Fire control simulation calibration method, system and equipment and readable storage medium

Abstract

The invention discloses a fire control simulation calibration method, system and device and a readable storage medium. The method specifically comprises the following steps: correcting a preset non-uniformity function and a mapping relation between a rotation angle of a simulated fire control console and a turret movement rate on the basis of the mapping relation between the rotation angle of the actually-installed fire control console and the turret movement rate; the preset position serves as the balance position, vibration data of the turret are obtained, and the vibration data comprise the phase, the amplitude and the movement speed of vibration of the turret; and updating turret vibration data based on an under-damping spring algorithm, and adjusting a motion state corresponding to the simulation model based on the updated turret vibration data. Compared with the prior art, the method has the advantages that the output data of the simulation control console of each manufacturer can be corrected, the output data are unified, the under-damping motion of the gun turret in a meter installation mode is simulated, and the effect of simulating the under-damping motion of the actually installed gun turret is achieved. And the presentation effect of the simulation system is better close to that of real equipment.

Description

Technical Field

[0001] The present invention belongs to the technical field of fire control simulation, and in particular relates to a fire control simulation calibration method, system, device and readable storage medium. Background Art

[0002] The tank fire control system refers to a device installed in the tank that can quickly complete functions such as observation, search, aiming, tracking, ranging, providing ballistic correction, calculating shooting parameters, automatically loading the table, controlling the direction of weapons and completing shooting. The quality of fire control directly affects the combat capability of the tank.

[0003] The core of fire control system simulation is the simulation engine installed and simulated in the computer. At the same time, fire control system simulation is also a module of great significance to trainees in tank simulator training. In order to ensure that the operation and feedback of the simulation system are consistent with the actual installation, each operating part is simulated as much as possible when designing the simulation system. Computer modeling simulation is used to achieve functional simulation.

[0004] Due to the relatively complex composition of the fire control system components, there are high requirements for the simulation effects of various parameters of the gun control system. The existing technology can only complete the simulation of aiming and shooting, target hitting and corresponding damage effects, but cannot simulate the operating principle and effect of the entire shooting process, especially the stabilization effect under the image stabilization condition, the meter setting effect under the meter setting condition, the gun barrel super-return oscillation effect, and the sight setting under the manual meter setting mode.

[0005] Therefore, in response to the above technical problems, it is necessary to provide an improved fire control simulation calibration method, system, device and readable storage medium.

[0006] The information disclosed in this background technology section is only intended to enhance the understanding of the overall background of the invention and should not be regarded as an acknowledgment or any form of suggestion that the information constitutes the prior art already known to a person skilled in the art. Summary of the invention

[0007] The purpose of the present invention is to provide a fire control simulation calibration method, system, device and readable storage medium, which can accurately simulate the operation of different actual installed control consoles, and at the same time perform refined simulation of turret movement under various working conditions, which is closer to real equipment.

[0008] In order to achieve the above object, a technical solution provided by a specific embodiment of the present invention is as follows:

[0009] In a first aspect, the present invention provides a fire control simulation calibration method, which comprises:

[0010] Based on the output difference curve equation of the actual fire control console and the simulated fire control console, the preset unevenness function and mapping relationship between the rotation angle of the simulated fire control console and the movement speed of the simulated turret are corrected;

[0011] Taking the preset position as the equilibrium position, obtaining vibration data generated by the movement of the turret, wherein the vibration data includes the phase, amplitude, and movement speed of the turret vibration;

[0012] Based on the underdamped spring algorithm, the turret vibration data is updated, and the motion state corresponding to the simulated turret is adjusted based on the updated turret vibration data.

[0013] In one or more embodiments of the present invention, correcting the mapping relationship between the preset simulated fire control console rotation angle and the simulated turret movement rate includes:

[0014] Acquire multiple groups of output analog quantity data corresponding to the rotation angle of the actual fire control console, and fit the curve equation f(x) between the rotation angle of the actual fire control console and the output analog quantity;

[0015] Acquire multiple groups of output analog quantity data corresponding to the preset rotation angles of the simulated fire control console, and fit the curve equation h(x) of the preset rotation angles of the simulated fire control console and the output analog quantity;

[0016] The corresponding relationship g(x) between the output analog quantity and the turret movement rate is obtained, and based on the difference curve equation between the output quantity of the actual fire control console and the simulated fire control console, the preset curve equation of the rotation angle of the simulated fire control console and the turret rotation rate is corrected.

