A method for locating the impact point of shock wave projectiles in a double T-shaped array

Abstract

The present invention relates to the field of automatic target reporting equipment for precision shooting, and specifically to a method for locating the impact point of a shock wave projectile with a double T-shaped array. The invention includes a method for arranging a shock wave pressure sensor array for detecting the impact point, a bracket for detecting the impact point, and a method for detecting the impact point. The first single T-shaped array is composed of Q4, Q5, Q6, and Q7, and the second single T-shaped array is composed of Q1, Q2, Q3, and Q5. The two single T-shaped arrays share the same shock wave pressure sensor Q5. The present invention also provides a method for locating the impact point based on the above device. By jointly solving the time difference signal detected by the shock wave pressure sensor of the first single T-shaped array and the shock wave pressure sensor of the second single T-shaped array, a relatively accurate bullet speed can be calculated, thereby improving the accuracy of the impact point detection, and the flight angle and terminal running trajectory of the projectile at the end of the target shooting can be detected, and the detection accuracy of the oblique projectile is relatively high.

Description

Technical Field

[0001] The invention relates to the field of automatic target reporting equipment for precision shooting, and in particular to a double T-shaped array shock wave projectile impact point positioning method, which can accurately calculate the impact point coordinates according to a mathematical model and can calculate the flight trajectory of the bullet at the end of the target shooting. Background Art

[0002] In military training, live-fire shooting is the most basic training item. Effective and rapid detection of shooting accuracy plays a very important role in shooting training. Traditional shooting detection adopts the method of manual target reporting. The manual method cannot quickly and effectively feedback the target shooting information to the training personnel. Especially in continuous shooting, it is difficult to distinguish the bullet sequence, and there is a certain danger. The shock wave pressure sensor is used as a signal receiving device. It uses sound waves to achieve non-contact detection, is not easy to be hit by bullets, and has the characteristics of long service life. Among the existing patents, the Chinese invention patent application with application number 201510268397.7 discloses "curve distributed shock wave projectile positioning device and its impact point positioning method". The patent application adopts three curve array shock wave sensors, which have a large error when the bullet is obliquely fired. The Chinese invention patent application with application number 201210054057.0 discloses "full-angle incident shock wave target reporting device based on three-dimensional array of sensors". The patent application is composed of seven sensors arranged in a three-dimensional array, which is easy to be hit by bullets, and has a complex structure and high array requirements. The existing acoustic target reporting equipment in China mostly adopts N-point linear array. This method is convenient and flexible to arrange, but it is only suitable for vertical target shooting and cannot detect the motion trajectory of the bullet end. The double triangle arrangement has higher detection accuracy during vertical shooting, but the detection error is larger during oblique shooting, and due to its vertical arrangement, it is easy to be hit by bullets. Summary of the invention

[0003] The purpose of the present invention is to improve the accuracy of target detection and solve the problem of low target reporting accuracy. A double T-shaped array shock wave projectile impact point positioning method is designed, which can detect the movement direction and trajectory of the bullet end, and can also accurately detect the position of the impact point when the bullet is shot obliquely.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] The arrangement method of the sensors is that seven shock wave pressure sensors are arranged in a double T shape, with the sensing ends all facing the direction of the target surface (4), and the plane formed by the shock wave pressure sensors is located below the target surface (4) and perpendicular to the target surface (4).

[0006] Shock wave pressure sensors Q1, Q2, and Q3 are evenly spaced and distributed in a straight line parallel to the target surface (4); shock wave pressure sensors Q4, Q5, and Q6 are evenly spaced and distributed directly in front of Q1, Q2, and Q3, respectively; shock wave pressure sensor Q7 is located directly in front of Q5; and stepped holes (1) for accommodating shock wave pressure sensors are provided at the end points of the four side sensor brackets (2).

