阅读说明：本技术 应用于航空电磁测量系统的吊舱姿态实时调整方法 (Pod attitude real-time adjusting method applied to aviation electromagnetic measurement system ) 是由 朱自强 曹学峰 李展辉 陈斌 李萌 栾晓东 于 2021-01-13 设计创作，主要内容包括：本发明提供一种应用于航空电磁测量系统的吊舱姿态实时调整方法,结合历史的第一类三维姿态数据以及第二类三维姿态数据,可以确定出用于描述吊舱的姿态信息的姿态偏离度指标以及姿态平稳度指标,基于姿态偏离度指标以及姿态平稳度指标,可以准确确定出吊舱的姿态调整策略。将姿态调整策略发送至飞行员,进而使飞行员可以确定出飞机的姿态调整策略,并对飞机的姿态进行调整,带动吊舱进行姿态调整,可以保证吊舱的姿态保持平稳,使吊舱测量得到的垂直磁场分量更准确,可以获得准确的倾子矢量。(The invention provides a pod attitude real-time adjusting method applied to an aviation electromagnetic measurement system, which can determine an attitude deviation index and an attitude stability index for describing attitude information of a pod by combining historical first three-dimensional attitude data and second three-dimensional attitude data, and can accurately determine an attitude adjusting strategy of the pod based on the attitude deviation index and the attitude stability index. The attitude adjustment strategy is sent to the pilot, so that the pilot can determine the attitude adjustment strategy of the airplane, adjust the attitude of the airplane and drive the pod to adjust the attitude, the attitude of the pod can be kept stable, the vertical magnetic field component measured by the pod is more accurate, and the accurate tilt vector can be obtained.)

1. A pod attitude real-time adjusting method applied to an aviation electromagnetic measurement system is characterized by comprising the following steps:

acquiring first three-dimensional attitude data of a pod in the aerial electromagnetic measurement system within a first preset time period from the current time and second three-dimensional attitude data within a second preset time period from the current time; the duration of the first preset time period is less than the duration of the second preset time period;

determining an attitude deviation index and an attitude smoothness index of the nacelle based on the first type of three-dimensional attitude data and the second type of three-dimensional attitude data;

and determining an attitude adjustment strategy of the pod based on the attitude deviation index and the attitude smoothness index, and displaying the attitude adjustment strategy to a pilot so that the pilot performs attitude adjustment on the pod based on the attitude adjustment strategy.

2. The method for adjusting the attitude of the nacelle applied to the airborne electromagnetic measurement system in real time according to claim 1, wherein the first three-dimensional attitude data and the second three-dimensional attitude data are both expressed by Euler angles; accordingly, the method can be used for solving the problems that,

the determining of the attitude deviation index and the attitude smoothness index of the nacelle based on the first three-dimensional attitude data and the second three-dimensional attitude data specifically includes:

determining an attitude deviation index of the nacelle on any angular component of Euler angles corresponding to the first three-dimensional attitude data based on the root mean square value of any angular component;

and determining the attitude smoothness index of the nacelle on any angular component based on the root mean square value of any angular component of the Euler angle corresponding to the second type of three-dimensional attitude data.

3. The method for adjusting the attitude of the nacelle applied to the airborne electromagnetic measurement system in real time according to claim 2, wherein the determining the attitude adjustment strategy of the nacelle based on the attitude deviation index and the attitude smoothness index specifically comprises:

determining the minimum value of the attitude smoothness index of the pod on all the angular components, and determining the attitude adjustment strategy as adjusting the angular component corresponding to the minimum value;

and continuing to determine the minimum value of the attitude smoothness index of the nacelle on all the angular components until the attitude deviation index of the nacelle on all the angular components is within a preset range.

4. The method for adjusting the attitude of the nacelle applied to the airborne electromagnetic surveying system in real time according to any one of claims 1 to 3, wherein the acquiring the first type of three-dimensional attitude data of the nacelle in the airborne electromagnetic surveying system within a first preset time period to the current time and the second type of three-dimensional attitude data within a second preset time period to the current time specifically comprises:

acquiring the first type of three-dimensional attitude data and the second type of three-dimensional attitude data based on at least one attitude sensor arranged on the nacelle.

