Laser simulation electronic target shooting system and method

Abstract

The invention relates to the technical field of shooting simulation, in particular to a laser simulation electronic target shooting system and method, and the system comprises a laser track capturing module, a hit judgment module, a posture correction module, a mode adjustment module and an interface updating module. In the invention, the multi-point light intensity data is obtained through the laser emitter and the receiver array, the information of the laser propagation main channel is extracted according to the gradient direction of the light intensity, and the spatial distribution trend between the offset direction of the central axis of the main channel and the target surface reference point is analyzed, so that the high-precision reduction of the laser track is realized; the accuracy of shooting path marking is effectively improved, a corrected attitude calibration area and a shooting display center are linked and updated, and a track sequence is superposed to generate a layer linkage image, so that not only is the visual visibility of training feedback enhanced, but also the space-time matching degree of shooting behaviors is optimized, and the accuracy of shooting path marking is improved. And the comprehensive value of the shooting training system in the aspects of tactical teaching, technical correction, effect quantification and the like is powerfully enhanced.

Description

Technical Field

[0001] This invention relates to the field of shooting simulation technology, and in particular to a laser-simulated electronic target shooting system and method. Background Technology

[0002] The field of shooting simulation technology encompasses shooting training systems built upon electronic, optical, and sensor technologies. Its core lies in simulating and reproducing real-world shooting scenarios using non-live ammunition methods. This technology integrates laser emission and reception, firing trajectory tracking, target recognition and response, real-time data acquisition and processing, and interactive training feedback, aiming to provide an efficient, safe, and low-cost shooting training method. Overall, shooting simulation technology constructs a virtual shooting environment, utilizes lasers instead of live ammunition, and combines electronic target systems with visual feedback methods to form a complete training loop, widely applied in professional shooting training scenarios such as military, law enforcement, and competitive shooting.

[0003] The laser-simulated electronic target shooting system refers to a training system that uses laser as the shooting medium and combines electronic target receiving and feedback technology. The technical aspects addressed in this patent include laser shooting position capture, electronic target feedback, training information display, and remote data transmission. Specifically, it employs a laser transmitter and receiver for accurate identification of shooting points; configures real-time feedback devices such as graphic displays and audio devices for instant output of shooting results; and coordinates with wireless communication equipment to achieve long-distance training data transmission based on standard radio frequency transmission protocols, thus constructing a complete laser shooting training process.

[0004] Current technologies primarily rely on lasers to replace live ammunition, combined with electronic targets and graphical feedback to complete basic shooting training procedures. While possessing fundamental capabilities in laser recognition and hit feedback, they suffer from numerous limitations in practical training applications. Laser trajectory acquisition largely depends on single-point hit detection, making it difficult to reconstruct the complete shooting path. This results in difficulty in tracing shooting behavior and hinders effective action analysis. Hit determination focuses primarily on the hit location, ignoring multi-dimensional factors such as shooting angle and force changes, easily leading to misjudgments or missed detections, reducing the rigor of training evaluation. Changes in weapon-holding posture are not systematically monitored, making it difficult to detect and correct shooting deviations in a timely manner, affecting the standardization and stability of training behavior. Shooting mode adaptation relies on manual switching or fixed interface displays, lacking responsiveness to dynamic shooting states, and exhibiting low matching between displayed content and training scenarios. While graphical feedback can intuitively present the hit point, it lacks trajectory continuity and spatial hierarchy, making it difficult to support the correlation analysis between tactical actions and firing performance, thus limiting the professional deepening and intelligent expansion capabilities of shooting training systems. Summary of the Invention

[0005] To address the numerous limitations of existing technologies in practical training applications, such as the reliance on single-point hit detection for laser trajectory acquisition making it difficult to reconstruct the complete shooting path, resulting in untraceable shooting behavior and hindering effective action analysis, this invention provides a laser-simulated electronic target shooting system and method. The technical solution is as follows: laser trajectory acquisition relies heavily on single-point hit detection, making it difficult to reconstruct the complete shooting path, leading to difficulty in tracing the shooting process and hindering effective action analysis. Changes in weapon-holding posture are not systematically monitored, making it difficult to detect and correct shooting deviations in a timely manner, affecting the standardization and stability of training behavior. Shooting mode adaptation relies on manual switching or fixed interface displays, lacking responsiveness to dynamic shooting states, and the displayed content has a low degree of matching with the training context. While graphical feedback can intuitively present the hit point, it lacks trajectory continuity and spatial hierarchy, making it difficult to support the correlation analysis between tactical actions and firing performance. These technical problems restrict the professional deepening and intelligent expansion capabilities of shooting training systems.

[0006] On the one hand, a laser-simulated electronic target firing system is provided, the system comprising:

[0007] The laser trajectory capture module acquires light intensity data from multiple points in the laser transmitter and receiver array within the shooting training range. Based on the direction of the light intensity gradient between the measurement points in the array, it extracts the main laser propagation channel information, analyzes the spatial distribution trend of the main channel central axis offset direction on the electronic target reference point, and generates a laser trajectory annotation layer.

[0008] The hit determination module calls the laser trajectory annotation layer to record the peak value of the force distribution on the electronic target surface and the time point characteristics of the laser incident angle, evaluates the consistency between the peak duration period and the incident angle distribution characteristics, filters out the shooting points that do not meet the consistency determination conditions, and obtains the hit distribution coordinate set.

[0009] The attitude correction module monitors the attitude angle change curve of a soldier's gun-holding posture during continuous firing based on the hit distribution coordinate set, evaluates the distribution consistency between the attitude angle and the hit point position, and outputs attitude correction update points.

[0010] Based on the attitude correction update point, the mode adjustment module determines the intersection pattern of the firing frequency change curve and the target movement speed change trend within the real-time period, analyzes the firing mode status, assigns real-time stage display panel numbers, and forms firing mode adaptation tags.

[0011] As a further embodiment of the present invention, the laser trajectory annotation layer includes the fitting path of the main channel centerline, the electronic target surface offset projection coordinates, the laser energy distribution contour, the spatial offset trend curve, and the array sampling data mapping relationship. The hit distribution coordinate set includes the center point of the peak impact area, the position corresponding to the extreme value of the incident angle, the judgment consistency label, and the exclusion point position identifier. The attitude correction update points include the gun holding attitude correction parameters, the attitude angle change anomaly points, the hit offset trend index, and the attitude matching mark. The shooting mode adaptation label includes the real-time frequency analysis result segment, the target velocity change correlation shape, the display number mapping value, and the mode status identification code.

[0012] As a further aspect of the present invention, the laser trajectory capture module includes:

[0013] The light intensity data acquisition submodule acquires light intensity data from multiple points in the laser transmitter and receiver array within the shooting training range. It collects light intensity values ​​at receiver measurement points during different time periods and serializes the combinations of light intensity values ​​from different measurement points at the same time node to construct a set of spatial distribution data of light intensity.

[0014] The main channel extraction submodule extracts the gradient direction formed by the light intensity difference between adjacent positions of the measurement point based on the light intensity spatial distribution data set, compares the gradient direction change trend between continuous measurement points, filters continuous regions with consistent light intensity gradient directions that span multiple measurement points, determines the spatial position corresponding to the continuous region as the laser propagation main channel, and generates the laser main channel direction interval.

