Light vehicle and large-explosive-quantity blaster matching method

Abstract

The invention belongs to the technical field of military blasting equipment, and relates to a light vehicle and large-explosive-quantity blaster matching method. The method comprises the steps that a rocket engine and a warhead box are automatically assembled through a magnetic suction connector, a posture locking device is started to fix a blaster, and a vehicle is converted into a marching state with a bullet; monitoring the state of the bomb storage box through a vibration and impact sensor, and generating a safety state identifier; collecting environment data and calculating an environment compensation coefficient; fusing the k value and the mine clearance requirement to dynamically adjust the explosive load and the fuse delay, and generating a blasting instruction; calculating an emission angle based on the Beidou data, and triggering an ignition instruction in the vehicle; and the mine clearance effect is measured and fed back through unmanned aerial vehicle image recognition. The adaptability to plateau, alpine and other complex environments is remarkably improved, the mine sweeping depth and width requirements are stably maintained, and meanwhile the mine sweeping precision and battlefield response efficiency are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of military blasting equipment, in particular to a matching method of a light vehicle and a large-dose blasting device. BACKGROUND

[0002] The traditional rocket mine sweeping equipment adopts fixed charge quantity and fuze parameters, and has the following defects in complex battlefield environment: When the altitude is greater than 3000 meters, the air is thin, resulting in insufficient propellant combustion efficiency and high mine sweeping depth attenuation rate; The delay deviation of the low-temperature fuze is large, resulting in high early explosion / tardiness rate; The mine sweeping width fluctuates greatly in the temperature difference of-40 DEG C to +50 DEG C.

[0003] The charge quantity and fuze delay cannot respond to the dynamic changes of the environment (such as air pressure and temperature); there is no battlefield data feedback mechanism to correct the execution deviation; the traditional electronic fuze has high circuit drift rate at extreme temperature. SUMMARY

[0004] The present application provides a matching method of a light vehicle and a large-dose blasting device, to solve the problem of how to dynamically adjust the charge quantity and fuze delay of the rocket blasting device based on the environmental compensation coefficient k and real-time battlefield data, and maintain the stable efficiency of the mine sweeping depth of greater than or equal to 80 meters and the mine sweeping width of greater than or equal to 4.5 meters in the complex battlefield environment of high altitude, low temperature, high temperature and humidity.

[0005] In order to solve the above technical problems, the present application provides a matching method of a light vehicle and a large-dose blasting device, comprising: The rocket engine and the warhead box are automatically assembled through the magnetic attraction interface, the blasting device is fixed by starting the attitude lock, the vehicle is converted into a state of marching with ammunition to generate a marching ready signal; the rocket engine packaging unit includes a rocket engine body, a fuze assembly and a preset tool pincers, and the warhead box is extracted from the platform front ammunition storage box; the magnetic attraction interface automatic assembly includes: pushing the rocket engine along the directional guide rail into the positioning slot, the tail of the directional guide is embedded with three groups of electromagnetic adsorption arrays, each array is composed of twelve neodymium-iron-boron permanent magnets arranged in a ring shape, and a magnetic conductive alloy plate is embedded in the butt joint end of the warhead box; The state of the ammunition storage box is monitored by the vibration sensor and the impact sensor, the safety monitoring data is analyzed to generate a safety state identifier, and the ammunition safety state is output to the environmental perception process; The battlefield environment data is collected by the temperature and humidity sensor, the barometer and the Beidou positioning device, the noise is filtered and the data is calibrated to generate preprocessed environment data, and the environmental compensation coefficient k is calculated based on the preprocessed environment data; The environmental compensation coefficient k and the preset mine sweeping requirement are fused to dynamically calculate the charge quantity adjustment value and the fuze delay compensation amount, and generate a blasting parameter instruction; The rocket launch angle and azimuth are calculated based on Beidou positioning data and blasting parameter instructions, the launch device is adjusted to the rocket launch angle and azimuth through the electric control system operation table, a one-key ignition instruction is triggered in the vehicle to launch the rocket exploder to generate an initiation success signal; The ground state data after mine sweeping is collected through the image collection of the return channel of the unmanned aerial vehicle, the actual mine sweeping width and depth are measured through image recognition of the ground state data, and the actual mine sweeping width and depth are compared with the preset requirements to generate an evaluation report and feedback.

[0006] Further, the fusion environment compensation coefficient k is compared with the preset mine sweeping requirement, and a dynamic calculation of the charge amount adjustment value and the fuze delay compensation amount is performed, including: The environment compensation coefficient k and the preset mine sweeping depth width requirement are obtained to generate basic blasting parameters.

[0007] Further, the generation of basic blasting parameters includes: The data validity check is performed, and the main control box calls the cyclic redundancy check algorithm to verify the integrity of the compensation coefficient k.

[0008] Further, the generation of basic blasting parameters also includes: The boundary value review of the preset mine sweeping requirement is performed, and when it is detected that the depth requirement exceeds the range of fifty to one hundred meters or the width requirement exceeds the range of three to six meters, the default values of eighty meters and four point five meters are automatically corrected.

[0009] Further, the generation of basic blasting parameters also includes: The reference charge amount is calculated, and the main control box performs multiplication operation to multiply the environment compensation coefficient k by the reference charge amount of five hundred kilograms.

[0010] Further, the generation of basic blasting parameters also includes: The explosion coverage mapping is performed, and according to the mine sweeping width requirement, the distance from the ground of one point two meters and the positive or negative zero point one meter are determined as the burst height according to the fragment distribution database. According to the mine sweeping depth requirement, the minimum thrust of the rocket engine needs to reach eight thousand newton-seconds according to the ballistic performance database.

[0011] Further, the dynamic calculation of the charge amount adjustment value and the fuze delay compensation amount includes: In the charge amount dynamic correction stage, based on the calibrated air pressure data, the main control box calls the air pressure height conversion algorithm, and for every one thousand meters of altitude, the charge amount increases by three percent; According to the real-time temperature data, for every ten degrees Celsius decrease in ambient temperature, the charge amount increases by two percent.

[0012] Further, the dynamic calculation of the charge amount adjustment value and the fuze delay compensation amount also includes: In the fuze delay compensation stage, the electronic fuze is adjusted according to real-time temperature data, when the temperature is lower than zero Celsius, the delay is increased by five milliseconds for every five degrees Celsius; When the temperature is higher than thirty-five Celsius, the delay is decreased by three milliseconds for every five degrees Celsius.

[0013] Further, the dynamic calculation of the charge quantity adjustment value and the fuze delay compensation quantity further comprises: In the safety boundary control stage, the charge quantity adjustment value is forcibly limited in the interval of four hundred kilograms to six hundred kilograms; The fuze delay compensation quantity sets an overload protection mechanism.

