Guided munitions status measurement and environmental perception system and method

Abstract

The application discloses a guided ammunition state measurement and environment sensing system, which comprises a state measurement module and an environment sensing module. The state measurement module comprises a comprehensive sensor assembly, a comprehensive acquisition and storage assembly and a power management assembly, and the comprehensive sensor assembly, the comprehensive acquisition and storage assembly and the power management assembly are integrated in the head of the guided ammunition. The environment sensing module comprises an offline data analysis and reinforcement terminal. The signal output end of the comprehensive sensor assembly is connected with the input end of the comprehensive acquisition and storage assembly; the power input ends of the comprehensive sensor assembly and the comprehensive acquisition and storage assembly are connected with the output end of the power management assembly; and the communication end of the comprehensive acquisition and storage assembly 2 is connected with the communication end of the offline data analysis and reinforcement terminal.

Description

Technical Field

[0001] This invention relates to the field of testing technology, and specifically to a guided munitions status measurement and environmental perception system and method. Background Technology

[0002] Precise measurement of the swaying, displacement, and impact of guided munitions during their movement within the artillery structure is crucial for identifying ammunition state parameters, studying the structural characteristics of artillery ammunition transport, and analyzing component health. However, measuring the displacement and impact parameters of guided munitions during transport within the artillery presents certain challenges. Traditional sensor monitoring components only output the resulting state data, and software instructions are then described using programming languages ​​and executed on hardware chips. This approach has limitations in handling logical control and high-precision dynamic data, failing to meet the requirements for high-precision measurement. Furthermore, traditional methods struggle to fit the changing trends of measurement data caused by environmental degradation, making it impossible to construct a dataset reflecting the mapping relationship between measurement data and the ammunition's operating environment. Summary of the Invention

[0003] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0004] A guided munitions status measurement and environmental perception system, characterized in that it includes a status measurement module and an environmental perception module;

[0005] The status measurement module is used to acquire ammunition status parameter information;

[0006] The environmental perception module is used for the study of the structural characteristics of artillery ammunition and the analysis of component health.

[0007] Furthermore, the status measurement module includes an integrated sensor component, an integrated data acquisition and storage component, and a power management component, all of which are integrated inside the guided munition head.

[0008] Furthermore, the environmental perception module includes an offline data analysis and ruggedization terminal; the signal output terminal of the integrated sensor component is connected to the input terminal of the integrated acquisition and storage component; the power input terminals of the integrated sensor component and the integrated acquisition and storage component are connected to the output terminal of the power management component; and the communication terminal of the integrated acquisition and storage component is connected to the communication terminal of the offline data analysis and ruggedization terminal.

[0009] Furthermore, the integrated sensor assembly includes a tilt angle measurement sensor and a triaxial acceleration measurement sensor, used to measure the swaying displacement of the guided munition and acquire the original impact state data;

[0010] The power supplies for the tilt measurement sensor and the triaxial accelerometer are connected to the power output terminal of the power management component; the analog signal output terminals of the tilt measurement sensor and the triaxial accelerometer are connected to the input terminal of the signal conditioning module of the integrated acquisition and storage component.

[0011] Furthermore, the integrated acquisition and storage component includes a signal conditioning module, a programmable gate array module, a storage control microcontroller module, a communication bus chip module, and DIP switches. It is used to first condition the raw analog data signals acquired by the tilt measurement sensor and the triaxial acceleration measurement sensor, then process the signals through the programmable gate array module, then store the processed signals through the storage control microcontroller, and finally use the communication bus chip to communicate with the offline data analysis and hardened terminal to complete local processing.

[0012] Furthermore, the power management component is used to provide the required power to the integrated sensor component and the integrated acquisition and storage component, and to complete the charging and discharging of the device's energy storage; it includes a charging and discharging control module, a constant voltage output circuit module, an energy storage battery pack, and a charging power supply;

[0013] The charge and discharge control module is used to charge the energy storage battery pack and power the integrated data acquisition and storage components. Its input terminal is connected to the charging power supply via a wiring terminal, and its output terminal is connected to the constant voltage power supply input.

