Method, system, storage medium and electronic device for deriving trajectory of natural debris from dynamic explosion

Abstract

The present invention provides a method, system, storage medium and electronic device for deducing the scattering trajectory of natural fragments of a kinetic explosion, and relates to the technical field of deducing the scattering trajectory of warhead fragments. The method of the present invention introduces undetermined coefficients that take into account air resistance, gravity and fragment irregularity factors when constructing a fragment spatiotemporal deduction model based on a translational equation and a rotational equation, and inversely deduces the undetermined coefficients through the translational velocity, angular velocity and windward area of ​​static explosion fragments, so that the constructed fragment spatiotemporal deduction model comprehensively considers the influencing factors in the fragment scattering process, thereby improving the deduction accuracy of the fragment spatiotemporal deduction model, and obtains the initial state of the kinetic explosion fragment by superimposing the initial state of the static explosion fragment and the warhead state vector, thereby taking into account the influence of the warhead translational and rotational factors on the fragment, so that the initial state of the kinetic explosion fragment formed after superposition is more in line with reality, thereby improving the accuracy of subsequent spatiotemporal deduction of the kinetic explosion fragment.

Description

Technical Field

[0001] The present invention relates to the technical field of warhead fragment dispersion trajectory deduction, and in particular to a method, system, storage medium and electronic equipment for deducing the dispersion trajectory of natural fragments of a dynamic explosion. Background Art

[0002] The temperature, pressure, and fragmentation fields generated by static and dynamic explosions in high-energy, high-efficiency ammunition warheads are important indicators for evaluating their performance. Warhead fragmentation power parameters are typically obtained in static explosion tests under constraints imposed by the warhead and target states. However, in actual combat, the warhead's attack on a target is a dynamic process, and the damage effect is influenced by parameters such as the warhead's actual flight speed, flight attitude, and impact point, as well as the actual target distance. Therefore, dynamic explosion damage power is a key concern in warhead research and design, and has important practical implications for its actual combat application. While decades of research have yielded numerous results and available computational models for dynamic explosion fragmentation power fields, dynamic explosion research has primarily relied on relatively mature numerical simulations and static explosion tests due to limitations in research methods. The resulting results often differ significantly from the actual dynamic explosion fragmentation power, and numerous practical challenges remain.

[0003] For example, current research in this area is mainly focused on the analysis of the dynamic dispersion laws of prefabricated fragments, the testing of the power parameters of dynamic explosive fragments, and the correlation analysis of the power field models of dynamic and static explosive fragments. Among them, the research method for the dispersion laws of dynamic explosive fragments is mainly to superimpose the dynamic explosion speed factor on the static explosion to approximately simulate the power field of dynamic explosive fragments. It does not take into account the rotation of the warhead, nor the influence of air resistance, gravity and irregular factors of fragments on natural fragments in actual flight, etc., which makes the deduction of the dispersion trajectory of dynamic explosive fragments not accurate enough. Summary of the Invention

[0004] The object of the present invention is to provide a method, system, storage medium and electronic device for deriving the trajectory of natural debris dispersion caused by dynamic explosions, so as to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A method for deducing the trajectory of natural debris from a dynamic explosion, comprising the following steps:

[0007] S1, take stereo high-speed photography of the fragments flying during the static explosion of the warhead to obtain the three-dimensional position and three-dimensional posture of the static explosion fragments during the photography period;

[0008] S2, based on the 3D position and 3D attitude of the static explosion fragments, calculate the translational velocity, angular velocity and frontal area of ​​the static explosion fragments during the photography period;

[0009] S3. Based on the aerodynamic constraint equations, the translational and rotational equations of the static explosion fragments are established. The translational and rotational equations introduce undetermined coefficients that take into account air resistance, gravity, and fragment irregularities. The undetermined coefficients include air density, air resistance coefficient, gravitational acceleration, mass of the static explosion fragments, moment of inertia, and eccentricity of the resistance action point. The translational velocity, angular velocity, and frontal area of ​​the static explosion fragments are input into the translational and rotational equations to infer the undetermined coefficients.

[0010] S4, integrating the translational equation and the rotational equation after determining the unknown coefficients to generate a dispersion path equation describing the flight trajectory of the debris and a dispersion attitude equation describing the rotational attitude of the debris, and combining the dispersion path equation and the dispersion attitude equation to construct a fragment space-time deduction model, wherein the input of the fragment space-time deduction model is the three-dimensional position, three-dimensional attitude, translational velocity, and angular velocity of the debris at each moment in a certain time period, and the output is the three-dimensional position and three-dimensional attitude of the debris at each moment in the time period and in the time periods before and after the time period;

[0011] S5, based on the time interval between the photography period and the warhead static explosion time, obtain the initial 3D position and initial 3D attitude of the static explosion fragments during the warhead static explosion from the fragment space-time deduction model, and combine the 3D position and 3D attitude of the static explosion fragments after the warhead static explosion to estimate the initial translational velocity and initial angular velocity of the static explosion fragments;

[0012] S6, combining the initial three-dimensional position, initial three-dimensional attitude, initial translational velocity, and initial angular velocity of the static explosion fragments to form an initial state of the static explosion fragments, and combining the three-dimensional position, three-dimensional attitude, translational velocity, and angular velocity of the warhead during the dynamic explosion to form a warhead state, and superimposing the initial state of the static explosion fragments and the warhead state using a vector superposition method to form an initial state of the dynamic explosion fragments;

[0013] S7, merging the fragment space-time deduction models of multiple fragments generated during the static explosion of the warhead to form a debris field space-time deduction model, and importing the initial state of the dynamic explosion fragments into the corresponding fragment space-time deduction model within the debris field space-time deduction model, thereby generating the three-dimensional position and three-dimensional posture of each fragment in the debris field after the static explosion of the warhead that changes with time.

