Kinetic energy weapon trajectory attitude analysis and shooting time acquisition method and system

Abstract

The invention belongs to the technical field of shooting training assistance, and discloses a kinetic energy weapon trajectory attitude analysis and shooting time acquisition method and system. The method comprises the following steps: installing and calibrating a weapon detection terminal comprising an acceleration sensor and a gyroscope sensor on a kinetic energy weapon gun body; in the shooting process, acceleration and angular velocity data of the weapon are collected at high frequency through the terminal and wirelessly transmitted to the analysis processing equipment; the analysis processing equipment is used for performing gravity compensation and attitude calculation on the received data to obtain a real-time attitude angle and processing angle abrupt change; analyzing the data statistical characteristic change of the acceleration and / or angular velocity data, and comparing the data statistical characteristic change with a preset threshold value to accurately judge the shooting moment; and finally outputting track attitude information for evaluation. The weapon attitude can be accurately analyzed, the shooting time is accurately collected, an objective and quantitative evaluation basis is provided for shooting training, and the training effect is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of kinetic weapon shooting training assessment, and in particular relates to a method and system for kinetic weapon trajectory posture analysis and shooting moment acquisition. Background Art

[0002] In traditional kinetic weapon shooting training, assessing a trainee's shooting proficiency typically relies on visual observation by the instructor and analysis of bullet hole locations on target paper after training. However, this traditional method has many inherent limitations. First, visual observation struggles to accurately capture subtle changes in the weapon's posture at the moment of firing, such as minute muzzle shake and trigger tremors. It also struggles to accurately determine the precise moment the trigger is pulled. These details are crucial for analyzing the standardization and stability of shooting movements, but traditional methods often fail to provide sufficiently detailed data. Second, relying solely on bullet hole location information on the target paper only reflects the final result of the shot, failing to fully reveal the weapon's complete trajectory and posture evolution during the shooting process, such as stability during aiming and changes in muzzle direction at the moment of firing. This makes it difficult for instructors to specifically identify operational issues and provide effective guidance.

[0003] Therefore, the existing technology urgently needs a method and system that can accurately detect the posture changes of kinetic weapons during the shooting process and accurately collect the shooting time, so as to provide more scientific and detailed data support for shooting training and improve the accuracy of training evaluation and the effectiveness of guidance. Summary of the Invention

[0004] Purpose of the invention: The purpose of the present invention is to address the deficiencies of the existing technology and provide a method and system for kinetic weapon trajectory posture analysis and shooting moment collection, so as to improve the scientificity and effectiveness of shooting training evaluation.

[0005] Technical solution: The method for kinetic weapon trajectory posture analysis and firing moment acquisition according to the present invention comprises the following steps: S1: Installing a weapon detection terminal including an acceleration sensor and a gyroscope sensor on the kinetic weapon body; S2: During the shooting process, the acceleration data and angular velocity data of the kinetic energy weapon are collected by the acceleration sensor and the gyroscope sensor; S3: performing an integration operation on the angular velocity data and obtaining a real-time attitude angle of the kinetic weapon through an attitude calculation algorithm; Calculating the components of gravity acceleration on each axis of the acceleration sensor according to the current attitude angle, and then subtracting these components from the collected acceleration data to obtain true linear acceleration data; S4: Based on the true linear acceleration data and angular velocity data within a preset time window, their variances are calculated respectively, and a characteristic value is obtained by weighted summation in combination with a preset weight coefficient. When the absolute value of the difference between the current sampling moment value and the previous sampling moment value of the characteristic value exceeds a preset threshold, the current sampling moment is determined to be the shooting moment; S5: Based on the real-time posture angle and the shooting moment, output trajectory posture information for evaluating the shooting training level.

[0006] Further improving the above technical solution, it also includes a calibration step, which includes: placing the kinetic weapon horizontally still for a preset time; collecting angular velocity data output by the gyroscope sensor and acceleration data output by the acceleration sensor during the still period; calculating the median of the angular velocity data during the still period as the bias value of the gyroscope sensor; calculating the median of the acceleration data during the still period as the bias value of the acceleration sensor; and performing bias compensation on the angular velocity data and acceleration data collected subsequently.

