A method for maneuvering a protected object to avoid

Abstract

The present invention discloses a method for maneuvering a protected object to perform evasive maneuvers, comprising: obtaining position and speed information of a high-speed destructive object; estimating the final predicted position of the high-speed destructive object based on the position and speed information; determining the human-controlled maneuverable protected object and its coordinates within the high-speed destructive object's kill range based on the final predicted position, and calculating the high-speed destructive object's pitch angle and azimuth angle based on the coordinates and the high-speed destructive object's final predicted position; after generating a warning sound signal, calculating a personalized voice control signal based on the pitch angle, azimuth angle, the warning sound signal, and the time-domain head-correlated transfer function; and using the personalized voice control signal to prompt the human-controlled maneuverable protected object within the high-speed destructive object's kill range to perform evasive maneuvers. The present invention generates personalized warning voice control signals based on auditory cues from the high-speed destructive object, thereby improving the ability of human-controlled protected objects to successfully evade high-speed objects with destructive capabilities in dangerous environments.

Description

Technical Field

[0001] The invention belongs to the technical field of radar, and in particular relates to a method for maneuvering a protected object to perform maneuverable evasion. Background Art

[0002] The information contained in radar target echoes is typically presented to humans through the visual channel. However, in certain scenarios, the visual channel becomes saturated, and the information traditionally conveyed through vision cannot be quickly sensed and responded to. For example, on the battlefield, bullets or artillery shells travel at high speeds, making them difficult for the human eye to detect.

[0003] Although radar can detect and effectively track targets such as bullets or artillery shells, the existing technology of using visual information to provide prompts cannot allow the protected object to effectively evade such targets based on visual information before they arrive. Summary of the Invention

[0004] In order to solve the above problems existing in the prior art, the present invention provides a method for maneuvering a protected object to avoid an attack. The technical problem to be solved by the present invention is achieved through the following technical solutions:

[0005] The present invention provides a method for maneuvering a protected object to perform a maneuverable evasion, comprising:

[0006] Obtaining the position and speed information of high-speed damage objects;

[0007] estimating a final predicted position of the high-speed damaging object based on the position information and the speed information;

[0008] Determining a human-controlled maneuverable protected object within the killing range of the high-speed destructive object based on the final predicted position;

[0009] Obtain the coordinates of the manned maneuverable protected object within the killing range of the high-speed damaging object, and calculate the pitch angle of the high-speed damaging object based on the coordinates and the final predicted position of the high-speed damaging object. and azimuth angle θ hit ;

[0010] After the warning sound signal is generated, the pitch angle The azimuth angle θ hit , the warning sound signal and the time domain head-related transfer function, calculating the personalized voice control signal;

[0011] The personalized voice control signal is used to prompt the human-controlled maneuverable protected object within the killing range of the high-speed destructive object to evade.

[0012] In one embodiment of the present invention, the position information is a displacement vector of the high-speed damaging object within a preset time after being launched, and the velocity information is an initial velocity of the high-speed damaging object.

[0013] In one embodiment of the present invention, the displacement vector of the high-speed damaging object within a preset time after being launched is Initial velocity

[0014] in, represents the initial position of the high-speed damage object, Indicates the position of a high-speed damaging object after a preset time after launch R x 、R y 、R z They are the displacement components in the x, y, and z directions within a preset time after the object is damaged at high speed.

[0015] In one embodiment of the present invention, the step of determining the human-controlled maneuverable protected object within the killing range of the high-speed damaging object based on the final predicted position includes:

[0016] Obtain the coordinates of each manned maneuverable protected object and determine the manned maneuverable protected object within the killing range of the high-speed destructive object using the following formula:

[0017] (x(t ar )-w ix (t cm )) 2 +(y(t ar )-w iy (t cm )) 2 +(z(t ar )-w iz (t cm )) 2 ≤R d 2

[0018] Where w i =(w ix (t cm ),w iy (t cm ),w iz (t cm )) represents the coordinates of the i-th human-controlled maneuver protected object, t ar represents the estimated arrival time of high-speed damaging objects, t cm represents the time taken to complete the high-speed damage object arrival time estimation, (x(t ar ),y(t ar ),z(t ar)) represents the final predicted position of the high-speed damaged object, R d Indicates the killing radius of high-speed destruction objects.

