A method for improving shooting accuracy of a gun fire control system

Abstract

The application provides a method for improving shooting precision of a gun fire control system, and the method comprises the following steps: updating a sighting scale according to an established error compensation function; and performing a blocking shot at a future track point of a target by using a blocking shooting mode according to a determined target track and a total lag time. The application considers and solves various error influencing factors, reduces the requirement for rotation precision and rotation rate of a servo system, reduces the difficulty of adjusting the servo system, and considers the subjective judgment ability of combat personnel.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of weapon system control technology, in particular to a method for improving the shooting accuracy of a gun fire control system. BACKGROUND

[0002] In the prior art, a conventional team support unmanned gun fire control system obtains target information by an optical-electrical module and transmits the information to a fire control module. After the fire control module calculates the shooting parameters of the gun (including the elevation angle and the azimuth angle of the shooting), the shooting parameters are sent to a servo module to control the gun barrel to rotate to the target future point for attack.

[0003] In the prior method, due to the inherent constraints of the devices, the attack accuracy is not high. First, during the process of connecting the optical-electrical module to the fire control module, due to the installation process problems, there is inevitably an installation error between the devices, thereby causing a sighting error. When the tracking accuracy of the servo system is not high enough, there is a tracking error in the process of controlling the gun barrel to track the target by the servo system. Meanwhile, in the process of fire attack, the accuracy of the shooting parameters directly affects the shooting result. However, due to the rotation accuracy and rotation rate of the servo module of the existing fire control system being limited by the constraints of the devices, the shooting accuracy is not high. SUMMARY

[0004] The present application provides a method for improving the shooting accuracy of a gun fire control system, which can be used to solve the technical problem of low attack accuracy of a team support unmanned gun fire control system.

[0005] The present application provides a method for improving the shooting accuracy of a gun fire control system, which comprises the following steps:

[0006] According to the established error compensation function, the sighting scale is updated;

[0007] According to the determined target track and the total lag time, a blocking shooting mode is adopted to perform blocking at the target future track point.

[0008] Optionally, the error compensation function is determined by the following method:

[0009]

[0010] In the formula, θ * is the error compensation angle, D om is the distance between the target m and the sighting center o, 0 om ≤D op , Δa is the vertical distance between the gun barrel center s point and the window center o point of the sighting scope during installation; D op is the distance between the window center o of the sighting scope and the intersection p of the actual fire sighting line, and Δb is the error compensation distance.

[0011] Optionally, if the target is located in the region between the muzzle center s and the aiming center p, the error compensation function is specifically:

[0012]

[0013] Optionally, if the target is located in the region outside the muzzle center s and the aiming center p, the error compensation function is specifically:

[0014]

[0015] Optionally, the total delay time includes: the delay time of giving an order, the delay time of image processing, and the calculation time of the fire control calculation function.

[0016] Optionally, the mean square value of multiple tests is taken as the delay time of giving an order of the combat personnel by using a visual reaction time test tool.

[0017] Optionally, according to the determined target track and the total delay time, a barrier shooting mode is adopted to carry out barrier at the future track point of the target, including:

[0018] According to the distance of the target from the unmanned gun fire control system and the position point of the target in the intelligent scope, a recursive least squares method is used to filter the target, to obtain the filtered position (x0, y0, z0) and the filtered velocity (v x ,v y ,v z ) of the target at the current time.

[0019] According to the filtered position (x0, y0, z0) and the filtered velocity (v x ,v y ,v z ) of the target, and the total delay time, the target position after the total delay time is determined.

[0020] According to the ballistic table, the bullet flight time t f is obtained, and the target position after the total delay time is determined.

[0021] Optionally, the target position after the total delay time is determined by the following method:

[0022] (x t ,y t ,z t )=(v x ,v y ,v z )×(Δt+t)+(x0,y0,z0),t>t d

[0023] wherein, Δt is the total delay time, (xt y t z t ) is the target position after total lag time; (v x v y v z ) is the target filtered velocity; (x0, y0, z0) is the target filtered position, wherein t d is the system lag time, and t is the moment of the barrage shooting.

