Accurate firework emission control method based on sensor fusion

Abstract

The invention discloses a firework emission accurate control method based on sensor fusion. The firework emission accurate control method comprises the following steps: S1, configuring a firework control module; s2, installing a firework control module at the top of a firework shell, and carrying out initialization; s3, collecting real-time attitude data, and performing Kalman filtering processing; s4, collecting air pressure data, and calculating the relative flight height; s5, constructing a display shell flight trajectory prediction model, and calculating a trajectory deviation value; s6, judging whether the attitude prediction value, the height prediction value and the trajectory deviation value meet requirements or not; s7, if the judgment conditions are met at the same time, an electric blasting fuse is triggered to ignite the display shell; s8, the posture prediction value, the track deviation value and the set-off state mark are sent to a multi-bullet cooperative control unit; and S9, coordinating the display shell to synchronously set off according to a preset pattern. According to the method, sensor data, Kalman filtering and a trajectory prediction modeling method are fused, display shell attitude judgment and collaborative setting-off are achieved, and the method has the advantages of being accurate, safe and high in synchronism.

Description

Technical Field

[0001] The present invention relates to the technical field of display shell launch control, and in particular to a display shell launch precision control method based on sensor fusion. Background Art

[0002] As a special pyrotechnic device widely used in celebrations, performances, and festivals, the launch control method of fireworks largely determines the accuracy, safety, and diversity of the fireworks display effects. Traditional fireworks launching systems mostly use preset timing or wired control methods to trigger the electric ignition device at a specified time to complete the firing. Although this method is simple to implement and low in cost, its limitations are very obvious. Especially in complex application scenarios that require high-precision coordinated firing, multiple shells synchronized formation, or dynamic adjustment of the firing status according to the real-time environment, traditional systems are difficult to provide sufficient responsiveness and intelligent judgment capabilities.

[0003] In recent years, some high-end performances have begun to introduce fireworks launchers with simple intelligent control capabilities. For example, these devices use GPS timing, remote wireless triggering, acceleration-sensing ignition, and other methods to improve control flexibility and safety. To a certain extent, these devices have achieved a transition from traditional timing / remote control to intelligent control, and can achieve preliminary launch delay settings or rough ignition control based on the flight time of the projectile. However, due to the limitations of the single type of sensors, weak data processing capabilities, and poor environmental adaptability, the existing intelligent fireworks control system still has many key deficiencies.

[0004] First, most current fireworks launching systems fail to achieve real-time tracking and determination of the attitude status during flight. Since fireworks are easily affected by wind, projection angle deviation and gravity when flying in the air, their actual attitude may deviate significantly from the preset trajectory. If there is a lack of attitude perception means, the system cannot identify whether the fireworks are in a stable and appropriate direction facing the audience, resulting in pattern misalignment, reduced visual effects, and even safety hazards when fired.

[0005] Secondly, the weak ability to judge altitude is another problem faced by existing systems. Traditional fireworks systems mostly estimate altitude based on flight time, or use simple altimeters to obtain the current altitude value, while ignoring dynamic factors such as air pressure fluctuations and wind speed changes during flight. These factors will cause deviations in altitude judgment, thereby affecting the accurate capture of the best time to launch. This is especially true in scenarios where fireworks patterns need to be accurately launched at a specific altitude in the air. The accumulation of such errors will directly affect the overall performance rhythm and visual level.

[0006] Third, the current fireworks control systems on the market generally lack modeling and integration of environmental parameters, especially the impact of key factors such as wind speed and wind direction on the trajectory of fireworks has not been fully considered. Since fireworks are light in weight, they are easily disturbed by crosswinds during flight. If the system lacks environmental perception capabilities and trajectory prediction modeling based on this, it will not be able to correct trajectory offsets or re-evaluate ignition timing according to real-time wind field changes, which can easily cause the firing position to deviate from the preset pattern, seriously reducing the formation effect and performance accuracy.

[0007] Fourthly, the control strategy for the coordinated firing of multiple missiles is relatively weak. Most systems can only trigger multiple missiles simultaneously according to a unified timing, and are unable to make personalized decisions and coordinated control based on the real-time flight status, trajectory deviation or attitude stability of each missile. Under the requirements of complex pattern display or dynamic rhythm choreography, systems that lack intelligent decision-making capabilities find it difficult to ensure the coordination of the overall formation movement and the integrity of the pattern formation, which ultimately manifests as problems such as pattern dislocation, rhythm disconnection, and incoherent movement.

[0008] Furthermore, existing systems often rely on static control logic, failing to form a complete closed-loop control chain. Once the system is initialized, data exchange between modules is limited, and ignition commands are often one-time decisions, unable to dynamically respond to real-time data. This open-loop control approach lacks fault tolerance and re-evaluation mechanisms, making it highly susceptible to single-point errors amplifying the entire launch process, amplifying risks particularly in multi-missile coordinated missions.

[0009] Overall, although the existing fireworks launch control system has gradually evolved from traditional manual and timing control to wireless triggering and parametric control, it is still in the primary intelligent stage as a whole and has not yet truly realized dynamic decision-making control based on sensor fusion, environmental modeling and data-driven. In particular, in terms of attitude estimation, trajectory prediction, multi-source data fusion judgment, multi-missile coordination strategy, etc., it lacks systematic design and high-integration implementation, and cannot meet the needs of new high-precision, high-safety and strong interactive fireworks performances.

[0010] Therefore, there is an urgent need to propose a new precise control method that integrates multiple perception capabilities, has the ability to judge posture and altitude, can track the flight status of fireworks in real time and dynamically decide the timing of firing, and further realize information sharing and collaborative control among multiple fireworks through a communication mechanism, thereby improving the safety, synchronization and visual impact of the overall fireworks display. Summary of the Invention

[0011] One purpose of the present invention is to propose a precise control method for fireworks launch based on sensor fusion. The present invention integrates multi-source sensor data with Kalman filtering and trajectory prediction modeling methods to perceive the flight posture, altitude and environmental parameters of fireworks in real time, intelligently determine the optimal time to launch, and realize pattern-level launch control through a multi-shell coordination mechanism. It has the advantages of high accuracy, fast response, strong safety and good launch synchronization.

[0012] A method for precise control of fireworks launch based on sensor fusion according to an embodiment of the present invention includes the following steps:

[0013] S1. Configure the fireworks control module;

[0014] S2. Fix the fireworks control module on the top of the fireworks shell, connect the electric fuse, turn on the power module, initialize the control core circuit and start each sensor module;

[0015] S3. Collect the real-time attitude data of the display shell through the attitude sensing module, and use the control core circuit to perform Kalman filtering on the real-time attitude data to obtain the attitude prediction value;

[0016] S4. Collect air pressure data through the altitude sensing module, calculate the relative altitude of the flight, and generate an altitude prediction value;

[0017] S5. Collect wind speed and direction information through the environmental perception module, build a flight trajectory prediction model for the display shells, and calculate the deviation between the future trajectory of the display shells and the target trajectory;

[0018] S6. Determine whether the attitude prediction value is within the set attitude threshold range, whether the height prediction value exceeds the set height threshold, and whether the trajectory deviation value is less than the set deviation threshold;

[0019] S7. If all three judgment conditions are met at the same time, the control core circuit controls the output control module to conduct current, triggering the electric fuse to ignite the display shell;

[0020] S8. Send the posture prediction value, trajectory deviation value and firing status flag of the current display shell to the multi-shell coordinated control unit through the communication module;

[0021] S9. The multi-shell coordinated control unit calculates the firing sequence and delay parameters of each display shell, and coordinates the display shells to be synchronously fired according to a preset pattern.

