Hidden meteorological detection system of bionic flapping-wing unmanned aerial vehicle

Abstract

The invention discloses a bionic flapping-wing unmanned aerial vehicle concealed meteorological detection system, and relates to the field of meteorological detection, and the bionic flapping-wing unmanned aerial vehicle concealed meteorological detection system comprises a bionic flapping-wing unmanned aerial vehicle platform system, a meteorological detection micro station, a data remote real-time transmission system and a meteorological detection ground control system. The bionic flapping wing unmanned aerial vehicle platform system comprises an imitated eagle nose, an imitated eagle fuselage, a flapping mechanism, a flapping wing and an imitated eagle empennage; the meteorological detection ground control system is respectively connected with the flapping mechanism and the meteorological detection micro station through the data remote real-time transmission system; the meteorological detection ground control system is used for uploading an unmanned aerial vehicle control instruction and a meteorological detection task; the flapping mechanism is used for controlling the flapping wings to flap up and down according to an unmanned aerial vehicle control instruction; the meteorological detection micro station is arranged on the eagle-imitating machine body; and the meteorological detection micro station is used for detecting meteorological data according to the meteorological detection task and issuing the meteorological data to the meteorological detection ground control system.

Description

Technical Field

[0001] The present application relates to the field of meteorological detection, and in particular to a bionic flapping-wing UAV concealed meteorological detection system. Background Art

[0002] Real-time acquisition of high-precision meteorological detection data is the key to accurate weather forecasting and warning. In recent years, a large number of meteorological detection systems based on drones have been developed, which enable meteorological detection to have the characteristics of rapid deployment, three-dimensional arrival, low-cost and reusable. However, the current drone meteorological detection systems have the following main problems: drone meteorological detection systems are all based on conventional drone platforms (for example, rotary-wing drones, fixed-wing drones, composite fixed-wing drones, helicopter drones, etc.), which are difficult to achieve all-round concealment in terms of radar, optoelectronics, and personnel audio and visual, and it is difficult to perform meteorological detection tasks in sensitive areas and overseas areas. Summary of the invention

[0003] The purpose of this application is to provide a bionic flapping-wing UAV covert weather detection system that can achieve all-round and covert weather detection.

[0004] To achieve the above objectives, this application provides the following solutions:

[0005] The present application provides a bionic flapping-wing UAV concealed meteorological detection system, comprising: a bionic flapping-wing UAV platform system, a meteorological detection microstation, a data remote real-time transmission system, and a meteorological detection ground control system;

[0006] The bionic flapping-wing UAV platform system comprises: an eagle-like nose, an eagle-like fuselage, a flapping mechanism, a flapping wing and an eagle-like tail wing; the eagle-like nose is arranged at the head of the eagle-like fuselage; the flapping wing is arranged at the upper part of the eagle-like fuselage; the eagle-like tail wing is arranged at the tail of the eagle-like fuselage; the flapping mechanism is arranged inside the eagle-like fuselage; the flapping mechanism is connected to the flapping wing;

[0007] The meteorological detection ground control system is connected to the flapping mechanism and the meteorological detection micro station respectively through the data remote real-time transmission system; the meteorological detection ground control system is used to upload UAV control instructions and meteorological detection tasks;

[0008] The flapping mechanism is used to control the flapping wing to flap up and down according to the drone control instruction;

[0009] The meteorological detection microstation is arranged on the eagle-like fuselage; the meteorological detection microstation is used to detect meteorological data according to the meteorological detection mission, and send the meteorological data to the meteorological detection ground control system through the data remote real-time transmission system.

[0010] Optionally, the meteorological data includes: total pressure, static pressure, angle of attack, sideslip angle, temperature, air pressure and humidity;

[0011] The meteorological detection microstation includes: detection sensors; the detection sensors include: total static pressure sensor, angle of attack sensor, sideslip angle sensor, static temperature probe, air pressure sensor and humidity sensor;

[0012] The total static pressure sensor is used to collect the total pressure and the static pressure; the angle of attack sensor is used to collect the angle of attack; the sideslip angle sensor is used to collect the sideslip angle; the static temperature probe is used to collect the temperature; the air pressure sensor is used to collect the air pressure; and the humidity sensor is used to collect the humidity.

[0013] Optionally, the meteorological data also includes: wind speed and wind direction;

[0014] The bionic flapping wing UAV platform system further includes: a flight control navigation system; the flight control navigation system is arranged inside the eagle-like fuselage; the flight control navigation system is used to obtain the flight ground speed;

[0015] The meteorological detection microstation also includes: an atmospheric computer; the atmospheric computer is connected to the angle of attack sensor, the sideslip angle sensor and the flight control navigation system respectively; the atmospheric computer is used to solve the wind speed and wind direction according to the angle of attack, the sideslip angle and the flight ground speed using a vector triangle method.

