A projectile landing point positioning device, system and method based on ballistic shock wave

Abstract

The present invention relates to a ballistic shock wave-based arrival time difference positioning device, and in particular to a projectile landing point positioning device, system and method based on ballistic shock waves, which are used to solve the shortcomings of existing projectile landing point positioning devices, such as a relatively complex displacement compensation method of a measuring device, a low precision of a time synchronization method adopted, a relatively complex measurement point array structure, and difficulty in transportation, layout, maintenance and guarantee, and unsuitability for rapid deployment. The projectile landing point positioning device based on ballistic shock waves comprises a signal processing module, a sensor module, a differential Beidou / GPS module, a low-power communication module, a power management module, and a direction and inclination sensor module; the present invention obtains its own spatial coordinates based on a differential GNSS positioning method, and has a positioning accuracy of better than 3 cm, thereby eliminating the positioning error caused by the position change of the measuring device and solving the problem that the displacement compensation method of the measuring device is relatively complex.

Description

Technical Field

[0001] The present invention relates to an arrival time difference positioning device based on ballistic shock waves, and in particular to a projectile landing point positioning device, system and method based on ballistic shock waves. Background Art

[0002] In the shooting range test, the high-precision detection of the ammunition landing (explosion) point, the landing point of the submunition warhead bullets and the landing point of the aerial projectile disintegration fragments over a large area is an important basis for evaluating the destructive effect, strike accuracy and combat effectiveness of the ammunition.

[0003] Acoustic positioning is an all-round, fully passive measurement method. It is not affected by environmental conditions such as smoke, lighting, and terrain, and has the characteristics of all-weather operation. Acoustic positioning can be coordinated with multiple means such as optoelectronics, radar, and telemetry to achieve an organic combination of multiple measurement methods. At present, large-area acoustic positioning generally uses ballistic shock waves or explosion and landing sound signals to determine the location of the sound source by measuring the time difference between the signal arriving at different measuring points. On the sensor, the shock wave is presented in the form of "N" waves. According to the arrival time of the "N" waves measured at different positions, the trajectory of the projectile can be estimated, and the intersection of the trajectory with the ground or obstacles is the impact point. This method requires that the time of all measuring points in the field is unified and the spatial coordinates are accurately associated.

[0004] The main problems of the existing projectile landing point positioning device are: first, the position of the measuring device may change when it is deployed for a long time, affecting the positioning accuracy; Chinese patent CN108120956A discloses a networked multi-layer orthogonal array microseismic positioning system, which proposes a method of using microseismic positioning technology to compensate for array displacement to solve the position change of the measuring device, but it is relatively complicated; second, the time synchronization method used is not accurate, such as the artificial rain enhancement and hail prevention bomb explosion point acoustic positioning system and positioning method disclosed in Chinese patent CN112285649A, a projectile landing point coordinate acoustic shock wave detection system and detection method disclosed in Chinese patent CN109253660A, and a networked multi-layer orthogonal array microseismic positioning system disclosed in Chinese patent CN108120956A. The above patents are all completed by receiving the timing information of the Beidou module. Time synchronization; the accuracy of this method can only reach millisecond level, and it is impossible to achieve higher accuracy; thirdly, the measuring point usually adopts a multi-element array structure, which is relatively complex, and it is difficult to transport, deploy, maintain and ensure, and is not suitable for rapid deployment; such as a multi-mode fusion landing point measurement system for the terminal area of ​​a shooting range disclosed in Chinese patent CN105629253B, and a target landing point positioning method based on a multi-source sensor network disclosed in Chinese patent CN111487589A. The acoustic sensors involved in the above patents all adopt a multi-element cross array; the artificial rain enhancement and hail prevention bomb explosion point acoustic positioning system and positioning method disclosed in Chinese patent CN112285649A, the proposed measurement and control unit includes an acoustic array and at least four single microphone nodes; a multi-mode fusion landing point measurement system for the terminal area of ​​a shooting range disclosed in Chinese patent CN105629253B adopts a five-element array. Summary of the invention

[0005] The purpose of the present invention is to solve the shortcomings of the existing projectile landing point positioning device, such as the relatively complicated displacement compensation method of the measuring device, the low accuracy of the time synchronization method adopted, the relatively complex structure of the measuring point array, the difficult transportation, layout, maintenance and guarantee, and the unsuitability for rapid deployment, and to provide a projectile landing point positioning device, system and method based on ballistic shock waves.

