Solar-powered unmanned aerial vehicle take-off window determination method, electronic device, and medium

Abstract

The application discloses a solar unmanned aerial vehicle take-off window determination method, electronic equipment and medium. The method can comprise: determining a take-off time; based on the take-off time, calculating a plurality of key parameters of a solar unmanned aerial vehicle flight window and judging whether the plurality of key parameters meet corresponding regulations; if each key parameter meets the corresponding regulations, the take-off time is taken as the solar unmanned aerial vehicle take-off window. The application takes historical meteorological data of a selected place as the basis, analyzes the influence of meteorological factors on the motion characteristics of the unmanned aerial vehicle and the solar energy characteristics, the data and analysis results have high reliability, the selection efficiency of the take-off window is improved, the selection of the suitable take-off place and the flight time range of the solar unmanned aerial vehicle can be realized, and the application has important significance for the selection of the suitable take-off place and the flight time range of the solar unmanned aerial vehicle.

Description

Technical Field

[0001] This invention relates to the field of near-space solar-powered unmanned aerial vehicles (UAVs), and more specifically, to a method, electronic device, and medium for determining the takeoff window of a solar-powered UAV. Background Technology

[0002] Near-space solar-powered unmanned aerial vehicles (UAVs) are lightweight, high-aspect-ratio flexible aircraft. Compared to conventional aircraft, they are less resistant to weather disturbances, especially during takeoff and landing, where they are highly sensitive to weather conditions such as wind field, cloud cover, and precipitation. Therefore, selecting suitable takeoff and landing locations and times is crucial for solar-powered UAVs to perform their missions. Airports typically maintain annual, hourly historical meteorological databases. These databases contain numerous data elements and are large in volume, making it difficult to directly select suitable weather windows for solar-powered UAV takeoff. Therefore, it is essential to extract key meteorological factors affecting solar-powered UAV takeoff from these databases and combine them with the UAV's motion characteristics and solar energy characteristics during takeoff to determine the appropriate takeoff window.

[0003] Currently, a method for determining the takeoff window of solar-powered drones still needs to be developed.

[0004] The information disclosed in the background section of this invention is intended only to enhance the understanding of the general background of this invention, and should not be construed as an admission or in any way implying that such information constitutes prior art known to those skilled in the art. Summary of the Invention

[0005] This invention proposes a method, electronic equipment, and medium for determining the takeoff window of a solar-powered unmanned aerial vehicle (UAV). Based on historical meteorological data of the selected location, it analyzes the influence of meteorological factors on the UAV's motion characteristics and solar energy characteristics. The data and analysis results have high reliability and improve the efficiency of takeoff window selection. It can achieve the screening of takeoff windows for solar-powered UAVs over a large area throughout the year, which is of great significance for selecting suitable takeoff locations and flight time ranges for solar-powered UAVs.

[0006] In a first aspect, embodiments of this disclosure provide a method for determining the takeoff window of a solar-powered unmanned aerial vehicle (UAV), including:

[0007] Determine the departure time;

[0008] Based on the takeoff time, calculate several key parameters of the solar-powered UAV's flight window and determine whether they comply with the corresponding regulations;

[0009] If each of the key parameters meets the corresponding requirements, then the takeoff time will be used as the takeoff window for the solar-powered UAV.

[0010] Preferably, the key parameters include wind speed, cloud base height, precipitation, solar irradiance, wind direction, airport runway direction, and cloud cover percentage.

[0011] Preferably, calculating the wind speed and determining whether it complies with the corresponding regulations based on the takeoff time includes:

[0012] Let T0 be the takeoff time of the drone, and t be the time required for the drone to take off. la Determine the integer time interval [HH1, HH2] to which T0 belongs, and extract the corresponding wind speed V. whh1 V whh2 The interpolation method is used to calculate T0 to T0+t. la Wind speed V during the time period w :

[0013]

[0014] Calculate from T0 to T0+t la Wind speed along the runway and wind speed perpendicular to the runway during the time period:

[0015] V wver =|cos(D w -D r )×V W

[0016] V wpar =|sin(D) w -D r )×V W |

[0017] Determine the relationship between the wind speed along the runway direction and the wind speed perpendicular to the runway direction and the limit value. If both the wind speed along the runway direction and the wind speed perpendicular to the runway direction are less than or equal to the limit value, then the corresponding regulations are met.

