Ultrasonic four-dimensional wind field testing method and system

Abstract

The present application relates to the technical field of sensing, and relates to an ultrasonic four-dimensional wind field testing method, the method comprising: obtaining an arrangement mode of transducers; obtaining path distances, downwind flight times and upwind flight times of ultrasonic waves according to the arrangement mode of the transducers, the path distances representing distance magnitudes between each pair of transducers; determining temperature information and wind speed components according to the path distances, the downwind flight times and the upwind flight times of the ultrasonic waves; correcting the wind speed components according to the temperature information to obtain effective wind speed information, the effective wind speed information representing wind speed components excluding abnormal value interference; and calculating a real wind speed according to the effective wind speed information, the present application provides a four-dimensional wind speed and direction testing method and device with temperature compensation function and applicable to a mobile platform.

Description

Technical Field

[0001] This invention relates to the field of sensing technology, and more specifically, to an ultrasonic four-dimensional wind field testing method and system. Background Technology

[0002] In fields such as rail transit and aerospace, wind field measurements often employ ultrasonic anemometers with fixed orthogonal structures. However, when applied to mobile platforms such as drones and vehicles, existing measurement methods directly calculate the apparent wind using the ultrasonic time-of-flight method, neglecting the speed of the mobile platform itself. The sensor's own motion speed is superimposed on the measured wind speed, leading to severe distortion and inaccurate wind speed measurement. Furthermore, the propagation speed of ultrasonic waves is affected by ambient temperature, and traditional independent temperature sensor compensation suffers from lag or discrepancies. Therefore, there is an urgent need for a synchronous temperature compensation method with high accuracy and high reliability for ultrasonic four-dimensional wind field testing. Summary of the Invention

[0003] The purpose of this invention is to provide an ultrasonic four-dimensional wind field testing method and system to improve the above-mentioned problems.

[0004] To achieve the above objectives, the embodiments of this application provide the following technical solutions:

[0005] On one hand, embodiments of this application provide a method for testing ultrasonic four-dimensional wind fields, the method comprising:

[0006] Obtain the arrangement of the transducers;

[0007] The path distance, the tailwind flight time, and the headwind flight time of the ultrasonic waves are obtained according to the arrangement of the transducers, wherein the path distance represents the distance between each pair of transducers;

[0008] Temperature information and wind speed components are determined based on the path distance, the tailwind flight time and headwind flight time of the ultrasonic wave;

[0009] The wind speed component is corrected based on the temperature information to obtain effective wind speed information, which represents the wind speed component that excludes outlier values.

[0010] The actual wind speed is calculated based on the available wind speed information.

[0011] Secondly, this application provides an ultrasonic four-dimensional wind field testing system, the system comprising:

[0012] The first acquisition module is used to acquire the arrangement of the transducers;

[0013] The second acquisition module is used to acquire the path distance, the tailwind flight time and the headwind flight time of the ultrasonic waves according to the arrangement of the transducers, wherein the path distance represents the distance between each pair of transducers;

[0014] The first processing module is used to determine temperature information and wind speed components based on the path distance, the tailwind flight time and headwind flight time of the ultrasonic wave;

[0015] The second processing module is used to correct the wind speed component based on the temperature information to obtain effective wind speed information, wherein the effective wind speed information represents the wind speed component that excludes the interference of outlier values.

[0016] The calculation module is used to calculate the actual wind speed based on the effective wind speed information.

[0017] The beneficial effects of this invention are:

[0018] This invention calculates temperature information and wind speed components by using path distance, ultrasonic tailwind time, and ultrasonic headwind time. Then, it corrects the wind speed components based on temperature to obtain the effective wind speed components. Finally, it calculates the true wind speed based on the effective wind speed components and the movement speed of the mobile platform. This eliminates interference from the movement of the mobile platform and is unaffected by temperature, achieving high-precision and high-reliability testing results in mobile scenarios.

[0019] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing embodiments of the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart illustrating the ultrasonic four-dimensional wind field testing method described in this embodiment of the invention.

