The present disclosure relates to a wind speed prediction device, a wind speed prediction method, and a radar device.
Some wind speed prediction devices that predict a wind speed in an observation region include a wind speed prediction device (hereinafter referred to as a “conventional wind speed prediction device”) that predicts a wind speed in an observation region by simulating the wind speed using a weather model (see Patent Literature 1). The simulation of the wind speed is three-dimensional calculation processing.
Patent Literature 1: Japanese Patent Application Laid-Open No. 2014-202190
The conventional wind speed prediction device disclosed in Patent Literature 1 performs three-dimensional calculation processing, and thus has a problem that a calculation load may increase.
The present disclosure has been made to solve the above problems, and an object thereof is to obtain a wind speed prediction device and a wind speed prediction method capable of predicting a wind speed without performing three-dimensional calculation processing.
A wind speed prediction device according to the present disclosure includes processing circuitry configured to acquire a scattering signal that is each of a plurality of beams after being emitted to space and scattered in the space, the beams having mutually different elevation angles, which are angles formed by a line-of-sight direction and a horizontal direction, variably set a range bin width as distance resolution of each of scattering signals having been acquired in accordance with an elevation angle of each of the beams emitted to the space to enable monitoring of an observation point at a same altitude even by a beam having a different elevation angle, and calculate at least one Doppler frequency of at least one range bin corresponding to a two-dimensional plane including an observation region from the each of the scattering signals, the at least one Doppler frequency including a plurality of Doppler frequencies, estimate at least one wind speed distribution in the two-dimensional plane from the plurality of Doppler frequencies having been calculated using a volume velocity processing (VVP) method, and predict a wind speed in the observation region from the estimated at least one wind speed distribution in the two-dimensional plane using a two-dimensional Navier-Stokes equation.
According to the present disclosure, a wind speed can be predicted without performing three-dimensional calculation processing.
Hereinafter, in order to describe the present disclosure in more detail, modes for carrying out the present disclosure will be described with reference to the accompanying drawings.
The radar device 1 illustrated in
The beam transmitting and receiving unit 2 includes, for example, a beam generating unit, a beam transmitter, a radiation direction switching unit, an antenna, and a beam receiver. In
As illustrated in
That is, as illustrated in
In
Further, as illustrated in
In
Each of
As the beam emitted from the beam transmitting and receiving unit 2, for example, in addition to continuous wave (CW) pulsed light, frequency-modulated pulsed light can be used.
The beam transmitting and receiving unit 2 receives each beam scattered in space as a scattering signal.
The beam transmitting and receiving unit 2 converts each scattering signal from an analog signal to a digital signal, and outputs the digital signal to the wind speed prediction device 3.
Further, the beam transmitting and receiving unit 2 outputs angle information indicating the elevation angle θn of each beam emitted to space to the wind speed prediction device 3.
In the radar device 1 illustrated in
The wind speed prediction device 3 illustrated in
The scattering signal acquiring unit 11 is implemented by, for example, a scattering signal acquiring circuit 21 illustrated in
The scattering signal acquiring unit 11 acquires each of digital signals Sθn,j(t) from the beam transmitting and receiving unit 2 as each of scattering signals after being scattered in space. j=, . . . , J. j is the scan number of beam scanning at the elevation angle θn. In the example of
Further, the scattering signal acquiring unit 11 acquires the angle information indicating the elevation angle θn of each beam emitted into space by the beam transmitting and receiving unit 2.
The scattering signal acquiring unit 11 outputs each of the digital signals sθn,j(t) and the angle information to the Doppler frequency calculating unit 12.
The Doppler frequency calculating unit 12 is implemented by, for example, a Doppler frequency calculating circuit 22 illustrated in
The Doppler frequency calculating unit 12 acquires each of the digital signals sθn,j (t) and the angle information from the scattering signal acquiring unit 11.
Before performing fast Fourier transformation (FFT) on each digital signal sθn,j(t) in the hit direction, the Doppler frequency calculating unit 12 sets a range bin width as the distance resolution of each digital signal sθn,j(t) according to the elevation angle θn indicated by the angle information. That is, the Doppler frequency calculating unit 12 sets an FFT length Lθn corresponding to the range bin width.
The FFT length Lθn is set shorter as the elevation angle θn of the beam emitted to space is wider, and is set longer as the elevation angle θn of the beam emitted to the space is narrower.
In the example of
The Doppler frequency calculating unit 12 converts each of the digital signals sθn,j(t) into frequency domain signals rθn,j(f) by performing FFT on the digital signals sθn,j(t) acquired by the scattering signal acquiring unit 11 in the hit direction. f is a variable indicating a frequency.
The Doppler frequency calculating unit 12 calculates the respective Doppler frequencies dpfθn,j,Rbm in a plurality of range bins Rb1 to RbM from the signals rθn,j(f) in the frequency domain. m=1, . . . , M, and M is an integer of 1 or more.
In the wind speed prediction device 3 illustrated in
When M=1, the Doppler frequency calculating unit 12 calculates only the Doppler frequency dpfθn,j,Rb1 of one range bin Rb1 including the observation region from the frequency domain signal rθn,j(f).