[0014] Further, the generation of the blasting parameter instruction comprises: The charge quantity adjustment value and the fuze delay compensation quantity are integrated to generate the blasting parameter instruction; In the instruction encoding stage, the charge quantity adjustment value is encoded in sixteen-bit binary format, and the fuze delay compensation quantity is encoded in twelve-bit binary format; Eight-bit cyclic redundancy check code and four-bit version identifier are added; In the signal conversion stage, a zero-to-five-volt analog voltage signal is generated through a sixteen-bit digital-to-analog converter, and a control waveform with variable duty cycle is generated through a pulse width modulation circuit; In the instruction packaging stage, the digital encoding segment, the analog signal segment and the control waveform segment are packaged into a composite blasting parameter instruction, which is sent to the electric control operation table through a single-mode optical fiber transmission link; Meanwhile, the complete copy of the instruction is written into the black box ferroelectric memory; The instruction ready flag triggers the ballistic solution module to start.

[0015] The key innovations of the present application include: A quantitative mapping model of battlefield environment parameters (temperature / humidity / pressure / altitude) and mine clearance efficiency is established, and the world problems of insufficient propellant burning efficiency at high altitude and low temperature and fuze drift in high temperature environment are solved.

[0016] The charge quantity altitude compensation is superimposed with temperature compensation and fuze delay graded temperature compensation, so as to eliminate the failure risk of single compensation mechanism in extreme environment.

[0017] The unmanned aerial vehicle damage evaluation data is used to train the environment compensation model reversely, so as to break the bottleneck of the traditional open-loop system that cannot be iteratively optimized.

[0018] The magnetic attraction interface, marching with the bomb, and the minute-level operation chain of in-vehicle launching overturn the defects of traditional mine clearance equipment, such as slow deployment and high exposure risk.

[0019] The main beneficial effects are as follows: 1、The invention solves the problem of fluctuation of mine sweeping efficiency caused by low pressure and low / high temperature environment on plateau through a dynamic environment compensation mechanism, so that the mine sweeping depth is stably maintained at ≥80 meters and the mine sweeping width is ≥4.5 meters, and the adaptability to complex battlefield environment is significantly improved.

[0020] 2、The dual-parameter dynamic adjustment technology of charge amount and fuze delay eliminates the risk of early / late explosion caused by traditional fixed parameters, realizes the improvement of blasting coverage uniformity, and guarantees the accuracy of path opening.

[0021] 3、Based on damage assessment feedback, the environment compensation coefficient is corrected in real time, forming a "perception-decision-execution-verification" closed-loop control chain, so that the system has the ability of continuous evolution, and the mine sweeping qualified rate is improved to >98%.

[0022] 4、The magnetic attraction interface automatic assembly and one-key launch design in the vehicle can complete the traditional 30-minute operation within 180 seconds, greatly shorten the exposure time in front of the enemy, and improve the survival rate by more than 50%. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 A flowchart of a light vehicle and large charge blasting device matching method provided by the embodiments of the present application; Figure 2 A general structure schematic diagram of a light vehicle and large charge blasting device matching method provided by the embodiments of the present application. DETAILED DESCRIPTION

[0024] Embodiment one: reference Figure 1 A flowchart of a light vehicle and large charge blasting device matching method provided by the embodiments of the present application, which can at least include steps S100-S600: S100, automatically assemble the rocket engine and the warhead box through the magnetic attraction interface, start the attitude lock to fix the blasting device, and convert the vehicle into a state of marching with ammunition to generate a marching ready signal; S200, monitor the state of the ammunition storage box through the vibration sensor and the impact sensor, analyze the safety monitoring data to generate a safety state identifier, and output the ammunition safety state to the environment perception process; S300, collect battlefield environment data through the temperature and humidity sensor, the barometer and the Beidou positioning device, perform noise filtering and data calibration on the battlefield environment data to generate preprocessed environment data, and calculate the environment compensation coefficient k based on the preprocessed environment data; S400, fuse the environment compensation coefficient k and the preset mine sweeping requirement, dynamically calculate the charge amount adjustment value and the fuze delay compensation amount, and generate a blasting parameter instruction; S500, calculate the rocket launch elevation and azimuth based on the Beidou positioning data and the blasting parameter instruction, adjust the launching device to the rocket launch elevation and azimuth through the electric control system console, and send a one-key ignition instruction to launch the rocket exploder to generate an initiation success signal in the vehicle; S600, collect the ground state data after the mine clearance through the image return channel of the unmanned aerial vehicle, measure the actual mine clearance width and depth through image recognition of the ground state data, compare the actual mine clearance width and depth with the preset requirements to generate an evaluation report and feedback.

[0025] Step S100 includes at least steps S110-S130: S110, obtain the rocket engine and the warhead box, and automatically dock and assemble through the magnetic attraction interface to generate an assembly completion signal. In the operation stage of the attack starting position, the operator first takes out the rocket engine packaging unit from the left and right storage boxes of the loading platform, which includes the rocket engine body, the fuse assembly and the preset tool pincers; simultaneously, the warhead box is taken out from the front ammunition storage box of the platform. The automatic docking and assembling process of the magnetic attraction interface is implemented as follows: the operator pushes the rocket engine along the orientation guide rail into the positioning slot, the tail of the orientation guide is embedded with three groups of electromagnetic attraction arrays, each array is composed of twelve neodymium-iron-boron permanent magnets arranged in a ring, and the warhead box is pre-buried with a magnetic alloy plate at the docking end. When the engine and the warhead box are close to a distance of five centimeters, the main control box of the electric control system outputs a twenty-four-volt direct current voltage to the electromagnetic attraction array, generating a directional magnetic field with a strength of one point two tesla, forming a closed magnetic circuit with the magnetic alloy plate, generating an axial attractive force not less than eight hundred newtons, so that the engine and the warhead box complete the docking within the accuracy range of axial deviation not exceeding plus or minus two millimeters. The Hall sensor monitors the change of magnetic flux in real time, and when the magnetic induction intensity reaches the threshold of zero point five tesla and lasts for twenty milliseconds or more, a pulse signal is sent to the main control box, which generates a high-level assembly completion signal after processing by the analog-digital converter and is stored in the register address zero fork one thousand.

[0026] S120, based on the assembly completion signal, start the posture locker to fix the exploder and generate a locking ready signal.

