vortex core position is located, the first real vortex core position and the second real vortex core position are obtained by a second radial velocity algorithm, the distance between the first real vortex core position and the second real vortex core position is calculated, and the second real vortex core position is iterated until the distance between the first real vortex core position and the second real vortex core position converges to obtain the real vortex core position.

[0007] According to a laser radar wake vortex inversion method provided by the present invention, step S3 further comprises: S31: Acquire the coordinates of any point in the axial scanning coordinate system as the detection point coordinates, and acquire the left vortex axis and the right vortex axis through aircraft model parameters and ADS-B data; S32: obtaining the coordinates of any point on the left vortex axis as the left vortex axis point coordinates, calculating the left virtual vortex core position through the left vortex axis point coordinates and the detection point coordinates, obtaining the coordinates of any point on the right vortex axis as the right vortex axis point coordinates, calculating the right virtual vortex core position through the right vortex axis point coordinates and the detection point coordinates; S33: calculating the left distance between the detection point coordinates and the left virtual vortex core position through the left virtual vortex core position and the detection point coordinates, and calculating the right distance between the detection point coordinates and the right virtual vortex core position through the right virtual vortex core position and the detection point coordinates; S34: calculating the left absolute radial velocity of the detection point coordinates relative to the left virtual vortex core position through the left distance and the tail vortex circulation, and calculating the right absolute radial velocity of the detection point coordinates relative to the right virtual vortex core position through the right distance and the tail vortex circulation; S35: Calculate the left radial velocity vector and the right radial velocity vector in sequence according to the left distance and the right distance respectively; S36: Constructing a first radial velocity algorithm by detecting the point coordinates, the left absolute radial velocity, the right absolute radial velocity, the left radial velocity vector and the right radial velocity vector.

[0008] According to a laser radar wake vortex inversion method provided by the present invention, step S4 further comprises: S41: acquiring the wake region and the non-wake region in the axial scanning coordinate system according to the left virtual vortex core position and the right virtual vortex core position; S42: sampling the coordinates of the detection points in the non-wake area to obtain the coordinate samples of the detection points in the non-wake area; S43: Calculating the background wind radial velocity of the non-wake area detection point coordinate sample by a first radial velocity algorithm, and obtaining the background wind velocity by calculating the average value of the background wind radial velocity; S44: Substituting the background wind speed into the first radial velocity algorithm to construct a second radial velocity algorithm for the wake region.

[0009] According to a laser radar wake vortex inversion method provided by the present invention, step S5 further comprises: S51: selecting a range gate in the wake area, selecting detection point coordinates on the range gate to form a detection point coordinate set, acquiring adjacent detection point coordinates in the detection point coordinate set to form a detection point coordinate pair, wherein the detection point coordinate pair includes a first detection point coordinate and a second detection point coordinate; S52: Calculate the first radial velocity of the coordinates of the first detection point by using the second radial velocity algorithm; calculate the second radial velocity of the coordinates of the second detection point by using the second radial velocity algorithm; S53: Obtaining the absolute value of the gradient of the detection point coordinate pair by calculating the absolute value of the gradient of the first radial velocity and the second radial velocity; S54: Calculate the absolute values ​​of the gradients of all coordinate pairs, and take the position of the detection point coordinate pair with the largest absolute value of the gradient as the relative vortex core position.

[0010] According to a laser radar wake vortex inversion method provided by the present invention, step S6 further comprises: S61: Selecting a first angle gate in the area where the relative vortex core position is located, and dividing the area where the relative vortex core position is located by the first angle gate to obtain a first angle gate set; the coordinates of one end of the first angle gate are the first angle gate detection point coordinates, and the coordinates of the other end of the first angle gate are the second angle gate detection point coordinates; S62: Calculate the first angle gate radial velocity of the first angle gate detection point coordinates by the second radial velocity algorithm; calculate the second angle gate radial velocity of the second angle gate detection point coordinates by the second radial velocity algorithm; S63: obtaining a first gradient absolute value of the first angle gate by calculating the absolute values ​​of the gradients of the radial velocity of the first angle gate and the radial velocity of the second angle gate, calculating all the first gradient absolute values ​​in the first angle gate set, and taking the position of the first angle gate with the largest first gradient absolute value as the first real vortex core position; S64: selecting a second angle gate in the area where the relative vortex core position is located, dividing the area where the relative vortex core position is located by the second angle gate to obtain a second angle gate set, the coordinates of one end of the second angle gate are the coordinates of the detection point of the third angle gate, and the coordinates of the other end of the second angle gate are the coordinates of the detection point of the fourth angle gate; S65: Calculating the third angle gate radial velocity of the third angle gate detection point coordinates by the second radial velocity algorithm; Calculating the fourth angle gate radial velocity of the fourth angle gate detection point coordinates by the second radial velocity algorithm; S66: Obtain a second gradient absolute value of the second angle gate by calculating the absolute values ​​of the gradients of the radial velocity of the third angle gate and the radial velocity of the fourth angle gate, calculate all the second gradient absolute values ​​in the second angle gate set, and take the position of the second angle gate with the largest second gradient absolute value as the second real vortex core position; S67: Calculate the distance between the first real vortex core position and the second real vortex core position, iterate the second real vortex core position in the area where the relative vortex core position is located, until the distance between the first real vortex core position and the second real vortex core position converges, and use the iterated second real vortex core position as the real vortex core position.

[0011] According to a laser radar wake vortex inversion method provided by the present invention, in step S2, the coordinate system type is a Cartesian coordinate system, and the scanning mode is an axial scanning mode.

