Gun stability evaluation method, system, electronic device and readable storage medium

Abstract

The present invention discloses a method, system, electronic device and readable storage medium for evaluating the stability of a gun. The method comprises the following steps: obtaining N angular velocity information of the gun; obtaining N-1 groups of angle calculation arrays from the N angular velocity information in a time sequence; calculating the horizontal offset, vertical offset, horizontal velocity component and vertical velocity component corresponding to each group of angular velocity information at two adjacent moments in each group of angle calculation arrays; determining the directional stability corresponding to each group of angle calculation arrays according to the horizontal offset and vertical offset; determining the velocity stability corresponding to each group of angle calculation arrays according to the horizontal velocity component and the vertical velocity component; and calculating a stability evaluation result based on the N-1 groups of directional stability and velocity stability. Compared with a method of evaluating by using video to capture images and performing image processing and analysis results, the present invention has better accuracy and can also effectively avoid interference from the environment on the detection.

Description

Technical Field

[0001] The present invention relates to the field of artillery, and in particular to a method, system, electronic equipment and readable storage medium for evaluating artillery stability. Background Art

[0002] Before firing, the artillery needs to be kept as stable as possible. The better the stability, the higher the shooting accuracy. Conversely, the worse the stability, the lower the shooting accuracy. Therefore, how to maintain the stability of the artillery has become an important technical task. If you want to improve the adjustment of the artillery's stability, you first need to realize the detection and evaluation of the artillery's stability. Only then can you effectively adjust the artillery's stability based on the evaluation results. At present, the evaluation of artillery is mainly based on manual work, or using cameras to capture video, and then manually analyzing the stability based on the captured images. At present, there are also methods that directly use video capture results for image processing and analysis, but the image processing process is relatively complicated, and at the detection site, there may be a lot of dust interference or occlusion, which may make it impossible to collect effective image information. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a method for evaluating the stability of a gun, which solves the problem of difficulty in effectively evaluating the stability of a gun.

[0004] The present invention also proposes a gun stability evaluation system, and an electronic device for storing the above-mentioned gun stability evaluation method and a storage medium for computer executable instructions.

[0005] The method for evaluating gun stability according to the first embodiment of the present invention includes:

[0006] Obtaining N pieces of angular velocity information of the artillery, wherein the N pieces of angular velocity information are collected from the time the artillery starts ranging to the time the artillery starts firing, and the collection times corresponding to the N pieces of angular velocity information are all different and arranged in a time sequence, and each piece of angular velocity information includes at least vertical angular velocity information and horizontal angular velocity information;

[0007] Obtaining N-1 groups of angle calculation arrays from the N pieces of angular velocity information in a time sequence, each group of the angle calculation arrays including the angular velocity information of a predetermined calculation window length that is adjacent in sequence;

[0008] Calculating, in each group of the angle calculation array, a horizontal offset, a vertical offset, a horizontal velocity component, and a vertical velocity component corresponding to each group of the angular velocity information at two adjacent moments;

[0009] Determine the directional stability corresponding to each group of the angle calculation arrays according to the horizontal offset and the vertical offset;

[0010] Determine the velocity smoothness corresponding to each group of the angle calculation arrays according to the horizontal velocity component and the vertical velocity component;

[0011] The smoothness evaluation result is calculated based on the N-1 groups of directional smoothness and speed smoothness.

[0012] The gun stability evaluation method according to the embodiment of the present invention has at least the following technical effects:

[0013] The gun stability evaluation method of the embodiment of the present invention directly collects the gun's vertical angular velocity information and horizontal angular velocity information, thereby using the vertical angular velocity information to complete the detection of the gun's directional stability and speed stability, and ultimately completes the gun stability evaluation based on the directional stability and speed stability. Compared with the method of using video capture equipment to collect images and perform image processing and analysis to complete the gun stability evaluation, the gun stability evaluation method of the embodiment of the present invention has better accuracy and can also effectively avoid environmental interference with the detection.

