Wind speed and wind direction detection device and method, computer equipment and readable storage medium

Abstract

The invention relates to a wind speed and wind direction detection device and method, computer equipment and a readable storage medium. The wind speed and direction detection device comprises a sensor module, a sun direction detection module, a positioning module and a controller. The sensor module is used for acquiring a first wind direction under a sensor coordinate system; the sun direction detection module is used for measuring first sun direction information under a sensor coordinate system; the positioning module is used for acquiring geographical location information; the controller comprises a determination unit, a position calculation unit and a coordinate system conversion unit; the determination unit is used for determining second sun direction information under the geodetic coordinate system according to the geographic position information; the position resolving unit is used for determining azimuth information of the sensor module according to the first sun direction information and the second sun direction information; the coordinate system conversion unit is used for determining the target wind direction under the geodetic coordinate system according to the azimuth information and the first wind direction. The influence of a mechanical error problem and a geomagnetic interference problem on the wind speed and wind direction detection accuracy can be effectively avoided.

Description

Technical Field

[0001] This application relates to the field of meteorological detection, and in particular to a wind speed and direction detection device, method, computer equipment, and readable storage medium. Background Technology

[0002] Wind speed and direction sensors are widely used in meteorological monitoring, environmental monitoring, wind power, aviation and marine fields to measure and monitor the speed and direction of air flow in nature, and convert these physical signals into electrical or digital signals that can be recorded, transmitted and analyzed.

[0003] However, wind speed and direction sensors in related technologies usually require manual recording of the detection location and direction calibration during use, which is prone to mechanical errors. Furthermore, when the detection point of the wind speed and direction sensor is located in an electromagnetic environment (such as a substation or ship), the electronic compass inside the wind speed and direction sensor used for direction calibration is easily affected by electromagnetic interference, which leads to a decrease in the accuracy of the direction calibration of the wind speed and direction sensor, and thus adversely affects the detection accuracy. Summary of the Invention

[0004] Based on this, embodiments of this application provide a wind speed and direction detection device, method, computer equipment, and readable storage medium, which can effectively avoid mechanical error problems and geomagnetic interference problems in the direction calibration of sensor modules, thereby effectively improving the accuracy and reliability of wind speed and direction detection.

[0005] To achieve the above objectives, in a first aspect, some embodiments of this application provide a wind speed and direction detection device. This wind speed and direction detection device includes a sensor module, a solar direction detection module, a positioning module, and a controller. The sensor module is used to acquire a first wind direction at a target detection point relative to a sensor coordinate system; the solar direction detection module is used to measure the first solar direction information at the target detection point relative to the sensor coordinate system in real time; the positioning module is used to acquire the geographical location information of the target detection point; the controller includes a determination unit, a position calculation unit, and a coordinate system transformation unit; the determination unit is used to determine a second solar direction information at the target detection point relative to a geodetic coordinate system based on the geographical location information; the position calculation unit is used to determine the azimuth information of the sensor module in the geodetic coordinate system based on the first solar direction information and the second solar direction information; the coordinate system transformation unit is used to determine the target wind direction at the target detection point relative to the geodetic coordinate system based on the azimuth information and the first wind direction.

[0006] In some embodiments, the sensor module is further configured to acquire a first wind speed at the target detection point relative to the sensor coordinate system; the positioning module is further configured to acquire velocity information of the sensor module relative to the geodetic coordinate system; and the coordinate transformation unit is further configured to determine the target wind speed at the target detection point relative to the geodetic coordinate system based on the first wind speed and the velocity information.

[0007] In some embodiments, the first solar direction information includes a first solar azimuth angle; the second solar direction information includes a second solar azimuth angle; the azimuth information includes the yaw angle of the sensor module relative to the geodetic coordinate system; the position calculation unit is further configured to: determine the yaw angle based on the difference between the first solar azimuth angle and the second solar azimuth angle.

[0008] In some embodiments, the coordinate system transformation unit is further configured to: determine the target wind direction at the target detection point relative to the geodetic coordinate system based on the yaw angle and the first wind direction.

