Airspeed calibration method and device, storage medium and wind tunnel calibration equipment

Abstract

The invention discloses an airspeed calibration method and device, a storage medium and wind tunnel calibration equipment, and the method comprises the steps: uniformly determining a plurality of real wind speeds of an airspeed sensor in an aircraft according to a target navigational speed range of the aircraft, and determining the measurement airspeed of the airspeed sensor at each real wind speed; calibrating the initial airspeed calculation parameter according to each real wind speed and the measured airspeed corresponding to each real wind speed to obtain a calibrated airspeed calculation parameter corresponding to each real wind speed; and applying the calibrated airspeed calculation parameter to airspeed calculation of the airspeed sensor. The method comprises the following steps: uniformly determining a plurality of real wind speeds according to a target navigational speed range, measuring corresponding measurement airspeed, calibrating initial airspeed calculation parameters to obtain calibrated airspeed calculation parameters under different real wind speeds, and applying the parameters to airspeed calculation of an airspeed sensor. According to the invention, rapid calibration of the airspeed sensor of the unmanned aerial vehicle can be realized without professional personnel, and the difficulty and complexity of calibration operation are reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aerial surveying technology, and in particular to an airspeed calibration method and device, a storage medium, and a wind tunnel calibration apparatus. BACKGROUND

[0002] Airspeed measurement values are key parameters in applications such as flight control, navigation, and meteorological detection of aircraft. For example, in the field of meteorological detection, a small fixed-wing unmanned aerial vehicle can obtain meteorological elements such as wind speed and direction through airspeed measurement. The measurement accuracy of an airspeed measurement sensor directly affects the judgment of the aircraft on wind speed and direction information, and long-term use or environmental factors can cause the performance of the sensor to decline, thereby generating measurement errors. Existing methods for calibrating airspeed measurement sensors can calibrate airspeed measurement data, but still have problems such as complicated operation and high cost, and cannot meet the application requirements of aircraft airspeed calibration. SUMMARY

[0003] The present application provides an airspeed calibration method, device, storage medium, and wind tunnel calibration apparatus, aiming to solve the problems of complicated operation and high cost in the above-mentioned airspeed calibration method.

[0004] In a first aspect, an embodiment of the present application provides an airspeed calibration method, which comprises: determining a plurality of real wind speeds in which an airspeed sensor in an aircraft is located according to a target airspeed range of the aircraft, and determining measured airspeeds of the airspeed sensor under each real wind speed; calibrating initial airspeed calculation parameters according to each real wind speed and the measured airspeed corresponding to each real wind speed, to obtain calibrated airspeed calculation parameters corresponding to each real wind speed; applying the calibrated airspeed calculation parameters to airspeed calculation of the airspeed sensor.

[0005] In a second aspect, an embodiment of the present application provides an airspeed calibration device, which comprises: a data acquisition module configured to determine a plurality of real wind speeds in which an airspeed sensor in an aircraft is located according to a target airspeed range of the aircraft, and determine measured airspeeds of the airspeed sensor under each real wind speed; a parameter calibration module configured to calibrate initial airspeed calculation parameters according to each real wind speed and the measured airspeed corresponding to each real wind speed, to obtain calibrated airspeed calculation parameters corresponding to each real wind speed; a parameter application module configured to apply the calibrated airspeed calculation parameters to airspeed calculation of the airspeed sensor.

[0006] In a third aspect, an embodiment of the present application provides a computer storage medium, which stores a plurality of instructions. The instructions are adapted to be loaded by a processor and execute the steps of the above-mentioned method.

[0007] In a fourth aspect, the embodiments of the present application provide a wind tunnel calibration device, comprising a wind tunnel, a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein the wind tunnel comprises at least a fan and a wind speed detector, and the computer program is adapted to be loaded by the processor and execute the steps of the method.

[0008] The technical solutions provided by some embodiments of the present application have at least the following beneficial effects: The airspeed calibration method provided by the embodiments of the present application comprises the following steps: uniformly determining a plurality of real wind speeds in a target speed range of an aircraft, and determining measured airspeeds of an airspeed sensor at the real wind speeds; calibrating initial airspeed calculation parameters according to the real wind speeds and the measured airspeeds corresponding to the real wind speeds, to obtain calibrated airspeed calculation parameters corresponding to the real wind speeds; and applying the calibrated airspeed calculation parameters to airspeed calculation of the airspeed sensor. First, by uniformly determining a plurality of real wind speeds in a target speed range of an aircraft, it can be ensured that the calibration process covers various wind speed conditions that the aircraft may encounter, improving the comprehensiveness and accuracy of the calibration. At the same time, determining the measured airspeeds of the airspeed sensor at the real wind speeds is the basis of the calibration process, and these data provide necessary inputs for the subsequent calculation of calibration parameters. Next, by calibrating the initial airspeed calculation parameters according to the real wind speeds and the measured airspeeds corresponding to the real wind speeds, more accurate calibrated airspeed calculation parameters at the real wind speeds can be obtained, and these parameters can more truly reflect the performance of the airspeed sensor at different wind speeds. Finally, by applying the calibrated airspeed calculation parameters to airspeed calculation of the airspeed sensor, real-time calibration of the airspeed sensor can be realized, ensuring the accuracy of airspeed data during flight, thereby improving the flight performance of the aircraft and ensuring flight safety. BRIEF DESCRIPTION OF DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort.

[0010] Figure 1 An exemplary system architecture diagram of an airspeed calibration method provided by the embodiments of the present application is shown in the following figure: Figure 2 An exemplary flowchart of an airspeed calibration method provided by the embodiments of the present application is shown in the following figure: Figure 3 An exemplary flowchart of an airspeed calibration method provided by the embodiments of the present application is shown in the following figure: Figure 4A flowchart of an airspeed calibration method provided by an embodiment of the present application is shown in FIG. 1. Figure 5 A flowchart of an airspeed calibration method provided by an embodiment of the present application is shown in FIG. 1. Figure 6 A structural block diagram of an airspeed calibration device provided by an embodiment of the present application is shown in FIG. 4. Figure 7 A structural diagram of a wind tunnel calibration device provided by an embodiment of the present application is shown in FIG. 5. DETAILED DESCRIPTION

[0011] In order to make the features and advantages of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0012] The following description refers to the accompanying drawings. Unless otherwise indicated, like numbers in different drawings represent the same or similar elements. The following examples of embodiments are described in detail with reference to the drawings. These examples are not meant to represent all embodiments in accordance with the present application. Rather, they are merely examples of apparatus and methods in accordance with some aspects of the present application as detailed in the appended claims.

[0013] In the application of aircraft, such as small fixed-wing drones, airspeed measurement values are core parameters in flight control, navigation, and meteorological detection tasks. Airspeed measurement sensors, such as pitot tubes and airspeed meters, are responsible for accurately measuring the airspeed of the aircraft, and their measurement accuracy is directly related to the aircraft's ability to judge meteorological elements such as wind speed and direction. However, long-term use or changes in environmental factors (such as temperature, humidity, air pressure, etc.) can cause the performance of the sensor to decline, resulting in measurement errors. In order to ensure the accuracy of airspeed measurement data, two main calibration methods are provided. One is to use a wind tunnel test in a laboratory environment to calibrate the airspeed meter. In this method, the aircraft's airspeed meter is placed in the wind tunnel environment of the laboratory, the wind speed inside the wind tunnel is adjusted to simulate different flight conditions, and then the measurement results of the airspeed meter are compared with the actual wind speed of the wind tunnel to calibrate the airspeed meter. This method can exclude external interference factors such as changes in wind direction and wind speed, making the calibration results more reliable. The other is to let the aircraft fly in no-wind weather conditions and record the flight data of multiple segments. These data include the airspeed measured by the airspeed meter and the ground speed information provided by the Global Positioning System (GPS), and the ground speed is used as a reference for the true speed to calibrate the airspeed meter and improve its measurement accuracy.