[0022] Figure 2 This is a schematic diagram of the ultrasonic transducer arrangement described in an embodiment of the present invention.

[0023] Figure 3 This is a planar schematic diagram of the three non-orthogonal measurement paths described in an embodiment of the present invention.

[0024] Figure 4 This is a composite vector wind speed and direction diagram as described in this embodiment of the invention. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present 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 the present invention. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0026] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this invention, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0027] In skydiving, after jumping from a high altitude, athletes need to accurately sense the wind field during the free fall and parachute opening and gliding phases. However, sudden temperature changes at high altitudes can easily lead to data distortion, affecting the accuracy of attitude adjustment and gliding direction control. Therefore, only by obtaining high-precision, temperature-free real wind field information can a safe landing be ensured.

[0028] Example 1

[0029] See Figure 1 This embodiment provides a method for testing four-dimensional ultrasonic wind fields, the method comprising:

[0030] Step S1: Obtain the arrangement of the transducers;

[0031] Step S1 further includes steps S11, S12, and S13, which are specifically as follows:

[0032] Step S11: Construct a measuring device based on the six ultrasonic transducers. The measuring device is a regular octahedron, and the six ultrasonic transducers are respectively set at the six vertices of the regular octahedron.

[0033] In this step, such as Figure 2 and Figure 3 As shown, the specific positional relationship of the six ultrasonic transducers in the three-dimensional coordinate system is clearly defined. and Located at both ends of the Z-axis, forming a vertical measurement baseline; and , and Located in the horizontal plane, forming two horizontal measurement baselines at a 90-degree angle, with a known fixed distance between each pair of transducers, the wind speed component along the path can be calculated by precisely measuring the propagation time difference of the ultrasonic waves in the downwind and upwind directions. The measurements from the three paths provide the data foundation for subsequent calculation of the three-dimensional wind speed vector.

[0034] Step S12: Divide the two ultrasonic transducers arranged opposite each other in the measuring device into a group to obtain the first transducer group, the second transducer group and the third transducer group;

[0035] In this step, the first transducer group is configured as follows: and The second transducer group is configured as follows: and The third transducer group is configured as follows: and .

[0036] Step S13: Obtain three measurement paths based on the first transducer group, the second transducer group, and the third transducer group.

[0037] In this step, the six ultrasonic transducers are fixed in pairs at the six vertices of a regular octahedron. These three pairs of transducers form three spatial measurement baselines, as shown below. Figure 2 As shown, with and The line connecting them is the Z-axis, and... and The line connecting them is the Y-axis, and... and The line connecting the X, Y, and Z axes corresponds to three spatial measurement baselines. Traditional two-dimensional or three-dimensional orthogonal ultrasonic anemometers require the measurement path to be consistent with the wind speed direction axis. However, at certain wind angles, there may be a decrease in measurement sensitivity or blind spots. For example, when the wind direction is completely parallel to the axis of a transducer group, its contribution to the wind speed measurement of the other axis is zero. The measurement path of the measurement device in this application is a non-orthogonal measurement path. All three measurement paths have a certain angle with the wind speed direction axis in the spatial structure. Therefore, it can accurately measure the wind speed in three-dimensional space, especially the wind speed in the vertical direction. This makes up for the defects of the direction dependence of traditional anemometers and the problem of insufficient accuracy in vertical airflow measurement, thus improving the reliability and accuracy of wind speed measurement.

[0038] Step S2: Obtain the path distance, the tailwind flight time and the headwind flight time of the ultrasonic waves according to the arrangement of the transducers. The path distance represents the distance between each pair of transducers.

[0039] In this step, the path distance between each pair of transducers is a fixed distance. By accurately measuring the propagation time difference of ultrasonic waves in the downwind and upwind directions, the wind speed component of the path can be calculated. The measurement values ​​of the three paths provide the data basis for the subsequent calculation of the three-dimensional wind speed vector.