[0019] In one embodiment of the present invention, the human-controlled maneuverable protected object within the killing range of the high-speed destructive object is a soldier;

[0020] Obtain the coordinates of the manned maneuverable protected object within the killing range of the high-speed damaging object, and calculate the pitch angle of the high-speed damaging object based on the coordinates and the final predicted position of the high-speed damaging object. and azimuth angle θ hit The steps include:

[0021] Get the coordinates of the soldier within the killing range of the high-speed damaging object (w' ix (t cm ),w' iy (t cm ),w' iz (t cm )) and construct the head coordinate system;

[0022] According to the coordinates (w' ix (t cm ),w' iy (t cm ),w' iz (t cm )) and the final predicted position of the high-speed damage object (x(t ar ),y(t ar ),z(t ar )) Calculate the pitch angle of the high-speed damage object according to the following formulas: and azimuth angle θ hit :

[0023]

[0024]

[0025] Where, Δθ w Indicates the head rotation angle of the soldier within the killing range of the high-speed destructive object.

[0026] In one embodiment of the present invention, after the warning sound signal is generated, the pitch angle The azimuth angle θ hit The step of calculating the personalized voice control signal based on the warning sound signal and the time-domain head-related transfer function comprises:

[0027] Generates a warning signal like the following:

[0028] s(t)=s1(t)+s2(t);

[0029] Wherein, s1(t) is the reference sound signal with a frequency of f1 = 2200 Hz, s1(t) = cos(2πf1t), t∈[0, t1], t1 represents the duration of the reference sound signal, s2(t) is the actual warning sound signal with a frequency of f2 = 4400 Hz, s2(t) = A2(t)cos(2πf2t)+A3(t)cos(2πf2t), t∈[t1+Δt, t1+2Δt+2t2], t2 represents the duration of the actual warning sound signal, Δt = 0.05s is the signal interval time, A2(t) and A3(t) are rectangular envelope functions, wherein,

[0030]

[0031]

[0032] According to the pitch angle The azimuth angle θ hit , the warning sound signal and the time-domain head-related transfer function, and calculating the personalized voice control signal:

[0033]

[0034] Where a i represents the physiological parameters of the i-th soldier, h l represents the time domain head-related transfer function of the left ear, h r represents the time-domain head-related transfer function of the right ear, Personalized voice signal indicating the direction of incoming bullets.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] The present invention provides a method for maneuvering a protected object to perform evasive maneuvers. By generating a personalized early warning sound control signal based on the auditory clues of a high-speed destructive object, the human-controlled protected object is given an early warning and an evasive prompt, thereby improving the ability of the human-controlled protected object to successfully avoid a high-speed object with destructive capability in a dangerous environment.

[0037] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a flow chart of a method for maneuvering a protected object to perform evasive maneuvers provided by an embodiment of the present invention;

[0039] Figure 21 is a schematic diagram of a method for maneuvering a protected object to perform evasive maneuvers provided by an embodiment of the present invention;

[0040] Figure 3 is another schematic diagram of a method for maneuvering a protected object to perform evasive maneuvers provided by an embodiment of the present invention;

[0041] Figure 4 is a schematic diagram of a head coordinate system provided by an embodiment of the present invention;

[0042] Figure 5a is a time domain diagram of a warning sound signal provided by an embodiment of the present invention;

[0043] Figure 5b 4 is a time-frequency diagram of the warning sound signal provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0044] The present invention will be further described in detail below with reference to specific examples, but the embodiments of the present invention are not limited thereto.

[0045] Hearing is the second most perceptual channel for humans, second only to vision. The information it provides plays a crucial role in many applications, especially when humans perceive their surroundings through multiple means. For example, in a study on pilot training conducted by NASA's AMES Research Center, researchers found that without audible feedback, pilots struggled to determine when they had touched a virtual button on the screen, resulting in reduced performance. Auditory displays, which use speech or non-speech sounds to present information, are an important information presentation method and are widely used in fields requiring audiovisual channels, including computer games, flight simulators, and simulated military training. Furthermore, auditory displays are widely used in areas where the visual channel is saturated or overloaded. For example, pilots in combat can use three-dimensional virtual auditory displays to accurately determine the relative positions of other aircraft, helping them identify enemy and friendly aircraft and quickly respond appropriately.

[0046] From a physiological perspective, humans detect auditory signals faster than visual signals, and auditory signals help generate alarms and spatial responses. In fact, hearing is not just a compensation for vision. The auditory system perceives spatial information in an all-round way and can provide an effective sense of space.