The Doppler frequency calculating unit 12 outputs the Doppler frequencies dpfθn,j,Rbm of the respective range bins Rbm to the first wind speed distribution estimating unit 13.
The first wind speed distribution estimating unit 13 is implemented by, for example, a first wind speed distribution estimating circuit 23 illustrated in
The first wind speed distribution estimating unit 13 estimates a wind speed distribution uRbm(x, y) in a two-dimensional plane corresponding to each range bin Rbm using a volume velocity processing (VVP) method from a plurality of Doppler frequencies dpfθ1,j,Rbm to dpfθN,j,Rbm in each range bin Rbm calculated by the Doppler frequency calculating unit 12.
When M is 1, the first wind speed distribution estimating unit 13 estimates the wind speed distribution uRb1(x, y) in the two-dimensional plane corresponding to the range bin Rb1 as the two-dimensional plane including the observation region, and outputs the wind speed distribution uRb1(x, y) in the two-dimensional plane to the wind speed prediction unit 15.
When M is 2 or more, the first wind speed distribution estimating unit 13 outputs the wind speed distribution uRbm(x, y) in the two-dimensional plane corresponding to each range bin Rbm to the second wind speed distribution estimating unit 14.
The second wind speed distribution estimating unit 14 is implemented by, for example, a second wind speed distribution estimating circuit 24 illustrated in
The second wind speed distribution estimating unit 14 estimates a wind speed distribution uRbm′(x, y) in a two-dimensional plane between a plurality of two-dimensional planes from the wind speed distributions uRb1(x, y) to uRbM(x, y) in the plurality of two-dimensional planes estimated by the first wind speed distribution estimating unit 13. For example, the wind speed distribution uRb1(x, y) in the two-dimensional plane is a wind speed distribution in the two-dimensional plane between the two-dimensional plane corresponding to the range bin Rb1 and the two-dimensional plane corresponding to the range bin Rb2. The wind speed distribution uRb2′(x, y) in the two-dimensional plane is a wind speed distribution in the two-dimensional plane between the two-dimensional plane corresponding to the range bin Rb2 and the two-dimensional plane corresponding to the range bin Rb3.
The second wind speed distribution estimating unit 14 outputs the wind speed distributions uRb1′(x, y) to uRbM-1′(x, y) in the two-dimensional plane between the plurality of two-dimensional planes to the wind speed prediction unit 15.
The wind speed prediction unit 15 is implemented by, for example, a wind speed prediction circuit 25 illustrated in
When M is 1, the wind speed prediction unit 15 predicts a wind speed u(t) in the observation region from the wind speed distribution uRb1(x, y) in the two-dimensional plane estimated by the first wind speed distribution estimating unit 13 using the two-dimensional Navier-Stokes equation (hereinafter referred to as a “two-dimensional N-S equation”). The observation region is, for example, an area including a flight area in which the flying object is scheduled to fly.
When M is 2 or more, the wind speed prediction unit 15 selects the wind speed distribution in the two-dimensional plane including the flight area as the observation region from the wind speed distributions uRb1(x, y) to uRbM(x, y) in the plurality of two-dimensional planes estimated by the first wind speed distribution estimating unit 13 and the wind speed distributions uRb1′(x, y) to uRbM-1′(x, y) in the two-dimensional plane estimated by the second wind speed distribution estimating unit 14.
The wind speed prediction unit 15 predicts the wind speed u(t) in the flight area from the wind speed distribution in the selected two-dimensional plane using the two-dimensional N-S equation.
In
Each of the scattering signal acquiring circuit 21, the Doppler frequency calculating circuit 22, the first wind speed distribution estimating circuit 23, the second wind speed distribution estimating circuit 24, and the wind speed prediction circuit 25 corresponds to, for example, a single circuit, a composite circuit, a programmed processor, a parallel-programmed processor, an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a combination thereof.
The components of the wind speed prediction device 3 are not limited to those implemented by dedicated hardware, and the wind speed prediction device 3 may be implemented by software, firmware, or a combination of software and firmware.
Software or firmware is stored in a memory of the computer as a program. The computer means hardware that executes a program, and corresponds to, for example, a central processing unit (CPU), a central processing device, a processing device, an arithmetic device, a microprocessor, a microcomputer, a processor, or a digital signal processor (DSP).
In a case where the wind speed prediction device 3 is implemented by software, firmware, or the like, a program for causing a computer to execute each processing procedure performed in the scattering signal acquiring unit 11, the Doppler frequency calculating unit 12, the first wind speed distribution estimating unit 13, the second wind speed distribution estimating unit 14, and the wind speed prediction unit 15 is stored in a memory 31. Then, a processor 32 of the computer executes the program stored in the
Further,
Next, the operation of the radar device 1 illustrated in
As illustrated in
That is, as illustrated in
As illustrated in
Each beam emitted from the beam transmitting and receiving unit 2 is backscattered by fine particles such as aerosol floating in space. For example, when a plurality of fine particles is present in the line-of-sight direction of one beam, one beam is backscattered by each fine particle. The backscattered beam returns to the beam transmitting and receiving unit 2 as a scattering signal. Since the distances from the beam transmitting and receiving unit 2 to the plurality of fine particles are different from each other, the times at which the respective scattering signals return to the beam transmitting and receiving unit 2 are different from each other.