[0017] In one or more embodiments of the present invention, the method further comprises:

[0018] detecting a motion state of a vehicle carrying the turret;

[0019] If the vehicle is in a stationary state, the turret force application switch is turned off;

[0020] If the vehicle is not stationary, the turret force switch is turned on.

[0021] In one or more embodiments of the present invention, the method further comprises:

[0022] When the amplitude of the turret is greater than a preset swing threshold, the preset motion indicator is displayed as a first state;

[0023] When the amplitude of the turret is less than or equal to a preset swing threshold, the preset motion mark is displayed as a second state.

[0024] In one or more embodiments of the present invention, the updating of turret vibration data based on the underdamped spring algorithm includes:

[0025] If the motion state is displayed as a first state, updating the turret vibration data based on an underdamped spring algorithm;

[0026] If the turret force action switch is in the on state, the turret impulse data caused by the vehicle is obtained, and the impulse data is superimposed on the turret vibration data.

[0027] In one or more embodiments of the present invention, if the motion state is displayed as the first state, updating the turret vibration data based on the underdamped spring algorithm includes:

[0028] 2×mN=mC / mM

[0029] mxDV 2 =mPn 2 -mN 2

[0030] mBAngle=π×0.5Δθ

[0031]

[0032] lsA=mA×(exp(-mN*mTim))

[0033] mX=lsA×(sin(angle))

[0034] mV=lsA×(sin(angle+mBAngle))×(sqrt(mPd×mPd+mN×mN))

[0035] Among them, mN is the attenuation coefficient, mC is the viscous damping coefficient, mM is the turret mass, mPd is the vibration circular frequency, mPn is the oscillator natural circular frequency, Δθ is the phase difference between the turret velocity and displacement, angle is the turret movement angle, lsA is the turret amplitude, mX is the displacement of the turret relative to the equilibrium position, mV is the turret movement speed, mTim is the current turret vibration time, and mAgle is the initial phase of the turret vibration.

[0036] In one or more embodiments of the present invention, if the turret force action switch is in an on state, obtaining turret impulse data caused by the vehicle, and superimposing the impulse data with the turret vibration data include:

[0037] 2×mN=mC / mM

[0038] mxDV 2 =mPn 2 -mN 2

[0039] mX”=mX'-mX0

[0040] mV”=mV'+mV0

[0041] ls=mV”+mN×mX”

[0042] mA=sqrt(mX”×mX”+ls×ls / (mPd×mPd))

[0043] mAngle=(mX×mPd)atan2ls

[0044] Among them, mN is the attenuation coefficient, mC is the viscous damping coefficient, mM is the turret mass, mPd is the circular frequency of vibration, mPn is the natural circular frequency of the oscillator, mX' is the displacement of the turret relative to the equilibrium position during the last data collection, mX0 is the change in displacement of the turret relative to the equilibrium position from the last data collection to the current data collection, mX" is the displacement of the turret relative to the equilibrium position during the current data collection, mV' is the movement speed of the turret during the last data collection, mX0 is the change in movement speed of the turret from the last data collection to the current data collection, mV" is the movement speed of the turret during the current data collection, mA is the amplitude of the turret, and mAgle is the phase of the turret.

[0045] In a second aspect, the present invention provides a fire control simulation calibration system, comprising:

[0046] A correction module, used to correct the unevenness function and mapping relationship between the preset rotation angle of the simulated fire control console and the movement speed of the simulated turret based on the difference curve equation of the output of the actual fire control console and the simulated fire control console;

[0047] An acquisition module, used to acquire vibration data generated by the movement of the turret with a preset position as the equilibrium position, wherein the vibration data includes a phase, an amplitude, and a movement speed of the turret vibration;

[0048] The adjustment module is used to update the turret vibration data based on the underdamped spring algorithm, and adjust the motion state corresponding to the simulated turret based on the updated turret vibration data.

[0049] In a third aspect, the present invention provides a computer device comprising: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, computer instructions are stored in the memory, and the processor executes the fire control simulation calibration method by executing the computer instructions.

[0050] In a fourth aspect, the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the fire control simulation calibration method.

