Mortar firing data correction system and method

Abstract

The invention discloses a mortar firing data correction system and method. The method comprises the steps that a geodetic coordinate system is established according to the rotation center of a mortar body and the ground plane, and a mortar body coordinate system is established according to the rotation center of the mortar body and the heeling plane; the actual pitch angle and the target pitch angle are used for carrying out analytic geometric calculation, and a gun ear inclination angle formed between the transverse inclined plane and the ground plane is solved; if the dip angle of the gun ear is corrected, the mortar is adjusted again to the target firing data; otherwise, the shooting vector needing to be corrected is calculated through the target shooting data parameters and the gun ear dip angle. The method can eliminate the influence of the inclination angle of the gun ear on setting of the mortar firing data, and improves the mortar firing precision.

Description

Technical Field

[0001] The invention belongs to the technical field of mortar setting firing parameters, in particular to a mortar firing parameter correction system and method. Background Art

[0002] As a firepower weapon with special ballistics, the mortar has not been eliminated after a century of arms competition, and still plays an important role in suppressing the battlefield today. Accurate and efficient military activities require mortars to have higher and higher shooting accuracy and faster setting of shooting parameters. Today, the development of optics, electricity, computers and other disciplines has provided convenience for mortars to provide intelligent weapons and equipment.

[0003] At present, the mortar sight setting and firing parameter setting are still assisted by traditional equipment such as sights, quadrants, and bubble levels. The overall process is slow, and neither pre-war calibration preparation nor wartime auxiliary setting can be completed efficiently. In the actual gun adjustment process, the tilt of the mortar tripod will produce a gun ear tilt angle that is easily ignored by the gun operator. This tilt angle will have a great impact on the actual gun adjustment accuracy and delay the fighter. Summary of the invention

[0004] The purpose of the present invention is to provide a system and method for correcting various parameters of mortar firing, so as to solve the problems in the related art that the setting operation of firing parameters is complicated and the error caused by the inclination angle of the gun ear is easily ignored, so as to ensure the accuracy of the setting of firing parameters when the mortar is actually used and improve the firing accuracy.

[0005] The technical solution to achieve the purpose of the present invention is: on the one hand, a method for correcting various elements of mortar shooting is provided, the method comprising:

[0006] Step 1, establish a geodetic coordinate system based on the rotation center of the gun body and the ground plane, and establish a gun body coordinate system based on the rotation center of the gun body and the transverse inclination plane;

[0007] Step 2, using the actual elevation angle and the target elevation angle to perform analytical geometry calculation to solve the gun ear inclination angle formed between the transverse inclination plane and the ground plane;

[0008] Step 3: If the gun ear inclination angle is corrected, adjust the mortar to the target shooting parameters again; otherwise, use the target shooting parameter parameters and the gun ear inclination angle to solve the shooting vector that needs to be corrected.

[0009] Furthermore, the step 1 of establishing a geodetic coordinate system based on the rotation center of the gun barrel and the ground plane, and establishing a gun barrel coordinate system based on the rotation center of the gun barrel and the transverse inclination plane, specifically includes:

[0010] The rotation center of the gun barrel is taken as the origin, the Y axis is the mortar target direction, and the Z axis is perpendicular to the ground plane. The geodetic coordinate system is established according to the right-hand rule. The gun body coordinate system is established by the right-hand rule, with the gun body rotation center as the origin, the Y′ axis as the actual firing direction of the mortar, and the Z′ axis perpendicular to the transverse inclination plane. The angle between the ground plane and the transverse inclination plane is the gun ear inclination angle β. If the X′ axis points below the ground plane, the shooting angle θ<0, otherwise θ>0.

[0011] Furthermore, the step 2 uses the actual pitch angle and the target pitch angle to perform analytical geometry calculation to solve the gun ear inclination angle formed between the transverse inclination plane and the ground plane, specifically including:

[0012] Step 2-1, assume that the direction cosines of the gun body coordinate system are as follows:

[0013]

[0014] according to We get b1 = 0, a1 = cosβ;

[0015] according to Obtain a3=sinβ, b3=-cosβ, b3=-cosβ;

[0016] The direction cosines in the specific gun body coordinate system are as follows:

[0017]

[0018] Step 2-2: Obtain the geodetic coordinate system by solving analytic geometry With the gun body coordinate system The conversion relationship between them is as follows:

[0019] X=cosβX′+sinβZ′

[0020] Y=Y′-cosβZ′

[0021] Z=-sinβX′+cosβZ′

[0022] Step 2-3, in the geodetic coordinate system, the firing angle is θ, and the firing direction is α. In actual mortar use, θ is always positive, and the firing direction is positive when it is in the clockwise direction of the Y axis. After the mortar is set, the firing angle in the gun body coordinate system is θ P , the direction is α P ;

