Target spot positioning evaluation system based on intelligent light sensation tracking

Abstract

The invention discloses a target spot positioning evaluation system based on intelligent light-sensitive tracking, and relates to the technical field of target range shooting, the system comprises five core modules: a system construction and hardware deployment module, a physical target plate with a miniature light-sensitive positioning beacon, a binocular vision camera, a high-speed light-sensitive camera and the like are deployed in a target range, and the target spot positioning evaluation system is used for evaluating target spot positioning. An industrial-grade server is matched to form a complete hardware architecture; space synchronization of virtual and real target spots less than or equal to 1mm is realized; the shooting data acquisition and index calculation module is used for acquiring shooting data and calculating and standardizing technical indexes and tactical indexes; the evaluation report generation module is used for judging'no short board ''technology / tactical / comprehensive short board' 'according to an index threshold value, and matching a targeted training scheme; and the virtual and real target point optimization module is used for adjusting the virtual target point track according to the type of the short plate, so that personalized training adaptation is realized, and the shooting training precision and efficiency are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of target shooting, in particular to a target point positioning and evaluation system based on intelligent light sensing tracking. BACKGROUND

[0002] Target shooting training has been upgraded from traditional "basic hit training" to "real combat precision training", and higher requirements are put forward for the technical adaptability, scene simulation degree and evaluation accuracy of the training system. Currently, modern target range training needs to consider both the real shooting feedback of physical target boards and the real combat simulation of virtual scenes to meet the shooting needs in complex combat environments; therefore, a target point positioning and evaluation system based on intelligent light sensing tracking has emerged.

[0003] The prior art, such as the invention patent application with publication number CN110068250B, discloses a light weapon shooting training intelligent target range system, which includes five modules: an information sensing system, a training scene, a control system, an evaluation system, and a communication system. The information sensing system collects the target state, the trainee's wearing state, the gun information, and the target range video in the target range. The training scene includes target markers and auxiliary equipment. After the trainee enters the training scene, the state of the trainee and the training scene forms a training posture. The control system realizes the visual monitoring and guidance of the intelligent target range, including scene editing, training organization, equipment control, and posture display. The evaluation system performs multi-dimensional analysis and evaluation of the training effect based on the information collected by the information sensing system, including performance evaluation, tactical evaluation, process playback, battle example generation, and tactical deduction. The communication system realizes the interconnection of people and machines in the target range based on Ethernet / Internet of Things technology, integrates video security equipment, and realizes the visualization and controllability of the entire target range, the entire space, all equipment, and all personnel.

[0004] For the above-mentioned scheme, the present application applicant found that the above-mentioned technology at least has the following technical problems: 1. The existing system mostly uses simple image superposition to realize virtual target point display, and does not establish a high-precision spatial synchronization mechanism for physical target points and virtual target points, and the position consistency error between the two often exceeds 10mm, which leads to the disconnection of virtual scenes and physical shooting environment. Moreover, the virtual target points are mostly single forms of uniform straight line motion, lacking dynamic simulation function in complex environments, and unable to restore the randomness of target motion and the reality of environmental interference in actual combat, which significantly differs the training scene from the actual combat scene, and makes it difficult to cultivate the combat response ability of shooting personnel.

[0005] 2. The existing system can only collect basic result data such as "number of hits and total number of shots", and cannot capture process data such as the trajectory of the projectile, the time correlation between the firing time and the target movement. This results in the technical indicator evaluation being limited to the single dimension of "hit rate", omitting core technical parameters such as ballistic consistency and firing timing stability. At the same time, it lacks a quantitative assessment of the tactical skills of the shooters, and does not incorporate tactical dimensions such as scene immersion and target priority judgment into the evaluation system. It cannot form a full-link capability profile of "technology-tactics", and the evaluation results are one-sided and cannot support accurate capability diagnosis.

[0006] 3. The existing system uses a uniform target movement trajectory, training duration, and assessment standards, without dynamically adjusting the training difficulty according to the differences in the shooting personnel's abilities, such as the differences between novices and veterans, and between technical and tactical weaknesses. Even if some systems have simple parameter adjustment functions, they still need to be set manually and cannot be automatically adapted based on real-time training data. As a result, more skilled shooting personnel find it difficult to improve due to the training difficulty being too low, while less skilled shooting personnel feel frustrated due to the difficulty being too high. The training efficiency is low and the training is not targeted enough.

