A single soldier motion target posture switching method and system

Abstract

The application discloses a single soldier motion target posture switching method and system, and the method comprises the following steps: acquiring the position and yaw angle of the single soldier motion target and the position of the attacking party; determining the yaw angle of the attacking direction according to the position of the single soldier motion target and the position of the attacking party; determining the posture angle according to the yaw angle of the single soldier motion target and the yaw angle of the attacking direction; determining the distance according to the position of the single soldier motion target and the position of the attacking party; determining the target surface which needs to be adjusted according to the distance; and adjusting the direction of the target surface according to the posture angle, so that the target surface faces the attacking party. The application can switch the attacking direction of the target surface which faces the attacking party in real time according to the position of the attacking party and the attacking direction, and switch the posture of the target surface according to the need.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of military training equipment, in particular to a single-soldier movement target posture switching method and system. BACKGROUND

[0002] In an intelligent military training system, the target is required to simulate the movement of soldiers, and also to hide and switch the target surface according to the position and attack direction of the attacking party, so as to simulate the standing, kneeling and lying postures of soldiers, and also to face the attack direction of the attacking party during the movement. Based on this requirement, the posture simulation switching of the target is currently mainly realized by manually replacing the target. However, in a contract tactical training, the red party performs live shooting during the movement, and it is not practical to manually replace the target to realize the posture switching of the blue army. More importantly, the single-soldier movement target of the blue army is also in real-time movement, and the movement direction is uncertain, which increases the uncertainty and randomness of the single-soldier movement target. To realize the real-time switching of the target surface and always face the attack direction of the attacking party, high technical and control requirements are put forward for the single-soldier movement target.

[0003] In order to achieve the control of the target surface direction, the patent application with the publication number CN114857991A discloses a control method and system for target machine target surface automatic tracking of shooting direction in tactical training. The patent adjusts the direction of the target surface of the entire defense team to face the attacking team in the case of long-distance and short-distance shooting, but does not disclose how to adjust the target surface and does not involve the related content of posture switching. SUMMARY

[0004] The embodiments of the present application provide a single-soldier movement target posture switching method and system to solve the problem that the posture switching control of the target cannot be performed and the target surface direction cannot be adjusted in the prior art.

[0005] In one aspect, the embodiments of the present application provide a single-soldier movement target posture switching method, comprising:

[0006] obtaining the position and yaw angle of the single-soldier movement target and the position of the attacking party;

[0007] determining the yaw angle of the attack direction according to the position of the single-soldier movement target and the position of the attacking party;

[0008] determining the posture angle according to the yaw angle of the single-soldier movement target and the yaw angle of the attack direction;

[0009] determining the distance according to the position of the single-soldier movement target and the position of the attacking party;

[0010] determining the target surface that needs to be adjusted according to the distance;

[0011] adjusting the direction of the target surface according to the posture angle, so that the target surface faces the attacking party.

[0012] In another aspect, the embodiment of the present application also provides a single soldier movement target posture switching system, comprising:

[0013] A target positioning and orienting unit is configured to acquire the position and yaw angle of the single soldier movement target;

[0014] An attacking side positioning unit is configured to acquire the position of the attacking side;

[0015] A master control device is configured to determine the yaw angle of the attacking direction according to the position of the single soldier movement target and the position of the attacking side, determine the distance according to the position of the single soldier movement target and the position of the attacking side, and determine the target surface that needs to be adjusted according to the distance;

[0016] A controller is configured to determine the posture angle according to the yaw angle of the single soldier movement target and the yaw angle of the attacking direction;

[0017] An actuating mechanism is configured to adjust the direction of the target surface according to the posture angle, so that the target surface faces the attacking side.

[0018] The single soldier movement target posture switching method and system provided in the present application have the following advantages:

[0019] 1. By means of closed-loop control, the target surface is switched to face the attacking direction of the attacking side in real time according to the position of the attacking side and the attacking direction, so as to simulate the posture switching of the soldier and to adjust in real time.

[0020] 2. The Beidou ground-based augmentation system is adopted to make the positioning accuracy of the equipment accurate to the centimeter level, thereby greatly improving the control accuracy of the posture switching.

[0021] 3. The present application provides a new way to improve the training level of the troops.