[0018] Preferably, calculating the cloud base height based on the takeoff time and determining whether it meets the corresponding regulations includes:

[0019] Given that the drone's climb rate is u, calculate the drone's climb rate T0+t. la To T0+t la The flight altitude during the +t time period is:

[0020]

[0021] Determine T0+t la Extract the cloud base height H from the integer time interval [HH3, HH4] to which time +t belongs. cldhh3 H cldhh4 T0+t is calculated using interpolation methods. laCloud base height at time +t:

[0022]

[0023] Set the limit value e1 for the drone's altitude and cloud base height, when |H uav -H cld If |≤e1, determine the time T0+t. la +t cld Corresponding cloud cover percentage P cld The relationship between cloud cover percentage and limit value is such that when cloud cover is less than or equal to the limit value, it meets the corresponding regulations.

[0024] Preferably, calculating the precipitation and determining whether it meets the corresponding regulations based on the takeoff time includes:

[0025] Calculate from T0 to T0+t la +t cld Rainfall data within the time period, covering T0 to T0+t. la +t cld If the smallest integer time interval of a time period corresponds to a precipitation of 0, then it meets the corresponding requirements.

[0026] Preferably, calculating the solar irradiance energy and determining whether it meets the corresponding regulations based on the takeoff time includes:

[0027] Calculate the intensity of vertical solar radiation:

[0028] I0=I[(1+εcosα) / (1-ε 2 )] 2

[0029] Where α is the solar altitude angle, I is the solar constant, and ε is the Earth's eccentricity;

[0030] Calculate solar irradiance:

[0031]

[0032] in, ω(t) is the declination angle, ω(t) is the solar hour angle, and θ is the geographical latitude of the location.

[0033] The solar irradiance energy is calculated as follows:

[0034]

[0035] Where η cld This is the conversion factor corresponding to the cloud cover percentage. The cloud cover percentage is calculated using interpolation. For time t, the corresponding integer time period [HH1, HH2] is determined, and the corresponding cloud cover percentage P is extracted. cldhh1 Pcldhh2 Then the cloud cover at time t is:

[0036]

[0037] When calculating the reduction in solar irradiance energy compared to cloudless conditions, if the reduction is less than the limit value, it meets the corresponding regulations.

[0038] Preferably, it further includes:

[0039] If any of the key parameters does not meet the corresponding requirements, the takeoff time will be re-determined and the key parameters will be recalculated and judged.

[0040] Secondly, embodiments of this disclosure also provide an electronic device, the electronic device comprising:

[0041] Memory, which stores executable instructions;

[0042] A processor that executes the executable instructions in the memory to implement the solar-powered drone takeoff window determination method.

[0043] Thirdly, this disclosure also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the solar-powered UAV takeoff window determination method.

[0044] Its beneficial effects are as follows:

[0045] This invention establishes a year-round, hourly database of key meteorological parameters affecting the takeoff of solar-powered drones. Through interpolation, it calculates the changes in key meteorological parameters during the drone's takeoff and ascent. Combining the drone's motion characteristics and solar energy characteristics during takeoff and ascent, it provides a comprehensive method for determining the takeoff window for solar-powered drones. Ultimately, it can determine the specific time range suitable for solar-powered drone takeoff on a given day in a given location, the number of days suitable for takeoff in a given month, and their distribution, thus providing a basis for selecting the takeoff window for solar-powered drones in that location.

[0046] The methods and apparatus of the present invention have other features and advantages that will be apparent from or will be set forth in detail in the accompanying drawings and following detailed description, which together serve to explain the particular principles of the invention. Attached Figure Description

[0047] The above and other objects, features and advantages of the present invention will become more apparent from the more detailed description of exemplary embodiments of the invention in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same parts.