[0027] The main control box reads the register zero fork one zero zero zero assembly completion signal, and drives the posture lock to perform the fixing operation. The posture lock includes four chromium-molybdenum alloy steel locking rods, with a diameter of 30 mm, and impact-resistant rubber clamps are arranged at the ends. The hydraulic system controls the oil path pressure to rise to 20 MPa through a proportional valve, drives the locking rod to expand radially at a speed of 0.3 m / s. The piezoelectric sensor monitors the contact surface pressure between the clamp and the shell of the exploder in real time, and when the pressure reaches 0.8 ± 0.1 MPa, the hydraulic system switches to pressure maintaining mode. The locking rod displacement sensor detects that the extension distance reaches the calibrated value of 150 mm, and the vibration sensor detects that the shell resonance frequency exceeds 200 Hz (locking characteristic frequency), and when the two signals meet the conditions, a binary locking state code 00010101 is generated, which is transmitted to the electric control system operation console through the RS485 bus. The operation console analyzes the state code and generates a locking ready signal, which is stored in the shared memory area. The process sets a mechanical overflow valve as a safety redundancy (opening pressure 25 MPa), and the extension timeout is 10 seconds to trigger an audible and light alarm. The signal transmission uses a twisted shield cable and single-point grounding to ensure electromagnetic compatibility.

[0028] S130, according to the locking ready signal, convert the light barrier vehicle into a state of marching with ammunition, and generate a marching with ammunition ready signal. The operation console polls the locking ready signal in the shared memory area, and performs three-stage state conversion. First, start the chassis leveling system: the Jiongshi chassis hydraulic suspension adjusts the height of the four wheels according to the feedback data of the inclination sensor (accuracy ± 0.1°) to make the vehicle body pitch angle less than 0.5° and roll angle less than 0.3°. Secondly, tire pressure boosting: the central inflation and deflation system increases the tire pressure from the standard value of 250 kPa to 350 kPa, and the pressure sensor monitors the data in real time. After stabilizing for three seconds, it is confirmed to be completed. Finally, implement equipment reinforcement: use an aviation steel cable with a diameter of 8 mm to pass through the exploder lifting ring and lock with the loading platform anti-unhooking device (with a bearing capacity of not less than 5 tons), and when the tension detector shows that the effective tension reaches 3 kN, it is determined to be effective. When the inclination sensor returns to the stable value for five seconds and the tire pressure data meets the standard, the information equipment generates a marching with ammunition ready signal, which includes a timestamp, a vehicle body posture code and a CRC16 checksum, and is broadcast to the whole vehicle bus system through the CAN2.0B protocol. The inclination is automatically calibrated every 10 seconds during driving, and the vehicle body is leveled again when the deviation exceeds 0.8°. The steel wire rope and hydraulic lock constitute a double fixing guarantee, and all operation records are written into the black box with a cycle storage time of 72 hours.

[0029] Step S200 includes at least steps S210-S230: S210, monitor the state of the ammunition storage box through the vibration sensor and the impact sensor to generate safety monitoring data.

[0030] After receiving the marching with elastic readiness signal, the electric control system master box sends an enabling instruction to the protective storage monitoring module to activate the vibration sensor array and impact sensor network deployed at the four corners of the storage box. Specifically, the vibration sensor is a piezoelectric three-axis accelerometer with a range of plus or minus five hundred g-force acceleration and a sensitivity of ten millivolts per gram. It is fixed to the outer wall surface of the bulletproof steel plate of the storage box through a magnetic base made of samarium-cobalt permanent magnet material with a residual magnetism of 1.1 Tesla to ensure that it does not displace or fall off under a fifteen g-force acceleration impact. The impact sensor uses a piezoresistive high-frequency response probe with a range of plus or minus five thousand g-force acceleration and a trigger threshold of one hundred g-force acceleration. It is embedded in the polyurethane buffer layer inside the storage box through a threaded interface, with a five-millimeter flexible gap between the probe front end and the warhead box. When the light barrier-removing vehicle is in marching state, the vibration sensor continuously collects X, Y, Z three-axis acceleration time domain waveform data at a sampling rate of one hundred times per second, and the impact sensor monitors transient impact events in real time and records peak acceleration and duration. The master box converts analog signals to digital signals through a 24-bit high-precision analog-to-digital converter, aligns the time bases of multiple sensors using the IEEE 1588 precision clock protocol, and the time synchronization error is less than one microsecond. All data are packaged as secure monitoring data packets with Beidou time stamp, and the data structure includes timestamp field, three-axis vibration value array, impact peak and duration value, stored in dual-redundant secure digital storage card, each frame of data is attached with cyclic redundancy check code to ensure integrity. The data acquisition process sets a dynamic gain control mechanism. When the chassis vibration frequency sensor detects high-frequency vibration above twenty hertz, the analog-to-digital converter gain is automatically reduced by thirty percent to avoid signal saturation distortion.

[0031] S220, based on the safety monitoring data, determine whether the ammunition is within the safety threshold range and generate a safety status identifier. The master box calls the safety monitoring data packet to execute a multi-level joint determination process. First, vibration frequency spectrum energy analysis is performed: 1024-point fast Fourier transform is performed on the three-axis acceleration data, Hanning window function is used to suppress spectrum leakage, and the integral energy value of the effective frequency band of 5 Hz to 200 Hz is calculated. The energy value is obtained by square integral algorithm. If the energy value of any axis exceeds the preset vibration energy threshold of 150 square meters per four seconds, it is marked as a vibration abnormal state. Secondly, impact peak value determination is performed: if the measured impact peak value exceeds the threshold, it is marked as an impact abnormality. Finally, the impact duration check is performed: when the impact peak value is greater than 100 g, it is detected whether the impact duration is less than the critical value of 2 ms. If it exceeds this time, it is determined to be a continuous extrusion risk. The master box generates a binary safety state identifier based on the three sets of determination results: all non-triggered abnormalities are marked as "1" indicating a safe state, and any abnormality is marked as "0" indicating a dangerous state. The identifier is written to register address 0x5000, and the state is locked by a hardware watchdog circuit, and the determination result is refreshed every 200 ms. In particular, when the vehicle motion state sensor detects driving on unpaved roads, the off-road mode dedicated threshold parameters are loaded from the electrically erasable programmable read-only memory, the vibration energy threshold is increased to 200 square meters per four seconds, and the impact peak limit is relaxed to 400 g. The dynamic adjustment mechanism is realized by a road recognition algorithm, and the recognition accuracy is 99%.

[0032] S230, when the safety state identifier is safe, output the ammunition safety state to the environment perception flow.