[0012] The present invention also provides a laser radar wake vortex inversion system, which is used to execute a laser radar wake vortex inversion method as described in any one of the above items, comprising: Wake vortex circulation module: used to obtain meteorological parameters, aircraft model parameters and ADS-B data, and calculate the wake vortex circulation based on meteorological parameters, aircraft model parameters and ADS-B data; Axial scanning coordinate system module: used to select the scanning mode and coordinate system type of the laser radar, and construct the axial scanning coordinate system through the scanning mode and coordinate system type; The first radial velocity algorithm module is used to obtain the detection point coordinates, the left vortex axis and the right vortex axis in the axial scanning coordinate system, and construct the first radial velocity algorithm through the detection point coordinates, the left vortex axis, the right vortex axis and the tail vortex circulation; The second radial velocity algorithm module is used to obtain the non-wake area and the wake area in the axial scanning coordinate system, calculate the background wind speed in the non-wake area by using the first radial velocity algorithm; and construct the second radial velocity algorithm in the wake area by using the background wind speed and the first radial velocity algorithm; A relative vortex core position calculation module is used to determine a range gate in the wake region, obtain a detection point coordinate set of the range gate, obtain a detection point coordinate pair in the detection point coordinate set, obtain a coordinate pair gradient absolute value of the detection point coordinate pair through a second radial velocity algorithm, and obtain a relative vortex core position through the coordinate pair gradient absolute value; A real vortex core position calculation module is used to obtain the first real vortex core position and the second real vortex core position by a second radial velocity algorithm in the area where the relative vortex core position is located, calculate the distance between the first real vortex core position and the second real vortex core position, and iterate the second real vortex core position until the distance between the first real vortex core position and the second real vortex core position converges to obtain the real vortex core position.

[0013] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, a laser radar wake vortex inversion method as described in any one of the above items is implemented.

[0014] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, a laser radar wake vortex inversion method as described in any one of the above items is implemented.

[0015] The present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute a laser radar wake vortex inversion method as described in any one of the above items.

[0016] The above one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects: The present invention provides a laser radar wake vortex inversion method, system, equipment, product and medium, which constructs a first radial velocity algorithm in a three-dimensional laser radar axial scanning coordinate system, eliminates the background wind velocity of the environment, and constructs a second radial velocity algorithm to improve the measurement accuracy of the radial velocity of the detection point and the detection accuracy of the vortex core position. By calculating the distance between the first real vortex core position and the second real vortex core position, the problem that the vortex core position inverted by the traditional gradient method is located near the vortex core on the same side when the angular resolution is too high is solved. The present invention helps to better monitor the wake vortex of the leading aircraft and implement small-spacing formation flying.

[0017] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A schematic flow chart of a laser radar wake vortex inversion method provided by the present invention.

[0020] Figure 2 A schematic structural diagram of a laser radar wake vortex inversion system provided by the present invention.

[0021] Figure 3 A schematic structural diagram of a laser radar wake vortex inversion device provided by the present invention.

[0022] Reference numerals: 100, tail vortex circulation module; 200, axial scanning coordinate system module; 300, first radial velocity algorithm module; 400, second radial velocity algorithm module; 500, relative vortex core position calculation module; 600, real vortex core position calculation module; 810, processor; 820, communication interface; 830, memory; 840, communication bus. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical scheme and advantages of the present invention clearer, the technical scheme in the present invention will be clearly and completely described below. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present invention. The following embodiments are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0024] In the description of the embodiments of the present invention, it should be noted that the terms “first”, “second” and “third” are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0025] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0026] Combine the following Figure 1 Embodiments of the present invention are described.

[0027] Figure 1 It is a flow chart of a laser radar wake vortex inversion method. The present invention preferably adopts an embodiment. The specific implementation process of this embodiment is divided into 6 steps, wherein S1 is to calculate the wake vortex circulation, S2 is to obtain the axial scanning coordinate system according to the laser radar axial scanning method and coordinate system selection, S3 is to construct the first radial velocity algorithm, S4 is to construct the second radial velocity algorithm, S5 is to calculate the relative vortex core position, and S6 is to calculate the real vortex core position.

[0028] The present invention provides a laser radar wake vortex inversion method, comprising: S1: Obtain meteorological parameters, aircraft model parameters and ADS-B data, and calculate the tail vortex circulation through meteorological parameters, aircraft model parameters and ADS-B data; Furthermore, the purpose of this stage is to obtain meteorological parameters, aircraft model parameters and ADS-B (Automaticdependent surveillance–broadcast) data, and calculate the tail vortex circulation through meteorological parameters, aircraft model parameters and ADS-B data. For subsequent calculations: in, represents the trailing vortex circulation, m is the aircraft mass, g is the acceleration due to gravity, ρ ∞ is the atmospheric density, V ∞ is the aircraft flying speed, ρ ∞ and V ∞ The data is obtained from ADS-B data and meteorological parameters. b 0is the initial vortex core spacing of the wing tip trailing vortex, usually b 0 =π B / 4, where B is the wingspan of the aircraft, B, m The data is obtained from the model parameters.

[0029] S2: Select the scanning mode and coordinate system type of the laser radar, and construct an axial scanning coordinate system through the scanning mode and coordinate system type.

[0030] Furthermore, the purpose of this stage is to determine the scanning pattern of the LiDAR and construct an axial scanning coordinate system to provide a coordinate system for subsequent modeling and scanning.

[0031] Wherein, in step S2, the type of the coordinate system is a Cartesian coordinate system, and the scanning mode is an axial scanning mode.

