A shooting parameter acquisition system and acquisition method

Abstract

The application discloses a shooting parameter acquisition system and method, and relates to the technical field of data acquisition, wherein the acquisition system comprises a first RTK module, a second RTK module and a processing module; the first RTK module is located at the right shoulder position of a shooter during shooting, and is used for real-time calculation of a first three-dimensional coordinate of the right shoulder position of the shooter; alternatively, the first RTK module is arranged at the rear end of a tubular shooting device, and is used for real-time calculation of a first three-dimensional coordinate of the rear end of the tubular shooting device; the second RTK module is arranged at the front end of the tubular shooting device, and is used for real-time calculation of a second three-dimensional coordinate of the front end of the tubular shooting device; and the processing module is used for calculation of a shooting parameter of the tubular shooting device based on the first three-dimensional coordinate and the second three-dimensional coordinate, wherein the shooting parameter comprises a shooting direction and a shooting angle. The application can improve the accuracy and real-time performance of shooting parameter acquisition.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of data acquisition, in particular to a shooting parameter acquisition system and method. BACKGROUND

[0002] In the training of a confrontation type sports project using a tubular shooting device, the shooting action can be simulated by a software digital twin through acquisition of the shooting direction and shooting angle, and then the posture data of the shooter can be mapped to construct an immersive virtual training scene. The corresponding relationship between the shooter and the target can be intelligently matched by combining the shooting direction, shooting angle and firing time, and the hit position can be accurately calculated to provide quantitative data support for training performance evaluation.

[0003] However, the current shooting direction and shooting angle acquisition technology has limitations in accuracy and real-time performance, which is difficult to meet the requirements of confrontation type sports project training in terms of accuracy and real-time performance. SUMMARY

[0004] The main purpose of the present application is to provide a shooting parameter acquisition system and method, aiming to improve the accuracy and real-time performance of shooting parameter (i.e. shooting direction and shooting angle) acquisition.

[0005] To achieve the above purpose, the present application provides a shooting parameter acquisition system, comprising: a first real-time kinematic (RTK) module, which is located at the right shoulder position of the shooter during shooting, and is used to calculate the first three-dimensional coordinates of the right shoulder position of the shooter in real time; or, is arranged at the rear end of the tubular shooting device, and is used to calculate the first three-dimensional coordinates of the rear end of the tubular shooting device in real time; a second RTK module, which is arranged at the front end of the tubular shooting device, and is used to calculate the second three-dimensional coordinates of the front end of the tubular shooting device in real time; and a processing module, which is used to calculate the shooting parameters of the tubular shooting device based on the first three-dimensional coordinates and the second three-dimensional coordinates, the shooting parameters including the shooting direction and the shooting angle.

[0006] In a possible implementation, the shooter wears a protective device during shooting, and the protective device includes a right shoulder position; if the first RTK module is used to calculate the first three-dimensional coordinates of the right shoulder position of the shooter in real time, the first RTK module is arranged at the right shoulder position of the protective device.

[0007] In a possible implementation, the processing module is arranged at the protective device; if the first RTK module is arranged at the right shoulder position of the protective device, the first RTK module is connected to the processing module by wire, and the second RTK module is connected to the processing module wirelessly.

[0008] In a possible implementation, the tubular shooting device comprises a trigger, and the acquisition system further comprises a trigger state sensing device configured to send a corresponding time stamp to the processing module when it is sensed that the trigger is triggered; and the processing module is specifically configured to calculate the shooting parameter of the tubular shooting device based on the first three-dimensional coordinate and the second three-dimensional coordinate corresponding to the time stamp.

[0009] In a possible implementation, the trigger state sensing device is further configured to acquire, from the second RTK module, a time stamp corresponding to the second three-dimensional coordinate currently calculated by the second RTK module when it is sensed that the trigger is triggered.

[0010] In a possible implementation, the trigger state sensing device is mechanically connected to the trigger, the trigger state sensing device is wiredly connected to the second RTK module, and the trigger state sensing device is wirelessly connected to the processing module.

[0011] In a possible implementation, when the length of the tubular shooting device is greater than or equal to a preset value, the first RTK module is located at the right shoulder position of the shooter during shooting, and is configured to calculate the first three-dimensional coordinate of the right shoulder position of the shooter in real time; or the first RTK module is arranged at the rear end of the tubular shooting device, and is configured to calculate the first three-dimensional coordinate of the rear end of the tubular shooting device in real time.