[0051] Compared with the prior art, the fire control simulation calibration method provided by the present invention can make the simulation system closer to the actual fire control system based on the correction algorithm, correct the output data of the simulation consoles of various manufacturers, and when there is a deviation in the output analog quantity of the consoles produced by different manufacturers, the output data can be unified under the correction of the correction algorithm, so that the curve relationship between the rotation angle of the console and the rotation rate of the turret corresponds to the actual installation. In the table mode, the underdamped spring algorithm is used to simulate the underdamped motion of the turret in the table mode. Through the return value of the algorithm calculation, the corresponding angle, speed and acceleration can be set to the model to achieve the effect of simulating the underdamped motion of the actual turret. According to the turret rotation rate and the body movement posture, the over-return amount, the over-return amount and the number of oscillations are simulated to make the simulation effect consistent with the actual installation. Further, considering the synergy between the turret and the vehicle in the actual combat process, in order to increase the accuracy of the simulation, the present invention executes the underdamped spring algorithm according to the motion state of the vehicle. The motion characteristics of the vehicle are included in the consideration range of simulating the turret, so that the simulation system itself is closer to the presentation effect of the actual installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0053] Figure 1 is a schematic diagram of a fire control simulation calibration scenario in one embodiment of the present invention;

[0054] Figure 2 is a flow chart of a fire control simulation calibration method in one embodiment of the present invention;

[0055] Figure 3 is a structural block diagram of a fire control simulation calibration system in one embodiment of the present invention;

[0056] Figure 4 is a structural block diagram of an electronic device in one embodiment of the present invention;

[0057] Figure 5 It is a schematic diagram of an image of a curve equation of a corrected simulated fire control console rotation angle and a turret rotation rate in one embodiment of the present invention. DETAILED DESCRIPTION

[0058] The specific implementation modes of the present invention are described in detail below in conjunction with the accompanying drawings, but it should be understood that the protection scope of the present invention is not limited by the specific implementation modes.

[0059] Unless explicitly stated otherwise, throughout the specification and claims, the term “comprise” or variations such as “include” or “comprising”, etc., will be understood to include the stated elements or components but not to exclude other elements or components.

[0060] There is a method for simulating the fire control system in the existing technical solution. It can be summarized as using a semi-physical cabin, simulation components, simulation computers, sighting and aiming displays, etc. to complete the deployment. The semi-physical cabin is a container for installing various fire control components, simulation computers and sighting and aiming displays, and supports trainees to train in the cabin. Trainees operate various simulation components in the semi-physical cabin, so that the signals of the simulation components are transmitted to the simulation computer through data transmission technology. After being solved by the simulation computer and processed by the engine in the simulation computer, the visual scenes such as gun aiming and shooting are finally displayed on the sighting and aiming display, and the corresponding gun sound effects are output for simulation.

[0061] However, the existing technology is relatively rough in simulating the fire control system, and can only complete the simulation of aiming and shooting, target hitting, and corresponding damage effects. And with the gradual development of the fire control system, the movement state of the turret and the impact of the vehicle on the turret under different working conditions cannot be effectively simulated. Therefore, this technical solution will inevitably have the problem of poor simulation effect and low fit with the actual fire control system. Correspondingly, the effect of teaching students or other uses of the simulation platform will be greatly reduced.

[0062] The inventor of the present invention discovered the main shortcomings of the prior art and proposed a new technical implementation idea based on the shortcomings of the prior art:

[0063] Based on the control relationship between the actual fire control console and the simulated fire control console on the turret movement rate, the corresponding function curve is fitted and a correction algorithm is constructed to make the simulation system closer to the actual fire control system. The output data of the simulated consoles of various manufacturers are corrected and the output data is unified, so that the curve relationship between the rotation angle of the console and the rotation rate of the turret corresponds to the actual installation. In the table mode, combined with the motion state of the turret vehicle and the underdamped spring algorithm, the underdamped motion of the turret in the table mode is simulated. Through the return value of the algorithm calculation, the corresponding angle, speed and acceleration can be set for the model to achieve the effect of simulating the underdamped motion of the actual turret. According to the turret rotation rate and the body motion posture, the over-return amount, over-return amount and oscillation number are simulated to make the simulation effect consistent with the actual installation. At the same time, the underdamped spring algorithm is executed according to the motion state of the vehicle. The motion characteristics of the vehicle are included in the consideration of the turret simulation, so that the simulation system itself is closer to the presentation effect of the actual installation.

[0064] Please refer to Figure 1 , which is a schematic diagram of an application scenario of the fire control simulation calibration method provided by the present invention under an implementation mode, and the scenario specifically includes: a simulation engine 101, a server 102 and a user terminal 103.

[0065] It should be noted that a communication connection is provided between the above-mentioned simulation engine 101, the server 102 and the user terminal 103, and the communication network derived from the communication connection may include various connection types, including but not limited to: wired connection, wireless connection or optical fiber cable connection, etc. At the same time, the communication network may be a local area network, a metropolitan area network, a wide area network or any combination of the three.

