Artillery firing direction measuring system and method for training

Abstract

The invention provides an artillery shooting direction measuring system and method for training. The system comprises a first camera, a second camera, an image processing unit, a tilt angle sensor, an auxiliary measuring rod, a first camera positioning module and an auxiliary measuring rod positioning module. The first camera and the second camera are fixed on an artillery barrel and are used for shooting measurement marks on the auxiliary measurement rod; the first camera positioning module is installed on the first camera and used for measuring the coordinate position of the first camera. According to the invention, identification and position calculation are carried out on the measurement identifier of the auxiliary measurement rod through an image identification method, the shooting direction of the gun barrel of the artillery can be rapidly and accurately calculated, and the problem that the existing real soldier confrontation training system is difficult to automatically collect the shooting direction of indirect aiming weapons with short gun barrels and large-elevation shooting such as mortar is solved. The training quality can be effectively improved, and data support is provided for finer training and assessment.

Description

Technical Field

[0001] The invention relates to a system and method for measuring the firing direction of a training artillery. Background Art

[0002] At present, live-fire confrontation training is developing in the direction of intelligence, and simulation equipment is often used in drills to replace actual weapons and equipment. Direct-fire weapons usually use lasers instead of ammunition for live-fire confrontation training. The specific method is to install a laser transmitter on the weapon and install a laser decoding device on the personnel and equipment. During confrontation training, the weapon emits a coded laser beam, and if the laser decoding device installed on the personnel and equipment receives the coded laser beam, it is judged as a hit. Indirect-fire artillery usually uses data to conduct live-fire confrontation training. The control center calculates the landing point of the shell based on the artillery's firing data and makes decisions on the personnel and equipment within the damage range.

[0003] The firing data of indirect fire artillery include firing direction, firing angle, charge and other data. The artillery simulators currently used for actual troop confrontation training usually use an external tilt sensor and Beidou direction-finding module on the barrel of the actual artillery to measure the direction angle and elevation angle of the artillery, and manually input data such as propellant temperature and propellant number to obtain the artillery's firing data in order to calculate the trajectory and trajectory of the projectile.

[0004] The above method of measuring the direction angle of artillery has serious shortcomings for mortars. To measure the direction angle through the Beidou direction finding module, the distance between the two direction finding antennas needs to be more than 2 meters to meet the direction finding accuracy of the artillery. Since the mortar is a portable equipment, the barrel is very short and the shooting elevation angle is very large. On the one hand, the distance between the two direction finding antennas installed on the barrel does not meet the requirements. On the other hand, due to the large elevation angle, the number of satellites that the antenna can receive is very small, which will seriously affect the direction angle measurement accuracy. Summary of the invention

[0005] Purpose of the invention: The purpose of the present invention is to solve the problem of inaccurate direction measurement of existing short-barreled, high-elevation-angle indirect-aiming artillery during confrontation training.

[0006] In order to achieve the purpose of the present invention, the present invention discloses a system and method for measuring the direction of artillery for training. The system includes a first camera, a second camera, an image processing unit, an inclination sensor, an auxiliary measuring rod, a first camera positioning module, and an auxiliary measuring rod positioning module;

[0007] The first camera is fixed on the gun barrel and is used to photograph the measurement mark on the auxiliary measurement rod;

[0008] The first camera positioning module is installed on the first camera and is used to measure the coordinate position of the first camera;

[0009] The second camera is fixed on the gun barrel and is used to photograph the measurement mark on the auxiliary measurement rod, and maintains a fixed distance a from the first camera;

[0010] The image processing unit is electrically connected to the first camera and the second camera, and is used to identify the measurement mark photographed by the first camera and the second camera, and calculate the horizontal position of the measurement mark in the image;

[0011] The inclination sensor is installed on the gun barrel and is used to measure the angle of the gun barrel relative to the horizontal plane of the earth;

[0012] An auxiliary measuring rod positioning module is installed on the auxiliary measuring rod, and a measuring mark visible to a camera is provided on the auxiliary measuring rod;

[0013] The auxiliary measuring rod positioning module is used to measure the coordinate position of the auxiliary measuring rod.

[0014] The image processing unit is electrically connected to the tilt sensor, the first camera positioning module, and the auxiliary measuring rod positioning module, and is used to calculate the artillery firing direction.

