Sniping type arresting shooting planning method based on electromagnetic gun

Abstract

The invention provides a sniping type arresting shooting planning method based on an electromagnetic gun, and the method comprises the steps: 1, obtaining target motion state information through a target state information filtering algorithm; wherein the target motion state information comprises position information, speed information and acceleration information of the target; 2, the main vehicle customizes an array bullet screen according to the target motion state information and the vehicle body motion state information; the arrayed bullet screens are divided into bullet facing face bullet screens and flyswatter bullet screens; 3, the main vehicle predicts the position information and the required movement time when the target reaches the specified interception slant distance according to the target movement state information, so that the maneuvering target is regarded as a fixed point and sniping interception is carried out; and step 4, information intercommunication among multiple cannon vehicles is carried out, a launching time sequence is determined, asynchronous launching is carried out, a plurality of cannon vehicles are shot at the same time, an array bullet screen is formed, and sniping is carried out on a maneuvering target. The method has the capability of actively sniping the maneuvering target.

Description

Technical Field

[0001] The present application relates to the technical field of electromagnetic gun multi-gun coordinated air defense, and in particular to a sniper-type intercepting shooting planning method based on electromagnetic gun. Background Art

[0002] As air strikes and counter-air strikes have become the main methods of local combat in recent years, how to effectively improve the interception probability of ground air defense systems, especially short-range terminal air defense systems, is related to the success or failure of the entire air defense operation. Since the traditional shooting system is based on the early anti-aircraft artillery air defense equipment system, most of them are based on centralized fire control shooting systems. Due to the constraints of weapon platform factors such as the initial velocity and firing rate of the projectile, it is difficult to match the new shooting mode, resulting in the damage efficiency against the current advanced air strike targets has been at a low level.

[0003] With the emergence of guided shells / bombs, the characteristics of the terminal air defense targets are faster and have thicker defense walls than traditional fixed-wing aircraft, cruise missiles and other targets. The current initial velocity of shells fired by traditional 25mm and 35mm caliber anti-aircraft artillery is difficult to cause kinetic damage to such targets. Using kinetic shells with higher initial velocity to damage targets at a distance of 4km is an improvement on the existing strike method. At the same time, since the electromagnetic gun accelerates the projectile through the huge Lorentz force, it needs to have sufficient charging and discharging time, which leads to a low rate of fire of the electromagnetic gun, and it is impossible to use the tracking and continuous shooting method of traditional anti-aircraft guns to damage the target. Summary of the invention

[0004] The present application provides a sniper-style interception shooting planning method based on an electromagnetic gun, which can be used to solve the technical problem that the electromagnetic gun cannot destroy the target by tracking and continuous shooting.

[0005] The present application provides a sniper-type interception shooting planning method based on an electromagnetic gun, the method comprising:

[0006] Step 1: using a target state information filtering algorithm to obtain target motion state information; wherein the target motion state information includes the position information, speed information and acceleration information of the target;

[0007] Step 2: The host vehicle customizes the arrayed barrage according to the target motion state information and the vehicle body motion state information; the arrayed barrage is divided into the frontal barrage and the fly swatter barrage;

[0008] Step 3: The main vehicle predicts the position information and required movement time of the target when it reaches the specified interception slant range based on the target motion state information, so as to regard the maneuvering target as a fixed point and perform a sniper-style interception;

[0009] Step 4: Multiple gun carriages communicate with each other to determine the firing sequence, fire asynchronously, and have multiple rounds hit simultaneously to form an array barrage to carry out sniping on mobile targets.

[0010] Furthermore, the step 1 of acquiring the target motion state information includes:

[0011] When the number of data frames is not greater than N, N is 15 to 50, and the growing memory filter is used to estimate the current value:

[0012]

[0013] In the formula,

[0014]

[0015]

[0016] in=[x(k-1) y(k-1) z(k-1) v x (k-1) v y (k-1) v z (k-1)]

[0017] i is the current data frame number, i=2~N;

[0018] When the number of data frames is greater than N, fixed memory filtering is used. The specific process is as follows:

[0019]

[0020] In the formula,

[0021]

[0022]

[0023] in=[x(k-1) y(k-1) z(k-1) v x (k-1) v y (k-1) v z (k-1)] Get the position information and speed information of the target after filtering, perform acceleration filtering in one step, and perform acceleration filtering in the x, y, and z directions respectively:

[0024]

[0025] In the formula, channel = x, y, z; p is the acceleration filter start data length; T is the sampling period. Further, in step 2, the host vehicle customizes the array bullet screen according to the target motion state information and the vehicle body motion state information, including:

[0026] When the angle θ between the target route direction and the gun's eye exceeds the threshold Δθ, a fly swatter barrage is used; when the angle θ between the target route direction and the gun's eye is less than the threshold Δθ, a frontal barrage is used.