[0048] Figure 1 A flowchart illustrating the steps of a method for determining the takeoff window of a solar-powered unmanned aerial vehicle according to an embodiment of the present invention is shown. Detailed Implementation

[0049] Preferred embodiments of the invention will now be described in more detail. While preferred embodiments of the invention are described below, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0050] Figure 1 A flowchart illustrating the steps of a method for determining the takeoff window of a solar-powered unmanned aerial vehicle according to an embodiment of the present invention is shown.

[0051] like Figure 1 As shown, the method for determining the takeoff window of this solar-powered drone includes:

[0052] Step 101: Determine the takeoff time;

[0053] Step 102: Based on the takeoff time, calculate several key parameters of the solar-powered UAV's flight window and determine whether they comply with the corresponding regulations;

[0054] Step 103: If each key parameter meets the corresponding requirements, the takeoff time will be used as the takeoff window for the solar-powered drone.

[0055] In one example, key parameters include wind speed, cloud base height, precipitation, solar irradiance, wind direction, airport runway direction, and cloud cover percentage.

[0056] In one example, calculating wind speed and determining compliance with relevant regulations based on takeoff time includes:

[0057] Let T0 be the takeoff time of the drone, and t be the time required for the drone to take off. la Determine the integer time interval [HH1, HH2] to which T0 belongs, and extract the corresponding wind speed V. whh1 V whh2 The interpolation method is used to calculate T0 to T0+t. la Wind speed V during the time period w :

[0058]

[0059] Calculate from T0 to T0+t laWind speed along the runway and wind speed perpendicular to the runway during the time period:

[0060] V wver =|cos(D w -D r )×V W

[0061] V wpar =|sin(D) w -D r )×V W |

[0062] Determine the relationship between the wind speed along the runway direction and the wind speed perpendicular to the runway direction and the limit value. If both the wind speed along the runway direction and the wind speed perpendicular to the runway direction are less than or equal to the limit value, then the corresponding regulations are met.

[0063] In one example, calculating the cloud base height based on the takeoff time and determining whether it complies with the corresponding regulations includes:

[0064] Given that the drone's climb rate is u, calculate the drone's climb rate T0+t. la To T0+t la The flight altitude during the +t time period is:

[0065]

[0066] Determine T0+t la Extract the cloud base height H from the integer time interval [HH3, HH4] to which time +t belongs. cldhh3 H cldhh4 T0+t is calculated using interpolation methods. la Cloud base height at time +t:

[0067]

[0068] Set the limit value e1 for the drone's altitude and cloud base height, when |H uav -H cld If |≤e1, determine the time T0+t. la +t cld Corresponding cloud cover percentage P cld The relationship between cloud cover percentage and limit value is such that when cloud cover is less than or equal to the limit value, it meets the corresponding regulations.

[0069] In one example, calculating precipitation and determining whether it complies with the corresponding regulations based on the takeoff time includes:

[0070] Calculate from T0 to T0+t la +t cld Rainfall data within the time period, covering T0 to T0+t.la +t cld If the smallest integer time interval of a time period corresponds to a precipitation of 0, then it meets the corresponding requirements.

[0071] In one example, calculating solar irradiance based on the takeoff time and determining whether it complies with the corresponding regulations includes:

[0072] Calculate the intensity of vertical solar radiation:

[0073] I0=I[(1+εcosα) / (1-ε 2 )] 2

[0074] Where α is the solar altitude angle, I is the solar constant, and ε is the Earth's eccentricity;

[0075] Calculate solar irradiance:

[0076]

[0077] in, ω(t) is the declination angle, ω(t) is the solar hour angle, and θ is the geographical latitude of the location.

[0078] The solar irradiance energy is calculated as follows:

[0079]

[0080] Where η cld This is the conversion factor corresponding to the cloud cover percentage. The cloud cover percentage is calculated using interpolation. For time t, the corresponding integer time period [HH1, HH2] is determined, and the corresponding cloud cover percentage P is extracted. cldhh1 P cldhh2 Then the cloud cover at time t is:

[0081]

[0082] When calculating the reduction in solar irradiance energy compared to cloudless conditions, if the reduction is less than the limit value, it meets the corresponding regulations.