[0006] In order to solve the deficiencies of the above-mentioned prior art, the present invention provides the following technical solutions:

[0007] A projectile landing point positioning device based on ballistic shock wave, which is special in that it includes a signal processing module, and a sensor module, a differential Beidou / GPS module, a low-power communication module, a power management module, and a direction and inclination sensor module respectively interconnected with the signal processing module;

[0008] The signal processing module is used to monitor the working status of the projectile landing point positioning device, set the preset reference voltage value of the sensor module, the storage time, the locking time of the differential Beidou / GPS module, and complete the communication with the outside world through the low-power communication module;

[0009] The sensor module is used to generate a trigger signal input to the signal processing module and the differential Beidou / GPS module when the collected shock wave signal exceeds a preset reference voltage value, and store the shock wave signal arrival time and waveform data;

[0010] The differential Beidou / GPS module is used to receive the trigger signal output by the sensor module, and feed back the trigger time and the spatial coordinates of the projectile landing point positioning device to the signal processing module;

[0011] The power management module is used to alarm the signal processing module when the voltage is low, and to perform power supply control;

[0012] The direction and inclination sensor module is used to determine whether the projectile landing point positioning device is overturned by inclination and direction, and includes an AD sampling circuit, the input end of the AD sampling circuit is respectively connected to a gyroscope, an acceleration sensor, and a geomagnetic sensor, the output end of the AD sampling circuit is connected to a digital conditioning circuit, and the output end of the digital conditioning circuit is connected to a signal processing module.

[0013] Furthermore, the sensor module includes a microphone, a signal conditioning module, a voltage comparator, an acquisition circuit, a storage circuit, and a reference voltage; the input end of the microphone receives the shock wave signal, and the output end of the microphone is connected to the first input end of the voltage comparator and the input end of the acquisition circuit through the signal conditioning module, and the second input end of the voltage comparator is connected to the reference voltage for comparing the collected shock wave signal with a preset reference voltage value of the reference voltage; the output end of the voltage comparator is respectively connected to the signal processing module and the differential Beidou / GPS module; the output end of the acquisition circuit is connected to the storage circuit for storing the shock wave signal arrival time and waveform data.

[0014] Furthermore, the microphone adopts a single microphone structure, and the voltage comparator adopts a high-speed hysteresis comparator.

[0015] Furthermore, the power management module includes a battery, and the first output end of the battery is connected to a low voltage monitoring and power indication module, which is used to monitor and indicate the battery power and alarm the signal processing module when the voltage is low. The second output end of the battery is connected to a voltage conversion module and a relay module in sequence to complete voltage conversion and power supply control.

[0016] Furthermore, the high-pass filter cutoff frequency of the signal conditioning module is 1kHz, the AD sampling rate of the acquisition circuit is ≥20kSps, and the resolution is ≥16bit; the delay of the voltage comparator is ≤100ns.

[0017] Furthermore, the differential Beidou / GPS module adopts a multi-frequency single-board dual-antenna mode, with a static positioning accuracy of ≤3cm and an arrival time capture accuracy of ≤1μs; within the locking time range, the arrival of the first wave is judged, and if the locking time is exceeded, the next first wave is recaptured, and the maximum delay for entering the locking time is ≤1μs.

[0018] Furthermore, the resolution of the direction and inclination sensor module is ≤5°, and the inclination accuracy is ≤0.5°.

[0019] At the same time, the present invention provides a projectile landing point positioning system based on ballistic shock waves, which is special in that it includes a control center, a plurality of the above-mentioned projectile landing point positioning devices;

[0020] The control center includes a differential GNSS master station, a host computer, and a 4G private network. The differential GNSS master station and the host computer, the differential GNSS master station and the 4G private network, and the host computer and the 4G private network are all in communication connection with each other;

[0021] Each of the signal processing modules is connected to the differential GNSS master station, the host computer, and the 4G private network through its low-power communication module.