[0015] The color of the measurement mark on the auxiliary measurement rod is significantly different from the background.

[0016] The first camera and the second camera are of the same model. When installed, the line connecting the center points of the two camera lenses is parallel to the axis of the artillery barrel.

[0017] The first camera and the second camera are fixed-focus cameras. Since the field angle ∠S of the fixed-focus camera is known, the number of horizontal pixels m is known, and the angle Δa corresponding to each pixel is = ∠S / m.

[0018] The inclination sensor is a three-axis acceleration sensor or a single-axis acceleration sensor.

[0019] The auxiliary measuring rod is a metal or non-metal straight rod; a color ring is painted on the straight rod with paint as a measurement mark, or a single-color LED lamp is installed on the straight rod as a measurement mark.

[0020] The auxiliary measuring rod is vertically placed in the visual area of ​​the first camera and the second camera, and the first camera and the second camera can clearly capture the measurement mark on the auxiliary measuring rod;

[0021] The first camera and the second camera shoot the measurement mark of the auxiliary measurement rod, and output it to the image processing unit in a wired or wireless manner; the image processing unit recognizes the horizontal pixel position of the geometric center of the measurement mark on the auxiliary measurement rod photographed by the first camera and the second camera respectively through an image recognition method, subtracts the two horizontal pixel positions and multiplies them by Δa to obtain the angle θ;

[0022] The inclination sensor measures the angle between the gun barrel and the horizontal plane of the earth in real time, and transmits it to the image processing unit via wired or wireless means;

[0023] The first camera positioning module measures the coordinate position of the first camera in real time and transmits it to the image processing unit via wired or wireless means;

[0024] The auxiliary measuring rod positioning module measures the coordinate position of the auxiliary measuring rod in real time and transmits it to the image processing unit via wired or wireless means.

[0025] The first camera positioning module and the auxiliary measuring rod positioning module are Beidou positioning modules or GPS positioning modules.

[0026] The present invention also provides a method for measuring the firing direction of artillery for training, which is implemented based on the system and includes the following steps:

[0027] Step 1, placing the auxiliary measuring rod in the visible area of ​​the first camera and the second camera;

[0028] Step 2, the first camera and the second camera shoot the measurement mark of the auxiliary measurement rod, and output it to the image processing unit; since the field of view angles of the first camera and the second camera are known, and the number of horizontal pixels is known, the field of view angle is divided by the number of horizontal pixels to obtain the angle Δa corresponding to each pixel; the image processing unit uses an image recognition method to respectively identify the horizontal pixel positions X1 and X2 of the geometric center of the measurement mark on the auxiliary measurement rod shot by the first camera and the second camera, subtract the two horizontal pixel positions X1 and X2 and multiply them by Δa to obtain the angle θ;

[0029] Step 3, a triangle is formed by the projection point A of the first camera on the horizontal plane, the projection point B of the second camera on the horizontal plane, and the projection point C of the measurement mark on the auxiliary measuring rod on the horizontal plane;

[0030] Step 4: Since the distance between the first camera and the second camera is known, the inclination sensor measures that the angle between the barrel and the ground level is λ, and the length of the side AB is a'=a*cosλ;

[0031] Step 5: The coordinates of the first camera are measured by the first camera positioning module, and the coordinates of the measurement mark on the auxiliary measuring rod are measured by the auxiliary measuring rod positioning module, thereby obtaining the length b' of the side AC and the angle of the side AC in the geodetic coordinate system;

[0032] Step 6, since angle θ is the difference between the exterior angle of angle BAC and the interior angle of angle CBA, according to the triangle exterior angle theorem, angle θ is the interior angle of angle ACB;

[0033] Step 7: The length of side AB is known, the length of side AC is known, and the angle of angle ACB is known. Calculate the angle β between side AB and side AC according to the triangle formula:

[0034] h=b′*sinθ

[0035] h / a′=cosα

[0036] α=arccos(h / a′)

[0037] α+β=90-θ

[0038] β=90-θ-α

[0039] Where h is the length of the side perpendicular to side CB through point A, b′ is the length of side AC, and α is the angle between the side perpendicular to side CB through point A and side AB;

[0040] Since α has two solutions, choose the smaller of the two angle calculation values ​​of β as the valid value;

[0041] Step 8, since the angle of side AC in the geodetic coordinate system is known, and the angle between side AB and side AC is known, the angle of side AB in the geodetic coordinate system can be calculated, and the angle is the firing direction of the artillery.