[0007] Furthermore, the attitude angle includes the yaw angle as Y and the pitch angle as P; the projection components of the gravity acceleration on the x, y, and z axes are calculated based on the current attitude angle The calculation formula is: The x-axis component , the y-axis component is , the z-axis component is , where g is the gravitational acceleration constant; the projection component is subtracted from the collected three-axis acceleration data to obtain the real acceleration data.

[0008] Furthermore, the method also includes processing sudden angle changes that occur during the calculation of the real-time attitude angle, including: Assume the current yaw angle is Y, the pitch angle is P, and the last yaw angle is , the pitch angle is ; Calculate the change: , ; The yaw angle Y and pitch angle P are based on the change and Perform the following processing: ;

[0009] .

[0010] Furthermore, the method further includes: calculating the theoretical projection coordinates of the muzzle on the target surface according to the calculated yaw angle Y and pitch angle P, and the preset distance D between the muzzle and the target surface. , the calculation formula is: ; .

[0011] Furthermore, the characteristic value Calculated by the following formula: , in, and is the preset weight coefficient, Indicates the variance of the true linear acceleration data in the current time window, Indicates the variance of the angular velocity data within the current time window.

[0012] Furthermore, it also includes S6: based on the output trajectory posture information, constructing a comprehensive evaluation index system to evaluate the shooting training level, the comprehensive evaluation index system includes at least one or more indicators of posture angle standard deviation, barrel shake amplitude, trajectory offset, trajectory curvature change, and body part movement coordination, and calculating the comprehensive evaluation score according to the score of each indicator and its preset weight.

[0013] The present invention also provides a kinetic weapon trajectory posture analysis and shooting moment acquisition system for implementing the above method, comprising: A weapon detection terminal, which is installed on the gun body of the kinetic energy weapon and has an integrated three-axis acceleration sensor and a three-axis gyroscope sensor for real-time sensing and collecting three-axis acceleration raw data and three-axis angular velocity raw data of the kinetic energy weapon during the shooting process; and An analysis and processing device, the analysis and processing device being communicatively connected to the weapon detection terminal, configured to receive the three-axis acceleration raw data and the three-axis angular velocity raw data, and comprising: a calibration module configured to calculate a bias value of the gyroscope sensor and a bias value of the acceleration sensor using data collected during the horizontal stationary state of the kinetic energy weapon, and apply the bias values ​​to compensate in subsequent processing of the angular velocity raw data and the acceleration raw data; The gravity compensation module is configured to: calculate the projection components of gravity acceleration on the three axes of the acceleration sensor, and subtract the corresponding projection components from the three-axis acceleration raw data to obtain true linear acceleration data; The attitude calculation and angle mutation processing module is configured to: perform an integration operation using the angular velocity data that has undergone zero-bias compensation, and in combination with the real linear acceleration data, calculate the real-time attitude angle of the weapon, including the yaw angle and the pitch angle, through an attitude calculation algorithm, and perform angle mutation processing on the attitude angle; The shooting moment detection module is configured to: calculate the variance of the real linear acceleration data and the offset-compensated angular velocity data within the preset time window, and obtain the characteristic value by weighted summation with the preset weight coefficient. ; and when the characteristic value When the absolute value of the difference between the current sampling moment value and the previous sampling moment value exceeds the preset threshold value T, the current sampling moment is determined to be the shooting moment; The evaluation module is configured to obtain continuous attitude angle information of the entire shooting process based on the real-time attitude angle and the determined shooting moment, and output trajectory attitude information for evaluating the shooting training level.

[0014] Furthermore, the trajectory posture information output by the analysis and processing device for evaluating the shooting training level is a comprehensive evaluation score, which is calculated based on the preset weighted summation of the corresponding scores of at least the following five indicators: posture angle standard deviation, barrel shake amplitude, trajectory offset, trajectory curvature change, and body part movement coordination.

