Ballistic trajectory detection and calculation method for high-speed flying projectile

Abstract

The invention relates to the technical field of projectile trajectory detection, in particular to a trajectory detection and calculation method for a high-speed flying projectile, and the method comprises the steps: arranging a plurality of binocular vision collectors, a pressure sensor array and a plurality of high-speed cameras at two sides of a flight path of the projectile; three-dimensional point cloud data, shock wave pressure pulsation signals and moving track images of the projectile are collected respectively. Collected data are subjected to filtering, registration, mesh generation, splicing, deblurring and the like and then are aligned and fused according to timestamps, more accurate position and speed information is obtained through a weighted average method, then trajectory points of projectiles are calculated, and noise is eliminated through a smoothing algorithm. Finally, the method can generate the complete space trajectory of the projectile in the flight process, and the analysis result is displayed in a visual mode. According to the technical scheme, through multi-sensor data fusion, the precision and stability of projectile trajectory detection are improved, and the problem that in the prior art, trajectory calculation is low in accuracy is effectively solved.

Description

Technical Field

[0001] The present invention relates to the technical field of projectile ballistic detection, and particularly to a ballistic detection and calculation method for a projectiles flying at high speed. Background Art

[0002] In the field of projectile impact testing, traditional contact measurement methods have gradually been replaced by non-contact measurement methods due to problems such as damage to projectiles and targets and limited measurement accuracy. Among them, the sky screen target has received increasing attention due to its advantages such as simple operation, easy calibration, and the ability to test projectiles of various materials and calibers. However, existing systems such as sky screen targets and light screen targets mainly focus on projectile impact testing and cannot measure the trajectory of high-speed projectiles, which limits the comprehensive detection of projectile ballistics.

[0003] In recent years, non-contact measurement technology has made significant progress in projectile ballistic detection. Patent No. CN112200838B discloses a projectile trajectory tracking method, device, equipment, and storage medium. Multiple high-speed cameras arranged in parallel are used to collect images of the projectile's running trajectory, and a central workstation is used for image matching, deblurring processing, and stereo vision algorithm to calculate the position information of the projectile, thereby obtaining the running trajectory of the projectile. This method can not only achieve expandable measurement distance and flexible layout, but also realize high-precision measurement of projectiles through image acquisition and processing at different angles, effectively solving the problem that the trajectory of high-speed projectiles cannot be measured in the prior art.

[0004] However, although this patent solution has made a breakthrough in projectile trajectory tracking, in practical applications, when calculating the flight trajectory of projectiles, it mainly relies on data collected by high-speed cameras. These data sources are single and are easily affected by environmental interference and measurement errors, resulting in low accuracy of ballistic calculation. Summary of the Invention

[0005] The purpose of the present invention is to provide a ballistic detection and calculation method for a projectile flying at high speed, which solves the problem that the existing projectile trajectory tracking method has a single data source and is easily affected by environmental interference and measurement errors, resulting in low accuracy of ballistic calculation.

[0006] To achieve the above purpose, the present invention provides a ballistic detection and calculation method for a projectile flying at high speed, including the following steps:

[0007] Layout and install multiple binocular vision collectors, pressure sensor arrays, and multiple high-speed cameras respectively;

[0008] Collect data through multiple binocular vision collectors, pressure sensor arrays, and multiple high-speed cameras respectively;

[0009] Process the collected data respectively;

[0010] Fuse the processed data and perform comprehensive processing to generate the complete spatial trajectory of the projectile during flight;

[0011] Analyze the generated flight trajectory of the projectile and display the analysis results in a visual manner.