The beam transmitting and receiving unit 2 converts each scattering signal from an analog signal into a digital signal sθn,j(t) (n=1, . . . , N: j=1, . . . , J), and outputs the digital signal sθn,j to the wind speed prediction device 3.
Further, the beam transmitting and receiving unit 2 outputs the angle information indicating the elevation angle θn of each beam emitted to space to the wind speed prediction device 3.
The scattering signal acquiring unit 11 acquires each of the digital signals sθn,j(t) from the beam transmitting and receiving unit 2 (step ST1 in
Further, the scattering signal acquiring unit 11 acquires the angle information indicating the elevation angle θn of each beam from the beam transmitting and receiving unit 2.
The scattering signal acquiring unit 11 outputs each of the digital signals sθn,j(t) and the angle information to the Doppler frequency calculating unit 12.
The Doppler frequency calculating unit 12 acquires each of the digital signals sθn,j(t) from the scattering signal acquiring unit 11, and acquires each angle information from the scattering signal acquiring unit 11.
Before FFT each of the digital signals sθn,j(t) in the hit direction, the Doppler frequency calculating unit 12 sets the FFT length L74 n of each of the digital signals sθn,j(t) according to the elevation angle θn indicated by the angle information (step ST2 in
That is, the Doppler frequency calculating unit 12 sets the FFT length Lθn of the digital signal sθn,j(t) in such a way that the range bin width corresponding to the FFT length Lθn is proportional to 1/sin (θn).
In a case where the FFT lengths Lθn of the respective digital signals sθn,j(t) are the same, when the elevation angles θn are different, as illustrated in
On the other hand, in a case where the FFT lengths Lθn of the respective digital signals sθn,j(t) are set according to the elevation angle θn, as illustrated in
In the radar device 1 illustrated in
When the FFT length Lθn is set to be short, the width of the range bin Rbm becomes narrow and the distance resolution becomes high. On the other hand, when the FFT length Lθn is set to be long, the width of the range bin Rbm becomes wide and the distance resolution becomes low.
The Doppler frequency calculating unit 12 converts each digital signal sθn,j(t) into a frequency domain signal rθn,j(f) by performing FFT with an FFT length of Lθn in the hit direction for each digital signal sθn,j(t) (step ST3 in
The Doppler frequency calculating unit 12 calculates the respective Doppler frequencies dpfθn,j,Rbm in the plurality of range bins Rb1 to RbM from the signals rθn,j(f) in the frequency domain (step ST4 in
The Doppler frequency calculating unit 12 outputs the Doppler frequencies dpfθn,j,Rbm of the respective range bins Rbm to the first wind speed distribution estimating unit 13.
Since the processing itself of calculating the Doppler frequencies dpfθn,j,Rbm of the range bin Rbm is a known technique, detailed description thereof will be omitted.
Note that calculation accuracy of the Doppler frequencies dpfθn,j,Rbm may be lowered due to a low signal to noise ratio (SNR) of the digital signal sθn,j(t). In such a case, the Doppler frequency calculating unit 12 may increase the calculation accuracy of the Doppler frequencies dpfθn,j,Rbm for example, by performing the following processing.
For example, the Doppler frequency calculating unit 12 acquires digital signals sθn,j(t) related to a plurality of pulsed beams having the same elevation angle θn and different hit numbers, and converts the digital signals sθn,j(t) related to the plurality of beams into frequency domain signals sθn,j(f). Then, the Doppler frequency calculating unit 12 coherently integrates the signals sθn,j(f) in the plurality of frequency domains to increase the calculation accuracy of the Doppler frequencies dpfθRbm. Since the processing itself for enhancing the calculation accuracy of the Doppler frequencies dpfθn,j,Rbm is a known technique, detailed description thereof will be omitted. The first wind speed distribution estimating unit 13 acquires the Doppler frequencies dpfθn,j,Rbm of the respective range bins Rbm from the Doppler frequency calculating unit 12.
The first wind speed distribution estimating unit 13 estimates the wind speed distribution uRbm(x, y) in the two-dimensional plane corresponding to each range bin Rbm from the plurality of Doppler frequencies dpfθ1,j,Rbm to dpfθN,j,Rbm in each range bin Rbm using the VVP method (step ST5 in
Hereinafter, estimation processing of the wind speed distribution uRbm(x, y) in the two-dimensional plane by the first wind speed distribution estimating unit 13 will be specifically described.
The position (x, y, z) of the observation point of the wind speed is expressed by polar coordinates centered on the position O of the beam transmitting and receiving unit 2 included in the radar device 1 as expressed by the following Expression (1).
In Expression (1), θ is the elevation angle of a beam. φ is an angle formed by a line segment connecting the center point O′ of the x-y plane where the observation point is present and the position (x, y, z) of the observation point and they axis. r is a distance between the position O of the beam transmitting and receiving unit 2 and the position of the observation point (x, y, z).
