CN105004266A - A Multi-tube Rocket Shooting Accuracy Measuring Instrument with Filter - Google Patents

Abstract

The invention belongs to the field of multi-rocket shooting precision and shooting range measurement research, and particularly relates to a multi-rocket shooting precision measuring instrument which is used for realizing shooting range measurement and shooting precision calculation on a multi-rocket and is provided with a filter, and is installed on a four-axis aircraft. The device comprises a visual tracking system, a photoelectric conversion circuit, an amplifying circuit, a single chip microcomputer, a filter, an interface and a four-axis aircraft. The visual tracking system is arranged on the quadcopter, so that the target area can be detected in all directions, the shooting range of the multi-tube rocket can be accurately measured through comparison and analysis of a plurality of visual images, and the error can be reduced in the design accuracy calculation process, so that the shooting accuracy can be calculated as accurately as possible. Not only greatly saves the time of measurement and calculation, but also improves the economy and improves the calculation efficiency of the multi-tube rocket shooting precision.

Description

A Multi-tube Rocket Shooting Accuracy Measuring Instrument with Filter

technical field

The invention belongs to the research field of shooting accuracy and shooting range measurement of multiple rockets, and in particular relates to a shooting accuracy measurement of multiple rockets with a filter installed on a four-axis aircraft, which can measure the shooting range of multiple rockets and calculate the shooting accuracy. instrument.

Background technique

Due to the complex and changeable position of the shooting target of multiple rockets, such as the presence of obstructions, the traditional measuring instrument has a dead angle of observation, and in some cases it cannot achieve the purpose of measuring the shooting range of multiple rockets or the obtained multiple The shooting range of the rocket is not accurate, which leads to a large error in the calculation of the shooting accuracy; and the traditional multi-tube rocket shooting accuracy measuring instrument needs to adjust the angle of the camera, and the visual images obtained are few, which has a great influence on the calculation result of the shooting accuracy. error.

Contents of the invention

The purpose of the present invention is to solve the problems of difficult measurement, large error, long time consumption and low economy in the calculation and analysis process of shooting accuracy of multiple rockets in a complex environment, and to provide a shooting accuracy measuring instrument for multiple rockets with a filter .

The object of the present invention is achieved like this: comprise visual tracking system, photoelectric conversion circuit, amplifying circuit, single-chip microcomputer, filter, interface, quadrocopter, visual tracking system is made up of single camera, the output end of camera (1) and photoelectric conversion The circuit (2) is connected; the input end of the photoelectric conversion circuit (2) is connected with the camera (1), and the output end is connected with the amplifier circuit (3); the input end of the amplifier circuit (3) is connected with the photoelectric conversion circuit (2), and the output end is connected with the single-chip microcomputer (4); the input terminal of the single-chip microcomputer (4) is connected with the amplifier circuit (3), the filter (5), and the output terminal is connected with the filter (5), the interface (6); the filter (5) The input end is connected with the single-chip microcomputer (4), and the output end is connected with the single-chip microcomputer (4); the input end of the interface (6) is connected with the single-chip microcomputer (4).

The present invention also has the following characteristics:

1. The single-chip microcomputer processes the information transmitted by the visual tracking system, compares and analyzes the images before and after shooting, and draws a scatter diagram of the shooting point of the multi-tube rocket through the analysis results. The coordinate system of the scatter diagram takes the target as the coordinate origin , the true north direction is the x-axis, and the one that is on the same plane as the x-axis and points vertically to the due east is the y-axis. After the position coordinates of all the landing points of the rocket are determined, it is assumed that the position coordinates of the landing points are (x ₁ , y ₁ ), (x ₂ ,y ₂ ), ( _xi ,y _i )(i=3,4,…,m), calculate the distance d between the coordinates of the two furthest landing points,

The shooting range of multiple rockets is obtained as:

$\mathrm{<span\; class="notranslate">\; S</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; \&pi;</span>}{<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; d</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; \&pi;</span>}}{\mathrm{<span\; class="notranslate">\; 4</span>}}{\mathrm{<span\; class="notranslate">\; d</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}$

Assuming that the target object is the center and the area within a radius of 30 meters is the effective target killing area, the images obtained by the measuring instrument are compared twice before and after, and the number of craters in the effective killing area is measured. Assuming that the number of bomb craters in the effective killing area is n, which means that among the m missiles launched by multiple tube rockets, only n of them can effectively kill the target, and the remaining m-n rockets do not hit the effective killing area of the target.

