Measurement method of shipborne three-dimensional scanning wind measurement laser radar

Abstract

The invention provides a measurement method of a shipborne three-dimensional scanning wind measurement laser radar, and the method comprises the steps: obtaining the attitude information of a ship through a combined inertial navigation system, and the attitude information comprises a heading angle, a pitching angle and a rolling angle; according to the attitude information and a coordinate transformation model between a preset radar coordinate system and a geographic coordinate system, determining an azimuth angle and a pitch angle of a laser beam of the shipborne three-dimensional scanning wind measurement laser radar in the geographic coordinate system; according to the azimuth angle and the pitch angle, controlling the shipborne three-dimensional scanning wind measurement laser radar to emit a laser beam, and receiving a reflection echo signal; and acquiring three-dimensional velocity component information of the wind field according to the reflection echo signal to obtain a three-dimensional wind field.

Description

Technical Field

[0001] The invention relates to the field of information technology, and in particular to a measurement method of a ship-borne three-dimensional scanning wind measurement laser radar. Background Art

[0002] Shipborne laser wind measurement technology faces a key technical challenge in offshore wind field measurement: how to accurately measure and reconstruct the three-dimensional wind field when the ship is constantly moving. The offshore environment is complex and changeable. The ship is constantly shaking in the waves, causing the coordinate system of the laser wind measurement equipment to continuously change, which seriously affects the measurement accuracy of wind speed and wind direction. Traditional static wind measurement methods are difficult to adapt to this dynamic environment and cannot accurately capture the true state of the offshore wind field. In addition, the movement of the ship itself will also introduce additional Doppler effects, interfering with the calculation of wind speed. These factors combined make offshore wind field measurement face huge challenges. How to achieve accurate conversion between the laser wind measurement system and the geographic coordinate system under the condition of ship movement, eliminate the errors caused by ship movement, and accurately reconstruct the three-dimensional wind field has become a core problem that needs to be solved urgently. The solution to this problem is of great significance for applications such as offshore wind farm site selection and marine meteorological monitoring, and is directly related to the accuracy of offshore wind energy resource assessment and the safety of marine engineering. Summary of the invention

[0003] The present invention aims to provide a measurement method of a ship-borne three-dimensional scanning wind measurement laser radar with high accuracy, good reliability and high efficiency.

[0004] The technical solution adopted by the present invention is: a measurement method of a ship-borne three-dimensional scanning wind laser radar, wherein the wind laser radar is arranged on a ship, and the method comprises the following steps: S1. Obtaining the ship's attitude information through combined inertial navigation, the attitude information includes the heading angle , pitch angle and roll angle ; S2. Determine the azimuth and elevation angle of the laser beam of the wind laser radar in the geographic coordinate system according to the attitude information and the coordinate transformation model between the preset radar coordinate system and the geographic coordinate system; S3. According to the determined azimuth and elevation angles, control the wind laser radar to emit a laser beam and receive a reflected echo signal; S4. Obtain three-dimensional velocity component information of the wind field according to the reflected echo signal to obtain a three-dimensional wind field; S5. Establish a radial velocity correction model to correct the radial velocity obtained in step S4, and obtain the real wind field radial velocity in the geographic coordinate system in real time after deducting the influence of the ship speed.

[0005] Furthermore, the specific steps of step S2 include: S21. According to the heading angle, pitch angle and roll angle obtained in step S1, determine the Euler angle conversion matrix: Obtaining the heading angle of wind laser radar through inertial navigation , pitch angle and roll angle , The conversion relationship from the radar coordinate system to the geographic coordinate system and to the radar coordinate system is: (1) The transformation matrix of the three Euler angles is: (2) Among them, Y, P and R are the heading angles of the ship respectively. , pitch angle and roll angle The direction is defined as a left-handed system, the heading angle is 0 to the north and is positive clockwise, the pitch angle is positive when it is tilted downward, and the roll angle is positive when it is tilted to the left. The angle unit is radians, and the wind direction vector R LOS The relationship with the radar angle is expressed as: (3) in and Beam i North angle and elevation angle in the radar coordinate system; S22. The laser beam emission angle of the wind laser radar in the radar coordinate system is converted into the azimuth and elevation angle in the geographic coordinate system through the Euler angle conversion matrix: The direction of the emitted laser beam in the geographic coordinate system is: (4) Get the new azimuth and pitch angle They are (5).