[0012] In a possible implementation, when the length of the tubular shooting device is less than the preset value, the first RTK module is located at the right shoulder position of the shooter during shooting, and is configured to calculate the first three-dimensional coordinate of the right shoulder position of the shooter in real time.

[0013] In a possible implementation, the three-dimensional coordinate is a coordinate in an XYZ coordinate system, and the processing module is specifically configured to calculate the shooting direction of the tubular shooting device based on the included angle between the projection of the line connecting the first three-dimensional coordinate and the second three-dimensional coordinate in an XY coordinate system and the X axis, and calculate the shooting angle of the tubular shooting device based on the included angle between the line connecting the first three-dimensional coordinate and the second three-dimensional coordinate and the projection of the line in the XY coordinate system.

[0014] The application also provides a shooting parameter acquisition method, comprising: acquiring a first three-dimensional coordinate solved by a first RTK module in real time, the first RTK module being located at a right shoulder position of a shooter during shooting and used to solve the first three-dimensional coordinate of the right shoulder position of the shooter in real time; or the first RTK module being arranged at a rear end of a tubular shooting device and used to solve a first three-dimensional coordinate of the rear end of the tubular shooting device in real time; acquiring a second three-dimensional coordinate solved by a second RTK module in real time, the second RTK module being arranged at a front end of the tubular shooting device and used to solve a second three-dimensional coordinate of the front end of the tubular shooting device in real time; and solving a shooting parameter of the tubular shooting device based on the first three-dimensional coordinate and the second three-dimensional coordinate, the shooting parameter comprising a shooting direction and a shooting angle.

[0015] In a possible implementation, the tubular shooting device comprises a trigger, and the solving of the shooting parameter of the tubular shooting device based on the first three-dimensional coordinate and the second three-dimensional coordinate comprises: solving the shooting parameter of the tubular shooting device based on the first three-dimensional coordinate and the second three-dimensional coordinate corresponding to the trigger being triggered.

[0016] Based on the above acquisition system and acquisition method, when the shooter is shooting, the three-dimensional coordinate of the right shoulder position of the shooter or the three-dimensional coordinate of the rear end of the tubular shooting device can be solved by the first RTK module in real time, the three-dimensional coordinate of the front end of the tubular shooting device can be solved by the second RTK module in real time, and the shooting parameter can be solved by the processing module in real time based on the two coordinates. Since the RTK module solves the positioning error in real time by receiving satellite signals and combining the real-time differential correction data sent by the reference station, the three-dimensional coordinate accuracy can be controlled to be in the centimeter level; and the RTK module can realize real-time coordinate solving, can quickly respond to the action change of the shooter or the position movement of the device, and thus can improve the accuracy and real-time performance of the shooting parameter acquisition, meet the strict requirements on real-time performance and accuracy in the confrontation training, and provide a more reliable data basis for the software digital twin simulation of the shooting action. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 A structural block diagram of a shooting parameter acquisition system provided by an embodiment of the application is provided.

[0018] Figure 2 A structural block diagram of another shooting parameter acquisition system provided by an embodiment of the application is provided.

[0019] Figure 3 A schematic diagram of a shooting direction and a shooting angle provided by an embodiment of the application is provided.

[0020] Figure 4 An application scenario diagram of a shooting parameter acquisition system provided by an embodiment of the application is provided.

[0021] Figure 5 A flowchart of a shooting parameter acquisition method provided by an embodiment of the application is shown in the figure.

[0022] In the figure, 110, first RTK module; 120, second RTK module; 130, processing module; 140, trigger state sensing device; 150, tubular shooting device; 160, protective equipment; 170, performance device.

[0023] The implementation, functional features and advantages of the application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the application.

[0025] It should be noted that all directionality indications (such as up, down, left, right, front, back, etc.) in the embodiments of the application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directionality indications also change accordingly.

[0026] In addition, if the description of “first”, “second” and the like is involved in the embodiments of the application, the description of “first”, “second” and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by “first”, “second” can explicitly or implicitly include at least one of the features. In addition, the meaning of “and / or” appearing throughout the text includes three parallel solutions. Taking “A and / or B” as an example, it includes A solution, or B solution, or A and B solutions. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the protection scope required by the application.

