Aircraft attitude recognition device and method and light-heat-electricity conversion array preparation method

Abstract

The invention discloses an aircraft attitude recognition device, and relates to the technical field of flight attitude recognition, the aircraft attitude recognition device comprises a light-proof box body, a self-balancing laser at the top of an inner cavity of the light-proof box body and a light-heat-electricity conversion array at the bottom of the inner cavity of the light-proof box body, the self-balancing laser always irradiates vertically downwards, and the light-heat-electricity conversion array comprises a light-heat layer and a thermoelectric layer. The photo-thermal layer is symmetrical about a first axis and a second axis, the first axis is parallel to a pitch axis of the aircraft, the second axis is parallel to a rolling axis of the aircraft, and in a horizontal state, the irradiation range of the laser coincides with the projection of the horizontal plane of the photo-thermal layer; a first electrode pair of the current measuring chip measures the current at two sides of a first shaft, a second electrode pair of the current measuring chip measures the current at two sides of a second shaft, a processor is used for data processing, and attitude estimation can be conveniently, rapidly, accurately and cheaply carried out; the invention further discloses a preparation method of the light-heat-electricity conversion array and an aircraft attitude recognition method.

Description

Technical Field

[0001] The present invention relates to the technical field of flight attitude recognition, and in particular to an aircraft attitude recognition device and recognition method, and a method for preparing a light-heat-electric conversion array. Background Art

[0002] With the continuous advancement of science and technology, various types of aircraft are playing an increasingly important role in society. In practical applications, the control system of the aircraft (such as the autopilot) relies on attitude data to adjust the flight control surfaces or propulsion system. Attitude control can prevent the aircraft from being unstable or unexpectedly maneuvering and ensure flight safety. Measuring attitude data can also provide necessary feedback. By monitoring and recording the attitude data of the aircraft, engineers and technicians can diagnose faults and perform maintenance. In addition, when performing precision tasks, ensuring that the flight attitude of the aircraft remains within a controllable range is an important factor in successfully completing the mission. Therefore, accurately identifying the flight attitude of the aircraft is crucial.

[0003] Flight attitude refers to the state of an aircraft in the air relative to a fixed coordinate system, which is usually defined by attitude angles in three main directions: pitch angle, roll angle and yaw angle. Therefore, establishing a coordinate system centered on the aircraft itself and accurately measuring its attitude angles is the key to ensuring that the aircraft flies stably along a predetermined trajectory. Among the attitude recognition technologies known to the inventor: (1) Kalman filtering method, which can fuse data from multiple sensors (such as IMUs, GPS, and visual sensors) to estimate flight attitude, visual inertial navigation uses cameras or other visual sensors to identify feature points through image processing algorithms, and combines inertial measurement unit (IMU) data for attitude estimation; (2) neural network method, which constructs a multi-layer perception model to learn and process sensor signals to obtain attitude estimation values.

[0004] However, the recognition devices used in the above methods have limited robustness and adaptability. The sensors must be placed in specific locations, which requires high precision of the sensor probes. The signal noise is large during measurement, which easily affects the accuracy and reliability. Moreover, they all rely on complex algorithms, which makes it extremely challenging to accurately estimate the attitude of the aircraft in a short time. It also greatly increases the production cost of small aircraft and hinders its widespread application. These problems have seriously restricted the development of aircraft attitude recognition technology. Therefore, how to improve the stability and environmental adaptability of aircraft attitude recognition devices, and further simplify the data processing process to achieve convenient, fast, accurate and cheap attitude estimation is an urgent problem to be solved in this field. Summary of the invention

[0005] The purpose of the present invention is to provide an aircraft attitude recognition device to solve the problems existing in the above-mentioned prior art, improve the stability and environmental adaptability of the aircraft attitude recognition device, and further simplify the data processing process to achieve convenient, fast, accurate and inexpensive attitude estimation.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] An aircraft attitude recognition device, used for real-time recognition of the roll angle and pitch angle of an aircraft during flight, comprising:

[0008] A light-proof box body is used to be fixed on the aircraft, and a self-balancing laser that always irradiates vertically downward is installed on the top of the inner cavity of the light-proof box body;