[0015] The trajectory offset analysis submodule calls the coordinate relationship between the laser main channel direction interval and the electronic target reference point, calculates the vertical distance between the channel direction centerline and the reference point, analyzes the numerical change trend of the vertical distance at multiple time nodes, determines the offset direction and the range of change, and generates a laser trajectory annotation layer.

[0016] As a further aspect of the present invention, the hit determination module includes:

[0017] The incident feature extraction submodule calls the laser trajectory annotation layer to record the electronic target surface coordinate position corresponding to the laser incident angle at different time points, and records the force sensing peak value of the electronic target surface coordinate position at the same time point. It identifies the time period during which the peak value corresponding to the incident angle lasts and obtains the peak duration period.

[0018] The consistency matching determination submodule divides the trajectory sequence corresponding to the laser incident angle within the peak period into numbered segments based on the peak duration period time, evaluates the degree of overlap between the incident angle change interval and the peak duration interval in the numbered trajectory, compares it with the set incident consistency determination benchmark interval, and filters out the numbered trajectory segments whose degree of overlap does not reach the benchmark interval to obtain the deviation numbered sequence value.

[0019] The hit coordinate filtering submodule calls the set of trajectory coordinate points corresponding to the number in the deviation number sequence value, matches and judges the coordinate points in the set with the coordinates of the peak force position of the electronic target surface, summarizes the trajectory coordinates that meet the conditions, and generates a hit distribution coordinate set.

[0020] As a further aspect of the present invention, the overlap index is expressed by the formula:

[0021]

[0022] Calculate the overlap index, compare the overlap index with the set incident consistency judgment benchmark interval, filter out the numbered trajectory segments whose overlap degree does not reach the benchmark interval, and obtain the deviation number sequence value;

[0023] Among them, R i N represents the overlap index of the i-th numbered trajectory. i Δθ represents the number of matching segments between the incident angle variation interval and the time interval in the i-th numbered trajectory. ij T represents the magnitude of the change in the incident angle of the j-th segment in the i-th numbered trajectory. ij This represents the peak duration corresponding to the j-th segment in the i-th numbered trajectory. This represents the average value of the change in the incident angle in the i-th numbered trajectory. This represents the average duration of the peak in the i-th numbered trajectory.

[0024] As a further aspect of the present invention, the attitude correction module includes:

[0025] The attitude angle monitoring submodule calls the hit distribution coordinate set to record the gun-holding attitude angle data of a soldier at the time point during continuous firing. It then binds the horizontal angle, pitch angle and roll angle in the attitude angle data to the hit coordinates at the same time point to obtain the attitude and hit relationship sequence.

[0026] The distribution evaluation submodule divides the attitude angle change trend within a time period based on the attitude and hit relationship sequence, analyzes the concentration of hit coordinates in the spatial distribution within the time period, and calculates the offset between the center point of the spatial distribution and the hit position corresponding to the center value of the attitude angle to obtain the attitude and hit consistent interval.

[0027] The spatial distribution concentration index is expressed by the formula:

[0028]

[0029] Calculate the spatial distribution concentration index, divide the attitude angle change trend within a time period, analyze the concentration of the hit coordinates in the spatial distribution within a time period, and calculate the offset between the center point of the spatial distribution and the hit position corresponding to the center value of the attitude angle to obtain the interval where the attitude and hit are consistent.

[0030] Among them, D s The spatial distribution concentration index is represented by M, which represents the total number of hit points within the time period, and X represents the total number of hit points within the time period. a Represents the coordinates of the a-th hit point on the X-axis in space, Y... a This represents the Y-coordinate of the a-th hit point in space. This represents the average X-axis coordinate of the hit points over a given time period. σ represents the average Y-axis coordinate of the hit points over the time period. θ ε represents the standard deviation of attitude angle changes over a time period, and ε represents the stability correction constant.

[0031] The state correction submodule calls the time period data outside the attitude and hit interval, calculates the rate of change of the difference between the attitude angle value and the average attitude angle of the previous interval within the time period, marks the location point where the rate of change changes abruptly, summarizes the time points of abrupt changes, and outputs the attitude correction update point.

[0032] As a further aspect of the present invention, the mode adjustment module includes:

[0033] The frequency trend determination submodule calls the time period corresponding to the attitude correction update point, extracts the continuous firing frequency data sequence within the real-time cycle and the target's movement speed data sequence within the corresponding time period, analyzes the continuous time interval where the two curves intersect and the corresponding numerical relationship, and generates the frequency and speed intersection segment shape.

[0034] The pattern state recognition submodule counts the number of times, the interval of change and the duration of synchronous changes in firing frequency and target speed within multiple segments based on the cross-segment pattern of frequency and speed, classifies the firing response state type corresponding to the segment, and generates firing mode state determination results.

[0035] The display number allocation submodule calls the time period start identifier corresponding to the multiple state types in the shooting mode state determination result, encodes and numbers the real-time shooting stage according to the state type, maps the number order to the visible stage panel, and outputs shooting mode adaptation labels in combination with the stage type.

[0036] As a further aspect of the present invention, the system also includes an interface update module:

[0037] The interface update module calls the interface output panel number specified by the shooting mode adaptation label, combines the coordinates of the calibration area corresponding to the attitude correction update point, updates the interface of the shooting display center point and the outline extension parameters, synchronously marks the distributed shooting coordinate positions and superimposes the trajectory sequence, and generates a layer-linked shooting trajectory image.

[0038] The layer-linked shooting trajectory image includes a shooting contour fusion layer, a real-time coordinate overlay area, a trajectory path index layer, and an interface adjustment annotation frame.

[0039] As a further aspect of the present invention, the interface update module includes:

[0040] The center extension update submodule calls the interface output panel number specified in the shooting mode adaptation tag, and calls the corresponding calibration area coordinates in the attitude correction update point. It calculates the offset value between the centroid coordinates of the calibration area in the interface and the real-time display center point of the panel, and adjusts the position of the display center point according to the offset direction. It updates the center and extension parameters of the interface display and generates the interface center contour update parameters.

[0041] The firing coordinate overlay submodule updates parameters based on the center outline of the interface, extracts the layer range under the real-time interface, calls the firing points whose coordinate points are within the layer range for coordinate mapping, and synchronously overlays them into the layer in time sequence and marks the coordinate index number to generate distributed labeled firing coordinates.

[0042] The image trajectory recognition submodule calls the shooting point coordinate pairs in the distributed marked shooting coordinates and connects them sequentially according to time to generate continuous trajectory segments. At the same time, the trajectory segments are bound and mapped to the real-time interface layers according to the original layer numbers, the layer information is merged and updated, and the image file is output to generate a layer-linked shooting trajectory image.

[0043] On the other hand, the laser-simulated electronic target firing method is executed based on the aforementioned laser-simulated electronic target firing system and includes the following steps:

[0044] S1: Acquire light intensity data at multiple points in the laser transmitter and receiver array, extract the light intensity gradient direction between measurement points, analyze the spatial distribution trend of the main channel central axis offset direction on the reference point, and combine the distribution trend to correct the range of the shooting point positioning reference area and generate a laser trajectory annotation layer.

[0045] S2: Call the boundary of the shooting point area of ​​the laser trajectory annotation layer, record the peak value of the force distribution on the target surface and the time point characteristics of the laser incident angle, evaluate the consistency between the peak duration period and the incident angle distribution characteristics, filter the shooting point coordinates whose angle deviation exceeds the judgment conditions, and generate a hit distribution coordinate set.

