CN116519254A - Wind field system for simulating offshore updraft wind field and unmanned aerial vehicle flight method - Google Patents
Wind field system for simulating offshore updraft wind field and unmanned aerial vehicle flight method Download PDFInfo
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Abstract
The invention relates to the technical field of experimental aerodynamics, and particularly discloses a wind field system for simulating an offshore updraft wind field and an unmanned aerial vehicle flight method, wherein the wind field system comprises a wind field generation system and a detection assembly; the wind field generation system comprises a base and a plurality of swinging rotary tables which are arranged on the base and rotate around the X-axis direction and the Y-axis direction; the plurality of swinging turntables comprise a first turntable and a plurality of second turntables which are arranged on the outer side of the first turntable at equal intervals, wherein the distance between each second turntable and the first turntable is equal. The unmanned aerial vehicle flight method based on the wind field system is disclosed; the wind field system can effectively simulate an offshore updraft wind field, so that the unmanned aerial vehicle can complete the self-adaptive wind-carrying mechanism verification of the unmanned aerial vehicle in the wind field system to realize the unmanned aerial vehicle to defend the wind and fly in a very long distance, and the wind field system can effectively help to realize the research on the wind-carrying mechanism of warship birds.
Description
Technical Field
The invention relates to the technical field of experimental aerodynamics, in particular to a wind field system for simulating an offshore updraft wind field and an unmanned aerial vehicle flight method.
Background
Unmanned aerial vehicle is unmanned and unmanned, so that the size and weight of the unmanned aerial vehicle can be greatly reduced, and the unmanned aerial vehicle has more and more extensive requirements in various industries. Some unmanned aerial vehicles need to be accurately positioned, some unmanned aerial vehicles need to implement remote flight, and research on aspects such as unmanned aerial vehicle flight control is not carried out.
In the prior art, when the unmanned aerial vehicle is researched in the extremely-remote flight control, the unmanned aerial vehicle is brought into the corresponding natural environment for research, or the unmanned aerial vehicle is put into a wind tunnel for research. The first method is subject to natural condition changes, and many airflows have certain occurrence time, do not exist all the time, and are greatly restricted by weather. The second method is more costly to experiment. Therefore, both methods cannot conduct efficient and low-cost research on the extremely-remote flight control of the unmanned aerial vehicle.
At present, a fan array is widely used for simulating sea surface wind conditions near the sea surface in China and is used for researching marine environment detection and the like, but the fan array is not used for simulating an offshore updraft wind field; when the fan array is used for simulating offshore wind conditions, the influence of the water surface on a wind field needs to be considered, the fan needs to be hung, and the cost is high and the precision is limited.
Disclosure of Invention
The invention aims to solve the technical problem of providing a wind field system for simulating an offshore updraft wind field and an unmanned aerial vehicle flight method; the difficulty of simulating the offshore updraft wind field by the fan array can be effectively reduced, and the simulation precision of the offshore updraft wind field is improved. The wind field system and the Kalman filtering algorithm provided by the invention can be matched with each other to study the extremely-remote flight control of the unmanned aerial vehicle with low cost, high efficiency and high speed; the method has important innovation for the extremely remote flight research of the unmanned aerial vehicle in different wind conditions.
The invention solves the technical problems by adopting the following solution:
on the one hand:
the invention discloses a wind field system for simulating an offshore updraft wind field, which comprises a wind field generation system and a detection assembly, wherein the detection assembly is movably arranged in the wind field generation system and moves along the Z-axis direction;
the wind field generation system comprises a base and a plurality of swinging rotary tables which are arranged on the base and rotate around the X-axis direction and the Y-axis direction;
the plurality of swinging turntables comprise a first turntable and a plurality of second turntables which are arranged on the outer side of the first turntable at equal intervals, wherein the distance between each second turntable and the first turntable is equal;
the first turntable and the second turntable have the same structure; the fan assembly is rotatably installed in the cylindrical cavity and rotates around the X-axis direction and the Y-axis direction.
