CN111856074A - Combined type atmospheric data measurement experiment cabin section and flight data measurement method thereof - Google Patents
Combined type atmospheric data measurement experiment cabin section and flight data measurement method thereof Download PDFInfo
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Abstract
The invention discloses a combined type atmospheric data measurement experiment cabin section and a flight data measurement method thereof, wherein the combined type atmospheric data measurement experiment cabin section comprises a head cabin and an instrument cabin which are fixedly connected; the head cabin is provided with a plurality of detection mechanisms for acquiring measurement data of the combined type atmospheric data measurement experiment cabin section in the measurement process; a navigation mechanism is arranged in the instrument cabin and used for acquiring motion state data of the combined type atmospheric data measurement experiment cabin section in the measurement process; and the missile-borne computer is electrically connected with the detection mechanism and the navigation mechanism and is used for performing mutual correction compensation on the measurement data and the motion state data, and resolving according to the pressure data and the motion state data after correction compensation to obtain flight data of the combined type air data measurement experimental cabin section in the measurement process, wherein the flight data comprises flight altitude, lifting speed, Mach number, real airspeed, indication airspeed and corrected attack angle and sideslip angle. The problem of flight data measurement accuracy is low among the prior art is solved, high accuracy measurement is realized.
Description
Technical Field
The invention relates to the technical field of aerospace, in particular to a combined type atmospheric data measurement experiment cabin section and a flight data measurement method thereof.
Background
The atmospheric data measurement experiment system is an important electronic device on modern rockets and airplanes. The method comprises the steps of measuring parameters such as atmospheric static pressure, total pressure and total temperature of the position where an aircraft is located in real time, calculating flight parameters such as an attack angle, altitude, Mach number, real airspeed, indicated airspeed and lifting speed of the aircraft through an atmospheric data computer, and sending the flight parameters to a cockpit display system, a flight control system, a navigation system and the like. The performance of the device is not only directly related to the accurate measurement and display of atmospheric data, but also determines whether the flight task can be completed smoothly and the safety of the airplane flight. The atmospheric data system experimental device determines whether the atmospheric data system can accurately acquire and process atmospheric data, and provides powerful guarantee for safety of flight or reentry flight activities in the atmosphere. The existing embedded atmospheric data system experimental device only measures the pressure distribution of the head surface of an aircraft, the accuracy of the obtained flight parameters is relatively low, and the stability and the reliability of the flight can be reduced to a certain extent when the obtained experimental result, conclusion and verification principle is used for airplanes, rockets and near space aircrafts.
Disclosure of Invention
Aiming at one or more defects in the prior art, the invention provides the combined type atmospheric data measurement experiment cabin section and the flight data measurement method thereof, and the measurement precision of the flight data is effectively improved.
In order to achieve the purpose, the invention provides a combined type atmospheric data measurement experiment cabin section, which comprises a head cabin and an instrument cabin which are fixedly connected;
the head cabin is provided with a plurality of detection mechanisms for acquiring measurement data of the combined type atmospheric data measurement experiment cabin section in the measurement process, wherein the measurement data comprises pressure data, temperature data, impact data, overload data, vibration data, an attack angle, a sideslip angle, wind speed and wind direction;
the instrument cabin is internally provided with:
the navigation mechanism is used for acquiring motion state data of the combined type atmospheric data measurement experiment cabin section in the measurement process, and the motion state data comprises angular velocity, linear acceleration, attitude data, linear velocity and position data;
the missile-borne computer is electrically connected with the detection mechanism and the navigation mechanism and is used for performing mutual correction compensation on the measurement data and the motion state data, and resolving according to the pressure data and the motion state data after correction compensation to obtain flight data of the combined type air data measurement experimental cabin section in the measurement process, wherein the flight data comprises flight altitude, lifting speed, Mach number, real airspeed, indication airspeed and corrected attack angle and sideslip angle;
The data recorder is electrically connected with the detection mechanism, the navigation mechanism and the missile-borne computer and is used for recording measurement data, motion state data and flight data;
and the power supply mechanism is electrically connected with the detection mechanism, the navigation mechanism, the missile-borne computer and the data recorder and is used for supplying power.
Further preferably, the detection mechanism comprises a pressure sensor, a vane type attack angle sensor, a vane type sideslip angle sensor, an anemoscope, a temperature sensor, an impact sensor, a vibration sensor and an overload sensor which are arranged on the head cabin.
Preferably, the head cabin is of a hemispherical structure, a paraboloid structure or a conical structure;
the number of the pressure sensors is multiple, and the pressure sensors are distributed on the head cabin in a cross structure;
the weather vane type attack angle sensor and the weather vane type sideslip angle sensor are arranged on the head cabin and are located at the position adjacent to the edge contour line of the head cabin, and a connecting line from the weather vane type attack angle sensor to the center of the head cabin is perpendicular to a connecting line from the weather vane type sideslip angle sensor to the center of the head cabin.
Preferably, the head cabin is provided with pressure guiding holes corresponding to the pressure sensors one to one, and the pressure sensors are arranged at positions corresponding to the pressure guiding holes on the head cabin.
Further preferably, the axis of the pressure guide hole is perpendicular to the wall surface of the head chamber or is arranged in parallel with the wall axis of the instrument chamber.
