Method and apparatus for correcting wind speed error of multi-sea-state variable-integration wind lidar

Abstract

The present disclosure can be applied to the technical field of LIDAR. Provided are a method and apparatus for correcting a wind speed error of a multi-sea-state variable-integration wind LIDAR. The method for correcting a wind speed error of a multi-sea-state variable-integration wind LIDAR comprises: acquiring attitude data of a wind LIDAR and a signal-to-noise ratio of an echo signal; minimizing a relative error value between simulation information of a degree-of-freedom coordinate value and measurement information of the degree-of-freedom coordinate value to obtain correction information of the degree-of-freedom coordinate value; on the basis of the signal-to-noise ratio and a buoy amplitude, determining a target pulse accumulation count from a pulse accumulation count lookup table; on the basis of the target pulse accumulation count, accumulating an initial pulse power spectrum to obtain a target pulse power spectrum; on the basis of a center frequency corresponding to the maximum power density in the target pulse power spectrum and the correction information of the degree-of-freedom coordinate value, obtaining a corrected radial wind speed; and performing inversion on the basis of the corrected radial wind speed to obtain a target wind speed vector.

Description

Method and device for correcting wind speed error of multi-sea-state variable integration wind measurement laser radar TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of laser radar, and more particularly to a method and device for correcting wind speed error of multi-sea-state variable integration wind measurement laser radar. BACKGROUND

[0002] Marine wind measurement has important development significance in the fields of emergency rescue, weather monitoring, wind resource measurement, etc. In the traditional marine measurement, a wind measurement radar of a fixed platform is usually used to detect the wind field over the sea so as to obtain the wind speed of the wind field over the sea. Further, scientists use a floating wind measurement laser radar to measure the wind field over the sea. However, due to the influence of marine environmental factors, the wind field information measured by the floating wind measurement laser radar has a large error.

[0003] In the process of implementing the above-mentioned inventive concept, the inventors have found that, in the related art, due to marine environmental factors such as sea wave movement, a plurality of errors are introduced in the measurement process of the wind measurement laser radar, so that the accurate wind speed cannot be obtained by inversion. SUMMARY

[0004] In view of the above problems, the present disclosure provides a method and device for correcting wind speed error of multi-sea-state variable integration wind measurement laser radar.

[0005] According to a first aspect of the present disclosure, a method for correcting wind speed error of multi-sea-state variable integration wind measurement laser radar is provided, comprising: obtaining attitude data of the wind measurement laser radar and a signal-to-noise ratio of a return signal, wherein the attitude data comprises measurement information of a degree of freedom coordinate value and an amplitude of a buoy, and the measurement information of the degree of freedom coordinate value represents a movement coordinate value of the buoy platform in a movement degree of freedom collected by a movement sensor; performing minimum processing on a relative error value between simulated information of the degree of freedom coordinate value and the measurement information of the degree of freedom coordinate value to obtain correction information of the degree of freedom coordinate value, wherein the simulated information of the degree of freedom coordinate value is a movement coordinate value of the buoy platform in the movement degree of freedom simulated according to a buoy model; determining a target pulse accumulation number from a pulse accumulation number query table based on the signal-to-noise ratio and the amplitude of the buoy, wherein the pulse accumulation number query table is established according to historical attitude data; accumulating an initial pulse power spectrum based on the target pulse accumulation number to obtain a target pulse power spectrum, wherein the initial pulse power spectrum is obtained from a return signal of a predetermined pulse emitted by the wind measurement laser radar to the wind field over the sea; obtaining a corrected radial wind speed according to a center frequency corresponding to a maximum power density in the target pulse power spectrum and the correction information of the degree of freedom coordinate value; and performing inversion based on the corrected radial wind speed to obtain a target wind speed vector.

[0006] According to an embodiment of the present disclosure, the pulse accumulation number query table is established according to historical attitude data, comprising: obtaining a Cramer lower bound and a motion deviation according to the historical attitude data; constructing a variance of relative radial velocity according to the Cramer lower bound and the motion deviation; and performing parameterized modeling on the variance of relative radial velocity to obtain the pulse accumulation number query table.

[0007] According to an embodiment of the present disclosure, the modified radial wind speed is obtained according to the center frequency corresponding to the maximum power density in the target pulse power spectrum and the correction information of the degree of freedom coordinate value, comprising: calculating a Doppler wind speed according to the center frequency corresponding to the maximum power density in the target pulse power spectrum; and obtaining the modified radial wind speed according to the correction information of the degree of freedom coordinate value and the Doppler wind speed.

[0008] According to an embodiment of the present disclosure, the modified radial wind speed is obtained according to the correction information of the degree of freedom coordinate value and the Doppler wind speed, comprising: obtaining a yaw correction value, a pitch correction value and a roll correction value from the correction information of the degree of freedom coordinate value; obtaining a rotation matrix according to the yaw correction value, the pitch correction value and the roll correction value; obtaining a target laser direction vector coordinate according to the rotation matrix and a laser direction vector coordinate in a local coordinate system, wherein the target laser direction vector coordinate is a laser direction vector coordinate in a natural geographical reference system; and obtaining the modified radial wind speed according to the target laser direction vector coordinate and the Doppler wind speed.

[0009] According to an embodiment of the present disclosure, the modified radial wind speed is obtained according to the target laser direction vector coordinate and the Doppler wind speed, comprising: obtaining a radar speed vector, wherein the radar speed vector represents a speed vector of a wind-measuring laser radar collected by a motion sensor; and calculating the modified radial wind speed according to the target laser direction vector coordinate, the Doppler wind speed and the radar speed vector.

[0010] According to an embodiment of the present disclosure, the target wind speed vector is obtained by inverting the modified radial wind speed, comprising: inverting the modified radial wind speed based on the target laser direction vector coordinate to obtain the target wind speed vector.

[0011] According to an embodiment of the present disclosure, the simulation information of the degree-of-freedom coordinate value includes a translation degree-of-freedom coordinate simulation value and a rotation angle degree-of-freedom coordinate simulation value, and the measurement information of the degree-of-freedom coordinate value includes a translation degree-of-freedom coordinate measurement value and a rotation angle degree-of-freedom coordinate measurement value; the difference between the simulation information of the degree-of-freedom coordinate value and the measurement information of the degree-of-freedom coordinate value is minimized to obtain the correction information of the degree-of-freedom coordinate value, including: obtaining a translation degree-of-freedom relative error value according to the translation degree-of-freedom coordinate simulation value and the translation degree-of-freedom coordinate measurement value; obtaining an angle degree-of-freedom relative error value according to the rotation angle degree-of-freedom coordinate simulation value and the rotation angle degree-of-freedom coordinate measurement value; summing the translation degree-of-freedom relative error value and the angle degree-of-freedom relative error value to obtain an average relative error value; and minimizing the average relative error value to obtain the correction information of the degree-of-freedom coordinate value.

[0012] According to an embodiment of the present disclosure, the simulation information of the degree-of-freedom coordinate value is calculated according to a buoy model, including: parameterized modeling according to a buoy load and a degree-of-freedom coordinate value vector of a buoy platform to obtain the buoy model; and obtaining the simulation information of the degree-of-freedom coordinate value according to the buoy model.

[0013] The second aspect of the present disclosure provides a device for correcting wind speed error of a multi-sea-state variable integration wind-finding laser radar, which is characterized by comprising: an acquisition module configured to acquire attitude data of the wind-finding laser radar and a signal-to-noise ratio of a return signal, wherein the attitude data includes measurement information of a degree-of-freedom coordinate value and a buoy amplitude, and the measurement information of the degree-of-freedom coordinate value represents a movement coordinate value of the buoy platform in a movement degree-of-freedom acquired by a motion sensor; a minimization module configured to minimize a relative error value between simulation information of the degree-of-freedom coordinate value and the measurement information of the degree-of-freedom coordinate value to obtain correction information of the degree-of-freedom coordinate value, wherein the simulation information of the degree-of-freedom coordinate value is a movement coordinate value of the buoy platform in the movement degree-of-freedom simulated according to a buoy model; a determination module configured to determine a target pulse accumulation number from a pulse accumulation number query table based on the signal-to-noise ratio and the buoy amplitude, wherein the pulse accumulation number query table is established according to historical attitude data; an accumulation module configured to accumulate an initial pulse power spectrum based on the target pulse accumulation number to obtain a target pulse power spectrum, wherein the initial pulse power spectrum is obtained from a return signal of a predetermined pulse emitted by the wind-finding laser radar to the sea wind field; an obtaining module configured to obtain a corrected radial wind speed according to a center frequency corresponding to a maximum power density in the target pulse power spectrum and the correction information of the degree-of-freedom coordinate value; and an inversion module configured to perform inversion based on the corrected radial wind speed to obtain a target wind speed vector.

