CN104503000A - Sonde wind measuring system and wind measuring method - Google Patents

Abstract

The invention provides a sonde wind measuring system and a wind measuring method. The sonde wind measuring system and the wind measuring method have the advantages that the speed is measured by a Doppler frequency shift double-differential constant speed algorithm; the inherent error of a GPS (global positioning system) receiver or a Beidou receiver is eliminated, the common error in environments is also eliminated, and the speed accuracy meets the requirement; the risk of closing of a GPS signal in the wartime is reduced, and the domestic Beidou receiver can be used for replacing at any time.

Description

A kind of sonde wind measuring system and wind detection method

Technical field

The present invention relates to field tests, particularly relate to a kind of sonde wind measuring system and wind detection method.

Background technology

It is that the data directly passed down GPS carry out parsing display that traditional sonde location is put with the method for wind speed, so extremely rely on the precision of GPS, it is more accurate that the GPS that precision is higher receives location, but price is also higher, for the GPS of general single-point constant speed, within the time of 95%, constant speed precision can reach 0.2m/s greatly.Under the overall background that big-dipper satellite networking completes at home, later Beidou receiver will substitute GPS comprehensively, constant speed algorithm of the present invention is for the GPS of low cost or Beidou receiver, significantly can improve the constant speed precision controlling empty instrument, and the compatible Beidou receiver of the present invention.

Prior art cost and precision contradiction, the raising of precision is to sacrifice cost for cost, and the present invention adopts Doppler shift two difference constant speed algorithm on the basis of original low cost, and precision can significantly improve.

Summary of the invention

In order to solve problem in prior art, the invention provides a kind of sonde wind measuring system, it comprises sonde and land station, and sonde comprises navigation signal receiver module, PTU module; Land station comprises ground-plane antenna, frequency modulation (PFM) FM receiver and industrial computer;

The signal that navigation signal receiver module reception satellite on sonde sends and the data that PTU module exports are closed road and are compiled frame, be modulated on Carrier be sent to ground by antenna in frequency shift keying fsk mode after power amplifier amplifies;

After ground-plane antenna receives signal, after wireless network signal device amplifies, deliver to frequency modulation (PFM) FM receiver, FM receiver carries out frequency conversion to signal, data demodulates and process, obtain the location constant speed information in navigation information and data, simultaneously the reference signal receiver also receiving satellite signal on ground, the navigation signal receiver same model on reference signal receiver and sonde; Two groups of data are processed by industrial computer, calculate wind data, by the filtering to weather data, error correction, interpolation processing, finally calculate the weather data exported required for user.

As a further improvement on the present invention, described navigation signal receiver module is gps signal receiver or Big Dipper signal receiver.

As a further improvement on the present invention, the frequency of described Carrier and antenna is 400MHz.

As a further improvement on the present invention, the location constant speed information in navigation information is obtained and the data in data are: pressure, temperature, humidity.

Utilize a wind detection method for the sonde wind measuring system of above-mentioned any one, step is as follows:

Step 1, judge satellite data effective marker, effectively then carry out next step, invalid, it is invalid for putting Returning mark, and returns;

Step 2, selection first sing data are base star:

The values of Doppler frequency shift of the base star of base station observation is the frequency shift value of all the other satellites is

The values of Doppler frequency shift of the base star of rover station is the frequency shift value of all the other satellites is

Calculate the observed quantity of two difference Doppler shift $\▿\mathrm{\Δ}{Z}_{\mathrm{Vi}}=[(Z_{\mathrm{Vi}}^{\mathrm{base}}-Z_{\mathrm{Vi}}^{\mathrm{rev}})-(Z_{V*}^{\mathrm{base}}-$ $Z_{V*}^{\mathrm{rev}})]*\mathrm{Lamda};$ Lamda is L1 wave band (1575.42MHz) wavelength;