[0015] Furthermore, the attitude angle standard deviation includes the pitch angle standard deviation, the roll angle standard deviation and the yaw angle standard deviation; the barrel vibration amplitude is determined based on the difference between the peak value and the valley value of the real linear acceleration data within one cycle; the trajectory offset is the maximum offset distance between the actual horizontal trajectory of the gun and the ideal horizontal trajectory; the trajectory curvature change is the average value of the absolute value of the curvature change rate of the horizontal trajectory of the gun.

[0016] Beneficial effects: Compared with the prior art, the advantages of the present invention are: (1) Improved the accuracy of attitude analysis: Through the calibration step of sensor data, the errors caused by gyroscope zero bias and accelerometer bias are effectively eliminated; through gravity compensation, a more realistic weapon linear acceleration is obtained, providing a high-quality data basis for subsequent attitude solution and shooting moment judgment.

[0017] (2) Accurate capture of the shooting moment is achieved: by calculating the weighted eigenvalues ​​of the acceleration and angular velocity variance within a specific time window and detecting their mutations, the moment of shooting can be sensitively and accurately identified, providing a guarantee for analyzing the weapon status at critical moments.

[0018] (3) It provides a comprehensive shooting evaluation system: it can not only output real-time posture angles and shooting moments, but also calculate multi-dimensional indicators such as posture angle standard deviation, barrel vibration amplitude, trajectory offset, trajectory curvature change, and body movement coordination based on these data, and form a comprehensive score to provide shooters and coaches with objective and quantitative evaluation results.

[0019] (4) Enhanced system practicality and reliability: The angle mutation processing mechanism effectively solves the jump problem that may occur in attitude calculation, ensuring the continuity and reliability of attitude data. The integrated design and wireless transmission method of the weapon detection terminal are easy to install and use.

[0020] (5) Promotes the scientific and intelligent shooting training: Through this invention, each shooting process can be recorded and analyzed in detail, helping shooters understand their own strengths and weaknesses in holding the gun, aiming, firing, etc., so as to make targeted improvements and improve training efficiency and shooting level. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a flow chart of the method of the present invention; Figure 2 It is a structural diagram of the weapon detection terminal in the present invention. DETAILED DESCRIPTION

[0022] The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the protection scope of the present invention is not limited to the embodiments.

[0023] Example 1: Figure 1 As shown, this embodiment provides a method for kinetic weapon trajectory posture analysis and shooting moment collection, and the specific steps are as follows: Step S1: Installation of weapon detection terminal The weapon detection terminal is firmly installed at a suitable position on the kinetic weapon body. The weapon detection terminal integrates a three-axis acceleration sensor and a three-axis gyroscope sensor to sense the posture change information of the kinetic weapon during the shooting process in real time, including the tilt angle and rotation speed of the gun body.

[0024] Step S2: After the weapon detection terminal is started, calibration is required The calibration process involves, at a minimum, placing the kinetic weapon at rest for a predetermined period. During this period, the weapon detection terminal collects angular velocity data from the gyroscope sensor. Since gyroscopes can still have non-zero outputs, known as bias, even when stationary, the gyroscope's bias value is calculated by calculating the median of the gyroscope data during this period. During subsequent angular velocity data collection, this bias value is subtracted from the real-time data to obtain more accurate angular velocity information.

[0025] The calibration process is as follows: the gyroscope sample set is G; the accelerometer sample set is A; the calibrated status is C (C is the status value used to determine whether it has been calibrated. If it has been calibrated, it will display true).

[0026] Check whether it has been calibrated: C=True⇒return.

[0027] Data collection phase: Prompts calibration status; collects gyroscope data into set G, and accelerometer data into set A.

[0028] Bias calculation: When the number of sample sets G is greater than 1000, the gyroscope sensor bias is calculated as Bg = median(G). This serves as the gyroscope sensor bias. When the number of sample sets A is greater than 1000, the accelerometer sensor bias is calculated as Ba = median(A). In subsequent data collection, the bias value is subtracted from the real-time data to obtain more accurate data.

[0029] Update the calibration status and time, and prompt that the calibration is completed.