[0046] S3: Using the hit distribution coordinate set, monitor the change curve of the soldier's gun-holding posture angle, evaluate the consistency between the posture angle and the hit point distribution direction, and generate posture correction update points by combining the centroid coordinates of the target surface distribution mapping area.

[0047] S4: Based on the attitude correction update point, analyze the intersection pattern of the firing frequency change curve and the target movement speed trend, assign the display panel number corresponding to the firing mode state, and generate firing mode adaptation tags;

[0048] S5: Call the interface panel number specified by the shooting mode adaptation label, combine it with the calibration area coordinates of the attitude correction update point, update the shooting display center point, update the distributed shooting coordinate position, and generate a layer-linked shooting trajectory image.

[0049] The beneficial effects of the technical solutions provided in the embodiments of the present invention include at least the following:

[0050] By acquiring multi-point light intensity data through a laser emitter and receiver array, and extracting the main laser propagation channel information based on the light intensity gradient direction, the spatial distribution trend between the main channel central axis offset direction and the target reference point is analyzed to achieve high-precision reconstruction of the laser trajectory, effectively improving the accuracy of shooting path labeling. Combining the peak force distribution of the electronic target surface with the characteristics of the laser incident angle, the consistency is evaluated and abnormal shooting points are eliminated to ensure the authenticity and validity of the hit coordinate data. By continuously monitoring the correlation between the hit point distribution and changes in the gun-holding posture angle, update points that can be used for subsequent posture correction are output, promoting precise matching between shooting actions and hit performance. The cross-segment morphology analysis of shooting frequency and target movement speed enables the system to dynamically identify the shooting mode status and match the most suitable display interface number, achieving shooting mode adaptation labeling. By linking the corrected posture calibration area with the shooting display center and overlaying the trajectory sequence to generate a layered linked image, the intuitive visibility of training feedback is enhanced, the spatiotemporal matching degree of shooting behavior is optimized, and the response chain between shooting action and hit effect is effectively opened up. This enables higher precision behavior assessment, stronger real-time feedback transmission, and more instructive training presentation, which greatly enhances the comprehensive value of the shooting training system in tactical teaching, technical correction, and effect quantification. Attached Figure Description

[0051] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0052] Figure 1This is a schematic diagram of a laser-simulated electronic target firing system provided in an embodiment of the present invention;

[0053] Figure 2 This is a schematic diagram of the system framework of the present invention;

[0054] Figure 3 This is a flowchart of a laser-simulated electronic target firing method provided in an embodiment of the present invention. Detailed Implementation

[0055] The technical solution of the present invention will now be described with reference to the accompanying drawings.

[0056] In embodiments of the present invention, words such as "exemplarily," "for example," etc., are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" in the present invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the word "exemplary" is intended to present the concept in a concrete manner. Furthermore, in embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one.

[0057] In the embodiments of this invention, the terms "image" and "picture" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction between them, their intended meanings are consistent. Similarly, the terms "of," "corresponding (relevant)," and "corresponding" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction between them, their intended meanings are consistent.

[0058] In this embodiment of the invention, sometimes a subscript such as W1 may be written in a non-subscript form such as W1. When the difference is not emphasized, the meaning they express is the same.

[0059] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0060] This invention provides a laser-simulated electronic target firing system, such as... Figure 1-2 The diagram shown illustrates a laser-simulated electronic target firing system, which includes:

[0061] The laser trajectory capture module acquires light intensity data from multiple points in the laser transmitter and receiver array within the shooting training range. Based on the direction of the light intensity gradient between the measurement points in the array, it extracts the main laser propagation channel information, analyzes the spatial distribution trend of the main channel central axis offset direction on the electronic target reference point, and generates a laser trajectory annotation layer.

[0062] The hit determination module calls the laser trajectory annotation layer to record the peak value of the force distribution on the electronic target surface and the time point characteristics of the laser incident angle. It evaluates the consistency between the peak duration period and the incident angle distribution characteristics, filters out the shooting points that do not meet the consistency determination conditions, and obtains the hit distribution coordinate set.

[0063] The attitude correction module monitors the attitude angle change curve of a soldier's gun-holding posture during continuous firing based on the hit distribution coordinate set, evaluates the distribution consistency between the attitude angle and the hit point position, and outputs attitude correction update points.

[0064] The mode adjustment module, based on the attitude correction update point, determines the intersection pattern of the firing frequency change curve and the target movement speed change trend within the real-time cycle, analyzes the firing mode status, assigns real-time stage display panel numbers, and forms firing mode adaptation tags.

[0065] The interface update module calls the interface output panel number specified by the shooting mode adaptation label, combines the coordinates of the calibration area corresponding to the attitude correction update point, updates the interface of the shooting display center point and the outline extension parameters, synchronously marks the distributed shooting coordinate positions and superimposes the trajectory sequence, and generates a layer-linked shooting trajectory image.

[0066] The laser trajectory annotation layer includes the fitted path of the main channel centerline, the offset projection coordinates of the electronic target surface, the laser energy distribution contour, the spatial offset trend curve, and the array sampling data mapping relationship. The hit distribution coordinate set includes the center point of the peak impact area, the corresponding position of the extreme value of the incident angle, the judgment consistency label, and the location marker of the exclusion point. The attitude correction update points include the gun holding attitude correction parameters, the abnormal points of attitude angle change, the hit offset trend index, and the attitude matching mark. The shooting mode adaptation label includes the real-time frequency analysis result segment, the target velocity change correlation shape, the display number mapping value, and the mode status identification code. The layer-linked shooting trajectory image includes the shooting contour fusion layer, the real-time coordinate overlay area, the trajectory path index layer, and the interface adjustment annotation frame.

[0067] Specifically, such as Figure 2 As shown, the laser trajectory capture module includes:

[0068] The light intensity data acquisition submodule acquires light intensity data from multiple points in the laser transmitter and receiver array within the shooting training range. It collects light intensity values ​​at receiver measurement points during different time periods and serializes the combinations of light intensity values ​​from different measurement points at the same time node to construct a set of spatial distribution data of light intensity.

[0069] Light intensity data is collected at multiple measurement points within the shooting training range using a laser emitter and receiver array. The laser emitter emits a beam that propagates across the range and is received by light receivers positioned at different locations. The receivers collect light intensity values ​​at different time intervals. These time intervals can be divided according to training needs; for example, if the training time is set to 30 minutes, data is collected every 5 minutes. The light intensity data collected by the receivers forms the light intensity values ​​at different locations within the range at different times. For each receiver measurement point, light intensity data is collected at different time points during the training process. For example, receiver 1 may have a light intensity of 500 lux in the first time interval, 450 lux in the second, and 600 lux in the third. This data forms a set of light intensity values ​​at different time points. The core of this process is the collection of light intensity data over multiple time intervals, combined with the light intensity data from different measurement points, to generate complete spatial distribution information to support subsequent analysis and construct a spatial distribution dataset of light intensity.

[0070] The main channel extraction submodule is based on the light intensity spatial distribution data set. It extracts the gradient direction formed by the light intensity difference between adjacent positions of the measurement point, compares the gradient direction change trend between continuous measurement points, filters continuous areas with the same light intensity gradient direction that span multiple measurement points, determines the spatial position corresponding to the continuous area as the laser propagation main channel, and generates the laser main channel direction interval.

