CN102385072B - Meteorology guidance method and system applied to airborne landing and air drop - Google Patents
Meteorology guidance method and system applied to airborne landing and air drop Download PDFInfo
- Publication number
- CN102385072B CN102385072B CN201110230631.9A CN201110230631A CN102385072B CN 102385072 B CN102385072 B CN 102385072B CN 201110230631 A CN201110230631 A CN 201110230631A CN 102385072 B CN102385072 B CN 102385072B
- Authority
- CN
- China
- Prior art keywords
- module
- measurement mechanism
- relay
- measurement
- data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
The invention discloses a meteorology guidance method and a system applied to airborne landing and air drop. The system is characterized in that a measurement device, a relay device and a receiving device form a mobile communication network; a meteorology parameter measurement device can be used for probing meteorology parameters, such as local horizontal wind speed and direction, atmospheric pressure, humiture and the like in the air of the airborne landing and air drop areas; the data are transferred to a follow-up plane which is 100km far away from the airborne landing and air drop areas and carries substances or people; and the follow-up plane can analyze the meteorology data to regulate flying routes and accurately and quickly carry out airborne landing and air drop. The meteorology guidance method applied to the airborne landing and the air drop, which adopts the meteorology guidance device, has the advantages of strong timeliness and high maneuverability and is suitable for meteorological observation for the complex geographical environments.
Description
Technical field
The meteorological automatic detection method and the corresponding meteorological guidance system that the present invention relates to a kind of remote region property, belong to wireless sensor network technology field.
Background technology
Airborne air-drop is personnel and goods and materials to be deployed to ground traffic tools be rapidly difficult to one of effective means of arrival area.In recent years, in the accidents such as Wenchuan earthquake, Zhouqu County's mud-stone flow disaster and the frequent chemical plant blast occurring and toxic gas leakage, disaster relief supplies, apparatus are even speedily carried out rescue work personnel often by dropping or airborne mode arrives disaster generation area.But due to the impact of Dropping Zone meteorologic factor, especially wind direction and wind velocity, causes air-dropped material to depart from objectives often, makes disaster relief supplies can not bring into play due effect, and strong variations in flow also can threaten airborne rescue personnel's life security.As can be seen here, the meteorologic parameter in small area, if the weather informations such as horizontal wind direction and wind velocity, sea level elevation, atmospheric pressure and humiture are assurance personnel and the accurately call parameter of air-drop of goods and materials.
In the meteorologic parameter of airborne air-drop, within the scope of 3000 meters of sea level elevations, surface level wind direction, wind speed information are the airborne Key Meteorological Factors of air-drop, being directly connected to airborne air-drop accuracy and security.
Present stage, the observation procedure of localized region overhead surface level wind direction and wind velocity mainly contains two kinds, the one, by the meteorological guidance element sending in advance, carry meteorological observation equipment, as balloon or radar, search coverage overhead meteorologic parameter is measured, then by guiding librarian use communication facilities, weather information is circulated a notice of to the airborne command centre of dropping.The advantage of this observation procedure is ageing all higher with accuracy, and still, at dangerous area, the method is difficult to ensure observation personnel's life security.The 2nd, by fixing weather station, local meteorology to be observed, the precision that the method is measured and weather station are to the distance dependent in air-drop airhead, and weather station is far away apart from airhead, precision is poorer, and weather station lacks movability, the method is also not suitable for the observation of dangerous area meteorology.
Wind direction and wind velocity measuring technique mainly comprises: satellite, radar, weather station, the measurement of mechanical turbine formula and the measurement of ultrasound wave wind direction and wind velocity etc.
Remote sensing weather satellite is in the weather information in observation earth overhead, exoatmosphere.This method is applicable to weather forecast on a large scale, to the low precision that interior wind direction and wind velocity is observed among a small circle, is difficult to obtain every 100 meters of each layering surface level wind direction and wind velocity information, can not meet the requirement of airborne airdrop mission.
Meteorological windfinding radar, by launched microwave radio signal, by the analysis to its reflection wave, can be surveyed the atmospheric information in 10～100 kilometers of exterior domain overhead.By radargrammetry wind direction and wind velocity, its ratio of precision is higher, also the wind direction and wind velocity of the every 100 meters of each layering surface levels of Observable.But radar equipment volume ratio is larger, and maneuverability is poor, be difficult to adapt to the meteorological observation of complex area.
Mechanical turbine formula anemoscope principle of work is: under the effect of wind-force, turbo blade pivots, and the blade rotational speed power size of following the wind is directly proportional, rotating speed is got an electric shock and is triggered by electric contact or light, output square wave, and calculate rotating speed by counter, by respective algorithms calculation of wind speed.The calculating of wind direction is by the empennage at afterbody, and the variation of box haul makes the rotation of axis, by sensor and electronic compass, and output wind direction.Mechanical turbine anemometer system architecture is simple, the scope that tests the speed is large, and relevant technology is also comparatively ripe, and product is more, and the wind direction and wind velocity that is used for surface weather station is measured.But this method is mainly used in the wind direction and wind velocity of fixed horizontal plane and measures, when mounting plane unsteady attitude, when producing or rolling, measurement result is affected by mechanical wear easily, data error is larger, and the method needs a certain size startup wind speed, when measuring in the situation that wind speed is less, its data accuracy and reliability are all poor.