[0014] The third aspect of the present disclosure provides an electronic device, comprising: one or more processors; a memory configured to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors perform the above method.

[0015] The fourth aspect of the present disclosure also provides a computer-readable storage medium having stored thereon executable instructions that, when executed by a processor, cause the processor to perform the above method.

[0016] The fifth aspect of the present disclosure also provides a computer program product comprising a computer program which, when executed by a processor, implements the above method.

[0017] According to the method and device for correcting wind speed error of multi-sea-state variable integration wind lidar of the present disclosure, by obtaining the attitude data of the wind lidar and the signal-to-noise ratio of the echo signal, the relative error value between the measurement information of the degree of freedom coordinate value in the attitude data and the simulation information of the degree of freedom coordinate data obtained by the buoy model simulation is minimized to obtain the correction information of the degree of freedom coordinate value, then the target pulse accumulation number is determined from the pulse accumulation number query table based on the signal-to-noise ratio and the buoy amplitude, the target pulse power spectrum is obtained according to the target pulse accumulation number, the target pulse power spectrum is obtained by accumulating the target pulse power spectrum and the initial pulse power spectrum, the center frequency corresponding to the maximum power density is determined from the target pulse power spectrum, and the corrected radial wind speed is obtained according to the center frequency and the correction information of the degree of freedom coordinate value. The inversion is carried out based on the corrected radial wind speed to obtain the target wind speed vector. The multi-pulse accumulation error, parameter estimation error, attitude error and radial velocity error introduced by the sea wave motion of the wind lidar are corrected to obtain the accurate wind speed vector of the sea wind field and improve the detection accuracy of the wind lidar on the sea wind field and the error correction efficiency.

[0018] According to the embodiment of the present disclosure, since the pulse accumulation number query table is constructed according to the historical attitude data, in the process of correcting the wind speed error, only the target pulse accumulation number needs to be obtained from the pulse accumulation number query table according to the current signal-to-noise ratio and buoy amplitude, so as to set the related parameters of the pulse signal of the wind lidar according to the query table, further reduce the error introduced by the jitter of the radar platform and the pulse power spectrum, and obtain the correct speed information of the sea wind field. BRIEF DESCRIPTION OF DRAWINGS

[0019] The above and other objects, features and advantages of the present disclosure will become more apparent from the following description of embodiments of the present disclosure taken in conjunction with the accompanying drawings, in which:

[0020] FIG. 1 schematically shows an application scenario diagram of the method for correcting wind speed error of multi-sea-state variable integration wind lidar according to the embodiment of the present disclosure.

[0021] FIG. 2 schematically shows a flow chart of a method for wind speed error correction of a multi-sea-state variable integration wind lidar according to an embodiment of the present disclosure.

[0022] FIG. 3 schematically shows a flow chart of obtaining correction information of a coordinate value of a degree of freedom according to an embodiment of the present disclosure.

[0023] FIG. 4 schematically shows a schematic diagram of a coordinate frame of attitude correction according to an embodiment of the present disclosure.

[0024] FIG. 5 schematically shows a schematic diagram of a pulse accumulation number lookup table according to an embodiment of the present disclosure.

[0025] FIG. 6 schematically shows a structural block diagram of an apparatus for wind speed error correction of a multi-sea-state variable integration wind lidar according to an embodiment of the present disclosure.

[0026] FIG. 7 schematically shows a block diagram of an electronic device for a method for wind speed error correction of a multi-sea-state variable integration wind lidar according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0027] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it is to be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present disclosure. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of embodiments of the present disclosure. However, it will be apparent to one skilled in the art that one or more embodiments can be practiced without these specific details. In other instances, well-known structures and techniques have been omitted in order to avoid obscuring the concepts of the present disclosure.

[0028] The terms used herein are merely used to describe specific embodiments and are not intended to limit the present disclosure. The terms "include", "comprise" and the like used herein indicate the presence of the described features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0029] All terms used herein, including technical and scientific terms, have the same meanings as those generally understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having meanings consistent with the context of the present specification, and should not be interpreted in an idealized or excessively formal manner.

[0030] In the case of using expressions similar to "at least one of A, B, and C, etc.", it generally should be interpreted that the meaning is "at least one of A, B, or C in the group (e.g., "a system having at least one of A, B, and C" should be interpreted to include but not be limited to a system that has A alone, a system that has B alone, a system that has C alone, a system that has both A and B, a system that has both A and C, a system that has both B and C, and / or a system that has A, B, and C together, etc.).

[0031] In the technical solutions of the present disclosure, the user information (including but not limited to user personal information, user image information, user equipment information, such as location information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved are information and data authorized by the user or authorized by all parties, and the collection, storage, use, processing, transmission, provision, disclosure and application of related data comply with relevant laws, regulations and standards, necessary security measures are taken, public order and good customs are not violated, and corresponding operation portals are provided for users to choose authorization or refusal.

[0032] Marine wind measurement has important development significance in emergency rescue, weather monitoring, wind resource measurement and other fields. The construction cost of the wind measurement tower used in the traditional marine wind measurement is high, and the detection range is small. Therefore, researchers develop a marine floating laser radar that can measure offshore wind fields. The marine floating laser radar has high spatiotemporal resolution and high-precision atmospheric wind field detection capability, can continuously observe the sea-air boundary layer wind field for a long time, is easy to maintain, has relatively simple construction, has small negative impact on the ocean, and is widely used in various scenes.

[0033] However, due to the influence of marine environmental factors, the marine floating wind measurement laser radar will produce errors with the movement of the sea waves, resulting in a large error in the wind speed obtained by inverting the radar platform affected by the sea wave movement. In the development process, researchers found that in the related art, due to marine environmental factors such as sea wave movement, radial velocity error, multi-pulse accumulation error, parameter estimation error and attitude correction error are introduced in the measurement process of the wind measurement laser radar, so that the precise wind speed cannot be inverted.

[0034] In view of this, the embodiment of the present disclosure provides a method for correcting wind speed error of a multi-sea-state variable integration wind-finding laser radar, characterized in that the method comprises: acquiring attitude data of the wind-finding laser radar and a signal-to-noise ratio of a return signal, wherein the attitude data comprises measurement information of a degree-of-freedom coordinate value and a buoy amplitude, and the measurement information of the degree-of-freedom coordinate value represents a movement coordinate value of a buoy platform in a movement degree of freedom collected by a movement sensor; performing minimum processing on a relative error value between simulation information of the degree-of-freedom coordinate value and the measurement information of the degree-of-freedom coordinate value to obtain correction information of the degree-of-freedom coordinate value, wherein the simulation information of the degree-of-freedom coordinate value is a movement coordinate value of the buoy platform in the movement degree of freedom simulated according to a buoy model; determining a target pulse accumulation number from a pulse accumulation number query table based on the signal-to-noise ratio and the buoy amplitude, wherein the pulse accumulation number query table is established according to historical attitude data; accumulating an initial pulse power spectrum based on the target pulse accumulation number to obtain a target pulse power spectrum, wherein the initial pulse power spectrum is obtained from a return signal of a predetermined pulse emitted by the wind-finding laser radar to a sea wind field; obtaining a corrected radial wind speed according to a center frequency corresponding to a maximum power density in the target pulse power spectrum and the correction information of the degree-of-freedom coordinate value; and performing inversion based on the corrected radial wind speed to obtain a target wind speed vector.

[0035] FIG. 1 schematically shows an application scenario diagram of a method for correcting wind speed error of a multi-sea-state variable integration wind-finding laser radar according to an embodiment of the present disclosure.

[0036] As shown in FIG. 1, the application scenario according to this embodiment can comprise a first radar device 101, an observation object 102, and a receiver 103. The first radar device 101 is used to send an electromagnetic wave signal to the observation object 102, which can be a wind field to be measured.

[0037] A user can use the first radar device 101 to interact with the observation object 102 and the receiver 103 to receive or send signals, etc.

[0038] The receiver 103 can be a receiver for receiving various return signals, such as receiving and processing signals sent by the first radar device 101 (only as an example). The receiver 103 can analyze and process the received signal data, etc., and feed back the processing results (such as web pages, information, or data, etc. obtained or generated according to user requests) to the terminal device.

[0039] It should be noted that the method for correcting wind speed error of wind measurement laser radar with variable integration of multiple sea states provided in the embodiments of the present disclosure can generally be executed by the receiver 103. Accordingly, the device for correcting wind speed error of wind measurement laser radar with variable integration of multiple sea states provided in the embodiments of the present disclosure can generally be arranged in the receiver 103. The method for correcting wind speed error of wind measurement laser radar with variable integration of multiple sea states provided in the embodiments of the present disclosure can also be executed by a receiver or a cluster of receivers different from the receiver 103 and capable of communicating with the first radar device 101 and / or the receiver 103. Accordingly, the device for correcting wind speed error of wind measurement laser radar with variable integration of multiple sea states provided in the embodiments of the present disclosure can also be arranged in a receiver or a cluster of receivers different from the receiver 103 and capable of communicating with the first radar device 101 and / or the receiver 103.