[0014] According to some embodiments of the present invention, obtaining N-1 groups of angle calculation arrays from the N pieces of angular velocity information in a time sequence includes:

[0015] Taking the first angular velocity information among the N angular velocity information as a starting point and selecting a first group of the angle calculation arrays according to a preset calculation window length;

[0016] Starting from the angular velocity information at the second position in the angle counting array selected last time, the angle calculation array of this time is selected according to the preset calculation window length, until the second group of angle counting groups to the N-1th group of angle counting arrays are selected.

[0017] According to some embodiments of the present invention, the horizontal offset and the vertical offset corresponding to the angular velocity information at two adjacent moments are obtained by the following steps:

[0018] Subtracting the vertical angular velocity information corresponding to two adjacent moments to obtain the vertical offset;

[0019] The horizontal angular velocity information corresponding to two adjacent moments is subtracted to obtain the horizontal offset.

[0020] According to some embodiments of the present invention, the directional smoothness corresponding to each group of the angle calculation arrays is obtained by the following steps:

[0021] Determine a plurality of intermediate slopes according to the plurality of vertical offsets and the plurality of horizontal offsets corresponding to each group of the angle calculation arrays;

[0022] The directional smoothness is determined based on a plurality of the intermediate slopes.

[0023] According to some embodiments of the present invention, the horizontal velocity component and the vertical velocity component corresponding to the angular velocity information at two adjacent moments are obtained by the following steps:

[0024] Calculate the average of the vertical angular velocity information corresponding to two adjacent moments to obtain the vertical velocity component;

[0025] The horizontal angular velocity information corresponding to two adjacent moments is averaged to obtain the horizontal velocity component.

[0026] According to some embodiments of the present invention, the velocity smoothness corresponding to each group of the angle calculation arrays is obtained by the following steps:

[0027] Obtaining a plurality of intermediate square root results according to the plurality of vertical velocity components and the plurality of horizontal velocity components corresponding to each group of the angle calculation arrays;

[0028] The velocity smoothness is determined based on a plurality of the intermediate square root results.

[0029] According to some embodiments of the present invention, the step of calculating a smoothness evaluation result based on the N-1 groups of directional smoothness and speed smoothness comprises the following steps:

[0030] Calculating the mean of each group of the directional smoothness and the speed smoothness to obtain a comprehensive smoothness;

[0031] The stability evaluation result is determined based on the N-1 comprehensive stability.

[0032] The artillery stability evaluation system according to the second embodiment of the present invention includes:

[0033] a data acquisition module, configured to acquire N pieces of angular velocity information of the artillery, wherein the N pieces of angular velocity information are acquired from the time the artillery starts ranging to the time the artillery starts firing, and the acquisition times corresponding to the N pieces of angular velocity information are all different and arranged in a time sequence, and each piece of angular velocity information includes at least vertical angular velocity information and horizontal angular velocity information;

[0034] a data presetting module, configured to obtain N-1 groups of angle calculation arrays from the N pieces of angular velocity information in a time sequence, wherein each group of the angle calculation arrays includes angular velocity information of a predetermined calculation window length that is adjacent in sequence;

[0035] an offset component calculation module, configured to calculate, in each group of the angle calculation arrays, a horizontal offset, a vertical offset, a horizontal velocity component, and a vertical velocity component corresponding to each group of the angular velocity information at two adjacent moments;

[0036] a direction stability calculation module, configured to determine the direction stability corresponding to each group of the angle calculation arrays according to the horizontal offset and the vertical offset;

[0037] A speed smoothness calculation module, configured to determine the speed smoothness corresponding to each group of the angle calculation arrays according to the horizontal speed component and the vertical speed component;

[0038] The result output module is used to calculate the smoothness evaluation result according to the N-1 groups of the direction smoothness and the speed smoothness.

[0039] The artillery stability evaluation system according to the embodiment of the present invention has at least the following technical effects:

[0040] The gun stability evaluation system of the embodiment of the present invention directly collects the gun's vertical angular velocity information and horizontal angular velocity information, thereby using this information to complete the detection of the gun's directional stability and speed stability, and ultimately completes the gun stability evaluation based on the directional stability and speed stability. Compared with the method of using video capture equipment to collect images and perform image processing and analysis to complete the gun stability evaluation, the gun stability evaluation system of the embodiment of the present invention has greater accuracy and can also effectively avoid environmental interference with the detection.