[0016] Optionally, before using the detection sensor to collect data, the detection sensor is inspected and calibrated;

[0017] The atmospheric computer is also used to correct the meteorological data, and send the corrected meteorological data as the final meteorological data to the meteorological detection ground control system through the data remote real-time transmission system.

[0018] Optionally, the weather detection ground control system includes: a processor, a remote controller and an omnidirectional antenna;

[0019] The processor is used to receive the meteorological data sent by the data remote real-time transmission system through the omnidirectional antenna, and to perform quality identification on the meteorological data, and to issue an alarm message according to the quality identification result; the remote controller is used to send the UAV control instructions and the meteorological detection tasks.

[0020] Optionally, the processor is further used to identify and track spatial cloud boundaries based on humidity in the meteorological data.

[0021] Optionally, in terms of performing quality identification on the meteorological data and issuing alarm information according to the quality identification result, the processor is specifically configured to:

[0022] A plurality of quality control methods are used to respectively mark the quality of the meteorological data. If the quality marking results of two or more quality control methods are abnormal, an alarm message is issued.

[0023] Optionally, in terms of identifying and tracking a spatial cloud boundary according to humidity in the meteorological data, the processor is specifically configured to:

[0024] When the bionic flapping-wing UAV concealed meteorological detection system flies at the current altitude according to the initial heading angle, if the humidity in the meteorological data is greater than or equal to the cloud boundary humidity threshold, it maintains straight-line flight until the real-time detected humidity is less than the cloud boundary humidity threshold, and the position of the bionic flapping-wing UAV concealed meteorological detection system at this time is determined as the first cloud boundary point at the current altitude;

[0025] After determining the first cloud boundary point, the initial heading angle is increased by the first set angle to obtain the first heading angle. At this time, the bionic flapping-wing UAV concealed meteorological detection system flies in a straight line at the current altitude according to the first heading angle until the real-time detected humidity is less than the cloud boundary humidity threshold. The position of the bionic flapping-wing UAV concealed meteorological detection system at this time is determined as the second cloud boundary point at the current altitude;

[0026] After determining the second cloud boundary point, the angle of the first heading angle is reduced by the first set angle to obtain a second heading angle. At this time, the bionic flapping-wing UAV concealed meteorological detection system flies in a straight line at the current altitude according to the second heading angle until the real-time detected humidity is less than the cloud boundary humidity threshold. The position of the bionic flapping-wing UAV concealed meteorological detection system at this time is determined as the third cloud boundary point at the current altitude;

[0027] After determining the third cloud boundary point, repeat the process of determining the second cloud boundary point and the third cloud boundary point multiple times until the distance between the current flight position and the initial flight position is within the set range, connect all the cloud boundary points, and obtain the cloud boundary at the current altitude.

[0028] Optionally, the bionic flapping-wing UAV platform system further includes: a power energy system; the power energy system is arranged inside the eagle-like fuselage; the power energy system is connected to the flapping mechanism and the meteorological detection microstation.

[0029] Optionally, the data remote real-time transmission system includes: a data link system.

[0030] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0031] The present application provides a bionic flapping-wing UAV concealed meteorological detection system. The bionic flapping-wing UAV platform system includes an eagle-like nose, an eagle-like fuselage, a flapping mechanism, flapping wings and an eagle-like tail. The meteorological detection microstation is set on the eagle-like fuselage. The flapping mechanism is used to control the flapping wings to flap up and down according to the UAV operation instructions. The appearance and flapping method of the meteorological detection system imitate birds, which can achieve photoelectric and visual concealment of personnel. It does not have a propeller, which can avoid the obvious noise caused by the high-speed rotation of the propeller, and has good auditory concealment of personnel. Therefore, the present application can realize meteorological detection in an all-round and concealed manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 A structural block diagram of a bionic flapping-wing UAV concealed weather detection system provided in one embodiment of the present application;

[0034] Figure 2 for Figure 1 Schematic diagram of the structure of the bionic flapping-wing UAV platform system in the bionic flapping-wing UAV concealed meteorological detection system;

[0035] Figure 3 A schematic diagram of a cloud boundary determination process provided in an embodiment of the present application.