[0009] A light-heat-electric conversion array is installed at the bottom of the inner cavity of the light-proof box body, the light-heat-electric conversion array at least comprises a photothermal layer for receiving the light of the self-balancing laser, and a thermoelectric layer in contact with the photothermal layer and converting the heat of the photothermal layer into electrical energy, the photothermal layer is configured to be symmetrical about a first axis and a second axis, and in a horizontal state, the irradiation range of the self-balancing laser coincides with the projection of the photothermal layer on the horizontal plane, wherein the first axis is parallel to the pitch axis of the aircraft, and the second axis is parallel to the roll axis of the aircraft;

[0010] A current measurement chip, comprising a first pin pair and a second pin pair, wherein two pins in the first pin pair are respectively used to connect the thermoelectric layers on both sides of the first axis to measure the current magnitude on both sides of the first axis; and two pins in the second pin pair are respectively used to connect the thermoelectric layers on both sides of the second axis to measure the current magnitude on both sides of the second axis;

[0011] A processor is connected to the current measurement chip and is used to determine the pitch angle and the roll angle of the aircraft according to the current magnitudes on both sides of the first axis and the current magnitudes on both sides of the second axis.

[0012] In an exemplary embodiment, the photothermal layer includes a thermal insulation film and a photothermal filling part, the thermal insulation film is provided with holes that are symmetrical about the first axis and the second axis, and the photothermal filling part fills the holes.

[0013] In an exemplary embodiment, the thickness of the thermal insulation film is h, the hole is a circular hole, and the diameter of the circular hole is not greater than 3h, or the hole is a square hole, and the side length of the square hole is not greater than 3h.

[0014] In an exemplary embodiment, the thermal insulation film is a polyimide film, and the material of the optical thermal filling part is CuS.

[0015] In an exemplary embodiment, the thermoelectric layer includes a glass substrate, and a Bi2Te3 layer deposited on the glass substrate.

[0016] The present invention also provides a method for preparing a light-heat-electric conversion array, comprising the steps of:

[0017] S1) cutting holes symmetrically arranged about a first axis and a second axis on the thermal insulation film;

[0018] S2) spraying a photothermal material in the hole, so that the photothermal material fills the hole to obtain a photothermal layer;

[0019] S3) Compounding the photothermal layer onto the thermoelectric layer to obtain a photo-thermal-electric conversion array.

[0020] In an exemplary embodiment, the step S1) specifically includes:

[0021] A polyimide film is selected as the thermal insulation film, the holes are cut in the polyimide film by laser etching, and the thermal insulation film is disposed on a fixed substrate.

[0022] In an exemplary embodiment, the step S2) specifically includes:

[0023] S2.1) putting CuS powder into anhydrous ethanol and stirring it thoroughly to form a photothermal material, and spraying the photothermal material onto the thermal insulation film disposed on the fixed substrate;

[0024] S2.2) heating and curing at a temperature of 100°C to 120°C.

[0025] In an exemplary embodiment, the step S3) specifically includes:

[0026] S3.1) selecting a glass substrate, cleaning and drying it, placing the glass substrate in a vacuum environment and heating it to 340°C to 360°C, using a pulsed laser to continuously bombard a Bi2Te3 target material, so that a Bi2Te3 thermoelectric layer with a thickness of 100-200 nm is deposited on the glass substrate;

[0027] S3.2) Bonding and compounding the photothermal layer and the thermoelectric layer.

[0028] The present invention also provides an aircraft attitude recognition method, which uses the above-mentioned aircraft attitude recognition device to perform attitude recognition;

[0029] Step 1: Before the aircraft flies, at least one of the aircraft attitude recognition devices is fixed on the aircraft, so that when the aircraft is in a horizontal state, the surface of the light-heat-electric conversion array in the aircraft attitude recognition device is parallel to the horizontal plane;

[0030] Step 2: When the aircraft is flying, the current measurement chip monitors the direction and magnitude of the current generated in the light-heat-electric conversion array in real time. According to the direction and magnitude of the current, the processor accurately reverses the laser irradiation area and calculates the direction and magnitude of the roll angle and pitch angle of the aircraft during flight.