[0032] The use of axial scanning can give the laser radar a larger detection range and higher accuracy. It can also have a better detection effect on the wake parallel to the aircraft's heading. The axial scanning coordinate system uses the Cartesian coordinate system. The scanning range is determined according to the scanning mode of the laser radar. The position of the airborne laser radar is used as the origin of the coordinate axis according to the scanning range. x The positive direction of the axis is the fuselage coordinate system x The direction of the axis projection onto the horizontal plane, z The positive direction of the axis is vertically upward. y The positive direction of the axis can be x axis, z The positive direction of the axis forms a right-handed axial scanning coordinate system. The advantage of this coordinate system with the aircraft as the carrier is that it avoids the influence of static wind, because static wind will only cause the aircraft and the tail vortex to move parallel to each other, but will not cause the position of the tail vortex relative to the aircraft to change. The rectangular coordinates of any detection point on the axial scanning coordinate system ( X,Y,Z )for: Where r represents the radial distance, represents the polar angle, Indicates the azimuth, X is the x-axis coordinate value of the detection point, Y is the y-axis coordinate value of the detection point, and Z is the z-axis coordinate value of the detection point.

[0033] S3: acquiring the detection point coordinates, the left vortex axis and the right vortex axis in the axial scanning coordinate system, and constructing a first radial velocity algorithm through the detection point coordinates, the left vortex axis, the right vortex axis and the tail vortex circulation; Furthermore, in this stage, the detection point coordinates of the left and right vortex axes and the detection point in the axial scanning coordinate system are obtained, and the first radial velocity algorithm is constructed through the detection point coordinates, the left vortex axis, the right vortex axis and the tail vortex circulation.

[0034] Wherein, step S3 further comprises: S31: Acquire the coordinates of any point in the axial scanning coordinate system as the detection point coordinates, and acquire the left vortex axis and the right vortex axis through aircraft model parameters and ADS-B data; S32: obtaining the coordinates of any point on the left vortex axis as the left vortex axis point coordinates, calculating the left virtual vortex core position through the left vortex axis point coordinates and the detection point coordinates, obtaining the coordinates of any point on the right vortex axis as the right vortex axis point coordinates, calculating the right virtual vortex core position through the right vortex axis point coordinates and the detection point coordinates; S33: calculating the left distance between the detection point coordinates and the left virtual vortex core position through the left virtual vortex core position and the detection point coordinates, and calculating the right distance between the detection point coordinates and the right virtual vortex core position through the right virtual vortex core position and the detection point coordinates; S34: calculating the left absolute radial velocity of the detection point coordinates relative to the left virtual vortex core position through the left distance and the tail vortex circulation, and calculating the right absolute radial velocity of the detection point coordinates relative to the right virtual vortex core position through the right distance and the tail vortex circulation; S35: Calculate the left radial velocity vector and the right radial velocity vector in sequence according to the left distance and the right distance respectively; S36: Constructing a first radial velocity algorithm by detecting the point coordinates, the left absolute radial velocity, the right absolute radial velocity, the left radial velocity vector and the right radial velocity vector.

[0035] With respect to the above steps, the specific implementation methods in this embodiment are as follows: In the axial scanning coordinate system, the left and right vortex axes of the aircraft can be determined by scanning according to the ADS-B data and the aircraft model parameters. At the same time, the unit direction vectors of the left and right vortex axes can be determined. n =( n x ,n y ,n z )(in n x ,n y , n z The vector components of the left vortex axis and the right vortex axis on the x-axis, y-axis, and z-axis respectively) and the detection point coordinates of any detection point ( X,Y,Z ), then obtain the coordinates of a point on the right vortex axis as the right vortex axis point coordinates P 0 ( x 0 ,y 0 ,z 0 ),inx 0 ,y 0 , z 0 The coordinate values ​​of the point on the right vortex axis on the x-axis, y-axis, and z-axis are obtained respectively, and the coordinates of a point on the left vortex axis are obtained as the coordinates of the left vortex axis point P 2 ( x 2 ,y 2 ,z 2 ),in x 2 ,y 2 ,z 2 The coordinates of the point on the left vortex axis on the x-axis, y-axis, and z-axis respectively. P 2 , right vortex axis point coordinates P 0 , the detection point coordinates ( X,Y,Z ) and the unit direction vector n The left vortex core position parameters can be calculated t L and the right vortex core position parameter t R : t L = n x ( X - x 2 )+ n y ( Y - y 2 )+ n z ( Z - z 2 ) t R = n x ( X - x 0 )+ n y ( Y - y 0 )+ n z ( Z -z 0 ) By the left vortex core position parameter t L and the right vortex core position parameter t R The left virtual vortex core position can be calculated respectively ( x L ,y L ,z L ) and the right virtual vortex core position ( x R ,y R ,z R ),in, x L ,y L ,z L are the coordinate values ​​of the left virtual vortex core position on the x-axis, y-axis, and z-axis respectively. x R ,y R ,z R These are the coordinate values ​​of the right virtual vortex core position on the x-axis, y-axis, and z-axis respectively: Through the detection point coordinates, the left virtual vortex core position ( x L ,y L ,z L ) and the right virtual vortex core position ( x R ,y R ,z R ) can calculate the detection point coordinates and the left distance of the left virtual vortex core position respectively And the right distance between the detection point coordinates and the right virtual vortex core position : By left distance Calculate the left absolute radial velocity of the detection point coordinates relative to the left virtual vortex core position , through the right distance Calculate the right absolute radial velocity of the detection point coordinates relative to the right virtual vortex core position : in, r c represents the vortex core radius. Usually, r c =0.052 b 0 .

[0036] Calculate the relative left virtual vortex core position ( ) and the relative right virtual vortex core position ( ) in, is the X-axis coordinate value relative to the left virtual vortex core position, is the Y-axis coordinate value relative to the left virtual vortex core position, is the Z-axis coordinate value relative to the left virtual vortex core position, is the X-axis coordinate value relative to the right virtual vortex core position, is the Y-axis coordinate value relative to the right virtual vortex core position, is the Z-axis coordinate value relative to the right virtual vortex core position.