Preferably, the instrument cabin comprises a cabin body, a front cabin section and a rear cabin section, wherein the front cabin section and the rear cabin section are arranged in the cabin body;
the front cabin section comprises a front cabin head supporting ring, a first connecting plate and a front cabin tail supporting ring, the first connecting plate is fixedly connected between the front cabin head supporting ring and the front cabin tail supporting ring, the navigation mechanism and the missile-borne computer are arranged on the first connecting plate, and the front cabin head supporting ring and the front cabin tail supporting ring are fixedly connected with the inner wall of the cabin body;
the rear cabin section comprises a rear cabin head supporting ring, a second connecting plate and a rear cabin tail supporting ring, the second connecting plate is fixedly connected between the rear cabin head supporting ring and the rear cabin tail supporting ring, the data recorder and the power supply mechanism are arranged on the second connecting plate, and the rear cabin head supporting ring and the rear cabin tail supporting ring are fixedly connected with the inner wall of the cabin body.
Preferably, the cabin body is provided with a front hatch and a rear hatch, so that the navigation mechanism, the missile-borne computer, the data recorder and the power supply mechanism can be debugged through the front hatch and the rear hatch conveniently;
Be equipped with on the preceding hatch and hold the canopy with cabin body articulated preceding hatch, be equipped with on the back hatch with cabin body articulated back hatch board.
Preferably, the sections of the front cabin head support ring, the front cabin tail support ring and the rear cabin head support ring are all circular, and the middle parts of the front cabin head support ring, the front cabin tail support ring and the rear cabin head support ring are all hollow and are used for passing through wires among the detection mechanism, the navigation mechanism, the missile-borne computer, the data recorder and the power supply mechanism;
the rear cabin tail support ring is circular in section, and the middle of the rear cabin tail support ring is a solid body, so that air is prevented from entering a cabin body to interfere with experimental equipment.
In order to achieve the above object, the present invention further provides a flight data measurement method based on the combined atmospheric data measurement experimental cabin segment, which comprises the following steps:
step 1, fixing a combined type atmospheric data measurement experiment cabin section on a carrier in a set posture, and determining a measured value under the posture as a true value;
And 3, performing mutual correction compensation on the measurement data and the motion state data, and resolving according to the pressure data and the motion state data after correction compensation to obtain flight data of the combined type atmospheric data measurement experiment cabin in the measurement process, wherein the flight data comprises the flight altitude, the lifting speed, the Mach number, the real airspeed, the indicated airspeed and the corrected attack angle and sideslip angle.
Further preferably, in step 3, the mutual correction and compensation of the measurement data and the motion state data are specifically:
compensating the wind speed through temperature data;
correcting pressure data, impact data, overload data, vibration data, attack angle, sideslip angle, wind direction, angular velocity, linear acceleration, attitude data, linear velocity and position data through temperature data;
compensating pressure data, temperature data, wind speed, wind direction, attack angle, sideslip angle, angular velocity, linear acceleration, attitude data, linear velocity and position data through impact data, overload data and vibration data;
and correcting the attack angle and the sideslip angle through the wind speed and the wind direction.
The invention provides a combined type atmospheric data measurement experiment cabin and a flight data measurement method thereof.A detection mechanism is used for acquiring measurement data of the combined type atmospheric data measurement experiment cabin in a measurement process, a navigation mechanism is used for acquiring motion state data of the combined type atmospheric data measurement experiment cabin in the measurement process, the measurement data and the motion state data are subjected to mutual correction compensation, and the flight data of the combined type atmospheric data measurement experiment cabin in the measurement process is obtained by resolving according to the pressure data and the motion state data after correction compensation, so that the measurement precision of the flight data is effectively increased.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a combined atmospheric data measurement laboratory cabin segment according to an embodiment of the present invention;
FIG. 2 is a schematic view of a head chamber having a hemispherical structure according to an embodiment of the present disclosure;
FIG. 3 is a schematic view of a parabolic configuration of the head tank in an embodiment of the present invention;
FIG. 4 is a schematic view of a conical surface configuration of the head tank in an embodiment of the present invention;
FIG. 5 is a schematic view of the distribution of pressure sensors over the head chamber in an embodiment of the present invention;
FIG. 6 is a schematic flow chart of a flight data measurement method based on a combined atmospheric data measurement experimental cabin segment according to an embodiment of the present invention;
FIG. 7 is a schematic diagram illustrating the definition of the cone angle and the circumferential angle according to an embodiment of the present invention.
The reference numbers illustrate: 1. a head wall; 2. a front cabin head support ring; 3. a GPS/inertial integrated navigation system; 4. a missile-borne computer; 5. a front deck tail support ring; 6. a data recorder; 7. a battery pack; 8. a rear cabin tail support ring; 9. a pressure sensor; 10. a hull wall; 11. a front hatch cover 12, a first connection plate; 13. a rear cabin head support ring; 14. a rear hatch cover; 15. a second connecting plate; 16. a temperature sensor; 17. an impact sensor; 18. a vibration sensor; 19. an overload sensor; 20. an angle of attack sensor; 21. an anemometer; 22. a wind direction indicator; 23. a sideslip angle sensor.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; the connection can be mechanical connection, electrical connection, physical connection or wireless communication connection; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
Fig. 1 shows a combined atmospheric data measurement experiment cabin segment disclosed in this embodiment, which includes a head cabin 1 and an instrument cabin.