[0083] In one example, it also includes:

[0084] If any key parameter does not meet the corresponding regulations, the takeoff time will be re-determined and the key parameters will be recalculated and judged.

[0085] Specifically, the key parameter affecting the flight window of solar-powered drones is set as wind speed V. w Wind direction D w (With true north as 0°, clockwise direction is positive, 0°≤D) w ≤360°), Airport runway direction D r(With true north as 0°, clockwise direction is positive, 0°≤D) r ≤180°), cloud cover percentage P cld Cloud base height H cld , precipitation R, establish an hourly database of historical meteorological parameters for the nth day of the year.

[0086] Let T0 be the takeoff time of the drone, and t be the time required for the drone to take off. la Determine the integer time interval [HH1, HH2] to which T0 belongs, and extract the corresponding wind speed V. whh1 V whh2 Wind direction D whh1 D whh2 The interpolation method is used to calculate T0 to T0+t. la Wind speed V during the time period w Wind direction D w :

[0087]

[0088] Calculate from T0 to T0+t la Wind speed along the runway and wind speed perpendicular to the runway during the time period:

[0089] V wver =|cos(D w -D r )×V W |

[0090] V wpar =|sin(D) w -D r )×V W |

[0091] Determine the relationship between the wind speed along the runway and the wind speed perpendicular to the runway and the limit value. If both the wind speed along the runway and the wind speed perpendicular to the runway are less than or equal to the limit value, then the corresponding regulations are met, and the calculation continues. Otherwise, this takeoff time cannot be used as a takeoff window for the solar-powered UAV, and T0 is set to T0 + t. la Recalculate based on the drone's takeoff time.

[0092] Given that the drone's climb rate is u, calculate the drone's climb rate T0+t. la To T0+t la Flight altitude during the +t time period

[0093]

[0094] Determine T0+t la Extract the cloud base height H from the integer time interval [HH3, HH4] to which time +t belongs.cldhh3 H cldhh4 T0+t is calculated using interpolation methods. la Cloud base height at time +t:

[0095]

[0096] Set the limit value e1 for the drone's altitude and cloud base height, when |H uav -H cld If |≤e1, determine the time T0+t. la +t cld Corresponding cloud cover percentage P cld The relationship with the cloud cover percentage limit is as follows: when the cloud cover is less than or equal to the cloud cover limit, it is considered that there are no clouds or the impact of the drone passing through the clouds can be ignored, which meets the corresponding regulations and the calculation continues. Otherwise, it is considered that the take-off time cannot be used as the take-off window for the solar-powered drone, and an appropriate time interval T0 = T0 + t1 is pushed back as the take-off time and the calculation is recalculated.

[0097] Calculate from T0 to T0+t la +t cld Rainfall data within the time period, covering T0 to T0+t. la +t cld If the minimum integer time interval of the time period corresponds to 0 precipitation, it meets the corresponding requirements and the calculation continues; otherwise, it is considered that the takeoff time cannot be used as the takeoff window for the solar-powered drone, and an appropriate time interval T0 = T0 + t1 is pushed forward as the takeoff time, and the calculation is recalculated.

[0098] Calculate from T0 to T0+t la +t cld The impact of cloud cover on drone solar cell power generation over a given time period. Calculation of solar vertical irradiance intensity:

[0099] I0=I[(1+εcosα) / (1-ε 2 )] 2

[0100] Among them, the solar altitude angle is:

[0101] α = 2π(n-4) / 365

[0102] Solar constant:

[0103] I = 1367 W / m 2

[0104] Earth's eccentricity:

[0105] ε = 0.017

[0106] 2) Calculate solar irradiance:

[0107]

[0108] Among them, the declination angle is:

[0109]

[0110] Solar hour angle:

[0111] ω(t)=π-πt / 12

[0112] θ is the geographical latitude of the location.

