Aircraft flow field sensing device and method based on magnetic cilia

Abstract

The invention provides an aircraft flow field sensing device and method based on magnetic cilia, and can be applied to the technical field of sensors. The aircraft flow field sensing device based on the magnetic cilia comprises a cilia array which comprises a plurality of magnetic cilia and is used for deforming under the action of external airflow of an aircraft; the first surface of the shell cover plate is provided with a plurality of cilium mounting holes, the plurality of cilium mounting holes are in a non-through state, and the cilium mounting holes are used for arranging a plurality of magnetic cilium; the magnetic sensor circuit board is arranged on the second face of the shell cover plate, the second face is the back face of the first face, a plurality of magnetic sensors are arranged on the magnetic sensor circuit board, and the number of the magnetic sensors is the same as that of the cilium installation holes. The positions of the plurality of magnetic sensors in the magnetic sensor circuit board are in one-to-one correspondence with the positions of the plurality of cilium mounting holes in the shell cover plate, and the magnetic sensor circuit board is used for sensing magnetic field changes generated under the condition that the magnetic cilium deforms.

Description

Technical Field

[0001] The present disclosure relates to the field of sensor technology, and more specifically, to an aircraft flow field sensing device and method based on magnetic cilia. Background Art

[0002] Accurately acquiring and understanding the state parameters of the flow field around an aircraft (such as velocity distribution, flow field direction, turbulence structure, etc.) plays a decisive role in optimizing aircraft design, predicting flight performance, ensuring flight safety, and implementing high-precision navigation and control.

[0003] In the process of realizing the concept of the present disclosure, the inventors found that there are at least the following problems in the related art: the flow field sensing device in the related art still has shortcomings in terms of real-time performance, portability, weather resistance and maintenance convenience, and the urgency of the stable detection requirements in extreme environments and complex flow fields is becoming increasingly obvious. Summary of the invention

[0004] In view of this, the present disclosure provides an aircraft flow field sensing device and method based on magnetic cilia.

[0005] One aspect of the present disclosure provides an aircraft flow field sensing device based on magnetic cilia, comprising:

[0006] A ciliary array, including a plurality of magnetic cilia, configured to deform under the action of an external airflow of the aircraft;

[0007] The outer shell cover plate has a first surface provided with a plurality of ciliary mounting holes, wherein the plurality of the ciliary mounting holes are in a non-through state, and the ciliary mounting holes are used to set the plurality of the magnetic cilia;

[0008] A magnetic sensor circuit board is arranged on the second surface of the above-mentioned outer shell cover, and the above-mentioned second surface is the back side of the above-mentioned first surface. A plurality of magnetic sensors are arranged on the above-mentioned magnetic sensor circuit board, and the number of the plurality of magnetic sensors is the same as the number of the plurality of ciliary mounting holes. The positions of the plurality of magnetic sensors in the above-mentioned magnetic sensor circuit board correspond one-to-one with the positions of the plurality of ciliary mounting holes in the above-mentioned outer shell cover. The above-mentioned magnetic sensor circuit board is used for sensing the changes in the magnetic field generated when the above-mentioned magnetic ciliary are deformed.

[0009] According to an embodiment of the present disclosure, the number of the plurality of magnetic cilia is greater than or equal to the number of the plurality of cilia mounting holes, and each of the cilia mounting holes is configured with at least one magnetic cilia.

[0010] According to an embodiment of the present disclosure, a conductor pin header is further provided in the magnetic sensor circuit board for connecting conductors of a plurality of the magnetic sensors.

[0011] According to an embodiment of the present disclosure, the above device further includes:

[0012] The housing base is used to place the magnetic sensor circuit board, and the housing base is connected to the housing cover by screws.

[0013] According to an embodiment of the present disclosure, the device further comprises a wire discharge channel connected to the housing base and used for discharging the wire of the magnetic sensor.

[0014] According to an embodiment of the present disclosure, the magnetic cilia include a magnetic substance and a flexible substance. The magnetic substance is used to generate a change in the magnetic field when the magnetic cilia are deformed, and the flexible substance is used to deform the magnetic cilia under the action of external airflow.