[0027] In the training of the confrontation type sports project using the tubular shooting device, the shooting direction and the shooting angle can be acquired to realize the software digital twin simulation of the shooting action, and then the posture data of the shooter is mapped to construct an immersive virtual training scene. In addition, the corresponding relationship between the shooter and the target can be intelligently matched according to the shooting direction, the shooting angle and the firing time, the hit position is accurately calculated, and the quantitative data support is provided for the training result evaluation.

[0028] The current technology mainly collects the shooting direction and the shooting angle in the following two ways:

[0029] One way is to add a laser simulation firing system on the tubular shooting device, and install a laser receiving and decoding system on the counter equipment to realize the calculation of the shooting direction, the shooting angle and the hit position. However, this way can only establish an effective correspondence when the laser hits the target, which leads to the fact that the shooting direction and the shooting angle cannot be known before hitting, and thus the software digital twin simulation of the shooting action cannot be realized before hitting.

[0030] The second way is to add an inertial measurement unit (IMU) sensor on the tubular shooting device to collect the shooting posture, the shooting direction and the shooting angle of the shooter. However, the physical precision of the IMU sensor is easily affected by the unevenness of the geomagnetism, thereby causing the collection deviation of the shooting direction and the shooting angle. Moreover, the magnetic field interference caused by the ironware around the IMU sensor and the charged body such as the battery can further reduce the collection precision of the shooting direction and the shooting angle, causing a large collection error (for example, the angle deviation can be as high as 8°), which seriously affects the simulation effect of the digital twin.

[0031] Based on this, the application provides a shooting parameter collection system. Based on the collection system, when the shooter shoots, the three-dimensional coordinates of the right shoulder position of the shooter or the three-dimensional coordinates of the rear end of the tubular shooting device can be calculated in real time by a first RTK module, the three-dimensional coordinates of the front end of the tubular shooting device can be calculated in real time by a second RTK module, and the shooting parameters (i.e. the shooting direction and the shooting angle) can be obtained by a processing module by real-time calculation of the two coordinates. Since the RTK module is used to receive satellite signals and combine the real-time differential correction data sent by the reference station to correct the positioning error in real time, the three-dimensional coordinate precision can be controlled within centimeters; and the RTK module can realize real-time coordinate calculation, can quickly respond to the action changes of the shooter or the position changes of the device, and thus can improve the accuracy and real-time performance of the shooting parameter collection, meet the strict requirements of real-time performance and accuracy in counter training, and provide more reliable data basis for the software digital twin simulation of the shooting action.

[0032] The application scheme can be applied to counter project training, sports competition, education and popularization, shooting system research and development, shooting interactive games and other scenes.

[0033] Taking the application in the confrontation project training scene as an example, the shooting angle and the shooting direction can be collected in the confrontation shooting training according to the scheme, so as to construct a digital twin simulation through the collected shooting angle and the shooting direction, map the action of the shooter in real time, assist the coach in evaluating the technical action normativity, and optimize the training scheme.

[0034] Taking the application in the sports competition scene as an example, the shooting angle and the shooting direction can be collected in the shooting sports competition according to the scheme, so as to generate a dynamic motion trajectory through the collected shooting angle and the shooting direction, and then quickly and accurately determine the hit rate at different positions, and customize a special training scheme for the athlete based on this.

[0035] Taking the application in the education popularization scene as an example, when students operate the tubular shooting device in the youth safety education base, the shooting angle and the shooting direction can be collected according to the scheme, so as to generate a virtual training scene through the collected shooting angle and the shooting direction, and when the students change the shooting angle or adjust the shooting direction to shoot the target, it will affect the situation of the virtual training scene, so that the students can experience the feeling of decision-making in a safe environment, and cultivate systematic thinking and adaptability.

[0036] Taking the application in the shooting system research and development scene as an example, the shooting angle and the shooting direction can be collected when the shooting system is developed according to the scheme, and the shooting posture and the hit accuracy in different application scenes can be simulated according to the collected shooting angle and the shooting direction, so as to optimize the performance of the tubular shooting device.

[0037] Taking the application in the shooting interactive game scene as an example, the shooting angle and the shooting direction can be collected in the shooting interactive game according to the scheme, and it is synchronized to the virtual scene in real time, realizing the immersive interaction of "sighting-shooting", and improving the game experience.

[0038] It should be understood that the above scenes are only examples, and can also be applied to other related scenes that need to collect the shooting direction and the shooting angle, which are not limited by the present application.