[0014] Furthermore, the photography period is set at the initial stage of the warhead static explosion.

[0015] Furthermore, the tth k The translational velocity of static explosion fragments at the acquisition moment is calibrated as v(t k ), the angular velocity of static explosion fragments is calibrated as w(t k ), the windward area of ​​static explosion fragments is calibrated as S(t k), k represents the number of different acquisition moments in the photography period, and k = 1, 2, ..., m, m represents the total number of acquisition moments in the photography period, and m∈N + .

[0016] Furthermore, the translational equation and rotational equation of the static explosion fragment flight are established based on the aerodynamic constraint equation, and the translational equation and rotational equation introduce undetermined coefficients that take into account air resistance, gravity, and fragment irregularity. The undetermined coefficients include air density, air resistance coefficient, gravitational acceleration, mass of static explosion fragments, moment of inertia, and eccentricity of the resistance action point. The specific logic of inverting the undetermined coefficients by inputting the translational velocity, angular velocity, and frontal area of ​​the static explosion fragments into the translational equation and rotational equation is as follows:

[0017] S31, establishing a translational equation based on air density, air resistance coefficient, gravitational acceleration, translational velocity, windward area, and mass of the static explosion fragments, and inputting the translational velocity and windward area of ​​the static explosion fragments into the translational equation to determine specific values ​​of the air density, air resistance coefficient, gravitational acceleration, and mass of the static explosion fragments;

[0018] S32, based on the moment of inertia, the eccentricity of the resistance point, the air density, the air resistance coefficient, the translational velocity, the angular velocity and the windward area of ​​the static explosion fragments, a rotation equation is established, and the translational velocity, angular velocity and the windward area of ​​the static explosion fragments are input into the rotation equation for training to determine the specific values ​​of the moment of inertia and the eccentricity of the resistance point.

[0019] Furthermore, in step S31, the translation equation is specifically as follows:

[0020] F(t k )=F g (t k )+F z (t k )=ma(t k )=mdv(t k ) / dt=mg-ρv(t k ) 2 S(t k )C d / 2

[0021] Among them, F(t k ) represents the tth k The comprehensive force on the static explosion fragments at the time of collection is the total force on the static explosion fragments at the time of collection. k The gravity F at the time of collection g (t k ), and air resistance F z (t k ), m represents the mass of static explosion fragments, a(t k) represents the tth k The acceleration of the static explosion fragments at the time of acquisition, g represents the acceleration of gravity, ρ represents the air density, v(t k ) represents the static explosion fragments at the tth k The translational velocity at the acquisition moment, S(t k ) represents the static explosion fragments at the tth k The frontal area at the time of collection, C d represents the air resistance coefficient;

[0022] Among them, the gravitational acceleration g and the air density ρ are determined according to the longitude and latitude of the area where the warhead is located and the air density when it explodes, and are taken as constants;

[0023] Among them, the air resistance coefficient C d =1.5;

[0024] Among them, the acceleration of static explosion fragments a(t k ) by placing the static explosion fragments at t k The translational velocity v(t k ) minus the tth k-1 The translational velocity v(t k-1 ), divided by the time interval Δ(t k-1 ,t k ) to obtain;

[0025] The calculation method of static explosion fragment mass m is as follows: the gravity acceleration g, air density ρ, air resistance coefficient C d , and the translational velocity v(t k ), frontal area S(t k ) and acceleration a(t k )Substitute into ma(t k )=mg-ρv(t k ) 2 S(t k )C d / 2, the static explosion fragment mass m is obtained based on the linear least squares method.

[0026] Furthermore, in step S32, the rotation equation is specifically as follows:

[0027] ∫M z (t k )dt=∫F z (t k )*d zo dt=Iω(t k )=∫-ρv(t k ) 2 S(tk )C d / 2*d zo dt

[0028] Among them, M z (t k ) represents the tth k The dynamic torque generated by the static explosion fragments under the action of air resistance at the time of the acquisition, I represents the moment of inertia of the static explosion fragments, d zo represents the eccentricity of the resistance point, ω(t k ) represents the static explosion fragments at the tth k Angular velocity at each acquisition moment;

[0029] Among them, the eccentric distance d of the resistance point zo is the distance from the point where air resistance acts on the static explosion fragments to the point where gravity acts on the static explosion fragments, which is obtained through fluid mechanics simulation;

[0030] The calculation method of the moment of inertia I is as follows: the air density ρ and the air resistance coefficient C determined above are d , eccentric distance d of the resistance point zo , and the translational velocity v(t k ), frontal area S(t k ) and angular velocity ω(t k ) into Iω(t k )=∫-ρv(t k ) 2 S(t k )C d / 2*d zo In dt, the moment of inertia I of the static explosion fragments is obtained based on the linear least squares method.