[0066] Specifically, the simulation engine 101 is used to combine the preset simulation entities to realize the simulation of the battlefield environment, weather, working conditions, vehicles and turret motion states. At the same time, in response to the vibration data of the turret / vehicle calculated by the server, the action of the simulation entity is adaptively adjusted so that the simulation process is completely consistent with the actual fire control system.

[0067] The user terminal 103 is used for the user to write the corresponding data processing algorithm for subsequent data processing by the server. At the same time, the user can also control the simulation entity based on the user terminal to realize the simulation teaching of the fire control system. Furthermore, the user terminal 103 is installed with a computer software program that matches the fire control simulation calibration method provided by the method; the user terminal 103 may include but is not limited to a desktop computer (PC terminal), a desktop computer, a smart phone, a handheld computer, a tablet computer, a personal digital assistant (PDA), and other portable electronic devices or wearable electronic devices, and the embodiments of the present invention do not limit the above content.

[0068] The server 102 is used to receive and process the corresponding data in the simulation entity based on the preset data processing rules and algorithms. At the same time, the processed data is fed back to the simulation engine to further refine the simulation process. At the same time, it can be understood that the server 102 can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (Content Delivery Network, CDN), and big data and artificial intelligence platforms, etc. The embodiments of the present invention do not limit this.

[0069] It should also be noted that the fire control simulation calibration method of the embodiment of the present invention can be applied to the fire control simulation calibration system of the embodiment of the present invention. The fire control simulation calibration system can be configured in a terminal. The terminal can include but is not limited to a PC (Personal Computer), a PDA (tablet computer), a smart phone, a smart wearable device, and the like.

[0070] Please refer to Figure 2 FIG. 1 is a flow chart of fire control simulation calibration in one embodiment of the present invention. The fire control simulation calibration method specifically includes the following steps:

[0071] S201: Based on the output difference curve equation of the actual fire control console and the simulated fire control console, correct the preset unevenness function and mapping relationship between the rotation angle of the simulated fire control console and the movement speed of the simulated turret;

[0072] It should be noted that the turret of the present invention can be a projectile shooting weapon device fixed on a vehicle or carrier such as a ship, tank or ground building. The turret can rotate at multiple angles in response to the control command of the user end to achieve the attack on the target within the range at any angle. Specifically, the fire control system provides the user with a control panel for controlling the movement of the artillery. Rotate the knob in the control panel to a certain angle, and the turret will map the corresponding turret rate according to the control curve preset when the fire control system leaves the factory with the output corresponding to the above-mentioned knob rotation angle, and then control the turret to rotate.

[0073] With the gradual development of simulation technology, in order to reduce the consumption of real equipment resources, the teaching of fire control systems has gradually changed from physical teaching to simulation teaching. Students can control the various simulated components in the semi-physical cabin to control the simulated turret to perform operations such as shooting and turning.

[0074] It is understandable that the simulated fire control console generated by the simulation system and the rotation angle of the turret are usually a unified standard configuration, while on the other hand, the actual fire control console is limited by the different standards of different manufacturers. The output analog quantity of the console inevitably has deviations. Training through a simulated standard console is difficult to be close to the actual equipment. At the same time, the knob / console described in this article is not limited to a physical console or an electronic console.

[0075] In an exemplary embodiment of the present invention, the mapping relationship between the preset simulated fire control console rotation angle and the simulated turret movement rate is corrected, including: obtaining multiple groups of output analog data corresponding to the rotation angle of the actual fire control console, and fitting the curve equation f(x) of the rotation angle of the actual fire control console and the output analog; obtaining multiple groups of output analog data corresponding to the preset simulated fire control console rotation angle, and fitting the curve equation h(x) of the preset simulated fire control console rotation angle and the output analog; obtaining the output difference curve equation f(x)-h(x) between the actual fire control console and the simulated fire control console, and based on the corresponding relationship g(x) between the output analog and the turret movement rate, correcting the preset curve equation of the simulated fire control console rotation angle and the turret rotation rate.

[0076] It can be understood that since the correction of the preset simulated fire control console rotation angle and turret rotation rate curve equation is affected by the functional relationship between the actual fire control system console rotation angle and turret rate, it can be understood that the embodiment of the present invention does not limit the order, shape, and mapping relationship of the above-mentioned corrected simulated fire control console rotation angle and turret rotation rate curve equation.