[0031] The aircraft attitude recognition device disclosed by the present invention cooperates with the light-heat-electric conversion array at the bottom of the light-shielding box body cavity through the self-balancing laser at the top of the light-shielding box body cavity. When the aircraft is in a horizontal state, the irradiation range of the self-balancing laser coincides with the projection of the photothermal layer of the photothermal-electric conversion array on the horizontal plane, the photothermal layer generates heat evenly, and there is no temperature difference on the surface, so that the thermoelectric layer of the photothermal-electric conversion array does not generate current; when the aircraft is in a tilted state, the self-balancing laser is always irradiated vertically downward, the photothermal-electric conversion array tilts with the aircraft, the local part of the photothermal layer receives the laser, and a temperature difference is generated on the surface, so that the thermoelectric layer generates a current from the hot area to the cold area; the direction and magnitude of the current are measured by a current measurement chip, and the measured current data is converted by a processor to obtain the roll angle and pitch angle of the aircraft; the aircraft attitude recognition device of the present invention has a simple structure, low requirements on the installation environment, can be installed at any position of the aircraft, has strong robustness and environmental adaptability, and the processing flow for the measurement data during attitude recognition is relatively simple, and can realize convenient, fast, accurate and cheap attitude estimation.

[0032] The light-to-heat-to-electricity conversion array preparation method disclosed in the present invention can quickly prepare the above-mentioned light-to-heat-to-electricity conversion array, which is convenient for realizing light-to-heat-to-electricity energy conversion, and is simple to manufacture and easy to realize, which is conducive to realizing convenient, fast, accurate and inexpensive aircraft attitude estimation.

[0033] The aircraft attitude recognition method disclosed in the present invention has the technical effects corresponding to the above-mentioned aircraft attitude recognition device due to the use of the above-mentioned aircraft attitude recognition device, which will not be described in detail. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 It is a schematic diagram of an exemplary embodiment of the aircraft attitude recognition device disclosed in the present invention installed on an aircraft;

[0036] Figure 2A schematic diagram of an exemplary embodiment of the internal structure of the aircraft attitude recognition device disclosed in the present invention;

[0037] Figure 3 A schematic diagram of an exemplary embodiment of a light-to-heat-to-electricity conversion array disclosed in the present invention;

[0038] Figure 4 A schematic diagram of a use state of an exemplary embodiment of the aircraft attitude recognition device disclosed in the present invention;

[0039] Figure 5 A four-quadrant schematic diagram of the current direction of the aircraft attitude recognition device of the present invention corresponding to the flight attitude of the aircraft;

[0040] Figure 6 The following is a working flow chart of the aircraft attitude recognition device disclosed in the present invention;

[0041] Among them, 1. aircraft; 2. aircraft attitude recognition device; 3. light-proof box; 4. self-balancing laser; 41. laser; 5. photothermal layer; 51. thermal insulation film; 52. photothermal filling part; 6. thermoelectric layer; 71. first electrode; 72. second electrode; 81. third electrode; 82. fourth electrode; 9. current measurement chip; 10. hot zone; 11. cold zone; 12. current direction; 13. first quadrant; 14. second quadrant; 15. third quadrant; 16. fourth quadrant. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. People familiar with the technology can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are only 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.

[0043] The purpose of the present invention is to provide an aircraft attitude recognition device to solve the problems existing in the prior art, improve the stability and environmental adaptability of the aircraft attitude recognition device, and further simplify the data processing process to achieve convenient, fast, accurate and inexpensive attitude estimation.

[0044] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0045] refer to Figures 1 to 3, This embodiment provides an aircraft attitude recognition device 2, which is used to recognize the roll angle and pitch angle of the aircraft 1 in real time during flight, wherein the roll angle refers to the rotation angle of the aircraft 1 around its front-rear axis (roll axis), and the pitch angle refers to the rotation angle of the aircraft 1 around its left-right axis (pitch axis). The aircraft attitude recognition device 2 can be fixed to any part of the aircraft 1, and the number of devices used is at least one. For small aircraft, the best installation position of the aircraft attitude recognition device 2 is on both sides of the wing, preferably one device is fixed on each side;

[0046] The aircraft attitude recognition device 2 comprises:

[0047] The light-shielding box body 3 is used to be fixed on the aircraft 1. The light-shielding box body 3 is a light-proof box body used to accommodate internal components, shielding external light while preventing internal light leakage. A self-balancing laser 4 that always irradiates vertically downward is installed on the top of the inner cavity of the light-shielding box body 3. Here, vertically irradiating downward means irradiating downward perpendicularly to the horizontal plane;