[0040] Step S3: Determine the temperature information and wind speed component based on the path distance, the tailwind flight time and headwind flight time of the ultrasonic wave;

[0041] Step S3 further includes steps S31, S32, S33, S34, S35, and S36, which specifically are as follows:

[0042] Step S31: Take the reciprocal of the downwind flight time and the upwind flight time of the ultrasonic wave to obtain the reciprocal of the downwind flight time and the upwind flight time of the ultrasonic wave.

[0043] In this step, the reciprocal of the downwind flight time of the ultrasonic wave is expressed as: The reciprocal of the headwind flight time of ultrasound is expressed as: ,in, Indicates the downwind flight time of the ultrasound wave; This indicates the headwind travel time of the ultrasonic wave.

[0044] Step S32: Subtract the reciprocal of the downwind flight time of the ultrasonic wave from the reciprocal of the upwind flight time to obtain the first calculation term;

[0045] Step S33: Add the reciprocal of the downwind flight time of the ultrasonic wave to the reciprocal of the upwind flight time to obtain the second calculation term;

[0046] Step S34: Multiply half of the path distance by the first calculation item to obtain the wind speed component;

[0047] In this step, the formula for calculating the wind speed component is: in, Indicates the wind speed component; Indicates path distance; Indicates the downwind flight time of the ultrasound wave; This indicates the headwind travel time of the ultrasonic wave.

[0048] It should be noted that the formula for calculating the wind speed component is the final formula, which is derived from the ultrasonic time-of-flight method, specifically as follows:

[0049] For a pair of fixed distances The ultrasonic transducer, when the ultrasonic wave propagates with the wind, has a propagation time of [time period missing]. When propagating against the wind, the propagation time is Let the speed of sound be The wind speed component along the measurement path is We can obtain:

[0050]

[0051] Taking the reciprocals of both equations, we get:

[0052]

[0053] Subtracting the two equations, we get:

[0054]

[0055] Furthermore, we obtain:

[0056]

[0057] in, Indicates path distance; Indicates the flight time of the ultrasonic wave with the wind; Indicates the time it takes for the ultrasonic wave to travel against the wind; The formula, representing the speed of sound, eliminates this parameter through subtraction, resulting in a final formula without sound speed, thus removing the influence of sound speed on wind speed component calculation. By deriving and transforming the formulas for ultrasonic wave propagation with and against the wind, the sound speed parameter is eliminated from wind speed component calculation. Wind speed components are directly calculated using path distance and propagation time difference, avoiding the direct impact of sound speed fluctuations on wind speed calculation and improving the accuracy of wind speed component calculation.

[0058] Step S35: Multiply half of the path distance by the second calculation term to obtain the sound speed information;

[0059] In this step, the formula for calculating the speed of sound is: ;in, Indicates the speed of sound; Indicates path distance; Indicates the downwind flight time of the ultrasound wave; This indicates the headwind travel time of the ultrasonic wave.

[0060] As can be seen from steps S35 and S36 above, the parameters involved in the calculation of wind speed component and sound speed information are path distance, ultrasonic tailwind flight time and headwind time. Using the same set of flight time data, wind speed component and sound speed information can be calculated simultaneously, providing a reliable basis for subsequent temperature compensation.

[0061] Step S36: Calculate the temperature information based on the sound speed information.

[0062] In this step, based on the sound speed-temperature relationship... in, Indicates the speed of sound; The temperature is represented, and the accurate ambient temperature can be deduced from it. This temperature provides the data basis for subsequent correction of the wind speed component. The calculation of the ambient temperature only depends on three core measured parameters: the transducer's path distance, the downwind propagation time, and the upwind propagation time. No additional redundant parameters are required in the calculation, which reduces the superposition of errors caused by multi-parameter measurements and improves the reliability of the calculation results.

[0063] Step S4: Correct the wind speed component according to the temperature information to obtain effective wind speed information, wherein the effective wind speed information represents the wind speed component that excludes the interference of outlier values.