Step 3, calculating speed of mobile station matrix of coefficients base championship is put and speed: R ^sat*, V ^sat*, all the other: R ^sati, V ^sati, rover station current location R ^rev, ${\mathrm{\ρ}}_i^{\mathrm{rev}}=\sqrt{{\mathrm{\Σ}}_{k=1}^3{(R_k^{\mathrm{rev}}-R_k^{\mathrm{sati}})}^2},{\mathrm{\ρ}}_{*}^{\mathrm{rev}}=\sqrt{{\mathrm{\Σ}}_{k=1}^3{(R_k^{\mathrm{rev}}-R_k^{\mathrm{sat}*})}^2};$

Step 4, judge that whether 3*3 matrix is reversible, if irreversible, then to put Returning mark be invalid and return, if reversible, then carries out next step;

Step 5, the kinetic radial velocity of calculating satellite i wherein ${\mathrm{\ρ}}_i^{\mathrm{base}}=\sqrt{{\mathrm{\Σ}}_{k=1}^3{(R_k^{\mathrm{base}}-R_k^{\mathrm{sati}})}^2};$

The kinetic radial velocity of base star wherein ${\mathrm{\ρ}}_{*}^{\mathrm{base}}=\sqrt{{\mathrm{\Σ}}_{k=1}^3{(R_k^{\mathrm{base}}-R_k^{\mathrm{sat}*})}^2};$

Calculate the known part in movement station and the kinetic radial velocity of base star $V_{V_{{\mathrm{\ρ}}_{*}^{\mathrm{rev}}}}^I=$ $\frac{{(R^{\mathrm{sat}*}-R^{\mathrm{rev}})}^T}{{\mathrm{\ρ}}_{*}^{\mathrm{rev}}}{V}^{\mathrm{sat}*},$ Wherein ${\mathrm{\ρ}}_{*}^{\mathrm{rev}}=\sqrt{{\mathrm{\Σ}}_{k=1}^3{(R_k^{\mathrm{rev}}-R_k^{\mathrm{sat}*})}^2};$

Known part in the radial velocity that calculating movement station and all the other satellite motion cause $V_{V_{{\mathrm{\ρ}}_i^{\mathrm{rev}}}}^I=\frac{{(R^{\mathrm{sati}}-R^{\mathrm{rev}})}^T}{{\mathrm{\ρ}}_i^{\mathrm{rev}}}{V}^{\mathrm{sati}},{\mathrm{\ρ}}_i^{\mathrm{rev}}=\sqrt{{\mathrm{\Σ}}_{k=1}^3{(R_k^{\mathrm{rev}}-R_k^{\mathrm{sati}})}^2};$

Calculate two difference radial velocity $(V_{{\mathrm{\ρ}}_i^{\mathrm{base}}}-V_{V_{{\mathrm{\ρ}}_i^{\mathrm{rev}}}}^I)+(V_{{\mathrm{\ρ}}_{*}^{\mathrm{base}}}-V_{V_{{\mathrm{\ρ}}_{*}^{\mathrm{rev}}}}^I);$

Upgrade $\▿\mathrm{\Δ}{Z}_{\mathrm{Vi}}=\▿\mathrm{\Δ}{Z}_{\mathrm{Vi}}-(V_{{\mathrm{\ρ}}_i^{\mathrm{base}}}-V_{V_{{\mathrm{\ρ}}_i^{\mathrm{rev}}}}^I)+(V_{{\mathrm{\ρ}}_{*}^{\mathrm{base}}}-V_{V_{{\mathrm{\ρ}}_{*}^{\mathrm{rev}}}}^I);$

Step 6, calculating $\left[\begin{array}{c}{h}_1^T\\ h_2^T\\ h_3^T\end{array}\right]$ Inverse matrix ${\left[\begin{array}{c}{h}_1^T\\ h_2^T\\ h_3^T\end{array}\right]}^{-1};$

The speed of step 7, calculating rover station is ${V^{\mathrm{rev}}=\left[\begin{array}{c}{h}_1^T\\ h_2^T\\ h_3^T\end{array}\right]}^{-1}*\left[\begin{array}{c}\▿\mathrm{\Δ}{Z}_{V1}\\ \▿\mathrm{\Δ}{Z}_{V2}\\ \▿\mathrm{\Δ}{Z}_{V3}\end{array}\right],$ Rreturn value is TRUE

As a further improvement on the present invention, satellite is four, and one is reference satellite.

