An acousto-optic combined shot-point positioning system and method
The acoustic-optical combined detonation point localization system, which combines acoustic arrays and high-speed cameras, solves the problems of complexity and environmental influence of existing detonation point localization systems, and achieves rapid and accurate detonation point localization for single measurement points, which is suitable for target range testing.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- NORTHWEST INST OF NUCLEAR TECH
- Filing Date
- 2023-08-04
- Publication Date
- 2026-08-04
AI Technical Summary
Existing detonation point location methods are complex, expensive, require high levels of communication and power supply, have long deployment cycles, are difficult to test, and are difficult to maintain daily. They are also greatly affected by weather and environmental factors, making it difficult to locate detonation points for multiple rounds of munitions fired in succession.
An acoustic-optical explosion location system is adopted, including an acoustic array, a high-speed camera, a measuring device, and a mounting bracket. Spatial coordinates are obtained through a GNSS timing and positioning module, sound waves are monitored by the acoustic array, and explosion images are recorded by the high-speed camera. Combined with an information processing module, time delay estimation and image processing are performed to achieve rapid location of a single measuring point.
It achieves a simple structure, low cost, and rapid deployment, and can accurately locate the detonation point during multiple rounds of continuous firing, reducing the difficulty of testing, overcoming the impact of smoke and dust, and meeting the needs of long-term monitoring.
Smart Images
Figure CN116990752B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to a detonation point location system and method, specifically to a combined acoustic and optical detonation point location system and method. Background Technology
[0002] In range testing, the ability to quickly and accurately detect ammunition detonation points over a large area is an important basis for evaluating ammunition accuracy and other indicators. The ability to quickly, conveniently, and accurately locate detonation points has significant application value.
[0003] Existing methods for pinpointing detonation points can be broadly categorized into optical and acoustic methods based on their positioning principles. Traditional acoustic methods require at least three measuring points, while optical methods based on intersection require two or more. Positioning methods using photoelectric theodolites offer higher accuracy but are complex and expensive. Optical positioning methods, while highly accurate, are significantly affected by weather and environmental factors, especially during rapid-fire operations. The smoke and dust generated by the preceding detonation can hinder the location of subsequent detonations. Furthermore, test ranges are typically located in the field, and using multiple measuring points for pinpointing requires robust communication and power supply, involves long deployment periods, and presents challenges for routine maintenance, increasing the difficulty of testing. Summary of the Invention
[0004] The purpose of this invention is to solve the technical problems of existing detonation point location methods, such as complex systems, high cost, high requirements for communication and power supply, long deployment cycle, high testing difficulty, difficult daily maintenance, and great influence from weather and environmental factors, and difficulty in completing the location of detonation points of multiple rounds of munitions fired in succession. The invention provides an acoustic-optical combined detonation point location system and method that can meet the needs of rapid deployment and long-term monitoring.
[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:
[0006] A combined acoustic and optical detonation system for locating explosive points is characterized by comprising an acoustic array, a high-speed camera, a measuring device, and a mounting bracket.
[0007] The measuring device includes an information processing module, a GNSS timing and positioning module that communicates with the information processing module, a signal acquisition module, and a camera triggering module;
[0008] The acoustic array is mounted on a mounting bracket and electrically connected to the signal acquisition module. The acoustic array is used to monitor the sound waves generated at the explosion point and convert the sound waves into electrical signals, which are then sent to the signal acquisition module. The signal acquisition module is used to convert the electrical signals into digital signals and transmit them to the information processing module.
[0009] The high-speed camera is mounted on a mounting bracket and electrically connected to both the camera trigger module and the information processing module. The camera trigger module is used to trigger the high-speed camera to record the explosion image of the explosion point.
[0010] The GNSS timing and positioning module is used to determine the spatial coordinates of the acoustic array and high-speed camera, and to provide timing for the information processing module;
[0011] The information processing module is used to estimate the time delay of the digital signal transmitted by the signal acquisition module to obtain the azimuth and elevation angles of the explosion point; and to process the explosion images sent in by the high-speed camera to obtain the azimuth and elevation angles of the explosion point.