[0077] It should be noted that based on the corresponding relationship g(x) between the output analog quantity and the turret movement rate, the preset curve equation of the rotation angle of the simulated fire control console and the turret rotation rate is corrected. In general, it specifically includes: superimposing the curve equation of the difference between the output quantity of the actual fire control console and the simulated fire control console with the curve equation of the rotation angle of the preset simulated fire control console and the output analog quantity to achieve the purpose of correcting the output quantity of the simulated console. Further, based on the corresponding relationship between the output analog quantity and the turret movement rate, the turret is made to reach the desired rotation rate.

[0078] In particular, when the corresponding relationship between the output analog quantity and the turret movement rate satisfies the additive function relationship in algebra, that is, the above corresponding relationship satisfies g(a+b)=g(a)+g(b), in order to further reduce the calculation pressure of the fire control system, the curve equation of the simulated fire control console rotation angle and turret rotation rate can be corrected to g(h(x))+g(f(x)-h(x)).

[0079] It should also be noted that in order to facilitate the turret to respond to the instructions of the user terminal, it can reach the preset position at a faster speed, and at the same time, the rotation rate of the turret can be accurately fine-tuned at a small angle of the knob rotation. The functional relationship between the rotation angle of the actual fire control system console and the turret rotation rate is preferably a third-order curve equation, such as Figure 5 As shown in FIG. 1 , it is the curve equation image of the rotation angle of the simulated fire control console and the rotation rate of the turret after correction in one embodiment of the present invention. Its function can be expressed as:

[0080] y=a×value 3 -b×value 2 +c×value; (value>0)

[0081] y=a×value 3 +b×value 2 +c×value; (value<0)

[0082] Among them, a, b, c are the coefficients of the third-order curve equation, value is the numerical value represented by the rotation of the control panel, and y is the fitting result of the curve equation of the simulated fire control panel rotation angle and turret rotation rate after correction.

[0083] S202: Taking the preset position as the equilibrium position, obtaining vibration data generated when the turret moves, wherein the vibration data includes an initial phase, amplitude, and movement speed of the turret vibration;

[0084] It is understandable that, under the actual fire control system, after the turret rotates to the predetermined position, it will not stop immediately, but will start to oscillate with the predetermined position as the equilibrium position, and finally with the decay of energy, the amplitude will gradually decrease and stop at the predetermined position. In fact, the existing technology cannot simulate the oscillation process, so that the whole process of shooting by the simulated fire control system is quite different from that of the actual fire control system.

[0085] Furthermore, depending on the location of the turret, the vehicle may provide the turret with corresponding speed, acceleration, etc. under different working conditions and according to different movement speeds. This increases the difficulty of simulating the fire control system. Therefore, in order to better complete the simulation, it is necessary to obtain the vibration data generated when the turret moves. The vibration data may include but is not limited to the initial phase, amplitude, movement speed, etc. of the turret vibration.

[0086] S203: Based on the underdamped spring algorithm, the turret vibration data is updated, and the motion state corresponding to the simulated turret is adjusted based on the updated turret vibration data.

[0087] It should be noted that in order to improve the simulation accuracy, the motion state of the vehicle is included in the consideration of the simulation system. In an exemplary embodiment of the present invention, the fire control simulation calibration method also includes: detecting the motion state of the vehicle loaded with the turret; if the vehicle is in a stationary state, the turret force switch is turned off; if the vehicle is in a non-stationary state, the turret force switch is turned on.

[0088] Similarly, in order to clarify the oscillation intensity of the turret and avoid overfitting when the amplitude is small and wasting simulation resources, in an exemplary embodiment of the present invention, when the amplitude of the turret is greater than the preset swing threshold, the preset motion identifier is displayed as the first state; when the amplitude of the turret is less than or equal to the preset swing threshold, the preset motion identifier is displayed as the second state. It is understandable that the above-mentioned swing threshold should be less than the maximum amplitude of the turret oscillation. The specific numerical setting can be dynamically adjusted based on the actual usage scenario, and the embodiment of the present invention does not limit this.

[0089] The updating of the turret vibration data based on the underdamped spring algorithm includes: if the motion state is displayed as the first state, updating the turret vibration data based on the underdamped spring algorithm; if the turret force action switch is in the on state, acquiring the turret impulse data caused by the vehicle, and superimposing the impulse data with the turret vibration data. The impulse data refers to the change in the turret vibration data caused by the vehicle movement, including but not limited to the change in the turret movement speed caused by the vehicle and the change in displacement relative to the equilibrium position.