[0030] Step S3: Data collection and transmission During shooting training, when the trainees perform actions such as holding the gun, aiming, and firing, the acceleration sensor and gyroscope sensor in the weapon detection terminal continuously collect the weapon's three-axis acceleration data and three-axis angular velocity data.

[0031] The collected raw data is transmitted wirelessly and in real time to an external analysis and processing device, which is a computer or a dedicated handheld device, through a wireless communication module (such as a Bluetooth module or a Wi-Fi module) built into the weapon detection terminal.

[0032] Step S4: Posture data processing and analysis: After receiving the acceleration data and angular velocity data from the weapon detection terminal, the analysis and processing equipment performs the following processing: Attitude solution and angle mutation processing: The analysis and processing equipment uses the angular velocity data after zero bias compensation to perform integration operations to calculate the attitude angle. The attitude angle can be regarded as a combination of yaw angle Y and pitch angle P. In the process of attitude angle calculation, angle mutation may occur. To solve this problem, angle mutation processing is required. Specifically, at the initial power-on, the yaw angle is Y and the pitch angle is P, which are 0 respectively. Suppose the real-time calculated yaw angle is Y and the pitch angle is P, and the last yaw angle is , the last pitch angle is .

[0033] Calculate the angle change: , ; The yaw angle Y and pitch angle P are based on the change and Perform the following processing:

[0034]

[0035] Angle projection calculation: According to the yaw angle obtained by the solution and pitch angle , and the preset distance D between the muzzle and the target surface, calculate the theoretical projection coordinates of the muzzle on the target surface , used to display the trajectory on the front-end interface:

[0036]

[0037] Translation projection calculation: Translation calculation is to calculate the velocity based on the acceleration integral, and then integrate the velocity to get the translation. Here, only the acceleration of the x-axis and z-axis is calculated, because the acceleration of the y-axis is projected onto the target surface without displacement.

[0038] When the device is tilted, the components of gravity on each axis can be calculated based on the current posture, and then these components are subtracted from the accelerometer measurements to obtain the true acceleration.

[0039] The x-axis component ; The y-axis component is ; The z-axis component is ; Where g is the gravitational acceleration constant.

[0040] Assume that the accelerometer measurement value is 、 、 , then the true acceleration is: ; ; ; After this treatment, if the device is stationary, these three values ​​should be close to zero.

[0041] Step S5: Shooting time acquisition: Using the acceleration sensor and gyroscope sensor in the weapon detection terminal, when a set of signal data generated before and after shooting is detected, this set of data is synchronously transmitted to the analysis and processing equipment as a mark of the shooting moment. The analysis and processing equipment can determine the posture state of the weapon at the moment the muzzle pulls the trigger, providing key data for evaluating the operational standardization of training personnel at critical moments.

[0042] The acceleration and angular velocity data sequences within the time window are and , and introduce the weight coefficient, the eigenvalue calculation formula is as follows:

[0043] in, and It is a preset weight coefficient, which is adjusted according to the actual situation to balance the sensitivity of acceleration and angular velocity to shooting events; Indicates the variance of the three-axis acceleration data in the current time window, Indicates the variance of the three-axis angular velocity data in the current time window.

[0044] When shooting occurs, the weapon will produce violent vibrations and posture changes, which will cause the variance of acceleration and angular velocity data to increase significantly, making the eigenvalue A mutation occurs.

[0045] The analysis and processing equipment calculates the characteristic value at the current moment and the eigenvalue at the previous sampling moment The absolute value of the difference When the absolute value of the difference exceeds a preset threshold value T, the current moment is determined to be the shooting moment.

[0046] Step S6, result output: determine the shooting moment within the time window t, and obtain the continuous attitude angle information of the entire shooting process (including before shooting, shooting moment and after shooting). ;

[0047]

[0048] By updating according to the calculated Y and P, the analysis and processing device can output trajectory posture information for evaluating the shooting training level.

[0049] A comprehensive evaluation index system is constructed, which includes five indicators: standard deviation of posture angle, barrel vibration amplitude, trajectory offset, trajectory curvature change, and coordination of body part movement.