For example, when the terrain of the ground surface vertically below the observation point is not a special terrain but a general terrain, there is no practical problem in observing the wind affecting the flying object as long as the wind speed prediction device 3 can observe the wind speed in a direction parallel to the two-dimensional plane even if the wind speed prediction device 3 cannot observe the wind speed in the vertical direction with respect to the two-dimensional plane where the observation point is present.
The general terrain corresponds to a flat terrain, an inclined terrain, a terrain having small irregularities, or the like. The special terrain corresponds to a terrain having a valley bottom, a terrain having a cliff with a large difference in elevation, or the like.
Accordingly, in the wind speed prediction device 3 illustrated in
In Expression (2), ux represents a component in a direction parallel to the x-axis of the wind speed vector u, and uy represents a component in a direction parallel to the y-axis of the wind speed vector u.
The first wind speed distribution estimating unit 13 performs Taylor expansion of the wind speed vector u centered on the center point O′ with respect to x and y on the assumption that the wind speed u0 at the center point O′ of the x-y plane is expressed as the following Expression (3). For example, when the third and subsequent terms are ignored, the following approximate Expression (4) holds.
Since what is observed by the radar device 1 is the speed in the line-of-sight direction of the wind speed at the observation point, an observed wind speed ur(θ, φ) is expressed as the following Expression (5).
The first wind speed distribution estimating unit 13 acquires the observed wind speeds ur(θ1, θ1) to Ur(θK, φK) of K beams, and substitutes the acquired observed wind speeds ur(θ1, θ1) to Ur(θK, φK) into the following Expression (8) to estimate p illustrated in Expression (7). K is an integer of 2 or more. The K beams are K pieces of pulsed light in which sets of the elevation angleθ and the angle φ are different from each other.
A symbol “†” denotes pseudo-inverse matrix in Expression 8 In Expression (8), † is a symbol representing a pseudo-inverse matrix.
Among the elements of p illustrated in Expression (7), the fourth, seventh, and eighth elements from the top are expressed as the sum of two parameters, and thus are uncertain elements.
The first wind speed distribution estimating unit 13 determines the uncertain elements by equally allocating the parameter of the element of p estimated by Expression (8).
When the fourth element from the top among the elements of p is p4, the first wind speed distribution estimating unit 13 determines p4 as in the following Expression (9), for example.
When the seventh element from the top among the elements of p is p7, the first wind speed distribution estimating unit 13 determines p7 as in the following Expression (10), for example.
When the eighth element from the top among the elements of p is p8, the first wind speed distribution estimating unit 13 determines p8 as in the following Expression (11), for example.
As described above, since all the coefficients u0, ∂u/∂x, ∂u/∂y, ∂2u/∂x2, ∂2u/∂x∂y, and ∂2u/∂y2 illustrated in the approximate Expression (4) are determined, the first wind speed distribution estimating unit 13 can obtain the wind speed vector u(x, y) at each observation point from the approximate Expression (4).
When the wind speed vector u(x, y) at each observation point can be obtained, the first wind speed distribution estimating unit 13 can obtain the wind speed distribution uRbm(x, y) in the two-dimensional plane corresponding to each range bin Rbm.
Here, the first wind speed distribution estimating unit 13 approximates the Taylor expansion of the wind speed vector u(x, y) by 0th to 2nd order terms. However, this is merely an example, and the first wind speed distribution estimating unit 13 may approximate the Taylor expansion of the wind speed vector u(x, y) with terms of 0 degree to 3 degrees or more.
When M is 1, the first wind speed distribution estimating unit 13 outputs the wind speed distribution uRb1(x, y) in the two-dimensional plane corresponding to the range bin Rb1 to the wind speed prediction unit 15.
When M is 2 or more, the first wind speed distribution estimating unit 13 outputs the wind speed distribution uRbm(x, y) in the two-dimensional plane corresponding to each range bin Rbm to the second wind speed distribution estimating unit 14.
The second wind speed distribution estimating unit 14 acquires the wind speed distribution uRbm(x, y) in the two-dimensional plane corresponding to each range bin Rbm from the first wind speed distribution estimating unit 13.
The second wind speed distribution estimating unit 14 estimates a wind speed distribution uRbm′(x, y) in a two-dimensional plane between the plurality of two-dimensional planes from the wind speed distributions uRb1(x, y) to uRbm(x, y) in the plurality of two-dimensional planes (step ST6 in
The second wind speed distribution estimating unit 14 outputs the wind speed distributions uRb1′(x, y) to uRbM-1′(x, y) in the two-dimensional planes to the wind speed prediction unit 15.
Hereinafter, estimation processing of the wind speed distribution uRbm′(x, y) in the two-dimensional plane by the second wind speed distribution estimating unit 14 will be specifically described.