[0090] It should be noted that when the motion state is displayed as the first state and the turret force action switch is in the on state, it means that the turret is in an oscillation process that cannot be ignored. At the same time, the vehicle is still in motion and will superimpose the impulse data of its own motion on the turret connected to it. Therefore, in this case, the turret's own vibration data is updated based on the underdamped spring algorithm first, and then the updated data is superimposed on the turret impulse data caused by the vehicle to form the turret vibration data for feedback to the simulation engine.

[0091] When the motion state is displayed as the second state and the force switch is in the off state, it means that the turret is considered to be in a stationary state and the vehicle is also in a stationary state. Since the turret will not change its motion state at this time, all turret vibration data fed back to the simulation engine are 0 in the absence of user terminal operation.

[0092] When the motion state is displayed as the first state and the turret force switch is in the on state, the force switch is in the off state. This means that the turret is still oscillating with the preset position as the equilibrium position, but the vehicle corresponding to the turret is in a stationary state. That is, the turret will not change its motion state due to the vehicle. Therefore, at this time, only the turret's own vibration data is updated based on the underdamped spring algorithm, and the updated data is fed back to the simulation engine.

[0093] When the motion state is displayed as the second state, the turret force action switch is in the on state. When the motion state is displayed as the second state, it means that the vibration data of the turret is 0 at this time, but considering that the vehicle is still in motion, the impulse data caused by the superimposed vehicle can be used as the turret vibration data fed back to the simulation engine.

[0094] Specifically, if the motion state is displayed as the first state, updating the turret vibration data based on the underdamped spring algorithm includes:

[0095] 2×mN=mC / mM

[0096] mxDV 2 =mPn 2 -mN 2

[0097] mBAngle=π×0.5Δθ

[0098]

[0099] lsA=mA×(exp(-mN*mTim))

[0100] mX=lsA×(sin(angle))

[0101] mV=lsA×(sin(angle+mBAngle))×(sqrt(mPd×mPd+mN×mN))

[0102] Among them, mN is the attenuation coefficient, mC is the viscous damping coefficient, mM is the turret mass, mPd is the vibration circular frequency, mPn is the oscillator natural circular frequency, Δθ is the phase difference between the turret velocity and displacement, angle is the turret movement angle, lsA is the turret amplitude, mX is the displacement of the turret relative to the equilibrium position, mV is the turret movement speed, mTim is the current turret vibration time, and mAgle is the initial phase of the turret vibration.

[0103] If the turret force action switch is in the on state, the turret impulse data caused by the vehicle is obtained, and the impulse data is superimposed with the turret vibration data, including:

[0104] 2×mN=mC / mM

[0105] mxDV 2 =mPn 2 -mN 2

[0106] mX”=mX'-mX0

[0107] mV”=mV'+mV0

[0108] ls=mV”+mN×mX”

[0109] mA=sqrt(mX”×mX”+ls×ls / (mPd×mPd))

[0110] mAngle=(mX×mPd)atan2ls

[0111] Among them, mN is the attenuation coefficient, mC is the viscous damping coefficient, mM is the turret mass, mPd is the circular frequency of vibration, mPn is the natural circular frequency of the oscillator, mX' is the displacement of the turret relative to the equilibrium position during the last data collection, mX0 is the change in displacement of the turret relative to the equilibrium position from the last data collection to the current data collection, mX" is the displacement of the turret relative to the equilibrium position during the current data collection, mV' is the movement speed of the turret during the last data collection, mX0 is the change in movement speed of the turret from the last data collection to the current data collection, mV" is the movement speed of the turret during the current data collection, mA is the amplitude of the turret, and mAgle is the phase of the turret.

[0112] It should also be noted that the frequency of calling the above data acquisition and algorithm is not limited in the embodiment of the present invention, but it is understandable that as the frequency of data acquisition increases, the corresponding simulation effect will be better, and more computing resources will be occupied. Preferably, in an exemplary embodiment of the present invention, the above data acquisition and algorithm are called every frame, and the calculated value is used to set the state of the turret.

[0113] At the same time, the simulation engine in the technical solution of the present invention uses VMS as the core simulation engine, and can also be replaced by unity 3d or unreal Engine according to actual needs; the operating components in the semi-physical cabin used in the technical solution of the present invention can be changed to software or other methods for control according to actual needs. The present invention does not limit the above content.

[0114] Please refer to Figure 3 As shown, based on the same inventive concept as the aforementioned fire control simulation calibration method, an embodiment of the present invention provides a fire control simulation calibration system 300 , which includes: a correction module 301 , an acquisition module 302 and an adjustment module 303 .

