Method and System for Evaluating Target Damage Effect Based on Collision Intelligent Detection

Abstract

The present invention provides a method and system for evaluating the damage effect of a target based on intelligent collision detection. The method includes: establishing a model of a surface target and endowing a mesh collider with damage threshold attributes; establishing a basic data model and a rigid body of a projectile; using discrete collision continuous monitoring to calculate the formation of damage elements after detecting the collision of the projectile; adding a rigid body to the damage elements; continuously detecting the collision between the damage elements and the mesh, and calculating the damage result in combination with the target damage threshold. The present invention solves the technical problems of low damage assessment efficiency, a large overlapping area of damage circles, difficulty in predicting the damage effect, and difficulty in accurately achieving the expected damage effect.

Description

Technical Field

[0001] The present invention relates to the field of target damage effect evaluation, and particularly to a method and system for evaluating target damage effect based on collision intelligent detection. Background Art

[0002] Collision detection refers to the process in computer graphics of detecting whether graphical objects will collide with each other when they move. Collision detection generally uses physical definitions to determine whether the current positions of objects overlap with other objects, thereby realizing the physical interaction between moving objects. Usually, collision detection involves calculating whether two objects intersect in the current spatial state, and the two objects for collision detection are generally characterized by their geometric shapes. Therefore, collision detection generally determines whether a collision exists based on the spatial state corresponding to the descriptors of the geometric shapes of the objects: Further, collision detection also needs to determine the position of the intersection point on the surface of the object to realize the physical interaction between the objects.

[0003] In summary, the existing technologies have technical problems such as low damage assessment efficiency, a large overlapping area of damage circles, difficulty in predicting damage effects, and difficulty in precisely achieving the expected damage effect. Summary of the Invention

[0004] The technical problem to be solved by the present invention is: how to solve the technical problems in the existing technologies such as low damage assessment efficiency, a large overlapping area of damage circles, difficulty in predicting damage effects, and difficulty in precisely achieving the expected damage effect.

[0005] The present invention solves the above technical problems by adopting the following technical solutions: The method for evaluating target damage effect based on collision intelligent detection includes:

[0006] S1. Establish a surface target model and a surface target coordinate system, perform a partitioning operation on the surface target to obtain a structured grid for damage assessment, endow the structured grid for damage assessment with damage threshold attributes in combination with the region where the grid is located, and add a collider to the structured grid for damage assessment;

[0007] S2. For a single projectile, establish a damage effect model and add a rigid body component to the projectile;

[0008] S3. Use discrete collision detection for continuous detection to detect the collision between the projectile and the target; obtain and calculate damage elements based on the basic parameters of the projectile;

[0009] S4. Automatically add a rigid body component to the damage elements generated by the explosion, where the rigid body component includes: shock wave and fragments;

[0010] S5. Use discrete collision to continuously detect the collision events between the damage elements and the target grid, and calculate the damage result in combination with the target characteristics.

[0011] According to the image quality, target type, and target characteristics of the acquired target, the present invention utilizes image processing technology to extract target damage feature information, comprehensively evaluate the target damage effect, plan to meet the requirements of target damage based on the target geometric size, the hit position of the shell, and the damage area, and can provide an expected plan for fire strikes during combat and support for subsequent combat plans. In addition, it can estimate the damage effect of the planned strike plan and provide data support for optimizing the strike plan.

[0012] In a more specific technical solution, step S1 includes:

[0013] S11. Simplify the surface target into an equivalent rectangle according to the preset length and width, and set the length and width of the equivalent rectangle as L and W respectively for establishing the surface target model.

[0014] S12. Set the origin of the surface target coordinate system at the geometric center point of the equivalent rectangle to establish the surface target coordinate system.

[0015] S13. Divide the surface target into structured grids for damage assessment, number the structured grids for damage assessment, and assign damage threshold attributes to the structured grids for damage assessment according to the numbers.

[0016] S14. Add a collider to the target.

[0017] The present invention divides the planar target into structured grids for damage assessment simulation, numbers the grids in the order of two-dimensional spatial positions, and assigns the "damage state" attribute to the grids. When calculating the explosion point, it can directly calculate the grid number where the explosion point is located according to the explosion point coordinates without traversing all grids, saving computing resources and thus improving the assessment efficiency.

[0018] In a more specific technical solution, step S2 includes:

[0019] S21. Create a rigid body component for a single projectile.

[0020] S22. Construct a damage effect model for different types of projectiles.

[0021] Specifically, perform sampling operations according to the collision point and hitting accuracy CEP of the fragmentation bomb. For the actual explosion point of the fragmentation bomb, set the damage radius parameter R_Damage of the damage effect model according to the actual parameters of the fragmentation bomb to obtain the damage circle corresponding to the damage effect model of a single fragmentation bomb. Adjust the hitting accuracy and damage radius to construct damage effect models for different types of fragmentation bombs.

[0022] In a more specific technical solution, step S3 includes:

[0023] S31. During the impact process, continuously monitor the discrete collision between the projectile and the target;

[0024] S32. Combine the basic parameters to calculate the damage elements generated during the explosion of the projectile, and create rigid body components for each damage element.

[0025] In a more specific technical solution, in step S32, the basic parameters include: angle of fall, velocity of fall, air resistance, projectile mass, and diameter.

