Muzzle initial velocity measurement method, device, equipment and storage medium

Abstract

The invention provides a muzzle initial velocity measurement method and device, equipment and a storage medium. The method comprises the steps of determining coordinates of a muzzle of an artillery in a radar position coordinate system; determining an included angle between the radar sight direction and the shooting direction at the initial moment according to the coordinates; determining initial and accelerated estimated values of the muzzle according to the included angle; according to the pre-estimated value, determining the change relation of the included angle between the radar sight line direction and the actual speed direction along with time; and obtaining an initial measurement value of the muzzle according to the change relation of the included angle along with time. According to the method, the included angle between the radar sight direction and the shooting direction at the initial moment is determined according to the coordinates of the muzzle in the radar position coordinate system, then the change relation of the included angle between the radar sight direction and the actual speed direction along with time is determined according to the included angle, and finally the initial measurement value of the muzzle is obtained according to the change relation of the included angle along with time. For a Doppler velocity measurement radar without angle measurement capability, velocity error compensation of radar sight line deviation can be realized.

Description

Technical Field

[0001] The present application relates to the field of radar and muzzle velocity measurement technology, and in particular to a muzzle velocity measurement method, device, equipment, and storage medium. Background Art

[0002] Artillery is one of the most powerful weapons in modern warfare. The muzzle velocity of artillery is a key factor affecting the performance and combat effectiveness of artillery systems. The accurate measurement of muzzle velocity of artillery is of great significance. It is specifically reflected in the following aspects:

[0003] 1. Shooting accuracy: The accuracy of the initial velocity results affects the range and shooting accuracy. To ensure the shooting effect, it is necessary to be able to accurately measure the initial velocity value.

[0004] 2. Gun barrel life monitoring: By controlling the initial velocity and counting the results, it is helpful to monitor the wear degree in the barrel. As the number of shots increases, the wear in the barrel of the gun will become more serious, causing the initial velocity value to gradually decrease. Therefore, the initial velocity can be used to monitor the wear in the barrel.

[0005] 3. Fire control system: Most modern artillery pieces are equipped with fire control systems. Accurate measurement of initial velocity is crucial for calculating design parameters of the fire control system, making shooting corrections, and predicting initial velocity accuracy.

[0006] 4. Technical improvement: The measurement of gun muzzle velocity is the basis for gun firing, improvement and optimization. By measuring the muzzle velocity of guns, the design of gun internal ballistics can be evaluated and adjusted, thereby improving the overall performance of guns.

[0007] 5. Adaptability to battlefield environment: Different environmental conditions such as altitude, temperature, and humidity will affect the initial velocity of the artillery. Therefore, accurate measurement of the initial velocity under different environmental conditions is of great significance to improving the adaptability of the artillery to the battlefield environment.

[0008] 6. Extremely high research value: The measurement and analysis of gun muzzle velocity is an important part of gun science research, which helps to deeply understand the working principle and ballistic characteristics of guns.

[0009] Doppler velocity radar is a common initial velocity measurement radar. The basic principle of radar velocity measurement is to use the Doppler frequency shift generated by the target moving relative to the radar line of sight (radial direction, projection on the radar line of sight).

[0010] The initial velocity measured

[0011] Among them, λ is the wavelength of the electromagnetic wave emitted by the radar, f d is the Doppler frequency deviation, and θ is the angle between the moving direction of the target to be measured and the direction of the radar line of sight.

[0012] When the target moves along the radar line of sight, the angle between the target movement direction and the radar line of sight is 0. At this time, the target speed can be directly obtained using the above formula, that is, the target radial speed obtained at this time is equivalent to the actual speed of the target. For example, for a certain type of gun radar, the radar is installed on the gun body and changes with the gun barrel posture to ensure that the radar line of sight is consistent with the shooting direction, so there is no problem of speed deviation.

[0013] If the target's moving direction is at a certain angle to the radar's line of sight and is ignored, the target's radial velocity will be used as the actual velocity, which will result in a smaller velocity. For example, the velocity change of a projectile recorded by a certain type of ground initial velocity radar increases first and then decreases. This is because the initial angle is too large, which causes a large deviation between the radial velocity and the actual velocity. As the projectile moves away, the line of sight deviation angle decreases, and the radial velocity approaches the actual velocity. Figure 1 The speed diagram before and after correction in an ideal situation is shown in the figure. Therefore, speed correction must be performed to obtain the true external ballistic speed.

