Tethered balloon safety control method and system

Abstract

The application provides a tethered balloon safety control method and system, and relates to the technical field of electric digital data processing.The method comprises the following steps: acquiring multi-source observation data of a tethered balloon in a running process; based on the multi-source observation data, a state time sequence representing the running state of the tethered balloon is constructed, and a key feature vector is extracted from the state time sequence, wherein the key feature vector is used to reflect the motion characteristics of the tethered balloon in different dimensions; based on the key feature vector, a comprehensive safety risk index of the tethered balloon is determined; according to the comprehensive safety risk index, the safety level of the tethered balloon is determined, and a control strategy corresponding to the safety level is executed, so that the tethered balloon performs a differentiated safety response operation under different risk states.The application can improve the running safety of the tethered balloon under complex working conditions.

Description

Technical Field

[0001] This invention relates to the field of electronic digital data processing technology, and in particular to a method and system for the safety control of tethered balloons. Background Technology

[0002] Tethered balloons, as aerosol platforms capable of long-term aloft operation at high altitudes, are widely used in communication relay, meteorological detection, environmental monitoring, and emergency response. Operating in near-Earth space, they are susceptible to changes in the atmospheric field, fluctuations in weather conditions, and the reliability of system components, making operational safety a key concern in this field. Existing tethered balloon control technologies mainly fall into two categories: one is based on setting thresholds for single parameters such as cable tension, balloon altitude, or position, triggering alarms or safety operations when the threshold is exceeded, achieving only a rough monitoring of the target altitude range; the other involves monitoring the balloon's attitude and position, requiring manual intervention in abnormal situations. It is evident that existing tethered balloon control technologies either rely on threshold triggers for single state variables, resulting in limited perception dimensions, insufficient overall assessment capabilities, and poor robustness, or depend on manual intervention, lacking a hierarchical identification and early intervention mechanism for fault evolution, making them unsuitable for the safe operation requirements of complex working conditions and unattended scenarios. Summary of the Invention

[0003] This invention provides a tethered balloon safety control method and system to solve the technical problem that existing tethered balloon control technologies are difficult to adapt to complex working conditions and unattended scenarios.

[0004] This invention provides a safety control method for tethered balloons, comprising the following steps: Acquire multi-source observation data of the tethered balloon during its operation, wherein the multi-source observation data includes at least position information, altitude information, and attitude information; Based on the multi-source observation data, a state time series characterizing the operational state of the tethered balloon is constructed, and key feature vectors are extracted from the state time series. The key feature vectors are used to reflect the motion characteristics of the tethered balloon in different dimensions. Based on the key feature vectors, the comprehensive safety risk index of the tethered balloon is determined; The safety level of the tethered balloon is determined based on the comprehensive safety risk index, and a control strategy corresponding to the safety level is executed to enable the tethered balloon to perform differentiated safety response operations under different risk conditions.

[0005] According to a tethered balloon safety control method provided by the present invention, the step of constructing a state time series characterizing the operational state of the tethered balloon based on the multi-source observation data includes: Based on the multi-source observation data, an instantaneous state vector of the tethered balloon is constructed at each sampling time. The instantaneous state vector includes at least the balloon fusion height, the rate of change of fusion height, the rate of change of horizontal displacement, the roll angle, and the pitch angle. A state time series is constructed based on the instantaneous state vectors of multiple consecutive sampling times within a preset time window.

[0006] According to a tethered balloon safety control method provided by the present invention, the step of extracting key feature vectors from the state time series includes: Based on the state time series, the characteristics of vertical motion intensity, horizontal velocity trend, vertical height reciprocating motion, and attitude instability are determined. Based on the vertical motion intensity characteristics, the horizontal velocity trend characteristics, the vertical height reciprocating motion characteristics, and the attitude instability characteristics, a key feature vector is constructed.

[0007] According to the present invention, a tethered balloon safety control method is provided, wherein determining the vertical motion intensity characteristics, horizontal velocity trend characteristics, vertical height reciprocating motion characteristics, and attitude instability characteristics based on the state time series includes: Based on the fusion height change rate in the state time series, calculate the first root mean square value of the fusion height change rate within a preset time window, and use the first root mean square value as the vertical motion intensity feature; Based on the rate of change of horizontal displacement in the state time series, calculate the integral average value of the rate of change of horizontal displacement within the preset time window, and use the integral average value as the horizontal velocity trend feature. Based on the balloon fusion height in the state time series, the number of times the vertical velocity direction of the fusion height changes within the preset time window is counted. The absolute value of the height change amplitude between each change is accumulated to obtain the cumulative value of the height change amplitude. Based on the number of changes, the cumulative value of the height change amplitude, and the preset time window, the vertical height reciprocating motion characteristics are determined. Based on the roll and pitch angles in the state time series, the second root mean square value of the sum of the squares of the roll and pitch angles within the preset time window is calculated, and the second root mean square value is used as the attitude instability feature.

[0008] According to a safety control method for tethered balloons provided by the present invention, determining the safety level of the tethered balloon based on the comprehensive safety risk index includes: Set a first threshold, a second threshold, and a third threshold, wherein the first threshold is less than the second threshold, and the second threshold is less than the third threshold; When the comprehensive security risk index is less than the first threshold, the security level is determined to be normal. When the comprehensive security risk index is greater than or equal to the first threshold and less than the second threshold, the security level is determined to be a normal level. When the comprehensive safety risk index is greater than or equal to the second threshold and less than the third threshold, the safety level is determined to be a medium risk level. When the comprehensive security risk index is greater than or equal to the third threshold, the security level is determined to be a high-risk level.