[0012] Among them, arrange and install multiple binocular vision collectors, pressure sensor arrays and multiple high-speed cameras respectively. The specific steps include:

[0013] On both sides of the flight path of the projectile, arrange multiple binocular vision collectors side by side at a set spacing. Their arrangement direction is the same as the flight direction of the projectile. Each binocular vision collector contains two single vision acquisition sub-units, which are used to obtain the three-dimensional point cloud data of the projectile, and calibrate each binocular vision collector, including the calibration of internal parameters and external parameters;

[0014] On both sides of the flight path of the projectile, set two pressure sensor arrays arranged orthogonally along the flight direction of the projectile. Multiple rows of pressure sensors are evenly arranged on each array, which are used to collect the pressure pulsation signals of the shock waves generated by the projectile, and calibrate the pressure sensor arrays, recording the positions and sensitivity parameters of each sensor;

[0015] On both sides of the flight path of the projectile, arrange multiple high-speed cameras in parallel at a set spacing to ensure that the projectile can be captured by multiple cameras simultaneously during flight, and calibrate each high-speed camera, including the calibration of internal parameters and external parameters.

[0016] Among them, collect data through multiple binocular vision collectors, pressure sensor arrays and multiple high-speed cameras respectively. The specific steps include:

[0017] When the projectile enters the field of view of the binocular vision collector, the binocular vision collector simultaneously collects the three-dimensional point cloud data of the projectile;

[0018] When the shock wave generated by the projectile sweeps across the pressure sensor array, the pressure sensor records the pressure pulsation signal caused by the shock wave;

[0019] When the projectile enters the field of view of the high-speed camera, the high-speed camera captures the running trajectory image of the projectile at a high frame rate.

[0020] Among them, process the collected data respectively. The specific steps include:

[0021] Adopt the anisotropic smoothing filtering algorithm to adjust the target three-dimensional point cloud by moving along the normal vector direction in turn to obtain the filtered point cloud data;

[0022] First, perform initial registration on the filtered point cloud data to make the two pieces of point cloud roughly coincide, and then use the ICP algorithm to achieve fine registration of the point cloud;

[0023] Map the three-dimensional scattered point cloud data onto the fitting plane area, perform Delaunay triangulation on the mapped two-dimensional data, and then return the connection method of the triangulated point cloud data to the three-dimensional space;

[0024] Traverse the boundaries of the local triangular meshes after segmentation, and then select the boundary points in other groups that are closest to the current group's edge for connection to piece together an entire triangular mesh.

[0025] Among them, the collected data is processed separately, and the specific steps also include:

[0026] Calculate the flight speed of the supersonic projectile passing through this interval according to the distance between two adjacent pressure sensors along the projectile flight direction and the moment when the pulsating pressure wave peak appears;

[0027] For each row of pressure sensors perpendicular to the projectile flight direction, use the moment when the pulsating pressure wave peak of a certain pressure sensor appears as the time reference, calculate the time differences of the remaining sensors, and fit the actual shock wave surface's intersection line in the plane of this row of sensor arrays according to the flight speed;

[0028] Combine the shock wave profile geometric data surface simulated by CFD to determine the spatial position and attitude angle of the projectile at the position of each row of pressure sensors, thereby forming the flight trajectory of the supersonic projectile.

[0029] Among them, the collected data is processed separately, and the specific steps also include:

[0030] According to the known projectile size, roughly estimated projectile running speed, projectile running direction, and the internal and external parameter data of the high-speed camera, establish a fuzzy model to perform deblurring processing on the collected projectile running trajectory images;

[0031] Use the stereo vision algorithm to calculate the three-dimensional coordinates of the spatial object feature points of the projectile according to the focal length of the high-speed camera, the baseline distance between two adjacent high-speed cameras, and the coordinates of the projectile in the image, as the position information of the projectile.

[0032] Among them, the processed data is fused and comprehensively processed to generate the complete spatial trajectory of the projectile during flight. The specific steps include:

[0033] Align all the processed data according to the time stamp to ensure that the data of different sensors can correspond at the same time point;

[0034] Use the weighted average method to fuse the projectile position information obtained by the binocular vision collector and the high-speed camera, and obtain the position information according to the accuracy and confidence of each sensor;

[0035] The flight speed obtained from the pressure sensor array is fused with the speed information obtained from the binocular vision collector and the high-speed camera using a weighted average method to obtain the speed information.

[0036] Among them, the processed data is fused and comprehensively processed to generate the complete spatial trajectory of the projectile during flight. The specific steps include:

[0037] For each time point, combining the fused position and speed information, calculate the trajectory point of the projectile. The calculation formula is as follows: P t =P t-1 +v t ·Δt, where P t is the position at time point t, P t-1 is the position at time point t - 1, v t is the speed at time point t, and Δt is the time interval;

[0038] Use a smoothing algorithm to smooth the trajectory points to eliminate noise and discontinuities.

