无人直升机风场无线传感器网络测量系统设计与试验

为了实现田间多点、多风向、可移动、实时采集无人直升机旋翼气流在作物冠层所形成的风场相关参数,设计了一种风场无线传感器网络测量系统,对该系统风速测量时的可靠性进行了分析和田间试验检验。系统由若干三向风速传感器无线测量节点(WWSS)、无人直升机位姿信息测量模块(FGPS)以及智能总控汇聚模块(ICFN)组成,试验结果表明:选用叶轮风速传感器设计的三方向风速无线测量节点风速平均测量相对误差不大于3.52%,最大绝对误差为0.2 m/s,且各叶轮风速传感器之间无显著差异,变异系数不大于4.41%,能够可靠准确地测量风场内相应的风速值;三方向安装支架可方便地将三方向风速无线测量节点置于水稻田间,智能汇聚节点(ICFN)和WWSS节点以星形拓扑结构通过无线数据传输方式组网,非常适合在田间进行多点、多风向、可移动、实时采集数据;此外,FGPS模块采用RTK GPS等高精度传感器测量直升机的位姿信息,有利于后期开展授粉作业影响因素的综合分析,为开展无人直升机用于水稻制种辅助授粉的田间作业参数优选提供有效工具。

Development and Experiment of a Wireless Wind Speed Sensor Network Measurement System for Unmanned Helicopter

The use of unmanned helicopters (UH) and other aviation aircraft for supplementary pollination in hybrid rice is one of the most important ways to solve the mechanization of the hybrid rice seed production. In order to conduct multi-point, multi-direction, mobile, and real-time measurement for wind field parameters on rice canopy which formed by UHs rotor airflow, a wireless wind speed sensor network system (WWSSN) was developed, and relevant reliability analysis and tests were also presented. The WWSSN consists of three modules, several wireless wind speed sensors (WWSS), the flight global position system (FGPS), and the intelligent control focus node (ICFN). The test results showed that the average relative error of wind speed measuring is not more than 3.52%, the absolute maximum error is 0.2m/s, and no significant difference among each WWSS to reliably and accurately measure the wind velocity field corresponding values, the coefficient of variation is not greater than 4.41%. The fixing brackets can help to install the WWSS in paddy field, and the topological structure between ICFN and WWSSs is a star topology, it is easily to realize multi-point, multi-direction, mobile, and real-time measurement for wind field parameters on rice canopy which formed by UHs rotor airflow. In addition, the FGPS based on high accuracy RTK GPS can also provide the pose information, which is helpful to the comprehensive analysis of the influencing factors in supplementary pollination using UH. It is indicated that the presented WWSSN can provide reliable and accurate wind field parameters measurement on rice canopy which formed by UHs rotor airflow. It can be used as an effective tool for the operation parameters optimization for supplementary pollination in hybrid rice breeding using UHs.