[0009] According to a tethered balloon safety control method provided by the present invention, the safety level includes one of a normal level, a low-risk level, a medium-risk level, and a high-risk level; wherein, executing a control strategy corresponding to the safety level includes: When the safety level is normal, the traditional PID control method is used to maintain the preset altitude and pressure of the tethered balloon; When the safety level is low risk, a target PID control method is used to dynamically adjust the control parameters to maintain normal bladder pressure. The control parameters are dynamically adjusted based on the wind field environment and key feature vectors. When the safety level is medium risk, an emergency pressure control method is used to control the pressure of the tethered balloon within a safe range; the emergency pressure control method is implemented based on a control model trained by machine learning. When the safety level is high-risk, a flight safety priority strategy is adopted, and a helium ejection operation is triggered to bring the tethered balloon to a landing.

[0010] The present invention also provides a tethered balloon safety control system, comprising the following modules: The acquisition module is used to acquire multi-source observation data of the tethered balloon during its operation, wherein the multi-source observation data includes at least position information, altitude information, and attitude information; The construction module is used to construct a state time series characterizing the operational state of the tethered balloon based on the multi-source observation data, and extract key feature vectors from the state time series, wherein the key feature vectors are used to reflect the motion characteristics of the tethered balloon in different dimensions. The determination module is used to determine the comprehensive safety risk index of the tethered balloon based on the key feature vector; The execution module is used to determine the safety level of the tethered balloon based on the comprehensive safety risk index, and to execute the control strategy corresponding to the safety level, so that the tethered balloon can perform differentiated safety response operations under different risk states.

[0011] 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 computer program to implement the tethered balloon safety control method as described above.

[0012] 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 tethered balloon safety control method as described above.

[0013] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the tethered balloon safety control method as described above.

[0014] This invention provides a tethered balloon safety control method and system. The method acquires multi-source observation data of the tethered balloon during its operation, including at least position, altitude, and attitude information. Based on the multi-source observation data, a state time series characterizing the balloon's operational state is constructed, and key feature vectors are extracted from the state time series. These key feature vectors reflect the balloon's motion characteristics in different dimensions. Based on the key feature vectors, a comprehensive safety risk index for the tethered balloon is determined. The safety level of the tethered balloon is determined according to the comprehensive safety risk index, and a control strategy corresponding to the safety level is executed, enabling the tethered balloon to perform differentiated safety response operations under different risk states. This solves the technical problem that existing tethered balloon control technologies are difficult to adapt to complex working conditions and unattended scenarios. Compared with existing technologies, by integrating multi-source observation data to construct a state time series and extracting key features, a multi-dimensional comprehensive characterization of the tethered balloon's operational status is achieved, solving the problem of the one-sidedness of single-parameter evaluation. The comprehensive safety risk index calculated based on key features can realize the hierarchical identification of the fault evolution process, support differentiated control strategies under different safety levels, and improve the system's active safety protection capability and robustness in complex working conditions and unattended scenarios. Attached Figure Description

[0015] 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.

[0016] Figure 1 This is one of the flowcharts illustrating the tethered balloon safety control method provided by the present invention.

[0017] Figure 2 This is a schematic diagram of the control strategy of the tethered balloon safety control method provided by the present invention.

[0018] Figure 3 This is the second flowchart illustrating the tethered balloon safety control method provided by the present invention.

[0019] Figure 4 This is a schematic diagram of the structure of the tethered balloon safety control system provided by the present invention.

[0020] Figure 5 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0021] 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.

[0022] The following is combined with Figure 1 and Figure 3 The present invention describes a tethered balloon safety control method applicable to the safety control of any tethered balloon. The subject executing this method can be an electronic device or a tethered balloon safety control system installed in the electronic device. The tethered balloon safety control system can be implemented by software, hardware, or a combination of both.

[0023] Figure 1 This is one of the flowcharts illustrating the tethered balloon safety control method provided by the present invention, such as... Figure 1 As shown, the method includes the following: Step 101: Acquire multi-source observation data of the tethered balloon during its operation, wherein the multi-source observation data includes at least position information, altitude information, and attitude information; It should be noted that multi-source observation data refers to the set of measurements of the current physical state of the tethered balloon obtained from different sensors or data sources. Position information characterizes the spatial coordinates of the tethered balloon in the horizontal plane, typically including longitude, latitude, or eastward and northward offsets relative to the launch point, and the horizontal displacement calculated from these (i.e., the horizontal straight-line distance between the tethered balloon and the launch point). Altitude information characterizes the vertical position of the tethered balloon relative to the ground or launch point; both position and altitude information can be measured using a satellite positioning system. Attitude information characterizes the balloon's tilt angles in space (such as roll and pitch angles), which can be obtained through an inertial measurement unit.

[0024] It is understandable that altitude information refers to fused altitude information, which is an optimized altitude estimate obtained by fusing data from the altitude measured by the satellite positioning system and the barometric altitude retrieved by the barometric pressure sensor.

[0025] Step 102: Based on the multi-source observation data, construct a state time series characterizing the operational state of the tethered balloon, and extract key feature vectors from the state time series, wherein the key feature vectors are used to reflect the motion characteristics of the tethered balloon in different dimensions; It should be noted that a state-time series is a data sequence formed by arranging instantaneous state vectors from multiple consecutive sampling moments in chronological order. It is used to characterize the motion evolution of a tethered balloon over a continuous period of time. Key feature vectors are low-dimensional, highly representative numerical sets obtained from the state-time series through mathematical transformations or statistical calculations. Their function is to compress redundant information in the original sequence and extract the motion pattern features that best reflect the safety risks of the tethered balloon. Motion characteristics in different dimensions include vertical motion activity, horizontal displacement trends, oscillating behavior, and attitude stability.