[0014] The constant voltage output circuit module is used to boost and maintain a constant voltage output when the voltage of the energy storage battery pack is lower than the operating voltage. It is connected to the energy storage battery pack via a PCB circuit. Its output terminal is connected to the power input terminal of the integrated acquisition and storage component to supply power to it.

[0015] The energy storage battery pack is used to store energy and power the integrated data acquisition and storage component. It is connected to the integrated data acquisition and storage component via terminal blocks.

[0016] A charging power source used to charge energy storage batteries.

[0017] Furthermore, the offline data analysis ruggedized terminal includes a ruggedized industrial tablet PC and a control interaction transmission command sending module; the input / output terminals of the control interaction transmission command sending and receiving module of the offline data analysis ruggedized terminal are correspondingly connected to the input / output terminals of the communication bus control chip of the integrated acquisition and storage component 2.

[0018] A method for measuring the status of guided munitions and sensing the environment, based on a guided munitions status measurement and environmental sensing system, is characterized by comprising the following steps:

[0019] Step 1: Experiment preparation;

[0020] Step 2: The offline data analysis and hardened terminal sends control commands to the integrated acquisition and storage component to configure the delay start time and acquisition duration, and controls the guided munition displacement and impact measurement device to start working;

[0021] Step 3: Load the guided munition displacement and impact measuring device into the artillery feeding system;

[0022] Step 4: The guided munition displacement and impact measurement device automatically collects, records, and stores data through the integrated acquisition and storage component;

[0023] Step 5: Retrieve the ejector head;

[0024] Step 6: The offline data analysis and hardened terminal reads the test data stored in Step 4, classifies the test data, and extracts features from the data;

[0025] Step 7: Based on the proposed feature data, identify ammunition status parameters, study the structural characteristics of artillery ammunition transport, and analyze the health status of components.

[0026] Preferably, step 6, which involves feature extraction, includes:

[0027] Step 61: Extract target parameters from the raw voltage signal data stored in the offline data analysis and hardening terminal. This specifically includes:

[0028] Step 611: After adapting the range, if the voltage signal data and the result data have a linear relationship, the specific sensor measurement value can be obtained by configuring different range scaling coefficients.

[0029] Step 612: Filter the result data that has been converted into specific sensor measurement values ​​to obtain high-pass, low-pass, band-pass data, spectrum and power spectrum;

[0030] Step 613: Perform time integration calculations on the acquired high-pass, low-pass, and band-pass acceleration and angular velocity data to obtain velocity, displacement, impact, vibration, and angular state parameter results data;

[0031] Step 614: Integrate the state parameter results into a sensor array matrix. Based on the sensor array matrix, the various physical state parameters experienced by the guided munition in the ammunition supply system can be obtained.

[0032] Step 62: Using a multi-scale sliding time window, slide along the time direction of the sensor array matrix, perform principal component analysis on the data within different sliding windows, select the principal feature components that contribute more to the environmental perception operation to form a new three-dimensional key feature value tensor, and obtain the data features. The specific steps include:

[0033] Step 621: Let the sensor array matrix variables in the principal component analysis have m elements: x1, x2, ..., x m The value of the j-th indicator for the i-th evaluation object is x. ij , set each indicator value x ij Convert into standardized indicators

[0034]

[0035] in, s j Let be the sample mean and standard deviation of the j-th indicator, respectively.