[0012] Furthermore, the acoustic array adopts a five-element cross array, which includes two horizontal arms, one vertical wall, and five sensors;
[0013] The two horizontal arms are set perpendicular to each other, and the optical axis projection of the high-speed camera forms a 45° angle with the two adjacent horizontal arms;
[0014] A vertical wall is set perpendicular to the plane containing the two horizontal arms, with one end connected to the intersection of the two horizontal arms;
[0015] Five sensors are electrically connected to the signal acquisition module. Four of the sensors are located at the ends of the two horizontal arms, and the remaining sensor is located at the other end of a vertical wall.
[0016] Furthermore, the camera triggering module employs a flame trigger.
[0017] Meanwhile, the present invention also provides a method for locating explosive points using a combination of acoustic and optical methods, which is characterized by including the following steps:
[0018] 1) Construct the aforementioned combined acoustic and optical detonation point positioning system;
[0019] 2) Obtain the spatial coordinates of the acoustic array and high-speed camera through the GNSS timing and positioning module, and provide timing for the information processing module;
[0020] 3) The sound waves generated by the explosion point are monitored by the sound array to obtain the azimuth angle, elevation angle and arrival time of the sound waves at the explosion point, and then transmitted to the information processing module after time synchronization.
[0021] 4) The flame at the explosion point is monitored by a high-speed camera to obtain the azimuth, elevation and explosion time of the explosion point, and then transmitted to the information processing module after time synchronization;
[0022] 5) By integrating the azimuth, elevation, and sound wave arrival time of the explosion point obtained in step 3) with the azimuth, elevation, and explosion time of the explosion point obtained in step 4) using the post-time information processing module, the explosion point location is completed.
[0023] Furthermore, step 3) specifically involves:
[0024] 3.1. Five sensors on the acoustic array are used to monitor the explosion point and obtain five sound waves;
[0025] 3.2. Using the information processing module, time delay estimation is performed on each pair of the five sound waves to obtain the time delay estimation sequence τ = [τ 12 , τ 13 , τ 14 , τ 15 , τ 23 , τ 24 , τ 25 , τ 34 , τ 35 , τ 45 ] Τ , where T is the vector transpose symbol; where the subscripts represent the two corresponding sensors;
[0026] 3.3. Establish a coordinate system with the center o of the acoustic array as the origin, and define the optical axis of the high-speed camera as the z-axis, the horizontal direction as the x-axis, and the vertical direction as the y-axis;
[0027] The information processing module calculates the difference between each pair of the five sensor positions of the acoustic array to obtain the direction vector R = [r]. 12 r 13 r 14 r 15 r 23 r 24 r 25 r 34 r 35 r 45 ], where r 12 This is the vector pointing from sensor #1 to sensor #2, and so on.
[0028] 3.4. Based on the time delay estimate sequence τ obtained in step 3.2 and the direction vector R obtained in step 3.3, calculate the wave vector of arrival of the sound wave.
[0029]
[0030] In the formula, wave vector The direction of arrival is the direction of the wave, and v is the speed of the sound wave;
[0031] 3.5. Define the angle between the projection of the direction of arrival op onto the xoy plane, op′, and the x-axis as the azimuth angle θ. L The angle between the x-axis and the z-axis is the pitch angle. Depend on Wave Arrow can be obtained Wave Arrow Substituting into the following formula, we can obtain the azimuth angle θ. L and pitch angle
[0032] θ L=atan2(k y ,k x )
[0033]
[0034] 3.6. The average time of sound wave arrival at the measurement point is taken as the average time of sound wave arrival at the five sensors of the acoustic array.
[0035] 3.7. The azimuth angle θ obtained in step 3.5 L and pitch angle The arrival time T1 of the sound wave obtained in step 3.6 is transmitted to the information processing module.