[0041] According to an embodiment of the third aspect of the invention, an electronic device includes a memory, a communication module, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the aforementioned artillery stability evaluation method. Because the Bluetooth device utilizes all of the technical solutions of the artillery stability evaluation method of the aforementioned embodiment, it at least possesses all the beneficial effects provided by the technical solutions of the aforementioned embodiment.

[0042] According to a computer-readable storage medium according to an embodiment of the fourth aspect of the invention, the computer-readable storage medium stores computer-executable instructions for causing a computer to execute the aforementioned artillery stability evaluation method. Because the computer-readable storage medium utilizes all of the technical solutions of the artillery stability evaluation method of the aforementioned embodiment, it at least has all of the beneficial effects provided by the technical solutions of the aforementioned embodiment.

[0043] Other features and advantages of the present invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

[0045] Figure 1 This is a flow chart of a method for evaluating gun stability provided by one embodiment of the present invention;

[0046] Figure 2 is a flow chart for determining directional stability provided by one embodiment of the present invention;

[0047] Figure 3 This is a flow chart of determining speed smoothness provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0048] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0049] In the description of the present invention, if there is a description of first, second, etc., it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0050] In the description of the present invention, it should be understood that descriptions involving orientation, such as the orientation or positional relationship indicated by up, down, etc., are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0051] In the description of the present invention, it should be noted that, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0052] To better describe the gun stability evaluation method, system, electronic device, and readable storage medium according to an embodiment of the present invention, a platform architecture is proposed herein. This platform architecture is briefly described herein in conjunction with specific application scenarios. The platform architecture includes an angular velocity detection sensor, a gun controller, and a terminal processor. The angular velocity detection sensor is mounted on the gun and is used to detect the gun's vertical and horizontal angular velocity information. The gun controller receives data collected by the angular velocity detection sensor, converts and packages the data, and then sends it to the terminal processor, which then completes the gun stability evaluation. It is understood that when the terminal processor is remote, the gun controller can transmit the received angular velocity information to the terminal processor via a wireless communication device. When the terminal processor is local, the gun controller can directly transmit the data to the gun controller via wired communication. Furthermore, the gun controller can store the data locally and then upload the data to the terminal processor via a storage device to complete the subsequent gun stability evaluation. It should be noted that the data that the artillery controller needs to upload to the terminal processor is not just angular velocity information, but a large amount of data will be packaged and uploaded to the terminal processor in a unified manner. When the terminal processor receives the data uploaded by the artillery controller, it will parse the datagram and read the corresponding angular velocity information from the specific location in the data packet according to the preset communication rules.

[0053] In addition, it should be noted that the evaluation of artillery stability is an evaluation of the artillery stability during the period from the start of ranging to the start of firing.

[0054] It should be noted that the platform architecture proposed above is intended to better explain the gun stability evaluation method, system, electronic device and readable storage medium of the embodiments of the present invention, and should not be regarded as a limitation of the present invention.

[0055] The technical solutions of the present invention will be described clearly and completely below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of the present invention, not all embodiments.

[0056] See also Figure 1 As shown, Figure 1 1 is a flow chart of a method for evaluating gun stability according to an embodiment of the present invention. The method comprises the following steps:

[0057] Obtaining N pieces of angular velocity information of the artillery, the N pieces of angular velocity information being collected from the start of ranging to the start of firing, the N pieces of angular velocity information corresponding to different collection times being arranged in time sequence, and each piece of angular velocity information including at least vertical angular velocity information and horizontal angular velocity information;

[0058] Obtaining N-1 sets of angle calculation arrays from the N angular velocity information in a time sequence, each set of angle calculation arrays including angular velocity information of a predetermined calculation window length that is adjacent in sequence;

[0059] Calculate the horizontal offset, vertical offset, horizontal velocity component, and vertical velocity component corresponding to each set of angular velocity information at two adjacent moments in each set of angle calculation arrays;

[0060] Determine the directional stability corresponding to each set of angle calculation arrays based on the horizontal offset and vertical offset;

[0061] Determine the velocity smoothness corresponding to each angle calculation array based on the horizontal velocity component and the vertical velocity component;

[0062] The smoothness evaluation result is calculated based on N-1 groups of direction smoothness and speed smoothness.