[0039] It can be understood that the shooting direction involved in the present application refers to the horizontal direction of the flight of the projectile (such as a bullet or a laser beam) when shooting, that is, the azimuth angle of aiming at the target, which can be described by the azimuth words (such as east, south, west, north) or the specific azimuth angle, which is used to determine the motion direction of the projectile in the horizontal plane; the shooting angle refers to the included angle between the tubular channel axis of the launching device and the horizontal plane, which is positive shooting angle when inclined upward, which will make the flight trajectory of the projectile upward; it is negative shooting angle when inclined downward, which will make the trajectory of the projectile correspondingly downward, and this angle directly affects the vertical trajectory and the ballistic radian of the flight of the projectile.

[0040] The scheme of the present application will be described in detail below with reference to the accompanying drawings.

[0041] Figure 1 is a structural block diagram of a shooting parameter acquisition system provided by an embodiment of the present application. As shown in the figure, the acquisition system comprises a first RTK module 110, a second RTK module 120 and a processing module 130. Figure 1

[0042] The first RTK module 110 is located at the right shoulder position of the shooter during shooting, and is used to calculate the first three-dimensional coordinates of the right shoulder position of the shooter in real time; or, the first RTK module 110 is arranged at the rear end of the tubular shooting device, and is used to calculate the first three-dimensional coordinates of the rear end of the tubular shooting device in real time; the second RTK module 120 is arranged at the front end of the tubular shooting device, and is used to calculate the second three-dimensional coordinates of the front end of the tubular shooting device in real time; and the processing module 130 is used to calculate the shooting parameters of the tubular shooting device based on the first three-dimensional coordinates and the second three-dimensional coordinates, wherein the shooting parameters comprise the shooting direction and the shooting angle.

[0043] The tubular shooting device refers to an instrument with a tubular launching channel. For example, in shooting confrontation training, the tubular shooting device can be an instrument that launches bullets through a specific tubular structure and a power system, or a tubular shooting instrument that adopts a laser simulation launching principle; in a toy scenario, the tubular shooting device can be a children's entertainment instrument that launches soft foam bullets with a spring as the power source; in the field of sports competition, the tubular shooting device can be an instrument that accurately launches a bullet of a specific material with the aid of compressed gas power, and the present application does not limit the power form and the tubular structure of the tubular shooting device.

[0044] Optionally, the position of the first RTK module 110 can be determined according to the length of the tubular shooting device.

[0045] For example, when the length of the tubular shooting device is greater than or equal to a preset value, the shooter usually holds the rear end of the tubular shooting device against the right shoulder for shooting, and in this case, the shooting parameters can be calculated by the position of the right shoulder of the shooter and the position of the front end of the tubular shooting device. Therefore, when the length of the tubular shooting device is greater than or equal to the preset value, the first RTK module 110 can be arranged in the right shoulder position of the shooter during shooting through a certain arrangement, so that the three-dimensional coordinates of the right shoulder position of the shooter can be calculated in real time during shooting, and thus the shooting parameters can be calculated by the coordinate data of the first RTK module 110 and the second RTK module 120 based on the relative fixed relationship between the human body and the tubular shooting device.

[0046] ​Alternatively, when the length of the tubular shooting device is greater than or equal to a preset value, since the tubular shooting device is long enough, the first RTK module 110 can also be arranged at the rear end of the tubular shooting device, so as to be capable of real-time solving the three-dimensional coordinates of the rear end of the tubular shooting device, thereby utilizing the relative fixed relationship between the front end and the rear end of the tubular shooting device to solve the shooting parameters through the coordinate data of the first RTK module 110 and the second RTK module 120.

[0047] For another example, when the length of the tubular shooting device is less than the preset value, since the length of the tubular shooting device is limited, it can be difficult to directly install the first RTK module 110 at the rear end of the tubular shooting device; and since the tubular shooting device with a length less than the preset value generally includes two types: one is a tubular shooting device that needs to be shot against the right shoulder, and the other is a handheld tubular shooting device that needs the shooter to stretch the right arm during shooting, for these two types of tubular shooting devices, the shooting parameters can be solved through the position of the right shoulder of the shooter and the position of the front end of the tubular shooting device during shooting. Therefore, when the length of the tubular shooting device is less than the preset value, the first RTK module 110 can be arranged in the position of the right shoulder of the shooter during shooting through a certain arrangement, so as to establish a stable coordinate reference system by means of the human body posture, and realize accurate measurement of the shooting parameters in combination with the data of the second RTK module 120.

