CN108279446B - Micro-pressure sudden change measuring device and method based on four-axis aircraft and static pressure head - Google Patents
Micro-pressure sudden change measuring device and method based on four-axis aircraft and static pressure head Download PDFInfo
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- CN108279446B CN108279446B CN201810336451.0A CN201810336451A CN108279446B CN 108279446 B CN108279446 B CN 108279446B CN 201810336451 A CN201810336451 A CN 201810336451A CN 108279446 B CN108279446 B CN 108279446B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01W—METEOROLOGY
- G01W1/00—Meteorology
- G01W1/08—Adaptations of balloons, missiles, or aircraft for meteorological purposes; Radiosondes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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Abstract
The device comprises the quadcopter, an air pressure measuring device based on the static pressure head, a single chip microcomputer, a wireless communication module, a flight control module, a GPS (global positioning system) positioning module and a data processing center. The air pressure measuring device based on the static pressure head comprises the static pressure head, a huge piezoresistive pressure sensor, an amplifying and filtering circuit, an A/D (analog/digital) converter and a single chip microcomputer for processing data. The device and the method for measuring the micro-pressure mutation based on the four-axis aircraft and the static pressure head realize high reliability and high stability of the micro-pressure mutation measurement, can be applied to monitoring the climate change corresponding to the air pressure mutation, and realize early warning of meteorological disasters.
Description
Technical Field
The invention relates to a device and a method for measuring micro-pressure mutation based on a four-axis aircraft and a static pressure head, which are particularly suitable for measuring weak changes of air pressure below 1km altitude.
Background
The micro-sudden change of the air pressure is always a key point of meteorological research and is closely related to the formation of meteorological disasters, so that the effective monitoring of the micro-pressure sudden change is beneficial to early warning of the meteorological disasters. At present, a piezoresistive pressure sensor is mainly used for measuring air pressure, the cost is low, but the measurement accuracy is low, and the detection of a tiny sudden change in the air pressure, such as a tiny change of about 5-20 Pa in the air, is difficult. Because wind exists in the high altitude, the wind pressure can influence the measurement accuracy of atmospheric pressure, leads to the measuring result to produce the error, how to solve the wind pressure interference problem, effectively improve measurement accuracy and become very important.
The conventional air pressure measurement is realized by flying a sounding balloon, the method is simple, convenient and easy to realize, but due to the factor of wind, the distance between the front point and the rear point of the measurement may be far, the variation of the air pressure value is large, and whether micro-pressure mutation occurs or not may not be judged. Meanwhile, the measured points all change along with the direction of wind, and the air pressure value of a fixed point cannot be measured. Moreover, the method needs to fly off the sounding balloon for multiple times, takes long time, has long time interval between the previous time and the next time, and cannot monitor the sudden change of the air pressure value in real time. Therefore, the adoption of a new measurement method to realize the real-time and high-efficiency measurement of the micro-pressure mutation is an unbearable problem.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a micro-pressure sudden change measuring device and a method based on a four-axis aircraft and a static pressure head, wherein the micro-pressure sudden change measuring device adopts a mode of combining the four-axis aircraft and an air pressure measuring device based on the static pressure head, so that the capacity of wind pressure interference resistance of air pressure measurement is greatly improved; the four-axis aircraft is formed to fly through a wireless communication module, a flight control module and a GPS module of the four-axis aircraft, and real-time monitoring on micro-pressure sudden change is achieved.
In order to achieve the purpose, the invention adopts the following technical scheme:
a minute-pressure sudden change measuring device based on four shaft air vehicle and static head, its characterized in that includes: the device comprises a static pressure head, an air pressure measuring device, a four-axis aircraft, a flight control module, a GPS positioning module, a wireless communication module and a data processing center; the static pressure head offsets the wind pressure from each position for atmospheric pressure gets into the barometry device through the pipe, the barometry device transmits measured data to four shaft air vehicle, four shaft air vehicle transmits received data real-time for the data processing center on ground through wireless communication module, flight control module is used for controlling four shaft air vehicle, GPS orientation module is used for fixing a position four shaft air vehicle.