[0015] According to an embodiment of the present disclosure, the magnetic material in the magnetic cilia includes at least one of a neodymium iron boron magnet, iron, nickel, cobalt and oxide;

[0016] The flexible material in the above-mentioned magnetic cilia includes at least one of polyethylene terephthalate, polyethylene, polyurethane, polyimide, polyvinyl alcohol, polydimethylsiloxane, latex, silicone, hydrogel, cotton, silk, nylon, polyester and animal hair.

[0017] According to an embodiment of the present disclosure, the plurality of the above-mentioned sensors include sensors implemented based on at least one principle of Hall, anisotropic magnetoresistance, giant magnetoresistance, tunneling magnetoresistance, colossal magnetoresistance, giant magnetoimpedance, fluxgate, atomic magnetometer, superconducting quantum interference device and magnetically sensitive coil.

[0018] According to an embodiment of the present disclosure, the above device further includes:

[0019] The processor is used to determine the flight parameters of the above-mentioned aircraft according to the above-mentioned magnetic field changes.

[0020] Another aspect of the present disclosure provides a method for sensing an aircraft flow field based on magnetic cilia, comprising:

[0021] The ciliary array is deformed under the action of the external airflow of the aircraft, wherein the ciliary array includes a plurality of magnetic cilia, the plurality of magnetic cilia are arranged in the ciliary mounting holes of the outer shell cover, the first surface of the outer shell cover is provided with a plurality of ciliary mounting holes, and the plurality of ciliary mounting holes are in a non-through state;

[0022] The magnetic field changes generated when the above-mentioned magnetic cilia are deformed are sensed by a magnetic sensor circuit board, wherein the above-mentioned magnetic sensor circuit board is arranged on the second surface of the above-mentioned outer shell cover, the above-mentioned second surface is the back side of the above-mentioned first surface, and a plurality of magnetic sensors are arranged on the above-mentioned magnetic sensor circuit board, the number of the plurality of magnetic sensors is the same as the number of the plurality of ciliary mounting holes, and the positions of the plurality of magnetic sensors in the above-mentioned magnetic sensor circuit board correspond one-to-one to the positions of the plurality of ciliary mounting holes in the above-mentioned outer shell cover.

[0023] Another aspect of the present disclosure provides an electronic device, comprising:

[0024] one or more processors;

[0025] a memory for storing one or more programs,

[0026] When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described above.

[0027] Another aspect of the present disclosure provides a computer-readable storage medium storing computer-executable instructions, which are used to implement the above method when executed.

[0028] Another aspect of the present disclosure provides a computer program product, which includes computer executable instructions, and when the instructions are executed, are used to implement the method as described above.

[0029] According to the embodiments of the present disclosure, the device provided by the embodiments of the present disclosure, compared with sensors based on the principles of piezoresistance, piezoelectricity and electrostatic induction, utilizes the non-contact nature of the magnetic field, so that the sensor can be safely used in complex environments such as moisture and rain. Compared with sensors based on the principles of piezoresistance, piezoelectricity and electrostatic induction, the present disclosure adopts a non-contact and modular approach to make the repair or replacement process after damage very convenient, which is conducive to the long-term stable operation of the aircraft. Compared with sensors based on the principles of piezoresistance and piezoelectricity, different temperatures have almost no effect on the measurement accuracy and stability during the operation of the present disclosure, and the magnetic size of the magnetic cilia has almost no change below 150°C. The use of high-temperature resistant elastic materials such as polyimide (PI), polytetrafluoroethylene (PTFE), polyester (PET) can be expanded to higher temperatures. Compared with sensors based on the principle of electrostatic induction, the device disclosed in the present disclosure has a simple structure and low manufacturing and maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The above and other objects, features and advantages of the present disclosure will become more apparent through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, in which:

[0031] Figure 1A block diagram of an aircraft flow field sensing device based on magnetic cilia according to an embodiment of the present disclosure is schematically shown;

[0032] Figure 2 A schematic diagram schematically shows the deformation of magnetic cilia under the action of external airflow according to an embodiment of the present disclosure;

[0033] Figure 3 A schematic diagram of a housing cover according to an embodiment of the present disclosure is schematically shown;

[0034] Figure 4 A schematic diagram of a magnetic sensor circuit board according to an embodiment of the present disclosure is schematically shown;

[0035] Figure 5 Schematically shows a schematic diagram of a housing base and a wire discharge channel according to an embodiment of the present disclosure;