The invention has the beneficial effects as follows:

This invention removes GPS or the intrinsic error of Beidou receiver, and the common error in environment, velocity accuracy meets the demands.

The present invention can decrease the risk of the closedown of gps satellite signal in wartime, and domestic Beidou receiver can be adopted at any time to replace.

The static data utilizing the GPS of two same models to observe carries out speed double calculus of differences as stated above, can find out X to, Y-direction, Z-direction and wind speed be all at below 0.1m/s, meet the requirement of user, when not using this algorithm, constant speed precision is at about 0.2m/s.

Accompanying drawing explanation

Fig. 1 is sonde fundamental diagram of the present invention;

Tu2Shi land station of the present invention fundamental diagram;

Fig. 3 is Doppler shift of the present invention two difference constant speed result.

Embodiment

Below in conjunction with accompanying drawing, the present invention will be further described.

Sonde principle of work:

As shown in Figure 1, navigation signal receiver module (gps signal receiver or Big Dipper signal receiver) on sonde receives data that signal and PTU module that satellite sends export and closes road and compile frame, is modulated on 400MHz carrier wave is sent to ground by antenna in FSK (Frequency-shift keying) mode after power amplifier amplification.

As shown in Figure 2, after ground 400MHz antenna receives signal, after wireless network signal device amplifies, deliver to FM (frequency modulation (PFM)) receiver.FM receiver carries out frequency conversion to signal, data demodulates and process, obtain the location constant speed information in navigation information and PTU (pressure, temperature, humidity) data, simultaneously reference signal receiver (with the navigation signal receiver same model on sonde) the also receiving satellite signal on ground; Two groups of data are processed by ground data process software, calculate wind data, by the filtering to weather data, error correction, interpolation processing, finally calculate the weather data exported required for user.

The present invention can measure from ground until meteorologic factors such as 30 kilometers of each temperature, air pressure, humidity, wind direction and wind speed highly of high-altitude free atmosphere.Can be dual-use by these data of real-time monitoring, namely can be used for predicting the meteorology change in following some areas, for the opportunity of the sowing of crops, results or protection provides prediction; Also can be used for estimating the flying condition of artillery troops of army guided missile or shell.

Prior art only supports one in GPS or Beidou receiver, and the present invention is by 422 mouthfuls of both compatibilities.

Data processing software on land station's industrial computer, calculates the navigation data of sonde and ground station receiver p.s., and adopt Doppler shift two difference constant speed algorithm to calculate high-altitude wind speed, specific algorithm performing step describes as follows:

Input: the position and speed of 4 satellites and effective marker

(base championship is put and speed: R ^sat*, V ^sat*, all the other: R ^sati, V ^sati), the doppler frequency observed reading of corresponding 4 stars (rover station: base station: the long Lamda of L1 wave-wave, rover station current location (R ^rev), the accurate coordinates (R of base station ^base).

Export: whether two poor constant speed algorithm is effective, and effective marker is TRUE, and invalid flag is FALSE, effectively exports now thereof station GPS speed.

Step:

1, judge satellite data effective marker, effectively then carry out next step, invalid, it is invalid for putting Returning mark, and returns;

2, first sing data is selected to be base star

The values of Doppler frequency shift of the base star of base station observation is the frequency shift value of its excess-three satellite is $Z_{\mathrm{Vi}}^{\mathrm{base}}$

The values of Doppler frequency shift of the base star of rover station is the frequency shift value of its excess-three satellite is

Calculate the observed quantity of two difference Doppler shift $\▿\mathrm{\Δ}{Z}_{\mathrm{Vi}}=[(Z_{\mathrm{Vi}}^{\mathrm{base}}-Z_{\mathrm{Vi}}^{\mathrm{rev}})-(Z_{V*}^{\mathrm{base}}-$ $Z_{V*}^{\mathrm{rev}})]*\mathrm{Lamda}$