[0027] The arrayed bullet screen is constructed as follows:

[0028] The fly swatter barrage plane is perpendicular to the plane formed by the gun, the current target point position and the blocking point position. S0 refers to the blocking point, that is, the target future point position M q ; S1, S2, S3, S4 refer to the four guns' interception points set to form a custom barrage near the interception point, and the distance Δa of the bullets scattered on the facing surface; the bullets of each gun on the facing surface are distributed on both sides of the route direction. The main gun position is represented by O, then there is a vector satisfy:

[0029]

[0030] At the same time, there are Coaxial vectors The interception points of each gun are expressed as follows:

[0031]

[0032] In the formula, a and b are constants used to adjust the distance between projectiles;

[0033] The plane of the barrage on the front is perpendicular to the target track direction at the arresting point; S0 refers to the arresting point, that is, the future position of the target M q ; S1, S2, S3, S4 refer to the four guns' blocking points for forming a custom barrage near the blocking point; the distance Δa of the bullet spread on the facing surface; the bullet impact distribution of each gun on the facing surface is in the direction of the normal line of the route; there is a difference with the route direction Vector with the same normal direction There are also vectors satisfy:

[0034]

[0035] Then the interception points of each gun in the barrage on the incoming surface are expressed as follows:

[0036]

[0037] Where a and b are constants used to adjust the distance between projectiles.

[0038] Furthermore, in step 3, the main vehicle predicts the position information and required movement time of the target when it reaches the specified interception slant range according to the target movement state information, so as to regard the maneuvering target as a fixed point and perform sniper-style interception, including:

[0039] Step 3-1, obtaining the filtered target motion information and determining the interception slant range;

[0040] The interception slope distance D in The constraints are as follows:

[0041]

[0042] Where p is the damage probability threshold; D max is the maximum interception distance; t mb The time required for the target to reach the specified interception slant range; t pao is the gun adjustment time; t f is the time of the bullet flight; t ch is the charging and discharging time of the electromagnetic gun; T is the solution time;

[0043] Step 3-2, according to the target motion information X last (x last ,v last ,a last ) Extrapolate the target to reach the specified interception slant range D in Location information at the time and movement time t mb :

[0044]

[0045] Where f1 and f2 are expressed as:

[0046]

[0047] Step 3-3, calculate the firing parameters according to the extrapolated target reaching the position of the specified interception slant range, i.e. the fixed point is the elevation angle, β is the azimuth angle, t f For the time of the bullet flight;

[0048] Step 3-4, determine the shooting time:

[0049] If and only if the following equation is satisfied, firing is allowed. Otherwise, go to step 3-2, continue to correct the parameters, and wait for the opportunity to fire:

[0050] t mb =t pao +t ch +t f .

[0051] Furthermore, multiple gun carriages communicate with each other to determine the firing sequence, fire asynchronously, and simultaneously hit multiple rounds to form an array barrage to sniper mobile targets, including:

[0052] Step 4-1, in the multi-gun coordination mode, when one gun vehicle obtains radar / photoelectric detection data, it is set as the main gun, and at the same time sends slave gun setting information to other gun vehicles;

[0053] Step 4-2: The main gun calculates the target's velocity and acceleration information based on the target position information collected by radar / photoelectricity, predicts the target's motion trajectory, and formulates a frontal barrage or a fly swatter barrage, allocates the future aiming point of the slave gun, and sends it to the slave gun; the target position information includes the target elevation angle, azimuth, and slant range;

[0054] Step 4-3: Inversely solve the firing parameters of the slave gun according to the future aiming point assigned by the master gun And the flying time t fi , i=2,3,4 are transmitted back to the main gun, when i=1, that is, t f1 The flight time of the main gun shells;

[0055] Step 4-4, the main gun sorts the flight time of each shell to determine the coordinated firing sequence. Each gun fires according to the firing sequence, firing asynchronously. The projectiles arrive at the preset position synchronously, forming a customized array barrage to implement sniper-style interception of the target.