[0036] Figure 6 A schematic diagram of an aircraft flow field sensing device based on magnetic cilia according to an embodiment of the present disclosure is schematically shown;

[0037] Figure 7 A flow chart of a method for sensing an aircraft flow field based on magnetic cilia according to an embodiment of the present disclosure is schematically shown;

[0038] Figure 8 The schematic diagram of the output curve of the sensor array of the aircraft flow field sensing device based on magnetic cilia according to the embodiment of the present disclosure when a magnetic field is applied to the X-axis is shown;

[0039] Fig. 9 A schematic diagram of output curves of four sensors of the aircraft flow field sensing device based on magnetic cilia according to an embodiment of the present disclosure after the device rotates 360° in the vertical direction is shown; and

[0040] Fig.10 A block diagram of an electronic device suitable for implementing the method described above according to an embodiment of the present disclosure is schematically shown. DETAILED DESCRIPTION

[0041] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present disclosure. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0042] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0043] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0044] When using expressions such as "at least one of A, B, and C, etc.", they should generally be interpreted according to the meaning of the expression commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0045] In the embodiments of the present disclosure, the collection, updating, analysis, processing, use, transmission, provision, disclosure, storage, etc. of the data involved (for example, including but not limited to user personal information) are in compliance with the provisions of relevant laws and regulations, are used for legitimate purposes, and do not violate public order and good morals. In particular, necessary measures are taken for user personal information to prevent illegal access to user personal information data and maintain the security of user personal information and network security.

[0046] In the embodiments of the present disclosure, the user's authorization or consent is obtained before obtaining or collecting the user's personal information.

[0047] Aircraft flow field detection is an indispensable key technology in the field of aeronautical engineering. It mainly focuses on the aerodynamic parameters of the aircraft during flight. Flow field detection in related technologies mostly uses the pitot tube speed measurement method. This method is mostly used in flight equipment such as civil airliners. The pitot tube is usually located at the front end in front of the nose so as to face the incoming flow direction as directly as possible. However, this method will increase flight resistance, and may generate additional eddies and interfere with airflow during high-speed flight, affecting the overall aerodynamic performance of the aircraft. And for some micro-aircraft, the pitot tube and supporting pipelines, joints, etc. increase the structural weight and mechanical complexity of the aircraft, which does not conform to the design trend of modern aircraft pursuing lightweight and simplification. Therefore, the new generation of aircraft often use embedded sensors to replace the pitot tube, mainly based on the piezoresistive effect, based on the piezoelectric effect, and based on the principle of electrostatic induction. Airflow sensors.

[0048] The power-on structure of sensors based on the principles of piezoresistance, piezoelectricity and electrostatic induction usually requires direct contact with the flow field, which may cause the sensor elements to be easily worn and affect flight safety and data reliability. Sensors based on the principles of piezoresistance, piezoelectricity and electrostatic induction are easily affected by bad weather and fail, especially in complex environments such as humidity and rain, where exposed electrical components are at risk of short circuit and open circuit. Therefore, a non-contact detection method is needed to isolate the sensitive components from the circuit board. For sensors based on the principle of piezoelectric effect, the piezoelectric effect of piezoelectric materials will change at different temperatures, affecting the accuracy and stability of the sensor. For sensors based on the principle of piezoresistive effect, the resistivity of piezoresistive materials will change with temperature, affecting the accuracy of the sensor. Sensors based on the principle of electrostatic induction require complex signal processing circuits, which makes the maintenance or replacement process relatively complicated, which is not conducive to the long-term stable operation of the aircraft, and the maintenance cost is relatively high. Sensors based on the principle of electrostatic induction will generate induced current fluctuations when particles pass through the electrode cross section. The overall mean of the induced current is 0, but the magnitude of the fluctuation can reflect the amount of charge on the particles, which may lead to fluctuations and instability in the measurement results.