Ultrasound wave wind direction and wind velocity is measured, and is to utilize sound transmission characteristics to measure wind direction and wind velocity.Ultrasound wave velocity of propagation in air is subject to air velocity, i.e. the impact of wind speed, and in the time of with the wind, velocity of propagation is fast, slow in the time of against the wind, utilizes the time difference characteristic of ultrasonic propagation, can measure wind direction and wind velocity.Ultrasound wave wind direction and wind velocity measuring instrument equipment is light, instrument does not have rotatable parts, thereby does not have mechanical wearing and tearing yet, can overcome mechanical type anemometer rotating shaft wearing and tearing and the measuring error that causes, can measure any direction, arbitrarily angled wind speed component, start wind speed smaller.Britain GILL company and German De Tu company have corresponding ultrasonic wind speed and direction product to put into operation, and still, at home, ultrasound wave wind direction and wind velocity measuring technique is also immature, lack practicality product.
Ultrasound wave wind direction and wind velocity measuring instrument also needs surface level to support, and when surface level changes, because measurement data can not reflect the true wind direction and wind velocity of surface level, easily produces error.Similar with mechanical turbine anemometer, ultrasound wave wind direction and wind velocity measuring instrument can not directly apply to the measurement of aerial different levels wind direction and wind velocity.
Summary of the invention
For the problems referred to above, the present invention proposes the meteorological automated induction systems of the airborne air-drop of a kind of hand throwing type.
The present invention overcomes the technical matters that prior art exists, a kind of meteorological bootstrap technique and system that is applied to airborne air-drop is provided, utilize method of the present invention and system and device, can in airborne process, carry out the measurement of the meteorologic parameters such as surface level wind speed, wind direction, atmospheric pressure and geographic position, receiver beyond being transferred to 100 kilometers by mobile communications network on aircraft, make follow-up supply dropper aircraft can analyze weather data, adjust flight road row, drop from the air accurately and rapidly, drop.
Be applied to a meteorological bootstrap technique for airborne air-drop, utilize the mobile communications network being formed by measurement mechanism, relay and receiving trap, it is characterized in that including the following step: step 1, on aircraft, drop measurement mechanism and relay simultaneously; Step 2, measurement mechanism comprise horizontal wind direction and wind velocity, humiture, sea level elevation, atmospheric weather data and send it to relay in airborne process set a distance measurement; The weather data that step 3, relay receive step 2 is forwarded to carry-on receiving trap after arranging packing; The weather data that step 4, receiving trap receive step 3 is carried out meteorologic analysis and is arranged also the airborne air-drop of guiding accordingly.
Described step 3 includes the right to use of following sub-step: step 3-1, measurement mechanism application wireless channel; Step 3-2, obtaining after the right to use of wireless channel, measurement mechanism sends a RTS frame to relay, and request communicates and is connected with relay; Step 3-3, relay receive after the RTS request of measurement mechanism, to measurement mechanism, send CTS command frame; If step 3-4 measurement mechanism does not receive the CTS command frame that relay sends, return and re-execute step 3-2; Step 3-5, measurement mechanism receive after the CTS command frame that relay sends, and start to send data to relay; Step 3-6, relay be in the data of receiving that measurement mechanism is sent, and check data correct after, to measurement mechanism, send ack msg acknowledgement frame; Step 3-7, measurement mechanism, receiving after the ack msg acknowledgement frame that relay is sent, complete a data transfer between measurement mechanism and relay.
Described step 3-1 includes following sub-step: step 3-1-1, before measurement mechanism is prepared to communicate by letter with relay, first on communication channel, carry out carrier monitoring, intercept the whether free time of channel; Step 3-1-2, when measurement mechanism detects channel idle, do not send immediately data, adopt " binary exponential backoff algorithm " time delay one section of back off time, start backoff counter, start countdown; If it is occupied that step 3-1-3 detects channel, suspend backoff counter, and keep the value of counter constant, and whether continue to intercept channel idle; Step 3-1-4, when again channel idle being detected, backoff counter countdown again on the basis of original count value; Step 3-1-5, when the count value of the backoff counter of measurement mechanism reduces to zero, measurement mechanism has obtained the right to use of wireless channel.
Realize a kind of meteorological guidance system that is applied to airborne air-drop of said method, by measurement mechanism, relay and receiving trap, form mobile communications network, described measurement mechanism includes the first control module, wind speed and direction is measured and correction module, first memory, a GPS, the first mobile communication module, atmospheric pressure and sea level elevation measurement module, temperature and humidity measurement module, the first power supply module; Wherein, wind direction and wind velocity measurement and correction module, first memory, the first mobile communication module, temperature and humidity measurement module, a GPS and atmospheric pressure and height above sea level measurement module are all connected to the first control module; The first power supply module all has to connect with other module powers.Described relay comprises antenna, the second control module, second memory, the second mobile communication module, power amplifier, the 2nd GPS, second source supply module; The second mobile communication module, second memory and the 2nd GPS module are all connected to the second control module; Second source supply module all has to connect with the second control module, second memory, the second mobile communication module, power amplifier, the 2nd GPS powers.Described measurement mechanism and described relay are realized signal communication by transmitting and receiving, and described relay and described receiving trap are realized signal communication by transmitting and receiving.
Described wind speed and direction is measured and correction module comprises symmetrical two pairs of ultrasonic transducer module, three-dimensional compass, the 3rd control module, the supportive device of placing in the direction of the four corners of the world; Two pairs of ultrasonic transducer module are all connected with the 3rd control module with three-dimensional compass; Three-dimensional compass is positioned at the center origin position of ultrasonic transducer module, and its north orientation indication point points to the north orientation of north and south longitudinal axis.
Described the 3rd control module comprises the delivery unit of the sending and receiving of converting unit, the sound wave of the sound wave of two pairs of ultrasonic transducer module and electric wave conversion, the measuring unit of sonic transmissions time measurement, measure-controlling unit, resultant wind velocity wind direction and the computing unit of proofreading and correct of three-dimensional compass azimuth, the angle of pitch, roll angle.
The second mobile communication module in the first mobile communication module in described measurement mechanism and described relay has same frequency in data communication process;
Described the first mobile communication module, the second mobile communication module have 433MHz, 868MHz, tri-of 915MHz can select frequency.