[0006] Furthermore, the S4 step is specifically as follows: Get the radial wind speed in different beam directions, and determine the speed components of the wind field in the east, north and vertical directions in the geographic coordinate system based on each radial wind speed component: Through formula (4) and formula (5), four new azimuth vectors are obtained. Assuming that the four beams are measured normally, the new laser velocity radial wind speed is obtained: (6) Simplify formula (6) and make it as follows: AX =b (7) but (8) in, (9) (10) (11) For the matrix The transposed matrix of For the matrix The inverse matrix of is, and b is the radial wind speed of the four-beam laser velocimetry.

[0007] Furthermore, the specific steps of S5 are: The radial wind speed is corrected according to the navigation speed of the ship to obtain the corrected radial wind speed components: Obtain the latitude and longitude of the ship through GNSS and convert it to the Cartesian coordinate system: (12), in is the longitude, is the latitude, is the elevation, which is the height difference between the deck and the sea surface. , , , returned is the coordinate in the Earth-centered Earth-fixed coordinate system, which is now converted to the ship-centered Northeast Celestial coordinate system (e, n, u): (13), right Taking the first-order partial derivative of time, we can get the ship speed as: (14) The radial velocity of the actual wind field is the superposition of the ship's motion speed and the measured radial wind speed, with the radial wind speed being positive when it is away from the radar: (15) The horizontal wind speed is (16) Wind direction (17), Finally, the real wind field radial velocity is obtained in real time in the geographic coordinate system after deducting the influence of the ship speed.

[0008] In addition, after the step S5, the following steps are also included: Through the least square method, the velocity components of the wind field in the geographic coordinate system are fitted by each corrected radial wind speed component; The three-dimensional wind field around the ship is reconstructed based on the three-dimensional velocity component information of the wind field and the wind field information measured by the radar at different heights; In combination with the navigation position information of the ship, a wind field distribution map is generated and displayed.

[0009] The technical solution provided by the embodiment of the present invention may have the following beneficial effects: The present invention discloses a shipborne laser wind measurement method, which solves the problem that the accuracy of offshore wind field measurement is affected by the movement of the ship; the method obtains the ship's attitude information, establishes a transformation model between the radar coordinate system and the geographic coordinate system, and converts the laser beam direction from the radar coordinate system to the geographic coordinate system; uses Doppler frequency shift information and the least squares method to invert the wind speed, and reconstructs the three-dimensional wind field through interpolation fitting; in response to the interference of ship movement, the present invention compensates the wind speed according to the attitude information, updates the three-dimensional wind field, and thus obtains a stable measurement result. This method effectively improves the accuracy of offshore wind field measurement, provides reliable data support for applications such as offshore wind farm site selection and marine meteorological monitoring, and has important practical value. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 A bird's-eye view of the wind lidar, ship, and geographic coordinate system; Figure 2 The present invention is a simplified flow chart of the method. DETAILED DESCRIPTION

[0011] In order to further understand the content of the present invention, the present invention is described in detail in conjunction with the accompanying drawings and embodiments. The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are only used to explain the relevant inventions, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0012] like Figure 1-2 As shown, the measurement method of a ship-borne three-dimensional scanning wind measurement laser radar in this embodiment may specifically include: Step S1, obtaining the ship's attitude information, the attitude information includes the heading angle , pitch angle and roll angle .

[0013] The combined inertial navigation system is used to collect ship motion data in real time. Based on the collected ship motion data, the heading angle is extracted. , pitch angle and roll angle . , pitch angle and roll angle The information is preprocessed to eliminate noise and outliers. Based on the preprocessed attitude information, the initial mapping relationship between the radar coordinate system and the geographic coordinate system is established. If the ship's attitude changes, the coordinate transformation model between the radar coordinate system and the geographic coordinate system is dynamically updated. Using the coordinate transformation model, the laser pointing data in the radar coordinate system is converted to the geographic coordinate system. Based on the converted laser pointing data, the laser pointing stability parameters in the geographic coordinate system are calculated. If the laser pointing stability parameters exceed the set threshold, the attitude compensation parameters of the radar coordinate system are adjusted. Based on the adjusted attitude compensation parameters, the coordinate transformation model between the radar coordinate system and the geographic coordinate system is re-established.