The shooting accuracy of multiple rockets is obtained as:

δ=n/m

2. The filter is a particle filter.

3. In order to allow the operator to process and adjust the shooting accuracy of multiple rockets more intuitively, a man-machine operation interface and display system are specially added. The purpose of adding the man-machine operation interface is to use the The process parameters obtained are adjusted according to the actual situation.

Compared with the prior art, the beneficial effects of the present invention are: the present invention can detect the target area in all directions due to the installation of the visual tracking system on the quadrocopter. Accurately measure the shooting range, in the process of calculating the design accuracy, the error can be reduced, and the shooting accuracy can be calculated as accurately as possible. Not only the time of measurement and calculation is greatly saved, but also the economy is improved, and the calculation efficiency of multiple rocket shooting accuracy is improved. However, because the image quality collected by the camera is not clear, there is a deviation in the calculation of the shooting range of the multiple rockets, so a particle filter is added to filter the image error, and the processed information is transmitted to the single-chip microcomputer. The information is processed to reduce random errors and improve shooting accuracy.

Description of drawings

Fig. 1 is a schematic diagram of the composition of the measuring instrument of the present invention.

Fig. 2 is a top view structural schematic diagram of the present invention.

Fig. 3 is a schematic side view of the structure of the present invention.

Figure 4 is a scatter diagram of multiple rocket craters.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings.

The invention relates to a multi-tube rocket shooting range measurement, multi-tube rocket shooting precision analysis, a multi-tube rocket shooting precision measuring instrument for a four-axis aircraft and a realization method thereof, belonging to the technical field of multiple rocket shooting precision analysis.

In accompanying drawing 1, the visual tracking system includes a single camera, and the shooting angle of the camera can be adjusted according to the actual situation.

The invention includes a vision tracking system 1, a photoelectric conversion circuit 2, an amplification circuit 3, a single chip microcomputer 4, a filter 5, an interface 6 and a four-axis aircraft.

The visual tracking system is composed of a single camera, and the output end of the camera 1 is connected with the photoelectric conversion circuit 3;

The input end of the photoelectric conversion circuit 2 is connected with the camera 1, and the output end is connected with the amplifier circuit 3;

The input terminal of the amplifier circuit 3 is connected with the photoelectric conversion circuit 2, and the output terminal is connected with the single-chip microcomputer 4;

The input end of the single-chip microcomputer 4 is connected with the amplifier circuit 3 and the filter 5, and the output end is connected with the filter 5 and the interface 6;

The input end of the filter 5 is connected with the single-chip microcomputer 4, and the output end is connected with the single-chip microcomputer 4;

The input end of the interface 6 is connected with the single-chip microcomputer 4 .

The function of the visual tracking system 1 is to take pictures of the target area before the launch of the multi-tube rocket, and convert the obtained image information into an electrical signal through the photoelectric conversion system 3 , and input the signal into the single chip microcomputer 5 after filtering by the filter 6 . The visual tracking system includes two cameras: camera 1 and camera 2, and the single-chip microcomputer 5 performs comparison processing on the two image information. After the multiple rockets shoot at the target area, the visual tracking system 1 takes pictures of the target area again, and records the image information into the single-chip microcomputer 5 through the same route. Calculate the shooting range and shooting accuracy of multiple rockets at the position.