Described measurement mechanism and described relay adopt starshaped net topology composition mobile communications network.
A kind of meteorological guidance system that is applied to airborne air-drop involved in the present invention, the quantity of described measurement mechanism is 5-20.
A kind of meteorological bootstrap technique and system tool that is applied to airborne air-drop of the present invention has the following advantages:
1, adopt meteorologic parameter measurement mechanism of the present invention, can survey the meteorologic parameters such as overhead, ground, airborne dropping ground local horizontal wind speed and direction, atmospheric pressure, humiture, and these data are delivered to beyond 100 kilometers, carry material or personnel's follow-up aircraft, follow-up aircraft can be by analyzing these weather datas, adjust flight path, drop from the air accurately and rapidly, drop.
2, adopt a kind of meteorological bootstrap technique that is applied to airborne air-drop of the present invention, ageing strong, maneuverability is high, is applicable to the meteorological observation of complicated geographical environment.
Accompanying drawing explanation
Fig. 1 measurement mechanism structural representation of the present invention;
Fig. 2 relay structural representation of the present invention;
The electronic structure schematic diagram of Fig. 3 wind speed and direction measurement of the present invention and correction module;
The structure vertical view of Fig. 4 wind speed and direction measurement of the present invention and correction module;
The azimuthal angle beta schematic diagram of the wind direction that Fig. 5 ultrasonic transducer module records;
The three-dimensional compass azimuth schematic diagram of Fig. 6;
The angle of pitch and the roll angle schematic diagram of the three-dimensional compass of Fig. 7;
The workflow diagram of Fig. 8 measurement mechanism of the present invention;
The transmission control frame form that Fig. 9 the present invention adopts;
The data frame format that Figure 10 the present invention adopts;
The horizontal wind direction and wind velocity distribution schematic diagram that Figure 11 adopts apparatus of the present invention to measure.
Wherein:
1, measurement mechanism; 2, relay;
1-1, wind speed and direction are measured and correction module; 1-2, the first control module;
1-3, first memory; 1-4, a GPS;
1-5, the first mobile communication module; 1-6, atmospheric pressure and sea level elevation measurement module;
1-7, temperature and humidity measurement module; 1-8, the first power supply module;
2-1, antenna; 2-2, the second control module;
2-3, second memory; 2-4, the second mobile communication module;
2-5, the 2nd GPS; 2-6, second source supply module;
2-7, power amplifier; 3, the first ultrasonic transducer module;
3.1, the first ultrasonic probe; 4, the second ultrasonic transducer module
4.1, the second ultrasonic probe; 5, the 3rd ultrasonic transducer module;
5.1, the 3rd ultrasonic probe; 6, the 4th ultrasonic transducer module;
6.1, the 4th ultrasonic probe; 7, the 3rd control module;
8, three-dimensional compass; 9, bracing or strutting arrangement;
β: the position angle of wind direction; α: the position angle that three-dimensional compass records;
θ: the angle of pitch that three-dimensional compass records; γ: the roll angle that three-dimensional compass records;
Embodiment
The meteorological guidance system of the airborne air-drop of one involved in the present invention forms radio mobile self-organizing network by multiple measurement mechanisms and relay, adopt parachute to drop measurement mechanism and relay, within the scope of 3000 meters of height above sea level, measurement mechanism can realize the measurement of carrying out the weather datas such as wind direction and wind velocity, humiture and the atmospheric pressure of the every 100 meters of surface levels of vertical range in landing process, measurement mechanism radio communication radius is in 1 kilometer range.Relay can be realized and forward the measured data of measurement mechanism extremely to 100 kilometers of receivers in addition, and relay also can be used as the reference location point of the airborne air-drop of follow-up aircraft after parachuting is landed.
Measurement mechanism is constructed as shown in Figure 1, measurement mechanism comprises the first control module 1-2, wind speed and direction is measured and correction module 1-1, first memory 1-3, a GPS 1-4, the first mobile communication module 1-5, atmospheric pressure and sea level elevation measurement module 1-6, temperature and humidity measurement module 1-7, the first power supply module 1-8.Wherein, wind speed and direction measurement and correction module 1-1, temperature and humidity measurement module 1-7, a GPS 1-4 and atmospheric pressure and height measurement module 1-6 above sea level are connected to the first control module 1-2 by serial ports; The first mobile communication module 1-5 is connected with the first control module 1-2 by high-speed synchronous serial port interface SPI.The first control module 1-2, wind speed and direction is measured and correction module 1-1, first memory 1-3, a GPS 1-4, the first mobile communication module 1-5, atmospheric pressure are all connected with the first power supply module 1-8 with sea level elevation measurement module 1-6, temperature and humidity measurement module 1-7, and the first power supply module 1-8 is to powering with upper module.Atmospheric pressure measures with the sea level elevation in height measurement module 1-6 above sea level the sea level elevation sensor adopting take atmospheric pressure as parameter, and the error range of every 100 meters of height is not more than 5 meters.