5. The method for adjusting the attitude of the nacelle applied to the airborne electromagnetic measurement system in real time according to claim 4, wherein the sampling rate of the attitude sensor is 2Hz to 10 Hz.

6. The method for adjusting the attitude of the nacelle applied to the airborne electromagnetic measurement system in real time according to claim 4, wherein the acquiring the first type of three-dimensional attitude data and the second type of three-dimensional attitude data based on at least one attitude sensor arranged on the nacelle specifically comprises:

respectively acquiring first-class quaternion data acquired by each attitude sensor at each acquisition time within the first preset time period and second-class quaternion data acquired by each acquisition time within the second preset time period, and calculating the mean value of the first-class quaternion data and the mean value of the second-class quaternion data corresponding to each acquisition time of all the attitude sensors;

and respectively converting the mean value of the first type of quaternion data and the mean value of the second type of quaternion data into Euler angles to obtain the first type of three-dimensional attitude data and the second type of three-dimensional attitude data.

7. The method for real-time nacelle attitude adjustment applied to an airborne electromagnetic surveying system according to any one of claims 1 to 3, wherein the duration of the second predetermined time period is twice the duration of the first predetermined time period.

8. A real-time nacelle attitude adjusting device applied to an airborne electromagnetic measurement system is characterized by comprising:

the acquiring module is used for acquiring first three-dimensional attitude data of a pod in the aerial electromagnetic measuring system within a first preset time period from the current time and second three-dimensional attitude data of the pod within a second preset time period from the current time; the duration of the first preset time period is less than the duration of the second preset time period;

the index determining module is used for determining an attitude deviation index and an attitude smoothness index of the nacelle based on the first three-dimensional attitude data and the second three-dimensional attitude data;

and the strategy determining module is used for determining an attitude adjusting strategy of the nacelle based on the attitude deviation index and the attitude smoothness index, and displaying the attitude adjusting strategy to a pilot so that the pilot can adjust the attitude of the nacelle based on the attitude adjusting strategy.

9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the method for real-time nacelle attitude adjustment for an airborne electromagnetic surveying system according to any of claims 1 to 7 when executing the program.

10. A non-transitory computer-readable storage medium, on which a computer program is stored, wherein the computer program, when being executed by a processor, implements the steps of the method for real-time nacelle attitude adjustment applied to an airborne electromagnetic surveying system according to any one of claims 1 to 7.

Technical Field

The invention relates to the technical field of aviation magnetotelluric detection, in particular to a pod attitude real-time adjusting method applied to an aviation electromagnetic measuring system.

Background

The aviation electromagnetic measurement method is a geophysical exploration method based on an electromagnetic induction theory, has the advantages of high speed, low cost, good trafficability, large-area coverage and the like, and is widely applied to the fields of basic geological investigation, mineral resource exploration, oil and gas exploration, hydrological, engineering, environmental exploration and the like at present.

The aerial electromagnetic measurement system is generally divided into an aerial part and a ground part, wherein the aerial part comprises an airplane and a nacelle, the nacelle is positioned below the airplane and is in an annular hard connection structure, and the nacelle and the airplane are connected through a soft rope in a hanging mode. The ground segment contains a ground base station. The vertical magnetic field component of the pod position can be measured through the pod, and the tilt vector, namely the complex coefficient relation between the vertical magnetic field component and the horizontal magnetic field component can be determined by combining the horizontal magnetic field component of the base station position measured by the ground base station.

Under the ideal condition, if the aircraft flies at the designed speed per hour, the attitude of the nacelle is in a horizontal state, and the vertical magnetic field component can be accurately determined at the moment, so that the tilt vector can be accurately determined. However, because the wind speed and the wind direction in the actual flying environment of the aircraft change at any time, if the aircraft still flies at the designed speed per hour, the attitude of the nacelle will be in a non-horizontal state, which will cause the measured vertical magnetic field component to contain horizontal component noise, so that the vertical magnetic field component is inaccurate, and further, an incorrect tilt vector is obtained. Therefore, a pod attitude real-time adjusting method applied to an aviation electromagnetic measuring system is urgently needed.