[0009] In some embodiments, the wind speed and direction detection device further includes an inertial measurement unit; the inertial measurement unit is used to acquire the attitude information of the sensor module in real time; the attitude information includes tilt; the controller further includes an attitude compensation unit; the attitude compensation unit is used to adjust the attitude of the sensor module according to the attitude information.

[0010] Secondly, this application also provides a wind speed and direction detection method according to some embodiments; the wind speed and direction detection method can be executed based on the wind speed and direction detection device in the above embodiments.

[0011] In some embodiments, the wind speed and direction detection method includes the following steps.

[0012] A sensor coordinate system is constructed based on the sensor module.

[0013] The sensor module obtains the first wind direction at the target detection point relative to the sensor coordinate system.

[0014] Obtain the first solar direction information of the target detection point relative to the sensor coordinate system.

[0015] Obtain the geographical location information of the target detection point.

[0016] Based on the geographical location information, the second solar direction information relative to the geodetic coordinate system at the target detection point is determined.

[0017] Based on the first solar direction information and the second solar direction information, the orientation information of the sensor module in the geodetic coordinate system is determined.

[0018] Based on the azimuth information and the first wind direction, the target wind direction at the target detection point relative to the geodetic coordinate system is determined.

[0019] In some embodiments, after the sensor coordinate system is constructed based on the sensor module, the wind speed and direction detection method further includes the following steps.

[0020] Obtain the first wind speed at the target detection point relative to the sensor coordinate system.

[0021] The velocity information of the sensor module relative to the geodetic coordinate system is obtained.

[0022] Based on the first wind speed and the speed information, the target wind speed at the target detection point relative to the geodetic coordinate system is determined.

[0023] In some embodiments, the first solar direction information includes a first solar azimuth angle; the second solar direction information includes a second solar azimuth angle; and the azimuth information includes the yaw angle of the sensor module relative to the geodetic coordinate system. Determining the azimuth information of the sensor module in the geodetic coordinate system based on the first solar direction information and the second solar direction information includes the following steps.

[0024] The yaw angle is determined based on the difference between the first solar azimuth angle and the second solar azimuth angle.

[0025] Accordingly, determining the target wind speed at the target detection point relative to the geodetic coordinate system based on the first wind speed and the speed information includes the following steps.

[0026] Based on the yaw angle and the first wind direction, the target wind direction at the target detection point relative to the geodetic coordinate system is determined.

[0027] Thirdly, this application also provides a computer device according to some embodiments; the computer device includes a memory and a processor, the memory storing a computer program; the processor executes the computer program to implement the steps of the method described in the second aspect of this application.

[0028] Fourthly, according to some embodiments, this application also provides a computer-readable storage medium; the computer-readable storage medium stores a computer program; when the computer program is executed by a processor, it implements the steps of the method described in the second aspect of this application.

[0029] The embodiments of this application may have, or at least have, the following advantages:

[0030] In this embodiment, the solar direction detection module measures the first solar direction information of the sensor coordinate system in real time; the positioning module automatically positions the sensor module to obtain the geographical location information of the target detection point; the determination unit in the controller automatically calculates and determines the second solar direction information based on the geographical location information obtained by the positioning module; and the position calculation unit automatically calculates and determines the azimuth information of the sensor module in the geodetic coordinate system based on the actually measured first solar direction information and the theoretically calculated second solar direction information. Thus, there is no need to use an electronic compass or manually calibrate the sensor module's direction. By automatically calculating the solar direction information based on astronomical algorithms to determine the azimuth information of the sensor module, not only can mechanical errors caused by manual direction calibration be avoided, but the adverse effects of geomagnetic interference on the detection accuracy of the sensor module can also be effectively avoided. Furthermore, this application can also automatically calculate and determine the target wind direction in the geodetic coordinate system by performing coordinate conversion between the first wind direction in the sensor coordinate system and the azimuth information in the geodetic coordinate system obtained by the sensor module through the coordinate system transformation unit, effectively improving the detection accuracy of the sensor module. With the combined effect of the above technical features, this application can effectively avoid mechanical error problems and geomagnetic interference problems in the direction calibration of the sensor module, thereby effectively improving the accuracy and reliability of wind speed and direction detection.