[0022] The present invention also provides a projectile landing point positioning method based on ballistic shock wave, which is special in that the projectile landing point positioning system based on ballistic shock wave is adopted, and includes the following steps:

[0023] Step 1: Perform simulation calculations according to the measurement range, characteristics of the measurement object, and measurement requirements, determine the number N and position distribution of the projectile landing point positioning device, and then arrange it;

[0024] Step 2: After the projectile landing point positioning device reports its own position and working status, it enters a low power consumption mode; in the low power consumption mode, only the low power consumption communication module is powered normally, and the power supplies of other modules are all disconnected;

[0025] Step 3: Control each projectile landing point positioning device to enter the normal working mode through the control center, and query the working status of each projectile landing point positioning device through the signal processing module; if the projectile landing point positioning device is overturned, low in power, unable to obtain a signal, or communication is abnormal, maintenance is performed according to the status information, otherwise, step 4 is executed;

[0026] Step 4: Set the preset reference voltage value, storage time, negative delay time, and self-trigger lock time of the sensor module through the control center.

[0027] Step 5. When the shock wave signal collected by the sensor module exceeds the preset reference voltage value, a trigger signal is generated and input into the signal processing module and the differential Beidou / GPS module. The differential Beidou / GPS module feeds back the trigger time and the spatial coordinates of the projectile landing point positioning device to the signal processing module. The sensor module stores the shock wave signal arrival time and waveform data, and feeds them back to the signal processing module. The signal processing module sends it to the control center through the low-power communication module, and the control center performs calculations based on the acquired data to complete the positioning.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] (1) The present invention provides a projectile landing point positioning device based on ballistic shock waves, comprising a signal processing module, a sensor module, a differential Beidou / GPS module, a low-power communication module, a power management module, and a direction and tilt sensor module; the present invention obtains its own spatial coordinates based on a differential GNSS positioning method, and the positioning accuracy is better than 3 cm, thereby eliminating the positioning error caused by the position change of the measuring device and solving the problem that the displacement compensation method of the measuring device is relatively complicated.

[0030] (2) The present invention is a projectile landing point positioning device based on ballistic shock waves, which uses a self-triggering timing method to record the absolute time and complete waveform of the differential Beidou / GPS module at the time of shock wave arrival, with an accuracy of sub-microseconds. Compared with traditional time synchronization methods, it has higher accuracy and simpler structure.

[0031] (3) The present invention provides a projectile landing point positioning system based on ballistic shock waves, including a control center and multiple projectile landing point positioning devices; the present invention adopts a single microphone, has a simple structure, and is flexible in deployment and networking. The deployment plan can be flexibly adjusted according to the landing point measurement range, on-site environment, characteristics of the measurement object, and measurement accuracy requirements; the present invention has the advantages of small size, low power consumption, abnormal alarm, and easy maintenance, and is suitable for remote measurement in unmanned scenes. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of the TDOA (time difference of arrival) positioning geometry model;

[0033] Figure 2 for Figure 1 Schematic diagram of the plane where the mid-ballistic shock wave trajectory and the position Sn of the nth projectile landing point positioning device are located;

[0034] Figure 3 It is a structural schematic diagram of a projectile landing point positioning device based on ballistic shock wave of the present invention;

[0035] Figure 4 The figure is a schematic structural diagram of a projectile landing point positioning system based on ballistic shock waves of the present invention.

[0036] The accompanying drawings are marked as follows: 1-sensor module, 101-microphone, 102-signal conditioning module, 103-voltage comparator, 104-acquisition circuit, 105-storage circuit, 106-reference voltage; 2-signal processing module; 3-differential Beidou / GPS module; 4-low-power communication module; 5-power management module, 501-battery, 502-voltage conversion module, 503-low voltage monitoring and power indication module, 504-relay module; 6-direction and tilt sensor module, 601-gyroscope, 602-acceleration sensor, 603-geomagnetic sensor, 604AD sampling circuit, 605 digital conditioning circuit; 7-control center, 701-host computer, 702-differential GNSS master station, 703-4G private network; 8-projectile landing point positioning device. DETAILED DESCRIPTION

[0037] The present invention will be further described below in conjunction with the accompanying drawings and exemplary embodiments.