[0036] Figure numerals: eagle-like nose—1, eagle-like fuselage—2, flapping wing—3, eagle-like tail—4. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0038] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0039] See also Figure 1The bionic flapping-wing UAV concealed meteorological detection system of this embodiment includes: a bionic flapping-wing UAV platform system, a meteorological detection microstation, a data remote real-time transmission system and a meteorological detection ground control system. The bionic flapping-wing UAV platform system and the meteorological detection microstation are both connected to the meteorological detection ground control system through the data remote real-time transmission system.

[0040] See also Figure 2 The bionic flapping wing UAV platform system includes: an eagle-like head 1, an eagle-like fuselage 2, a flapping mechanism, a flapping wing 3 and an eagle-like tail wing 4; the eagle-like head 1 is arranged at the head of the eagle-like fuselage 2; the flapping wing 3 is arranged at the upper part of the eagle-like fuselage 2; the eagle-like tail wing 4 is arranged at the tail of the eagle-like fuselage 2; the flapping mechanism is arranged inside the eagle-like fuselage 2; the flapping mechanism is connected to the flapping wing 3. The flapping mechanism is a flapping / gliding flapping mechanism, and the flapping wing 3 is a passive torsion flexible flapping wing.

[0041] The meteorological detection ground control system is connected to the flapping mechanism and the meteorological detection micro station respectively through the data remote real-time transmission system; the meteorological detection ground control system is used to upload UAV control instructions and meteorological detection tasks.

[0042] The flapping mechanism is used to control the flapping wing 3 to flap up and down according to the drone control instruction.

[0043] The meteorological detection microstation is arranged on the eagle-like fuselage 2; the meteorological detection microstation is used to detect meteorological data according to the meteorological detection mission, and send the meteorological data to the meteorological detection ground control system through the data remote real-time transmission system.

[0044] In another exemplary embodiment of the present application, the bionic flapping-wing UAV platform system also includes: a power energy system; the power energy system is arranged inside the eagle-like fuselage 2; the power energy system is connected to the flapping mechanism and the meteorological detection microstation.

[0045] The bionic flapping wing UAV platform system of this embodiment has a flapping mode of its flapping wing 3 designed according to bird bionics, adopts a conventional layout, and the flapping wing 3 simply flaps up and down; the eagle-like tail wing 4 is in an inverted T shape, and the trailing edge of the eagle-like tail wing 4 is arranged with an elevator aileron. The flapping mechanism is placed at the front end of the eagle-like fuselage 2 of the flapping wing aircraft, the power energy system is arranged inside the eagle-like fuselage 2 and located at the trailing edge of the flapping wing 3, and the tail of the fuselage where the eagle-like tail wing 4 is located is also provided with electronic equipment, and space is reserved in the eagle-like nose 1 for placing the mission load. The eagle-like nose 1, flapping wing 3 and eagle-like tail wing 4 are painted with reference to the eagle on the Qinghai-Tibet Plateau, which can realize the radar, optoelectronic, and personnel audio-visual concealment of the system.

[0046] Furthermore, the bionic flapping-wing UAV platform system of this embodiment has all-round stealth characteristics. The bionic flapping-wing UAV platform system adopts a motor drive mode, and the materials of the entire fuselage include carbon fiber, foam and film materials, among which the radar reflection area of ​​the film material and the foam material is very small, so that it has a radar reflection area equivalent to that of birds; the shape and flapping mode of the bionic flapping-wing UAV platform system imitate birds, which can achieve photoelectric and personnel visual concealment; the bionic flapping-wing UAV platform system does not have the characteristic obvious noise of high-speed rotation of the propeller, and the noise level is less than 60dB at a distance of 50 meters, which has good personnel auditory concealment.

[0047] In another exemplary embodiment of the present application, the meteorological data includes: total pressure, static pressure, angle of attack, sideslip angle, temperature, air pressure and humidity.

[0048] The meteorological detection microstation includes: detection sensors; the detection sensors include: total static pressure sensor, angle of attack sensor, sideslip angle sensor, static temperature probe, air pressure sensor and humidity sensor. The total static pressure sensor is used to collect the total pressure and the static pressure; the angle of attack sensor is used to collect the angle of attack; the sideslip angle sensor is used to collect the sideslip angle; the static temperature probe is used to collect the temperature; the air pressure sensor is used to collect the air pressure; the humidity sensor is used to collect the humidity.

[0049] Furthermore, the angle of attack sensor may be a wind vane angle of attack sensor, and the sideslip angle sensor may be a wind vane sideslip angle sensor. The wind vane angle of attack sensor and the wind vane sideslip angle sensor adopt a compact design as close to the tube head as possible to effectively avoid the turbulence generated by the tube head during flight, thereby improving the accuracy of the angle of attack and sideslip angle acquisition; the wind vane angle of attack sensor and the wind vane sideslip angle sensor adopt an electrical double redundancy design; the wind vane has an optimized shape design, small moment of inertia, small starting torque, and good low-speed detection capability and dynamic response capability.