[0007] 4. The existing system's sensing devices, control modules, and data processing modules mostly operate independently, lacking an industrial-grade collaborative control mechanism. Data transmission latency exceeds 100ms, making it impossible to achieve real-time correlation of data such as projectile trajectory, target position, and shooting actions. At the same time, data processing is limited to simple statistical analysis and does not employ standardized algorithms to fuse and analyze multi-dimensional data. This makes it impossible to quickly generate defect type identification and improvement plans, resulting in the training data value not being fully explored and making it difficult to form a closed loop of "training-evaluation-improvement". Summary of the Invention

[0008] To address the aforementioned technical shortcomings, the purpose of this invention is to provide a target localization and evaluation system based on intelligent optical tracking.

[0009] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: The present invention provides a target positioning and evaluation system based on intelligent light-sensing tracking, including: a system construction and hardware deployment module: used to complete the deployment of physical target plates, sensing devices and control modules in the target firing range, thereby building an industrial-grade control module for the target firing range and forming a complete hardware architecture.

[0010] Virtual and real target point collaborative positioning module: After the target range firing range control module is started, it is used to obtain the three-dimensional coordinates of each physical target point in the target range firing range, and then synchronize the virtual and real target points in the target range firing range in space.

[0011] Shooting data acquisition and index calculation module: used to analyze the technical and tactical indicators of each shooter at the target firing range when shooting is carried out.

[0012] The evaluation report generation module is used for analyzing the corresponding short board type of each shooter according to the corresponding technical index and tactical index of each shooter, and then analyzing the corresponding targeted training improvement scheme of each shooter.

[0013] The virtual-real target point optimization module is used for analyzing and adjusting the virtual target point motion track of each shooter according to the corresponding short board type of each shooter.

[0014] The beneficial effects of the present application are as follows: 1. In the embodiment of the present application, the micro light sensing positioning beacon, the binocular vision camera and the laser ranging sensor are cooperated, the Kalman filtering algorithm and the template matching algorithm are combined, the virtual-real target point position consistency error is controlled to be less than or equal to 1mm, which is far more than the error level of more than 10mm of the traditional system, and the technical barrier between the physical and virtual scenes is completely broken; meanwhile, the ultra-short focus projector and the high-speed light sensing device are matched, the dynamic target and the complex environment scene can be restored, the shooting training is closer to the actual combat, and the adaptability of the shooter to the real combat environment is effectively improved.

[0015] 2. In the embodiment of the present application, the technical indexes such as virtual-real target hit efficiency value and projectile trajectory coincidence degree and the tactical indexes such as scene immersion degree and target priority judgment accuracy are innovatively included in the evaluation range, the standardization processing and professional model analysis are carried out, the upgrade from “single result evaluation” to “full link quantitative evaluation” is realized; combined with the clear threshold comparison logic, the four types of “no short board”, “technical short board”, “tactical short board” and “comprehensive short board” can be quickly judged, the precise data support for subsequent training improvement is provided, and the one-sided and subjective problems of the traditional evaluation are avoided.

[0016] 3. In the embodiment of the present application, the personalized training adaptation scheme and the dynamic target point adjustment are provided, and the training efficiency and the pertinence are significantly improved. The different training schemes are designed for different short board types, such as “technical foundation strengthening two-stage scheme” and “ladder type comprehensive improvement scheme”, and the virtual target point motion track is dynamically adjusted based on the short board type, that is, the trajectory difficulty is improved for the person without short board to expand the ability boundary, the trajectory complexity is reduced for the person with technical short board and the feedback guidance is strengthened, the personalized training of “one person one strategy” is realized; the dynamic adaptation mode can avoid the disadvantages of the traditional fixed training mode that the strong person has no improvement and the weak person is easily frustrated, and the actual application verification shows that the shooting personnel index standard time can be shortened by more than 30% on average.

[0017] 4、The embodiment of the present application adopts industrial-grade hardware such as Intel Xeon Gold 6338 processor and 128 GB memory, and is matched with a Linux operating system and real-time data processing software to ensure that the multi-module cooperative response speed is less than or equal to 100 ms, and data acquisition and processing have no delay; meanwhile, the deployment of high-speed light-sensitive cameras, ultra-high-speed light-sensitive arrays and other equipment can accurately capture the trajectory of the projectile and the details of the shooting action, provide high-reliability data for training evaluation, avoid data loss and excessive errors caused by insufficient hardware performance of the traditional system, and ensure the stability and controllability of the training process. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative labor on the basis of these drawings.