[0038] Figure 1 It is a TDOA positioning geometric model, in which a positioning coordinate system is set, the positive Z axis of the positioning coordinate system is vertically upward, the X axis and the Y axis conform to the right-handed space rectangular coordinate system rule, N measuring points are set on the XY plane, and the origin O coincides with one of the measuring points;

[0039] The projectile landing point Q is located on the XY plane, and the vector between the origin O and the projectile landing point Q is R Q ; The position of the nth projectile landing point positioning device 8 is S n (1≤n≤N), the position of the Nth projectile landing point positioning device 8 is S N , the origin O and S n The vector between them is R n ; Projectile landing point Q and S n The distance between them is r′ n ; P is any point on the trajectory that is ahead of the projectile landing point Q, and the distance between Q and P is x′; P n is the trajectory straight line and point S n Reference points on the plane, Q and P n The distance is x′n.

[0040] In the TDOA positioning geometry model, the acceleration g is neglected and the ballistic constant C is b It is known that the drag coefficient η = 0.5, then on the trajectory of the ballistic shock wave, the instantaneous velocity v'(x') of the point P that is ahead of the landing point Q and is x' away from the landing point Q, and the flight time t'(x') from any point P to Q are related as shown in formulas 1 and 2:

[0041]

[0042]

[0043] Where V r represents the velocity at point Q, t r It represents the flight time required from any point P to point Q;

[0044] Figure 2 is the position S of the positioning device 8 between the ballistic trajectory and the nth projectile landing point n The plane on which x′ n By r′ n , α′ n ,θ n Determine, as in Formula 3, the shock wave angle θ n Satisfying formula 4, r′ n , α′ n Determined by formulas five and six;

[0045]

[0046]

[0047]

[0048] r′ n =‖R Q -R n ‖ Formula 6

[0049] In the formula, α′ n is the angle between the ballistic trajectory and the XY plane, and the vector e v is the unit vector in the direction of the ballistic trajectory, and the line segment s n The direction is the position S of the nth projectile landing point positioning device 8 n In the direction of the ballistic shock wave, P n For line segment s n With e v The intersection of

[0050] The shock wave reaches S n The time is determined by formula 7, and S can be calculated by formula 3 n ;

[0051] τ n =t′(x′ n )+s n / c Formula 7

[0052] Combined with formula 2, eliminate the common term t r , get the position S of the mth projectile landing point positioning device 8 m , the position S of the nth projectile landing point positioning device 8 nArrival time difference between (1≤m,n≤N):

[0053]

[0054] In the formula, c is the speed of light, and line segment s is m The direction is the position S of the mth projectile landing point positioning device 8 m In the direction of the ballistic shock wave.

[0055] In order to implement the above measurement method, it is necessary to accurately measure the spatial coordinates of each measuring point and the arrival time of the shock wave signal.

[0056] Reference Figure 4 A projectile landing point positioning system based on ballistic shock wave includes a control center 7 and multiple projectile landing point positioning devices 8.

[0057] The control center 7 includes a differential GNSS master station 702, a host computer 701, and a 4G private network 703. The differential GNSS master station 702 and the host computer 701, the differential GNSS master station 702 and the 4G private network 703, and the host computer 701 and the 4G private network 703 are all connected to each other for communication; each of the projectile landing point positioning devices 8 is connected to each other for communication with the differential GNSS master station 702, the host computer 701, and the 4G private network 703 through its low-power communication module 4.

[0058] Reference Figure 3 The projectile landing point positioning device 8 includes a signal processing module 2, and a sensor module 1, a differential Beidou / GPS module 3, a low-power communication module 4, a power management module 5, and a direction and inclination sensor module 6 which are interconnected with the signal processing module 2 respectively.