[0050] In another exemplary embodiment of the present application, in order to ensure the integrity of the meteorological data, the meteorological data also includes: wind speed and wind direction.

[0051] The bionic flapping-wing UAV platform system further includes: a flight control navigation system; the flight control navigation system is arranged inside the eagle-like fuselage 2; the flight control navigation system is used to obtain the flight ground speed.

[0052] The meteorological detection microstation also includes: an atmospheric computer; the atmospheric computer is connected to the angle of attack sensor, the sideslip angle sensor and the flight control navigation system respectively; the atmospheric computer is used to perform three-dimensional wind field solution using a vector triangle method according to the angle of attack, the sideslip angle and the flight ground speed to obtain wind speed and wind direction.

[0053] In another exemplary embodiment of the present application, in order to effectively ensure the accuracy of meteorological detection, the meteorological detection micro station further realizes high-precision detection. Specifically, before the detection sensor in the meteorological detection micro station is used to collect data, the detection sensor is inspected and calibrated; the atmospheric computer in the meteorological detection micro station is also used to correct the meteorological data, and the corrected meteorological data is sent as the final meteorological data to the meteorological detection ground control system through the data remote real-time transmission system.

[0054] In practical applications, the high-precision detection method implemented by the meteorological detection microstation includes the following steps:

[0055] a. Use standard calibration equipment to inspect and calibrate sensors that collect total pressure, static pressure, angle of attack, sideslip angle, temperature, air pressure and humidity.

[0056] b. Use standard calibration equipment to test and calibrate total pressure, static pressure, angle of attack, sideslip angle, temperature, air pressure and humidity.

[0057] c. The meteorological detection microstation is integrated on the bionic flapping-wing UAV platform system, and an open wind tunnel is used to inspect and calibrate wind speed and direction.

[0058] d. Based on all the above inspection and calibration data, establish a correction formula and integrate it into the atmospheric computer to make high-precision corrections to the total pressure, static pressure, angle of attack, sideslip angle, temperature, air pressure, humidity, wind speed, wind direction and other detection data in real time. The correction formulas are different for different data, and are determined based on the corresponding measured data.

[0059] In another exemplary embodiment of the present application, the data remote real-time transmission system includes: a data link system. The data link system is used to transmit meteorological data and reconnaissance data of the UAV.

[0060] In another exemplary embodiment of the present application, the weather detection ground control system includes: a processor, a remote controller and an omnidirectional antenna.

[0061] The processor is used to receive the meteorological data sent by the data remote real-time transmission system through the omnidirectional antenna, and to perform quality identification on the meteorological data, and to issue an alarm message according to the quality identification result; the remote controller is used to send the UAV control instructions and the meteorological detection tasks.

[0062] The meteorological detection ground control system can realize the mission planning of UAV meteorological detection, real-time modification of tasks, real-time uploading of UAV control instructions, real-time monitoring of UAV attitude, etc.

[0063] In another exemplary embodiment of the present application, in order to make the meteorological detection system more intelligent and effectively ensure the validity of the detection data, in terms of quality identification of the meteorological data and issuing an alarm message according to the quality identification result, the processor is specifically used to: use multiple quality control methods to respectively identify the quality of the meteorological data, and if the quality identification results of more than two quality control methods are abnormal, an alarm message is issued. The processor is built with meteorological data real-time processing and display software, and the meteorological data real-time processing and display software is used to realize the above functions.

[0064] Specifically, the real-time processing and display software for meteorological data includes abnormal meteorological data judgment and confirmation criteria and abnormal meteorological data intelligent processing methods.

[0065] In the real-time processing and display software for meteorological data, the determination and confirmation of abnormal meteorological data can be realized, wherein the abnormal data refers to data that fails one or more of the following data checks.

[0066] This embodiment, based on the conventional sounding data quality control methods (e.g., extreme value check, internal consistency check, temperature inversion check, wind shear check, statics check), combined with the characteristics of the bionic flapping-wing UAV meteorological detection system, specifically supplements the following checks:

[0067] ① Stiffness value check: To detect stiffness value, a single vertical profile is fitted by sliding least squares.

[0068] ② Check for outlier data. Data with a change value of detection elements exceeding 3 to 5 times the standard deviation of the statistical sample are defined as outliers, and the time variation rate information of the detection elements in a single vertical profile is judged using a double-weight algorithm.