[0026] Step 103: Based on the key feature vector, determine the comprehensive safety risk index of the tethered balloon; It should be noted that the key feature vector includes multiple motion features such as vertical motion intensity, horizontal velocity trend, vertical height reciprocating motion, and attitude instability. The comprehensive safety risk index is a scalar value used to quantitatively assess the probability and severity of a safety accident occurring on the tethered balloon under its current operating condition. This index is obtained by weighted fusion or nonlinear mapping of the components in the key feature vector, and its purpose is to provide a single risk metric for easy comparison and classification with preset thresholds.

[0027] In practical implementation, a comprehensive safety risk index can be calculated using a pre-set risk assessment model. The principle behind this step is to fuse multiple independent motion characteristics (i.e., key feature vectors) according to their weighted impact on safety, resulting in a unified quantitative risk value. For example, violent vertical motion increases the fatigue load on the tethering cable, continuous horizontal drift may cause the tethered balloon to deviate from the safe zone, reciprocating oscillations exacerbate alternating stresses in the balloon structure, and attitude instability reduces the operational stability of the payload. Through weighted summation or fuzzy reasoning, these features with different dimensions and risk contributions are integrated into a comprehensive index, thereby achieving a quantitative evaluation of the overall safety status of the tethered balloon.

[0028] In practical implementation, the four components of the key feature vector—vertical motion intensity, horizontal velocity trend, vertical height reciprocating motion, and attitude instability—can be normalized to eliminate dimensional differences. Next, weight coefficients are assigned to the four normalized features, and the sum of the products of each normalized feature and its corresponding weight coefficient is calculated to obtain the comprehensive safety risk index. Specifically, the formula for calculating the comprehensive safety risk index is as follows: In the formula, i represents the number of features. Represents the i-th feature. These are the feature weight coefficients.

[0029] Understandably, the weighting coefficients reflect the importance of each feature to the overall safety of the tethered balloon. These coefficients can be determined based on the analytic hierarchy process (AHP) or expert experience. For example, the vertical motion intensity directly affects the fatigue life of the cable, so its weight is set to 0.30; the horizontal velocity trend determines whether the tethered balloon deviates from the safe operating zone, so its weight is set to 0.25; the vertical reciprocating motion reflects the alternating stress on the balloon structure, so its weight is set to 0.25; and the attitude instability affects the normal operation of the payload and the additional dynamic tension of the cable, so its weight is set to 0.20. The sum of all weighting coefficients is 1.

[0030] Step 104: Determine the safety level of the tethered balloon based on the comprehensive safety risk index, and execute the control strategy corresponding to the safety level so that the tethered balloon performs differentiated safety response operations under different risk conditions.

[0031] It should be noted that the safety level is a discrete category obtained by dividing the comprehensive safety risk index into intervals, used to distinguish the severity of the current risk to the tethered balloon. The control strategy is a set of pre-set actions based on different safety levels, designed to take appropriate intervention measures for different levels of risk, avoiding over-response or under-response. Differentiated safety response operations include actions at different levels, such as adjusting balloon pressure, changing control parameters, and triggering emergency devices.

[0032] This invention acquires multi-source observation data of a tethered balloon during its operation, including at least position, altitude, and attitude information. Based on this multi-source observation data, a state time series characterizing the balloon's operational state is constructed, and key feature vectors are extracted from the state time series. These key feature vectors reflect the balloon's motion characteristics in different dimensions. Based on these key feature vectors, a comprehensive safety risk index for the tethered balloon is determined. The safety level of the tethered balloon is determined according to the comprehensive safety risk index, and a control strategy corresponding to the safety level is executed to enable the tethered balloon to perform differentiated safety response operations under different risk states. This solves the technical problem that existing tethered balloon control technologies are difficult to adapt to complex working conditions and unattended scenarios. Compared with existing technologies, by integrating multi-source observation data to construct a state time series and extracting key features, a multi-dimensional comprehensive characterization of the tethered balloon's operational status is achieved, solving the problem of the one-sidedness of single-parameter evaluation. The comprehensive safety risk index calculated based on key features can realize the hierarchical identification of the fault evolution process, support differentiated control strategies under different safety levels, and improve the system's active safety protection capability and robustness in complex working conditions and unattended scenarios.

[0033] Based on any of the above embodiments, constructing a state time series characterizing the operational state of the tethered balloon based on the multi-source observation data includes: Based on the multi-source observation data, an instantaneous state vector of the tethered balloon is constructed at each sampling time. The instantaneous state vector includes at least the balloon fusion height, the rate of change of fusion height, the rate of change of horizontal displacement, the roll angle, and the pitch angle. A state time series is constructed based on the instantaneous state vectors of multiple consecutive sampling times within a preset time window.

[0034] It should be noted that the instantaneous state vector is a multidimensional array composed of multiple observations at a single sampling moment, used to characterize the complete motion state of the tethered balloon at that instant. The balloon fusion altitude refers to the best estimated altitude (i.e., altitude information) obtained after fusing multi-source altitude observations; its function is to improve the accuracy and robustness of altitude measurement through data fusion. The fusion altitude change rate is the first derivative of the balloon's fusion altitude with respect to time, characterizing the velocity of vertical motion. The horizontal displacement change rate is the velocity of the tethered balloon on the horizontal plane, which can be obtained from GPS or an inertial navigation system. The roll angle is the angle of rotation of the tethered balloon about its longitudinal axis, and the pitch angle is the angle of rotation about its transverse axis; both together describe the degree of balloon tilt.