In order to optimize the technical scheme, the specific measures adopted further comprise:
the air pressure measuring device comprises a power supply module, a sensor module, a signal processing module and a signal conversion module, wherein the power supply module is divided into a reference voltage source, an analog power supply and a digital power supply, the reference voltage source supplies power to the sensor module, the analog power supply supplies power to the signal processing module, and the digital power supply supplies power to the signal conversion module; the sensor module is a giant piezoresistive pressure sensor consisting of a giant piezoresistive structure, the signal processing module comprises a voltage amplifying circuit and a low-pass filter circuit, and the signal conversion module comprises an AD (analog-to-digital) converter and a single chip microcomputer I; the giant piezoresistive pressure sensor transmits the acquired electric signals to the AD (analog-to-digital) converter after the electric signals are processed by the voltage amplifying circuit and the low-pass filter circuit, the AD converter outputs the converted signals to the first single chip microcomputer, the first single chip microcomputer sends the converted signals to the second single chip microcomputer arranged in the four-axis aircraft, and the second single chip microcomputer transmits the received data to the ground data processing center in real time through the wireless communication module.
The AD analog-to-digital converter adopts A/D7195, the single chip microcomputer I and the single chip microcomputer II both adopt STM32F407, and the wireless communication module adopts ESP8266 WIFI.
Huge piezoresistive pressure sensor includes glass stratum basale, silicon bottom and the silica insulating layer that stacks in proper order from bottom to top, stress film has been placed at the surface center of silica insulating layer, and four huge piezoresistive structures of titanium silicon gallium heterojunction have been placed around the surface of silica insulating layer, huge piezoresistive structure of titanium silicon gallium heterojunction is placed two liang of symmetries on stress film.
The titanium silicon gallium heterojunction giant piezoresistive structure comprises an inner layer gallium structure area, an intermediate layer silicon structure area and an outer layer titanium structure area which are sequentially nested from inside to outside, wherein a titanium silicon heterojunction is formed at the junction of the titanium structure area and the silicon structure area, and a gallium silicon heterojunction is formed at the junction of the silicon structure area and the gallium structure area; and metal edges are arranged at two ends of the gallium structure area, the metal edges are connected to metal sheets through lead wires, the metal sheets are connected to aluminum terminals through electrodes, and the four titanium-silicon-gallium heterojunction giant piezoresistive structures are connected to form a Wheatstone bridge circuit.
In addition, a measurement method adopting the micro-pressure sudden change measurement device based on the four-axis aircraft and the static pressure head is further provided, and the measurement method is characterized by comprising the following steps:
The invention has the beneficial effects that:
1. the static pressure head is combined with the air pressure measuring device, compared with the traditional measuring mode, the influence of air pressure in the atmosphere on the measured data is eliminated, and the measuring accuracy is improved;
2. the giant piezoresistive structure of the titanium-silicon-gallium heterojunction adopted by the invention enables the piezoresistive coefficient and the strain coefficient of the pressure sensor to be increased in an order of magnitude, greatly improves the sensitivity and the accuracy of the measuring device, and can realize the detection of tiny air pressure change;
3. the four-axis aircraft is used as a carrier, and the real-time monitoring of the tiny sudden change of the air pressure value of the designated place in the area is realized through the air pressure measuring device, the wireless communication module, the flight control module and the GPS positioning module;
4. according to the invention, two quadrotors are adopted for combined measurement, so that the measurement efficiency of the micro-pressure mutation region is improved;
5. according to the invention, the area division method in the horizontal direction and the vertical direction is adopted, and each sub-area is measured simultaneously, so that the efficiency of air pressure measurement is improved; the measurement of a plurality of sampling points of each subregion is realized with the help of the flight control module of four shaft air vehicle to through wireless communication module, with the data of gathering accurately reflect for ground control center fast, and through GPS orientation module, realize the global of atmospheric pressure data and summarize, draw more clear audio-visual atmospheric pressure picture, help the better analysis atmospheric pressure tendency condition of meteorological staff.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is a structural view of an air pressure measuring apparatus according to the present invention.
FIG. 3 is a block diagram of an air pressure measuring device according to the present invention.
FIG. 4 is a schematic diagram of the giant piezoresistive structure of the Ti-Si-Ga heterojunction of the present invention.
FIG. 5 is a side view of the inventive titanium-silicon-gallium heterojunction giant piezoresistive structure.
FIG. 6 is a top view of the internal structure of the giant piezoresistive pressure sensor of the present invention.
FIG. 7 is a side cross-sectional view of a giant piezoresistive pressure sensor of the present invention.
FIG. 8 is a circuit diagram of the A/D converter of the present invention.
FIG. 9 is a schematic illustration of zone numbering at the horizontal plane of the present invention.
FIG. 10 is a schematic diagram of the required measurement space partitioning of the present invention.
Fig. 11 is a schematic view of the flight path of the quadcopter of the invention.