For example, when estimating the wind speed distribution uRbm′(x, y) in the two-dimensional plane between the two-dimensional plane in which the wind speed distribution is uRbm(x, y) and a two-dimensional plane in which the wind speed distribution is uRbm+1(x, y), the second wind speed distribution estimating unit 14 calculates the distance Lm−m′ in the vertical direction from the two-dimensional plane in which the wind speed distribution uRbm′(x, y) is estimated to the two-dimensional plane in which the wind speed distribution is uRbm(x, y).
Further, the second wind speed distribution estimating unit 14 calculates a distance L(m+1)-m′ in the vertical direction from the two-dimensional plane in which the wind speed distribution uRbm′(x, y) is estimated to the two-dimensional plane in which the wind speed distribution is uRbm′1(x, y).
The second wind speed distribution estimating unit 14 calculates a weighting coefficient wm for the wind speed distribution uRbm(x, y) in the two-dimensional plane and a weighting coefficient wm+1 for the wind speed distribution uRbm+1(x, y) in the two-dimensional plane on the basis of the distance Lm−m′ and the distance L(m+1)-m′ as expressed in the following Expressions (12) to (14).
The second wind speed distribution estimating unit 14 estimates the wind speed distribution uRbm′(x, y) in the two-dimensional plane between the two-dimensional plane in which the wind speed distribution is uRbm(x, y) and the two-dimensional plane in which the wind speed distribution is uRbm+1(x, y) on the basis of the weighting coefficient wm and the weighting coefficient wm−1 as expressed in the following Expression (15).
Here, the second wind speed distribution estimating unit 14 estimates the wind speed distribution uRbm′(x, y) in the two-dimensional plane as a weighted average based on the distance from the two-dimensional plane in which the wind speed distribution uRbm′(x, y) is estimated. However, this is merely an example, and for example, the second wind speed distribution estimating unit 14 compares the distance Lm−′ with the distance L(m+1)-m′. When the distance Lm−m′ is shorter than the distance L(m+1)-m′, the second wind speed distribution estimating unit 14 may use the wind speed distribution uRbm(x, y) in the two-dimensional plane as the wind speed distribution uRbm′(x, y) in the two-dimensional plane, and when the distance Lm−m′ is equal to or longer than the distance L(m+1)-m′, the second wind speed distribution estimating unit 14 may use the wind speed distribution uRbm+1(x, y) in the two-dimensional plane as the wind speed distribution uRbm′(x, y) in the two-dimensional plane.
Further, here, the second wind speed distribution estimating unit 14 estimates the wind speed distribution uRbm′(x, y) in one two-dimensional plane as the wind speed distribution in the two-dimensional plane between the two-dimensional plane in which the wind speed distribution is Rbm(x, y) and the two-dimensional plane in which the wind speed distribution is uRbm+1(x, y). However, this is merely an example, and the second wind speed distribution estimating unit 14 may estimate wind speed distributions uRbm(x, y) of two or more two-dimensional planes having different positions in the vertical direction as the wind speed distribution in the two-dimensional plane between the two-dimensional plane in which the wind speed distribution is uRbm(x, y) and the two-dimensional plane in which the wind speed distribution is uRbm+1(x, y).
When M is 1, the wind speed prediction unit 15 acquires the wind speed distribution uRb1(x, y) in the two-dimensional plane from the first wind speed distribution estimating unit 13.
When M is 2 or more, the wind speed prediction unit 15 acquires the wind speed distributions uRb1(x, y) to uRbM(x, y) in the plurality of two-dimensional planes from the first wind speed distribution estimating unit 13, and acquires wind speed distributions uRb1′(x, y) to uRbM-1′(x, y) in the two-dimensional plane from the second wind speed distribution estimating unit 14.
When M is 1, the wind speed prediction unit 15 predicts the wind speed u(t) in the observation region in the two-dimensional plane from the wind speed distribution uRb1(x, y) in the two-dimensional plane using the two-dimensional N-S equation (step ST7 in
When M is 2 or more, the wind speed prediction unit 15 selects the wind speed distribution in any two-dimensional plane from among the wind speed distributions uRb1(x, y) to uRbM(x, y) in the plurality of two-dimensional planes and the wind speed distributions uRb1′(x, y) to uRbM-1′(x, y) in the two-dimensional planes.
When the observation point of the prediction target of the wind speed u(t) is present in the observation region in the two-dimensional plane corresponding to the range bin Rbm, the wind speed prediction unit 15 selects the wind speed distribution uRbm(x, y). When the observation point of the prediction target of the wind speed u(t) is present in the observation region in the two-dimensional plane corresponding to the range bin Rbm′, the wind speed prediction unit 15 selects the wind speed distribution uRbm′(x, y).
The wind speed prediction unit 15 predicts the wind speed u(t) in the observation region in the selected two-dimensional plane from the wind speed distribution in the selected two-dimensional plane using the two-dimensional N-S equation (step ST7 in
Hereinafter, prediction processing of the wind speed u(t) performed by the wind speed prediction unit 15 will be specifically described.
Wind is generally considered an uncompressed fluid. The two-dimensional N-S equation regarding the uncompressed fluid is expressed by the following Expressions (16) and (17).
In Expression (16), u is a wind speed vector, v is a viscosity coefficient, ρ is a density, p is a pressure, f is an external force vector, and t is a time variable.