[0023] Assume that the coordinates of the firing element installation point in the geodetic coordinate system are (x0, y0, z0), and the coordinates of this point in the gun body coordinate system are (x P ,y P ,z P ), we get the following formula:

[0024] x0=cosβx P +sinβzP

[0025] y0=y P -cosβz P

[0026] z0=-sinβx P +cosβz P

[0027] Finally, the gun ear inclination angle β is obtained as:

[0028]

[0029] Furthermore, if the gun ear inclination angle is corrected as described in step 3, the mortar is adjusted to the target shooting parameters again, which specifically includes: obtaining the mortar shooting angle in real time, and calculating the gun ear inclination angle, adjusting the gun mount until the gun ear inclination angle is zero, and setting the shooting parameters again.

[0030] Furthermore, in step 3, the target shooting parameters and the gun ear inclination angle are used to calculate the shooting vector that needs to be corrected. The correction formula is:

[0031]

[0032] In the formula, α P is the direction correction.

[0033] On the other hand, a mortar firing element correction system is provided, which is used to implement the mortar firing element correction method, and the system includes: a firing direction detection module, a firing angle detection module, a data processing module, a display module and a power supply module;

[0034] The firing direction detection module is used to perform firing direction correction when the mortar lug inclination angle correction is not performed;

[0035] The firing angle detection module is used to detect the firing angle θ of the mortar in real time. P , which is also the firing angle of the mortar in the gun body coordinate system after the initial gun adjustment;

[0036] The data processing module is used to process the real-time mortar firing parameter setting information obtained by the firing direction detection module and the firing angle detection module, as well as the mortar ear inclination angle acquisition model, and provide the obtained ear inclination angle value and the firing direction correction value in the gun body coordinate system to the display module;

[0037] The display module is used to display the mortar lug inclination angle value and the firing direction correction value in the gun body coordinate system provided by the data processing module, and is also used to input various target firing parameters;

[0038] The power supply module is used to provide power to the direction detection module, the angle detection module, the data processing module and the display module.

[0039] Furthermore, the direction detection module is an angle measurement device, and its implementation methods include: using laser to illuminate a position-sensitive detection device parallel to the mortar's firing surface, and calculating the mortar's firing direction movement through laser position movement; or using a GPS positioning system, a dual theodolite method, and a binocular vision processing method to perform spatial coordinate calculations on two points on the mortar body to obtain the firing direction movement; or using an optical self-collimation method to obtain the firing direction movement by judging the displacement of the target on the photoelectric detector.

[0040] Furthermore, the shooting angle detection module adopts a large-angle measurement method, including using a quadrant, an inclination sensor, and utilizing a dual theodolite method and a binocular vision processing method to obtain two points on the gun body for spatial coordinate calculation.

[0041] Furthermore, the data processing module adopts FPGA or single-chip microcomputer or Raspberry Pi control device.

[0042] Compared with the prior art, the present invention has the following significant advantages:

[0043] (1) The mortar firing element correction system provided by the present invention can obtain the parameters of the mortar firing angle and firing direction in the geodetic coordinate system in real time. The data processing system can calculate and obtain the gun ear inclination angle caused by the tilt of the gun carriage, and at the same time provide the correction amount of the firing direction in the gun body coordinate system without correcting the gun ear inclination angle, so as to facilitate the gun operator to quickly adjust the direction machine and reduce the time for adjusting the gun carriage and other links to avoid delaying the fighter; the gun ear inclination angle can also be corrected until the firing elements are set to be consistent with the target firing elements. The system is composed of optical, mechanical, and electronic modules, and various angle measurement methods can be selected to improve the digital capability and provide convenience for the gun operator.

[0044] (2) In the method for correcting the firing elements of a mortar provided by the present invention, the transformation relationship between the earth coordinate system and the gun body coordinate system with a transverse inclination angle is solved by means of analytical geometry calculation. The specific value of the gun ear inclination angle can be obtained only by measuring the target firing elements and the actual firing angle after the gun is adjusted, thereby providing an objective basis for whether the mortar gun carriage is tilted. At the same time, two schemes are provided for correcting the firing elements of the mortar. The first scheme is to correct the inclination angle of the gun ear so that the mortar can continue to use the target firing elements in the earth coordinate system; the second scheme is not to correct the inclination angle of the gun ear, but to use the firing direction correction amount provided by the present invention to perform firing direction correction using the mortar direction machine in the gun body coordinate system.

