Wave glider laser wind lidar-based wind field measurement method and system

Abstract

The application provides a wind field measurement method and system based on a wave glider laser wind radar, comprising: measuring a wind field radial velocity based on a laser wind radar carried on a wave glider platform, measuring attitude data by an IMU, and measuring speed data by a GPS; obtaining an installation external parameter of an optical axis of the laser wind radar relative to a ship body of the wave glider platform through installation calibration; fusing and solving the attitude data measured by the IMU and the speed data measured by the GPS to obtain attitude angles and motion parameters of the wave glider platform; performing attitude compensation on the wind field radial velocity according to the attitude angles and the installation external parameter to obtain a real measurement direction, and performing motion compensation on the wind field radial velocity in the real measurement direction according to the motion parameters; performing vector inversion and height mapping on the wind field radial velocity after the motion compensation to obtain a wind profile. The application realizes high-precision measurement of an air wind field above a sea surface to a height of 2 km.

Description

Technical Field

[0001] This invention relates to the field of meteorological detection technology, and in particular to a wind field measurement method and system based on a wave glider laser wind radar. Background Technology

[0002] With the development of marine industries, more and more detection platforms are rising on the sea surface to understand the secrets of the ocean. Currently, existing methods for detecting offshore wind fields are mainly based on the following aspects: ① Offshore wind towers and fixed platforms, which are costly to build, have fixed locations, and are difficult to deploy over a large area; ② Traditional buoys or shipborne wind measurement equipment: which are mobile but have limited endurance, and the platform's swaying has a significant impact on measurements; ③ Buoy-type laser wind radar: which has been applied in some areas, but is mostly geared towards large buoys or near-shore platforms, and is not adaptable to strong sea conditions and small unmanned platforms.

[0003] The emergence of wave gliders has solved the problems of high cost, short endurance, and limited deployment range associated with fixed platforms. Wave gliders are characterized by wave propulsion, offering advantages such as long endurance, autonomous cruise, and low energy consumption, making them ideal platforms for long-term maritime observation. However, due to their small size, wave gliders are easily affected by waves, resulting in significant pitch, roll, and sway movements. As mobile platforms with more frequent attitude changes, this leads to larger errors in wind field measurements up to 2 km above the sea surface, making it difficult to meet the accuracy requirements for wind energy assessment and boundary layer studies. A high-precision, real-time attitude compensation and wind field inversion method is still lacking. Summary of the Invention

[0004] This invention provides a wind field measurement method and system based on a wave glider laser wind radar, which solves the defect in the prior art where the swaying characteristics of wave gliders during sea navigation lead to a decrease in the measurement accuracy of laser wind radar. By considering the ship sway compensation, the wave glider laser wind radar wind field measurement method can achieve high-precision measurement of the air wind field from the sea surface to a height of 2km.

[0005] This invention provides a wind field measurement method based on a wave glider laser wind radar, comprising:

[0006] The radial velocity of the wind field is measured by a laser wind-measuring radar mounted on a wave glider platform, attitude data is measured by an IMU, and velocity data is measured by GPS.

[0007] The installation extrinsic parameters of the laser wind measurement radar relative to the hull of the wave glider platform are obtained through installation calibration.

[0008] The attitude data measured by the IMU and the velocity data measured by GPS are fused and calculated to obtain the attitude angle and motion parameters of the wave glider platform.

[0009] The true measurement direction is obtained by performing attitude compensation on the radial velocity of the wind field based on the attitude angle and the installation extrinsic parameters, and motion compensation is performed on the radial velocity of the wind field in the true measurement direction based on the motion parameters.

[0010] The wind profile is obtained by vector inversion and height mapping of the radial velocity of the wind field after motion compensation.

[0011] According to the present invention, a wind field measurement method based on a wave glider laser wind radar is provided, wherein the motion parameters include translational velocity vector and angular velocity.

[0012] A wind field measurement method based on a wave glider laser wind radar according to the present invention includes motion compensation for the radial velocity of the wind field in the actual measurement direction according to the motion parameters, comprising:

[0013] Determine the first projection of the translational velocity vector onto the actual measurement direction;

[0014] In the case where there is a lever arm between the laser wind measuring radar and the wave glider platform, determine the second projection of the angular velocity of the wave glider platform and the additional velocity caused by the lever arm in the actual measurement direction;

[0015] The first projection and the second projection are removed from the radial velocity of the wind field to obtain the motion-compensated radial velocity of the wind field.