[0056] Compared with the prior art, the present invention has the following significant advantages: 1. The method of the present invention uses a customized arrayed barrage to intercept in all directions on the path where the mobile target may appear, and the method of the present invention has the ability to actively snipe mobile targets; 2. The method of the present invention uses an arrayed barrage method to achieve strikes through multi-gun coordination, which can maximize the high kinetic energy characteristics of electromagnetic gun projectiles and increase the projectile dispersion density, thereby improving the probability of hitting and damaging the target. 3. The traditional acceleration filtering algorithm first calculates the acceleration vector based on the target velocity vector, and then uses the Euler angle of the velocity vector relative to the northeast sky coordinate system to decompose the projection of the acceleration vector on the coordinate axis; however, this decomposition method does not consider the situation where the velocity vector and the acceleration vector are not in the same axis, resulting in a large acceleration filtering error. The acceleration filtering algorithm of the present invention directly uses the components of the velocity vector in the three directions of the x-axis, y-axis, and z-axis to solve the components of the acceleration in the three directions of the x-axis, y-axis, and z-axis, reasonably avoiding the situation where the velocity vector and the acceleration vector are not in the same axis, and effectively improving the accuracy of the acceleration filtering. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 The figure is a schematic diagram of the overall process of the shooting system planning method for the customized arrayed barrage and multi-gun coordinated sniping of mobile targets described in the present invention.

[0058] Figure 2 This is a schematic diagram of the target track and gun position described in step 2 of the present invention.

[0059] Figure 3This is a schematic diagram of the positions of the aiming points of the "fly swatter" barrage described in step 2 of the present invention.

[0060] Figure 4 This is a schematic diagram of the positions of the aiming points of the barrage on the facing surface described in step 2 of the present invention.

[0061] Figure 5 This is a schematic diagram of the solution process of the sniper-style fixed-point interception method described in step 3 of the present invention.

[0062] Figure 6 This is a schematic diagram of the multi-gun coordinated firing planning process described in step 4 of the present invention.

[0063] Figure 7 It is a schematic diagram of the correction curve of various parameters when the sniper slant range is specified to be 1700 meters in the example of the present invention. DETAILED DESCRIPTION

[0064] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0065] The following first introduces the embodiments of the present application in conjunction with the accompanying drawings.

[0066] This application uses electromagnetic launch to increase the initial velocity of artillery projectiles to 2500m / s. Within a distance of 4km, multiple guns fire in coordination to form an array barrage, sniper-style strikes on incoming guided bombs and other mobile targets, and destroys the target through high kinetic energy to ensure the safety of the person and the protected object. The mission of the fire control system in the present invention is to ensure that the weapon system launches the projectile at the right time, accurately hits and destroys the target. At the same time, the present invention optimizes the acceleration filtering algorithm and improves the accuracy of acceleration estimation.

[0067] Step 1: Obtain target motion state information; wherein the target motion state information includes the position information, speed information and acceleration information of the target;

[0068] Step 2: The host vehicle customizes the array barrage according to the target motion state information and the vehicle body motion state information. The array barrage is divided into the frontal barrage and the fly swatter barrage;

[0069] Step 3: The main vehicle predicts the position information and required movement time of the target when it reaches the specified interception slant range based on the target motion state information, so as to regard the maneuvering target as a fixed point and perform a sniper-style interception;

[0070] Step 4: Multiple gun carriages communicate with each other to determine the firing sequence, fire asynchronously, and have multiple rounds hit simultaneously to form an array barrage to carry out sniping on mobile targets.