[0036]

[0037] Obtain standardized index variables

[0038]

[0039] Step 622: Calculate the correlation coefficient matrix R = (ri) within the time window. j ) m×m :

[0040]

[0041] Where, r ii =1, r ij =r ji r ij It is the correlation coefficient between the i-th indicator and the j-th indicator;

[0042] Step 623: Calculate the eigenvalues ​​λ1≥λ2≥…≥λ of the correlation coefficient matrix R. m ≥0, and the corresponding eigenvectors u1, u2, ... u m , and u j =(u 1j ,u 2j ,…,u nj ) T Then, m new index variables are formed by the feature vectors:

[0043]

[0044] Where y1 is the first principal component, y2 is the second principal component, ..., y m It is the m-th principal component;

[0045] Step 624: Select p principal components within the time window and calculate the eigenvalues ​​λ. j Information contribution rate b j and cumulative contribution rate α p :

[0046]

[0047]

[0048] When α is close to 1, select the first p index variables y1, y2, ..., y p As p principal components, they replace the original m index variables;

[0049] Step 625: Compile the key eigenvalue matrix of the principal components obtained in each time window along the time direction;

[0050] Step 626: Combine the k key eigenvalue matrices obtained from k time windows of different durations along the third dimension to form a three-dimensional key eigenvalue tensor, which will give the multi-scale three-dimensional tensor of the ammunition in terms of the structural characteristics of artillery ammunition and the health status of its components.

[0051] The beneficial effects of this invention are:

[0052] First, the state measurement module of this system can collect the tilt angle and acceleration data of guided munitions during transportation inside the artillery in real time, and realize its own recording and storage function. It can solve the problems of the inability to dynamically measure the displacement and impact of guided munitions in real time and the low measurement accuracy. It has the characteristics of being simple and convenient, accurately measuring dynamic data, accurate measurement results, and high real-time performance.

[0053] Secondly, the environmental perception module of this system can establish a feature matrix of the sensor array by accurately measuring its own state parameters, thereby sensing the slight changes in its own state parameters caused by the deterioration of the external environment, and constructing a mapping relationship between the measurement data and the working environment of the ammunition, thus solving the problem of reliability of the transport structure. Attached Figure Description

[0054] Figure 1 This is a diagram showing the module composition of this system.

[0055] Figure 2 This is the architecture diagram of this system.

[0056] Figure 3 This is a flowchart illustrating the method for using this system to measure the status of guided munitions and perceive the environment.

[0057] Figure 4 This is a module diagram of the integrated data acquisition and storage components.

[0058] Figure 5 This outlines the dataset construction and data processing workflow.

[0059] Figure 6 This is a screenshot of the main interface of this system.

[0060] Figure 7 This is a screenshot of the interface displaying the analysis results. Detailed Implementation

[0061] To enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0062] 1. Perception System Architecture

[0063] like Figure 1 The guided munitions status measurement and environmental perception system shown includes a status measurement module and an environmental perception module. The status measurement module is used to acquire munition status parameter information, and the environmental perception module is used for the study of artillery munitions structural characteristics and component health analysis.

[0064] The state measurement module includes an integrated sensor component 1, an integrated data acquisition and storage component 2, and a power management component 3, all of which are integrated inside the guided munition head.

[0065] The environmental perception module includes an offline data analysis and hardened terminal 4;

[0066] The signal output terminal of the integrated sensor assembly 1 is connected to the input terminal of the integrated data acquisition and storage assembly 2; the power input terminals of the integrated sensor assembly and the integrated data acquisition and storage assembly 2 are connected to the output terminal of the power management assembly 3; the communication terminal of the integrated data acquisition and storage assembly 2 is connected to the communication terminal of the offline data analysis and hardened terminal 4.

[0067] (1) Status Measurement Module

[0068] ①Integrated sensor assembly

[0069] The integrated sensor assembly 1 is used to measure the swaying displacement of guided munitions and to acquire the original impact state data.

[0070] The integrated sensor assembly 1 includes a tilt angle measurement sensor and a triaxial acceleration measurement sensor; the power supply for the tilt angle measurement sensor and the triaxial acceleration sensor is connected to the power output terminal of the power management assembly 3; the analog signal output terminal of the tilt angle measurement sensor and the triaxial acceleration sensor is connected to the input terminal of the signal conditioning module of the integrated acquisition and storage assembly 2.