The wind speed and direction measurement and correction module of measurement mechanism mainly comprises three parts, i.e. two pairs of ultrasonic wave transducer modules 3, 4, 5, 6, three-dimensional compass 8, the 3rd control module 7, the electronic structure of wind speed and direction measurement and correction module as shown in Figure 3, two pairs of ultrasonic wave transducer modules 3, 4, 5, 6 are connected with the 3rd control module 7 with three-dimensional compass 8, the 3rd control module 7 is responsible for starting north and south, the work of ultrasonic transducer module on two different directions of thing, controlling their mode of operation, i.e. transmitting or reception, measure ultrasound wave in north and south, travel-time back and forth in two mutually perpendicular directions of thing.The 3rd control module is also responsible for starting three-dimensional compass work, and receives the measurement data of three-dimensional compass.The structural drawing of wind direction and wind velocity measurement module of the present invention is referring to Fig. 4, and the two pairs of ultrasonic wave transducer modules 3,4,5,6 and three-dimensional compass 8 are positioned on a bracing or strutting arrangement 9, and the 3rd control module 7 is placed on the below of bracing or strutting arrangement 9.The ultrasonic probe of a pair of ultrasonic wave transducer module, the first ultrasonic probe 3.1 and the second ultrasonic probe 4.1 are fixed on the North and South direction longitudinal axis of setting in bracing or strutting arrangement plane, and longitudinal axis forward points to the positive north; Another ultrasonic probe to ultrasonic wave transducer module, the 3rd ultrasonic probe 5.1 and 6.1 of the 4th ultrasonic probes are fixed on east-west direction transverse axis, and transverse axis forward points to east.First ultrasonic probe 3.1 in north and south, the second ultrasonic probe 4.1, the 3rd ultrasonic probe 5.1 of thing, the 4th ultrasonic probe 6.1 are all symmetrical and place, between two pairs of ultrasonic probes, distance is each other d centimetre, and the direction joint of the ultrasonic probe of north and south, east-west direction is true origin.The north orientation indication point B of three-dimensional compass 8 is on the North and South direction longitudinal axis, and direction energized north is to the first sonac module 3.
The course of work and principle that wind speed and direction measurement and correction module involved in the present invention is carried out measuring wind speed and correction can be described below:
Wind direction and wind velocity measurement module adopts ultrasound wave to carry out measuring wind, and in calm situation, ultrasonic propagation velocity is certain, and when having wind, the speed of ultrasonic propagation can be superimposed with wind speed, in the time of with the wind, and ultrasonic velocity V
s=ultrasonic velocity V when calm
c+ wind speed V
w, in the time of against the wind, ultrasonic velocity V
s=ultrasonic velocity V when calm
c-wind speed V
w, therefore the travel-time is relatively long against the wind.Wind direction and wind velocity measurement module is in air-drop decline process, and because being subject to the impact of external environment, the very difficult supporting plane that keeps is parallel positive northern with surface level and longitudinal axis sensing.
The present invention utilizes the relation between ultrasound wave and wind speed, when measurement mechanism is when declining, the wind direction and wind velocity measurement and correction module of measurement mechanism starts startup work, during measuring wind, can measure and obtain the north and south arranging wherein, thing orthogonal directions two is to hyperacoustic time t12 propagating back and forth between ultrasonic probe, t21, t34 and t43, wherein: the first ultrasonic probe in North and South direction, ultrasonic propagation time measured between the second ultrasonic probe is respectively t12, t21, the 3rd ultrasonic probe on east-west direction, between the 4th ultrasonic probe, measured ultrasonic propagation time is respectively t34 and t43, by formula
Can obtain the wind speed component V in North and South direction
xwith the wind speed component V on east-west direction
y, by V
xand V
ycan synthetic be supported air speed value V in plane and the azimuthal angle beta of wind direction, as shown in Figure 5, azimuthal angle beta is to depart from the angle of direct north.
In order to obtain surface level wind direction and wind velocity value, can utilize the positive north of three-dimensional compass indication, and adopt the 3rd control module to proofread and correct ultrasonic wind speed and wind direction observed reading.As shown in Figure 4, by the nominal dot B of three-dimensional compass, i.e. direct north indication point, is fixed on straight line with the north orientation reference point of the first ultrasonic probe of north orientation, and direction is identical.In measurement mechanism parachuting process, three-dimensional compass can measure that wind speed and direction is measured and azimuth angle alpha, pitching angle theta and the roll angle γ of correction module as shown in Figure 6, Figure 7.
The scope of the measurement of azimuth of wind speed and direction measurement and correction module is to be 0 ° take positive north, 180 °, due south, the ranged space of 360 ° altogether, the angle value of measuring is exactly the angle that three-dimensional compass nominal scale B departs from direct north (N point), its value is α, as shown in Figure 6.When installation electronics is directly tieed up compass, the reference point of three-dimensional compass must be alignd with the north orientation reference point of ultrasound wave wind direction and wind velocity measurement mechanism, two reference points are on same straight line, like this, α and β carry out mould 360 and are added, just obtained actual wind direction, depart from real north of the earth to azimuth angle theta
out:
θ
out=(α+β)mod360
As Fig. 7, the angle of pitch is that wind direction and wind velocity is measured the angle of supporting plane along its vertical axis Y and surface level, is defined as θ, and its span is-90 ° to 90 °.To V
ythe horizontal component V proofreading and correct and obtain
hyfor
Roll angle is that wind direction and wind velocity is measured the angle of supporting plane along its horizontal axis X and surface level, is defined as γ, and its span is-180 °～180 °.To V
xthe horizontal component V proofreading and correct and obtain
hxfor
Sending and receiving, sonic transmissions time measurement, the measurement of three-dimensional compass needle to position angle, the angle of pitch and roll angle and the calculating of resultant wind velocity wind direction and correction of the sound wave of two pairs of ultrasonic transducer module and electric wave conversion, sound wave in the 3rd control module control.The 3rd control module utilizes position angle, the angle of pitch and roll angle just can proofread and correct ultrasonic wind speed and direction observed reading, the surface level wind azimuth angle θ after proofreading and correct by the 3rd control module
outwith with resultant wind velocity value
θ
out=(alpha+beta) mod360, therefore wind direction and wind velocity measurement and correction module can be obtained surface level wind speed and direction value.