[0064] Step S4 further includes steps S41, S42, S43, and S44, which are specifically as follows:

[0065] Step S41: Obtain the preset temperature threshold;

[0066] In this step, under normal environmental simulation conditions, 1000 sets of normal operating condition data were collected across the entire temperature range of -40°C to 60°C. The temperature standard deviation of the three paths in each data set was calculated to reflect normal temperature fluctuations. Based on 3... The principle is to set a basic threshold, that is ,in, This represents the standard deviation of temperature.

[0067] Step S42: Calculate the average value of the temperature information to obtain the average temperature information;

[0068] In this step, the ambient temperatures of the three paths are calculated based on step S36 as follows: The arithmetic mean of the temperature data from the three paths is taken to obtain the average temperature information, i.e. ,in, Indicates the average temperature; The ambient temperatures for the three paths are shown respectively.

[0069] Step S43: Calculate the effective path information based on the average temperature information and the preset temperature threshold, wherein the effective path information includes paths that exclude abnormal temperature values;

[0070] In this step, the absolute deviation of the temperature along each path from the average temperature is calculated to quantify the consistency of temperature along the paths. Specifically:

[0071] judge and The size relationship between them, if Less than or equal to If the wind speed component of that path is retained, it will be assigned normal weight in subsequent calculations; if Greater than If the wind speed component of the path is not found to be a temperature anomaly, it is removed from the calculation. By comparing the average temperature with the threshold, the abnormal temperature perception caused by local temperature changes or transducer fogging is identified, which causes distortion of the wind speed component. Invalid interference is eliminated from the data source to ensure that the wind speed data calculated in the subsequent calculation has physical rationality.

[0072] Step S44: Correct the wind speed component according to the effective path information to obtain the effective wind speed component.

[0073] In this step, if there is no abnormal path, the wind speed components of the three paths are directly retained as valid wind speed components. If there is an abnormal path, the transducer of that path is determined to be faulty, and the wind speed component needs to be remeasured after troubleshooting. This embodiment uses path temperature data that is from the same source as the wind speed to achieve synchronous and same source temperature-wind speed linkage correction, avoiding errors caused by asynchronous temperature and wind speed measurements.

[0074] Step S5: Calculate the actual wind speed based on the effective wind speed information.

[0075] Step S5 further includes steps S51, S52, S53, and S54, which are specifically as follows:

[0076] Step S51: Obtain the unit direction vector, positioning information, and attitude information;

[0077] In this step, the measuring device is used as the reference to establish the device coordinate system. The unit direction vectors of the three pairs of transducer paths in the device coordinate system are determined through calibration. The positioning information includes a three-dimensional motion vector in a geographic coordinate system; the real-time attitude includes the roll angle, pitch angle, and yaw angle of the measuring device.

[0078] Step S52: Construct a system of equations based on the effective wind speed information and the unit direction vector, and solve the equations to obtain the first wind speed information, which represents the combined wind speed of natural wind and platform motion.

[0079] In this step, the wind speeds along the three paths will be measured. Constructing a system of equations, we obtain:

[0080]

[0081] Write this system of equations in matrix form ,in, The transformation matrix, composed of direction vectors, is used to represent the change matrix. Finally, by solving the equation of this matrix, the three-dimensional measured wind speed vector in the device coordinate system is calculated. This wind speed is the combined wind speed of natural wind and platform motion. It should be noted that this wind speed is the combined wind speed in the device coordinate system. By constructing and solving a system of equations using effective wind speed information and the unit direction vector of the transducer path, the combined wind speed of natural wind and mobile platform motion in the device coordinate system can be accurately obtained. Utilizing three measurement paths that are not orthogonal to the wind speed direction as data sources compensates for the deficiencies of traditional orthogonal direction measurements, improving the accuracy and comprehensiveness of the combined wind speed vector calculation.