[0069] ③ Monotonicity check. Check the trend of air pressure and altitude variables: During the ascent of the drone, if the detected air pressure increases vertically / remains unchanged and the detected altitude decreases / remains unchanged, the current air pressure and altitude observations are considered suspicious, and the judgment criteria for the descent phase of the drone are opposite to those for the ascent phase.

[0070] ④ Comprehensive decision. Traverse the quality control codes generated in all inspection steps: If an error mark appears in any quality control step, the data is considered to be wrong; for suspicious data that cannot be determined to be wrong, if more than two quality control methods consider it suspicious, then the data is determined to be wrong, otherwise, the data is still suspicious.

[0071] Each of the above inspection steps only carries out quality identification. If the data is correct, the quality identification is 0; if the data is suspicious, the quality identification is 1; if the data is wrong, the quality identification is 2; if the data is not inspected, the quality identification is 9. No arbitrary elimination is performed to ensure that each inspection step is relatively independent and the results do not interfere with each other.

[0072] Furthermore, the intelligent processing method of abnormal meteorological data in the meteorological data real-time processing and display software is as follows:

[0073] The real-time processing and display software for meteorological data will intelligently confirm in real time whether the abnormal meteorological data conditions are met. If the abnormal conditions are met, the real-time processing and display software for meteorological data will intelligently alarm and display the starting position data of the abnormal data. The processing method is manually selected by the drone operator, and the processing methods include the following modes. Mode 1 continues to execute the mission: ignore the abnormal data alarm, this mode is the system default mode; Mode 2 repeats the abnormal area meteorological detection task: the system will intelligently re-plan the flight mission route, turn around and perform meteorological detection in the abnormal area again; Mode 3 returns to end the mission. The above three modes are determined by the operator in real time on site, and Mode 1 is the default mode.

[0074] In another exemplary embodiment of the present application, in another exemplary embodiment of the present application, the processor is also used to identify and track spatial cloud boundaries based on the humidity in the meteorological data.

[0075] In terms of identifying and tracking the spatial cloud boundary according to the humidity in the meteorological data, the processor is specifically used to:

[0076] When the bionic flapping-wing UAV concealed meteorological detection system flies at the current altitude according to the initial heading angle, if the humidity in the meteorological data is greater than or equal to the cloud boundary humidity threshold, it maintains straight flight until the real-time detected humidity is less than the cloud boundary humidity threshold. The position of the bionic flapping-wing UAV concealed meteorological detection system at this time is determined as the first cloud boundary point at the current altitude.

[0077] After determining the first cloud boundary point, the initial heading angle is increased by the first set angle to obtain the first heading angle. At this time, the bionic flapping-wing UAV concealed meteorological detection system flies in a straight line at the current altitude according to the first heading angle. During the straight-line flight, the real-time detected humidity is greater than or equal to the cloud boundary humidity threshold, until the real-time detected humidity is less than the cloud boundary humidity threshold, and the position of the bionic flapping-wing UAV concealed meteorological detection system at this time is determined as the second cloud boundary point at the current altitude. Among them, the first set angle can be 135°.

[0078] After determining the second cloud boundary point, the first heading angle is reduced by the first set angle to obtain the second heading angle. At this time, the bionic flapping-wing UAV concealed meteorological detection system flies in a straight line at the current altitude according to the second heading angle. During the straight-line flight, the real-time detected humidity is greater than or equal to the cloud boundary humidity threshold, until the real-time detected humidity is less than the cloud boundary humidity threshold. The position of the bionic flapping-wing UAV concealed meteorological detection system at this time is determined as the third cloud boundary point at the current altitude.

[0079] After determining the third cloud boundary point, repeat the process of determining the second cloud boundary point and the third cloud boundary point multiple times until the distance between the current flight position and the initial flight position is within the set range, connect all the cloud boundary points, and obtain the cloud boundary at the current altitude.

[0080] In practical applications, the specific process of realizing the autonomous identification and tracking of the above-mentioned spatial cloud boundary can be described as follows:

[0081] a. Based on the historical cloud detection data of the meteorological department, 84% relative humidity is determined as the cloud boundary humidity threshold, which can be adjusted according to specific mission requirements.

[0082] b. Adjust the angle of the visible light camera of the bionic flapping-wing UAV's concealed weather detection system on the ground so that its detection direction is forward.

[0083] c. On the ground, on the meteorological detection ground control system of the bionic flapping-wing UAV concealed meteorological detection system, plan the detection route.