[0014] Although the existing airspeed measurement sensor calibration methods can ensure the accuracy of airspeed measurement data to some extent, there are still some problems that limit their widespread application. In the first calibration method, professional technicians are required, and it relies on expensive experimental equipment, which is time-consuming, labor-intensive and costly. In addition, the wind tunnel environment may not be able to completely simulate the complex weather conditions in actual flight, affecting the accuracy of the calibration results. The second calibration method relies on no-wind or light-wind weather conditions, limiting the timing and conditions of calibration; at the same time, actual flight calibration requires professional flight testers to operate, which has the risk of damaging the aircraft.

[0015] Therefore, the embodiments of the present application provide an airspeed calibration method to solve the technical problems of complicated operation and high cost of the above-mentioned airspeed calibration methods.

[0016] Please refer to Figure 1 , Figure 1 The exemplary system architecture diagram of an airspeed calibration method provided by the embodiments of the present application.

[0017] As Figure 1 shown, the system architecture can include an aircraft 115, a wind tunnel 101, and a control platform 110.

[0018] The aircraft 115 can include a GPS 112, a flight controller 113, and a data link sky terminal 114. Among them, the GPS 112 is used to provide global positioning service, determine the precise position, speed and direction of the aircraft; the flight controller 113 can process data from airspeed sensors (pitot tube 107 and airspeed meter 109), GPS and other sensors, and obtain the airspeed of the aircraft measured by the airspeed sensor according to the preset algorithm and logic; the data link sky terminal 114 can send the airspeed data, ground speed data, pose data and the like of the aircraft to the control platform 110 for real-time monitoring and analysis.

[0019] The wind tunnel 101 can include a fan 102, a fairing 103, a wind speed detector 104, a detection probe 105, and a support 106. Among them, the fan 102 can form the required wind speed and direction in the wind tunnel 101 by adjusting the speed and power, so as to simulate different intensity and direction of wind field conditions; the fairing 103 can reduce the airflow disturbance in the wind tunnel 101, ensure that the wind speed and direction in the wind tunnel 101 remain constant, so as to form a uniform wind field in the wind tunnel 101, and eliminate the test error caused by uneven airflow; the wind speed detector 104 can perceive the speed of the surrounding airflow through the detection probe 105, and convert these information into electrical signals or other readable formats, so as to measure and record the wind speed data; the support 106 can support and fix the pitot tube 107, and ensure that the pitot tube 107 can maintain a stable and accurate position in the wind tunnel 101. It should be noted that the airspeed sensor is composed of the pitot tube 107 and the airspeed meter 109, in order to ensure the accuracy of the measurement result, the static pressure hole 108 on the pitot tube 107 needs to be consistent with the position of the detection probe 105 during the airspeed calibration process.

[0020] The control platform 110 can be a ground control platform or other forms of control platform. The control platform 110 can compare and calculate the wind speed detected by the wind speed detector 104 and the aircraft airspeed measured by the airspeed sensor, and give the corrected airspeed calculation parameter value; when the control platform 110 is a ground control platform, the data link ground terminal 111 can serve as a data transmission channel between the ground and the aircraft, receive the airspeed data from the flight controller 113, and send these data to the ground control platform.

[0021] In a feasible implementation of the present application, first, the control platform 110 uniformly determines a plurality of real wind speeds in which the airspeed sensor in the aircraft is located according to the target speed range of the aircraft, and determines the measured airspeed of the airspeed sensor under each real wind speed; then, the control platform 110 calibrates the initial airspeed calculation parameter according to each real wind speed and the measured airspeed corresponding to each real wind speed, and obtains the calibrated airspeed calculation parameter corresponding to each real wind speed; finally, the control platform 110 applies the calibrated airspeed calculation parameter to the airspeed calculation of the airspeed sensor.

[0022] It should be understood that Figure 1 The number of aircraft, wind tunnels and control platforms in the above-mentioned embodiments is only illustrative, and can be any number of aircraft, wind tunnels and control platforms according to the needs of implementation.

[0023] Please refer to Figure 2 , Figure 2 A flowchart of an airspeed calibration method provided by an embodiment of the present application is shown. The execution subject of the embodiment of the present application can be a wind tunnel calibration device for executing airspeed calibration, or a processor in the wind tunnel calibration device for executing the airspeed calibration method, or an airspeed calibration service in the wind tunnel calibration device for executing the airspeed calibration method. For the convenience of description, the specific execution process of the airspeed calibration method is introduced below by taking the execution subject as the processor in the wind tunnel calibration device as an example.

[0024] As Figure 2 shown, the airspeed calibration method can at least include: S202, uniformly determining a plurality of real wind speeds in which the airspeed sensor in the aircraft is located according to the target speed range of the aircraft, and determining the measured airspeed of the airspeed sensor under each real wind speed.

[0025] Optionally, in the flight process of the aircraft, the wind direction and wind speed not only affect the flight trajectory and speed of the aircraft, but also directly relate to the safety of the aircraft. For example, in the case of strong wind or sudden change of wind direction, the aircraft may deviate from the predetermined route, and even cause danger. Therefore, accurate measurement of wind direction and wind speed is crucial to ensure the safe flight of the aircraft. The wind direction and wind speed are usually obtained by vector sum calculation of the airspeed (i.e. the movement speed of the aircraft relative to the air) and the speed information of the GPS (i.e. the movement speed of the aircraft relative to the ground). This calculation process needs to rely on the accuracy of the airspeed and GPS speed information. Among them, the measurement of airspeed usually relies on airspeed sensors such as pitot-static tube, etc. However, due to the error of the sensor itself, the influence of environmental factors (such as temperature, pressure, etc.) and the dynamic changes of the aircraft in the flight process, etc., the measured value of the airspeed may have certain errors. If these errors are not calibrated and corrected, they will directly affect the calculation results of the wind direction and wind speed, and thus affect the flight safety and accuracy of the aircraft. Therefore, in order to ensure the accuracy of the wind direction and wind speed measurement, the airspeed sensor must be calibrated to eliminate or reduce the errors in the airspeed measurement and improve the accuracy of the airspeed measurement.

[0026] Optionally, during the calibration process, the accuracy of the airspeed sensor can be measured by simulating the flight state of the aircraft under different wind speed conditions. Since the aircraft and the wind are in relative motion, in the embodiments of the present application, the various wind speed conditions that the aircraft 115 can encounter in actual flight can be simulated by adjusting the wind speed in the wind tunnel 101 when the aircraft 115 is in a stationary state. At the same time, the optimal speed range of the aircraft 115 is usually carefully determined according to its design characteristics and actual application requirements, which can reflect the various wind speed conditions that the aircraft 115 can encounter in actual flight. Therefore, by setting the real wind speed range in the calibrated wind tunnel 101 within the optimal speed range (i.e. the target speed range) of the aircraft 115, the calibration points can be more accurately selected, ensuring that the calibration results are closer to the actual flight conditions, improving the practicality and accuracy of the calibration. For example, for most small fixed-wing drones, the optimal speed is generally between 9 m / s and 30 m / s, so when calibrating the airspeed of a small fixed-wing drone by the method in the embodiments of the present application, the wind speed in the wind tunnel 101 can be determined to be between 9 m / s and 30 m / s.