[0026] In a more specific technical solution, step S32 includes:

[0027] S321. Calculate the damage elements of the fragments of the projectile and create rigid body components for each fragment:

[0028] Specifically, calculate the initial velocity of the fragment:

[0029]

[0030] Among them, C represents the charge mass, as input data; M represents the shell mass as input data; is the Gurney specific energy constant, adjustable by looking up the table;

[0031] Calculate the velocity decay of the fragment:

[0032] v = v0e -ax

[0033] Among them, C d represents the air resistance coefficient, look up the table, the fragment is simulated as a sphere; ρ represents the air density, which is a fixed value; S represents the frontal area of the fragment; it is necessary to know the inner and outer diameters of the projectile to obtain the fragment diameter and then the area; m: represents the fragment mass; it is necessary to know the projectile shell material / or / for prefabricated fragments, it is necessary to know the number of prefabricated fragments;

[0034] Calculate the scattering direction angle θ of a single fragment:

[0035]

[0036] Among them, D represents the detonation velocity of the charge, which combines factors such as the type of explosive and the filling density;

[0037] Determine the Gurney specific energy constant:

[0038]

[0039] Among them, v0 represents the initial velocity of the fragment;

[0040] Calculate the total number of natural fragments:

[0041]

[0042] Among them, M eff represents the mass of the effective warhead shell;

[0043]

[0044] Among them, A represents the experimental coefficient, which depends on the performance of the explosive; t0 represents the average wall thickness of the warhead; d0 represents the average inner diameter of the warhead shell; m e represents the charge mass; M f represents the mass of the effective warhead shell;

[0045] Calculate the fragment kinetic energy:

[0046] Among them, m represents the fragment mass; it is necessary to know the shell material / or / the number of prefabricated fragments for the prefabricated fragments;

[0047] S322. Calculate the damage elements of the shock wave and create a dynamic rigid body component for the pressure field of the shock wave.

[0048] Specifically, calculate the peak overpressure at each position:

[0049]

[0050] Among them, k1 to k3 have different values corresponding to different explosives; the values are taken according to empirical values: k1 = 0.082, k2 = 0.265, k3 = 0.687; ω be represents the charge mass, as input data; r represents the detonation distance, as input data; Δp represents the peak overpressure of the shock wave;

[0051]

[0052] Among them, ω represents the charge mass in the warhead, as input data; γ represents the polytropic index of the explosive gas;

[0053] Substitute into the value 0.46, which is an adjustable parameter; among them, α represents the filling coefficient, M is the mass of the warhead shell, as input data; a and b represent the shape coefficients. For a cylindrical shell charge, specifically: a = 1, b = 2; they are fixed values; for a steel shell: r p0 = 1.5r0 is an adjustable parameter, representing the material.

[0054] In a more specific technical solution, step S4 includes:

[0055] S41. Create rigid body components for the damage elements generated by the projectile during the explosion respectively;

[0056] S42. Continuously detect the discrete collisions between the damage elements and the target.

[0057] When planning the collision point, the present invention fully considers the relationship among the damage area, the target area, and the target aspect ratio. The planned collision point position can better adapt to the target area, making the overlapping area between damage circles smaller.

[0058] In a more specific technical solution, step S5 includes:

[0059] S51. Repeatedly execute S3 and S4 until all collision detection data are obtained and collision events are recorded, where the collision events include: rigid body information, mesh information, and collision timestamps;

[0060] S52. Calculate the damage result in combination with the collision events.

[0061] In a more specific technical solution, step S52 further includes:

[0062] S521. Obtain the rigid body information in the collision event. When the rigid body is a fragment, the rigid body information of the fragment includes: the kinetic energy at the moment of the fragment collision point. When the rigid body is a shock wave, the rigid body information of the shock wave includes: the overpressure value in the shock wave collision point area;

[0063] S522. Obtain the damage threshold of the area where the mesh at the collision point belongs, and calculate the damage caused by the effectiveness of the damage element to the area.

[0064] When calculating the damage area, the present invention divides the entire mesh area into three parts through the circumscribed square and inscribed square of the damage circle. It only needs to judge the meshes between the circumscribed square and the inscribed square, and count the number of meshes within the damage circle, without judging each mesh, saving computing resources and further improving the evaluation efficiency.

[0065] In a more specific technical solution, the target damage effect evaluation system based on collision intelligent detection includes:

[0066] A model and coordinate system construction module for establishing a surface target model, a surface target coordinate system, performing a division operation on the surface target to obtain a damage evaluation structured mesh, endowing the damage evaluation structured mesh with a damage threshold attribute in combination with the area where the mesh is located, and adding a collider to the damage evaluation structured mesh;

[0067] A damage effect model construction module for establishing a damage effect model for a single projectile and adding a rigid body component to the projectile;

[0068] A damage element calculation module for continuously detecting using discrete collision detection to detect the collision between the projectile and the target; obtaining and calculating the damage element according to the basic parameters of the projectile. The damage element calculation module is connected to the damage effect model construction module and the model and coordinate system construction module;

[0069] The rigid body component adding module is used to automatically add rigid body components to the damage elements generated by the explosion. The rigid body components include shock waves and fragments. The rigid body component adding module is connected to the damage element calculation module;

[0070] The expected damage assessment module is used to continuously detect the collision events between the damage elements and the target grid using discrete collisions, and calculate the damage results in combination with the target characteristics. The expected damage assessment module is connected to the rigid body component adding module.