[0042] The beneficial effects of the present invention are:

[0043] 1. By using image recognition to identify and calculate the position of the measurement mark of the auxiliary measurement rod, the firing direction of the artillery barrel can be quickly and accurately calculated, solving the problem that the existing real-life confrontation training system has difficulty in automatically collecting the firing direction of indirect aiming weapons such as mortars with short barrels and high elevation angles. It can effectively improve the quality of training and provide data support for more refined training and assessment.

[0044] 2. Since an auxiliary aiming rod is often required when aiming indirect aiming weapons, using an auxiliary measuring rod instead of the auxiliary aiming rod will not increase or change the original tactical actions of the soldiers. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments, and the above and / or other advantages of the present invention will become more clear.

[0046] Figure 1 This is a schematic diagram of the artillery direction measurement system for training.

[0047] Figure 2 This is the connection block diagram of the artillery direction measurement system for training.

[0048] Figure 3 Schematic diagram of the direction calculation method.

[0049] The reference numerals in the figure are: 1-gun barrel; 2-first camera; 3-second camera; 4-image processing unit; 5-tilt sensor; 6-auxiliary measuring rod; 7-first camera positioning module; 8-auxiliary measuring rod positioning module. DETAILED DESCRIPTION

[0050] like Figure 1 As shown, the present invention provides a training artillery direction measurement system, including a first camera, a second camera, an image processing unit 4, a tilt sensor 5, an auxiliary measuring rod 6, a first camera positioning module 7, and an auxiliary measuring rod positioning module 8.

[0051] The first camera is fixed on the gun barrel 1, and the first camera positioning module 7 is installed on the first camera.

[0052] The second camera is fixed on the gun barrel 1 and is at a distance a from the first camera.

[0053] The first camera and the second camera are of the same model. When installing, the line connecting the center points of the two camera lenses should be parallel to the axis of the artillery barrel.

[0054] The camera may be a fixed-focus camera. Since the field angle of the fixed-focus camera is known and the number of horizontal pixels is known, the angle Δa corresponding to each pixel can be obtained by dividing the field angle by the number of horizontal pixels.

[0055] The positioning module 7 may be a Beidou positioning module.

[0056] The inclination sensor 5 is mounted on the gun barrel 1 to measure the angle of the gun barrel relative to the ground level. The inclination sensor can be a three-axis acceleration sensor or a single-axis acceleration sensor.

[0057] An auxiliary measuring rod positioning module 8 is installed on the auxiliary measuring rod 6, and a measuring mark visible to a camera is provided on the top.

[0058] The auxiliary measuring rod 6 can be a hollow steel rod; a color ring can be painted on the hollow steel rod as a measuring mark, or a single-color LED light can be installed on the top of the hollow steel rod as a measuring mark. The positioning module 8 can be a Beidou positioning module.

[0059] The auxiliary measuring rod 6 is placed in the visible area of ​​the first camera and the second camera, and the first camera and the second camera can clearly capture the measurement mark on the top of the auxiliary measuring rod 6.

[0060] Figure 2As shown, the image processing unit 4 is electrically connected to the first camera and the second camera, and the image processing unit 4 is electrically connected to the tilt sensor 5 , the first camera positioning module 7 , and the auxiliary measuring rod positioning module 8 .

[0061] The first camera and the second camera shoot the measurement mark of the auxiliary measuring rod and output it to the image processing unit 4 via wired / wireless mode; the image processing unit 4 recognizes the horizontal pixel position of the geometric center of the measurement mark on the auxiliary measuring rod in the first camera and the second camera respectively through the image recognition method, and subtracts the two horizontal pixel positions and multiplies them by Δa to obtain the angle θ.

[0062] Calculating the horizontal pixel position of the geometric center of the measurement mark by using an image recognition method is a common technique in the art and will not be described in detail here.