Since the viscosity coefficient v is very small, the viscosity of the wind can be ignored. In addition, the term of the external force vector F can also be ignored. Therefore, under the condition that each of the viscosity of the wind and the external force is absent, Expression (16) is expressed as the following Expression (18), and Expression (17) is expressed as the following Expression (19).
The first term on the right side of Expression (18) is referred to as an advection term, and the second term on the right side is referred to as a pressure term.
When the wind speed vector u is a two-dimensional vector u=[ux, uy]T, Expression (18) is expressed as the following Expressions (20) and (21).
When Expression (22) is used, Expression (20) is expressed as the following Expression (23), and Expression (21) is expressed as the following Expression (24).
When the wind speed vector u is discretized with respect to time by the difference method, Expression (23) is expressed as the following Expression (25), and Expression (24) is expressed as the following Expression (26).
In the Expressions (25) and (26), g and g+1 are symbols indicating time steps.
By using an intermediate variable ux*, Expression (25) can be divided into two Expressions as the following Expressions (27) and (28).
In addition, by using an intermediate variable uy* , Expression (26) can be divided into two Expressions as the following Expressions (29) and (30).
Expression (27) is transformed as Expression (31), and Expression (29) is transformed as Expression (32).
Expression (28) is expressed as Expression (33) below when differentiated in the x direction, and Expression (30) is expressed as Expression (34) below when differentiated in the y direction.
When the left sides of Expressions (33) and (34) are added to each other and the right sides of Expressions (33) and (34) are added to each other, the following Expression (35) is obtained.
According to Expression (22), δ·ug+1=0 needs to be satisfied for the estimated wind speed vector u at the next time step g+1. Therefore, the following Expression (36) is obtained as the Poisson's equation regarding pressure from Expression (35).
The wind speed prediction unit 15 discretizes the wind speed vector ug=[uxg, uyg]T at the current time step g in the spatial direction.
The wind speed prediction unit 15 calculates the intermediate variable ux* by substituting the discretized uxg into Expression (31), and calculates the intermediate variable uy* by substituting the discretized uyg into Expression (32).
The wind speed prediction unit 15 calculates the pressure p from Expression (36) using the intermediate variable ux* and the intermediate variable uy*.
The wind speed prediction unit 15 calculates a wind speed vector uxg+1 of the next time step g+1 from Expression (28) using the intermediate variable ux* and the pressure p.
The wind speed prediction unit 15 calculates a wind speed vector uyg+1 of the next time step g+1 from Expression (30) using the intermediate variable uy* and the pressure p.
The wind speed u(t) predicted by the wind speed prediction unit 15 is [uxg+1, uyg+1]T, and the wind speed u(t) is displayed on, for example, a display (not illustrated).
A conventional wind speed prediction device performs a simulation using a weather model in order to predict a wind speed in an observation region, and the simulation using the weather model is three-dimensional calculation processing. For example, when the number of observation points in the three-dimensional observation region is Cx×Cy×Cz, and C=Cx=Cy=Cz, the calculation amount order is approximately proportional to C3.
On the other hand, the calculation processing of the wind speed prediction device 3 illustrated in
However, it is assumed that three-dimensional calculation processing uses a three-dimensional N-S equation that does not ignore vertical wind. In the three-dimensional N-S equation, it is difficult to greatly expand the interval between the observation points in the vertical direction, and the maximum value of the interval between the observation points at which the three-dimensional N-S equation can be solved is determined as a Courant condition in the vertical direction.
On the other hand, in the two-dimensional N-S equation ignoring the vertical wind, which is the two-dimensional calculation processing, since there is no Courant condition in the vertical direction, it is possible to satisfy Cz 22 >M. For example, when (M/Cz)=1/Q, the calculation amount order of the wind speed prediction device 3 illustrated in
As described above, for example, when the terrain of the ground surface vertically below the observation point is not a special terrain but a general terrain, there is no practical problem in observing the wind affecting the flying object as long as the wind speed prediction device 3 can observe the wind speed in the direction parallel to the two-dimensional plane even if the wind speed prediction device 3 cannot observe the wind speed in the vertical direction with respect to the two-dimensional plane where the observation point is present.
Even if the terrain of the ground surface vertically below the observation point is a special terrain, the wind speed in the direction parallel to the two-dimensional plane can be used as useful information for observing the wind affecting the flying object.
In a first embodiment described above, the wind speed prediction device 3 includes the scattering signal acquiring unit 11 to acquire a scattering signal that is each of a plurality of beams after being emitted to space and scattered in the space, the beams having mutually different elevation angles, which are angles formed by a line-of-sight direction and a horizontal direction, the Doppler frequency calculating unit 12 to set a range bin width as distance resolution of each of scattering signals acquired by the scattering signal acquiring unit 11 according to an elevation angle of each of the beams emitted to space, and calculate a Doppler frequency of a range bin corresponding to a two-dimensional plane including an observation region from the each of the scattering signals, the first wind speed distribution estimating unit 13 to estimate a wind speed distribution in the two-dimensional plane from a plurality of Doppler frequencies calculated by the Doppler frequency calculating unit 12 using a VVP method, and the wind speed prediction unit 15 to predict a wind speed in the observation region from the wind speed distribution in the two-dimensional plane estimated by the first wind speed distribution estimating unit 13 using a two-dimensional Navier-Stokes equation. Therefore, the wind speed prediction device 3 can predict the wind speed without performing three-dimensional calculation processing.