[0048] A light-heat-electric conversion array is installed at the bottom of the inner cavity of the light-proof box body 3, and the light-heat-electric conversion array at least includes a photothermal layer 5 for receiving light from a self-balancing laser, and a thermoelectric layer 6 that contacts the photothermal layer 5 and converts the heat of the photothermal layer 5 into electrical energy, wherein the photothermal layer 5 can undergo a photothermal effect to convert laser energy into thermal energy, and the thermoelectric layer 6 can undergo a thermoelectric effect to convert thermal energy into thermal current, and the photothermal layer 5 is configured to be symmetrical about a first axis and a second axis, and in a horizontal state, the irradiation range of the laser 41 emitted by the self-balancing laser coincides with the projection of the photothermal layer 5 on a horizontal plane, wherein the first axis is parallel to the pitch axis of the aircraft 1, and the second axis is parallel to the roll axis of the aircraft 1;

[0049] The current measurement chip 9 includes a first pin pair and a second pin pair, wherein the two pins in the first pin pair are respectively used to connect the thermoelectric layer 6 on both sides of the first axis to measure the current magnitude on both sides of the first axis; the two pins in the second pin pair are respectively used to connect the thermoelectric layer 6 on both sides of the second axis to measure the current magnitude on both sides of the second axis; here, the two sides of the first axis refer to the two sides symmetrical about the first axis, and the two sides of the second axis refer to the two sides symmetrical about the second axis; the first pin pair and the second pin pair are respectively connected to the first electrode pair and the second electrode pair through wires, the first electrode pair is connected to the two sides of the first axis of the thermoelectric layer 6, and the second electrode pair is connected to the two sides of the second axis of the thermoelectric layer 6, reference Figure 3 The first electrode 71 and the second electrode 72 form a first electrode pair, the third electrode 81 and the fourth electrode 82 form a second electrode pair, and the current measuring chip 9 can be fixed inside the light-proof box body 3.

[0050] The processor is connected to the current measuring chip 9 and is used to process the current data measured by the current measuring chip 9 to determine the pitch angle and roll angle of the aircraft 1 according to the current magnitudes on both sides of the first axis and the current magnitudes on both sides of the second axis.

[0051] As an implementation mode of this embodiment, the photothermal layer 5 includes a thermal insulation film 51 and a photothermal filling part 52. The thermal insulation film 51 is provided with holes that are symmetrical about the first axis and the second axis. The photothermal filling part 52 fills the holes. Each individual photothermal filling part 52 is separated by the thermal insulation film 51 to ensure that there is no heat exchange between them, thereby improving the recognition accuracy of the device.

[0052] As an implementation mode of this embodiment, the thickness of the thermal insulation film 51 is h, the holes are circular holes, and the diameter of the circular holes is not greater than 3h, or the holes are square holes, and the side length of the square holes is not greater than 3h, so as to achieve the best thermal insulation effect.

[0053] As an implementation method of this embodiment, the thermal insulation film 51 is a polyimide film, which has excellent thermal stability, chemical corrosion resistance and mechanical properties, and has outstanding thermal insulation performance; the material of the photothermal filling part 52 is CuS (copper sulfide), and copper sulfide is used as a photothermal material, which can convert the absorbed light energy into thermal energy.

[0054] As an implementation of this embodiment, the thermoelectric layer 6 includes a glass substrate and a Bi2Te3 layer deposited on the glass substrate. Bi2Te3 (bismuth telluride) is a layered thermoelectric material that can generate an electric potential difference under a temperature gradient, and then generate an electric current from the high-temperature end to the low-temperature end.

[0055] When using, refer to Figure 4 :

[0056] When the aircraft 1 is in a horizontal flight posture (refer to the middle schematic diagram), the surface of the light-heat-electric conversion array is parallel to the horizontal plane, the self-balancing laser 4 irradiates perpendicularly to the light-heat-electric conversion array, and the irradiation range coincides with the projection of the photothermal layer 5 on the horizontal plane, that is, the laser range completely covers the surface of the photothermal layer 5. At this time, the surface of the photothermal layer 5 is evenly heated without temperature difference, so no potential difference is generated on the thermoelectric layer 6, and the current in all directions is 0;

[0057] When the aircraft 1 is in a tilted attitude, Figure 4Taking the rolling state in the middle as an example for explanation (refer to the schematic diagrams on both sides), the light-heat-electric conversion array will roll synchronously with the aircraft 1, but the self-balancing laser 4 will always maintain the irradiation in a downward direction perpendicular to the horizontal plane under the action of the gyroscope, so that the irradiated laser and the surface of the light-heat-electric conversion array appear at an angle, and the laser can only cover a part of the photothermal layer 5. At this time, the part receiving the light will generate heat to form a hot zone 10, and the part not receiving the light will not generate heat or the temperature will decrease to form a cold zone 11. Therefore, the thermoelectric layer 6 will generate an electric potential difference under the temperature gradient, and then generate a current from the hot zone 10 to the cold zone 11, which is exactly opposite to the deflection direction of the aircraft 1. The current direction 12 is as shown in FIG. Figure 4 As shown, different rolling angles will result in different current sizes.