[0084] d. After hand-throwing takeoff, the bionic flapping-wing drone with concealed meteorological detection system climbs, follows the preset route, and flies in a fully autonomous mission mode to conduct real-time detection of meteorological data. The detection data is transmitted back to the meteorological detection ground control system in real time through the data link.

[0085] e. In the meteorological detection ground control system, the humidity detection and cloud boundary humidity threshold are judged in real time. The process of determining the cloud boundary is as follows: Figure 3 As shown, see steps f to k for details.

[0086] f. When the humidity is greater than the cloud boundary humidity threshold, the bionic flapping-wing UAV concealed meteorological detection system flies in a straight line according to the initial heading angle φ1 and the current altitude H0.

[0087] g. Until the real-time detected humidity is less than the cloud boundary humidity threshold, the bionic flapping-wing UAV concealed meteorological detection system tracks the first cloud boundary point b1 at the current height H0.

[0088] h. The bionic flapping-wing UAV concealed meteorological detection system then changes the heading angle and flies in a straight line at the first heading angle φ2=φ1+135°, that is, flies outside the cloud boundary until the real-time detected humidity is less than the cloud boundary humidity threshold. At this time, the bionic flapping-wing UAV concealed meteorological detection system tracks the second cloud boundary point b2 at the current height H0.

[0089] i. The bionic flapping-wing UAV concealed meteorological detection system then changes the heading angle and flies in a straight line at a second heading angle φ3=φ2-135°, that is, flies into the cloud boundary until the real-time detected humidity is less than the cloud boundary humidity threshold. At this time, the bionic flapping-wing UAV concealed meteorological detection system tracks the third cloud boundary point b3 at the current altitude H0.

[0090] j. Repeat steps h and i (for example, fly in a straight line with a third heading angle φ4=φ3+135°, that is, fly outside the cloud boundary, track the fourth cloud boundary point b4 at the current altitude H0, etc.) until the distance between the current flight position and the initial flight position is within the set range (that is, the flight trajectory of the bionic flapping-wing UAV covert meteorological detection system is roughly close to an ellipse). At this time, the bionic flapping-wing UAV covert meteorological detection system tracks the mth cloud boundary point bm at the current altitude H0.

[0091] k. Connect b0, b1, b2…bm to get the cloud boundary at the current height H0. The cloud boundary is an ellipse.

[0092] At present, the technologies closely related to UAV meteorological detection systems are mainly the following.

[0093] ① A multi-parameter meteorological monitoring device and an unmanned aerial vehicle (UAV)-mounted monitoring system and a method of use. A highly integrated multi-parameter meteorological monitoring device is proposed, which can accurately detect meteorological parameters such as atmospheric wind speed, atmospheric wind direction, rainfall, solar radiation, atmospheric temperature, atmospheric humidity and atmospheric pressure. The device is integrated on a rotary-wing UAV and can quickly reach a designated location to conduct large-scale and accurate monitoring of meteorological parameters.

[0094] ② A wind field monitoring method and system, which combines the low-altitude wind speed and direction profile data of the target area with the instantaneous wind speed and direction observation data and drone attitude data at different heights and positions near the ground obtained by an airborne meteorological station carried by a drone, and corrects and generates near-real-time three-dimensional spatial data of wind speed and direction in the near-ground area, which can be used to quickly obtain continuous three-dimensional wind field information in various regions and scenes.

[0095] ③ A meteorological detection system based on a meteorological drone. A meteorological detection system based on a meteorological drone is proposed, which can measure wind speed, temperature, humidity, air pressure and other detection data. The system includes a drone body (fixed-wing aircraft), a ground support system, an airborne signal transmission system, an airborne power system, an airborne flight control system and an airborne atmospheric measurement system. The excellent aerodynamic shape of the invention allows it to be used for long-term meteorological monitoring in special civilian areas and for military meteorological reconnaissance.

[0096] ④ A meteorological data real-time monitoring multi-channel early warning system, discloses a meteorological data real-time monitoring multi-channel early warning system, relates to the field of data monitoring technology, the invention comprises a meteorological data acquisition module, a meteorological data processing module, a terrain analysis module, a drone deployment module, a ground situation acquisition module, an emergency analysis module, an early warning terminal and a database, by using drones to collect data at the meteorological disaster site, the drones are flexible and fast, can be quickly deployed in meteorological disaster areas, monitor ground conditions in real time, and more comprehensively assess the impact of meteorological disasters. Meteorological data acquisition module, no clear measurement parameters are seen.

[0097] ⑤ A meteorological detection UAV, which discloses a meteorological detection UAV based on a rotorcraft, equipped with a meteorological detector, and the function of the detector is not described in detail.