[0035] Understandably, fusing barometric altimeter and GPS data through Kalman filtering or complementary filtering effectively suppresses noise and drift from single sensors, improving the accuracy of altitude measurement. The rate of change of the fused altitude is obtained by differential calculation of the fused altitude, reflecting the instantaneous velocity of the tethered balloon's vertical movement. The rate of change of horizontal displacement is usually calculated from the velocity component of GPS or the inertial navigation system, with its sign indicating the direction of horizontal movement. The roll and pitch angles are directly derived from the attitude calculation results of the inertial measurement unit, characterizing the degree of tilt of the balloon when disturbed by airflow. Combining these parameters into an instantaneous state vector and then arranging them continuously according to a preset time window (e.g., 30 seconds) constitutes a state time series. This series preserves the temporal correlation of motion, allowing for the extraction of key features such as vertical motion intensity, horizontal drift trend, reciprocating oscillation frequency, and attitude instability, providing temporal information support for safety risk assessment.

[0036] It should be noted that, based on the aforementioned multi-source observation data, an instantaneous state vector of the balloon is constructed at each sampling time: In the formula, For the balloon to merge height, To integrate highly variable rates, This represents the rate of change of the horizontal displacement of the balloon relative to the takeoff point. The lateral roll angle of the balloon. It is the pitch angle.

[0037] Understandably, the instantaneous state vector is obtained by preprocessing the corresponding raw sensor data and is used to reflect the balloon's spatial position, motion trend, and attitude at the current moment. The raw sensor data can be collected by the balloon's existing control system or by an independent safety control device, allowing for flexible deployment.

[0038] It should be noted that the preset time window is a fixed-length time interval. Its purpose is to limit the range of historical data used for analysis, ensuring a sufficient sample size to capture trends while preventing outdated data from influencing the judgment of the current state. Multiple consecutive sampling moments refer to all time points within this time window arranged in sampling order. For example, in engineering applications, the system caches and organizes the instantaneous state vectors obtained from consecutive moments to form a state time series. in, This is the preset time window length.

[0039] Understandably, state time series are used to characterize the balloon's operational behavior over a period of time, rather than its instantaneous state at a single moment, thus providing a stable and reliable data foundation for subsequent safety assessments.

[0040] The tethered balloon safety control method provided in this invention solves the technical problem of how to standardize the original multi-source observation data into a time-series data structure that can be used for feature extraction by specifically defining the constituent elements of the instantaneous state vector and the construction method of the state time series. It realizes the unified representation of the core motion parameters of the tethered balloon and continuous modeling within the time window, providing an accurate, complete and time-series logical data foundation for subsequent key feature extraction, and avoiding feature distortion caused by inconsistent data formats or time alignment errors.

[0041] Based on any of the above embodiments, determining the safety level of the tethered balloon according to the comprehensive safety risk index includes: Set a first threshold, a second threshold, and a third threshold, wherein the first threshold is less than the second threshold, and the second threshold is less than the third threshold; When the comprehensive security risk index is less than the first threshold, the security level is determined to be normal. When the comprehensive security risk index is greater than or equal to the first threshold and less than the second threshold, the security level is determined to be a normal level. When the comprehensive safety risk index is greater than or equal to the second threshold and less than the third threshold, the safety level is determined to be a medium risk level. When the comprehensive security risk index is greater than or equal to the third threshold, the security level is determined to be a high-risk level.

[0042] It should be noted that the first, second, and third thresholds are three pre-defined numerical constants used to divide the continuous comprehensive safety risk index into four intervals. These thresholds can be obtained through statistical analysis of historical flight data or engineering calibration based on the structural strength limits of the balloon. Specifically, the comprehensive risk index can be calculated from a large amount of normal flight data, and the maximum value under normal conditions can be taken as the first threshold; the upper limit of medium risk can be determined as the second threshold based on the balloon's wind resistance and pressure adjustment margin; and the starting value of high risk (i.e., the third threshold) can be determined based on the structural failure limit or safety margin.

[0043] Understandably, a normal risk level indicates that the balloon's current operational status is within a safe range and requires no special intervention. A low-risk level indicates that the balloon exhibits minor anomalies, such as slight wind disturbances or attitude swaying, but remains within a controllable range. A medium-risk level indicates that the balloon faces significant environmental threats, such as strong turbulence or rapid ascent and descent, requiring the activation of emergency pressure control. A high-risk level indicates that the balloon is in an extremely dangerous state, and conventional pressure control cannot guarantee safety, necessitating a landing operation.

[0044] In the specific implementation, the security level determination function is defined as follows: In the formula, To preset a safety threshold, Indicates the first threshold. This represents the second threshold. This represents the third threshold.

[0045] It should be noted that, as Figure 2 As shown, the security levels are classified as follows: Level 1 (i.e., security level): Corresponding to This indicates that the balloon's operating status is within the preset threshold, with no abnormal deviation, and the balloon is in normal operating condition. Level 2 (i.e., low-risk level): Corresponding to The balloon has slight abnormalities in horizontal displacement or attitude, but its overall condition is safe and it is in a low-risk state. Level 3 (i.e., medium risk level): Corresponding to The balloon oscillates in the vertical plane, causing rapid fluctuations in the balloon's pressure, which threatens the balloon's safety. The balloon is in a medium-risk state and has the potential risk of escape or loss of control. Level 4 (i.e., high-risk level): Corresponding to If the balloon breaks free from its normal restraints and escapes, or if the balloon capsule tears, the balloon is in a high-risk state and may trigger external flight safety risks.

[0046] The tethered balloon safety control method provided in this invention classifies the comprehensive safety risk indicators by setting three threshold levels, accurately dividing the safety status of the tethered balloon into three levels: normal, medium risk, and high risk. This achieves quantitative classification and refined identification of risk status. Compared with single threshold judgment, this classification mechanism can accurately capture the risk evolution trend, providing a clear basis for implementing differentiated control strategies. It effectively improves the risk prediction capability and proactive safety response efficiency of tethered balloons under complex working conditions, and ensures the operational reliability in unattended scenarios.