[0050] Calculate the standard deviation of the gun attitude angles (pitch angle Y, roll angle R, and yaw angle P) during shooting. The smaller the standard deviation, the more stable the gun attitude.

[0051]

[0052]

[0053]

[0054] When implemented, the standard deviation of the pitch angle is less than Degrees, roll angle standard deviation is less than degrees, the standard deviation of yaw angle is less than Degrees, the calculation formula for the attitude angle score is:

[0055] Based on the acceleration data, calculate the horizontal barrel vibration amplitude. The actual vibration amplitude is defined as the difference between the peak and valley values ​​of the acceleration signal within a cycle. The smaller the difference, the smaller the vibration amplitude and the higher the shooting stability. In practice, a vibration amplitude less than [A]m / s² is considered excellent. The formula for calculating the barrel vibration amplitude score is:

[0056] Determine the ideal horizontal trajectory during shooting (usually a straight line). Calculate the maximum deviation between the gun's actual horizontal trajectory and the ideal horizontal trajectory as the actual deviation. The smaller the actual deviation, the higher the trajectory accuracy. In practice, an actual deviation less than [B] cm indicates good trajectory accuracy. The trajectory deviation scoring formula is:

[0057] Calculate the curvature change rate of the gun's horizontal trajectory. The curvature change rate reflects the degree of curvature change in the trajectory. The smaller the average absolute value of the curvature change rate, the straighter the trajectory and the more stable the shooting action. When implementing this, it is best to have an average curvature change rate less than [C]1 / m. The formula for calculating the trajectory curvature change score is:

[0058] Analyze the time differences and correlations between the movements of various body parts (such as shoulders, elbows, and wrists). Calculate the time differences between different body parts' posture changes. The smaller the time difference, the better the coordination. Also, calculate the correlation coefficient of each body part's movement trajectory. The closer the correlation coefficient is to 1, the higher the coordination. In practice, a time difference less than [D] seconds and a correlation coefficient greater than [E] indicate good coordination. The formula for calculating the coordination score for body part movements is:

[0059] Each indicator is assigned a corresponding weight. The weight of the posture angle standard deviation is 0.2, the weight of the barrel vibration amplitude is 0.1, the weight of the trajectory offset is 0.3, the weight of the trajectory curvature change is 0.3, and the weight of the body movement coordination is 0.1.

[0060] The current comprehensive evaluation index system scoring formula is:

[0061] Example 2: This example provides a kinetic weapon trajectory posture analysis and shooting moment acquisition system, which includes: The weapon detection terminal is installed on the gun body of the kinetic energy weapon. It integrates a three-axis acceleration sensor and a three-axis gyroscope sensor to sense and collect the three-axis acceleration raw data and three-axis angular velocity raw data of the kinetic energy weapon during the shooting process in real time; and The analysis and processing device is communicatively connected to the weapon detection terminal, is used to receive the three-axis acceleration raw data and the three-axis angular velocity raw data, and includes: a calibration module configured to calculate bias values ​​of the gyroscope sensor and the acceleration sensor using data collected during the horizontal stationary state of the kinetic weapon, and apply the bias values ​​for compensation in subsequent processing of the angular velocity raw data and the acceleration raw data; The gravity compensation module is configured as follows: calculating the projection components of gravity acceleration on the three axes of the acceleration sensor, and subtracting the corresponding projection components from the three-axis acceleration raw data to obtain the true linear acceleration data; The attitude calculation and angle mutation processing module is configured to: use the angular velocity data after zero bias compensation to perform integration operations, and combine it with the real linear acceleration data to calculate the real-time attitude angle of the weapon, including the yaw angle and pitch angle, through the attitude calculation algorithm, and perform angle mutation processing on the attitude angle; The shooting moment detection module is configured to calculate the variance of the real linear acceleration data and the compensated angular velocity data within the preset time window, and obtain the eigenvalue by weighted summation with the preset weight coefficient. ; and when the eigenvalue When the absolute value of the difference between the current sampling moment value and the previous sampling moment value exceeds the preset threshold value T, the current sampling moment is determined to be the shooting moment; The evaluation module is configured to obtain continuous attitude angle information of the entire shooting process based on the real-time attitude angle and the determined shooting moment, and output trajectory attitude information for evaluating the shooting training level.

