Adjustable laser radar scanning method and system for solar irradiance prediction

Abstract

The invention discloses an adjustable laser radar scanning method and system for solar irradiance prediction, belongs to the technical field of laser radars, and solves the problems of insufficient monitoring precision, dynamic response delay and unstable prediction result of solar irradiance prediction realized by an existing laser radar. According to the invention, the solar trajectory is generated by calculating the solar elevation angle and azimuth angle of the sun per second from sunrise to sunset, the time sequence is obtained according to the change of the solar elevation angle, and the laser radar scanning time point and the solar azimuth angle variation are determined at the same time. By dynamically adjusting the scanning direction of the radar, the direct solar radiation path is accurately tracked, and the shielding condition of a cloud layer to solar radiation is accurately detected, so that the accuracy and timeliness of solar irradiance prediction are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of laser radars, and relates to an adjustable laser radar scanning method and system for solar irradiance prediction. Background Art

[0002] As the global demand for renewable energy increases, photovoltaic power generation, as an important clean energy source, has been widely used. However, a key difficulty in the photovoltaic power generation process is the volatility of solar irradiance, especially the dynamic changes of clouds in a short period of time have a significant impact on solar irradiance. In order to improve the power generation efficiency and stability of photovoltaic power stations, it is crucial to achieve accurate solar irradiance prediction.

[0003] Existing solar irradiance prediction methods mainly rely on meteorological monitoring and statistical models, but commonly used meteorological monitoring methods are difficult to cope with the impact of dynamic changes in clouds on short-term irradiance, especially under local weather conditions. Such prediction methods have low accuracy and have certain limitations when dealing with rapid changes in clouds and local weather conditions.

[0004] The laser radar technology, with its high-precision detection capability, can monitor the height, thickness, position and other information of the cloud layer in real time, becoming an important means to improve the accuracy of short-term irradiance prediction. For example, the patent with application publication number CN201804108U discloses a laser cloud radar rotation device, which can drive the laser cloud radar to rotate around the vertical axis and the horizontal axis respectively, and continuously detect the cloud layer according to the specified azimuth and pitch angle; the patent with application publication number CN218409115U discloses a large-range scanning device for cloud meter, which uses the angle adjustment mechanism to drive the bottom of the laser measurement box to make fine adjustments, so as to facilitate the adjustment of the angle of the laser measurement box and control the accuracy of the angle of the laser measurement box; the patent with application publication number CN201152899Y discloses a multi-directional pitch measurement device for laser cloud meter, which realizes that when the measurement box rotates on the bracket, it can be positioned every 30°, so that the laser cloud meter can measure the cloud height and cloud thickness in each pitch direction. However, traditional LiDAR systems can usually only scan at fixed angles and are difficult to flexibly adjust to adapt to changes in the direct path of the sun, affecting the accuracy of the prediction results. At the same time, although the above technology has achieved precise rotation of the LiDAR in hardware, there is currently no method proposed to study the dynamic rotation strategy of the radar.

[0005] Although the existing LiDAR technology can detect cloud characteristics such as cloud thickness and cloud base height, it only uses a fixed-angle scanning method. It is difficult to flexibly adjust the scanning angle of the LiDAR according to changes in the position of the sun, resulting in the following technical defects in the cloud monitoring process: (1) Insufficient ability to track the direct path of the sun: The fixed-angle scanning of the existing LiDAR cannot track the direct path of the sun in real time, resulting in insufficient monitoring accuracy of cloud-blocked solar irradiance. (2) Delayed response to dynamic cloud changes: Since the existing LiDAR cannot flexibly adjust the scanning angle, it is difficult to obtain accurate cloud data in a timely manner when the cloud changes rapidly, affecting the accuracy of short-term irradiance prediction. (3) Unstable irradiance prediction results: Due to the accumulation of deviations between the dynamic characteristics of the cloud layer and the path of the sun, traditional irradiance prediction often cannot fully reflect the irradiance changes under complex weather conditions, which in turn leads to unsatisfactory optimization of photovoltaic power station energy efficiency management. Therefore, at this stage, there is an urgent need to propose a method that can dynamically adjust the scanning direction of the lidar, accurately track the direct path of the sun, and obtain more accurate cloud information to meet the current solar irradiance prediction requirements and provide important technical support for power generation optimization and scheduling management of photovoltaic power stations. Summary of the invention

[0006] The technical solution of the present invention is used to solve the problems of insufficient monitoring accuracy, dynamic response delay and unstable prediction results in the existing laser radar for solar irradiance prediction.