[0031] Details of one or more embodiments of this application are set forth in the following drawings and description. Other features, objects, and advantages of this application will become apparent from the specification, drawings, and claims. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a structural block diagram of a wind speed and direction detection device provided in some embodiments;

[0034] Figure 2 This is a structural block diagram of another wind speed and direction detection device provided in some embodiments;

[0035] Figure 3 This is a structural block diagram of yet another wind speed and direction detection device provided in some embodiments;

[0036] Figure 4 This is a flowchart illustrating a wind speed and direction detection method provided in some embodiments;

[0037] Figure 5 This is a flowchart illustrating another wind speed and direction detection method provided in some embodiments;

[0038] Figure 6 This is an internal structural diagram of a computer device provided in some embodiments.

[0039] Explanation of reference numerals in the attached figures:

[0040] 1. Sensor module; 2. Solar direction detection module; 3. Positioning module; 4. Controller; 41. Determination unit; 42. Position calculation unit; 43. Coordinate system transformation unit; 44. Attitude compensation unit; 5. Inertial measurement unit; 6. Output module. Detailed Implementation

[0041] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings, which illustrate preferred embodiments of the application. However, this application may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this application will be thorough and complete.

[0042] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0043] It should be understood that when an element or layer is referred to as being "on," "adjacent to," or "connected to" other elements or layers, it may be directly on, adjacent to, connected to, or coupled to other elements or layers, or there may be intervening elements or layers. It should be understood that although the terms first, second, third, etc., may be used to describe various elements, components, regions, layers, doping types, and / or portions, these elements, components, regions, layers, doping types, and / or portions should not be limited by these terms. These terms are only used to distinguish one element, component, region, layer, doping type, or portion from another element, component, region, layer, doping type, or portion. Therefore, without departing from the teachings of this application, the first element, component, region, layer, doping type, or portion discussed below may be referred to as a second element, component, region, layer, or portion.

[0044] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that when the terms “comprise” and / or “comprising” are used in this specification, the presence of the stated feature, integer, step, operation, element, and / or part is established, but the presence or addition of one or more other features, integers, steps, operations, elements, parts, and / or groups is not excluded. Meanwhile, when used herein, the term “and / or” includes any and all combinations of the associated listed items.

[0045] Embodiments of the invention are described herein with reference to cross-sectional views illustrating preferred embodiments (and intermediate structures) of this application, thus allowing for the expectation of variations in the illustrated shapes due to, for example, manufacturing techniques and / or tolerances. Embodiments of this application should not be limited to the specific shapes of the regions shown herein, but rather include shape deviations due to, for example, manufacturing techniques. Therefore, the regions shown in the figures are substantially schematic, and their shapes do not represent the actual shapes of regions of the device, nor do they limit the scope of this application.

[0046] Based on this, embodiments of this application provide a wind speed and direction detection device, method, computer equipment, and readable storage medium, which can effectively avoid mechanical error problems and geomagnetic interference problems in the direction calibration of sensor modules, thereby effectively improving the accuracy and reliability of wind speed and direction detection.

[0047] In some embodiments, please refer to Figure 1 The wind speed and direction detection device includes a sensor module 1, a solar direction detection module 2, a positioning module 3, and a controller 4. Sensor module 1 acquires the first wind direction at the target detection point relative to the sensor coordinate system; solar direction detection module 2 measures the first solar direction information at the target detection point relative to the sensor coordinate system in real time; positioning module 3 acquires the geographical location information of the target detection point; controller 4 includes a determination unit 41, a position calculation unit 42, and a coordinate system transformation unit 43. Determination unit 41 determines the second solar direction information at the target detection point relative to the geodetic coordinate system based on the geographical location information; position calculation unit 42 determines the azimuth information of sensor module 1 in the geodetic coordinate system based on the first and second solar direction information; coordinate system transformation unit 43 determines the target wind direction at the target detection point relative to the geodetic coordinate system based on the azimuth information and the first wind direction.