[0036] Further, step 4) specifically involves:
[0037] 4.1. Calibrate the high-speed camera and obtain its pitch angle θ0 and yaw angle. and single pixel angle ε;
[0038] 4.2. Establish a high-speed camera coordinate system with the center o′ of the high-speed camera as the origin, define the optical axis direction of the high-speed camera as the z′ axis, the horizontal direction as the x′ axis, the vertical direction as the y′ axis, and x′o′y′ as the imaging plane of the high-speed camera;
[0039] 4.3 Establish the image coordinate system of the high-speed camera, with the image center o″ on the optical axis of the high-speed camera as the origin, the optical axis direction of the high-speed camera as the z″ axis, the horizontal direction as the x″ axis, the vertical direction as the y″ axis, p″ as the detonation point, and p′ as the detonation point p″. The image of the detonation point offset in the imaging plane x′o′y′ obtained in step 4.2;
[0040] Define the angle between the direction of arrival o′p′ and the x′ axis as the azimuth angle. The angle between the o′p′ and z′ axes is the pitch angle. The center pixel of the explosion offset image p′ can be obtained as (x′, y′);
[0041] 4.4. Based on the pitch angle θ0 and yaw angle obtained in step 4.1 Given the single-pixel angle ε and the center pixel of the explosion offset image p′ obtained in step 4.3 as (x′, y′), we can obtain...
[0042] θ L1 =θ0+x'ε
[0043]
[0044] 4.5. The triggering time of the high-speed camera is recorded as the explosion time T0;
[0045] 4.6. The azimuth angle θ obtained in step 4.4 L1and pitch angle The explosion time T0 obtained in step 4.5 is transmitted to the information processing module.
[0046] Further, step 5) specifically refers to:
[0047] 5.1 Calculate the sound wave propagation time at the explosion point using the sound wave arrival time T1 and explosion time T0 obtained from the information processing module;
[0048] 5.2 Calculate the distance from the explosion point to the measuring device based on the sound wave propagation time;
[0049] 5.3, Obtain the location of the explosion point;
[0050] If the high-speed camera can obtain the direction of the explosion point, the distance from the explosion point to the measuring device and the azimuth angle θ obtained by the high-speed camera can be used as the basis for the measurement. L1 and pitch angle Calculate the coordinates of the explosion point;
[0051] Otherwise, the distance from the explosion point to the measuring device and the azimuth angle θ obtained by the acoustic array are used as the basis for the measurement. L and pitch angle Calculate the coordinates of the explosion point.
[0052] Furthermore, it also includes step 5.4:
[0053] Convert the coordinates of the explosion point to CGCS national geodetic coordinates.
[0054] Furthermore, in step 3.2, the time delay estimation for each pair of the five sound waves is performed by using the cross-correlation time delay estimation method.
[0055] Compared with the prior art, the beneficial effects of the technical solution of the present invention are:
[0056] (1) The acoustic-optical combined explosion point positioning system of the present invention realizes the single measurement point explosion point positioning based on the acoustic-optical combined positioning method. It has a simple structure, low cost, can be deployed quickly, reduces the difficulty of the test, and can also meet the needs of long-term monitoring.
[0057] (2) The sound and light combined detonation point positioning system of the present invention is less affected by weather and environment, can overcome the influence of smoke and dust, and is not affected by the smoke and dust formed by the front-exploding ammunition during continuous firing, and can quickly and accurately complete the positioning of the detonation point of the subsequent ammunition.
[0058] (3) The sound and light combined detonation point positioning method of the present invention can realize the detonation point positioning of multiple rounds of continuous firing ammunition, and the positioning method is simpler. Attached Figure Description
[0059] Figure 1 This is a schematic diagram of the structure of an embodiment of the acoustic-optical combined detonation point positioning system of the present invention;
[0060] Figure 2 This is a block diagram of the measuring device in an embodiment of the acoustic-optical combined detonation point positioning system of the present invention;
[0061] Figure 3 This is a flowchart of an embodiment of the acoustic-optical combined detonation point location method of the present invention;
[0062] Figure 4 This is a schematic diagram of step 3) of the embodiment of the acoustic-optical combined detonation point location method of the present invention, in which the azimuth and elevation angles of the detonation point are obtained by an acoustic array;
[0063] Figure 5 This is a schematic diagram of step 4) of the embodiment of the acoustic-optical combined detonation point location method of the present invention, in which the azimuth and elevation angles of the detonation point are obtained by a high-speed camera.