[0047] Based on any of the above embodiments, the security level includes one of a normal level, a low-risk level, a medium-risk level, and a high-risk level; wherein, executing the control strategy corresponding to the security level includes: When the safety level is normal, the traditional PID control method is used to maintain the preset altitude and pressure of the tethered balloon; When the safety level is low risk, a target PID control method is used to dynamically adjust the control parameters to maintain normal bladder pressure. The control parameters are dynamically adjusted based on the wind field environment and key feature vectors. When the safety level is medium risk, an emergency pressure control method is used to control the pressure of the tethered balloon within a safe range; the emergency pressure control method is implemented based on a control model trained by machine learning. When the safety level is high-risk, a flight safety priority strategy is adopted, and a helium ejection operation is triggered to bring the tethered balloon to a landing.

[0048] It should be noted that traditional PID control refers to a closed-loop control algorithm using a proportional-integral-derivative (PI) controller, where the control quantity is a linear combination of the proportional, integral, and derivative of the deviation. Specifically, when the safety level is normal, a set of pre-set PID parameters (i.e., fixed control parameters) are used, with the deviation between the preset altitude and the target altitude, and the deviation between the balloon pressure and the target pressure, as inputs, to calculate the control quantity for the valve or blower. The purpose of this step is to maintain the balloon's basic stability with minimal computational overhead under the lowest-risk operating conditions.

[0049] It should be noted that the target PID control method is an improved PID control method, in which the control parameters are not fixed, but are corrected online based on the real-time wind field and key feature vectors.

[0050] Specifically, when the safety level is low risk, the control system calculates the optimal PID control parameter value based on real-time wind field and key feature vectors through a preset mapping function. Its function is to dynamically adjust the control parameters so that the control system can respond in a timely manner to changes in bladder pressure caused by external disturbances, ensuring that the bladder pressure value is controlled within a safe range.

[0051] It should be noted that emergency pressure control methods refer to control strategies initiated when risk increases, with pressure safety boundaries as the primary objective. These strategies may employ model predictive control or feedforward compensation based on pressure prediction. Specifically, when the safety level is medium risk, the aforementioned PID algorithm is insufficient for pressure control of the bladder under high dynamic disturbances. The controller can be switched to emergency mode. This emergency pressure control method is based on a control model trained using machine learning (i.e., this control model is specifically trained based on historical data under medium risk conditions, and its control over high dynamic disturbances is significantly superior to the PID algorithm), enabling rapid pressure control response under medium risk conditions. This ensures that the pressure remains within safe thresholds (such as minimum and maximum pressure). The purpose of this step is to proactively prevent pressure runaway under medium risk conditions, avoiding escalation to high risk.

[0052] In practical implementation, emergency pressure control methods can adopt model-based control strategies. By establishing a dynamic model of bladder pressure, accurate prediction and rapid adjustment of pressure change processes can be achieved. Specifically, this includes the following steps: Step 1: Establish a dynamic model of cyst pressure.

[0053] First, a differential equation model of the pressure within the tethered balloon is constructed, quantifying the physical processes such as blower intake, exhaust valve decompression, and balloon volume changes. Historical operating data is then used to identify and calibrate the model parameters, ensuring that the model accurately reflects the pressure response characteristics. This model provides a predictive basis for subsequent control.

[0054] Step 2: Construct the model predictive controller.

[0055] Based on the established dynamic model of bladder pressure, a model predictive controller is designed. In each control cycle, the controller uses the model to predict the pressure change trajectory at multiple future moments. With the goal of rapidly increasing the pressure to the upper limit of the safe range, it solves for the optimal control command that satisfies constraints such as the blower duty cycle and exhaust valve opening, and immediately executes the current command. This controller achieves rapid and precise pressure regulation through rolling optimization.

[0056] Step 3: Introduce a disturbance observer for compensation.

[0057] A disturbance observer is added to the model predictive controller to monitor the deviation between the model prediction and the actual pressure value in real time, and to estimate the impact of external disturbances such as sudden wind field changes and attitude variations. The disturbance estimate is fed forward to compensate the control variable, enabling the control system to actively counteract external disturbances and ensure that the pressure regulation process is not affected by environmental changes.

[0058] Step 4: Design coordinated control of pressure and altitude.

[0059] Pressure regulation and altitude regulation are treated as a coupled system and a coordinated control model incorporating both pressure and altitude variables is established. The controller considers both pressure tracking error and altitude tracking error in its optimization objective and sets coordinated constraints between the two to ensure rapid pressure build-up and smooth altitude adjustment, avoiding conflicts between them.

[0060] Step 5: Achieve smooth switching between control modes.

[0061] The design incorporates a mode-switching logic based on risk indicators. When the risk indicator reaches a medium-risk threshold, the controller switches from the normal mode to model predictive control mode. Once the risk indicator falls back to a low-risk level and stabilizes, it smoothly switches back to the normal mode. Disturbance-free technology is employed during the switching process to ensure continuous and abrupt changes in the control input.

[0062] It should be noted that the flight safety priority strategy refers to a control logic that prioritizes the safety of the balloon and personnel on the ground over maintaining altitude and pressure. Helium purging involves releasing the buoyant gas (helium) inside the balloon by opening a valve, reducing the balloon's net buoyancy and allowing for a slow descent. Specifically, when the safety level is high-risk, the controller immediately shuts off the blower, opens the helium purging valve, and issues a landing alarm. This step is designed to force the balloon to land in case of control failure or environmental conditions exceeding its capabilities, preventing explosions or escape accidents. For example, upon receiving a helium purging command, the actuator opens the helium purging valve at its rated opening, releasing helium at a preset rate (e.g., 5% of the total helium volume per minute), allowing the balloon to land at a descent speed not exceeding 5 meters per second. Simultaneously, the tether tension monitoring system remains operational to ensure the descent process is controllable.