[0045] The present invention is further described in detail below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A schematic diagram of a mortar firing element correction system in one embodiment.

[0047] Figure 2 Schematic diagram of the transformation relationship between the gun barrel coordinate system and the earth coordinate system in one embodiment.

[0048] Figure 3 The present invention is a flow chart of a method for correcting various elements of mortar firing in one embodiment. DETAILED DESCRIPTION

[0049] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0050] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of the present invention.

[0051] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, such as a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed. Instead, other steps or units that are not clearly listed or inherent to these processes, methods, products or devices may be included.

[0052] In one embodiment, in combination Figure 1 , provides a mortar firing element correction system, the system comprising:

[0053] The firing direction detection module 100 is mainly used for performing firing direction correction if the mortar ear tilt angle correction is not performed;

[0054] Specifically, since the minimum accuracy of the steering machine is usually 0.5 mil, some tiny direction corrections are not easy to be made through the sight of the steering machine, and can be assisted by various photoelectric angle measurement methods. Some solutions are provided in the invention, such as using laser to illuminate a position-sensitive detection device parallel to the mortar shooting surface to calculate the mortar shooting direction movement through laser position movement; using the GPS positioning system, dual theodolite method, binocular vision processing method, etc. to calculate the spatial coordinates of two points on the mortar body to obtain the shooting direction movement; using the optical self-collimation method, the shooting direction movement is obtained by judging the displacement of the target on the photoelectric detector, etc., and preferably the method of sending the measured value to the data processing module in a digitized form.

[0055] The firing angle detection module 110 is mainly used to detect the firing angle θ of the mortar in real time. P , and this firing angle is also the firing angle of the mortar in the gun body coordinate system after the initial gun adjustment.

[0056] Specifically, this module requires a large range of angle detection methods. A quadrant, an inclination sensor, and a dual theodolite method and binocular vision processing method can be selected to obtain two points on the gun body for spatial coordinate calculation, etc. It is also preferred that the measurement values ​​can be sent to the data processing module in a digitized form.

[0057] The data processing module 120 is used to process the real-time mortar firing parameter setting information obtained by the firing direction detection module 100 and the firing angle detection module 110, and solve the gun ear inclination angle β by analytical geometry, and provide the obtained gun ear inclination angle value and the firing direction correction amount in the gun body coordinate system to the display module 130. This module adopts but is not limited to control devices such as FPGA, single-chip microcomputer, Raspberry Pi, etc.

[0058] The display module 130 is used to display the solution information of the data processing module 120 and the shooting parameter information obtained in real time by the shooting direction detection module 100 and the shooting angle detection module 110, and to allow the gunner to input the target shooting parameters for model solution. This module facilitates the use of the gunner, improves the digitization and intelligence of the system, and improves the human-computer interaction capability of the system.

[0059] The power module 140 provides power to the above modules.

[0060] The mortar firing parameter correction system provided in this embodiment can use various angle measurement methods, has high human-computer interactivity, and data processing is performed by digital control devices. Parameter input and result presentation are concise and fast, which is convenient for gun operators to use, provides convenience for correcting the accuracy of mortar firing parameters, and can improve the firepower accuracy of mortars.

[0061] In one embodiment, in combination Figure 3 , provides a method for correcting various elements of mortar firing, the method comprising:

[0062] S110, establishing a geodetic coordinate system based on the rotation center of the gun barrel and the ground plane, and establishing a gun barrel coordinate system based on the rotation center of the gun barrel and the transverse inclination plane;

[0063] S120, performing analytical geometry calculation using the actual elevation angle and the target elevation angle to calculate the gun ear inclination angle formed between the transverse inclination plane and the ground plane;

[0064] S130, if the gun ear inclination angle is corrected, then adjust the mortar to the target shooting parameters again; otherwise, use the target shooting parameter parameters and the gun ear inclination angle to solve the shooting vector that needs to be corrected.

[0065] Further, in one embodiment, S110 specifically includes:

[0066] After setting the parameters of the mortar shooting, the geodetic coordinate system is established by the right-hand rule, with the rotation center of the gun as the origin, the Y axis as the mortar target direction, and the Z axis perpendicular to the ground plane. The gun body coordinate system is established by the right-hand rule, with the gun body rotation center as the origin, the Y′ axis as the actual firing direction of the mortar, and the Z′ axis perpendicular to the transverse inclination plane. The angle between the ground plane and the transverse inclination plane is the gun ear inclination angle β. If the X′ axis points below the ground plane, the firing angle θ<0, otherwise θ>0. The firing angle detection module 110 is used to detect the firing angle θ. P Detection.