[0049] In view of this, an embodiment of the present disclosure provides an aircraft flow field sensing device based on magnetic cilia, comprising: a cilia array, comprising a plurality of magnetic cilia, for deforming under the action of external airflow of the aircraft; an outer shell cover, a first surface of which is provided with a plurality of cilia mounting holes, the plurality of cilia mounting holes are in a non-through state, and the cilia mounting holes are used to set a plurality of magnetic cilia; a magnetic sensor circuit board, arranged on a second surface of the outer shell cover, the second surface is the back side of the first surface, a plurality of magnetic sensors are arranged on the magnetic sensor circuit board, the number of the plurality of magnetic sensors is the same as the number of the plurality of cilia mounting holes, the positions of the plurality of magnetic sensors in the magnetic sensor circuit board correspond one-to-one to the positions of the plurality of cilia mounting holes in the outer shell cover, and the magnetic sensor circuit board is used to sense the changes in the magnetic field generated when the magnetic cilia are deformed.

[0050] Figure 1 The block diagram of the aircraft flow field sensing device based on magnetic cilia according to an embodiment of the present disclosure is schematically shown.

[0051] like Figure 1 As shown, the aircraft flow field sensing device 100 based on magnetic cilia includes:

[0052] The ciliary array 110 includes a plurality of magnetic cilia, which are used to be deformed under the action of the external airflow of the aircraft; the outer shell cover 120, the first surface of which is provided with a plurality of ciliary mounting holes, the plurality of ciliary mounting holes are in a non-through state, and the ciliary mounting holes are used to set a plurality of magnetic cilia; the magnetic sensor circuit board 130 is arranged on the second surface of the outer shell cover 120, the second surface is the back of the first surface, a plurality of magnetic sensors are arranged on the magnetic sensor circuit board 130, the number of the plurality of magnetic sensors is the same as the number of the plurality of ciliary mounting holes, the positions of the plurality of magnetic sensors in the magnetic sensor circuit board 130 correspond one-to-one to the positions of the plurality of ciliary mounting holes in the outer shell cover 120, and the magnetic sensor circuit board 130 is used to sense the changes in the magnetic field generated when the magnetic cilia are deformed.

[0053] According to the embodiments of the present disclosure, the cilia mounting hole is in an unconnected state, therefore, the magnetic cilia in the cilia mounting hole are not energized. The magnetic cilia are not energized, thus avoiding the risks of short circuit and open circuit caused by exposure to the outside. Compared with sensors based on piezoresistive, piezoelectric and electrostatic induction principles, the non-contact nature of the magnetic field is utilized, so that the sensor can be safely used in complex environments such as moisture and rain.

[0054] According to the embodiments of the present disclosure, the position of each cilia installation hole corresponds to a magnetic sensor, so that the magnetic field changes generated by the deformation of the magnetic cilia in the cilia installation hole can be sensed.

[0055] According to the embodiments of the present disclosure, compared with sensors based on the principles of piezoresistance, piezoelectricity and electrostatic induction, the present disclosure adopts a non-contact and modular approach, which makes the repair or replacement process after damage very convenient, and is conducive to the long-term stable operation of the aircraft. Compared with sensors based on the principles of piezoresistance and piezoelectricity, different temperatures have almost no effect on the measurement accuracy and stability during operation of the present disclosure, and the magnetic magnitude of the magnetic cilia has almost no change below 150°C. Compared with sensors based on the principle of electrostatic induction, the present disclosure has a simple structure and low manufacturing and maintenance costs. And the data is very stable after Kalman filtering during operation, with almost no fluctuations.

[0056] Figure 2 The schematic diagram schematically shows the deformation of magnetic cilia under the action of external airflow according to an embodiment of the present disclosure.

[0057] like Figure 2 As shown in Figure 1, a schematic diagram of a single prepared magnetic cilium bending under the action of airflow. A single magnetic cilium will deform under the action of airflow, resulting in changes in the surrounding magnetic field.

[0058] There are many ways to make magnetic cilia magnetic, for example, you can make a magnetic cilia array. The method of preparing a magnetic cilia array is: first, mix the magnetic material neodymium iron boron particles with a diameter of micrometers with the uncured flexible material Ecoflex (an ultra-soft addition-type silicone rubber) and evacuate the bubbles; secondly, pour the mixed solution onto an acrylic template with multiple rows of holes made by laser drilling, and evacuate the holes so that the mixed solution fills the holes on the template; then heat and cure, and then peel off the cilia array cured in the holes from the template; finally, magnetize the cilia array in a strong magnetic field to make it magnetic.