[0007] The present invention solves the above technical problems through the following technical solutions:

[0008] The adjustable lidar scanning method for solar irradiance prediction includes the following steps:

[0009] Step S1, setting the rotation angle range and rotation angle adjustment rate of the laser radar; the rotation angle range includes an elevation angle range and an azimuth angle range;

[0010] Step S2, obtaining the latitude and longitude and date of the laser radar installation location, obtaining the sunrise time and sunset time of the day according to the date, calculating the solar altitude angle and azimuth angle from sunrise time to sunset time with a time interval of 1 second, generating a solar altitude angle sequence and a solar azimuth angle sequence, and generating a solar trajectory;

[0011] Step S3, initializing the start and stop parameters of the laser radar; the start and stop parameters include start time, shutdown time, start elevation angle and start azimuth angle;

[0012] Step S4, generating a time series of angle changes such as the sun altitude angle;

[0013] Step S5, calculating the time interval of the time series and the change in the solar azimuth angle;

[0014] Step S6, fixing the elevation angle of the laser radar, and performing multiple azimuth rotations and scans of the laser radar;

[0015] Step S7, fixing the elevation angle of the laser radar and calculating the scanning offset of each azimuth rotation performed by the laser radar;

[0016] Step S8, update the laser radar elevation angle, adjust the laser radar elevation angle to the next elevation angle, and repeat steps S5-S7 until the laser radar is turned off.

[0017] Furthermore, the start and stop parameters of the initialization laser radar in step S3 are specifically: setting the start time of the laser radar to the sunrise time t sunrise , set the laser radar shutdown time to sunset time t sunset , set the starting elevation angle of the laser radar to 0°, and set the starting azimuth angle of the laser radar to the solar azimuth angle φ corresponding to the sunrise time sun (t sunrise ).

[0018] Furthermore, the step S4 of generating a time series of equal angle changes of the solar altitude angle is specifically as follows: according to the rotation angle of the laser radar, the rate is adjusted to obtain the time point corresponding to the rotation angle of the solar altitude angle per unit time, and form an equally spaced time series (t sunrise ,...,t i-1 ,t i ,t i+1 ,...,t sunset ), the adjacent time points in the time series satisfy the following logic:

[0019] |θ sun (t i+1 )-θ sun (t i )|=ω*1

[0020] Where ω represents the rotation angle adjustment rate, t i represents the i-th time point, θ sun (t i ) represents the solar altitude angle corresponding to the i-th time point.

[0021] Furthermore, the time interval of the time series in step S5 is expressed by the following formula:

[0022] Δt θ =t i+1 -t i

[0023] In the formula, Δt θ represents the time interval, t i+1 represents the i+1th time point in the time series, t iRepresents the i-th time point in the time series.

[0024] Furthermore, in step S5, the change in the solar azimuth angle is calculated using the following formula:

[0025] Δφ θ =φ sun (t i+1 )-φ sun (t i )

[0026] In the formula, Δφ θ Represents the change in the solar azimuth, φ sun (t i+1 ) represents the solar azimuth corresponding to the i+1th time point, φ sun (t i ) represents the solar azimuth angle corresponding to the i-th time point.

[0027] Furthermore, step S6 includes the following steps:

[0028] Step S61, determine the scanning range of the laser radar azimuth [φ sun (t i )-R,φ sun (t i )+R], where R is the scanning radius of the laser radar azimuth;

[0029] Step S62, calculate the scanning radius R corresponding to different scanning times N, and select the maximum scanning times N corresponding to R ≥ 10 max As the number of scans at the fixed elevation angle, the corresponding scanning radius is the scanning radius of the laser radar azimuth angle at the fixed elevation angle.