[0071] ②Integrated data acquisition and storage components

[0072] The integrated acquisition and storage component 2 is used to first perform signal conditioning (digital-to-analog conversion) on the raw analog data signals acquired by the tilt measurement sensor and the triaxial acceleration measurement sensor, then perform signal processing through a programmable gate array (FPGA), and then store the processed signals through a storage control microcontroller (data saving). It also uses a communication bus chip to communicate and interact with the offline data analysis and hardened terminal 4 (data transmission) to complete local processing and provide data support.

[0073] The integrated acquisition and storage component 2 includes a signal conditioning module, a field-programmable gate array (FPGA) module, a storage control microcontroller module, a communication bus chip module, and a DIP switch (ID); the connection method of the signal conditioning module, FPGA module, storage control microcontroller module (STM32), communication bus control chip (CY68013A), and DIP switch (ID) is as follows: Figure 4 The PCB circuit shown.

[0074] ③ Power Management Components

[0075] The power management component 3 is used to provide the required power to the integrated sensor component and the integrated acquisition and storage component, and to complete the charging and discharging of the device's energy storage.

[0076] The power management component 3 includes a charge / discharge control module, a constant voltage output circuit module, an energy storage battery pack, and a charging power supply.

[0077] The charge / discharge control module is used to charge the energy storage battery pack and power the integrated data acquisition and storage components, and is connected via terminal blocks;

[0078] The constant voltage output circuit module is used to boost and maintain a constant voltage output when the voltage of the energy storage battery pack is lower than the operating voltage. It is connected using a PCB circuit.

[0079] Energy storage battery packs are used to store energy and power the integrated data acquisition and storage components, and are connected via terminal blocks;

[0080] A charging power source used to charge energy storage batteries.

[0081] The input terminal of the charge / discharge control module is connected to the charging power supply via a terminal to charge the energy storage battery pack and supply power to the integrated data acquisition and storage component; the output terminal of the charge / discharge control module is connected to the constant voltage power supply input; the constant voltage power supply output module is connected to the power input terminal of the microcontroller storage (STM32) of the integrated data acquisition and storage component 2 to supply power to it.

[0082] (2) Environmental perception module

[0083] ① Offline data analysis and hardened terminal;

[0084] The offline data analysis ruggedized terminal 4 includes a ruggedized industrial tablet PC and a control interaction transmission command sending module. The industrial tablet PC is equipped with a control interaction command receiving module. The input / output terminals of the control interaction transmission command sending / receiving module of the offline data analysis ruggedized terminal 4 are connected to the corresponding input / output terminals of the communication bus control chip (CY68013A) of the integrated acquisition and storage component 2.

[0085] The offline data analysis and hardened terminal 4 is used to configure the status of the integrated acquisition and storage component 2, read the offline data recorded by the integrated acquisition and storage component 2, and calculate the attitude information of the guided munitions. It also analyzes the health of the components.

[0086] 2. State measurement and environmental perception methods

[0087] The measurement and sensing method based on the guided munitions status measurement and environmental perception system includes the following steps:

[0088] Step 1: Experiment preparation;

[0089] Step 2: The offline data analysis and hardened terminal 4 sends control commands to configure the integrated acquisition and storage component 2 (configuration content: delayed start, acquisition duration), and the guided munition displacement and impact measurement device starts working;

[0090] Step 3: Load the guided munition displacement and impact measurement device into the artillery feeding system.

[0091] Step 4: The guided munition displacement and impact measurement device automatically collects and stores data through the integrated acquisition and storage component 2;

[0092] Step 5: Retrieve the ejector head;

[0093] Step 6: The offline data analysis and hardened terminal reads the test data stored in Step 4;

[0094] Step 7: Based on the test data, identify the ammunition status parameters, study the structural characteristics of artillery ammunition transport, and analyze the health status of components.