[0059] In addition to making a magnetic ciliary array, other methods to make cilia magnetic include adhering multiple or single small magnets to flexible materials such as silicone and hydrogel, pasting a film made by mixing and solidifying magnetic powder and flexible materials, and applying a mixed solution of magnetic powder and flexible materials and then solidifying it.

[0060] According to an embodiment of the present disclosure, the magnetic cilia include a magnetic substance and a flexible substance. The magnetic substance is used to generate a change in the magnetic field when the magnetic cilia are deformed, and the flexible substance is used to deform the magnetic cilia under the action of an external airflow.

[0061] According to an embodiment of the present disclosure, the magnetic material in the magnetic cilia may include magnetic materials such as neodymium iron boron magnets, magnetic elements such as iron, nickel, cobalt, etc., oxides and alloys, or combinations thereof; the flexible material in the magnetic cilia may include at least one of polyethylene terephthalate (PET), polyethylene (PE), polyurethane (PU), polyimide (PI), polyvinyl alcohol (PWA), polydimethylsiloxane (PDWS), latex, silicone, hydrogel, cotton, silk, nylon, polyester and animal hair.

[0062] Figure 3 A schematic diagram of a housing cover according to an embodiment of the present disclosure is schematically shown.

[0063] like Figure 3 As shown, a plurality of ciliary mounting holes 321 are provided on the shell cover plate 320 , the number of the plurality of magnetic ciliary bodies is greater than or equal to the number of the plurality of ciliary mounting holes 321 , and each ciliary mounting hole is equipped with at least one magnetic ciliary body.

[0064] According to the embodiments of the present disclosure, the number of magnetic cilia can be consistent with the number of cilia installation holes on the housing cover, or multiple magnetic cilia can be placed in one hole. The types of multiple magnetic cilia in the cilia array can also be different. The cilia installation holes on a housing cover can be used to place magnetic cilia with different aspect ratios, different flexibility, and different magnetism to increase the measurement range and improve the data detection accuracy.

[0065] Figure 4 The schematic diagram of a magnetic sensor circuit board according to an embodiment of the present disclosure is schematically shown.

[0066] like Figure 4 As shown, a plurality of magnetic sensors 431 are arranged on the magnetic sensor circuit board 430, and a wire pin 432 is also arranged in the magnetic sensor circuit board 430 for connecting the wires of the plurality of magnetic sensors 431. Each square in the figure represents a magnetic sensor. According to an embodiment of the present disclosure, the plurality of sensors include sensors based on at least one principle of Hall, anisotropic magnetoresistance, giant magnetoresistance, tunneling magnetoresistance, giant magnetoresistance, giant magnetoimpedance, fluxgate, atomic magnetometer, superconducting quantum interference device and magnetic induction coil. In addition to wires, the communication method can also be a combination of one or more communication modules such as Bluetooth, WIFI, ZigBee, LoRa based on non-cellular communication and 2G, 3G, 4G, 5G and narrowband Internet of Things based on cellular communication.

[0067] Figure 5 A schematic diagram of a housing base and a wire discharge channel according to an embodiment of the present disclosure is schematically shown.

[0068] like Figure 5 As shown, the housing base 540 is used to place the magnetic sensor circuit board, and the housing base 540 is connected to the housing cover by screws. The wire discharge channel 550 is connected to the housing base 540 and is used to discharge the wires of the magnetic sensor.

[0069] Figure 6 A schematic diagram of an aircraft flow field sensing device based on magnetic cilia according to an embodiment of the present disclosure is schematically shown.

[0070] like Figure 6 As shown, the aircraft flow field sensing device 600 based on magnetic cilia includes magnetic cilia 610, a housing cover 620, a magnetic sensor circuit board under the housing cover, a housing base 640 and a wire discharge channel 650. In order to clearly show the housing cover and the housing base, a gap is shown between the two, and the actual gap can be ignored.

[0071] According to an embodiment of the present disclosure, the device may further include a processor for determining flight parameters of the aircraft according to changes in the magnetic field.