[0071] The intensity difference between adjacent measurement points is calculated to obtain the gradient direction trend. Two receiver measurement points, receiver 1 and receiver 2, are set up, and the measured light intensities are 450 lux and 500 lux, respectively. The intensity difference is 500-450=50 lux, which constitutes the gradient direction between measurement point 1 and measurement point 2. The continuous change of gradient direction between multiple measurement points is analyzed. By calculating the gradient direction change trend between receiver measurement points, the gradient directions set between receiver 1 and receiver 3 are 45°, 60°, and 50°, respectively. The gradient direction has changed, and it is necessary to compare whether there is a continuous consistency in the gradient direction. If the gradient direction change between multiple receiver measurement points is consistent and spans multiple measurement points, then the area is considered to be the main channel area of ​​laser propagation. The main channel direction interval is calculated. The gradient change in the area from receiver 1 to receiver 4 is consistent, and the light intensity gradient direction in this area constitutes the laser main channel. The laser main channel direction interval is generated by calculating the light intensity difference and analyzing the gradient direction in this area.

[0072] The trajectory offset analysis submodule calls the coordinate relationship between the laser main channel direction interval and the electronic target reference point, calculates the vertical distance between the channel direction centerline and the reference point, analyzes the numerical change trend of the vertical distance at multiple time nodes, determines the offset direction and the range of change, and generates a laser trajectory annotation layer.

[0073] The perpendicular distance between the channel centerline and the reference point is calculated by combining the coordinate relationship between the laser main channel direction interval and the electronic target reference point. The electronic target reference point is set to (0, 0), and the center point of the laser main channel direction interval is set to (5, 5). The perpendicular distance from the channel centerline to the reference point is then calculated, denoted as d, using the following formula: The vertical distance calculated using the value 7.07 reflects the degree of offset between the laser trajectory and the reference point. Over time, the trend of this vertical distance is calculated, with distance changes set at different time points, such as 7.07, 6.5, 8.1, and 7.3 units. Analyzing the trend of the data reveals the magnitude of the change, further determining the direction of the laser trajectory's offset and its range of variation. If the change in vertical distance exceeds a set threshold, a large trajectory offset is considered to have occurred, thus displaying the laser trajectory's offset. This process yields the precise offset of the laser trajectory and its range of variation, providing data for subsequent analysis and adjustment, and generating a laser trajectory annotation layer.

[0074] Specifically, such as Figure 2 As shown, the hit determination module includes:

[0075] The incident feature extraction submodule calls the laser trajectory annotation layer to record the coordinate position of the electronic target surface corresponding to the laser incident angle at different time points, and records the force sensing peak value of the electronic target surface coordinate position at the same time point. It identifies the time period during which the peak value corresponding to the incident angle lasts and obtains the peak duration period.

[0076] The coordinates of the electronic target surface corresponding to the laser incident angle at different time points are recorded. The laser trajectory annotation layer provides the laser propagation trajectory at each time node. By recording the laser incident angle at each time point, the coordinates of the electronic target surface corresponding to the incident angle at each time node can be obtained. For example, at time node 1, the laser incident angle is 30°, and the electronic target surface coordinates are (10, 20). At time node 2, the incident angle is 35°, and the electronic target surface coordinates are (12, 22). By recording the incident angle and corresponding coordinates at different time points, a mapping relationship between the incident angle and the coordinate position can be formed. The force sensing peak value corresponding to each time point is determined by the sensor. The force value detected by the sensor is related to the laser incident angle. The force peak value at time point 1 is set to 150N, and the force peak value at time point 2 is set to 170N. The duration of the peak value corresponding to the incident angle is identified. The duration of the force peak value at an incident angle of 30° is set to 10 seconds, and the duration at an incident angle of 35° is set to 12 seconds. This duration is the peak duration period. Through such recording and analysis, the time relationship between the laser incident angle and the force peak value can be obtained, providing data support for subsequent analysis and obtaining the peak duration period.

[0077] The consistency matching judgment submodule divides the trajectory sequence corresponding to the laser incident angle within the peak period according to the peak duration period time, evaluates the degree of overlap between the incident angle change interval and the peak duration interval in the numbered trajectory, compares it with the set incident consistency judgment benchmark interval, and filters out the numbered trajectory segments whose degree of overlap does not reach the benchmark interval to obtain the deviation number sequence value.

[0078] The overlap index is calculated using the following formula:

[0079]

[0080] Calculate the overlap index, compare the overlap index with the set incident consistency judgment benchmark interval, filter out the numbered trajectory segments whose overlap degree does not reach the benchmark interval, and obtain the deviation number sequence value;

[0081] Among them, R i N represents the overlap index of the i-th numbered trajectory. i Δθ represents the number of matching segments between the incident angle variation interval and the time interval in the i-th numbered trajectory. ij T represents the magnitude of the change in the incident angle of the j-th segment in the i-th numbered trajectory. ij This represents the peak duration corresponding to the j-th segment in the i-th numbered trajectory. This represents the average value of the change in the incident angle in the i-th numbered trajectory. This represents the average duration of the peak in the i-th numbered trajectory;

[0082] Meaning of parameters and derivation of formulas:

[0083] N i This represents the number of matching segments between the incident angle variation interval and the time interval contained in the i-th numbered trajectory, which is 4 in this case;

[0084] Δθ ij The value represents the amplitude of the change in the incident angle of the j-th segment in the i-th numbered trajectory, which is obtained by monitoring through a high-precision laser gyroscope sensor, and the unit is degrees;

[0085] The average value of the incident angle change amplitude in the i-th numbered trajectory is obtained by summing the incident angle change amplitudes and dividing by the number of segments, and the unit is degrees;

[0086] T ij The peak duration corresponding to the j-th segment in the i-th numbered trajectory is obtained by laser ranging based on the duration of the peak laser reflection intensity, and the unit is seconds.

[0087] This represents the average peak duration in the i-th numbered trajectory, obtained by summing the peak durations and dividing by the number of segments, in seconds;

[0088] Amplitude of incident angle change Δθ ij The angle change was detected in real time by a high-precision laser gyroscope sensor, with the unit being degrees. According to the equipment technical manual, the detection accuracy of the angle change is 0.01 degrees. During the detection process, a total of 4 peak segments were detected in the i-th numbered trajectory, with the incident angle change amplitudes of 2.5 degrees, 3.1 degrees, 1.8 degrees, and 2.9 degrees for each segment, respectively.

[0089] Peak duration T ij Measurements were taken using time-synchronized laser ranging, with units in seconds. The duration of each peak value was measured to be 0.6 seconds, 0.5 seconds, 0.7 seconds, and 0.55 seconds, based on the start and end times of the peak laser reflection intensity.