[0095] To clearly and concisely express the data flow of the guided munition displacement and impact measurement device (i.e., the data flow from the raw electrical signal collected by the integrated sensor assembly 1 to the integrated acquisition and storage assembly 2, and then to the offline data analysis and hardened terminal), and to enhance the operability of the workflow, the offline data analysis terminal 4 is pre-installed with analysis software. This software can be used to analyze the structural characteristics of artillery projectiles and the health status of components. The analysis workflow is as follows:

[0096] 1. Measurement workflow:

[0097] 1) The control interaction transmission command sending and receiving module of the offline data analysis and hardened terminal 4 is connected to the communication bus control chip (CY68013A) of the integrated acquisition and storage component 2 for configuration (the configuration here includes turning on the device, turning off the device, setting the sampling frequency, microsecond delay configuration, and configuring the DIP switch (ID) to set the ID of the integrated acquisition and storage component 2 to distinguish multiple integrated acquisition and storage components 2 so that they can work at the same time (the configuration is performed once for the first use, and no further operation is required for subsequent use);

[0098] 2) After receiving the analog signals from the tilt measurement sensor and the triaxial accelerometer at the input end of the signal conditioning module, the signal conditioning module performs analog switching, PGA, and ADC processing before outputting to the input end of the field programmable gate array (FPGA);

[0099] 3) After receiving the signal conditioning signal, the Field Programmable Gate Array (FPGA) performs address decoding, data latching, data buffering, and circuit control instruction processing, and then outputs the data stream to the input terminal of the microcontroller (STM32).

[0100] 4) After receiving the data stream from the field programmable gate array (FPGA), the microcontroller (STM32) stores the data stream in the data storage medium and sends the pass-through command to the field programmable gate array (FPGA) control circuit; at the same time, the power management component 3 provides the required power to the integrated acquisition and storage component 2 and the integrated sensor component 1.

[0101] The default analysis software includes the following functions:

[0102]

[0103]

[0104]

[0105] 2. Reading and Analysis Workflow:

[0106] 1) The control interaction transmission command sending and receiving module of the offline data analysis and hardened terminal 4 is connected to the communication bus control chip (CY68013A) of the integrated acquisition and storage component 2 to perform command pass-through operation;

[0107] 2) The ruggedized tablet computer of the offline data analysis ruggedized terminal 4 receives the single-chip microcomputer storage (STM32) data stream of the integrated acquisition and storage component 2 and saves it to the ruggedized tablet computer;

[0108] 3) The ruggedized tablet computer of the offline data analysis and reinforcement terminal 4 is equipped with the ability to identify ammunition status parameters, study the structural characteristics of artillery ammunition transport, and analyze the health status of components based on locally stored offline data.

[0109] 3. Dataset Construction and Data Processing Flow

[0110] Dataset construction and data processing flow as follows Figure 5 As shown, the offline data analysis and hardened terminal 4 acquires massive amounts of experimental data from the integrated acquisition and storage component 2, classifies the data into different categories, and extracts features from the data. Based on the extracted features, the multi-sensor feature value matrix is ​​used to sequentially perform data transformation, data filtering, and data calculation, thereby enabling environmental change perception. That is, the features extracted by the environmental perception module include target parameters and data features:

[0111] 1) Target Parameter Extraction: The offline data stored in the hardened terminal 4 is raw voltage signal data. Data conversion, filtering, and calculation methods are used to process the raw data, yielding results such as acceleration, velocity, displacement, power spectrum, frequency spectrum, impact, vibration, angular velocity, and angle. These results are then used to construct a sensor array matrix. The specific steps are as follows:

[0112] ① Data conversion: After the range is adapted, the voltage signal data and the result data have a linear relationship. By configuring different range scaling factors, the specific sensor measurement value can be obtained.