[0039] A ballistic detection and calculation method for a high-speed flying projectile according to the present invention arranges a plurality of binocular vision collectors, a pressure sensor array, and multiple high-speed cameras on both sides of the projectile flight path, and respectively collects the three-dimensional point cloud data, shock pressure pulsation signals, and running trajectory images of the projectile. The collected data is filtered, registered, meshed, spliced, deblurred, etc., aligned and fused according to the time stamp, and more accurate position and speed information are obtained through a weighted average method. Then, the trajectory points of the projectile are calculated and a smoothing algorithm is used to eliminate noise. Finally, the method can generate the complete spatial trajectory of the projectile during flight and display the analysis results in a visual manner. This technical solution improves the accuracy and stability of projectile ballistic detection through multi-sensor data fusion, effectively solves the problem of low accuracy of ballistic calculation in the prior art, and provides more reliable data support for projectile performance evaluation and improvement. Description of the Drawings

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art.

[0041] Figure 1 is the step flow chart of the ballistic detection and calculation method for a high-speed flying projectile of the present invention.

[0042] Figure 2 is the step flow chart of respectively arranging and installing a plurality of binocular vision collectors, a pressure sensor array, and multiple high-speed cameras of the present invention.

[0043] Figure 3It is a flowchart of the steps for collecting data by multiple binocular vision collectors, a pressure sensor array, and multiple high-speed cameras according to the present invention. Specific embodiments

[0044] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0045] Please refer to Figures 1 to 3 , wherein, Figure 1 It is a flowchart of the steps for the ballistic detection and calculation method of a high-speed flying projectile according to the present invention. Figure 2 It is a flowchart of the steps for separately arranging and installing multiple binocular vision collectors, a pressure sensor array, and multiple high-speed cameras according to the present invention. Figure 3 It is a flowchart of the steps for collecting data by multiple binocular vision collectors, a pressure sensor array, and multiple high-speed cameras according to the present invention.

[0046] The present invention provides a ballistic detection and calculation method for a high-speed flying projectile, including the following steps:

[0047] S100: Separately arrange and install multiple binocular vision collectors, a pressure sensor array, and multiple high-speed cameras;

[0048] S101: On both sides of the projectile flight path, arrange multiple binocular vision collectors side by side at a set spacing, with their arrangement direction consistent with the projectile flight direction. Each binocular vision collector includes two single vision acquisition sub-units for obtaining the three-dimensional point cloud data of the projectile, and calibrate each binocular vision collector, including the calibration of internal parameters and external parameters;

[0049] S102: On both sides of the projectile flight path, set two pressure sensor arrays arranged orthogonally along the projectile flight direction. Multiple rows of pressure sensors are evenly arranged on each array for collecting the pressure pulsation signals of the shock waves generated by the projectile, and calibrate the pressure sensor array, recording the position and sensitivity parameters of each sensor;

[0050] S103: On both sides of the projectile flight path, arrange multiple high-speed cameras in parallel at a set spacing to ensure that the projectile can be captured by multiple cameras simultaneously during flight, and calibrate each high-speed camera, including the calibration of internal parameters and external parameters.

[0051] Specifically: The distance between the binocular vision collectors is set according to the flying speed and measurement range of the projectile. For example, for a projectile flying at high speed, the distance can be set to 1 - 2 meters. Each binocular vision collector is calibrated, including the calibration of internal parameters (focal length, principal point, distortion coefficient, etc.) and external parameters (position and attitude). The calibration is carried out through a calibration board to ensure the accuracy of the collected data. Multiple rows of pressure sensors are evenly arranged on each pressure sensor array, and the distance between each row of sensors is set according to the flying speed and shock wave characteristics of the projectile. For example, the distance between each row of sensors can be set to 0.1 meters. The pressure sensor array is calibrated, and the position and sensitivity parameters of each sensor are recorded. The calibration is carried out through a known pressure source to ensure the measurement accuracy of the sensors. The distance L between the high-speed cameras is set according to the flying speed and measurement range of the projectile. For example, for a projectile flying at high speed, the distance can be set to 0.5 - 1 meter. Each high-speed camera is calibrated, including the calibration of internal parameters (focal length, principal point, distortion coefficient, etc.) and external parameters (position and attitude). The calibration is carried out through a calibration board to ensure the accuracy of image acquisition.