3, speed of mobile station matrix of coefficients is calculated ${\mathrm{\ρ}}_i^{\mathrm{rev}}=\sqrt{{\mathrm{\Σ}}_{k=1}^3{(R_k^{\mathrm{rev}}-R_k^{\mathrm{sati}})}^2},{\mathrm{\ρ}}_{*}^{\mathrm{rev}}=\sqrt{{\mathrm{\Σ}}_{k=1}^3{(R_k^{\mathrm{rev}}-R_k^{\mathrm{sat}*})}^2}$

4, judge that whether 3*3 matrix is reversible, if irreversible, then to put Returning mark be invalid and return, if reversible, then carries out next step

5, the kinetic radial velocity of satellite i is calculated ${\mathrm{\ρ}}_i^{\mathrm{base}}=\sqrt{{\mathrm{\Σ}}_{k=1}^3{(R_k^{\mathrm{base}}-R_k^{\mathrm{sati}})}^2}$

The kinetic radial velocity of base star $V_{{\mathrm{\ρ}}_{*}^{\mathrm{base}}}=\frac{{(R^{\mathrm{sat}*}-R^{\mathrm{base}})}^T}{{\mathrm{\ρ}}_{*}^{\mathrm{base}}}{V^{\mathrm{sat}*},\mathrm{\ρ}}_{*}^{\mathrm{base}}=$ $\sqrt{{\mathrm{\Σ}}_{k=1}^3{(R_k^{\mathrm{base}}-R_k^{\mathrm{sat}*})}^2}$

Calculate the known part in movement station and the kinetic radial velocity of base star $V_{V_{{\mathrm{\ρ}}_{*}^{\mathrm{rev}}}}^I=$ $\frac{{(R^{\mathrm{sat}*}-R^{\mathrm{rev}})}^T}{{\mathrm{\ρ}}_{*}^{\mathrm{rev}}}{V}^{\mathrm{sat}*},{\mathrm{\ρ}}_{*}^{\mathrm{rev}}=\sqrt{{\mathrm{\Σ}}_{k=1}^3{(R_k^{\mathrm{rev}}-R_k^{\mathrm{sat}*})}^2}$

Known part in the radial velocity that calculating movement station and all the other satellite motion cause $V_{V_{{\mathrm{\ρ}}_i^{\mathrm{rev}}}}^I=\frac{{(R^{\mathrm{sati}}-R^{\mathrm{rev}})}^T}{{\mathrm{\ρ}}_i^{\mathrm{rev}}}{V}^{\mathrm{sati}},{\mathrm{\ρ}}_i^{\mathrm{rev}}=\sqrt{{\mathrm{\Σ}}_{k=1}^3{(R_k^{\mathrm{rev}}-R_k^{\mathrm{sati}})}^2}$

Calculate two difference radial velocity $(V_{{\mathrm{\ρ}}_i^{\mathrm{base}}}-V_{V_{{\mathrm{\ρ}}_i^{\mathrm{rev}}}}^I)+(V_{{\mathrm{\ρ}}_{*}^{\mathrm{base}}}-V_{V_{{\mathrm{\ρ}}_{*}^{\mathrm{rev}}}}^I)$

Upgrade $\▿\mathrm{\Δ}{Z}_{\mathrm{Vi}}=\▿\mathrm{\Δ}{Z}_{\mathrm{Vi}}-(V_{{\mathrm{\ρ}}_i^{\mathrm{base}}}-V_{V_{{\mathrm{\ρ}}_i^{\mathrm{rev}}}}^I)+(V_{{\mathrm{\ρ}}_{*}^{\mathrm{base}}}-V_{V_{{\mathrm{\ρ}}_{*}^{\mathrm{rev}}}}^I)$

6, calculate $\left[\begin{array}{c}{h}_1^T\\ h_2^T\\ h_3^T\end{array}\right]$ Inverse matrix ${\left[\begin{array}{c}{h}_1^T\\ h_2^T\\ h_3^T\end{array}\right]}^{-1}$

7, the speed calculating rover station is ${V^{\mathrm{rev}}=\left[\begin{array}{c}{h}_1^T\\ h_2^T\\ h_3^T\end{array}\right]}^{-1}*\left[\begin{array}{c}\▿\mathrm{\Δ}{Z}_{V1}\\ \▿\mathrm{\Δ}{Z}_{V2}\\ \▿\mathrm{\Δ}{Z}_{V3}\end{array}\right],$ Rreturn value is TRUE.