[0071] Furthermore, the step 1 of acquiring the target motion state information includes:

[0072] Due to the limited observation time in the initial filtering stage, the number of target data frames obtained is relatively small. When the number of data frames is not greater than N, N is set to 15 to 50, and the growing memory filter is used to estimate the current value:

[0073]

[0074] In the formula,

[0075]

[0076]

[0077] in=[x(k-1) y(k-1) z(k-1) v x (k-1) v y (k-1) v z (k-1)]

[0078] i is the current data frame number, i=2~N;

[0079] As the target movement time increases and the observation time grows, the number of data frames acquired by the detection device gradually increases. When the number of data frames is greater than N, fixed memory filtering is used. The specific process is as follows:

[0080]

[0081] In the formula,

[0082]

[0083]

[0084] in=[x(k-1) y(k-1) z(k-1) v x (k-1) v y (k-1) v z (k-1)]

[0085] After obtaining the position and velocity information of the target after filtering, acceleration filtering is performed in one step, and acceleration filtering is performed in the x, y, and z directions respectively:

[0086]

[0087] In the formula, channel = x, y, z; p is the starting data length of the acceleration filter. In engineering applications, p is 50; T is the sampling period. In engineering applications, T is 0.02.

[0088] Furthermore, in step 2, the host vehicle customizes the arrayed bullet screen according to the target motion state information and the vehicle body motion state information:

[0089] like Figure 2 When the angle θ between the target route direction and the gun target line exceeds the threshold Δθ, the fly swatter barrage is used; when the angle θ between the target route direction and the gun target line is less than the threshold Δθ, the frontal barrage is used; in engineering applications, Δθ takes a value of 15 degrees.

[0090] The arrayed bullet screen is constructed as follows:

[0091] The fly swatter barrage plane is perpendicular to the plane formed by the gun, the current target point position and the blocking point position. The customized barrage situation is as follows Figure 3 As shown in the figure, the point S0 refers to is the blocking point, that is, the target future point position M q ; S1, S2, S3, S4 refer to the four guns' interception points set to form a customized barrage near the interception point. In the figure, the distance between each two unmarked points is the distance Δa of the bullet spread on the facing surface, and each point in the dotted box is the impact of each gun on the facing surface; the impact of each gun on the facing surface is distributed on both sides of the route direction. The figure shows the setting relationship of each gun's interception point. The main gun position is represented by O, then the vector satisfy:

[0092]

[0093] At the same time, there are Coaxial vectors The interception points of each gun are expressed as follows:

[0094]

[0095] In the formula, a and b are constants used to adjust the distance between projectiles;

[0096] The barrage plane is perpendicular to the target track direction at the interception point; customized barrage situation Figure 4 As shown in the figure, the point S0 refers to is the blocking point, that is, the target future point position M q ; S1, S2, S3, S4 refer to the blocking points of the four guns set to form a customized barrage near the blocking point; in the figure, the distance between each two unmarked points is the distance Δa of the bullet spread on the facing surface, and each point in the dotted box is the impact of each gun on the facing surface; the impact of each gun on the facing surface is distributed in the direction of the route normal; the figure shows the setting relationship of each gun's blocking point, which is related to the route direction Vector with the same normal direction There are also vectors satisfy:

[0097]

[0098] Then the interception points of each gun in the barrage on the incoming surface are expressed as follows:

[0099]

[0100] Where a and b are constants used to adjust the distance between projectiles.

[0101] Further, the sniper-style fixed-point interception method described in step 3 has a process as follows: Figure 5 As shown, the details are as follows:

[0102] Step 3-1, obtaining the filtered target motion information and determining the interception slant range;

[0103] The interception slope distance D in The constraints are as follows:

[0104]

[0105] Where p is the damage probability threshold; D max is the maximum interception distance; t mb The time required for the target to reach the specified interception slant range; t pao is the gun adjustment time; t f is the time of the bullet flight; t ch is the charging and discharging time of the electromagnetic gun; T is the solution time;

[0106] Step 3-2, according to the target motion information X last (x last ,v last ,a last ) Extrapolate the target to reach the specified interception slant range D in Location information at the time and movement time t mb :

[0107]

[0108] Where f1 and f2 are expressed as:

[0109]

[0110] Step 3-3, calculate the firing parameters according to the extrapolated target reaching the position of the specified interception slant range, i.e. the fixed point is the elevation angle, β is the azimuth angle, t f For the time of the bullet flight;

[0111] Step 3-4, determine the shooting time:

[0112] If and only if the following equation is satisfied, firing is allowed. Otherwise, go to step 3-2, continue to correct the parameters, and wait for the opportunity to fire:

[0113] t mb=t pao +t ch +t f .