The head cabin 1 is provided with a detection mechanism, and the detection mechanism specifically comprises 9 pressure sensors 9, 1 vane type attack angle sensor 20, 1 vane type sideslip angle sensor 23, 1 anemoscope 21, 1 anemoscope 22, a plurality of temperature sensors 16, 1 impact sensor 17, 1 vibration sensor 18 and 1 overload sensor 19. The shape of the head cabin 1 can be changed, and the head cabin can be of a semi-spherical structure, a paraboloid structure or a conical structure, as shown in fig. 2, 3 and 4, and can be of other similar structures.
The head cabin 1 is further provided with pressure guiding holes corresponding to the 9 pressure sensors 9 one by one, axes of the pressure guiding holes are perpendicular to the wall surface of the head cabin 1, or are arranged in parallel to the wall axis of the instrument cabin, the sensors are arranged on the head cabin 1 at positions corresponding to the pressure guiding holes and used for measuring pressure data, in the embodiment, the 9 pressure sensors 9 are distributed on the head cabin 1 in a cross structure, that is, as shown in fig. 5. The 1 vane type attack angle sensor 20 is arranged at the spherical edge position of the head cabin 1 and is used for measuring the attack angle of the combined type atmosphere data measurement experiment cabin section; the 1 vane type sideslip angle sensor 23 is also installed at the spherical edge position of the head cabin 1 and is used for measuring the sideslip angle of the combined type atmosphere data measurement experiment cabin section. Wherein, the connecting line of the wind vane type attack angle sensor 20 to the center of the head cabin 1 is vertical to the connecting line of the wind vane type sideslip angle sensor 23 to the center of the head cabin 1. The anemoscope 21 and the anemoscope 22 are both fixedly arranged at any position of the outer surface of the head cabin 1 and are used for measuring the wind speed and the wind direction of the combined type atmospheric data measurement experiment cabin section; the temperature sensor 16 is of a patch type, measures the temperature of the surface of the head cabin 1 and outputs temperature data; the impact sensor 17, the vibration sensor 18 and the overload sensor 19 measure the impact, vibration and overload according to the environment of the combined atmospheric data measurement experiment cabin, and output impact data, vibration data and overload data.
The instrument cabin comprises a cabin body 10, a front cabin section and a rear cabin section, wherein the front cabin section and the rear cabin section are arranged in the cabin body 10, the cabin body 10 is fixedly connected with the head cabin 1, and the front cabin section is located between the head cabin 1 and the rear cabin section.
The front cabin section comprises a front cabin head supporting ring 2, a first connecting plate 12 and a front cabin tail supporting ring 5, the first connecting plate 12 is fixedly connected between the front cabin head supporting ring 2 and the front cabin tail supporting ring 5, the front cabin head supporting ring 2, the front cabin tail supporting ring 5 and the first supporting plate are welded and connected to form a whole, and the front cabin head supporting ring 2, the front cabin tail supporting ring 5 and the inner wall of the cabin body 10 are fixedly connected. The first connecting plate 12 is fixedly provided with a navigation mechanism 3 and a missile-borne computer 4. In the embodiment, the navigation mechanism 3 is a GPS/inertia integrated navigation and is used for measuring the motion state data of the integrated atmospheric data measurement experiment cabin section, wherein the motion state data comprises angular velocity, linear acceleration, attitude data, linear velocity and position data; the missile-borne computer 4 is used for receiving measured data including pressure data, temperature data, impact data, overload data, vibration data, an attack angle, a sideslip angle, wind speed and wind direction measured by the detection mechanism on the head cabin 1 and motion state data including angular velocity, linear acceleration, attitude data, linear speed and position data measured by the navigation mechanism 3, performing mutual correction compensation on the measured data and the motion state data, and solving flight data such as flight height, lifting speed, Mach number, real airspeed, indicated airspeed, attack angle, sideslip angle and the like of the combined type atmospheric data measurement experimental cabin section according to the corrected and compensated pressure data and motion state data.
The rear cabin section comprises a rear cabin head supporting ring 13, a second connecting plate 15 and a rear cabin tail supporting ring 8, the second connecting plate 15 is fixedly connected between the rear cabin head supporting ring 13 and the rear cabin tail supporting ring 8, the rear cabin head supporting ring 13, the rear cabin tail supporting ring 8 and the second connecting plate 15 are welded and connected to form a whole, and the rear cabin head supporting ring 13 and the rear cabin tail supporting ring 8 are fixedly connected with the inner wall of the cabin body 10. The second connecting plate 15 is fixedly provided with a data recorder 6 and a power supply mechanism 7, and the data recorder 6 is electrically connected with the detection mechanism, the navigation mechanism 3 and the missile-borne computer 4 and is used for recording measurement data, motion state data and flight data; the power supply mechanism 7 is electrically connected with the detection mechanism, the navigation mechanism 3, the missile-borne computer 4 and the data recorder 6 and used for supplying power.
The cabin 10 is provided with a front hatch and a rear hatch so as to debug the navigation mechanism 3, the missile-borne computer 4, the data recorder 6 and the power supply mechanism 7 through the front hatch and the rear hatch; be equipped with on the preceding hatch and cover 11 with the articulated preceding hatch of cabin body 10, be equipped with on the back hatch and cover 14 with the articulated back hatch of cabin body 10.
In this embodiment, the head chamber 1 and the chamber body 10 of the instrument chamber are connected by a bolt and a thread, so as to ensure that the connection is not loosened.
In the embodiment, the sections of the front cabin head support ring 2, the front cabin tail support ring 5 and the rear cabin head support ring 13 are all circular, and the middle parts are all hollow and used for passing through wires among the detection mechanism, the navigation mechanism 3, the missile-borne computer 4, the data recorder 6 and the power supply mechanism 7;
the rear cabin tail support ring 8 is circular in cross section and solid in the middle to prevent air from entering the cabin 10 and interfering with experimental equipment.