[0062] Among them, weapon detection terminals such as Figure 1 As shown, it includes: mainboard film 1, upper cover 2, main control board 3, sensor processing circuit 4, waterproof sealing strip 5, magnetic charging port 6, lower shell 7, light board 8, light board film 9, leather rail clamp component 1 10, leather rail clamp component 2 11, and M5 thumb screws 12.

[0063] The weapon detection terminal primarily consists of an upper cover 2 and a lower housing 7, secured together with screws. A waterproof seal 5 is inserted between them to protect the internal electronic components. The core components are the main control board 3, mounted on the inside of the upper cover, and the sensor processing circuit 4, housed in the lower housing. Together, they sense and process data. A mainboard film 1 on the top of the terminal houses a display window for buttons or status lights. The side features a magnetic charging port 6 and a status indicator system consisting of a light board 8 and light board film 9. To connect to the weapon, the terminal's bottom is equipped with a Picatinny rail clamp assembly 10, a Picatinny rail clamp assembly 2 11, and M5 thumbscrews 12, allowing it to be securely mounted on a Picatinny rail. Functionally, the integrated sensors (located in the sensor processing circuit) collect real-time weapon motion data, which is then processed by the main control board to enable trajectory analysis and shot timing.

[0064] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the present invention itself. Various changes may be made to it in form and detail without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. A method for kinetic weapon trajectory posture analysis and shooting moment collection, characterized in that: The following steps are involved: S1: Installing a weapon detection terminal including an acceleration sensor and a gyroscope sensor on the kinetic weapon body; S2: During the shooting process, the acceleration data and angular velocity data of the kinetic energy weapon are collected by the acceleration sensor and the gyroscope sensor; S3: performing an integration operation on the angular velocity data and obtaining a real-time attitude angle of the kinetic weapon through an attitude calculation algorithm; Calculating the components of gravity acceleration on each axis of the acceleration sensor according to the current attitude angle, and then subtracting these components from the collected acceleration data to obtain true linear acceleration data; S4: Based on the true linear acceleration data and angular velocity data within a preset time window, their variances are calculated respectively, and a characteristic value is obtained by weighted summation in combination with a preset weight coefficient. When the absolute value of the difference between the current sampling moment value and the previous sampling moment value of the characteristic value exceeds a preset threshold, the current sampling moment is determined to be the shooting moment; S5: Based on the real-time posture angle and the shooting moment, output trajectory posture information for evaluating the shooting training level.

2. The method for kinetic weapon trajectory posture analysis and shooting moment acquisition according to claim 1 is characterized in that: Also included is a calibration step, the calibration step comprising: Keep kinetic weapons stationary for a preset time; collecting angular velocity data output by the gyroscope sensor and acceleration data output by the acceleration sensor during a stationary period; Calculating a median of the angular velocity data during the stationary period as a bias value of the gyroscope sensor; calculating a median of the acceleration data during the stationary period as a bias value of the acceleration sensor; Perform bias compensation on the subsequently collected angular velocity data and acceleration data.

3. The method for kinetic weapon trajectory posture analysis and shooting moment acquisition according to claim 2 is characterized in that: The attitude angles include a yaw angle of Y and a pitch angle of P; Calculate the projection components of gravity acceleration on the x, y, and z axes according to the current attitude angle The calculation formula is: The x-axis component ; The y-axis component is ; The z-axis component is ; Where g is the gravitational acceleration constant; The projection component is subtracted from the collected three-axis acceleration data to obtain the real acceleration data.