[0033] The master box polls the status identifier of register address zero fork five zero thousand in real time, and when detecting that the identifier value is "one", sends a safety authentication instruction to the environment sensing module through an RS422 differential serial bus. The instruction adopts a hexadecimal coding format, the instruction code is 5541, and contains three groups of core parameters: an authentication time window parameter record identifier valid period start and end time stamp, the time reference is synchronized to the Beidou satellite time system, and the time synchronization accuracy is up to plus or minus one millisecond; the environment sensing enable flag is an eight-bit binary code, wherein the low three bits respectively authorize to start the temperature sensor, the humidity sensor and the barometer power supply loop, and the high five bits control the Beidou positioning equipment working mode; the data acquisition frequency configuration field sets the temperature sampling rate to one time per second, the air pressure sampling rate to five times per second, and the Beidou positioning update rate to ten times per second. The instruction transmission adopts a Manchester coding mode, the baud rate is set to 15,020 bits per second, the outer layer of the twisted shield cable is covered with a tinned copper wire braid, and the shielding layer is single-point grounded to the vehicle chassis girder. If the safety state identifier is "zero", a multi-stage alarm system on the instrument panel of the cab is triggered: a red light-emitting diode flashes at a frequency of five hertz, a piezoelectric buzzer outputs an 80 decibel sound pressure level alarm sound, and an emergency interrupt instruction is sent to the electric control system operation console, freezing all operation permissions of the environment sensing module. The ammunition safety state instruction is sent to the protocol analysis unit of the S310 module through the transmission link, after the receiving end verifies the integrity of the instruction through the cyclic redundancy check code, the sensor array power management integrated circuit is activated, and the authorized start of the environment sensing process is completed.

[0034] Step S300 includes at least steps S310-S330: S310, collecting battlefield environment data through the temperature and humidity sensor, the barometer and the Beidou positioning device. After receiving the ammunition safety state instruction, the electric control system master control box activates the sensor array of the environment perception module. Specifically, the temperature sensor adopts a platinum resistance PT1000 type probe, which has a measurement range of minus forty degrees Celsius to plus eighty-five degrees Celsius, an accuracy of plus or minus zero point five degrees Celsius, and is fixed to the inside ventilation hole of the ammunition storage box through a threaded interface, fully contacts the heat-conducting silicone grease filled in the box to optimize the heat conduction path, and the heat-conducting silicone grease is selected from zinc oxide-based composite material with a thermal conductivity of three watts per meter Kelvin. The humidity sensor selects Honeywell HIH8000 series capacitive sensor, the range is zero to one hundred percent relative humidity, the accuracy is plus or minus two percent, and is installed in an electromagnetic interference-proof aluminum alloy shield with a thickness of one point five millimeters, lined with a polyimide insulating layer, and the sensor probe surface is coated with a fluorocarbon hydrophobic coating to prevent dew from affecting. The barometer adopts Bosch BMP388 type piezoresistive sensor, the range is three hundred to one thousand two hundred fifty hundred pascals, the temperature compensation error is less than zero point five pascals per degree Celsius, and is fixed to the top plane of the right storage box on the roof through a shock absorbing support. The shock absorbing support adopts a three-stage silicone rubber damping structure, which can attenuate more than eighty percent of high frequency vibration. The Beidou positioning device is configured with a Chipstar UB482 dual-frequency module, the antenna is unfolded and locked through a mechanical folding device on the top of the right storage box, the radome is made of polytetrafluoroethylene composite material to reduce signal attenuation, the mechanical folding device is driven by a stepping motor, the unfolding angle is ninety degrees, the positioning accuracy is one meter horizontally and one point five meters vertically. The master control box collects temperature and humidity data at a sampling rate of one frame per second through I2C digital bus, collects air pressure data at a sampling rate of five frames per second through SPI interface, and acquires Beidou positioning data at a rate of ten frames per second through UART serial communication interface. All data acquisition channels are configured with digital isolators (isolation voltage two thousand five hundred volts) to prevent ground loop interference. The original environment data is time-based aligned through one pulse per second timing signal of Beidou satellite, the time synchronization accuracy is plus or minus thirty nanoseconds, and is packaged as a battlefield environment original data set and stored in a dual-port static random access memory. Each frame of data is attached with a cyclic redundancy check code to ensure transmission integrity, and the data packet structure includes a timestamp field (sixty-four bit nanosecond level accuracy), a temperature original value field (sixteen bit accuracy), a humidity original value field (sixteen bit accuracy), an air pressure original value field (twenty-four bit accuracy), a longitude original value field (thirty-two bit floating point), a latitude original value field (thirty-two bit floating point), and an elevation original value field (thirty-two bit floating point).

[0035] S320, noise filtering and data calibration are performed on the battlefield environment data to generate preprocessed environment data. After the master box calls the battlefield environment original data set, a three-level data processing pipeline is executed. First, noise filtering operation is performed: for temperature original data, a sliding average filtering algorithm with dynamic window width is used, and the window width is dynamically adjusted according to the real-time data of the chassis vibration sensor - when the vibration frequency is greater than 20 Hz, a 15-point window is enabled, and under static conditions, a 5-point window is enabled, and the filtering coefficient is optimized by least squares method. For the air pressure original data, the median filter algorithm is applied, and a seven-point window is used to eliminate burst pulse interference, and the window sliding step is one millisecond. The Kalman filter is implemented for Beidou elevation data, and the state equation includes position, velocity and acceleration three variables, and the process noise covariance matrix is self-adaptive adjusted according to the vehicle motion state, when the vehicle speed sensor detects more than 5 m / s, the acceleration noise variance is increased to 0.1 m4 / s. Second, sensor calibration is performed: the temperature calibration parameter table is loaded from the electrically erasable programmable read-only memory, which is generated by constant temperature tank calibration experiment, covering the full range of minus forty degrees Celsius to plus eighty-five degrees Celsius, with five degrees Celsius interval, using cubic spline interpolation to realize arbitrary temperature point compensation, with maximum compensation of plus or minus zero. Three degrees Celsius. The humidity sensor is corrected for nonlinearity, and the original humidity value is mapped to the standard humidity curve by table lookup method, with a step size of one percent relative humidity. The altimeter is compensated for height, and the air pressure value is converted to sea level reference value based on the international standard atmospheric model, and the compensation formula includes a temperature gradient correction term. Finally, data fusion is completed: the Beidou elevation data and the pressure height data are weighted and fused according to the weight ratio of seven to three, and the weight coefficient is dynamically adjusted according to the satellite positioning accuracy factor, when the horizontal accuracy factor is greater than two, the Beidou weight is reduced to zero. Six. Based on the temperature gradient model, the local environment temperature of the warhead is corrected, the model establishes the temperature difference conduction equation between the inner and outer walls of the ammunition box, the thickness of the box body is twelve millimeters, the thermal conductivity coefficient is forty-five watts per meter kelvin, and the internal air convection heat transfer coefficient is eight watts per square meter kelvin, and the internal temperature field distribution is calculated by finite difference method. Finally, the preprocessed environment data set is generated and stored in the second sector of the flash memory, and the data structure includes a timestamp field, a calibrated temperature value field (accuracy 0.1 degrees Celsius), a calibrated humidity value field (accuracy 0.5%), a fused air pressure value field (accuracy 0.1 Pa), a calibrated longitude value field (accuracy 0.0001 degrees), a calibrated latitude value field (accuracy 0.0001 degrees), and a fused altitude value field (accuracy 0.1 meters).