Referring to fig. 6, the present embodiment further discloses a flight data measurement method based on a combined atmospheric data measurement experimental cabin segment, which specifically includes the following steps:
step 1, fixing a combined type atmospheric data measurement experiment cabin section on a carrier in a set posture, and determining a measured value under the posture as a true value;
and 3, performing mutual correction compensation on the measurement data and the motion state data, and resolving according to the pressure data and the motion state data after correction compensation to obtain flight data of the combined type atmospheric data measurement experimental cabin in the measurement process.
Before step 1, the combined atmospheric data measurement experiment cabin section needs to be assembled, and the method specifically comprises the following steps:
Assembling a head cabin 1: installing 9 pressure sensors 9 into the head cabin 1 according to the distribution structure shown in fig. 5, connecting and fixing the pressure sensors by screw threads, and installing the leads of the pressure sensors 9; a plurality of temperature sensors 16, 1 impact sensor 17, 1 vibration sensor 18, 1 overload sensor 19, 1 vane type attack angle sensor 20, 1 anemoscope 21, 1 anemoscope 22 and 1 vane type sideslip angle sensor 23 are arranged in the head cabin 1 according to the structure shown in figure 1, the vane type attack angle sensor 20 and the vane type sideslip angle sensor 23 are required to be respectively arranged perpendicular to the connecting line of the center of the head cabin 1, other sensor mounting positions have no special requirements, and the sensor can be flexibly mounted according to the requirements when in use. The sensors are fixed in a threaded connection mode, and the leads of the sensors are connected well.
Assembling a front cabin section: the front cabin head support ring 2, the first connecting plate 12 and the front cabin tail support ring 5 are welded into a whole by the structure shown in figure 1, the navigation mechanism 3 and the missile-borne computer 4 are fixed on the first connecting plate 12 by bolts in a threaded connection mode according to the position shown in figure 1, and the guide wires of the navigation mechanism 3 and the missile-borne computer 4 are installed.
Assembling a rear cabin section: the rear cabin head support ring 13, the second connecting plate 15 and the rear cabin tail support ring 8 are welded into a whole by the structure shown in figure 1, the data recorder 6 and the power supply mechanism 7 are fixed by bolts in a threaded connection mode according to the position shown in figure 1, and the leads of the data recorder 6 and the power supply mechanism 7 are installed.
Assembling the whole body: the head tank 1 is mounted at the head end of the front tank section and is screwed by bolts. And the tail end of the front cabin section and the head end of the rear cabin section are fixedly connected through bolts in a threaded manner. Through preceding hatch board 11, back hatch board 14 with detection mechanism, navigation mechanism 3, missile-borne computer 4, data record appearance 6, power supply mechanism 7's wire connection, wait to debug after finishing with preceding hatch board 11, back hatch board 14 with bolt with threaded connection fixed.
In step 1, fixing the combined type atmospheric data measurement experiment cabin section on a carrier in a set posture, and determining a measured value under the posture as a true value, specifically:
the combined type atmospheric data measurement experiment cabin section is fixed on a sports car in a set posture, a measured value under the posture is determined to be a true value, and meanwhile, a detection mechanism, a navigation mechanism 3, a missile-borne computer 4, a data recorder 6 and a power supply mechanism 7 are initialized.
In step 2, the carrier is driven along a predetermined track at different speeds, and when the vane attack angle sensor 20 and the vane sideslip angle center line are parallel to the airflow direction, i.e. no attack angle or sideslip angle exists, the aerodynamic force does not generate moment, and the vane does not rotate. When the combined type atmosphere data measurement experiment cabin section moves at a certain attack angle and sideslip angle, the wind vane rotates to eliminate the attack angle of the wind vane due to the moment generated by aerodynamic force of the wind vane until the central line of the wind vane is consistent with the direction of airflow, and at the moment, the included angle between the wind vane and the axis of the aircraft is equal to the attack angle and the sideslip angle of the combined type atmosphere data measurement experiment cabin section. The vane deflects to drive the rotating shaft to rotate, the rotating angle of the rotating shaft is obtained by a potentiometer, a Hall effect or an excellent encoder, and then the attack angle and sideslip angle data are output through the system resolving, the data interpolation processing and the D/A conversion of the vane type attack angle sensor 20 and the vane type sideslip angle sensor 23.
The anemoscope 21 adopts an ultrasonic type anemoscope 21, and the propagation speed of ultrasonic waves emitted by the anemoscope 21 in the air is superposed with the airflow speed in the wind direction. If the propagation direction of the ultrasonic wave is the same as the wind direction, the speed of the ultrasonic wave is accelerated; conversely, if the propagation direction of the ultrasonic wave is opposite to the wind direction, its speed becomes slow. Therefore, under fixed detection conditions, the speed of the ultrasonic wave propagating in the air can correspond to the wind speed function. The accurate wind speed can be obtained through calculation.
The anemoscope 22 measures the wind direction according to the environment of the experimental cabin section measured by the combined atmospheric data, and outputs wind direction data. The impact sensor 17, the vibration sensor 18 and the overload sensor 19 measure the impact, vibration and overload according to the environment of the combined atmospheric data measurement experiment cabin, and output impact data, vibration data and overload data. The temperature sensor 16 is of a patch type, measures the temperature of the surface of the head cabin 1, and outputs temperature data. 9 pressure sensors 9 measure the atmospheric pressure and output pressure output; the navigation mechanism 3 is a GPS/inertial navigation system, and can measure angular velocity, linear acceleration, attitude data, linear velocity and position data and output the angular velocity, linear acceleration, attitude data, linear velocity and position data.