Disclosure of Invention

The embodiment of the invention provides a pod attitude real-time adjusting method applied to an aviation electromagnetic measuring system, which is used for overcoming the defects in the prior art.

The embodiment of the invention provides a pod attitude real-time adjusting method applied to an aviation electromagnetic measurement system, which comprises the following steps:

acquiring first three-dimensional attitude data of a pod in the aerial electromagnetic measurement system within a first preset time period from the current time and second three-dimensional attitude data within a second preset time period from the current time; the duration of the first preset time period is less than the duration of the second preset time period;

determining an attitude deviation index and an attitude smoothness index of the nacelle based on the first type of three-dimensional attitude data and the second type of three-dimensional attitude data;

and determining an attitude adjustment strategy of the pod based on the attitude deviation index and the attitude smoothness index, and displaying the attitude adjustment strategy to a pilot so that the pilot performs attitude adjustment on the pod based on the attitude adjustment strategy.

According to the pod attitude real-time adjusting method applied to the aviation electromagnetic measurement system, the first type of three-dimensional attitude data and the second type of three-dimensional attitude data are represented by Euler angles; accordingly, the method can be used for solving the problems that,

the determining of the attitude deviation index and the attitude smoothness index of the nacelle based on the first three-dimensional attitude data and the second three-dimensional attitude data specifically includes:

determining an attitude deviation index of the nacelle on any angular component of Euler angles corresponding to the first three-dimensional attitude data based on the root mean square value of any angular component;

and determining the attitude smoothness index of the nacelle on any angular component based on the root mean square value of any angular component of the Euler angle corresponding to the second type of three-dimensional attitude data.

According to the method for adjusting the attitude of the nacelle in real time applied to the airborne electromagnetic measurement system, the determining the attitude adjustment strategy of the nacelle based on the attitude deviation index and the attitude smoothness index specifically comprises the following steps:

determining the minimum value of the attitude smoothness index of the pod on all the angular components, and determining the attitude adjustment strategy as adjusting the angular component corresponding to the minimum value;

and continuing to determine the minimum value of the attitude smoothness index of the nacelle on all the angular components until the attitude deviation index of the nacelle on all the angular components is within a preset range.

According to an embodiment of the invention, the method for adjusting the attitude of a pod in an airborne electromagnetic measurement system in real time, which is used for acquiring the first type of three-dimensional attitude data of the pod in the airborne electromagnetic measurement system in a first preset time period from the current time and the second type of three-dimensional attitude data of the pod in the airborne electromagnetic measurement system in a second preset time period from the current time, specifically comprises the following steps:

acquiring the first type of three-dimensional attitude data and the second type of three-dimensional attitude data based on at least one attitude sensor arranged on the nacelle.

According to the pod attitude real-time adjusting method applied to the aviation electromagnetic measuring system, the sampling rate of the attitude sensor is 2Hz to 10 Hz.

According to an embodiment of the invention, the method for adjusting the attitude of a nacelle in real time applied to an airborne electromagnetic measurement system, the acquiring the first type of three-dimensional attitude data and the second type of three-dimensional attitude data based on at least one attitude sensor arranged on the nacelle specifically comprises:

respectively acquiring first-class quaternion data acquired by each attitude sensor at each acquisition time within the first preset time period and second-class quaternion data acquired by each acquisition time within the second preset time period, and calculating the mean value of the first-class quaternion data and the mean value of the second-class quaternion data corresponding to each acquisition time of all the attitude sensors;

and respectively converting the mean value of the first type of quaternion data and the mean value of the second type of quaternion data into Euler angles to obtain the first type of three-dimensional attitude data and the second type of three-dimensional attitude data.