[0030] Furthermore, the scanning radius in step S61 is calculated using the following formula:

[0031]

[0032] Where N represents the number of scans.

[0033] Furthermore, in step S7, the scanning offset is calculated using the following formula:

[0034]

[0035] Where ΔR represents the scanning offset of each azimuth rotation performed by the laser radar, N i represents the number of scans at a fixed elevation angle, Δφ θ Indicates the change in the solar azimuth.

[0036] Further, in step S8, the laser radar elevation angle is updated, and after the laser radar elevation angle is adjusted to the next elevation angle, steps S5-S7 are repeated until the laser radar is turned off. Specifically, the laser radar elevation angle is updated as follows:

[0037] When the laser radar completes N i After the secondary azimuth rotation scan, the rate ω is adjusted according to the rotation angle of the laser radar. The laser radar increases or decreases the rotation angle of the laser radar per unit time according to the change of the solar altitude angle, and performs an azimuth scan of the next elevation angle. Steps S5-S7 are repeated until sunset, and the laser radar is turned off.

[0038] The present invention also provides an adjustable laser radar scanning system for solar irradiance prediction, comprising a rotation parameter setting module, a solar trajectory generation module, a radar parameter initialization module, a solar altitude angle variation module, a solar azimuth angle variation module, a radar azimuth angle rotation module, a radar offset calculation module and a radar elevation angle adjustment module;

[0039] The rotation parameter setting module is used to set the rotation angle range and rotation angle adjustment rate of the laser radar; the rotation angle range includes an elevation angle range and an azimuth angle range;

[0040] The solar trajectory generation module is used to obtain the latitude and longitude and date of the laser radar installation location, obtain the sunrise time and sunset time of the day according to the date, calculate the solar altitude angle and azimuth angle from sunrise time to sunset time with a time interval of 1 second, generate a solar altitude angle sequence and a solar azimuth angle sequence, and generate a solar trajectory;

[0041] The radar parameter initialization module is used to initialize the start and stop parameters of the laser radar; the start and stop parameters include start time, shutdown time, start elevation angle and start azimuth angle;

[0042] The solar altitude angle variation module is used to generate a time series of solar altitude angle and other angle variations;

[0043] The solar azimuth angle variation module is used to calculate the time interval of the time series and the variation of the solar azimuth angle;

[0044] The radar azimuth rotation module is used to fix the elevation angle of the laser radar, and the laser radar performs multiple azimuth rotations and scans;

[0045] The radar offset calculation module is used to fix the laser radar elevation angle and calculate the scanning offset of the laser radar each time it performs an azimuth rotation;

[0046] The radar elevation angle adjustment module is used to update the laser radar elevation angle. After adjusting the laser radar elevation angle to the next elevation angle, steps S5-S7 are repeated until the laser radar is turned off.

[0047] The advantages of the present invention are:

[0048] (1) The present invention generates a solar trajectory by calculating the solar altitude and azimuth of the sun every second from sunrise to sunset, obtains a time series based on the change in the solar altitude, and simultaneously determines the laser radar scanning time point and the change in the solar azimuth. During the entire process of the sun rising and setting, the laser radar accurately tracks the direct path of the sun by dynamically adjusting the scanning direction of the radar, and accurately detects the shielding of solar radiation by clouds, thereby improving the accuracy and timeliness of solar irradiance prediction. This dynamic tracking mechanism ensures the continuous observation of the radar on the direct sunlight area, greatly improving the detection accuracy of the cloud layer and solar irradiance changes. This technological breakthrough can effectively improve the monitoring accuracy of solar irradiance and the accuracy of prediction results, and provide technical support for irradiance prediction and power generation scheduling management of photovoltaic power stations, and has good application prospects.