[0014] Considering the versatility of the initial velocity measurement environment (artillery platform, measurement scene), the radar is often not placed at the muzzle. The common correction method is to obtain the distance of the projectile in real time, and then calculate the angle between the target movement direction and the radar line of sight in real time to complete the velocity compensation, or to increase the radar angle measurement function so that the radar has the ability to measure angles. However, the above angle acquisition methods will increase the complexity of hardware and software design, and increase engineering costs. For Doppler velocity radars without angle measurement capabilities, there are currently few methods that can compensate for radar line of sight deviations. Summary of the invention

[0015] In order to solve one of the above-mentioned technical defects, the present application provides a muzzle velocity measurement method, device, equipment, and storage medium.

[0016] In a first aspect, the present application provides a method for measuring muzzle velocity, the method comprising:

[0017] Determine the coordinates of the gun muzzle in the radar position coordinate system;

[0018] According to the coordinates, determine the angle between the radar sight direction and the shooting direction at the initial moment;

[0019] Based on the included angle, the estimated values ​​of muzzle initialization and acceleration are determined;

[0020] According to the estimated value, determine the relationship between the angle between the radar sight line direction and the actual speed direction over time;

[0021] According to the relationship between the angle change and time, the initial measurement value of the muzzle is obtained.

[0022] Optionally, the radar position coordinate system is a spatial three-dimensional coordinate system with the geometric center of the radar antenna array as the origin.

[0023] Optionally, determining the angle between the radar sight direction and the shooting direction at the initial moment according to the coordinates includes:

[0024] Determine the firing angle of the artillery;

[0025] Determine the shooting direction vector according to the shooting angle;

[0026] Determine the distance from the muzzle to the origin of the radar position coordinate system based on the coordinates;

[0027] Determine the radar sight direction vector based on the distance;

[0028] According to the arccosine value of the radar sight direction vector and the shooting direction vector, the angle between the radar sight direction and the shooting direction at the initial moment is determined.

[0029] Optionally, based on the included angle, an estimated value of the muzzle initialization and acceleration is determined, including:

[0030] Through a fitting of the speed-time curve, the relationship between speed and time is obtained;

[0031] Based on the relationship between velocity and time, an estimate of muzzle initialization and acceleration is determined.

[0032] Optionally, determining a relationship between an angle between a radar sight line direction and an actual speed direction over time based on the estimated value includes:

[0033] Based on the estimated value, determine the relationship between the distance from the projectile to the muzzle and time;

[0034] According to the relationship between the distance and time, determine the relationship between the projectile position and time;

[0035] According to the relationship between the position and time, determine the relationship between the radar sight line direction vector and time;

[0036] According to the relationship between the change of the radar line of sight direction vector and the arc cosine value of the shooting direction vector, the relationship between the change of the angle between the radar line of sight direction and the actual speed direction and the time is determined.

[0037] Optionally, the initial measurement value of the muzzle is obtained according to the relationship between the angle and time, including:

[0038] Determine the initial muzzle measurement value as

[0039] Among them, V(t) is the relationship between velocity and time, Φ(t) is the relationship between angle and time, and t is the time variable.

[0040] Optionally, after obtaining the initial measurement value of the muzzle, the following steps are also included:

[0041] Repeat the steps of determining the angle between the radar sight direction and the shooting direction at the initial moment according to the coordinates and subsequent steps;

[0042] The initial muzzle measurement value obtained by the last execution of the method is used as the final measurement value.

[0043] In a second aspect of the present application, a muzzle velocity measuring device is provided, the device comprising:

[0044] A first determination module is used to determine the coordinates of the muzzle of the artillery in the radar position coordinate system;

[0045] A second determination module is used to determine the angle between the radar sight direction and the shooting direction at the initial moment according to the coordinates determined by the first determination module;

[0046] A third determination module is used to determine the estimated values ​​of the muzzle initialization and acceleration according to the angle determined by the second determination module;

[0047] A fourth determination module, used to determine the relationship between the angle between the radar sight line direction and the actual speed direction over time according to the estimated value determined by the third determination module;

[0048] The fifth determination module is used to obtain the initial measurement value of the muzzle according to the relationship between the change of the angle and time determined by the fourth determination module.

[0049] In a third aspect of the present application, an electronic device is provided, including:

[0050] Memory;

[0051] Processor; and

[0052] Computer programs;

[0053] The computer program is stored in the memory and is configured to be executed by the processor to implement the method as described in the first aspect above.

[0054] In a fourth aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored; the computer program is executed by a processor to implement the method described in the first aspect above.