[0040] It should be understood that the number of radar devices, observation objects and receivers in FIG. 1 is only illustrative. According to the implementation needs, there can be any number of radar devices, observation objects and receivers.

[0041] The method for correcting wind speed error of wind measurement laser radar with variable integration of multiple sea states provided in the embodiments of the present disclosure will be described in detail below based on the scenario described in FIG. 1 through FIG. 5.

[0042] FIG. 2 schematically shows a flowchart of the method for correcting wind speed error of wind measurement laser radar with variable integration of multiple sea states according to the embodiments of the present disclosure.

[0043] As shown in FIG. 2, the method for correcting wind speed error of wind measurement laser radar with variable integration of multiple sea states of this embodiment includes operations S210-S260.

[0044] In operation S210, the attitude data of the wind measurement laser radar and the signal-to-noise ratio of the echo signal are obtained.

[0045] According to the embodiments of the present disclosure, the attitude data includes measurement information of degree-of-freedom coordinate values and buoy amplitude, and the measurement information of degree-of-freedom coordinate values represents the motion coordinate values of the buoy platform in the motion degrees of freedom collected by the motion sensor.

[0046] According to the embodiments of the present disclosure, the wind measurement laser radar includes six degrees of freedom, which are respectively the north direction of the earth along the north-east-geodetic navigation coordinate system, the east direction of the earth along the north-east-geodetic navigation coordinate system, the downward direction perpendicular to the earth's surface along the north-east-geodetic navigation coordinate system, the rotation angle around the north direction of the earth along the north-east-geodetic navigation coordinate system, the rotation angle around the east direction of the earth along the north-east-geodetic navigation coordinate system, and the rotation angle around the downward direction perpendicular to the earth's surface along the north-east-geodetic navigation coordinate system.

[0047] According to an embodiment of the present disclosure, the measurement information of the degree-of-freedom coordinate values collected by the motion sensor includes a velocity of the buoy platform in the north direction of the north-east-geodetic navigation coordinate system, a velocity of the buoy platform in the east direction of the north-east-geodetic navigation coordinate system, a velocity of the buoy platform in the vertical downward direction of the north-east-geodetic navigation coordinate system, an angle of rotation of the buoy platform about the north direction of the north-east-geodetic navigation coordinate system, an angle of rotation of the buoy platform about the east direction of the north-east-geodetic navigation coordinate system, and an angle of rotation of the buoy platform about the vertical downward direction of the north-east-geodetic navigation coordinate system.

[0048] According to an embodiment of the present disclosure, the wind-measuring laser radar can emit a predetermined number of pulse signals to the offshore wind field, obtain a pulse power spectrum corresponding to each pulse signal according to a plurality of echo signals corresponding to the plurality of pulse signals, and accumulate all the pulse power spectra to calculate an average signal-to-noise ratio.

[0049] In operation S220, a relative error value between the simulation information of the degree-of-freedom coordinate values and the measurement information of the degree-of-freedom coordinate values is minimized to obtain correction information of the degree-of-freedom coordinate values.

[0050] According to an embodiment of the present disclosure, the simulation information of the degree-of-freedom coordinate values is a motion coordinate value of the buoy platform in a motion degree of freedom simulated according to a buoy model.

[0051] According to an embodiment of the present disclosure, the simulation information of the degree-of-freedom coordinate values includes a velocity of a simulated buoy platform in the north direction of the north-east-geodetic navigation coordinate system, a velocity of the simulated buoy platform in the east direction of the north-east-geodetic navigation coordinate system, a velocity of the simulated buoy platform in the vertical downward direction of the north-east-geodetic navigation coordinate system, an angle of rotation of the simulated buoy platform about the north direction of the north-east-geodetic navigation coordinate system, an angle of rotation of the simulated buoy platform about the east direction of the north-east-geodetic navigation coordinate system, and an angle of rotation of the simulated buoy platform about the vertical downward direction of the north-east-geodetic navigation coordinate system, obtained by simulating the buoy platform according to the buoy model.

[0052] According to an embodiment of the present disclosure, by obtaining the correction information of the degree-of-freedom coordinate values, an abnormal value in the attitude data can be corrected to correct the attitude correction error and obtain correct attitude data.

[0053] In operation S230, a target pulse accumulation number is determined from the pulse accumulation number query table based on the signal-to-noise ratio and the buoy amplitude.

[0054] According to an embodiment of the present disclosure, the pulse accumulation number query table is established according to historical attitude data.

[0055] According to an embodiment of the present disclosure, the target pulse accumulation number can be represented as the number of pulse signals that the laser wind measurement radar can be regarded as transmitting in the same direction for power spectrum accumulation. The laser wind measurement radar can be regarded as transmitting pulses in the same direction can be represented as, within a predetermined pulse accumulation time, the direction of the laser emitted by the radar can be regarded as unchanged. Although the laser is always following the platform jitter, and switching direction (horizontal projection turns 90°), within this predetermined pulse accumulation time, the laser beam emitted by the radar does not switch direction, and because the predetermined pulse accumulation time is too short, the jitter of the laser beam can be ignored.

[0056] For example, the signal-to-noise ratio is 0.15, the buoy amplitude is 0.1 m, and the target pulse accumulation number transmitted in the direction of the earth's north is determined to be 300 based on the signal-to-noise ratio and the buoy amplitude from the pulse accumulation number lookup table.

[0057] In operation S240, the initial pulse power spectrum is accumulated based on the target pulse accumulation number to obtain a target pulse power spectrum.

[0058] According to an embodiment of the present disclosure, the wind measurement laser radar can transmit a plurality of pulse signals to the offshore wind field, each pulse signal has a corresponding pulse power spectrum, and the initial pulse power spectrum is the pulse power spectrum corresponding to any pulse signal, that is, the initial pulse power spectrum is obtained according to a single pulse signal emitted by the wind measurement laser radar to the offshore wind field.

[0059] According to an embodiment of the present disclosure, based on the target pulse accumulation number, from the plurality of initial pulse power spectrums corresponding to the plurality of pulse signals sent by the wind measurement laser radar to the offshore wind field, a target pulse accumulation number of initial pulse power spectrums are obtained, and the target pulse accumulation number of initial pulse power spectrums are accumulated to obtain a target pulse power spectrum.

[0060] According to an embodiment of the present disclosure, the target pulse power spectrum can be represented as the initial pulse power spectrum corresponding to the pulse signal accumulated by the target pulse accumulation number.

[0061] For example, the target pulse accumulation number is 30, and the wind measurement laser radar has sent 100 pulse signals to the offshore wind field, then 30 initial pulse power spectrums corresponding to 30 pulse signals are obtained, and the above 30 initial pulse power spectrums are accumulated to obtain a target pulse power spectrum.

[0062] In operation S250, the corrected radial wind speed is obtained according to the center frequency corresponding to the maximum power density in the target pulse power spectrum and the correction information of the degree of freedom value.

[0063] According to an embodiment of the present disclosure, the maximum power density is determined from the target pulse power spectrum, and the corrected radial wind speed is obtained according to the center frequency corresponding to the maximum power density and the correction information of the degree of freedom value.

[0064] According to the embodiment of the present disclosure, by obtaining the target pulse power spectrum and the corrected radial wind speed, the motion error and the estimation error corresponding to the pulse power spectrum and the radial wind speed error are corrected, so as to avoid the interference of the multi-pulse accumulation error, the parameter estimation error and the radial wind speed error on the radial wind speed inversion.

[0065] In operation S260, the inversion is performed based on the corrected radial wind speed to obtain the target wind speed vector.

[0066] According to the embodiment of the present disclosure, by performing inversion on the correct corrected radial wind speed obtained by eliminating the error, the correct target wind speed vector of the offshore wind field is obtained.

[0067] According to the embodiment of the present disclosure, by obtaining the attitude data of the wind measurement laser radar, the difference between the measurement information of the degree of freedom value in the attitude data and the simulation information of the degree of freedom data simulated by the buoy model is minimized to obtain the correction information of the degree of freedom value, then the target pulse accumulation number is determined from the pulse accumulation number query table based on the signal-to-noise ratio in the attitude data and the buoy amplitude, the target pulse power spectrum is obtained according to the target pulse accumulation number, the target pulse power spectrum is obtained by accumulating the initial pulse power spectrum and the plurality of pulse power spectrums, the center frequency corresponding to the maximum pulse power is determined from the target pulse power spectrum, the corrected radial wind speed is obtained according to the center frequency and the correction information of the degree of freedom value, and the inversion is performed based on the corrected radial wind speed to obtain the target wind speed vector. The multi-pulse accumulation error, the parameter estimation error, the attitude error and the radial velocity error introduced by the sea wave motion of the wind measurement laser radar are corrected, so as to obtain the accurate wind speed vector of the offshore wind field and improve the detection accuracy and the correction efficiency of the wind measurement laser radar on the offshore wind field.