[0067] Further, in one embodiment, S120 specifically includes:

[0068] S120-1, assume that the direction cosines of the gun barrel coordinate system are as shown in Table 1:

[0069] Table 1 Direction cosines of assumed gun body coordinate system

[0070]

[0071] The data processing module 120 is based on We get b1 = 0, a1 = cosβ;

[0072] according to Obtain a3=sinβ, b3=-cosβ, b3=-cosβ;

[0073] Therefore, the direction cosines in the specific gun barrel coordinate system are obtained in the data processing module 120 as shown in Table 2 below:

[0074] Table 2 Direction cosines of the gun barrel coordinate system

[0075]

[0076] S120-2, combined Figure 2 The data processing module 120 obtains the geodetic coordinate system by solving the analytic geometry. With the gun body coordinate system The conversion relationship between them is as follows:

[0077] X=cosβX′+sinβZ′

[0078] Y=Y′-cosβZ′

[0079] Z=-sinβX′+cosβZ′

[0080] S120-3, in the geodetic coordinate system, the firing angle is θ, and the firing direction is α. In actual mortar use, θ is always positive, and the firing direction is positive when it is in the clockwise direction of the Y axis. After the mortar is set, the firing angle in the gun body coordinate system is θ P , the direction is α P ;

[0081] The target shooting angle θ and the shooting direction α are input through the display module 130.

[0082] The firing angle in the gun barrel coordinate system in the data processing module 120 is θ P , the direction is α P , and the shooting element expressions in the two coordinate systems are:

[0083] x0=cosθ0sinα0

[0084] y0=cosθ0cosα0

[0085] z0=sinθ0

[0086] x P = cosθ P sinα P

[0087] y P = cosθ P cosα P

[0088] z P = sinθ P

[0089] Assume that the coordinates of the firing element installation point in the geodetic coordinate system are (x0, y0, z0), and the coordinates of this point in the gun body coordinate system are (x P ,y P ,z P ), we get the following formula:

[0090] x0=cosβx P +sinβz P

[0091] y0=y P -cosβz P

[0092] z0=-sinβx P +cosβz P

[0093] By solving the above model data processing module 120, the gun ear inclination angle β is obtained as:

[0094]

[0095] Furthermore, in one embodiment, the gun operator has two ways to correct the shooting parameters at this time. One is to correct the gun ear tilt angle caused by the tilt of the gun carriage. The gun operator can obtain the mortar shooting angle in real time through the shooting angle detection module 110, and calculate the gun ear tilt angle through the display module 130 until the gun ear tilt angle is zero, and then set the shooting parameters again.

[0096] If the time is urgent during wartime and the environment is not easy to correct the gun ear inclination angle, the gun operator can use the direction correction value in the gun body coordinate system provided by the data processing module 120 to use the direction correction machine to correct the direction. The direction correction value is as follows:

[0097]

[0098] Since the mortar is aimed at α = 0 after the initial adjustment, the correction value of the firing direction in the gun body coordinate system is:

[0099]

[0100] The mortar firing element correction method provided in this embodiment can calculate the gun ear inclination angle through real-time mortar firing angle detection and target firing elements. The gun ear inclination angle is not easily taken seriously during the use of mortars. Although the angle value is small, the first-shot hit rate and firing accuracy are increasingly valued in the ever-changing modern battlefield, and this inclination angle that affects the firing accuracy can no longer be ignored. At the same time, a shooting element correction method is provided, which allows the gun operator to choose whether to correct the gun ear inclination angle according to the actual situation, and modulate it according to the target firing elements or the firing direction correction amount provided by the system in the corresponding coordinate system.

[0101] It is to be understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of the present invention, but the present invention is not limited thereto. For those of ordinary skill in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A method for correcting various elements of mortar firing, characterized in that: The method comprises: Step 1, establish a geodetic coordinate system based on the rotation center of the gun body and the ground plane, and establish a gun body coordinate system based on the rotation center of the gun body and the transverse inclination plane; Step 2, using the actual elevation angle and the target elevation angle to perform analytical geometry calculation to solve the gun ear inclination angle formed between the transverse inclination plane and the ground plane; Step 3: If the gun ear inclination angle is corrected, adjust the mortar to the target shooting parameters again; otherwise, use the target shooting parameter parameters and the gun ear inclination angle to solve the shooting vector that needs to be corrected.