The reference numbers are as follows: the piezoelectric ceramic comprises a 1-titanium structural region, a 2-silicon structural region, a 3-gallium structural region, a 4-metal edge, a 5-lead, a 6-metal sheet, a 7-electrode, an 8-aluminum terminal, a 9-giant piezoresistive pressure sensor, a 10-glass substrate layer, a 11-silicon bottom layer, a 12-silicon dioxide insulating layer, a 13-titanium-silicon heterojunction, a 14-gallium-silicon heterojunction and a 15-stress film.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings.
The micro-pressure sudden change measuring device based on the four-axis aircraft and the static pressure head as shown in fig. 1 mainly comprises the four-axis aircraft, the static pressure head, a huge piezoresistive pressure sensor, an amplification filter circuit, an AD7195 analog-to-digital converter, an STM32F407 single chip microcomputer, an ESP8266WIFI wireless communication module, a flight control module, a GPS positioning module and a data processing center.
As shown in fig. 2, the static head counteracts the wind pressure from each azimuth, and the air pressure enters the air pressure measuring device through the conduit. Huge pressure drag pressure sensor passes through the transmission after amplification filter circuit handles the signal of telecommunication of gathering for AD7195 analog to digital converter, and output to STM32F407 singlechip is first after the AD7195 analog to digital converter conversion, sends STM32F407 singlechip two to the four shaft air vehicle through RS232/485 by STM32F407 singlechip, and data processing center on ground is transmitted in real time to the data received to singlechip two rethread wireless communication module ESP8266 WIFI.
As shown in fig. 3, the air pressure measuring device is specifically divided into four modules: the device comprises a power module, a sensor module, a signal processing module and a signal conversion module. The power module comprises a reference voltage source, an analog power source and a digital power source, wherein the reference voltage source supplies power to the sensor module, the analog power source supplies power to the signal processing module, and the digital power source supplies power to the signal conversion module. The sensor module comprises a Wheatstone bridge circuit formed by giant piezoresistors, the signal processing module comprises a voltage amplifying circuit and a low-pass filter circuit, and the signal conversion module comprises an AD7195 analog-to-digital converter and an STM32F407 single chip microcomputer.
As shown in fig. 4, the giant piezoresistive titanium-silicon-gallium heterojunction structure includes an outer titanium structural region 1, an intermediate silicon structural region 2, and an inner gallium structural region 3, where the outer titanium structural region 1 is a columnar structure, the intermediate silicon structural region 2 is a cylindrical structure, and the inner gallium structural region 3 is a columnar structure. With further reference to fig. 5, the interface between the titanium structural region 1 and the silicon structural region 2 is a titanium silicon heterojunction 13, and the interface between the silicon structural region 2 and the gallium structural region 3 is a gallium silicon heterojunction 14.
As shown in fig. 6 and 7, the giant piezoresistive pressure sensor 9 includes a glass substrate layer 10, a silicon bottom layer 11 and a silicon dioxide insulating layer 12 from bottom to top, four titanium-silicon-gallium heterojunction giant piezoresistive and stress films 15 are placed on the surface of the silicon dioxide insulating layer 12, a cavity is arranged at the bottom of the silicon bottom layer 11 upwards, and the silicon bottom layer 11 above the cavity is the stress film 15 of the giant piezoresistive pressure sensor 9. Two ends of the gallium structure region 3 are provided with metal edges 4, the metal edges 4 are connected to a metal sheet 6 through a lead 5, the metal sheet 6 is connected to an aluminum terminal 8 through an electrode 7, and four titanium silicon gallium heterojunction huge piezoresistive structures are connected to form a Wheatstone bridge circuit, so that the piezoresistive coefficient and the strain coefficient are increased in a multiple mode, the sensitivity is greatly improved, and the small change of the pressure can be measured. The stress film 15 is deformed by the gas pressure, and the titanium-silicon-gallium heterojunction on the stress film 15 changes along with the change of the stress, so that the resistance of the pressure-sensitive structure changes, and the huge piezoresistive effect is realized.
As shown in fig. 8, an amplifying and filtering circuit is sequentially connected between the giant piezoresistive wheatstone bridge circuit and the AD7195 analog-to-digital converter. The amplifying and filtering circuit can effectively restrain errors caused by common-mode interference, improves the signal-to-noise ratio and the system precision, and has higher gain and wider gain adjusting range.