[0019] Figure 1 It is a schematic diagram of the system module connection of the present application. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0021] The embodiment of the present application comprises Figure 1 As shown, the target positioning evaluation system based on intelligent light tracking comprises a system construction and hardware deployment module, a virtual-real target cooperative positioning module, a shooting data acquisition and index calculation module, an evaluation report generation module and a virtual-real target optimization module.

[0022] The virtual-real target cooperative positioning module is connected with the system construction and hardware deployment module and the shooting data acquisition and index calculation module respectively, and the evaluation report generation module is connected with the shooting data acquisition and index calculation module and the virtual-real target optimization module respectively.

[0023] The system construction and hardware deployment module is used to complete the deployment of physical target plates, sensing devices and control modules in the target shooting field, so as to build an industrial-grade control module of the target shooting field and form a complete hardware architecture.

[0024] In a specific embodiment, the industrial control module of the built target shooting range site forms a complete hardware architecture, and the specific building process is as follows: 4 micro light sensing positioning beacons are uniformly embedded on the surface of the physical target plate in the target shooting range site, the micro light sensing positioning beacons adopt fluorescent marking material, and a high-precision inertial navigation sensor is built-in, 2 ultra-short focus projectors are deployed around the target shooting range site, 2 binocular vision cameras are installed at the top of the target shooting range site, a high-speed light sensing camera is deployed 5-8 m in front of the physical target plate in the target shooting range site, equipped with a narrowband filter, 4 laser ranging sensors are deployed at the edge of the target shooting range site, an industrial server is used as the control core, an Intel Xeon Gold 6338 processor, 128 GB DDR4 memory, and a 2 TB SSD solid state disk are configured, a Linux operating system and real-time data processing software are installed, and the control core is used for receiving data of each module and realizing collaborative control.

[0025] The virtual-real target point cooperative positioning module is used to obtain three-dimensional coordinates of each physical target point in the target shooting range site after the control module of the target shooting range site is started, and then the virtual-real target points in the target shooting range site are synchronized in space.

[0026] In a specific embodiment, the virtual-real target points in the target shooting range site are synchronized in space, and the specific synchronization process is as follows: after the control module is started, the target shooting range site first receives position and attitude data of the 4 micro light sensing positioning beacons on the physical target plate transmitted in real time through the LoRa protocol, and simultaneously triggers the 2 binocular vision cameras at the top to capture physical target plate images, extracts beacon fluorescent feature points, inputs the two types of data into Kalman filtering algorithm for fusion processing, and outputs accurate three-dimensional coordinates of each physical target point at a positioning frequency of ≥100 Hz; then the control module generates virtual target point motion trajectory data according to the shooting scene requirements, superimposes the virtual target point image to the corresponding area of the physical scene through the 2 ultra-short focus projectors around the site, the binocular vision camera synchronously captures the virtual target point image and extracts the contour feature, and adopts a template matching algorithm to preliminarily determine the coordinates of the virtual target point in the physical space; finally, the 4 laser ranging sensors at the edge of the site are started, the actual distance of the corresponding physical position of the virtual target point is measured, and the preliminary coordinates are compared, so that the position consistency error of the virtual-real target points is controlled to be ≤1 mm, and the space synchronization of the virtual-real target points is completed.

[0027] It should be noted that during the specific fusion process, the two types of original data are first preprocessed: the miniature light-sensing positioning beacon transmits position (X1, Y1, Z1) and attitude (roll angle a1, pitch angle b1, yaw angle g1) data at a sampling frequency of 200 Hz through the LoRa protocol, and the industrial control module performs denoising processing (adopts sliding average filtering to eliminate instantaneous pulse interference, and the window size is set to 5 sampling points) to obtain beacon preprocessed data; at the same time, the top two binocular vision cameras capture physical target plate images at a frame rate of 120 fps, and through image graying, threshold segmentation, and setting the fluorescence feature point gray threshold to 200-255, four beacon fluorescence feature points are extracted, combined with the camera intrinsic parameters (focal length f, principal point coordinates (u0, v0)) and extrinsic parameters (rotation matrix R, translation vector T), the beacon visual positioning data (X2, Y2, Z2) are calculated through the triangulation method, and the image acquisition timestamp is output synchronously. Then, the two types of data are input into the Kalman filter algorithm: the algorithm first takes the beacon preprocessed data as the input in the prediction stage, based on the three-dimensional coordinates of the physical target point at the previous moment and the motion model (assuming that the target point is static, and the motion speed is 0), the target point coordinates (X_pred, Y_pred, Z_pred) at the current moment and the prediction error covariance matrix P_pred are predicted; in the update stage, the visual positioning data are taken as the observation value, the observation residual (X2-X_pred, Y2-Y_pred, Z2-Z_pred) is calculated, combined with the observation error covariance matrix R_obs (preset as a diagonal matrix based on the camera measurement accuracy, the diagonal elements are 0.5², 0.5², 0.5²), the Kalman gain K is solved, the predicted coordinates are corrected through K, the optimal target point coordinates (X_opt, Y_opt, Z_opt) at the current moment are obtained, and the error covariance matrix P_opt is updated. In order to meet the positioning frequency requirement of ≥100 Hz, the algorithm adopts an asynchronous fusion mechanism of "high-frequency beacon data dominated prediction and low-frequency visual data triggered update" - every 2 times of receiving beacon data performs 1 time of prediction, every 1 time of receiving visual data performs 1 time of update, and the optimal coordinates are output immediately after the update, and the coordinates are output based on the prediction results when the update is not triggered, finally the positioning frequency is stably maintained at 100-120 Hz, and the three-dimensional coordinate error of the output physical target point is controlled within ≤0.5 mm, which lays a high-precision foundation for subsequent virtual-real target point synchronization.