According to the invention, the fan assemblies in the first turntable and the second turntable realize rotation around the X axis and the Y axis, the offshore updraft wind field is simulated, and the detection assembly detects the wind speed and the wind pressure at each position of the wind field generation system and at different positions along the Z axis direction in real time, so that the fan assemblies can realize adjustment of the angle and the rotating speed of the turntable, and further the offshore updraft wind field can be simulated more accurately; therefore, when the warship birds are researched to fly by wind, the wind field system can be directly adopted for experimental research; and the unmanned aerial vehicle self-adaptive wind-carrying mechanism verification is completed, and the unmanned aerial vehicle wind-resisting extremely-long-distance flight is realized.
In some possible embodiments, to effectively enable the fan assembly to rotate about the X-axis and the Y-axis directions;
the fan assembly comprises an X-axis rotating circular ring which is arranged in the cylindrical cavity and rotates around the X-axis direction, a fan piece which is sleeved in the X-axis rotating circular ring and rotates around the Y-axis direction, an X-axis driving device which is in transmission connection with the X-axis rotating circular ring, and a Y-axis driving device which is in transmission connection with the fan piece.
In some of the possible embodiments of the present invention,
the fan piece comprises a Y-axis rotating ring sleeved in the X-axis rotating ring, a fan with a rotating axis coaxial with the axis of the Y-axis rotating ring, and a connecting truss used for supporting the fan and connected with the bottom of the Y-axis rotating ring.
In some of the possible embodiments of the present invention,
the base table comprises a cylindrical supporting truss provided with a cylindrical cavity and a supporting seat arranged at the bottom of the supporting truss.
In some possible embodiments, in order to effectively realize real-time monitoring of parameters such as wind speed and wind pressure in a wind field generation system, the rotation angle of the fan assembly can be timely adjusted, and the accuracy of simulating an offshore updraft wind field is ensured to be higher;
the detection assembly comprises a movable seat movably mounted on the base, a guide rod arranged along the Z-axis direction and mounted on the movable seat, and a measurement assembly movably mounted on the guide rod and moving along the Z-axis direction; the measuring assembly comprises a wind pressure sensor and a wind speed sensor.
On the other hand:
the invention also discloses an unmanned aerial vehicle flight method, which specifically comprises the following steps:
step A1: establishing a simulated wind field of the offshore updraft based on the wind tunnel data, and calculating an airflow distribution function and an airflow intensity distribution function of the offshore updraft wind field;
step A2, establishing a wind field system as described above, and detecting wind pressures and wind speeds at different positions in the wind field system in real time by a detection assembly;
step A3: based on the airflow distribution function and the airflow intensity distribution function, adjusting the wind pressure and the wind speed of a wind field system to finish the simulation of the offshore updraft wind field;
step A4: according to real-time data measured when the unmanned aerial vehicle flies in the offshore ascending airflow wind field, calculating a state vector optimal estimated value at the moment n;
step A5: and controlling the unmanned aerial vehicle to fly in the wind field system according to the attitude angle corresponding to the state vector optimal estimated value and the constant deviation of the gyroscope, and adjusting the attitude of the unmanned aerial vehicle in real time.
In some of the possible embodiments of the present invention,
the step A1 specifically refers to the following steps;
obtaining longitudinal average wind speed of each point position of offshore updraft wind field along Z axis direction by adopting CFD numerical methodAnd transverse average wind speed>；
The method comprises the steps of obtaining offshore updraft wind field pulsation wind field parameters based on wind tunnel tests;
and reconstructing three-dimensional pulsating wind speed of each point position along the Z axis direction by adopting a POD method, and calculating an airflow distribution function and an airflow intensity distribution function of the offshore updraft airflow wind field.