[0037] in, T R , T L They are respectively the right virtual vortex core position rotation transformation matrix and the left virtual vortex core position rotation transformation matrix, T represents transposition, T L , T R The matrices are: Among them, the matrix right intermediate variable M R = n · P 0 , matrix left intermediate variable M L = n · P 2 By the relative left virtual vortex core position ( ) and the relative right virtual vortex core position ( ) can calculate the left radial velocity vector of the detection point coordinates relative to the left vortex axis respectively and the right radial velocity vector of the detection point coordinates relative to the right vortex axis : Next, calculate the left composite radial velocity , right composite radial velocity : in represents the absolute value of the left radial direction, Represents the absolute value of the right radial.

[0038] The expression of the first radial velocity algorithm is: in, Represents the first radial velocity obtained by the first radial velocity algorithm, the first synthetic velocity = + , the detection point coordinate vector =-[ X , Y , Z ], which is the vector value of the detection point coordinates.

[0039] S4: acquiring a non-wake area and a wake area in the axial scanning coordinate system, calculating a background wind velocity in the non-wake area by using a first radial velocity algorithm; and constructing a second radial velocity algorithm for the wake area by using the background wind velocity and the first radial velocity algorithm; Furthermore, in this stage, in order to distinguish the non-wake area and the wake area in the measurement area, the background wind speed is calculated by the first radial velocity algorithm in the non-wake area, and the second radial velocity algorithm is constructed by the background wind speed and the first radial velocity algorithm.

[0040] Wherein, step S4 further comprises: S41: acquiring the wake region and the non-wake region in the axial scanning coordinate system according to the left virtual vortex core position and the right virtual vortex core position; S42: sampling the coordinates of the detection points in the non-wake area to obtain the coordinate samples of the detection points in the non-wake area; S43: Calculating the background wind radial velocity of the non-wake area detection point coordinate sample by a first radial velocity algorithm, and obtaining the background wind velocity by calculating the average value of the background wind radial velocity; S44: Substituting the background wind speed into the first radial velocity algorithm to construct a second radial velocity algorithm for the wake region.

[0041] With respect to the above steps, the specific implementation methods in this embodiment are as follows: First, the area in the axial scanning coordinate system is divided into the wake area (close to the wake, the radial velocity is greatly affected by the wake) and the non-wake area (far away from the wake, the radial velocity is mainly affected by the background wind). The division of the wake area and the non-wake area is based on the vortex core radius of the left virtual vortex core position and the right virtual vortex core position. r c To determine. Set the distance from the left virtual vortex core position ( x L ,y L ,z L ) and the right virtual vortex core position ( x R ,y R ,z R ) Four times the vortex core radius r c The area within is divided into the wake area, and the other parts are the non-wake area. Since the non-wake area is far away from the wake vortex, it can be considered that the radial velocity detected in this area is mainly affected by the background wind.

[0042] Subsequently, several non-wake area detection points are uniformly selected in the non-wake area as non-wake area detection point samples, and the non-wake area detection point samples are substituted into the first radial velocity algorithm to obtain the background wind radial velocity of the non-wake area detection point samples, and then the average value of the background wind radial velocity is calculated to obtain the background wind velocity V wind , substituting the background wind speed into the first radial velocity algorithm can construct the second radial velocity algorithm. The expression of the second radial velocity algorithm is: in, represents the second radial velocity obtained by the second radial velocity algorithm, where the second synthetic velocity = + - V wind .

[0043] S5: determining a range gate in the wake region, obtaining a detection point coordinate set of the range gate, obtaining a detection point coordinate pair in the detection point coordinate set, obtaining a coordinate pair gradient absolute value of the detection point coordinate pair by a second radial velocity algorithm, and obtaining a relative vortex core position by the coordinate pair gradient absolute value; Furthermore, in this stage, a range gate is determined in the wake region, a detection point coordinate pair is obtained in the range gate, and the relative vortex core position is obtained by traversing the absolute value of the gradient of the detection point coordinate pair in the detection point coordinate set.

[0044] Wherein, step S5 further comprises: S51: selecting a range gate in the wake area, selecting detection point coordinates on the range gate to form a detection point coordinate set, acquiring adjacent detection point coordinates in the detection point coordinate set to form a detection point coordinate pair, wherein the detection point coordinate pair includes a first detection point coordinate and a second detection point coordinate; S52: Calculate the first radial velocity of the coordinates of the first detection point by using the second radial velocity algorithm; calculate the second radial velocity of the coordinates of the second detection point by using the second radial velocity algorithm; S53: Obtaining the absolute value of the gradient of the detection point coordinate pair by calculating the absolute value of the gradient of the first radial velocity and the second radial velocity; S54: Calculate the absolute values ​​of the gradients of all coordinate pairs, and take the position of the detection point coordinate pair with the largest absolute value of the gradient as the relative vortex core position.

[0045] With respect to the above steps, the specific implementation methods in this embodiment are as follows: According to the characteristics of the tail vortex, the upper and lower velocities in the vortex core area are in opposite directions, so the absolute value of the gradient of the Doppler radial velocity on the same detection point coordinate pair should reach the maximum at the vortex core. First, the measurement distance of the laser radar is selected in the vortex core area to obtain the range gate, and then a number of detection point coordinates are selected on the range gate as the detection point coordinate set. In the detection point coordinate set, the adjacent detection point coordinates are obtained as the detection point coordinate pair. The detection point coordinate pair includes the first detection point coordinate and the second detection point coordinate. Then, the first radial velocity of the first detection point coordinate is calculated by the second radial velocity algorithm; the second radial velocity of the second detection point coordinate is calculated by the second radial velocity algorithm. Finally, the absolute value of the gradient of the first radial velocity and the second radial velocity is obtained to obtain the absolute value of the gradient of the coordinate pair: in, D r ( n , i ) indicates the distance from the door r No. n At a horizontal angle, scan from top to bottom i The absolute value of the gradient at a point, that is, the absolute value of the gradient of the coordinates; V ( r , φ n ,θ i )} indicates that the radar is at a distance of r And the horizontal angle is φ n , the elevation angle is θ i The second radial velocity of the coordinates of the second detection point at time, Indicates the distance from the radar r And the horizontal angle is φ n , the elevation angle is The first radial velocity of the first detection point coordinates at the time. The elevation angle difference between two scans and detections of the laser radar is called the angle gate. Then, all the detection point coordinate pairs in the detection point set are traversed, and the position of the detection point coordinate pair with the largest absolute value of the coordinate pair gradient is taken as the relative vortex core position. The position of the detection point coordinate pair is the position of the midpoint of the line connecting the first detection point coordinate and the second detection point coordinate.