Above content is in conjunction with concrete preferred implementation further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations.For general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, some simple deduction or replace can also be made, all should be considered as belonging to protection scope of the present invention.

Claims (6)

1. a sonde wind measuring system, is characterized in that: it comprises sonde and land station, and sonde comprises navigation signal receiver module, PTU module; Land station comprises ground-plane antenna, frequency modulation (PFM) FM receiver and industrial computer;

The signal that navigation signal receiver module reception satellite on sonde sends and the data that PTU module exports are closed road and are compiled frame, be modulated on Carrier be sent to ground by antenna in frequency shift keying fsk mode after power amplifier amplifies;

After ground-plane antenna receives signal, after wireless network signal device amplifies, deliver to frequency modulation (PFM) FM receiver, FM receiver carries out frequency conversion to signal, data demodulates and process, obtain the location constant speed information in navigation information and data, simultaneously the reference signal receiver also receiving satellite signal on ground, the navigation signal receiver same model on reference signal receiver and sonde; Two groups of data are processed by industrial computer, calculate wind data, by the filtering to weather data, error correction, interpolation processing, finally calculate the weather data exported required for user.

2. a kind of sonde wind measuring system according to claim 1, is characterized in that: described navigation signal receiver module is gps signal receiver or Big Dipper signal receiver.

3. a kind of sonde wind measuring system according to claim 1, is characterized in that: the frequency of described Carrier and antenna is 400MHz.

4. a kind of sonde wind measuring system according to claim 1, is characterized in that: obtain the location constant speed information in navigation information and the data in data are: pressure, temperature, humidity.

5. utilize a wind detection method for the sonde wind measuring system of claim 1 to 4 any one, it is characterized in that: step is as follows:

Step 1, judge satellite data effective marker, effectively then carry out next step, invalid, it is invalid for putting Returning mark, and returns;

Step 2, selection first sing data are base star:

The values of Doppler frequency shift of the base star of base station observation is the frequency shift value of all the other satellites is

The values of Doppler frequency shift of the base star of rover station is the frequency shift value of all the other satellites is

Calculate the observed quantity of two difference Doppler shift $\▿\mathrm{\Δ}{Z}_{\mathrm{Vi}}=[(Z_{\mathrm{Vi}}^{\mathrm{base}}-Z_{\mathrm{Vi}}^{\mathrm{rev}})-(Z_{V*}^{\mathrm{base}}-$ $Z_{V*}^{\mathrm{rev}}\left)\right]*\mathrm{Lamda};$ Lamda is L1 band wavelength;

Step 3, calculating speed of mobile station matrix of coefficients $h_i^T=[\frac{R^{\mathrm{sati}}-R^{\mathrm{rev}}}{{\mathrm{\ρ}}_i^{\mathrm{rev}}}-\frac{R^{\mathrm{sat}*}-R^{\mathrm{rev}}}{{\mathrm{\ρ}}_{*}^{\mathrm{rev}}}{]}^T;$ Base championship is put and speed: R ^sat*, V ^sat*, all the other: R ^sati, V ^sati, rover station current location R ^rev, ${\mathrm{\ρ}}_i^{\mathrm{rev}}=\sqrt{{\mathrm{\Σ}}_{k=1}^3{(R_k^{\mathrm{rev}}-R_k^{\mathrm{sati}})}^2},$ ${\mathrm{\ρ}}_{*}^{\mathrm{rev}}=\sqrt{{\mathrm{\Σ}}_{k=1}^3{(R_k^{\mathrm{rev}}-R_k^{\mathrm{sat}*})}^2};$

Step 4, judge that whether 3*3 matrix is reversible, if irreversible, then to put Returning mark be invalid and return, if reversible, then carries out next step;