[0047] Figure 1 This is a flow chart of a method for maneuvering a protected object to perform evasive maneuvers provided by an embodiment of the present invention. Figure 2 This is a schematic diagram of a method for maneuvering a protected object to avoid maneuvers provided by an embodiment of the present invention. Figure 1-2As shown, the method for maneuvering a protected object to perform a maneuverable evasion provided in an embodiment of the present invention includes:

[0048] S1. Obtaining the position and speed information of the high-speed damage object;

[0049] S2. estimating the final predicted position of the high-speed damage object based on the position information and the speed information;

[0050] S3. Determine the manned maneuverable protected object within the killing range of the high-speed destructive object based on the final predicted position;

[0051] S4. Obtain the coordinates of the manned maneuverable protected object within the high-speed damaging object's killing range, and calculate the high-speed damaging object's pitch angle based on the coordinates and the high-speed damaging object's final predicted position. and azimuth angle θ hit ;

[0052] S5, after generating the warning sound signal, according to the pitch angle Azimuth angle θ hit , warning sound signals and time-domain head-related transfer function, calculate personalized voice control signals;

[0053] S6. Use personalized voice control signals to prompt human-controlled maneuverable protected objects within the killing range of high-speed destructive objects to evade.

[0054] In the above step S1, the position information is the displacement vector of the high-speed damaging object within a preset time after being launched, and the velocity information is the initial velocity of the high-speed damaging object.

[0055] Optionally, the displacement vector of the high-speed damaging object within a preset time after launch Initial velocity

[0056] in, represents the initial position of the high-speed damage object, Indicates the position of a high-speed damaging object after a preset time after launch R x 、R y 、R z They are the displacement components in the x, y, and z directions within a preset time after the object is damaged at high speed.

[0057] In this embodiment, the high-speed damaging object can be a 5.56mm bullet. For example, the bullet is located at an azimuth angle of -45°, an elevation angle of 5°, and a distance of 2 km from the radar. The muzzle velocity is 750m / s. The launch azimuth angle of the bullet is 90° and the elevation angle is 1° under the radar coordinates. The radar signal is in the form of a linear frequency modulation signal, Ku band, the frequency modulation bandwidth is 50MHz, and the pulse repetition period is 0.2μs.

[0058] Optionally, this embodiment uses a phased array radar, and a planar array is selected. The antenna array is distributed in the yoz plane, with 8 array elements evenly distributed along the y axis and 8 array elements evenly distributed along the z axis. The equivalent phase center of the planar array is used as the origin of the coordinate system. The planar array is divided into four sub-arrays according to quadrants in the yoz plane. Each sub-array consists of 4×4 array elements. The coordinates of the equivalent phase centers p1, p2, p3, and p4 can be expressed as follows:

[0059] p1=(-L y ,L z ,0)

[0060] p2=(-L y ,-L z ,0)

[0061] p3=(L y ,L z ,0)

[0062] p4=(L y ,-L z ,0)

[0063] Where, L y is the distance from the equivalent phase center to the y-axis, L z is the distance from the equivalent phase center to the z-axis. In this embodiment, L x =L y =λ / 2, where λ represents the wavelength.

[0064] Azimuth is the angle between the projection of the echo signal vector on the xoy plane and the x-axis, the pitch angle is the angle between the echo signal vector and its projection on the XOY plane.

[0065] The echo signals received at each equivalent phase center are guided by the vector The weighted outputs are P1, P2, P3 and P4 respectively, and the beam P sum , azimuth difference beam P ydiff , Pitch difference beam P zdiff The outputs are:

[0066] P sum =P1+P2+P3+P4

[0067] P ydiff =P1+P2-P3-P4

[0068] P zdiff =P1+P3-P2-P4

[0069] The calculation formula for pitch angle deviation can be written as:

[0070]

[0071] In the formula, imag represents the imaginary part operation, Indicates the slope of the pitch angle curve.

[0072] The calculation formula of azimuth deviation can be written as:

[0073] Where, Indicates the slope of the azimuth angle curve.

[0074] The time delay of the first bullet echo received by the plane array is τ1, and the distance c represents the speed of light, and the measured azimuth and elevation angles are and The initial position of the bullet is the coordinate when the bullet is fired for:

[0075]

[0076] Furthermore, after a preset time, the time delay for receiving the second bullet echo is τ2, and the distance The azimuth and elevation angles measured at this time are θ2 = -44.9829° and The coordinates of the bullet a short time after it is fired for:

[0077]

[0078] It should be understood that within the preset time, the bullet can be approximately considered to be moving in a uniform straight line. and The displacement vector of the bullet in a very short time after it leaves the barrel can be obtained and muzzle velocity

[0079] In step S2 above, a bullet motion model is first constructed. In a windless environment, the bullet moves in a parabolic trajectory after exiting the gun. However, in an actual battlefield environment, the wind speed cannot be ignored. The muzzle velocity of the bullet can be expressed as:

[0080]

[0081] Where R x 、R y 、R z They are the displacement components in the x, y, and z directions in a very short time after the bullet leaves the barrel, from which the initial value of the bullet's velocity can be obtained.