[0048] It should be understood that the position of the first RTK module 110 described above is only an example, and in actuality, it can also be arranged at other positions according to the length of the tubular shooting device, the shooting action, and the size of the RTK module, etc., without limitation. For example, when the size of the RTK module is small enough, even if the length of the tubular shooting device is small, the first RTK module 110 can also be arranged at the rear end of the tubular shooting device.

[0049] Optionally, if the first RTK module 110 is needed to be used for real-time solving the first three-dimensional coordinates of the position of the right shoulder of the shooter, the first RTK module 110 can be directly installed to the position of the right shoulder of the shooter during shooting.

[0050] Optionally, the shooter can wear a protective gear during shooting, and the protective gear can include the position of the right shoulder, in which case, if the first RTK module 110 is needed to be used for real-time solving the first three-dimensional coordinates of the position of the right shoulder of the shooter, the first RTK module 110 can be arranged at the position of the right shoulder of the protective gear.

[0051] Optionally, the protective gear described above can be a gear with a basic shape simulating the gear needed to be worn in a specific scene.

[0052] Optionally, the preset value can be any value between 50cm and 80cm, such as 50cm, 60cm, 70cm, or 80cm. It should be understood that the above values ​​are only examples, and in actual applications, values ​​within other ranges can be selected according to the actual scenario. This application does not limit this.

[0053] Optionally, before the processing module 130 calculates the firing parameters of the tubular firing device based on the first three-dimensional coordinates and the second three-dimensional coordinates, it can also receive the first three-dimensional coordinates calculated in real time by the first RTK module 110 and the second three-dimensional coordinates calculated in real time by the second RTK module 120.

[0054] In one possible implementation, the tubular firing device may include a trigger, and the acquisition system may further include a trigger status sensing device 140 (e.g., Figure 2 As shown, the trigger state sensing device 140 sends a corresponding timestamp to the processing module 130 when the trigger is sensed to be triggered. In this case, the processing module 130 can specifically calculate the firing parameters of the tubular firing device based on the first three-dimensional coordinates and the second three-dimensional coordinates corresponding to the timestamp. That is to say, the processing module 130 can calculate only the firing parameters of the tubular firing device when the trigger is triggered, so as to realize the software digital twin simulation of the firing action when the trigger is triggered, thereby mapping the shooter's posture data, intelligently matching the correspondence between the shooter and the target, and accurately calculating the hit point. It should be noted that this implementation method can reduce the computational load of the system compared to real-time calculation.

[0055] Specifically, as an example, when the trigger state sensing device 140 senses that the trigger has been triggered, it can acquire the timestamp corresponding to the second three-dimensional coordinates currently calculated by the second RTK module 120 (or acquire the second three-dimensional coordinates currently calculated by the second RTK module 120 and the corresponding timestamp) from the second RTK module 120, and then send the corresponding timestamp to the processing module 130 (or send the second three-dimensional coordinates and the corresponding timestamp to the processing module 130). Based on this, the processing module 130 can determine the first three-dimensional coordinates and the second three-dimensional coordinates corresponding to the timestamp, and calculate the firing parameters of the tubular firing device based on the corresponding first three-dimensional coordinates and the second three-dimensional coordinates.

[0056] In another possible implementation, the processing module 130 can also calculate the shooting parameters of the tubular shooting device in real time based on the first three-dimensional coordinates and the second three-dimensional coordinates received in real time, so as to help the back-end computer platform to perform digital twin simulation in real time and calculate the hit position in real time, so as to analyze the action stability of the shooter in real time, and further generate posture adjustment and other correction suggestions and convey them to the shooter, so as to improve the shooting hit rate of the shooter.

[0057] In one possible implementation, the processing module 130 can calculate the shooting direction of the tubular shooting device based on the included angle between the projection of the line connecting the first three-dimensional coordinates and the second three-dimensional coordinates in the XY coordinate system and the X axis; and calculate the shooting angle of the tubular shooting device based on the included angle between the line connecting the first three-dimensional coordinates and the second three-dimensional coordinates and the projection of the line in the XY coordinate system.

[0058] If the first three-dimensional coordinates are (x1, y1, z1) and the second three-dimensional coordinates are (x2, y2, z2).