In step 2, the measured data comprises pressure data, temperature data, impact data, overload data, vibration data, attack angle, sideslip angle, wind speed and wind direction, and the motion state data comprises angular velocity, linear acceleration, attitude data, linear velocity and position data.
1. when the ultrasonic wave emitted by the anemometer 21 propagates in the air, the speed thereof is greatly affected by the temperature, so the influence of the temperature on the ultrasonic wave speed needs to be compensated by the data measured by the temperature sensor 16, the measurement accuracy is improved, that is, the wind speed is compensated by the temperature data, in this embodiment, the compensation is performed by using the piecewise two-dimensional linear difference principle, and the compensation process is as follows:
setting the wind speed correction value as f (x, y) and the interpolated wind speed value as
The temperature measured value is x (or the temperature measured value x corrected by other sensor data), the wind speed measured value is y (or the wind speed measured value y corrected by other sensor data), the wind speed corrected value f (x, y) and the interpolated wind speed value 
Is a function of the temperature measurement x and the wind speed measurement y. The measured value of the temperature is x, and the measured value of the wind speed is y, which are respectively measured by the temperatureThe sensor and the anemometer.
Keeping x unchanged, interpolating y:
fixing y again, interpolating x:
the final correction value is:
and if the wind speed correction value is f (x, y), a is a correction coefficient and is obtained by a ground sensor calibration experiment, f (x, y) is wind speed data obtained by compensating the wind speed through temperature data, and the wind speed correction value is considered to be equal to the real wind speed within a certain precision range.
Wherein f (x)i,yj)，f(xi,yj+1)，f(xi+1,yj)，f(xi+1,yj+1) The calibrated wind speed correction value in the ground sensor experiment is known for both independent variable and dependent variable, and the calibrated wind speed correction value is considered to be equal to the real wind speed within a certain precision range.
2. Navigation mechanism 3, pressure sensor 9, temperature sensor 16, impact sensor 17, vibration sensor 18, overload sensor 19, wind vane formula attack angle sensor 20, anemoscope 21, anemoscope 22, wind vane formula sideslip angle sensor 23 work for a long time and can produce great temperature drift, need revise according to the data that temperature sensor 16 measured, improve measurement accuracy, through temperature data to pressure data, impact data, overload data, vibration data, attack angle, sideslip angle, wind direction, angular velocity, linear acceleration, gesture data, linear velocity, position data revise promptly, its compensation process is:
Pressure data, impact data, overload data, vibration data, an attack angle, a sideslip angle, a wind direction, angular velocity, linear acceleration, attitude data, linear velocity and position data are corrected through temperature data, a piecewise two-dimensional linear difference principle is adopted, and a compensation process is used for compensating wind speed through temperature data. And (3) regarding the independent variable y as corresponding measured pressure data, impact measurement data, overload measurement data, vibration measurement data, attack angle measurement data, sideslip angle measurement data, wind direction measurement data, angular velocity measurement data, linear acceleration measurement data, attitude measurement data, linear velocity measurement data and position data measurement data to obtain corrected data.
3. The environment of the combined type atmospheric data measurement experiment cabin section can be influenced by impact, vibration and overload and the shape error and the position error of sensor installation, the navigation mechanism 3, the pressure sensor 9, the temperature sensor 16, the vane type attack angle sensor 20, the anemoscope 21, the anemoscope 22 and the vane type sideslip angle sensor 23 need to be compensated according to the data measured by the impact sensor 17, the vibration sensor 18 and the overload sensor 19, the measurement precision is improved, that is, the impact data, the overload data, and the vibration data compensate the pressure data, the temperature data, the wind speed, the wind direction, the attack angle, the sideslip angle, the angular velocity, the linear acceleration, the attitude data, the linear velocity, and the position data, in this embodiment, a piecewise four-dimensional linear difference principle is adopted to compensate, and the impact data, the overload data, and the vibration data are corrected as an example:
Let the pressure correction value be f (a, b, c, d), and the interpolated wind speed value be
The impact measurement value is a (or impact measurement value a corrected by other sensor data), the overload measurement value is b (or overload measurement value b corrected by other sensor data), the vibration measurement value is c (or vibration measurement value c corrected by other sensor data), the pressure measurement value is d (or vibration measurement value c corrected by other sensor data)Measured value d) of the measured pressure, corrected values f (a, b, c, d) of the pressure and interpolated wind speed values
Is a function of the measured value for shock a, the measured value for overload b, the measured value for vibration c, the measured value for pressure d. The impact measurement value a, the overload measurement value b, the vibration measurement value c and the pressure measurement value d are respectively measured by a three-axis impact sensor, a three-axis overload sensor, a three-axis vibration sensor and a pressure sensor.
B, c and d are kept unchanged, and a is interpolated:
and keeping a, c and d unchanged, and interpolating b:
then, keeping a, b and d unchanged, interpolating c:
and finally, interpolating d with a, b and c unchanged:
the final correction value is:
in the formula, g is a correction coefficient and is obtained by a ground sensor calibration experiment, f (a, b, c and d) is pressure data obtained by compensating pressure through impact, overload and vibration data, and the pressure correction value is considered to be equal to the real pressure within a certain precision range.