[0113] 3) Calculate solar irradiance energy

[0114]

[0115] Where η cld This is the conversion factor corresponding to the cloud cover percentage. The cloud cover percentage is calculated using interpolation. For time t, the corresponding integer time period [HH1, HH2] is determined, and the corresponding cloud cover percentage P is extracted. cldhh1 P cldhh2 Then the cloud cover at time t is:

[0116]

[0117] The calculation considers the attenuation of solar irradiance when cloud cover is factored in compared to when there is no cloud cover. If the attenuation is less than the limit, the impact of cloud cover is considered acceptable, and T0 is considered a suitable takeoff time for solar-powered drones. Otherwise, T0 is considered unsuitable as a takeoff window for solar-powered drones, and an appropriate time interval is pushed back, letting T0 = T0 + t. la +t cld Recalculate the takeoff time.

[0118] Whether a particular day is suitable for takeoff can be determined by the proportion of suitable takeoff times on that day out of all suitable takeoff times, and this can be extended to the number and distribution of suitable days for solar-powered drone takeoff in a given month.

[0119] The present invention also provides an electronic device, comprising: a memory storing executable instructions; and a processor executing the executable instructions in the memory to implement the above-described method for determining the takeoff window of a solar-powered drone.

[0120] The present invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for determining the takeoff window of a solar-powered unmanned aerial vehicle.

[0121] To facilitate understanding of the solutions and effects of the embodiments of the present invention, three specific application examples are given below. Those skilled in the art should understand that these examples are merely for the purpose of understanding the present invention, and any specific details therein are not intended to limit the present invention in any way.

[0122] Example 1

[0123] Based on the meteorological data of a certain airport in a certain location for a certain year, key factors such as wind speed, wind direction, cloud cover percentage, cloud base height, and precipitation were selected and sorted by date and time to establish a meteorological database for that airport in that location for that year. The database format is shown in Table 1.

[0124] Table 1

[0125]

[0126]

[0127] Set the wind speed limit value a along the runway direction. parmax The maximum wind speed a perpendicular to the runway direction vermax Cloud base height limit d max Parameters such as 15 minutes are set as the time interval for filtering takeoff window times. If the proportion of suitable takeoff times in a given day is greater than or equal to 80% of all judged times, that day is considered a takeoff window. The annual takeoff window availability for that location is calculated based on the above method.

[0128] Example 2

[0129] This disclosure provides an electronic device, comprising: a memory storing executable instructions; and a processor executing the executable instructions in the memory to implement the aforementioned method for determining the takeoff window of a solar-powered unmanned aerial vehicle.

[0130] An electronic device according to an embodiment of the present disclosure includes a memory and a processor.

[0131] This memory is used to store non-transitory computer-readable instructions. Specifically, the memory may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may, for example, include random access memory (RAM) and / or cache memory. The non-volatile memory may, for example, include read-only memory (ROM), hard disk, flash memory, etc.

[0132] The processor may be a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device to perform desired functions. In one embodiment of this disclosure, the processor is used to execute computer-readable instructions stored in the memory.

[0133] Those skilled in the art will understand that, in order to solve the technical problem of how to achieve a good user experience, this embodiment may also include well-known structures such as communication buses and interfaces, and these well-known structures should also be included within the protection scope of this disclosure.

[0134] For a detailed description of this embodiment, please refer to the corresponding descriptions in the foregoing embodiments, which will not be repeated here.

[0135] Example 3

[0136] This disclosure provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the solar-powered drone takeoff window determination method.

[0137] A computer-readable storage medium according to embodiments of the present disclosure stores non-transitory computer-readable instructions. When these non-transitory computer-readable instructions are executed by a processor, all or part of the steps of the methods described in the foregoing embodiments of the present disclosure are performed.

[0138] The aforementioned computer-readable storage media include, but are not limited to: optical storage media (e.g., CD-ROM and DVD), magneto-optical storage media (e.g., MO), magnetic storage media (e.g., magnetic tape or portable hard drive), media with built-in rewritable non-volatile memory (e.g., memory card), and media with built-in ROM (e.g., ROM cartridge).