[0059] As shown in FIG. 13A, the shooting direction Figure 3 can be determined based on the following formula:

[0060]

[0061] The shooting angle can be determined based on the following formula:

[0062]

[0063] It should be noted that since the data coordinate acquisition accuracy of the RTK module is high, the acquisition accuracy can reach ±1 cm, so the accuracy of the finally calculated shooting direction and shooting angle is high, and the acquisition accuracy can reach ±0.1°.

[0064] Optionally, the processing module 130 can be carried by the shooter or not. For example, the shooter can place it in a storage bag of clothes when shooting, or can clamp it on a certain part of the clothes, or can be integrated into a smart wearable device (such as a helmet, etc.), or in the case of wearing a protective device, it can also be set in the protective device worn by the shooter; for another example, the processing module 130 can be installed in the tubular shooting device, the shooting table or other positions under the shooting scene to realize the data analysis function, which is not limited in the present application.

[0065] The connection mode of each component is not limited in the present application, and can be determined according to the actual situation. The connection mode of each component is exemplarily illustrated as follows.

[0066] ​Optionally, the first RTK module 110 and the processing module 130 can be connected by wire or wirelessly. For example, when it is convenient to connect the first RTK module 110 and the processing module 130 by wire, it can be a wired connection, for example, when the first RTK module 110 and the processing module 130 are both arranged in the protective equipment, it can be a wired connection; when it is inconvenient to connect the first RTK module 110 and the processing module 130 by wire, it can be a wireless connection, for example, when the first RTK module 110 is arranged at the rear end of the tubular shooting device, and the processing module 130 is arranged in the protective equipment, it can be a wireless connection.

[0067] Optionally, the second RTK module 120 and the processing module 130 can be connected by wire or wirelessly. For example, when it is convenient to connect the second RTK module 120 and the processing module 130 by wire, it can be a wired connection, for example, when the second RTK module 120 and the processing module 130 are both arranged in the tubular shooting device, it can be a wired connection; when it is inconvenient to connect the second RTK module 120 and the processing module 130 by wire, it can be a wireless connection, for example, when the second RTK module 120 is arranged at the front end of the tubular shooting device, and the processing module 130 is arranged in the protective equipment, it can be a wireless connection.

[0068] Optionally, the trigger state sensing device 140 and the trigger can be mechanically connected (i.e. mechanically connected) to realize real-time monitoring of the trigger state through physical contact or mechanical transmission. Illustratively, the trigger part (such as microswitch, spring needle, etc.) of the trigger state sensing device 140 can be directly contacted with the movement part of the trigger, and when the trigger is cocked, the trigger state sensing device 140 is triggered by applying pressure or releasing pressure.

[0069] Optionally, the trigger state sensing device 140 and the trigger can also not be in direct contact, for example, the trigger state sensing device 140 can be a sensor, which can sense the movement state of the trigger.

[0070] Optionally, the trigger state sensing device 140 and the processing module 130 can be wirelessly connected.

[0071] Optionally, the trigger state sensing device 140 and the second RTK module 120 can be connected by wire or wirelessly. In the case of wired connection, the trigger state sensing device 140 can be connected with the second RTK module 120 through the physical interface.

[0072] Optionally, the above wireless connection can be realized by short-range wireless communication technology, for example, a short-range wireless communication module can be arranged in the related module to realize wireless communication with the related module.

[0073] In one possible implementation, the second RTK module 120 can be housed within an effector, which can be mounted on the front end of the tubular firing device via a clamp (e.g., a tubular clamp). The effector refers to a front-end port accessory of the firing device that combines functionality and tactical expandability. Examples include flash suppressors (for suppressing visible flash during firing), muzzle brakes (for dispersing recoil through a gas-operated structure), laser designators (for emitting visible / infrared laser beams to assist in rapid aiming), tactical flashlights (for illumination in nighttime or low-light environments), and silencers (for reducing firing noise).

[0074] It should be understood that the RTK module eliminates satellite signal errors and achieves centimeter-level or even millimeter-level positioning through real-time differential calculation of data from the base station and the rover. Based on this, this application uses a first RTK module to calculate the three-dimensional coordinates of the shooter's right shoulder or the rear end of the tubular firing device in real time, and a second RTK module to calculate the three-dimensional coordinates of the front end of the tubular firing device in real time. Then, a processing module is used to calculate the firing direction and firing angle in real time from these two coordinates, enabling high-precision and real-time acquisition of the firing direction and firing angle.