[0049] (2) Since the laser radar will be affected by strong background noise interference when it is scanning directly against the sun, which affects the measurement accuracy, and a single-point scan directly against the sun can only obtain limited cloud information, the present invention adjusts the laser radar to perform azimuth rotation scanning by means of a fixed elevation angle. When the radar completes all azimuth rotation scans at the current elevation, it performs an azimuth scan at the next elevation. By combining line scanning and surface scanning, the target area is covered at a wider angle, thereby improving the comprehensiveness and effectiveness of the data.

[0050] (3) By setting the scanning range and rate of elevation and azimuth angles and adjusting the scanning angle according to the change of the solar altitude angle, it is ensured that the lidar can perform efficient azimuth rotation scanning at a fixed elevation angle; multiple scans and dynamically adjusted scanning offsets further enhance the radar's scanning coverage of clouds in the area around the sun, improving the comprehensiveness and accuracy of cloud detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 is a flow chart of an adjustable laser radar scanning method for solar irradiance prediction according to the first embodiment of the present invention;

[0052] Figure 2 is a schematic diagram of the movement trajectory of the solar altitude angle and azimuth angle within one day according to the first embodiment of the present invention;

[0053] Figure 3 It is a schematic diagram of the azimuth rotation scanning range of the laser radar at a fixed radar elevation angle according to the first embodiment of the present invention;

[0054] Figure 4 It is a schematic diagram of updating the elevation angle of the laser radar according to the first embodiment of the present invention. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in combination with the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and specific embodiments:

[0057] Embodiment 1

[0058] like Figure 1 Specifically, an adjustable laser radar scanning method for solar irradiance prediction is disclosed, comprising the following steps:

[0059] Step S1, setting the rotation angle range and rotation angle adjustment rate of the laser radar; the rotation angle range includes an elevation angle range and an azimuth angle range;

[0060] Furthermore, the elevation angle range is set to [θ min ,θ max ], the azimuth range is set to , the rotation angle adjustment rate is set to ω.

[0061] In this embodiment, it is first necessary to set the rotation parameters of the laser radar. To ensure that the scanning range of the laser radar can cover the entire sky and that the radar can flexibly and quickly adjust the angle during the scanning process to ensure real-time tracking of the direct path of the sun, according to the physical limitations and preset requirements of the laser radar, the elevation angle range of the laser radar is set to [0°, 90°], the azimuth angle range is set to [0°, 360°], and the rotation angle adjustment rate is set to 0.5° / s.

[0062] Step S2, calculate the angle change of the direct path of the sun; specifically, obtain the longitude and latitude (lat, lon) and date of the laser radar installation location, obtain the sunrise time and sunset time of the day according to the date, and calculate the solar altitude angle θ from sunrise time to sunset time with a time interval of 1s sun (t) and the solar azimuth φ sun (t), generate the solar altitude angle sequence and solar azimuth angle sequence, and generate the solar trajectory. Among them, time t∈[t sunrise ,t sunset ], t sunrise represents the sunrise time, t sunset Indicates sunset time.

[0063] like Figure 2As shown, in this embodiment, based on the longitude and latitude of the radar installation site and the date, the solar altitude angle and azimuth angle of the sun are calculated every second from sunrise to sunset to generate a solar track, thereby providing necessary data support for subsequent laser radar to track the direct path of the sun and perform dynamic scanning.

[0064] Step S3, initializing the start and stop parameters of the laser radar; the start and stop parameters include start time, shutdown time, start elevation angle and start azimuth angle;

[0065] Specifically, the start time of the laser radar is set to the sunrise time, the shutdown time of the laser radar is set to the sunset time, the start elevation angle of the laser radar is set to 0°, and the start azimuth angle of the laser radar is set to the solar azimuth angle φ corresponding to the sunrise time. sun (t sunrise ).

[0066] In this embodiment, the start and stop parameters of the laser radar are set according to the solar activity time, and the start time of the laser radar is set to the sunrise time to ensure that the laser radar is activated when the solar radiation begins. When the start elevation angle is set to 0°, the laser beam of the laser radar will be emitted parallel to the ground, and can directly illuminate the clouds and air particles in the atmosphere so as to start observation from the horizon. The start azimuth of the laser radar starts the radar scan with reference to the azimuth at sunrise, so as to achieve the whole process of the sun rising and setting, and the radar tracks the movement path of the sun at unit time intervals. When the sun sets, the radar is turned off and the scan ends.

