气象无人机风速解算新模型的设计及仿真研究
A New Method of Meteorological UAV Wind Velocity Resolution Model Design and Simulation
中文摘要：
气象无人机探测过程中，风速矢量由无人机飞行参数解算得到，解算方法和对应参数的测量直接影响测风精度。从现有风速解算模型出发，考虑了气动角、欧拉角、航迹角，最终确定引入“航迹倾斜角”和“俯仰角”，建立了一种新的风速解算模型。模型推导过程中发现，当无人机平稳飞行时，航迹倾斜角、俯仰角是影响测风精度的关键因素。与现有模型相比，新模型能有效提高测风精度，当航迹倾斜角与俯仰角不等时，必须对风速偏差进行修正。基于新模型的测风误差仿真分析结果表明：存在某一角度，当偏流角小于该角时，风速误差受航迹倾斜角、俯仰角及偏流角共同影响；当偏流角大于该角时，风速误差受航迹倾斜角、俯仰角影响较小，该角的大小与传感器的测量值和误差值有关。
中文关键词：
气象无人机，风速解算模型，航迹倾斜角，俯仰角，仿真
KeyWords：
meteorological UAV, wind velocity resolution model, flying track tilt angle, pitch angle, simulation
Abstract：
In the meteorological UAV detection, wind velocity vector is resolved from UAV flying parameters. The detectedvelocity accuracy is directly affected by the resolution method and the detection measurement of corresponding parameters.
Starting from existing wind resolution models, this paper set up a new wind velocity resolution method which has introduced flying track tilt angle and pitch angle in view of pneumatic angle, euler angle and flying track angle. It is discovered in the model derivation procedure that when the UAV flies stably, flying track tilt angle and pitch angle are the key factors which affect the accuracy for wind velocity accuracy. Compared with existing models, the new model can improve wind detection accuracy effectively, when the flying track tilt angle unequals the pitch angle, the wind speed deviation must be corrected. Detecting error result proves that there exists one angle affected by the detecting value and error value of the sensor. When drift angle is smaller than this angle, wind velocity error is mutually affected by flying track tilt angle, pitch angle and drift angle. When drift angle is bigger than itself, wind velocity error is less affected by flying track tilt angle and pitch angle.
Starting from existing wind resolution models, this paper set up a new wind velocity resolution method which has introduced flying track tilt angle and pitch angle in view of pneumatic angle, euler angle and flying track angle. It is discovered in the model derivation procedure that when the UAV flies stably, flying track tilt angle and pitch angle are the key factors which affect the accuracy for wind velocity accuracy. Compared with existing models, the new model can improve wind detection accuracy effectively, when the flying track tilt angle unequals the pitch angle, the wind speed deviation must be corrected. Detecting error result proves that there exists one angle affected by the detecting value and error value of the sensor. When drift angle is smaller than this angle, wind velocity error is mutually affected by flying track tilt angle, pitch angle and drift angle. When drift angle is bigger than itself, wind velocity error is less affected by flying track tilt angle and pitch angle.