[0027] Optionally, after the target speed range is determined, different real wind speeds (V b ) within the target speed range of the aircraft 115 can be uniformly selected for calibration to ensure that the airspeed sensor can be accurately calibrated within the entire target speed range. For example, when calibrating the airspeed of a small fixed-wing drone by the method in the embodiments of the present application, 17 m / s, 19 m / s, 21 m / s, etc. can be selected as the real wind speed for calibration. Specifically, the range can be evenly divided into multiple calibration segments, and one or more representative real wind speed values can be selected for calibration in each calibration segment. This way of uniformly selecting calibration points helps to reduce calibration errors caused by too concentrated or sparse calibration points, and obtains more comprehensive and accurate calibration results. Alternatively, the frequency distribution of wind speed in different speed intervals can be obtained by analyzing historical meteorological data or flight records, and then representative real wind speed values can be selected for calibration within the target speed range of the aircraft 115. This method can reflect the natural distribution characteristics of wind speed in the real environment, making the calibration results closer to the actual flight conditions, and the calibration process more efficient, avoiding repeated calibration at unnecessary wind speed values. It should be noted that in order to improve accuracy, the wind speed can be kept stable for a period of time (such as a few seconds) at each real wind speed value to ensure that the airspeed sensor has enough time to respond and stabilize the measurement.

[0028] Optionally, the measured airspeed (V a). Similarly, in order to ensure the accuracy and reliability of the measurement results, the measurement process at each real wind speed can be repeated multiple times, and statistical indicators such as the average value and standard deviation of the measurement values are calculated.

[0029] S204, according to each real wind speed and the corresponding measured airspeed of each real wind speed, the initial airspeed calculation parameter is calibrated to obtain the calibrated airspeed calculation parameter corresponding to each real wind speed.

[0030] Optionally, the initial airspeed calculation parameter (k) is a coefficient that plays a key role in airspeed calculation, which usually includes the comprehensive effects of multiple physical and engineering parameters related to airspeed measurement, such as the pressure coefficient of the pitot-static tube (airspeed sensor), the temperature compensation coefficient, the gas density correction factor, etc. In the actual flight of the aircraft 115, the use environment of the airspeed sensor (such as temperature, gas density, etc.) is constantly changing, which will affect the initial airspeed calculation parameter. If the initial airspeed calculation parameter is always used for airspeed calculation at each real wind speed, it will cause a certain measurement error in airspeed measurement. Therefore, the initial airspeed calculation parameter needs to be calibrated to adapt to these environmental changes and ensure the accuracy of airspeed measurement under different conditions.

[0031] Optionally, according to each real wind speed and the corresponding measured airspeed of each real wind speed, the initial airspeed calculation parameter is calibrated according to the following calibration formula: , to obtain the calibrated airspeed calculation parameter corresponding to each real wind speed ( ). For example, when calibrating the airspeed of a small fixed-wing unmanned aerial vehicle by the method in the present application, 17 m / s, 19 m / s and 21 m / s are selected as the real wind speed for calibration, and each real wind speed corresponds to a measured airspeed. Then, these three pairs of values are substituted into the above calibration formula to obtain the calibrated airspeed calculation parameter corresponding to each real wind speed.

[0032] S206, the calibrated airspeed calculation parameter is applied to the airspeed calculation of the airspeed sensor.

[0033] Optionally, the calibrated airspeed calculation parameters corresponding to each real wind speed obtained in the calibration process can be organized to form a parameter database or parameter table, which contains the corresponding relationship between the real wind speed and the corresponding calibrated airspeed calculation parameter, and these parameters are integrated into the flight controller 113. In the actual flight process of the aircraft 115, the airspeed sensor will continuously receive the airflow signal from the outside of the aircraft 115, at which time the flight controller 113 can select the corresponding calibrated airspeed calculation parameter from the parameter database / table in combination with the real wind speed currently detected by the airspeed sensor, and perform subsequent airspeed calculation.

[0034] In the embodiments of the present application, a kind of airspeed calibration method is provided, according to the target speed range of aircraft, the multiple real wind speeds in which airspeed sensor in aircraft is determined uniformly, and the measured airspeed of airspeed sensor under each real wind speed is determined;According to each real wind speed and the measured airspeed corresponding to each real wind speed, the initial airspeed calculation parameter is calibrated, to obtain the calibration airspeed calculation parameter corresponding to each real wind speed;Calibration airspeed calculation parameter is applied to the airspeed calculation of airspeed sensor.First, by uniformly determining multiple real wind speeds in the target speed range of aircraft, it can be ensured that calibration process covers various wind speed conditions that aircraft can encounter, improves the comprehensiveness and accuracy of calibration, and simultaneously determining the measured airspeed of airspeed sensor under each real wind speed is the basis of calibration process, these data provide necessary input for subsequent calibration parameter calculation;Next, by each real wind speed and the measured airspeed corresponding thereto, the initial airspeed calculation parameter is calibrated, to obtain more accurate calibration airspeed calculation parameter under each real wind speed, these parameters can more truly reflect the performance of airspeed sensor under different wind speeds;Finally, calibration airspeed calculation parameter is applied to the airspeed calculation of airspeed sensor, to realize the real-time calibration of airspeed sensor, ensure the accuracy of airspeed data in flight process, thereby improving the flight performance of aircraft and ensuring flight safety.

[0035] Please refer to Figure 3 , Figure 3 The flowchart of the airspeed calibration method provided in the embodiments of the present application is shown.

[0036] As Figure 3 indicated, the airspeed calibration method can at least include: S302, the target speed range of aircraft is evenly divided into multiple calibration stages, and at least one reference speed value is uniformly selected in each calibration stage.

[0037] Optionally, when determining real wind speed according to the target speed range of aircraft 115, first, the target speed range can be evenly divided into multiple calibration stages, and each calibration stage represents a specific speed interval.For example, the range of 9m / s to 30m / s can be divided into several calibration segments of 1m / s or other intervals, the size of these intervals can be adjusted according to actual needs, and the speed change in each interval is smooth enough to accurately reflect the performance of airspeed sensor under different real wind speeds.Then, in each calibration stage, one or more representative reference speed values are uniformly selected as real wind speed values for calibration, which should be able to represent the typical speed in this stage, and should cover the speed range of this stage as much as possible, to comprehensively reflect various wind speed conditions that aircraft 115 can encounter in actual flight.In addition, these reference speed values can also be determined through historical flight data to ensure that they are representative and consistent with actual flight conditions.

[0038] For example, when calibrating the airspeed of a small fixed-wing UAV using the method in this application embodiment, the optimal airspeed of the UAV, 17m / s-25m / s, can be used as the target airspeed range, and this range can be divided into three calibration stages for calculation: 17m / s-19m / s, 20m / s-22m / s, and 23m / s-25m / s. When the flight mission is urgent and the external environment is relatively stable, one reference airspeed value can be selected in each calibration stage: 18m / s, 21m / s, and 24m / s, and the actual wind speed can be adjusted according to these three reference airspeed values ​​for subsequent airspeed calibration. When the external environment changes significantly and the accuracy of calibration needs to be improved, three reference airspeed values ​​can be selected in each calibration stage. The actual wind speed is adjusted based on these nine reference speed values. It should be noted that the number of reference speed values ​​in the calibration phase and each calibration phase can be flexibly adjusted according to actual needs. This application does not impose a specific limit on the number of reference speed values ​​in the calibration phase and each calibration phase.