[0072] The basic principle of the present invention is to fix the prepared magnetic cilia to the cilia mounting holes on the outer shell cover, place the magnetic sensor circuit board integrated with multiple magnetic sensors in the outer shell base, and the cilia mounting holes on the outer shell cover are not opened, so that the magnetic cilia are isolated from the magnetic sensors, and the outer shell cover is fixed to the outer shell base by screws. The outer shell cover and the outer shell base are well insulated and waterproofed, and connected to the processor by wires. The side with magnetic cilia is placed outside the aircraft. When the airflow acts on the cilia, the magnetic cilia will produce tiny bends under the impact of the airflow, thereby causing changes in the local space magnetic field. The magnetic sensor array located inside the aircraft can capture these magnetic field changes in real time. Through real-time data processing and analysis, the aircraft's airspeed, pitch angle, horizontal attitude and other parameters can be accurately calculated.

[0073] Figure 7 The flowchart of the method for sensing the flow field of an aircraft based on magnetic cilia according to an embodiment of the present disclosure is schematically shown.

[0074] like Figure 7 As shown, the aircraft flow field sensing method based on magnetic cilia includes operations S710 to S720.

[0075] In operation S710, the ciliary array is deformed under the action of the external airflow of the aircraft, wherein the ciliary array includes a plurality of magnetic ciliary hairs, the plurality of magnetic ciliary hairs are arranged in the ciliary mounting holes of the outer shell cover, the first surface of the outer shell cover is provided with a plurality of ciliary mounting holes, and the plurality of ciliary mounting holes are in a non-through state.

[0076] In operation S720, the magnetic field change generated when the magnetic ciliary body is deformed is sensed by a magnetic sensor circuit board, wherein the magnetic sensor circuit board is arranged on the second surface of the outer shell cover, the second surface is the back of the first surface, a plurality of magnetic sensors are arranged on the magnetic sensor circuit board, the number of the plurality of magnetic sensors is the same as the number of the plurality of ciliary mounting holes, and the positions of the plurality of magnetic sensors in the magnetic sensor circuit board correspond one-to-one to the positions of the plurality of ciliary mounting holes in the outer shell cover.

[0077] The device provided by the embodiment of the present disclosure was tested for airflow. In order to further optimize the performance of the sensor and ensure the high stability of its output signal, the Kalman filter algorithm was introduced. The original signal collected by each channel of the sensor was filtered using the Kalman filter algorithm. The algorithm dynamically analyzes and corrects the sensor data in real time by combining prediction and update, effectively suppressing the interference of abnormal values ​​caused by noise, transient disturbances or other unexpected factors. At the same time, one of the sensors is used as a reference system to improve the suppression effect of the entire system on interfering magnetic fields.

[0078] Figure 8The figure schematically shows the output curve diagram of the sensor array of the aircraft flow field sensing device based on magnetic cilia when a magnetic field is applied on the X-axis according to an embodiment of the present disclosure.

[0079] In order to further accurately test the performance of the magnetic sensor array, the present disclosure uses a calibrated Helmholtz coil (Cui Hai Magnetoelectric, 3D Helmholtz coil) to generate a controllable magnetic field, and places the entire circuit board in a magnetic shielding barrel (Cui Hai Magnetoelectric, 7-layer horizontal magnetic shielding barrel) to minimize external magnetic field interference. When a magnetic field that increases in sequence is applied to the X-axis of all magnetic sensors at the same time, the output of the magnetic sensor changes as shown in the figure below. Figure 8 As shown, it can be seen that as the magnetic field strength changes, the X-axis output of each sensor (the curve with a larger step change in the figure) shows an obvious step change, while the Y and Z axis outputs do not have an obvious step change (some small steps that appear come from the placement and angle errors of the circuit board and the Helmholtz coil). It can be seen that when the device disclosed in the present invention is working, the data after Kalman filtering is very stable and there is almost no fluctuation.

[0080] Fig. 9 The figure schematically shows the output curves of four sensors of the aircraft flow field sensing device based on magnetic cilia according to an embodiment of the present disclosure after the device is rotated 360° in the vertical direction.

[0081] To verify that the present disclosure can detect the attitude of the aircraft in real time, the entire system is rotated 360° in the vertical direction and the data of four sensors are detected as follows: Fig. 9 As shown in (a), the magnetic field changes in the three axes of X, Y and Z are separated as follows: Fig. 9 As shown in (b), (c) and (d) in the figure, the pitch angle information of the aircraft can be obtained through the magnetic field size and change trend after being marked by the magnetic field change diagram.