[0046] S6: In the area where the relative vortex core position is located, the first real vortex core position and the second real vortex core position are obtained by a second radial velocity algorithm, the distance between the first real vortex core position and the second real vortex core position is calculated, and the second real vortex core position is iterated until the distance between the first real vortex core position and the second real vortex core position converges to obtain the real vortex core position.

[0047] Furthermore, this step is to converge the distance between the first real vortex core position and the second real vortex core position through iteration; due to the different intensities of the left and right tail vortices and the small angle gate interval, the obtained real vortex core position will be located near the vortex core on the same side, which is obviously not in line with the actual situation. This situation can be effectively avoided through iteration.

[0048] Wherein, step S6 further comprises: S61: Selecting a first angle gate in the area where the relative vortex core position is located, and dividing the area where the relative vortex core position is located by the first angle gate to obtain a first angle gate set; the coordinates of one end of the first angle gate are the first angle gate detection point coordinates, and the coordinates of the other end of the first angle gate are the second angle gate detection point coordinates; S62: Calculate the first angle gate radial velocity of the first angle gate detection point coordinates by the second radial velocity algorithm; calculate the second angle gate radial velocity of the second angle gate detection point coordinates by the second radial velocity algorithm; S63: obtaining a first gradient absolute value of the first angle gate by calculating the absolute values ​​of the gradients of the radial velocity of the first angle gate and the radial velocity of the second angle gate, calculating all the first gradient absolute values ​​in the first angle gate set, and taking the position of the first angle gate with the largest first gradient absolute value as the first real vortex core position; S64: selecting a second angle gate in the area where the relative vortex core position is located, dividing the area where the relative vortex core position is located by the second angle gate to obtain a second angle gate set, the coordinates of one end of the second angle gate are the coordinates of the detection point of the third angle gate, and the coordinates of the other end of the second angle gate are the coordinates of the detection point of the fourth angle gate; S65: Calculating the third angle gate radial velocity of the third angle gate detection point coordinates by the second radial velocity algorithm; Calculating the fourth angle gate radial velocity of the fourth angle gate detection point coordinates by the second radial velocity algorithm; S66: Obtain a second gradient absolute value of the second angle gate by calculating the absolute values ​​of the gradients of the radial velocity of the third angle gate and the radial velocity of the fourth angle gate, calculate all the second gradient absolute values ​​in the second angle gate set, and take the position of the second angle gate with the largest second gradient absolute value as the second real vortex core position; S67: Calculate the distance between the first real vortex core position and the second real vortex core position, iterate the second real vortex core position in the area where the relative vortex core position is located, until the distance between the first real vortex core position and the second real vortex core position converges, and use the iterated second real vortex core position as the real vortex core position.

[0049] With respect to the above steps, the specific implementation methods in this embodiment are as follows: First, the first angle gate is obtained by selecting the first angle measurement division of the laser radar in the area where the relative vortex core position is located. Here, the first angle gate is taken as 5°. Then, the area where the relative vortex core position is located is divided by the first angle gate to obtain the first angle gate set, wherein the coordinates of one end of the first angle gate are the coordinates of the first angle gate detection point, and the coordinates of the other end of the first angle gate are the coordinates of the second angle gate detection point; then, the first angle gate radial velocity of the first angle gate detection point coordinates is calculated by the second radial velocity algorithm, and the second angle gate radial velocity of the second angle gate detection point coordinates is calculated by the second radial velocity algorithm, and then the gradient absolute value of the first angle gate radial velocity and the second angle gate radial velocity are obtained to obtain the first gradient absolute value of the first angle gate. The first angle gate set is traversed in the area where the relative vortex core position is located, and the first gradient absolute values ​​of all first angle gates are obtained. The position of the first angle gate with the largest first gradient absolute value is taken as the first real vortex core position. The position of the first angle gate is the position where the midpoint of the line connecting the first angle gate detection point coordinates and the second angle gate detection point coordinates is located.

[0050] Similarly, the second angle gate is obtained by selecting the second angle measurement division of the laser radar in the area where the relative vortex core position is located. Here, the second angle gate is taken as 0.4°. Then, the area where the relative vortex core position is located is divided successively by the second angle gate to obtain the second angle gate set, wherein the coordinates of one end of the second angle gate are the coordinates of the detection point of the third angle gate, and the coordinates of the other end of the second angle gate are the coordinates of the detection point of the fourth angle gate; then, the radial velocity of the third angle gate of the detection point coordinates of the third angle gate is calculated by the second radial velocity algorithm, and the radial velocity of the fourth angle gate of the detection point coordinates of the fourth angle gate is calculated by the second radial velocity algorithm, and then the absolute value of the gradient of the radial velocity of the third angle gate and the radial velocity of the fourth angle gate is obtained to obtain the second absolute value of the gradient of the second angle gate. The second angle gate set is traversed in the area where the relative vortex core position is located, and the absolute values ​​of the second gradients of all the second angle gates are obtained. The position of the second angle gate with the largest absolute value of the second gradient is taken as the second real vortex core position, and the position of the second angle gate is the position where the midpoint of the line connecting the coordinates of the detection point of the third angle gate and the coordinates of the detection point of the fourth angle gate is located.