[0068] According to the embodiment of the present disclosure, and since the pulse accumulation number query table is constructed according to the historical attitude data, in the process of correcting the wind speed error, the target pulse accumulation number can be obtained from the pulse accumulation number query table according to the current signal-to-noise ratio and buoy amplitude, so as to set the related parameters of the pulse signal of the wind measurement laser radar according to the query table, and further avoid the error introduced by the jitter of the radar platform and the pulse power spectrum, so as to obtain the correct wind speed information of the offshore wind field.

[0069] According to the embodiment of the present disclosure, the simulation information of the degree of freedom coordinate value is calculated according to the buoy model, including:

[0070] According to the embodiment of the present disclosure, the buoy model is obtained by parameterizing modeling according to the degree of freedom coordinate value vector of the buoy load and the buoy platform.

[0071] According to embodiments of the present disclosure, the buoy loads can include a first order wave frequency load, a second order wave frequency load, a wind load, a current load, and other loads, wherein the second order wave frequency load includes a high frequency load and a low frequency load.

[0072] According to embodiments of the present disclosure, the degree of freedom coordinate numerical vector includes a translation of the buoy platform in a north direction of a north-east- earth navigation coordinate system, a translation of the buoy platform in an east direction of the north-east-earth navigation coordinate system, a translation of the buoy platform in a downward direction perpendicular to a surface of the earth of the north-east-earth navigation coordinate system, a rotation of the buoy platform about the north direction of the north-east-earth navigation coordinate system, a rotation of the buoy platform about the east direction of the north-east-earth navigation coordinate system, and a rotation of the buoy platform about the downward direction perpendicular to the surface of the earth of the north-east-earth navigation coordinate system.

[0073] According to embodiments of the present disclosure, a dynamic differential equation is established for the buoy platform according to the buoy loads, the mass matrix, the damping matrix, the stiffness matrix, and the degree of freedom coordinate numerical vector, and the dynamic differential equation is shown in Equation (1).

[0074] wherein F1may represent the first order wave frequency load, F2may represent the second order wave frequency load, F wind may represent the wind load, F current may represent the current load, F others may represent the other loads, μmay represent the mass matrix, μ'may represent the added mass matrix, λmay represent the damping matrix, wherein the damping includes radiation damping and viscous damping, Kmay represent the stiffness matrix, wherein the stiffness includes hydrostatic stiffness and mooring system stiffness, Xmay represent the degree of freedom coordinate numerical vector, may represent a first order derivative of the degree of freedom coordinate numerical vector, may represent a second order derivative of the degree of freedom coordinate numerical vector.

[0075] According to embodiments of the present disclosure, Xmay represent X=[a, b, c, roll, pitch, yaw], wherein a may represent the translation of the buoy platform in the north direction of the north-east-earth navigation coordinate system, b may represent the translation of the buoy platform in the east direction of the north-east-earth navigation coordinate system, c may represent the translation of the buoy platform in the downward direction perpendicular to the surface of the earth of the north-east-earth navigation coordinate system, roll may represent the rotation of the buoy platform about the north direction of the north-east-earth navigation coordinate system, pitch may represent the rotation of the buoy platform about the east direction of the north-east-earth navigation coordinate system, and yaw may represent the rotation of the buoy platform about the downward direction perpendicular to the surface of the earth of the north-east-earth navigation coordinate system.

[0076] According to embodiments of the present disclosure, may represent wherein, may be represented as a velocity of the buoy platform in the earth north direction under the north-east-geodetic navigation coordinate system, may be represented as a velocity of the buoy platform in the earth east direction under the north-east-geodetic navigation coordinate system, may be represented as a velocity of the buoy platform in the earth surface vertical downward direction under the north-east-geodetic navigation coordinate system, may be represented as an angular velocity of the buoy platform around the earth north direction under the north-east-geodetic navigation coordinate system, may be represented as an angular velocity of the buoy platform around the earth east direction under the north-east-geodetic navigation coordinate system, may be represented as an angular velocity of the buoy platform around the earth surface vertical downward direction under the north-east-geodetic navigation coordinate system.

[0077] According to an embodiment of the present disclosure, may be represented as wherein, may be represented as an acceleration of the buoy platform in the earth north direction under the north-east-geodetic navigation coordinate system, may be represented as an acceleration of the buoy platform in the earth east direction under the north-east-geodetic navigation coordinate system, may be represented as an acceleration of the buoy platform in the earth surface vertical downward direction under the north-east-geodetic navigation coordinate system, may be represented as an angular acceleration of the buoy platform around the earth north direction under the north-east-geodetic navigation coordinate system, may be represented as an angular acceleration of the buoy platform around the earth east direction under the north-east-geodetic navigation coordinate system, may be represented as an angular acceleration of the buoy platform around the earth surface vertical downward direction under the north-east-geodetic navigation coordinate system.

[0078] According to an embodiment of the present disclosure, a parametric model of a differential equation of the buoy platform is obtained to obtain a buoy model.

[0079] According to an embodiment of the present disclosure, simulation information of the degree of freedom coordinate values is obtained according to the buoy model.

[0080] According to an embodiment of the present disclosure, since the buoy model is obtained by parametric modeling according to the buoy load and the degree of freedom coordinate value vector, the simulation information of the degree of freedom coordinate values is obtained according to the obtained buoy model, the model of the buoy platform is established, and the simulation information of the degree of freedom coordinate values is obtained according to the model, so as to process the measurement information of the degree of freedom coordinate values collected by the motion sensor to obtain accurate correction information of the degree of freedom coordinate values, thereby correcting the attitude data.

[0081] FIG. 3 schematically shows a flowchart of obtaining correction information of the degree of freedom coordinate value according to an embodiment of the present disclosure.

[0082] As shown in FIG. 3, the obtaining correction information of the degree of freedom coordinate value of the embodiment includes operations S310-S340.

[0083] According to an embodiment of the present disclosure, the difference between the simulation information of the degree of freedom coordinate value and the measurement information of the degree of freedom coordinate value is minimized to obtain the correction information of the degree of freedom coordinate value, including:

[0084] According to an embodiment of the present disclosure, the simulation information of the degree of freedom coordinate value includes a translation degree of freedom simulation value and a rotation angle degree of freedom coordinate simulation value, and the measurement information of the degree of freedom coordinate value includes a translation degree of freedom coordinate measurement value and a rotation angle degree of freedom coordinate measurement value.

[0085] In operation S310, a translation degree of freedom relative error value is obtained according to the translation degree of freedom coordinate simulation value and the translation degree of freedom coordinate measurement value.

[0086] According to an embodiment of the present disclosure, the translation degree of freedom coordinate simulation value can include a simulation of the northward translation of the buoy platform in the north-east-geodetic navigation coordinate system, a simulation of the eastward translation of the buoy platform in the north-east-geodetic navigation coordinate system, and a simulation of the downward translation of the buoy platform in the north-east-geodetic navigation coordinate system.

[0087] According to an embodiment of the present disclosure, the translation degree of freedom coordinate measurement value can include a translation of the northward translation of the buoy platform in the north-east-geodetic navigation coordinate system collected by the motion sensor, a translation of the eastward translation of the buoy platform in the north-east-geodetic navigation coordinate system collected by the motion sensor, and a translation of the downward translation of the buoy platform in the north-east-geodetic navigation coordinate system collected by the motion sensor.

[0088] According to an embodiment of the present disclosure, the translation degree of freedom relative error value is obtained by subtracting the translation degree of freedom coordinate simulation value from the translation degree of freedom coordinate measurement value, and the calculation formula (2) of the translation degree of freedom relative error value is as follows.

[0089] Wherein d can represent the translation degree of freedom relative error value, ve can represent the translation degree of freedom coordinate measurement value, and ve' can represent the translation degree of freedom coordinate simulation value.

[0090] For example, the translation of the simulation buoy platform in the north direction of the north-east terrestrial navigation coordinate system is 10 m, the translation of the simulation buoy platform in the east direction of the north-east terrestrial navigation coordinate system is 50 m, the translation of the simulation buoy platform in the downward direction perpendicular to the earth's surface in the north-east terrestrial navigation coordinate system is 30 m, the translation of the buoy platform in the north direction of the north-east terrestrial navigation coordinate system collected by the motion sensor is 20 m, the translation of the buoy platform in the east direction of the north-east terrestrial navigation coordinate system collected by the motion sensor is 70 m, and the translation of the buoy platform in the downward direction perpendicular to the earth's surface in the north-east terrestrial navigation coordinate system collected by the motion sensor is 30 m. According to formula (2), the relative error value of the translation freedom degree in the north direction of the earth is 0.25, the relative error value of the translation freedom degree in the east direction of the earth is 0.08, and the relative error value of the translation freedom degree perpendicular to the earth's surface is 0. The relative error value of the translation freedom degree is 0.33 by adding the relative error value of the translation freedom degree in the north direction of the earth, the relative error value of the translation freedom degree in the east direction of the earth, and the relative error value of the translation freedom degree perpendicular to the earth's surface.