[0071] The optimized parameters of the present invention include aiming point coordinates and terminal ballistic parameters (impact angle, impact velocity, burst height). That is, the parameters to be optimized are selected from the aiming point coordinates and terminal ballistic parameters, and individual coding is performed on the optimized parameters; a single individual corresponds to a set of aiming point coordinates and the parameters to be optimized in the terminal ballistic parameters, and constitutes a strike plan in combination with the parameter combination that does not require coding, i.e., does not require optimization. After individual coding, all individuals in the population are randomly generated through the given value range of the parameters to be optimized, that is, the initial population of the optimal aiming point allocation plan is obtained. By randomly generating individuals in the population, it is easy to traverse all states, and then the global optimal solution can be obtained.

[0072] The present invention has the following advantages compared with the prior art:

[0073] According to the image quality, target type and target characteristics of the acquired target, the present invention uses image processing technology to extract the target damage characteristic information, comprehensively evaluate the target damage effect, and plan to meet the requirements of target damage based on the target geometric size, the hit position of the shell and the damage area, which can provide an expected plan for the fire strike during the operation and support for the subsequent operation plan. In addition, it can estimate the damage effect of the planned strike plan and provide data support for optimizing the strike plan.

[0074] The present invention divides the planar target into structured grids for damage assessment simulation, numbers the grids in the order of two-dimensional spatial positions, and assigns the "damage state" attribute to the grids. When calculating the burst point, the grid number where the burst point is located can be directly calculated according to the burst point coordinates, without traversing all the grids, saving computing resources and thus improving the evaluation efficiency.

[0075] When planning the collision points, the present invention fully considers the relationship between the damage area, the target area and the target aspect ratio. The planned collision point positions can better adapt to the target area, making the overlapping area between the damage circles smaller.

[0076] When calculating the damage area of the present invention, the entire grid area is divided into three parts through the circumscribed square and inscribed square of the damage circle. It is only necessary to judge the grids between the circumscribed square and the inscribed square, and count the number of grids within the damage circle, without judging each grid, saving computing resources and further improving the evaluation efficiency.

[0077] The present invention solves the technical problems existing in the prior art, such as low damage assessment efficiency, large overlapping areas of damage circles, difficult prediction of damage effects, and difficulty in accurately achieving the expected damage effects. Brief Description of the Drawings

[0078] Figure 1 It is a schematic diagram of the basic steps of the target damage effect evaluation method based on collision intelligent detection;

[0079] Figure 2 It is a schematic diagram of the specific implementation steps of the target damage effect evaluation method based on collision intelligent detection;

[0080] Figure 3a It is a schematic diagram of the specific implementation steps for establishing the equivalent model of the rectangular plane target and structured grid division in Embodiment 1 of the present invention;

[0081] Figure 3b It is a schematic diagram of the surface target model in Embodiment 1 of the present invention;

[0082] Figure 4 It is a schematic diagram of the specific steps for planning the collision points in Embodiment 1 of the present invention;

[0083] Figure 5 It is a schematic diagram of the specific steps for evaluating the expected damage effect in Embodiment 1 of the present invention;

[0084] Figure 6 It is a schematic diagram of the specific steps for calculating and setting the damage circle in Embodiment 1 of the present invention;

[0085] Figure 7 It is a schematic diagram of the damage effect calculation method in Embodiment 1 of the present invention. Detailed Description of the Invention

[0086] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0087] Embodiment 1

[0088] As Figure 1As shown in the figure, the method for evaluating the target damage effect based on collision intelligent detection provided by the present invention includes the following basic steps:

[0089] S1. Establish a surface target model and a surface target coordinate system, perform a division operation on the surface target to obtain a damage assessment structured grid, endow the damage assessment structured grid with a damage threshold attribute in combination with the area where the grid is located, and add a collider to the damage assessment structured grid;

[0090] In this embodiment, according to the preset length and width, the surface target is simplified into an equivalent rectangle with length L and width W for establishing the surface target model. Taking a certain base as an example, the size parameters are: L = 3000, W = 1400; the origin of the surface target coordinate system is set at the geometric center point of the equivalent rectangle to establish the surface target coordinate system; the surface target is divided into damage assessment structured grids, numbered for the damage assessment structured grids, and their damage thresholds are batch-labeled according to the grid coverage area. For example, a certain building can withstand a shock wave overpressure <0.2, an overpressure of 0.02 - 0.05 can cause its mild damage, 0.05 - 0.09 can cause its moderate damage, and >0.09 can cause its severe damage; a collider is added to the target.

[0091] S2. For a single projectile, establish a damage effect model and add a rigid body component to the projectile;

[0092] S3. Use discrete collision detection for continuous detection to detect the collision between the projectile and the target; obtain and calculate the damage elements according to the basic parameters of the projectile;

[0093] In this embodiment, maintain the basic data of different types of projectiles. For example, a certain projectile has a projectile diameter of 300 mm, a projectile length of 7500 mm, a projectile weight of 800 kg, a warhead weight of 200, and a charge mass of 13 kg; continuously monitor the discrete collision between the projectile and the target during the striking process; monitor that a certain projectile collides with the grid (188, 309), and calculate the formation of fragments and shock waves, with the number of fragments formed being 7549. Specifically, it includes: natural fragments, prefabricated fragments, and the overpressure peak value of the shock wave at 30 meters is 0.024478 Mpa.