[0036] S330、Based on the preprocessed environment data, the environment compensation coefficient k is calculated by the environment adaptive model.

[0037] The master box loads the pre-processing environment data set to the environment adaptive model inference unit, which is a three-layer fully connected neural network architecture. The input layer is configured with seven nodes corresponding to seven types of environmental parameters, the hidden layer is configured with twelve nodes, and the output layer is configured with one node. The model weight is solidified in the block random access memory of the field programmable gate array. The weight data is generated by training five million sets of historical operation data. The training set covers an altitude of zero to five thousand meters, a temperature of minus forty degrees Celsius to zero plus fifty degrees Celsius. The specific calculation process includes three stages: first, data normalization processing is performed, the calibrated temperature value is linearly mapped to the interval of minus one to positive one (proportion factor zero point zero two), the pressure value is linearly mapped to the interval of zero to one (proportion factor zero point zero zero one), and the altitude value is linearly mapped to the interval of zero to one (proportion factor zero point zero zero zero one). The normalized parameters are stored in the non-volatile memory. Secondly, forward inference calculation is performed, the input layer receives normalized data, the hidden layer uses a rectified linear unit activation function, and the output layer generates a compensation coefficient original value through an S-shaped growth curve function. The calculation process uses a fixed-point arithmetic accelerator, and the single inference delay is less than fifty microseconds. Finally, the practical value range is transformed, the original output value is adjusted to the practical range of zero point eight to one point two through a linear transformer (the transformation coefficient is fixed at zero point four, and the bias is fixed at zero point eight), and the transformation result is written to the specified memory address zero fork A zero zero zero. In particular, when the fusion altitude value exceeds three thousand five hundred meters, the system automatically switches to a plateau special model branch. The weight parameters of the branch are trained by special training of plateau operation data, and an incremental update package is received through a military encrypted wireless channel every month. The update process uses a double storage area hot switching technology to ensure the continuity of operation, and the switching time is less than ten milliseconds. The environment compensation coefficient k is refreshed every two hundred milliseconds, and the intelligent parameter planning module is notified through a hardware interrupt signal.

[0038] Step S400 includes at least steps S410-S430: S410, obtain the environment compensation coefficient k and the preset mine clearance depth width requirement to generate basic blasting parameters. After receiving the environmental compensation coefficient k, the electric control system master control box starts the parameter planning process. Specifically, the master control box reads the environmental compensation coefficient k value of storage address zero fork A zero zero zero through the direct memory access channel, which is generated by the environmental adaptive model calculation and stored in the dual-port static random access memory. The preset mine sweeping requirement parameter set is loaded from the non-volatile memory third sector synchronously, which includes core indicators such as a minimum mine sweeping depth of eighty meters and a minimum mine sweeping width of four point five meters, and the parameter storage format is thirty-two bit floating point number. The process of generating the basic blasting parameter is implemented in three stages: first, data validity check is performed, the master control box calls the cyclic redundancy check algorithm to verify the integrity of the compensation coefficient k, the check uses the CRC-32 standard polynomial, and if the check fails, the data is read from the backup storage area again; boundary value review is performed on the preset mine sweeping requirement, when it is detected that the depth requirement exceeds the range of fifty meters to one hundred meters or the width requirement exceeds the range of three meters to six meters, the default values of eighty meters and four point five meters are automatically corrected, and the correction operation is realized by a hardware comparator with a microsecond level response. Secondly, the reference charge is calculated, the master control box performs multiplication operation to multiply the environmental compensation coefficient k by the five hundred kilogram reference charge, the specific calculation rule is: when k is equal to one point zero, five hundred kilograms is maintained unchanged; when k is equal to one point two, it is increased to six hundred kilograms; when k is equal to zero point eight, it is reduced to four hundred kilograms, and the calculation result is rounded to an integer kilogram. Finally, the blasting coverage mapping is performed, according to the mine sweeping width requirement, the fragment distribution database is queried to determine that the initiation height should be one point two meters above the ground with a positive or negative zero point one meter; according to the mine sweeping depth requirement, the ballistic performance database is queried to determine that the minimum rocket engine thrust needs to reach eight thousand newton seconds. The generated basic blasting parameter set includes the compensation charge value, the initiation height value, and the engine thrust requirement value, which are written into the cache memory address zero fork B zero zero zero, and the liquid cooling circulation system is activated to prevent the temperature rise risk caused by the charge exceeding five hundred fifty kilograms, and the cooling system circulates ethylene glycol aqueous solution at a flow rate of five liters per minute.

[0039] S420、According to the basic blasting parameter, dynamically calculate the charge adjustment value and the fuze delay compensation amount.

[0040] The main control box reads the basic blasting parameter set from address zero fork B zero zero zero, and then executes a dynamic adjustment algorithm. In the charge amount dynamic correction stage, based on the calibrated air pressure data output by the S320 module, a secondary compensation is performed, the main control box calls the air pressure height conversion algorithm, and for every 1,000 meters of altitude increase, the charge amount increases by 3%. At the same time, according to the real-time temperature data collected by the S310 module, for every 10 degrees Celsius decrease in the ambient temperature (relative to the standard 15 degrees Celsius reference), the charge amount increases by 2%. The correction calculation formula is: the correction amount is equal to the reference value multiplied by the sum of the altitude compensation rate and the temperature compensation rate, and the calculation result is rounded to the accuracy of kilograms. In the fuze delay compensation stage, the electronic fuze is adjusted according to the real-time temperature data collected by the S310 module, and when the temperature is lower than 0 degrees Celsius, for every 5 degrees Celsius decrease, the delay is increased by 5 milliseconds; when the temperature is higher than 35 degrees Celsius, for every 5 degrees Celsius increase, the delay is decreased by 3 milliseconds. The delay compensation range is limited within ±10% of the standard value, and the step precision is 1 millisecond. In the safety boundary control stage, the charge amount adjustment value is forcibly limited within the range of 400-600 kg, and the over-limit protection is realized through a hardware limiting circuit; an overload protection mechanism is provided for the fuze delay compensation amount. The calculation result is packaged as a dynamic parameter set and stored in the register group R12-R15. When the temperature sensor detects that the ambient temperature is lower than -40 degrees Celsius, it automatically switches to a special fuze control chip for cold regions, which is packaged with a low-temperature ceramic substrate to ensure normal operation in an environment of -55 degrees Celsius.