[0091] In operation S320, the angle freedom degree relative error value is obtained according to the rotation angle freedom degree coordinate simulation value and the rotation angle freedom degree coordinate measurement value.

[0092] According to an embodiment of the present disclosure, the rotation angle freedom degree coordinate simulation value can include a rotation angle of the simulation buoy platform around the north direction of the north-east terrestrial navigation coordinate system, a rotation angle of the simulation buoy platform around the east direction of the north-east terrestrial navigation coordinate system, and a rotation angle of the simulation buoy platform around the downward direction perpendicular to the earth's surface in the north-east terrestrial navigation coordinate system.

[0093] According to an embodiment of the present disclosure, the rotation angle freedom degree coordinate measurement value can include a rotation angle of the buoy platform around the north direction of the north-east terrestrial navigation coordinate system collected by the motion sensor, a rotation angle of the buoy platform around the east direction of the north-east terrestrial navigation coordinate system collected by the motion sensor, and a rotation angle of the buoy platform around the downward direction perpendicular to the earth's surface in the north-east terrestrial navigation coordinate system collected by the motion sensor.

[0094] According to an embodiment of the present disclosure, the rotation angle freedom degree coordinate measurement value is subtracted from the rotation angle freedom degree coordinate simulation value to obtain the angle freedom degree relative error value. The calculation formula (3) of the angle freedom degree relative error value is as follows.

[0095] Wherein, q can represent the angle freedom degree relative error value, qe can represent the rotation angle freedom degree coordinate measurement value, and qe' can represent the rotation angle freedom degree coordinate simulation value.

[0096] For example, the simulated buoy platform rotates around the north of the earth in the north-east terrestrial navigation coordinate system by 10°, the simulated buoy platform rotates around the north of the earth in the north-east terrestrial navigation coordinate system by 50°, the simulated buoy platform rotates around the east of the earth in the north-east terrestrial navigation coordinate system by 30°, the motion sensor collects the rotation angle of the buoy platform around the east of the earth in the north-east terrestrial navigation coordinate system as 40°, the motion sensor collects the rotation angle of the buoy platform around the downward direction perpendicular to the earth's surface in the north-east terrestrial navigation coordinate system as 80°, the motion sensor collects the rotation angle of the buoy platform around the downward direction perpendicular to the earth's surface in the north-east terrestrial navigation coordinate system as 60°, according to formula (3), the relative error value of the angle of freedom of the north of the earth is 0.56, the relative error value of the angle of freedom of the east of the earth is 0.14, and the relative error value of the angle of freedom of the downward direction perpendicular to the earth's surface is 0.25, the relative error value of the angle of freedom of the north of the earth, the relative error value of the angle of freedom of the east of the earth, and the relative error value of the angle of freedom of the downward direction perpendicular to the earth's surface are added to obtain the relative error value of the angle of freedom of 0.95.

[0097] In operation S330, the translation freedom relative error value and the angle freedom relative error value are summed to obtain an average relative error value.

[0098] For example, the translation freedom relative error value is 0.33, and the angle freedom relative error value is 0.95, and the average relative error value is 1.28.

[0099] In operation S340, the average relative error value is minimized to obtain the correction information of the freedom coordinate value.

[0100] According to an embodiment of the present disclosure, by adjusting the parameters of the buoy model, the average relative error value obtained by calculating the simulation information of the freedom coordinate value obtained according to the buoy model and the measurement information of the freedom coordinate value is minimized.

[0101] According to an embodiment of the present disclosure, in the case where the obtained average relative error value is the minimum value, it is determined that the simulation information of the freedom coordinate value corresponding to the minimum average relative error value at this time is the correction information of the freedom coordinate value.

[0102] According to an embodiment of the present disclosure, the relative error value of the translational freedom degree is obtained by simulating the translational freedom degree coordinate value and measuring the translational freedom degree coordinate value, the relative error value of the angle freedom degree is obtained by simulating the angle freedom degree coordinate value and measuring the angle freedom degree coordinate value, the average relative error value is obtained by summing the relative error value of the translational freedom degree and the relative error value of the angle freedom degree, and the simulation information of the freedom degree coordinate value corresponding to the minimum average relative error value is determined as the correction information of the freedom degree coordinate value by minimizing the average relative error value, so as to realize the correction of the attitude data by kinematic analysis of the buoy model and elimination of the abnormal values in the attitude data caused by the measurement error of the motion sensor.

[0103] According to an embodiment of the present disclosure, the pulse accumulation number query table is established according to historical attitude data, and includes:

[0104] According to an embodiment of the present disclosure, the Cramer-Rao lower bound and the motion deviation are obtained according to the historical attitude data.

[0105] According to an embodiment of the present disclosure, the Cramer-Rao lower bound and the motion deviation are obtained by simulating the historical attitude data, so as to construct the pulse accumulation number query table.

[0106] According to an embodiment of the present disclosure, the variance of the relative radial velocity is constructed according to the Cramer-Rao lower bound and the motion deviation.

[0107] According to an embodiment of the present disclosure, the variance of the relative radial velocity can be calculated according to formula (4).

[0108] wherein, the Cramer-Rao lower bound can be represented as, the motion deviation can be represented as, the variance of the relative radial velocity can be represented as, the wavelength of the emitted laser can be represented as, the pulse repetition frequency can be represented as, s the sampling frequency can be represented as, the normalized second moment of the Gaussian power spectrum can be represented as, the number of sampling points in a single range gate can be represented as, the pulse accumulation number can be represented as, the signal-to-noise ratio can be represented as, the amplitude of the buoy can be represented as, r the radial acceleration of the buoy at the measurement time t can be represented as, the pulse repetition frequency can be represented as, r the pulse repetition frequency can be represented as.

[0109] According to an embodiment of the present disclosure, the pulse accumulation number query table is obtained by parameterizing the variance of the relative radial velocity.

[0110] According to an embodiment of the present disclosure, the abscissa of the pulse accumulation number query table is the signal-to-noise ratio, and the ordinate is the amplitude of the buoy.

[0111] According to the embodiment of the present disclosure, in the case of obtaining the pulse accumulation number query table, the target pulse accumulation number corresponding to the current moment can be determined from the pulse accumulation number query table according to the signal-to-noise ratio and the buoy amplitude calculated in the pulse power spectrum.

[0112] According to the embodiment of the present disclosure, by obtaining the Cramer-Rao lower bound and the motion deviation according to the historical attitude data, constructing the variance of the relative radial velocity according to the Cramer-Rao lower bound and the motion deviation, and parameterizing modeling the variance of the relative radial velocity, the pulse accumulation number query table is obtained, which realizes accurate determination of the number of pulse signals for power spectrum accumulation. By establishing the pulse accumulation number query table, the accurate radar operating parameters are queried from the table based on the pulse accumulation number query table, thereby reducing the error and improving the detection accuracy of the offshore wind field.

[0113] According to the embodiment of the present disclosure, the modified radial wind speed is obtained according to the center frequency corresponding to the maximum power density in the target pulse power spectrum and the correction information of the degree of freedom coordinate value, including:

[0114] According to the embodiment of the present disclosure, the Doppler wind speed is calculated according to the center frequency corresponding to the maximum power density in the target pulse power spectrum.

[0115] According to the embodiment of the present disclosure, the maximum power density is determined from the target pulse power spectrum, the center frequency corresponding to the maximum power density is determined according to the maximum power density, and the Doppler wind speed is calculated according to the center frequency.

[0116] According to the embodiment of the present disclosure, the accurate Doppler wind speed is calculated from the target pulse power spectrum, so as to correct the parameter estimation error associated with the integration time of the target pulse power spectrum and the multi-pulse accumulation error introduced due to the fact that the Doppler frequency shifts corresponding to the integration of multiple pulse power spectrums are not the same.

[0117] According to the embodiment of the present disclosure, the modified radial wind speed is obtained according to the correction information of the degree of freedom coordinate value and the Doppler wind speed.