[0055] The present application provides a muzzle velocity measurement method, device, equipment, and storage medium. The method includes: determining the coordinates of the muzzle of a gun in a radar position coordinate system; determining the angle between the radar line of sight direction and the shooting direction at the initial moment according to the coordinates; determining the estimated value of the muzzle initial and acceleration according to the angle; determining the relationship between the change of the angle between the radar line of sight direction and the actual speed direction over time according to the estimated value; obtaining the initial measurement value of the muzzle according to the relationship between the change of the angle over time. The method provided by the present application determines the angle between the radar line of sight direction and the shooting direction at the initial moment according to the coordinates of the muzzle in the radar position coordinate system, and then determines the relationship between the change of the angle between the radar line of sight direction and the actual speed direction over time according to the angle, and finally obtains the initial measurement value of the muzzle according to the relationship between the change of the angle over time, and for Doppler velocity measurement radars without angle measurement capability, the velocity error compensation of radar line of sight deviation can be realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0057] Figure 1 This is a schematic diagram of the speed before and after correction under ideal conditions;

[0058] Figure 2 A schematic diagram of a muzzle velocity measurement method provided in an embodiment of the present application;

[0059] Figure 3 A schematic diagram of velocity correction in a radar position coordinate system provided by an embodiment of the present invention;

[0060] Figure 4 A schematic diagram of determining an estimated value of muzzle initialization and acceleration provided by an embodiment of the present invention;

[0061] Figure 5 A schematic diagram of determining an initial muzzle measurement value provided by an embodiment of the present invention;

[0062] Figure 6 A schematic flow chart of another muzzle velocity measurement method provided in an embodiment of the present application;

[0063] Figure 7 A schematic diagram of the structure of a muzzle velocity measurement device provided in an embodiment of the present application;

[0064] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0065] In order to make the technical solutions and advantages in the embodiments of the present application more clearly understood, the exemplary embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than an exhaustive list of all the embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0066] In the process of realizing this application, the inventors found that considering the versatility of the initial velocity measurement environment (artillery platform, measurement scene), the radar is often not placed at the muzzle. A common correction method is to obtain the distance of the projectile in real time, and then calculate the angle between the target movement direction and the radar line of sight in real time to complete the speed compensation, or to increase the radar angle measurement function so that the radar has the ability to measure angles. However, the above angle acquisition methods will increase the complexity of hardware and software design, and increase engineering costs. For Doppler velocity radars without angle measurement capabilities, there are currently few methods that can compensate for radar line of sight deviations.

[0067] In view of the above problems, the present application provides a muzzle velocity measurement method, device, equipment, and storage medium. The method includes: determining the coordinates of the muzzle of the artillery in the radar position coordinate system; determining the angle between the radar line of sight direction and the shooting direction at the initial moment according to the coordinates; determining the estimated value of the muzzle initial and acceleration according to the angle; determining the relationship between the change of the angle between the radar line of sight direction and the actual speed direction over time according to the estimated value; obtaining the initial measurement value of the muzzle according to the relationship between the change of the angle over time. The method provided in the present application determines the angle between the radar line of sight direction and the shooting direction at the initial moment according to the coordinates of the muzzle in the radar position coordinate system, and then determines the relationship between the change of the angle between the radar line of sight direction and the actual speed direction over time according to the angle, and finally obtains the initial measurement value of the muzzle according to the relationship between the change of the angle over time. For Doppler velocity measurement radars without angle measurement capability, velocity error compensation of radar line of sight deviation can be achieved.

[0068] See also Figure 2 This embodiment provides a muzzle velocity measurement method, and the implementation process of the method is as follows:

[0069] 201, determine the coordinates of the muzzle of the artillery in the radar position coordinate system.

[0070] Among them, the radar position coordinate system is a three-dimensional spatial coordinate system with the geometric center of the radar antenna array as the origin.

[0071] For example, the coordinates of the gun muzzle in the radar position coordinate system (X, Y, Z) are M = (x m ,y m ,z m ), where x m is the projection of the distance from the muzzle to the origin along the X-axis, ym is the projection of the distance from the muzzle to the origin along the Y axis, z m It is the muzzle altitude minus the radar altitude.

[0072] 202, determining the angle between the radar sight direction and the shooting direction at the initial moment according to the coordinates.

[0073] The implementation process of step 202 is:

[0074] 202-1, determine the firing angle of the artillery.

[0075] In the initial velocity identification model, it is clear that the initial ballistic trajectory is a straight line, and the shooting angle direction is the velocity direction.

[0076] 202-2, determine the shooting direction vector according to the shooting angle.

[0077] like Figure 3 As shown, in the radar position coordinate system (X, Y, Z), if the firing angle of the gun is θ, then the firing direction vector r s =[0,cosθ,sinθ].

[0078] 202-3, determine the distance from the muzzle to the origin of the radar position coordinate system based on the coordinates.

[0079] If the coordinates of the gun muzzle in the radar position coordinate system are M = (x m ,y m ,z m ), then the distance from the muzzle to the origin of the radar position coordinate system is

[0080] 202-4, determine the radar sight direction vector according to the distance.

[0081] The radar sight line direction vector determined in step 202-4 is a unit vector, that is, the radar sight line direction vector

[0082] Among them, [x m ,y m ,z m ] is the radar sight direction vector before normalization.

