A method for locating a burst point of a ballistic shock wave and an explosion wave

Abstract

The present application provides a kind of ballistic shock wave and explosion wave combined shot location method, can solve the technical problems that traditional acoustic measurement exists due to the cost of more measuring stations is higher, implementation process is long, deployment is slow, layout installation is complex and difficult to guarantee communication, not conducive to large-scale test development.Specific steps are: an acoustic measuring station is laid under the predetermined trajectory, the acoustic measuring station is used to obtain ballistic shock wave direction of arrival and time of arrival, explosion wave direction of arrival and time of arrival in turn;The unit direction vector of shock wave separation point relative to acoustic measuring station is obtained by ballistic shock wave direction of arrival;The unit direction vector of shot point relative to acoustic measuring station is obtained by explosion wave direction of arrival;The difference between explosion wave time of arrival and ballistic shock wave time of arrival is calculated;According to the unit direction vector of shock wave separation point relative to acoustic measuring station, the unit direction vector of shot point relative to acoustic measuring station, the difference between explosion wave and ballistic shock wave time of arrival, the shot point position is calculated using weighted least squares method.

Description

Technical Field

[0001] This invention relates to a method for locating the explosion point, specifically a method for locating the explosion point by combining ballistic shock waves and explosion waves. Background Technology

[0002] When measuring target locations, passive non-contact measurement is a commonly used method for target information measurement because it does not affect the target being measured and has good concealment. Acoustic measurement is a passive non-contact measurement method, which has the characteristics of low cost, all-weather operation, immunity to smoke interference, and large measurement range, and is often used for measuring the location of targets in large areas in the field. In the process of measuring the location of blast points in large areas in the field, the fewer the number of measuring stations used, the lower the complexity, time cost, and economic cost of deployment and installation.

[0003] However, traditional acoustic measurement methods require at least three stations for two-dimensional planar positioning and at least four stations for three-dimensional spatial positioning. The large number of stations required for the measurement system leads to high economic costs, a long implementation process, difficulty in rapid deployment, and significant complexity and time costs in setup and installation. Furthermore, the large number of stations required makes it difficult to guarantee necessary communication and other conditions during the measurement of explosive points in large areas of the field, hindering the conduct of large-scale experiments. Summary of the Invention

[0004] The purpose of this invention is to solve the technical problems of traditional acoustic measurement, which are high economic and time costs due to the large number of required stations, long implementation process, difficulty in rapid deployment, complex layout and installation, and difficulty in guaranteeing communication, which are not conducive to large-scale testing. In response, this invention provides a method for locating the explosion point by combining ballistic shock waves and explosion waves.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A method for locating the detonation point using a combination of ballistic shock waves and explosion waves, characterized by the following steps:

[0007] S1. Deploy an acoustic station below the predetermined trajectory; use the acoustic station to sequentially obtain the direction of arrival of the ballistic shock wave and the arrival time of the ballistic shock wave, as well as the direction of arrival of the explosion wave and the arrival time of the explosion wave;

[0008] S2. Obtain the unit direction vector of the shock wave separation point relative to the acoustic station by the direction of arrival of the ballistic shock wave;

[0009] S3. Obtain the unit direction vector of the explosion point relative to the acoustic station by the direction of the explosion wave.

[0010] S4. Calculate the difference between the arrival time of the blast wave and the arrival time of the ballistic shock wave;

[0011] S5. Based on the unit direction vector of the shock wave separation point relative to the acoustic station, the unit direction vector of the explosion point relative to the acoustic station, and the difference between the arrival time of the explosion wave and the arrival time of the ballistic shock wave, the location of the explosion point is calculated using the weighted least squares method.

[0012] Furthermore, S1 specifically refers to:

[0013] An acoustic station is deployed below the predetermined trajectory; the acoustic station is located at a known position s1 = [x1, y1, z1]. T , [·] T The transpose operation is represented by the following: the explosion point is denoted as s, the distance from explosion point s to acoustic station s1 is d, the shock wave separation point corresponding to acoustic station s1 is p, the distance from shock wave separation point p to acoustic station s1 is r, and the distance from shock wave separation point p to explosion point s is l. The acoustic station is used to sequentially receive the ballistic shock wave emitted from shock wave separation point p on the trajectory of the supersonic projectile and the explosion wave generated by the explosion, and correspondingly obtain the direction of arrival of the ballistic shock wave and the arrival time t of the ballistic shock wave. s Explosion wave direction and explosion wave arrival time t b .