[0022] 4. The present application greatly saves the manpower and material resources for the maintenance of the troops. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0024] Figure 1 A flowchart of a single soldier movement target posture switching method provided in the embodiment of the present application;

[0025] Figure 2 A top view structural schematic diagram of a single soldier movement target provided in the embodiment of the present application;

[0026] Figure 3Fig. 1 is a schematic diagram of a target surface facing an attack direction according to an embodiment of the present application;

[0027] Figure 4 Fig. 2 is a schematic diagram of a target surface facing an attack direction according to an embodiment of the present application;

[0028] Figure 5 Fig. 3 is a schematic diagram of a target surface facing an attack direction according to an embodiment of the present application;

[0029] Figure 6 Fig. 4 is a closed-loop control block diagram of a single-soldier movement target posture switching system according to an embodiment of the present application. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0031] Figure 1 Fig. 5 is a flowchart of a single-soldier movement target posture switching method according to an embodiment of the present application. The single-soldier movement target posture switching method provided by the embodiment of the present application comprises the following steps.

[0032] S100, obtaining the position and yaw angle of the single-soldier movement target and the position of the attacking party.

[0033] Exemplarily, the single-soldier movement target can adopt the form of a vehicle to facilitate movement in the training field. A Beidou ground-based augmentation system is arranged in the training field, and the positioning accuracy thereof can reach centimeter level. All single-soldier movement targets and the equipment carried by the attacking party are within the signal coverage of the Beidou ground-based augmentation system, so that the position and yaw angle of the single-soldier movement target can be obtained through the Beidou ground-based augmentation system. A target calibration positioning and orientation unit is installed on each single-soldier movement target, which comprises a positioning antenna and a directional antenna. The positioning antenna is arranged at the tail of the single-soldier movement target, i.e., the vehicle tail, and the directional antenna is arranged at the head of the single-soldier movement target, i.e., the vehicle head. The yaw angle of the single-soldier movement target is the included angle between the vector from the vehicle tail to the vehicle head and the true north direction, which is denoted by Asp.

[0034] The personnel of the attacking party also carry an attacking party positioning unit, which obtains the position of the attacking party through the Beidou ground-based augmentation system.

[0035] S110, determining the yaw angle of the attack direction according to the position of the single-soldier movement target and the position of the attacking party.

[0036] Specifically, S110 specifically comprises: drawing a plurality of lines with the position of the attacking party as the starting point and the position of each individual movement target as the end point; and taking the average of the included angles between the plurality of lines and the true north direction as the yaw angle of the attack direction. In determining the yaw angle of the attack direction, each attacking party positioning unit uploads its position information to the master control device in real time, and the master control device takes the central position of the attacking party as the overall center point, takes this point as the starting point, and takes the position of each individual movement target as the end point, and the included angle between the vector formed after the connection and the true north direction is the yaw angle of the attack direction, which is denoted by Asv.

[0037] S120, determining the attitude angle according to the yaw angle of the individual movement target and the yaw angle of the attack direction.

[0038] Specifically, the controller of the individual movement target calculates the attitude angle A of the individual movement target according to the yaw angle of the attack direction Asv issued by the master control device in real time and the yaw angle Asp of the individual movement target.

[0039] S130, determining the distance according to the position of the individual movement target and the position of the attacking party.

[0040] Specifically, the position of the individual movement target and the position of the attacking party obtained through the Beidou ground enhancement system are both longitude and latitude coordinates, and the distance between the two coordinates can be calculated in the world coordinate system, that is, the distance between the individual movement target and the attacking party.

[0041] S140, determining the target surface that needs to be adjusted according to the distance.

[0042] Specifically, the distance can be compared with a plurality of distance thresholds, and the target surface that needs to be adjusted is determined according to the comparison result. In the embodiment of the present application, the distance thresholds include a first distance threshold, a second distance threshold and a third distance threshold that increase in turn, and the target surfaces include a standing target surface, a kneeling target surface and a lying target surface. If the distance is less than or equal to the first distance threshold, the lying target surface is determined as the target surface that needs to be adjusted; if the distance is greater than the first distance threshold and less than or equal to the second distance threshold, the kneeling target surface is determined as the target surface that needs to be adjusted; and if the distance is greater than the second distance threshold and less than or equal to the third distance threshold, the standing target surface is determined as the target surface that needs to be adjusted.

[0043] The individual movement target is provided with target surfaces for simulating the standing, kneeling and lying postures of the soldier respectively, which are denoted as No. 1, No. 2 and No. 3 target surfaces respectively, wherein the No. 1 target surface is the standing target surface, the No. 2 target surface is the kneeling target surface, and the No. 3 target surface is the lying target surface. Figure 2 It can be seen that the No. 1, No. 2 and No. 3 target surfaces are 120° apart counterclockwise. The initial position of the individual movement target is that the No. 1 target surface is parallel to the vehicle head and faces forward.