[0064] The attached figures are labeled as follows:
[0065] 1-Acoustic array, 11-Horizontal arm, 12-Vertical wall, 13-Sensor, 2-High-speed camera, 3-Measuring device, 301-GNSS timing and positioning module, 302-Signal acquisition module, 303-Camera triggering module, 304-Information processing module, 4-Mounting bracket. Detailed Implementation
[0066] like Figure 1 , Figure 2 As shown, an acoustic-optical combined explosion point location system includes an acoustic array 1, a high-speed camera 2, a measuring device 3, and a mounting bracket 4; the measuring device 3 includes an information processing module 304, a GNSS timing and positioning module 301 communicating with the information processing module 304, a signal acquisition module 302, and a camera triggering module 303.
[0067] The acoustic array 1 is mounted on the mounting bracket and electrically connected to the signal acquisition module 302. The acoustic array 1 is used to monitor the sound waves generated at the explosion point during the explosion and convert the sound waves into electrical signals, which are then sent to the signal acquisition module 302. The signal acquisition module 302 is used to convert the electrical signals into digital signals and transmit them to the information processing module 304.
[0068] The high-speed camera 2 is mounted on a mounting bracket and is electrically connected to the camera trigger module 303 and the information processing module 304 respectively; the camera trigger module 303 is used to trigger the high-speed camera 2 to record the explosion image of the explosion point;
[0069] The GNSS timing and positioning module 301 is used to determine the spatial coordinates of the acoustic array 1 and the high-speed camera 2, and to provide timing for the information processing module 304;
[0070] The information processing module 304 is used to estimate the time delay of the digital signal transmitted by the signal acquisition module 302 to obtain the azimuth and elevation angles of the explosion point; and to process the explosion image sent by the high-speed camera 2 to obtain the azimuth and elevation angles of the explosion point.
[0071] In this embodiment, the acoustic array 1 adopts a five-element cross array, which includes two horizontal arms 11, a vertical wall 12, and five sensors 13. The two horizontal arms 11 are arranged perpendicular to each other, and the optical axis projection of the high-speed camera 2 forms a 45° angle with the two adjacent horizontal arms 11. The vertical wall 12 is arranged perpendicular to the plane where the two horizontal arms 11 are located, and one end of it is connected to the intersection of the two horizontal arms 11. The five sensors 13 are electrically connected to the signal acquisition module 302, and four sensors 13 are respectively arranged at the ends of the two horizontal arms 11, and the remaining sensor 13 is arranged at the other end of the vertical wall 12. The camera triggering module 303 adopts a flame trigger.
[0072] The system of this invention achieves single-point detonation location based on a combined acoustic and optical positioning method. It is less affected by weather factors, the positioning method is simple to implement, the device structure is simple, it can overcome the influence of smoke and dust, and realize the location of detonation points of multiple rounds of continuous ammunition, meeting the application requirements of rapid deployment and long-term monitoring.
[0073] Meanwhile, this invention also provides a method for locating detonation points using a combination of acoustic and optical methods, such as... Figure 3 As shown, it includes the following steps:
[0074] 1) Construct the aforementioned combined acoustic and optical detonation point positioning system;
[0075] 2) The spatial coordinates of the acoustic array 1 and the high-speed camera 2 are obtained through the GNSS timing and positioning module 301, and the information processing module 304 is timed accordingly;
[0076] 3) The sound waves generated by the explosion point are monitored by the sound array 1, the azimuth angle, elevation angle and sound wave arrival time T1 of the explosion point are obtained, and the information processing module 304 after time synchronization is transmitted.