[0067] Step S4, generating a time series of angle changes such as the solar altitude angle; specifically, adjusting the rate according to the rotation angle of the laser radar, recording the time point corresponding to the rotation angle of the laser radar per unit time of the solar altitude angle change, and forming an equally spaced time series (t sunrise ,...,t i-1 ,t i ,t i+1 ,...,t sunset ), adjacent time points satisfy the following logic:

[0068] |θ sun (t i+1 )-θ sun (t i )|=ω*1

[0069] In the formula, θ sun (t i ) represents the solar altitude angle corresponding to the i-th time point.

[0070] In this embodiment, according to step S1, the rotation angle adjustment rate is set to 0.5° / s, the rotation angle of the laser radar per unit time is 0.5°, and the time point corresponding to each 0.5° change in the solar altitude angle is recorded to form an equally spaced time series (t sunrise ,...,t u-1 ,t u ,t u+1 ,...,t sunset ), adjacent time points satisfy |θ sun (t i+1 )-θ sun (t i )|=0.5.

[0071] In this embodiment, the movement of the sun is continuous and smooth, but its altitude and azimuth angles change dynamically over time. Taking the laser radar rotation angle condition rate as a reference, the time points corresponding to each 0.5 degree change in altitude angle during the sun's movement are recorded to form an equally spaced time series, ensuring that the laser radar can effectively synchronize with the movement of the sun and ensure the continuity of the scan and tracking accuracy.

[0072] Step S5, calculating the time interval of the time series and the change in the solar azimuth angle; specifically, the time interval of the time series is expressed by the following formula:

[0073] Δt θ =t i+1 -t i

[0074] In the formula, Δt θ represents the time interval, t i+1 represents the i+1th time point in the time series, t i Represents the i-th time point in the time series.

[0075] In this embodiment, the change in the solar azimuth angle is calculated using the following formula:

[0076] Δφ θ =φ sun (t i+1 )-φ sun (t i )

[0077] In the formula, Δφ θ Represents the change in the solar azimuth, φ sun (t i+1 ) represents the solar azimuth corresponding to the i+1th time point, φ sun (t i ) represents the solar azimuth angle corresponding to the i-th time point.

[0078] This embodiment obtains a time series based on the change in the solar altitude angle, and determines the laser radar scanning time point at the same time. When the solar altitude angle changes, the azimuth angle also changes accordingly. By obtaining the change in the solar azimuth angle, it can be used to control the angle adjustment of the laser radar azimuth rotation scanning, which is convenient for accurately tracking the movement path of the sun and the movement of clouds.

[0079] Step S6, fixing the laser radar elevation angle, and the laser radar performs multiple azimuth rotations and scans; specifically, step S6 includes the following steps:

[0080] Step S61, determine the scanning range of the laser radar azimuth [φ sun (t i )-R,φ sun (t i )+R], where R is the scanning radius of the laser radar azimuth;

[0081] The scanning radius R is calculated using the following formula:

[0082]

[0083] Where N represents the number of scans, which can be 2, 4, 6, 8, or 10 respectively.

[0084] Step S62, calculate the scanning radius R corresponding to different scanning times N, and select the maximum scanning times N corresponding to R ≥ 10 max As the number of scans at the fixed elevation angle N i , the corresponding scanning radius is the scanning radius of the laser radar azimuth at the fixed elevation angle.

[0085] like Figure 3 As shown, in this embodiment, by performing multiple azimuth scans at each fixed elevation angle, the azimuth scanning range of the laser radar is adjusted according to the rotation angle rate ω and the time interval Δt θ The scanning radius R is set to a certain radius. To ensure the radar scanning accuracy and scanning efficiency, the scanning number N is set to an even number. The scanning range is adjusted by the scanning number N to ensure that the lidar can fully scan the area near the sun at a fixed elevation angle.