[0048] For example, sensor module 1 includes, but is not limited to, wind speed and wind direction sensors.

[0049] For example, sensor module 1 can also be a thermal sensor or an ultrasonic anemometer, etc.

[0050] For example, the target detection point can be the sampling location where sensor module 1 detects wind speed and direction.

[0051] For example, the solar orientation detection module 2 includes, but is not limited to, a light sensor, such as a photodiode array.

[0052] For example, the solar orientation detection module 2 may also include a fisheye camera and an image recognition device.

[0053] For example, the solar direction detection module 2 can also be a solar radiation sensor.

[0054] For example, the positioning module 3 includes, but is not limited to, the Global Positioning System (GPS).

[0055] For example, geographic location information includes latitude and longitude, altitude, and / or Coordinated Universal Time (UTC).

[0056] In some examples, the determination unit 41 includes a time synchronization unit and a solar direction calculation unit. The time synchronization unit is used to determine the local time of the target detection point based on latitude, longitude, and Coordinated Universal Time; the solar direction calculation unit is used to calculate the second solar direction information of the target detection point relative to the geodetic coordinate system based on the local time using an astronomical algorithm.

[0057] For example, astronomical algorithms include, but are not limited to, the SPA (Solar Position Algorithm) algorithm.

[0058] Specifically, the solar direction calculation unit is used to calculate the solar declination angle and solar hour angle based on the local time.

[0059] For example, controller 4 includes, but is not limited to, a microcontroller unit (MCU).

[0060] In this embodiment, the solar direction detection module 2 measures the first solar direction information of the sensor coordinate system in real time; the positioning module 3 automatically positions the sensor module 1 to obtain the geographical location information of the target detection point; the determination unit 41 in the controller 4 automatically calculates and determines the second solar direction information based on the geographical location information obtained by the positioning module 3; and the position calculation unit 42 automatically calculates and determines the azimuth information of the sensor module 1 in the geodetic coordinate system based on the actual measured first solar direction information and the theoretically calculated second solar direction information. Thus, without the need for an electronic compass or manual direction calibration of the sensor module 1, the azimuth information of the sensor module 1 is determined automatically by calculating the solar direction information based on astronomical algorithms. This not only avoids the mechanical errors caused by manual direction calibration but also effectively avoids the adverse effects of geomagnetic interference on the detection accuracy of the sensor module 1. Furthermore, this application can also automatically calculate and determine the target wind direction in the geodetic coordinate system by performing coordinate conversion between the first wind direction in the sensor coordinate system and the azimuth information in the geodetic coordinate system obtained by the sensor module 1 through the coordinate system transformation unit 43, effectively improving the detection accuracy of the sensor module 1. With the combined effect of the above technical features, this application can effectively avoid mechanical error problems and geomagnetic interference problems in the direction calibration of sensor module 1, thereby effectively improving the accuracy and reliability of wind speed and direction detection.

[0061] In some embodiments, the sensor module 1 is further configured to acquire a first wind speed at the target detection point relative to the sensor coordinate system; the positioning module 3 is further configured to acquire velocity information of the sensor module 1 relative to the geodetic coordinate system; and the coordinate transformation unit is further configured to determine the target wind speed at the target detection point relative to the geodetic coordinate system based on the first wind speed and the velocity information.

[0062] In some embodiments, the first solar direction information includes a first solar azimuth angle; the second solar direction information includes a second solar azimuth angle; the azimuth information includes the yaw angle of the sensor module 1 relative to the geodetic coordinate system; the position calculation unit 42 is further configured to: determine the yaw angle based on the difference between the first solar azimuth angle and the second solar azimuth angle.

[0063] For example, the first solar azimuth information includes the first solar azimuth angle in the sensor coordinate system. and the first solar altitude angle The second solar direction information includes the second solar azimuth angle in the geodetic coordinate system. Second solar altitude angle .

[0064] For example, the position calculation unit 42 can calculate and determine the yaw angle according to the following formula:

[0065] Ψ= - Where Ψ is the yaw angle, The first solar azimuth angle. This is the second solar azimuth angle.