[0014] Specifically, the combined inertial navigation system collects ship motion data in real time at a frequency of 100 Hz, including the raw measurements of the accelerometer and gyroscope. The collected data is processed by the Kalman filter algorithm to extract the heading angle , pitch angle and roll angle The information is obtained by calculating the accuracy within 0.1 degrees. The extracted attitude information is preprocessed, and the median filter is used to eliminate noise. The outliers are removed by threshold judgment to ensure data reliability. According to the preprocessed attitude information, the quaternion method is used to establish the initial mapping relationship between the radar coordinate system and the geographic coordinate system, and the rotation matrix is ​​determined. If the ship's attitude changes, for example, the pitch angle exceeds 5 degrees, the coordinate transformation model is dynamically updated, and the least squares method is used to optimize the rotation matrix parameters. The laser pointing data in the radar coordinate system is converted to the geographic coordinate system through the coordinate transformation model, and the laser pointing angle in the geographic coordinate system is calculated by matrix multiplication. According to the converted laser pointing data, the pointing stability parameters are calculated, such as the standard deviation of the angle fluctuation. If the standard deviation exceeds 0.5 degrees, the attitude compensation parameters of the radar coordinate system are adjusted, and the compensation amount is optimized by the PID control algorithm. According to the adjusted attitude compensation parameters, the coordinate transformation model between the radar coordinate system and the geographic coordinate system is re-established to ensure the stability of the laser pointing in the geographic coordinate system.

[0015] Step S2, determining the azimuth and elevation angles of the laser beam of the wind measuring laser radar in the geographic coordinate system according to the attitude information and a preset coordinate transformation model between the radar coordinate system and the geographic coordinate system.

[0016] Firstly, a coordinate transformation model between the radar coordinate system and the geographic coordinate system is established, wherein the coordinate transformation model includes a heading angle matrix, a pitch angle matrix and a roll angle matrix.

[0017] The ship's heading, roll and pitch angle data are acquired in real time through the combined inertial navigation system. According to the ship's heading angle data, the heading angle matrix is ​​constructed. According to the ship's pitch angle data, the pitch angle matrix is ​​constructed. According to the ship's roll angle data, the roll angle matrix is ​​constructed. The heading angle matrix, the pitch angle matrix and the roll angle matrix are subjected to matrix multiplication operations to obtain the coordinate transformation model from the radar coordinate system to the geographic coordinate system. The coordinate transformation model is used to transform the laser pointing data in the radar coordinate system to obtain the laser pointing data in the geographic coordinate system. If there is a deviation between the laser pointing data and the preset target direction of the geographic coordinate system, the feedback parameters of the laser pointing are adjusted. According to the feedback parameters, the coordinate transformation model is corrected in real time to update the heading angle matrix, the pitch angle matrix and the roll angle matrix. Through the corrected coordinate transformation model, the wind measuring laser radar maintains stable laser pointing in the geographic coordinate system. The calculation process is as follows: Step S21. Determine the Euler angle conversion matrix according to the heading angle, roll angle and pitch angle obtained in step S1: Obtaining the heading angle of wind laser radar through inertial navigation , pitch angle and roll angle , The conversion relationship from the radar coordinate system to the geographic coordinate system and to the radar coordinate system is: (1) The transformation matrix of the three Euler angles is: (2) Among them, Y, P and R are the heading angles of the ship respectively. , pitch angle and roll angle The direction is defined as a left-handed system, the heading angle is 0 to the north and is positive clockwise, the pitch angle is positive when it is tilted downward, and the roll angle is positive when it is tilted to the left. The angle unit is radians, and the wind direction vector R LOS The relationship with the radar angle is expressed as: (3) in and Beam i North angle and elevation angle in radar coordinate system.

[0018] Step S22, converting the laser beam emission angle of the wind laser radar in the radar coordinate system into the azimuth and elevation angle in the geographic coordinate system through the Euler angle conversion matrix. Obtaining the north angle and the elevation angle of the laser beam in the radar coordinate system, and converting the north angle and the elevation angle of the laser beam to the geographic coordinate system according to the coordinate transformation model.