In some of the possible embodiments of the present invention,
the step A1 specifically comprises the following steps of;
step A11: obtaining pulsating wind field parameters of the offshore updraft wind field based on the wind tunnel test;
the pulsating wind field parameters comprise turbulence degree, turbulence integral scale and attenuation coefficient along the Z-axis direction;
step A12: simulating three-dimensional fluctuating wind speed by adopting a characteristic orthogonal decomposition method based on a cross spectral density matrix in a spectral representation method;
step A13: calculating a wind speed field at any point in the offshore updraft wind field space at the moment t;
（1）；
wherein U is a longitudinal wind speed field;
w is a transverse wind speed field;
u is the longitudinal pulsating wind speed;
w is the transverse pulsating wind speed;
is a three-dimensional coordinate;
step A14: calculating the airflow distribution function of the offshore updraft wind field；
（2）；
wherein ,（a1 ，a 2 ) Is the coordinates of the center of the air flow intensity;
is the standard deviation;
step A15: calculating the airflow intensity distribution function of the offshore updraft wind field；
（3）；
wherein ,KA The relation between the amplification factor of the air flow center intensity and the air flow center intensity A is as follows:
（4）。
in some of the possible embodiments of the present invention,
the step A4 specifically comprises the following steps:
step A41: angle of attitudeConstant bias from gyroscope->As a state vector +.>Establishing a state equation (6) and a measurement equation (7) of the system;
（5）；
wherein ,a state vector at time k;
the attitude angle at the moment k;
constant deviation of the gyroscope at time k;
the state equation (6) is:
（6）；
the measurement equation (7) is:
（7）；
wherein ,output angular velocity for the gyroscope;
the attitude angle is processed by acceleration;
is posture angle->Is a process noise of (2);
for deviation-> Process noise;
the measurement noise of the accelerometer is obtained, and T is the sampling period;
step A42: as can be derived from the covariance prediction equation,
（8）；
wherein , posture angle->Is a covariance of (2);
deviation->Is a covariance of (2);
、/>、/>、/>all are variables;
；
；
；
；
step A43: according to the state vector at time kCalculating to obtain an optimized estimation value +.>；
（9）；
wherein ,is a measurement of the state vector;
h is a matrix of which the number is equal to the number,；
the Kalman gain at time k;
step A44: updatingCovariance matrix>Obtaining a covariance matrix update equation (10);
（10）；
wherein ,is a unitary matrix->；
Step A45: based on the initial value of the state vector and the initial value of the covariance matrix at the given-1 time, the optimal estimated value of the state vector at the n time is calculated by recursion between equation (9) and equation (10)。
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the rotation angle and the rotation speed of the fan around the X axis and/or the Y axis are controlled, and the rotation speed of the fan is regulated, so that the offshore updraft wind field can be effectively simulated; the wind field can effectively complete the self-adaptive wind-carrying mechanism verification to realize the extremely-long-distance flight of the wind-resisting, and provides assistance for the research on the wind-carrying mechanism of the warship bird;
according to the invention, the actual airflow distribution function of the offshore updraft wind field is obtained, so that the rotating angle and the rotating speed of the fan around the X axis and/or the Y axis can be controlled, and the rotating speed of the fan is regulated, and the offshore updraft wind field can be effectively simulated;
according to the invention, the optimal estimated value of the state vector at the time n is calculated according to real-time data measured when the unmanned aerial vehicle flies in the offshore updraft wind field, and the wind field system of the unmanned aerial vehicle completes self-adaptive wind-carrying mechanism verification to realize the wind-resisting extremely-long-distance flight according to the attitude angle corresponding to the optimal estimated value of the state vector and the constant deviation of the gyroscope.