[0118] According to the embodiment of the present disclosure, by calculating the Doppler wind speed according to the center frequency corresponding to the maximum power density in the target pulse power spectrum, and then obtaining the modified radial wind speed according to the correction information of the degree of freedom coordinate value and the Doppler wind speed, the multi-pulse accumulation error and the Doppler estimation error introduced by the pulse power spectrum are corrected. The correct target pulse power spectrum is obtained by determining the target pulse accumulation number, and then the correct Doppler wind speed is calculated according to the target pulse power spectrum. The modified radial wind speed is calculated according to the correction information of the degree of freedom coordinate value and the modified Doppler wind speed, which eliminates the deviation caused by the radial component of the velocity of the buoy platform to the beams of different transmission directions, and improves the detection accuracy and precision of the wind-measuring laser radar.

[0119] According to an embodiment of the present disclosure, the corrected radial wind speed is obtained according to the correction information of the degree of freedom coordinate values and the Doppler wind speed, and the correction information of the degree of freedom coordinate values includes a yaw correction value, a pitch correction value and a roll correction value.

[0120] According to an embodiment of the present disclosure, the yaw correction value, the pitch correction value and the roll correction value are obtained from the correction information of the degree of freedom coordinate values.

[0121] According to an embodiment of the present disclosure, the correction information of the degree of freedom coordinate values includes a translation degree of freedom correction value and a rotation angle degree of freedom correction value, the translation degree of freedom correction value includes an earth north translation degree of freedom correction value, an earth east translation degree of freedom correction value and a vertical earth surface downward translation degree of freedom correction value, and the rotation angle degree of freedom correction value includes the yaw correction value, the pitch correction value and the roll correction value, wherein the yaw correction value can be a yaw angle of the buoy platform around a vertical earth surface downward direction in a north east earth navigation coordinate system, the pitch correction value can be a pitch angle of the buoy platform around an earth east direction in the north east earth navigation coordinate system, and the roll correction value can be a roll angle of the buoy platform around an earth north direction in the north east earth navigation coordinate system.

[0122] According to an embodiment of the present disclosure, the rotation matrix is obtained according to the yaw correction value, the pitch correction value and the roll correction value.

[0123] According to an embodiment of the present disclosure, the rotation matrix can be calculated according to formula (5), and the formula (5) is as follows.

[0124] Wherein, m can represent the rotation matrix.

[0125] According to an embodiment of the present disclosure, the target laser direction vector coordinates are obtained according to the rotation matrix and the laser direction vector coordinates in the local coordinate system.

[0126] According to an embodiment of the present disclosure, the target laser direction vector coordinates are laser direction vector coordinates in a natural geographical reference system.

[0127] According to an embodiment of the present disclosure, the target laser direction vector coordinates can be calculated according to formula (6), and the formula (6) is as follows.

[0128] Wherein, may represent the target laser direction vector coordinates, may represent the laser direction vector coordinates in the local coordinate system.

[0129] According to an embodiment of the present disclosure, the target laser direction vector coordinates can also be represented as , that is

[0130] According to an embodiment of the present disclosure, the corrected radial wind speed is obtained according to the target laser direction vector coordinate and the Doppler wind speed.

[0131] According to an embodiment of the present disclosure, the yaw correction value, the pitch correction value and the roll correction value are obtained from the correction information of the freedom degree coordinate value obtained by correction, and then the rotation matrix is obtained according to the above freedom degree coordinate correction value, the target laser direction vector coordinate in the natural geographical reference system is obtained by using the rotation matrix and the laser direction vector coordinate in the local coordinate system, the conversion of the laser direction vector coordinates in different coordinate systems is realized, and then the corrected radial wind speed is obtained according to the target laser direction vector coordinate and the Doppler wind speed, so that the deviation caused by the radial component of the speed of the buoy platform is eliminated, the correct radial wind speed is obtained, and the detection precision and accuracy of the wind measurement laser radar are improved.

[0132] According to an embodiment of the present disclosure, the corrected radial wind speed is obtained according to the target laser direction vector coordinate and the Doppler wind speed, including:

[0133] According to an embodiment of the present disclosure, the radar speed vector is obtained.

[0134] According to an embodiment of the present disclosure, the radar speed vector represents the first derivative of the translation vector of the wind measurement laser radar collected by the motion sensor.

[0135] According to an embodiment of the present disclosure, the corrected radial wind speed is calculated according to the target laser direction vector coordinate, the Doppler wind speed and the radar speed vector.

[0136] According to an embodiment of the present disclosure, the corrected radial wind speed can be calculated according to formula (7), and formula (7) is as follows.

[0137] wherein, The corrected radial wind speed can be represented as v r The Doppler wind speed can be represented as v The target laser direction vector coordinate can be represented as v The radar speed vector can be represented as v

[0138] According to an embodiment of the present disclosure, by obtaining the radar speed vector collected by the motion sensor, the corrected radial wind speed is calculated according to the target laser direction vector coordinate, the Doppler wind speed and the radar speed vector, so that the correct corrected radial wind speed is obtained to eliminate the radial velocity error and obtain the accurate wind speed vector.

[0139] According to an embodiment of the present disclosure, the target wind speed vector is obtained by inverting the corrected radial wind speed, including:

[0140] According to an embodiment of the present disclosure, the target radial wind speed is obtained by inverting the corrected radial wind speed based on the target laser direction vector coordinates.

[0141] According to an embodiment of the present disclosure, the laser wind measurement radar can emit pulse signals in multiple directions to detect the sea wind field. In the case of changing the laser beam direction at the moment of the floating platform swaying, the target pulse cumulative number corresponding to the same emission direction needs to be determined, the corresponding number of pulse power spectra is emitted according to the target pulse cumulative number corresponding to each direction, so as to calculate the Doppler wind speed and the corrected radial wind speed in each direction, and the target wind speed vector is obtained by inverting the multiple corrected radial wind speeds according to the target laser direction vector coordinates.

[0142] According to an embodiment of the present disclosure, in the case that the obtained corrected radial wind speed is not less than two, the target wind speed vector can be inverted according to the corrected radial wind speed. Since the laser wind measurement radar can emit pulse signals in three directions under the natural geographical coordinate system to detect the sea wind field, the corrected radial wind speed in three directions can be obtained. In the case that the corrected radial wind speed in the vertical direction is close to zero, i.e. the wind speed in the vertical direction is much smaller than that in the horizontal direction, the pulse signals can be emitted in two directions under the natural geographical coordinate system to detect the sea wind field, so as to obtain the corrected radial wind speed in two directions. Then, the target wind speed vector is inverted according to the corrected radial wind speed obtained in the above two cases.

[0143] According to an embodiment of the present disclosure, in the case that the obtained corrected radial wind speed is not less than two, the target wind speed vector is obtained by dividing the corrected radial wind speed by the target laser direction vector coordinates, so as to obtain the correct target wind speed vector of the sea wind field in the case of eliminating the multi-pulse cumulative error, the Doppler frequency shift estimation error, the attitude data error and the radial velocity error introduced by the laser wind measurement radar, and improve the detection precision and accuracy of the wind measurement laser radar.

[0144] FIG. 4 schematically shows a schematic diagram of a coordinate frame for attitude correction according to an embodiment of the present disclosure.

[0145] As shown in FIG. 4, a coordinate frame for attitude correction is shown, which includes a north-east-geodetic navigation coordinate system and a local coordinate system. N, E, S, W and D represent the north of the earth, the east of the earth, the south of the earth, the west of the earth and the vertical direction of the earth downward in the north-east-geodetic navigation coordinate system, respectively. x, y and z represent the x-axis, the y-axis and the z-axis in the local coordinate system, respectively. Roll represents the roll correction value of the buoy, pitch represents the pitch correction value of the buoy, and yaw represents the yaw correction value of the buoy. and may be represented as two laser direction vector coordinates in different directions, and The elevation angles are the same in the local coordinate system, so they present a conical shape in the figure and their projections on the xy plane in the local coordinate system differ by 90 degrees, and the elevation angle is 60 degrees.

[0146] FIG. 5 schematically shows a diagram of a pulse accumulation number lookup table according to an embodiment of the present disclosure.

[0147] As shown in FIG. 5, a pulse accumulation number lookup table is shown, the abscissa of the pulse accumulation number lookup table represents a signal-to-noise ratio, and the ordinate represents a buoy amplitude. The target pulse accumulation number is determined from the pulse accumulation number lookup table according to the signal-to-noise ratio and the buoy amplitude.

[0148] FIG. 6 schematically shows a structural block diagram of a device for wind speed error correction of a multi-sea-state variable integration wind-finding laser radar according to an embodiment of the present disclosure.

[0149] As shown in FIG. 6, the device for wind speed error correction of a multi-sea-state variable integration wind-finding laser radar applied to a receiver of this embodiment includes an acquisition module 610, a minimization module 620, a determination module 630, an accumulation module 640, an obtaining module 650, and an inversion module 660.