[0086] Step S7, fixing the elevation angle of the laser radar, and calculating the scanning offset of each azimuth rotation performed by the laser radar; specifically, the scanning offset is calculated using the following formula:

[0087]

[0088] Where ΔR represents the scanning offset of each azimuth rotation performed by the laser radar, N i represents the number of scans at a fixed elevation angle, Δφ θIndicates the change in the solar azimuth.

[0089] In this embodiment, at each time point in the time series, the laser radar performs multiple rotation scans according to the change of the solar azimuth angle, calculates the offset after each scan, and ensures that each scan can accurately cover the moving area of ​​the cloud layer and the sun by adjusting the scanning offset of the azimuth rotation, so that the laser radar can more accurately synchronize the changes in the direct path of the sun and provide more detailed cloud data. Furthermore, the laser radar can accurately adjust the coverage radius of the scan at different elevation angles, so that each scan can be performed at the optimal solar angle, thereby improving the accuracy of cloud detection and the prediction accuracy of solar irradiance.

[0090] Step S8, updating the laser radar elevation angle, adjusting the laser radar elevation angle to the next elevation angle, repeating steps S5-S7 until the laser radar is turned off; specifically, when the laser radar completes N i After the secondary azimuth rotation scan, the rate ω is adjusted according to the rotation angle of the laser radar. The laser radar increases or decreases the rotation angle of the laser radar per unit time according to the change of the solar altitude angle, and performs an azimuth scan of the next elevation angle. Steps S5-S7 are repeated until sunset, and the laser radar is turned off.

[0091] like Figure 4 As shown, in this embodiment, after the laser radar completes all azimuth rotation scans of the current elevation angle, the elevation angle increases or decreases by 0.5°, and continues to perform azimuth scanning of the next elevation angle, repeating the above steps S5-S7. By gradually adjusting the elevation angle of the laser radar, the laser radar can track the sun's full-day trajectory and ensure comprehensive detection of the clouds in the entire sky.

[0092] In other technical fields, although other measuring instruments can be used to accurately track the altitude and azimuth of the sun, especially to capture direct sunlight. However, the focus of other technologies is different from the application of LiDAR: when LiDAR is scanning directly at the sun, it will be interfered by strong background noise, affecting the measurement accuracy; and a single point scan directly at the sun can only obtain limited cloud information. Therefore, this embodiment combines line scanning and surface scanning to cover the target area at a wider angle, thereby improving the comprehensiveness and effectiveness of the data.

[0093] This embodiment generates a solar trajectory by calculating the solar altitude and azimuth angles of the sun every second from sunrise to sunset, obtains a time series based on the change in the solar altitude angle, and determines the laser radar scanning time point and the change in the solar azimuth angle. During the entire process of the sun rising and setting, the laser radar accurately tracks the direct path of the sun by dynamically adjusting the scanning direction of the radar, and accurately detects the shielding of solar radiation by clouds, thereby improving the accuracy and timeliness of solar irradiance prediction. This dynamic tracking mechanism ensures the continuous observation of the radar on the direct sunlight area, greatly improving the detection accuracy of the cloud layer and solar irradiance changes. This technological breakthrough can effectively improve the monitoring accuracy of solar irradiance and the accuracy of prediction results, and provide technical support for irradiance prediction and power generation scheduling management of photovoltaic power stations, and has good application prospects.

[0094] In this embodiment, the scanning range and rate of the elevation and azimuth angles are set, and the scanning angle is adjusted according to the change of the solar altitude angle to ensure that the laser radar can perform efficient azimuth rotation scanning at a fixed elevation angle; multiple scans and dynamically adjusted scanning offsets further enhance the radar's scanning coverage of clouds in the area around the sun, thereby improving the comprehensiveness and accuracy of cloud detection.