Drawings
FIG. 1 is a schematic top view of a wind farm system according to the present invention;
FIG. 2 is a three-dimensional schematic of a wind farm system according to the present invention;
FIG. 3 is a three-dimensional view of one or both of the first and second turntable embodiments of the present invention;
FIG. 4 is a top view of FIG. 3;
FIG. 5 is a side view of one or both of the first and second turntable embodiments of the present invention;
FIG. 6 is a schematic diagram of a detecting assembly according to the present invention;
wherein: 1. a base; 2. swinging the turntable; 21. a base table; 22. the X-axis rotates the circular ring; 23. the Y-axis rotates the circular ring; 24. an X-axis driving device; 25. a Y-axis driving device; 26. a fan; 3. a detection assembly; 31. a movable seat; 32. a guide rod; 33. and a measurement assembly.
Detailed Description
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. Reference to "first," "second," and similar terms in this application does not denote any order, quantity, or importance, but rather are used to distinguish one element from another. Likewise, the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. In the implementation of the present application, "and/or" describes an association relationship of an association object, which means that there may be three relationships, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In the description of the embodiments of the present application, unless otherwise indicated, the meaning of "a plurality" means two or more. For example, a plurality of positioning posts refers to two or more positioning posts. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The present invention will be described in detail below.
In the invention, the Z axis is vertical to the horizontal plane, and the X axis and the Y axis are vertical to the Z axis in the horizontal plane and the two axes are mutually vertical.
As shown in fig. 1-6:
on the one hand:
the invention discloses a wind field system for simulating an offshore updraft wind field, which comprises a wind field generation system, a detection assembly 3 movably arranged in the wind field generation system and moving along the Z-axis direction, and a controller connected with the wind field generation system and the detection assembly 3;
the wind field generation system comprises a base 1 and a swing turntable 2 which is arranged on the base 1 and rotates around the X-axis direction and the Y-axis direction to form air flow;
the plurality of swinging turntables 2 comprise a first turntable and a plurality of second turntables which are arranged on the outer side of the first turntable at equal intervals, wherein the distance between each second turntable and the first turntable is equal;
the first turntable and the second turntable have the same structure; comprises a bottom table 21 which is arranged on a base 1 and provided with a cylindrical cavity, and a fan assembly which is rotatably arranged in the cylindrical cavity and rotates around the X axis direction and the Y axis direction.
In the invention, the fan components in the first turntable and the second turntable realize rotation around the X axis and the Y axis, simulate the offshore updraft wind field, and detect the wind speed and the wind pressure of each position of the wind field generation system in real time through the detection component 3, thereby realizing the adjustment of the angle of the fan 26 to the turntable (the first turntable or the second turntable), and further enabling the offshore updraft wind field to be more accurately simulated; further, when the warship birds are researched to fly by wind, the wind field system can be directly adopted for experimental research; and the unmanned aerial vehicle self-adaptive wind-carrying mechanism verification is completed, and the unmanned aerial vehicle wind-resisting extremely-long-distance flight is realized.
In some possible embodiments, to effectively enable the fan assembly to rotate about the X-axis and the Y-axis directions;
as shown in fig. 3 and 4, the fan assembly includes an X-axis rotating ring 22 installed in the cylindrical cavity and rotating around the X-axis direction, a fan member sleeved in the X-axis rotating ring 22 and rotating around the Y-axis direction, an X-axis driving device 24 in transmission connection with the X-axis rotating ring 22, and a Y-axis driving device 25 in transmission connection with the fan member.
Further, the X-axis driving device 24 and the Y-axis driving device 25 are driving motors;
the X-axis driving device 24 is arranged on the outer side of the cylindrical cavity and is in transmission connection with the X-axis rotating ring 22 through the cylindrical cavity, an output shaft of the X-axis driving device 24 is arranged along the X-axis direction, and the output shaft is connected with the X-axis rotating ring 22 to drive the X-axis rotating ring 22 to rotate around the X-axis direction;
in some of the possible embodiments of the present invention,
as shown in fig. 3 and 4, the fan member includes a Y-axis rotating ring 23 fitted in the X-axis rotating ring 22, a fan 26 having a rotation axis coaxial with the axis of the Y-axis rotating ring 23, and a connection truss for supporting the fan 26 and connected to the bottom of the Y-axis rotating ring 23.