[0028] Shooting data acquisition and index calculation module: used for analyzing the technical indexes and tactical indexes corresponding to each shooter in the target range shooting site when shooting in the target range shooting site.

[0029] In a specific embodiment, the analysis target shooting range of the target shooting range of each shooter corresponding to the technical index, the specific analysis process is as follows: obtaining the virtual and real target hitting efficiency value, the bullet trajectory coincidence degree and the firing time sequence deviation rate of the target shooting range of each shooter corresponding to the virtual and real target hitting efficiency value, the bullet trajectory coincidence degree and the firing time sequence deviation rate of the target shooting range of each shooter corresponding to the virtual and real target hitting efficiency value, the bullet trajectory coincidence degree and the firing time sequence deviation rate are standardized, and are substituted into the technical index analysis model, to obtain the technical index of the target shooting range of each shooter corresponding to the target shooting range.

[0030] It should be noted that the virtual and real hitting rate corresponds to the subsequent virtual and real target hitting efficiency value original data: the total shooting times (Ntotal) of the training personnel, the physical target hitting times (Nphysical) and the virtual target hitting times (Nvirtual) are counted by high-speed light sensing camera, according to the formula "virtual and real hitting rate = (Nphysical × 1.2 + Nvirtual × 1.0) / Ntotal × 100%", the physical target weight is 1.2, because the physical shooting is more difficult than the virtual target.

[0031] The bullet trajectory consistency corresponds to the subsequent bullet trajectory coincidence degree original data: the bullet impact point coordinates of 10 continuous bullets on the 10m monitoring plane are captured by high-speed light sensing array, the distance between each bullet impact point and the center of 10 bullet impact points is calculated, the maximum value (Dmax) is taken, and the formula "bullet trajectory consistency = (5cm-Dmax) / 5cm × 100%" is calculated, the preset 5cm is the base radius, and Dmax> 5cm is taken as 0%.

[0032] The firing time stability corresponds to the subsequent firing time sequence deviation rate original data: the firing time (Tfire) of each time is recorded by high-speed light sensing camera, the optimal firing time (Topt) predicted by the system based on the target point motion trajectory is combined, the deviation absolute value mean (△Tmean) of 10 times of firing is calculated, the formula "firing time stability = (400ms-△Tmean) / 400ms × 100%" is calculated, the preset 400ms is the optimal time window, and △Tmean> 400ms is taken as 0%.

[0033] The standardization processing formula is: in order to eliminate the dimension difference of parameters, three kinds of original parameters are mapped to 0-100 interval, wherein the virtual and real hitting rate directly retains the calculation result (0-100 points); the bullet trajectory consistency and the firing time stability are taken as 0 points if the original calculation value is negative, that is, "standardized value = max (original calculation value, 0)".

[0034] The technical index analysis model formula: the three kinds of standardized parameters (virtual and real target hitting efficiency value S1, bullet trajectory coincidence degree S2, firing time sequence deviation rate S3) are substituted into the weighted model, and the formula "technical index total score = S1 × 40% + S2 × 30% + S3 × 30%" is calculated (the weight is based on the influence degree of parameter on shooting technology, and the hitting efficiency accounts for the highest proportion), and finally the technical index total score of 0-100 points is output.