[0044] When the distance between the attacker and the single soldier moving target is greater than the second distance threshold and less than or equal to the third distance threshold, the host device determines that the standing target surface is the target surface that needs to be adjusted, and adjusts the target surface in real time according to the current orientation of the single soldier moving target, i.e. the yaw angle and the current position information. As shown in FIG. 1C, at this time, the angle that the No. 1 target surface needs to rotate relative to the initial angle is: Figure 3

[0045] A = 180° + Asv - Asp

[0046] If A < 0, A = A + 360°.

[0047] When the yaw angle Asv of the attacker is 0 and the yaw angle Asp of the single soldier moving target is 90°, the attitude angle A = 90°, indicating that the No. 1 target surface is rotated by 90° in the positive direction from the initial position. When the yaw angle Asv of the attacker is 0 and the yaw angle Asp of the single soldier moving target is 270°, the attitude angle A = 270°, indicating that the No. 1 target surface is rotated by 270° in the positive direction or 90° in the reverse direction from the initial position.

[0048] When the distance between the attacker and the single soldier moving target is greater than the first distance threshold and less than or equal to the second distance threshold, the host device determines that the kneeling target surface is the target surface that needs to be adjusted, and adjusts the target surface in real time according to the current orientation of the single soldier moving target and the current position information. As shown in FIG. 1B, at this time, the angle that the No. 2 target surface needs to rotate relative to the initial angle is: Figure 4

[0049] A = -60° + Asv - Asp

[0050] If A < 0, A = A + 360°.

[0051] When the yaw angle Asv of the attacker is 0 and the yaw angle Asp of the single soldier moving target is 90°, the attitude angle A = 330°, indicating that the No. 2 target surface is rotated by 330° in the positive direction or 30° in the reverse direction from the initial position. When the yaw angle Asv of the attacker is 0 and the yaw angle Asp of the single soldier moving target is 270°, the attitude angle A = 150°, indicating that the No. 2 target surface is rotated by 150° in the positive direction from the initial position.

[0052] When the distance between the attacker and the single soldier moving target is less than or equal to the first distance threshold, the host device determines that the lying target surface is the target surface that needs to be adjusted, and adjusts the target surface in real time according to the current orientation of the single soldier moving target and the current position information. As shown in FIG. 1A, at this time, the angle that the No. 3 target surface needs to rotate relative to the initial angle is: Figure 5

[0053] A = 60° + Asv - Asp

[0054] If A < 0, A = A + 360°.

[0055] ​​​When the yaw angle Asv of the attacking side is 0 and the yaw angle Asp of the single soldier movement target is 90°, the attitude angle A = 210°, which means that the No. 3 target surface rotates 210° in the positive direction or 150° in the negative direction from the initial position. When the yaw angle Asv of the attacking side is 0 and the yaw angle Asp of the single soldier movement target is 270°, the attitude angle A = 30°, which means that the No. 3 target surface rotates 30° in the positive direction from the initial position.

[0056] S150, adjusting the direction of the target surface according to the attitude angle so that the target surface faces the attacking side.

[0057] Exemplarily, the single soldier movement target is further provided with an execution mechanism, such as Figure 6 as shown, which comprises a rotation controller, a rotation motor and an encoder. When the direction of the target surface is adjusted according to the attitude angle, the controller sends the attitude angle to the rotation controller, the rotation controller controls the rotation motor to rotate after obtaining the attitude angle, the encoder collects the rotation angle of the rotation motor, and the rotation controller controls the rotation motor in a closed loop according to the rotation angle and the attitude angle. Specifically, the rotation controller calculates the position to which the target surface should actually rotate by using embedded software, obtains the value of the encoder, judges the relationship between the current position of the encoder and the initial position, and then controls the rotation motor to rotate forward and reverse. At the same time, the real-time output value of the encoder is used as feedback for real-time adjustment. The rotation motor and the encoder can be rigidly fixed together on the same shaft.

[0058] The embodiment of the present application also provides a single soldier movement target attitude switching system, which comprises:

[0059] A target positioning and orientation unit is configured to obtain the position and the yaw angle of the single soldier movement target.

[0060] An attacking side positioning unit is configured to obtain the position of the attacking side.