According to the pod attitude real-time adjusting method applied to the aviation electromagnetic measuring system, the duration of the second preset time period is twice as long as that of the first preset time period.

The embodiment of the invention also provides a pod attitude real-time adjusting device applied to the aviation electromagnetic measurement system, which comprises the following components: the device comprises an acquisition module, an index determination module and a strategy determination module.

The acquisition module is used for acquiring first three-dimensional attitude data of a pod in the aerial electromagnetic measurement system within a first preset time period from the current time and second three-dimensional attitude data of the pod within a second preset time period from the current time; the duration of the first preset time period is less than the duration of the second preset time period;

the index determining module is used for determining an attitude deviation index and an attitude smoothness index of the nacelle based on the first three-dimensional attitude data and the second three-dimensional attitude data;

the strategy determining module is used for determining an attitude adjusting strategy of the nacelle based on the attitude deviation index and the attitude smoothness index, and displaying the attitude adjusting strategy to a pilot so that the pilot can adjust the attitude of the nacelle based on the attitude adjusting strategy.

The embodiment of the invention also provides electronic equipment, which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein when the processor executes the program, the steps of the pod attitude real-time adjusting method applied to the aeroelectromagnetic measuring system are realized.

Embodiments of the present invention further provide a non-transitory computer readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps of any of the methods for adjusting the attitude of a pod applied to an airborne electromagnetic surveying system in real time.

According to the pod attitude real-time adjusting method applied to the aviation electromagnetic measurement system, provided by the embodiment of the invention, the attitude deviation index and the attitude stability index for describing the attitude information of the pod can be determined by combining the historical first three-dimensional attitude data and the historical second three-dimensional attitude data, and the attitude adjusting strategy of the pod can be accurately determined based on the attitude deviation index and the attitude stability index. The attitude adjustment strategy is sent to the pilot, so that the pilot can determine the attitude adjustment strategy of the airplane, adjust the attitude of the airplane and drive the pod to adjust the attitude, the attitude of the pod can be kept stable, the vertical magnetic field component measured by the pod is more accurate, and the accurate tilt vector can be obtained.

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, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

FIG. 1 is a schematic flow chart of a nacelle attitude real-time adjustment method applied to an airborne electromagnetic measurement system according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of an aerial portion of an airborne electromagnetic surveying system employed by embodiments of the present invention;

FIG. 3 is a schematic diagram of an attitude adjustment sequence of a pod in a pod attitude real-time adjustment method applied to an airborne electromagnetic measurement system according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a pod attitude real-time adjustment device applied to an airborne electromagnetic measurement system according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. 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.

In the conventional aviation electromagnetic measurement system, because the wind speed and the wind direction in the actual flight environment of the airplane change at any time, when the airplane still flies at the designed speed, the attitude of a pod in the aviation electromagnetic measurement system is in a non-horizontal state, so that horizontal component noise is contained in a vertical magnetic field component obtained by pod measurement, the measurement result of the vertical magnetic field component is inaccurate, and an incorrect oblique vector is obtained. That is, the wind resistance greatly affects the attitude of the nacelle, so that the flying speed and attitude of the aircraft need to be changed in real time to keep the nacelle flying horizontally. The flight attitude of the nacelle directly determines the quality of electromagnetic data, so that the maintenance of the horizontal flight of the nacelle has practical significance for eliminating the interference of the horizontal magnetic field component on the vertical magnetic field component and reducing dynamic noise. The correction research on the flying attitude of the nacelle is required to obtain high-quality measurement data of the vertical magnetic field component under the influence of various factors in actual flight. It is common practice to perform posture correction of the tilt at the time of post-processing data, but the correction cannot be completed. And if the nacelle tilt angle is too large, post-processing corrections cannot be made.

Therefore, the embodiment of the invention provides a nacelle flight attitude calculation monitoring feedback algorithm, which transmits the attitude to be adjusted to a pilot in real time, and calculates the optimal operation sequence for adjusting the attitude of the airplane so as to ensure that the nacelle flies stably.