[0051] Finally, the distance between the first real vortex core position and the second real vortex core position is calculated in the axial scanning coordinate system. When the distance between the first real vortex core position and the second real vortex core position is greater than a certain threshold (20m in this embodiment), it is considered that the distance between the first real vortex core position and the second real vortex core position has not converged. At this time, the position of the second angle gate with the second largest absolute value of the second gradient is selected as the second real vortex core position. This process is repeated to iterate the second real vortex core position until the distance between the first real vortex core position and the second real vortex core position converges, and the iterated second real vortex core position is used as the real vortex core position.

[0052] The present invention also verifies the effectiveness of the laser radar wake vortex inversion method. The present invention simulates the laser radar wake vortex inversion method in Experiment 1 and Experiment 2 by setting different wake vortex environment parameters. The wake vortex environment parameters set in Experiment 1 and Experiment 2 are shown in Table 1: Table 1. Environmental parameters of the wake vortex in Experiments 1 and 2

[0053] Experiments 1 and 2 are for identifying the vortex core position. The identification results are shown in Table 2: Table 2 Results of real vortex core position identification in Experiment 1 and Experiment 2 under uniform background wind

[0054] It can be seen from Table 2 that this method can better monitor the wake of the preceding aircraft and improve the accuracy of vortex core position identification by calculating the distance between the first true vortex core position and the second true vortex core position.

[0055] In summary, the laser radar wake vortex inversion method provided by the present invention can solve the problem that the vortex core position inverted by the traditional gradient method is located near the vortex core on the same side when the angular resolution is too high, and can effectively eliminate the interference of background wind, so that the present invention helps to better monitor the wake vortex of the leading aircraft and implement small-spacing formation flying.

[0056] A laser radar wake vortex inversion system provided by the present invention is described below. The laser radar wake vortex inversion system described below and the laser radar wake vortex inversion method described above can be referenced to each other.

[0057] Figure 2 The following is a schematic diagram of the structure of a laser radar wake vortex inversion system: Figure 2 As shown, a method for performing a laser radar wake vortex inversion as described above includes: The wake vortex circulation module 100 is used to obtain meteorological parameters, aircraft model parameters and ADS-B data, and calculate the wake vortex circulation through the meteorological parameters, aircraft model parameters and ADS-B data; Axial scanning coordinate system module 200: used to select the scanning mode and coordinate system type of the laser radar, and construct the axial scanning coordinate system according to the scanning mode and coordinate system type; The first radial velocity algorithm module 300 is used to obtain the detection point coordinates, the left vortex axis and the right vortex axis in the axial scanning coordinate system, and construct a first radial velocity algorithm through the detection point coordinates, the left vortex axis, the right vortex axis and the tail vortex circulation; The second radial velocity algorithm module 400 is used to obtain the non-wake area and the wake area in the axial scanning coordinate system, calculate the background wind speed in the non-wake area by using the first radial velocity algorithm; and construct the second radial velocity algorithm in the wake area by using the background wind speed and the first radial velocity algorithm; The relative vortex core position calculation module 500 is used to determine the range gate in the wake region, obtain the detection point coordinate set of the range gate, obtain the detection point coordinate pair in the detection point coordinate set, obtain the coordinate pair gradient absolute value of the detection point coordinate pair through the second radial velocity algorithm, and obtain the relative vortex core position through the coordinate pair gradient absolute value; The real vortex core position calculation module 600 is used to obtain the first real vortex core position and the second real vortex core position by a second radial velocity algorithm in the area where the relative vortex core position is located, calculate the distance between the first real vortex core position and the second real vortex core position, and iterate the second real vortex core position until the distance between the first real vortex core position and the second real vortex core position converges to obtain the real vortex core position.

[0058] on the other hand, Figure 3 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 3As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication interface 820, and the memory 830 communicate with each other through the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute a laser radar wake vortex inversion method, the method comprising: S1: Obtain meteorological parameters, aircraft model parameters and ADS-B data, and calculate the tail vortex circulation through meteorological parameters, aircraft model parameters and ADS-B data; S2: Select the scanning mode and coordinate system type of the laser radar, and construct an axial scanning coordinate system through the scanning mode and coordinate system type; S3: acquiring the detection point coordinates, the left vortex axis and the right vortex axis in the axial scanning coordinate system, and constructing a first radial velocity algorithm through the detection point coordinates, the left vortex axis, the right vortex axis and the tail vortex circulation; S4: acquiring a non-wake area and a wake area in the axial scanning coordinate system, calculating a background wind velocity in the non-wake area by using a first radial velocity algorithm; and constructing a second radial velocity algorithm for the wake area by using the background wind velocity and the first radial velocity algorithm; S5: determining a range gate in the wake region, obtaining a detection point coordinate set of the range gate, obtaining a detection point coordinate pair in the detection point coordinate set, obtaining a coordinate pair gradient absolute value of the detection point coordinate pair by a second radial velocity algorithm, and obtaining a relative vortex core position by the coordinate pair gradient absolute value; S6: In the area where the relative vortex core position is located, the first real vortex core position and the second real vortex core position are obtained by a second radial velocity algorithm, the distance between the first real vortex core position and the second real vortex core position is calculated, and the second real vortex core position is iterated until the distance between the first real vortex core position and the second real vortex core position converges to obtain the real vortex core position.