[0039] S304. Determine the multiple real wind speeds where the airspeed sensor is located in the aircraft based on each reference airspeed value, and determine the measured airspeed of the airspeed sensor under each real wind speed.

[0040] Optionally, after determining the target airspeed range of aircraft 115 and evenly dividing the calibration phases, we obtain reference airspeed values ​​for each calibration phase. These reference airspeed values ​​are theoretical speed points, representing typical speeds within that phase. Next, we need to convert these reference airspeed values ​​into the actual wind speeds that the airspeed sensor might encounter during actual flight. Specifically, the airspeed sensor can be placed in wind tunnel 101, and by continuously adjusting the wind speed and direction, the actual wind speed corresponding to the reference airspeed values ​​can be found.

[0041] Further, the measured airspeed of the airspeed sensor under various real wind speeds is determined. For details on how to determine the measured airspeed of the airspeed sensor under various real wind speeds, please refer to the detailed description in step S202; it will not be repeated here.

[0042] S306. Based on each actual wind speed and the corresponding measured airspeed, calibrate the initial airspeed calculation parameters to obtain the calibrated airspeed calculation parameters corresponding to each actual wind speed.

[0043] Optionally, for details regarding step S306, please refer to step S204, which will not be repeated here.

[0044] S308. Determine the reference parameters corresponding to the calibration airspeed calculation parameters for each actual wind speed.

[0045] Optionally, when we get multiple calibration airspeed calculation parameters, the stability and consistency between these parameters are still unknown. There may be certain differences between these parameters, which may be caused by experimental errors, changes in sensor characteristics or external conditions, etc., and may affect the accuracy of airspeed measurement. Based on this, a reference parameter can be introduced to reflect the overall characteristics of each calibration airspeed calculation parameter, such as the median, mode or average of each calibration airspeed calculation parameter, etc., and the overall evaluation of these calibration airspeed calculation parameters can be performed through the reference parameter to determine whether they are within a reasonable range.

[0046] S310, comparing the calibration airspeed calculation parameters corresponding to each real wind speed with the reference parameter, and determining the application airspeed calculation parameter corresponding to the airspeed sensor according to the comparison result; applying the application airspeed calculation parameter to the airspeed calculation of the airspeed sensor.

[0047] Optionally, as the overall indicator of the set of calibration airspeed calculation parameters, the reference parameter can reflect the performance characteristics of the sensor under different conditions. After determining the reference parameter, we need to compare the calibration airspeed calculation parameters corresponding to each real wind speed with the reference parameter. Through the comparison result, the differences between each calibration airspeed calculation parameter can be quantified, so as to help us select one or more calibration airspeed calculation parameters that are most matched or closest to the current environmental conditions as the application airspeed calculation parameter, which will be used for subsequent actual measurement of the airspeed sensor to ensure the accuracy and reliability of airspeed measurement.

[0048] Specifically, when the differences between each calibration airspeed calculation parameter are small, it usually means that the performance of the airspeed sensor under different real wind speed conditions is relatively stable, without large fluctuations or differences, and in this case, the reference parameter can be used as the application airspeed calculation parameter for subsequent airspeed calculation; if the differences between each calibration airspeed calculation parameter are large, it means that the performance of the airspeed sensor under different real wind speed conditions may have large differences, and in this case, directly selecting a calibration airspeed calculation parameter as the application airspeed calculation parameter may increase the measurement error, and different application airspeed calculation parameters need to be selected according to different difference conditions.

[0049] Optionally, after determining the application airspeed calculation parameter, the application airspeed calculation parameter can be applied to the airspeed calculation of the airspeed sensor. Specifically, how to perform airspeed calculation by using the application airspeed calculation parameter is described in detail in step S206, which will not be repeated here.

[0050] In the embodiment of the present application, a kind of airspeed calibration method is provided, by the target speed range of aircraft is evenly divided into multiple calibration stages, and reference speed value is evenly selected in each stage, it can ensure that airspeed sensor can be fully calibrated in the entire target speed range, avoid the problem of insufficient calibration or over-calibration in certain speed interval, to improve the precision and reliability of calibration;And after obtaining the calibration airspeed calculation parameter corresponding to each real wind speed, by determining reference parameter and comparing each calibration airspeed calculation parameter, the rationality and applicability of each calibration airspeed calculation parameter can be more accurately evaluated, and more accurate application airspeed calculation parameter is selected according to the comparison result, it is helpful to avoid that inappropriate calibration parameter is applied to the airspeed calculation of airspeed sensor, to enhance the flexibility of calibration process and improve the accuracy of measurement result.

[0051] Please refer to Figure 4 , Figure 4 A flowchart of the airspeed calibration method provided in the embodiment of the present application is shown in Figure Figure 4 As shown in Figure S402, the target speed range of aircraft is evenly divided into multiple calibration stages, and at least one reference speed value is evenly selected in each calibration stage;The fan speed is adjusted according to each reference speed value respectively, and the multiple measured wind speeds corresponding to each reference speed value of airspeed sensor are measured respectively;The average value of multiple measured wind speeds under each reference speed value is obtained, and the real wind speed corresponding to each reference speed value of airspeed sensor is obtained.

[0052] Optionally, Figure 5 The overall flowchart of the airspeed calibration method provided in the embodiment of the present application in calibration process is shown in Figure Figure 5 As shown in S502 of Figure When the airspeed of the aircraft 115 in static state (such as small fixed-wing unmanned aerial vehicle) is calibrated by the method in the embodiment of the present application, first, the airspeed sensor (airspeed tube 107 and airspeed meter 109, pitot-static tube can be used) in the aircraft 115 is removed, and the airspeed tube 107 is placed on the support 106 in the wind tunnel 101, so that the static pressure hole 108 on the airspeed tube 107 is consistent with the position of the detection probe 105, which is convenient for the subsequent wind speed detector 104 to accurately measure and record the real wind speed (V b ) in the wind tunnel 101 through the detection probe 105. At the same time, the aircraft and the control platform 110 (such as ground control platform) are connected through the data transmission module (data transmission ground end 111 and data transmission sky end 114) to transmit and record the data in calibration process in real time.

[0053] Optionally, after preparation work is done, as Figure 5As shown in S504, the airspeed calibration range can be determined according to the target speed range of the aircraft, and then the calibration range is evenly divided into multiple calibration stages, and at least one reference speed value is selected in each calibration stage. Specifically, how to determine the reference speed value is described in detail in S302, which will not be repeated here.

[0054] Optionally, as Figure 5 As shown in S506, in order to convert the reference speed value into the real wind speed of the airspeed sensor, the fan 102, the wind speed detector 104 and the detection probe 105 in the wind tunnel 101 can be used. Specifically, by adjusting the rotating speed of the fan 102 in the wind tunnel 101, the value displayed by the wind speed detector 104 reaches the selected reference speed value and keeps stable output, at this time, the wind field condition under different real wind speeds can be simulated in the wind tunnel 101, and the subsequent airspeed calibration process can be carried out.