Wherein,
the independent variable and the dependent variable are known for the calibrated wind speed correction value in the ground sensor experiment. At a certain precisionWithin the range, the calibrated pressure correction value is considered to be equal to the true pressure.
The method comprises the steps of compensating temperature data, wind speed, wind direction, attack angle, sideslip angle, angular velocity, linear acceleration, attitude data, linear velocity and position data through impact data, overload data and vibration data, compensating pressure data through the impact data, the overload data and the vibration data in a segmented four-dimensional linear difference principle, and obtaining compensated data by regarding d as a temperature data measured value, a wind speed measured value, a wind direction measured value, an attack angle measured value, a sideslip angle measured value, an angular velocity measured value, a linear acceleration measured value, an attitude data measured value, a linear velocity measured value and a position data measured value.
4. The wind vane type attack angle sensor 20 and the wind vane type sideslip angle sensor 23 can be influenced by the wind speed and the wind direction of the environment where the combined type atmospheric data measurement experiment cabin section is located, and need to be corrected according to the data measured by the anemoscope 21 and the anemoscope 22, so that the measurement precision is improved, namely, the attack angle and the sideslip angle are corrected through the wind speed and the wind direction, and the segmented three-dimensional linear difference principle is adopted in the embodiment for compensation, so that the wind speed data and the wind direction data are corrected for the attack angle data as an example:
Setting the corrected value of the attack angle as f (a, b, c), and the interpolated attack angle value as
The wind speed measured value is a (or a wind speed measured value a corrected by other sensor data), the wind direction measured value is b (or a wind direction measured value b corrected by other sensor data), the attack angle measured value is c (or a pressure measured value c corrected by other sensor data), the pressure corrected value f (a, b, c) and the interpolated wind speed value
Is a function of the wind speed measurement a, the wind direction measurement b. And the wind speed measurement value a, the wind direction measurement value b and the attack angle measurement value c are respectively measured by an anemometer, a anemoscope and an attack angle sensor.
B and c are kept unchanged, and a is interpolated
Firstly keeping a and c unchanged, and interpolating b:
firstly, keeping a and b unchanged, and interpolating c
The final correction value is:
g is a correction coefficient, which is obtained by a ground sensor calibration experiment, then f (a, b, c) is attack angle data obtained by compensating the attack angle through wind speed and wind direction data, and the corrected value of the attack angle is considered to be equal to the real attack angle within a certain precision range.
Wherein
The independent variable and the dependent variable are known for the corrected value of the attack angle calibrated in the ground sensor experiment. Within a certain precision range, the calibrated attack angle correction value is considered to be equal to the real pressure.
Compensating the sideslip angle data through the wind speed and the wind direction, and compensating by adopting a segmented three-dimensional linear difference principle, wherein the compensation process is to compensate the attack angle data through the wind speed and the wind direction, and the c is regarded as a sideslip angle measurement value, so that the compensated data can be obtained.
In summary, the various sensor units need to work as a whole, and the measured data are mutually compensated and corrected, so as to obtain higher measurement accuracy.
The method comprises the following steps of transmitting original data measured by a navigation mechanism 3, a pressure sensor 9, a temperature sensor 16, an impact sensor 17, a vibration sensor 18, an overload sensor 19, a wind vane type attack angle sensor 20, an anemoscope 21, a anemoscope 22 and a wind vane type sideslip angle sensor 23 into an missile-borne computer 4, compensating the measured data of the missile-borne computer 4 mutually, eliminating measurement errors to the maximum extent, calculating flight data of a combined type atmospheric data measurement experiment cabin section according to the corrected measured data, wherein the specific calculation process comprises the following steps:
1. angle of attack solution
Firstly, establishing a pressure distribution calculation model of the system, which comprises the following steps:
pi＝p(θ)＝qc(cos2θi+sin2θi)+ps(1)
wherein p isiIs the pressure data measured by the ith pressure sensor, i is 1,2 … n; q. q.scIs dynamic pressure, psIs the static pressure. The form-pressure coefficient is selected by comprehensively considering the compression effect, the aerodynamic shape, the system influence and other factors and can be regarded as the local attack angle alpha eLocal sideslip angle betaeAnd Mach number M∞Function f (α) ofe,βe,M∞) The functional relationship is determined before flight. ThetaiThe incident angle of the incoming flow at the ith pressure cell, that is, the included angle between the incoming flow velocity vector and the normal direction of the curved surface of the pressure cell, can be determined by the following formula:
in the formula, phiiIs the circumferential angle of point i, which is the angle from the vertical center line of the cross section to the radial direction of the manometric hole, lambdaiThe taper angle of the point i is the included angle between the normal direction of the pressure measuring hole and the horizontal central line, and the unit is rad. For blunt body aircraft profile, phii,λiIs shown in fig. 7;
in the solving process of the system, the pressure value p of each pressure measuring hole is input1,p2…pnCalculating a local attack angle and a local sideslip angle by a three-point method according to pressure values p of three different pressure measuring holesi,pj,pkFrom equation (1), three measurement equations are established as:
three equation sets are combined, and two equations are subjected to differential phase elimination to eliminate dynamic pressure, static pressure and a pressure coefficient, so that the following can be obtained:
let τ beik＝pi-pk,τji＝pj-pi,τkj＝pk-pjSubstituting the expression of the incidence angle of the formula (2) into the above formula, and considering taking three points on the vertical line, the decoupling of the local angle of attack and the local angle of sideslip is realized, that is, phi is 0(± 180 °), which can be obtained by arranging:
spread out and τ is known by definitionik+τji+τkjWhen the value is 0, let:
then the solution can be simplified to yield:
When | αeWhen the angle is less than or equal to 45 degrees,
when | αeWhen the angle is greater than 45 degrees,
therefore, at least three pressure measuring holes are adopted to solve the attack angle, and the rest three pressure measuring holes are adopted to solve the attack angle by the least square method.