[0090] Average value of the change in incident angle According to the formula:

[0091]

[0092] Substitute the values ​​of the incident angle changes for each segment into the calculation:

[0093]

[0094] Peak duration average According to the formula:

[0095]

[0096] Substitute the peak duration values ​​for each segment into the calculation:

[0097]

[0098] Part 1 Summation Terms The calculation is as follows:

[0099] (2.5·0.6)+(3.1·0.5)+(1.8·0.7)+(2.9·0.55)=5.905;

[0100] Part Two: Sum of Squares Calculate item by item:

[0101] Paragraph 1:

[0102] |2.5|+|0.6-0.5875|=2.5+0.0125=2.5125;

[0103] Squared: 2.5125 2 =6.31015625;

[0104] Section 2: |3.1|+|0.5-0.5875|=3.1+0.0875=3.1875;

[0105] Squared: 3.1875 2 =10.162890625;

[0106] Section 3: |1.8| + |0.7 - 0.5875| = 1.8 + 0.1125 = 1.9125;

[0107] Squared: 1.9125 2 =3.66015625;

[0108] Section 4: |2.9| + |0.55 - 0.5875| = 2.9 + 0.0375 = 2.9375;

[0109] Squared: 2.9375 2 =8.63015625;

[0110] Sum of squares calculation:

[0111] 6.31015625 + 10.162890625 + 3.66015625 + 8.63015625 = 28.763359375;

[0112] Square root of square:

[0113]

[0114] Substitute into the formula to calculate the numerator:

[0115] |5.905-5.365|=|0.54|=0.54;

[0116] Calculate the denominator:

[0117]

[0118] Calculate the overlap index:

[0119]

[0120] The result shows that the overlap index of the i-th numbered trajectory is 0.0427. This value is compared with the incident consistency judgment benchmark range. If it is lower than the set benchmark, it is judged to be inconsistent and is selected as a deviation number sequence.

[0121] The hit coordinate filtering submodule calls the set of trajectory coordinate points corresponding to the number in the deviation number sequence value, matches and judges the coordinate points in the set with the coordinates of the peak force position of the electronic target surface, summarizes the trajectory coordinates that meet the conditions, and generates a hit distribution coordinate set.

[0122] Based on the deviation number sequence value, the set of trajectory coordinate points corresponding to the number is extracted. When the deviation number sequence value is 3, the extracted trajectory coordinate points are (10, 20), (12, 22), and (14, 24). These coordinate points represent the positions of the laser trajectory at different time points. The coordinate points are matched with the coordinates of the peak force position on the electronic target surface. The coordinates of the peak force position on the electronic target surface are set to (11, 21). By calculating the distance relationship between the coordinate points and the peak position, the Euclidean distance formula is used. To calculate the distance from each trajectory point to the peak force coordinate, let's set the distance from (10, 20) to (11, 21) as... The unit distance from (12, 22) to (11, 21) is The unit determines whether the distance meets the set matching conditions. The set threshold is 2 units. If the distance is less than 2 units, the trajectory coordinates are considered to meet the matching conditions. The trajectory coordinates that meet the conditions are summarized and set as (10, 20) and (12, 22). The coordinate points constitute the hit distribution coordinate set.

[0123] Specifically, such as Figure 2 As shown, the attitude correction module includes:

[0124] The attitude angle monitoring submodule calls the hit distribution coordinate set to record the gun-holding attitude angle data of a soldier at the time point during continuous firing. It then binds the horizontal angle, pitch angle and roll angle in the attitude angle data to the hit coordinates at the same time point to obtain the attitude and hit relationship sequence.

[0125] The system records the rifle-holding angle data of a soldier at different time points during continuous firing. During firing, the soldier records the rifle-holding angle data every second, including horizontal, pitch, and roll angles. At time point T1, the soldier's horizontal angle is 15°, pitch is -5°, and roll is 2°, with the hit coordinates at (10, 20). These angle data are then linked to the hit coordinates (10, 20) at the same time point, establishing a correspondence between attitude and hit coordinates. At time point T2, the horizontal angle is set to 18°, pitch to -4°, and roll to 1°, with the hit coordinates at (12, 22). Similarly, the attitude angle data at this time point is linked to the hit coordinates. The resulting sequence can be used for subsequent analysis to reveal the relationship between different firing attitudes and firing results, yielding a sequence of attitude-hit relationships.

[0126] The distribution evaluation submodule divides the attitude angle change trend within a time period based on the attitude and hit relationship sequence, analyzes the concentration of hit coordinates in the spatial distribution within the time period, and calculates the offset between the center point of the spatial distribution and the hit position corresponding to the center value of the attitude angle to obtain the attitude and hit consistent interval.

[0127] The spatial distribution concentration index is expressed by the formula:

[0128]

[0129] Calculate the spatial distribution concentration index, divide the attitude angle change trend within a time period, analyze the concentration of the hit coordinates in the spatial distribution within a time period, and calculate the offset between the center point of the spatial distribution and the hit position corresponding to the center value of the attitude angle to obtain the interval where the attitude and hit are consistent.

[0130] Among them, D s The spatial distribution concentration index is represented by M, which represents the total number of hit points within the time period, and X represents the total number of hit points within the time period. a Represents the coordinates of the a-th hit point on the X-axis in space, Y... a This represents the Y-coordinate of the a-th hit point in space. This represents the average X-axis coordinate of the hit points over a given time period. σ represents the average Y-axis coordinate of the hit points over the time period. θ ε represents the standard deviation of attitude angle changes over a time period, and ε represents the stability correction constant.

[0131] Meaning of parameters and derivation of formulas:

[0132] The total number of hit points was set to M=5. This value was obtained based on the spatial position data of the impact points collected by high-precision infrared laser ranging within a time period, combined with the spatial positioning data provided by video tracking and inertial navigation unit. The spatial coordinates of the hit points were X1=102.3m, Y1=198.7m, X2=105.1m, Y2=196.4m, X3=100.5m, Y3=200.2m, X4=103.9m, Y4=199.5m, X5=101.7m, Y5=197.8m. This set of values ​​came from the real-time monitoring equipment at the target range.

[0133] Calculate the average value along the X-axis:

[0134]

[0135] Calculate the average value along the Y-axis:

[0136]

[0137] Attitude angle standard deviation σ θ =1.75 degrees, calculated based on the angular velocity data output by the gyroscope of the inertial navigation unit (IMU) within a time period. The original attitude angle sequence is θ1 = 15.2 degrees, θ2 = 16.1 degrees, θ3 = 14.9 degrees, θ4 = 15.5 degrees, and θ5 = 16.3 degrees. The average attitude angle is:

[0138]

[0139] Calculate the standard deviation of attitude angles:

[0140]

[0141] The attitude angle standard deviation correction term ε is set to 0.8. This value comes from the IMU long-term drift error correction model and is extracted by the mean drift fluctuation standard deviation calculated from 100 sets of attitude angle sequences.

[0142] For each hit point, calculate the absolute offset and the squared offset as follows:

[0143] First hit point:

[0144]

[0145] S1=0.4+0.18+0.1448=0.7248;

[0146] Second hit point:

[0147]

[0148] (2.4) 2 +(2.12) 2=5.76 + 4.4944 = 10.2544;

[0149]

[0150] S2=2.4+2.12+7.716=12.236;

[0151] The third hit point:

[0152]

[0153] (2.2) 2 +(1.68) 2 =4.84 + 2.8224 = 7.6624;

[0154]

[0155] S3=2.2+1.68+5.768=9.648;

[0156] Fourth hit point:

[0157]

[0158] (1.2) 2 +(0.98) 2 =1.44 + 0.9604 = 2.4004;

[0159]

[0160] S4=1.2+0.98+1.807=3.987;

[0161] Fifth hit point:

[0162]

[0163] (1) 2 +(0.72) 2 =1 + 0.5184 = 1.5184;

[0164]

[0165] S5 = 1 + 0.72 + 1.143 = 2.863;

[0166] Summing over all S:

[0167] ∑S a =0.7248+12.236+9.648+3.987+2.863=29.4588;

[0168] Calculate the spatial distribution concentration index:

[0169]

[0170] The result shows that the spatial distribution concentration index is 2.427. The smaller the value, the more concentrated the hit points are, and the larger the value, the more dispersed the distribution is. This value directly reflects the degree of concentration of the hit coordinates in the spatial distribution within the current time period. The spatial distribution concentration index will be used as the input basis for subsequent steps to calculate the offset between the center point of the spatial distribution and the hit position corresponding to the center value of the attitude angle.