[0083] r los is the direction vector of the line connecting the radar position and the muzzle.

[0084] 202-5, according to the arc cosine value of the radar sight direction vector and the shooting direction vector, determine the angle between the radar sight direction and the shooting direction at the initial moment.

[0085] If the radar line of sight direction vector is r los , the shooting direction vector is r s, then determine the angle between the radar line of sight and the shooting direction at the initial moment α0 = arccos(r s ·r los ).

[0086] Here, arccos(·) is a function for calculating the arccosine value in the brackets.

[0087] α0 is the angle between the radar line of sight and the direction of the gun barrel at the initial moment, which is also the angle between the actual velocity and the radial velocity.

[0088] The initial moment may be the time zero of the artillery firing, which may be obtained through infrared, vibration and other sensors.

[0089] 203, based on the included angle, determine the estimated values ​​of the muzzle initialization and acceleration.

[0090] Step 203 may firstly perform a fitting through the speed-time curve to obtain the relationship between the speed and time, and then determine the estimated values ​​of the muzzle initialization and acceleration according to the relationship between the speed and time.

[0091] For example, based on the velocity curves at different times acquired by the Doppler radar, a section of data is selected for fitting to obtain the estimated muzzle initialization and acceleration. Figure 4 As shown, a certain section of the speed-time curve is selected for fitting to obtain the relationship between the speed and time (i.e., the function of the speed changing with time).

[0092] V(t)=V+a·t.

[0093] Among them, V(t) is the relationship between the change of velocity and time, t is the time variable, a is the acceleration, and V is the velocity. The velocity V can be obtained through signal processing technology.

[0094] Thus, the velocity V0 and acceleration a0 at time t=0 are obtained, that is, the estimated values ​​of the muzzle initialization and acceleration.

[0095] 204. Determine, based on the estimated value, the relationship between the angle between the radar sight line direction and the actual speed direction and time.

[0096] The implementation process of step 204 is:

[0097] 204-1, based on the estimated value, determine the relationship between the distance from the projectile to the muzzle and time.

[0098] The relationship between the distance between the projectile and the muzzle and time is the function of the distance between the projectile and the muzzle and time. For example, according to the uniform acceleration (deceleration) linear motion distance calculation formula, the distance between the projectile and the muzzle at different times can be obtained. Therefore, step 204-1 can obtain the relationship between the distance between the projectile and the muzzle and the time as follows:

[0099] In practical applications, the value of t is consistent with the moment when the radar obtains the Doppler velocity.

[0100] 204-2, based on the relationship between the distance and time, determine the relationship between the projectile position and time.

[0101] By decomposing the distance-time variation relationship R(t) into each axis of the radar position coordinate system, the position coordinates of the projectile in the radar position coordinate system can be obtained.

[0102] Assuming that the elevation angle (i.e., firing angle) of the gun barrel in the radar position coordinate system is θ, and the azimuth angle γ is 0, the position coordinates of the projectile at different times are: The position coordinates of the projectile at different times are the relationship between the projectile's position and time.

[0103] 204-3, based on the relationship between the position and time, determine the relationship between the radar line of sight direction vector and time.

[0104] For example, the relationship between the radar sight line direction vector and time (i.e., the function of the radar sight line direction vector and time) is determined as:

[0105] Among them, R0(t) is the relationship between the distance from the projectile position to the origin of the radar position coordinate system and time (i.e., the variation function), such as The coordinates of the projectile in the radar position coordinate system at time t are (x(t), y(t), z(t)).

[0106] Therefore, the relationship between the change of the radar sight line direction vector and time in this step is actually the relationship between the change of the unit vector of the radar sight line direction and time.

[0107] 204-4, according to the relationship between the change of the radar line of sight direction vector and the arc cosine value of the shooting direction vector, determine the relationship between the change of the angle between the radar line of sight direction and the actual speed direction and the time.

[0108] For example, the vector angle calculation formula can be used to obtain the relationship between the angle between the radar line of sight and the actual speed direction over time, that is, the angle transformation function over time: Φ(t) = arccos(r s ·r los (t)).

[0109] After the projectile leaves the muzzle, it moves in a straight line along the barrel direction in a short time. Therefore, when the radar position coordinate system is defined, the unit vector in the barrel direction is the unit vector in the projectile flight direction and remains constant during the projectile movement. The radar sight line direction vector is in the direction of the line connecting the projectile and the origin, so the direction vector changes with the movement of the projectile, which will bring about the change of the angle Φ between the two vectors. It can be predicted that the angle is decreasing. Using the Doppler velocity information at multiple time points measured by the radar, a fitting is performed to obtain the V(t) function in the three-dimensional coordinate system, and the distance calculation formula is further used to obtain the projectile flight distance function R(t) in the three-dimensional coordinate system. By continuously updating the position of the projectile in the three-dimensional coordinate system at each moment, the radar sight line direction vector that changes continuously with time can be obtained, thereby obtaining the angle information Φ(t).