[0059] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0060] On the other hand, the present invention further provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, and when the program instructions are executed by a computer, the computer can execute a laser radar wake vortex inversion method provided by the above methods, the method comprising: S1: Obtain meteorological parameters, aircraft model parameters and ADS-B data, and calculate the tail vortex circulation through meteorological parameters, aircraft model parameters and ADS-B data; S2: Select the scanning mode and coordinate system type of the laser radar, and construct an axial scanning coordinate system through the scanning mode and coordinate system type; S3: acquiring the detection point coordinates, the left vortex axis and the right vortex axis in the axial scanning coordinate system, and constructing a first radial velocity algorithm through the detection point coordinates, the left vortex axis, the right vortex axis and the tail vortex circulation; S4: acquiring a non-wake area and a wake area in the axial scanning coordinate system, calculating a background wind velocity in the non-wake area by using a first radial velocity algorithm; and constructing a second radial velocity algorithm for the wake area by using the background wind velocity and the first radial velocity algorithm; S5: determining a range gate in the wake region, obtaining a detection point coordinate set of the range gate, obtaining a detection point coordinate pair in the detection point coordinate set, obtaining a coordinate pair gradient absolute value of the detection point coordinate pair by a second radial velocity algorithm, and obtaining a relative vortex core position by the coordinate pair gradient absolute value; S6: In the area where the relative vortex core position is located, the first real vortex core position and the second real vortex core position are obtained by a second radial velocity algorithm, the distance between the first real vortex core position and the second real vortex core position is calculated, and the second real vortex core position is iterated until the distance between the first real vortex core position and the second real vortex core position converges to obtain the real vortex core position.

[0061] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the computer program is executed by a processor to perform a laser radar wake vortex inversion method provided by the above methods, the method comprising: S1: Obtain meteorological parameters, aircraft model parameters and ADS-B data, and calculate the tail vortex circulation through meteorological parameters, aircraft model parameters and ADS-B data; S2: Select the scanning mode and coordinate system type of the laser radar, and construct an axial scanning coordinate system through the scanning mode and coordinate system type; S3: acquiring the detection point coordinates, the left vortex axis and the right vortex axis in the axial scanning coordinate system, and constructing a first radial velocity algorithm through the detection point coordinates, the left vortex axis, the right vortex axis and the tail vortex circulation; S4: acquiring a non-wake area and a wake area in the axial scanning coordinate system, calculating a background wind velocity in the non-wake area by using a first radial velocity algorithm; and constructing a second radial velocity algorithm for the wake area by using the background wind velocity and the first radial velocity algorithm; S5: determining a range gate in the wake region, obtaining a detection point coordinate set of the range gate, obtaining a detection point coordinate pair in the detection point coordinate set, obtaining a coordinate pair gradient absolute value of the detection point coordinate pair by a second radial velocity algorithm, and obtaining a relative vortex core position by the coordinate pair gradient absolute value; S6: In the area where the relative vortex core position is located, the first real vortex core position and the second real vortex core position are obtained by a second radial velocity algorithm, the distance between the first real vortex core position and the second real vortex core position is calculated, and the second real vortex core position is iterated until the distance between the first real vortex core position and the second real vortex core position converges to obtain the real vortex core position.

[0062] The above described system, device, product and medium embodiments are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment. Ordinary technicians in this field can understand and implement them without creative work.

[0063] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A laser radar wake vortex inversion method, characterized in that: include: S1: Obtain meteorological parameters, aircraft model parameters and ADS-B data, and calculate the tail vortex circulation through meteorological parameters, aircraft model parameters and ADS-B data; S2: Select the scanning mode and coordinate system type of the laser radar, and construct an axial scanning coordinate system through the scanning mode and coordinate system type; S3: acquiring the detection point coordinates, the left vortex axis and the right vortex axis in the axial scanning coordinate system, and constructing a first radial velocity algorithm through the detection point coordinates, the left vortex axis, the right vortex axis and the tail vortex circulation; S4: acquiring a non-wake area and a wake area in the axial scanning coordinate system, calculating a background wind velocity in the non-wake area by using a first radial velocity algorithm; and constructing a second radial velocity algorithm for the wake area by using the background wind velocity and the first radial velocity algorithm; S5: determining a range gate in the wake region, obtaining a detection point coordinate set of the range gate, obtaining a detection point coordinate pair in the detection point coordinate set, obtaining a coordinate pair gradient absolute value of the detection point coordinate pair by a second radial velocity algorithm, and obtaining a relative vortex core position by the coordinate pair gradient absolute value; S6: In the area where the relative vortex core position is located, the first real vortex core position and the second real vortex core position are obtained by a second radial velocity algorithm, the distance between the first real vortex core position and the second real vortex core position is calculated, and the second real vortex core position is iterated until the distance between the first real vortex core position and the second real vortex core position converges to obtain the real vortex core position.

2. A laser radar wake vortex inversion method according to claim 1, characterized in that: Step S3 further comprises: S31: Acquire the coordinates of any point in the axial scanning coordinate system as the detection point coordinates, and acquire the left vortex axis and the right vortex axis through aircraft model parameters and ADS-B data; S32: obtaining the coordinates of any point on the left vortex axis as the left vortex axis point coordinates, calculating the left virtual vortex core position through the left vortex axis point coordinates and the detection point coordinates, obtaining the coordinates of any point on the right vortex axis as the right vortex axis point coordinates, calculating the right virtual vortex core position through the right vortex axis point coordinates and the detection point coordinates; S33: calculating the left distance between the detection point coordinates and the left virtual vortex core position through the left virtual vortex core position and the detection point coordinates, and calculating the right distance between the detection point coordinates and the right virtual vortex core position through the right virtual vortex core position and the detection point coordinates; S34: calculating the left absolute radial velocity of the detection point coordinates relative to the left virtual vortex core position through the left distance and the tail vortex circulation, and calculating the right absolute radial velocity of the detection point coordinates relative to the right virtual vortex core position through the right distance and the tail vortex circulation; S35: Calculate the left radial velocity vector and the right radial velocity vector in sequence according to the left distance and the right distance respectively; S36: Constructing a first radial velocity algorithm by detecting the point coordinates, the left absolute radial velocity, the right absolute radial velocity, the left radial velocity vector and the right radial velocity vector.