[0024] Optionally, the aiming graduation point adopts the following method:

[0025] (x m y m z m ) = (x t y t z t ) - (v x v y v z ) x (Δt + t f )

[0026] In the formula, (x m y m z m ) is the aiming graduation point, Δt is the total lag time, (x t y t z t ) is the target position after total lag time; (v x v y v z ) is the target filtered velocity; and t f is the bullet flight time. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is the display surface of the aiming area of the intelligent sighting scope provided by the embodiment of the application;

[0028] Figure 2 is the flowchart of the method for improving the shooting precision of the gun fire control system provided by the embodiment of the application;

[0029] Figure 3 is one of the calibration links provided by the embodiment of the application;

[0030] Figure 4 is the second calibration link provided by the embodiment of the application;

[0031] Figure 5 is the third calibration link provided by the embodiment of the application;

[0032] Figure 6A fire control principle schematic diagram provided for an embodiment of the present application;

[0033] Figure 7 A simulation result schematic diagram one provided for an embodiment of the present application;

[0034] Figure 8 A simulation result schematic diagram two provided for an embodiment of the present application;

[0035] Figure 9 A simulation result schematic diagram three provided for an embodiment of the present application;

[0036] Figure 10 A simulation result schematic diagram four provided for an embodiment of the present application. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical scheme and advantages of the present application more clear, the following will make further detailed description to the embodiments of the present application in combination with the drawings.

[0038] In order to make the present application more clear, first, some concepts of the present application are simply introduced.

[0039] The purpose of the present application is to put forward an implementation method of improving shooting precision of a gun fire control on the basis of a team support unmanned gun fire control system, aiming at the error existing in the type of fire control system, assisting combat personnel to aim at the target, and finally realizing accurate attack on the target.

[0040] The team support unmanned gun fire control system is totally divided into three subsystems: an optical-electrical system (an intelligent sighting scope) - capturing a target position and displaying the position of the target and the muzzle in a view window (the position of the muzzle is expressed by aiming graduation in the intelligent sighting scope view window), a fire control calculation module - used for calculating shooting elements, a servo system - turning the muzzle (changing the elevation angle and azimuth angle of the muzzle).

[0041] The working principle of the team support unmanned gun fire control system is that after the target is captured by the intelligent sighting scope, the target data is transmitted to the fire control calculation module to calculate shooting elements (the elevation angle and azimuth angle of the muzzle when pointing to the target future point) in real time, and finally the muzzle is turned to aim at the target future point by the servo system to attack the target.

[0042] Explanation of terms:

[0043] Aiming line: a straight line extending outward from the center of the intelligent sighting scope view window;

[0044] Fire line: a straight line extending outward from the center of the gun turret muzzle.

[0045] The present application will be described in detail in combination with the drawings.

[0046] AsFigure 1 As shown, Figure 1 1 is the central crosshair of the smart sight, which is fixed; 2 is the rangefinder crosshair of the smart sight, with the center of the rangefinder infrared sensor; 3 is the target lock frame; 4 is the aiming crosshair reticle, meaning that in actual use, when the target enters the center of the aiming crosshair reticle, firing will hit the target; 5 is the target's position in the smart sight; 6 is the smart sight display interface.

[0047] like Figure 2 As shown, this application includes the following steps:

[0048] Step 1: Update the aiming reticle based on the established error compensation function.

[0049] Before performing step 1, calibration must be performed first. If there is an error in the installation of the smart sight, it will cause the fire control system's fire line to be non-parallel to the aiming line, such as... Figure 3 As shown. The vertical distance from the muzzle center point s to the center point o of the smart sight's viewport is determined, assumed to be Δa; and the intersection of the aiming line and the fire line is also a fixed quantity, which can be obtained by test firing at static targets at different distances during calibration, assumed to be point p; while the distance op can be obtained by laser rangefinding of the smart sight, assumed to be D. op .

[0050] like Figure 4 As shown, when the target is between points o and p (point m), that is, when the turret position is adjusted so that the target appears on the aiming line (the target is located in the area between the muzzle center s and the target), and the line of fire is parallel to the aiming line, the muzzle points to a position Δa below the target. To aim the muzzle at the target, simply raise the turret by θ° using the servo system. The line of fire and the line of sight intersect at point p. Once the target is on the line of sight, aim the gun at a point Δb below the target. Where D om This is the distance between target m and aiming center p, which can be obtained through laser rangefinding. If, during the actual engagement, it is still assumed that the line of fire is parallel to the aiming line, the hit will occur in front of the target. To compensate for this error, after measuring the distance between the target and the aiming center, the required muzzle elevation angle for aiming at the target is returned to the system. The system then updates the aiming reticle and uses the new aiming reticle to aim at the target. Therefore, the error compensation function is as follows:

[0051]

[0052] Where, θ * For the error compensation angle, D om It is the distance between target m and aiming center p, 0 < D om ≤D op .

[0053] In actual operation, the vertical distance between the muzzle center and the sight center is much smaller than the distance from the sight center to the target, i.e., Δa << D. om At this point, the error compensation function can be simplified to:

[0054]

[0055] After calculating the error compensation angle, update the aiming reticle; within the viewport, the updated aiming reticle is positioned downwards from the center of the viewport. t→p (θ * at ) location, f t→p The (·) function is an angle-to-pixel conversion function.