[0063] The inclination sensor 5 measures the angle between the barrel 1 and the horizontal plane in real time, and transmits it to the image processing unit 4 via wired / wireless means; the first camera positioning module 7 measures the coordinate position of the first camera in real time, and transmits it to the image processing unit 4 via wired / wireless means; the auxiliary measuring rod positioning module 8 measures the coordinate position of the auxiliary measuring rod 6 in real time, and transmits it to the image processing unit 4 via wireless means.

[0064] The image processing unit 4 calculates the firing direction of the artillery according to the following steps:

[0065] Step 1, the first camera and the second camera shoot the measurement mark of the auxiliary measurement rod and output it to the image processing unit; since the field of view angles of the first camera and the second camera are known, and the number of horizontal pixels is known, the angle Δa corresponding to each pixel can be obtained by dividing the field of view angle by the number of horizontal pixels; the image processing unit recognizes the horizontal pixel position of the geometric center of the measurement mark on the auxiliary measurement rod in the first camera and the second camera respectively through an image recognition method, subtracts the two horizontal pixel positions and multiplies them by Δa to obtain the angle θ;

[0066] Step 2: A triangle is formed by the projection point A of the first camera on the horizontal plane, the projection point B of the second camera on the horizontal plane, and the projection point C of the measurement mark on the auxiliary measuring rod on the horizontal plane. Figure 3 ;

[0067] Step 3: Since the distance between the first camera and the second camera is known, assuming it is a, the inclination sensor measures the angle between the barrel and the ground level as λ, and the length of the side AB is a'=a*cosλ;

[0068] Step 4: The coordinates of the first camera are measured by the first camera positioning module, and the coordinates of the measurement mark on the auxiliary measuring rod are measured by the auxiliary measuring rod positioning module, thereby obtaining the length b' of the side AC; and the angle of the side AC in the geodetic coordinate system;

[0069] Step 5: Since angle θ is the difference between the exterior angle of angle BAC and the interior angle of angle CBA, according to the triangle exterior angle theorem, angle θ is the interior angle of angle ACB.

[0070] Step 6: Given the length of side AB, the length of side AC, and the angle of angle ACB, calculate as follows:

[0071] h=b′*sinθ

[0072] h / a′=cosα

[0073] α=arccos(h / a′)

[0074] α+β=90-θ

[0075] β=90-θ-α

[0076] β is the angle between side AB and side AC.

[0077] h is the length of the side perpendicular to side CB through point A, b′ is the length of side AC, and α is the angle between the side perpendicular to side CB through point A and side AB;

[0078] Since α has two solutions, choose the smaller of the two angle calculation values ​​of β; Step 7, since the angle of side AC in the geodetic coordinate system is known, the angle of side AB in the geodetic coordinate system is obtained, and the angle is the direction of the artillery.

[0079] The present invention provides a training artillery firing direction measurement system and method. There are many methods and ways to implement the technical solution. The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention. All components not specified in this embodiment can be implemented by existing technologies.

Claims

1. A training artillery direction measurement system, characterized in that: It includes a first camera, a second camera, an image processing unit, a tilt sensor, an auxiliary measuring rod, a first camera positioning module, and an auxiliary measuring rod positioning module; The first camera is fixed on the gun barrel and is used to photograph the measurement mark on the auxiliary measurement rod; The first camera positioning module is installed on the first camera and is used to measure the coordinate position of the first camera; The second camera is fixed on the gun barrel and is used to photograph the measurement mark on the auxiliary measurement rod, and maintains a fixed distance a from the first camera; The image processing unit is electrically connected to the first camera and the second camera, and is used to identify the measurement mark photographed by the first camera and the second camera, and calculate the horizontal position of the measurement mark in the image; The inclination sensor is installed on the gun barrel and is used to measure the angle of the gun barrel relative to the horizontal plane of the earth; An auxiliary measuring rod positioning module is installed on the auxiliary measuring rod, and a measuring mark visible to a camera is provided on the auxiliary measuring rod; The auxiliary measuring rod positioning module is used to measure the coordinate position of the auxiliary measuring rod.

2. The system according to claim 1, characterized in that The image processing unit is electrically connected to the tilt sensor, the first camera positioning module, and the auxiliary measuring rod positioning module, and is used to calculate the artillery firing direction.

3. The system according to claim 2, characterized in that The color of the measurement mark on the auxiliary measurement rod is significantly different from the background.