[0171] The state correction submodule calls the time period data outside the attitude and hit interval, calculates the rate of change of the difference between the attitude angle value within the time period and the average attitude angle of the previous interval, marks the location points where the rate of change changes abruptly, summarizes the time points of abrupt changes, and outputs the attitude correction update points.

[0172] By calling data from time periods outside the attitude and hit-match intervals, the rate of change of the difference between the attitude angle values ​​within the time period and the average attitude angle of the previous interval is calculated. The time period is set between T3 and T4, where the horizontal angle changes from 16° to 14°, the pitch angle from -4° to -6°, and the roll angle from 1° to 0°. The rate of change for each angle within this time period is calculated. The rate of change for the horizontal angle is set to (14°-16°) / 16° = -12.5%, the rate of change for the pitch angle is set to (-6°-(-4°)) / (-4°) = -50%, and the rate of change for the roll angle is set to (0°-1°) / 1° = -100%. The location of the abrupt change in the rate of change is marked. At time point T5, the rate of change for the horizontal angle abruptly changes to +20%, which is the abrupt change location. By summarizing the abrupt change time points, the abrupt change is set to occur at two time nodes, T5 and T7, and the attitude correction update points are output. Therefore, T5 and T7 are the attitude correction update points.

[0173] Specifically, such as Figure 2 As shown, the mode adjustment module includes:

[0174] The frequency trend determination submodule calls the time period corresponding to the attitude correction update point, extracts the continuous firing frequency data sequence within the real-time cycle and the target's movement speed data sequence within the corresponding time period, analyzes the continuous time interval where the two curves intersect and the corresponding numerical relationship, and generates the shape of the frequency and speed intersection segment.

[0175] By calling the time period data corresponding to the attitude correction update point, the continuous firing frequency data sequence and the target's movement speed data sequence within that time period are extracted. Set between time period T1 and T2, the firing frequency data is [2, 3, 2.5, 3.5] rounds / second, and the target's movement speed data is [5, 6, 5.5, 5.8] meters / second. By analyzing the intersection of these two curves, the continuous time intervals where the firing frequency and target movement speed curves intersect and their corresponding numerical relationships are found. Set between time period T1 and T2, the frequency and speed curves intersect at time points T1 and T3 respectively, and the numerical relationship between frequency and speed is frequency = 3 rounds / second, speed = 5.5 meters / second. This determines the segment shape of the frequency and speed intersection within that time period. If the frequency curve intersects the target speed curve twice within a certain time period, the time period corresponding to the intersection point is the frequency and speed intersection segment. This analysis method provides basic data for subsequent pattern state recognition, generating the frequency and speed intersection segment shape.

[0176] The pattern state recognition submodule counts the number of times, the interval of change and the duration of synchronous changes in firing frequency and target speed within multiple segments based on the cross-segment pattern of frequency and speed, classifies the firing response state type corresponding to the segment, and generates firing pattern state determination results.

[0177] The number of times, intervals, and durations of synchronous changes in firing frequency and target speed were statistically analyzed across multiple overlapping segments. In a scenario where synchronous changes in firing frequency and target speed occurred 5 times across multiple overlapping segments, with an interval of 10 seconds and a duration of 30 seconds, the patterns of these changes were further analyzed. By setting the firing frequency variation within a segment to 2 to 3 rounds per second and the target speed variation to 5 to 6 meters per second, that segment could be defined as a "high frequency and fast target movement" state type. Based on the statistical data, different shooting response state types were categorized for different segments. Some segments were classified as "high frequency and slow movement," while others were classified as "low frequency and fast movement," etc. This indication of the type and characteristics of each shooting state provides a basis for subsequent shooting mode optimization and adjustment, generating shooting mode state determination results.

[0178] The display number allocation submodule calls the start time identifier of the time period corresponding to multiple state types in the shooting mode state determination result, encodes and numbers the real-time shooting stage according to the state type, maps the number order to the visual stage panel, and outputs shooting mode adaptation labels in combination with the stage type.

[0179] The system retrieves the start markers of the time periods corresponding to multiple state types in the shooting mode state determination results. The shooting mode determination results include three state types: State A (high frequency and fast target movement), State B (low frequency and slow target movement), and State C (frequency fluctuation and target movement fluctuation). Each state type corresponds to a time period T1-T2, T3-T4, and T5-T6, respectively. The real-time shooting stages are coded and numbered according to the state type. The time period T1-T2 corresponding to State A is numbered 1, T3-T4 corresponding to State B is numbered 2, and T5-T6 corresponding to State C is numbered 3. This numbering sequence is mapped to a visual stage panel, which displays the shooting modes corresponding to different stages. This numbering method allows users to intuitively view the time periods and stages corresponding to different state types. Combined with the stage type, shooting mode adaptation labels are output. Stage number 1 is displayed as "High Frequency Shooting and Fast Movement Mode," and stage number 2 is displayed as "Low Frequency Shooting and Slow Movement Mode," helping users understand the characteristics of different shooting stages and adjust their strategies.

[0180] Specifically, such as Figure 2 As shown, the interface update module includes:

[0181] The center extension update submodule calls the interface output panel number specified in the shooting mode adaptation tag, and calls the corresponding calibration area coordinates in the attitude correction update point. It calculates the offset value between the centroid coordinates of the calibration area in the interface and the real-time display center point of the panel, and adjusts the position of the display center point according to the offset direction. It updates the center and extension parameters of the interface display and generates the interface center outline update parameters.

[0182] The interface output panel number specified in the shooting mode adaptation tag is called, and the interface panel number is set to 5. This panel displays various mode states during the shooting process. The coordinates of the corresponding calibration area in the attitude correction update point are called. At a certain time node T1, the coordinates of the calibration area are set to (100, 150). By calculating the offset value between the centroid coordinates of the calibration area in the interface and the real-time display center point of the panel, the position of the real-time display center point is set to (120, 160). The offset value is calculated as follows: offset X = 120 - 100 = 20 units, offset Y = 160 - 150 = 10 units. The offset value will adjust the position of the interface display center point according to the offset direction. The offset direction is set to the lower right direction, that is, the interface display center point needs to be adjusted to (120, 160). The center and extension parameters of the interface display are updated according to this adjustment, and the interface center outline update parameters are generated.

[0183] The firing coordinate overlay submodule updates parameters based on the center outline of the interface, extracts the layer range under the real-time interface, calls the firing points whose coordinate points are within the layer range for coordinate mapping, and synchronously overlays them into the layer in time sequence and marks the coordinate index number to generate distributed labeled firing coordinates.