[0022] Optionally, the fireworks control module includes a power supply module, a control core circuit, a posture perception module, a height perception module, an environment perception module, an output control module and a communication module.

[0023] Optionally, the S1 specifically includes:

[0024] S11. Configure a power module. The power module uses a lithium battery power supply structure with an output voltage range of 3.7V to 5V. It includes a voltage stabilization unit and an overcurrent protection unit to supply power to various functional units in the fireworks control module.

[0025] S12, configure the control core circuit, the control core circuit includes a microprocessor MCU, a clock crystal oscillator, a buffer and an I / O interface, the microprocessor is an ESP32 chip with a dual-core 240MHz computing power, and performs data acquisition, control logic and output instruction processing;

[0026] S13. Configure a posture sensing module, which includes a three-axis gyroscope and a three-axis accelerometer. Use an MPU6050 device to output angular velocity signals and linear acceleration for calculating the pitch, roll, and yaw angles of the display shell.

[0027] S14. Configure an altitude sensing module, which includes a BMP280 air pressure sensor to collect current air pressure and calculate relative flight altitude based on the initialization air pressure.

[0028] S15. Configuring an environment perception module, wherein the environment perception module includes a wind speed sensor and a wind direction sensor, which respectively output wind speed and wind direction angle for flight trajectory modeling and deviation calculation;

[0029] S16. Configure an output control module, which includes a TTL level converter and a power switch device, for receiving the output signal of the control core circuit and controlling the conduction of the electric fuse ignition circuit. The output signal amplitude is 3.3V.

[0030] S17. Configure the communication module, which is a 2.4GHz wireless communication module that uses the NRF24L01 chip and is connected to the control core circuit through the SPI interface. It is used to send attitude prediction values, trajectory deviation values and firing status data to the multi-missile coordinated control unit.

[0031] Optionally, the S2 specifically includes:

[0032] S21, fixing the display control module on the top of the display shell;

[0033] S22. Insert one end of the electric fuse into the reserved ignition hole of the display shell, and connect the other end to the conduction terminal of the output control module. The conduction terminal is a MOS drive circuit controlled by a TTL signal and has a reverse voltage protection function.

[0034] S23. After the installation is complete, turn on the power module to provide stable power to the control core circuit, attitude perception module, altitude perception module, environment perception module, and communication module. The power supply voltage is 3.3V and the current range is 50mA to 500mA.

[0035] S24, the control core circuit starts the initialization program and sets the initial posture vector in is the initial roll angle, θ0 is the initial pitch angle, and ψ0 is the initial yaw angle, all in degrees;

[0036] S25, initializing the reference air pressure value, the altitude sensing module collects the current air pressure in a stationary state, and sets the reference air pressure value as the current air pressure;

[0037] S26. Set the system initialization delay to 2 seconds. During this time, the control core circuit performs a function test on all sensors. If the test fails, the output control module remains in the off state.

[0038] S27. When the delay ends and the functional status of each module is normal, the control core circuit sends a start signal and enters the real-time data acquisition and attitude tracking state. The system begins to execute the attitude calculation, altitude judgment and trajectory modeling process, and enters the main loop of fireworks launch control.

[0039] Optionally, the S3 specifically includes:

[0040] S31, collecting angular velocity signals through the three-axis gyroscope in the attitude sensing module, and collecting linear acceleration through the three-axis accelerometer;

[0041] S32: Input the collected angular velocity signal into the Euler angle calculation module to estimate the attitude angle:

[0042]

[0043] in, θ t and ψ t Represents the current roll angle, pitch angle and yaw angle respectively, θ t-1 and ψ t-1 Represent the roll angle, pitch angle and yaw angle at the previous moment, ω x 、ω y and ω z represents the angular velocity signal, Δt represents the sampling time interval;

[0044] S33. Introducing the attitude state vector based on the Euler angle estimation result As input, the Kalman filter algorithm is executed in the control core circuit to update the attitude state vector, including the state transfer function and the observation update function:

[0045]

[0046] in, represents the predicted posture state vector at the current moment, F represents the state transfer matrix, x t-1 Represents the posture state vector at the previous moment, w t-1 Represents the process noise vector, H represents the observation matrix, which is used to project the state vector into the observation space and is the unit matrix, z t Represents the sensor measurement vector, which is obtained by the linear acceleration collected by the three-axis accelerometer, x t represents the updated posture state vector, K t represents the Kalman gain matrix;

[0047] Sensor measurement vector z t The linear acceleration collected by the three-axis accelerometer is obtained:

[0048]

[0049] Among them, z t represents the sensor measurement vector, arctan represents the inverse tangent function, α x , α y and α z represents linear acceleration;

[0050] S34. Update the prediction covariance matrix P t , and according to the Kalman gain matrix Perform attitude correction and output attitude prediction value θ t and ψ t ,in, represents the prediction covariance matrix, H T represents the transpose of the observation matrix, R represents the measurement noise covariance matrix;

[0051] S35, the posture prediction value θ t and ψ t It is used as the input variable for subsequent judgment of trigger conditions and stored in the posture prediction cache queue.

[0052] Optionally, the S4 specifically includes:

[0053] S41, collecting the current air pressure value through the altitude sensing module, and collecting the air pressure value in the static state as the reference air pressure during the system initialization phase;

[0054] S42, synchronously collecting the current temperature value through the environmental sensor and converting it into Kelvin temperature;

[0055] S43. Call the control core circuit to calculate the flight relative altitude based on the current air pressure, reference air pressure, temperature, temperature lapse rate, gas constant, and gravitational acceleration;

[0056]

[0057] Where h represents the relative flight altitude, T K represents the current temperature, L represents the temperature lapse rate, which is 0.0065, P represents the current air pressure, P0 represents the reference air pressure, A represents the gas constant, and g represents the acceleration due to gravity;

[0058] S44, store the height values at consecutive moments into the height cache queue, and construct a height sequence [h1,h2,,h n ], where h n Indicates the altitude value at time h;

[0059] S45, calculate the current vertical speed based on the height sequence using the first-order difference method, based on the current height h n and vertical velocity predictions for the future t p Height value in seconds

[0060]

[0061] in, Indicates the future p Height in seconds, h n Indicates the current height, h n-1 Indicates the height at the last moment, Δt indicates the sampling time interval, t p Indicates a point in time in the future;

[0062] S46: The predicted height value is passed as input data to subsequent modules.