[0007] The Q4, Q5, Q6, Q7 shock wave pressure sensors of the first single T-array detect the coordinate point M1 of the bullet when it flies over the T-array, and the Q1, Q2, Q3, Q5 shock wave pressure sensors of the second single T-array detect the coordinate point M2 of the bullet when it flies over the T-array; solve the distance L3 between the two coordinate points M1 and M2 in the spatial coordinate system, and solve the flight speed V3 of the bullet at the end of the target shooting through the corrected distance L3 and the time difference between the signals received by the two sensors Q5 and Q6, and use the corrected V3 to obtain the precise coordinate M3 of the impact point, and use the straight line connected by the two coordinate points M1 and M2 detected by the double T-array in the spatial coordinate system to obtain the angle of incidence and the terminal motion trajectory of the bullet.

[0008] The double T-shaped array shock wave impact point positioning method is characterized by comprising the following steps:

[0009] A three-dimensional space coordinate system is established with the sensor Q2 as the origin, the horizontal direction parallel to the target surface (4) as the X axis, the vertical direction as the Y axis, and the direction perpendicular to the target surface (4) as the Z axis. The sensor position coordinates Q1 (-L1, 0, 0), Q2 (0, 0, 0), Q3 (L1, 0, 0), Q4 (-L1, 0, L2), Q5 (0, 0, L2), Q6 (L1, 0, L2), Q7 (0, 0, 2L2) and the impact point are represented by M.

[0010] The shock wave generated by the bullet shooting first passes through the first single T-shaped array.

[0011] The coordinate points detected when the bullet passes through the plane above the T-shaped array are assumed to be M1, Q4, Q5, Q6, and Q7. The time signals received by the four shock wave pressure sensors when the bullet flies over are t4, t5, t6, and t7 respectively;

[0012] Assume that the coordinates of M1 are (X1, Y1, L2), the horizontal distance between sensors Q4, Q5, and Q6 is L1, and the distance between Q7 and Q5 is L2, and the equation can be listed as follows:

[0013]

[0014] Bullet Speed

[0015] The speed of sound at ambient temperature is c = 331.3 + 0.606t (3)

[0016] Shock wave propagation speed According to equations (1), (2), (3), and (4), a set of equations is established and the values ​​of X1 and Y1 are obtained by solving them, thereby obtaining the coordinate point (X1, Y1, L2) detected by the first T-type array.

[0017] The shock wave generated by the bullet shooting passes through the second single T-shaped array.

[0018] At this time, the coordinate points detected when the bullet passes through the plane above the T-shaped array are assumed to be M2, Q1, Q2, Q3, and Q5, and the time signals received by the four shock wave pressure sensors when the bullet flies by are t1, t2, t3, and t5 respectively.

[0019] Assume that the coordinates of M2 are (X2, Y2, 0), the horizontal distance between sensors Q1, Q2, and Q3 is L1, and the distance between Q2 and Q5 is L2, and the equation can be listed as follows:

[0020]

[0021] Bullet Speed Shock wave propagation speed According to equations (3), (5), (6), and (7), a set of equations is established, and the values ​​of X2 and Y2 are obtained by solving them, thereby obtaining the coordinate point (X2, Y2, 0) detected by the second single T-type array.

[0022] The distance between two points M1 and M2 in space:

[0023]

[0024] Substitute the distance L3 between M1 and M2 into the formula again to obtain the corrected projectile velocity v3, and substitute the result into the coordinate formula to achieve the purpose of correcting the coordinate position.

[0025] Corrected bullet speed Corrected shock wave propagation velocity According to equations (3), (9), (10), and (11), a set of equations is established, and the values ​​of X3 and Y3 are obtained by solving them, and the coordinate point (X3, Y3, 0) where the corrected bullet hits the target surface (4) is obtained.

[0026] The main advantages of the present invention are:

[0027] The present invention is used to place a base (5) for shock wave pressure sensors below a target surface (4). Seven shock wave pressure sensors are located in the same plane to form a double T-shaped arrangement. Step holes (1) for accommodating sensors are arranged at the end points of the side shock wave pressure sensor bracket (2) and the center line of the base (5) to accommodate each sensor. The base (5) is easy to place and has a simple structure. The base (5) fixes the relative position of each sensor and can be used for rapid arrangement under complex terrain conditions. The base has strong adaptability to the environment.