[0063] For example, a tethered balloon under strong wind shear: initially, the wind speed is low, the safety level is normal, and traditional PID control stabilizes the pressure. As the wind speed increases to 12 m / s and the roll angle reaches 8 degrees, the overall risk index rises to 0.4 (low risk level), and the controller switches to the target PID. If the wind speed continues to increase to 18 m / s, vertical oscillation intensifies, and the risk index rises to 0.7 (medium risk level), the controller initiates emergency pressure control, rapidly inflating and deflated to maintain the pressure between 600-1100 Pa. When the wind speed suddenly increases to 25 m / s and the attitude angle exceeds 15 degrees, the risk index rises to 0.95 (high risk level), and the controller immediately triggers a helium ejection operation, and the balloon begins to descend.

[0064] The tethered balloon safety control method provided in this invention achieves a tiered response from routine operation to emergency response by configuring differentiated control strategies for different safety levels: For normal levels, traditional PID control is used to maintain stability; for low-risk levels, target PID control with dynamically adjusted control parameters actively adapts to changes in operating conditions; for medium-risk levels, emergency pressure control quickly stabilizes the balloon's state; and for high-risk levels, helium ejection during descent achieves proactive hazard avoidance. This solution achieves precise matching between risk levels and control strategies, balancing system operating efficiency and safety redundancy, and significantly improves the timeliness and effectiveness of response under complex conditions.

[0065] Figure 3 This is the second flowchart illustrating the tethered balloon safety control method provided by the present invention; as shown below. Figure 3 As shown, step 102 further includes steps 1021-1022: Step 1021: Based on the state time series, determine the vertical motion intensity characteristics, horizontal velocity trend characteristics, vertical height reciprocating motion characteristics, and attitude instability characteristics; It should be noted that the vertical motion intensity feature is used to characterize the overall motion activity of the tethered balloon in the vertical direction; the horizontal velocity trend feature is used to characterize whether the tethered balloon has a continuous horizontal displacement trend; the vertical height reciprocating motion feature is used to characterize the vertical reciprocating motion behavior of the tethered balloon caused by the coupling of buoyancy and atmospheric density changes; and the attitude instability feature is used to characterize the combined deviation of the roll angle and pitch angle of the tethered balloon within the time window.

[0066] Understandably, the vertical motion intensity characteristic is a holistic measure of the vertical velocity amplitude within a time window. Its function is to quantify the intensity of the tethered balloon's vertical motion, reflecting the ascent and descent caused by wind shear or buoyancy changes. The horizontal velocity trend characteristic measures the cumulative effect of horizontal velocity, determining whether the tethered balloon is continuously deviating from its anchorage point, reflecting the influence of the horizontal wind field. The vertical altitude oscillation characteristic measures the oscillation characteristics of the altitude sequence, capturing the periodic up-and-down motion caused by the coupling of buoyancy and atmospheric density changes. This motion differs from unidirectional ascent and descent, exhibiting a back-and-forth characteristic. The attitude instability characteristic measures the combined fluctuation amplitude of roll and pitch angles, comprehensively assessing the instability of the tethered balloon in the oscillation dimension.

[0067] Understandably, vertical motion intensity features focus on velocity amplitude but not direction; horizontal velocity trend features focus on the cumulative directional consistency of velocity; vertical height reciprocating motion features focus on the oscillation frequency and amplitude of the altitude sequence; and attitude instability features focus on the joint energy of two attitude angles. By extracting these four features, we can comprehensively cover the risk-related characteristics of tethered balloons across four independent dimensions: vertical motion, horizontal drift, oscillation characteristics, and attitude swaying.

[0068] Step 1022: Construct a key feature vector based on the vertical motion intensity feature, the horizontal velocity trend feature, the vertical height reciprocating motion feature, and the attitude instability feature.

[0069] It should be noted that the key feature vector is different from the instantaneous state vector. The key feature vector does not contain the original observation values, but rather contains high-level features that have been statistically refined through a time window, which has the effect of dimensionality reduction and noise reduction.

[0070] The tethered balloon safety control method provided in this invention extracts key features such as vertical motion intensity, horizontal velocity trend, height reciprocating motion, and attitude instability from the state time series and constructs feature vectors. This enables precise characterization of the motion characteristics of the tethered balloon in different dimensions, effectively uncovers the temporal change patterns in the state data, provides comprehensive and reliable feature basis for subsequent comprehensive safety risk assessment, and improves the accuracy and comprehensiveness of risk identification.

[0071] Based on any of the above embodiments, determining the vertical motion intensity characteristics, horizontal velocity trend characteristics, vertical height reciprocating motion characteristics, and attitude instability characteristics based on the state time series includes: Based on the fusion height change rate in the state time series, calculate the first root mean square value of the fusion height change rate within a preset time window, and use the first root mean square value as the vertical motion intensity feature; Based on the rate of change of horizontal displacement in the state time series, calculate the integral average value of the rate of change of horizontal displacement within the preset time window, and use the integral average value as the horizontal velocity trend feature. Based on the balloon fusion height in the state time series, the number of times the vertical velocity direction of the fusion height changes within the preset time window is counted. The absolute value of the height change amplitude between each change is accumulated to obtain the cumulative value of the height change amplitude. Based on the number of changes, the cumulative value of the height change amplitude, and the preset time window, the vertical height reciprocating motion characteristics are determined. Based on the roll and pitch angles in the state time series, the second root mean square value of the sum of the squares of the roll and pitch angles within the preset time window is calculated, and the second root mean square value is used as the attitude instability feature.

[0072] It should be noted that, in engineering applications, feature vectors for safety status assessment are extracted from the aforementioned state time series. Each feature parameter is obtained by performing time window operations on the state time series.