[0019] Obtain the north angle and pitch angle of the laser beam in the radar coordinate system, and extract the azimuth information of the radar beam. According to the definition of the radar coordinate system, establish a conversion relationship model between the radar coordinate system and the geographic coordinate system. Use the coordinate transformation model to read the north angle and pitch angle data in the radar coordinate system. If the conversion parameters between the radar coordinate system and the geographic coordinate system are complete, calculate the angle component in the geographic coordinate system based on the conversion parameters. Substitute the north angle and pitch angle in the radar coordinate system into the coordinate transformation model to obtain the preliminary angle value in the geographic coordinate system. According to the definition of the geographic coordinate system, adjust the preliminary angle value to match the range and direction of the geographic coordinate system. If the angle value exceeds the range of the geographic coordinate system, normalize the angle value. Determine the final north angle and pitch angle in the geographic coordinate system to complete the coordinate conversion. Output the north angle and pitch angle data in the geographic coordinate system to provide input for subsequent wind field inversion. The calculation process is as follows: The direction of the emitted laser beam in the geographic coordinate system is: (4) Get the new azimuth and pitch angle They are (5).

[0020] Step S3. According to the determined azimuth and elevation angles, the wind measuring laser radar is controlled to emit a laser beam and receive a reflected echo signal.

[0021] According to the converted north angle and elevation angle, the direction of the emitted laser beam in the geographic coordinate system is determined.

[0022] Obtain the laser beam direction data in the radar measurement coordinate system, and extract the azimuth and pitch angle information of the beam. According to the conversion relationship between the radar measurement coordinates and the geographic coordinate system, obtain the Euler angle matrices Y, P, and R, which correspond to the heading angle, pitch angle, and roll angle, respectively. Use the Euler angle matrix Y to convert the azimuth in the radar measurement coordinate system to the north angle of the geographic coordinate system. Use the Euler angle matrix P to convert the pitch angle in the radar measurement coordinate system to the pitch angle of the geographic coordinate system. According to the definition of the left-handed coordinate system, determine whether the heading angle points to the north as 0 and is positive clockwise, and adjust the calculation result of the north angle. According to the definition of the left-handed coordinate system, determine whether the pitch angle is positive when the head is down, and adjust the calculation result of the pitch angle. According to the definition of the left-handed coordinate system, determine whether the roll angle is positive when it is tilted to the left, and combine the roll angle matrix R to correct the final values ​​of the north angle and pitch angle. Convert the corrected north angle and pitch angle into the direction vector in the geographic coordinate system. Determine the emission direction of the laser beam in the geographic coordinate system and obtain the direction vector of the laser beam. Finally, the wind measuring lidar is controlled to emit a laser beam and receive the reflected echo signal.

[0023] Step S4, acquiring three-dimensional velocity component information of the wind field according to the reflected echo signal, and obtaining a three-dimensional wind field.

[0024] First, according to the Doppler frequency shift information of the laser beam, the least squares method is used to invert the wind speed and obtain the wind speed information. The Doppler frequency shift information of the laser beam is obtained and the frequency shift data is extracted. According to the frequency shift data, the phase change of the laser beam is calculated. The least squares method is used to fit the linear relationship between the frequency shift data and the wind speed. According to the fitting results, a wind speed inversion model is established. The initial wind speed value is calculated through the wind speed inversion model. If there is an abnormal fluctuation in the wind speed value, the Kalman filter algorithm is used to smooth the initial wind speed value. According to the smoothed wind speed value, the wind speed inversion model parameters are updated. The wind speed value is recalculated through the updated wind speed inversion model. The final wind speed information is obtained, and the results are stored and output.

[0025] Secondly, the wind speed information at different locations is interpolated and fitted to reconstruct the three-dimensional wind field. Obtain wind speed information at different locations, including wind speed magnitude, direction and position coordinates. Establish a three-dimensional spatial grid model based on the position coordinates to determine the spatial distribution of each grid point. Use the Lagrange interpolation method to spatially interpolate the wind speed information and calculate the estimated wind speed value at the grid point. If the wind speed information contains wind direction data, the wind direction is vector-decomposed to obtain the horizontal and vertical components of the wind speed. Fit the wind speed components using the least squares method to optimize the accuracy of the interpolation results. Generate a three-dimensional wind speed field based on the fitting results to obtain the wind speed vector of each grid point. Use a smoothing algorithm to process the three-dimensional wind speed field to eliminate outliers in the interpolation and fitting process. Combined with the atmospheric dynamics model, the three-dimensional wind speed field is dynamically corrected to improve the physical consistency of the wind field reconstruction. Output the reconstructed three-dimensional wind field data, including wind speed magnitude, direction and spatial distribution information.

