JP2005241441A - Mobile surface wind observation system - Google Patents

Abstract

A mobile surface wind observation system capable of correcting measurement errors due to fluctuations in position / velocity and fluctuations and capable of measuring wind speed / direction with high accuracy.
A wind measuring device (ultrasonic anemometer 2 or Doppler soda 3) installed on a movable body (ship 1) that can move on the water (for example, offshore) and measures a wind speed and a wind direction in a desired space region; A position / fluctuation amount measuring device (inertia measurement device 10, GPS 20, inclinometer 30, compass 40, etc.) that is attached to this wind measuring device and measures the position and fluctuation amount of the wind measuring device, and a position / fluctuation amount measuring device And a correction device that corrects wind speed / direction data measured by the wind measuring device based on the measurement result.
[Selection] Figure 1

Description

  The present invention relates to a surface wind observation system for selecting a wind power generation facility construction site on the water (for example, offshore). -It relates to a mobile surface wind observation system that is equipped with wind direction observation equipment and can easily measure the wind speed and direction of the surface wind easily at a plurality of desired positions.

In recent years, the need to prevent global warming has been screamed, and the introduction of wind power generation is emphasized not only in the world but also in Japan.
However, in Japan, where there are many mountainous areas, there are limited places where wind power generation facilities can be installed, and technical development of offshore wind power generation is urgently needed.
When introducing wind power generation facilities, it is necessary to predict the amount of power generation with high accuracy. On land, wind speed meters and wind direction meters are usually installed on poles with a height of about 30 meters, and wind conditions for at least one year. (Wind speed, wind direction, etc.)
On the other hand, the conventional offshore wind observation equipment on the sea (offshore) was a fixed type in which a concrete or steel foundation was installed in the sea, and equipment such as an anemometer and anemometer was installed on top of this. .
In some cases, an anemometer and an anemometer were installed on a weather observation ship or a buoy.

The applicant of this application has published the following paper (non-patent literature) regarding the possibility of detailed examination of mobile wind conditions (wind speed, wind direction, etc.) on the ground or research into practical use.
Regarding the possibility of mobile wind conditions, the 23rd Symposium on Wind Energy Utilization, (2001), pp. 184-187 Research on practical application of mobile wind condition inspection-Effectiveness of short-term observation with mini Doppler soda, Wind energy (Volume 64), (2002), pp. 26-30

The conventional fixed offshore wind observation method in which a concrete or steel foundation structure as described above is installed in the sea and equipment such as an anemometer and wind vane is installed on the foundation is very large in the construction of observation equipment. As the cost increases, the observation point cannot be changed.
Therefore, if the number of observation points is increased, a large number of fixed observation facilities must be installed, resulting in enormous costs.
In addition, with an anemometer / wind direction meter installed on a weather observation ship or buoy (buoy), it is easy to move the observation point, but changes in the movement speed of its own (ie, weather observation ship or buoy) Due to the sway (oscillation), it was difficult to accurately measure (observe) the wind speed and direction of the offshore wind.

  The present invention has been made to solve the problems as described above, and is equipped with wind observation equipment on a moving body (for example, on the ocean or on a lake) such as a ship where the observation point can be easily moved. An object of the present invention is to provide a mobile surface wind observation system capable of correcting measurement errors caused by fluctuations in position and speed of a mobile body and fluctuations and capable of measuring wind speed and direction with high accuracy.

  The mobile surface wind observation system according to the present invention is installed in a movable body movable on the water, measures a wind speed and a wind direction in a desired space region, and is attached to the wind measuring device. A position / oscillation amount measuring device for measuring the position and the amount of oscillation, and a correction device for correcting the wind speed / wind direction data measured by the wind measuring device based on the measurement result of the position / oscillation amount measuring device. Is.

  According to the present invention, while a wind observation facility is mounted on a water moving body such as a ship (for example, offshore), it is possible to correct a measurement error due to fluctuations in position / velocity of the water moving body and fluctuation, and high accuracy. A mobile surface wind observation system that can measure wind speed and direction can be provided.

Embodiment 1 FIG.
FIG. 1 is a diagram for conceptually explaining a mobile water (for example, offshore) wind observation system according to the present invention.
As shown in the figure, an ultrasonic anemometer 2 or Doppler for measuring a wind speed and a wind direction at a desired position in the atmosphere (that is, a desired space area where wind measurement is desired) is provided on a ship 1 that is a moving body on the water. A soda (acoustic wind radar) 3 is installed.
In addition, a mechanical anemometer 4 composed of a triple cup anemometer and an arrow feather anemometer is also installed.
Further, the ship 1 is equipped with a GPS (Global Positioning System), and the current position of the ship 1 is accurately received by receiving radio waves from a plurality of GPS satellites 6 orbiting a predetermined orbit. Identified.