[0035] In a specific embodiment, the analysis target shooting range of the target shooting range of each shooter corresponding to the tactical index, the specific analysis process is as follows: obtaining the scene immersion degree, target priority judgment accuracy and ballistic stability coefficient corresponding to each shooter of the target shooting range of the target shooting range, and the scene immersion degree, target priority judgment accuracy and ballistic stability coefficient corresponding to each shooter of the target shooting range are standardized, at the same time, the tactical index analysis model is obtained by substituting into the tactical index analysis model.

[0036] It should be noted that the original parameter calculation formula: scene immersion degree: through the wearable physiological sensor to collect the training personnel heart rate variability coefficient (HRV, unit ms) and respiratory frequency stability (RFS, unit times / minute), combined with the tactical action specification degree (A rule, that is, the percentage of standard action time length to total training time length) captured by binocular vision camera, according to the formula "scene immersion degree= (HRV score x 30% + RFS score x 30% + A rule x 40%) x 100". Among them, HRV≥50ms gets 1 point, 30-49ms gets 0.7 points, <30ms gets 0.3 points; RFS≤5 times / minute gets 1 point, 6-10 times / minute gets 0.7 points, >10 times / minute gets 0.3 points (for example: HRV=45ms, RFS=4 times / minute, A rule=80%, scene immersion degree=(0.7x30%+1x30%+0.8x40%)x100=81 points).

[0037] Target priority judgment accuracy: through the binocular vision camera and high-speed light sensitive camera to record the high threat target hit times (N high) in multi-target scene, high threat target total times (N high total), low / no threat target miss times (N miss), according to the formula "target priority judgment accuracy=N high / (N high total+N miss) x 100%" (for example: N high=15 times, N high total=20 times, N miss=3 times, accuracy=15 / (20+3) x 100%≈65.2%).

[0038] Ballistic stability coefficient: through the high-speed light sensitive array to collect the ballistic parameter fluctuation amplitude (F common, such as the mean value of inclination angle and yaw angle fluctuation) of 10 continuous shots under normal environment and the fluctuation amplitude (F complex) under complex environment (sand / dust / rain / mist), according to the formula "ballistic stability coefficient=F complex / F common x 100%" (the closer the value is to 100%, the stronger the stability is, for example: F common=2%, F complex=2.5%, coefficient=2.5 / 2 x 100%=125%).

[0039] Standardized processing formula: In order to map to the 0-100 interval, the scene immersion, target priority judgment accuracy directly retains the original calculation result (result > 100 points, <0 points, 0 points); the coefficient of ballistic stability is an inverse index, which is processed according to the formula "standardized value = max(100-(coefficient-100) x 1, 0)" (for example: coefficient = 125%, standardized value = 100-(125-100) x 1 = 75 points; coefficient > 200% takes 0 points).

[0040] Tactical index analysis model formula: the three types of standardized parameters (scene immersion S4, target priority judgment accuracy S5, and ballistic stability coefficient standardized value S6) are substituted into the weighted model, and the formula "tactical index total score = S4 x 30% + S5 x 40% + S6 x 30%" is calculated (the weight is based on the importance of tactical ability, and the target decision occupies the highest proportion), and the final output is 0-100 points of tactical index total score.

[0041] Evaluation report generation module: used to analyze the short board type of each shooter according to the technical index and tactical index corresponding to each shooter, and then analyze the targeted training improvement scheme corresponding to each shooter.

[0042] In a specific embodiment, the analysis of the short board type of each shooter is as follows: A1, the technical index and tactical index corresponding to each shooter in the target shooting range are compared with the set technical index threshold and tactical index threshold.

[0043] A2, if the technical index and tactical index corresponding to a shooter are greater than or equal to the set technical index threshold and tactical index threshold, it means that the shooter has no shooting short board.

[0044] A3, if the technical index corresponding to a shooter is greater than or equal to the set technical index threshold, and the tactical index corresponding to the shooter is less than the tactical index threshold, it means that the shooter has a shooting technology short board.

[0045] A4, if the technical index corresponding to a shooter is less than the set technical index threshold, and the tactical index corresponding to the shooter is greater than or equal to the tactical index threshold, it means that the shooter has a shooting tactical short board.

[0046] A5, if the technical index and tactical index corresponding to a shooter are less than the set technical index threshold and tactical index threshold, it means that the shooter has a comprehensive shooting short board.

[0047] In a specific embodiment, the analysis of the corresponding targeted training improvement scheme for each shooter is as follows: B1, if a shooter has a "shooting technique short board", execute the "shooting technique foundation strengthening two-stage training scheme".