[0026] The specific calculation steps of the above steps are: Get the radial wind speed in different beam directions, and determine the speed components of the wind field in the east, north and vertical directions in the geographic coordinate system based on each radial wind speed component: Through formula (4) and formula (5), four new azimuth vectors are obtained. Assuming that the four beams are measured normally, the new laser velocity radial wind speed is obtained: (6) Simplify formula (6) and make it as follows: AX = b (7) but (8) in, (9) (10) (11), For the matrix The transposed matrix of For the matrix The inverse matrix of is, and b is the radial wind speed of the four-beam laser velocimetry.

[0027] Step S5, if the laser beam is disturbed by the motion of the ship, the wind speed information is motion compensated according to the attitude information to obtain the compensated wind speed information. Specifically, a radial velocity correction model is established to correct the radial velocity obtained in step S4, and the real wind field radial velocity minus the influence of the ship speed is obtained in real time in the geographic coordinate system.

[0028] Obtain the attitude information of the ship, which includes the heading angle, pitch angle and roll angle. Obtain the wind speed measurement data of the laser beam and extract the original wind speed information. Calculate the offset of the laser beam based on the roll and pitch angles in the attitude information. Use the coordinate transformation method to convert the offset of the laser beam into a compensation value in the wind speed measurement coordinate system. According to the compensation value, adjust the spatial position of the wind speed measurement data. Determine whether the yaw angle in the attitude information exceeds the preset threshold. If it exceeds, recalculate the direction vector of the laser beam. Use the direction vector correction method to perform direction compensation on the wind speed measurement data. Combine the spatial position and direction compensation results to generate motion-compensated wind speed information. Store the compensated wind speed information and update the wind speed measurement database. The specific calculation process of this step is: The radial wind speed is corrected according to the navigation speed of the ship to obtain the corrected radial wind speed components: Obtain the latitude and longitude of the ship through GNSS and convert it to the Cartesian coordinate system: (12), in is the longitude, is the latitude, is the elevation, which is the height difference between the deck and the sea surface. , , , returned is the coordinate in the Earth-centered Earth-fixed coordinate system, which is now converted to the ship-centered Northeast Celestial coordinate system (e, n, u): (13), right Taking the first-order partial derivative of time, we can get the ship speed as: (14) The radial velocity of the actual wind field is the superposition of the ship's motion speed and the measured radial wind speed, with the radial wind speed being positive when it is away from the radar: (15) The horizontal wind speed is (16) Wind direction (17), Finally, the real wind field radial velocity is obtained in real time in the geographic coordinate system after deducting the influence of the ship speed.

[0029] Step S6, based on the compensated wind speed information, update the three-dimensional wind field to obtain a stable measurement result. Specifically: Through the least square method, the velocity components of the wind field in the geographic coordinate system are fitted by each corrected radial wind speed component; The three-dimensional wind field around the ship is reconstructed based on the three-dimensional velocity component information of the wind field and the wind field information measured by the radar at different heights; In combination with the navigation position information of the ship, a wind field distribution map is generated and displayed.

[0030] Obtain the ship attitude information provided by the combined inertial navigation, including the heading angle, roll angle, and pitch angle. According to the ship attitude information, establish a coordinate transformation model between the radar coordinate system and the geographic coordinate system. Through the coordinate transformation model, convert the wind speed data measured by the radar from the radar coordinate system to the geographic coordinate system. Obtain the wind speed data in the geographic coordinate system to determine whether there is an error caused by the movement of the ship. If there is an error caused by the movement of the ship, use the error compensation algorithm to compensate the wind speed data. According to the compensated wind speed information, calculate the three-dimensional wind speed components, including the wind speed in the horizontal and vertical directions. Use the time series analysis method to smooth the three-dimensional wind speed components and eliminate short-term fluctuations. According to the smoothed three-dimensional wind speed components, update the three-dimensional wind field model to obtain a stable wind field distribution. Store the updated three-dimensional wind field data in the database for subsequent analysis and application.