Relay structure as shown in Figure 2, comprises antenna 2-1, the second control module 2-2, second memory 2-3, the second mobile communication module 2-4, power amplifier 2-7, the 2nd GPS2-5, second source supply module 2-6.Antenna 2-1 is connected with power amplifier 2-7, and power amplifier 2-7 is connected with the second mobile communication module 2-4, and while transmitting, power amplifier 2-7 amplifies the output signal of the second mobile communication module 2-4, then, gives antenna and is transmitted in the air; While receiving signal, power amplifier 2-7 amplifies the signal receiving from antenna 2-1, and sends the second control module 2-2 to.The second mobile communication module 2-4, second memory 2-3, the 2nd GPS2-5 are connected with the second control module 2-2.Second source supply module 2-6 connects with power amplifier 2-7, the second mobile communication module 2-4 except antenna 2-1, the second control module 2-2, the 2nd GPS2-5 module, second memory 2-3, and its function is to power for these modules.Second memory 2-3 has identical function with first memory 1-3 in measurement mechanism 1, can store the data that relay receives separately from multiple measurement mechanisms, 1-3 is much larger for second memory 2-3 volume ratio first memory, and the second control module 2-2 possesses higher data-handling capacity.
The workflow of measurement mechanism is specifically referring to as the process flow diagram of Fig. 8, all measurement mechanisms are rendered to presumptive area overhead by vector aircraft, the moment of throwing at measurement mechanism, due to the effect of inertia, measurement mechanism decline status of processes changes violent, within 7 seconds, substantially tend towards stability later, therefore measurement mechanism leaves after aircraft, utilize the internal clocking timing 7 seconds of the first control module, after 7 seconds, atmospheric pressure and sea level elevation measurement module are started working, when sea level elevation is measured as within the scope of 3000 meters of sea level elevations, the first control module starts other module work according to sea level elevation measured value, measurement mechanism starts to enter meteorologic parameter observation program.When measurement mechanism lands, atmospheric pressure and sea level elevation measurement module detect when sea level elevation is O rice, or atmospheric pressure and sea level elevation measurement module detect when sea level elevation is greater than 3000 meters, now the first control module can not start other module work, and measurement mechanism can not start the meteorologic parameter observation program that enters.Measurement mechanism is along with parachute is thrown in decline process, 100 meters of vertical ranges of every decline, wind direction and wind velocity measurement and correction module, temperature and humidity measurement module, a GPS and atmospheric pressure and sea level elevation measurement module can be realized respectively for the DATA REASONING work of surface level wind speed and direction, humiture, geographic position, atmospheric pressure and sea level elevation once.Wind direction and wind velocity measurement and correction module, temperature and humidity measurement module, a GPS and atmospheric pressure and sea level elevation measurement module are delivered to the first control module by data measured 100 meters of vertical ranges of every decline through serial ports, by the first control module packing, through high-speed synchronous serial port interface SPI interface, send to the first mobile communication module, finally by the first mobile communication module, send to relay.First memory can be realized the storage of Nonvolatile data, first memory is connected to the first control module by data bus, when first communication module cannot transmit data, data can be stored temporarily, after communication link is set up, transmit together with the data of next time measuring.
The present invention adopts multiple measurement mechanisms and relay to form a mobile communications network, and the second communication module in the first mobile communication module and relay in measurement mechanism is the transceiver module that can mutually communicate.The workflow of relay is briefly described as follows: the relevant weather data of measurement mechanism is sent to the high-gain aerial of relay, high-gain aerial is passed to power amplifier by these data, power amplifier is sent to the second mobile communication module by data, the second mobile communication module sends data to second control module, after the second control module checks that data are correct, again these data are returned to the second mobile communication module, after power amplifier and antenna, receiver beyond sending 100 kilometers to, then returns ACK information to the first mobile communication module.If the second control module detects error in data, abandon this data, do not return ACK information to first communication module.Relay is when receiving that total data is transmitted to beyond 100 kilometers receiver, also data are saved in non-volatile second memory, after landing, the data of the whole measurement mechanisms that receive are repacked together with the second gps measurement data, repeat its transmission data are given 100 kilometers of receivers in addition, by repeat its transmission, avoid loss of data.Relay is after parachuting is landed, and its gps measurement data can be used as geo-location reference information, as follow-up aircraft drop from the air air-drop reference location point.
The scale of mobile ad-hoc network of the present invention is smaller, can adopt 5-20 measurement mechanisms and a relay composition, each measurement mechanism only need to carry out wireless data communications with relay, between each measurement mechanism, do not have necessary communication requirement, therefore, communication network of the present invention adopts starshaped net topology, the communication radius of measurement mechanism is in 1 kilometer range, the minimal communications radius of relay is 100 kilometers, the measurement data of each measurement mechanism directly sends to relay, without multi-hop, forward, in the scope covering at relay wireless signal, each measurement mechanism and relay can also carry out two-way wireless data communications.In whole network, only have the equipment volume maximum of relay, input difficulty is larger, and the difficulty that multiple measurement mechanisms are thrown in is relatively smaller, and mobile ad-hoc network involved in the present invention has simply, efficient feature.
The working time of measurement mechanism of the present invention about 10 minutes, data volume approximately 60 bytes of each observation, therefore, the present invention, in starshaped net topology, has designed mobile ad hoc network communication protocol.This network communication protocol is divided into three layers, ground floor is Physical layer, this Physical layer is realized by radio-frequency module hardware, the second mobile communication module in the first mobile communication module and the relay of measurement mechanism that radio-frequency module of the present invention adopts is responsible for the channel selection that data send or receive, and the modulation and demodulation work of digital signal etc.The first mobile communication module and the second mobile communication module can adopt three frequency radio-frequency modules, and this three frequencies radio-frequency module possesses 433MHz, 868MHz, 915MHz San Ge center frequency range, and each center frequency range has more than 100 channel.The radio communication in 868MHz and two suitable open areas of frequency range of 915MHz, the suitable physical features big rise and fall of 433MHz frequency range, the more regional radio communication of barrier.The first mobile communication module and the second mobile communication module, when carrying out data transmission, can, according to the geographical environment select transmit frequency of air-drop, select a channel of Yi Ge center frequency range in three frequency ranges to transmit data.Three frequency radio-frequency module accommodative ability of environment are very strong, and when selecting the channel communication of frequency range to be subject to signal interference, the first mobile communication module and the second mobile communication module can pass through frequency hopping, are transformed into the transmission frequency that is more applicable to real-time geographic environment.