After the images formed before and after the multiple-barrel rocket shooting, the two are compared and analyzed, and the scatter diagram of the shooting points of the multiple-barrel rocket is drawn through the analysis results. The coordinate system of the scatter plot takes the target as the coordinate origin, the north direction is the x-axis, and the y-axis is on the same plane as the x-axis and points vertically to the east. After the position coordinates of all the landing points of the rocket are determined, it is assumed that the position coordinates of the landing points are (x ₁ ,y ₁ ), (x ₂ ,y ₂ ), ( _xi ,y _i )(i=3,4, …, m), calculate the distance d between the coordinates of the two furthest landing points, the shooting range of the multiple rockets is a circle with d as the diameter.

Assuming that the target object is the center and the area within a radius of 10 meters is the effective target killing area, use the images obtained by the measuring instrument twice before and after to compare the number of craters in the effective killing area, assuming the number of craters in the effective killing area is n, which means that among the m missiles launched by multiple rockets, only n of them can effectively kill the target, and the remaining m-n rockets do not hit the effective killing area of the target. Therefore, the shooting of multiple rockets The accuracy is n/m.

Embodiment 1: The embodiment will be described below in conjunction with FIG. 3 . This embodiment includes a visual tracking system, a photoelectric conversion circuit, an amplifier circuit, a single-chip microcomputer, and a four-axis aircraft.

The visual tracking system is composed of a single camera, the output end of the camera 1 is connected with the photoelectric conversion circuit 2; the input end of the photoelectric conversion circuit 2 is connected with the camera 1, and the output end is connected with the amplifier circuit 3; the input end of the amplifier circuit 3 is connected with the photoelectric conversion circuit 2, the output end is connected with the single-chip microcomputer 4; the input end of the single-chip microcomputer 4 is connected with the amplifier circuit 3, and the output end is connected with the interface 6;

The single-chip microcomputer processes the information transmitted by the visual tracking system, compares and analyzes the images before and after shooting, and draws a scatter diagram of the shooting points of multiple rockets through the analysis results. The coordinate system of the scatter plot takes the target as the coordinate origin, the north direction is the x-axis, and the y-axis is on the same plane as the x-axis and points vertically to the east. After the position coordinates of all the landing points of the rocket are determined, it is assumed that the position coordinates of the landing points are (x ₁ ,y ₁ ), (x ₂ ,y ₂ ), ( _xi ,y _i )(i=3,4, ...,m), calculate the distance d between the coordinates of the two furthest landing points.

Then, the shooting range of multiple rockets is:

$\mathrm{<span\; class="notranslate">\; S</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; \&pi;</span>}{<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; d</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; \&pi;</span>}}{\mathrm{<span\; class="notranslate">\; 4</span>}}{\mathrm{<span\; class="notranslate">\; d</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}$

Assuming that the target object is the center and the area within a radius of 30 meters is the effective target killing area, the images obtained by the measuring instrument are compared twice before and after, and the number of craters in the effective killing area is measured. Assuming that the number of bomb craters in the effective killing area is n, it means that among the m missiles launched by multiple rockets, only n of them can effectively kill the target, and the remaining m-n rockets do not hit the effective killing area of the target.

Then, the shooting accuracy of multiple rockets is:

δ=n/m

Specific embodiment two: the difference between this embodiment and embodiment one is that it also includes a filter 5, and a particle filter algorithm is added in the single-chip microcomputer 4, the input end of the filter 5 is connected with the single-chip microcomputer 4, and the filter 5 The output end is connected with the single-chip microcomputer 4.

Due to the unclear image quality collected by the camera, there is a deviation in the calculation of the shooting range of the multi-barrel rocket, so a particle filter is added to filter the image error, and the processed information is transmitted to the single-chip microcomputer, and the single-chip microcomputer processes the filtered Information is processed to reduce random errors and improve shooting accuracy.