[0066] It should be noted that the yaw angle refers to the angle of deviation between the true north direction of the sensor coordinate system and the true north direction of the geodetic coordinate system.

[0067] In some examples, the solar orientation detection module 2 can perform multiple samplings at the target detection point to obtain multiple first solar orientation information. The position calculation unit 42 can use the least squares method to perform fitting calculations based on the multiple first solar orientation information and the theoretically calculated second solar orientation information to determine the yaw angle.

[0068] In this embodiment of the application, by using the least squares method to fit and calculate multiple first solar direction information and second solar direction information, the deviation between the actual measured first solar direction information and the theoretically calculated second solar direction information can be effectively optimized, thereby effectively improving the accuracy of yaw angle calculation.

[0069] In some embodiments, the coordinate system transformation unit 43 is further configured to: determine the target wind direction at the target detection point relative to the geodetic coordinate system based on the yaw angle and the first wind direction.

[0070] For example, coordinate system transformation unit 43 can calculate and determine the target wind direction according to the following formula:

[0071] = +Ψ; among which, For the target wind direction, The first wind direction is represented by Ψ, and the yaw angle is represented by Ψ.

[0072] In some embodiments, please refer to Figure 2 The wind speed and direction detection device also includes an inertial measurement unit 5; the inertial measurement unit 5 is used to acquire the attitude information of the sensor module 1 in real time; the attitude information includes tilt; the controller 4 also includes an attitude compensation unit 44; the attitude compensation unit 44 is used to adjust the attitude of the sensor module 1 according to the attitude information.

[0073] In some examples, the Inertial Measurement Unit (IMU) 5 includes an accelerometer and a gyroscope. The accelerometer is used to measure the acceleration of sensor module 1; the gyroscope is used to measure the tilt of sensor module 1 relative to the horizontal direction.

[0074] It should be noted that when the wind speed and direction detection device is a mobile device (such as a drone, vehicle-mounted device, etc.), the inertial measurement unit can monitor the attitude information of the sensor module 1 in real time and output the attitude information to the attitude compensation unit 44. The attitude compensation unit 44 can adjust the attitude of the sensor module 1 in real time during the wind speed and direction detection process, so that the sensor module 1 always maintains a horizontal state during the detection process, thereby effectively improving the accuracy and reliability of wind speed and direction detection.

[0075] In some embodiments, the wind speed and direction detection device further includes an output module 6. The output module 6 is used to output the target wind direction, target wind speed, geographic location information, and timestamp.

[0076] For example, output module 6 can be connected to coordinate transformation module and positioning module 3.

[0077] This application also provides a wind speed and direction detection method according to some embodiments; this wind speed and direction detection method can be executed based on the wind speed and direction detection device in the above embodiments. The wind speed and direction detection method also possesses the technical advantages of the aforementioned wind speed and direction detection device. It should be noted that the parts that are the same as or corresponding to the above embodiments can be referred to the corresponding descriptions of the above embodiments, and will not be elaborated upon below.

[0078] In some embodiments, please refer to Figure 4 The wind speed and direction detection method includes the following steps.

[0079] S100, a sensor coordinate system is constructed based on the sensor module.

[0080] S200 obtains the first wind direction at the target detection point relative to the sensor coordinate system through the sensor module.

[0081] S300, acquire the first solar direction information of the target detection point relative to the sensor coordinate system.

[0082] S400: Obtain the geographical location information of the target detection point.

[0083] For example, geographic location information includes latitude and longitude, altitude, and / or Coordinated Universal Time (UTC).

[0084] For example, step S400 includes: determining the local time of the target detection point based on latitude, longitude and Coordinated Universal Time.

[0085] S500 determines the second solar direction information of the target detection point relative to the geodetic coordinate system based on the geographical location information.

[0086] For example, step S500 includes: calculating the second solar direction information of the target detection point relative to the geodetic coordinate system based on an astronomical algorithm according to the local time.

[0087] For example, astronomical algorithms include, but are not limited to, the SPA (Solar Position Algorithm) algorithm.