[0094] S4. Automatically add a rigid body component to the damage elements generated by the explosion, where the rigid body component includes: shock wave and fragments;

[0095] In this embodiment, create rigid body components for the fragments and shock waves generated during the explosion of the projectile respectively; continuously detect the discrete collision between the damage elements and the target.

[0096] S5. Use discrete collision to continuously detect the collision event between the damage elements and the target grid, and calculate the damage result in combination with the target characteristics.

[0097] In this embodiment, it is monitored that shock wave collisions occur in the grids (136 - 249, 255 - 330), and fragment collisions occur in the grids (188, 309), (188, 308), (188, 308), etc. The collision events are recorded, including rigid body information, grid information, and collision timestamps; the rigid body information in the collision events is obtained. When the rigid body is a shock wave, its rigid body information should include the overpressure value of the shock wave in the collision point area. When the rigid body is a fragment, its rigid body information should include the kinetic energy of the fragment at the collision point. For example, the kinetic energy of the fragment at a flight distance of 30 meters is 328 J; the damage threshold of the area where the grid is located at the collision point is obtained, and the damage that can be caused by the effectiveness of the damage element in this area is calculated. For example, the damage threshold of the grid (218, 308) is that an overpressure of 0.02 - 0.05 can cause mild damage, 0.05 - 0.09 can cause moderate damage, >0.09 can cause severe damage, and a fragment kinetic energy >600 can penetrate, and this grid area is mildly damaged.

[0098] Embodiment 2

[0099] As Figure 2 shown, the method for evaluating the target damage effect based on collision intelligent detection provided by the present invention further includes the following specific implementation steps:

[0100] Step S1: Establish a model of the surface target, establish a surface target coordinate system, divide the surface target into structured grids for damage assessment simulation, number the grids in the order of two-dimensional plane positions, and assign the "damage state" attribute to the grids;

[0101] In this embodiment, a model of the surface target is established. For the convenience of modeling, the surface target is simplified to an equivalent rectangle with length L and width W; in this embodiment, the size parameters of the surface target can be set, for example: L = 400, W = 300; a surface target coordinate system is established;

[0102] As Figure 3a shown, in this embodiment, the origin of the coordinate system is set at the geometric center point of the equivalent rectangle, the X-axis points to the direction of the longer side of the equivalent rectangle. If the lengths of both sides are equal, either side can be taken as the longer side, and the Y-axis is obtained by rotating the X-axis clockwise by 90 degrees.

[0103] The plane target is divided into structured grids for damage effect calculation, the grids are numbered in the order of two-dimensional plane positions, and the "damage state" attribute is assigned to the grids.

[0104] In this embodiment, the plane target is evenly divided into grids, and the number of grids divided on the long side and the short side are respectively D L , D W ; in this embodiment, the grid division parameters adopted can be set, for example: D L = 400, D W = 300;

[0105] In this embodiment, each grid is numbered. The i-th rectangle grid in the positive X-axis direction and the j-th rectangle grid in the positive Y-axis direction are numbered as R(i, j), and the geometric center coordinates CP_R(i, j) = (X_R(i, j), Y_R(i, j)) of the grid numbered R(i, j) are obtained. The two coordinate values of CP_R(i, j) are calculated through the grid number R(i, j) by the following formula:

[0106] In this embodiment, the "damage state" attribute (DS_R(i, j)) is assigned to each grid. The value of DS_R(i, j) is 0 or 1, where 0 represents undamaged and 1 represents damaged. In this embodiment, it is initially defaulted that all grids are in the undamaged state.

[0107] As Figure 3b shown, in this embodiment, the specific implementation steps for establishing the equivalent model of the rectangular plane target and structured grid division further include:

[0108] S1': Simplify the plane target into an equivalent rectangular model;

[0109] S2': Establish the target coordinate system;

[0110] S3': Divide the structured network;

[0111] S4': Re-divide the structured network;

[0112] S5': Number the grids;

[0113] S6': Assign the "damage state" attribute to the grids;

[0114] S7': Digital representation with a penetrating warhead as an example parameter;

[0115] S8': Set the damage requirements;

[0116] S9': Calculate the maximum damage effect during the flat strike of the ammunition;

[0117] S10': Judge whether the maximum damage effect of the flat strike meets the damage requirements;

[0118] S11': If so, calculate the number of impact points;

[0119] S12': If not, calculate the starting number of impact points;

[0120] S13': Judge whether N times the damage radius is less than the target length;

[0121] S14': If so, determine that the impact point is at the center point of the target;

[0122] S15’: If not, increase the ammunition usage.

[0123] S16’: Calculate the target aspect ratio.

[0124] S17’: Calculate the number of projectiles on the wide side.

[0125] S18’: Calculate the number of projectiles on the long side.

[0126] S19’: Calculate the number of projectiles on the high side.

[0127] S20’: Evenly distribute the collision points.

[0128] S21’: Calculate the number of remaining projectiles.

[0129] S22’: Determine whether the arranged aspect ratio is less than the target aspect ratio.

[0130] S23’: If so, increase the number of collision points on the long side.

[0131] S24’: If not, increase the number of collision points on the short side.

[0132] S25’: Calculate the coordinates of the collision points.

[0133] S26’: Sample the actual explosion points.

[0134] S27’: Statistically analyze the damage area.

[0135] S28’: Calculate the expected damage effect.