[0110] That is, in step 204, according to the distance calculation formula of uniform acceleration (deceleration) linear motion, the flight distance R(t) of the projectile at each moment is calculated, and the position coordinates of the projectile and the direction vector of the radar line of sight are updated accordingly to obtain r los (t). Further, according to the vector angle calculation formula, the vector angle Φ(t) at different times can be calculated, that is, the angle between the actual velocity direction and the radial velocity direction.

[0111] 205, according to the relationship between the angle and time, the initial measurement value of the muzzle is obtained.

[0112] Step 205 is the Doppler velocity correction process obtained by the radar, such as Figure 5 As shown, according to the Doppler velocity measurement principle, the radial velocity is the projection of the true velocity along the radar line of sight, so the corrected velocity is Therefore, the initial muzzle measurement is determined to be

[0113] Among them, V(t) is the relationship between velocity and time, Φ(t) is the relationship between angle and time, and t is the time variable.

[0114] In order to further improve the accuracy of the muzzle velocity measurement, after executing step 205, the step of determining the angle between the radar sight direction and the shooting direction at the initial moment according to the coordinates and subsequent steps (i.e., repeating the steps) are repeated. The initial muzzle velocity measurement value obtained by the last execution of the method is used as the final measurement value.

[0115] The process can be repeated multiple times until the muzzle velocity accuracy meets the requirements or the number of repeated executions meets the preset number of times. At this time, the initial measurement value of the muzzle obtained by the last execution method is used as the final measurement value, such as Figure 6 shown.

[0116] The gap between the actual velocity and the radial velocity can be further reduced with each repeated execution.

[0117] In specific implementation, the measurement information required for initial velocity identification mainly includes two parts, namely time information and speed information. For time information, the time zero point of artillery firing is usually obtained through infrared, vibration and other sensors; for speed information, it is usually obtained through signal processing technology. Combine the time information and speed information to obtain a one-to-one corresponding time and speed point. Then the initial velocity result can be obtained through fitting technology, so accurate measurement of the speed value is the key to accurate initial velocity identification. The muzzle initial velocity measurement method provided in this embodiment can obtain an accurate measurement value of the speed value.

[0118] The muzzle velocity measurement method provided in this embodiment is a radar line of sight error correction method that can improve the accuracy of the muzzle velocity. A three-dimensional space coordinate system is established with the center of the radar array as the origin, and the radar line of sight direction vector and the projectile velocity direction vector are constructed according to the muzzle coordinate position and the shooting angle information, and the initial angle is obtained through the vector angle calculation formula; the existing time speed data is selected for fitting, and the initial velocity and acceleration used for distance calculation are constructed, and then the radar line of sight direction vector is updated, so as to obtain the time-varying angle between the radar line of sight direction and the projectile velocity direction, and multiple iterations can be performed to further improve the accuracy. Finally, the radar line of sight is corrected according to the Doppler velocity measurement principle. The muzzle velocity measurement method provided in this embodiment can realize the speed error compensation caused by the line of sight error for the continuous wave Doppler velocity measurement radar without angle measurement capability.

[0119] The muzzle velocity measurement method provided in this embodiment utilizes a method for calculating the vector angle in a spatial coordinate system. By establishing a three-dimensional spatial coordinate system, two vectors in the direction of the barrel and the direction of the radar line of sight are constructed, and the radar line of sight is corrected using the angle calculated from the two vectors.

[0120] The muzzle velocity measurement method provided in this embodiment can improve the muzzle velocity accuracy, and can obtain the real velocity of the projectile when the radar line of sight direction is inconsistent with the projectile flight direction. The muzzle velocity measurement method provided in this embodiment can solve the velocity error caused by the line of sight deviation of the Doppler velocity measurement radar. For the continuous wave Doppler velocity measurement radar without angle measurement capability, the velocity error caused by using the radial velocity instead of the actual velocity is compensated.

[0121] The muzzle velocity measurement method provided in this embodiment can effectively improve the data accuracy of each velocity point and can be used for multiple iterations. At the same time, the muzzle velocity measurement method provided in this embodiment is very simple to implement, without adding radar functions. Only the relative position relationship between the muzzle and the radar and the firing angle are required to post-process the radar data, and a large number of algorithms do not need to be stacked in the post-processing. Only the fitting algorithm is needed to complete the correction. In terms of versatility, the muzzle velocity measurement method provided in this embodiment does not require the type of artillery or the characteristics of the projectile. It is applicable to different types of Doppler velocity measurement systems and is by no means limited to artillery velocity measurement.