[0082] For example, the wind speed is Among them, w1 、υ w2 、υ w3 are the velocity components of the wind in the x, y, and z directions respectively.

[0083] Ignoring the effects of temperature and humidity on the bullet, the motion model of the bullet after it is fired is as follows:

[0084]

[0085] In this embodiment, the projectile shape coefficient C = 0.5, the projectile mass m = 0.004 kg, and the projectile diameter d = 5.56*10 -3 m, air density function H(z) = 1, gravitational acceleration g = 9.8 m / s 2 , its direction always points to the negative direction of the z axis, and the resistance function G(υ,c s ) can be obtained by looking up the table of the 1943 resistance law.

[0086] According to the above-mentioned bullet motion model, the initial value of the bullet speed is and the initial position of the bullet target Taking into account the current wind speed The fourth-order Runge-Kutta method is used to solve the ballistic equation of the bullet, and the final predicted position of the bullet is [1397.8, -813.4, 172.5].

[0087] In the above step S3, the step of determining the human-controlled maneuverable protected object within the killing range of the high-speed damaging object according to the final predicted position includes:

[0088] Obtain the coordinates of each manned maneuverable protected object and determine the manned maneuverable protected object within the killing range of the high-speed destructive object using the following formula:

[0089] (x(t ar )-w ix (t cm )) 2 +(y(t ar )-w iy (t cm )) 2 +(z(t ar )-w iz (t cm )) 2 ≤R d 2

[0090] Where w i =(w ix (t2),w iy (t2),wiz (t2)) represents the coordinates of the protected object under human control, t ar represents the estimated arrival time of high-speed damaging objects, t cm represents the time taken to complete the high-speed damage object arrival time estimation, (x(t ar ),y(t ar ),z(t ar )) represents the final predicted position of the high-speed damaged object, R d Indicates the killing radius of high-speed destruction objects.

[0091] In this embodiment, taking the case where the protected object is a soldier, in step S3, the coordinates of each soldier are first obtained as w i =(w ix (t cm ),w iy (t cm ),w iz (t cm )), i represents the i-th soldier, w ix (t cm ), w iy (t cm ),,w iz (t cm ) represent the components of the coordinates of the i-th soldier in the x-direction, y-direction, and z-direction respectively.

[0092] The final predicted position (x(t ar ),y(t ar ),z(t ar )), for each soldier's coordinate w i =(w ix (t cm ),w iy (t cm ),w iz (t cm )) Determine whether it is within the killing range of high-speed destructive objects:

[0093] (x(t ar )-w ix (t cm )) 2 +(y(t ar )-w iy (t cm )) 2 +(z(t ar )-w iz (t cm )) 2 ≤R d 2

[0094] Among them, the killing radius R of high-speed damage objects d =0.5m.

[0095] If a soldier is within the killing radius of a high-speed destructive object, the soldier will be marked.

[0096] Figure 3 FIG. 1 is another schematic diagram of a method for maneuvering a protected object to avoid an obstacle provided by an embodiment of the present invention. Figure 3 As shown, Figure 3 The ○ in the figure represents a soldier. For example, 8 soldiers are randomly distributed in a spherical area with a radius of 2m and a center of [1397.5, -800, 172.5]. After judgment, if one soldier is within the killing range, the soldier will be marked.

[0097] In the above step S4, the coordinates of the manned maneuverable protected object within the killing range of the high-speed damaging object are obtained, and the pitch angle of the high-speed damaging object is calculated based on the coordinates and the final predicted position of the high-speed damaging object. and azimuth angle θ hit The steps include:

[0098] S401, obtain the coordinates of the soldier within the killing range of the high-speed damaging object (w' ix (t cm ),w' iy (t cm ),w' iz (t cm )) and construct the head coordinate system;

[0099] S402, according to the coordinates (w' ix (t cm ),w' iy (t cm ),w' iz (t cm )) and the final predicted position of the high-speed damage object (x(t ar ),y(t ar ),z(t ar )) Calculate the pitch angle of the high-speed damage object according to the following formulas: and azimuth angle θ hit :

[0100]

[0101]

[0102] Where, Δθ w Indicates the rotation angle of the soldier's head within the killing range of a high-speed destructive object.