The second layer is data link layer, and reliable wireless data receiver system is provided, and generation avoids conflict.The wireless data transmission of data link layer is specific as follows:
Because communication network of the present invention adopts starshaped net topology, the right to use that multiple measurement mechanisms need to obtain channel by the mode of competition to communicate with relay.In order to guarantee reliable point-to-point communication between each measurement mechanism and relay, contention-free occurs, and the present invention has used for reference the mode of CSMA/CA carrier sense multiple spot access/collision avoidance protocol, proposes a kind of method of CSMA/CA competition transmission.The method is specifically: before measurement mechanism is prepared to communicate by letter with relay, first on communication channel, carry out carrier monitoring, intercept the whether free time of channel.The complete preparation of communicating by letter with relay at certain measurement mechanism discharges the moment of channel, because now may there be multiple measurement mechanisms, waiting for the communication channel free time, now there is the maximum probability of communication contention aware, therefore, when detecting channel idle, measurement mechanism can't send immediately data, but to adopt one section of back off time of " binary exponential backoff algorithm " random delay, measurement mechanism starts backoff counter when channel idle being detected, as long as channel idle, backoff counter is just successively decreased, if detect that channel is occupied, suspend backoff counter and keep the value of counter constant, when again channel idle being detected, backoff counter is successively decreased on the basis of original count value again, when count value reduces to zero, this measurement mechanism obtains the use preference of wireless channel, this measurement mechanism is just prepared to send data to relay.
For realizing CSMA/CA communicaton protocol, the first mobile communication module of measurement mechanism and the second mobile communication module of relay adopt several Control signal frames, request sends RTS frame as shown in Fig. 9 (a), wherein, Ch_Index is that measurement mechanism is wished the channel indexes of communicating by letter with relay, for frequency hopping channel, selects; Clear to send CTS frame as shown in Figure 9 (b); Confirm ACK frame as shown in Figure 9 (c).In measurement mechanism and relay communication process, adopted RTS/CTS/DATA/ACK handshake mechanism, the data transmission procedure of the mobile communication between measurement mechanism and relay is specific as follows:
1), when measurement mechanism has data to send to relay, the method for first competing by CSMA/CA obtains the right to use of wireless channel;
2) then the first mobile communication module of measurement mechanism sends a RTS frame to the second mobile communication module of relay, and request communicates and is connected with relay.
3) the second mobile communication module of relay receives after the RTS request of certain measurement mechanism, to the first mobile communication module of this measurement mechanism, sends CTS frame.
4) first communication module of measurement mechanism is issued after the CTS command frame of oneself at the second communication module that receives relay, thinks and sets up with the communication connection of relay, starts to send data to relay.If the first mobile communication module of measurement mechanism is not received CTS order after sending RTS request to the second mobile communication module of relay, the first mobile communication module of this measurement mechanism just thinks that communication has occurred to conflict and resend RTS request command.
5), after the data that the second mobile communication module of relay is sent at the first mobile communication module of receiving measurement mechanism check data are correct, to the first mobile communication module of this measurement mechanism, send ack msg acknowledgement frame.The first mobile communication module of measurement mechanism is being received after ack msg acknowledgement frame, is just being completed the data communication between this measurement mechanism and relay.
The present invention is directed in the data transmission procedure between measurement mechanism and relay and adopt caching mechanism.If measurement mechanism is when DTD, do not receive the confirmation of relay, be that the first mobile communication module in measurement mechanism does not receive the ack msg acknowledgement frame that the second mobile communication module of relay sends, measurement mechanism is just temporarily stored into first memory observing weather data, when measurement mechanism communicates transmission with relay again, these storage data can be packed together and be sent to relay for next 100 meters of measured data observation data of vertical range with this measurement mechanism, thereby further guarantee reliability and the integrality of data transfer.Adopt the present invention to formulate the technical scheme of the collision avoidance mechanism of data communication between each measurement mechanism and relay, provide between each measurement mechanism and relay, the reliable data communication method between relay and receiver, thereby realize accurately transmission observation data.
Because radio-frequency (RF) receiving and transmission module once can send data volume, be to be less than observation data amount to be sent, therefore before data send, will carry out subpackage processing to observation data.The 3rd layer is data minus carrier layer, is responsible for observation data to carry out subpackage, more every bag data are repacked, and forms load frames, so that receiver combines packetized data, correctly restores observation data.
The data frame format that the present invention adopts includes the frame format of data link layer and the frame format of load layer, the frame format of data minus carrier layer as shown in Figure 10 (a) shows, wherein, Seq-Num is packet number and the Bao Nei serial number of packet under frame, Frame-type is frame type, PayloadLen refers to the data word joint number in Payload territory, the measured data values that Payload is measurement mechanism.The frame format of data link layer, as shown in Figure 10 (b), has increased destination address (DestAddr), source address (SrcAddr) and CRC check code on the basis of load frames.
While sending data, data minus carrier layer passes to data link layer by frame, data link layer increases source address, destination address and CRC check code on the basis of load frames, by frame, give Physical layer again, Physical layer is added frame head control again, to optimize receptivity, last, frame data, after modulation, are sent into radio communication channel.Receiving course is just in time contrary with process of transmitting, and receiver, in data link layer, carries out error checking according to CRC check code to this layer data, and load layer obtains after frame data, according to Seq-Num, packet is reconfigured to restoring data bag.