[0136] S29’: Determine whether the expected damage effect meets the damage requirements.

[0137] S30’: If so, output the coordinates of the collision points and the expected damage result.

[0138] Step S2: Establish a damage effect model for a single projectile.

[0139] In this embodiment, the actual explosion points of the projectile are sampled according to the collision points and the hitting accuracy CEP of the projectile. The damage radius parameter R_Damage of the model is set according to the actual parameters of the projectile. Finally, the damage effect model of a single projectile is a damage circle with the actual explosion point as the center and R_Damage as the radius. By changing the hitting accuracy parameter and the damage radius parameter, different types of single-projectile models are obtained. In this embodiment, the parameters of the projectile can be, for example: CEP = 5, R_Damage = 60.

[0140] Step S3: Calculate the target damage effect E according to the target geometric dimensions in the foregoing step S1 and the hitting accuracy and damage radius of the projectile in step S2 RThe minimum amount of ammunition required;

[0141] In this embodiment, the damage effect threshold for the flat strike of the projectile is calculated, i.e., the maximum damage effect;

[0142] In this embodiment, based on the known damage radius R_Damage of the projectile, the damage area of a single projectile is obtained as S_Damage = π·R_Damage². In this embodiment, the ratio of the damage area of the flatly launched projectiles in the target area to the area of the target area is called the damage effect; the maximum damage effect achieved when the damage areas of all projectiles do not overlap is denoted as EC. In this embodiment, the number of projectiles NL and NW in the length direction and width direction at this time are calculated:

[0143] The number of projectiles at this time is N_Kill = NL·NW, the maximum damage effect. In this embodiment, it is calculated that:

[0144] EC = 0.565.

[0145] By judging the relationship between the target damage effect E R and the maximum damage effect EC obtained in the previous step S31, the starting ammunition amount N_Start is calculated;

[0146] Then, according to the geometric size of the target and the calculated starting ammunition amount, the collision points are planned; the relationship between the damage radius R_Damage and the target length L is judged to determine the position of the collision points; when N times the damage radius is greater than or equal to the target length L, the collision point is at the coordinate origin of the target coordinate system; when N times the damage radius is less than the target length L, the collision points are evenly distributed inside the target rectangle. The method of evenly distributing the collision points determines the collision points through step 4. N is 4 - 6;

[0147] If E R > EC, then the collision points are flatly laid out, and it is no longer possible to meet the damage requirements by making the damage circle areas of each projectile non - overlapping; therefore, when planning the collision points, on the basis of the flatly laid - out collision points, new collision points are inserted between the flatly laid - out collision points. At this time, the starting ammunition amount N_Start used for collision point planning is the maximum number in the flat - laid state, i.e., N_Start = N_Kill; then, according to the geometric size of the target and the calculated starting ammunition amount, the collision points are planned; the relationship between the damage radius R_Damage and the target length L is judged to determine the position of the collision points.

[0148] In this embodiment, when N times the damage radius is greater than or equal to the target length L, the collision point is at the coordinate origin of the target coordinate system. N is 4 - 6;

[0149] In this embodiment, when N times the damage radius is less than the target length L, the collision points are evenly distributed inside the target rectangle. The method for evenly distributing the collision points determines the collision points through the following step S4;

[0150] In this embodiment, the starting ammunition quantity N_Start can be set to, for example: N_Start = N_Kill = 6.

[0151] Step S4: When N times the damage radius is less than the target length L, plan the collision points according to the starting ammunition quantity;

[0152] As Figure 4 shown, in this embodiment, step S4 for planning the collision points further includes the following specific steps:

[0153] Step S41: Obtain the aspect ratio of the length to width of the target rectangle;

[0154] In this embodiment, the aspect ratio of the length to width of the target rectangle is Rat_L / W = L / W;

[0155] In this embodiment, it includes: the first case, the second case;

[0156] In the first case: If 5 times the damage radius is greater than or equal to the target length, the collision point is at the geometric center;

[0157] In the second case: If 5 times the damage radius is less than the target length, the collision points are evenly distributed inside the rectangle. In the method for evenly distributing the collision points, calculate the aspect ratio Rat_L / W of the rectangular target, and the calculation method is: Rat_L / W = L / W.

[0158] In this embodiment: Rat_L / W = L / W = 1.33;

[0159] In this embodiment, according to the aspect ratio Rat_L / W, calculate the number of projectiles NLC and NWC for the long side and the short side. In this embodiment, do NLC and NWC meet the conditions? Therefore, the ammunition quantity for tiling:

[0160] NC = NLC·NWC = Rat_L / W·NWC^2;

[0161] In this embodiment, given that the number of tiled collision points is NC = N_Start, calculate the number of projectiles for the short side (rounded down);

[0162] Then the number of projectiles for the long side NLC = Rat_L / W·NWC.

[0163] In this embodiment, it is calculated that: NWC = 2, NLC = 3

[0164] In this embodiment, the collision points are evenly distributed according to the number of projectiles NLC and NWC on the long side and the short side, and the remaining collision points are arranged from the middle to both sides to obtain the arrangement matrix of the projectiles;

[0165] The number of remaining collision points is N_rest = N_Start - NLC·NWC

[0166] In this embodiment, according to whether rounding up or down when taking the integer of the aspect ratio Rat_L / W, that is, the size relationship between Rat_L / W and L / W, it is divided into the following two cases:

[0167] If Rat_L / W ≥ L / W:

[0168] At this time, first increase the number of collision points on the long side, and then increase the number of collision points on the short side. The specific method is: in the X-axis direction, increase the number of collision points one by one row by row, and the middle row is given priority to increase the collision points;

[0169] If Rat_L / W < L / W:

[0170] At this time, first increase the number of collision points on the short side, and then increase the number of collision points on the long side. The specific method is: in the Y-axis direction, increase the number of collision points one by one column by column, and the middle row is given priority to increase the collision points.