[0122] This embodiment provides a muzzle velocity measurement method, which determines the coordinates of the muzzle of a gun in a radar position coordinate system; according to the coordinates, determines the angle between the radar sight direction and the shooting direction at the initial moment; according to the angle, determines the estimated value of the muzzle initial and acceleration; according to the estimated value, determines the relationship between the angle between the radar sight direction and the actual speed direction over time; according to the relationship between the angle over time, obtains the initial measurement value of the muzzle. For Doppler velocity measurement radars without angle measurement capability, velocity error compensation of radar sight deviation can be achieved.

[0123] Based on the same inventive concept of the muzzle velocity measurement method, this embodiment provides a muzzle velocity measurement device, see Figure 7 , the device comprises:

[0124] The first determination module 701 is used to determine the coordinates of the muzzle of the artillery in the radar position coordinate system.

[0125] The second determination module 702 is used to determine the angle between the radar sight line direction and the shooting direction at the initial moment according to the coordinates determined by the first determination module 701.

[0126] The third determination module 703 is used to determine the estimated values ​​of the muzzle initialization and acceleration according to the angle determined by the second determination module 702.

[0127] The fourth determination module 704 is used to determine the relationship between the angle between the radar line of sight direction and the actual speed direction over time according to the estimated value determined by the third determination module 703.

[0128] The fifth determination module 705 is used to obtain the initial measurement value of the muzzle according to the relationship between the angle change and time determined by the fourth determination module 704.

[0129] Among them, the radar position coordinate system is a three-dimensional spatial coordinate system with the geometric center of the radar antenna array as the origin.

[0130] The second determination module 702 is used to determine the firing angle of the gun. Determine the firing direction vector according to the firing angle. Determine the distance from the muzzle to the origin of the radar position coordinate system according to the coordinates. Determine the radar sight direction vector according to the distance. Determine the angle between the radar sight direction and the firing direction at the initial moment according to the arc cosine value of the radar sight direction vector and the firing direction vector.

[0131] The third determination module 703 is used to perform a fitting through the speed-time curve to obtain the relationship between the speed and time, and determine the estimated values ​​of the muzzle initialization and acceleration according to the relationship between the speed and time.

[0132] The fourth determination module 704 is used to determine the relationship between the distance between the projectile and the muzzle and time according to the estimated value. According to the relationship between the distance and time, the relationship between the position of the projectile and time is determined. According to the relationship between the position and time, the relationship between the radar sight direction vector and time is determined. According to the relationship between the radar sight direction vector and time and the arc cosine value of the shooting direction vector, the relationship between the angle between the radar sight direction and the actual speed direction and time is determined.

[0133] The fifth determining module 705 is used to determine the initial measurement value of the muzzle.

[0134] Among them, V(t) is the relationship between velocity and time, Φ(t) is the relationship between angle and time, and t is the time variable.

[0135] In addition, the transposition also includes a repeated execution module, which is used to repeatedly execute the second determination module 702, the third determination module 703, the fourth determination module 704, and the fifth determination module 705 after obtaining the initial measurement value of the muzzle, and use the initial measurement value of the muzzle obtained by the last execution method as the final measurement value.

[0136] The device provided in this embodiment determines the angle between the radar line of sight and the shooting direction at the initial moment based on the coordinates of the muzzle in the radar position coordinate system, and then determines the relationship between the angle between the radar line of sight and the actual speed direction over time based on the angle, and finally obtains the initial measurement value of the muzzle based on the relationship between the angle over time. For Doppler speed measurement radars without angle measurement capability, speed error compensation for radar line of sight deviation can be achieved.

[0137] Based on the same inventive concept of the muzzle velocity measurement method, this embodiment provides an electronic device, such as Figure 8 As shown, it includes: a memory 801, a processor 802, and a computer program.

[0138] The computer program is stored in the memory 801 and is configured to be executed by the processor 802 to implement the above-mentioned muzzle velocity measurement method.

[0139] Specifically,

[0140] Determine the coordinates of the gun muzzle in the radar position coordinate system.

[0141] According to the coordinates, determine the angle between the radar line of sight and the shooting direction at the initial moment.

[0142] Based on the included angle, an estimate of the muzzle initialization and acceleration is determined.

[0143] Based on the estimated value, determine the relationship between the angle between the radar line of sight direction and the actual speed direction over time.

[0144] According to the relationship between the angle change and time, the initial measurement value of the muzzle is obtained.

[0145] Optionally, the radar position coordinate system is a spatial three-dimensional coordinate system with the geometric center of the radar antenna array as the origin.

[0146] Optionally, determining the angle between the radar sight direction and the shooting direction at the initial moment according to the coordinates includes:

[0147] Determine the firing angle of the artillery.