[0052] S200: Collect data respectively through multiple binocular vision collectors, a pressure sensor array, and multiple high-speed cameras;

[0053] S201: When the projectile enters the field of view of the binocular vision collector, the binocular vision collector simultaneously collects the three-dimensional point cloud data of the projectile;

[0054] S202: When the shock wave generated by the projectile sweeps across the pressure sensor array, the pressure sensor records the pressure pulsation signal caused by the shock wave;

[0055] S203: When the projectile enters the field of view of the high-speed camera, the high-speed camera collects the running trajectory image of the projectile at a high frame rate.

[0056] Specifically, a triggering device (such as a photoelectric sensor) is set on the projectile flight path. When the projectile passes through the triggering device, the binocular vision collector starts to collect data. The trigger signal is transmitted to the control unit of the binocular vision collector through a high-speed communication link (such as an optical fiber or a high-speed cable) to ensure that the collector can respond in a timely manner. Each binocular vision collector contains two single-vision collection sub-units, which image the projectile from different angles respectively. The two sub-units collect image data synchronously to ensure that two images of the projectile are obtained at the same time point. The collected image data is stored, and the collection timestamp is recorded simultaneously to ensure the time synchronization of the data. The collected image data is used for subsequent three-dimensional point cloud generation and processing. Similarly, a triggering device (such as a photoelectric sensor) is used to trigger the collection of the pressure sensor array. The trigger signal is transmitted to the control unit of the pressure sensor array through a high-speed communication link to ensure that the sensor can respond in a timely manner. Multiple rows of pressure sensors are evenly arranged on each pressure sensor array, and each sensor monitors the pressure change in real time. When the shock wave generated by the projectile reaches the sensor, the sensor records the pressure pulsation signal. The pressure pulsation signal is digitally processed through a high-speed data acquisition card (such as an NI data acquisition card), the pressure pulsation signal is stored, and the collection timestamp is recorded simultaneously to ensure the time synchronization of the data. The collected pressure pulsation signal is used for subsequent flight speed calculation and shock wave surface fitting. A triggering device (such as a photoelectric sensor) is used to trigger the collection of the high-speed camera. The trigger signal is transmitted to the control unit of the high-speed camera through a high-speed communication link to ensure that the camera can respond in a timely manner. The high-speed camera collects the running trajectory images of the projectile at a high frame rate (such as 10,000 frames per second). The collected image data is stored, and the collection timestamp is recorded simultaneously to ensure the time synchronization of the data. The collected image data is used for subsequent deblurring processing and position information calculation. To ensure the time synchronization of the data, the trigger signals of all sensors (binocular vision collectors, pressure sensor arrays, and high-speed cameras) are uniformly controlled by the same triggering device. The triggering device synchronously triggers all sensors through a high-speed communication link to ensure that the data collected at the same time point can be corresponding.

[0057] S300: Process the collected data separately;