[0059] The sensor module 1 is used to generate a trigger signal to input the signal processing module 2 and the differential Beidou / GPS module 3, and store the arrival time and waveform data of the shock wave signal when the collected shock wave signal exceeds the preset reference voltage value; the sensor module 1 includes a microphone 101, a signal conditioning module 102, a voltage comparator 103, an acquisition circuit 104, a storage circuit 105, and a reference voltage 106; the input end of the microphone 101 receives the shock wave signal, and the output end of the microphone 101 is connected to the first input end of the voltage comparator 103 and the input end of the acquisition circuit 104 through the signal conditioning module 102, and the second input end of the voltage comparator 103 is connected to the reference voltage 106 for comparing the collected shock wave signal with the preset reference voltage value of the reference voltage 106; the output end of the voltage comparator 103 is connected to the reference voltage 106 signal processing module 2 and the differential Beidou / GPS module 3 respectively; the output end of the acquisition circuit 104 is connected to the storage circuit 105 for storing the arrival time and waveform data of the shock wave signal.

[0060] The microphone 101 adopts a single microphone 101 structure, and the voltage comparator 103 adopts a high-speed hysteresis comparator. The high-pass filter cutoff frequency of the signal conditioning module 102 is 1kHz, the AD sampling rate of the acquisition circuit 104 is ≥20kSps, and the resolution is ≥16bit; the delay of the voltage comparator 103 is ≤100ns.

[0061] The differential Beidou / GPS module 3 is used to receive the trigger signal output by the sensor module 1, and feed back the trigger time and the spatial coordinates of the projectile landing point positioning device 8 to the signal processing module 2. The differential Beidou / GPS module 3 adopts a multi-frequency single-board dual-antenna mode, with a static positioning accuracy of ≤3cm and an arrival time capture accuracy of ≤1μs; within the locking time range, it is judged that the first wave arrives, exceeds the locking time, recaptures the next first wave, and enters the locking time with a maximum delay of ≤1μs.

[0062] The power management module 5 includes a battery 501. The first output end of the battery 501 is connected to a low voltage monitoring and power indication module 503, which is used to monitor and indicate the power of the battery 501 and alarm the signal processing module when the voltage is low. The second output end of the battery 501 is connected to a voltage conversion module 502 and a relay module 504 in sequence, which are used to complete voltage conversion and power supply control. After the low voltage alarm, the remaining power normally works for ≥ 1h. The low voltage is lower than 10.8V.

[0063] The direction and inclination sensor module 6 is used to determine whether the projectile landing point positioning device 8 is overturned by inclination and direction, and includes an AD sampling circuit 604, the input end of the AD sampling circuit 604 is respectively connected to a gyroscope 601, an acceleration sensor 602, and a geomagnetic sensor 603, the output end of the AD sampling circuit 604 is connected to a digital conditioning circuit 605, and the output end of the digital conditioning circuit 605 is connected to the signal processing module 2. The resolution of the direction and inclination sensor module 6 is ≤5°, and the inclination accuracy is ≤0.5°.

[0064] The signal processing module 2 uses a high-performance ARM with DSP and DP-FPU as MCU, and is connected to the sensor module 1, the differential Beidou / GPS module 3, the low-power communication module 4, the power management module 5, and the direction and tilt sensor module 6 through the SPI, I2C, and LVDS interfaces, and is used to monitor the working state of the projectile landing point positioning device 8, set the preset reference voltage value of the reference voltage 106, the storage time of the storage circuit 105, the locking time of the differential Beidou / GPS module 3, and complete the communication with the control center 7 through the low-power communication module 4. The reference voltage value adjustment range is 0.10~2.55v, and the resolution is ≤0.01v; the storage time is equal to the negative delay time plus the self-trigger locking time, the negative delay time is ≥100ms, the locking time is 1ms~10s, and the resolution is ≤1ms.

[0065] The low-power communication module 4 uses the EM360 module to access the 4G private network 703, and is used to communicate with the control center 7, feedback the measurement status, receive commands, send measurement data, receive broadcast information from the differential GNSS master station 702 and send it to the differential Beidou / GPS communication module.