[0016] According to the present invention, a wind field measurement method based on a wave glider laser wind radar is provided, which uses the following formula to perform motion compensation on the radial velocity of the wind field in the actual measurement direction based on the motion parameters:

[0017]

[0018] in, Let be the radial velocity of the wind field after motion compensation, and n be the unit vector in the actual measurement direction. The radial velocity of the wind field measured by the laser wind-measuring radar. Let be the translational velocity vector of the wave glider platform. Let ω be the angular velocity of the wave glider platform, and r be the lever vector.

[0019] According to the present invention, a wind field measurement method based on a wave glider laser wind radar is provided, which obtains the true measurement direction by attitude compensation of the radial velocity of the wind field based on the attitude angle and the installation extrinsic parameters, including:

[0020] Based on the attitude angle and the installation extrinsic parameters, the beam unit direction vector of the laser wind measuring radar is rotated from the radar coordinate system of the laser wind measuring radar to the navigation coordinate system of the wave glider platform to obtain the true measurement direction.

[0021] According to the present invention, a wind field measurement method based on a wave glider laser wind radar is provided, wherein the attitude angles include roll angle, pitch angle and heading angle.

[0022] According to the present invention, a wind field measurement method based on a wave glider laser wind radar is provided, wherein the installation extrinsic parameters include the installation deflection angle of the optical axis of the laser wind radar relative to the hull coordinate system of the wave glider platform, and the lever arm vector from the measurement reference point of the laser wind radar to the reference point of the wave glider platform.

[0023] The present invention also provides a wind field measurement system based on a wave glider laser wind radar, comprising:

[0024] The measurement module is used to measure the radial velocity of the wind field based on the laser wind radar mounted on the wave glider platform, the attitude data is measured by the IMU, and the velocity data is measured by GPS.

[0025] The calibration module is used to obtain the installation extrinsic parameters of the optical axis of the laser wind measuring radar relative to the hull of the wave glider platform through installation calibration;

[0026] The calculation module is used to fuse and calculate the attitude data measured by the IMU and the velocity data measured by GPS to obtain the attitude angle and motion parameters of the wave glider platform.

[0027] The compensation module is used to perform attitude compensation on the radial velocity of the wind field based on the attitude angle and the installation extrinsic parameters to obtain the true measurement direction, and to perform motion compensation on the radial velocity of the wind field in the true measurement direction based on the motion parameters.

[0028] The inversion module is used to perform vector inversion and height mapping on the radial velocity of the motion-compensated wind field to obtain the wind profile.

[0029] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the wind field measurement method based on wave glider laser wind radar as described above.

[0030] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the wind field measurement method based on wave glider laser wind radar as described above.

[0031] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the wind field measurement method based on a wave glider laser wind radar as described above.

[0032] The wind field measurement method and system based on laser wind radar for wave gliders provided by this invention have the following advantages: Addressing the issue that the swaying characteristics of wave gliders during sea navigation lead to significant errors in wind field measurements up to 2 km above the sea surface, making it difficult to meet the accuracy requirements for wind energy assessment and boundary layer research, and the reduced accuracy of wind field measurements by laser wind radar, this invention proposes a wave glider laser wind radar wind field measurement method that considers ship sway compensation. This method achieves high-precision measurement of wind fields from above the sea surface to a height of 2 km. Through BeiDou positioning, IMU, and laser wind radar, the radar measurements are identified in an established XYZ axis platform motion coordinate system. The motion trajectory is analyzed and then converted to the Earth coordinate system, fundamentally eliminating platform motion and greatly improving wind measurement accuracy.