[0063] Optionally, the S5 specifically includes:

[0064] S51, collecting the current wind speed mean, wind direction angle and wind speed standard deviation through the environment perception module;

[0065] S52, obtain the posture prediction value of the display shell by controlling the core circuit θ t and ψ t and height prediction values The units are degrees and meters, and together with the data collected by the environment perception module, they are passed into the fireworks flight trajectory prediction model as input parameters;

[0066] S53, setting the trajectory prediction time window t in the display shell flight trajectory prediction model k and time step Δk, calculate the number of prediction steps s=tk / Δk, and calculate the expected value of the horizontal displacement of the i-th trajectory prediction point for each time step i∈[1,s]:

[0067] x i =V·cos(θ)·(i·Δk);

[0068] Among them, x i represents the expected value of the horizontal displacement of the i-th trajectory prediction point, V represents the mean wind speed, θ represents the wind direction angle, and Δk represents the time step;

[0069] S54. Simultaneously calculate the standard deviation of the prediction level error of the i-th trajectory prediction point:

[0070] σ xi =σ v ·cos(θ)·(i·Δk);

[0071] Among them, σ xi represents the standard deviation of the prediction level error of the i-th trajectory prediction point, σ v represents the standard deviation of wind speed;

[0072] S55. Construct the spatial confidence interval coordinates of the i-th trajectory prediction point Among them, R i Represents the spatial confidence interval coordinates, describing the spatial prediction range of the i-th trajectory prediction point, x i represents the expected value of the horizontal displacement of the i-th trajectory prediction point, σ xi Represents the standard deviation of the predicted horizontal error of the i-th trajectory prediction point, describing the horizontal position uncertainty, y i is the lateral coordinate of the i-th trajectory prediction point, set to a constant 0, z i Indicates the predicted height, the value is

[0073] S56, read the coordinates of the target track point with the corresponding number i from the preset pattern in, Indicates the coordinates of the i-th target trajectory point, x ti 、y ti 、z ti Respectively represent the horizontal, lateral and vertical positions of the preset pattern;

[0074] S57. Use Gaussian function to construct trajectory fitting scoring function:

[0075]

[0076] Among them, s i represents the trajectory fitting score of the i-th time step, exp represents the natural exponential function, x irepresents the expected value of the horizontal displacement of the i-th trajectory prediction point, x ti Indicates the horizontal position of the preset pattern, σ xi represents the standard deviation of the prediction level error of the i-th trajectory prediction point;

[0077] S58, fit the trajectory of all time steps to the scoring sequence [s1, s2,, s n ] is stored in the buffer as the trajectory deviation value.

[0078] Optionally, the S8 specifically includes:

[0079] S81. After the display shell has completed the firing operation, the control core circuit reads the current attitude prediction value, reads the trajectory deviation value output by the display shell flight trajectory prediction model, reads the firing status flag, and records the current ignition timestamp;

[0080] S82, packaging the attitude prediction value, trajectory deviation value, firing state flag and ignition timestamp to generate a state data vector of a single display shell;

[0081] S83: The control core circuit assigns a unique number to the display shell, and combines the number and the state data vector to form a communication data frame of the display shell;

[0082] S84, writing the communication data frame into the communication buffer through the communication module, and configuring a communication sending flag;

[0083] S85. Within the set time interval, the communication module sends the communication data frame to the multi-missile coordinated control unit and monitors the feedback confirmation signal, including:

[0084] If a confirmation response signal is received within the set waiting period, the sending flag is updated to the completion state;

[0085] If no confirmation signal is received within the set time period, the communication data frame is resent until a response is received or the maximum number of retransmissions is reached;

[0086] S86. For all successfully reported communication data frames, the control core circuit writes them into the local transmission record buffer and marks them as reported.

[0087] Optionally, the communication data frame includes a display shell number, a posture prediction value, a trajectory deviation value, an ignition status flag and an ignition timestamp.

[0088] Optionally, the S9 specifically includes:

[0089] S91. The multi-shell coordinated control unit receives the communication data frames reported by each display shell through the communication module;

[0090] S92: After receiving the data frames of all shells, the collaborative control unit determines the spatial position of the pattern corresponding to each shell based on the preset pattern of the fireworks. in They respectively represent the preset three-dimensional coordinates of the kth bullet in the preset pattern;

[0091] S93, based on the attitude information and trajectory deviation value currently reported by each missile, construct the current missile group state matrix S = [δ d1 ,δ d2 ,,δ dk ], δ dk represents the trajectory deviation value of the kth shell;

[0092] S94, based on the trajectory deviation threshold δ max , filter out the fireworks shell number set K that meets the conditions valid =k|δ dk ≤δ max}, where K valid Indicates the set of shell numbers that are allowed to participate in the current round of preset pattern firing;

[0093] S95. Allocate a firing delay time parameter τ to each number k in the set. k , set the reference delay vector τ=[τ1,τ2,,τ n ], used to control the delay time of each display shell from the current moment;

[0094] S96, build the final control instruction set CMD k =[ID k ,τ k ,fire enable =1], the control instructions are sent to the core circuits of each fireworks shell control through the communication module, where fire enable =1 means ignition is allowed, τ k Indicates the firing delay time parameter, ID k Indicates the unique number of the display shell;

[0095] S97, control the core circuit according to the received firing delay time parameter τ k Start the timing counter and trigger the ignition process after the delay time is reached.

[0096] The beneficial effects of the present invention are:

[0097] First of all, the present invention provides a precise control method for fireworks launch based on sensor fusion, which can effectively overcome the problems of insufficient real-time perception capability, rough launch control, poor environmental adaptability and weak multi-shell coordination capability in existing fireworks launch systems, and improve the intelligence, precision and safety of fireworks firing. By integrating multiple sensor units such as attitude perception module, altitude perception module, and environmental perception module on the top of the fireworks, and using the control core circuit to fuse and analyze multi-source perception data in real time, the present invention can accurately obtain the three-dimensional attitude information, flight altitude and external environmental parameters of the fireworks during flight, thereby realizing comprehensive perception of the flight status of the fireworks.

[0098] Secondly, by introducing the Kalman filter algorithm to dynamically estimate the attitude data, the present invention overcomes the noise and error existing in the original sensor data and realizes the stable prediction of the attitude state. Combined with the relative flight altitude calculated based on air pressure changes and temperature correction, and the trajectory prediction model constructed with real-time wind speed and direction, the system can comprehensively judge whether the fireworks have reached the appropriate firing window, thereby ensuring that the fireworks complete the ignition action at the ideal aerial height, direction and position, improving the spatial accuracy and visual integrity of the overall pattern display. Especially under complex environmental conditions, the system can adaptively adjust the trajectory deviation judgment logic according to wind field changes, effectively avoiding the risk of misfiring or loss of control caused by fireworks deviating from the predetermined pattern path due to wind disturbances.

[0099] Finally, the present invention constructs a communication and control strategy based on the multi-bomb collaborative mechanism. After completing the posture and trajectory judgment, the firework shells will send their own predicted state and firing information to the multi-bomb collaborative control unit. The unit analyzes the state data of all shells, comprehensively evaluates their conditions for participating in the pattern formation, and dynamically adjusts the firing order and delay time of each shell to ensure that the entire pattern is accurately displayed according to the preset rhythm and spatial distribution. This collaborative method breaks the control bottleneck of traditional fireworks that are triggered simultaneously and cannot distinguish individual states, and realizes the "each shell has a judgment, and the group of shells can work together" intelligent control system, which greatly enhances the controllability, continuity and artistic expression of the fireworks performance.