[0058] Specifically, for each point in the point cloud data, calculate its local normal vector. This can be done by fitting a local surface or using PCA (Principal Component Analysis). Move the points along the normal vector direction to smooth the point cloud. The amount of movement is controlled by a smoothing factor, which can be adjusted according to the density and noise level of the point cloud. Repeat the above steps until the point cloud data reaches the desired smoothness. Reduce the noise in the point cloud data while preserving the geometric features. Calculate the centroids of the two point clouds and translate them to the same position. Then, by calculating the principal direction and applying a rotation matrix, align the directions of the two point clouds. Minimize the distance between the point clouds through the Iterative Closest Point algorithm. In each iteration, find the closest point in the other point cloud for each point in one point cloud, and then calculate and apply the optimal rigid transformation (translation and rotation) to better align the two point clouds. Repeat this process until the distance between the point clouds no longer changes significantly. Align the point cloud data from different perspectives to the same coordinate system. Map the three-dimensional scattered point cloud data onto a fitted plane. This can be accomplished by using PCA to find the best-fitting plane of the point cloud and projecting the point cloud data onto this plane. Perform Delaunay triangulation on the mapped two-dimensional data. Delaunay triangulation is a commonly used mesh generation method that can generate high-quality triangular meshes. Return the connection method of the triangulated point cloud data to three-dimensional space. By mapping the vertex coordinates of the two-dimensional triangular mesh back to three-dimensional space, a three-dimensional triangular mesh is obtained. Traverse the boundaries of the fragmented local triangular meshes to find the boundary points. Then, select the boundary points in other groups that are closest to the current group's edge for connection to piece together an entire triangular mesh. Convert the point cloud data into a mesh model for subsequent geometric analysis and visualization.

[0059] For two adjacent pressure sensors along the projectile flight direction, record the distance Δs between them and the moments t1 and t2 when the pulsating pressure peaks occur. Use the formula to calculate the flight speed v of the projectile passing through this interval. For each row of pressure sensors perpendicular to the projectile flight direction, use the moment when the pulsating pressure peak of a certain pressure sensor appears as the time reference. Calculate the time differences of the remaining sensors and fit the actual shock wave surface's intersection line in the plane of this row of sensor arrays based on the flight speed. Combine the shock wave profile geometric data surface from CFD simulation to determine the spatial position and attitude angle of the projectile at the position of each row of pressure sensors. Through these data, form the flight trajectory of the supersonic projectile.

[0060] Based on the known projectile size, roughly estimated projectile running speed, projectile running direction, and the internal and external parameter data of the high-speed camera, a fuzzy model is established. This model is used to deblur the collected projectile running trajectory images, reducing the image blurring caused by the movement of high-speed projectiles. Using the stereo vision algorithm, according to the focal length f of the high-speed camera, the baseline distance L between two adjacent high-speed cameras, and the coordinates (X left , Y u ) and (X right , Y u ) of the projectile in the image, calculate the three-dimensional coordinates (x c , y c , z c ) of the spatial object feature points of the projectile. Use the formula:

[0061]

[0062] S400: Fuse the processed data and conduct comprehensive processing to generate the complete spatial trajectory of the projectile during flight;

[0063] Specifically, the data acquisition devices of each sensor (binocular vision collector, pressure sensor array, and high-speed camera) are equipped with a high-precision timestamp recording function to record the exact time of data acquisition. In the data processing stage, synchronize the data streams of all sensors according to the timestamps. This can be achieved through software, sorting the data according to the timestamps, and performing interpolation or smoothing processing if necessary to fill in the minor time differences. First, obtain the three-dimensional coordinate data of the projectile from the binocular vision collector and the high-speed camera. Assume the coordinates obtained from the binocular vision collector are (x bi , y bi , z bi ), and the coordinates obtained from the high-speed camera are (x hi , y hi , z hi ). Calculate the accuracy and confidence of each sensor. For example, the accuracy of the binocular vision collector may be σ bi , and the accuracy of the high-speed camera is σ hi .

[0064] Use the weighted average formula to fuse the position information:

[0065]

[0066] where, x final , y final , z final are the fused position coordinates.

[0067] Obtain the flight speed v ps of the projectile from the pressure sensor array. The speed v fused from the binocular vision collector and the high-speed cameravi Assume that the velocity accuracy of the pressure sensor is σ ps and the velocity accuracy of the vision system is σ vi . Use the weighted average formula to fuse the velocity information:

[0068]

[0069] where v final is the fused velocity.

[0070] For each time point, combine the fused position and velocity information to calculate the trajectory points of the projectile. Assume that the time interval is Δt, then the position of the projectile at consecutive time points can be calculated using the following formula: P t = P t-1 + v t ·Δt, where P t is the position at time point t, P t-1 is the position at time point t - 1, v t is the velocity at time point t, and Δt is the time interval; due to measurement errors and environmental noise, the directly calculated trajectory may be uneven or discontinuous. Use a smoothing algorithm (such as moving average, Kalman filter, or spline interpolation method) to smooth the trajectory points to eliminate noise and discontinuities. Specifically, perform local averaging on the trajectory points to reduce random fluctuations. Use the state at the previous moment and the current measurement value to predict the state at the next moment, which is applicable to dynamic systems. Interpolate between the known trajectory points to generate a smoother curve.