As shown in fig. 9, the projection plane of the space to be measured is divided into 5 × 5 square regions, and the quadcopter flies in each square region to measure the air pressure value. As further shown in fig. 10, the space to be measured is divided into 10 equally spaced height layers, each divided into 5 x 5 square areas. And after the unmanned aerial vehicle in each area finishes measurement, the unmanned aerial vehicle rises to the next height layer, and the measurement is continued.
The method for measuring the sudden change of minute pressure based on the quadcopter and the static head as shown in fig. 11 comprises the following steps:
And 2, dividing the micro-pressure mutation region to be measured into 25 square regions of 5 x 5 on the horizontal plane, and carrying out region numbering, 1,2, … and 25. The side length of each square region is 6km, so that 900km can be measured2The area of (a). In the vertical direction, the area is divided into 10 equally spaced height levels and numbered 1,2,3, …, 10. This makes it possible to divide the region space to be measured into 250 sub-regions, each sub-region being denoted by (M, N), M denoting the number of sub-regions in the horizontal plane and N denoting the number of sub-regions in the vertical direction.
And 3, measuring the air pressure of each sub-area, taking the sub-areas (1, 1) as an example, releasing the first quadcopter at the upper right corner of the area, and releasing the second quadcopter at the diagonal position of the area.
And 5, when the first four-axis aircraft and the second four-axis aircraft fly to the starting point of the opposite side, adjusting the flight direction, flying to the first sextuple point of the diagonal line along the diagonal line direction, and repeating the step 4.
And 6, changing the flying direction in the step 5 into a second sextant point, and repeating the step 5, so that the measurement of 24 sample points in one sub-area is completed. By analogy, the remaining 24 sub-regions can be measured simultaneously.
And 7, after the measurement of all sub-areas on the horizontal plane is finished, controlling the four-axis aircraft to fly to the (M, 2) plane, and repeating the steps 3, 4, 5 and 6 to finish the measurement of the (M, 2) plane. And so on, complete the measurement for 10 height layers.
It should be noted that the terms "upper", "lower", "left", "right", "front", "back", etc. used in the present invention are for clarity of description only, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not limited by the technical contents of the essential changes.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (3)
1. A minute-pressure sudden change measuring device based on four shaft air vehicle and static head, its characterized in that includes: the device comprises a static pressure head, an air pressure measuring device, a four-axis aircraft, a flight control module, a GPS positioning module, a wireless communication module and a data processing center; the static pressure head offsets the wind pressure from each azimuth, so that the air pressure enters the air pressure measuring device through the guide pipe, the air pressure measuring device transmits measured data to the four-axis aircraft, the four-axis aircraft transmits the received data to a data processing center on the ground in real time through the wireless communication module, the flight control module is used for controlling the four-axis aircraft, and the GPS positioning module is used for positioning the four-axis aircraft; the air pressure measuring device comprises a power supply module, a sensor module, a signal processing module and a signal conversion module, wherein the power supply module is divided into a reference voltage source, an analog power supply and a digital power supply, the reference voltage source supplies power to the sensor module, the analog power supply supplies power to the signal processing module, and the digital power supply supplies power to the signal conversion module; the sensor module is a giant piezoresistive pressure sensor consisting of a giant piezoresistive structure, the signal processing module comprises a voltage amplifying circuit and a low-pass filter circuit, and the signal conversion module comprises an AD (analog-to-digital) converter and a single chip microcomputer I; the giant piezoresistive pressure sensor processes the acquired electric signals through a voltage amplifying circuit and a low-pass filter circuit and then transmits the electric signals to an AD (analog-to-digital) converter, the AD converter converts the signals and outputs the converted signals to a first single chip microcomputer, the first single chip microcomputer transmits the converted signals to a second single chip microcomputer arranged in a four-axis aircraft, and the second single chip microcomputer transmits the received data to a ground data processing center in real time through a wireless communication module;
the AD analog-to-digital converter adopts A/D7195, the single chip microcomputer I and the single chip microcomputer II both adopt STM32F407, and the wireless communication module adopts ESP8266 WIFI;
huge pressure drag pressure sensor (9) include glass stratum basale (10), silicon bottom layer (11) and silica insulating layer (12) that stack in proper order from bottom to top, stress film (15) have been placed at the surface center of silica insulating layer (12), and four titanium silicon gallium heterojunction huge pressure drag structures have been placed all around on the surface of silica insulating layer (12), titanium silicon gallium heterojunction huge pressure drag structure two bisymmetries place on stress film (15).