[0041] S430, integrate the charge amount adjustment value and the fuze delay compensation amount to generate a blasting parameter instruction. The main control box executes a three-stage integration protocol to complete the instruction generation. In the instruction encoding stage, the charge amount adjustment value is encoded in 16-bit binary format, with the upper 8 bits representing the data in hundreds of kilograms and the lower 8 bits representing the data in kilograms; the fuze delay compensation amount is encoded in 12-bit binary format, with the unit being 0.1 millisecond; 8-bit cyclic redundancy check code and 4-bit version identifier are added, and the check code is generated using the CCITT standard polynomial. In the signal conversion stage, a 0-5 volt analog voltage signal is generated through a 16-bit digital-to-analog converter, which linearly corresponds to the charge amount range of 400-600 kg; a control waveform with variable duty cycle is generated through a pulse width modulation circuit, and the duty cycle linearly corresponds to the delay amount of 0-100 milliseconds. In the instruction packaging stage, the digital encoding segment, the analog signal segment, and the control waveform segment are packaged into a composite blasting parameter instruction, which is sent to the electric control operation platform through a single-mode optical fiber transmission link, with the optical fiber transmission wavelength being 1,550 nanometers and the transmission rate being 1 gigabit per second. At the same time, a complete copy of the instruction is written into the black box ferroelectric memory, with a storage period of 72 hours cycle coverage. The final generated instruction ready flag (active high) triggers the S510 ballistic solution module to start, and the flag is directly written into the priority 3 interrupt register through the hardware interrupt controller.

[0042] Step 500 at least contains steps S510-S530: S510, based on Beidou positioning data and the blasting parameter instruction, calculate the rocket launch elevation angle and azimuth angle.

[0043] The electric control system master control box receives the blasting parameter instruction from S430 through a single-mode optical fiber, and synchronously extracts Beidou positioning data (including longitude, latitude, elevation, and time stamp) from the preprocessed environment data storage area. The specific calculation process is implemented as follows: First, perform terrain elevation matching. The master control box calls the 1:50,000 military digital elevation map database stored in the solid state disk to establish a grid-based terrain model with a radius of 500 meters centered on the launch point. The grid resolution is 0.5 meters. The average elevation of the target minefield is calculated by a cubic spline interpolation algorithm, which is executed in a dedicated digital signal processor with a calculation delay of less than 5 milliseconds. Second, perform trajectory parameter solving. Analyze the charge adjustment value in the blasting parameter instruction to determine the initial kinetic energy parameters of the rocket. Combine the preset mine clearance depth requirement (not less than 80 meters) and real-time elevation data to match the optimal trajectory curve in the trajectory solving database. This database stores 100,000 sets of measured trajectory parameters, each set containing the mapping relationship of elevation angle, azimuth angle, and charge amount. The nearest neighbor algorithm is used to accelerate the query process. Finally, implement environmental compensation correction. Dynamically adjust the trajectory parameters according to the calibrated temperature and air pressure values in the preprocessed environment data: for every 10 degrees Celsius increase in ambient temperature, the elevation angle decreases by 0.15 degrees; for every 10 hPa decrease in atmospheric pressure, the azimuth angle increases by 0.1 degrees. The calculation results are written to control register 0x000, with an elevation angle accuracy of ±0.1 degrees and an azimuth angle accuracy of ±0.05 degrees. A check code is generated to ensure data integrity.

[0044] S520, adjust the launch device to the rocket launch elevation angle and azimuth angle through the electric control system console.

[0045] The electric control system operating table (located in the front of the co-pilot in the cab) reads the angle data of register zero fork D zero zero zero, and then performs three-stage mechanical adjustment: azimuth adjustment stage sends pulse width modulation control signal to servo motor, drives the base gear set of the launching device to rotate, the gear set adopts planetary reduction mechanism (reduction ratio one to one hundred), equipped with thirty-two bit absolute optical encoder to feedback rotation angle in real time, forming a closed-loop control system, the rotation speed is set to one point five degrees per second, and the tolerance is controlled within plus or minus zero point zero two degrees. The elevation adjustment stage is executed by the hydraulic elevation mechanism, and the proportional valve accurately controls the stroke of the hydraulic cylinder to push the launching guide rail to lift. The pressure sensor (range zero to thirty megapascal, accuracy five percent) monitors the oil pressure fluctuation in real time, and the magnetostrictive displacement sensor (resolution zero point zero one millimeter) feedbacks the actual elevation value. When the difference between the actual value and the target value is less than or equal to zero point zero five degrees, the system determines that the adjustment is in place. In the posture locking stage, the electromagnetic brake fixes the launching device, the electromagnetic coil generates a one point five tesla magnetic field to attract the brake disc, and a binary posture ready signal is sent to the main control box. The signal data structure includes azimuth status word (sixteen bits), elevation status word (sixteen bits), and eight-bit cyclic redundancy check code. The signal transmission uses shielded twisted pair and implements ground protection.

[0046] S530, trigger a one-key ignition instruction in the vehicle to launch the rocket exploder and generate an initiation success signal. After the operator presses the red ignition button on the operating table, the system executes a four-level safety protocol: the identity verification stage confirms the operator's authority through the fingerprint identification module and matches the pre-stored biological feature database; the instruction verification stage compares the posture ready signal check code with the preset key and synchronously reads S220 safety state identifier for double confirmation; the ignition sequence stage outputs a twenty-four-volt direct current pulse to the rocket engine igniter through a high-reliability relay array, with a pulse duration of two hundred milliseconds and a current intensity of five amperes, and adopts a double-redundancy loop design (switches to the standby loop within fifty milliseconds when the main loop fails); the success determination stage captures the rocket off-track impact characteristic frequency greater than five hundred hertz through the piezoelectric vibration sensor, and simultaneously detects the tail flame spectrum in the three point five to four point two micrometer wave band through the uncooled infrared thermal imaging sensor. When the signals of the two sensors meet the determination conditions, an initiation success signal is generated. The signal data structure includes Beidou timing timestamp (nanosecond level accuracy), rocket identity code, and sixty-four bit digital signature, which is broadcast to the whole vehicle system through the controller area network bus, and simultaneously triggers the audible and visual indicator (green light emitting diode always on, buzzer short prompt sound).

