A multi-sensor weighted trigger system for artillery muzzle velocity measurement radar

Abstract

The application discloses a multi-sensor weighting trigger system for a gun muzzle velocity measuring radar and belongs to the technical field of gun muzzle velocity measurement; through infrared triggering, acceleration and other sensing triggering, Doppler triggering, electric shock triggering and other external triggering instruction signals, and then through the weighting judgment of a trigger decision device, reliable trigger information is obtained. The system utilizes the physical phenomena generated during the launching of weapons and ammunition, such as vibration, sound, fire, target movement and instruction information, simultaneously measures through the combination of multiple sensors, comprehensively judges the physical time, speed, intensity and other information according to logic, and finally outputs the trigger time and trigger signal, so that the false triggering and missed measurement caused by impact vibration resistance, gun interference, sunlight influence and electric noise interference are reduced, and the task reliability of the system is improved.

Description

Technical Field

[0001] This invention relates to a multi-sensor weighted triggering system in the field of artillery muzzle velocity measurement technology, which is suitable for triggering and starting applications of artillery muzzle velocity measurement radar, ballistic radar, etc. Background Technology

[0002] Artillery muzzle velocity measurement radar requires a high-precision activation signal to trigger data acquisition and muzzle velocity extrapolation. When artillery fires, it generates shock waves (vibration and sound), flash, projectile motion, and external synchronization signals such as firing signals, activation signals, and external trigger signals. The radar relies on sensor signals, Doppler signals, and command signals to trigger, and uses combined decision-making to eliminate trigger interference, false triggers, and missed triggers. Because this invention is based on a multi-sensor combined criterion, improving trigger reliability and accuracy, no research literature on multi-sensor combined triggering has been found to date. Summary of the Invention

[0003] The problem to be solved by this invention is to propose a multi-sensor weighted triggering system for artillery muzzle velocity measurement radar. This method can be applied to the start-up and triggering synchronization of ballistic measurement such as artillery muzzle velocity measurement radar and ballistic measurement radar, so as to realize the synchronization of triggering time when the artillery is fired.

[0004] The present invention is characterized by comprising the following steps:

[0005] A multi-sensor weighted triggering system for artillery muzzle velocity measurement radar includes multiple test units; each test unit is one or more of an infrared sensor, an acceleration sensor, and a Doppler signal trigger; it also includes a logic decision unit, a time compensation unit, and a trigger decision unit.

[0006] The infrared sensor is used to sense the temperature and flash of the combustion chamber at the moment the projectile leaves the barrel, triggering changes in the infrared sensor's electrical signal to form changes in level and pulse, and sending out an infrared trigger signal; the accelerometer is used to sense the strong impact vibration during artillery firing, forming a vibration trigger signal; the Doppler signal trigger uses the principle of Doppler radar electromagnetic waves illuminating the Doppler frequency of a moving projectile to achieve Doppler detection of the fired projectile and form a detection trigger signal.

[0007] After receiving the information from the sensor, the trigger decision device first determines the number and type of the sensor:

[0008] When a single sensor is involved in the decision, the decision on whether to launch or not is based solely on the triggering of that sensor, and the launch time is characterized by the moment when the sensor changes.

[0009] When two sensors are involved in the decision, the triggering of the main sensor is used to start the decision process on whether to launch or not. The auxiliary sensor is used to make interference decisions. If the auxiliary sensor determines that the main sensor is interfering, the triggering event is invalid and the launch time representation is invalid.

[0010] When using three or more sensors for composite decision-making, the trigger of the main sensor is selected as the start signal for the decision-making process based on sensor priority. When the main sensor fails, if multiple other sensors trigger effectively at the same time, the sensor that triggers effectively is used as the start signal for the decision-making process, and the trigger time priority is used as the representation of the launch time. When using multiple sensors to assist in interference decision-making, if interference is determined, the trigger event is invalid, and the launch time representation is invalid.