[0103] Figure 4 This is a schematic diagram of the human head coordinate system provided by an embodiment of the present invention. It should be understood that a person's determination of the sound source location is related to the angle of the person's head. Figure 4 , regard high-speed destructive objects such as bullets as sound sources and construct a human head coordinate system, where the left ear is -90°, which is the negative direction of the Y axis, the nose is 0°, which is the positive direction of the X axis, and the right ear is 90°, which is the positive direction of the Y axis.

[0104] Pitch angle of high-speed damage object That is the final predicted position (x(t ar ),y(t ar ),z(t ar )) and the coordinates of the soldier within the killing range of the high-speed destructive object (w' ix (t cm ),w' iy (t cm ),w' iz (t cm ))'s angle:

[0105]

[0106] Where, is the vector of the end point of the high-speed damaging object's trajectory relative to the soldier within the high-speed damaging object's killing range, for Projection on the XOY plane.

[0107] Considering that a soldier's head cannot remain still during combat, there will be a certain deflection angle Δθ relative to the plane formed by the negative direction of the Y axis and the positive direction of the Z axis. w , so the azimuth angle θ hit It can be written as:

[0108]

[0109] Reproducing the spatial sense of sound through headphones requires convolving the sound signal with the head-related transfer function. However, different people have different physiological characteristics, so the head-related transfer function of different people is different. The head-related transfer function (HRTF) can be specifically written as:

[0110]

[0111] Where, P L 、P RRepresents the frequency domain complex sound pressure generated by the sound source in the left and right ears respectively, P0 represents the frequency domain complex sound pressure of the sound source at the original center of the head after the head is moved away, r represents the distance from the sound source to the center of the head, θ is the azimuth angle, is the pitch angle, f is the sound source frequency, and a represents the human physiological parameters.

[0112] The expression of the head-related transfer function in the time domain can be written as:

[0113]

[0114] Where IFFT stands for inverse Fourier transform, which can convert the frequency domain signal into the corresponding time domain signal.

[0115] In the above step S5, after the warning sound signal is generated, the pitch angle Azimuth angle θ hit , a warning sound signal and a time-domain head-related transfer function, and the steps of calculating a personalized voice control signal include:

[0116] Figure 5a is a time domain diagram of the warning sound signal provided by an embodiment of the present invention, Figure 5b is a time-frequency diagram of the warning sound signal provided by an embodiment of the present invention. Figure 5a-5b , the warning signal generated in this embodiment is as follows:

[0117] s(t)=s1(t)+s2(t);

[0118] Wherein, s1(t) is the reference sound signal with a frequency of f1 = 2200 Hz, s1(t) = cos(2πf1t), t∈[0,t1], t1 represents the duration of the reference sound signal, s2(t) is the actual warning sound signal with a frequency of f2 = 4400 Hz, s2(t) = A2(t)cos(2πf2t)+A3(t)cos(2πf2t), t∈[t1+Δt,t1+2Δt+2t2], t2 represents the duration of the actual warning sound signal, Δt is the interval time between the reference sound signal s1(t) and the actual warning sound signal s2(t), A2(t) and A3(t) are rectangular envelope functions, wherein,

[0119]

[0120]

[0121] According to the pitch angle Azimuth angle θ hit , warning sound signal and time-domain head-related transfer function, calculate personalized voice control signal:

[0122]

[0123] Where a i represents the physiological parameters of the i-th soldier, h l represents the time domain head-related transfer function of the left ear, h r represents the time-domain head-related transfer function of the right ear, A personalized voice control signal indicating the direction of a high-speed destructive object. The default parameter r=1, and * represents a convolution operation.

[0124] It can be seen from the above embodiments that the beneficial effects of the present invention are:

[0125] The present invention provides a method for maneuvering a protected object to perform evasive maneuvers. By generating a personalized early warning sound control signal based on the auditory clues of a high-speed destructive object, the human-controlled protected object is given an early warning and an evasive prompt, thereby improving the ability of the human-controlled protected object to successfully avoid a high-speed object with destructive capability in a dangerous environment.

[0126] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0127] Descriptions with reference to the terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" mean that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification.

[0128] Although the present application is described herein in conjunction with various embodiments, in the process of implementing the claimed application, those skilled in the art can understand and implement other variations of the disclosed embodiments by reviewing the drawings, the disclosure, and the appended claims.