[0031] A system for deducing the trajectory of natural debris from a kinetic explosion, used in the above-mentioned method for deducing the trajectory of natural debris from a kinetic explosion, comprises:

[0032] An image processing module is used to perform stereo high-speed photography of the fragment dispersion process generated by the static explosion of the warhead to obtain the three-dimensional position and three-dimensional posture of the static explosion fragments during the photography period;

[0033] A data analysis module is used to calculate the translational velocity, angular velocity and frontal area of ​​the static explosion fragments during the photography period based on the three-dimensional position and three-dimensional posture of the static explosion fragments;

[0034] The module for calculating the undetermined coefficients is used to establish the translational equation and rotational equation of the static explosion fragment flight based on the aerodynamic constraint equation. The translational equation and the rotational equation introduce the undetermined coefficients that take into account the air resistance, gravity and the irregularity of the fragments. The undetermined coefficients include air density, air resistance coefficient, gravitational acceleration, mass of the static explosion fragment, moment of inertia and eccentricity of the resistance action point. The translational velocity, angular velocity and frontal area of ​​the static explosion fragment are input into the translational equation and the rotational equation to inversely deduce the undetermined coefficients.

[0035] A debris space-time deduction model construction module is used to integrate the translational equation and rotational equation after determining the unknown coefficients to generate a dispersion path equation describing the debris flight trajectory and a dispersion attitude equation describing the debris rotational attitude. The dispersion path equation and the dispersion attitude equation are combined to construct a debris space-time deduction model. The input of the debris space-time deduction model is the three-dimensional position, three-dimensional attitude, translational velocity, and angular velocity of the debris at each moment in a certain time period, and the output is the three-dimensional position and three-dimensional attitude of the debris at each moment in the time period and the periods before and after the time period.

[0036] The static explosion fragment initial state acquisition module is used to obtain the initial three-dimensional position and initial three-dimensional posture of the static explosion fragments during the warhead static explosion from the fragment space-time deduction model based on the time interval between the photography period and the warhead static explosion time, and estimate the initial translational velocity and initial angular velocity of the static explosion fragments based on the three-dimensional position and three-dimensional posture of the static explosion fragments after the warhead static explosion;

[0037] The dynamic explosion fragment initial state acquisition module is used to combine the initial three-dimensional position, initial three-dimensional posture, initial translational velocity, and initial angular velocity of the static explosion fragment to form the static explosion fragment initial state, and combine the three-dimensional position, three-dimensional posture, translational velocity, and angular velocity of the warhead during the dynamic explosion to form the warhead state. The static explosion fragment initial state and the warhead state are superimposed using a vector superposition method to form the dynamic explosion fragment initial state;

[0038] The debris field space-time deduction model construction module is used to merge the fragment space-time deduction models of multiple fragments generated during the static explosion of the warhead to form a debris field space-time deduction model, and import the initial state of the dynamic explosion fragments into the corresponding fragment space-time deduction model within the debris field space-time deduction model, so as to generate the three-dimensional position and three-dimensional posture of each fragment in the debris field after the static explosion of the warhead that changes with time.

[0039] A storage medium stores a computer program, which, when executed by a processor, implements the steps of the above-mentioned method for deducing the trajectory of natural debris dispersion caused by dynamic explosions.

[0040] An electronic device includes a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor. When the processor executes the computer program, the steps of the above-mentioned method for deriving the trajectory of natural debris dispersion caused by dynamic explosions are implemented.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] The method, system, storage medium and electronic device for deducing the trajectory of natural fragments of a kinetic explosion of the present invention introduce undetermined coefficients that take into account air resistance, gravity and fragment irregularity factors when constructing a fragment space-time deduction model based on the translational equation and the rotational equation, and infer the undetermined coefficients through the translational velocity, angular velocity and windward area of ​​the static explosion fragments. In this way, the constructed fragment space-time deduction model comprehensively considers the influencing factors in the fragment dispersion process, improves the deduction accuracy of the fragment space-time deduction model, and obtains the initial state of the kinetic explosion fragment by superimposing the initial state of the static explosion fragment and the warhead state vector, thereby taking into account the influence of the warhead translation and rotation factors on the fragments, making the initial state of the kinetic explosion fragment formed after superposition more realistic, and improving the accuracy of subsequent space-time deduction of the kinetic explosion fragments. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 Schematic diagram of the flow of the method for deducing the trajectory of natural debris from a dynamic explosion in the present invention;

[0044] Figure 2 This is a diagram of the module units of the system for simulating the trajectory of natural debris from dynamic explosions in the present invention. DETAILED DESCRIPTION

[0045] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to specific embodiments.

[0046] It should be noted that, unless otherwise defined, the technical or scientific terms used in the present invention should have the usual meanings understood by people with ordinary skills in the field to which the present invention belongs. The "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative position relationships. When the absolute position of the object being described changes, the relative position relationship may also change accordingly.

[0047] Example 1:

[0048] See also Figure 1 The present invention provides a method for deducing the trajectory of natural debris from a dynamic explosion, comprising the following steps:

[0049] S1, take stereo high-speed photography of the fragments flying during the static explosion of the warhead to obtain the three-dimensional position and three-dimensional posture of the static explosion fragments during the photography period;

[0050] It should be noted that the use of stereo high-speed photography technology to capture the fragmentation process during a static explosion of a warhead, thereby obtaining multiple fragmentation images during the photography period, and analyzing and processing the fragmentation images collected at different acquisition times during the photography period to obtain the three-dimensional position and three-dimensional posture information of the fragments at different acquisition times is an existing technology and will not be described in detail here.