[0095] The present invention also provides an adjustable laser radar scanning system for solar irradiance prediction, comprising a rotation parameter setting module, a solar trajectory generation module, a radar parameter initialization module, a solar altitude angle variation module, a solar azimuth angle variation module, a radar azimuth angle rotation module, a radar offset calculation module and a radar elevation angle adjustment module;

[0096] The rotation parameter setting module is used to set the rotation angle range and rotation angle adjustment rate of the laser radar; the rotation angle range includes an elevation angle range and an azimuth angle range;

[0097] The solar trajectory generation module is used to obtain the latitude and longitude and date of the laser radar installation location, obtain the sunrise time and sunset time of the day according to the date, calculate the solar altitude angle and azimuth angle from sunrise time to sunset time with a time interval of 1 second, generate a solar altitude angle sequence and a solar azimuth angle sequence, and generate a solar trajectory;

[0098] The radar parameter initialization module is used to initialize the start and stop parameters of the laser radar; the start and stop parameters include start time, shutdown time, start elevation angle and start azimuth angle;

[0099] The solar altitude angle variation module is used to generate a time series of solar altitude angle and other angle variations;

[0100] The solar azimuth angle variation module is used to calculate the time interval of the time series and the variation of the solar azimuth angle;

[0101] The radar azimuth rotation module is used to fix the elevation angle of the laser radar, and the laser radar performs multiple azimuth rotations and scans;

[0102] The radar offset calculation module is used to fix the laser radar elevation angle and calculate the scanning offset of the laser radar each time it performs an azimuth rotation;

[0103] The radar elevation angle adjustment module is used to update the laser radar elevation angle. After adjusting the laser radar elevation angle to the next elevation angle, steps S5-S7 are repeated until the laser radar is turned off.

[0104] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. 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. An adjustable laser radar scanning method for solar irradiance prediction, characterized in that: The following steps are involved: Step S1, setting the rotation angle range and rotation angle adjustment rate of the laser radar; the rotation angle range includes an elevation angle range and an azimuth angle range; Step S2, obtaining the latitude and longitude and date of the laser radar installation location, obtaining the sunrise time and sunset time of the day according to the date, calculating the solar altitude angle and azimuth angle from sunrise time to sunset time with a time interval of 1 second, generating a solar altitude angle sequence and a solar azimuth angle sequence, and generating a solar trajectory; Step S3, initializing the start and stop parameters of the laser radar; the start and stop parameters include start time, shutdown time, start elevation angle and start azimuth angle; Step S4, generating a time series of angle changes such as the sun altitude angle; Step S5, calculating the time interval of the time series and the change in the solar azimuth angle; Step S6, fixing the elevation angle of the laser radar, and performing multiple azimuth rotations and scans of the laser radar; Step S7, fixing the elevation angle of the laser radar and calculating the scanning offset of each azimuth rotation performed by the laser radar; Step S8, update the laser radar elevation angle, adjust the laser radar elevation angle to the next elevation angle, and repeat steps S5-S7 until the laser radar is turned off.

2. The adjustable laser radar scanning method for solar irradiance prediction according to claim 1, characterized in that: The initialization start and stop parameters of the laser radar in step S3 are specifically: setting the start time of the laser radar to the sunrise time t sunrise , set the laser radar shutdown time to sunset time t sunsert , set the starting elevation angle of the laser radar to 0°, and set the starting azimuth angle of the laser radar to the solar azimuth angle φ corresponding to the sunrise time sun (t sunrise ).

3. The adjustable laser radar scanning method for solar irradiance prediction according to claim 1, characterized in that: The step S4 of generating a time series of equal angle changes of the solar altitude angle is specifically as follows: according to the rotation angle of the laser radar, the rate is adjusted to obtain the time point corresponding to the rotation angle of the solar altitude angle per unit time, and form an equally spaced time series (t sunrise ,...,t i-1 ,t i ,t i+1 ,...,t sunset ), the adjacent time points in the time series satisfy the following logic: |θ sun (t i+1 )-θ sun (t i )|=ω*1 Where ω represents the rotation angle adjustment rate, t i represents the i-th time point, θ sun (t i ) represents the solar altitude angle corresponding to the i-th time point.