[0066] A projectile landing point positioning method based on ballistic shock wave, using the projectile landing point positioning system based on ballistic shock wave, comprises the following steps:

[0067] Step 1: Perform simulation calculation according to the measurement range, characteristics of the measurement object and measurement requirements, determine the number N and position distribution of the projectile landing point positioning device 8, and then arrange them;

[0068] Step 2: After the projectile landing point positioning device 8 reports its own position and working status, it enters the low power consumption mode; in the low power consumption mode, only the low power consumption communication module 4 is powered normally, and the power supplies of other modules are all disconnected;

[0069] Step 3, control each projectile landing point positioning device 8 to enter the normal working mode through the control center 7, and query the working status of each projectile landing point positioning device 8 through the signal processing module 2; if the projectile landing point positioning device 8 is overturned, low in power, unable to obtain a signal, or abnormal in communication, maintenance is performed according to the status information, otherwise, step 4 is executed;

[0070] Step 4, setting the preset reference voltage value of the reference voltage 106, the storage time length of the storage circuit 105, the negative delay time length, and the self-trigger locking time length through the control center 7;

[0071] Step 5. When the shock wave signal collected by the sensor module 1 exceeds the preset reference voltage value, a trigger signal is generated and input into the signal processing module 2 and the differential Beidou / GPS module 3. The differential Beidou / GPS module 3 feeds back the trigger time and the spatial coordinates of the projectile landing point positioning device 8 to the signal processing module 2. The sensor module 1 stores the shock wave signal arrival time and waveform data, and feeds them back to the signal processing module 2. The signal processing module 2 sends it to the control center 7 through the low-power communication module 4. The control center 7 performs calculations based on the acquired data to complete the positioning.

[0072] The above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit them. For ordinary professional and technical personnel in the field, the specific technical solutions recorded in the aforementioned embodiments can be modified, or some of the technical features therein can be replaced by equivalents, and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions protected by the present invention.

Claims

1. A projectile landing point positioning device based on ballistic shock wave, characterized in that: It comprises a signal processing module (2), and a sensor module (1), a differential Beidou / GPS module (3), a low-power communication module (4), a power management module (5), and a direction and tilt sensor module (6) which are interconnected with the signal processing module (2). The signal processing module (2) is used to monitor the working state of the projectile landing point positioning device (8), set the preset reference voltage value of the sensor module (1), the storage time, the locking time of the differential Beidou / GPS module (3), and complete communication with the outside world through the low-power communication module (4); The sensor module (1) is used to generate a trigger signal to input into a signal processing module (2) and a differential Beidou / GPS module (3) when the collected shock wave signal exceeds a preset reference voltage value, and to store the shock wave signal arrival time and waveform data; The differential Beidou / GPS module (3) is connected to the sensor module (1) and is used to receive a trigger signal output by the sensor module (1), and feed back the trigger time and the spatial coordinates of the projectile landing point positioning device (8) to the signal processing module (2); The power management module (5) is used to alarm the signal processing module (2) when the voltage is low, and to perform power supply control; The direction and inclination sensor module (6) is used to determine whether the projectile landing point positioning device (8) has fallen over by means of inclination and direction, and comprises an AD sampling circuit (604), the input end of the AD sampling circuit (604) being respectively connected to a gyroscope (601), an acceleration sensor (602), and a geomagnetic sensor (603), the output end of the AD sampling circuit (604) being connected to a digital conditioning circuit (605), and the output end of the digital conditioning circuit (605) being connected to a signal processing module (2).

2. The device for locating projectile landing point based on ballistic shock wave according to claim 1, characterized in that: The sensor module (1) comprises a microphone (101), a signal conditioning module (102), a voltage comparator (103), an acquisition circuit (104), a storage circuit (105), and a reference voltage (106); the input end of the microphone (101) receives a shock wave signal, the output end of the microphone (101) is respectively connected to a first input end of the voltage comparator (103) and an input end of the acquisition circuit (104) through the signal conditioning module (102), the second input end of the voltage comparator (103) is connected to the reference voltage (106) for comparing the acquired shock wave signal with a preset reference voltage value of the reference voltage (106); the output end of the voltage comparator (103) is respectively connected to a signal processing module (2) and a differential Beidou / GPS module (3); the output end of the acquisition circuit (104) is connected to the storage circuit (105) for storing the shock wave signal arrival time and waveform data.