Preferably, the fans 26 are detachably mounted on the connecting truss through the placement table, so that the fans 26 with different powers can be conveniently replaced, and the subsequent maintenance is easy,
preferably, the connecting truss is in a spherical crown groove structure, the fan 26 is arranged in the spherical crown groove, and the spherical center of the spherical crown groove is arranged on the axis of the Y-axis rotating ring 23.
As shown in fig. 3, 4 and 5, the Y-axis driving device 25 is mounted on the inner side of the Y-axis rotating ring 23, an output shaft of the Y-axis driving device 25 is arranged along the Y-axis, one end of the output shaft of the Y-axis driving device 25 passes through the Y-axis rotating ring 23 to be in running fit with the X-axis rotating ring 22, and the output shaft of the Y-axis driving device 25 is in transmission connection with the Y-axis rotating ring 23, so that the Y-axis rotating ring 23 rotates around the output shaft of the Y-axis driving device 25; the X-axis rotating ring 22 is provided with a bearing mounted on the output shaft of the Y-axis driving device 25 in a mating manner.
Preferably, the X-axis driving devices 24 and the Y-axis driving devices 25 are two groups, the two groups of X-axis driving devices 24 are symmetrically arranged along the Y-axis direction, and the two groups of Y-axis driving devices 25 are symmetrically arranged along the X-axis direction.
In some of the possible embodiments of the present invention,
the base table 21 includes a support truss having a cylindrical shape and provided with a cylindrical cavity, and a support base mounted on the bottom of the support truss.
In some possible embodiments, in order to effectively realize real-time monitoring of parameters such as wind speed and wind pressure in a wind field generation system, the rotation angle of the fan assembly can be timely adjusted, and the accuracy of simulating an offshore updraft wind field is ensured to be higher;
as shown in fig. 6, the detecting unit 3 includes a movable base 31 movably mounted on the base 1 and provided with a positioning module, a guide bar 32 arranged along the Z-axis direction and mounted on the movable base 31, a measuring unit 33 movably mounted on the guide bar 32 and movable along the Z-axis direction, and a Z-axis driving device for controlling the measuring unit 33 to move along the Z-axis direction; the measuring assembly 33 includes a wind pressure sensor and a wind speed sensor.
The guide rod 32 is a linear thin rod, so that the influence on the air flow generated in the wind field system is reduced;
the pulley blocks are arranged at the bottom of the movable seat 31, the movement on the base 1 is realized through the pulley blocks, the movement of each position in the wind field generation system is further realized, and the measurement of parameters such as wind speed, wind pressure and the like at different heights at each position is realized through the movement of the measuring component 33 in the Z-axis direction;
in the invention, the controller is respectively connected with an X-axis driving device 24, a Y-axis driving device 25, a movable seat 31, a Z-axis driving device, a fan 26, a wind pressure sensor, a wind speed sensor and a positioning module; the controller controls the movable seat 31 to move at each position of the wind field generation system, controls the Z-axis driving device to detect the wind speed and the wind speed at different heights at each position, and controls the X-axis driving device 24 and the Y-axis driving device 25 to adjust the rotation angle after data analysis processing; thereby enabling a more accurate simulation of the updraft wind field at sea.
In the invention, for simulating the offshore updraft such as trade updraft, since the offshore updraft generally exists on the far sea (more than 600 meters), the fan 26 can be placed on the ground without being arranged on a pool like a sea surface wind field is researched, and the influence of the water surface on the offshore updraft simulation precision is not needed to be considered, so that the difficulty of simulating the offshore updraft wind field can be reduced, and the precision of the offshore updraft wind field simulation is improved.