[0073] It should be noted that the rate of change of fusion height is the first derivative of fusion height with respect to time, i.e., vertical velocity. The first root mean square value is calculated by first averaging the squares of the vertical velocities within the window and then taking the square root. This value reflects the overall magnitude of the vertical velocity, without distinguishing between upward and downward movements.

[0074] In practical implementation, vertical motion intensity characteristics The calculation method is as follows: In the formula, This represents the rate of change of fusion height, and T represents the preset time window length.

[0075] It should be noted that the rate of change of horizontal displacement is the rate of change of the horizontal distance of the balloon relative to the launch point, i.e., the magnitude (scalar) of the horizontal velocity. The integral average is the arithmetic mean of the horizontal velocity integrated within a window and divided by the window length. This value reflects the net rate of horizontal motion; a positive value indicates that the balloon is moving away from the launch point.

[0076] In practical implementation, the horizontal escape trend characteristic The calculation method is as follows: In the formula, This indicates the rate of change of the fusion height.

[0077] It should be noted that the number of reversals refers to the number of times the sign of the vertical velocity changes (from positive to negative or from negative to positive). The absolute value of the altitude change amplitude between each reversal refers to the sum of the absolute values ​​of the balloon's altitude change between two adjacent reversals. The vertical altitude reciprocating motion characteristic is defined as (number of reversals × cumulative amplitude) / window length. This characteristic specifically captures the periodic up-and-down oscillations caused by the coupling of buoyancy and density changes; a larger value indicates a stronger oscillation.

[0078] In practical implementation, the vertical reciprocating motion characteristic The calculation method is as follows: In the formula, This represents the cumulative value of the altitude change. , This refers to the magnitude of the height change between each direction switch; This indicates the number of times the vertical motion changes direction.

[0079] It should be noted that the sum of the squares of the roll angle and pitch angle refers to the sum of the squares of the roll angle and pitch angle at each sampling time. The second root mean square value is calculated by first taking the average of the sum of squares within the window, and then taking the square root. This value comprehensively reflects the degree of deviation of the balloon in both roll and pitch directions, similar to the overall standard deviation of the attitude angle.

[0080] In practical implementation, the characteristic of attitude instability The calculation method is as follows: In the formula, Indicates the roll angle; Indicates the pitch angle.

[0081] The tethered balloon safety control method provided in this invention accurately extracts four core features through targeted quantitative calculations of the state time series: the root mean square value of the fused altitude change rate characterizes the vertical motion intensity; the integral average value of the horizontal displacement change rate reflects the horizontal velocity trend; the number and amplitude of altitude reversals characterize the reciprocating motion characteristics; and the root mean square value of the sum of squares of roll and pitch angles defines the attitude instability characteristics. This design achieves calculable and accurate extraction of the multi-dimensional dynamic characteristics of the tethered balloon, making key features more closely aligned with the essence of risk evolution. This provides highly discriminative and reliable feature support for subsequent comprehensive safety risk assessment, effectively improving the accuracy of state perception and risk judgment.

[0082] The tethered balloon safety control system provided by this invention is described below. The tethered balloon safety control system described below can be referred to in correspondence with the tethered balloon safety control method described above. For example... Figure 4 As shown, the tethered balloon safety control system includes: The acquisition module 10 is used to acquire multi-source observation data of the tethered balloon during its operation, wherein the multi-source observation data includes at least position information, altitude information and attitude information; The construction module 20 is used to construct a state time series characterizing the operational state of the tethered balloon based on the multi-source observation data, and extract key feature vectors from the state time series, wherein the key feature vectors are used to reflect the motion characteristics of the tethered balloon in different dimensions. The determination module 30 is used to determine the comprehensive safety risk index of the tethered balloon based on the key feature vector; The execution module 40 is used to determine the safety level of the tethered balloon based on the comprehensive safety risk index, and to execute the control strategy corresponding to the safety level, so that the tethered balloon can perform differentiated safety response operations under different risk states.

[0083] Figure 5 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 5As shown, the electronic device may include a processor 510, a communications interface 520, a memory 530, and a communication bus 540. The processor 510, communications interface 520, and memory 530 communicate with each other via the communication bus 540. The processor 810 can call logical instructions in the memory 830 to execute a tethered balloon safety control method. This method includes: acquiring multi-source observation data of the tethered balloon during its operation, wherein the multi-source observation data includes at least position information, altitude information, and attitude information; constructing a state time series characterizing the operating state of the tethered balloon based on the multi-source observation data, and extracting key feature vectors from the state time series, wherein the key feature vectors reflect the motion characteristics of the tethered balloon in different dimensions; determining a comprehensive safety risk index of the tethered balloon based on the key feature vectors; determining the safety level of the tethered balloon according to the comprehensive safety risk index, and executing a control strategy corresponding to the safety level, so that the tethered balloon performs differentiated safety response operations under different risk states.

[0084] Furthermore, the logical instructions in the aforementioned memory 530 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.

[0085] 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 tethered balloon safety control method provided by the above methods. The method includes: acquiring multi-source observation data of the tethered balloon during its operation, wherein the multi-source observation data includes at least position information, altitude information, and attitude information; constructing a state time series characterizing the operating state of the tethered balloon based on the multi-source observation data, and extracting key feature vectors from the state time series, wherein the key feature vectors are used to reflect the motion characteristics of the tethered balloon in different dimensions; determining a comprehensive safety risk index of the tethered balloon based on the key feature vectors; determining the safety level of the tethered balloon according to the comprehensive safety risk index, and executing a control strategy corresponding to the safety level, so that the tethered balloon performs differentiated safety response operations under different risk states.