[0100] In summary, the present invention realizes full-cycle intelligent monitoring and precise firing of fireworks during their flight process through an integrated design of sensor fusion, dynamic modeling, threshold judgment and collaborative control. It breaks through the technical limitations of traditional systems that can only rely on time or a single parameter for triggering, and improves the system's robustness, adaptability and control accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0101] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0102] Figure 1 This is a flow chart of a method for precise control of fireworks launch based on sensor fusion proposed by the present invention;

[0103] Figure 2 This is a modeling and scoring structure diagram of a fireworks shell flight trajectory prediction model for a fireworks launch precision control method based on sensor fusion proposed by the present invention;

[0104] Figure 3 This is a Kalman filter flow chart of the fireworks shell posture prediction processing process of the fireworks launch precision control method based on sensor fusion proposed by the present invention. DETAILED DESCRIPTION

[0105] The present invention will now be described in further detail with reference to the accompanying drawings, which are simplified schematic diagrams that illustrate the basic structure of the present invention in a schematic manner.

[0106] refer to Figure 1-3 A method for precise control of fireworks launch based on sensor fusion includes the following steps:

[0107] S1. Configure the fireworks control module;

[0108] S2. Fix the fireworks control module on the top of the fireworks shell, connect the electric fuse, turn on the power module, initialize the control core circuit and start each sensor module;

[0109] S3. Collect the real-time attitude data of the display shell through the attitude sensing module, and use the control core circuit to perform Kalman filtering on the real-time attitude data to obtain the attitude prediction value;

[0110] S4. Collect air pressure data through the altitude sensing module, calculate the relative altitude of the flight, and generate an altitude prediction value;

[0111] S5. Collect wind speed and direction information through the environmental perception module, build a flight trajectory prediction model for the display shells, and calculate the deviation between the future trajectory of the display shells and the target trajectory;

[0112] S6. Determine whether the attitude prediction value is within the set attitude threshold range, whether the height prediction value exceeds the set height threshold, and whether the trajectory deviation value is less than the set deviation threshold;

[0113] S7. If all three judgment conditions are met at the same time, the control core circuit controls the output control module to conduct current, triggering the electric fuse to ignite the display shell;

[0114] S8. Send the posture prediction value, trajectory deviation value and firing status flag of the current display shell to the multi-shell coordinated control unit through the communication module;

[0115] S9. The multi-shell coordinated control unit calculates the firing sequence and delay parameters of each display shell, and coordinates the display shells to be synchronously fired according to a preset pattern.

[0116] The present invention configures a fireworks control module and integrates multi-dimensional perception data such as attitude, altitude, and environment to establish a complete flight status monitoring and judgment mechanism. It uses the Kalman filter algorithm to process real-time attitude, air pressure altitude prediction, and trajectory deviation modeling to ensure that the fireworks are accurately ignited and fired at the optimal attitude, altitude, and flight path, thereby improving the accuracy, safety, and aerial pattern restoration of the fireworks display.

[0117] In this embodiment, the fireworks control module includes a power supply module, a control core circuit, a posture perception module, a height perception module, an environment perception module, an output control module and a communication module.

[0118] The present invention achieves a high degree of integration of the fireworks shell launch control system by integrating the power module, control core circuit, attitude perception module, altitude perception module, environmental perception module, output control module and communication module, effectively improving system reliability and deployment flexibility, reducing external dependence and wiring complexity, and facilitating flexible installation and efficient operation in space-constrained environments.

[0119] In this embodiment, S1 specifically includes:

[0120] S11. Configure a power module. The power module uses a lithium battery power supply structure with an output voltage range of 3.7V to 5V. It includes a voltage stabilization unit and an overcurrent protection unit to supply power to various functional units in the fireworks control module.

[0121] S12, configure the control core circuit, the control core circuit includes a microprocessor MCU, a clock crystal oscillator, a buffer and an I / O interface, the microprocessor is an ESP32 chip with a dual-core 240MHz computing power, and performs data acquisition, control logic and output instruction processing;

[0122] S13. Configure a posture sensing module, which includes a three-axis gyroscope and a three-axis accelerometer. Use an MPU6050 device to output angular velocity signals and linear acceleration for calculating the pitch, roll, and yaw angles of the display shell.

[0123] S14. Configure an altitude sensing module, which includes a BMP280 air pressure sensor to collect current air pressure and calculate relative flight altitude based on the initialization air pressure.

[0124] S15. Configuring an environment perception module, wherein the environment perception module includes a wind speed sensor and a wind direction sensor, which respectively output wind speed and wind direction angle for flight trajectory modeling and deviation calculation;

[0125] S16. Configure an output control module, which includes a TTL level converter and a power switch device, for receiving the output signal of the control core circuit and controlling the conduction of the electric fuse ignition circuit. The output signal amplitude is 3.3V.

[0126] S17. Configure the communication module, which is a 2.4GHz wireless communication module that uses the NRF24L01 chip and is connected to the control core circuit through the SPI interface. It is used to send attitude prediction values, trajectory deviation values and firing status data to the multi-missile coordinated control unit.

[0127] The present invention defines in detail the internal structure and functional configuration of the fireworks control module, adopts a high-performance MCU and a regulated power supply system, and combines it with a standardized sensor layout to ensure that the system has high-precision posture acquisition capabilities, stable power supply capabilities, and reliable output control capabilities, providing stable support for subsequent real-time judgment and ignition, and improving the control efficiency and safety of the entire module.

[0128] In this embodiment, S2 specifically includes:

[0129] S21, fixing the display control module on the top of the display shell;

[0130] S22. Insert one end of the electric fuse into the reserved ignition hole of the display shell, and connect the other end to the conduction terminal of the output control module. The conduction terminal is a MOS drive circuit controlled by a TTL signal and has a reverse voltage protection function.

[0131] S23. After the installation is complete, turn on the power module to provide stable power to the control core circuit, attitude perception module, altitude perception module, environment perception module, and communication module. The power supply voltage is 3.3V and the current range is 50mA to 500mA.

[0132] S24, the control core circuit starts the initialization program and sets the initial posture vector in is the initial roll angle, θ0 is the initial pitch angle, and ψ0 is the initial yaw angle, all in degrees;

[0133] S25, initializing the reference air pressure value, the altitude sensing module collects the current air pressure in a stationary state, and sets the reference air pressure value as the current air pressure;

[0134] S26. Set the system initialization delay to 2 seconds. During this time, the control core circuit performs a function test on all sensors. If the test fails, the output control module remains in the off state.

[0135] S27. When the delay ends and the functional status of each module is normal, the control core circuit sends a start signal and enters the real-time data acquisition and attitude tracking state. The system begins to execute the attitude calculation, altitude judgment and trajectory modeling process, and enters the main loop of fireworks launch control.

[0136] By standardizing the installation method of the fireworks control module, the connection path of the electric fuse, and the system initialization process, the present invention ensures that all functional tests and baseline calibration of the attitude and air pressure have been completed before the sensor is started. This effectively reduces the risk of system false triggering and false ignition, provides a precise starting point for subsequent real-time calculations and ignition judgments, and ensures the safety and accuracy of fireworks launches.