[0028] On the basis of the traditional N-line array, the present invention provides a double T-shaped distributed sensor array structure, which improves the detection accuracy of the impact point. Each shock wave pressure sensor of the single T-shaped array can detect a coordinate. The flight trajectory of the bullet end can be obtained through the line connecting the two coordinates in space, and then the flight angle can be obtained, thereby enhancing the detection of the impact point of the oblique projectile.

[0029] The bullet speed has a great influence on the detection of the impact point coordinates. The accurate bullet flight speed can be obtained by detecting the distance L3 between points M1 and M2 in the space and the time difference between the signals detected by sensors Q2 and Q5, which reliably improves the detection accuracy of the impact point and can achieve higher precision positioning requirements for the projectile. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification, but shall not be construed as limiting the present invention.

[0031] Figure 1 This is a three-dimensional axonometric drawing of the device.

[0032] Figure 2 This is the general principle diagram of the three-dimensional rectangular coordinate system.

[0033] Figure 3 The schematic diagram of the arrangement of the shock wave pressure sensor on the base (5) is shown.

[0034] The corresponding relationship between the reference numerals in the accompanying drawings and the names of the components of the present invention is as follows: 1 - stepped hole 2 - side shock wave pressure sensor bracket 3 - target surface support rod 4 - target surface 5 - base. DETAILED DESCRIPTION

[0035] For ease of understanding, the device and its operation flow of the present invention are further described below in conjunction with the accompanying drawings.

[0036] The arrangement method of the shock wave pressure sensor is that seven shock wave pressure sensors are arranged in a double T shape. The first single T-shaped array is composed of Q4, Q5, Q6, and Q7, and the second single T-shaped array is composed of Q1, Q2, Q3, and Q5. The seven ultrasonic sensors are all on the same horizontal plane and perpendicular to the target surface 4.

[0037] The seven sensors are arranged in a double T shape, with the sensing ends all facing the direction of the target surface 4 , and the plane formed by the sensors is located below the target surface 4 and perpendicular to the target surface 4 .

[0038] The specific structure of the device is that the shock wave pressure sensors Q1, Q2, and Q3 are evenly spaced and distributed in a straight line parallel to the target surface 4, the shock wave sensors Q4, Q5, and Q6 are evenly spaced and distributed in front of Q1, Q2, and Q3 respectively, the shock wave pressure sensor Q7 is located in front of Q5, and the end points of the four side shock wave pressure sensor brackets 2 are provided with stepped holes 1 for accommodating the sensors.

[0039] The Q4, Q5, Q6, and Q7 sensors of the first single T-array are used to detect the coordinate point M1 of the bullet when it flies over the T-array, and the Q1, Q2, Q3, and Q5 sensors of the second single T-array are used to detect the coordinate point M2 of the bullet when it flies over the T-array; the distance L3 between the two coordinate points M1M2 in the spatial coordinate system is solved, and the flight speed V3 of the bullet at the end of the target practice is solved by the corrected distance L3 and the time difference between the signals received by the two sensors Q5Q6, and the corrected V3 is used to obtain the precise coordinate M3 of the impact point, and the straight line connecting the two coordinate points M1M2 detected by the double T-array in the spatial coordinate system can be used to obtain the angle of incidence and the terminal motion trajectory of the bullet.

[0040] The corresponding impact point positioning method of this device is as follows:

[0041] A three-dimensional space coordinate system is established with the sensor Q2 as the origin, the horizontal direction parallel to the target surface 4 as the X-axis, the vertical direction as the Y-axis, and the direction perpendicular to the target surface 4 as the Z-axis.

[0042] The sensor position coordinates Q1 (-L1, 0, 0), Q2 (0, 0, 0), Q3 (L1, , 0, 0), Q4 (-L1, 0, L2), Q5 (0, 0, L2), Q6 (L1, 0, L2), Q7 (0, 0, 2L2) and the impact point are represented by M.