[0011] After the launch time characterization is valid, if there are only one or two sensors involved in the decision, the main sensor or the only sensor is used as the triggering condition and trigger time decision for priority decision, and the auxiliary sensor is used as the triggering condition for auxiliary decision; if there are three or more sensors involved in the decision, the comprehensive trigger time decision is achieved through the weighting coefficient of each sensor.

[0012] The time compensation unit performs comprehensive delay compensation for the trigger signal based on the received trigger time judgment and the different locations and types of sensors, thereby correcting the time when the projectile leaves the muzzle.

[0013] This method has the following advantages compared to the prior art:

[0014] 1. The triggering means of the artillery muzzle velocity measuring radar of the present invention includes at least one or more types of triggering means for determining whether the artillery has been fired and for calibrating the zero-point time of the projectile trajectory. Commonly used ones include infrared initiators, sensor triggers, and trigger commands; others include multiple types of sensors to compensate for the instability of each sensor (trigger signal).

[0015] 2. By using a trigger command signal, since there is an uncertain relationship with the actual projectile launch time, it can be corrected (by delay or advance) according to the actual trigger command generation principle, reducing the error to the order of 10ms.

[0016] 3. Utilizing physical phenomena such as vibration, sound, flash, target movement, and command information generated during weapon and ammunition firing, multiple sensors are used for simultaneous measurement. Based on logic, information such as physical time, speed, and intensity is comprehensively judged to ultimately provide the trigger time and trigger signal. This reduces false triggering and missed detection caused by impact vibration, near-battery interference, sunlight, and electrical noise interference, thereby improving the system's mission reliability. Attached Figure Description

[0017] Figure 1 This is a flowchart of the present invention. Detailed Implementation

[0018] The artillery muzzle velocity measuring radar operates in normal working and self-testing states. The zero point of its independent working process is triggered and time-calibrated by external trigger command signals such as infrared starter, accelerometer, Doppler signal trigger, electric firing, as well as on / off signals, other photosensitive sensors, vibration sensors, etc.

[0019] The infrared trigger signal is generated by the infrared starter photosensitive device sensing the temperature and flash of the gun chamber at the moment the gun leaves the barrel, triggering a change in the electrical signal of the infrared sensor, forming a change in level and pulse. It has the characteristics of high trigger sensitivity, low trigger delay and high trigger time accuracy.

[0020] The sensor trigger signal, which is generated by sensors such as vibration, sound, and acceleration, senses the strong impact vibration during artillery firing and forms the sensor trigger signal, has strong reliability.

[0021] The Doppler trigger signal uses the principle of Doppler radar electromagnetic waves illuminating the Doppler frequency of a moving projectile to achieve Doppler detection of the launched projectile, and uses this as a trigger signal. It has high reliability and anti-interference performance, and can effectively realize projectile exit detection.

[0022] External triggering command signals such as electric firing, electric firing command signals generated during projectile launch, or firing power signals, start command signals, etc., may be subject to abnormal triggering or detection triggering. These signals can be used as a joint auxiliary decision on whether or not to launch the projectile.

[0023] The trigger decision unit performs a weighted decision based on information such as infrared trigger signals, acceleration sensor trigger signals, Doppler trigger signals, and electrical discharge signals to determine whether interference exists, whether the trigger is normal, or whether there is abnormal interference. If the trigger is determined to be normal, the measurement process begins.

[0024] The process of triggering the decision includes: using an auxiliary decision-making method to determine whether and when to launch the projectile. The specific method is as follows: if only a single sensor is involved in the decision, the sensor used for triggering is the sole decision condition for determining whether to launch, and the launch time is characterized by the moment when the sensor changes.

[0025] When two sensors are used to assist in the decision-making process, the triggering of the main sensor (usually an infrared initiator) initiates the decision-making process for whether to launch. The auxiliary sensor is used to determine interference (sunlight, artillery fire, etc.). If interference is detected, the triggering event is invalid, and the launch time representation is also invalid. The sensor priority is generally as follows: infrared initiator, Doppler signal trigger, acceleration (vibration) trigger, launch trigger signal, etc.