[0047] Step S600 includes at least steps S610-S630: S610, image is returned through the unmanned aerial vehicle back channel, and ground state data after mine sweeping is collected. After receiving the detonation success signal, the electric control system master control box sends take-off instructions to the vehicle-mounted four-rotor unmanned aerial vehicle through a military encrypted data link (UHF frequency band). Specifically, the unmanned aerial vehicle (model: Rainbow-802) takes off from the electromagnetic catapult rack at the rear of the loading platform, with a catapult acceleration of three times the gravity acceleration, and flies at a cruising speed of ten meters per second to hover fifty meters above the explosion projection point. The dual-spectrum pod carried synchronously starts work: the visible light camera uses a twenty-million-pixel global shutter sensor to collect panoramic images of the ground at a rate of five frames per second, the lens is equipped with an automatic focusing module (focusing accuracy ±0.02 millimeters), and an optical anti-shake mechanism (compensation angle ±3 degrees) is integrated; the thermal imaging camera uses an uncooled microbolometer, with a resolution of six hundred forty by five hundred twelve pixels, a spectral response range of three point five to five point zero micrometers, and a temperature sensitivity of zero point zero five degrees Celsius. The gimbal of the pod uses a three-axis gyro stabilization platform, which realizes milliradian-level attitude correction through a piezoelectric ceramic driver, and the wind resistance capacity meets the conditions of seven-level wind speed. The image data is encoded and compressed by H.265 (compression ratio one to fifty), and is transmitted back to the vehicle-mounted receiving station through a directional phased array antenna, and the transmission link uses frequency hopping spread spectrum technology (hopping rate one thousand hops per second, bandwidth twenty megahertz) to enhance the anti-electronic interference capability. After receiving the data stream, the master control box performs unpacking operations, aligns and sorts the video frames according to the Beidou timing timestamp (accuracy ± one millisecond), adds latitude and longitude positioning data (Beidou differential positioning accuracy ± zero point three meters), generates the original ground state data set (data structure includes timestamp field, longitude value field, latitude value field, visible light image data block, thermal imaging data matrix), and stores it in the solid state disk buffer, each frame of data is additionally attached with a cyclic redundancy check code to ensure integrity.

[0048] S620, image recognition is performed on the ground state data to measure the actual mine clearance width and depth. The master box calls the ground state original data set, and executes a three-level intelligent processing flow. First, image preprocessing is performed: histogram equalization is performed on the visible light image to enhance the contrast, and adaptive median filtering algorithm (window size dynamically adjusted range three by three to seven by seven) is used to eliminate dust interference; pseudo-color mapping processing is performed on the thermal imaging data, and effective thermal radiation area is extracted by morphological opening operation (structure element five by five circular kernel). Secondly, target detection and identification is implemented: the convolutional neural network model based on YOLOv5 architecture detects unexploded landmines, the model input image is scaled to 640 by 640 pixels, and the boundary box coordinates and confidence (recognition rate > 98%) are output after 32 layers of convolution operation, and the model weight is solidified in the read-only memory of the image processor; the boundary features of the identification channel are synchronized, including the residual amount of barbed wire (extracted by edge detection algorithm), the crater edge (segmented by region growing algorithm), and the safety passage marker (threshold segmentation based on HSV color space). Finally, geometric parameter accurate measurement is performed: in the local Cartesian coordinate system, taking the explosion center projection point as the origin, the least squares method is used to fit the best fitting straight line composed of the left and right boundary feature points, and the distance between the two parallel lines is calculated as the actual mine clearance width; the termination point of the continuous unexploded area is detected along the rocket flight direction (determined by the trajectory data provided by the S510 module), and the straight line distance is calculated as the actual mine clearance depth after correcting the terrain fluctuation error by perspective transformation. The measurement results (including actual width value, actual depth value, and unexploded material coordinate list) are written into the dual-port random access memory evaluation buffer, and the measurement accuracy is controlled within ±0.3 meters.

[0049] S630, compare the actual mine clearance width and depth with the preset requirements, generate an evaluation report and feed back to the rapid integration deployment module. The master box executes a multi-dimensional performance evaluation protocol. First, data comparison analysis is performed: read the preset mine clearance requirements (depth ≥ eighty meters, width ≥ four point five meters) from the non-volatile memory, calculate the width compliance rate (actual width value divided by four point five), depth compliance rate (actual depth value divided by eighty), and generate percentage quantitative indicators. Second, risk assessment modeling is performed: construct a two-dimensional kernel density estimation heat map based on the unexploded ordnance coordinate list, with a grid resolution of zero point five meters by zero point five meters, and divide the risk area into three levels according to the density value (high-risk area: > one unexploded ordnance per ten square meters; medium-risk area: zero point five to one per ten square meters; low-risk area: < zero point five per ten square meters). Finally, a structured assessment report is generated: use Extensible Markup Language (XML) to encapsulate basic fields (timestamp, geographic coordinates, compliance rate), attachment fields (key frame hash value, risk heat map matrix), and verification fields (digital signature based on RSA-2048 algorithm). The report is transmitted back to the brigade-level command system through the tactical data link (transmission rate one megabit per second), and at the same time, it is fed back to the decision database of the S-100 rapid integrated deployment module through the controller area network (CAN) bus, triggering the magnetic attraction interface adsorption force parameter optimization instruction (the adsorption force is increased by five percent for every fifty kilograms of explosive charge).

[0050] Figure 2 The overall structure of a light vehicle and large explosive charge matching method provided by the embodiments of the present application is shown in the schematic diagram. The working process is implemented as follows: 1. Task acceptance and mobile assembly stage: after receiving the combat task, the light barrier breaking vehicle is mobile to the preset assembly area with the troops; the rocket engine and warhead box are automatically assembled through the magnetic attraction interface to complete the rocket explosive charge loading and generate a marching ready signal.

[0051] 2. Advance stage: the light barrier breaking vehicle is converted into a state of marching with ammunition, relying on the "6x6" protective chassis of the fierce soldier, and moving with the troops to the attack starting position; the vibration sensor and impact sensor monitor the ammunition storage box state in real time, and output the ammunition safety mark to the environment perception process.

[0052] 3. Attack starting position preparation stage: after receiving the barrier breaking operation instruction, the electric control system operation table is operated to: fill the rocket engine into the directional device guide rail positioning slot; connect the rocket engine, warhead box and steel wire rope, and install the fuse assembly; activate the attitude lock to fix the explosive charge, and complete the state conversion of marching with ammunition.

[0053] 4. Barrier breaking operation stage: (1) According to the Beidou positioning data, move to the launch position, and adjust the azimuth and elevation angle of the launch device through the electric control system operation table; (2) Perform launch operation: the inverted antenna device, open the battle unit storage box cover plate and the chassis tail plate; the dynamic generation of the explosion parameter instruction is fused with the environmental compensation coefficient k, and a one-key ignition instruction is triggered in the vehicle; the rocket engine drags the battle unit to fly to the obstacle field, the fuse is detonated according to the compensation delay, and a passageway with a depth of ≥80m and a width of ≥4.5m is opened.