[0051] Furthermore, in the initial stage of the warhead static explosion, it is easier to perform high-speed photography of the static explosion fragments to collect their three-dimensional position and three-dimensional posture, so the photography period is set at the initial stage of the warhead static explosion.

[0052] S2, based on the 3D position and 3D attitude of the static explosion fragments, calculate the translational velocity, angular velocity and frontal area of ​​the static explosion fragments during the photography period;

[0053] Among them, the tth k The translational velocity of static explosion fragments at the acquisition moment is calibrated as v(t k ), the angular velocity of static explosion fragments is calibrated as w(t k ), the windward area of ​​static explosion fragments is calibrated as S(t k ), k represents the number of different acquisition moments in the photography period, and k = 1, 2, ..., m, m represents the total number of acquisition moments in the photography period, and m∈N + ;

[0054] It should be noted that the translational velocity v(t k ) is obtained by using stereo high-speed photography technology to measure the three-dimensional position of the static explosion fragments at the k-1th acquisition time and the kth acquisition time, and then calculating the displacement Δs (t k-1 ,t k ), and finally the displacement Δs(t k-1 ,t k ) divided by the time interval Δ(t k-1 ,t k ), and the static explosion fragments are calculated at the t k The translational velocity v(t k );

[0055] It should be noted that the angular velocity of static explosion fragments w(t k ) is obtained by using stereo high-speed camera technology to measure the three-dimensional posture of the static explosion fragments at the k-1th acquisition time and the kth acquisition time, and then calculating the rotation amount Δψ(t k-1 ,t k ), and finally the rotation Δψ(t k-1 ,t k ) divided by the time interval Δ(t k-1 ,t k ), and the static explosion fragments are calculated at the t k The angular velocity w(t k );

[0056] It should be noted that the frontal area of ​​static explosion fragments S(t k ) is obtained by measuring the three-dimensional position and three-dimensional posture of the static explosion fragments at the k-1th acquisition moment and the kth acquisition moment by using stereo high-speed photography technology, and determining the translational velocity direction of the static explosion fragments at the kth acquisition moment based on this, projecting the three-dimensional posture of the static explosion fragments at the kth acquisition moment in a direction perpendicular to the translational velocity direction, and calculating the projected area using area calculation software, and taking the projected area as the windward area S(t k ), wherein the projection area can be calculated using area calculation software using existing technology, such as OpenCV, ImageJ, MATLAB and other software to calculate the projection area.

[0057] S3, based on the aerodynamic constraint equation, establishes a translational equation and a rotational equation for the flight of static explosion fragments, and introduces undetermined coefficients that take into account air resistance, gravity, and fragment irregularity. The undetermined coefficients include air density, air resistance coefficient, gravitational acceleration, mass of static explosion fragments, moment of inertia, and eccentricity of the resistance action point. The translational velocity, angular velocity, and frontal area of ​​the static explosion fragments are input into the translational equation and the rotational equation to inversely derive the undetermined coefficients, including the following steps:

[0058] S31, establishing a translational equation based on air density, air resistance coefficient, gravitational acceleration, translational velocity, windward area, and mass of the static explosion fragments, and inputting the translational velocity and windward area of ​​the static explosion fragments into the translational equation to determine specific values ​​of the air density, air resistance coefficient, gravitational acceleration, and mass of the static explosion fragments;

[0059] The translation equation is as follows:

[0060] F(t k )=F g (t k )+F z (t k )=ma(t k )=mdv(t k ) / dt=mg-ρv(t k ) 2 S(t k )C d / 2

[0061] It should be noted that F(t k ) represents the tth k The comprehensive force on the static explosion fragments at the time of collection is the total force on the static explosion fragments at the time of collection. k The gravity F at the time of collection g (t k ), and air resistance F z (t k ), m represents the mass of static explosion fragments, a(t k ) represents the tth k The acceleration of the static explosion fragments at the time of acquisition, g represents the acceleration of gravity, ρ represents the air density, v(t k ) represents the static explosion fragments at the tth k The translational velocity at the acquisition moment, S(t k ) represents the static explosion fragments at the tth k The frontal area at the time of collection, C d represents the air resistance coefficient;

[0062] Among them, the gravitational acceleration g and the air density ρ are determined according to the latitude and longitude of the area where the warhead is located and the air density when it explodes. They are constants and can be obtained through conventional experiments. They will not be described in detail here.