[0077] 3.1. Five sensors 13 on the acoustic array 1 are used to monitor the explosion point and obtain five sound waves;
[0078] 3.2. Using the information processing module 304, the cross-correlation time delay estimation method is employed to estimate the time delay of each pair of the five sound waves, resulting in a time delay estimation sequence τ = [τ...]. 12 , τ 13 , τ 14 , τ 15 , τ 23 , τ 24 , τ 25 , τ 34 , τ35 , τ 45 ] Τ , where T is the vector transpose symbol; where the subscripts represent the two corresponding sensors 13;
[0079] 3.3. Establish a coordinate system with the center o of acoustic array 1 as the origin, and define the optical axis of high-speed camera 2 as the z-axis, the horizontal direction as the x-axis, and the vertical direction as the y-axis;
[0080] The information processing module 304 performs pairwise subtraction on the positions of the five sensors 13 in the acoustic array 1 to obtain the direction vector R = [r 12 r 13 r 14 r 15 r 23 r 24 r 25 r 34 r 35 r 45 ], where r 12 This is the vector pointing from sensor 1#13 to sensor 2#13, and so on for the rest;
[0081] 3.4. Based on the time delay estimate sequence τ obtained in step 3.2 and the direction vector R obtained in step 3.3, calculate the wave vector of arrival of the sound wave.
[0082]
[0083] In the formula, wave vector The direction of arrival is the direction of the wave, and v is the speed of the sound wave;
[0084] 3.5. Define the angle between the projection of the direction of arrival op onto the xoy plane, op′, and the x-axis as the azimuth angle θ. L The angle between the x-axis and the z-axis is the pitch angle. Depend on Wave Arrow can be obtained Wave Arrow Substituting into the following formula, we can obtain the azimuth angle θ. L and pitch angle
[0085] θ L =atan2(k y ,k x )
[0086]
[0087] 3.6. The average time of sound wave arrival at the measurement point is taken as the average time of sound wave arrival at the five sensors 13 of the acoustic array 1.
[0088] 3.7. The azimuth angle θ obtained in step 3.5 L and pitch angle The arrival time T1 of the sound wave obtained in step 3.6 is transmitted to the information processing module 304.
[0089] 4) The high-speed camera 2 monitors the flame at the explosion point, obtains the azimuth angle, elevation angle and explosion time T0 of the explosion point, and transmits them to the information processing module 304 after time synchronization;
[0090] 4.1. Calibrate high-speed camera 2 and obtain its pitch angle θ0 and yaw angle. and single pixel angle ε;
[0091] 4.2. Establish a coordinate system for high-speed camera 2 with the center o′ of high-speed camera 2 as the origin. Define the optical axis direction of high-speed camera 2 as the z′ axis, the horizontal direction as the x′ axis, the vertical direction as the y′ axis, and x′o′y′ as the imaging plane of high-speed camera 2.
[0092] 4.3 Establish the image coordinate system of high-speed camera 2, with the image center o″ on the optical axis of high-speed camera 2 as the origin, the optical axis direction of high-speed camera 2 as the z″ axis, the horizontal direction as the x″ axis, the vertical direction as the y″ axis, p″ as the detonation point, and p′ as the detonation point p″. The image of the detonation point offset in the imaging plane x′o′y′ obtained in step 4.2;
[0093] Define the angle between the direction of arrival o′p′ and the x′ axis as the azimuth angle. The angle between the o′p′ and z′ axes is the pitch angle. The center pixel of the explosion offset image p′ can be obtained as (x′, y′);
[0094] 4.4. Based on the pitch angle θ0 and yaw angle obtained in step 4.1 Given the single-pixel angle ε and the center pixel of the explosion offset image p′ obtained in step 4.3 as (x′, y′), we can obtain...
[0095] θ L1 =θ0+x'ε
[0096]
[0097] 4.5. The triggering time of high-speed camera 2 shall be recorded as the explosion time T0;
[0098] 4.6. The azimuth angle θ obtained in step 4.4 L1 and pitch angle The explosion time T0 obtained in step 4.5 is transmitted to the information processing module 304.
[0099] 5) Using the timing measurement device 3, the azimuth, elevation and sound wave arrival time of the explosion point obtained in step 3) are combined with the azimuth, elevation and explosion time of the explosion point obtained in step 4) to complete the explosion point location.
[0100] 5.1 Calculate the sound wave propagation time at the explosion point using the sound wave arrival time T1 and explosion time T0 obtained from the information processing module 304;
[0101] 5.2 Calculate the distance from the explosion point to the measuring device 3 based on the sound wave propagation time;
[0102] 5.3, Obtain the location of the explosion point;
[0103] If the high-speed camera 2 can obtain the direction of the explosion point, then based on the distance from the explosion point to the measuring device 3 and the azimuth angle θ obtained by the high-speed camera 2... L1 and pitch angle Calculate the coordinates of the explosion point;
[0104] Otherwise, based on the distance from the explosion point to the measuring device 3 and the azimuth angle θ obtained by the acoustic array 1... L and pitch angle Calculate the coordinates of the explosion point.