[0137] In this embodiment, S3 specifically includes:

[0138] S31, collecting angular velocity signals through the three-axis gyroscope in the attitude sensing module, and collecting linear acceleration through the three-axis accelerometer;

[0139] S32: Input the collected angular velocity signal into the Euler angle calculation module to estimate the attitude angle:

[0140]

[0141] in, θ t and ψ t Represents the current roll angle, pitch angle and yaw angle respectively, θ t-1 and ψ t-1 Represent the roll angle, pitch angle and yaw angle at the previous moment, ω x 、ω y and ω z represents the angular velocity signal, Δt represents the sampling time interval;

[0142] S33. Introducing the attitude state vector based on the Euler angle estimation result As input, the Kalman filter algorithm is executed in the control core circuit to update the attitude state vector, including the state transfer function and the observation update function:

[0143]

[0144] in, represents the predicted posture state vector at the current moment, F represents the state transfer matrix, x t-1 Represents the posture state vector at the previous moment, w t-1 Represents the process noise vector, H represents the observation matrix, which is used to project the state vector into the observation space and is the unit matrix, z t Represents the sensor measurement vector, which is obtained by the linear acceleration collected by the three-axis accelerometer, x trepresents the updated posture state vector, K t represents the Kalman gain matrix;

[0145] Sensor measurement vector z t The linear acceleration collected by the three-axis accelerometer is obtained:

[0146]

[0147] Among them, z t represents the sensor measurement vector, arctan represents the inverse tangent function, α x , α y and α z represents linear acceleration;

[0148] S34. Update the prediction covariance matrix P t , and according to the Kalman gain matrix Perform attitude correction and output attitude prediction value θ t and ψ t ,in, represents the prediction covariance matrix, H T represents the transpose of the observation matrix, R represents the measurement noise covariance matrix;

[0149] S35, the posture prediction value θ t and ψ t It is used as the input variable for subsequent judgment of trigger conditions and stored in the posture prediction cache queue.

[0150] The present invention uses a three-axis gyroscope and accelerometer to collect angular velocity and acceleration signals, and combines Euler angle calculation with Kalman filtering to achieve posture prediction, effectively reducing the interference of raw data noise on posture judgment, improving the continuity and reliability of posture judgment, and ensuring that fireworks are ignited only when the posture is appropriate, thereby avoiding directional deviation and pattern misalignment.

[0151] In this embodiment, the S4 specifically includes:

[0152] S41, collecting the current air pressure value through the altitude sensing module, and collecting the air pressure value in the static state as the reference air pressure during the system initialization phase;

[0153] S42, synchronously collecting the current temperature value through the environmental sensor and converting it into Kelvin temperature;

[0154] S43. Call the control core circuit to calculate the flight relative altitude based on the current air pressure, reference air pressure, temperature, temperature lapse rate, gas constant, and gravitational acceleration;

[0155]

[0156] Where h represents the relative flight altitude, T K represents the current temperature, L represents the temperature lapse rate, which is 0.0065, P represents the current air pressure, P0 represents the reference air pressure, A represents the gas constant, and g represents the acceleration due to gravity;

[0157] S44, store the height values at consecutive moments into the height cache queue, and construct a height sequence [h1,h2,,h n ], where h n Indicates the altitude value at time h;

[0158] S45, calculate the current vertical speed based on the height sequence using the first-order difference method, based on the current height h n and vertical velocity predictions for the future t p Height value in seconds

[0159]

[0160] in, Indicates the future p Height in seconds, h n Indicates the current height, h n-1 Indicates the height at the last moment, Δt indicates the sampling time interval, t p Indicates a point in time in the future;

[0161] S46: The predicted height value is passed as input data to subsequent modules.

[0162] The present invention collects real-time air pressure and temperature, combines the physical air pressure altitude formula with a differential algorithm to calculate the vertical speed and future altitude prediction value, and realizes dynamic estimation of the flight altitude of fireworks. It can judge in advance whether the fireworks have reached the ideal firing altitude, thereby accurately controlling the aerial display level and enhancing the depth and aesthetics of the pattern.

[0163] In this embodiment, the S5 specifically includes:

[0164] S51, collecting the current wind speed mean, wind direction angle and wind speed standard deviation through the environment perception module;

[0165] S52, obtain the posture prediction value of the display shell by controlling the core circuit θ t and ψ t and height prediction values The units are degrees and meters, and together with the data collected by the environment perception module, they are passed into the fireworks flight trajectory prediction model as input parameters;

[0166] S53, setting the trajectory prediction time window t in the display shell flight trajectory prediction modelk and time step Δk, calculate the number of prediction steps s=t k / Δk, and calculate the expected value of the horizontal displacement of the i-th trajectory prediction point for each time step i∈[1,s]:

[0167] x i =V·cos(θ)·(i·Δk);

[0168] Among them, x i represents the expected value of the horizontal displacement of the i-th trajectory prediction point, V represents the mean wind speed, θ represents the wind direction angle, and Δk represents the time step;

[0169] S54. Simultaneously calculate the standard deviation of the prediction level error of the i-th trajectory prediction point:

[0170] σ xi =σ v ·cos(θ)·(i·Δk);

[0171] Among them, σ xi represents the standard deviation of the prediction level error of the i-th trajectory prediction point, σ v represents the standard deviation of wind speed;

[0172] S55. Construct the spatial confidence interval coordinates of the i-th trajectory prediction point Among them, R i Represents the spatial confidence interval coordinates, describing the spatial prediction range of the i-th trajectory prediction point, x i represents the expected value of the horizontal displacement of the i-th trajectory prediction point, σ xi Represents the standard deviation of the predicted horizontal error of the i-th trajectory prediction point, describing the horizontal position uncertainty, y i is the lateral coordinate of the i-th trajectory prediction point, set to a constant 0, z i Indicates the predicted height, the value is

[0173] S56, read the coordinates of the target track point with the corresponding number i from the preset pattern in, Indicates the coordinates of the i-th target trajectory point, x ti 、y ti 、z ti Respectively represent the horizontal, lateral and vertical positions of the preset pattern;

[0174] S57. Use Gaussian function to construct trajectory fitting scoring function:

[0175]

[0176] Among them, s irepresents the trajectory fitting score of the i-th time step, exp represents the natural exponential function, x i represents the expected value of the horizontal displacement of the i-th trajectory prediction point, x ti Indicates the horizontal position of the preset pattern, σ xi represents the standard deviation of the prediction level error of the i-th trajectory prediction point;

[0177] S58, fit the trajectory of all time steps to the scoring sequence [s1, s2,, s n ] is stored in the buffer as the trajectory deviation value.

[0178] The present invention introduces an environmental perception module to model wind speed, wind direction and its standard deviation, and constructs a flight trajectory prediction model based on attitude and altitude information. A Gaussian scoring function is used to calculate the trajectory fitting degree, thereby achieving quantitative judgment of trajectory deviation, effectively reducing the offset error caused by wind influence, and ensuring the precise spatial presentation of the fireworks pattern.