Therefore, the current positions of the ultrasonic anemometer 2 and the Doppler soda (acoustic observation radar) 3 installed in the ship 1 are also specified with high accuracy.
The ultrasonic anemometer 2 or the Doppler soda 3 is provided with an inertial measurement unit (IMU: inertial measurement unit) composed of an accelerometer and a gyro, a compass (magnetic compass) for measuring the direction, and an inclinometer. Yes.
Note that an ultrasonic anemometer is a device that measures wind speed fluctuations using the Doppler shift of sound waves traveling in the airflow, and a Doppler soda is a type of remote sensing device that uses sound waves. The wind speed is measured using the Doppler shift of sound waves scattered by various temperature fluctuations.

When measuring the wind speed / wind direction at a predetermined position (desired space region) with the ultrasonic anemometer 2 or the Doppler soda 3 installed on the ship 1, if the ship 1 is moving or swinging, The sonic anemometer 2 or the Doppler soda 3 itself moves and swings simultaneously.
Accordingly, an error occurs in the measurement data of the ultrasonic anemometer 2 or the Doppler soda 3.
FIG. 2 is a block diagram for explaining a method of analyzing the movement and swing amount of the moving body 1 in the mobile surface wind observation system according to the present embodiment.
In the figure, reference numeral 10 denotes an inertial measurement device, which includes a triaxial accelerometer 11 and a triaxial gyro 12.
Reference numeral 20 denotes a GPS, 30 denotes an inclinometer that measures an attitude, 40 denotes a magnetic compass (simply abbreviated as a compass), and 50 denotes a Kalman filter.

Based on FIG. 2, the position, orientation, orientation, acceleration, and angular velocity detection method of an ultrasonic anemometer 2 (not shown) or Doppler soda 3 (not shown) installed on a moving or swinging ship 1 will be described. I do.
The inertial measurement device 10 (that is, the three-axis accelerometer 11 and the three-axis gyro 12) measures the X-axis / Y-axis / Z-axis acceleration and the angular velocity around the X-axis / Y-axis / Z-axis.
However, since the measurement value of the inertial measurement device 10 has an error due to drift (that is, a zero point error in a stationary state unrelated to the input rotation), these measurement value and the GPS 20, the inclinometer 30, and the compass 40 are used. An error estimated value is derived from the position / orientation / posture data using the Kalman filter 50, and the measured value measured by the inertial measurement apparatus 10 is sequentially corrected using the obtained error estimated value.
As described above, the position, azimuth, orientation, triaxial acceleration, and triaxial angular velocity of the ultrasonic anemometer 2 or Doppler soda 3 installed on the moving body are accurately detected.

Next, the wind speed correction method will be specifically described.
An acceleration vector obtained by subtracting the gravitational acceleration from the measured value of the triaxial accelerometer 11 in the inertial measurement device 10 attached to the ultrasonic anemometer 2 or the Doppler soda 3

And this acceleration vector is numerically integrated, and the three-axis velocity vector is

And
Further, the posture data to be measured is a roll angle (α), a pitch angle (β), and a yaw angle (γ), and a unit vector of a true coordinate system is

And the unit vector in the coordinate system of the ultrasonic anemometer or Doppler soda,

Then, the coordinate system of the wind measuring device at this time (that is, the ultrasonic anemometer 2 or the Doppler soda 3) is shown in FIG.
Here, a vector of raw measurement values (that is, measurement values before correction) by the ultrasonic anemometer 2 is

Then, the true wind speed vector in the ultrasonic anemometer 2 (that is, the corrected wind speed vector) is

It is guided by the formula of
On the other hand, the raw wind speed measured by Doppler Soda 3

And velocity measurement data of the moving body (ie, Doppler soda 3) at the time of sound wave transmission,

And velocity measurement data of the moving body (ie, Doppler soda 3) at the time of receiving the backscattered wave of the transmitted sound wave,

Then, the true wind speed vector in Doppler soda 3 (that is, the corrected wind speed vector) is

As led.
Since the wind direction vector can be obtained by synthesizing the three wind speed components, that is, the X-axis, Y-axis, and Z-axis wind speed vectors, the true wind direction vector can be obtained by synthesizing the true wind speed vector described above. Can also be obtained.
In the above description, the method of correcting the output of the inertial measurement device 10 is described. However, a method of feeding back the error estimated value to the inertial measurement value 10 as shown in FIG.