4. The system according to claim 3, characterized in that The first camera and the second camera are of the same model. When installed, the line connecting the center points of the two camera lenses is parallel to the axis of the artillery barrel.

5. The system according to claim 4, characterized in that The first camera and the second camera are fixed-focus cameras. Since the field angle ∠S of the fixed-focus camera is known, the number of horizontal pixels m is known, and the angle Δa corresponding to each pixel is = ∠S / m.

6. The system according to claim 5, characterized in that The inclination sensor is a three-axis acceleration sensor or a single-axis acceleration sensor.

7. The system according to claim 6, characterized in that The auxiliary measuring rod is a metal or non-metal straight rod; a color ring is painted on the straight rod with paint as a measurement mark, or a single-color LED lamp is installed on the straight rod as a measurement mark.

8. The system according to claim 7, characterized in that The auxiliary measuring rod is vertically placed in the visual area of ​​the first camera and the second camera, and the first camera and the second camera can clearly capture the measurement mark on the auxiliary measuring rod; The first camera and the second camera shoot the measurement mark of the auxiliary measurement rod, and output it to the image processing unit in a wired or wireless manner; the image processing unit recognizes the horizontal pixel position of the geometric center of the measurement mark on the auxiliary measurement rod photographed by the first camera and the second camera respectively through an image recognition method, subtracts the two horizontal pixel positions and multiplies them by Δa to obtain the angle θ; The inclination sensor measures the angle between the gun barrel and the horizontal plane of the earth in real time, and transmits it to the image processing unit via wired or wireless means; The first camera positioning module measures the coordinate position of the first camera in real time and transmits it to the image processing unit via wired or wireless means; The auxiliary measuring rod positioning module measures the coordinate position of the auxiliary measuring rod in real time and transmits it to the image processing unit via wired or wireless means.

9. The system according to claim 8, characterized in that The first camera positioning module and the auxiliary measuring rod positioning module are Beidou positioning modules or GPS positioning modules.

10. A method for measuring the firing direction of artillery for training, implemented based on the system according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1, placing the auxiliary measuring rod in the visible area of ​​the first camera and the second camera; Step 2: The first camera and the second camera shoot the measurement mark of the auxiliary measurement rod and output it to the image processing unit; since the field of view angles of the first camera and the second camera are known and the number of horizontal pixels is known, the field of view angle is divided by the number of horizontal pixels to obtain the angle Δa corresponding to each pixel; The image processing unit identifies the horizontal pixel positions X1 and X2 of the geometric centers of the measurement marks on the auxiliary measuring rod captured by the first camera and the second camera respectively through an image recognition method, subtracts the two horizontal pixel positions X1 and X2 and multiplies them by Δa to obtain the angle θ; Step 3, a triangle is formed by the projection point A of the first camera on the horizontal plane, the projection point B of the second camera on the horizontal plane, and the projection point C of the measurement mark on the auxiliary measuring rod on the horizontal plane; Step 4: Since the distance between the first camera and the second camera is known, the inclination sensor measures that the angle between the barrel and the ground level is λ, and the length of the side AB is a'=a*cosλ; Step 5: The coordinates of the first camera are measured by the first camera positioning module, and the coordinates of the measurement mark on the auxiliary measuring rod are measured by the auxiliary measuring rod positioning module, thereby obtaining the length b' of the side AC and the angle of the side AC in the geodetic coordinate system; Step 6, since angle θ is the difference between the exterior angle of angle BAC and the interior angle of angle CBA, according to the triangle exterior angle theorem, angle θ is the interior angle of angle ACB; Step 7: The length of side AB is known, the length of side AC is known, and the angle of angle ACB is known. Calculate the angle β between side AB and side AC according to the triangle formula: h=b ′ *sinθ h / a′=cosα α=arccos(h / a′) α+β=90-θ β=90-θ-α Where h is the length of the side perpendicular to side CB through point A, b ′ represents the length of side AC, α represents the angle between the side AB and the side perpendicular to side CB passing through point A; Since α has two solutions, choose the smaller of the two angle calculation values ​​of β as the valid value; Step 8, since the angle of side AC in the geodetic coordinate system is known, and the angle between side AB and side AC is known, the angle of side AB in the geodetic coordinate system can be calculated, and the angle is the firing direction of the artillery.

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