[0063] Among them, the air resistance coefficient C d Determined by the geometric shape of the fragments, because the fragments are irregular and complex shapes during dynamic explosion, the air resistance coefficient C d =1.5;

[0064] Among them, the acceleration of static explosion fragments a(t k ) can be achieved by placing the static explosion fragments at t k The translational velocity v(t k ) minus the tth k-1 The translational velocity v(t k-1 ), divided by the time interval Δ(t k-1 ,t k ) to obtain;

[0065] The calculation method of static explosion fragment mass m is as follows: the gravity acceleration g, air density ρ, air resistance coefficient C d , and the translational velocity v(t k ), frontal area S(t k ) and acceleration a(t k )Substitute into ma(t k )=mg-ρv(t k ) 2 S(t k )C d / 2, the static explosion fragment mass m is obtained based on the linear least squares method;

[0066] In addition, by transforming the translational equation, we can obtain the velocity attenuation equation of static explosion fragments, which is as follows:

[0067]

[0068] It should be noted that t k1 and t k2 Represent two different acquisition moments, v(t k1 ) represents the static explosion fragments at the tth k1 The translational velocity at each acquisition moment, v(t k2 ) represents the static explosion fragments at the tth k2 The translational velocity at each acquisition moment, Δ(t k1 ,t k2 ) indicates that from the tth k1 From the collection time to the tth k2 The time interval between the collection moments;

[0069] S32: Establishing a rotation equation based on the moment of inertia, the eccentricity of the resistance application point, air density, air resistance coefficient, the translational velocity, angular velocity, and windward area of ​​the static explosion fragments. Inputting the translational velocity, angular velocity, and windward area of ​​the static explosion fragments into the rotation equation for training, thereby determining specific values ​​of the moment of inertia and the eccentricity of the resistance application point.

[0070] The rotation equation is as follows:

[0071] ∫M z (t k )dt=∫F z (t k )*d zo dt=Iω(t k )=∫-ρv(t k ) 2 S(t k )C d / 2*d zodt

[0072] It should be noted that M z (t k ) represents the tth k The dynamic torque generated by the static explosion fragments under the action of air resistance at the time of the acquisition, I represents the moment of inertia of the static explosion fragments, d zo represents the eccentricity of the resistance point, ω(t k ) represents the static explosion fragments at the tth k Angular velocity at each acquisition moment;

[0073] Among them, the eccentric distance d of the resistance point zo The distance between the point where the air resistance acts on the static explosion fragment and the point where gravity acts on the static explosion fragment can be obtained by taking the distance from the geometric center of the static explosion fragment to the point where gravity acts as the eccentricity of the resistance action point, or by fluid mechanics simulation. The details will not be elaborated here.

[0074] The calculation method of the moment of inertia I is as follows: the air density ρ and the air resistance coefficient C determined above are d , eccentric distance d of the resistance point zo , and the translational velocity v(t k ), frontal area S(t k ) and angular velocity ω(t k ) into Iω(t k )=∫-ρv(t k ) 2 S(t k )C d / 2*d zo In dt, the moment of inertia I of the static explosion fragments is obtained based on the linear least squares method.

[0075] S4, integrating the translational equation and the rotational equation after determining the unknown coefficients to generate a dispersion path equation describing the flight trajectory of the debris and a dispersion attitude equation describing the rotational attitude of the debris, and combining the dispersion path equation and the dispersion attitude equation to construct a fragment space-time deduction model, wherein the input of the fragment space-time deduction model is the three-dimensional position, three-dimensional attitude, translational velocity, and angular velocity of the debris at each moment in a certain time period, and the output is the three-dimensional position and three-dimensional attitude of the debris at each moment in the time period and in the time periods before and after the time period;

[0076] It should be noted that integrating the translational equation so that the relationship between the translational velocity and time of the fragments in the translational equation is converted into the relationship between the three-dimensional position and time of the fragments, thereby generating the scattering path equation describing the flight trajectory of the fragments uses the existing equation integration knowledge. This is a prior art and will not be elaborated here. Similarly, integrating the rotational equation so that the relationship between the angular velocity and time of the fragments in the rotational equation is converted into the relationship between the three-dimensional posture of the fragments and time, thereby generating the scattering posture equation describing the rotational posture of the fragments also uses the existing equation integration knowledge and will not be elaborated here.

[0077] S5, based on the time interval between the photography period and the warhead static explosion time, obtain the initial 3D position and initial 3D attitude of the static explosion fragments during the warhead static explosion from the fragment space-time deduction model, and combine the 3D position and 3D attitude of the static explosion fragments after the warhead static explosion to estimate the initial translational velocity and initial angular velocity of the static explosion fragments;

[0078] Furthermore, the photography period is set at the initial stage of the warhead static explosion, and the initial translational velocity and initial angular velocity of the static explosion fragments are estimated by the method of step S2. It is no longer necessary to obtain the initial three-dimensional position and initial three-dimensional posture of the static explosion fragments during the warhead static explosion from the fragment space-time deduction model, thereby reducing the difficulty of obtaining the initial translational velocity and initial angular velocity.

[0079] It should be noted that the initial translational velocity of the static explosion fragments can be estimated by the initial three-dimensional position of the static explosion fragments during the static explosion of the warhead, and the three-dimensional position a very short time after the static explosion of the warhead. Similarly, the initial angular velocity of the static explosion fragments can be estimated by the initial three-dimensional posture of the static explosion fragments during the static explosion of the warhead, and the three-dimensional posture a very short time after the static explosion of the warhead.