4. The adjustable laser radar scanning method for solar irradiance prediction according to claim 3, characterized in that: The time interval of the time series in step S5 is expressed by the following formula: Δt θ =t i+1 -t i In the formula, Δt θ represents the time interval, t i+1 represents the i+1th time point in the time series, t i Represents the i-th time point in the time series.

5. The adjustable laser radar scanning method for solar irradiance prediction according to claim 4, characterized in that: In step S5, the change in the solar azimuth angle is calculated using the following formula: Df θ =φ sun (t i+1 )-φ sun (t i ) In the formula, Δφ θ Represents the change in the solar azimuth, φ sun (t i+1 ) represents the solar azimuth corresponding to the i+1th time point, φ sun (t i ) represents the solar azimuth angle corresponding to the i-th time point.

6. The adjustable laser radar scanning method for solar irradiance prediction according to claim 1, characterized in that: The step S6 comprises the following steps: Step S61, determine the scanning range of the laser radar azimuth [φ sun (t i )-R,φ sun (t i )+R], where R is the scanning radius of the laser radar azimuth; Step S62, calculate the scanning radius R corresponding to different scanning times N, and select the maximum scanning times N corresponding to R ≥ 10 max As the number of scans at the fixed elevation angle, the corresponding scanning radius is the scanning radius of the laser radar azimuth angle at the fixed elevation angle.

7. The adjustable laser radar scanning method for solar irradiance prediction according to claim 6, characterized in that: The scanning radius in step S61 is calculated using the following formula: Where N represents the number of scans.

8. The adjustable laser radar scanning method for solar irradiance prediction according to claim 7, characterized in that: In step S7, the scanning offset is calculated using the following formula: Where ΔR represents the scanning offset of each azimuth rotation performed by the laser radar, N i represents the number of scans at this fixed elevation angle, Δφ θ Indicates the change in the solar azimuth.

9. The adjustable laser radar scanning method for solar irradiance prediction according to claim 8, characterized in that: The updating of the laser radar elevation angle in step S8, after adjusting the laser radar elevation angle to the next elevation angle, repeating steps S5-S7 until the laser radar is turned off is specifically as follows: When the laser radar completes N i After the secondary azimuth rotation scan, the rate ω is adjusted according to the rotation angle of the laser radar. The laser radar increases or decreases the rotation angle of the laser radar per unit time according to the change of the solar altitude angle, and performs an azimuth scan of the next elevation angle. Steps S5-S7 are repeated until sunset, and the laser radar is turned off.

10. An adjustable laser radar scanning system for solar irradiance prediction, characterized in that: It includes a rotation parameter setting module, a sun trajectory generation module, a radar parameter initialization module, a sun altitude angle change module, a sun azimuth angle change module, a radar azimuth angle rotation module, a radar offset calculation module and a radar elevation angle adjustment module; The rotation parameter setting module is used to set the rotation angle range and rotation angle adjustment rate of the laser radar; the rotation angle range includes an elevation angle range and an azimuth angle range; The solar trajectory generation module is used to obtain the latitude and longitude and date of the laser radar installation location, obtain the sunrise time and sunset time of the day according to the date, calculate the solar altitude angle and azimuth angle from sunrise time to sunset time with a time interval of 1 second, generate a solar altitude angle sequence and a solar azimuth angle sequence, and generate a solar trajectory; The radar parameter initialization module is used to initialize the start and stop parameters of the laser radar; the start and stop parameters include start time, shutdown time, start elevation angle and start azimuth angle; The solar altitude angle variation module is used to generate a time series of solar altitude angle and other angle variations; The solar azimuth angle variation module is used to calculate the time interval of the time series and the variation of the solar azimuth angle; The radar azimuth rotation module is used to fix the elevation angle of the laser radar, and the laser radar performs multiple azimuth rotations and scans; The radar offset calculation module is used to fix the laser radar elevation angle and calculate the scanning offset of the laser radar each time it performs an azimuth rotation; The radar elevation angle adjustment module is used to update the laser radar elevation angle. After adjusting the laser radar elevation angle to the next elevation angle, steps S5-S7 are repeated until the laser radar is turned off.

Images