[0058] When the first electrode 71 is located on the side of the light-heat-electric conversion array close to the head of the aircraft 1, the second electrode 72 is located on the side of the light-heat-electric conversion array close to the tail of the aircraft 1, the third electrode 81 is located on the left side of the light-heat-electric conversion array close to the aircraft 1, and the fourth electrode 82 is located on the right side of the light-heat-electric conversion array close to the aircraft 1, reference Figure 5 , the flight attitude of the aircraft can be corresponded to the monitored current indication to establish a rectangular coordinate system. In the figure: the positive direction of the horizontal axis represents the current from the third electrode 81 to the fourth electrode 82, that is, the current direction points to the right, and the corresponding aircraft attitude is rolling to the left. On the contrary, the negative direction of the horizontal axis represents the current from the fourth electrode 82 to the third electrode 81, that is, the current direction points to the left, and the corresponding aircraft attitude is rolling to the right; the positive direction of the vertical axis represents the current from the first electrode 71 to the second electrode 72, that is, the current direction points to the tail. At this time, the aircraft deflects to one side of the head, and the corresponding aircraft attitude is that the head is tilted downward. On the contrary, The negative direction of the vertical axis represents the current directed from the second electrode 72 to the first electrode 71, that is, the current direction points to the head. At this time, the aircraft deflects to the tail side, and the corresponding aircraft attitude is that the head is tilted upward; then, when the current indication is in the first quadrant 13 of the above rectangular coordinate system, it means that the aircraft 1 is in a state of deflection downward and leftward, when the current indication is in the second quadrant 14, it means that the aircraft 1 is in a state of deflection downward and rightward, when the current indication is in the third quadrant 15, it means that the aircraft 1 is in a state of deflection upward and rightward, and when the current indication is in the fourth quadrant 16, it means that the aircraft 1 is in a state of deflection upward and leftward. By simply measuring the two sets of currents, the accurate identification of the flight attitude of the aircraft can be achieved.

[0059] The present invention also provides a method for preparing a light-heat-electric conversion array, comprising the steps of:

[0060] S1) cutting holes symmetrically arranged about a first axis and a second axis on the thermal insulation film 51;

[0061] S2) spraying the photothermal material in the hole, so that the photothermal material fills the hole to obtain the photothermal layer 5;

[0062] S3) Compounding the photothermal layer 5 onto the thermoelectric layer 6 to obtain a photo-thermal-electric conversion array.

[0063] As an implementation of this embodiment, step S1) specifically includes:

[0064] A polyimide film is selected as the thermal insulation film 51, holes are cut in the polyimide film by laser etching, and the thermal insulation film 51 is set on a fixed substrate; in one embodiment, the thermal insulation film 51 can be 0.15 mm thick, cut into a sheet of 20 mm × 20 mm in size, with 14 × 14 holes, and the area of ​​each hole is 1 mm 2 , with a spacing of 0.4 mm between them. The above values ​​are only for exemplary purposes, and those skilled in the art may choose other sizes according to actual needs.

[0065] As an implementation of this embodiment, step S2) specifically includes:

[0066] S2.1) Put CuS powder into anhydrous ethanol and stir it thoroughly to form a photothermal material, and spray the photothermal material onto the thermal insulation film 51 set on the fixed substrate; in one embodiment, 50 mg of CuS powder is put into 50 ml of anhydrous ethanol, stirred for 3 hours, and then added to an inkjet printer, and evenly and continuously sprayed on a glass substrate fixed with a polyimide film. The above-mentioned amount and time are only for exemplary description, and those skilled in the art can adjust according to actual needs;

[0067] S2.2) heating and curing at a temperature of 100°C to 120°C.