[0033] The system utilizes a wave glider ① equipped with BeiDou communication equipment, a laser wind-measuring radar, and an inertial measurement unit (IMU); ② using the IMU and BeiDou to acquire the wave glider's attitude angles, translational velocity, and position over time, and filtering and fusing the attitude and velocity signals to obtain smooth, high-precision platform motion information; ③ controlling the laser wind-measuring radar to emit laser beams in a preset scanning mode to acquire the Doppler velocity components of the line-of-sight (beam direction) in each scanning direction, as well as the corresponding azimuth and elevation angles; ④ using the attitude transformation matrix of the laser radar-body external component and the body-geographic coordinate system to perform coordinate transformation; ⑤ based on the line-of-sight wind speeds in multiple directions and at different elevation angles, using appropriate inversion algorithms (such as VAD / VAD extended algorithm, least squares method, etc.) to solve for the horizontal wind speed magnitude and direction, and vertical wind speed components at each altitude level; ⑥ discarding data from periods with excessively low signal-to-noise ratios and drastic attitude changes, checking the continuity and physical rationality of wind speed / direction, and outputting the results.

[0034] The lidar wind field measurement method based on a wave glider proposed in this invention ensures the accuracy and reliability of wind field data. Even though the wave glider exhibits swaying characteristics at sea, the platform's swaying and translation can be compensated for during data processing, significantly reducing the impact of platform motion caused by sea waves on line-of-sight wind speed measurement. This achieves high-precision inversion of the airborne wind field from above sea level to an altitude of 2 km. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0036] Figure 1 This is a flowchart illustrating the wind field measurement method based on a wave glider laser wind radar provided by the present invention.

[0037] Figure 2 This is a system composition diagram of the wind field measurement method based on wave glider laser wind radar provided by the present invention;

[0038] Figure 3 This is a schematic diagram of the wind field measurement system based on a wave glider laser wind radar provided by the present invention;

[0039] Figure 4 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0041] The following is combined Figure 1 This invention describes a wind field measurement method based on a wave glider laser wind radar, comprising:

[0042] Step 101: Measure the radial velocity of the wind field using a laser wind-measuring radar mounted on the wave glider platform, measure the attitude data using an IMU (Inertial Measurement Unit), and measure the velocity data using a GPS (Global Positioning System).

[0043] Step 102: Obtain the installation extrinsic parameters of the laser wind measurement radar relative to the hull of the wave glider platform through installation calibration;

[0044] Step 103: Based on the attitude data measured by the IMU and the velocity data measured by GPS, perform fusion calculation to obtain the attitude angle and motion parameters of the wave glider platform;

[0045] Step 104: Perform attitude compensation on the wind field radial velocity based on the attitude angle and the installation extrinsic parameters to obtain the true measurement direction, and perform motion compensation on the wind field radial velocity in the true measurement direction based on the motion parameters;

[0046] Step 105: Perform vector inversion and height mapping on the radial velocity of the wind field after motion compensation to obtain the wind profile.

[0047] The wave glider laser wind field measurement method for wave gliders, which considers ship roll compensation, provided in this embodiment specifically includes the following steps:

[0048] First, the observation system is constructed and time-synchronized data is collected. For example... Figure 2 As shown, a laser wind-measuring radar, an IMU (attitude angle and angular velocity / acceleration) system, GPS / RTK (Real-Time Kinematic) (position and velocity) system, and an onboard computing unit are integrated on the wave glider platform. The onboard computing unit triggers or timestamps data synchronously and collects and stores radar echo / radial velocity, IMU attitude data, and GPS position and velocity data.

[0049] Synchronous acquisition uses GNSS (Global Navigation Satellite System) timing, PPS second pulse timing, or unified system clock timing to ensure that radar data frames are aligned with IMU and GPS data under the same time reference.

[0050] Next, multi-coordinate system definition and installation calibration are performed. At least a radar coordinate system, a hull coordinate system, a navigation coordinate system (NED / ENU), and a ground-based coordinate system are established. Fixed extrinsic parameters (installation angle / lever arm) of the radar optical axis relative to the hull are obtained through installation calibration for subsequent beam direction correction and motion compensation.

[0051] Next, attitude calculation and sway dynamic compensation parameters are generated. IMU attitude data and GPS velocity data are fused and calculated to obtain the platform attitude angles and platform motion parameters corresponding to the radar measurement time. Attitude and motion compensation parameters for each radar measurement time are then generated based on the platform attitude angles and platform motion parameters.