Receiver on aircraft receives the wind speed and direction of every 100 meters of surface levels in 3000 meters of following vertical direction of height above sea level that on airborne air-drop region, each measurement mechanism obtains, the weather data such as atmospheric pressure and humiture, can carry out fast statistical study for these data, calculate the mean value of each measurement mechanism in all types of weather datas of airborne process same level observed reading, variance, referring to the horizontal wind direction and wind velocity distribution schematic diagram in overhead, observation area as shown in figure 11, wherein the geographic position of stain is with longitude and latitude sign, as (E119 ° 35 ' 56 ' ', N49 ° 25 ' 36 ' ') represent (east longitude 119 spend 35 points 56 seconds, north latitude 49 spend 25 points 36 seconds), horizontal ordinate shows the resultant wind velocity value of stain, ordinate shows sea level elevation, the vectors directed at stain place represents respectively V
x, V
yto, this figure, can provide meteorological vectoring information with resultant wind for airborne air-drop.
Claims (10)
1. be applied to a meteorological bootstrap technique for airborne air-drop, utilize the mobile communications network being formed by measurement mechanism, relay and receiving trap, it is characterized in that: include the following step:
Step 1, on aircraft, drop measurement mechanism and relay simultaneously;
Step 2, measurement mechanism comprise horizontal wind direction and wind velocity, humiture, sea level elevation, atmospheric weather data and send it to relay in airborne process set a distance measurement, and its detailed process is as follows:
The right to use of step 2-1, measurement mechanism application wireless channel, detailed process is:
Step 2-1-1, before measurement mechanism is prepared to communicate by letter with relay, first on communication channel, carry out carrier monitoring, intercept the whether free time of channel;
Step 2-1-2, when measurement mechanism detects channel idle, do not send immediately data, adopt " binary exponential backoff algorithm " time delay one section of back off time, start backoff counter, start countdown;
If it is occupied that step 2-1-3 detects channel, suspend backoff counter, and keep the value of counter constant, and whether continue to intercept channel idle;
Step 2-1-4, when again channel idle being detected, backoff counter countdown again on the basis of original count value;
Step 2-1-5, when the count value of the backoff counter of measurement mechanism reduces to zero, measurement mechanism has obtained the right to use of wireless channel;
Step 2-2, obtaining after the right to use of wireless channel, measurement mechanism sends a RTS frame to relay, and request communicates and is connected with relay;
Step 2-3, relay receive after the RTS request of measurement mechanism, to measurement mechanism, send CTS command frame;
If step 2-4 measurement mechanism does not receive the CTS command frame that relay sends, return and re-execute step 2-2;
Step 2-5, measurement mechanism receive after the CTS command frame that relay sends, and start to send data to relay;
Step 2-6, relay be in the data of receiving that measurement mechanism is sent, and check data correct after, to measurement mechanism, send ack msg acknowledgement frame;
Step 2-7, measurement mechanism, receiving after the ack msg acknowledgement frame that relay is sent, complete a data transfer between measurement mechanism and relay;
The weather data that step 3, relay receive step 2 is forwarded to carry-on receiving trap after arranging packing, and the weather data that receiving trap receives step 2 is carried out meteorologic analysis and arranged also the airborne air-drop of guiding accordingly.
2. a meteorological guidance system that is applied to airborne air-drop that realizes method described in claim 1, comprises by measurement mechanism, relay and receiving trap and forms mobile communications network, it is characterized in that:
Described measurement mechanism (1) includes the first control module (1-2), wind speed and direction is measured and correction module (1-1), first memory (1-3), a GPS (1-4), the first mobile communication module (1-5), atmospheric pressure and sea level elevation measurement module (1-6), temperature and humidity measurement module (1-7), the first power supply module (1-8); Wherein, wind speed and direction measurement and correction module (1-1), first memory (1-3), the first mobile communication module (1-5), temperature and humidity measurement module (1-7), a GPS (1-4) and atmospheric pressure and sea level elevation measurement module (1-6) are all connected to the first control module (1-2); The first power supply module (1-8) all has to connect with other module powers;
Described relay (2) comprises antenna (2-1), the second control module (2-2), second memory (2-3), the second mobile communication module (2-4), power amplifier (2-7), the 2nd GPS (2-5), second source supply module (2-6); The second mobile communication module (2-4), second memory (2-3) and the 2nd GPS (2-5) module are all connected to the second control module (2-2); Second source supply module (2-6) all has to connect with the second control module (2-2), second memory (2-3), the second mobile communication module (2-4), power amplifier (2-7), the 2nd GPS (2-5) powers;
Described measurement mechanism and described relay are realized signal communication by transmitting and receiving, and described relay and described receiving trap are realized signal communication by transmitting and receiving.
3. the meteorological guidance system that is applied to airborne air-drop as claimed in claim 2, is characterized in that:
Described wind speed and direction is measured and correction module (1-1) comprises symmetrical two pairs of ultrasonic transducer module (3,4,5,6), three-dimensional compass (8), the 3rd control module (7), the supportive device (9) of placing in the direction of the four corners of the world; Two pairs of ultrasonic transducer module (3,4,5,6) are all connected with the 3rd control module (7) with three-dimensional compass (8); Three-dimensional compass (8) is positioned at the center origin position of ultrasonic transducer module (3,4,5,6), and its north orientation indication point points to the north orientation of north and south longitudinal axis.