[0150] The acquisition module 610 is configured to acquire attitude data of the wind-finding laser radar and a signal-to-noise ratio of the echo signal, wherein the attitude data includes measurement information of a degree of freedom coordinate value and a buoy amplitude, and the measurement information of the degree of freedom coordinate value represents a movement coordinate value of the buoy platform on a movement degree of freedom acquired by a motion sensor. The acquisition module 610 can be configured to perform the operation S210 described in the foregoing, and will not be described here again.

[0151] The minimization module 620 is configured to perform a minimization process on a relative error value between simulated information of the degree of freedom coordinate value and the measurement information of the degree of freedom coordinate value, to obtain correction information of the degree of freedom coordinate value, wherein the simulated information of the degree of freedom coordinate value is a movement coordinate value of the buoy platform on a movement degree of freedom simulated according to a buoy model. The minimization module 620 can be configured to perform the operation S220 described in the foregoing, and will not be described here again.

[0152] The determination module 630 is configured to determine a target pulse accumulation number from a pulse accumulation number lookup table based on the signal-to-noise ratio and the buoy amplitude, wherein the pulse accumulation number lookup table is established according to historical attitude data. The determination module 630 can be configured to perform the operation S230 described in the foregoing, and will not be described here again.

[0153] The accumulation module 640 is configured to accumulate the initial pulse power spectrum based on a target pulse accumulation number to obtain a target pulse power spectrum, where the initial pulse power spectrum is obtained according to echo signals of predetermined pulses emitted by the wind lidar to the sea wind field. The accumulation module 640 can be configured to perform the operation S240 described above, and details are not repeated here.

[0154] The obtaining module 650 is configured to obtain a corrected radial wind speed according to the center frequency corresponding to the maximum power density in the target pulse power spectrum and the correction information of the degree of freedom coordinate value. The obtaining module 650 can be configured to perform the operation S250 described above, and details are not repeated here.

[0155] The inversion module 660 is configured to perform inversion based on the corrected radial wind speed to obtain a target wind speed vector. The inversion module 660 can be configured to perform the operation S260 described above, and details are not repeated here.

[0156] According to an embodiment of the present disclosure, the determination module 630 includes a first acquisition sub-module, a first construction sub-module, and a first obtaining sub-module.

[0157] The first acquisition sub-module is configured to acquire a Cramér-Rao lower bound and a motion bias according to historical attitude data.

[0158] The first construction sub-module is configured to construct a variance of a relative radial velocity according to the Cramér-Rao lower bound and the motion bias.

[0159] The first obtaining sub-module is configured to perform parameterized modeling on the variance of the relative radial velocity to obtain a pulse accumulation number query table.

[0160] According to an embodiment of the present disclosure, the obtaining module 650 includes a first calculation sub-module and a first obtaining sub-module.

[0161] The first calculation sub-module is configured to calculate a Doppler wind speed according to a center frequency corresponding to a maximum power density in the target pulse power spectrum.

[0162] The first obtaining sub-module is configured to obtain a corrected radial wind speed according to the correction information of the degree of freedom coordinate value and the Doppler wind speed.

[0163] According to an embodiment of the present disclosure, the first obtaining sub-module includes a first acquisition unit, a first obtaining unit, a second obtaining unit, and a third obtaining unit.

[0164] The first acquisition unit is configured to acquire a yaw correction value, a pitch correction value, and a roll correction value from the correction information of the degree of freedom coordinate value.

[0165] The first obtaining unit is configured to obtain a rotation matrix according to the yaw correction value, the pitch correction value, and the roll correction value.

[0166] The second obtaining unit is configured to obtain a target laser direction vector coordinate according to the rotation matrix and the laser direction vector coordinate in the local coordinate system, where the target laser direction vector coordinate is a laser direction vector coordinate in a natural geographic reference system.

[0167] The third obtaining unit is configured to obtain a corrected radial wind speed according to the target laser direction vector coordinate and the Doppler wind speed.

[0168] According to an embodiment of the present disclosure, the third obtaining unit comprises a first obtaining subunit and a first calculating subunit.

[0169] The first obtaining subunit is configured to obtain a radar speed vector, where the radar speed vector represents a speed vector of the wind-measuring lidar collected by the motion sensor.

[0170] The first calculating subunit is configured to calculate the corrected radial wind speed according to the target laser direction vector coordinate, the Doppler wind speed, and the radar speed vector.

[0171] According to an embodiment of the present disclosure, the inversion module 660 comprises a first inversion sub-module.

[0172] The first inversion sub-module is configured to perform inversion on the corrected radial wind speed based on the target laser direction vector coordinate to obtain a target wind speed vector.

[0173] According to an embodiment of the present disclosure, the minimization module 620 comprises a second obtaining sub-module, a third obtaining sub-module, a second calculating sub-module, and a first minimization sub-module.

[0174] The second obtaining sub-module is configured to obtain a translational degree-of-freedom relative error value according to a translational degree-of-freedom coordinate simulation value and a translational degree-of-freedom coordinate measurement value.

[0175] The third obtaining sub-module is configured to obtain an angular degree-of-freedom relative error value according to a rotational degree-of-freedom coordinate simulation value and a rotational degree-of-freedom coordinate measurement value.

[0176] The second calculating sub-module is configured to perform summation calculation on the translational degree-of-freedom relative error value and the angular degree-of-freedom relative error value to obtain an average relative error value.

[0177] The first minimization sub-module is configured to perform minimization processing on the average relative error value to obtain correction information of the degree-of-freedom coordinate value.

[0178] According to an embodiment of the present disclosure, the minimization module 620 comprises a first modeling sub-module and a fourth obtaining sub-module.

[0179] The first modeling submodule is configured to perform parameterized modeling according to the buoy load and the degree-of-freedom coordinate numerical vector of the buoy platform to obtain a buoy model.

[0180] The fourth obtaining submodule is configured to obtain simulation information of the degree-of-freedom coordinate numerical vector according to the buoy model.

[0181] According to embodiments of the present disclosure, any number of the modules of the obtaining module 610, the minimizing module 620, the determining module 630, the accumulating module 640, the obtaining module 650, and the inverting module 660 can be combined in one module, or any one of the modules can be split into multiple modules. Alternatively, at least part of the function of one or more of the modules can be combined with at least part of the function of other modules, and implemented in one module. According to embodiments of the present disclosure, at least one of the obtaining module 610, the minimizing module 620, the determining module 630, the accumulating module 640, the obtaining module 650, and the inverting module 660 can be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on chip, a system on board, a system on package, an application specific integrated circuit (ASIC), or any other reasonable manner of integrating or packaging a circuit, etc. hardware or firmware, or implemented in any one of software, hardware, and firmware or in a proper combination of any number of them. Alternatively, at least one of the obtaining module 610, the minimizing module 620, the determining module 630, the accumulating module 640, the obtaining module 650, and the inverting module 660 can be at least partially implemented as a computer program module that can perform corresponding functions when the computer program module is run.

[0182] FIG. 7 schematically shows a block diagram of an electronic device for a method of multi-sea-state variable-integration wind lidar wind speed error correction according to embodiments of the present disclosure.

[0183] As shown in FIG. 7, the electronic device according to embodiments of the present disclosure includes a processor 701 that can perform various appropriate actions and processes according to programs stored in a read-only memory (ROM) 702 or programs loaded from a storage portion 708 into a random access memory (RAM) 703. The processor 701 can include, for example, a general-purpose microprocessor (such as a CPU), an instruction set processor, and / or a related chipset, and / or a special-purpose microprocessor (such as an application specific integrated circuit (ASIC)), and the like. The processor 701 can also include an on-board memory for cache use. The processor 701 can include a single processing unit or multiple processing units for performing different actions of the method processes according to embodiments of the present disclosure.

[0184] In the RAM 703, various programs and data required for the operation of the electronic device are stored. The processor 701, the ROM 702, and the RAM 703 are connected to each other via the bus 704. The processor 701 performs various operations of the method flow according to the embodiments of the present disclosure by executing the programs in the ROM 702 and / or the RAM 703. It should be noted that the programs can also be stored in one or more memories other than the ROM 702 and the RAM 703. The processor 701 can also perform various operations of the method flow according to the embodiments of the present disclosure by executing the programs stored in the one or more memories.

[0185] According to an embodiment of the present disclosure, the electronic device can further include an input / output (I / O) interface 705, which is also connected to the bus 704. The electronic device 700 can further include one or more of the following components connected to the I / O interface 705: an input part 706 including a keyboard, a mouse, etc.; an output part 707 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage part 708 including a hard disk, etc.; and a communication part 709 including a network interface card such as a LAN card, a modem, etc. The communication part 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to the I / O interface 705 as necessary. A removable medium 711 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc. is mounted on the drive 710 as necessary, so that a computer program read therefrom is installed in the storage part 708 as necessary.