[0114] Step 4 describes the multi-gun coordinated firing planning process. Figure 6 As shown, the details are as follows:

[0115] Step 4-1, in the multi-gun coordination mode, when one gun vehicle obtains radar / photoelectric detection data, it is set as the main gun, and at the same time sends slave gun setting information to other gun vehicles;

[0116] Step 4-2: The main gun calculates the target's velocity and acceleration information based on the target position information collected by radar / photoelectricity, predicts the target's motion trajectory, and formulates a frontal barrage or a fly swatter barrage, allocates the future aiming point of the slave gun, and sends it to the slave gun; the target position information includes the target elevation angle, azimuth, and slant range;

[0117] Step 4-3: Inversely solve the firing parameters of the slave gun according to the future aiming point assigned by the master gun And the flying time t fi , i=2,3,4 are transmitted back to the main gun, when i=1, that is, t f1 The flight time of the main gun shells;

[0118] Step 4-4, the main gun sorts the flight time of each shell to determine the coordinated firing sequence. Each gun fires according to the firing sequence, firing asynchronously. The projectiles arrive at the preset position synchronously, forming a customized array barrage to implement sniper-style interception of the target.

[0119] Example

[0120] In this embodiment, the target route is a typical straight route, and the route data is as follows: the starting position is (500.0, -4000.0, 500.0) meters, the end position is (500.0, 1900.0, 500.0) meters, and the target speed is (0.0, 250.0, 0.0) meters per second. Considering the target maneuverability and the performance of the measurement equipment, white noise is added.

[0121] like Figure 7 As shown, the precision curves of various parameters under the shooting system planning of the customized arrayed barrage and multi-gun coordinated sniping of mobile targets according to the present invention are used, and the interception slant distance is 1700 meters. By extrapolating the fixed point position under the specified slant distance, solving and correcting the fixed point in real time, the error caused by the "static" attack on the "dynamic" can be alleviated to a certain extent; at the same time, except for the large correction fluctuations in the initial stage, the overall correction fluctuations are kept within 0.5mil, which is an acceptable fluctuation range for the turret servo system.

[0122] The present invention provides a shooting system planning method for a customized arrayed barrage based on an electromagnetic gun and a multi-gun coordinated sniping mobile target. After simulation verification, the method can avoid the problem of slow firing rate of the electromagnetic gun, and simultaneously hit multiple shots, improve the projectile dispersion density per unit time, and reduce the dynamic tracking error caused by the traditional tracking shooting system to a certain extent. The optimization of the two aspects of solution accuracy and projectile dispersion density can effectively improve the hit rate, thereby obtaining a better damage effect.

[0123] The above-described embodiments of the present application do not constitute a limitation on the protection scope of the present application.

Claims

1. A sniper-type interception shooting planning method based on electromagnetic gun, characterized in that: The method comprises: Step 1: using a target state information filtering algorithm to obtain target motion state information; wherein the target motion state information includes the position information, speed information and acceleration information of the target; Step 2: The host vehicle customizes the arrayed barrage according to the target motion state information and the vehicle body motion state information; the arrayed barrage is divided into the frontal barrage and the fly swatter barrage; Step 3: The main vehicle predicts the position information and required movement time of the target when it reaches the specified interception slant range based on the target motion state information, so as to regard the maneuvering target as a fixed point and perform a sniper-style interception; Step 4: Multiple gun carriages communicate with each other to determine the firing sequence, fire asynchronously, and have multiple rounds hit simultaneously to form an array barrage to carry out sniping on mobile targets.

2. The method according to claim 1, characterized in that The step 1 of obtaining the target motion state information includes: When the number of data frames is not greater than N, N is 15 to 50, and the growing memory filter is used to estimate the current value: In the formula, and=[x(k-1) y(k-1) z(k-1) in x (k-1) in y (k-1) in z (k-1)] i is the current data frame number, i=2~N; When the number of data frames is greater than N, fixed memory filtering is used. The specific process is as follows: In the formula, and=[x(k-1) y(k-1) z(k-1) in x (k-1) in y (k-1) in z (k-1)] After obtaining the position and velocity information of the target after filtering, acceleration filtering is performed in one step, and acceleration filtering is performed in the x, y, and z directions respectively: Where, channel = x, y, z; p is the acceleration filter start data length; T is the sampling period.