2. The micro-pressure jump measuring device based on the quadcopter and the static head as claimed in claim 1, wherein: the titanium silicon gallium heterojunction giant piezoresistive structure comprises an inner-layer gallium structure region (3), an intermediate-layer silicon structure region (2) and an outer-layer titanium structure region (1) which are sequentially nested from inside to outside, a titanium silicon heterojunction (13) is formed at the junction of the titanium structure region (1) and the silicon structure region (2), and a gallium silicon heterojunction (14) is formed at the junction of the silicon structure region (2) and the gallium structure region (3); two ends of the gallium structure region (3) are provided with metal edges (4), the metal edges (4) are connected to a metal sheet (6) through leads (5), the metal sheet (6) is connected to an aluminum terminal (8) through an electrode (7), and four titanium-silicon-gallium heterojunction giant piezoresistive structures are connected to form a Wheatstone bridge circuit.
3. A measurement method using the minute pressure jump measurement device based on the quadcopter and the static pressure head according to any one of claims 1 to 2, comprising the steps of:
step 1, fixing a combination of a static pressure head and an air pressure measuring device on a four-axis aircraft, transmitting an air pressure data value obtained by a single chip microcomputer I to a single chip microcomputer II on the four-axis aircraft, and transmitting the air pressure data value back to a ground control center through a wireless communication module on the four-axis aircraft;
step 2, dividing the micro-pressure mutation region to be measured into 25 square regions of 5 × 5 on the horizontal plane, and numbering the regions 1,2, … and 25; in the vertical direction, the area is divided into 10 equally spaced height layers and numbered 1,2,3, …, 10; thus the area space to be measured is divided into 250 sub-areas, each sub-area being denoted by (M, N), M denoting the number of the sub-area in the horizontal plane and N denoting the number of the sub-area in the vertical direction;
step 3, measuring the air pressure of each sub-area, namely releasing a first quadcopter at the upper right corner of the area (1, 1) and releasing a second quadcopter at the diagonal position of the area;
step 4, the first quadcopter and the second quadcopter fly along the regional sidelines in the anticlockwise direction at the same time, and primary air pressure measurement is carried out at the starting point, the middle point and the end point of each sideline; after each measurement is finished, the four-axis aircraft is adjusted to be in a hovering mode, hovering time is 1 minute, once more air pressure value measurement is carried out, and whether the air pressure value changes slightly or not is compared with a value before 1 minute;
step 5, when the first four-axis aircraft and the second four-axis aircraft fly to the starting point of the opposite side, the flight direction is adjusted, the four-axis aircraft flies to the first sextuple point of the diagonal line along the diagonal line direction, and the step 4 is repeated;
step 6, changing the flight direction in the step 5 into a second sextant point of the diagonal line, and repeating the step 5, thereby completing the measurement of 24 sample points in one sub-area; and so on, measuring the other 24 sub-regions of the 1 st height layer;
step 7, after the measurement of all sub-areas on the horizontal plane is finished, controlling the four-axis aircraft to fly to the (M, 2) plane, repeating the steps 3, 4, 5 and 6, and finishing the measurement of the (M, 2) plane; and so on, complete the measurement for 10 height layers.
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| CN101965527A (en) * | 2008-01-17 | 2011-02-02 | 阿弗泰克瑞典股份公司 | A flight control method |
| CN102360088A (en) * | 2011-09-09 | 2012-02-22 | 陕西长岭电子科技有限责任公司 | Air data computer and realization method thereof |
| CN208044102U (en) * | 2018-04-16 | 2018-11-02 | 南京信息工程大学 | Minute-pressure based on four-axle aircraft and hydrostatic head is mutated measuring device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101965527A (en) * | 2008-01-17 | 2011-02-02 | 阿弗泰克瑞典股份公司 | A flight control method |
| CN102360088A (en) * | 2011-09-09 | 2012-02-22 | 陕西长岭电子科技有限责任公司 | Air data computer and realization method thereof |
| CN208044102U (en) * | 2018-04-16 | 2018-11-02 | 南京信息工程大学 | Minute-pressure based on four-axle aircraft and hydrostatic head is mutated measuring device |
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Effective date of registration: 20220711 Address after: 210000 C03, Putian Science Park, No. 1, Putian Road, Qinhuai District, Nanjing, Jiangsu Province Patentee after: Nanjing ruifico Electromechanical Technology Co.,Ltd. Address before: 210000 69 Olympic Sports street, Jianye District, Nanjing, Jiangsu. Patentee before: Nanjing University of Information Science and Technology |