[0026] When using three or more sensors for composite decision-making, the trigger of the main sensor is selected as the start signal for determining whether to launch, according to the sensor priority. When the main sensor fails, if multiple other sensors (two or more) trigger effectively at the same time, it can also be used as the start signal for determining whether to launch, and the launch time is represented according to the trigger time priority. When using multiple sensors to assist in interference decision-making, if it is determined to be interference, the trigger event is invalid and the launch time representation is invalid.

[0027] Effective launch time characterization: A priority decision and auxiliary decision-making method is employed to determine whether and when to launch a projectile. This is applicable to single-sensor or combined use of two sensors. The primary (single) sensor trigger is used as the trigger condition and trigger time criterion for priority decision-making, while the auxiliary sensor is used as the trigger condition for auxiliary decision-making.

[0028] Three or more sensors are used in combination, and the weighting coefficients of each sensor are used to achieve a comprehensive trigger decision. For example, if an infrared starter is used as the main sensor (weighting coefficient 40%), and a Doppler signal trigger (weighting coefficient 35%) and an acceleration sensor trigger (weighting coefficient 25%) are used for comprehensive decision, the decision is judged to be normal if the criterion is ≥60%.

[0029] Time compensation is performed by comprehensively compensating for the delay of each trigger signal based on the different trigger delay times, thereby correcting the projectile exit time from the muzzle.

[0030] The triggering and timing of artillery firing are synchronized.

[0031] The triggering methods of artillery muzzle velocity measuring radar include at least one or more types of triggering methods used to determine whether the artillery has been fired and to calibrate the zero-point time of the projectile trajectory. Commonly used methods include infrared initiators, sensor triggers, and trigger commands; some radars also include multiple types of sensors to compensate for the instability of each sensor (trigger signal).

[0032] Infrared triggers are susceptible to false triggering due to factors such as sunlight, nearby artillery firing, and strong electrical interference. Accelerometers and similar sensors, due to their high sensitivity, are also prone to false triggering due to near-firing or gun adjustment. Furthermore, different projectile calibers exhibit inconsistent responses to firing vibrations, leading to either false triggering or failure to trigger. Doppler signal triggers require data acquisition and calculation, resulting in a startup delay that necessitates startup time compensation. External trigger commands such as electric firing have errors due to a lead time (firing reaction time, projectile movement time within the barrel), or variations in projectile movement time within the barrel for different caliber artillery pieces. These errors also require time compensation correction.

[0033] Multiple sensors can be used to achieve independent or combined decision-making, thereby increasing the reliability and accuracy of the decision. The infrared trigger signal can be used as the time reference, as it has high time accuracy over a large firing interval. Due to the delay of the photosensitive device, time compensation can be performed.

[0034] You can choose any sensor and signal, such as an acceleration sensor, a Doppler signal trigger, or an electric shock trigger, as the trigger sensor. Since the principles and operating environments of each sensor are different, there may be a certain delay, which requires time compensation.

[0035] Multiple sensors and triggering methods can also be combined to improve triggering accuracy and reliability. For example, an infrared starter + accelerometer combination can be used, or an infrared starter + Doppler signal trigger can be used, or an infrared starter + external trigger command signal such as an electric shock, as well as other combinations of sensors, to avoid the phenomena of false triggering, large triggering delay, or failure to trigger when using a single sensor.

[0036] A logic decision-making method for selecting up to two multi-sensor combinations. It employs priority decision and auxiliary decision-making methods to determine whether and when to fire a projectile. This method is applicable to single-sensor or limited sensor (two-sensor) combinations. The primary (single) sensor trigger is used as the trigger condition and trigger time criterion for priority decision-making, while the auxiliary sensor is used as the trigger condition for auxiliary decision-making.

[0037] For multi-sensor combinations of two or more sensors, a weighted decision method is selected. If three or more sensors are used in combination, the weighting coefficients of each sensor are used to achieve a comprehensive trigger decision. If an infrared starter is used as the main sensor (weighting coefficient 40%), a combined decision is made using a Doppler signal trigger (weighting coefficient 35%) and an acceleration sensor trigger (weighting coefficient 25%). If the criterion is ≥60%, it is judged as a normal start.