[0105] 5.4 Convert the coordinates of the bomb points to CGCS national geodetic coordinates for direct comparison with other measurement results.
Claims
1. A method for locating detonation points using a combination of acoustic and optical methods, characterized in that, Includes the following steps: 1) Establish a combined sound and light detonation point positioning system; The system includes an acoustic array (1), a high-speed camera (2), a measuring device (3), and a mounting frame (4). The measuring device (3) includes an information processing module (304), a GNSS timing and positioning module (301) communicating with the information processing module (304), a signal acquisition module (302), and a camera triggering module (303). The acoustic array (1) is mounted on the mounting frame (4) and electrically connected to the signal acquisition module (302). The acoustic array (1) is used to monitor the sound waves generated at the explosion point and convert the sound waves into electrical signals, which are then sent to the signal acquisition module (302). The signal acquisition module (302) is used to convert the electrical signals into digital signals and transmit them to the information processing module (304). The high-speed camera (2) is mounted on the mounting bracket (4) and electrically connected to the camera trigger module (303) and the information processing module (304) respectively. The camera trigger module (303) is used to trigger the high-speed camera (2) to record the explosion image of the explosion point. The GNSS timing and positioning module (301) is used to determine the spatial coordinates of the acoustic array (1) and the high-speed camera (2) and to provide timing for the information processing module (304). The information processing module (304) is used to estimate the time delay of the digital signal transmitted by the signal acquisition module (302) to obtain the azimuth and elevation angles of the explosion point. It also processes the explosion image sent in by the high-speed camera (2) to obtain the azimuth and elevation angles of the explosion point. The acoustic array (1) adopts a five-element cross array, which includes two horizontal arms (11), a vertical wall (12), and five sensors (13). The two horizontal arms (11) are set perpendicular to each other, and the optical axis projection of the high-speed camera (2) forms a 45° angle with the two adjacent horizontal arms (11). The vertical wall (12) is set perpendicular to the plane where the two horizontal arms (11) are located, and one end of it is connected to the intersection of the two horizontal arms (11). The five sensors (13) are electrically connected to the signal acquisition module (302), of which four sensors (13) are set at the ends of the two horizontal arms (11), and the remaining sensor (13) is set at the other end of the vertical wall (12). The camera trigger module (303) adopts a flame trigger; 2) The spatial coordinates of the acoustic array (1) and the high-speed camera (2) are obtained through the GNSS timing and positioning module (301), and the information processing module (304) is timed. 3) The sound waves generated at the explosion point are monitored by the acoustic array (1), the azimuth angle, elevation angle and arrival time of the sound waves at the explosion point are obtained, and the data are transmitted to the information processing module (304) after timing; specifically including: 3.
1. Five sensors (13) on the acoustic array (1) are used to monitor the explosion point and obtain five sound waves; 3.
2. Using the information processing module (304), time delay estimation is performed on each pair of the five sound waves to obtain a sequence of time delay estimates. =[ 12 , 13 , 14 , 15 , 23 , 24 , 25 , 34 , 35 , 45 ] T , where T is the vector transpose symbol; where the subscripts represent the two corresponding sensors (13). 3.
3. Establish a coordinate system with the center o of the acoustic array (1) as the origin, and define the optical axis of the high-speed camera (2) as the z-axis, the horizontal direction as the x-axis, and the vertical direction as the y-axis; The information processing module (304) performs pairwise subtraction on the positions of the five sensors (13) of the acoustic array (1) to obtain the direction vector R=[r 12 r 13 r 14 r 15 r 23 r 24 r 25 r 34 r 35 r 45 ], where r 12 The vector pointing from sensor 1 (13) to sensor 2 (13) is given, and so on. 3.
4. Based on the time delay estimate sequence τ obtained in step 3.2 and the direction vector R obtained in step 3.3, calculate the wave vector of arrival of the sound wave. : ； In the formula, wave vector The direction is the direction of Boda. The speed of sound waves; 3.