[0179] In this embodiment, the S8 specifically includes:

[0180] S81. After the display shell has completed the firing operation, the control core circuit reads the current attitude prediction value, reads the trajectory deviation value output by the display shell flight trajectory prediction model, reads the firing status flag, and records the current ignition timestamp;

[0181] S82, packaging the attitude prediction value, trajectory deviation value, firing state flag and ignition timestamp to generate a state data vector of a single display shell;

[0182] S83: The control core circuit assigns a unique number to the display shell, and combines the number and the state data vector to form a communication data frame of the display shell;

[0183] S84, writing the communication data frame into the communication buffer through the communication module, and configuring a communication sending flag;

[0184] S85. Within the set time interval, the communication module sends the communication data frame to the multi-missile coordinated control unit and monitors the feedback confirmation signal, including:

[0185] If a confirmation response signal is received within the set waiting period, the sending flag is updated to the completion state;

[0186] If no confirmation signal is received within the set time period, the communication data frame is resent until a response is received or the maximum number of retransmissions is reached;

[0187] S86. For all successfully reported communication data frames, the control core circuit writes them into the local transmission record buffer and marks them as reported.

[0188] By constructing standard communication data frames and uploading attitude prediction values, trajectory deviation values, and firing status to the collaborative control unit, the present invention implements a status reporting and confirmation mechanism for each firework shell, enhances the information connectivity and traceability between multiple shells, and provides real-time data support for collaborative decision-making and launch strategy adjustment.

[0189] In this embodiment, the communication data frame includes a display shell number, a posture prediction value, a trajectory deviation value, an ignition status flag, and an ignition timestamp.

[0190] The present invention defines the composition structure of the communication data frame, including key data fields such as number, attitude, deviation and status flag, which is conducive to the accurate identification and response of the multi-missile collaborative control system, improves the efficiency and consistency of data interaction, provides a structured communication foundation for pattern-level firing control, and enhances the scalability and stability of the system.

[0191] In this embodiment, the S9 specifically includes:

[0192] S91. The multi-shell coordinated control unit receives the communication data frames reported by each display shell through the communication module;

[0193] S92: After receiving the data frames of all shells, the collaborative control unit determines the spatial position of the pattern corresponding to each shell based on the preset pattern of the fireworks. in They respectively represent the preset three-dimensional coordinates of the kth bullet in the preset pattern;

[0194] S93, based on the attitude information and trajectory deviation value currently reported by each missile, construct the current missile group state matrix S = [δ d1 ,δ d2 ,,δ dk ], δ dk represents the trajectory deviation value of the kth shell;

[0195] S94, based on the trajectory deviation threshold δ max , filter out the fireworks shell number set K that meets the conditions valid =k|δ dk ≤δ max}, where K valid Indicates the set of shell numbers that are allowed to participate in the current round of preset pattern firing;

[0196] S95. Allocate a firing delay time parameter τ to each number k in the set. k , set the reference delay vector τ=[τ1,τ2,,τ n ], used to control the delay time of each display shell from the current moment;

[0197] S96, build the final control instruction set CMDk =[ID k ,τ k ,fire enable =1], the control instructions are sent to the core circuits of each fireworks shell control through the communication module, where fire enable =1 means ignition is allowed, τ k Indicates the firing delay time parameter, ID k Indicates the unique number of the display shell;

[0198] S97, control the core circuit according to the received firing delay time parameter τ k Start the timing counter and trigger the ignition process after the delay time is reached.

[0199] The multi-shell collaborative control unit selects the shells participating in the pattern firing based on the real-time status and preset patterns of each shell, and allocates firing delay parameters to ensure that each shell is fired accurately according to the set rhythm, sequence and spatial position, realizing synchronous control and high-precision choreography of the fireworks pattern, and improving the overall coordination and artistic expression of the performance.

[0200] Example 1:

[0201] To verify the feasibility of the present invention in practice, the present invention was applied to a large-scale fireworks performance project at a light, music, and fireworks show. This project adopted a multi-shell synchronous firing scheme based on pattern trajectories. It required that more than 100 fireworks shells be controlled and fired in formation according to a "peace dove" pattern within a specified altitude range. With more than 10,000 spectators on site, extremely high requirements were placed on the aerial display effect, safety, and synchronization of the fireworks.

[0202] In traditional fireworks display methods, the system mostly relies on timed ignition or unified control of base station signals, and lacks dynamic perception and decision-making capabilities of the actual flight status of the fireworks. Especially in situations such as unstable wind speed and slight deviation of the launch angle, it often leads to problems such as pattern offset and early or late burning of fireworks, seriously affecting the overall viewing effect. The present invention integrates attitude perception, altitude estimation, trajectory modeling and other sensing systems to analyze the three-dimensional attitude, altitude status and future trajectory of the fireworks in real time during flight, perform fitting and scoring with the target trajectory, and automatically trigger ignition when all judgment conditions are met, effectively solving the three major technical bottlenecks of "inability to perceive, inability to judge, and inability to coordinate" in traditional solutions.

[0203] In this application, the top of each display shell is integrated with the display control module designed by the present invention. The control module includes an ESP32 main control chip, an MPU6050 attitude sensing module, a BMP280 altitude sensor, a wind speed and direction sensing component, a TTL control ignition module, and an NRF24L01 wireless communication module. Before the display shell is launched, the initial attitude and air pressure reference are calibrated on the ground. During the flight, the attitude angular velocity, acceleration, and air pressure altitude are collected in real time and input into the Kalman filter and trajectory prediction model for experimental testing.

[0204] Table 1 Performance comparison table

[0205]

[0206]

[0207] In terms of posture judgment capability, traditional fireworks systems lack real-time posture perception means and are unable to determine the spatial orientation and stability of fireworks during flight, resulting in problems such as directional offset and pattern deformation. The present invention uses a posture perception module to collect three-axis angular velocity and acceleration in real time, and combines Euler angle solution with Kalman filtering algorithm to achieve posture prediction with an accuracy of ±1°, ensuring that fireworks are triggered only when their posture is stable and in the correct orientation, thereby improving the spatial accuracy of the pattern.

[0208] Secondly, in terms of flight altitude judgment, the traditional method mainly relies on the timer to estimate the flight time to approximately judge whether the fireworks have reached the set altitude. The error range is usually large, reaching ±3 to 5 meters. The present invention integrates the air pressure and temperature change parameters and calculates the relative flight altitude based on real environmental data. Its altitude prediction accuracy is controlled within ±0.5 meters, meeting the needs of high-precision pattern level control and effectively improving the accuracy of judging the timing of firing.

[0209] In terms of trajectory modeling capabilities, the present invention collects wind speed and direction information in real time, combines attitude and altitude inputs to build a trajectory prediction model, and uses a Gaussian function to score the degree of trajectory fitting, comprehensively evaluating the deviation between the current state of the fireworks and the preset pattern path. Traditional solutions completely lack this capability and are unable to dynamically correct the path or delay ignition, which can easily cause pattern misalignment and is particularly unstable in the presence of crosswind interference.