[0075] It should be understood that the aforementioned RTK module typically also includes an RTK antenna for receiving high-precision satellite signals.

[0076] The following is based on Figure 4 Taking an example, the above-mentioned data acquisition system will be introduced exemplarily in the context of a combat shooting training scenario. It should be understood that... Figure 4 The data acquisition system and application scenarios shown are merely examples and do not constitute a limitation on the technical solution of this application.

[0077] like Figure 4 As shown, in this combat shooting training scenario, the shooter holds a long tubular shooting device 150 for shooting training, and when shooting, the shooter places the rear end of the tubular shooting device 150 against the right shoulder.

[0078] like Figure 4 As shown, the acquisition system may include a first RTK module 110, a second RTK module 120, a processing module 130, and a trigger status sensing device 140. The first RTK module 110 is located on the right shoulder of the protective gear 160 worn by the shooter; the processing module 130 is located in the storage pouch of the protective gear 160; the second RTK module 120 is located in the power unit 170 at the front end of the tubular firing device 150; and the trigger status sensing device 140 is located at the trigger.

[0079] The first RTK module 110 is configured to calculate the three-dimensional coordinates of the right shoulder of the shooter in real time, and the second RTK module 120 is configured to calculate the three-dimensional coordinates of the front end of the tubular shooting device 150 in real time. The trigger state sensing device 140 is configured to collect a timestamp corresponding to the three-dimensional coordinates calculated by the second RTK module 120 when the trigger is triggered, and send the timestamp to the processing module 130. The processing module 130 is configured to receive the three-dimensional coordinates calculated by the first RTK module 110 in real time and the three-dimensional coordinates calculated by the second RTK module 120 in real time. The processing module 130 is further configured to calculate the shooting direction and the shooting angle of the tubular shooting device 150 based on the two three-dimensional coordinates corresponding to the timestamp.

[0080] The first RTK module 110 and the processing module 130 are connected by wires, and the wires are arranged inside the protective equipment 160. The second RTK module 120 and the processing module 130 are connected by short-range wireless communication technology. The trigger state sensing device 140 and the processing module 130 are connected by short-range wireless communication technology. The trigger state sensing device 140 and the second RTK module 120 are connected by a physical USB interface. The trigger state sensing device 140 and the trigger are mechanically connected.

[0081] Based on the shooting parameter acquisition system, in the confrontation shooting training scene, the three-dimensional coordinates of the right shoulder of the shooter and the front end of the tubular shooting device can be accurately positioned by the first RTK module and the second RTK module. The timestamp is collected by the trigger state sensing device when the trigger is triggered. Combined with the data received by the processing module in real time, the shooting direction and the shooting angle when the trigger is triggered can be quickly and accurately calculated.

[0082] In addition, the first RTK module is arranged at the right shoulder of the protective equipment worn by the shooter, and the processing module is arranged in the storage bag of the protective equipment, so that the shooter can directly arrange the first RTK module and the processing module by wearing the protective equipment, and the maintenance and debugging are convenient.

[0083] In addition, in the acquisition system, the first RTK module is in wired connection with the processing module and the wiring is arranged inside the protective equipment, which not only ensures the stability and low delay of the coordinate data transmission of the right shoulder position, but also avoids the risk of external environmental interference and line entanglement; the second RTK module and the trigger state sensing device are in short-range wireless communication with the processing module, which can give the shooter a flexible movement space, so that he is not bound by the cable in training, and at the same time realizes fast data interaction; the trigger state sensing device is connected with the second RTK module through the physical navigation interface, ensuring accurate acquisition and transmission of the timestamp; the mechanical linkage connection enables the trigger state sensing device to sensitively capture the firing action and realize fast response. Therefore, the stability and low delay of data transmission in the system can be ensured.

[0084] Figure 5 A flowchart of a shooting parameter acquisition method provided by the embodiment of the present application is shown in the figure, and the method can be executed by the processing module 130 described above. As shown in the figure, the method can include the following steps: Figure 5

[0085] S510, acquiring a first three-dimensional coordinate calculated in real time by a first RTK module, the first RTK module being at the right shoulder position of the shooter during shooting, for calculating the first three-dimensional coordinate of the right shoulder position of the shooter in real time; or the first RTK module being arranged at the rear end of the tubular shooting device, for calculating the first three-dimensional coordinate of the rear end of the tubular shooting device in real time;

[0086] S520, acquiring a second three-dimensional coordinate calculated in real time by a second RTK module, the second RTK module being arranged at the front end of the tubular shooting device, for calculating the second three-dimensional coordinate of the front end of the tubular shooting device in real time;

[0087] S530, calculating a shooting parameter of the tubular shooting device based on the first three-dimensional coordinate and the second three-dimensional coordinate, the shooting parameter including a shooting direction and a shooting angle.