[0082] Step S53: Calculate the second wind speed information based on the positioning information and the attitude information, whereby the second wind speed information represents the movement speed of the mobile platform;

[0083] Step S53 further includes steps S531, S532, S533, and S534, which are specifically as follows:

[0084] Step S531: Determine the first rotation sub-matrix, the second rotation sub-matrix, and the third rotation sub-matrix based on the attitude information;

[0085] In this step, attitude information includes heading angle, pitch angle, and roll angle, with the geographic coordinate system being... Construct a coordinate system. Indicates that it points to true north; Indicates that it points due east geographically; Indicates pointing towards the Earth's center, the device's coordinate system is based on... Construct a coordinate system. Indicates pointing in the direction of the nose; Indicates pointing towards the right wing; This indicates the downward direction of the machine body; the device coordinate system is the same as the machine body coordinate system. The order in which the rotation matrices are constructed is as follows: , around The axis rotation matrix is ​​the first rotation submatrix, around The axis rotation matrix is ​​the second rotation submatrix, around The axis rotation matrix is ​​the third rotation submatrix.

[0086] The first rotation submatrix, specifically:

[0087]

[0088] in, Denotes the first rotation submatrix; This represents the heading angle. It should be noted that if using a "North-East-Ground" coordinate system and transforming the geographic coordinate system to the body coordinate system, the use of a negative sign here depends on definitional conventions. The above matrix expression first rotates the geographic vector around the Z-axis. .make Align with the horizontal projection direction of the machine head.

[0089] The second rotation submatrix, specifically:

[0090]

[0091] in, Indicates the second rotation submatrix; Indicates pitch angle

[0092] The third rotation submatrix, specifically:

[0093] in, Represents the third rotation submatrix; The value represents the roll angle, and the rotated coordinate system is the device coordinate system.

[0094] Step S532: Obtain the movement speed of the mobile platform based on the positioning information;

[0095] Step S533: Calculate the rotation matrix based on the first rotation submatrix, the second rotation submatrix, and the third rotation submatrix;

[0096] In this step, the first, second, and third rotation submatrices are multiplied together to obtain:

[0097]

[0098] The unfolded form is as follows:

[0099]

[0100] in, Represents the rotation matrix; Denotes the first rotation submatrix; Indicates the second rotation submatrix; Represents the third rotation submatrix; Indicates the heading angle; Indicates the pitch angle; This represents the roll angle. A rotation submatrix is ​​constructed based on the yaw, pitch, and roll angles of the mobile platform, and the rotation matrices are merged to lay the foundation for subsequent transformation to a unified coordinate system.

[0101] Step S534: Calculate the second wind speed information based on the rotation matrix and the movement speed of the moving platform.

[0102] In this step, the platform's motion velocity in the geographic coordinate system is transformed to the device coordinate system, resulting in:

[0103]

[0104] in, This indicates the platform's movement speed in the geographic coordinate system; This indicates the platform's moving speed in the device's coordinate system; The rotation matrix accurately transforms the platform's motion speed from the geographic coordinate system to the device coordinate system, achieving a unified measurement of motion speed across different coordinate systems and laying a data foundation for eliminating platform motion interference.

[0105] Step S54: Calculate the actual wind speed based on the first wind speed information and the second wind speed information.

[0106] In this step, such as Figure 4 As shown, the first wind speed information and the second wind speed information are subtracted by a vector, that is:

[0107]

[0108] in, The first wind speed information corresponds to the three-dimensional wind speed direction measurement result. By performing vector subtraction in the device coordinate system, the fourth dimension is obtained. The fourth dimension corresponds to the actual wind speed, which directly eliminates the superimposed interference of the mobile platform's own movement on the wind field measurement. This solves the core problem of measurement result distortion when traditional anemometers are applied to mobile platforms, and realizes the accurate acquisition of the actual wind speed of the four-dimensional wind field in mobile scenarios.