5. Define the azimuth angle as the angle between the projection op′ of the direction of arrival op onto the xoy plane and the x-axis. The angle between the x-axis and the z-axis is the pitch angle φ. Wave Arrow can be obtained , wave vector Substituting into the following formula, we can obtain the azimuth angle. And pitch angle φ: ； ； 3.
6. The average time of sound wave arrival at the measurement point is taken as the average time of sound wave arrival at the five sensors (13) of the acoustic array (1); 3.
7. The azimuth angle obtained in step 3.5 The pitch angle φ and the arrival time T1 of the sound wave obtained in step 3.6 are transmitted to the information processing module (304). 4) The flame at the explosion point is monitored by a high-speed camera (2), the azimuth angle, elevation angle and explosion time of the explosion point are obtained and transmitted to the information processing module (304) after time synchronization. 5) The explosion point location is completed by integrating the azimuth, elevation and sound wave arrival time obtained in step 3) with the explosion point azimuth, elevation and explosion time obtained in step 4) using the post-time information processing module (304).
2. The acoustic-optical combined detonation point localization method according to claim 1, characterized in that, Step 4) specifically involves: 4.
1. Calibrate the high-speed camera (2) and obtain the pitch angle of the high-speed camera (2). , deflection angle φ0 and single pixel angle ε; 4.
2. Establish a coordinate system of high-speed camera (2) with the center o′ of high-speed camera (2) as the origin. Define the optical axis direction of high-speed camera (2) as z′ axis, the horizontal direction as x′ axis, the vertical direction as y′ axis, and x′o′y′ as the imaging plane of high-speed camera (2). 4.3 Establish the image coordinate system of the high-speed camera (2), with the image center o′′ on the optical axis of the high-speed camera (2) as the origin, the optical axis direction of the high-speed camera (2) as the z′′ axis, the horizontal direction as the x′′ axis, the vertical direction as the y′′ axis, p′′ as the explosion point, and p′ as the explosion point p′′. The explosion point offset image in the imaging plane x′o′y′ obtained in step 4.2; Define the angle between the direction of arrival o′p′ and the x′ axis as the azimuth angle θ. L1 The angle between the o′p′ and z′ axes is the pitch angle φ1, so the center pixel of the explosion point offset image p′ is (x′, y′). 4.
4. Based on the pitch angle obtained in step 4.1 Given the deflection angle φ0 and the single-pixel angle ε, and the center pixel of the explosion point offset image p′ obtained in step 4.3 as (x′, y′), we can obtain... ； ； 4.
5. The triggering time of the high-speed camera (2) is recorded as the explosion time T0; 4.
6. The azimuth angle obtained in step 4.4 The pitch angle φ1 and the explosion time T0 obtained in step 4.5 are transmitted to the information processing module (304).
3. The acoustic-optical combined detonation point location method according to claim 2, characterized in that, Step 5) specifically involves: 5.1 Calculate the sound wave propagation time at the explosion point using the sound wave arrival time T1 and explosion time T0 obtained from the information processing module (304); 5.2 Calculate the distance from the explosion point to the measuring device (3) based on the sound wave propagation time; 5.3, Obtain the location of the explosion point; If the high-speed camera (2) can obtain the direction of the explosion point, the distance from the explosion point to the measuring device (3) and the azimuth angle obtained by the high-speed camera (2) can be used to determine the direction. Calculate the coordinates of the explosion point using the pitch angle φ1; Otherwise, based on the distance from the explosion point to the measuring device (3) and the azimuth angle obtained by the acoustic array (1), Calculate the coordinates of the explosion point using the pitch angle φ.
4. The acoustic-optical combined detonation point location method according to claim 3, characterized in that, It also includes step 5.4: Convert the coordinates of the explosion point to CGCS national geodetic coordinates.
5. The acoustic-optical combined detonation point location method according to claim 4, characterized in that: In step 3.2, the time delay estimation for each pair of the five sound waves is performed by using the cross-correlation time delay estimation method to estimate the time delay for each pair of the five sound waves.