[0071] S500: Analyze the generated projectile flight trajectory and display the analysis results in a visual manner.

[0072] Specifically, calculate the instantaneous velocity of the projectile during flight. The velocity can be calculated from the slope of the trajectory points, i.e.: where Δs is the distance the projectile moves within the time interval Δt. Calculate the acceleration of the projectile, which is the rate of change of velocity. The acceleration can be obtained by differentiating the velocity: If the trajectory data contains the attitude information of the projectile, the attitude changes of the projectile during flight can be analyzed, which is crucial for evaluating the stability and control performance of the projectile. Compare the calculated projectile trajectory with the theoretical trajectory or reference trajectory to evaluate the accuracy of the measurement system. Analyze the fluctuations in the projectile flight trajectory to evaluate the flight stability of the projectile. Larger fluctuations may indicate that the projectile is affected by unstable factors. Evaluate the response characteristics of the projectile to control inputs by analyzing the changes in velocity and acceleration. Use a 3D graphics library (such as PLOT3 in MATLAB, matplotlib in Python, or Mayavi, etc.) to plot the flight trajectory of the projectile. The trajectory plot should clearly show the flight path of the projectile, including the starting point, ending point, and any significant flight features (such as turns, accelerations, or decelerations). Plot the curves of velocity and acceleration versus time. These charts can help observers understand the dynamic behavior of the projectile during flight. If available, plot the variation of the projectile attitude angles (such as pitch angle, yaw angle, etc.) versus time to evaluate the flight stability of the projectile. Generate a visual report containing the above charts to intuitively display the flight performance of the projectile. Write a detailed performance evaluation report, including the results of accuracy evaluation, stability analysis, and dynamic response analysis.

[0073] Through multi-sensor data fusion, the accuracy and stability of projectile trajectory detection are improved, effectively solving the problem of low accuracy of trajectory calculation in the prior art and providing more reliable data support for projectile performance evaluation and improvement.

[0074] The above-disclosed are only one or more preferred embodiments of the present application, and the scope of rights of the present application cannot be limited thereby. Those of ordinary skill in the art can understand all or part of the processes of implementing the above embodiments, and the equivalent changes made according to the claims of the present application still fall within the scope covered by the present application.

Claims

1. A ballistic detection and calculation method for a high-speed flying projectile, characterized in that, It includes the following steps: Layout and install multiple binocular vision collectors, pressure sensor arrays and multiple high-speed cameras respectively; Collect data through multiple binocular vision collectors, pressure sensor arrays and multiple high-speed cameras respectively; Process the collected data respectively; Fuse the processed data and conduct comprehensive processing to generate the complete spatial trajectory of the projectile during flight; Analyze the generated projectile flight trajectory and display the analysis results in a visual way.

2. The ballistic detection and calculation method for a high-speed flying projectile according to claim 1, characterized in that, Layout and install multiple binocular vision collectors, pressure sensor arrays and multiple high-speed cameras respectively. The specific steps include: On both sides of the projectile flight path, arrange multiple binocular vision collectors side by side at a set spacing. Their arrangement direction is the same as the projectile flight direction. Each binocular vision collector includes two single-vision acquisition sub-units for obtaining the three-dimensional point cloud data of the projectile, and calibrate each binocular vision collector, including the calibration of internal and external parameters; On both sides of the projectile flight path, set two pressure sensor arrays arranged orthogonally along the projectile flight direction. Multiple rows of pressure sensors are evenly arranged on each array for collecting the pressure pulsation signals generated by the shock wave of the projectile, and calibrate the pressure sensor arrays to record the position and sensitivity parameters of each sensor; On both sides of the projectile flight path, arrange multiple high-speed cameras in parallel at a set spacing to ensure that the projectile can be captured by multiple cameras simultaneously during flight, and calibrate each high-speed camera, including the calibration of internal and external parameters.