[0171] In this embodiment, according to the obtained arrangement matrix of the projectiles, calculate the coordinates of each collision point in the target coordinate system;

[0172] In this embodiment, the coordinates of each collision point are shown in the following table:

[0173] Collision point number (collision point coordinates) 1 (-133.33, -75) 2 (0, -75) 3 (133.33, -75) 4 (-133.33, 75) 5 (0, 75) 6 (133.33, 75);

[0174] Step S42: Calculate the number of projectiles N_LC and N_WC on the long side and the short side according to the aspect ratio Rat_L / W;

[0175] In this embodiment, N_LC and N_WC meet the conditions, so the amount of ammunition used for tiling:

[0176] NC = N_LC·N_WC = Rat_L / W·N_WC 2;

[0177] In this embodiment, it is known that the number of tiled collision points is NC = N_Start, and the number of projectiles on the short side is calculated by rounding down. The number of projectiles on the long side is:

[0178] N_LC = Rat_L / W·N_WC.

[0179] Step S43: Evenly distribute the collision points according to the number of projectiles \(N_{LC}\) and \(N_{WC}\) on the long side and the short side, and arrange the remaining projectiles from the middle to both sides to obtain the arrangement matrix of the projectiles;

[0180] In this embodiment, the number of the remaining projectiles is:

[0181] \(N_{rest}=N_{Start}-N_{LC}\cdot N_{WC}\)

[0182] In this embodiment, according to whether rounding up or down is taken when rounding the aspect ratio \(Rat_{L / W}\), that is, the size relationship between \(Rat_{L / W}\) and \(L / W\), it is divided into two cases:

[0183] If \(Rat_{L / W}\geq L / W\), first increase the number of collision points on the long side, and then increase the number of collision points on the short side. The specific method is: in the X-axis direction, increase the number of collision points one by one row by row, and the middle row is preferentially increased with collision points. At the same time, record the number of ammunitions \(N_{LCi}\) in each row for evenly distributing the collision points in this row;

[0184] If \(Rat_{L / W}<L / W\), first increase the number of collision points on the short side, and then increase the number of collision points on the long side. The specific method is: in the Y-axis direction, increase the number of collision points one by one column by column, and the middle row is preferentially increased with collision points. At the same time, record the number of ammunitions \(N_{WCj}\) in each column for evenly distributing the collision points in this column;

[0185] Step S44: According to the arrangement of the projectiles obtained in the previous step S43, calculate the coordinates of the collision points of each projectile in the target coordinate system.

[0186] Step S5: Evaluate the expected damage effect according to the planned collision points;

[0187] As Figure 5 shown, in this embodiment, step S5 of evaluating the expected damage effect further includes the following specific steps:

[0188] Step S51: Sample the actual explosion points of each projectile according to the planned collision points and the hit accuracy parameters of the projectiles;

[0189] In this embodiment, the actual explosion points of the projectiles are calculated according to the coordinates of a single collision point \(P_{Aim}=(X_{Aim},Y_{Aim})\) and the hit accuracy parameter CEP of the projectiles. The two coordinate values of the actual explosion point \(P_{Explosive}=(X_{Explosive},Y_{Explosive})\) satisfy a two-dimensional normal distribution with a mean of \((X_{Aim},Y_{Aim})\) and variances of \((\sigma1,\sigma2)\). Among them, \(\sigma1\) and \(\sigma2\) are equal, and the calculation formula is:

[0190] σ1 = σ2 = CEP / 1.1774.

[0191] Therefore, the actual explosion point P_Explosive = (X_Explosive, Y_Explosive) of the projectile is obtained through two-dimensional normal distribution sampling;

[0192] In this embodiment, the explosion point coordinates obtained by sampling are as follows:

[0193] Collision point number (collision point coordinates) 1 (-137.614, -77.0547) 2 (-6.26033, -80.9375) 3 (132.154, -71.7557) 4 (-138.306, 77.9727) 5 (7.59342, 81.9248) 6 (136.101, 70.388);

[0194] In another embodiment, the explosion point coordinates obtained by sampling are as follows:

[0195] Collision point number and collision point coordinates: 1 (-97.4924, -70.722) 2 (106.117, -71.1069) 3 (-106.289, 83.6624) 4 (102.106, 72.8099);

[0196] Step S52, according to the actual explosion point P_Explosive = (X_Explosive, Y_Explosive) of the projectile and the damage radius R_Damage of the projectile, obtain the damage circle, and set the damage state of the grids within the damage circle to "1".

[0197] As Figure 6 and Figure 7 shown, in this embodiment, step S52 of calculating and setting the damage circle further includes the following specific steps:

[0198] Step S521, judge the actual explosion point of the projectile obtained by sampling:

[0199] P_Explosive = (X_Explosive, Y_Explosive)

[0200] The grid number R E(i E, j E) where it is located, and the calculation method is: the results are all rounded down.