[0055] Optionally, although the reference speed value can be used to determine the corresponding real wind speed of the airspeed sensor at each reference speed value, these reference speed values are essentially theoretical set values. In actual operation, due to environmental factors, equipment precision limitations and other reasons, the real wind speed controlled directly according to these theoretical values may deviate from the expected value. For example, when the reference speed value is 17 m / s, the real wind speed controlled by the fan 102 may be 16.9 m / s or 17.1 m / s or similar values. Based on this, in order to improve the measurement accuracy of the real wind speed, we can perform multiple wind speed measurements at each reference speed value after the fan 102 reaches the preset rotating speed and stabilizes, and obtain multiple measurement wind speeds at each reference speed value (Vn). For example, 5 wind speed measurements are performed at the reference speed value of 17 m / s, and 5 measurement wind speeds corresponding to 17 m / s are obtained. It should be noted that in order to ensure the independence of the measurements, there can be sufficient time interval between each measurement to avoid the influence of the thermal effect or other physical effects of the previous measurement on the next wind speed measurement; at the same time, the number of wind speed measurements (N) at each reference speed value can be adjusted according to the actual situation and the required measurement accuracy, and the time interval and the number of wind speed measurements are not limited in the present application.

[0056] Optionally, since a single measurement value can be disturbed by various uncontrollable factors, and the average value can represent the real wind speed at the reference airspeed value, after all wind speed measurements are completed, the average value of all measured wind speeds at each reference airspeed value can be calculated, and the average measured wind speed is the real wind speed at the reference airspeed value. For example, the average value of the 5 measured wind speeds corresponding to 17 m / s is calculated to obtain the real wind speed corresponding to the reference airspeed value of 17 m / s. The calculation formula is: where i is the number of wind speed measurements corresponding to the reference airspeed value.

[0057] S404, and measure the initial measured airspeed of the airspeed sensor at each measured wind speed; and average the plurality of initial measured airspeeds at each reference airspeed value to obtain the corresponding measured airspeed of the airspeed sensor at each reference airspeed value.

[0058] Optionally, at each reference airspeed value, when the fan 102 reaches a stable speed and reaches a preset reference airspeed value, in addition to measuring each measured wind speed in the wind tunnel 101 by the wind speed detector 104 and the detection probe 105, the airspeed sensor in the aircraft 115 also measures a corresponding initial measured airspeed during the adjustment and recording of each measured wind speed. For example, 5 measured wind speeds are measured at a reference airspeed value of 17 m / s, and each of the 5 measured wind speeds corresponds to an initial measured airspeed measured by the airspeed sensor, that is, there are 5 initial measured airspeeds corresponding to the reference airspeed value of 17 m / s.

[0059] Specifically, at each measured wind speed, the aircraft 115 measures the wind in the wind tunnel 101 by the airspeed sensor, and transmits the measurement data to the flight controller 113 through the data transmission module, so that the flight controller 113 can calculate the initial measured airspeed measured by the airspeed sensor. The specific calculation formula is the simplified Bernoulli equation: where is the i-th initial measured airspeed corresponding to the reference airspeed value, k is the initial airspeed calculation parameter, is the i-th total pressure data measured by the airspeed sensor at the reference airspeed value, is the i-th static pressure data measured by the airspeed sensor at the reference airspeed value.

[0060] Optionally, the initial measured airspeeds are obtained under the condition of real wind speed with the same reference airspeed value but possibly slight fluctuations, so there may be slight differences between them. In order to reduce the influence of these slight differences on the final calibration result, we average all initial measured airspeed values under each reference airspeed value, so as to obtain a more stable and reliable measured airspeed (V a ), which represents the average response of the airspeed sensor at this reference airspeed value. For example, the average of the 5 initial measured airspeeds corresponding to the reference airspeed value of 17 m / s is obtained, which is the measured airspeed corresponding to the reference airspeed value of 17 m / s. The calculation formula is: .

[0061] Optionally, as shown in S506 in Figure 5 , the real wind speed (or measured wind speed) measured by the detection probe 105 in the wind speed detector 104 and the measured airspeed (or initial measured airspeed) measured by the airspeed sensor calculated by the flight controller 113 can be sent to the control platform 110 through the data transmission module and corresponding subsequent processing operations.

[0062] S406, according to each real wind speed and the measured airspeed corresponding to each real wind speed, calibrate the initial airspeed calculation parameter to obtain the calibration airspeed calculation parameter corresponding to each real wind speed; calculate the average of the calibration airspeed calculation parameter corresponding to each real wind speed to obtain the reference parameter.

[0063] Optionally, as shown in S508 in Figure 5 , after obtaining each real wind speed and the measured airspeed corresponding to each real wind speed, the initial airspeed calculation parameter can be calibrated according to each group of values to obtain the calibration airspeed calculation parameter corresponding to each real wind speed (V , where x=1, 2, 3, …, a; y=1, 2, 3, …, β; a is the number of calibration stages selected in the target airspeed range; β is the number of reference airspeed values selected in each calibration stage). For details of how to obtain the calibration airspeed calculation parameter, please refer to the detailed description in step S204, which will not be repeated here.

[0064] Exemplarily, when calibrating the airspeed of a small fixed-wing unmanned aerial vehicle by the method in the embodiment of the application, the best airspeed of the unmanned aerial vehicle 17 m / s-25 m / s is taken as the target airspeed range, and the range is divided into 3 calibration stages for calculation: 17 m / s-19 m / s, 20 m / s-22 m / s and 23 m / s-25 m / s. At the same time, 3 reference airspeed values are selected in each calibration stage: , to calculate the real wind speed and the corresponding measured air speed. Correspondingly, the calibration air speed calculation parameters corresponding to the final calculated real wind speed in each calibration stage are calculated: .

[0065] Optionally, the mean of the calibration air speed calculation parameters is calculated, which is the reference parameter (R) , which represents the overall characteristics of the calibration air speed calculation parameters under different real wind speeds, providing a benchmark for subsequent comparison and application. The calculation formula is: .

[0066] S408, compare the calibration air speed calculation parameters corresponding to the real wind speed and the reference parameter; when the comparison result meets the first preset relationship between the calibration air speed calculation parameters corresponding to the real wind speed and the reference parameter, the reference parameter is used as the application air speed calculation parameter of the air speed sensor.

[0067] Optionally, when comparing the calibration air speed calculation parameters corresponding to the real wind speed and the reference parameter, the difference between the calibration air speed calculation parameters corresponding to the real wind speed can be calculated, and then the final application air speed calculation parameter applied to the air speed sensor is determined according to the relationship between the difference result and the reference parameter.

[0068] Specifically, when the difference between the calibration air speed calculation parameters exceeds the preset proportion (e.g. 10% of the reference parameter) of the reference parameter, it is determined that the difference between the calibration air speed calculation parameters is large; when the difference does not exceed the preset proportion, it is determined that the difference between the calibration air speed calculation parameters is small. It should be noted that when the number of calibration air speed calculation parameters whose difference exceeds the preset proportion reaches a certain number, it is determined that the overall difference between the calibration air speed calculation parameters is large. The number can be flexibly set according to specific conditions such as measurement accuracy, and the present application does not limit the number.

[0069] Optionally, in a feasible embodiment, as shown in S508 of Figure 5 , when the difference between the calibration air speed calculation parameters does not exceed the preset proportion of the reference parameter (satisfying the first preset relationship), it means that the performance of the air speed sensor under different real wind speed conditions is relatively stable, without large fluctuations or differences. At this time, the reference parameter is used as the application air speed calculation parameter for subsequent air speed calculation (overall calculation). This not only simplifies the application process, but also maintains the universal applicability of the calibration result.