[0063] During the process from the start of ranging to the start of firing, the gun controller will obtain N angular velocity information at equal time intervals, thereby obtaining N angular velocity information arranged in a time sequence. At the same time, the embodiment of the present invention also sets a preset calculation window length (preferably greater than or equal to 3), and can select N-1 groups of angle calculation arrays from the N angular velocity information in a time sequence. By calculating the horizontal offset, vertical offset, horizontal velocity component, and vertical velocity component corresponding to each group of angle calculation arrays, a smoothness evaluation result can be finally obtained. It should be noted that because each group of angle calculation arrays includes data of the preset calculation window length, there will be overlapping data between the angle calculation arrays of each adjacent group. Repeatedly using this overlapping data for multiple calculations can better ensure the accuracy of the final calculated smoothness evaluation result.

[0064] Here, we further describe how to accurately calculate the stability evaluation results. Because angular velocity information is collected at a fixed time, each two adjacent angular velocity information must be within the same time interval. Therefore, when performing distance calculations, there is no need to convert velocity information into distance information. Instead, directional and velocity stability can be calculated directly based on the velocity information. The horizontal offset is the difference between two adjacent horizontal angular velocity information acquisitions, and the vertical offset is the difference between two adjacent vertical angular velocity information acquisitions. These two differences can be used to quickly determine the first slope, and ultimately, the final directional stability can be determined using multiple first slopes. The horizontal and vertical velocity components can be understood as the angular velocity components in their respective directions. After obtaining the angular velocity components, velocity stability can be calculated by calculating the square root. It can be understood that N-1 sets of angle calculation arrays can generate N-1 sets of directional and velocity stability. Finally, the final stability evaluation result can be obtained by averaging these N-1 sets of directional and velocity stability.

[0065] The gun stability evaluation method of the embodiment of the present invention directly collects the gun's vertical angular velocity information and horizontal angular velocity information, thereby using the vertical angular velocity information to complete the detection of the gun's directional stability and speed stability, and ultimately completes the gun stability evaluation based on the directional stability and speed stability. Compared with the method of using video capture equipment to collect images and perform image processing and analysis to complete the gun stability evaluation, the gun stability evaluation method of the embodiment of the present invention has better accuracy and can also effectively avoid environmental interference with the detection.

[0066] In some embodiments, obtaining N-1 sets of angle calculation arrays from N angular velocity information in a time sequence includes:

[0067] Taking the first angular velocity information among the N angular velocity information as the starting point and selecting the first set of angle calculation arrays according to the preset calculation window length;

[0068] Starting from the second angular velocity information in the last selected angle count array, the current angle calculation array is selected according to the preset calculation window length until the second to N-1th angle count arrays are selected.

[0069] The selection of N-1 groups of angle calculation arrays adopts a method similar to window sliding. The width of the window is the preset calculation window length. It takes the first of the N angular velocity information arranged in time sequence as the starting point and moves back one bit each time. The data in each window can be regarded as an angle calculation array, thereby selecting N-1 groups of angle calculation arrays.

[0070] In some embodiments, the horizontal offset and vertical offset corresponding to the angular velocity information at two adjacent moments are obtained by the following steps:

[0071] Subtract the vertical angular velocity information corresponding to two adjacent moments to obtain the vertical offset;

[0072] The horizontal angular velocity information corresponding to two adjacent moments is subtracted to obtain the horizontal offset.

[0073] The horizontal offset can be regarded as the difference between two adjacent horizontal angular velocity information, and thus can be directly obtained by subtraction. Similarly, the vertical offset can be regarded as the difference between two adjacent vertical angular velocity information, and can also be directly obtained by subtraction.