[0038] Sensor time compensation specifically includes:

[0039] Due to sensor response and circuit response delays, the trigger delay of a typical infrared starter is generally between 0.15ms and 0.4ms. Taking a delay of 0.3ms as a correction value, the error is about 0.15ms.

[0040] Due to differences in sensor installation location and barrel length, the vibration / vibration propagation time of typical acceleration sensors varies, generally ranging from 1ms to 20ms, while the delay of firing at close range is much greater than this value.

[0041] The Doppler signal trigger is used. Due to the sampling interval of the detection data, there is a certain trigger delay. At the same time, the Doppler signal will be triggered before the projectile (bottom) leaves the muzzle. Taking all factors into consideration, the trigger delay can generally be controlled between -0.5ms and 1ms.

[0042] After being triggered by an electric firing signal, the response will be affected by various factors such as firing delay, ignition tube delay (propellant explosion delay), and projectile movement delay in the chamber. The specific time is related to the amount of propellant (initial velocity), the caliber of the gun, and the barrel length. Generally, the response time will be advanced by several milliseconds to tens of milliseconds, which is not easy to correct. The trigger advance can be adjusted based on experience according to different calibers, propellant amounts, and barrel lengths.

[0043] The muzzle signal can be implemented using a net target. Generally, the net target will be triggered when the projectile exits the muzzle. There will be a lead time between the response time and the actual time when the projectile exits the muzzle. The value of the lead time is related to the size and velocity of the projectile. The error can be controlled in the range of -0.1ms to -1ms.

[0044] The trigger command signal is used. Since there is an uncertain relationship with the actual projectile launch time, it can be corrected (by delay or advance) according to the actual trigger command generation principle. The error is generally on the order of 10ms.

Claims

1. A multi-sensor weighted trigger system for a gun muzzle velocity radar comprising a plurality of test units; the test units being one or more of an infrared sensor, an acceleration sensor, and a Doppler signal trigger; characterized in that, The time compensation unit and the trigger decision maker are further included; The infrared sensor is used for sensing the temperature and light of the chamber combustion at the moment of the projectile leaving the muzzle, and triggering the change of the infrared sensor electric signal to form the change of the level and pulse, and sending out the infrared trigger signal; the acceleration sensor is used for sensing the strong impact vibration of the gun firing to form the vibration trigger signal; the Doppler signal trigger adopts the principle of Doppler radar electromagnetic wave irradiation of the Doppler frequency of the moving projectile, and realizes the Doppler detection for the fired projectile to form the detection trigger signal; After receiving the information of the sensor, the trigger decision maker first judges the number and type of the sensor: When a single sensor participates in the judgment, the trigger of the sensor is used as the only judgment condition for the judgment of whether to fire or not, and the firing time is represented by the change time of the sensor; When two sensors participate in the judgment, the trigger of the main sensor is used as the start of the judgment process of whether to fire or not, and the auxiliary sensor is used for interference judgment. If the auxiliary sensor judges that the main sensor is interfered, the trigger event is invalid, and the firing time representation is invalid; When three or more sensors participate in the composite judgment, the trigger of the main sensor selected according to the priority of the sensor is used as the start signal of the judgment process of whether to fire or not. When the main sensor fails, the sensors that are triggered at the same time are used as the start signal of the judgment process of whether to fire or not, and the trigger time priority is used as the representation of the firing time. The multiple sensors are used for interference judgment. If it is judged that the trigger event is invalid, the firing time representation is invalid; After the firing time representation is valid, if the number of sensors participating in the judgment is one or two, the trigger of the main sensor or the only sensor is used as the trigger condition and the trigger time judgment of the priority decision, and the auxiliary sensor is used as the trigger condition of the auxiliary decision. The number of sensors participating in the judgment is three or more, and the comprehensive trigger time judgment is realized through the weighting coefficient of each sensor; The time compensation unit compensates for the delay of the trigger signal according to the received trigger time judgment and the different positions and types of the sensors, and corrects the time of the projectile leaving the muzzle.

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