[0113] ② Data filtering: Filter the result data that has been converted into specific sensor measurement values ​​to obtain high-pass, low-pass, band-pass data, spectrum and power spectrum.

[0114] Filtering method: First, perform Fourier time-domain calculations on the converted acceleration and angular velocity data to obtain the spectrum data; then, extract the data from the spectrum data that are less than X, greater than X, and between X1 and X2 (X and X1 / X2 are the operating frequencies); next, perform an inverse Fourier transform on the extracted spectrum data to obtain the time domain; finally, obtain high-pass, low-pass, and band-pass data. Acceleration is the band-pass data, angular velocity is the low-pass data, and impact and vibration are the high-pass data. The integral and Fourier transform formulas are:

[0115]

[0116]

[0117] The two formulas above enable us to extract useful data from massive amounts of raw data.

[0118] ③ Data Calculation: Time integration is performed on the acquired high-pass, low-pass, and band-pass acceleration and angular velocity data to obtain state parameter results such as velocity, displacement, impact, vibration, and angle. These state parameter results are then integrated into a sensor array matrix, which can characterize the various physical state parameters experienced by the guided munition in the ammunition supply system from multiple modes and dimensions.

[0119] 2) Data feature extraction:

[0120] By utilizing a multi-scale sliding time window (the window width being the width of the sensor array matrix) sliding along the time direction of the sensor array matrix, principal component analysis is performed on the data within different sliding windows. The principal feature components that contribute more to the environmental perception operation are selected to form a new three-dimensional key feature value tensor, thereby enabling the perception of subtle changes in the external environment of guided munitions. The specific steps are as follows:

[0121] ① Standardize the raw data

[0122] Assume the sensor array matrix for principal component analysis has m variables: x1, x2, ..., xm. m There are n evaluation objects in total, and the value of the j-th indicator of the i-th evaluation object is x. ij , . Transform each indicator value x ij Convert into standardized indicators The specific formula is as follows:

[0123]

[0124] in for

[0125]

[0126] Right now s j Let be the sample mean and standard deviation of the j-th indicator, respectively. Correspondingly, are called...

[0127]

[0128] Standardized indicator variables;

[0129] ② Calculate the correlation coefficient matrix R within the time window.

[0130] Correlation coefficient matrix R = (ri j ) m×m

[0131]

[0132] In the formula r ii =1, r ij =r ji r ij It is the correlation coefficient between the i-th indicator and the j-th indicator.

[0133] ③ Calculate the eigenvalues ​​and eigenvectors within the time window.

[0134] Calculate the eigenvalues ​​of the correlation coefficient matrix R: λ1≥λ2≥…≥λm ≥0, and the corresponding eigenvectors u1, u2, ... um, where u j =(u 1j ,u 2j ,…,u nj ) T m new index variables are composed of feature vectors.

[0135]

[0136] In the formula, y1 is the first principal component, y2 is the second principal component, ..., y m It is the m-th principal component.

[0137] ④ Select p (p≤m) principal components within the time window and calculate the comprehensive evaluation value.

[0138] Calculate the eigenvalue λ j The information contribution rate and cumulative contribution rate of (j=1,2,…,m).

[0139]

[0140] Main component y j Information contribution rate;

[0141]

[0142] Principal components y1, y2, ..., y p The cumulative contribution rate is determined by selecting the first p indicator variables y1, y2, ..., y when α is close to 1 (α = 0.85, 0.90, 0.95). p As p principal components, replacing the original m index variables, a comprehensive analysis of the p principal components within the time window can be performed.

[0143] ⑤ Slide the time window and form a key eigenvalue matrix by combining the principal components obtained in each time window along the time direction.

[0144] ⑥ By continuously varying the length of the time window, the k key eigenvalue matrices obtained from the k time windows of different lengths are combined along the third dimension to form a three-dimensional key eigenvalue tensor. This allows us to obtain a multi-scale three-dimensional tensor that reflects the structural characteristics and component health of the ammunition in artillery transport, thus enabling the perception of subtle changes in the external environment of guided munitions.