[0074] like Figure 2 As shown, in some embodiments, the directional smoothness corresponding to each set of angle calculation arrays is obtained by the following steps:

[0075] Determine multiple intermediate slopes according to multiple vertical offsets and multiple horizontal offsets corresponding to each set of angle calculation arrays;

[0076] Directional stationarity is determined based on multiple intermediate slopes.

[0077] Each set of vertical offset and horizontal offset can determine an intermediate slope, and a set of angle calculation data can determine multiple intermediate slopes. After determining multiple intermediate slopes, the directional smoothness can be determined based on the slope changes. It can be understood that the smaller the difference between two adjacent intermediate slopes, the better the corresponding directional smoothness.

[0078] In order to better describe the method for determining the directional stability of the embodiment of the present invention, it is further explained here by way of a specific embodiment. In this specific embodiment, the design calculation window length is 3, that is, each group of angle calculation arrays contains 3 angular velocity information, that is, the three angular velocity information are N1, N2, and N3, the three horizontal angular velocity information are N11, N21, and N31, and the three vertical angular velocity information are N12, N22, and N32. The specific process is as follows:

[0079] N1 to N2 horizontal offset X 1-2 =N21-N11;

[0080] N1 to N2 vertical offset Y 1-2 =N22-N12;

[0081] N2 to N3 horizontal offset X 2-3 =N31-N21;

[0082] N2 to N3 vertical offset Y 2-3=N32-N22;

[0083] Then the slope between N1 and N2 is K 1-2 =Y 1-2 / X 1-2 ; The slope between N2 and N3 is K 2-3 =Y 2-3 / X 2-3 ;

[0084] Then the directional stability a 1-3 =|(K 2-3 -K 1-2 ) / K 1-2 |;

[0085] Similarly, the above method can be used to calculate the directional stability corresponding to each set of angle calculation arrays, for example: a 2-4 、a 3-5 ,...,a (n-2)-n .

[0086] In some embodiments, the horizontal velocity component and the vertical velocity component corresponding to the angular velocity information at two adjacent moments are obtained by the following steps:

[0087] The vertical angular velocity information corresponding to two adjacent moments is averaged to obtain the vertical velocity component;

[0088] The horizontal angular velocity information corresponding to two adjacent moments is averaged to obtain the horizontal velocity component.

[0089] The horizontal velocity component can be regarded as the average value of two adjacent horizontal angular velocity information, so it can be directly obtained through mean calculation. Similarly, the vertical offset can be regarded as the average value of two adjacent vertical angular velocity information, and can also be directly obtained through mean calculation.

[0090] like Figure 3 As shown, in some embodiments, the velocity smoothness corresponding to each angle calculation array is obtained by the following steps:

[0091] Calculate multiple vertical velocity components and multiple horizontal velocity components corresponding to each group of angles to obtain multiple intermediate square root results;

[0092] Velocity smoothness is determined based on multiple intermediate square root results.

[0093] Each set of vertical velocity components and horizontal velocity components can determine an intermediate square root result, and a set of angle calculation data can determine multiple intermediate square root results. After determining multiple intermediate square root results, the speed smoothness can be determined based on the changes in the intermediate square root results. It can be understood that the smaller the difference between two adjacent intermediate square root results, the better the corresponding speed smoothness.

[0094] In order to better describe the method for determining the speed smoothness of the embodiment of the present invention, a specific embodiment is further described here. In this specific embodiment, the calculation window length is designed to be 3, that is, each angle calculation array contains 3 angular velocity information, that is, the three angular velocity information are N1, N2, and N3, the three horizontal angular velocity information are N11, N21, and N31, and the three vertical angular velocity information are N12, N22, and N32. The specific process is as follows:

[0095] N1 to N2 horizontal angular velocity RX 1-2 =(N21+N11) / 2;

[0096] N1 to N2 vertical angular velocity RY 1-2 =(N22+N12) / 2;

[0097] N1 to N2 angular velocity

[0098] N2 to N3 horizontal angular velocity RX 2-3 =(N31+N21) / 2;

[0099] N2 to N3 vertical angular velocity RY 2-3 =(N32+N22) / 2;

[0100] N2 to N3 angular velocity

[0101] Speed ​​stability b 1-3 =|(R 2-3 -R 1-2 ) / R 1-2 |;

[0102] Similarly, the above method can be used to calculate the directional stability of each angle calculation array, for example: b 2-4 、b 3-5 ,...,b (n-2)-n .