[0080] S6, combining the initial three-dimensional position, initial three-dimensional attitude, initial translational velocity, and initial angular velocity of the static explosion fragments to form an initial state of the static explosion fragments, and combining the three-dimensional position, three-dimensional attitude, translational velocity, and angular velocity of the warhead during the dynamic explosion to form a warhead state, and superimposing the initial state of the static explosion fragments and the warhead state using a vector superposition method to form an initial state of the dynamic explosion fragments;

[0081] It should be noted that the three-dimensional position, three-dimensional posture, translational velocity and angular velocity of the warhead during the dynamic explosion can also be obtained by high-speed camera methods. The initial state of the static explosion fragments and the warhead state are superimposed by the vector superposition method to form the setting of the initial state of the dynamic explosion fragments. The translational velocity and angular velocity of the warhead are taken into account, that is, the influence of the translational and rotational factors of the warhead on the fragments is taken into account, so that the initial state of the dynamic explosion fragments formed after superposition is more in line with reality, and the accuracy of subsequent time and space deduction of the dynamic explosion fragments is improved. The use of the vector superposition method to superimpose the two states is an existing technology and will not be elaborated here.

[0082] S7, merging the fragment space-time deduction models of multiple fragments generated during the static explosion of the warhead to form a debris field space-time deduction model, and importing the initial state of the dynamic explosion fragments into the corresponding fragment space-time deduction model in the debris field space-time deduction model, thereby generating the three-dimensional position and three-dimensional posture of each fragment in the debris field after the static explosion of the warhead that changes with time.

[0083] Example 2:

[0084] See also Figure 2 The present invention provides a system for deducing the trajectory of natural debris from a dynamic explosion, which is used in the method for deducing the trajectory of natural debris from a dynamic explosion in the first embodiment, comprising:

[0085] An image processing module is used to perform stereo high-speed photography of the fragment dispersion process generated by the static explosion of the warhead to obtain the three-dimensional position and three-dimensional posture of the static explosion fragments during the photography period;

[0086] A data analysis module is used to calculate the translational velocity, angular velocity and frontal area of ​​the static explosion fragments during the photography period based on the three-dimensional position and three-dimensional posture of the static explosion fragments;

[0087] The module for calculating the undetermined coefficients is used to establish the translational equation and rotational equation of the static explosion fragment flight based on the aerodynamic constraint equation. The translational equation and the rotational equation introduce the undetermined coefficients that take into account the air resistance, gravity and the irregularity of the fragments. The undetermined coefficients include air density, air resistance coefficient, gravitational acceleration, mass of the static explosion fragment, moment of inertia and eccentricity of the resistance action point. The translational velocity, angular velocity and frontal area of ​​the static explosion fragment are input into the translational equation and the rotational equation to inversely deduce the undetermined coefficients.

[0088] A debris space-time deduction model construction module is used to integrate the translational equation and rotational equation after determining the unknown coefficients to generate a dispersion path equation describing the debris flight trajectory and a dispersion attitude equation describing the debris rotational attitude. The dispersion path equation and the dispersion attitude equation are combined to construct a debris space-time deduction model. The input of the debris space-time deduction model is the three-dimensional position, three-dimensional attitude, translational velocity, and angular velocity of the debris at each moment in a certain time period, and the output is the three-dimensional position and three-dimensional attitude of the debris at each moment in the time period and the periods before and after the time period.

[0089] The static explosion fragment initial state acquisition module is used to obtain the initial three-dimensional position and initial three-dimensional posture of the static explosion fragments during the warhead static explosion from the fragment space-time deduction model based on the time interval between the photography period and the warhead static explosion time, and estimate the initial translational velocity and initial angular velocity of the static explosion fragments based on the three-dimensional position and three-dimensional posture of the static explosion fragments after the warhead static explosion;

[0090] The dynamic explosion fragment initial state acquisition module is used to combine the initial three-dimensional position, initial three-dimensional posture, initial translational velocity, and initial angular velocity of the static explosion fragment to form the static explosion fragment initial state, and combine the three-dimensional position, three-dimensional posture, translational velocity, and angular velocity of the warhead during the dynamic explosion to form the warhead state. The static explosion fragment initial state and the warhead state are superimposed using a vector superposition method to form the dynamic explosion fragment initial state;

[0091] The debris field space-time deduction model construction module is used to merge the fragment space-time deduction models of multiple fragments generated during the static explosion of the warhead to form a debris field space-time deduction model, and import the initial state of the dynamic explosion fragments into the corresponding fragment space-time deduction model within the debris field space-time deduction model, so as to generate the three-dimensional position and three-dimensional posture of each fragment in the debris field after the static explosion of the warhead that changes with time.

[0092] Example 3:

[0093] The present invention also provides a storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the method for deducing the trajectory of natural debris dispersion caused by dynamic explosions in the first embodiment are implemented.

[0094] Example 4:

[0095] The present invention also provides an electronic device comprising a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor. When the processor executes the computer program, the steps of the method for deriving the trajectory of natural debris dispersion caused by a dynamic explosion in the first embodiment are implemented.

[0096] The above formulas are all dimensionless and numerical calculations. The formulas are obtained by collecting a large amount of data and performing software simulation to obtain the most recent real situation. The preset parameters in the formulas are set by technicians in this field according to actual conditions.

[0097] The above embodiments can be implemented in whole or in part by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed by hardware or software depends on the specific application and design constraints of the technical solution.

[0098] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, and may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment as needed.

[0099] The above is only a specific implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed in this application, which should be covered by the scope of protection of the present application.