[0082] Fig.10 A block diagram of an electronic device suitable for implementing the method described above according to an embodiment of the present disclosure is schematically shown. Fig.10 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0083] like Fig.10As shown, the electronic device 1000 according to an embodiment of the present disclosure includes a processor 1001, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage part 1008 to a random access memory (RAM) 1003. The processor 1001 may include, for example, a general-purpose microprocessor (such as a CPU), an instruction set processor and / or a related chipset and / or a special-purpose microprocessor (for example, an application-specific integrated circuit (ASIC)), etc. The processor 1001 may also include an onboard memory for caching purposes. The processor 1001 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present disclosure.

[0084] In RAM 1003, various programs and data required for the operation of electronic device 1000 are stored. Processor 1001, ROM 1002 and RAM 1003 are connected to each other via bus 1004. Processor 1001 performs various operations of the method flow according to the embodiment of the present disclosure by executing the program in ROM 1002 and / or RAM 1003. It should be noted that the program can also be stored in one or more memories other than ROM 1002 and RAM 1003. Processor 1001 can also perform various operations of the method flow according to the embodiment of the present disclosure by executing the program stored in the one or more memories.

[0085] According to an embodiment of the present disclosure, the electronic device 1000 may further include an input / output (I / O) interface 1005, which is also connected to the bus 1004. The electronic device 1000 may further include one or more of the following components connected to the input / output (I / O) interface 1005: an input portion 1006 including a keyboard, a mouse, etc.; an output portion 1007 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage portion 1008 including a hard disk, etc.; and a communication portion 1009 including a network interface card such as a LAN card, a modem, etc. The communication portion 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to the input / output (I / O) interface 1005 as needed. A removable medium 1011, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1010 as needed, so that a computer program read therefrom is installed into the storage portion 1008 as needed.

[0086] According to an embodiment of the present disclosure, the method flow according to an embodiment of the present disclosure can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a computer-readable storage medium, and the computer program contains a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 1009, and / or installed from the removable medium 1011. When the computer program is executed by the processor 1001, the above-mentioned functions defined in the system of the embodiment of the present disclosure are executed. According to an embodiment of the present disclosure, the system, equipment, device, module, unit, etc. described above can be implemented by a computer program module.

[0087] The present disclosure also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or may exist independently without being assembled into the device / apparatus / system. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed, the method according to the embodiment of the present disclosure is implemented.

[0088] According to an embodiment of the present disclosure, the computer-readable storage medium may be a non-volatile computer-readable storage medium. For example, it may include, but is not limited to: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, apparatus, or device.

[0089] For example, according to an embodiment of the present disclosure, the computer-readable storage medium may include the ROM 1002 and / or the RAM 1003 described above and / or one or more memories other than the ROM 1002 and the RAM 1003 .

[0090] An embodiment of the present disclosure also includes a computer program product, which includes a computer program, and the computer program contains a program code for executing the method provided by the embodiment of the present disclosure. When the computer program product is run on an electronic device, the program code is used to enable the electronic device to implement the aircraft flow field sensing method based on magnetic cilia provided by the embodiment of the present disclosure.

[0091] When the computer program is executed by the processor 1001, the above functions defined in the system / device of the embodiment of the present disclosure are executed. According to the embodiment of the present disclosure, the system, device, module, unit, etc. described above can be implemented by a computer program module.

[0092] In one embodiment, the computer program may rely on tangible storage media such as optical storage devices, magnetic storage devices, etc. In another embodiment, the computer program may also be transmitted and distributed in the form of signals on a network medium, and downloaded and installed through the communication part 1009, and / or installed from the removable medium 1011. The program code contained in the computer program may be transmitted using any appropriate network medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0093] According to an embodiment of the present disclosure, the program code for executing the computer program provided by the embodiment of the present disclosure can be written in any combination of one or more programming languages. Specifically, these computing programs can be implemented using high-level process and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, Java, C++, python, "C" language or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, partially on the remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (for example, using an Internet service provider to connect through the Internet).

[0094] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram may represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box may also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions. It can be understood by those skilled in the art that the features recorded in the various embodiments of the present disclosure can be combined and / or combined in a variety of ways, even if such a combination or combination is not explicitly recorded in the present disclosure. In particular, without departing from the spirit and teaching of the present disclosure, the features described in the various embodiments of the present disclosure may be combined and / or combined in a variety of ways. All of these combinations and / or combinations fall within the scope of the present disclosure.