[0068] As an implementation of this embodiment, step S3) specifically includes:

[0069] S3.1) Clean and dry the glass substrate, place the glass substrate in a vacuum environment and heat it to 340°C to 360°C, and use a pulsed laser to continuously bombard the Bi2Te3 target material to deposit a Bi2Te3 thermoelectric layer 6 with a thickness of 100-200nm on the glass substrate; in one embodiment, a 22mm×22mm high-transmittance glass substrate is used, which is fully cleaned three times with alcohol and deionized water, and then fixed on the heating sample stage of the pulsed laser deposition system after drying, and placed in a vacuum chamber, and evacuated until the pressure in the chamber is stable at 5×10 -5Pa, and at the same time, the glass substrate is heated to 350°C, and a pulsed laser with a frequency of 10 Hz is used to continuously bombard the Bi2Te3 target for 30 minutes, so that a Bi2Te3 thermoelectric film with a thickness of 100-200 nm is deposited on the glass substrate. The size of the glass substrate is slightly larger than the size of the thermal insulation film 51, which can ensure that the size of the prepared thermoelectric layer 6 is slightly larger than the photothermal layer 5, and that all the heat generated by the photothermal layer 5 is transferred to the thermoelectric layer 6, thereby improving the accuracy of the current indication and ensuring the recognition accuracy of the device; the above values ​​are only for illustrative purposes, and those skilled in the art can adjust them to other values ​​according to actual needs.

[0070] S3.2) The photothermal layer 5 and the thermoelectric layer 6 are bonded and compounded. In one embodiment, an adhesive is applied on the surface of the thermoelectric layer 6, and the center of the photothermal layer 5 is aligned with the thermoelectric layer 6. After bonding, the layers are left to stand for 2 hours to ensure close contact.

[0071] As an implementation of this embodiment, the first electrode pair 7 and the second electrode pair 8 are silver electrodes, which are connected to the thermoelectric layer 6 by welding, and the first electrode pair 7 and the second electrode pair 8 can be different colors for distinction.

[0072] The present invention also provides an aircraft attitude recognition method, using the above-mentioned aircraft attitude recognition device 2 to perform attitude recognition; Figure 6 :

[0073] Step 1: Before the aircraft flies, at least one aircraft attitude recognition device 2 is fixed on the aircraft so that when the aircraft is in a horizontal state, the surface of the light-heat-electric conversion array in the aircraft attitude recognition device 2 is parallel to the horizontal plane;

[0074] Step 2: When the aircraft is flying, the current measurement chip 9 monitors the direction and magnitude of the current generated in the light-heat-electric conversion array in real time. According to the direction and magnitude of the current, the processor accurately reverses the laser irradiation area and calculates the direction and magnitude of the roll angle and pitch angle of the aircraft during flight.

[0075] As an implementation of this embodiment, the working process of the aircraft attitude recognition device 2 in step 2 is as follows:

[0076] Step 1: The aircraft starts to fly, the aircraft attitude recognition device 2 is started, and monitoring begins;

[0077] Step 2: The flight angle of the aircraft is deflected, and the laser illumination area on the light-heat-electric conversion array changes;

[0078] Step 3: Current indications appear on the first electrode pair 7 and the second electrode pair 8, and the processor processes the current indications;

[0079] Step 4: Get the specific values ​​and directions of the roll angle and pitch angle, and output the results.

[0080] As an implementation of this embodiment, in the fourth step, the current value is converted to the tilt angle by the following formula to obtain the accurate roll angle and pitch angle:

[0081] A=a0+a1 / (1+exp(C-a2))

[0082] Among them, A represents the deflection angle, C represents the absolute value of the output current, a0, a1 and a2 are all constants, and the specific calculation methods of a0, a1 and a2 are as follows: a1 and a2 are parameters related to material selection. If η represents the photothermal conversion efficiency of the photothermal material and α represents the Seebeck coefficient of the thermoelectric material, then a1 = 20η, a2 = 0.2α; Regarding the specific values ​​of η and α, when using finished photothermal materials and thermoelectric materials, they can be determined by referring to the material-related parameter descriptions, and can be determined by experimental measurements when they are prepared by themselves; a0 is a system parameter, and the specific value of a0 can be determined by experiments. Preset more than ten groups of tilt angles and measure the corresponding current values ​​respectively. After substituting them into the above formula for calculation, the specific value of a0 can be determined by taking the average value. Those skilled in the art can calculate by themselves according to the selected materials to obtain the conversion relationship between the current value and the tilt angle.

[0083] It should be noted that it is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any reference numerals in the claims should not be regarded as limiting the claims involved.