Fig. 1 is a schematic flow chart of a method for adjusting a nacelle attitude in real time for an airborne electromagnetic surveying system according to an embodiment of the present invention, as shown in fig. 1, the method includes:

s1, acquiring first three-dimensional attitude data of a pod in the aerial electromagnetic measurement system within a first preset time period from the current time and second three-dimensional attitude data within a second preset time period from the current time; the duration of the first preset time period is less than the duration of the second preset time period;

s2, determining an attitude deviation index and an attitude smoothness index of the nacelle based on the first three-dimensional attitude data and the second three-dimensional attitude data;

and S3, determining an attitude adjustment strategy of the nacelle based on the attitude deviation index and the attitude smoothness index, and displaying the attitude adjustment strategy to a pilot so that the pilot performs attitude adjustment on the nacelle based on the attitude adjustment strategy.

Specifically, in the pod attitude real-time adjustment method applied to the airborne electromagnetic measurement system provided in the embodiment of the present invention, the execution main body may be a server, a local server, or a cloud server. The local server may be configured within the airborne electromagnetic measurement system and may be electrically connected to a display screen within the aircraft cabin.

Firstly, executing a step S1, and acquiring first three-dimensional attitude data of a pod in the aerial electromagnetic measurement system within a first preset time period from the current time and second three-dimensional attitude data within a second preset time period from the current time; the duration of the first preset time period is less than the duration of the second preset time period. The first three-dimensional attitude data of the nacelle in a first preset time period from the current time refers to the first three-dimensional attitude data of the nacelle in a first preset time period nearest before the current time, and the second three-dimensional attitude data of the nacelle in a second preset time period from the current time refers to the second three-dimensional attitude data of the nacelle in a second preset time period nearest before the current time. The duration of the first preset time period and the duration of the second preset time period can be set as required, but it is required to be ensured that the duration of the first preset time period is less than the duration of the second preset time period, that is, the number of the first type of three-dimensional attitude data is less than the number of the second type of three-dimensional attitude data. The terms "first" and "second" are used merely for distinguishing one from another and are not otherwise limited. In the embodiment of the invention, the first type of three-dimensional attitude data and the second type of three-dimensional attitude data can be represented in forms of Euler angles, quaternions and the like.

Next, step S2 is executed to determine an attitude deviation index of the nacelle from the first three-dimensional attitude data, and to determine an attitude smoothness index of the nacelle from the first three-dimensional attitude data and the second three-dimensional attitude data. The attitude deviation index of the nacelle is used for representing the inclination degree of the nacelle at the current moment and can be represented by an effective value or an average value of attitude data in a first preset time period. The larger the value of the attitude deviation index is, the more the nacelle is inclined at the current moment. The attitude smoothness index of the nacelle is used for representing the smoothness degree of the nacelle at the current moment, and can be represented by the difference between the effective value or the average value of the attitude data of the nacelle in the second preset time period and the effective value or the average value of the attitude data of the nacelle in the first preset time period, namely can be represented by the fluctuation amplitude of the attitude data of the nacelle in the second preset time period. The larger the value of the attitude smoothness index is, the more stable the nacelle is at the current moment is.

And finally, executing a step S3, determining an attitude adjustment strategy of the nacelle according to the attitude deviation index and the attitude smoothness index determined in the step S2, and displaying the attitude adjustment strategy to the pilot. The attitude adjustment strategy may be sent to a display screen within the aircraft cabin, which displays the attitude adjustment strategy to the pilot. The bird is 300 kg and 500 kg in self weight and 8-12 m in diameter, and is connected with the airplane through a soft rope. The attitude of the nacelle cannot be directly controlled, and the attitude change of the nacelle can only be corrected by adjusting the attitude of the airplane. And the attitude adjustment direction of the airplane is consistent with the attitude adjustment direction of the nacelle, so that the pilot can determine the attitude adjustment strategy of the airplane after receiving the attitude adjustment strategy, adjust the attitude of the airplane according to the attitude adjustment strategy of the airplane and drive the nacelle to perform attitude adjustment by the airplane. The attitude adjustment strategy may include values of parameters such as an adjustment angle, an adjustment sequence of different attitude angles, and an adjustment direction, which are not specifically limited in the embodiment of the present invention.