On the other hand:
the invention also discloses an unmanned aerial vehicle flight method, which specifically comprises the following steps:
step A1: establishing a simulated wind field of the offshore updraft based on the wind tunnel data, and calculating an airflow distribution function and an airflow intensity distribution function of the offshore updraft wind field;
in some of the possible embodiments of the present invention,
the step A1 specifically refers to the following steps; obtaining longitudinal average wind speed of each point position of offshore updraft wind field along Z axis direction by adopting CFD numerical methodAnd transverse average wind speed>Based on the parameters of the offshore updraft wind field pulsation wind field obtained by the wind tunnel test, reconstructing three-dimensional pulsation wind speeds of all points along the Z-axis direction by adopting a POD method, and calculating an airflow distribution function and an airflow intensity distribution function of the offshore updraft wind field.
The detection component 3 in the wind field system detects wind pressures and wind speeds at different heights at various positions in the wind field system in real time;
in some possible embodiments, the step A1 specifically includes the following steps;
step A11: obtaining pulsating wind field parameters of the offshore updraft wind field based on the wind tunnel test;
the pulsating wind field parameters comprise turbulence degree, turbulence integral scale and attenuation coefficient along the Z-axis direction;
step A12: simulating three-dimensional fluctuating wind speed by adopting a characteristic orthogonal decomposition method based on a cross spectral density matrix in a spectral representation method;
step A13: calculating a wind speed field at any point in the offshore updraft wind field space at the moment t;
（1）；
wherein U is a longitudinal wind speed field;
w is a transverse wind speed field;
u is the longitudinal pulsating wind speed;
w is the transverse pulsating wind speed;
is a three-dimensional coordinate;
step A14: calculating the airflow distribution function of the offshore updraft wind field；
（2）；
wherein ,（a1 ，a 2 ) Is the coordinates of the center of the air flow intensity;
is the standard deviation;
step A15: calculating the airflow intensity distribution function of the offshore updraft wind field；
（3）；
wherein ,KA The relation between the amplification factor of the air flow center intensity and the air flow center intensity A is as follows:
（4）。
step A2, establishing a wind field system as described above, and detecting wind pressures and wind speeds at different heights at various positions in the wind field system in real time through a detection assembly 3;
step A3: based on the airflow distribution function and the airflow intensity distribution function, adjusting the wind pressure and the wind speed of a wind field system to finish the simulation of the offshore updraft wind field;
the speed and the rotation angle of the X-axis rotating ring 22 are adjusted by adjusting the rotation speed and the rotation angle of the X-axis driving device 24, the rotation speed and the rotation angle of the Y-axis rotating ring 23 are adjusted by adjusting the rotation speed and the rotation angle of the Y-axis driving device 25, and the rotation speed and the rotation angle of a fan assembly arranged on the Y-axis rotating ring 23 around the X-axis direction and the rotation speed and the rotation angle of the Y-axis direction are further adjusted; and the adjustment of the rotational speed and the speed of the fan 26 is combined so as to realize the adjustment of the wind pressure and the wind speed of the whole wind field system;
step A4: according to real-time data measured when the unmanned aerial vehicle flies in the offshore ascending airflow wind field, calculating a state vector optimal estimated value at the moment n;
the step A4 specifically comprises the following steps:
step A41: attitude angle of unmanned aerial vehicleConstant bias from gyroscope->As a state vector +.>Establishing a state equation (6) and a measurement equation (7) of the system;
（5）；
wherein ,a state vector at time k;
the attitude angle at the moment k;
constant deviation of the gyroscope at time k;
the state equation (6) is:
（6）；
the measurement equation (7) is:
（7）；
wherein ,output angular velocity for the gyroscope;
the attitude angle is processed by acceleration;
is posture angle->Is a process noise of (2);
for deviation-> Process noise;
measurement noise for the accelerometer;
t is a sampling period;
step A42: as can be derived from the covariance prediction equation,
（8）；
wherein , posture angle->Is used to determine the covariance of (1),
deviation->Is a covariance of (2);
、/>、/>、/>all are variables;
；
；
；
；
step A43: according to the state vector at time kObtaining an optimal estimate of the moment k>；
（9）；
wherein ,is a measurement of the state vector;
h is a matrix of which the number is equal to the number,；
the Kalman gain at time k;
step A44: updatingCovariance matrix>Obtaining a covariance matrix update equation (10);
（10）；
wherein ,is a unitary matrix->；
Step A45: optimizing the estimated value based on the state vector initial value and covariance matrix initial value at a given-1 timeRecurrence between the calculation equation (9) and covariance matrix update equation (10) to obtain the optimal estimated value of the state vector at the time n +.>。
Step A5: and controlling the unmanned aerial vehicle to fly in the wind field system according to the attitude angle corresponding to the state vector optimal estimated value and the constant deviation of the gyroscope, and adjusting the attitude of the unmanned aerial vehicle in real time.