[0054] 5. Withdrawal battle stage: (1) After launching: the actual mine clearance parameters are identified through the image returned by the unmanned aerial vehicle; an evaluation report is generated and fed back to the decision database; (2) Convert the battle / march state, withdraw from the launch site and report the task state; (3) According to the instruction, the machine is moved to the standby area or performs subsequent tasks.

[0055] Obviously, the above-described embodiments are only part of the embodiments of the present application, rather than all the embodiments, and the preferred embodiments of the present application are given in the drawings, but do not limit the patent scope of the present application. The present application can be implemented in many different forms, and conversely, the purpose of providing these embodiments is to make the understanding of the disclosure of the present application more thorough and comprehensive. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing specific embodiments, or equivalently replace some technical features. Any equivalent structure made by using the content of the specification and drawings, directly or indirectly applied to other related technical fields, is also within the scope of the patent protection of the present application.

Claims

1. A method of matching a light vehicle with a heavy charge booster, characterized in that, The application relates to a vehicle-mounted rocket launcher and a battlefield environment compensation method thereof. The rocket engine and the warhead box body are automatically assembled through a magnetic attraction interface, a starting attitude lock is used to fix a blasting device, a vehicle is converted into a marching state with a rocket, a marching readiness signal is generated, a rocket engine packaging unit comprises a rocket engine body, a fuse assembly and a preset tool pincers, a warhead box body is extracted from a platform front ammunition storage box, the automatic assembly of the magnetic attraction interface comprises the following steps: the rocket engine is pushed into a positioning card slot along a director rail, three groups of electromagnetic adsorption arrays are embedded at the tail of the director, each group of arrays is composed of twelve ring-shaped neodymium-iron-boron permanent magnets, and a magnetic guide alloy plate is embedded in a warhead box body butt joint end; The state of the ammunition storage box is monitored through vibration sensors and impact sensors, safety monitoring data are analyzed to generate a safety state mark, and the safety state of ammunition is output to an environment sensing process; Battlefield environment data are collected through temperature and humidity sensors, a barometer and a Beidou positioning device, noise filtering and data calibration are performed on the battlefield environment data to generate pretreatment environment data, and an environment compensation coefficient k is calculated based on the pretreatment environment data; The environment compensation coefficient k and preset mine clearing requirements are fused to dynamically calculate a charge quantity adjustment value and a fuse delay compensation quantity, and a blasting parameter instruction is generated; Based on the Beidou positioning data and the blasting parameter instruction, a rocket launch elevation angle and an azimuth angle are calculated, the launching device is adjusted to the rocket launch elevation angle and the azimuth angle through an electric control system operation table, a one-key ignition instruction is triggered in the vehicle to launch the rocket blasting device to generate an initiation success signal; Through a UAV return channel, image collection is performed on ground state data after mine clearing, image recognition is performed on the ground state data to measure an actual mine clearing width and depth, the actual mine clearing width and depth are compared with preset requirements to generate an evaluation report and feedback.

2. The method of claim 1, wherein, The environment compensation coefficient k and preset mine clearing requirements are fused to dynamically calculate a charge quantity adjustment value and a fuse delay compensation quantity, including: The environment compensation coefficient k and preset mine clearing depth and width requirements are obtained to generate basic blasting parameters.

3. The method of claim 2, wherein, The basic blasting parameters include: Data validity verification is performed, and the compensation coefficient k is verified for integrity by a master control box calling a cyclic redundancy check algorithm.

4. The method of claim 2, wherein, The basic blasting parameters further include: When it is detected that the depth requirement exceeds a range of fifty meters to one hundred meters or the width requirement exceeds a range of three meters to six meters, the default values of eighty meters and four point five meters are automatically corrected.

5. The method of claim 2, wherein, The basic blasting parameters further include: A reference charge quantity is calculated, and the master control box performs multiplication operation to multiply the environment compensation coefficient k by a reference charge quantity of five hundred kilograms.

6. The method of claim 2, wherein, The basic blasting parameters further include: Blasting coverage mapping is performed, and according to the mine clearing width requirement, the explosion height should be one point two meters away from the ground plus or minus zero point one meter according to the distribution database of fragments. According to the mine clearing depth requirement, the minimum rocket engine thrust needs to reach eight thousand newton-seconds according to a trajectory performance database.

7. The method of claim 1, wherein, The dynamically calculated charge quantity adjustment value and fuse delay compensation quantity include: In the dynamic charge quantity correction stage, secondary compensation is performed based on calibrated air pressure data, the master control box calls an air pressure height conversion algorithm, and the charge quantity increases by three percent for every one thousand meters of altitude increase. According to real-time temperature data, the charge quantity increases by two percent for every ten degrees Celsius decrease in environmental temperature.

8. The method of claim 1, wherein, The dynamically calculated charge quantity adjustment value and fuse delay compensation quantity further include: In the fuze delay compensation stage, the electronic fuze is adjusted according to the real-time temperature data. When the temperature is lower than zero Celsius, the delay time is increased by five milliseconds for every five degrees Celsius decrease; when the temperature is higher than thirty-five Celsius, the delay time is decreased by three milliseconds for every five degrees Celsius increase. The dynamic calculation of the charge adjustment value and the fuze delay compensation value further includes:

9. The method of claim 1, wherein, In the safety boundary control stage, the charge adjustment value is forcibly limited in the range of four hundred kilograms to six hundred kilograms; The fuze delay compensation value is provided with an overload protection mechanism. The generation of the blasting parameter instruction includes:

10. The method of claim 1, wherein, The charge adjustment value and the fuze delay compensation value are integrated to generate the blasting parameter instruction; In the instruction encoding stage, the charge adjustment value is encoded in sixteen-bit binary format, and the fuze delay compensation value is encoded in twelve-bit binary format; Eight-bit cyclic redundancy check code and four-bit version identifier are added; In the signal conversion stage, a zero-to-five-volt analog voltage signal is generated through a sixteen-bit digital-to-analog converter, and a control waveform with variable duty cycle is generated through a pulse width modulation circuit; In the instruction packaging stage, the digital encoding segment, the analog signal segment and the control waveform segment are packaged into a composite blasting parameter instruction, which is sent to the electrically-controlled operation platform through a single-mode optical fiber transmission link; Meanwhile, a complete copy of the instruction is written into the black box ferroelectric memory; The generation of the instruction ready flag triggers the launch of the trajectory solving module. ​

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