[0210] Multi-shell coordinated control is a highlight of this invention. Traditional solutions mostly use timed synchronous triggering, and all shells are ignited according to a unified time signal. The individual states of the shells cannot be distinguished, and some fireworks often fire early or late. This invention introduces a multi-shell state feedback mechanism, which dynamically optimizes the launch sequence according to the posture, trajectory fitting degree and delay time parameters of each shell, achieving precise synchronization within ±30 milliseconds. Compared with the ±200 millisecond deviation in traditional control, the synchronization performance is greatly improved.

[0211] In terms of reliability and safety, the present invention adopts a modular design and an initialization self-test mechanism to ensure that the sensor functions normally before entering the main firing control loop, avoiding the problems of false triggering or missed triggering. Statistical data show that the present invention achieves zero false ignition in actual on-site applications and the firing success rate reaches 100%, while traditional methods still have about 3% of false ignition or firing failures, increasing on-site risks.

[0212] In terms of communication capabilities, the present invention assigns a unique number to each firework shell and uploads its posture, trajectory and ignition status in real time through the wireless communication module, forming a complete data closed loop, which is conducive to later backtracking and pattern control strategy optimization. Traditional solutions often lack data recording and feedback capabilities, and the control system status cannot be tracked or verified.

[0213] In terms of environmental adaptability, the present invention can operate stably in an environment with a wind speed of up to 3.5m / s, and has good anti-interference ability and system robustness. Traditional systems are prone to unstable phenomena such as pattern deviation and fireworks yaw when the wind speed exceeds 2.0m / s.

[0214] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A method for precise control of fireworks launch based on sensor fusion, characterized in that: The steps include: S1. Configure the fireworks control module; S2. Fix the fireworks control module on the top of the fireworks shell, connect the electric fuse, turn on the power module, initialize the control core circuit and start each sensor module; S3. Collect the real-time attitude data of the display shell through the attitude sensing module, and use the control core circuit to perform Kalman filtering on the real-time attitude data to obtain the attitude prediction value; S4. Collect air pressure data through the altitude sensing module, calculate the relative altitude of the flight, and generate an altitude prediction value; S5. Collect wind speed and direction information through the environmental perception module, build a flight trajectory prediction model for the display shells, and calculate the deviation between the future trajectory of the display shells and the target trajectory; S6. Determine whether the attitude prediction value is within the set attitude threshold range, whether the height prediction value exceeds the set height threshold, and whether the trajectory deviation value is less than the set deviation threshold; S7. If all three judgment conditions are met at the same time, the control core circuit controls the output control module to conduct current, triggering the electric fuse to ignite the display shell; S8. Send the posture prediction value, trajectory deviation value and firing status flag of the current display shell to the multi-shell coordinated control unit through the communication module; S9. The multi-shell coordinated control unit calculates the firing sequence and delay parameters of each display shell, and coordinates the display shells to be synchronously fired according to a preset pattern.

2. A method for precise control of fireworks launch based on sensor fusion according to claim 1, characterized in that: The fireworks control module includes a power supply module, a control core circuit, a posture perception module, a height perception module, an environment perception module, an output control module and a communication module.

3. The method for precise control of fireworks launch based on sensor fusion according to claim 1, characterized in that: Said S1 specifically includes: S11. Configure a power module. The power module uses a lithium battery power supply structure with an output voltage range of 3.7V to 5V. It includes a voltage stabilization unit and an overcurrent protection unit to supply power to various functional units in the fireworks control module. S12, configure the control core circuit, the control core circuit includes a microprocessor MCU, a clock crystal oscillator, a buffer and an I / O interface, the microprocessor is an ESP32 chip with a dual-core 240MHz computing power, and performs data acquisition, control logic and output instruction processing; S13. Configure a posture sensing module, which includes a three-axis gyroscope and a three-axis accelerometer. Use an MPU6050 device to output angular velocity signals and linear acceleration for calculating the pitch, roll, and yaw angles of the display shell. S14. Configure an altitude sensing module, which includes a BMP280 air pressure sensor to collect current air pressure and calculate relative flight altitude based on the initialization air pressure. S15. Configuring an environment perception module, wherein the environment perception module includes a wind speed sensor and a wind direction sensor, which respectively output wind speed and wind direction angle for flight trajectory modeling and deviation calculation; S16. Configure an output control module, which includes a TTL level converter and a power switch device, for receiving the output signal of the control core circuit and controlling the conduction of the electric fuse ignition circuit. The output signal amplitude is 3.3V. S17. Configure the communication module, which is a 2.4GHz wireless communication module that uses the NRF24L01 chip and is connected to the control core circuit through the SPI interface. It is used to send attitude prediction values, trajectory deviation values and firing status data to the multi-missile coordinated control unit.

4. The method for precise control of fireworks launch based on sensor fusion according to claim 1, characterized in that: The S2 specifically includes: S21, fixing the display control module on the top of the display shell; S22. Insert one end of the electric fuse into the reserved ignition hole of the display shell, and connect the other end to the conduction terminal of the output control module. The conduction terminal is a MOS drive circuit controlled by a TTL signal and has a reverse voltage protection function. S23. After the installation is complete, turn on the power module to provide stable power to the control core circuit, attitude perception module, altitude perception module, environment perception module, and communication module. The power supply voltage is 3.3V and the current range is 50mA to 500mA. S24, the control core circuit starts the initialization program and sets the initial posture vector in is the initial roll angle, θ0 is the initial pitch angle, and ψ0 is the initial yaw angle, all in degrees; S25, initializing the reference air pressure value, the altitude sensing module collects the current air pressure in a stationary state, and sets the reference air pressure value as the current air pressure; S26. Set the system initialization delay to 2 seconds. During this time, the control core circuit performs a function test on all sensors. If the test fails, the output control module remains in the off state. S27. When the delay ends and the functional status of each module is normal, the control core circuit sends a start signal and enters the real-time data acquisition and attitude tracking state. The system begins to execute the attitude calculation, altitude judgment and trajectory modeling process, and enters the main loop of fireworks launch control.

5. The method for precise control of fireworks launch based on sensor fusion according to claim 1, characterized in that: The S3 specifically includes: S31, collecting angular velocity signals through the three-axis gyroscope in the attitude sensing module, and collecting linear acceleration through the three-axis accelerometer; S32: Input the collected angular velocity signal into the Euler angle calculation module to estimate the attitude angle: in, θ t and ψ t Represents the current roll angle, pitch angle and yaw angle respectively, θ t-1 and ψ t-1 Represent the roll angle, pitch angle and yaw angle at the previous moment, ω x 、ω y and ω z represents the angular velocity signal, Δt represents the sampling time interval; S33. Introducing the attitude state vector based on the Euler angle estimation result As input, the Kalman filter algorithm is executed in the control core circuit to update the attitude state vector, including the state transfer function and the observation update function: in, represents the predicted posture state vector at the current moment, F represents the state transfer matrix, x t-1 Represents the posture state vector at the previous moment, w t-1 Represents the process noise vector, H represents the observation matrix, which is used to project the state vector into the observation space and is the unit matrix, z t Represents the sensor measurement vector, which is obtained by the linear acceleration collected by the three-axis accelerometer, x t represents the updated posture state vector, K t represents the Kalman gain matrix; Sensor measurement vector z t The linear acceleration collected by the three-axis accelerometer is obtained: Among them, z t represents the sensor measurement vector, arctan represents the inverse tangent function, α x , α y and α z represents linear acceleration; S34. Update the prediction covariance matrix P t , and according to the Kalman gain matrix Perform attitude correction and output attitude prediction value θ t and ψ t ,in, represents the prediction covariance matrix, H T represents the transpose of the observation matrix, R represents the measurement noise covariance matrix; S35, the posture prediction value θ t and ψ t It is used as the input variable for subsequent judgment of trigger conditions and stored in the posture prediction cache queue.