[0052] The fusion solution can employ extended Kalman filtering, unscented Kalman filtering, complementary filtering, or factor graph optimization to obtain continuous attitude angles, translational velocity vectors, and angular velocity estimates.

[0053] Subsequently, radial velocity motion compensation and line-of-sight vector correction are performed. Attitude and motion compensation are applied to the radial velocity observations of each laser wind radar line (each range gate / altitude gate) at each radar measurement moment.

[0054] The radial velocity measured by a laser wind radar includes the projection component of the platform's own motion along the beam's line-of-sight direction, thus requiring motion compensation. Let the original radial velocity measured by the radar be V. los The platform's velocity vector in the navigation coordinate system is V. p The unit vector of the beamline direction after attitude compensation is u. n Then the projection component of the platform's translational velocity along the line of sight can be expressed as V. motion = V p ·u n Accordingly, the compensated true radial wind speed can be expressed as V. wind = V los -V motion .

[0055] Furthermore, considering the significant attitude changes of the wave glider during its operation on the sea surface, and the distance between the laser wind-measuring radar installation point and the inertial measurement unit reference point, an additional velocity component caused by the coupling of angular velocity and the stick-arm vector can also be considered. Let the platform angular velocity be ω and the stick-arm vector be r, then the projection component of this additional velocity along the beam direction can be expressed as V. rot = (ω×r)·u n The final compensated radial wind speed can be expressed as V. wind = V los -V motion - V rot By following the steps described above, the influence of platform translation, rotation, and attitude changes on the radial velocity measurement results can be eliminated.

[0056] Then, wind vector inversion and height mapping are performed. A multi-beam scanning strategy is used to obtain the multi-directionally compensated radial velocity of the wind field at the same height level (or the same distance-gate mapped height level). The system of equations (wind vector inversion equations) is constructed, and the wind field parameters, including horizontal wind speed, are solved by least squares. With vertical wind speed (Or only horizontal wind speed and direction are required), and the radar ranging gate is mapped to the actual height gate according to the beam elevation angle after attitude correction, so as to form a wind profile output in the range from above the sea surface to 2 km in height.

[0057] The multi-beam scanning strategy includes Doppler beam swing DBS scanning, velocity-azimuth display (VAD) scanning, conical scanning, or sector scanning.

[0058] The height gate mapping calculates the actual height by combining the attitude-compensated beam elevation angle with the slant range of the range gate, and then registers data from different scanning directions using the same height gate. For the laser wind radar, each range gate first provides the slant range R along the beam direction; the actual height corresponding to each range gate needs to be calculated by combining this with the attitude-compensated beam elevation angle. Let the platform height be H. p If the range gate slant range is R and the beam elevation angle after attitude compensation is α, then the actual height H corresponding to the range gate can be expressed as H = H p +R·sin(α). Wherein, the beam elevation angle α can be determined based on the unit line-of-sight vector u after attitude compensation. n The vertical component is obtained. For example, when u n The vertical component is u z At that time, it can be achieved by α = arcsin(u z The corresponding elevation angle is obtained. This allows the data from each rangefinder gate to be mapped to the actual height level, further generating wind speed and direction information at different heights, thus obtaining the wind profile result.

[0059] Finally, the inverted wind field is subjected to quality control, real-time output, and transmission. The inversion results are quality controlled, and wind speed, wind direction, vertical wind (optional), and their uncertainties are output in real time. The data is then transmitted back to the shore base station via satellite communication at preset intervals. As the platform moves, the onboard computing unit cyclically executes the above steps to achieve dynamic updates.

[0060] Quality control includes screening based on one or more of the following: signal-to-noise ratio threshold, correlation threshold, echo amplitude threshold, and inversion residual threshold. The wind speed and direction results are then subjected to time moving average or Kalman smoothing to reduce random errors.

[0061] This embodiment addresses the problem of increased wind field measurement errors caused by the swaying and movement of wave gliders under sea conditions. It considers compensating for the radial velocity of the wind field measured by the laser wind radar of the wave glider due to the swaying of the ship, thereby achieving high-precision, real-time measurement and output of the wind field from above the sea surface to a height of 2 km.

[0062] Based on the above embodiments, the motion parameters in this embodiment include translational velocity vector and angular velocity.