[0109] It should be noted that when outputting the actual wind speed, the actual wind speed in the device coordinate system needs to be converted to the geographic coordinate system. The specific conversion is as follows:

[0110]

[0111] in, This represents the actual wind speed in the geographic coordinate system, which is the actual wind speed that can be directly output. The inverse of the rotation matrix is ​​used to transform the actual wind speed in the device coordinate system to the geographic coordinate system, outputting wind speed data that conforms to general geographic orientation. This makes the measurement results standardized and universal, and can be directly adapted to the actual application needs of various scenarios such as rail transit, aerospace, drones, and skydiving.

[0112] This invention overcomes the shortcomings of traditional orthogonal directional measurement by using three spatially non-orthogonal measurement paths. It also synchronously calculates wind speed components and sound speed information based on the same set of ultrasonic flight propagation time differences and path distances, and further calculates temperature information. Based on the temperature information, outliers in the wind speed components are eliminated, avoiding wind speed distortion caused by temperature abrupt changes and transducer failures. At the same time, by constructing a rotation matrix to complete vector subtraction operations in a unified coordinate system, the interference of the mobile platform's own motion speed is accurately eliminated. Finally, the true wind speed data is output, effectively solving the problems of data distortion, temperature compensation lag, and measurement blind spots in traditional ultrasonic wind field measurement when applied to mobile platforms. It realizes comprehensive measurement of four-dimensional wind fields in mobile scenarios.

[0113] Example 2

[0114] This embodiment provides an ultrasonic four-dimensional wind field testing system. The system includes a first acquisition module, a second acquisition module, a first processing module, a second processing module, and a calculation module, specifically including:

[0115] The first acquisition module is used to acquire the arrangement of the transducers;

[0116] The second acquisition module is used to acquire the path distance, the tailwind flight time and the headwind flight time of the ultrasonic waves according to the arrangement of the transducers, wherein the path distance represents the distance between each pair of transducers;

[0117] The first processing module is used to determine temperature information and wind speed components based on the path distance, the tailwind flight time and headwind flight time of the ultrasonic wave;

[0118] The second processing module is used to correct the wind speed component based on the temperature information to obtain effective wind speed information, wherein the effective wind speed information represents the wind speed component that excludes the interference of outlier values.

[0119] The calculation module is used to calculate the actual wind speed based on the effective wind speed information.

[0120] In one specific embodiment of this disclosure, the first processing module further includes a first computing unit, a second computing unit, a third computing unit, a fourth computing unit, a fifth computing unit, and a sixth computing unit, specifically:

[0121] The first calculation unit is used to perform a division calculation based on the path distance and 2 to obtain the first calculation item;

[0122] The first processing unit is used to take the reciprocal of the downwind flight time and the headwind flight time of the ultrasonic wave to obtain the reciprocal of the downwind flight time and the headwind flight time of the ultrasonic wave.

[0123] The second calculation unit is used to subtract the reciprocal of the downwind flight time of the ultrasonic wave from the reciprocal of the headwind flight time to obtain the second calculation item.

[0124] The third calculation unit is used to add the reciprocal of the downwind flight time of the ultrasonic wave to the reciprocal of the headwind flight time to obtain the third calculation item.

[0125] The fourth calculation unit is used to multiply the first calculation item and the second calculation item to obtain the wind speed component;

[0126] The fifth calculation unit is used to perform a multiplication calculation based on the first calculation item and the third calculation item to obtain the sound speed information;

[0127] The sixth calculation unit is used to calculate the temperature information based on the sound speed information.

[0128] In one specific embodiment of this disclosure, the second processing module further includes a first acquisition unit, a seventh calculation unit, an eighth calculation unit, and a second processing unit, specifically:

[0129] The first acquisition unit is used to acquire a preset temperature threshold.

[0130] The seventh calculation unit is used to calculate the average value of the temperature information to obtain the average temperature information;

[0131] The eighth calculation unit is used to calculate effective path information based on the average temperature information and the preset temperature threshold, wherein the effective path information includes paths that exclude abnormal temperature values.

[0132] The second processing unit is used to correct the wind speed component based on the effective path information to obtain the effective wind speed component.