[0014] Furthermore, S2 specifically refers to:

[0015] Based on the direction of arrival of the ballistic shock wave obtained in step S1, the unit direction vector b of the shock wave separation point p relative to the acoustic station s1 is obtained:

[0016] b=[cosφcosθ,cosφsinθ,sinφ] T

[0017] Where: φ is the pitch angle of the ballistic shock wave measured by the acoustic station;

[0018] θ is the azimuth angle of the ballistic shock wave measured by the acoustic station;

[0019] S3 specifically refers to:

[0020] Based on the direction of arrival of the explosion wave obtained in step S1, the unit direction vector k of the explosion point s relative to the acoustic station s1 is obtained:

[0021]

[0022] in: The elevation angle of the explosion point measured at the acoustic station;

[0023] The azimuth of the explosion point measured at the acoustic station;

[0024] S4 specifically refers to:

[0025] Based on the ballistic shock wave obtained in step S1, at time t sWhen the explosion wave arrives at t b The difference between the arrival time of the explosion wave and the arrival time of the ballistic shock wave was calculated:

[0026]

[0027] Where c is the speed of sound propagation and v is the speed of the projectile.

[0028] Furthermore, S5 specifically refers to:

[0029] The estimated location s of the explosion point is calculated using the weighted least squares method according to the following formula.

[0030]

[0031] in:

[0032] G is a matrix that integrates the information of the ballistic shock wave direction of arrival and the explosion wave direction of arrival, G = [(kb), U];

[0033] U is a matrix constructed through the direction of arrival of the explosion wave:

[0034]

[0035] W is the weight matrix, W = TQT T ;

[0036]

[0037] 0 1×2 A zero row vector, 0 2×2 02 is a zero matrix;

[0038] Q is the measurement error vector. The covariance matrix, τ=c×(t b -t s ), where Δ(·) represents the error of the corresponding measurement value;

[0039] h is a vector that integrates the direction of arrival of the ballistic shock wave, the direction of arrival of the blast wave, the time difference between the arrival of the ballistic shock wave and the blast wave, and the position of the acoustic station.

[0040] Furthermore, in S1, the acoustic station uses a microphone array signal to sequentially acquire the direction of arrival of the ballistic shock wave and the arrival time of the ballistic shock wave, as well as the direction of arrival of the explosion wave and the arrival time of the explosion wave.

[0041] The beneficial effects of this invention are:

[0042] 1. This invention provides a method for locating the detonation point by combining ballistic shock wave and blast wave, integrating the arrival direction of the ballistic shock wave, the arrival direction of the blast wave, and the arrival time difference between the ballistic shock wave and the blast wave. A single acoustic station can achieve detonation point location, resulting in low complexity and time-cost deployment, significantly simplifying the operation process, improving the usability of the acoustic station, and providing crucial data support for evaluating projectile performance. Furthermore, in the process of measuring detonation point locations over large areas in the field, the communication and other conditions required for a single acoustic station in this invention are easily guaranteed, the implementation process is short, and rapid deployment is possible, facilitating large-scale testing and making it suitable for rapid deployment and mobile measurements over large areas in the field.

[0043] 2. This invention uses the weighted least squares method to directly calculate the location of the explosion point. It has a closed-form solution, and the calculation method is fast and efficient. It can be processed online in real time and is easy to apply and promote. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of the positioning model of the explosion point positioning method combining ballistic shock wave and explosion wave of the present invention;

[0045] Figure 2 The image shows the simulation results of the explosion point location accuracy when using different numbers of acoustic stations. Detailed Implementation

[0046] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] A method for locating the detonation point using a combination of ballistic shock wave and explosion wave, specifically including the following steps:

[0048] S1, such as Figure 1 As shown, an acoustic station is deployed below the predetermined trajectory; a ground coordinate system is established with s1 as the origin, and the acoustic station is located at the known position s1 = [x1, y1, z1]. T , [·] T The transpose operation is represented by the following: the explosion point is denoted as s, the distance from explosion point s to acoustic station s1 is d, the shock wave separation point corresponding to acoustic station s1 is p, the distance from shock wave separation point p to acoustic station s1 is r, and the distance from shock wave separation point p to explosion point s is l. The acoustic station is used to sequentially receive the ballistic shock wave emitted from shock wave separation point p on the trajectory of the supersonic projectile and the explosion wave generated by the explosion, and correspondingly obtain the direction of arrival of the ballistic shock wave and the arrival time t of the ballistic shock wave. s Explosion wave direction and explosion wave arrival time t bIn this embodiment, the acoustic station uses a microphone array signal to sequentially acquire the direction of arrival of the ballistic shock wave and the arrival time of the ballistic shock wave, as well as the direction of arrival of the explosion wave and the arrival time of the explosion wave.

[0049] S2. Based on the direction of arrival of the ballistic shock wave obtained in step S1, obtain the unit direction vector b of the shock wave separation point p relative to the acoustic station s1:

[0050] b=[cosφcosθ,cosφsinθ,sinφ] T

[0051] Where: φ is the pitch angle of the ballistic shock wave measured by the acoustic station;

[0052] θ is the azimuth angle of the ballistic shock wave measured by the acoustic station;

[0053] The ballistic direction vector u and the unit direction vector b have the following relationship:

[0054]

[0055] Where c is the speed of sound propagation and v is the speed of the projectile.

[0056] S3. Based on the direction of arrival of the explosion wave obtained in step S1, obtain the unit direction vector k of the explosion point s relative to the acoustic station s1:

[0057]

[0058] in: The elevation angle of the explosion point measured at the acoustic station;

[0059] The azimuth of the explosion point measured at the acoustic station;

[0060] S4. Based on the ballistic shock wave obtained in step S1, at time t... s When the explosion wave arrives at t b The difference between the arrival time of the explosion wave and the arrival time of the ballistic shock wave was calculated:

[0061]

[0062] Depend on Figure 1 We know that s-s1=dk; let τ=c×(t) b -t s ), combined with step S2 but:

[0063] τ=-b T lu+dr=-b T [s-(s1+rb)]+dr

[0064] =-bT (s-s1)+k T (s-s1)

[0065] = (kb) T (s-s1)

[0066] That is: (kb) T s = (kb) T s1+τ;

[0067] S5. The estimated location s of the explosion point is obtained using the weighted least squares method. The specific process is as follows:

[0068] A matrix U is constructed by defining the direction of arrival of the explosion wave, such that each column vector of matrix U is orthogonal to the unit direction vector k, and the column vectors of matrix U are orthogonal to each other. T U = I 2×2 U T k = 02, then: U T s = U T s1, where, I 2×2 It is the identity matrix, and 02 is the zero vector; (kb) in step S4 T s = (kb) T s1+τ and U T s = U T If s1 is represented by a matrix, then: G T s = h; where G is the matrix fusing the ballistic shock wave direction of arrival and the blast wave direction of arrival information, G = [(kb), U], and h is the vector fusing the ballistic shock wave direction of arrival, the blast wave direction of arrival, the arrival time difference of the ballistic shock wave and the blast wave, and the position of the acoustic station.

[0069] Measurement error vector Given the covariance matrix Q, we obtain the weight matrix W:

[0070] W = TQT T

[0071] in, 0 1×2 A zero row vector, 0 2×2 This is a zero matrix, where Δ(·) represents the error of the corresponding measurement value; finally, combined with G... T s=h and W=TQT T The estimated location s of the explosion point was obtained using the weighted least squares method. for:

[0072]

[0073] It should be noted that the detonation point location method combining ballistic shock waves and explosion waves provided by this invention can achieve detonation point location with a single acoustic station, meeting the requirements, and two acoustic stations can achieve high-precision location, greatly simplifying the operation process, reducing the difficulty of field deployment, improving the usability of acoustic stations, and reducing the complexity and time and economic costs of deployment and installation. Furthermore, this invention uses the weighted least squares method to locate the detonation point, and equation G in step S5... T The formula s=h can be easily extended to scenarios with two or more acoustic monitoring stations. More acoustic monitoring stations can improve positioning accuracy and reliability. Figure 2 The data shows the accuracy of the explosion location when the acoustic stations are 2km away from the explosion point and different numbers of acoustic stations are used.