[0098] ⑥ A meteorological drone and observation system, discloses a meteorological drone, including a meteorological drone body (rotorcraft, composite fixed-wing aircraft), a recoil landing mechanism, a water sample collection control mechanism, and a wireless receiving circuit. A meteorological data collection module, but no clear measurement parameters are found.

[0099] ⑦ An airborne weather station device suitable for unmanned aerial vehicles and a method for using the same, discloses an airborne weather station device suitable for unmanned aerial vehicles and a method for using the same, the unmanned aerial vehicle is a multi-rotor aircraft, the device includes a weather station outer shell, a weather station base, a power module, a transmission module, and a control module. No description of the weather station is found.

[0100] ⑧A meteorological detection UAV suitable for multi-task switching. Based on a helicopter unmanned aerial vehicle, a meteorological detection UAV suitable for multi-task switching is proposed, which can ensure the detection effect while reducing the difficulty of load layout.

[0101] ⑨ A UAV meteorological observation device and method are proposed to address the situation where the UAV flies away before the material is collected.

[0102] ⑩ An unmanned aerial vehicle meteorological observation system, including a first composite wing unmanned aerial vehicle meteorological observation subsystem, a second composite wing unmanned aerial vehicle meteorological observation subsystem, a multi-rotor unmanned aerial vehicle meteorological observation subsystem and a data center. Each meteorological observation subsystem has an aircraft, a sensor subsystem, a command and control platform subsystem and an integrated support platform subsystem. It is an unmanned aerial vehicle observation system based on multiple combinations and observation methods.

[0103] The above 10 technologies closely related to the UAV meteorological detection system have the following deficiencies in providing meteorological support: 1) It is difficult to achieve all-round concealment; 2) The meteorological detection microstation used in the UAV meteorological detection system does not detect complete meteorological parameters, including only wind speed, humidity, temperature, air pressure and other parameters, but does not include wind direction parameters; 3) The meteorological detection microstation used in the UAV meteorological detection system only describes the composition and functions of the meteorological detection microstation, and lacks technical methods to effectively ensure high-precision detection of the meteorological detection microstation; 4) The UAV meteorological detection system does not mention the ability to determine and confirm abnormal meteorological data in real time. It can be seen that the current UAV meteorological detection system not only does not take into account the concealment characteristics of the system, but also lacks technical methods to ensure high-precision meteorological detection data and lacks intelligent data detection, which greatly affects the application and promotion of UAV meteorological detection systems in the military field.

[0104] In response to the shortcomings of current UAV meteorological detection systems in terms of meteorological support, such as lack of concealment, incomplete detection parameters / low accuracy, and low level of detection intelligence, this application provides a bionic flapping-wing UAV covert meteorological detection system with the characteristics of concealed flight mode / appearance, low radar reflection area, low noise, and intelligent quality control processing of meteorological data. It can be operated by one person and deployed quickly, and can conduct covert, high-precision, all-weather, high / low altitude, and remote real-time data transmission of meteorological data detection, and can also realize autonomous identification and tracking of cloud boundaries in space.

[0105] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0106] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A bionic flapping-wing UAV concealed weather detection system, characterized in that: The bionic flapping-wing UAV concealed meteorological detection system comprises: a bionic flapping-wing UAV platform system, a meteorological detection microstation, a remote real-time data transmission system and a meteorological detection ground control system; The bionic flapping-wing UAV platform system comprises: an eagle-like nose, an eagle-like fuselage, a flapping mechanism, a flapping wing and an eagle-like tail wing; the eagle-like nose is arranged at the head of the eagle-like fuselage; the flapping wing is arranged at the upper part of the eagle-like fuselage; the eagle-like tail wing is arranged at the tail of the eagle-like fuselage; the flapping mechanism is arranged inside the eagle-like fuselage; the flapping mechanism is connected to the flapping wing; The meteorological detection ground control system is connected to the flapping mechanism and the meteorological detection micro station respectively through the data remote real-time transmission system; the meteorological detection ground control system is used to upload UAV control instructions and meteorological detection tasks; The flapping mechanism is used to control the flapping wing to flap up and down according to the drone control instruction; The meteorological detection microstation is arranged on the eagle-like fuselage; the meteorological detection microstation is used to detect meteorological data according to the meteorological detection mission, and send the meteorological data to the meteorological detection ground control system through the data remote real-time transmission system.