[0201] Step S522, obtain the circumscribed square of the damage circle according to the damage radius R_Damage, and obtain the grid numbers of all grids within the square;

[0202] In this embodiment, the side length of the circumscribed square is 2*R_Damage. The method for determining whether a grid is inside the square is to determine whether the center point CP_R(i,j) = (X R(i,j), Y R(i,j)) of the grid is inside the square;

[0203] Step S523: To reduce the time and resources required for statistics, divide the grids inside the circumscribed square into two parts;

[0204] In this embodiment, the aforementioned two parts are respectively the grids inside the inscribed square and the remaining grids. The side length of the inscribed square is The method for determining whether a grid is inside the square is to determine whether the center point CP_R(i,j) = (XR(i,j), Y R(i,j)) of the grid is inside the square. For the grids inside the inscribed square, there is no need to make a judgment, and directly set the damage state to "1";

[0205] In this embodiment, the remaining grids need to be judged whether they are damaged. The judgment criterion is: if 3 or more of the 5 points including the four vertices and the geometric center point of the grid are inside the damage circle, then the grid is damaged and the damage state is set to "1";

[0206] Step S53: Repeat the aforementioned step S52 until the damage effects of all collision points are calculated;

[0207] Step S54: Count the number N_Damage of grids with the damage state of "1", and calculate the expected damage effect;

[0208] where N_Total is the total number of all grids;

[0209] In this embodiment, it is calculated that: E = 0.547;

[0210] This situation does not meet the damage requirements;

[0211] In another embodiment, it is calculated that: E = 0.371

[0212] This situation meets the damage requirements.

[0213] Step S6: Compare the calculated expected damage effect E with the target damage effect E R If the requirements are met, the amount of ammunition used to achieve the target damage requirement, the collision points of each projectile, and the expected damage effect are obtained; if the requirements are not met, the starting amount of ammunition N_Start is increased by one, and repeat the aforementioned steps S4 to the aforementioned step S5 until the calculated expected damage effect E meets the target damage effect E R At this time, the coordinates of the collision points are the target collision points after the planning is completed;

[0214] In this embodiment, after increasing the ammunition capacity to 7 rounds, the corresponding impact points are as follows:

[0215] Impact point number, impact point coordinates: 1 (-133.333; -75) 2 (-133.333; 75) 3 (0; -100) 4 (0; 0) 5 (0; 100) 6 (133.333; -75) 7 (133.333; 75);

[0216] The calculated damage effect is: E = 0.622;

[0217] The damage requirement is met, that is, the impact point planning of the projectile is completed;

[0218] In another embodiment, 4 rounds are already able to meet the damage requirement, and the corresponding impact points are as follows:

[0219] Impact point number, impact point coordinates: 1 (-100, -75) 2 (100, -75) 3 (-100, 75) 4 (100, 75);

[0220] The calculated damage effect is: E = 0.371;

[0221] The damage requirement is met, that is, the impact point planning of the projectile is completed.

[0222] In summary, the present invention obtains the image quality, target type and target characteristics of the target, uses image processing technology to extract the target damage feature information, comprehensively evaluates the target damage effect, and plans to meet the target damage requirements based on the target geometric size, the hit position of the shell and the damage area, which can provide an expected plan for the fire strike during the operation and support for the subsequent operation plan. In addition, it can estimate the damage effect of the planned strike plan and provide data support for optimizing the strike plan.

[0223] The present invention divides the planar target into structured grids for damage assessment simulation, numbers the grids in the order of two-dimensional spatial positions, and assigns the grid "damage state" attribute. When calculating the explosion point, the grid number where the explosion point is located can be directly calculated according to the explosion point coordinates, without traversing all grids, saving computing resources and thus improving the evaluation efficiency.

[0224] When the present invention conducts impact point planning, it fully considers the relationship among the damage area, the target area and the target aspect ratio. The planned impact point positions can better adapt to the target area, making the overlapping area between the damage circles smaller.

[0225] When calculating the damage area of the present invention, the entire grid area is divided into three parts through the circumscribed square and inscribed square of the damage circle. It is only necessary to judge the grids between the circumscribed square and the inscribed square, count the number of grids within the damage circle, without judging each grid, saving computing resources and further improving the evaluation efficiency.

[0226] By discretizing the horizontal plane where personnel and equipment are located in a typical cabin, dividing unit grids, applying theoretical formulas to solve the distribution laws of fragment and shock wave loads, and obtaining the peak overpressure and effective fragment density of each unit grid. Combining the damage criteria of personnel and equipment, giving the damage probability of each unit grid, and statistically weighting the damage probabilities of the unit grids to calculate the damage probability of the cabin.

[0227] Assume that personnel and equipment are randomly distributed in the target cabin. To determine the relative position coordinates of the ammunition and the unit grid, a rectangular coordinate system needs to be established. The origin coordinate is selected at the geometric center of the cabin floor, with the direction of the long cabin wall as the y-axis and the z-axis perpendicular to the cabin floor. Where v0 is the velocity direction of the semi-armor-piercing shell, and h is the height of the explosion point from the cabin floor. Assume that the ballistic trajectory of the ammunition does not deflect during the process of penetrating the side of the ship, and the angle between the ammunition velocity direction and the ground is the impact angle θ of the ammunition. Discretize the horizontal plane where personnel and equipment are located in a typical cabin, take the position 0.75m above the ground as the research plane, divide unit grids, and determine the coordinates of each unit grid. According to the coordinates of the explosion point, solve the distribution laws of fragment and shock wave loads, and obtain the peak overpressure and effective fragment density of each unit grid. If any damage element of fragments and shock waves in each unit grid reaches its damage threshold, it is determined that the unit grid is effectively damaged. Calculate the damage probability of the cabin based on the total number of grids in the cabin plane and the number of damaged unit grids.