[0086] 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 tethered balloon safety control method provided by the above methods. The method includes: acquiring multi-source observation data of the tethered balloon during its operation, wherein the multi-source observation data includes at least position information, altitude information, and attitude information; constructing a state time series characterizing the operating state of the tethered balloon based on the multi-source observation data, and extracting key feature vectors from the state time series, wherein the key feature vectors are used to reflect the motion characteristics of the tethered balloon in different dimensions; determining a comprehensive safety risk index of the tethered balloon based on the key feature vectors; determining the safety level of the tethered balloon according to the comprehensive safety risk index, and executing a control strategy corresponding to the safety level, so that the tethered balloon performs differentiated safety response operations under different risk states.

[0087] 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.

[0088] 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.

[0089] 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 safety control of a tethered balloon, characterized in that, include: Acquire multi-source observation data of the tethered balloon during its operation, wherein the multi-source observation data includes at least position information, altitude information, and attitude information; Based on the multi-source observation data, a state time series characterizing the operational state of the tethered balloon is constructed, and key feature vectors are extracted from the state time series. The key feature vectors are used to reflect the motion characteristics of the tethered balloon in different dimensions. Based on the key feature vectors, the comprehensive safety risk index of the tethered balloon is determined; The safety level of the tethered balloon is determined based on the comprehensive safety risk index, and a control strategy corresponding to the safety level is executed to enable the tethered balloon to perform differentiated safety response operations under different risk conditions.

2. The tethered balloon safety control method according to claim 1, characterized in that, The process of constructing a state-time series characterizing the operational state of the tethered balloon based on the multi-source observation data includes: Based on the multi-source observation data, an instantaneous state vector of the tethered balloon is constructed at each sampling time. The instantaneous state vector includes at least the balloon fusion height, the rate of change of fusion height, the rate of change of horizontal displacement, the roll angle, and the pitch angle. A state time series is constructed based on the instantaneous state vectors of multiple consecutive sampling times within a preset time window.

3. The tethered balloon safety control method according to claim 1, characterized in that, The extraction of key feature vectors from the state time series includes: Based on the state time series, the characteristics of vertical motion intensity, horizontal velocity trend, vertical height reciprocating motion, and attitude instability are determined. Based on the vertical motion intensity characteristics, the horizontal velocity trend characteristics, the vertical height reciprocating motion characteristics, and the attitude instability characteristics, a key feature vector is constructed.

4. The tethered balloon safety control method according to claim 3, characterized in that, The determination of vertical motion intensity characteristics, horizontal velocity trend characteristics, vertical height reciprocating motion characteristics, and attitude instability characteristics based on the state time series includes: Based on the fusion height change rate in the state time series, calculate the first root mean square value of the fusion height change rate within a preset time window, and use the first root mean square value as the vertical motion intensity feature; Based on the rate of change of horizontal displacement in the state time series, calculate the integral average value of the rate of change of horizontal displacement within the preset time window, and use the integral average value as the horizontal velocity trend feature. Based on the balloon fusion height in the state time series, the number of times the vertical velocity direction of the fusion height changes within the preset time window is counted. The absolute value of the height change amplitude between each change is accumulated to obtain the cumulative value of the height change amplitude. Based on the number of changes, the cumulative value of the height change amplitude, and the preset time window, the vertical height reciprocating motion characteristics are determined. Based on the roll and pitch angles in the state time series, the second root mean square value of the sum of the squares of the roll and pitch angles within the preset time window is calculated, and the second root mean square value is used as the attitude instability feature.

5. The tethered balloon safety control method according to claim 1, characterized in that, Determining the safety level of the tethered balloon based on the comprehensive safety risk index includes: Set a first threshold, a second threshold, and a third threshold, wherein the first threshold is less than the second threshold, and the second threshold is less than the third threshold; When the comprehensive security risk index is less than the first threshold, the security level is determined to be normal. When the comprehensive security risk index is greater than or equal to the first threshold and less than the second threshold, the security level is determined to be a normal level. When the comprehensive safety risk index is greater than or equal to the second threshold and less than the third threshold, the safety level is determined to be a medium risk level. When the comprehensive security risk index is greater than or equal to the third threshold, the security level is determined to be a high-risk level.

6. The tethered balloon safety control method according to claim 1, characterized in that, The security level includes one of the following: normal level, low-risk level, medium-risk level, and high-risk level; wherein, executing the control strategy corresponding to the security level includes: When the safety level is normal, the traditional PID control method is used to maintain the preset altitude and pressure of the tethered balloon; When the safety level is low risk, a target PID control method is used to dynamically adjust the control parameters to maintain normal bladder pressure. The control parameters are dynamically adjusted based on the wind field environment and key feature vectors. When the safety level is medium risk, an emergency pressure control method is used to control the pressure of the tethered balloon within a safe range; the emergency pressure control method is implemented based on a control model trained by machine learning. When the safety level is high-risk, a flight safety priority strategy is adopted, and a helium ejection operation is triggered to bring the tethered balloon to a landing.

7. A safety control system for tethered balloons, characterized in that, include: The acquisition module is used to acquire multi-source observation data of the tethered balloon during its operation, wherein the multi-source observation data includes at least position information, altitude information, and attitude information; The construction module is used to construct a state time series characterizing the operational state of the tethered balloon based on the multi-source observation data, and extract key feature vectors from the state time series, wherein the key feature vectors are used to reflect the motion characteristics of the tethered balloon in different dimensions. The determination module is used to determine the comprehensive safety risk index of the tethered balloon based on the key feature vector; The execution module is used to determine the safety level of the tethered balloon based on the comprehensive safety risk index, and to execute the control strategy corresponding to the safety level, so that the tethered balloon can perform differentiated safety response operations under different risk states.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the tethered balloon safety control method as described in any one of claims 1 to 6.

9. 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 tethered balloon safety control method as described in any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the tethered balloon safety control method as described in any one of claims 1 to 6.

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