[0070] S410. When the calibration airspeed calculation parameters and reference parameters corresponding to each real wind speed in the comparison results satisfy the second preset relationship, calculate the mean value of the calibration airspeed calculation parameters corresponding to each real wind speed in each calibration stage to obtain the local airspeed calculation parameters of the airspeed sensor in each calibration stage, and use each local airspeed calculation parameter as the application airspeed calculation parameter of the airspeed sensor in the corresponding calibration stage.

[0071] Alternatively, in another feasible implementation, such as Figure 5 As shown in S508, when the difference between the calibrated airspeed calculation parameters exceeds the preset proportion of the reference parameters (satisfying the second preset relationship), it indicates that the performance of the airspeed sensor may vary significantly under different real wind speed conditions. In this case, to more accurately reflect the special circumstances under different real wind speed conditions, we calculate the average of the calibrated airspeed calculation parameters corresponding to each real wind speed in each calibration stage, obtaining the local airspeed calculation parameters of the airspeed sensor in each calibration stage (segmented calculation). These local airspeed calculation parameters will serve as the application airspeed calculation parameters of the airspeed sensor in the corresponding calibration stage, providing more accurate airspeed measurements. The calculation formula is as follows: .

[0072] For example, taking the calibration method for calibrating the airspeed of a small fixed-wing UAV as shown in S406, when the difference between the calibration airspeed calculation parameters exceeds the preset ratio of the reference parameters, the local airspeed calculation parameters corresponding to the three calibration stages are calculated respectively: , as well as These local airspeed calculation parameters are then used as the airspeed calculation parameters for the airspeed sensor in the corresponding calibration phase for subsequent airspeed calculations.

[0073] Optionally, such as Figure 6 As shown in S510, after the airspeed calculation parameters are determined, these parameters are written into the flight controller 113, and the airspeed tube 107 is taken out from the wind tunnel 101. The airspeed tube 107 and the airspeed meter 109 are then restored to their original positions in the aircraft, thus ending the calibration process.

[0074] Optionally, when the calibration airspeed calculation parameters and the reference parameters satisfy the second preset relationship, so that airspeed calibration is performed by calculating local airspeed calculation parameters in segments, it is also necessary to determine how to judge the current calibration stage when the aircraft 115 is actually flying, so as to facilitate the determination of which local airspeed calculation parameters to use for airspeed calculation.

[0075] Specifically, during the actual flight of the aircraft 115, the judgment of the calibration phase in which the aircraft 115 is currently located mainly depends on two standards: the airspeed measured by the airspeed sensor (as the main criterion) and the ground speed of the aircraft 115 (as the reference criterion). These two speed parameters change in real time during flight. According to the real-time monitored airspeed and ground speed, the difference and change relationship between them can reflect the speed change of the aircraft 115 during flight and the possible error, thereby reflecting the matching degree between the actual flight state of the aircraft 115 and the calibration phase. When the speed parameter of the aircraft changes, so that it no longer meets the speed interval requirement of the current calibration phase, the calibration phase in which the aircraft is located needs to be re-judged according to the new speed parameter, and the switching of the calibration phase is timely.

[0076] Exemplarily, still taking the calibration method for calibrating the airspeed of the small fixed-wing unmanned aerial vehicle shown in S406 as an example, when the airspeed measured by the airspeed sensor is 17 m / s, and the ground speed is also 17 m / s, both of them are within the first calibration phase, and there is no difference between the airspeed and the ground speed. At this time, the local airspeed calculation parameter corresponding to the first calibration phase is used. If the airspeed measured by the airspeed sensor is 18 m / s, and the ground speed exceeds 19 m / s, at this time, the airspeed is within the first calibration phase, the ground speed is within the second calibration phase, and there is a significant difference between the airspeed and the ground speed. This is because the local airspeed calculation parameter corresponding to the first calibration phase is still used to calculate the airspeed at this time, and the measured airspeed is slightly larger than 17 m / s, but still does not reach the speed within the second calibration phase, which indicates that an error is generated. At this time, it is necessary to switch to the local airspeed calculation parameter corresponding to the second calibration phase. ​In the embodiment of the present application, a kind of airspeed calibration method is provided, by adjusting the speed of fan at different reference airspeed values, multiple measured wind speeds corresponding to each reference airspeed value can be measured, and the average value of multiple measured wind speeds at each reference airspeed value is taken respectively, to obtain more accurate real wind speed corresponding to each reference airspeed value, to reduce the problem of inaccurate real wind speed measurement caused by single measurement or accidental error, to improve the accuracy of overall measurement;Similarly, by taking the average value of multiple initial measured airspeed at each reference airspeed value, the measured airspeed closer to the true value can also be obtained, to further improve the accuracy of overall measurement;Next, by calculating the average value of calibration airspeed calculation parameters corresponding to each real wind speed as reference parameter, the error that may exist in individual calibration point can be smoothed out, to improve the accuracy of overall reference parameter;Then by comparing the relationship between calibration airspeed calculation parameter and reference parameter, and flexibly selecting different application parameters according to the result, the demand of different flight stages can be adapted, to improve the adaptability and accuracy of calibration method;By monitoring the airspeed and ground speed of the aircraft in real time, and judging the current calibration stage of the aircraft according to these parameters, it can be ensured that the airspeed sensor can provide accurate airspeed measurement data in different flight stages, to improve the safety and reliability of flight.

[0077] Please refer to Figure 6 , Figure 6 The structure block diagram of an airspeed calibration device provided in the embodiment of the present application is shown in FIG. 6. Figure 7 As shown in FIG. 6, the airspeed calibration device 600 includes: A data acquisition module 610 is configured to determine multiple real wind speeds in which the airspeed sensor is located in the aircraft according to the target airspeed range of the aircraft, and determine the measured airspeed of the airspeed sensor at each real wind speed. A parameter calibration module 620 is configured to calibrate the initial airspeed calculation parameter according to each real wind speed and the measured airspeed corresponding to each real wind speed, to obtain the calibration airspeed calculation parameter corresponding to each real wind speed. A parameter application module 630 is configured to apply the calibration airspeed calculation parameter in the airspeed calculation of the airspeed sensor.

[0078] Optionally, the data acquisition module 610 is further configured to divide the target airspeed range of the aircraft into multiple calibration stages uniformly, and select at least one reference airspeed value uniformly in each calibration stage;Determine multiple real wind speeds in which the airspeed sensor is located in the aircraft according to each reference airspeed value.

[0079] Optionally, the airspeed calibration device 600 further comprises: a reference parameter determination module, configured to determine a reference parameter corresponding to the calibration airspeed calculation parameter corresponding to each real wind speed after the parameter calibration module 620 obtains the calibration airspeed calculation parameter corresponding to each real wind speed; and the parameter application module 630 is further configured to compare the calibration airspeed calculation parameter corresponding to each real wind speed with the reference parameter, determine an application airspeed calculation parameter corresponding to the airspeed sensor according to a comparison result, and apply the application airspeed calculation parameter to airspeed calculation of the airspeed sensor.

[0080] Optionally, the reference parameter determination module is further configured to calculate a mean value of the calibration airspeed calculation parameter corresponding to each real wind speed to obtain the reference parameter; and the parameter application module 630 is further configured to, when the calibration airspeed calculation parameter corresponding to each real wind speed and the reference parameter satisfy a first preset relationship in the comparison result, take the reference parameter as the application airspeed calculation parameter of the airspeed sensor; and when the calibration airspeed calculation parameter corresponding to each real wind speed and the reference parameter satisfy a second preset relationship in the comparison result, calculate a mean value of the calibration airspeed calculation parameter corresponding to each real wind speed in each calibration stage to obtain a local airspeed calculation parameter corresponding to each calibration stage of the airspeed sensor, and take each local airspeed calculation parameter as the application airspeed calculation parameter in the corresponding calibration stage of the airspeed sensor.