Claims

1. A method for deducing the trajectory of natural debris from a dynamic explosion, characterized in that: The steps include: S1, take stereo high-speed photography of the fragments flying during the static explosion of the warhead to obtain the three-dimensional position and three-dimensional posture of the static explosion fragments during the photography period; S2, based on the 3D position and 3D attitude of the static explosion fragments, calculate the translational velocity, angular velocity and frontal area of ​​the static explosion fragments during the photography period; S3. Based on the aerodynamic constraint equations, the translational and rotational equations of the static explosion fragments are established. The translational and rotational equations introduce undetermined coefficients that take into account air resistance, gravity, and fragment irregularities. The undetermined coefficients include air density, air resistance coefficient, gravitational acceleration, mass of the static explosion fragments, moment of inertia, and eccentricity of the resistance action point. The translational velocity, angular velocity, and frontal area of ​​the static explosion fragments are input into the translational and rotational equations to infer the undetermined coefficients. S4, integrating the translational equation and the rotational equation after determining the unknown coefficients to generate a dispersion path equation describing the flight trajectory of the debris and a dispersion attitude equation describing the rotational attitude of the debris, and combining the dispersion path equation and the dispersion attitude equation to construct a fragment space-time deduction model, wherein the input of the fragment space-time deduction model is the three-dimensional position, three-dimensional attitude, translational velocity, and angular velocity of the debris at each moment in a certain time period, and the output is the three-dimensional position and three-dimensional attitude of the debris at each moment in the time period and in the time periods before and after the time period; S5, based on the time interval between the photography period and the warhead static explosion time, obtain the initial 3D position and initial 3D attitude of the static explosion fragments during the warhead static explosion from the fragment space-time deduction model, and combine the 3D position and 3D attitude of the static explosion fragments after the warhead static explosion to estimate the initial translational velocity and initial angular velocity of the static explosion fragments; S6, combining the initial three-dimensional position, initial three-dimensional attitude, initial translational velocity, and initial angular velocity of the static explosion fragments to form an initial state of the static explosion fragments, and combining the three-dimensional position, three-dimensional attitude, translational velocity, and angular velocity of the warhead during the dynamic explosion to form a warhead state, and superimposing the initial state of the static explosion fragments and the warhead state using a vector superposition method to form an initial state of the dynamic explosion fragments; S7, merging the fragment space-time deduction models of multiple fragments generated during the static explosion of the warhead to form a debris field space-time deduction model, and importing the initial state of the dynamic explosion fragments into the corresponding fragment space-time deduction model within the debris field space-time deduction model, thereby generating the three-dimensional position and three-dimensional posture of each fragment in the debris field after the static explosion of the warhead that changes with time.

2. The method for deriving trajectory of natural debris from a dynamic explosion according to claim 1, characterized in that: The photography period is set at the initial stage of the warhead static explosion.

3. The method for deriving trajectory of natural debris from a dynamic explosion according to claim 1 is characterized by: The tth k The translational velocity of static explosion fragments at the acquisition moment is calibrated as v(t k ), the angular velocity of static explosion fragments is calibrated as w(t k ), the windward area of ​​static explosion fragments is calibrated as S(t k ), k represents the number of different acquisition moments in the photography period, and k = 1, 2, ..., m, m represents the total number of acquisition moments in the photography period, and m∈N + .

4. The method for deriving trajectory of natural debris from a dynamic explosion according to claim 3 is characterized by: Based on the aerodynamic constraint equation, the translational equation and rotational equation of the static explosion fragment flight are established. The translational equation and rotational equation introduce undetermined coefficients that take into account air resistance, gravity, and fragment irregularity. The undetermined coefficients include air density, air resistance coefficient, gravitational acceleration, mass of static explosion fragments, moment of inertia, and eccentricity of the resistance action point. The specific logic of inverting the undetermined coefficients by inputting the translational velocity, angular velocity, and frontal area of ​​the static explosion fragments into the translational equation and rotational equation is as follows: S31, establishing a translational equation based on air density, air resistance coefficient, gravitational acceleration, translational velocity, windward area, and mass of the static explosion fragments, and inputting the translational velocity and windward area of ​​the static explosion fragments into the translational equation to determine specific values ​​of the air density, air resistance coefficient, gravitational acceleration, and mass of the static explosion fragments; S32, based on the moment of inertia, the eccentricity of the resistance point, the air density, the air resistance coefficient, the translational velocity, the angular velocity and the windward area of ​​the static explosion fragments, a rotation equation is established, and the translational velocity, angular velocity and the windward area of ​​the static explosion fragments are input into the rotation equation for training to determine the specific values ​​of the moment of inertia and the eccentricity of the resistance point.

5. The method for deriving trajectory of natural debris from a dynamic explosion according to claim 4 is characterized in that: In step S31, the translation equation is as follows: F(t k )=F g (t k )+F z (t k )=ma(t k )=mdv(t k ) / dt=mg-ρv(t k ) 2 S(t k )C d / 2 Among them, F(t k ) represents the tth k The comprehensive force on the static explosion fragments at the time of collection is the total force on the static explosion fragments at the time of collection. k The gravity F at the time of collection g (t k ), and air resistance F z (t k ), m represents the mass of static explosion fragments, a(t k ) represents the tth k The acceleration of the static explosion fragments at the time of acquisition, g represents the acceleration of gravity, ρ represents the air density, v(t k ) represents the static explosion fragments at the tth k The translational velocity at the acquisition moment, S(t k ) represents the static explosion fragments at the tth k The frontal area at the time of collection, C d represents the air resistance coefficient; Among them, the gravitational acceleration g and the air density ρ are determined according to the longitude and latitude of the area where the warhead is located and the air density when it explodes, and are taken as constants; Among them, the air resistance coefficient C d =1.5; Among them, the acceleration of static explosion fragments a(t k ) by placing the static explosion fragments at t k The translational velocity v(t k ) minus the tth k-1 The translational velocity v(t k-1 ), divided by the time interval Δ(t k-1 ,t k ) to obtain; The calculation method of static explosion fragment mass m is as follows: the gravity acceleration g, air density ρ, air resistance coefficient C d , and the translational velocity v(t k ), frontal area S(t k ) and acceleration a(t k )Substitute into ma(t k )=mg-ρv(t k ) 2 S(t k )C d / 2, the static explosion fragment mass m is obtained based on the linear least squares method.