2. The bionic flapping-wing UAV concealed weather detection system according to claim 1 is characterized in that: The meteorological data include: total pressure, static pressure, angle of attack, sideslip angle, temperature, air pressure and humidity; The meteorological detection microstation includes: detection sensors; the detection sensors include: total static pressure sensor, angle of attack sensor, sideslip angle sensor, static temperature probe, air pressure sensor and humidity sensor; The total static pressure sensor is used to collect the total pressure and the static pressure; the angle of attack sensor is used to collect the angle of attack; the sideslip angle sensor is used to collect the sideslip angle; the static temperature probe is used to collect the temperature; the air pressure sensor is used to collect the air pressure; and the humidity sensor is used to collect the humidity.

3. The bionic flapping-wing UAV concealed weather detection system according to claim 2 is characterized in that: The meteorological data also includes: wind speed and wind direction; The bionic flapping wing UAV platform system further includes: a flight control navigation system; the flight control navigation system is arranged inside the eagle-like fuselage; the flight control navigation system is used to obtain the flight ground speed; The meteorological detection microstation also includes: an atmospheric computer; the atmospheric computer is connected to the angle of attack sensor, the sideslip angle sensor and the flight control navigation system respectively; the atmospheric computer is used to solve the wind speed and wind direction according to the angle of attack, the sideslip angle and the flight ground speed using a vector triangle method.

4. The bionic flapping-wing UAV concealed weather detection system according to claim 3 is characterized in that: Before using the detection sensor to collect data, inspecting and calibrating the detection sensor; The atmospheric computer is also used to correct the meteorological data, and send the corrected meteorological data as the final meteorological data to the meteorological detection ground control system through the data remote real-time transmission system.

5. The bionic flapping-wing UAV concealed weather detection system according to claim 1 is characterized in that: The meteorological detection ground control system comprises: a processor, a remote controller and an omnidirectional antenna; The processor is used to receive the meteorological data sent by the data remote real-time transmission system through the omnidirectional antenna, and to perform quality identification on the meteorological data, and to issue an alarm message according to the quality identification result; the remote controller is used to send the UAV control instructions and the meteorological detection tasks.

6. The bionic flapping-wing UAV concealed weather detection system according to claim 5 is characterized in that: The processor is also used to identify and track spatial cloud boundaries based on the humidity in the meteorological data.

7. The bionic flapping-wing UAV concealed weather detection system according to claim 5 is characterized in that: In terms of quality identification of the meteorological data and issuing alarm information according to the quality identification result, the processor is specifically used to: A plurality of quality control methods are used to respectively mark the quality of the meteorological data. If the quality marking results of two or more quality control methods are abnormal, an alarm message is issued.

8. The bionic flapping-wing UAV concealed weather detection system according to claim 6 is characterized in that: In terms of identifying and tracking the spatial cloud boundary according to the humidity in the meteorological data, the processor is specifically used to: When the bionic flapping-wing UAV concealed meteorological detection system flies at the current altitude according to the initial heading angle, if the humidity in the meteorological data is greater than or equal to the cloud boundary humidity threshold, it maintains straight-line flight until the real-time detected humidity is less than the cloud boundary humidity threshold, and the position of the bionic flapping-wing UAV concealed meteorological detection system at this time is determined as the first cloud boundary point at the current altitude; After determining the first cloud boundary point, the initial heading angle is increased by the first set angle to obtain the first heading angle. At this time, the bionic flapping-wing UAV concealed meteorological detection system flies in a straight line at the current altitude according to the first heading angle until the real-time detected humidity is less than the cloud boundary humidity threshold. The position of the bionic flapping-wing UAV concealed meteorological detection system at this time is determined as the second cloud boundary point at the current altitude; After determining the second cloud boundary point, the angle of the first heading angle is reduced by the first set angle to obtain a second heading angle. At this time, the bionic flapping-wing UAV concealed meteorological detection system flies in a straight line at the current altitude according to the second heading angle until the real-time detected humidity is less than the cloud boundary humidity threshold. The position of the bionic flapping-wing UAV concealed meteorological detection system at this time is determined as the third cloud boundary point at the current altitude; After determining the third cloud boundary point, repeat the process of determining the second cloud boundary point and the third cloud boundary point multiple times until the distance between the current flight position and the initial flight position is within the set range, connect all the cloud boundary points, and obtain the cloud boundary at the current altitude.

9. The bionic flapping-wing UAV concealed weather detection system according to claim 1 is characterized in that: The bionic flapping-wing UAV platform system also includes: a power energy system; the power energy system is arranged inside the eagle-like fuselage; the power energy system is connected to the flapping mechanism and the meteorological detection microstation.

10. The bionic flapping-wing UAV concealed weather detection system according to claim 1 is characterized in that: The data remote real-time transmission system comprises: a data link system.

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