[0103] In some embodiments, calculating a smoothness evaluation result based on N-1 sets of directional smoothness and speed smoothness includes the following steps:

[0104] The average of each group of directional stability and speed stability is calculated to obtain the comprehensive stability;

[0105] The stability evaluation result is determined based on N-1 comprehensive stability.

[0106] Both directional stability and speed stability can only represent part of the gun's stability. Therefore, when actually evaluating stability, it is necessary to further consider the comprehensive stability. The comprehensive stability can be the average of directional stability and speed stability. In some cases, if there is an error in directly calculating the average, a weight factor can be introduced to correct the directional stability and speed stability to obtain a comprehensive stability that is closer to actual needs.

[0107] Each set of angle calculation arrays will get a comprehensive stability. After getting the comprehensive stability of N-1 groups (for example, C 1-3 、C 2-4 ,...,C (n-2)-n ), the final stability evaluation C1-n of the gun can be directly determined using the N-1 group of comprehensive stability. In some embodiments, the stability evaluation can be directly obtained by calculating the average of multiple comprehensive stability, that is, the stability evaluation C1-n is:

[0108]

[0109] The final stability evaluation result must be confirmed based on the stability evaluation and a pre-set rating table. For example, Table 1 shows the stability evaluation table, where the C value is the basis for different stability classifications. After calculating C1-n, the final stability evaluation result can be determined directly by looking up the table. The stability results can be displayed on the terminal processor for intuitive access by staff.

[0110] Table 1

[0111]

[0112] In addition, an embodiment of the present invention further provides a gun stability evaluation system, which includes: a data acquisition module, a data preset module, an offset component calculation module, a direction stability calculation module, a speed stability calculation module and a result output module;

[0113] A data acquisition module is used to obtain N angular velocity information of the artillery. The N angular velocity information is collected from the time the artillery starts ranging to the time it starts firing. The collection times corresponding to the N angular velocity information are all different and arranged in time sequence. Each angular velocity information includes at least vertical angular velocity information and horizontal angular velocity information.

[0114] A data preset module is used to obtain N-1 groups of angle calculation arrays from N angular velocity information in a time sequence, each group of angle calculation arrays including angular velocity information of a preset calculation window length that is adjacent in sequence;

[0115] An offset component calculation module is used to calculate the horizontal offset, vertical offset, horizontal velocity component and vertical velocity component corresponding to each set of angular velocity information of two adjacent moments in each set of angle calculation arrays;

[0116] A directional stability calculation module is used to determine the directional stability corresponding to each set of angle calculation arrays based on the horizontal offset and the vertical offset;

[0117] A speed stabilization calculation module is used to determine the speed stabilization corresponding to each set of angle calculation arrays based on the horizontal speed component and the vertical speed component;

[0118] The result output module is used to calculate the stability evaluation result based on N-1 groups of direction stability and speed stability.

[0119] During the process from the start of ranging to the start of firing, the gun controller will obtain N angular velocity information at equal time intervals, thereby obtaining N angular velocity information arranged in a time sequence. At the same time, the embodiment of the present invention also sets a preset calculation window length (preferably greater than or equal to 3), and can select N-1 groups of angle calculation arrays from the N angular velocity information in a time sequence. By calculating the horizontal offset, vertical offset, horizontal velocity component, and vertical velocity component corresponding to each group of angle calculation arrays, a smoothness evaluation result can be finally obtained. It should be noted that because each group of angle calculation arrays includes data of the preset calculation window length, there will be overlapping data between the angle calculation arrays of each adjacent group. Repeatedly using this overlapping data for multiple calculations can better ensure the accuracy of the final calculated smoothness evaluation result.