[0043] The shock wave generated by the bullet shooting first passes through the shock wave pressure sensor located in the first single T-type array.

[0044] The bullet passes through the M1 point in the plane above the T-shaped array. At this time, the coordinate points detected when the bullet passes through the plane above the T-shaped array are assumed to be M1, Q4, Q5, Q6, and Q7. The time signals received by the four shock wave pressure sensors when the bullet flies over are t4, t5, t6, and t7 respectively.

[0045] Assume that the coordinates of M1 are (X1, Y1, L2), the horizontal distance between sensors Q4, Q5, and Q6 is L1, and the distance between Q7 and Q5 is L2, and the equation can be listed as follows:

[0046]

[0047] Bullet Speed

[0048] The speed of sound at ambient temperature is c = 331.3 + 0.606t (3)

[0049] Shock wave propagation speed According to equations (1), (2), (3), and (4), a set of equations is established, and the values ​​of X1 and Y1 are obtained by solving them, thereby obtaining the coordinate point (X1, Y1, L2) detected in the first T-type array.

[0050] The shock wave generated by the bullet shooting passes through the second single T-shaped array.

[0051] At this time, the coordinate points detected when the bullet passes through the plane above the T-shaped array are assumed to be M2, Q1, Q2, Q3, and Q5, and the time signals received by the four shock wave pressure sensors when the bullet flies by are t1, t2, t3, and t5 respectively.

[0052] Assume that the coordinates of M2 are (X2, Y2, 0) M1Q4 = d, M1Q5 = e, M1Q6 = f. It is known that the horizontal distance between sensors Q1, Q2, and Q3 is L1, and the distance between Q2 and Q5 is L2. The equation can be listed as follows:

[0053]

[0054] Bullet Speed Shock wave propagation speed According to equations (3), (5), (6), and (7), a set of equations is established and the values ​​of X2 and Y2 are obtained by solving them, thereby obtaining the coordinate point (X2, Y2, 0) detected by the second T-type array.

[0055] The distance between two points M1M2 in space:

[0056]

[0057] Substitute the distance between M1 and M2 into the formula again to obtain the corrected projectile velocity v3, and substitute the result into the coordinate formula to achieve the purpose of correcting the coordinate position.

[0058] Corrected bullet speed Corrected shock wave propagation velocity According to equations (3), (9), (10), and (11), a set of equations is established, and the values ​​of X3 and Y3 are obtained by solving them, and the coordinate point (X3, Y3, 0) where the bullet hits the target surface 4 after correction is obtained.

Claims

1. A method for locating the impact point of a shock wave projectile in a double T-shaped array, comprising a shock wave pressure sensor array method for detecting the impact point and a method for detecting the impact point; the shock wave pressure sensor array method is that seven shock wave pressure sensors are arranged in a double T shape, the first single T-shaped array is composed of Q4, Q5, Q6, and Q7, the second single T-shaped array is composed of Q1, Q2, Q3, and Q5, and the two single T-shaped arrays share one shock wave pressure sensor Q5; characterized in that Shock wave pressure sensors Q1, Q2, and Q3 are arranged in a straight line at equal intervals in a direction parallel to the target surface (4); shock wave pressure sensors Q4, Q5, and Q6 are arranged in front of Q1, Q2, and Q3 at equal intervals respectively; shock wave pressure sensors Q7 is located in front of Q5; and stepped holes (1) for accommodating shock wave pressure sensors are provided at the end points of four side shock wave pressure sensor brackets (2). The seven shock wave pressure sensors are arranged in a double T-shape, and the sensing ends are all facing the direction of the target surface (4). The plane formed by the shock wave pressure sensors is located below the target surface (4) and perpendicular to the target surface (4). The method for detecting the impact point is to jointly solve the time difference signals detected by the shock wave pressure sensors of the first single T-shaped array and the shock wave pressure sensors of the second single T-shaped array, thereby improving the accuracy of the impact point detection, and can detect the flight angle and the terminal running trajectory of the projectile at the target end, and has a higher detection accuracy for oblique projectiles.