[0048] It should be noted that the "shooting technique foundation strengthening two-stage training scheme" is: training adopts a "static consolidation + dynamic strengthening" two-stage mode: the first stage (1 week, 1.5 hours a day) focuses on static technology training, uses physical target board and high-speed optical camera to carry out gun holding stability training (uses gun fixed support for assistance, 10m distance static target continuous 20 shots impact point dispersion radius needs ≤5cm, through high-speed optical camera real-time feedback impact point deviation and adjust posture), aiming calibration training (ultra-short focus projector projects fixed virtual target point, training personnel need to control the deviation of aiming point and target center to ≤2mm, binocular vision camera captures aiming action and corrects deviation); the second stage (1 week, 1.5 hours a day) is upgraded to dynamic technology training, projector sets 0.5-1m / s moving virtual target point, combined with laser ranging sensor to capture target position in real time, training personnel need to adjust aiming opportunity and firing rhythm according to target motion trend.

[0049] B2, if a shooter has a "shooting technique short board", execute the "real combat tactical scene adaptation and coordination ability improvement training scheme".

[0050] It should be noted that the "real combat tactical scene adaptation and coordination ability improvement training scheme" is: training is carried out around "scene simulation + tactical coordination": the first stage (1 week, 2 hours a day) carries out single person tactical scene training, through multispectral environment sensor to simulate complex environment such as sand dust, rain and fog (visibility is reduced to 50m in sand dust environment, humidity is increased to 80% in rain and fog environment), ultra-short focus projector constructs multi-target mixed scene (including high threat virtual terrorist, low threat follower and hostage), training personnel need to complete target priority judgment and shooting in complex environment, wearable physiological sensor collects heart rate and respiration data, ensures that scene immersion degree is improved from <60 minutes to ≥70 minutes, target priority judgment accuracy is improved from <60 minutes to ≥70 minutes; the second stage (1 week, 2 hours a day) carries out 2-3 person team coordination training.

[0051] B3, if a shooter has a "shooting technique short board", execute the "technology bottoming-tactical fusion-comprehensive examination ladder type improvement training scheme".

[0052] It should be noted that the "technology bottoming-tactical fusion-comprehensive assessment ladder training scheme" is a three-stage ladder training of "technology bottoming+tactical fusion+comprehensive assessment": the first stage (2 weeks, 2 hours a day) focuses on short board filling, completely refers to the "shooting technology short board" training scheme, and ensures that the technical index is improved from <60 points to ≥70 points through static and dynamic technical training. This stage does not add complex tactical elements, only sets a single target point and a regular environment to avoid technical and tactical problems from interfering with each other; the second stage (2 weeks, 2 hours a day) carries out technology-tactical fusion training, gradually adds complex environment, multi-target point and other tactical elements on the basis of technology training, such as superimposing rain and fog environment in dynamic target point training, and integrating team cover action in gun stability training. The edge AI module adjusts the difficulty of the tactical scene in real time according to the technical index, ensures that the technical index does not fall back, and at the same time, the tactical index is improved from <60 points to ≥70 points; the third stage (1 week, 2 hours a day) carries out comprehensive assessment training, and builds a CQB room scene (including indoor corners and obstacle cover) consistent with actual combat.

[0053] Virtual and real target point optimization module: used for analyzing and adjusting the virtual target point motion trajectory of each shooter according to the corresponding short board type of each shooter.

[0054] In a specific embodiment, the analysis and adjustment of the virtual target point motion trajectory of each shooter is as follows: C1, if a shooter has "no shooting short board", when the shooter is training in the target range shooting training site, a "dynamic variable speed + random variable direction" trajectory is generated in the target range shooting training site: the initial speed of the virtual target point is set to 1-1.5 m / s, the speed is randomly switched every 30 seconds, and a sudden change of ±15° in the X / Y axis direction is added. The trajectory is interspersed with "multi-target point superposition" scenes, 2-3 virtual target points are projected at the same time, and the target point appears in the full area of the target range.

[0055] C2, if a shooter has "shooting technical short board", when the shooter is training in the target range shooting training site, a "uniform speed straight line" basic trajectory is used in the target range shooting training site, and the virtual target point motion speed is reduced to 0.3-0.5 m / s; at the same time, the size of the virtual target point is enlarged by the ultra-short focus projector, and a red aiming reference point is marked in the center of the target point; the trajectory coverage range is controlled in the 5-8㎡ area of the target range center.

[0056] C3, if a shooter has a "shooting technology short board", when the shooter is training in the target range shooting training site, the virtual target point motion trajectory of "single fixed path" is set in the target range shooting training site, that is, the target point moves along the preset straight line at a constant speed of 0.5 m / s, the trajectory repetition rate is 100%; at the same time, the super-high-speed light sensing array arranged on the side of the target range captures the bullet trajectory in real time, converts the bullet trajectory coincidence degree data into a visual trajectory diagram, and superimposes it on the virtual target point trajectory; every 10 shots are completed in the training, the control module pauses the training and generates a ballistic deviation report.