[0088] S600 determines the orientation information of the sensor module in the geodetic coordinate system based on the first and second solar direction information.

[0089] S700 determines the target wind direction relative to the geodetic coordinate system at the target detection point based on the azimuth information and the first wind direction.

[0090] In some embodiments, please refer to Figure 5 After step S100, the wind speed and direction detection method further includes the following steps S810~S830.

[0091] S810, acquire the first wind speed at the target detection point relative to the sensor coordinate system.

[0092] S820 acquires the velocity information of the sensor module relative to the geodetic coordinate system.

[0093] S830 determines the target wind speed relative to the geodetic coordinate system at the target detection point based on the first wind speed and velocity information.

[0094] In some embodiments, the first solar direction information includes a first solar azimuth angle; the second solar direction information includes a second solar azimuth angle; and the azimuth information includes the yaw angle of the sensor module relative to the geodetic coordinate system. Step S600 includes the following step S610.

[0095] S610, determine the yaw angle based on the difference between the first solar azimuth angle and the second solar azimuth angle.

[0096] For example, the first solar azimuth information includes the first solar azimuth angle in the sensor coordinate system. and the first solar altitude angle The second solar direction information includes the second solar azimuth angle in the geodetic coordinate system. Second solar altitude angle .

[0097] For example, the yaw angle can be calculated using the following formula:

[0098] Ψ= - Where Ψ is the yaw angle, The first solar azimuth angle. This is the second solar azimuth angle.

[0099] It should be noted that the yaw angle refers to the angle of deviation between the true north direction of the sensor coordinate system and the true north direction of the geodetic coordinate system.

[0100] In some examples, multiple samplings may be performed at the target detection point in step S300 to obtain multiple first solar direction information. Correspondingly, in step S600, the least squares method may be used to perform fitting calculations based on the multiple first solar direction information and the theoretically calculated second solar direction information to determine the yaw angle.

[0101] In some examples, step S700 includes step S710 as follows.

[0102] S710 determines the target wind direction relative to the geodetic coordinate system at the target detection point based on the yaw angle and the first wind direction.

[0103] For example, the target wind direction can be calculated using the following formula:

[0104] = +Ψ; among which, For the target wind direction, The first wind direction is represented by Ψ, and the yaw angle is represented by Ψ.

[0105] In some embodiments, the wind speed and direction detection method further includes the following steps S910~S920.

[0106] S910 acquires the attitude information of the sensor module in real time.

[0107] For example, attitude information includes tilt.

[0108] S920 adjusts the attitude of the sensor module based on attitude information.

[0109] It should be understood that, although Figures 4-5 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figures 4-5 At least some of the steps in the process may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but may be executed at different times. The execution order of these steps or stages is not necessarily sequential, but may be executed in turn or alternately with other steps or at least some of the steps or stages in other steps.

[0110] This application also provides a computer device according to some embodiments; please refer to... Figure 6 The computer device includes a memory and a processor. The memory stores a computer program; when the processor executes the computer program, it implements the steps of the method described in some of the foregoing embodiments of this application. This computer device also possesses all the technical advantages of the aforementioned wind speed and direction detection method. It should be noted that the parts that are the same as or corresponding to the above embodiments can be referred to the corresponding descriptions of the foregoing embodiments, and will not be elaborated upon further below.

[0111] This application also provides a computer-readable storage medium according to some embodiments; the computer-readable storage medium stores a computer program; when the computer program is executed by a processor, it implements the steps of the method described in the foregoing embodiments of this application. This computer-readable storage medium also possesses all the technical advantages of the aforementioned wind speed and direction detection methods. It should be noted that the parts that are the same as or corresponding to the above embodiments can be referred to the corresponding descriptions of the foregoing embodiments, and will not be described in detail below.

[0112] This application also provides a computer program product according to some embodiments, including a computer program; when executed by a processor, the computer program implements the steps of the methods described in the foregoing embodiments of this application.

[0113] In the description of this specification, references to terms such as "some embodiments," "some examples," "exemplarily," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative descriptions of the above terms do not necessarily refer to the same embodiments or examples.