2. The mortar firing element correction method according to claim 1, characterized in that: Step 1 establishes a geodetic coordinate system based on the rotation center of the gun body and the ground plane, and establishes a gun body coordinate system based on the rotation center of the gun body and the transverse inclination plane, specifically including: The rotation center of the gun barrel is taken as the origin, the Y axis is the mortar target direction, and the Z axis is perpendicular to the ground plane. The geodetic coordinate system is established according to the right-hand rule. The gun body coordinate system is established by the right-hand rule, with the gun body rotation center as the origin, the Y′ axis as the actual firing direction of the mortar, and the Z′ axis perpendicular to the transverse inclination plane. The angle between the ground plane and the transverse inclination plane is the gun ear inclination angle β. If the X′ axis points below the ground plane, the shooting angle θ<0, otherwise θ>0.

3. The mortar firing element correction method according to claim 2, characterized in that: Step 2 uses the actual elevation angle and the target elevation angle to perform analytical geometry calculation to solve the gun ear inclination angle formed between the transverse inclination plane and the ground plane, specifically including: Step 2-1, assume that the direction cosines of the gun body coordinate system are as follows: according to We get b1 = 0, a1 = cosβ; according to Obtain a3=sinβ, b3=-cosβ, b3=-cosβ; The direction cosines in the specific gun body coordinate system are as follows: Step 2-2: Obtain the geodetic coordinate system by solving analytic geometry With the gun body coordinate system The conversion relationship between them is as follows: X=cosβX′+sinβZ′ Y=Y′-cosβZ′ Z=-sinβX′+cosβZ′ Step 2-3, in the geodetic coordinate system, the firing angle is θ, and the firing direction is α. In actual mortar use, θ is always positive, and the firing direction is positive when it is in the clockwise direction of the Y axis. After the mortar is set, the firing angle in the gun body coordinate system is θ P , the direction is α P ; Assume that the coordinates of the firing element installation point in the geodetic coordinate system are (x0, y0, z0), and the coordinates of this point in the gun body coordinate system are (x P ,y P ,z P ), we get the following formula: x0=cosβx P +sinβz P y0=y P -cosβz P z0=-sinβx P +cosβz P Finally, the gun ear inclination angle β is obtained as:

4. The mortar firing element correction method according to claim 3 is characterized in that: If the gun ear inclination angle is corrected as described in step 3, the mortar is adjusted to the target shooting parameters again, which specifically includes: obtaining the mortar shooting angle in real time, and calculating the gun ear inclination angle, modulating the gun mount until the gun ear inclination angle is zero, and setting the shooting parameters again.

5. The mortar firing parameter correction method according to claim 4 is characterized in that: In step 3, the target shooting parameters and the gun ear inclination angle are used to calculate the shooting vector that needs to be corrected. The correction formula is: In the formula, α P is the direction correction.

6. A mortar firing element correction system, used to implement the mortar firing element correction method according to any one of claims 1 to 5, characterized in that: The system comprises: a direction detection module, a firing angle detection module, a data processing module, a display module and a power supply module; The firing direction detection module is used to perform firing direction correction when the mortar lug inclination angle correction is not performed; The firing angle detection module is used to detect the firing angle θ of the mortar in real time. P , which is also the firing angle of the mortar in the gun body coordinate system after the initial gun adjustment; The data processing module is used to process the real-time mortar firing parameter setting information obtained by the firing direction detection module and the firing angle detection module, as well as the mortar ear inclination angle acquisition model, and provide the obtained ear inclination angle value and the firing direction correction value in the gun body coordinate system to the display module; The display module is used to display the mortar lug inclination angle value and the firing direction correction value in the gun body coordinate system provided by the data processing module, and is also used to input various target firing parameters; The power supply module is used to provide power to the direction detection module, the angle detection module, the data processing module and the display module.

7. The mortar firing parameter correction system according to claim 6 is characterized in that: The shooting direction detection module is an angle measurement device, and the implementation methods include: using laser to illuminate a position-sensitive detection device parallel to the shooting surface of the mortar, and calculating the shooting direction movement of the mortar by laser position movement; or using a GPS positioning system, a dual theodolite method, and a binocular vision processing method to calculate the spatial coordinates of two points on the mortar body to obtain the shooting direction movement; or using an optical self-collimation method to obtain the shooting direction movement by judging the displacement of the target on the photoelectric detector.

8. The mortar firing parameter correction system according to claim 6, characterized in that: The shooting angle detection module adopts a large-angle measurement method, including using a quadrant, an inclination sensor, and utilizing a dual-theodolite method and a binocular vision processing method to obtain two points on the gun body for spatial coordinate calculation.

9. The mortar firing parameter correction system according to claim 6, characterized in that: The data processing module adopts FPGA or single-chip microcomputer or Raspberry Pi control device.

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