[0057] C4, if a shooter has a "shooting technology short board", when the shooter is training in the target range shooting training site, the virtual target point motion trajectory is marked with "optimal shooting window" in the target range shooting training site, which is displayed in yellow highlight segment, the time length is 400 ms, and the "uniform speed + slow acceleration" mode is adopted, and the virtual target point motion speed is set to 0.5-0.8 m / s.

[0058] The above content is only an example and description of the concept of the present application, and those skilled in the art can make various modifications or supplements to the described specific embodiments or use similar ways to replace, as long as the modifications or supplements do not deviate from the concept of the present application or exceed the scope defined in the specification, and should belong to the protection scope of the present application.

Claims

1. A target positioning evaluation system based on intelligent light sensing tracking, characterized in that, The system comprises: a system construction and hardware deployment module: used for deploying physical target plates, sensing devices and control modules in a target shooting range, thereby constructing an industrial-level control module of the target shooting range and forming a complete hardware architecture; a virtual-real target point cooperative positioning module: used for obtaining three-dimensional coordinates of each physical target point in the target shooting range after the control module of the target shooting range is started, and then synchronizing the virtual and real target points in the target shooting range in space; a shooting data acquisition and index calculation module: used for analyzing technical indexes and tactical indexes corresponding to each shooter in the target shooting range when shooting in the target shooting range; an evaluation report generation module: used for analyzing the short board types corresponding to each shooter according to the technical indexes and tactical indexes corresponding to each shooter, and then analyzing the targeted training improvement scheme corresponding to each shooter; a virtual-real target point optimization module: used for analyzing and adjusting the virtual target point motion trajectory corresponding to each shooter according to the short board types corresponding to each shooter.

2. The smart light-sensing tracking based target positioning evaluation system according to claim 1, wherein, The industrial-level control module of the target shooting range is constructed to form a complete hardware architecture, and the construction process is as follows: Four micro light sensing positioning beacons are uniformly embedded on the surface of the physical target plate in the target shooting range, the micro light sensing positioning beacons are made of fluorescent marking material and are internally provided with high-precision inertial navigation sensors, two ultra-short focus projectors are arranged around the target shooting range, two binocular vision cameras are installed at the top of the target shooting range, a high-speed light sensing camera is arranged 5-8 m in front of the physical target plate in the target shooting range and is equipped with a narrowband filter, four laser ranging sensors are arranged at the edges of the target shooting range, an industrial-level server is used as a control core, an Intel Xeon Gold 6338 processor, 128 GB DDR4 memory and a 2 TB SSD solid state disk are configured, a Linux operating system and real-time data processing software are installed, and the control core is used for receiving data of each module and realizing cooperative control.

3. The smart light sensing tracking based target positioning evaluation system according to claim 2, wherein, The virtual and real target points in the target shooting range are synchronized in space, and the synchronization process is as follows: After the control module is started, the target shooting range first receives position and attitude data of the four micro light sensing positioning beacons on the physical target plate transmitted in real time through the LoRa protocol, and simultaneously triggers the two binocular vision cameras at the top to capture physical target plate images and extract beacon fluorescent feature points, inputs the two types of data into a Kalman filtering algorithm for fusion processing, and outputs accurate three-dimensional coordinates of each physical target point at a positioning frequency of ≥100 Hz; then the control module generates virtual target point motion trajectory data according to the shooting scene requirements, superimposes virtual target point images onto the corresponding area of the physical scene through the two ultra-short focus projectors around the field, synchronously captures virtual target point images and extracts contour features through the binocular vision cameras, and preliminarily determines the coordinates of the virtual target point in the physical space through a template matching algorithm; finally, the four laser ranging sensors at the edges of the field are started to measure the actual distance of the corresponding physical position of the virtual target point, and the preliminary coordinates are compared to finally control the position consistency error of the virtual and real target points within ≤1 mm, and the space synchronization of the virtual and real target points is completed.

4. The smart light sensing tracking based target positioning evaluation system of claim 3, wherein, The technical indexes corresponding to each shooter of the target shooting range shooting site are analyzed, and the specific analysis process is as follows: The virtual and real hit rates, ballistic consistency and firing timing stability corresponding to each shooter of the target shooting range shooting site are obtained, and the virtual and real target hit efficiency values, projectile trajectory coincidence degree and firing time sequence deviation rate corresponding to each shooter of the target shooting range shooting site are standardized, and are substituted into the technical index analysis model to obtain the technical indexes corresponding to each shooter of the target shooting range shooting site.