[0139] Those skilled in the art should understand that the above description of the embodiments of the present invention is only intended to illustrate the beneficial effects of the embodiments of the present invention, and is not intended to limit the embodiments of the present invention to any of the examples given.

[0140] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A method for determining the takeoff window of a solar-powered unmanned aerial vehicle (UAV), characterized in that, include: Determine the departure time; Based on the takeoff time, calculate several key parameters of the solar-powered UAV's flight window and determine whether they comply with the corresponding regulations; If each of the key parameters meets the corresponding requirements, then the takeoff time will be used as the takeoff window for the solar-powered UAV. The key parameters include wind speed, cloud base height, precipitation, solar irradiance, wind direction, airport runway direction, and cloud cover percentage. Calculating the wind speed and determining whether it complies with the corresponding regulations based on the takeoff time includes: Set the drone takeoff time as T 0. The time required for the drone to take off and lift off is... t la ,Sure T The integer period to which 0 belongs [ HH 1, HH 2] Extract the corresponding wind speed V whh1 , V whh2 Calculation using interpolation method T 0 to T 0+ t la Wind speed during the time period V w : calculate T 0 to T 0+ t la Wind speed along the runway and wind speed perpendicular to the runway during the time period: Determine the relationship between the wind speed along the runway direction and the wind speed perpendicular to the runway direction and the limit value. If both the wind speed along the runway direction and the wind speed perpendicular to the runway direction are less than or equal to the limit value, then the corresponding regulations are met. Calculating the cloud base height based on the takeoff time and determining whether it complies with the corresponding regulations includes: Set the drone's climb rate u Calculation of drones T 0+ t la to T 0+ t la + t The flight altitude during the time period was: judge T 0+ t la + t The integer time interval to which the time belongs [ HH 3, HH 4] Extract the corresponding cloud base height H cldhh3 , H cldhh4 Calculation using interpolation method T 0+ t la + t Cloud base height at any given time: Set limits on the drone's altitude and cloud base. e 1, when | H uav - H cld |≤ e 1. Determine the moment. T 0+ t la + t cld Corresponding cloud cover percentage P cld The relationship between cloud cover percentage and limit value is that when cloud cover is less than or equal to the limit value, it meets the corresponding regulations. The calculation of precipitation and determination of whether it complies with the corresponding regulations based on the takeoff time includes: calculate T 0 to T 0+ t la + t cld Rainfall data within a given time period, extracting data covering... T 0 to T 0+ t la + t cld If the smallest integer time interval of a time period corresponds to a precipitation of 0, then it meets the corresponding requirements. The calculation of the solar irradiance energy and determination of whether it complies with the corresponding regulations based on the takeoff time includes: Calculate the intensity of vertical solar radiation: Where α is the solar altitude angle, I is the solar constant, and ε is the Earth's eccentricity; Calculate solar irradiance: in, Let ω(t) be the declination angle and ω(t) be the solar hour angle. θ This refers to the geographical latitude of the location. The solar irradiance energy is calculated as follows: in This is the conversion factor corresponding to the cloud cover percentage. The cloud cover percentage is calculated using interpolation over time. t Determine the corresponding integer time period [ HH 1, HH 2] Extract the corresponding cloud cover percentage. P cldhh1 , P cldhh2 Then time t Hourly cloud cover is: When calculating the reduction in solar irradiance energy compared to cloudless conditions, if the reduction is less than the limit value, it meets the corresponding regulations.

2. The method for determining the takeoff window of a solar-powered unmanned aerial vehicle according to claim 1, wherein, Also includes: If any of the key parameters does not meet the corresponding requirements, the takeoff time will be re-determined and the key parameters will be recalculated and judged.

3. An electronic device, characterized in that, The electronic device includes: Memory, which stores executable instructions; A processor that executes the executable instructions in the memory to implement the solar-powered UAV takeoff window determination method of claim 1 or 2.

4. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the solar-powered UAV takeoff window determination method as described in claim 1 or 2.

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