[0031] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the concept of the present application. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

Claims

1. A measurement method for a shipborne three-dimensional scanning wind laser radar, wherein: The wind laser radar is arranged on a ship, and is characterized in that the method comprises the following steps: S1. Obtaining the ship's attitude information through combined inertial navigation, the attitude information includes the heading angle , pitch angle and roll angle ; S2. Determine the azimuth and elevation angle of the laser beam of the wind laser radar in the geographic coordinate system according to the attitude information and the coordinate transformation model between the preset radar coordinate system and the geographic coordinate system; S3. According to the determined azimuth and elevation angles, control the wind laser radar to emit a laser beam and receive a reflected echo signal; S4. Obtain three-dimensional velocity component information of the wind field according to the reflected echo signal to obtain a three-dimensional wind field; S5. Establish a radial velocity correction model to correct the radial velocity obtained in step S4, and obtain the real wind field radial velocity in the geographic coordinate system in real time after deducting the influence of the ship speed.

2. The measurement method of a shipborne three-dimensional scanning wind laser radar according to claim 1, characterized in that: The specific steps of the S2 step include: S21. According to the heading angle, pitch angle and roll angle obtained in step S1, determine the Euler angle conversion matrix: Obtaining the heading angle of wind laser radar through inertial navigation , pitch angle and roll angle , The conversion relationship from the radar coordinate system to the geographic coordinate system and to the radar coordinate system is: （1） The transformation matrix of the three Euler angles is: （2） Among them, Y, P and R are the heading angles of the ship respectively. , pitch angle and roll angle The direction is defined as a left-hand system, the heading angle is 0 to the north and is positive clockwise, the pitch angle is positive when it is tilted downward, and the roll angle is positive when it is tilted to the left. The angle unit is radians, and the wind direction vector R LOS The relationship with the radar angle is expressed as: （3） in and are the north angle and elevation angle of beam i in the radar coordinate system respectively; S22. The laser beam emission angle of the wind laser radar in the radar coordinate system is converted into the azimuth and elevation angle in the geographic coordinate system through the Euler angle conversion matrix: The direction of the emitted laser beam in the geographic coordinate system is: （4） Get the new azimuth and pitch angle They are （5）。 3. The measurement method of a shipborne three-dimensional scanning wind laser radar according to claim 2, characterized in that: The S4 step is specifically as follows: Get the radial wind speed in different beam directions, and determine the speed components of the wind field in the east, north and vertical directions in the geographic coordinate system based on each radial wind speed component: Through formula (4) and formula (5), four new azimuth vectors are obtained. Assuming that the four beams are measured normally, the new laser velocity radial wind speed is obtained: （6） Simplify formula (6) and make it as follows: AX=b (7) but (8) in, (9) （10） （11） For the matrix The transposed matrix of For the matrix The inverse matrix of is, and b is the radial wind speed of the four-beam laser velocimetry.

4. The measurement method of a shipborne three-dimensional scanning wind laser radar according to claim 3 is characterized in that: The specific steps of step S5 are: The radial wind speed is corrected according to the navigation speed of the ship to obtain the corrected radial wind speed components: Obtain the latitude and longitude of the ship through GNSS and convert it to the Cartesian coordinate system: （12） in is the longitude, is the latitude, is the elevation, which is the height difference between the deck and the sea surface. , , , returned is the coordinate in the Earth-centered Earth-fixed coordinate system, which is now converted to the ship-centered Northeast Celestial coordinate system (e, n, u): （13） right Taking the first-order partial derivative of time, we can get the ship speed as: （14） The radial velocity of the actual wind field is the superposition of the ship's motion speed and the measured radial wind speed, with the radial wind speed being positive when it is away from the radar: （15） The horizontal wind speed is （16） Wind direction （17） Finally, the real wind field radial velocity is obtained in real time in the geographic coordinate system after deducting the influence of the ship speed.

5. The measurement method of a shipborne three-dimensional scanning wind laser radar according to claim 4, characterized in that: After the step S5, the following steps are also included: Through the least square method, the velocity components of the wind field in the geographic coordinate system are fitted by each corrected radial wind speed component; The three-dimensional wind field around the ship is reconstructed based on the three-dimensional velocity component information of the wind field and the wind field information measured by the radar at different heights; In combination with the navigation position information of the ship, a wind field distribution map is generated and displayed.

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