[0115] Specifically, the correction module 301 is used to correct the unevenness function and mapping relationship between the preset rotation angle of the simulated fire control console and the movement speed of the simulated turret based on the difference curve equation of the output of the actual fire control console and the simulated fire control console; the acquisition module 302 is used to obtain the vibration data generated by the turret movement with the preset position as the equilibrium position, and the vibration data includes the phase, amplitude and movement speed of the turret vibration; the adjustment module 303 is used to update the turret vibration data based on the underdamped spring algorithm, and adjust the corresponding movement state of the simulated turret based on the updated turret vibration data.

[0116] It should be noted that the correction module 301 is also used to obtain multiple groups of output analog data corresponding to the rotation angle of the actual fire control console, and fit the curve equation f(x) of the rotation angle of the actual fire control console and the output analog quantity; obtain multiple groups of output analog data corresponding to the preset simulated fire control console rotation angle, and fit the curve equation h(x) of the preset simulated fire control console rotation angle and the output analog quantity; obtain the corresponding relationship g(x) between the output analog quantity and the turret movement rate, and based on the difference curve equation of the output quantity of the actual fire control console and the simulated fire control console, correct the preset curve equation of the rotation angle of the simulated fire control console and the turret rotation rate.

[0117] The adjustment module 302 is also used to update the turret vibration data based on the underdamped spring algorithm when the motion state is displayed as the first state; when the turret force action switch is in the on state, obtain the turret impulse data caused by the vehicle, and superimpose the impulse data with the turret vibration data.

[0118] It should also be noted that the fire control simulation calibration system 300 also includes a state control module, which is used to detect the movement state of the vehicle carrying the turret; when the vehicle is in a stationary state, the turret force switch is in a closed state; when the vehicle is in a non-stationary state, the turret force switch is in an open state.

[0119] The state control module is also used to display the preset motion mark as the first state when the amplitude of the turret is greater than the preset swing threshold; and to display the preset motion mark as the second state when the amplitude of the turret is less than or equal to the preset swing threshold.

[0120] Please refer to Figure 4As shown, an embodiment of the present invention further provides an electronic device 400, which includes at least one processor 401, a memory 402 (such as a non-volatile memory), a memory 403 and a communication interface 404, and the at least one processor 401, the memory 402, the memory 403 and the communication interface 404 are connected together via a bus 405. At least one processor 401 is used to call at least one program instruction stored or encoded in the memory 402, so that the at least one processor 401 performs various operations and functions of the fire control simulation calibration method described in various embodiments of this specification.

[0121] In an embodiment of the present specification, the electronic device 400 may include, but is not limited to, a personal computer, a server computer, a workstation, a desktop computer, a laptop computer, a notebook computer, a mobile electronic device, a smart phone, a tablet computer, a cellular phone, a personal digital assistant (PDA), a handheld device, a messaging device, a wearable electronic device, a consumer electronic device, and the like.

[0122] An embodiment of the present invention also provides a computer-readable medium, which carries computer execution instructions. When the computer execution instructions are executed by a processor, they can be used to implement various operations and functions of the fire control simulation calibration method described in various embodiments of this specification.

[0123] The computer-readable medium in the present invention may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device.

[0124] In the present invention, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, device, or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0125] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take 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.) containing computer-usable program code.

[0126] The present invention is described with reference to flowcharts and / or block diagrams of methods, apparatuses, systems, and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as a combination of processes and / or blocks 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 process in the flowchart. 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.

[0127] The foregoing description of specific exemplary embodiments of the present invention is for the purpose of illustration and demonstration. These descriptions are not intended to limit the present invention to the precise form disclosed, and it is clear that many changes and variations can be made based on the above teachings. The purpose of selecting and describing the exemplary embodiments is to explain the specific principles of the present invention and its practical application, so that those skilled in the art can realize and utilize various different exemplary embodiments of the present invention and various different selections and changes. The scope of the present invention is intended to be limited by the claims and their equivalents.

Claims

1. A fire control simulation calibration method, characterized in that: include: Based on the output difference curve equation of the actual fire control console and the simulated fire control console, the preset non-uniformity function and mapping relationship between the rotation angle of the simulated fire control console and the movement speed of the simulated turret are corrected; Taking the preset position as the equilibrium position, obtaining vibration data generated by the movement of the turret, wherein the vibration data includes the phase, amplitude, and movement speed of the turret vibration; Based on the underdamped spring algorithm, the turret vibration data is updated, and the motion state corresponding to the simulated turret is adjusted based on the updated turret vibration data.