In the wind speed prediction device 3 illustrated in
The smoothing of the wind speed distribution uRbm(x, y) in the time direction can be implemented by fusing a fluid movement model such as a two-dimensional N-S equation and the estimated wind speed distribution uRbm(x, y). The fusion of the fluid movement model and the wind speed distribution uRbm(x, y) is called data assimilation.
For example, it is assumed that the true wind speed distribution uRbm(x, y) at the previous time step g−1 is represented by ut=tg−1, and the true wind speed distribution uRbm(x, y) at the current time step g is represented by ut=tg. The two-dimensional N-S equation is a fluid model that can nonlinearly describe the relationship between ut=tg−1 and ut=tg, and if a nonlinear function is represented by f(108 ) the following Expression (37) holds.
u
t=t
=ƒ(ut=t
The data assimilation processing is processing performed using a data assimilation function As(⋅) as expressed in the following Expression (38). That is, the data assimilation processing calculates a smoothed u(x, y; t=tg) bar of the current time step g by adding uRbm(x, y; t=tg) which is the wind speed distribution uRbm(x, y) of the current time step g and f(u(x, y; t=tg−1) bar) obtained by time-developing the wind speed distribution uRbm(x, y) of the previous time step g−1 to the current time step g. In the text of the specification, since it is not possible to attach a symbol “−” above a character due to the electronic application, for example, it is written as a u(x, y; t=tg) bar.
u(x, y; t=tg)
Here, the first wind speed distribution estimating unit 13 performs the data assimilation processing using the data assimilation function As(⋅). However, this is merely an example, and the first wind speed distribution estimating unit 13 may perform the data assimilation processing by, for example, a particle filter using a two-dimensional N-S equation or an ensemble Kalman filter using the two-dimensional N-S equation. In addition, the first wind speed distribution estimating unit 13 may perform the data assimilation processing by an extended Kalman filter in which the two-dimensional N-S equation is approximated to a linear function or a variational method using the two-dimensional N-S equation.
In the wind speed prediction device 3 according to the first embodiment, the wind speed prediction unit 15 selects the wind speed distribution in any two-dimensional plane from among the wind speed distributions uRb1(x, y) to uRbM(x, y) in the plurality of two-dimensional planes and the wind speed distributions uRb1′(x, y) to uRbM-1′(x, y) in the two-dimensional planes.
In a second embodiment, a wind speed prediction device 3 including a wind speed prediction unit 16 will be described, the wind speed prediction unit 16 estimating a wind speed distribution in a two-dimensional plane including a flight area in which a flying object is scheduled to fly as an observation region from the wind speed distributions uRb1(x, y) to uRbM(x, y) in the plurality of two-dimensional planes and the wind speed distributions uRb1′(x, y) to uRbM-1′(x, y) in the two-dimensional planes.
The wind speed prediction device 3 illustrated in
The wind speed prediction unit 16 is implemented by, for example, a wind speed prediction circuit 26 illustrated in
The wind speed prediction unit 16 estimates a wind speed distribution in a two-dimensional plane including a flight area as an observation region from the wind speed distributions uRb1(x, y) to uRbM(x, y) in the plurality of two-dimensional planes estimated by the first wind speed distribution estimating unit 13 and the wind speed distributions uRb1′(x, y) to uRbM-1′(x, y) in the two-dimensional plane estimated by the second wind speed distribution estimating unit 14.
The wind speed prediction unit 16 predicts the wind speed u(t) in the flight area from the estimated wind speed distribution in the two-dimensional plane using the two-dimensional N-S equation.
In
Each of the scattering signal acquiring circuit 21, the Doppler frequency calculating circuit 22, the first wind speed distribution estimating circuit 23, the second wind speed distribution estimating circuit 24, and the wind speed prediction circuit 26 corresponds to, for example, a single circuit, a composite circuit, a programmed processor, a parallel-programmed processor, ASIC, FPGA, or a combination thereof.
The components of the wind speed prediction device 3 are not limited to those implemented by dedicated hardware, and the wind speed prediction device 3 may be implemented by software, firmware, or a combination of software and firmware.
In a case where the wind speed prediction device 3 is implemented by software, firmware, or the like, a program for causing a computer to execute each processing procedure in the scattering signal acquiring unit 11, the Doppler frequency calculating unit 12, the first wind speed distribution estimating unit 13, the second wind speed distribution estimating unit 14, and the wind speed prediction unit 16 is stored in the memory 31 illustrated in
Further,
Next, the operation of the wind speed prediction device 3 illustrated in
Here, for convenience of description, it is assumed that the flight area is present in a two-dimensional plane between a two-dimensional plane in which the wind speed distribution is uRbm(x, y) and a two-dimensional plane in which the wind speed distribution is uRbm′(x, y).