2. Sideslip angle calculation
According to the incident angle, let ai＝cosαecosλi+sinαecosφisinλi,bi＝sinφisinλiThen, the formula (5) can be used to obtain:
order:
it can be simplified to:
A′tan2βe+2B′tanβe+C′＝0 (9)
when a' ≠ 0, then it can be solved for:
when a' is 0, it is easy to know
Easy determination of sideslip angle beta by inverse functioneThe value of (c).
Therefore, at least three pressure measuring holes are adopted to solve the sideslip angle, and the least square method is adopted to fit and solve the sideslip angle when more than three pressure measuring holes are adopted.
3. Flight altitude calculation
The vertical distance of the aircraft in the air from a certain reference plane is defined as the flight height. Without special emphasis, air pressure altitude is generally referred to. The standard height formula applies to individual height levels below 80 Km:
in the formula, HpFor aircraft flight altitude, H, referenced to sea levelbFor an upper temperature limit, T, at a corresponding lower altitude of the aircraftbTemperature, P, of the altitude at which the aircraft is locatedsStatic pressure, P, at the altitude of the aircraftbIs the upper limit value of gas pressure at the corresponding lower limit height, beta is the vertical rate of change of temperature, R is the general gas constant, gnIs the free-fall acceleration at the altitude at which the aircraft is located.
4. Lifting speed calculation
In the aerospace field, the lifting speed is the variation of flying height in unit time, namely the derivative of flying height to time, and the calculation formula is as follows:
wherein Hpt is the lifting speed at the N moment; hPNIs the barometric pressure altitude at time N; hP(N-1)Is the barometric pressure altitude at time (N-1); t is the sampling period of the system.
5. Mach number resolution
The mach number Ma is the ratio of the real airspeed V to the speed of sound c, i.e., Ma is V/c;
when Ma is less than or equal to 1:
when Ma > 1:
wherein, PtIs the total pressure; psIs static pressure.
6. True airspeed resolution
True airspeed refers to the speed of the aircraft relative to the oncoming airflow;
when Ma is less than or equal to 1, the real airspeed V is as follows:
when Ma >1, the true airspeed V is:
wherein k is the air adiabatic coefficient; r is the gas constant special for air, TSIs the atmospheric static temperature, i.e. the undisturbed atmospheric temperature around the aircraft in flight.
7. Indicated airspeed resolution
Indicating airspeed without regard to the atmospheric parameter (P) at which the aircraft is locatedS,Ts) Space velocity, which varies with altitude, only with dynamic pressure qc(ii) related;
T0is sea level reference temperature, P0The pressure is 1 standard atmospheric pressure, and the indicated airspeed is obtained by substituting the pressure into a vacuum speed formula;
when Ma is less than or equal to 1, indicating airspeed ViComprises the following steps:
when Ma >1, indicating airspeed ViComprises the following steps:
Wherein k is the air adiabatic coefficient; r is the gas constant special for air, TSAt atmospheric static temperature, i.e. with undisturbed surroundings of aircraft in flightThe temperature of the atmosphere.
The data obtained by the above calculation is then stored in the data recorder 6.
In the flight data measurement method based on the combined type atmospheric data measurement experiment cabin section in the embodiment, the experimental results under different conditions can be further obtained by changing the shape of the head cabin 1, the number of the pressure sensors 9, the installation position of the pressure sensors 9, the speed of the carrier and the initial attitude of the combined type atmospheric data measurement experiment cabin section, the resolved combined type atmospheric data measurement experiment cabin section is compared with the actual initial attitude, the accuracy of the algorithm can be verified, the algorithm can be corrected, various parameters of the whole flight process of the aircraft can be obtained, and relevant conclusions and principles can be applied to aircrafts such as airplanes, satellites, carrier rockets, airships, space stations and the like.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A combined type atmospheric data measurement experiment cabin section is characterized by comprising a head cabin and an instrument cabin which are fixedly connected;
the head cabin is provided with a plurality of detection mechanisms for acquiring measurement data of the combined type atmospheric data measurement experiment cabin section in the measurement process, wherein the measurement data comprises pressure data, temperature data, impact data, overload data, vibration data, an attack angle, a sideslip angle, wind speed and wind direction;
the instrument cabin is internally provided with:
the navigation mechanism is used for acquiring motion state data of the combined type atmospheric data measurement experiment cabin section in the measurement process, and the motion state data comprises angular velocity, linear acceleration, attitude data, linear velocity and position data;
the missile-borne computer is electrically connected with the detection mechanism and the navigation mechanism and is used for performing mutual correction compensation on the measurement data and the motion state data, and resolving according to the pressure data and the motion state data after correction compensation to obtain flight data of the combined type air data measurement experimental cabin section in the measurement process, wherein the flight data comprises flight altitude, lifting speed, Mach number, real airspeed, indication airspeed and corrected attack angle and sideslip angle;
The data recorder is electrically connected with the detection mechanism, the navigation mechanism and the missile-borne computer and is used for recording measurement data, motion state data and flight data;
and the power supply mechanism is electrically connected with the detection mechanism, the navigation mechanism, the missile-borne computer and the data recorder and is used for supplying power.