4. the meteorological guidance system that is applied to airborne air-drop as claimed in claim 3, is characterized in that:
Described the 3rd control module (7) comprises the delivery unit of the sending and receiving of converting unit, the sound wave of the sound wave of two pairs of ultrasonic transducer module and electric wave conversion, the measuring unit of sonic transmissions time measurement, measure-controlling unit, resultant wind velocity wind direction and the computing unit of proofreading and correct of three-dimensional compass azimuth, the angle of pitch, roll angle.
5. the meteorological guidance system that is applied to airborne air-drop as described in claim 3 or 4, is characterized in that:
The first mobile communication module (1-5) in described measurement mechanism has same frequency with the second mobile communication module (2-4) in described relay in data communication process.
6. the meteorological guidance system that is applied to airborne air-drop as claimed in claim 5, is characterized in that:
Described the first mobile communication module (1-5), the second mobile communication module (2-4) have 433MHz, 868MHz, tri-of 915MHz can select frequency.
7. the meteorological guidance system that is applied to airborne air-drop as described in claim 2,3,4,6 any one, is characterized in that: described measurement mechanism and described relay adopt starshaped net topology composition mobile communications network.
8. the meteorological guidance system that is applied to airborne air-drop as described in claim 2,3,4,6 any one, is characterized in that: the quantity of described measurement mechanism is 5-20.
9. the meteorological guidance system that is applied to airborne air-drop as claimed in claim 5, is characterized in that: described measurement mechanism and described relay adopt starshaped net topology composition mobile communications network.
10. the meteorological guidance system that is applied to airborne air-drop as claimed in claim 5, is characterized in that: the quantity of described measurement mechanism is 5-20.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110230631.9A CN102385072B (en) | 2011-08-12 | 2011-08-12 | Meteorology guidance method and system applied to airborne landing and air drop |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110230631.9A CN102385072B (en) | 2011-08-12 | 2011-08-12 | Meteorology guidance method and system applied to airborne landing and air drop |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102385072A CN102385072A (en) | 2012-03-21 |
| CN102385072B true CN102385072B (en) | 2014-04-16 |
Family
ID=45824679
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110230631.9A Expired - Fee Related CN102385072B (en) | 2011-08-12 | 2011-08-12 | Meteorology guidance method and system applied to airborne landing and air drop |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102385072B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104155685A (en) * | 2014-08-15 | 2014-11-19 | 中国科学院地质与地球物理研究所 | Aviation machine tool type seismic acquisition station laying and data acquisition system |
| CN105867426B (en) * | 2016-04-11 | 2018-08-21 | 西北工业大学 | Goods and materials bootstrap technique is launched automatically for the aircraft of mobile target |
| CN109188011A (en) * | 2018-08-06 | 2019-01-11 | 合肥移顺信息技术有限公司 | A kind of throwing object in high sky landing velocity measuring correction system |
| CN109001482A (en) * | 2018-08-06 | 2018-12-14 | 合肥移顺信息技术有限公司 | A kind of throwing object in high sky landing velocity correction method |
| CN110134134B (en) * | 2019-05-24 | 2022-03-15 | 南京信息工程大学 | Wind measuring method for unmanned aerial vehicle in hovering state |
| CN110697045B (en) * | 2019-11-08 | 2021-04-20 | 合肥佳讯科技有限公司 | Unmanned aerial vehicle airborne multi-channel delivery system based on 4G and 5G remote control |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7069147B2 (en) * | 2004-05-28 | 2006-06-27 | Honeywell International Inc. | Airborne based monitoring |
| CN101315422B (en) * | 2008-07-09 | 2012-07-25 | 南京邮电大学 | Wireless sensor network locating method |
-
2011
- 2011-08-12 CN CN201110230631.9A patent/CN102385072B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN102385072A (en) | 2012-03-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102385072B (en) | Meteorology guidance method and system applied to airborne landing and air drop | |
| CN105353341B (en) | A kind of wireless sensor network locating method based on unmanned automated spacecraft | |
| CN101191832B (en) | Wireless sensor network node position finding process based on range measurement | |
| CN100568143C (en) | A kind of middle-size and small-size no-manned machine reclaiming positioning apparatus | |
| CN101561493B (en) | Double flying robot-based method and double flying robot-based system for positioning active target | |
| Swenson et al. | Low-power FLC-based retromodulator communications system | |
| CN107402581A (en) | Express delivery unmanned plane landing guiding system and bootstrap technique based on wireless ultraviolet light | |
| WO2008116168A1 (en) | Navigation unit and base station | |
| CN103809155A (en) | ZigBee-based quadrocopter farmland positioning system | |
| CN202178871U (en) | Positioning system for indoor airships | |
| CN108693545A (en) | Abnormal target positioning method based on satellite-borne ADS-B | |
| CN108414844A (en) | A kind of test method of target antenna radiation pattern | |
| CN109863422B (en) | Software defined radio earth atmosphere imager | |
| US20140043172A1 (en) | Next generation wireless sensor system for environmental monitoring | |
| US20180017392A1 (en) | Apparatus, system, and method for traffic | |
| CN112987049B (en) | Rocket radome remains positioning and tracking system | |
| Vasiljević et al. | Wind sensing with drone-mounted wind lidars: proof of concept | |
| CN106556559A (en) | A kind of monitoring method of cloud/aerosol, device and system | |
| CN202421491U (en) | Multilateral positioning system based on distributed clocks | |
| Chen et al. | UWB-assisted high-precision positioning in a UTM prototype | |
| Grishin et al. | Methods for correcting positions of tethered UAVs in adverse weather conditions | |
| CN206042381U (en) | Wireless analog signal test system | |
| Bolt et al. | Massively deployable, low-cost airborne sensor motes for atmospheric characterization | |
| Dubois et al. | Ad hoc wireless sensor networks for exploration of solar-system bodies | |
| CN102590786A (en) | Multilateral positioning system based on distributed clock |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140416 Termination date: 20190812 |