[0184] Based on the updated parameters of the interface center outline, the layer range under the real-time interface is extracted, and the display range of the layer is set to (0, 0) to (500, 500). The coordinates of the shooting points whose coordinates are within the layer range are called for coordinate mapping. The coordinates of a shooting point acquired in real time are set to (200, 250). At this time, the position of this coordinate on the layer needs to be adjusted according to the layer range. The shooting point is set to not need further coordinate transformation within the layer range and is directly mapped. The coordinates of the shooting points are synchronously superimposed on the layer in time sequence. At time point T1, the coordinates of the shooting point are set to (200, 250), at time point T2, the coordinates of the shooting point are set to (220, 270), and at time point T3, the coordinates of the shooting point are set to (240, 290). The shooting points will be superimposed on the layer in sequence, and each coordinate point will be labeled with a coordinate index number. The coordinate number corresponding to T1 is set to 1, T2 to 2, and T3 to 3, forming a label for each shooting point in the layer, so that the subsequent trajectory analysis can effectively track the distribution of shooting points and generate distributed labeled shooting coordinates.

[0185] The image trajectory recognition submodule calls the shooting point coordinate pairs in the distributed labeled shooting coordinates and connects them sequentially according to time to generate continuous trajectory segments. At the same time, the trajectory segments are bound and mapped to the real-time interface layers according to the original layer numbers, the layer information is merged and updated, and the image file is output to generate a layer-linked shooting trajectory image.

[0186] The system calls upon the coordinate pairs of firing points from the distributed firing coordinate system. Multiple coordinate points are already labeled in the layer, including (200, 250), (220, 270), and (240, 290). These coordinate points are connected sequentially in chronological order to generate continuous trajectory segments. Connecting coordinates (200, 250) and (220, 270) forms the first trajectory segment, and connecting coordinates (220, 270) and (240, 290) forms the second trajectory segment. Through this connection, all firing points can be sequentially connected into a continuous trajectory. The trajectory segments are then bound and mapped to the real-time interface layer according to their original layer numbers. The trajectory segments are numbered 1 and 2 and bound to elements in the real-time interface layer to ensure that the trajectory and layer updates remain synchronized. The updated layer information is merged, and an image file is output, displaying the continuous change process of the firing trajectory and the real-time update of the layer. This facilitates subsequent image processing and analysis, generating a layer-linked firing trajectory image.

[0187] Please see Figure 3 The laser-simulated electronic target firing method is executed based on the aforementioned laser-simulated electronic target firing system and includes the following steps:

[0188] S1: Acquire light intensity data at multiple points in the laser transmitter and receiver array, extract the light intensity gradient direction between measurement points, analyze the spatial distribution trend of the main channel central axis offset direction on the reference point, and combine the distribution trend to correct the range of the shooting point positioning reference area and generate a laser trajectory annotation layer.

[0189] S2: Call the boundary of the shooting point area of ​​the laser trajectory annotation layer, record the peak value of the force distribution on the target surface and the time point characteristics of the laser incident angle, evaluate the consistency between the peak duration period and the incident angle distribution characteristics, filter the shooting point coordinates whose angle deviation exceeds the judgment conditions, and generate a set of hit distribution coordinates.

[0190] S3: Using the hit distribution coordinate set, monitor the change curve of the soldier's gun-holding posture angle, evaluate the consistency between the posture angle and the hit point distribution direction, and generate posture correction update points by combining the centroid coordinates of the target surface distribution mapping area.

[0191] S4: Based on the attitude correction update point, analyze the intersection pattern of the firing frequency change curve and the target movement speed trend, assign the display panel number corresponding to the firing mode state, and generate firing mode adaptation labels;

[0192] S5: Call the interface panel number specified by the shooting mode adaptation label, combine the coordinates of the calibration area of ​​the attitude correction update point, update the shooting display center point, update the distributed shooting coordinate position, and generate a layer-linked shooting trajectory image.

[0193] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A laser-simulated electronic target firing system, characterized in that, The system includes: The laser trajectory capture module acquires light intensity data from multiple points in the laser transmitter and receiver array within the shooting training range. Based on the direction of the light intensity gradient between the measurement points in the array, it extracts the main laser propagation channel information, analyzes the spatial distribution trend of the main channel central axis offset direction on the electronic target reference point, and generates a laser trajectory annotation layer. The hit determination module calls the laser trajectory annotation layer to record the peak value of the force distribution on the electronic target surface and the time point characteristics of the laser incident angle, evaluates the consistency between the peak duration period and the incident angle distribution characteristics, filters out the shooting points that do not meet the consistency determination conditions, and obtains the hit distribution coordinate set. The attitude correction module monitors the attitude angle change curve of a soldier's gun-holding posture during continuous firing based on the hit distribution coordinate set, evaluates the distribution consistency between the attitude angle and the hit point position, and outputs attitude correction update points. Based on the attitude correction update point, the mode adjustment module determines the intersection pattern of the firing frequency change curve and the target movement speed change trend within the real-time period, analyzes the firing mode status, assigns real-time stage display panel numbers, and forms firing mode adaptation tags.

2. The laser-simulated electronic target firing system according to claim 1, characterized in that, The laser trajectory annotation layer includes the fitted path of the main channel centerline, the electronic target surface offset projection coordinates, the laser energy distribution contour, the spatial offset trend curve, and the array sampling data mapping relationship. The hit distribution coordinate set includes the center point of the peak impact area, the corresponding position of the extreme value of the incident angle, the judgment consistency label, and the location identifier of the exclusion point. The attitude correction update points include the gun holding attitude correction parameters, the attitude angle change anomaly points, the hit offset trend index, and the attitude matching mark. The shooting mode adaptation label includes the real-time frequency analysis result segment, the target velocity change correlation shape, the display number mapping value, and the mode status identification code.

3. The laser-simulated electronic target firing system according to claim 1, characterized in that, The laser trajectory capture module includes: The light intensity data acquisition submodule acquires light intensity data from multiple points in the laser transmitter and receiver array within the shooting training range. It collects light intensity values ​​at receiver measurement points during different time periods and serializes the combinations of light intensity values ​​from different measurement points at the same time node to construct a set of spatial distribution data of light intensity. The main channel extraction submodule extracts the gradient direction formed by the light intensity difference between adjacent positions of the measurement point based on the light intensity spatial distribution data set, compares the gradient direction change trend between continuous measurement points, filters continuous regions with consistent light intensity gradient directions that span multiple measurement points, determines the spatial position corresponding to the continuous region as the laser propagation main channel, and generates the laser main channel direction interval. The trajectory offset analysis submodule calls the coordinate relationship between the laser main channel direction interval and the electronic target reference point, calculates the vertical distance between the channel direction centerline and the reference point, analyzes the numerical change trend of the vertical distance at multiple time nodes, determines the offset direction and the range of change, and generates a laser trajectory annotation layer.