According to the pod attitude real-time adjusting method applied to the aviation electromagnetic measurement system, provided by the embodiment of the invention, the attitude deviation index and the attitude stability index for describing the attitude information of the pod can be determined by combining the historical first three-dimensional attitude data and the historical second three-dimensional attitude data, and the attitude adjusting strategy of the pod can be accurately determined based on the attitude deviation index and the attitude stability index. The attitude adjustment strategy is sent to the pilot, so that the pilot can determine the attitude adjustment strategy of the airplane, adjust the attitude of the airplane and drive the pod to adjust the attitude, the attitude of the pod can be kept stable, the vertical magnetic field component measured by the pod is more accurate, and the accurate tilt vector can be obtained.

On the basis of the above embodiment, the method for adjusting the attitude of the nacelle in real time applied to the airborne electromagnetic surveying system provided in the embodiment of the present invention, where the obtaining of the first type of three-dimensional attitude data of the nacelle in the airborne electromagnetic surveying system within a first preset time period to the current time and the second type of three-dimensional attitude data of the nacelle in the airborne electromagnetic surveying system within a second preset time period to the current time specifically includes:

acquiring the first type of three-dimensional attitude data and the second type of three-dimensional attitude data based on at least one attitude sensor arranged on the nacelle.

Specifically, fig. 2 is a schematic structural diagram of an aerial part of an airborne electromagnetic measurement system adopted in an embodiment of the present invention, as shown in fig. 2, the aerial part includes an aircraft 21 and a nacelle 22, at least one attitude sensor 23 may be provided on the nacelle 22, the at least one attitude sensor 23 may be uniformly arranged on the nacelle 22, and the number of the attitude sensors 23 may be set as required, which is not particularly limited in the embodiment of the present invention. Preferably, 4 attitude sensors 23 can be uniformly arranged on the nacelle 22 to improve the measurement accuracy. The attitude sensor can be a high-performance three-dimensional motion attitude measurement System based on a Micro-Electro-Mechanical System (MEMS) technology, can comprise motion sensors such as a three-axis gyroscope, a three-axis accelerometer and a three-axis electronic compass, and obtains data such as a three-dimensional attitude, an orientation and the like subjected to temperature compensation through an embedded low-power ARM processor. And outputting zero-drift three-dimensional attitude and azimuth data expressed by quaternion and Euler angle in real time by using a quaternion-based three-dimensional algorithm and a special data fusion technology. The attitude sensor adopted in the embodiment of the invention can be an inertial navigation attitude sensor and can also be other types of attitude sensors.

On the basis of the above embodiment, in the pod attitude real-time adjustment method applied to the airborne electromagnetic measurement system provided in the embodiment of the present invention, the sampling rate of the attitude sensor is 2Hz to 10 Hz.

On the basis of the above embodiment, in the pod attitude real-time adjustment method applied to the airborne electromagnetic measurement system provided in the embodiment of the present invention, the duration of the second preset time period is twice as long as the duration of the first preset time period.

Specifically, in consideration of the reaction time and the operation time of the pilot, the duration of the first preset time period may be set to 5s, and the duration of the second preset time period may be set to 10s, and further, when the sampling rate of the attitude sensor is 2Hz, the number of the first type of three-dimensional attitude data may be 10, and the number of the second type of three-dimensional attitude data may be 20, so as to eliminate the influence of individual flying spots.

On the basis of the above embodiment, the method for adjusting the attitude of the nacelle applied to the airborne electromagnetic measurement system in real time provided in the embodiment of the present invention is a method for acquiring the first type of three-dimensional attitude data and the second type of three-dimensional attitude data based on at least one attitude sensor provided on the nacelle, and specifically includes:

respectively acquiring first-class quaternion data acquired by each attitude sensor at each acquisition time within the first preset time period and second-class quaternion data acquired by each acquisition time within the second preset time period, and calculating the mean value of the first-class quaternion data and the mean value of the second-class quaternion data corresponding to each acquisition time of all the attitude sensors;

and respectively converting the mean value of the first type of quaternion data and the mean value of the second type of quaternion data into Euler angles to obtain the first type of three-dimensional attitude data and the second type of three-dimensional attitude data.