[0095] The embodiments of the present disclosure are described above. However, these embodiments are only for illustrative purposes and are not intended to limit the scope of the present disclosure. Although the embodiments are described above, this does not mean that the measures in the various embodiments cannot be used in combination to advantage. Without departing from the scope of the present disclosure, those skilled in the art may make a variety of substitutions and modifications, which should all fall within the scope of the present disclosure.

Claims

1. An aircraft flow field sensing device based on magnetic cilia, comprising: A ciliary array, including a plurality of magnetic cilia, configured to deform under the action of an external airflow of the aircraft; The outer shell cover plate has a first surface provided with a plurality of ciliary mounting holes, wherein the plurality of ciliary mounting holes are in a non-through state, and the ciliary mounting holes are used to set a plurality of the magnetic cilia; A magnetic sensor circuit board is arranged on the second surface of the outer shell cover, the second surface is the back of the first surface, a plurality of magnetic sensors are arranged on the magnetic sensor circuit board, the number of the plurality of magnetic sensors is the same as the number of the plurality of ciliary mounting holes, the positions of the plurality of magnetic sensors in the magnetic sensor circuit board correspond one-to-one with the positions of the plurality of ciliary mounting holes in the outer shell cover, and the magnetic sensor circuit board is used to sense the changes in the magnetic field generated when the magnetic ciliary hairs are deformed.

2. The device according to claim 1, wherein: The number of the plurality of magnetic cilia is greater than or equal to the number of the plurality of cilia mounting holes, and each of the cilia mounting holes is configured with at least one magnetic cilia.

3. The device according to claim 1, wherein: The magnetic sensor circuit board is also provided with a conductor pin header for connecting the conductors of a plurality of the magnetic sensors.

4. The apparatus according to claim 3, further comprising: The housing base is used to place the magnetic sensor circuit board, and the housing base is connected to the housing cover by screws. 5 . The device according to claim 4 , further comprising a wire discharge channel connected to the housing base for discharging the wire of the magnetic sensor.

6. The device according to any one of claims 1 to 5, wherein: The magnetic cilia include a magnetic substance and a flexible substance. The magnetic substance is used to generate a magnetic field change when the magnetic cilia are deformed, and the flexible substance is used to deform the magnetic cilia under the action of an external airflow.

7. The device according to claim 6, wherein: The magnetic material in the magnetic cilia includes at least one of neodymium iron boron magnets, iron, nickel, cobalt and oxides; The flexible material in the magnetic cilia includes at least one of polyethylene terephthalate, polyethylene, polyurethane, polyimide, polyvinyl alcohol, polydimethylsiloxane, latex, silica gel, hydrogel, cotton, silk, nylon, polyester and animal hair.

8. The device according to any one of claims 1 to 5, wherein: The multiple sensors include sensors based on at least one principle of Hall, anisotropic magnetoresistance, giant magnetoresistance, tunneling magnetoresistance, colossal magnetoresistance, giant magnetoimpedance, fluxgate, atomic magnetometer, superconducting quantum interference device and magnetic induction coil.

9. The device according to any one of claims 1 to 5, further comprising: A processor is used to determine the flight parameters of the aircraft according to the change of the magnetic field.

10. A method for sensing the flow field of an aircraft based on magnetic cilia, comprising: The ciliary array is deformed under the action of the external airflow of the aircraft, wherein the ciliary array includes a plurality of magnetic cilia, the plurality of magnetic cilia are arranged in the ciliary mounting holes of the outer shell cover, the first surface of the outer shell cover is provided with a plurality of ciliary mounting holes, and the plurality of ciliary mounting holes are in a non-through state; The magnetic field changes generated when the magnetic ciliary bodies are deformed are sensed by a magnetic sensor circuit board, wherein the magnetic sensor circuit board is arranged on the second surface of the outer shell cover, the second surface is the back surface of the first surface, a plurality of magnetic sensors are arranged on the magnetic sensor circuit board, the number of the plurality of magnetic sensors is the same as the number of the plurality of ciliary mounting holes, and the positions of the plurality of magnetic sensors in the magnetic sensor circuit board correspond one-to-one to the positions of the plurality of ciliary mounting holes in the outer shell cover.

Images