[0074] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present invention should be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for locating the detonation point using a combination of ballistic shock wave and explosion wave, characterized in that, Includes the following steps: S1. Deploy an acoustic station below the predetermined trajectory; use the acoustic station to sequentially obtain the direction of arrival of the ballistic shock wave and the arrival time of the ballistic shock wave, as well as the direction of arrival of the explosion wave and the arrival time of the explosion wave; S1 specifically refers to: An acoustic station is deployed below the predetermined trajectory; the acoustic station is located at a known position s1=[x1, y1, z1]. T , [·] T The transpose operation is represented by the following: the explosion point is denoted as s, the distance from explosion point s to acoustic station s1 is d, the shock wave separation point corresponding to acoustic station s1 is p, the distance from shock wave separation point p to acoustic station s1 is r, and the distance from shock wave separation point p to explosion point s is l. The acoustic station is used to sequentially receive the ballistic shock wave emitted from shock wave separation point p on the trajectory of the supersonic projectile and the explosion wave generated by the explosion, and correspondingly obtain the direction of arrival of the ballistic shock wave and the arrival time t of the ballistic shock wave. s Explosion wave direction and explosion wave arrival time t b ; S2. Obtain the unit direction vector of the shock wave separation point relative to the acoustic station by the direction of arrival of the ballistic shock wave; S2 specifically refers to: Based on the direction of arrival of the ballistic shock wave obtained in step S1, the unit direction vector b of the shock wave separation point p relative to the acoustic station s1 is obtained: ； in: The elevation angle of the ballistic shock wave measured at the acoustic station; θ is the azimuth angle of the ballistic shock wave measured by the acoustic station; S3. Obtain the unit direction vector of the explosion point relative to the acoustic station by the direction of the explosion wave. S3 specifically refers to: Based on the direction of arrival of the explosion wave obtained in step S1, the unit direction vector k of the explosion point s relative to the acoustic station s1 is obtained: ； in: The elevation angle of the explosion point measured at the acoustic station; ϑ is the azimuth angle of the explosion point measured by the acoustic station; S4. Calculate the difference between the arrival time of the explosion wave and the arrival time of the ballistic shock wave; S4 specifically refers to: Based on the ballistic shock wave obtained in step S1, at time t s When the explosion wave arrives at t b The difference between the arrival time of the explosion wave and the arrival time of the ballistic shock wave was calculated: ； Where c is the speed of sound propagation and v is the speed of the projectile. S5. Based on the unit direction vector of the shock wave separation point relative to the acoustic station, the unit direction vector of the explosion point relative to the acoustic station, and the difference between the arrival time of the explosion wave and the arrival time of the ballistic shock wave, the location of the explosion point is calculated using the weighted least squares method. S5 specifically refers to: The estimated location s of the explosion point is calculated using the weighted least squares method according to the following formula. : ； in: G is a matrix that integrates the direction of arrival information of the ballistic shock wave and the direction of arrival information of the explosion wave. ; U is a matrix constructed through the direction of arrival of the explosion wave: ； W is the weight matrix. ; , , 0 1×2 A zero row vector, 0 2×2 02 is a zero matrix; Q is the measurement error vector. The covariance matrix, Δ(·) represents the error of the corresponding measurement value; h is a vector that integrates the direction of arrival of the ballistic shock wave, the direction of arrival of the blast wave, the time difference between the arrival of the ballistic shock wave and the blast wave, and the position of the acoustic station. .

2. The method for locating the detonation point using a combination of ballistic shock wave and explosion wave as described in claim 1, characterized in that: In S1, the acoustic station uses a microphone array signal to sequentially acquire the direction of arrival of the ballistic shock wave and the arrival time of the ballistic shock wave, as well as the direction of arrival of the explosion wave and the arrival time of the explosion wave.

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