[0056] In another scenario, when the target is located on the aiming line outside point p (point m), that is, when the target is located in the area between the muzzle center s and the aiming center p. For example... Figure 5 As shown. Based on the analysis when the target is located between points o and p, the error compensation function at this time can be obtained as follows:

[0057]

[0058] Simplified version:

[0059]

[0060] After calculating the error compensation angle, update the aiming reticle; within the viewport, the updated aiming reticle is positioned upwards from the center of the viewport. t→p (θ * at ) location, f t→p The (·) function is an angle-to-pixel conversion function.

[0061] Based on the error compensation function forms obtained from the two target-aiming center positional relationships, they can be synthesized into a single error compensation function:

[0062]

[0063] In the formula, θ * For the error compensation angle, D om It is the distance between target m and aiming center o, 0 < D om ≤D op Δa is the vertical distance from the muzzle center point s to the sight center point o at the time of installation; D op Δb is the distance between the center point o of the scope window and the intersection point p of the actual fire aiming line, and Δb is the error compensation distance.

[0064] After calculating the error compensation angle, update the aiming reticle; within the viewport, the updated aiming reticle is positioned downwards from the center of the viewport. t→p (θ * at ) location, f t→pThe (·) function is an angular pixel conversion function.

[0065] Step 2: According to the determined target track, the total lag time, and the blocking shooting mode, blocking is performed at the future track point of the target.

[0066] Step 2 includes:

[0067] Step 201: According to the distance of the target from the unmanned gun fire control system, the position point of the target in the intelligent scope, and by using the recursive least squares method, the target is filtered to obtain the filtered position (x0, y0, z0) and the filtered velocity (v x ,v y ,v z ) of the target at the current time.

[0068] Step 202: According to the filtered position (x0, y0, z0) and the filtered velocity (v x ,v y ,v z ) of the target, and the total lag time, the target position after the total lag time is determined.

[0069] It should be noted that the total lag time includes the instruction sending lag time, the image processing lag time, and the fire control calculation function calculation time.

[0070] The fire control calculation function calculation time is very small, generally between 5-10 ms; the image processing lag time is generally between 60-100 ms; and the most influential is the instruction sending lag time, which is generally between 0.1-0.5 s. If the moving target passes through the scope of the scope at 30 km / h (8.33 m / s), if the image processing lag time and the reaction time of the combat personnel cannot be roughly estimated, the error of the aiming is between 1.33 m-5 m. The damage range of a rifle is less than 1 m. Therefore, such an error will make the combat personnel unable to hit the target when attacking a moving target at 30 km / h.

[0071] The present application uses a visual reaction time test tool to take the mean square value as the instruction sending lag time of the combat personnel under multiple tests, such as 100 tests; then the image processing time of the device is obtained when the device is tested, and the sum of the two times is the total lag time Δt of the rough gun fire control system when running.

[0072] Specifically, the target position after the total lag time is determined by the following method:

[0073] (x t ,y t ,z t )=(v x ,v y,v z )×(Δt+t)+(x0,y0,z0),t>t d

[0074] Where Δt is the total lag time, (x t ,y t ,z t (v) represents the target position after the total delay time; x ,v y ,v z (x0, y0, z0) represents the target's filtered velocity; (x0, y0, z0) represents the target's filtered position, where t d Let t be the system delay time, and t be the moment of the intercepting shot.

[0075] Step 203: Obtain the projectile flight time t based on the firing table. f The aiming reticle is determined by the target position after the total delay time.

[0076] Specifically, the following method is used to aim at the reticle point:

[0077] (x m ,y m ,z m )=(x t ,y t ,z t )-(v x ,v y ,v z )×(Δt+t f )

[0078] In the formula, (x m ,y m ,z m (x) represents the aiming reticle point, Δt represents the total hysteresis time, and (x) represents the total delay time. t ,y t ,z t (v) represents the target position after the total delay time; x ,v y ,v z ) represents the target velocity after filtering; t f This refers to the time it takes for the missile to launch.

[0079] like Figure 6 As shown. Point A is the center point of the viewport, which is also the aiming point; point F is the point where the aiming reticle is located; point M is the current location of the target; and point O is the location of the unmanned gun fire control weapon station.

[0080] After turning the gun muzzle and aiming at point A, wait for the target to arrive. When the target reaches point F (the operator can see the aiming reticle aiming at the target in the smart sight window), fire immediately to intercept the target at point A.