As described above, the mobile surface wind observation system according to the present embodiment is installed in a movable body that can move on the water (that is, the ship 1), and measures the wind speed and direction in a desired space region ( That is, an ultrasonic anemometer 2 or Doppler soda 3) and a position / swing amount measuring device (that is, an inertial measuring device 10, a GPS 20, an inclinometer) attached to the wind measuring device and measuring the position and the swing amount of the wind measuring device. 30 and a compass 40) and a correction device (not shown) for correcting the wind speed / wind direction data measured by the wind measuring device based on the measurement result of the position / swing amount measuring device.
This makes it possible to correct measurement errors caused by fluctuations in the position and speed of the water moving body and fluctuations while mounting wind observation equipment on the water moving body such as a ship, and it is possible to measure the wind speed and direction with high accuracy. A mobile surface wind observation system can be realized.

In addition, as the wind measuring device, both the ultrasonic anemometer 2 and the Doppler soda 3 are provided, and corrected wind speed data and wind direction data are obtained by correcting wind measurement data (wind speed and wind direction data) measured by both. May be.
In this case, more accurate true wind measurement data can be obtained by using both corrected wind speed data and wind direction data.

Moreover, you may estimate the wind direction and wind speed of the period (time) when the said wind-measurement apparatus is not operating using the measurement data which the anemometer and anemometer of a base station measure.
In this case, for example, the measurement data obtained from the base station is obtained by performing regression analysis on the measurement data obtained from the base station and the wind speed / wind direction data measured by the wind measuring device installed in the moving body 1 to obtain a correlation. Based on the correlation, it is possible to estimate the wind speed and direction during the time (period) when the wind measuring device is not operating.

Embodiment 2. FIG.
FIG. 5 is a diagram showing a configuration of a Doppler soda swing suppression device used in the mobile water (for example, offshore) wind observation system according to the second embodiment.
The mobile surface wind observation system according to the present embodiment is characterized in that the Doppler soda is placed on a swing suppression device, and the swing of the Doppler soda is suppressed even if the ship as a moving body swings. To do.
As shown in FIG. 5, in the present embodiment, the Doppler soda 70 is supported by a first shaft 61 attached to the fixed base 60 so as to be rotatable in the direction indicated by the symbol A, and is fixed to the fixed base 60. The attached second shaft 62 is supported so as to be rotatable in the direction indicated by the symbol B.
Therefore, even if the ship as a moving body swings, the swinging of the Doppler soda 70 is suppressed, so that a more accurate mobile surface wind observation system can be realized.

  The present invention can correct errors caused by movement and swinging of a moving body such as a ship, and is useful for realizing a highly accurate mobile surface wind observation system.

It is a figure for demonstrating notionally the mobile surface wind observation system by this invention. 3 is a block diagram for explaining a method for analyzing the movement and swing amount of a moving body 1 in the mobile surface wind observation system according to the first embodiment. It is a figure which shows the coordinate system of a wind measuring device. 7 is a block diagram for explaining another method for analyzing the movement and swing amount of the moving body 1 in the mobile surface wind observation system according to the first embodiment. It is a figure which shows the structure of the rocking | swiveling suppression apparatus of the Doppler soda used for the mobile surface wind observation system by Embodiment 2. FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Mobile body (ship) 2 Ultrasonic anemometer 3 Doppler soda 4 Mechanical type wind speed / wind direction meter 5 GPS 6 GPS satellite 10 Inertial measuring device 11 3-axis accelerometer 12 3-axis gyro 20 GPS 30 Inclinometer 40 Compass

Claims (6)

A wind measuring device that is installed on a movable body that can move on the water and measures the wind speed and direction of a desired space area, and a position and a rocking amount that is attached to the wind measuring device and measures the position and the rocking amount of the wind measuring device. A measuring device;
A mobile surface wind observation system comprising: a correction device that corrects wind speed / direction data measured by the wind measuring device based on a measurement result of the position / swing amount measuring device.   2. The mobile surface wind observation system according to claim 1, wherein the wind measuring device is an ultrasonic anemometer.   The mobile surface wind observation system according to claim 1, wherein the wind measuring device is a Doppler soda.   2. The mobile surface wind observation system according to claim 1, wherein the wind measuring device comprises an ultrasonic anemometer and a Doppler soda.   The mobile surface wind observation system according to claim 3 or 4, wherein the Doppler soda is placed on a swing suppression device.   Based on the wind speed / wind direction data measured by the wind measuring device and the measurement data measured by the anemometer / wind direction meter of the base station, it is possible to estimate the wind direction / wind speed during a period when the wind measuring device is not operating. The mobile surface wind observation system according to any one of claims 1 to 5.

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