Specifically, with the number of attitude sensors being 4,a, B, C, D, for example, the quaternion data collected by each attitude sensor at each collection time can be represented by Q_n1、Q_n2、Q_n3、Q_n4And (n-A, B, C, D). The mean of quaternion data can be expressed as:

(w, x, y, z) may represent attitude data of the nacelle at any acquisition time.

Defining psi, theta, phi in a Cartesian coordinate system,The rotation angles around the Z-axis, Y-axis and X-axis, respectively, can be expressed by Tait-Bryan angle in the embodiment of the present invention, i.e., psi, theta,Yaw, Pitch and Roll are angular components of the euler angle, which is the attitude angle in the corresponding direction.

The formula of the euler angle of the quaternion converted into the three-dimensional space is as follows:

on the basis of the embodiment, the first type of three-dimensional attitude data and the second type of three-dimensional attitude data are both expressed by Euler angles; accordingly, the method can be used for solving the problems that,

the determining of the attitude deviation index and the attitude smoothness index of the nacelle based on the first three-dimensional attitude data and the second three-dimensional attitude data specifically includes:

determining an attitude deviation index of the nacelle on any angular component of Euler angles corresponding to the first three-dimensional attitude data based on the root mean square value of any angular component;

and determining the attitude smoothness index of the nacelle on any angular component based on the root mean square value of any angular component of the Euler angle corresponding to the second type of three-dimensional attitude data.

Specifically, the sampling rate of the attitude sensor is 2Hz, the first preset time period is 5s, and the second preset time period is 10s, wherein the first preset time period contains 10 first-type three-dimensional attitude data, and the second preset time period contains 20 second-type three-dimensional attitude data. For three angular components, the three angular components have corresponding attitude deviation index and attitude smoothness index theta_maIndicating an attitude deviation index of the nacelle at the pitch angle theta,indicating the roll angle of the nacelleUpper attitude deviation index, #_maIndicating the attitude deviation index of the nacelle at yaw angle psi. Theta_difThe attitude smoothness index of the nacelle on the pitch angle theta is represented,indicating the roll angle of the nacelleUpper posture is flatStability index,. psi_difIndicating the attitude smoothness index of the nacelle at yaw angle psi.

Further comprising:

at theta_maFor example, θ_maThe larger the value, the larger the attitude of the nacelle is tilted in the pitch angle θ direction. Theta_maThe smaller the inclination of the attitude of the nacelle in the pitch angle θ direction.

At theta_difFor example, θ_difNot less than 0 and theta_difThe larger the attitude of the nacelle is, the smoother the attitude in the pitch angle theta direction is, indicating that the attitude data of the last 10 sampling points of the pitch angle theta is smaller than the data fluctuation amplitude of the last 10 (11 th-20 th) sampling points.

On the basis of the above embodiment, the determining an attitude adjustment strategy of the nacelle based on the attitude deviation index and the attitude smoothness index specifically includes:

determining the minimum value of the attitude smoothness index of the pod on all the angular components, and determining the attitude adjustment strategy as adjusting the angular component corresponding to the minimum value;

and continuing to determine the minimum value of the attitude smoothness index of the nacelle on all the angular components until the attitude deviation index of the nacelle on all the angular components is within a preset range.

Specifically, the attitude adjustment strategy of the nacelle may include a sequence of attitude adjustments, as shown in FIG. 3, which may be compared first_dif、ψ_difThe magnitude of three values, determining the minimum value of the three valuesThe corresponding attitude angle requiring adjustment, e.g.The pitch angle theta is adjusted first untilThen continue to determine theta_dif、ψ_difMinimum of three values if at that timeThe yaw angle psi is adjusted and the adjustment is repeated until theta_ma、ψ_maAre all within respective preset ranges. At this point, the pilot may control the aircraft to maintain the current flight state.