[0133] In one specific embodiment of this disclosure, the calculation module further includes a second acquisition unit, a ninth calculation unit, a tenth calculation unit, and an eleventh calculation unit, specifically:

[0134] The second acquisition unit is used to acquire the unit direction vector, positioning information, and attitude information;

[0135] The ninth calculation unit is used to construct a system of equations based on the effective wind speed information and the unit direction vector, and solve the equations to obtain the first wind speed information, which represents the combined wind speed of the natural wind and the platform motion.

[0136] The tenth calculation unit is used to calculate based on the positioning information and the attitude information to obtain the second wind speed information, which represents the movement speed of the mobile platform.

[0137] The eleventh calculation unit is used to calculate the actual wind speed based on the first wind speed information and the second wind speed information.

[0138] In one specific embodiment of this disclosure, the tenth computing unit further includes a third processing unit, a third acquisition unit, a twelfth computing unit, and a thirteenth computing unit, specifically as follows:

[0139] The third processing unit is used to determine the first rotation sub-matrix, the second rotation sub-matrix, and the third rotation sub-matrix based on the attitude information;

[0140] The third acquisition unit is used to acquire the movement speed of the mobile platform based on the positioning information;

[0141] The twelfth calculation unit is used to calculate based on the first rotation submatrix, the second rotation submatrix, and the third rotation submatrix to obtain the rotation matrix;

[0142] The thirteenth calculation unit is used to calculate the second wind speed information based on the rotation matrix and the movement speed of the moving platform.

[0143] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0144] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for testing four-dimensional ultrasonic wind fields, characterized in that, include: Obtain the arrangement of the transducers; The path distance, the tailwind flight time, and the headwind flight time of the ultrasonic waves are obtained according to the arrangement of the transducers, wherein the path distance represents the distance between each pair of transducers; Temperature information and wind speed components are determined based on the path distance, the tailwind flight time and headwind flight time of the ultrasonic wave; The wind speed component is corrected based on the temperature information to obtain effective wind speed information, which represents the wind speed component that excludes outlier values. The actual wind speed is calculated based on the available wind speed information.

2. The ultrasonic four-dimensional wind field testing method according to claim 1, wherein temperature information and wind speed components are determined based on the path distance, the downwind flight time of the ultrasonic wave, and the upwind flight time, characterized in that, include: The reciprocals of the tailwind flight time and the headwind flight time of the ultrasonic wave are obtained by taking the reciprocal of the tailwind flight time and the headwind flight time. The first calculation term is obtained by subtracting the reciprocal of the downwind flight time from the reciprocal of the upwind flight time. The second calculation term is obtained by adding the reciprocal of the flight time with the wind to the reciprocal of the flight time against the wind. The wind speed component is obtained by multiplying half of the path distance by the first calculation item. The sound speed information is obtained by multiplying half of the path distance by the second calculation term. Temperature information is obtained by calculating based on sound speed information.

3. The ultrasonic four-dimensional wind field testing method according to claim 1, wherein the wind speed component is corrected based on the temperature information, characterized in that, include: Obtain the preset temperature threshold; Calculate the average value of the temperature information to obtain the average temperature information; Based on the average temperature information and the preset temperature threshold, effective path information is obtained, which includes paths that exclude abnormal temperature values. The wind speed component is corrected based on the effective path information to obtain the effective wind speed component.

4. The ultrasonic four-dimensional wind field testing method according to claim 1, wherein the true wind speed is calculated based on the effective wind speed information, is characterized in that... include: Obtain the unit direction vector, positioning information, and attitude information; Based on the effective wind speed information and the unit direction vector, a system of equations is constructed and solved to obtain the first wind speed information, which represents the combined wind speed of natural wind and platform motion. The second wind speed information is calculated based on the positioning information and the attitude information, and the second wind speed information represents the movement speed of the mobile platform. The actual wind speed is calculated based on the first wind speed information and the second wind speed information.