The wind speed prediction unit 16 calculates a distance Lp-m in the vertical direction from the two-dimensional plane in which the flight area is present to the two-dimensional plane in which the wind speed distribution is uRbm′(x, y).
Further, the wind speed prediction unit 16 calculates a distance Lp-m′ in the vertical direction from the two-dimensional plane in which the flight area is present to the two-dimensional plane in which the wind speed distribution is uRbm′(x, y).
The wind speed prediction unit 16 calculates a weighting coefficient wp-m for the wind speed distribution uRbm′(x, y) in the two-dimensional plane and a weighting coefficient wp-m′ for the wind speed distribution uRbm′(x, y) in the two-dimensional plane on the basis of the distance Lp-m and the distance Lp-m′ as expressed in the following Expressions (39) to (41).
The wind speed prediction unit 16 estimates the wind speed distribution uRbp(X, y) of the two-dimensional plane where the flight area is present on the basis of the weighting coefficient wp-m and the weighting coefficient wp-m′ as expressed in the following Expression (42).
The wind speed prediction unit 16 predicts the wind speed u(t) in the flight area from the estimated wind speed distribution uRbp(x, y) in the two-dimensional plane using the two-dimensional N-S equation. The prediction processing of the wind speed u(t) performed by the wind speed prediction unit 16 is similar to the prediction processing of the wind speed u(t) performed by the wind speed prediction unit 15 illustrated in
In a third embodiment, a wind speed prediction device 3 including a time notification unit 17 that calculates a time t at which the wind speed u(t) predicted by the wind speed prediction unit 15 becomes equal to or higher than the threshold Th and gives a notification of the time t will be described.
The wind speed prediction device 3 illustrated in
The time notification unit 17 is implemented by, for example, a time notification circuit 27 illustrated in
The time notification unit 17 specifies the time t at which the wind speed u(t) predicted by the wind speed prediction unit 15 becomes equal to or higher than the threshold Th.
The time notification unit 17 gives a notification of the specified time t to, for example, a flying object or a control tower monitoring a flight state of the flying object.
In
Each of the scattering signal acquiring circuit 21, the Doppler frequency calculating circuit 22, the first wind speed distribution estimating circuit 23, the second wind speed distribution estimating circuit 24, the wind speed prediction circuit 25, and the time notification circuit 27 corresponds to, for example, a single circuit, a composite circuit, a programmed processor, a parallel-programmed processor, ASIC, FPGA, or a combination thereof.
The components of the wind speed prediction device 3 are not limited to those implemented by dedicated hardware, and the wind speed prediction device 3 may be implemented by software, firmware, or a combination of software and firmware.
In a case where the wind speed prediction device 3 is implemented by software, firmware, or the like, a program for causing a computer to execute each processing procedure in the scattering signal acquiring unit 11, the Doppler frequency calculating unit 12, the first wind speed distribution estimating unit 13, the second wind speed distribution estimating unit 14, the wind speed prediction unit 15, and the time notification unit 17 is stored in the memory 31 illustrated in
Further,
Next, the operation of the wind speed prediction device 3 illustrated in
The time notification unit 17 acquires the predicted wind speed u(t) from the wind speed prediction unit 15 every time the wind speed prediction unit 15 predicts the wind speed u(t).
Every time the predicted wind speed u(t) is acquired, the time notification unit 17 compares the wind speed u(t) with the threshold Th. The threshold Th is, for example, a lower limit value of the wind speed that may affect the flight of the flying object. The threshold Th may be stored in the internal memory of the time notification unit 17 or may be given from the outside.
The time notification unit 17 specifies the time t at which the wind speed u(t) is equal to or higher than the threshold Th on the basis of the comparison result between the wind speed u(t) and the threshold Th.
The time notification unit 17 gives a notification of the specified time t to, for example, a flying object or a control tower monitoring a flight state of the flying object.
In the third embodiment described above, the wind speed prediction device 3 illustrated in
Note that, in the present disclosure, free combinations of the embodiments, modifications of any components of the embodiments, or omissions of any components in the embodiments are possible.
The present disclosure is suitable for a wind speed prediction device, a wind speed prediction method, and a radar device.
1: radar device, 2: beam transmitting and receiving unit, 3: wind speed prediction device, 11: scattering signal acquiring unit, 12: Doppler frequency calculating unit, 13: first wind speed distribution estimating unit, 14: second wind speed distribution estimating unit, 15, 16: wind speed prediction unit, 17: time notification unit, 21: scattering signal acquiring circuit, 22: doppler frequency calculating circuit, 23: first wind speed distribution estimating circuit, 24: second wind speed distribution estimating circuit, 25, 26: wind speed prediction circuit, 27: time notification circuit, 31: memory, 32: processor
This application is a Continuation of PCT International Application No. PCT/JP2021/023291, filed on Jun. 21, 2021, which is hereby expressly incorporated by reference into the present application.
Number | Date | Country | |
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Parent | PCT/JP2021/023291 | Jun 2021 | US |
Child | 18387175 | US |