[0145] Example

[0146] A screenshot of the system's main interface is shown below. Figure 6 As shown, after entering the main interface, select "Import Data." The system will analyze the performance under various conditions using algorithms. After the calculation is complete, the analysis results will be displayed as follows. Figure 7As shown in the figure, the system can reflect the working status of ammunition through the changing trends of various data, which verifies the scientific nature and practicality of the system.

[0147] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A guided munitions status measurement and environmental sensing system, characterized in that, It includes a state measurement module and an environment perception module; The status measurement module is used to acquire ammunition status parameter information; The environmental perception module is used for studying the structural characteristics of artillery ammunition transport and analyzing the health status of components. The status measurement module includes an integrated sensor component, an integrated data acquisition and storage component, and a power management component, all of which are integrated inside the guided munition head. The environmental perception module includes an offline data analysis and hardened terminal; the signal output terminal of the integrated sensor component is connected to the input terminal of the integrated acquisition and storage component; the power input terminals of the integrated sensor component and the integrated acquisition and storage component are connected to the output terminal of the power management component; and the communication terminal of the integrated acquisition and storage component is connected to the communication terminal of the offline data analysis and hardened terminal. The integrated sensor assembly includes a tilt measurement sensor and a triaxial acceleration measurement sensor, used to measure the swaying displacement of guided munitions and acquire impact raw state data; The power supply for the tilt measurement sensor and the triaxial accelerometer is connected to the power output terminal of the power management component; the analog signal output terminals of the tilt measurement sensor and the triaxial accelerometer are connected to the input terminal of the signal conditioning module of the integrated acquisition and storage component. The offline data analysis and hardening terminal reads the test data stored in the integrated acquisition and storage group, classifies the test data, and extracts features from the data; specifically, it includes: extracting target parameters from the raw voltage signal data saved by the offline data analysis and hardening terminal. By using a multi-scale sliding time window to slide along the time direction of the sensor array matrix, principal component analysis is performed on the data within different sliding windows. The main feature components that contribute more to the environmental perception operation are selected to form a new three-dimensional key feature value tensor, thus obtaining the data features.

2. The guided munitions status measurement and environmental sensing system as described in claim 1, characterized in that, The integrated acquisition and storage component includes a signal conditioning module, a programmable gate array module, a storage control microcontroller module, a communication bus chip module, and DIP switches. It is used to first condition the raw analog data signals acquired by the tilt measurement sensor and the triaxial acceleration measurement sensor, then process the signals through the programmable gate array module, then store the processed signals through the storage control microcontroller, and finally use the communication bus chip to communicate with the offline data analysis and hardened terminal to complete local processing.

3. The guided munitions status measurement and environmental sensing system as described in claim 1, characterized in that, The power management component is used to provide the required power to the integrated sensor component and the integrated acquisition and storage component, and to complete the charging and discharging of the device's energy storage. It includes a charge / discharge control module, a constant voltage output circuit module, an energy storage battery pack, and a charging power supply; The charge and discharge control module is used to charge the energy storage battery pack and power the integrated data acquisition and storage components. Its input terminal is connected to the charging power supply via a wiring terminal, and its output terminal is connected to the constant voltage power supply input. The constant voltage output circuit module is used to boost and maintain a constant voltage output when the voltage of the energy storage battery pack is lower than the operating voltage. It is connected to the energy storage battery pack via PCB circuitry. Its output terminal is connected to the power input terminal of the integrated acquisition and storage component to supply power to it; The energy storage battery pack is used to store energy and power the integrated data acquisition and storage component. It is connected to the integrated data acquisition and storage component via terminal blocks. A charging power supply used to charge energy storage batteries.