3. A laser radar wake vortex inversion method according to claim 1, characterized in that: Step S4 further comprises: S41: acquiring the wake region and the non-wake region in the axial scanning coordinate system according to the left virtual vortex core position and the right virtual vortex core position; S42: sampling the coordinates of the detection points in the non-wake area to obtain the coordinate samples of the detection points in the non-wake area; S43: Calculating the background wind radial velocity of the non-wake area detection point coordinate sample by a first radial velocity algorithm, and obtaining the background wind velocity by calculating the average value of the background wind radial velocity; S44: Substituting the background wind speed into the first radial velocity algorithm to construct a second radial velocity algorithm for the wake region.

4. A laser radar wake vortex inversion method according to claim 1, characterized in that: Step S5 further comprises: S51: selecting a range gate in the wake area, selecting detection point coordinates on the range gate to form a detection point coordinate set, acquiring adjacent detection point coordinates in the detection point coordinate set to form a detection point coordinate pair, wherein the detection point coordinate pair includes a first detection point coordinate and a second detection point coordinate; S52: Calculate the first radial velocity of the coordinates of the first detection point by using the second radial velocity algorithm; calculate the second radial velocity of the coordinates of the second detection point by using the second radial velocity algorithm; S53: Obtaining the absolute value of the gradient of the detection point coordinate pair by calculating the absolute value of the gradient of the first radial velocity and the second radial velocity; S54: Calculate the absolute values ​​of the gradients of all coordinate pairs, and take the position of the detection point coordinate pair with the largest absolute value of the gradient as the relative vortex core position.

5. The laser radar wake vortex inversion method according to claim 1, characterized in that: Step S6 further comprises: S61: Selecting a first angle gate in the area where the relative vortex core position is located, and dividing the area where the relative vortex core position is located by the first angle gate to obtain a first angle gate set; the coordinates of one end of the first angle gate are the first angle gate detection point coordinates, and the coordinates of the other end of the first angle gate are the second angle gate detection point coordinates; S62: Calculate the first angle gate radial velocity of the first angle gate detection point coordinates by the second radial velocity algorithm; calculate the second angle gate radial velocity of the second angle gate detection point coordinates by the second radial velocity algorithm; S63: obtaining a first gradient absolute value of the first angle gate by calculating the absolute values ​​of the gradients of the radial velocity of the first angle gate and the radial velocity of the second angle gate, calculating all the first gradient absolute values ​​in the first angle gate set, and taking the position of the first angle gate with the largest first gradient absolute value as the first real vortex core position; S64: selecting a second angle gate in the area where the relative vortex core position is located, dividing the area where the relative vortex core position is located by the second angle gate to obtain a second angle gate set, the coordinates of one end of the second angle gate are the coordinates of the detection point of the third angle gate, and the coordinates of the other end of the second angle gate are the coordinates of the detection point of the fourth angle gate; S65: Calculating the third angle gate radial velocity of the third angle gate detection point coordinates by the second radial velocity algorithm; Calculating the fourth angle gate radial velocity of the fourth angle gate detection point coordinates by the second radial velocity algorithm; S66: Obtain a second gradient absolute value of the second angle gate by calculating the absolute values ​​of the gradients of the radial velocity of the third angle gate and the radial velocity of the fourth angle gate, calculate all the second gradient absolute values ​​in the second angle gate set, and take the position of the second angle gate with the largest second gradient absolute value as the second real vortex core position; S67: Calculate the distance between the first real vortex core position and the second real vortex core position, iterate the second real vortex core position in the area where the relative vortex core position is located, until the distance between the first real vortex core position and the second real vortex core position converges, and use the iterated second real vortex core position as the real vortex core position.

6. A laser radar wake vortex inversion method according to claim 1, characterized in that: In step S2, the type of the coordinate system is a Cartesian coordinate system, and the scanning mode is an axial scanning mode.

7. A laser radar wake vortex inversion system, used to execute a laser radar wake vortex inversion method according to any one of claims 1 to 6, characterized in that: include: Wake vortex circulation module: used to obtain meteorological parameters, aircraft model parameters and ADS-B data, and calculate the wake vortex circulation based on meteorological parameters, aircraft model parameters and ADS-B data; Axial scanning coordinate system module: used to select the scanning mode and coordinate system type of the laser radar, and construct the axial scanning coordinate system through the scanning mode and coordinate system type; The first radial velocity algorithm module is used to obtain the detection point coordinates, the left vortex axis and the right vortex axis in the axial scanning coordinate system, and construct the first radial velocity algorithm through the detection point coordinates, the left vortex axis, the right vortex axis and the tail vortex circulation; The second radial velocity algorithm module is used to obtain the non-wake area and the wake area in the axial scanning coordinate system, calculate the background wind speed in the non-wake area by using the first radial velocity algorithm; and construct the second radial velocity algorithm in the wake area by using the background wind speed and the first radial velocity algorithm; A relative vortex core position calculation module is used to determine a range gate in the wake region, obtain a detection point coordinate set of the range gate, obtain a detection point coordinate pair in the detection point coordinate set, obtain a coordinate pair gradient absolute value of the detection point coordinate pair through a second radial velocity algorithm, and obtain a relative vortex core position through the coordinate pair gradient absolute value; A real vortex core position calculation module is used to obtain the first real vortex core position and the second real vortex core position by a second radial velocity algorithm in the area where the relative vortex core position is located, calculate the distance between the first real vortex core position and the second real vortex core position, and iterate the second real vortex core position until the distance between the first real vortex core position and the second real vortex core position converges to obtain the real vortex core position.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of a laser radar wake vortex inversion method as described in any one of claims 1 to 6 are implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of a laser radar wake vortex inversion method as described in any one of claims 1 to 6 are implemented.

10. A computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, characterized in that: When the program instructions are executed by a computer, the computer can execute the steps of a laser radar wake vortex inversion method as described in any one of claims 1 to 6.

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