[0084] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. An aircraft attitude recognition device, used for real-time recognition of the roll angle and pitch angle of an aircraft during flight, characterized in that: include: A light-proof box body is used to be fixed on the aircraft, and a self-balancing laser that always irradiates vertically downward is installed on the top of the inner cavity of the light-proof box body; A light-heat-electric conversion array is installed at the bottom of the inner cavity of the light-proof box body, the light-heat-electric conversion array at least comprises a photothermal layer for receiving the light of the self-balancing laser, and a thermoelectric layer in contact with the photothermal layer and converting the heat of the photothermal layer into electrical energy, the photothermal layer is configured to be symmetrical about a first axis and a second axis, and in a horizontal state, the irradiation range of the self-balancing laser coincides with the projection of the photothermal layer on the horizontal plane, wherein the first axis is parallel to the pitch axis of the aircraft, and the second axis is parallel to the roll axis of the aircraft; A current measurement chip, comprising a first pin pair and a second pin pair, wherein two pins in the first pin pair are respectively used to connect the thermoelectric layers on both sides of the first axis to measure the current magnitude on both sides of the first axis; and two pins in the second pin pair are respectively used to connect the thermoelectric layers on both sides of the second axis to measure the current magnitude on both sides of the second axis; A processor is connected to the current measurement chip and is used to determine the pitch angle and the roll angle of the aircraft according to the current magnitudes on both sides of the first axis and the current magnitudes on both sides of the second axis.

2. The aircraft attitude recognition device according to claim 1, characterized in that: The photothermal layer includes a thermal insulation film and a photothermal filling part. The thermal insulation film is provided with holes that are symmetrical about the first axis and the second axis, and the photothermal filling part fills the holes.

3. The aircraft attitude recognition device according to claim 2, characterized in that: The thickness of the thermal insulation film is h, the hole is a circular hole, and the diameter of the circular hole is not greater than 3h, or the hole is a square hole, and the side length of the square hole is not greater than 3h.

4. The aircraft attitude recognition device according to claim 2, characterized in that: The thermal insulation film is a polyimide film, and the material of the optical thermal filling part is CuS.

5. The aircraft attitude recognition device according to claim 1, characterized in that: The thermoelectric layer includes a glass substrate and a Bi2Te3 layer deposited on the glass substrate.

6. A method for preparing a light-heat-electric conversion array, characterized in that: Includes steps: S1) cutting holes symmetrically arranged about a first axis and a second axis on the thermal insulation film; S2) spraying a photothermal material in the hole, so that the photothermal material fills the hole to obtain a photothermal layer; S3) Compounding the photothermal layer onto the thermoelectric layer to obtain a photo-thermal-electric conversion array.

7. The method for preparing a light-to-heat-to-electricity conversion array according to claim 6, characterized in that: The step S1) specifically includes: A polyimide film is selected as the thermal insulation film, the holes are cut in the polyimide film by laser etching, and the thermal insulation film is disposed on a fixed substrate.

8. The method for preparing a light-to-heat-to-electricity conversion array according to claim 7, characterized in that: The step S2) specifically includes: S2.1) putting CuS powder into anhydrous ethanol and stirring it thoroughly to form a photothermal material, and spraying the photothermal material onto the thermal insulation film disposed on the fixed substrate; S2.2) heating and curing at a temperature of 100°C to 120°C.

9. The method for preparing a light-to-heat-to-electricity conversion array according to claim 8, characterized in that: The step S3) specifically includes: S3.1) selecting a glass substrate, cleaning and drying it, placing the glass substrate in a vacuum environment and heating it to 340°C to 360°C, using a pulsed laser to continuously bombard a Bi2Te3 target material, so that a Bi2Te3 thermoelectric layer with a thickness of 100-200 nm is deposited on the glass substrate; S3.2) Bonding and compounding the photothermal layer and the thermoelectric layer.

10. A method for aircraft attitude recognition, characterized in that: Use the aircraft attitude recognition device according to any one of claims 1 to 5; Step 1: Before the aircraft flies, at least one of the aircraft attitude recognition devices is fixed on the aircraft, so that when the aircraft is in a horizontal state, the surface of the light-heat-electric conversion array in the aircraft attitude recognition device is parallel to the horizontal plane; Step 2: When the aircraft is flying, the current measurement chip monitors the direction and magnitude of the current generated in the light-heat-electric conversion array in real time. According to the direction and magnitude of the current, the processor accurately reverses the laser irradiation area and calculates the direction and magnitude of the roll angle and pitch angle of the aircraft during flight.

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