[0081] Optionally, when the calibration airspeed calculation parameter corresponding to each real wind speed and the reference parameter satisfy the second preset relationship in the comparison result, the parameter application module 630 is further configured to determine a current calibration stage in which the aircraft is located according to an airspeed of the aircraft when the aircraft is actually flying and a ground speed of the aircraft, and perform airspeed calculation of the airspeed sensor by using the local airspeed calculation parameter corresponding to the current calibration stage.

[0082] Optionally, the data acquisition module 610 is further configured to adjust the fan rotating speed according to each reference airspeed value respectively, and measure a plurality of measured wind speeds corresponding to the airspeed sensor under each reference airspeed value respectively; and calculate a mean value of the plurality of measured wind speeds under each reference airspeed value respectively to obtain a real wind speed corresponding to the airspeed sensor under each reference airspeed value.

[0083] Optionally, the data acquisition module 610 is further configured to measure an initial measured airspeed of the airspeed sensor under each measured wind speed respectively; and calculate a mean value of the plurality of initial measured airspeeds under each reference airspeed value respectively to obtain a measured airspeed corresponding to the airspeed sensor under each reference airspeed value.

[0084] In the embodiment of the present application, an airspeed calibration device is provided, wherein the data acquisition module is configured to uniformly determine a plurality of real wind speeds in which an airspeed sensor in an aircraft is located according to a target speed range of the aircraft, and determine measured airspeeds of the airspeed sensor under each real wind speed; the parameter calibration module is configured to calibrate an initial airspeed calculation parameter according to each real wind speed and the measured airspeed corresponding to each real wind speed, to obtain a calibrated airspeed calculation parameter corresponding to each real wind speed; and the parameter application module is configured to apply the calibrated airspeed calculation parameter to airspeed calculation of the airspeed sensor. First, the data acquisition module uniformly determines a plurality of real wind speeds in the target speed range of the aircraft, which can ensure that the calibration process covers various wind speed conditions that the aircraft may encounter, and improves the comprehensiveness and accuracy of the calibration. Meanwhile, the measured airspeeds of the airspeed sensor under each real wind speed are the basis of the calibration process, and these data provide necessary inputs for subsequent calculation of the calibration parameter. Next, the parameter calibration module calibrates the initial airspeed calculation parameter according to each real wind speed and the measured airspeed corresponding to each real wind speed, to obtain more accurate calibrated airspeed calculation parameters under each real wind speed. These parameters can more truly reflect the performance of the airspeed sensor under different wind speeds. Finally, the parameter application module applies the calibrated airspeed calculation parameter to airspeed calculation of the airspeed sensor, which can realize real-time calibration of the airspeed sensor, ensure the accuracy of the airspeed data during flight, and thus improve the flight performance of the aircraft and ensure flight safety.

[0085] The embodiment of the present application further provides a computer storage medium, which can store a plurality of instructions, and the instructions are suitable for being loaded and executed by a processor to perform the steps of the method in any one of the above embodiments.

[0086] Please refer to Figure 7 , Figure 7 The embodiment of the present application provides a structural schematic diagram of a wind tunnel calibration device. As shown in Figure 7 , the wind tunnel calibration device 700 can include at least one wind tunnel 706, a processor 701, at least one network interface 704, a user interface 703, a memory 705, and at least one communication bus 702. The wind tunnel 706 can include at least one fan 7061 and at least one wind speed detector 7062.

[0087] The communication bus 702 is configured to realize the connection and communication among the components.

[0088] The user interface 703 can include a display screen (Display), and optionally, the user interface 703 can further include a standard wired interface and a wireless interface.

[0089] The network interface 704 can optionally include a standard wired interface and a wireless interface (such as a WI-FI interface).

[0090] The processor 701 can include one or more processing cores. The processor 701 connects various parts in the entire wind tunnel calibration device 700 by various interfaces and lines, and performs various functions of the wind tunnel calibration device 700 and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 705, and calling data stored in the memory 705. Alternatively, the processor 701 can be implemented in at least one of a hardware form of a digital signal processing (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA). The processor 701 can be integrated with a combination of one or more of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes operating systems, user interfaces, and application programs; the GPU is responsible for rendering and drawing the content required to be displayed on the display screen; and the modem is used for processing wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor 701, but can be realized by a separate chip.

[0091] The memory 705 can include a random access memory (RAM) and a read-only memory (ROM). Alternatively, the memory 705 includes a non-transitory computer-readable storage medium. The memory 705 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 705 can include a program storage area and a data storage area, wherein the program storage area can store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area can store data involved in the above-mentioned various method embodiments, etc. The memory 705 can also be at least one storage device located away from the above-mentioned processor 701. As shown, the memory 705 as a computer storage medium can include an operating system, a network communication module, a user interface module, and an airspeed calibration program. Figure 7

[0092] In ​ ​In the wind tunnel calibration device 700 shown, the user interface 703 is mainly used to provide an interface for the user to input, and obtain the data input by the user; and the processor 701 can be used to call the airspeed calibration program stored in the memory 705, and specifically perform the following operations: determine a plurality of real wind speeds in which the airspeed sensor in the aircraft is located according to the target speed range of the aircraft, and determine the measured airspeed of the airspeed sensor under each real wind speed; calibrate the initial airspeed calculation parameter according to each real wind speed and the measured airspeed corresponding to each real wind speed, to obtain the calibrated airspeed calculation parameter corresponding to each real wind speed; apply the calibrated airspeed calculation parameter to the airspeed calculation of the airspeed sensor.

[0093] In some possible embodiments, when the processor 701 performs the operation of determining a plurality of real wind speeds in which the airspeed sensor in the aircraft is located according to the target speed range of the aircraft, the processor 701 specifically performs the following steps: evenly divide the target speed range of the aircraft into a plurality of calibration stages, and evenly select at least one reference speed value in each calibration stage; and determine a plurality of real wind speeds in which the airspeed sensor in the aircraft is located according to each reference speed value.

[0094] In some possible embodiments, after the processor 701 performs the operation of obtaining the calibrated airspeed calculation parameter corresponding to each real wind speed, the processor 701 specifically performs the following steps: determine the reference parameter corresponding to the calibrated airspeed calculation parameter corresponding to each real wind speed; when the processor 701 performs the operation of applying the calibrated airspeed calculation parameter to the airspeed calculation of the airspeed sensor, the processor 701 specifically performs the following steps: compare the calibrated airspeed calculation parameter corresponding to each real wind speed and the reference parameter, and determine the application airspeed calculation parameter of the airspeed sensor according to the comparison result; and apply the application airspeed calculation parameter to the airspeed calculation of the airspeed sensor.

[0095] In some possible embodiments, when the processor 701 performs the operation of determining the reference parameter corresponding to the calibrated airspeed calculation parameter corresponding to each real wind speed, the processor 701 specifically performs the following steps: calculate the mean value of the calibrated airspeed calculation parameter corresponding to each real wind speed to obtain the reference parameter; and when the processor 701 determines the application airspeed calculation parameter of the airspeed sensor according to the comparison result, the processor 701 specifically performs the following steps: when the calibrated airspeed calculation parameter corresponding to each real wind speed and the reference parameter in the comparison result satisfy a first preset relationship, take the reference parameter as the application airspeed calculation parameter of the airspeed sensor; and when the calibrated airspeed calculation parameter corresponding to each real wind speed and the reference parameter in the comparison result satisfy a second preset relationship, calculate the mean value of the calibrated airspeed calculation parameter corresponding to each real wind speed in each calibration stage to obtain the local airspeed calculation parameter corresponding to each calibration stage of the airspeed sensor, and take each local airspeed calculation parameter as the application airspeed calculation parameter of the airspeed sensor in the corresponding calibration stage.