3. The projectile landing point positioning device based on ballistic shock wave according to claim 2, characterized in that: The microphone (101) adopts a single microphone structure, and the voltage comparator (103) adopts a high-speed hysteresis comparator.

4. The projectile landing point positioning device based on ballistic shock wave according to claim 3, characterized in that: The power management module (5) comprises a battery (501), wherein a first output end of the battery (501) is connected to a low voltage monitoring and power indication module (503) for monitoring and indicating the power of the battery (501) and alerting the signal processing module (2) when the voltage is low, and a second output end of the battery (501) is connected in sequence to a voltage conversion module (502) and a relay module (504) for completing voltage conversion and power supply control.

5. The projectile landing point positioning device based on ballistic shock wave according to claim 4, characterized in that: The high-pass filter cut-off frequency of the signal conditioning module (102) is 1 kHz, the AD sampling rate of the acquisition circuit (104) is ≥20 kSps, and the resolution is ≥16 bits; the delay of the voltage comparator (103) is ≤100 ns.

6. A projectile landing point positioning device based on ballistic shock waves according to any one of claims 1 to 5, characterized in that: The differential Beidou / GPS module (3) adopts a multi-frequency single-board dual-antenna mode, with a static positioning accuracy of ≤3cm and an arrival time capture accuracy of ≤1μs; within the locking time range, the first wave is judged to have arrived, and if the locking time is exceeded, the next first wave is captured again, and the maximum delay in entering the locking time is ≤1μs.

7. The device for locating projectile landing point based on ballistic shock wave according to claim 6, characterized in that: The resolution of the direction and inclination sensor module (6) is ≤5°, and the inclination accuracy is ≤0.5°.

8. A projectile landing point positioning system based on ballistic shock wave, characterized in that: It comprises a control center (7), and a plurality of projectile landing point positioning devices (8) as claimed in claim 1; The control center (7) comprises a differential GNSS master station (702), a host computer (701), and a 4G private network (703); the differential GNSS master station (702) and the host computer (701), the differential GNSS master station (702) and the 4G private network (703), and the host computer (701) and the 4G private network (703) are all connected to each other for communication; Each of the signal processing modules (2) is communicatively connected with the differential GNSS master station (702), the host computer (701), and the 4G private network (703) respectively through its low-power communication module (4).

9. A projectile landing point positioning method based on ballistic shock wave, characterized in that: The projectile landing point positioning system based on ballistic shock wave according to claim 8 comprises the following steps: Step 1: Perform simulation calculation according to the measurement range, characteristics of the measurement object and measurement requirements, determine the number N and position distribution of the projectile landing point positioning device (8), and then perform the layout; Step 2: After the projectile landing point positioning device (8) reports its own position and working status, it enters a low power consumption mode; in the low power consumption mode, only the low power consumption communication module (4) is powered normally, and the power supplies of other modules are all disconnected; Step 3, controlling each projectile landing point positioning device (8) to enter a normal working mode through the control center (7), and querying the working status of each projectile landing point positioning device (8) through the signal processing module (2); if the projectile landing point positioning device (8) is overturned, has low power, cannot obtain a signal, or has abnormal communication, maintenance is performed according to the status information, otherwise, step 4 is executed; Step 4: Setting the preset reference voltage value, storage time, negative delay time, and self-trigger locking time of the sensor module (1) through the control center (7); Step 5: When the shock wave signal collected by the sensor module (1) exceeds a preset reference voltage value, a trigger signal is generated and input into the signal processing module (2) and the differential Beidou / GPS module (3); the differential Beidou / GPS module (3) feeds back the trigger time and the spatial coordinates of the projectile landing point positioning device (8) to the signal processing module (2); the sensor module (1) stores the shock wave signal arrival time and waveform data, and feeds back the data to the signal processing module (2); the signal processing module (2) sends the data to the control center (7) via the low-power communication module (4); the control center (7) performs calculations based on the acquired data to complete the positioning.

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