[0148] Determine the shooting direction vector based on the shooting angle.

[0149] Determine the distance from the muzzle to the origin of the radar position coordinate system based on the coordinates.

[0150] Determine the radar line of sight direction vector based on the distance.

[0151] According to the arccosine value of the radar sight direction vector and the shooting direction vector, the angle between the radar sight direction and the shooting direction at the initial moment is determined.

[0152] Optionally, based on the included angle, an estimated value of the muzzle initialization and acceleration is determined, including:

[0153] The relationship between speed and time is obtained by fitting the speed-time curve.

[0154] Based on the relationship between velocity and time, an estimate of muzzle initialization and acceleration is determined.

[0155] Optionally, determining a relationship between an angle between a radar sight line direction and an actual speed direction over time based on the estimated value includes:

[0156] Based on the estimated value, determine the relationship between the distance from the projectile to the muzzle and time.

[0157] Based on the relationship between distance and time, the relationship between the projectile position and time is determined.

[0158] According to the relationship between the position and time, the relationship between the radar line of sight direction vector and time is determined.

[0159] According to the relationship between the change of the radar line of sight direction vector and the arc cosine value of the shooting direction vector, the relationship between the change of the angle between the radar line of sight direction and the actual speed direction and the time is determined.

[0160] Optionally, the initial measurement value of the muzzle is obtained according to the relationship between the angle and time, including:

[0161] Determine the initial muzzle measurement value as

[0162] Among them, V(t) is the relationship between velocity and time, Φ(t) is the relationship between angle and time, and t is the time variable.

[0163] Optionally, after obtaining the initial measurement value of the muzzle, the following steps are also included:

[0164] Repeat the steps of determining the angle between the radar sight line direction and the shooting direction at the initial moment according to the coordinates and the subsequent steps.

[0165] The initial muzzle measurement value obtained by the last execution of the method is used as the final measurement value.

[0166] The electronic device provided by this embodiment has a computer program executed by a processor to determine the angle between the radar line of sight and the shooting direction at the initial moment according to the coordinates of the muzzle in the radar position coordinate system, and then determine the relationship between the angle between the radar line of sight and the actual speed direction over time according to the angle, and finally obtain the initial measurement value of the muzzle according to the relationship between the angle over time, so as to realize speed error compensation of radar line of sight deviation for Doppler speed measuring radar without angle measurement capability.

[0167] Based on the same inventive concept of the muzzle velocity measurement method, this embodiment provides a computer-readable storage medium, and a computer program is stored thereon. The computer program is executed by a processor to implement the muzzle velocity measurement method.

[0168] Specifically,

[0169] Determine the coordinates of the gun muzzle in the radar position coordinate system.

[0170] According to the coordinates, determine the angle between the radar line of sight and the shooting direction at the initial moment.

[0171] Based on the included angle, an estimate of the muzzle initialization and acceleration is determined.

[0172] Based on the estimated value, determine the relationship between the angle between the radar line of sight direction and the actual speed direction over time.

[0173] According to the relationship between the angle change and time, the initial measurement value of the muzzle is obtained.

[0174] Optionally, the radar position coordinate system is a spatial three-dimensional coordinate system with the geometric center of the radar antenna array as the origin.

[0175] Optionally, determining the angle between the radar sight direction and the shooting direction at the initial moment according to the coordinates includes:

[0176] Determine the firing angle of the artillery.

[0177] Determine the shooting direction vector based on the shooting angle.

[0178] Determine the distance from the muzzle to the origin of the radar position coordinate system based on the coordinates.

[0179] Determine the radar line of sight direction vector based on the distance.

[0180] According to the arccosine value of the radar sight direction vector and the shooting direction vector, the angle between the radar sight direction and the shooting direction at the initial moment is determined.

[0181] Optionally, based on the included angle, an estimated value of the muzzle initialization and acceleration is determined, including:

[0182] The relationship between speed and time is obtained by fitting the speed-time curve.

[0183] Based on the relationship between velocity and time, an estimate of muzzle initialization and acceleration is determined.

[0184] Optionally, determining a relationship between an angle between a radar sight line direction and an actual speed direction over time based on the estimated value includes:

[0185] Based on the estimated value, determine the relationship between the distance from the projectile to the muzzle and time.

[0186] Based on the relationship between distance and time, the relationship between the projectile position and time is determined.

[0187] According to the relationship between the position and time, the relationship between the radar line of sight direction vector and time is determined.

[0188] According to the relationship between the change of the radar line of sight direction vector and the arc cosine value of the shooting direction vector, the relationship between the change of the angle between the radar line of sight direction and the actual speed direction and the time is determined.