[0096] In some possible embodiments, when the second preset relationship is met between the calibration airspeed calculation parameter corresponding to each real wind speed in the comparison result and the reference parameter, the processor 701, when performing the application of the application airspeed calculation parameter to the airspeed calculation of the airspeed sensor, specifically performs the following steps: determining a current calibration phase of the aircraft according to the airspeed of the aircraft when the aircraft is actually flying and the ground speed of the aircraft; and performing the airspeed calculation of the airspeed sensor by using the local airspeed calculation parameter corresponding to the current calibration phase.

[0097] In some possible embodiments, when the processor 701 performs the determination of the multiple real wind speeds of the airspeed sensor in the aircraft according to each reference airspeed value, the processor 701 specifically performs the following steps: adjusting the fan rotating speed according to each reference airspeed value respectively, and measuring multiple measured wind speeds corresponding to each reference airspeed value of the airspeed sensor respectively; and averaging the multiple measured wind speeds under each reference airspeed value respectively to obtain the real wind speed corresponding to each reference airspeed value of the airspeed sensor.

[0098] In some possible embodiments, when the processor 701 performs the determination of the measured airspeed of the airspeed sensor under each real wind speed, the processor 701 specifically performs the following steps: measuring the initial measured airspeed of the airspeed sensor under each measured wind speed respectively; and averaging the multiple initial measured airspeeds under each reference airspeed value respectively to obtain the measured airspeed corresponding to each reference airspeed value of the airspeed sensor.

[0099] In several embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented by other manners. For example, the apparatus embodiments described above are only schematic, for example, the division of the modules is only a logical function division, and actual implementation can have another division manner, for example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed ones can be indirect coupling or communication connection through some interfaces, apparatuses or modules, and can be electrical, mechanical or other forms.

[0100] The modules illustrated as separate components can or can not be physically separate, and the components illustrated as modules can or can not be physical modules, that is, can be located in one place, or can be distributed on multiple network modules. According to actual needs, some or all of the modules can be selected to achieve the purpose of the embodiment scheme.

[0101] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments can be implemented in the form of a computer program product. The above computer program product includes one or more computer instructions. When the above computer program instructions are loaded and executed on a computer, all or part of the processes or functions described above according to the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted by the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center by wire (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media. The available media can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a digital versatile disc (DVD)), or a semiconductor medium (for example, a solid state disk (SSD)) and the like.

[0102] It should be noted that for the foregoing method embodiments, in order to facilitate description, they are all described as a combination of a series of actions, but those skilled in the art should know that the present application is not limited by the order of the described actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0103] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0104] The above is the description of the air speed calibration method, device, storage medium and wind tunnel calibration equipment provided by the present application. For those skilled in the art, according to the idea of the embodiments of the present application, there will be changes in specific implementation and application range. In summary, the content of the specification should not be understood as a limitation of the present application.

Claims

1. A method of airspeed calibration, characterized by, The method comprises: determining a plurality of real wind speeds in which an air speed sensor in the aircraft is located according to a target speed range of the aircraft, and determining measured air speeds of the air speed sensor under each real wind speed; calibrating an initial air speed calculation parameter according to each real wind speed and the measured air speed corresponding to each real wind speed, to obtain a calibrated air speed calculation parameter corresponding to each real wind speed; applying the calibrated air speed calculation parameter to air speed calculation of the air speed sensor.

2. The method of claim 1, wherein, The method comprises: dividing the target speed range of the aircraft into a plurality of calibration stages uniformly, and selecting at least one reference speed value uniformly in each calibration stage; determining a plurality of real wind speeds in which the air speed sensor in the aircraft is located according to each reference speed value.

3. The method of claim 2, wherein, After the calibrated air speed calculation parameter corresponding to each real wind speed is obtained, the method further comprises: determining a reference parameter corresponding to the calibrated air speed calculation parameter corresponding to each real wind speed; The method comprises: comparing the calibrated air speed calculation parameter corresponding to each real wind speed and the reference parameter, and determining an application air speed calculation parameter of the air speed sensor according to a comparison result; applying the application air speed calculation parameter to air speed calculation of the air speed sensor.

4. The method of claim 3, wherein, The method comprises: calculating a mean value of the calibrated air speed calculation parameter corresponding to each real wind speed to obtain the reference parameter; The method comprises: when the calibrated air speed calculation parameter corresponding to each real wind speed and the reference parameter in the comparison result satisfy a first preset relationship, taking the reference parameter as the application air speed calculation parameter of the air speed sensor; when the calibrated air speed calculation parameter corresponding to each real wind speed and the reference parameter in the comparison result satisfy a second preset relationship, calculating a mean value of the calibrated air speed calculation parameter corresponding to each real wind speed in each calibration stage to obtain a local air speed calculation parameter corresponding to each calibration stage of the air speed sensor, and taking each local air speed calculation parameter as the application air speed calculation parameter of the air speed sensor in the corresponding calibration stage.

5. The method of claim 4, wherein, When the calibrated air speed calculation parameter corresponding to each real wind speed and the reference parameter in the comparison result satisfy the second preset relationship, the method comprises: judging a current calibration stage in which the aircraft is located according to an air speed of the aircraft when the aircraft is actually flying and a ground speed of the aircraft; performing air speed calculation of the air speed sensor through the local air speed calculation parameter corresponding to the current calibration stage.

6. The method of claim 2, wherein, The method comprises: adjusting a fan speed according to each reference speed value respectively, and measuring a plurality of measured wind speeds corresponding to the air speed sensor under each reference speed value respectively; The multiple measured wind speeds under each reference airspeed value are averaged respectively to obtain a corresponding true wind speed of the airspeed sensor under each reference airspeed value.

7. The method of claim 6, wherein, The determining of the measured airspeed of the airspeed sensor under each true wind speed comprises: The initial measured airspeed of the airspeed sensor under each measured wind speed is measured respectively; The multiple initial measured airspeeds under each reference airspeed value are averaged respectively to obtain a corresponding measured airspeed of the airspeed sensor under each reference airspeed value.

8. An airspeed calibration device, characterized by, The device comprises: The data acquisition module is configured to determine multiple true wind speeds of the airspeed sensor in the aircraft according to a target airspeed range of the aircraft, and determine measured airspeeds of the airspeed sensor under the true wind speeds; The parameter calibration module is configured to calibrate initial airspeed calculation parameters according to the true wind speeds and the measured airspeeds corresponding to the true wind speeds, to obtain calibration airspeed calculation parameters corresponding to the true wind speeds; The parameter application module is configured to apply the calibration airspeed calculation parameters to airspeed calculation of the airspeed sensor.

9. A computer storage medium, characterized in that The computer storage medium stores a plurality of instructions adapted to be loaded and executed by the processor to implement the steps of the method according to any one of claims 1-7.

10. A wind tunnel calibration apparatus, characterized by, The computer program is stored in the memory and executable on the processor, and the processor implements the steps of the method according to any one of claims 1-7 when executing the program. The computer program is stored in the memory and executable on the processor, and the processor implements the steps of the method according to any one of claims 1-7 when executing the program.

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