Specific embodiment three: the difference between this embodiment and embodiment two is that it also includes an interface 6 connected with the man-machine interface and the display system, the input end of the interface 6 is connected with the single-chip microcomputer 4, and the output end is connected with the man-machine operation interface. The interface is connected with the display system.

In order to allow the operator to process and adjust the shooting accuracy of multiple rockets more intuitively, a man-machine operation interface and display system are specially added. The purpose of adding the man-machine interface is to adjust the process parameters used in the calculation process of shooting range and shooting accuracy according to the actual situation. For example, in the process of calculating the shooting range of multiple rockets, due to the mutual interference between multiple rockets, the landing point of one or more rockets deviates too far, then the landing point of this rocket cannot be regarded as a multiple rocket shooting The normal landing point of the range, so the coordinates of this point need to be eliminated during the calculation process, and the point can be eliminated in the scatter diagram; for example, in the process of calculating the shooting accuracy of multiple rockets, it is possible to artificially adjust the target to be effective The area of the kill zone.

The display system refers to displaying the scatter diagram of the landing point of the multiple rockets, so as to have an intuitive understanding of the landing point of the rocket.

Claims (4)

1. one kind has the multibarrel rocket fire accuracy measuring instrument of wave filter, it is characterized in that: comprise Visual Tracking System, photoelectric switching circuit, amplifying circuit, single-chip microcomputer, wave filter, interface, four-axle aircraft, Visual Tracking System is made up of single camera, and the output terminal of camera (1) is connected with photoelectric switching circuit (2); The input end of photoelectric switching circuit (2) is connected with camera (1), and output terminal is connected with amplifying circuit (3); The input end of amplifying circuit (3) is connected with photoelectric switching circuit (2), and output terminal is connected with single-chip microcomputer (4); The input end of single-chip microcomputer (4) is connected with amplifying circuit (3), wave filter (5), and output terminal is connected with wave filter (5), interface (6); The input end of wave filter (5) is connected with single-chip microcomputer (4), and output terminal is connected with single-chip microcomputer (4); The input end of interface (6) is connected with single-chip microcomputer (4).

2. a kind of multibarrel rocket fire accuracy measuring instrument with wave filter according to claim 1, it is characterized in that: the information of single-chip microcomputer to Visual Tracking System be passed back processes, image after preshot is analyzed, pass through analysis result, draw the scatter diagram of multibarrel rocket shooting drop point, the coordinate system of scatter diagram take target as true origin, direct north is x-axis, with x-axis at same plane and vertical what point to due east is y-axis, after the position coordinates of all drop points of rocket projectile is determined, suppose that the position coordinates of drop point is respectively (x ₁, y ₁), (x ₂, y ₂), (x _i, y _i) (i=3,4 ..., m), calculate two distance d farthest between drop point site coordinate,

Show that the area of fire of multibarrel rocket is:

$S=\mathrm{\&pi;}{\left(\frac{d}{2}\right)}^2=\frac{\mathrm{\&pi;}}{4}{d}^2$

Suppose centered by target object, region within radius 30 meters is effective target killing area, the image obtained for twice before and after measuring instrument is utilized to contrast, measure the crater quantity within effective beaten zone, suppose that the crater quantity within effective beaten zone is n, illustrate in m piece of guided missile of multiple launch rocket system to only have n wherein can effectively kill and wound target, remaining m-n rocket projectile territory, effective beaten zone beside the mark

Show that the fire accuracy of multibarrel rocket is:

δ＝n/m。

3. a kind of multibarrel rocket fire accuracy measuring instrument with wave filter according to claim 1, is characterized in that: described wave filter is particle filter.

4. a kind of multibarrel rocket fire accuracy measuring instrument with wave filter according to claim 1, it is characterized in that: carry out processing to multibarrel rocket fire accuracy more intuitively to allow operator and adjust, add personal-machine operation interface and a display system especially, the object that man machine operation interface adds adjusts according to actual conditions the procedure parameter used in the area of fire and fire accuracy computation process.