[0063] Based on the above embodiments, this embodiment performs motion compensation on the radial velocity of the wind field in the actual measurement direction according to the motion parameters, including:

[0064] Determine the first projection of the translational velocity vector onto the actual measurement direction;

[0065] In the case where there is a lever arm between the laser wind measuring radar and the wave glider platform, determine the second projection of the angular velocity of the wave glider platform and the additional velocity caused by the lever arm in the actual measurement direction;

[0066] The first projection and the second projection are removed from the radial velocity of the wind field to obtain the motion-compensated radial velocity of the wind field.

[0067] Attitude and motion compensation is performed on the radial velocity observations of each laser wind radar line (each range gate / height gate) at each radar measurement moment, specifically including:

[0068] Based on the attitude angle and installation extrinsic parameters, the radar beam line-of-sight unit direction vector is transformed to the navigation coordinate system to obtain the true line-of-sight direction (true measurement direction). ;

[0069] platform translation speed In the actual line of sight The projection on the surface is subtracted from the radial velocity observation;

[0070] When there is a lever arm between the radar and the platform reference point, the platform angular velocity is considered. Additional velocity term caused by lever arm In the actual line of sight The projection onto the surface is subtracted from the radial velocity observation to obtain the compensated wind field radial velocity. .

[0071] Based on the above embodiments, this embodiment uses the following formula to perform motion compensation on the radial velocity of the wind field in the actual measurement direction according to the motion parameters:

[0072]

[0073] in, Let be the radial velocity of the wind field after motion compensation, and n be the unit vector in the actual measurement direction. The radial velocity of the wind field measured by the laser wind-measuring radar. Let be the translational velocity vector of the wave glider platform. Let ω be the angular velocity of the wave glider platform, and r be the lever vector.

[0074] Based on the above embodiments, this embodiment performs attitude compensation on the radial velocity of the wind field according to the attitude angle and the installation extrinsic parameters to obtain the true measurement direction, including:

[0075] Based on the attitude angle and the installation extrinsic parameters, the beam unit direction vector of the laser wind measuring radar is rotated from the radar coordinate system of the laser wind measuring radar to the navigation coordinate system of the wave glider platform to obtain the true measurement direction.

[0076] This embodiment requires transforming the unit direction vector of the laser wind-measuring radar beam in the radar coordinate system to the navigation coordinate system of the wave glider platform to obtain the unit line-of-sight direction vector for subsequent velocity projection and altitude mapping calculations. To this end, the radar coordinate system, platform coordinate system, and navigation coordinate system are first established. The radar coordinate system uses the laser wind-measuring radar as its origin; the platform coordinate system uses the wave glider's body or installation reference as its reference; and the navigation coordinate system can be a north-east coordinate system. Let the unit direction vector of the laser radar beam in the radar coordinate system be... The installation rotation matrix from the radar coordinate system to the platform coordinate system is obtained through installation calibration. Then the beam direction vector in the platform coordinate system is represented as Subsequently, a rotation matrix from the platform coordinate system to the navigation coordinate system is constructed based on the roll angle ψ, pitch angle θ, and yaw angle φ output by the IMU. R nb = R z (ψ)·R y (θ)·R x (φ), R z、 R y and R x These are the rotation matrices in the x, y, and z directions of the navigation coordinate system, respectively. Therefore, the beam direction vector in the navigation coordinate system is represented as: The coordinate transformation described above yields the unit line-of-sight vector of the lidar beam in the navigation coordinate system.

[0077] Based on the above embodiments, the attitude angles in this embodiment include roll angle, pitch angle and yaw angle.

[0078] Based on the above embodiments, the installation external parameters in this embodiment include the installation deflection angle of the optical axis of the laser wind measuring radar relative to the hull coordinate system of the wave glider platform, and the lever arm vector from the measurement reference point of the laser wind measuring radar to the reference point of the wave glider platform.

[0079] The wind field measurement system based on a wave glider laser wind radar provided by the present invention will be described below. The wind field measurement system based on a wave glider laser wind radar described below can be referred to in correspondence with the wind field measurement method based on a wave glider laser wind radar described above.