[0088] In a possible implementation, the step S530 can specifically include calculating the shooting parameter of the tubular shooting device in real time based on the first three-dimensional coordinate and the second three-dimensional coordinate acquired in real time.

[0089] In a possible implementation, the tubular shooting device can include a trigger, and the step S530 can specifically include calculating the shooting parameter of the tubular shooting device based on the first three-dimensional coordinate and the second three-dimensional coordinate corresponding to the time when the trigger is triggered.

[0090] It should be understood that other related descriptions can be referred to the above, and the embodiment will not be described in detail.

[0091] ​Those skilled in the art can clearly understand the implementation of the various embodiments by means of software and the necessary general hardware platform through the description of the above embodiments, and of course, the implementation can also be through hardware. Based on such understanding, the above technical solutions can be embodied in the form of a software product, and the computer software product can be stored in a computer readable storage medium, such as a read-only memory (ROM), a random access memory (RAM), a magnetic disk, an optical disk, etc., and includes a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the method described in each embodiment or some parts of the embodiment.

[0092] It should be noted that the above is only an example embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent process transformation using the content of the specification and drawings of the present application, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A shooting parameter acquisition system, characterized by, The application relates to a shooting parameter calculation method and device. The first RTK module is arranged at the right shoulder position of a shooter during shooting and is used for real-time solution of the first three-dimensional coordinates of the right shoulder position of the shooter. The second RTK module is arranged at the front end of a tubular shooting device and is used for real-time solution of the second three-dimensional coordinates of the front end of the tubular shooting device. The processing module is used for solution of the shooting parameters of the tubular shooting device based on the first three-dimensional coordinates and the second three-dimensional coordinates, and the shooting parameters include a shooting direction and a shooting angle.

2. The collection system of claim 1, wherein, The shooter wears a protective device during shooting, and the protective device includes a right shoulder position.

3. The collection system of claim 2, wherein, The processing module is arranged on the protective device.

4. The collection system of any one of claims 1 to 3, wherein, The first RTK module is wiredly connected with the processing module, and the second RTK module is wirelessly connected with the processing module. The tubular shooting device includes a trigger, and the acquisition system further includes a trigger state sensing device.

5. The collection system of claim 4, wherein, The processing module is specifically used for solution of the shooting parameters of the tubular shooting device based on the first three-dimensional coordinates and the second three-dimensional coordinates corresponding to the time stamp.

6. The collection system of claim 5, wherein, The trigger state sensing device is further used for acquisition of the time stamp corresponding to the second three-dimensional coordinates currently solved by the second RTK module from the second RTK module when the trigger is sensed to be triggered.

7. The collection system of any one of claims 1 to 3, wherein, The trigger state sensing device is mechanically connected with the trigger, wiredly connected with the second RTK module, and wirelessly connected with the processing module.

8. A method of collecting shooting parameters, characterized in that, The three-dimensional coordinates are coordinates in an XYZ coordinate system. The processing module is specifically used for solution of the shooting direction of the tubular shooting device based on the included angle between the projection of the line connecting the first three-dimensional coordinates and the second three-dimensional coordinates in an XY coordinate system and the X axis, and solution of the shooting angle of the tubular shooting device based on the included angle between the line connecting the first three-dimensional coordinates and the second three-dimensional coordinates and the projection of the line in the XY coordinate system. The application relates to a shooting parameter calculation method and device. The first three-dimensional coordinates solved by the first RTK module are acquired.

9. The method of claim 8, wherein, The second three-dimensional coordinates solved by the second RTK module are acquired. The shooting parameters of the tubular shooting device are solved based on the first three-dimensional coordinates and the second three-dimensional coordinates. The tubular shooting device includes a trigger. The shooting parameters of the tubular shooting device are solved based on the first three-dimensional coordinates and the second three-dimensional coordinates corresponding to the time when the trigger is triggered.

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