Controlling the wind field system to fly according to the attitude angle corresponding to the state vector optimal estimated value and the constant deviation of the gyroscope;
through carrying out real-time adjustment to unmanned aerial vehicle flight gesture to the realization is to the high-efficient research of extremely long-range flight control when unmanned aerial vehicle different wind conditions.
The invention adopts the fan array to set up the updraft wind field of the simulated sea; the unmanned aerial vehicle is put into a wind field generation system, and the flight attitude of the unmanned aerial vehicle is adjusted in real time according to a Kalman filtering algorithm. Therefore, efficient research on extremely-remote flight control of the unmanned aerial vehicle under different wind conditions is realized.
The invention is not limited to the specific embodiments described above. The invention extends to any novel one, or any novel combination, of the features disclosed in this specification, as well as to any novel one, or any novel combination, of the steps of the method or process disclosed.
Claims (10)
1. The wind field system simulating the offshore updraft wind field is characterized by comprising a wind field generation system and a detection assembly which is movably arranged in the wind field generation system and moves along the Z-axis direction;
the wind field generation system comprises a base and a plurality of swinging rotary tables which are arranged on the base and rotate around the X-axis direction and the Y-axis direction;
the plurality of swinging turntables comprise a first turntable and a plurality of second turntables which are arranged on the outer side of the first turntable at equal intervals, wherein the distance between each second turntable and the first turntable is equal.
2. A wind field system for simulating an updraft wind field according to claim 1, wherein the first turntable has the same structure as the second turntable, and comprises a base table mounted on the base and provided with a cylindrical cavity, and a fan assembly rotatably mounted in the cylindrical cavity and rotatable about an X-axis direction and a Y-axis direction.
3. A wind field system simulating an updraft wind field according to claim 2, wherein the fan assembly comprises an X-axis rotating ring rotating about an X-axis direction, a fan member nested within the X-axis rotating ring and rotating about a Y-axis direction, an X-axis drive drivingly connected to the X-axis rotating ring, and a Y-axis drive drivingly connected to the fan member;
the X-axis rotating ring is arranged in the cylindrical cavity.
4. A wind field system simulating an updraft wind field according to claim 3, wherein the fan member comprises a Y-axis rotating ring fitted within the X-axis rotating ring, a fan having a rotational axis coaxial with the axis of the Y-axis rotating ring, and a connecting truss for supporting the fan and connected to the bottom of the Y-axis rotating ring.
5. A wind park system simulating an updraft wind park at sea according to claim 4, wherein the base comprises a support truss having a cylindrical shape and provided with a cylindrical cavity, and a support base mounted to the bottom of the support truss.
6. A wind park system for simulating an updraft wind park at sea according to any of claims 1-5, wherein the detection assembly comprises a movable base movably mounted to the base, a guide bar mounted to the movable base in a Z-axis direction, and a measurement assembly movably mounted to the guide bar and movable in the Z-axis direction;
the measuring assembly comprises a wind pressure sensor and a wind speed sensor.