[0120] Here, we further describe how to accurately calculate the stability evaluation results. Because angular velocity information is collected at a fixed time, each two adjacent angular velocity information must be within the same time interval. Therefore, when performing distance calculations, there is no need to convert velocity information into distance information. Instead, directional and velocity stability can be calculated directly based on the velocity information. The horizontal offset is the difference between two adjacent horizontal angular velocity information acquisitions, and the vertical offset is the difference between two adjacent vertical angular velocity information acquisitions. These two differences can be used to quickly determine the first slope, and ultimately, the final directional stability can be determined using multiple first slopes. The horizontal and vertical velocity components can be understood as the angular velocity components in their respective directions. After obtaining the angular velocity components, velocity stability can be calculated by calculating the square root. It can be understood that N-1 sets of angle calculation arrays can generate N-1 sets of directional and velocity stability. Finally, the final stability evaluation result can be obtained by averaging these N-1 sets of directional and velocity stability.

[0121] The gun stability evaluation system of the embodiment of the present invention directly collects the gun's vertical angular velocity information and horizontal angular velocity information, thereby using this information to complete the detection of the gun's directional stability and speed stability, and ultimately completes the gun stability evaluation based on the directional stability and speed stability. Compared with the method of using video capture equipment to collect images and perform image processing and analysis to complete the gun stability evaluation, the gun stability evaluation system of the embodiment of the present invention has greater accuracy and can also effectively avoid environmental interference with the detection.

[0122] In addition, an embodiment of the present invention also provides an electronic device, which includes a memory, a communication module, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the above-mentioned artillery stability evaluation method is implemented.

[0123] In addition, an embodiment of the present invention further provides a computer-readable storage medium, which stores computer-executable instructions. The computer-executable instructions are used to execute the above-mentioned artillery stability evaluation method, for example, by a processor in the embodiment of the above-mentioned electronic device, so that the above-mentioned processor can execute the artillery stability evaluation method in the above-mentioned embodiment, for example, executing the above-mentioned Figures 1 to 3 The method in .

[0124] The non-transient software program and instructions required to implement the gun stability evaluation method of the above embodiment are stored in the memory. When executed by the processor, the gun stability evaluation method of the above embodiment is executed, for example, the above-described Figures 1 to 3 The method in .

[0125] Those skilled in the art will appreciate that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, or appropriate combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on computer-readable media, which can include computer storage media or non-transitory media and communication media or transient media. As is well known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information such as computer-readable instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other storage unit technology, CD-ROM, digital versatile disks (DVDs) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, as is well known to those skilled in the art, communication media typically embodies computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0126] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the scope of the present invention.

Claims

1. A method for evaluating gun stability, characterized in that: include: Obtaining N pieces of angular velocity information of the artillery, wherein the N pieces of angular velocity information are collected from the time the artillery starts ranging to the time the artillery starts firing, and the collection times corresponding to the N pieces of angular velocity information are all different and arranged in a time sequence, and each piece of angular velocity information includes at least vertical angular velocity information and horizontal angular velocity information; Obtaining N-1 groups of angle calculation arrays from the N pieces of angular velocity information in a time sequence, each group of the angle calculation arrays including the angular velocity information of a predetermined calculation window length that is adjacent in sequence; Calculating, in each group of the angle calculation array, a horizontal offset, a vertical offset, a horizontal velocity component, and a vertical velocity component corresponding to each group of the angular velocity information at two adjacent moments; Determine the directional stability corresponding to each group of the angle calculation arrays according to the horizontal offset and the vertical offset; Determine the velocity smoothness corresponding to each group of the angle calculation arrays according to the horizontal velocity component and the vertical velocity component; Calculate a stability evaluation result based on the direction stability and speed stability of the N-1 groups; The directional stability corresponding to each set of angle calculation arrays is obtained by the following steps: Determine a plurality of intermediate slopes according to the plurality of vertical offsets and the plurality of horizontal offsets corresponding to each group of the angle calculation arrays; determining the directional smoothness according to a plurality of the intermediate slopes; The velocity smoothness corresponding to each set of angle calculation arrays is obtained by the following steps: Obtaining a plurality of intermediate square root results according to the plurality of vertical velocity components and the plurality of horizontal velocity components corresponding to each group of the angle calculation arrays; determining the velocity smoothness based on a plurality of the intermediate square root results; The step of calculating the smoothness evaluation result based on the N-1 groups of directional smoothness and speed smoothness comprises the following steps: Calculating the mean of each group of the directional smoothness and the speed smoothness to obtain a comprehensive smoothness; The stability evaluation result is determined based on the N-1 comprehensive stability.