5. The smart light sensing tracking based target positioning evaluation system according to claim 4, wherein, The tactical indexes corresponding to each shooter of the target shooting range shooting site are analyzed, and the specific analysis process is as follows: The scene immersion degree, target priority judgment accuracy and ballistic stability coefficient corresponding to each shooter of the target shooting range shooting site are obtained, and the scene immersion degree, target priority judgment accuracy and ballistic stability coefficient corresponding to each shooter of the target shooting range shooting site are standardized, and are substituted into the tactical index analysis model to obtain the tactical indexes corresponding to each shooter of the target shooting range shooting site. 6.The target positioning evaluation system based on intelligent light sensing tracking of claim 5, wherein, The short board type corresponding to each shooter is analyzed, and the specific analysis process is as follows: A1, the technical indexes and tactical indexes corresponding to each shooter of the target shooting range shooting site are compared with the set technical index threshold and tactical index threshold respectively; A2, if the technical indexes and tactical indexes corresponding to a shooter are greater than or equal to the set technical index threshold and tactical index threshold, it means that the shooter has no shooting short board; A3, if the technical indexes corresponding to a shooter are greater than or equal to the set technical index threshold, and the tactical indexes corresponding to the shooter are less than the tactical index threshold, it means that the shooter has a shooting technical short board; A4, if the technical indexes corresponding to a shooter are less than the set technical index threshold, and the tactical indexes corresponding to the shooter are greater than or equal to the tactical index threshold, it means that the shooter has a shooting tactical short board; A5, if the technical indexes and tactical indexes corresponding to a shooter are less than the set technical index threshold and tactical index threshold, it means that the shooter has a comprehensive shooting short board.

7. The smart light-sensing tracking based target positioning evaluation system according to claim 6, wherein, The specific analysis process of analyzing the corresponding targeted training improvement scheme of each shooter is as follows: B1, if a shooter has a shooting technical short board, execute the shooting technical foundation strengthening two-stage training scheme; B2, if a shooter has a shooting technical short board, execute the actual combat tactical scene adaptation and coordination ability improvement training scheme; B3, if a shooter has a shooting technical short board, execute the technical bottoming-tactical fusion-comprehensive examination ladder type improvement training scheme.

8. The smart light-sensing tracking based target positioning evaluation system according to claim 7, wherein, The specific analysis process of analyzing the adjustment of the virtual target point motion trajectory corresponding to each shooter is as follows: C1, if a shooter has no shooting weaknesses, when the shooter is training in the target range shooting training site, the target range shooting training site generates a "dynamic variable speed + random variable direction" trajectory: the initial speed of the virtual target point is set to 1-1.5 m / s, the speed is randomly switched every 30 seconds, and a burst direction change of ±15° is added in the X / Y axis direction; The trajectory is interspersed with "multiple target point superposition" scenarios, 2-3 virtual target points are projected at the same time, and the target point appears in the full area of the target range; C2, if a shooter has a "shooting skill weakness", when the shooter is training in the target range shooting training site, the target range shooting training site uses a "constant speed straight line" basic trajectory, and reduces the virtual target point movement speed to 0.3-0.5 m / s; At the same time, the size of the virtual target point is enlarged by the ultra-short focus projector, and a red aiming reference point is marked in the center of the target point; The trajectory coverage range is controlled in the 5-8㎡ area of the target center; C3, if a shooter has a "shooting skill weakness", when the shooter is training in the target range shooting training site, the target range shooting training site sets a "single fixed path" virtual target point motion trajectory, that is, the target point moves at a constant speed of 0.5 m / s along the preset straight line, and the trajectory repetition rate is 100%; At the same time, the ultra-high-speed light sensing array deployed on the side of the target range captures the projectile trajectory in real time, converts the projectile trajectory coincidence degree data into a visual trajectory graph, and superimposes it on the virtual target point trajectory; Every 10 shots completed in training, the control module pauses the training and generates a ballistic deviation report; C4, if a shooter has a "shooting skill weakness", when the shooter is training in the target range shooting training site, the target range shooting training site marks "optimal shooting window" on the virtual target point motion trajectory, displayed in yellow highlight segment, 400ms in length, using "uniform speed + slow acceleration" mode, the virtual target point movement speed is set to 0.5-0.8 m / s.

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