7. A method of unmanned aerial vehicle flight based on the wind park system of any of claims 1-6; the method is characterized by comprising the following steps of:
step A1: establishing a simulated wind field of the offshore updraft based on the wind tunnel data, and calculating an airflow distribution function and an airflow intensity distribution function of the offshore updraft wind field;
step A2: establishing a wind field system according to any one of claims 1-6, wherein the detection assembly detects wind pressures and wind speeds at different heights at various positions in the wind field system in real time;
step A3: based on the airflow distribution function and the airflow intensity distribution function, adjusting the wind pressure and the wind speed of a wind field system to finish the simulation of the offshore updraft wind field;
step A4: according to real-time data measured when the unmanned aerial vehicle flies in the offshore ascending airflow wind field, calculating a state vector optimal estimated value at the moment n;
step A5: and controlling the unmanned aerial vehicle to fly in the wind field system according to the attitude angle corresponding to the state vector optimal estimated value and the constant deviation of the gyroscope, and adjusting the attitude of the unmanned aerial vehicle in real time.
8. The unmanned aerial vehicle flight method of claim 7, wherein step A1 is specifically;
obtaining longitudinal average wind speed of each point position of offshore updraft wind field along Z axis direction by adopting CFD numerical methodAnd transverse average wind speed>；
The method comprises the steps of obtaining offshore updraft wind field pulsation wind field parameters based on wind tunnel tests;
and reconstructing three-dimensional pulsating wind speed of each point position along the Z axis direction by adopting a POD method, and calculating an airflow distribution function and an airflow intensity distribution function of the offshore updraft airflow wind field.
9. The unmanned aerial vehicle flight method of claim 8, wherein step A1 comprises the steps of;
step A11: obtaining pulsating wind field parameters of the offshore updraft wind field based on the wind tunnel test;
the pulsating wind field parameters comprise turbulence degree, turbulence integral scale and attenuation coefficient along the Z-axis direction;
step A12: simulating three-dimensional fluctuating wind speed by adopting a characteristic orthogonal decomposition method based on a cross spectral density matrix in a spectral representation method;
step A13: calculating a wind speed field at any point in the offshore updraft wind field space at the moment t;
；
wherein U is a longitudinal wind speed field;
w is a transverse wind speed field;
u is the longitudinal pulsating wind speed;
w is the transverse pulsating wind speed;
is a three-dimensional coordinate;
step A14: calculating the airflow distribution function of the offshore updraft wind field；
；
wherein ,（a1 ，a 2 ) Is the coordinates of the center of the air flow intensity;
is the standard deviation;
step A15: calculating the airflow intensity distribution function of the offshore updraft wind field；
；
wherein ,KA The relation between the amplification factor of the air flow center intensity and the air flow center intensity A is as follows:
。
10. the unmanned aerial vehicle flight method of claim 9, wherein the step A4 specifically comprises the steps of:
step A41: angle of attitudeConstant bias from gyroscope->As a state vector +.>Establishing a state equation and a measurement equation of the system;
；
wherein ,a state vector at time k;
the attitude angle at the moment k;
constant deviation of the gyroscope at time k;
the state equation is:
；
the measurement equation is:
；
wherein ,output angular velocity for the gyroscope;
the attitude angle is processed by acceleration;
is posture angle->Is a process noise of (2);
for deviation->Is a process noise of (2);
the measurement noise of the accelerometer is obtained, and T is the sampling period;
step A42: as can be derived from the covariance prediction equation,
；
wherein ,is posture angle->Is a covariance of (2);
for deviation->Is a covariance of (2);
、/>、/>、/>all are variables;
；
；
；
；
step A43: according to the state vector at time kCalculating to obtain an optimized estimation value +.>；
；
wherein ,is a measurement of the state vector;
h is a matrix of which the number is equal to the number,；
the Kalman gain at time k;
step A44: updatingCovariance matrix>Obtaining a covariance matrix update equation;
；
wherein ,is a unitary matrix->；
Step A45: optimizing the estimated value based on the state vector initial value and covariance matrix initial value at a given-1 timeRecurrence between the calculation equation and covariance matrix update equation to obtain the optimal state vector estimated value +.>。
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