6. The method for precise control of fireworks launch based on sensor fusion according to claim 1, characterized in that: The S4 specifically includes: S41, collecting the current air pressure value through the altitude sensing module, and collecting the air pressure value in the static state as the reference air pressure during the system initialization phase; S42, synchronously collecting the current temperature value through the environmental sensor and converting it into Kelvin temperature; S43. Call the control core circuit to calculate the flight relative altitude based on the current air pressure, reference air pressure, temperature, temperature lapse rate, gas constant, and gravitational acceleration; Where h represents the relative flight altitude, T K represents the current temperature, L represents the temperature lapse rate, which is 0.0065, P represents the current air pressure, P0 represents the reference air pressure, A represents the gas constant, and g represents the acceleration due to gravity; S44, store the height values at consecutive moments into the height cache queue, and construct a height sequence [h1,h2,,h n ], where h n Indicates the altitude value at time h; S45, calculate the current vertical speed based on the height sequence using the first-order difference method, based on the current height h n and vertical velocity predictions for the future t p Height value in seconds in, Indicates the future p Height in seconds, h n Indicates the current height, h n-1 Indicates the height at the last moment, Δt indicates the sampling time interval, t p Indicates a point in time in the future; S46: The predicted height value is passed as input data to subsequent modules.

7. The method for precise control of fireworks launch based on sensor fusion according to claim 1, characterized in that: The S5 specifically includes: S51, collecting the current wind speed mean, wind direction angle and wind speed standard deviation through the environment perception module; S52, obtain the posture prediction value of the display shell by controlling the core circuit θ t and ψ t and height prediction values The units are degrees and meters, and together with the data collected by the environment perception module, they are passed into the fireworks flight trajectory prediction model as input parameters; S53, setting the trajectory prediction time window t in the display shell flight trajectory prediction model k and time step Δk, calculate the number of prediction steps s=t k / Δk, and calculate the expected value of the horizontal displacement of the i-th trajectory prediction point for each time step i∈[1,s]: x i =V·cos(θ)·(i·Δk); Among them, x i represents the expected value of the horizontal displacement of the i-th trajectory prediction point, V represents the mean wind speed, θ represents the wind direction angle, and Δk represents the time step; S54. Simultaneously calculate the standard deviation of the prediction level error of the i-th trajectory prediction point: s xi =s v ·cos(θ)·(i·Δk); Among them, σ xi represents the standard deviation of the prediction level error of the i-th trajectory prediction point, σ v represents the standard deviation of wind speed; S55. Construct the spatial confidence interval coordinates of the i-th trajectory prediction point Among them, R i Represents the spatial confidence interval coordinates, describing the spatial prediction range of the i-th trajectory prediction point, x i represents the expected value of the horizontal displacement of the i-th trajectory prediction point, σ xi Represents the standard deviation of the predicted horizontal error of the i-th trajectory prediction point, describing the horizontal position uncertainty, y i is the lateral coordinate of the i-th trajectory prediction point, set to a constant 0, z i Indicates the predicted height, the value is S56, read the coordinates of the target track point with the corresponding number i from the preset pattern in, Indicates the coordinates of the i-th target trajectory point, x ti 、y ti 、z ti Respectively represent the horizontal, lateral and vertical positions of the preset pattern; S57. Use Gaussian function to construct trajectory fitting scoring function: Among them, s i represents the trajectory fitting score of the i-th time step, exp represents the natural exponential function, x i represents the expected value of the horizontal displacement of the i-th trajectory prediction point, x ti Indicates the horizontal position of the preset pattern, σ xi represents the standard deviation of the prediction level error of the i-th trajectory prediction point; S58, fit the trajectory of all time steps to the scoring sequence [s1, s2,, s n ] is stored in the buffer as the trajectory deviation value.

8. The method for precise control of fireworks launch based on sensor fusion according to claim 1, characterized in that: The S8 specifically includes: S81. After the display shell has completed the firing operation, the control core circuit reads the current attitude prediction value, reads the trajectory deviation value output by the display shell flight trajectory prediction model, reads the firing status flag, and records the current ignition timestamp; S82, packaging the attitude prediction value, trajectory deviation value, firing state flag and ignition timestamp to generate a state data vector of a single display shell; S83: The control core circuit assigns a unique number to the display shell, and combines the number and the state data vector to form a communication data frame of the display shell; S84, writing the communication data frame into the communication buffer through the communication module, and configuring a communication sending flag; S85. Within the set time interval, the communication module sends the communication data frame to the multi-missile coordinated control unit and monitors the feedback confirmation signal, including: If a confirmation response signal is received within the set waiting period, the sending flag is updated to the completion state; If no confirmation signal is received within the set time period, the communication data frame is resent until a response is received or the maximum number of retransmissions is reached; S86. For all successfully reported communication data frames, the control core circuit writes them into the local transmission record buffer and marks them as reported.

9. The method for precise control of fireworks launch based on sensor fusion according to claim 1, characterized in that: The communication data frame includes a display shell number, a posture prediction value, a trajectory deviation value, an ignition state flag and an ignition timestamp.

10. The method for precise control of fireworks launch based on sensor fusion according to claim 1, characterized in that: The S9 specifically includes: S91. The multi-shell coordinated control unit receives the communication data frames reported by each display shell through the communication module; S92: After receiving the data frames of all shells, the collaborative control unit determines the spatial position of the pattern corresponding to each shell based on the preset pattern of the fireworks. in They respectively represent the preset three-dimensional coordinates of the kth bullet in the preset pattern; S93, based on the attitude information and trajectory deviation value currently reported by each missile, construct the current missile group state matrix S = [δ d1 ,δ d2 ,,δ dk ], δ dk represents the trajectory deviation value of the kth shell; S94, based on the trajectory deviation threshold δ max , filter out the fireworks shell number set K that meets the conditions valid =k|δ dk ≤δ max }, where K valid Indicates the set of shell numbers that are allowed to participate in the current round of preset pattern firing; S95. Allocate a firing delay time parameter τ to each number k in the set. k , set the reference delay vector τ=[τ1,τ2,,τ n ], used to control the delay time of each display shell from the current moment; S96, build the final control instruction set CMD k =[ID k ,τ k ,fire enable =1], the control instructions are sent to the core circuits of each fireworks shell control through the communication module, where fire enable =1 means ignition is allowed, τ k Indicates the firing delay time parameter, ID k Indicates the unique number of the display shell; S97, control the core circuit according to the received firing delay time parameter τ k Start the timing counter and trigger the ignition process after the delay time is reached.

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