[0114] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0115] The embodiments described above are merely examples of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application.

Claims

1. A wind speed and direction detection device, characterized in that, include: The sensor module is used to obtain the first wind direction at the target detection point relative to the sensor coordinate system; A solar orientation detection module is used to measure the first solar orientation information of the target detection point relative to the sensor coordinate system in real time. The positioning module is used to obtain the geographical location information of the target detection point; The controller includes: The determining unit is used to determine the second solar direction information of the target detection point relative to the geodetic coordinate system based on the geographical location information. The position calculation unit is used to determine the orientation information of the sensor module in the geodetic coordinate system based on the first solar direction information and the second solar direction information. The coordinate system transformation unit is used to determine the target wind direction at the target detection point relative to the geodetic coordinate system based on the azimuth information and the first wind direction.

2. The wind speed and direction detection device according to claim 1, characterized in that, The sensor module is also used to acquire the first wind speed at the target detection point relative to the sensor coordinate system; The positioning module is also used to acquire velocity information of the sensor module relative to the geodetic coordinate system; The coordinate transformation unit is also used to determine the target wind speed at the target detection point relative to the geodetic coordinate system based on the first wind speed and the speed information.

3. The wind speed and direction detection device according to claim 1, characterized in that, The first solar direction information includes a first solar azimuth angle; the second solar direction information includes a second solar azimuth angle; the azimuth information includes the yaw angle of the sensor module relative to the geodetic coordinate system; The position calculation unit is further configured to: determine the yaw angle based on the difference between the first solar azimuth angle and the second solar azimuth angle.

4. The wind speed and direction detection device according to claim 3, characterized in that, The coordinate system transformation unit is further configured to: determine the target wind direction at the target detection point relative to the geodetic coordinate system based on the yaw angle and the first wind direction.

5. The wind speed and direction detection device according to claim 1, characterized in that, Also includes: An inertial measurement unit is used to acquire the attitude information of the sensor module in real time; The attitude information includes tilt; The controller also includes: An attitude compensation unit is used to adjust the attitude of the sensor module based on the attitude information.

6. A method for detecting wind speed and direction, characterized in that, include: Construct a sensor coordinate system based on the sensor module; The sensor module obtains the first wind direction at the target detection point relative to the sensor coordinate system. Obtain the first solar direction information relative to the sensor coordinate system at the target detection point; Obtain the geographical location information of the target detection point; Based on the geographical location information, determine the second solar direction information of the target detection point relative to the geodetic coordinate system; Based on the first solar direction information and the second solar direction information, the orientation information of the sensor module in the geodetic coordinate system is determined; Based on the azimuth information and the first wind direction, the target wind direction at the target detection point relative to the geodetic coordinate system is determined.

7. The wind speed and direction detection method according to claim 6, characterized in that, After constructing the sensor coordinate system based on the sensor module, the following is also included: Obtain the first wind speed at the target detection point relative to the sensor coordinate system; Obtain the velocity information of the sensor module relative to the geodetic coordinate system; Based on the first wind speed and the speed information, the target wind speed at the target detection point relative to the geodetic coordinate system is determined.

8. The wind speed and direction detection method according to claim 6, characterized in that, The first solar direction information includes a first solar azimuth angle; the second solar direction information includes a second solar azimuth angle; the azimuth information includes the yaw angle of the sensor module relative to the geodetic coordinate system; The step of determining the azimuth information of the sensor module in the geodetic coordinate system based on the first solar direction information and the second solar direction information includes: The yaw angle is determined based on the difference between the first solar azimuth angle and the second solar azimuth angle; Determining the target wind direction relative to the geodetic coordinate system at the target detection point based on the azimuth information and the first wind direction includes: Based on the yaw angle and the first wind direction, the target wind direction at the target detection point relative to the geodetic coordinate system is determined.

9. A computer device, characterized in that, The method includes a memory and a processor, the memory storing a computer program, characterized in that the processor executes the computer program to implement the steps of the method according to any one of claims 6 to 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 6 to 8.

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