[0081] The following will be described in detail in combination with a specific embodiment:

[0082] It is assumed that the left and right window range of the intelligent sighting scope is-20°-20°, and the up and down window range is-10°-10°; it is assumed that the muzzle velocity of the gun is 800 m / s; it is assumed that the combat personnel reaction time of target 1 and target 2 is 0.2 s, and the image lag time is 100 ms; it is assumed that target 1 is at a distance of 25 m from the unmanned gun fire control weapon station, and moves at a speed of 10 km / h and 30 km / h along the up and down center line of the window and from the right side of the window to the left side of the window at a uniform speed; it is assumed that target 2 is at a distance of 50 m from the unmanned gun fire control weapon station, and moves at a speed of 10 km / h and 30 km / h along the up and down center line of the window and from the right side of the window to the left side of the window at a uniform speed. The simulation results are as follows:

[0083] (1) Target 1 moves at a speed of 10 km / h, and the simulation results are as shown in Figure 7 .

[0084] (2) Target 1 moves at a speed of 30 km / h, and the simulation results are as shown in Figure 8 .

[0085] (3) Target 2 moves at a speed of 30 km / h, and the simulation results are as shown in Figure 9 .

[0086] (4) Target 2 moves at a speed of 10 km / h, and the simulation results are as shown in Figure 10 .

[0087] Compared with the unmanned gun fire control system, the application considers and solves multiple error influencing factors in a complex combat environment, reduces the demand for the rotation accuracy and rotation rate of the servo system, and reduces the difficulty of adjusting the servo system; on the basis of considering the subjective judgment ability of the combat personnel, the process of using the gun to aim by the combat personnel is eliminated, the aiming accuracy for the moving target is improved, and the application has universality for various gun combat weapons.

[0088] The above-described embodiments of the application do not constitute a limitation on the protection scope of the application.

Claims

1. A method for improving the firing accuracy of a fire control system, used in a squad-supported unmanned fire control system, characterized in that, The method includes: Update the aiming reticle based on the established error compensation function; Based on the determined target trajectory and total delay time, the interception firing mode is adopted to intercept the target at its future trajectory point. The error compensation function is determined by the following method: In the formula, θ * For the error compensation angle, D om Δa is the distance between target m and the center point o of the scope's viewport, and Δa is the vertical distance from the muzzle center s to the center point o of the scope's viewport when installed; D op Δb is the distance between the center point o of the scope window and the intersection point p of the actual fire aiming line, and Δb is the error compensation distance. Total latency includes: latency for issuing commands, latency for image processing, and latency for fire control function calculation. Based on the determined target trajectory and total delay time, an interception firing mode is employed to intercept the target at its future trajectory point, including: Based on the distance between the target and the unmanned fire control system, and the target's position in the smart sight, a recursive least squares method is used to filter the target, obtaining the target's filtered position (x0, y0, z0) and filtered velocity (v) at the current moment. x ,v y ,v z ); Based on the filtered position (x0, y0, z0) and the filtered velocity (v) of the target x ,v y ,v z The total hysteresis time is used to determine the target position after determining the total hysteresis time. The projectile launch time t is obtained from the firing table. f The aiming reticle is determined by the target position after the total delay time.

2. The method according to claim 1, characterized in that, If the target is located in the region between the muzzle center s and the intersection point p of the actual fire line of sight, the error compensation function is as follows:

3. The method according to claim 1, characterized in that, If the target is located outside the interval where the muzzle center s intersects with the actual line of sight p, the error compensation function is as follows:

4. The method according to claim 1, characterized in that, The delay time for issuing instructions is determined by the following method: Using a visual reaction time testing tool, the mean square value was taken from multiple tests as the delay time for combat personnel to issue commands.

5. The method according to claim 1, characterized in that, The target position after the total lag time is determined using the following method: (x t ,y t ,z t )=(v x ,v y ,v z )×(Δt+t)+(x0,y0,z0),t>t d Where Δt is the total lag time, (x t ,y t ,z t (v) represents the target position after the total delay time; x ,v y ,v z (x0, y0, z0) represents the target's filtered velocity; (x0, y0, z0) represents the target's filtered position, where t d Let t be the system delay time, and t be the moment of the intercepting shot.

6. The method according to claim 1, characterized in that, The aiming reticle point is determined using the following method: (x m ,y m ,z m )=(x t ,y t ,z t )-(v x ,v y ,v z )×(Δt+t f ) In the formula, (x m ,y m ,z m (x) represents the aiming reticle point, Δt represents the total hysteresis time, and (x) represents the total delay time. t ,y t ,z t (v) represents the target position after the total delay time; x ,v y ,v z ) represents the target velocity after filtering; t f This refers to the time it takes for the missile to launch.

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