5. The ultrasonic four-dimensional wind field testing method according to claim 4, wherein calculations are performed based on the positioning information and the attitude information, characterized in that, include: The first rotation submatrix, the second rotation submatrix, and the third rotation submatrix are determined based on the attitude information; The movement speed of the mobile platform is obtained based on the positioning information; The rotation matrix is ​​obtained by calculating based on the first rotation submatrix, the second rotation submatrix, and the third rotation submatrix; The second wind speed information is obtained by calculating based on the rotation matrix and the movement speed of the mobile platform.

6. An ultrasonic four-dimensional wind field testing system, characterized in that, include: The first acquisition module is used to acquire the arrangement of the transducers; The second acquisition module is used to acquire the path distance, the tailwind flight time and the headwind flight time of the ultrasonic waves according to the arrangement of the transducers, wherein the path distance represents the distance between each pair of transducers; The first processing module is used to determine temperature information and wind speed components based on the path distance, the tailwind flight time and headwind flight time of the ultrasonic wave; The second processing module is used to correct the wind speed component based on the temperature information to obtain effective wind speed information, wherein the effective wind speed information represents the wind speed component that excludes the interference of outlier values. The calculation module is used to calculate the actual wind speed based on the effective wind speed information.

7. The ultrasonic four-dimensional wind field testing system according to claim 6, wherein the first processing module is characterized in that, include: The first calculation unit is used to perform a division calculation based on the path distance and 2 to obtain the first calculation item; The first processing unit is used to take the reciprocal of the downwind flight time and the headwind flight time of the ultrasonic wave to obtain the reciprocal of the downwind flight time and the headwind flight time of the ultrasonic wave. The second calculation unit is used to subtract the reciprocal of the downwind flight time of the ultrasonic wave from the reciprocal of the upwind flight time to obtain the second calculation item. The third calculation unit is used to add the reciprocal of the downwind flight time of the ultrasonic wave to the reciprocal of the headwind flight time to obtain the third calculation item. The fourth calculation unit is used to multiply the first calculation item and the second calculation item to obtain the wind speed component; The fifth calculation unit is used to perform a multiplication calculation based on the first calculation item and the third calculation item to obtain the sound speed information; The sixth calculation unit is used to calculate the temperature information based on the sound speed information.

8. The ultrasonic four-dimensional wind field testing system according to claim 6, wherein the second processing module is characterized in that, include: The first acquisition unit is used to acquire a preset temperature threshold. The seventh calculation unit is used to calculate the average value of the temperature information to obtain the average temperature information; The eighth calculation unit is used to calculate effective path information based on the average temperature information and the preset temperature threshold, wherein the effective path information includes paths that exclude abnormal temperature values. The second processing unit is used to correct the wind speed component based on the effective path information to obtain the effective wind speed component.

9. The ultrasonic four-dimensional wind field testing system according to claim 6, wherein the calculation module is characterized in that, include: The second acquisition unit is used to acquire the unit direction vector, positioning information, and attitude information; The ninth calculation unit is used to construct a system of equations based on the effective wind speed information and the unit direction vector, and solve the equations to obtain the first wind speed information, which represents the combined wind speed of the natural wind and the platform motion. The tenth calculation unit is used to calculate based on the positioning information and the attitude information to obtain the second wind speed information, which represents the movement speed of the mobile platform. The eleventh calculation unit is used to calculate the actual wind speed based on the first wind speed information and the second wind speed information.

10. The ultrasonic four-dimensional wind field testing system according to claim 9, wherein the tenth calculation unit is characterized in that, include: The third processing unit is used to determine the first rotation sub-matrix, the second rotation sub-matrix, and the third rotation sub-matrix based on the attitude information; The third acquisition unit is used to acquire the movement speed of the mobile platform based on the positioning information; The twelfth calculation unit is used to calculate based on the first rotation submatrix, the second rotation submatrix, and the third rotation submatrix to obtain the rotation matrix; The thirteenth calculation unit is used to calculate the second wind speed information based on the rotation matrix and the movement speed of the mobile platform.

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