6. The method for deriving trajectory of natural debris from a dynamic explosion according to claim 5, characterized in that: In step S32, the rotation equation is as follows: ∫M z (t k )dt=∫F z (t k )*d zo dt=Iω(t k )=∫-ρv(t k ) 2 S(t k )C d / 2*d zo dt Among them, M z (t k ) represents the tth k The dynamic torque generated by the static explosion fragments under the action of air resistance at the time of the acquisition, I represents the moment of inertia of the static explosion fragments, d zo represents the eccentricity of the resistance point, ω(t k ) represents the static explosion fragments at the tth k Angular velocity at each acquisition moment; Among them, the eccentric distance d of the resistance point zo is the distance from the point where air resistance acts on the static explosion fragments to the point where gravity acts on the static explosion fragments, which is obtained through fluid mechanics simulation; The calculation method of the moment of inertia I is as follows: the air density ρ and the air resistance coefficient C determined above are d , eccentric distance d of the resistance point zo , and the translational velocity v(t k ), frontal area S(t k ) and angular velocity ω(t k ) into Iω(t k )=∫-ρv(t k ) 2 S(t k )C d / 2*d zo In dt, the moment of inertia I of the static explosion fragments is obtained based on the linear least squares method.

7. A system for deducing the trajectory of natural debris from a dynamic explosion, used in the method for deducing the trajectory of natural debris from a dynamic explosion as claimed in any one of claims 1 to 6, characterized in that: include: An image processing module is used to perform stereo high-speed photography of the fragment dispersion process generated by the static explosion of the warhead to obtain the three-dimensional position and three-dimensional posture of the static explosion fragments during the photography period; A data analysis module is used to calculate the translational velocity, angular velocity and frontal area of ​​the static explosion fragments during the photography period based on the three-dimensional position and three-dimensional posture of the static explosion fragments; The module for calculating the undetermined coefficients is used to establish the translational equation and rotational equation of the static explosion fragment flight based on the aerodynamic constraint equation. The translational equation and the rotational equation introduce the undetermined coefficients that take into account the air resistance, gravity and the irregularity of the fragments. The undetermined coefficients include air density, air resistance coefficient, gravitational acceleration, mass of the static explosion fragment, moment of inertia and eccentricity of the resistance action point. The translational velocity, angular velocity and frontal area of ​​the static explosion fragment are input into the translational equation and the rotational equation to inversely deduce the undetermined coefficients. A debris space-time deduction model construction module is used to integrate the translational equation and rotational equation after determining the unknown coefficients to generate a dispersion path equation describing the debris flight trajectory and a dispersion attitude equation describing the debris rotational attitude. The dispersion path equation and the dispersion attitude equation are combined to construct a debris space-time deduction model. The input of the debris space-time deduction model is the three-dimensional position, three-dimensional attitude, translational velocity, and angular velocity of the debris at each moment in a certain time period, and the output is the three-dimensional position and three-dimensional attitude of the debris at each moment in the time period and the periods before and after the time period. The static explosion fragment initial state acquisition module is used to obtain the initial three-dimensional position and initial three-dimensional posture of the static explosion fragments during the warhead static explosion from the fragment space-time deduction model based on the time interval between the photography period and the warhead static explosion time, and estimate the initial translational velocity and initial angular velocity of the static explosion fragments based on the three-dimensional position and three-dimensional posture of the static explosion fragments after the warhead static explosion; The dynamic explosion fragment initial state acquisition module is used to combine the initial three-dimensional position, initial three-dimensional posture, initial translational velocity, and initial angular velocity of the static explosion fragment to form the static explosion fragment initial state, and combine the three-dimensional position, three-dimensional posture, translational velocity, and angular velocity of the warhead during the dynamic explosion to form the warhead state. The static explosion fragment initial state and the warhead state are superimposed using a vector superposition method to form the dynamic explosion fragment initial state; The debris field space-time deduction model construction module is used to merge the fragment space-time deduction models of multiple fragments generated during the static explosion of the warhead to form a debris field space-time deduction model, and import the initial state of the dynamic explosion fragments into the corresponding fragment space-time deduction model within the debris field space-time deduction model, so as to generate the three-dimensional position and three-dimensional posture of each fragment in the debris field after the static explosion of the warhead that changes with time.

8. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for deducing the trajectory of natural debris from a dynamic explosion as described in any one of claims 1 to 6 are implemented.

9. An electronic device comprising a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor, wherein: When the processor executes the computer program, the steps of the method for deducing the trajectory of natural debris from a dynamic explosion as described in any one of claims 1 to 6 are implemented.

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