[0061] A master control device is configured to determine the yaw angle of the attacking direction according to the position of the single soldier movement target and the position of the attacking side, determine the distance according to the position of the single soldier movement target and the position of the attacking side, and determine the target surface that needs to be adjusted according to the distance.

[0062] A controller is configured to determine the attitude angle according to the yaw angle of the single soldier movement target and the yaw angle of the attacking direction.

[0063] An execution mechanism is configured to adjust the direction of the target surface according to the attitude angle so that the target surface faces the attacking side.

[0064] Although the preferred embodiments of the present application have been described, those skilled in the art can make additional changes and modifications to the embodiments once they know the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0065] It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application cover modifications and variations of this application provided they come within the scope of the appended claims and their equivalents.

Claims

1. A single soldier motion target posture switching method, characterized by, The method comprises the following steps: acquiring the position and yaw angle of the individual movement target and the position of the attacking party; the acquiring the position and yaw angle of the individual movement target and the position of the attacking party comprises: acquiring the position and yaw angle of the individual movement target and the position of the attacking party through the Beidou ground-based augmentation system; determining the yaw angle of the attacking direction according to the position of the individual movement target and the position of the attacking party; determining the attitude angle according to the yaw angle of the individual movement target and the yaw angle of the attacking direction; determining the distance according to the position of the individual movement target and the position of the attacking party; determining the target surface needing to be adjusted according to the distance; the determining the target surface needing to be adjusted according to the distance comprises: comparing the distance with a plurality of distance threshold values, and determining the target surface needing to be adjusted according to the comparison result; the distance threshold values comprise a first distance threshold value, a second distance threshold value and a third distance threshold value which are sequentially increased, and the target surface comprises a standing target surface, a kneeling target surface and a lying target surface, if the distance is less than or equal to the first distance threshold value, the lying target surface is determined as the target surface needing to be adjusted, if the distance is greater than the first distance threshold value and less than or equal to the second distance threshold value, the kneeling target surface is determined as the target surface needing to be adjusted, and if the distance is greater than the second distance threshold value and less than or equal to the third distance threshold value, the standing target surface is determined as the target surface needing to be adjusted; adjusting the direction of the target surface according to the attitude angle, so that the target surface faces the attacking party.

2. The single-soldier motion target attitude switching method according to claim 1, characterized in that, the determining the yaw angle of the attacking direction according to the position of the individual movement target and the position of the attacking party comprises: drawing a plurality of lines with the position of the attacking party as the starting point and the position of each individual movement target as the ending point; taking the average of the included angles between the plurality of lines and the true north direction as the yaw angle of the attacking direction.

3. The single-soldier motion target attitude switching method according to claim 1, characterized in that, when adjusting the direction of the target surface according to the attitude angle, the attitude angle is sent to a rotation controller, the rotation controller controls the rotation of a rotating motor, the direction of the target surface is adjusted, the rotation angle of the rotating motor is collected through an encoder, and the rotation controller performs closed-loop control on the rotating motor according to the rotation angle and the attitude angle.

4. A single soldier motion target posture switching system characterized by comprising: The method comprises the following steps: a target positioning and orienting unit is used to acquire the position and yaw angle of the individual movement target; an attacking party positioning unit is used to acquire the position of the attacking party; a main control device is used to determine the yaw angle of the attacking direction according to the position of the individual movement target and the position of the attacking party, determine the distance according to the position of the individual movement target and the position of the attacking party, and determine the target surface needing to be adjusted according to the distance; a controller is used to determine the attitude angle according to the yaw angle of the individual movement target and the yaw angle of the attacking direction; an execution mechanism is used to adjust the direction of the target surface according to the attitude angle, so that the target surface faces the attacking party.

5. The single soldier motion target posture switching system according to claim 4, characterized by, the target positioning and orienting unit comprises a positioning antenna and an orienting antenna, the positioning antenna and the orienting antenna are respectively arranged at the tail and the head of the individual movement target, and the yaw angle of the individual movement target is the included angle between the vector from the tail to the head and the true north direction.

6. The single soldier motion target posture switching system according to claim 4, characterized by The execution mechanism comprises a rotation controller, a rotation motor and an encoder, the rotation controller controls the rotation motor to rotate after obtaining the attitude angle, so as to adjust the direction of the target surface, the encoder collects the rotation angle of the rotation motor, and the rotation controller performs closed-loop control on the rotation motor according to the rotation angle and the attitude angle.

Images