2. The combined atmospheric data measurement laboratory cabin section of claim 1, wherein the detection mechanism comprises a pressure sensor, a vane-type attack angle sensor, a vane-type sideslip angle sensor, an anemometer, a anemoscope, a temperature sensor, an impact sensor, a vibration sensor, and an overload sensor, which are arranged on the head cabin.
3. The combined type atmospheric data measurement experiment cabin section according to claim 2, wherein the head cabin is of a hemispherical structure, a parabolic structure or a conical structure;
the number of the pressure sensors is multiple, and the pressure sensors are distributed on the head cabin in a cross structure;
the weather vane type attack angle sensor and the weather vane type sideslip angle sensor are arranged on the head cabin and are located at the position adjacent to the edge contour line of the head cabin, and a connecting line from the weather vane type attack angle sensor to the center of the head cabin is perpendicular to a connecting line from the weather vane type sideslip angle sensor to the center of the head cabin.
4. The combined type atmospheric data measurement experiment cabin segment according to claim 3, wherein pressure guiding holes corresponding to the pressure sensors in a one-to-one manner are formed in the head cabin, and the pressure sensors are arranged on the head cabin at positions corresponding to the pressure guiding holes.
5. The modular atmospheric-data-measurement-laboratory-cabin segment of claim 4, wherein the axis of the pressure-inducing hole is perpendicular to the wall surface of the head cabin or is arranged parallel to the wall axis of the instrument cabin.
6. The combined type atmospheric data measurement experiment cabin section according to claim 1, wherein the instrument cabin comprises a cabin body, a front cabin section and a rear cabin section, wherein the front cabin section and the rear cabin section are arranged in the cabin body, the cabin body is fixedly connected with a head cabin, and the front cabin section is positioned between the head cabin and the rear cabin section;
the front cabin section comprises a front cabin head supporting ring, a first connecting plate and a front cabin tail supporting ring, the first connecting plate is fixedly connected between the front cabin head supporting ring and the front cabin tail supporting ring, the navigation mechanism and the missile-borne computer are arranged on the first connecting plate, and the front cabin head supporting ring and the front cabin tail supporting ring are fixedly connected with the inner wall of the cabin body;
the rear cabin section comprises a rear cabin head supporting ring, a second connecting plate and a rear cabin tail supporting ring, the second connecting plate is fixedly connected between the rear cabin head supporting ring and the rear cabin tail supporting ring, the data recorder and the power supply mechanism are arranged on the second connecting plate, and the rear cabin head supporting ring and the rear cabin tail supporting ring are fixedly connected with the inner wall of the cabin body.
7. The combined type atmospheric data measurement laboratory cabin section according to claim 6, wherein a front hatch and a rear hatch are arranged on the cabin body, so that the navigation mechanism, the missile-borne computer, the data recorder and the power supply mechanism can be debugged through the front hatch and the rear hatch conveniently;
be equipped with on the preceding hatch and hold the canopy with cabin body articulated preceding hatch, be equipped with on the back hatch with cabin body articulated back hatch board.
8. The combined type atmospheric data measurement laboratory cabin section according to claim 6, wherein the sections of the front cabin head support ring, the front cabin tail support ring and the rear cabin head support ring are all circular, and the middle parts of the front cabin head support ring, the front cabin tail support ring and the rear cabin head support ring are all hollow and are used for passing through wires among the detection mechanism, the navigation mechanism, the missile-borne computer, the data recorder and the power supply mechanism;
the rear cabin tail support ring is circular in section, and the middle of the rear cabin tail support ring is a solid body, so that air is prevented from entering a cabin body to interfere with experimental equipment.
9. A flight data measurement method based on a combined type atmospheric data measurement experiment cabin section is characterized by comprising the following steps:
step 1, fixing a combined type atmospheric data measurement experiment cabin section on a carrier in a set posture, and determining a measured value under the posture as a true value;
Step 2, acquiring measurement data and motion state data of a combined type atmospheric data measurement experiment cabin section in the process that a carrier runs at different speed per hour, wherein the measurement data comprises pressure data, temperature data, impact data, overload data, vibration data, an attack angle, a sideslip angle, wind speed and wind direction, and the motion state data comprises angular velocity, linear acceleration, attitude data, linear velocity and position data;
and 3, performing mutual correction compensation on the measurement data and the motion state data, and resolving according to the pressure data and the motion state data after correction compensation to obtain flight data of the combined type atmospheric data measurement experiment cabin in the measurement process, wherein the flight data comprises the flight altitude, the lifting speed, the Mach number, the real airspeed, the indicated airspeed and the corrected attack angle and sideslip angle.
10. The flight data measurement method based on the combined atmospheric data measurement experimental cabin section according to claim 9, wherein in step 3, the measurement data and the motion state data are corrected and compensated with each other, specifically:
compensating the wind speed through temperature data;
correcting pressure data, impact data, overload data, vibration data, attack angle, sideslip angle, wind direction, angular velocity, linear acceleration, attitude data, linear velocity and position data through temperature data;
Compensating pressure data, temperature data, wind speed, wind direction, attack angle, sideslip angle, angular velocity, linear acceleration, attitude data, linear velocity and position data through impact data, overload data and vibration data;
and correcting the attack angle and the sideslip angle through the wind speed and the wind direction.
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