3. The method according to claim 1, characterized in that Step 2: The host vehicle customizes the array barrage according to the target motion state information and the vehicle body motion state information, including: When the angle θ between the target route direction and the gun's eye exceeds the threshold Δθ, a fly swatter barrage is used; when the angle θ between the target route direction and the gun's eye is less than the threshold Δθ, a frontal barrage is used. The arrayed bullet screen is constructed as follows: The fly swatter barrage plane is perpendicular to the plane formed by the gun, the current target point position and the blocking point position. S0 refers to the blocking point, that is, the target future point position M q ; S1, S2, S3, S4 refer to the four guns' interception points set to form a custom barrage near the interception point, and the distance Δa of the bullets scattered on the facing surface; the bullets of each gun on the facing surface are distributed on both sides of the route direction. The main gun position is represented by O, then there is a vector satisfy: At the same time, there are Coaxial vectors The interception points of each gun are expressed as follows: In the formula, a and b are constants used to adjust the distance between projectiles; The plane of the barrage on the front is perpendicular to the target track direction at the arresting point; S0 refers to the arresting point, that is, the future position of the target M q ; S1, S2, S3, S4 refer to the four guns' blocking points for forming a custom barrage near the blocking point; the distance Δa of the bullet spread on the facing surface; the bullet impact distribution of each gun on the facing surface is in the direction of the normal line of the route; there is a difference with the route direction Vectors with the same normal direction There are also vectors satisfy: Then the interception points of each gun in the barrage on the incoming surface are expressed as follows: Where a and b are constants used to adjust the distance between projectiles.

4. The method according to claim 1, characterized in that: Step 3: The main vehicle predicts the position information and required movement time of the target when it reaches the specified interception slant range based on the target motion state information, thereby treating the maneuvering target as a fixed point and performing a sniper-style interception, including: Step 3-1, obtaining the filtered target motion information and determining the interception slant range; The interception slope distance D in The constraints are as follows: Where p is the damage probability threshold; D max is the maximum interception distance; t mb The time required for the target to reach the specified interception slant range; t pao is the gun adjustment time; t f is the time of the bullet flight; t ch is the charging and discharging time of the electromagnetic gun; T is the solution time; Step 3-2, according to the target motion information X last (x last ,v last ,a last ) Extrapolate the target to reach the specified interception slant range D in Location information at the time and movement time t mb : Where f1 and f2 are expressed as: Step 3-3, calculate the firing parameters according to the extrapolated target reaching the position of the specified interception slant range, i.e. the fixed point is the elevation angle, β is the azimuth angle, t f For the time of the bullet flight; Step 3-4, determine the shooting time: If and only if the following equation is satisfied, firing is allowed. Otherwise, go to step 3-2, continue to correct the parameters, and wait for the opportunity to fire: t mb =t pao +t ch +t f 。 5. According to claim 1, it is characterized in that: The information exchange between multiple gun carriages determines the firing sequence, asynchronous firing, multiple rounds hitting at the same time, forming an array barrage, and sniping mobile targets, including: Step 4-1, in the multi-gun coordination mode, when one gun vehicle obtains radar / photoelectric detection data, it is set as the main gun, and at the same time sends slave gun setting information to other gun vehicles; Step 4-2: The main gun calculates the target's velocity and acceleration information based on the target position information collected by radar / photoelectricity, predicts the target's motion trajectory, and formulates a frontal barrage or a fly swatter barrage, allocates the future aiming point of the slave gun, and sends it to the slave gun; the target position information includes the target elevation angle, azimuth, and slant range; Step 4-3: Inversely solve the firing parameters of the slave gun according to the future aiming point assigned by the master gun And the flying time t fi , i=2,3,4 are transmitted back to the main gun, when i=1, that is, t f1 The flight time of the main gun shells; Step 4-4, the main gun sorts the flight time of each shell and determines the coordinated firing sequence. Each gun fires according to the firing sequence, firing asynchronously, and the projectiles arrive at the preset position synchronously, forming a customized array barrage to implement sniper-style interception of the target.

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