3. The ballistic detection and calculation method of a high-speed flying projectile according to claim 2, characterized in that Collect data through multiple binocular vision collectors, pressure sensor arrays and multiple high-speed cameras respectively. The specific steps include: When the projectile enters the field of view of the binocular vision collector, the binocular vision collector simultaneously collects the three-dimensional point cloud data of the projectile; When the shock wave generated by the projectile sweeps across the pressure sensor array, the pressure sensor records the pressure pulsation signal caused by the shock wave; When the projectile enters the field of view of the high-speed camera, the high-speed camera acquires the running trajectory image of the projectile at a high frame rate.

4. The ballistic detection and calculation method for a high-speed flying projectile according to claim 3, characterized in that, Process the collected data respectively. The specific steps include: Adopt the anisotropic smoothing filtering algorithm to adjust the target three-dimensional point cloud by moving along the normal vector direction in turn to obtain the filtered point cloud data; First, conduct initial registration on the filtered point cloud data to make the two pieces of point cloud roughly coincide, and then adopt the ICP algorithm to achieve fine registration of the point cloud; Map the three-dimensional scattered point cloud data to the fitting plane area, conduct Delaunay triangulation on the mapped two-dimensional data, and then return the connection method of the triangulated point cloud data to the three-dimensional space; Traverse the boundaries of the local triangular meshes after segmentation, and then select the boundary points in other groups that are closest to the current group edge for connection to splice into an entire triangular mesh.

5. The ballistic detection and calculation method for a high-speed flying projectile according to claim 4, characterized in that Process the collected data respectively. The specific steps also include: Calculate the flight speed of the supersonic projectile passing through this interval according to the distance between two adjacent pressure sensors along the projectile flight direction and the moment when the pulsating pressure peak appears; For each row of pressure sensors perpendicular to the projectile flight direction, taking the moment when the peak of the pulsating pressure wave of a certain pressure sensor appears as the time reference, calculate the time differences of the remaining sensors, and fit the actual shock wave front's intersection line on the plane of the sensor array in this row according to the flight speed; Combined with the geometric data surface of the shock wave shape simulated by CFD, determine the spatial position and attitude angle of the projectile at the position of each row of pressure sensors, thus forming the flight trajectory of the supersonic projectile.

6. The ballistic detection and calculation method for a high-speed flying projectile according to claim 5, characterized in that Process the collected data separately. The specific steps also include: According to the known projectile size, roughly estimated projectile running speed, projectile running direction, and the internal and external parameter data of the high-speed camera, establish a fuzzy model to perform deblurring processing on the collected projectile running trajectory images; Using the stereo vision algorithm, according to the focal length of the high-speed camera, the baseline distance between two adjacent high-speed cameras, and the coordinates of the projectile in the image, calculate the three-dimensional coordinates of the spatial object feature points of the projectile as the position information of the projectile.

7. The ballistic detection and calculation method of a high-speed flying projectile according to claim 6, characterized in that, Fuse the processed data and perform comprehensive processing to generate the complete spatial trajectory of the projectile during flight. The specific steps include: Align all the processed data according to the time stamp to ensure that the data of different sensors can correspond at the same time point; Use the weighted average method to fuse the projectile position information obtained by the binocular vision collector and the high-speed camera, and obtain the position information according to the accuracy and confidence of each sensor; Use the weighted average method to fuse the flight speed obtained by the pressure sensor array with the speed information obtained by the binocular vision collector and the high-speed camera to obtain the speed information.

8. The ballistic detection and calculation method of a high-speed flying projectile according to claim 7, characterized in that, Fuse the processed data and perform comprehensive processing to generate the complete spatial trajectory of the projectile during flight. The specific steps also include: For each time point, combining the fused position and velocity information, calculate the trajectory point of the projectile, and the calculation formula is as follows: P t = P t-1 + v t ·Δt, where P t is the position at time point t, P t-1 is the position at time point t - 1, v t is the velocity at time point t, and Δt is the time interval; Use the smoothing algorithm to smooth the trajectory points to eliminate noise and discontinuities.

Images