As shown in fig. 4, on the basis of the above embodiment, an embodiment of the present invention provides a pod attitude real-time adjusting apparatus applied to an airborne electromagnetic surveying system, including: an acquisition module 41, an index determination module 42, and a policy determination module 43. Wherein the content of the first and second substances,

the obtaining module 41 is configured to obtain first three-dimensional attitude data of a pod in the airborne electromagnetic measurement system within a first preset time period to a current time and second three-dimensional attitude data of the pod within a second preset time period to the current time; the duration of the first preset time period is less than the duration of the second preset time period;

the index determining module 42 is configured to determine an attitude deviation index and an attitude smoothness index of the nacelle based on the first type of three-dimensional attitude data and the second type of three-dimensional attitude data;

the strategy determining module 43 is configured to determine an attitude adjustment strategy of the gondola based on the attitude deviation index and the attitude smoothness index, and display the attitude adjustment strategy to the pilot, so that the pilot performs an attitude adjustment on the gondola based on the attitude adjustment strategy.

Fig. 5 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 5: a processor (processor)510, a communication Interface (Communications Interface)520, a memory (memory)530 and a communication bus 540, wherein the processor 510, the communication Interface 520 and the memory 530 communicate with each other via the communication bus 540. Processor 510 may invoke logic instructions in memory 530 to perform a method for real-time nacelle attitude adjustment as provided in the embodiments above for an airborne electromagnetic surveying system, the method comprising: acquiring first three-dimensional attitude data of a pod in the aerial electromagnetic measurement system within a first preset time period from the current time and second three-dimensional attitude data within a second preset time period from the current time; the duration of the first preset time period is less than the duration of the second preset time period; determining an attitude deviation index and an attitude smoothness index of the nacelle based on the first type of three-dimensional attitude data and the second type of three-dimensional attitude data; and determining an attitude adjustment strategy of the pod based on the attitude deviation index and the attitude smoothness index, and displaying the attitude adjustment strategy to a pilot so that the pilot performs attitude adjustment on the pod based on the attitude adjustment strategy.

Furthermore, the logic instructions in the memory 530 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

In another aspect, an embodiment of the present invention further provides a computer program product, where the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, where the computer program includes program instructions, and when the program instructions are executed by a computer, the computer is capable of executing the pod attitude real-time adjustment method applied to the airborne electromagnetic measurement system, provided in the above embodiments, the method includes: acquiring first three-dimensional attitude data of a pod in the aerial electromagnetic measurement system within a first preset time period from the current time and second three-dimensional attitude data within a second preset time period from the current time; the duration of the first preset time period is less than the duration of the second preset time period; determining an attitude deviation index and an attitude smoothness index of the nacelle based on the first type of three-dimensional attitude data and the second type of three-dimensional attitude data; and determining an attitude adjustment strategy of the pod based on the attitude deviation index and the attitude smoothness index, and displaying the attitude adjustment strategy to a pilot so that the pilot performs attitude adjustment on the pod based on the attitude adjustment strategy.

In still another aspect, an embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented by a processor to execute the pod attitude real-time adjustment method applied to the airborne electromagnetic measurement system provided in the above embodiments, and the method includes: acquiring first three-dimensional attitude data of a pod in the aerial electromagnetic measurement system within a first preset time period from the current time and second three-dimensional attitude data within a second preset time period from the current time; the duration of the first preset time period is less than the duration of the second preset time period; determining an attitude deviation index and an attitude smoothness index of the nacelle based on the first type of three-dimensional attitude data and the second type of three-dimensional attitude data; and determining an attitude adjustment strategy of the pod based on the attitude deviation index and the attitude smoothness index, and displaying the attitude adjustment strategy to a pilot so that the pilot performs attitude adjustment on the pod based on the attitude adjustment strategy.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.