2. The artillery stability evaluation method according to claim 1, characterized in that: Obtaining N-1 groups of angle calculation arrays from the N pieces of angular velocity information in a time sequence includes: Taking the first angular velocity information among the N angular velocity information as a starting point and selecting a first group of the angle calculation arrays according to a preset calculation window length; Taking the angular velocity information at the second position in the angle calculation array selected last time as the starting point, the angle calculation array of this time is selected according to the preset calculation window length, until the second group of angle calculation arrays to the N-1th group of angle calculation arrays are selected.

3. The artillery stability evaluation method according to claim 1, characterized in that: The horizontal offset and the vertical offset corresponding to the angular velocity information at two adjacent moments are obtained by the following steps: Subtracting the vertical angular velocity information corresponding to two adjacent moments to obtain the vertical offset; The horizontal angular velocity information corresponding to two adjacent moments is subtracted to obtain the horizontal offset.

4. The artillery stability evaluation method according to claim 1, characterized in that: The horizontal velocity component and the vertical velocity component corresponding to the angular velocity information at two adjacent moments are obtained by the following steps: Calculate the average of the vertical angular velocity information corresponding to two adjacent moments to obtain the vertical velocity component; The horizontal angular velocity information corresponding to two adjacent moments is averaged to obtain the horizontal velocity component.

5. A gun stability evaluation system, characterized in that: include: a data acquisition module, configured to acquire N pieces of angular velocity information of the artillery, wherein the N pieces of angular velocity information are acquired from the time the artillery starts ranging to the time the artillery starts firing, and the acquisition times corresponding to the N pieces of angular velocity information are all different and arranged in a time sequence, and each piece of angular velocity information includes at least vertical angular velocity information and horizontal angular velocity information; a data presetting module, configured to obtain N-1 groups of angle calculation arrays from the N pieces of angular velocity information in a time sequence, wherein each group of the angle calculation arrays includes angular velocity information of a predetermined calculation window length that is adjacent in sequence; an offset component calculation module, configured to calculate, in each group of the angle calculation arrays, a horizontal offset, a vertical offset, a horizontal velocity component, and a vertical velocity component corresponding to each group of the angular velocity information at two adjacent moments; a direction stability calculation module, configured to determine the direction stability corresponding to each group of the angle calculation arrays according to the horizontal offset and the vertical offset; A speed smoothness calculation module, configured to determine the speed smoothness corresponding to each group of the angle calculation arrays according to the horizontal speed component and the vertical speed component; A result output module is used to calculate a stability evaluation result based on the N-1 groups of direction stability and speed stability; The directional stability corresponding to each set of angle calculation arrays is obtained by the following steps: Determine a plurality of intermediate slopes according to the plurality of vertical offsets and the plurality of horizontal offsets corresponding to each group of the angle calculation arrays; determining the directional smoothness according to a plurality of the intermediate slopes; The velocity smoothness corresponding to each set of angle calculation arrays is obtained by the following steps: Obtaining a plurality of intermediate square root results according to the plurality of vertical velocity components and the plurality of horizontal velocity components corresponding to each group of the angle calculation arrays; determining the velocity smoothness based on a plurality of the intermediate square root results; The step of calculating the smoothness evaluation result based on the N-1 groups of directional smoothness and speed smoothness comprises the following steps: Calculating the mean of each group of the directional smoothness and the speed smoothness to obtain a comprehensive smoothness; The stability evaluation result is determined based on the N-1 comprehensive stability.

6. An electronic device, characterized in that: The method comprises a memory, a communication module, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method for evaluating the stability of a gun as claimed in any one of claims 1 to 4 is implemented.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the artillery stability evaluation method according to any one of claims 1 to 4.

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