[0080] like Figure 3As shown, the system includes a measurement module 301, a calibration module 302, a calculation module 303, a compensation module 304, and an inversion module 305, wherein:

[0081] Measurement module 301 is used to measure the radial velocity of the wind field using a laser wind radar mounted on a wave glider platform, to measure attitude data using an IMU, and to measure speed data using GPS.

[0082] The calibration module 302 is used to obtain the installation extrinsic parameters of the optical axis of the laser wind measuring radar relative to the hull of the wave glider platform through installation calibration;

[0083] The calculation module 303 is used to perform fusion calculation based on the attitude data measured by the IMU and the velocity data measured by GPS to obtain the attitude angle and motion parameters of the wave glider platform;

[0084] The compensation module 304 is used to perform attitude compensation on the radial velocity of the wind field according to the attitude angle and the installation extrinsic parameters to obtain the true measurement direction, and to perform motion compensation on the radial velocity of the wind field in the true measurement direction according to the motion parameters.

[0085] The inversion module 305 is used to perform vector inversion and height mapping on the radial velocity of the wind field after motion compensation to obtain the wind profile.

[0086] This embodiment addresses the problem of increased wind field measurement errors caused by the swaying and movement of wave gliders under sea conditions. It considers compensating for the radial velocity of the wind field measured by the laser wind radar of the wave glider due to the swaying of the ship, thereby achieving high-precision, real-time measurement and output of the wind field from above the sea surface to a height of 2 km.

[0087] Figure 4 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 4As shown, the electronic device may include: a processor 410, a communication interface 420, a memory 430, and a communication bus 440, wherein the processor 410, the communication interface 420, and the memory 430 communicate with each other through the communication bus 440. The processor 410 can call logic instructions in the memory 430 to execute a wind field measurement method based on a laser wind radar on a wave glider. This method includes: measuring the radial velocity of the wind field using a laser wind radar mounted on a wave glider platform, measuring attitude data using an IMU, and measuring velocity data using GPS; obtaining the installation extrinsic parameters of the laser wind radar's optical axis relative to the hull of the wave glider platform through installation calibration; fusing the attitude data measured by the IMU and the velocity data measured by GPS to obtain the attitude angle and motion parameters of the wave glider platform; performing attitude compensation on the radial velocity of the wind field based on the attitude angle and installation extrinsic parameters to obtain the true measurement direction; performing motion compensation on the radial velocity of the wind field in the true measurement direction based on the motion parameters; and performing vector inversion and height mapping on the motion-compensated radial velocity of the wind field to obtain a wind profile.

[0088] Furthermore, the logical instructions in the aforementioned memory 430 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0089] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the wind field measurement method based on a laser wind-measuring radar for a wave glider provided by the above methods. The method includes: measuring the radial velocity of the wind field based on a laser wind-measuring radar mounted on a wave glider platform, measuring attitude data using an IMU, and measuring velocity data using GPS; obtaining the installation extrinsic parameters of the laser wind-measuring radar relative to the hull of the wave glider platform through installation calibration; fusing and solving the attitude data measured by the IMU and the velocity data measured by the GPS to obtain the attitude angle and motion parameters of the wave glider platform; performing attitude compensation on the radial velocity of the wind field based on the attitude angle and the installation extrinsic parameters to obtain the true measurement direction; performing motion compensation on the radial velocity of the wind field in the true measurement direction based on the motion parameters; and performing vector inversion and height mapping on the motion-compensated radial velocity of the wind field to obtain the wind profile.

[0090] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements the wind field measurement method based on a laser wind-measuring radar for a wave glider provided by the above methods. The method includes: measuring the radial velocity of the wind field using a laser wind-measuring radar mounted on a wave glider platform, measuring attitude data using an IMU, and measuring velocity data using GPS; obtaining the installation extrinsic parameters of the laser wind-measuring radar's optical axis relative to the hull of the wave glider platform through installation calibration; fusing and solving the attitude data measured by the IMU and the velocity data measured by the GPS to obtain the attitude angle and motion parameters of the wave glider platform; performing attitude compensation on the radial velocity of the wind field based on the attitude angle and the installation extrinsic parameters to obtain the true measurement direction; performing motion compensation on the radial velocity of the wind field in the true measurement direction based on the motion parameters; and performing vector inversion and height mapping on the motion-compensated radial velocity of the wind field to obtain a wind profile.