[0228] The present invention solves the technical problems existing in the prior art, such as low damage assessment efficiency, large overlapping areas of damage circles, difficult prediction of damage effects, and difficulty in accurately achieving the expected damage effects.

[0229] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for evaluating the target damage effect based on collision intelligent detection, characterized in that The method includes: S1. Establish a surface target model and a surface target coordinate system, perform a division operation on the surface target to obtain a damage assessment structured grid, assign a damage threshold attribute to the damage assessment structured grid in combination with the area where the grid is located, and add a collider to the damage assessment structured grid; S2. For a single projectile, establish a damage effect model and add a rigid body component to the projectile; S3. Use discrete collision detection for continuous detection to detect the collision between the projectile and the target; obtain and calculate the damage elements according to the basic parameters of the projectile; S4. Automatically add a rigid body component to the damage elements generated by the explosion, where the rigid body component includes: shock wave and fragments; S5. Use discrete collision to continuously detect the collision event between the damage element and the target grid, and calculate the damage result in combination with the target characteristics; S5 includes: S51. Repeat S3 and S4 until all collision detection data are obtained and record the collision events, where the collision events include: rigid body information, grid information, and collision timestamp; S52. Calculate the damage result in combination with the collision events.

2. The method for evaluating the target damage effect based on collision intelligent detection according to claim 1, wherein The step S1 includes: S11. Simplify the surface target into an equivalent rectangle according to the preset length and width, and set the length and width of the equivalent rectangle as L and W respectively for establishing the surface target model; S12. Set the origin of the surface target coordinate system at the geometric center point of the equivalent rectangle to establish the surface target coordinate system; S13. Divide the surface target into the damage assessment structured grid, number the damage assessment structured grid, and assign the damage threshold attribute to the damage assessment structured grid according to the number; S14. Add the collider to the target.

3. The method for evaluating the target damage effect based on collision intelligent detection according to claim 1, wherein The step S2 includes: S21. Create the rigid body component for a single projectile; S22. For different types of projectiles, construct the damage effect model.

4. The method for evaluating the target damage effect based on collision intelligent detection according to claim 1, wherein, The step S3 includes: S31. During the strike process, continuously monitor the discrete collision between the projectile and the target; S32. Calculate the damage elements generated during the explosion of the projectile in combination with the basic parameters, and create the rigid body component for each damage element.

5. The method for evaluating the target damage effect based on collision intelligent detection according to claim 4, wherein In the step S32, where the basic parameters include: angle of fall, velocity of fall, air resistance, projectile mass, and diameter.

6. The method for evaluating the target damage effect based on collision intelligent detection according to claim 4, wherein The S32 includes: S321. Calculate the damage elements of the fragments of the projectile and create the rigid body component for each fragment: S322. Calculate the damage elements of the shock wave and create a dynamic rigid body component for the pressure field of the shock wave.

7. The method for evaluating the target damage effect based on collision intelligent detection according to claim 1, characterized in that, The step S4 includes: S41. Create the rigid body component for the damage elements generated by the projectile during the explosion respectively; S42. Continuously detect the discrete collision between the damage element and the target.

8. The method for evaluating the damage effect of a target based on collision intelligent detection according to claim 1, characterized in that The step S52 further includes: S521. Obtain the rigid body information in the collision event. When the rigid body is a fragment, the rigid body information of the fragment includes: the kinetic energy of the fragment at the collision point moment. When the rigid body is a shock wave, the rigid body information of the shock wave includes: the overpressure value of the shock wave collision point area; S522. Obtain the damage threshold of the area where the grid at the collision point belongs, and calculate the damage caused by the damage element effectiveness to the said area.

9. A target damage effect evaluation system based on collision intelligent detection, which is used to execute the target damage effect evaluation method based on collision intelligent detection according to any one of the foregoing claims 1 to 8, and is characterized in that, The system includes: A model and coordinate system construction module, used to establish a surface target model and a surface target coordinate system, perform a division operation on the surface target to obtain a damage assessment structured grid, endow the damage assessment structured grid with damage threshold attributes in combination with the area where the grid is located, and add a collider to the damage assessment structured grid; A damage effect model construction module, used to establish a damage effect model for a single projectile and add a rigid body component to the projectile; A damage element calculation module, used to continuously detect using discrete collision detection and detect a collision between the projectile and the target; obtain and calculate the damage element according to the basic parameters of the projectile. The damage element calculation module is connected to the damage effect model construction module and the model and coordinate system construction module; A rigid body component adding module, used to automatically add the rigid body component to the damage element generated by the explosion. Among them, the rigid body component includes: a shock wave and fragments. The rigid body component adding module is connected to the damage element calculation module; An expected damage assessment module, used to continuously detect the collision event between the damage element and the target grid using discrete collision, and calculate the damage result in combination with the target characteristics. The expected damage assessment module is connected to the rigid body component adding module.

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