Step 5, the kinetic radial velocity of calculating satellite i $V_{{\mathrm{\ρ}}_i^{\mathrm{base}}}=\frac{{(R^{\mathrm{sati}}-R^{\mathrm{base}})}^T}{{\mathrm{\ρ}}_i^{\mathrm{base}}}{V}^{\mathrm{sati}},$ Wherein ${\mathrm{\ρ}}_i^{\mathrm{base}}=\sqrt{{\mathrm{\Σ}}_{k=1}^3{(R_k^{\mathrm{base}}-R_k^{\mathrm{sati}})}^2};$

The kinetic radial velocity of base star $V_{{\mathrm{\ρ}}_{*}^{\mathrm{base}}}=\frac{{(R^{\mathrm{sat}*}-R^{\mathrm{base}})}^T}{{\mathrm{\ρ}}_{*}^{\mathrm{base}}}{V}^{\mathrm{sat}*},$ Wherein ${\mathrm{\ρ}}_{*}^{\mathrm{base}}=\sqrt{{\mathrm{\Σ}}_{k=1}^3{(R_k^{\mathrm{base}}-R_k^{\mathrm{sat}*})}^2};$

Calculate the known part in movement station and the kinetic radial velocity of base star $V_{V_{{\mathrm{\ρ}}_{*}^{\mathrm{rev}}}}^I=$ $\frac{{(R^{\mathrm{sat}*}-R^{\mathrm{rev}})}^T}{{\mathrm{\ρ}}_{*}^{\mathrm{rev}}}{V}^{\mathrm{sat}*},$ Wherein ${\mathrm{\ρ}}_{*}^{\mathrm{rev}}=\sqrt{{\mathrm{\Σ}}_{k=1}^3{(R_k^{\mathrm{rev}}-R_k^{\mathrm{sat}*})}^2};$

Known part in the radial velocity that calculating movement station and all the other satellite motion cause $V_{V_{{\mathrm{\ρ}}_i^{\mathrm{rev}}}}^I=\frac{{(R^{\mathrm{sati}}-R^{\mathrm{rev}})}^T}{{\mathrm{\ρ}}_i^{\mathrm{rev}}}{V}^{\mathrm{sati}},$ ${\mathrm{\ρ}}_i^{\mathrm{rev}}=\sqrt{{\mathrm{\Σ}}_{k=1}^3{(R_k^{\mathrm{rev}}-R_k^{\mathrm{sati}})}^2};$

Calculate two difference radial velocity $(V_{{\mathrm{\ρ}}_i^{\mathrm{base}}}-V_{V_{{\mathrm{\ρ}}_i^{\mathrm{rev}}}}^I)-(V_{{\mathrm{\ρ}}_{*}^{\mathrm{base}}}-V_{V_{{\mathrm{\ρ}}_{*}^{\mathrm{rev}}}}^I);$

Upgrade $\▿\mathrm{\Δ}{Z}_{\mathrm{Vi}}=\▿\mathrm{\Δ}{Z}_{\mathrm{Vi}}-(V_{{\mathrm{\ρ}}_i^{\mathrm{base}}}-V_{V_{{\mathrm{\ρ}}_i^{\mathrm{rev}}}}^I)+(V_{{\mathrm{\ρ}}_{*}^{\mathrm{base}}}-V_{V_{{\mathrm{\ρ}}_{*}^{\mathrm{rev}}}}^I);$

Step 6, calculating $\left[\begin{array}{c}{h}_1^T\\ h_2^T\\ h_3^T\end{array}\right]$ Inverse matrix ${\left[\begin{array}{c}{h}_1^T\\ h_2^T\\ h_3^T\end{array}\right]}^{-1};$

The speed of step 7, calculating rover station is $V^{\mathrm{rev}}={\left[\begin{array}{c}{h}_1^T\\ h_2^T\\ h_3^T\end{array}\right]}^{-1}*\left[\begin{array}{c}\▿\mathrm{\Δ}{Z}_{V1}\\ \▿\mathrm{\Δ}{Z}_{V2}\\ \▿\mathrm{\Δ}{Z}_{V3}\end{array}\right],$ Rreturn value is TRUE.

6. wind detection method according to claim 5, is characterized in that: satellite is four, and one is reference satellite.