[0091] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0092] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for measuring wind field based on a wave glider laser wind radar, characterized in that, include: The radial velocity of the wind field is measured by a laser wind-measuring radar mounted on a wave glider platform, attitude data is measured by an IMU, and velocity data is measured by GPS. The installation extrinsic parameters of the laser wind measurement radar relative to the hull of the wave glider platform are obtained through installation calibration. The attitude data measured by the IMU and the velocity data measured by GPS are fused and calculated to obtain the attitude angle and motion parameters of the wave glider platform. The motion parameters include the translational velocity vector and the angular velocity. The true measurement direction is obtained by performing attitude compensation on the radial velocity of the wind field based on the attitude angle and the installation extrinsic parameters, and motion compensation is performed on the radial velocity of the wind field in the true measurement direction based on the motion parameters. The wind profile is obtained by vector inversion and height mapping of the radial velocity of the motion-compensated wind field. The following formula is used to compensate for the motion of the radial velocity of the wind field in the actual measurement direction based on the motion parameters: ； in, Let be the radial velocity of the wind field after motion compensation, and n be the unit vector in the actual measurement direction. The radial velocity of the wind field measured by the laser wind-measuring radar. Let be the translational velocity vector of the wave glider platform. Let ω be the angular velocity of the wave glider platform, and r be the lever vector.

2. The wind field measurement method based on wave glider laser wind radar according to claim 1, characterized in that, Motion compensation is performed on the radial velocity of the wind field in the actual measurement direction based on the motion parameters, including: Determine the first projection of the translational velocity vector onto the actual measurement direction; In the case where there is a lever arm between the laser wind measuring radar and the wave glider platform, determine the second projection of the angular velocity of the wave glider platform and the additional velocity caused by the lever arm in the actual measurement direction; The first projection and the second projection are removed from the radial velocity of the wind field to obtain the motion-compensated radial velocity of the wind field.

3. The wind field measurement method based on wave glider laser wind radar according to claim 1, characterized in that, The true measurement direction is obtained by attitude compensation of the wind field radial velocity based on the attitude angle and the installation extrinsic parameters, including: Based on the attitude angle and the installation extrinsic parameters, the beam unit direction vector of the laser wind measuring radar is rotated from the radar coordinate system of the laser wind measuring radar to the navigation coordinate system of the wave glider platform to obtain the true measurement direction.

4. The wind field measurement method based on wave glider laser wind radar according to claim 1, characterized in that, The attitude angles include roll angle, pitch angle, and yaw angle.

5. The wind field measurement method based on wave glider laser wind radar according to claim 1, characterized in that, The installation extrinsic parameters include the installation deflection angle of the optical axis of the laser wind measuring radar relative to the hull coordinate system of the wave glider platform, and the lever arm vector from the measurement reference point of the laser wind measuring radar to the reference point of the wave glider platform.

6. A wind field measurement system based on a wave glider laser wind radar, characterized in that, The wind field measurement method based on a wave glider laser wind radar as described in any one of claims 1-5 includes: The measurement module is used to measure the radial velocity of the wind field based on the laser wind radar mounted on the wave glider platform, the attitude data is measured by the IMU, and the velocity data is measured by GPS. The calibration module is used to obtain the installation extrinsic parameters of the optical axis of the laser wind measuring radar relative to the hull of the wave glider platform through installation calibration; The calculation module is used to fuse and calculate the attitude data measured by the IMU and the velocity data measured by GPS to obtain the attitude angle and motion parameters of the wave glider platform. The compensation module is used to perform attitude compensation on the radial velocity of the wind field based on the attitude angle and the installation extrinsic parameters to obtain the true measurement direction, and to perform motion compensation on the radial velocity of the wind field in the true measurement direction based on the motion parameters. The inversion module is used to perform vector inversion and height mapping on the radial velocity of the motion-compensated wind field to obtain the wind profile.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the wind field measurement method based on a wave glider laser wind radar as described in any one of claims 1 to 5.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the wind field measurement method based on the wave glider laser wind radar as described in any one of claims 1 to 5.

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