2. The method for locating the impact point of a double T-shaped shock wave projectile according to claim 1 is characterized in that The Q4, Q5, Q6, Q7 shock wave pressure sensors of the first single T-array are used to detect the coordinate point M1 of the bullet when it flies over the T-array, and the Q1, Q2, Q3, Q5 shock wave pressure sensors of the second single T-array are used to detect the coordinate point M2 of the bullet when it flies over the T-array; the distance L3 between the two coordinate points M1 and M2 in the spatial coordinate system is solved, and the flight speed V3 of the bullet at the end of the target shooting is solved by the corrected distance L3 and the time difference between the signals received by the two shock wave pressure sensors Q5 and Q6. The corrected V3 is used to obtain the precise coordinate M3 of the impact point, and the straight line formed by the two coordinate points M1 and M2 detected by the double T-array in the spatial coordinate system can be used to obtain the incident angle and the terminal motion trajectory of the bullet.

3. A method for locating the impact point of a shock wave projectile with a double T-shaped array, characterized in that The following steps are involved: A three-dimensional space coordinate system is established with the shock wave pressure sensor Q2 as the origin, the horizontal direction parallel to the target surface (4) as the X axis, the vertical direction as the Y axis, and the direction perpendicular to the target surface (4) as the Z axis. The shock wave pressure sensor position coordinates Q1 (-L1, 0, 0), Q2 (0, 0, 0), Q3 (L1, 0, 0), Q4 (-L1, 0, L2), Q5 (0, 0, L2), Q6 (L1, 0, L2), Q7 (0, 0, 2L2) are represented by M. At this time, the coordinate calculation method is: 1) The shock wave generated by the bullet shooting first passes through the first single T-shaped array. At this time, the coordinate points detected when the bullet passes through the plane above the T-shaped array are assumed to be M1, Q4, Q5, Q6, and Q7. The time signals received by the four shock wave pressure sensors when the bullet flies over are t4, t5, t6, and t7 respectively; Assume that the coordinates of M1 are (X1, Y1, L2), and the horizontal distance between the shock wave pressure sensors Q4, Q5, and Q6 is known to be L1, and the distance between Q7 and Q5 is L2. The equation can be listed as follows: Bullet Speed The speed of sound at ambient temperature is c = 331.3 + 0.606t (3) Shock wave propagation speed According to equations (1), (2), (3), and (4), a set of equations is established, and the values ​​of X1 and Y1 are obtained by solving them, and the coordinate point (X1, Y1, L2) detected by the first single T-type array is obtained; 2) The shock wave generated by the bullet shooting passes through the second single T-shaped array. At this time, the coordinate points detected when the bullet passes through the plane above the T-shaped array are assumed to be M2, Q1, Q2, Q3, and Q5. The time signals received by the four shock wave pressure sensors when the bullet flies over are t1, t2, t3, and t5 respectively; Assume that the coordinates of M2 are (X2, Y2, 0), and the horizontal distance between the shock wave pressure sensors Q1, Q2, and Q3 is known to be L1, and the distance between Q2 and Q5 is L2. The equation can be listed as follows: Bullet Speed Shock wave propagation speed According to equations (3), (5), (6), and (7), a set of equations is established, and the values ​​of X2 and Y2 are obtained by solving them, and the coordinate point M2 (X2, Y2, 0) detected by the second T-array is obtained; 3) The distance between points M1 and M2 in space: Substitute the distance between M1 and M2 into the formula again to get the corrected projectile velocity v3, and substitute the result into the coordinate formula to achieve the purpose of correcting the coordinate position. Corrected bullet speed Corrected shock wave propagation velocity According to equations (3), (9), (10), and (11), a set of equations is established, and the values ​​of X3 and Y3 are obtained by solving them, and the coordinate point (X3, Y3, 0) where the corrected bullet hits the target surface (4) is obtained.

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