[0129] The above is a further detailed description of the present invention in conjunction with specific preferred embodiments, and the specific implementation of the present invention should not be considered to be limited to these descriptions. For those skilled in the art of the present invention, without departing from the concept of the present invention, several simple deductions or substitutions can be made, which should be considered to fall within the scope of protection of the present invention.

Claims

1. A method for maneuvering a protected object to avoid an attack, characterized in that: include: Obtaining the position and speed information of high-speed damage objects; estimating a final predicted position of the high-speed damaging object based on the position information and the speed information; Determining a human-controlled maneuverable protected object within the killing range of the high-speed destructive object based on the final predicted position; Obtain the coordinates of the manned maneuverable protected object within the killing range of the high-speed damaging object, and calculate the pitch angle of the high-speed damaging object based on the coordinates and the final predicted position of the high-speed damaging object. and azimuth ; After the warning sound signal is generated, the pitch angle , the azimuth , the warning sound signal and the time domain head-related transfer function, calculating the personalized voice control signal; Using the personalized voice control signal to prompt the human-controlled maneuverable protected object within the killing range of the high-speed damaging object to evade; After the warning sound signal is generated, the pitch angle , the azimuth The step of calculating the personalized voice control signal based on the warning sound signal and the time-domain head-related transfer function comprises: Generates a warning signal like the following: ； Where, Frequency The reference sound signal, , , represents the duration of the reference acoustic signal, Frequency The actual warning sound signal, , , represents the duration of the actual warning sound signal, is the signal interval time, and is a rectangular envelope function, where ； ； According to the pitch angle , the azimuth , the warning sound signal and the time-domain head-related transfer function, and calculating the personalized voice control signal: ； Where, Indicates the i The physiological parameters of each soldier, represents the time-domain head-related transfer function of the left ear, represents the time-domain head-related transfer function of the right ear, Personalized voice control signals indicating the direction of incoming high-speed destructive objects; Among them, the expression of the head-related transfer function in the frequency domain is: ； Where, 、 Respectively represent the frequency domain complex sound pressure generated by the sound source in the left and right ears, It represents the frequency domain complex sound pressure of the sound source at the original center position of the head after the head is moved away. Indicates the distance from the sound source to the center of the head, is the azimuth, is the pitch angle, is the sound source frequency, Indicates human physiological parameters; The expression of the head-related transfer function in the time domain is: ； Where IFFT stands for inverse Fourier transform.

2. The method for maneuvering a protected object to perform evasive maneuvers according to claim 1, characterized in that: The position information is the displacement vector of the high-speed damaging object within a preset time after being launched, and the velocity information is the initial velocity of the high-speed damaging object.

3. The method for maneuvering a protected object to perform evasive maneuvers according to claim 2, characterized in that: The displacement vector of a high-speed damaging object within a preset time after launch , initial velocity ; in, Indicates the initial position of the high-speed damage object, Indicates the position of a high-speed damaging object after a preset time has passed since its launch. 、 、 After damaging an object at high speed, x direction, y direction, z The displacement component in the direction.

4. The method for maneuvering a protected object to perform evasive maneuvers according to claim 2, characterized in that: The step of determining a human-controlled maneuverable protected object within the killing range of a high-speed destructive object according to the final predicted position includes: Obtain the coordinates of each manned maneuverable protected object and determine the manned maneuverable protected object within the killing range of the high-speed destructive object using the following formula: Where, Indicates the i Individual controlled maneuvering of the protected object's coordinates, represents the estimated arrival time of high-speed damaging objects, Indicates the estimated time it takes to complete the high-speed damage object arrival time. represents the final predicted position of the high-speed damage object, Indicates the killing radius of high-speed destruction objects.

5. The method for maneuvering a protected object to perform evasive maneuvers according to claim 4, characterized in that: The human-controlled maneuverable protected object within the killing range of the high-speed destructive object is a soldier; Obtain the coordinates of the manned maneuverable protected object within the killing range of the high-speed damaging object, and calculate the pitch angle of the high-speed damaging object based on the coordinates and the final predicted position of the high-speed damaging object. and azimuth The steps include: Get the coordinates of soldiers within the killing range of high-speed destructive objects And build the head coordinate system; According to the coordinates and the final predicted position of high-speed damage objects , calculate the pitch angle of the high-speed damage object according to the following formulas and azimuth : ； ； Where, , , , , Indicates the head rotation angle of the soldier within the killing range of the high-speed destructive object.

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