4. The laser-simulated electronic target firing system according to claim 3, characterized in that, The hit determination module includes: The incident feature extraction submodule calls the laser trajectory annotation layer to record the electronic target surface coordinate position corresponding to the laser incident angle at different time points, and records the force sensing peak value of the electronic target surface coordinate position at the same time point. It identifies the time period during which the peak value corresponding to the incident angle lasts and obtains the peak duration period. The consistency matching determination submodule divides the trajectory sequence corresponding to the laser incident angle within the peak period into numbered segments based on the peak duration period time, evaluates the degree of overlap between the incident angle change interval and the peak duration interval in the numbered trajectory, compares it with the set incident consistency determination benchmark interval, and filters out the numbered trajectory segments whose degree of overlap does not reach the benchmark interval to obtain the deviation numbered sequence value. The hit coordinate filtering submodule calls the set of trajectory coordinate points corresponding to the number in the deviation number sequence value, matches and judges the coordinate points in the set with the coordinates of the peak force position of the electronic target surface, summarizes the trajectory coordinates that meet the conditions, and generates a hit distribution coordinate set.

5. The laser-simulated electronic target firing system according to claim 4, characterized in that, The overlap index is expressed by the formula: Calculate the overlap index, compare the overlap index with the set incident consistency judgment benchmark interval, filter out the numbered trajectory segments whose overlap degree does not reach the benchmark interval, and obtain the deviation number sequence value; Among them, R i N represents the overlap index of the i-th numbered trajectory. i Δθ represents the number of matching segments between the incident angle variation interval and the time interval in the i-th numbered trajectory. ij T represents the magnitude of the change in the incident angle of the j-th segment in the i-th numbered trajectory. ij This represents the peak duration corresponding to the j-th segment in the i-th numbered trajectory. This represents the average value of the change in the incident angle in the i-th numbered trajectory. This represents the average duration of the peak in the i-th numbered trajectory.

6. The laser-simulated electronic target firing system according to claim 4, characterized in that, The attitude correction module includes: The attitude angle monitoring submodule calls the hit distribution coordinate set to record the gun-holding attitude angle data of a soldier at the time point during continuous firing. It then binds the horizontal angle, pitch angle and roll angle in the attitude angle data to the hit coordinates at the same time point to obtain the attitude and hit relationship sequence. The distribution evaluation submodule divides the attitude angle change trend within a time period based on the attitude and hit relationship sequence, analyzes the concentration of hit coordinates in the spatial distribution within the time period, and calculates the offset between the center point of the spatial distribution and the hit position corresponding to the center value of the attitude angle to obtain the attitude and hit consistent interval. The spatial distribution concentration index is expressed by the formula: Calculate the spatial distribution concentration index, divide the attitude angle change trend within a time period, analyze the concentration of the hit coordinates in the spatial distribution within a time period, and calculate the offset between the center point of the spatial distribution and the hit position corresponding to the center value of the attitude angle to obtain the interval where the attitude and hit are consistent. Among them, D s The spatial distribution concentration index is represented by M, which represents the total number of hit points within the time period, and X represents the total number of hit points within the time period. a Represents the coordinates of the a-th hit point on the X-axis in space, Y... a This represents the Y-coordinate of the a-th hit point in space. This represents the average X-axis coordinate of the hit points over a given time period. σ represents the average Y-axis coordinate of the hit points over the time period. θ ε represents the standard deviation of attitude angle changes over a time period, and ε represents the stability correction constant. The state correction submodule calls the time period data outside the attitude and hit interval, calculates the rate of change of the difference between the attitude angle value and the average attitude angle of the previous interval within the time period, marks the location point where the rate of change changes abruptly, summarizes the time points of abrupt changes, and outputs the attitude correction update point.

7. The laser-simulated electronic target firing system according to claim 6, characterized in that, The mode adjustment module includes: The frequency trend determination submodule calls the time period corresponding to the attitude correction update point, extracts the continuous firing frequency data sequence within the real-time cycle and the target's movement speed data sequence within the corresponding time period, analyzes the continuous time interval where the two curves intersect and the corresponding numerical relationship, and generates the frequency and speed intersection segment shape. The pattern state recognition submodule counts the number of times, the interval of change and the duration of synchronous changes in firing frequency and target speed within multiple segments based on the cross-segment pattern of frequency and speed, classifies the firing response state type corresponding to the segment, and generates firing mode state determination results. The display number allocation submodule calls the time period start identifier corresponding to the multiple state types in the shooting mode state determination result, encodes and numbers the real-time shooting stage according to the state type, maps the number order to the visible stage panel, and outputs shooting mode adaptation labels in combination with the stage type.

8. The laser-simulated electronic target firing system according to claim 1, characterized in that, The system also includes an interface update module: The interface update module calls the interface output panel number specified by the shooting mode adaptation label, combines the coordinates of the calibration area corresponding to the attitude correction update point, updates the interface of the shooting display center point and the outline extension parameters, synchronously marks the distributed shooting coordinate positions and superimposes the trajectory sequence, and generates a layer-linked shooting trajectory image. The layer-linked shooting trajectory image includes a shooting contour fusion layer, a real-time coordinate overlay area, a trajectory path index layer, and an interface adjustment annotation frame.

9. The laser-simulated electronic target firing system according to claim 8, characterized in that, The interface update module includes: The center extension update submodule calls the interface output panel number specified in the shooting mode adaptation tag, and calls the corresponding calibration area coordinates in the attitude correction update point. It calculates the offset value between the centroid coordinates of the calibration area in the interface and the real-time display center point of the panel, and adjusts the position of the display center point according to the offset direction. It updates the center and extension parameters of the interface display and generates the interface center contour update parameters. The firing coordinate overlay submodule updates parameters based on the center outline of the interface, extracts the layer range under the real-time interface, calls the firing points whose coordinate points are within the layer range for coordinate mapping, and synchronously overlays them into the layer in time sequence and marks the coordinate index number to generate distributed labeled firing coordinates. The image trajectory recognition submodule calls the shooting point coordinate pairs in the distributed marked shooting coordinates and connects them sequentially according to time to generate continuous trajectory segments. At the same time, the trajectory segments are bound and mapped to the real-time interface layers according to the original layer numbers, the layer information is merged and updated, and the image file is output to generate a layer-linked shooting trajectory image.

10. A laser-simulated electronic target firing method, characterized in that, The method is used to implement the laser-simulated electronic target firing system according to any one of claims 1-9, and includes the following steps: S1: Acquire light intensity data at multiple points in the laser transmitter and receiver array, extract the light intensity gradient direction between measurement points, analyze the spatial distribution trend of the main channel central axis offset direction on the reference point, and combine the distribution trend to correct the range of the shooting point positioning reference area and generate a laser trajectory annotation layer. S2: Call the boundary of the shooting point area of ​​the laser trajectory annotation layer, record the peak value of the force distribution on the target surface and the time point characteristics of the laser incident angle, evaluate the consistency between the peak duration period and the incident angle distribution characteristics, filter the shooting point coordinates whose angle deviation exceeds the judgment conditions, and generate a hit distribution coordinate set. S3: Using the hit distribution coordinate set, monitor the change curve of the soldier's gun-holding posture angle, evaluate the consistency between the posture angle and the hit point distribution direction, and generate posture correction update points by combining the centroid coordinates of the target surface distribution mapping area. S4: Based on the attitude correction update point, analyze the intersection pattern of the firing frequency change curve and the target movement speed trend, assign the display panel number corresponding to the firing mode state, and generate firing mode adaptation tags; S5: Call the interface panel number specified by the shooting mode adaptation label, combine it with the calibration area coordinates of the attitude correction update point, update the shooting display center point, update the distributed shooting coordinate position, and generate a layer-linked shooting trajectory image.

Images