2. The fire control simulation calibration method according to claim 1, characterized in that: Corrected the mapping relationship between the preset simulated fire control console rotation angle and the simulated turret movement rate, including: Acquire multiple groups of output analog quantity data corresponding to the rotation angle of the actual fire control console, and fit the curve equation f(x) between the rotation angle of the actual fire control console and the output analog quantity; Acquire multiple groups of output analog quantity data corresponding to the preset rotation angles of the simulated fire control console, and fit the curve equation h(x) of the preset rotation angles of the simulated fire control console and the output analog quantity; The corresponding relationship g(x) between the output analog quantity and the turret movement rate is obtained, and based on the difference curve equation between the output quantity of the actual fire control console and the simulated fire control console, the preset curve equation of the rotation angle of the simulated fire control console and the turret rotation rate is corrected.

3. The fire control simulation calibration method according to claim 1, characterized in that: The method further comprises: detecting a motion state of a vehicle carrying the turret; If the vehicle is in a stationary state, the turret force application switch is turned off; If the vehicle is not stationary, the turret force switch is turned on.

4. The fire control simulation calibration method according to claim 3, characterized in that: The method further comprises: When the amplitude of the turret is greater than a preset swing threshold, the preset motion indicator is displayed as a first state; When the amplitude of the turret is less than or equal to a preset swing threshold, the preset motion mark is displayed as a second state.

5. The fire control simulation calibration method according to claim 4, characterized in that: The updating of the turret vibration data based on the underdamped spring algorithm includes: If the motion state is displayed as a first state, updating the turret vibration data based on an underdamped spring algorithm; If the turret force action switch is in the on state, the turret impulse data caused by the vehicle is obtained, and the impulse data is superimposed on the turret vibration data.

6. The fire control simulation calibration method according to claim 4, characterized in that: If the motion state is displayed as the first state, the turret vibration data is updated based on the underdamped spring algorithm, including: 2×mN=mC / mM mPd 2 =mPn 2 -mN 2 mBAngle=π×0.5Δθ lsA=mA×(exp(-mN*mTim)) mX=lsA×(sin(angle)) mV=lsA×(sin(angle+mBAngle))×(sqrt(mPd×mPd+mN×mN)) Among them, mN is the attenuation coefficient, mC is the viscous damping coefficient, mM is the turret mass, mPd is the vibration circular frequency, mPn is the oscillator natural circular frequency, Δθ is the phase difference between the turret velocity and displacement, angle is the turret movement angle, lsA is the turret amplitude, mX is the displacement of the turret relative to the equilibrium position, mV is the turret movement speed, mTim is the current turret vibration time, and mAgle is the initial phase of the turret vibration.

7. The fire control simulation calibration method according to claim 4, characterized in that: If the turret force action switch is in the on state, the turret impulse data caused by the vehicle is obtained, and the impulse data is superimposed with the turret vibration data, including: 2×mN=mC / mM mPd 2 =mPn 2 -mN 2 mX”=mX'-mX0 mV”=mV'+mV0 ls=mV”+mN×mX” mA=sqrt(mX”×mX”+ls×ls / (mPd×mPd)) mAngle=(mX×mPd)atan2ls Among them, mN is the attenuation coefficient, mC is the viscous damping coefficient, mM is the turret mass, mPd is the circular frequency of vibration, mPn is the natural circular frequency of the oscillator, mX' is the displacement of the turret relative to the equilibrium position during the last data collection, mX0 is the change in displacement of the turret relative to the equilibrium position from the last data collection to the current data collection, mX" is the displacement of the turret relative to the equilibrium position during the current data collection, mV' is the movement speed of the turret during the last data collection, mX0 is the change in movement speed of the turret from the last data collection to the current data collection, mV" is the movement speed of the turret during the current data collection, mA is the amplitude of the turret, and mAgle is the phase of the turret.

8. A fire control simulation calibration system, characterized in that: include: A correction module, used to correct the unevenness function and mapping relationship between the preset rotation angle of the simulated fire control console and the movement speed of the simulated turret based on the difference curve equation of the output of the actual fire control console and the simulated fire control console; An acquisition module, used to acquire vibration data generated by the movement of the turret with a preset position as the equilibrium position, wherein the vibration data includes a phase, an amplitude, and a movement speed of the turret vibration; The adjustment module is used to update the turret vibration data based on the underdamped spring algorithm, and adjust the motion state corresponding to the simulated turret based on the updated turret vibration data.

9. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the fire control simulation calibration method according to any one of claims 1 to 7 by executing the computer instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the fire control simulation calibration method according to any one of claims 1 to 7.

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