[0186] The present disclosure also provides a computer readable storage medium, which can be included in the device / apparatus / system described in the above embodiments; or can exist separately without being assembled into the device / apparatus / system. The above computer readable storage medium carries one or more programs, when the one or more programs are executed, the method according to the embodiments of the present disclosure is implemented.

[0187] According to an embodiment of the present disclosure, the computer readable storage medium can be a nonvolatile computer readable storage medium, for example, can include, but is not limited to, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any appropriate combination thereof. In the present disclosure, the computer readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus, or device. For example, according to an embodiment of the present disclosure, the computer readable storage medium can include the ROM 702 and / or the RAM 703 described above and / or one or more memory other than the ROM 702 and the RAM 703.

[0188] Embodiments of the present disclosure also include a computer program product, which includes a computer program containing program codes for executing the methods shown in the flowcharts. When the computer program product is run in a computer system, the program codes are used to make the computer system implement the method of multi-sea-state variable integration wind lidar wind speed error correction provided by the embodiments of the present disclosure.

[0189] The above functions defined in the system / device of the embodiments of the present disclosure are performed when the computer program is executed by the processor 701. According to an embodiment of the present disclosure, the system, device, module, unit, etc. described above can be implemented by computer program modules.

[0190] In one embodiment, the computer program can rely on a tangible storage medium such as an optical storage device, a magnetic storage device, etc. In another embodiment, the computer program can also be transmitted, distributed, and downloaded in the form of a signal on a network medium, and be downloaded and installed through the communication part 709, and / or installed from the detachable medium 711. The program codes contained in the computer program can be transmitted by any appropriate network medium, including but not limited to wireless, wired, etc., or any appropriate combination thereof.

[0191] In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 709, and / or installed from the detachable medium 711. When the computer program is executed by the processor 701, the above functions defined in the system of the embodiments of the present disclosure are performed. According to an embodiment of the present disclosure, the system, device, apparatus, module, unit, etc. described above can be implemented by computer program modules.

[0192] Those skilled in the art will appreciate that features recited in the various embodiments and / or claims of the present disclosure can be combined or / and integrated in various combinations, even if such combinations have not been recited in the present disclosure. In particular, the features recited in the various embodiments and / or claims of the present disclosure can be combined and / or integrated in various combinations, without departing from the spirit and teachings of the present disclosure. All these combinations fall within the scope of the present disclosure.

Claims

1. A method for wind speed error correction of a multi-sea-state variable integration wind lidar, wherein, The method comprises: acquiring attitude data of a wind lidar and a signal-to-noise ratio of a return signal, wherein the attitude data comprises measurement information of coordinate values of degrees of freedom and a buoy amplitude, and the measurement information of coordinate values of degrees of freedom represents movement coordinate values of a buoy platform in movement degrees of freedom collected by a movement sensor; performing minimum processing on a relative error value between simulation information of coordinate values of degrees of freedom and the measurement information of coordinate values of degrees of freedom, to obtain correction information of coordinate values of degrees of freedom, wherein the simulation information of coordinate values of degrees of freedom is movement coordinate values of the buoy platform in movement degrees of freedom simulated according to a buoy model; determining a target pulse accumulation number from a pulse accumulation number query table based on the signal-to-noise ratio and the buoy amplitude, wherein the pulse accumulation number query table is established according to historical attitude data; performing accumulation on an initial pulse power spectrum based on the target pulse accumulation number, to obtain a target pulse power spectrum, wherein the initial pulse power spectrum is obtained according to return signals of predetermined pulses emitted by the wind lidar to a sea wind field; obtaining a corrected radial wind speed according to a central frequency corresponding to a maximum power density in the target pulse power spectrum and the correction information of coordinate values of degrees of freedom; and performing inversion based on the corrected radial wind speed, to obtain a target wind speed vector.

2. The method of claim 1, wherein, The pulse accumulation number query table is established according to historical attitude data, and comprises: acquiring a Cramer-Rao lower bound and a movement deviation according to the historical attitude data; constructing a variance of relative radial velocity according to the Cramer-Rao lower bound and the movement deviation; performing parameterized modeling on the variance of relative radial velocity, to obtain the pulse accumulation number query table.

3. The method of claim 1, wherein, The method of obtaining a corrected radial wind speed according to a central frequency corresponding to a maximum power density in the target pulse power spectrum and the correction information of coordinate values of degrees of freedom comprises: calculating a Doppler wind speed according to the central frequency corresponding to the maximum power density in the target pulse power spectrum; and obtaining the corrected radial wind speed according to the correction information of coordinate values of degrees of freedom and the Doppler wind speed.

4. The method of claim 3, wherein, The method of obtaining the corrected radial wind speed according to the correction information of coordinate values of degrees of freedom and the Doppler wind speed comprises: acquiring a yaw correction value, a pitch correction value and a roll correction value from the correction information of coordinate values of degrees of freedom; obtaining a rotation matrix according to the yaw correction value, the pitch correction value and the roll correction value; obtaining a target laser direction vector coordinate according to the rotation matrix and a laser direction vector coordinate in a local coordinate system, wherein the target laser direction vector coordinate is a laser direction vector coordinate in a natural geographical reference system; obtaining the corrected radial wind speed according to the target laser direction vector coordinate and the Doppler wind speed.

5. The method of claim 4, wherein, The method of obtaining the corrected radial wind speed according to the target laser direction vector coordinate and the Doppler wind speed comprises: acquiring a radar speed vector, wherein the radar speed vector represents a speed vector of the wind lidar collected by the movement sensor; The modified radial wind speed is calculated according to the target laser direction vector coordinate, the Doppler wind speed, and the radar speed vector.

6. The method of claim 1, wherein, The inversion based on the modified radial wind speed obtains a target wind speed vector, including: The inversion of the modified radial wind speed based on the target laser direction vector coordinate obtains the target wind speed vector.

7. The method of claim 1, wherein, The simulation information of the degree of freedom coordinate value includes a translation degree of freedom coordinate simulation value and a rotation angle degree of freedom coordinate simulation value, and the measurement information of the degree of freedom coordinate value includes a translation degree of freedom coordinate measurement value and a rotation angle degree of freedom coordinate measurement value; The difference between the simulation information of the degree of freedom coordinate value and the measurement information of the degree of freedom coordinate value is minimized to obtain the correction information of the degree of freedom coordinate value, including: The translation degree of freedom relative error value is obtained according to the translation degree of freedom coordinate simulation value and the translation degree of freedom coordinate measurement value; The angle degree of freedom relative error value is obtained according to the rotation angle degree of freedom coordinate simulation value and the rotation angle degree of freedom coordinate measurement value; The translation degree of freedom relative error value and the angle degree of freedom relative error value are summed to obtain an average relative error value; The average relative error value is minimized to obtain the correction information of the degree of freedom coordinate value.

8. The method of claim 1, wherein, The simulation information of the degree of freedom coordinate value is calculated according to a buoy model, including: The buoy model is parameterized according to a buoy load and a degree of freedom coordinate value vector of the buoy platform to obtain the buoy model; The simulation information of the degree of freedom coordinate value is obtained according to the buoy model.

9. A device for wind speed error correction of a multi-sea-state variable-integration wind lidar, wherein, Including: An acquisition module is configured to acquire attitude data of a wind measurement laser radar and a signal-to-noise ratio of a return signal, wherein the attitude data includes measurement information of a degree of freedom coordinate value and a buoy amplitude, and the measurement information of the degree of freedom coordinate value represents a movement coordinate value of a buoy platform in a movement degree of freedom acquired by a movement sensor; A minimization module is configured to minimize a relative error value between simulation information of a degree of freedom coordinate value and measurement information of the degree of freedom coordinate value to obtain correction information of the degree of freedom coordinate value, wherein the simulation information of the degree of freedom coordinate value is a movement coordinate value of the buoy platform in the movement degree of freedom simulated according to a buoy model; A determination module is configured to determine a target pulse accumulation number from a pulse accumulation number query table based on the signal-to-noise ratio and the buoy amplitude, wherein the pulse accumulation number query table is established according to historical attitude data; An accumulation module is configured to accumulate an initial pulse power spectrum based on the target pulse accumulation number to obtain a target pulse power spectrum, wherein the initial pulse power spectrum is obtained from a return signal of a predetermined pulse emitted by the wind measurement laser radar to a sea wind field; A obtaining module is configured to obtain a modified radial wind speed according to a center frequency corresponding to a maximum power density in the target pulse power spectrum and the correction information of the degree of freedom coordinate value; An inversion module is configured to perform inversion based on the modified radial wind speed to obtain a target wind speed vector. 10.An electronic device, comprising: one or more processors; a storage configured to store one or more programs, wherein the one or more programs, when executed by the one or more processors, enable the one or more processors to perform the method according to any one of claims 1-8.

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