4. The method for kinetic weapon trajectory posture analysis and shooting moment acquisition according to claim 1 is characterized in that: It also includes processing of sudden angle changes that occur during the calculation of real-time attitude angles, including: Assume the current yaw angle is Y, the pitch angle is P, and the last yaw angle is , the pitch angle is ; Calculate the change: , ; The yaw angle Y and pitch angle P are based on the change and Perform the following processing: ； 。 5. The method for kinetic weapon trajectory posture analysis and shooting moment acquisition according to claim 4 is characterized in that: Also includes: According to the calculated yaw angle Y and pitch angle P, as well as the preset distance D between the muzzle and the target surface, the theoretical projection coordinates of the muzzle on the target surface are calculated. , the calculation formula is: ； 。 6. The method for kinetic weapon trajectory posture analysis and shooting moment acquisition according to claim 1 is characterized in that: The characteristic value Calculated by the following formula: ， in, and is the preset weight coefficient, Indicates the variance of the true linear acceleration data in the current time window, Indicates the variance of the angular velocity data within the current time window.

7. The method for kinetic weapon trajectory posture analysis and shooting moment acquisition according to claim 1 is characterized in that: It also includes S6: based on the output trajectory posture information, constructing a comprehensive evaluation index system to evaluate the shooting training level, the comprehensive evaluation index system includes at least one or more indicators of posture angle standard deviation, barrel shake amplitude, trajectory offset, trajectory curvature change, and body part movement coordination, and calculating the comprehensive evaluation score according to the score of each indicator and its preset weight.

8. A system for implementing the method for kinetic energy weapon trajectory posture analysis and shooting moment acquisition according to claim 1, characterized in that: include: A weapon detection terminal is installed on the gun body of the kinetic energy weapon. It integrates a three-axis acceleration sensor and a three-axis gyroscope sensor to sense and collect the three-axis acceleration raw data and three-axis angular velocity raw data of the kinetic energy weapon during the shooting process in real time; as well as An analysis and processing device, the analysis and processing device being communicatively connected to the weapon detection terminal, configured to receive the three-axis acceleration raw data and the three-axis angular velocity raw data, and comprising: a calibration module configured to calculate a bias value of the gyroscope sensor and a bias value of the acceleration sensor using data collected during the horizontal stationary state of the kinetic energy weapon, and apply the bias values ​​to compensate in subsequent processing of the angular velocity raw data and the acceleration raw data; The gravity compensation module is configured to: calculate the projection components of gravity acceleration on the three axes of the acceleration sensor, and subtract the corresponding projection components from the three-axis acceleration raw data to obtain true linear acceleration data; The attitude calculation and angle mutation processing module is configured to: perform an integration operation using the angular velocity data that has undergone zero-bias compensation, and in combination with the real linear acceleration data, calculate the real-time attitude angle of the weapon, including the yaw angle and the pitch angle, through an attitude calculation algorithm, and perform angle mutation processing on the attitude angle; The shooting moment detection module is configured to: calculate the variance of the real linear acceleration data and the offset-compensated angular velocity data within the preset time window, and obtain the characteristic value by weighted summation with the preset weight coefficient. ; and when the characteristic value When the absolute value of the difference between the current sampling moment value and the previous sampling moment value exceeds the preset threshold value T, the current sampling moment is determined to be the shooting moment; The evaluation module is configured to obtain continuous attitude angle information of the entire shooting process based on the real-time attitude angle and the determined shooting moment, and output trajectory attitude information for evaluating the shooting training level.

9. The system according to claim 8, characterized in that The trajectory posture information output by the analysis and processing device for evaluating the shooting training level is a comprehensive evaluation score, which is calculated based on the preset weighted summation of the corresponding scores of at least the following five indicators: posture angle standard deviation, barrel shake amplitude, trajectory offset, trajectory curvature change, and body part movement coordination.

10. The system according to claim 8, wherein: The attitude angle standard deviation includes the pitch angle standard deviation, the roll angle standard deviation and the yaw angle standard deviation; the barrel vibration amplitude is determined based on the difference between the peak value and the valley value of the real linear acceleration data within a cycle; the trajectory offset is the maximum offset distance between the actual horizontal trajectory of the gun and the ideal horizontal trajectory; the trajectory curvature change is the average value of the absolute value of the curvature change rate of the gun's horizontal trajectory.

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