4. The guided munitions status measurement and environmental sensing system as described in claim 1, characterized in that, The offline data analysis ruggedized terminal includes a ruggedized industrial tablet PC and a control interaction transmission command sending module; the input / output terminals of the control interaction transmission command sending and receiving module of the offline data analysis ruggedized terminal are connected to the input / output terminals of the communication bus control chip of the integrated acquisition and storage component.

5. A method for measuring the status of guided munitions and sensing the environment, implemented based on the guided munitions status measurement and environmental sensing system as described in any one of claims 1 or 4, characterized in that, Includes the following steps: Step 1: Experiment preparation; Step 2: The offline data analysis and hardened terminal sends control commands to the integrated acquisition and storage component to configure the delay start time and acquisition duration, and controls the guided munition displacement and impact measurement device to start working; Step 3: Load the guided munition displacement and impact measuring device into the artillery feeding system; Step 4: The guided munition displacement and impact measurement device automatically collects, records, and stores data through the integrated acquisition and storage component; Step 5: Retrieve the ejector head; Step 6: The offline data analysis and hardened terminal reads the test data stored in Step 4, classifies the test data, and extracts features from the data; Step 7: Based on the extracted feature data, identify ammunition status parameters, study the structural characteristics of artillery ammunition transport, and analyze the health status of components.

6. The method for measuring the status of guided munitions and sensing the environment as described in claim 5, characterized in that, Step 6, feature extraction, includes the following steps: Step 61: Extract target parameters from the raw voltage signal data stored in the offline data analysis and hardening terminal. This specifically includes: Step 611: After adapting the range, if the voltage signal data and the result data have a linear relationship, the specific sensor measurement value can be obtained by configuring different range scaling coefficients. Step 612: Filter the result data that has been converted into specific sensor measurement values ​​to obtain high-pass, low-pass, band-pass data, spectrum and power spectrum; Step 613: Perform time integration calculations on the acquired high-pass, low-pass, and band-pass acceleration and angular velocity data to obtain velocity, displacement, impact, vibration, and angular state parameter results data; Step 614: Integrate the state parameter results into a sensor array matrix. Based on the sensor array matrix, the various physical state parameters experienced by the guided munition in the ammunition supply system can be obtained. Step 62: Using a multi-scale sliding time window, slide along the time direction of the sensor array matrix and perform principal component analysis on the data within different sliding windows. Select the principal feature components that contribute more to the environmental perception operation to form a new three-dimensional key feature value tensor, thus obtaining the data features. The specific steps include: Step 621: Let there be m variables in the sensor array matrix of the principal component analysis: x1, x2, ..., x m The value of the j-th indicator for the i-th evaluation object is x. ij , the values ​​of each indicator Convert into standardized indicators : ； in, , Let be the sample mean and standard deviation of the j-th indicator, respectively. ； Obtain standardized indicator variables : ； Step 622: Calculate the correlation coefficient matrix within the time window. : ； Where, r ii =1, r ij =r ji r ij It is the correlation coefficient between the i-th indicator and the j-th indicator; Step 623: Calculate the eigenvalues ​​of the correlation coefficient matrix R. And the corresponding feature vectors u1, u2, ... u m , and u j =(u 1j ,u 2j ,…,u nj ) T Then, m new index variables are formed by the feature vectors: ； Where y1 is the first principal component, y2 is the second principal component, ..., y m It is the m-th principal component; Step 624: Select p principal components within the time window and calculate their eigenvalues. Information contribution rate and cumulative contribution rate : ； ； When α is close to 1, select the first p index variables. As p principal components, they replace the original m index variables; Step 625: Compile the key eigenvalue matrix of the principal components obtained in each time window along the time direction; Step 626: Combine the k key eigenvalue matrices obtained from k time windows of different durations along the third dimension to form a three-dimensional key eigenvalue tensor, which will give the multi-scale three-dimensional tensor of the ammunition in terms of the structural characteristics of artillery ammunition and the health status of its components.

Images