[0189] Optionally, the initial measurement value of the muzzle is obtained according to the relationship between the angle and time, including:

[0190] Determine the initial muzzle measurement value as

[0191] Among them, V(t) is the relationship between velocity and time, Φ(t) is the relationship between angle and time, and t is the time variable.

[0192] Optionally, after obtaining the initial measurement value of the muzzle, the following steps are also included:

[0193] Repeat the steps of determining the angle between the radar sight line direction and the shooting direction at the initial moment according to the coordinates and the subsequent steps.

[0194] The initial muzzle measurement value obtained by the last execution of the method is used as the final measurement value.

[0195] The computer-readable storage medium provided in this embodiment has a computer program executed by a processor to determine the angle between the radar line of sight and the shooting direction at the initial moment according to the coordinates of the muzzle in the radar position coordinate system, and then determine the relationship between the angle between the radar line of sight and the actual speed direction over time according to the angle, and finally obtain the initial measurement value of the muzzle according to the relationship between the angle over time, so as to realize speed error compensation of radar line of sight deviation for Doppler speed measuring radar without angle measurement capability.

[0196] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of complete hardware embodiments, complete software embodiments, or embodiments in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code. The scheme in the embodiments of the present application can be implemented in various computer languages, for example, object-oriented programming language Java and literal scripting language JavaScript, etc.

[0197] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0198] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0199] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0200] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0201] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A muzzle velocity measurement method, characterized in that: The method comprises: Determine the coordinates of the gun muzzle in the radar position coordinate system; According to the coordinates, determining the angle between the radar sight direction and the shooting direction at the initial moment; Determining estimated values ​​of muzzle initialization and acceleration based on the angle; Determine the relationship between the angle between the radar sight line direction and the actual speed direction over time based on the estimated value; According to the relationship between the angle and time, the initial measurement value of the muzzle is obtained.

2. The method according to claim 1, characterized in that The radar position coordinate system is a three-dimensional spatial coordinate system with the geometric center of the radar antenna array as the origin.

3. The method according to claim 1, characterized in that Determining the angle between the radar sight line direction and the shooting direction at the initial moment according to the coordinates includes: determining the firing angle of the artillery; Determine a shooting direction vector according to the shooting angle; Determine the distance from the muzzle to the origin of the radar position coordinate system according to the coordinates; determining a radar sight line direction vector according to the distance; According to the arccosine value of the radar sight direction vector and the shooting direction vector, the angle between the radar sight direction and the shooting direction at the initial moment is determined.

4. The method according to claim 1, characterized in that: Determining the estimated values ​​of the muzzle initialization and acceleration according to the angle includes: Through a fitting of the speed-time curve, the relationship between speed and time is obtained; Based on the relationship between the velocity and time, the estimated values ​​of the muzzle initialization and acceleration are determined.

5. The method according to claim 1, characterized in that Determining the relationship between the angle between the radar sight line direction and the actual speed direction over time based on the estimated value includes: Determine the relationship between the distance between the projectile and the muzzle and the time according to the estimated value; Determining the relationship between the projectile position and time according to the relationship between the distance and time; Determine the relationship between the position and the time according to the relationship between the position and the time; According to the relationship between the change of the radar sight line direction vector over time and the arc cosine value of the shooting direction vector, the relationship between the change of the angle between the radar sight line direction and the actual speed direction over time is determined.

6. The method according to claim 1, characterized in that The method of obtaining the initial muzzle measurement value according to the relationship between the angle and time includes: Determine the initial muzzle measurement value as Among them, V(t) is the relationship between velocity and time, Φ(t) is the relationship between angle and time, and t is the time variable.

7. The method according to claim 1, characterized in that After obtaining the initial measurement value of the muzzle, the method further includes: Repeat the step of determining the angle between the radar sight direction and the shooting direction at the initial moment according to the coordinates and subsequent steps; The initial measurement value of the muzzle obtained by the last execution of the method is taken as the final measurement value.

8. A muzzle velocity measuring device, characterized in that: The device comprises: A first determination module is used to determine the coordinates of the muzzle of the artillery in the radar position coordinate system; A second determination module, used to determine the angle between the radar sight direction and the shooting direction at the initial moment according to the coordinates determined by the first determination module; A third determination module, used to determine the estimated values ​​of the muzzle initialization and acceleration according to the angle determined by the second determination module; A fourth determination module, used to determine the relationship between the angle between the radar sight line direction and the actual speed direction over time according to the estimated value determined by the third determination module; The fifth determination module is used to obtain the initial measurement value of the muzzle according to the relationship between the change of the angle determined by the fourth determination module and time.

9. An electronic device, characterized in that: include: Memory; processor; as well as Computer programs; The computer program is stored in the memory and is configured to be executed by the processor to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: A computer program is stored thereon; the computer program is executed by a processor to implement the method according to any one of claims 1 to 7.

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