Sniping aiming point track measuring system based on vision measurement

Abstract

The invention discloses a vision measurement-based sniping aiming point track measurement system, which relates to the field of shooting and comprises a shooting target unit, an optical measurement unit, an electrical measurement unit, a firing moment judgment unit and a data display unit, the optical measurement unit is used for acquiring a target image; the electrical measurement unit is used for obtaining aiming point trajectory data based on target image measurement; the percussion time judgment unit is used for collecting original acceleration data output by the attitude sensor, performing real-time processing on the original acceleration data, and generating a percussion event identifier when a percussion event is judged to occur through conjoint analysis of time domain amplitude and frequency domain energy characteristics; the electrical measurement unit is further used for associating and packaging the firing event identification and the aiming point track data at the same moment and sending the firing event identification and the aiming point track data to the data display unit, the data display unit is used for displaying the aiming point track and the firing event identification, and the system can achieve measurement of the sniping aiming point track and judgment of the firing moment at the same time.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of shooting training, in particular, to a sniping aiming point trajectory measurement system based on visual measurement. BACKGROUND

[0002] Shooting is a core military skill that individual soldiers must master, and its training effectiveness is directly related to combat effectiveness.

[0003] The current sniping aiming point trajectory measurement system needs to be suitable for sniping training scenarios and can realize long-distance, high-precision, and high-frame-rate aiming point trajectory measurement. The core challenge is how to overcome atmospheric and environmental light interference at a distance of kilometers, and stably capture the weak aiming point motion signal with millimeter-level precision and high enough sampling rate.

[0004] In order to achieve the above requirements, the applicant has carried out corresponding research and development, and has developed a corresponding aiming point trajectory measurement system such as patent application No. 2024108446762 (Prior Art 1) and Sniping Aiming Point Trajectory Measurement System Research (Southwest University of Science and Technology Master Thesis - Zeng Yuhang, Prior Art 2).

[0005] However, the above two prior arts only realize sniping aiming point trajectory measurement and cannot realize firing time determination or firing event collection, while firing time determination or firing event collection is also important in shooting training. SUMMARY

[0006] The purpose of the present application is to simultaneously realize sniping aiming point trajectory measurement and firing time determination.

[0007] In order to achieve the above application purpose, the present application provides a sniping aiming point trajectory measurement system based on visual measurement, which comprises a shooting target unit, an optical measurement unit, an electrical measurement unit, a firing time determination unit, and a data display unit; the shooting target unit is provided with a light source; the optical measurement unit is used for collecting target images and aiming at the target by the shooter, and transmitting the collected target images to the electrical measurement unit; the electrical measurement unit is used for measuring and obtaining aiming point trajectory data based on the target images; the firing time determination unit is used for collecting the original acceleration data output by the attitude sensor installed on the gun body, and performing real-time processing on the original acceleration data; when a firing event is determined through joint analysis of time domain amplitude and frequency domain energy characteristics, a firing event identifier is generated; the electrical measurement unit is also used for associating and packaging the firing event identifier with the aiming point trajectory data at the same time, and sending it to the data display unit; the data display unit is used for displaying the aiming point trajectory and the firing event identifier.

[0008] The system is constructed by a target light source, a light splitting path (a sighting telescope, a light splitting prism, and an image sensor), and a wireless terminal. The core improvement is that a firing time determination unit is integrated in the processing module, so that the system can not only measure the spatial trajectory, but also actively identify the occurrence time of the shooting event. The problem that the existing sighting point trajectory measurement system can only record the continuous trajectory, but cannot automatically and accurately identify and mark the key event time of shooting is solved. This makes the trajectory data analysis lack a clear time reference, and it is difficult to automatically and accurately correlate and segment the aiming process, the firing moment, and the post-firing effect. The system function is upgraded from a trajectory recorder to an event-driven intelligent analysis system. By stamping the trajectory data with an accurate firing timestamp, the automatic correlation of the aiming process and the shooting action is realized, which lays a core foundation for subsequent automatic and refined data analysis.

[0009] Preferably, the firing time determination unit is specifically used for:

[0010] From the original acceleration data output by the attitude sensor, the axial acceleration data corresponding to the main direction of the recoil force of the firearm is selected as the firing feature analysis signal.

[0011] The optimal signal source for firing determination is determined. The recoil force generated by the firing of the firearm is a directional impact with a very strong directionality. The acceleration signal of the main direction (usually along the barrel axis) has the highest signal-to-noise ratio and the most obvious characteristics. The problem of how to select the signal channel that best represents the firing event from the multi-axis sensor data to simplify the algorithm and improve the determination accuracy is solved. Through signal screening, the most effective characteristic signal is focused on, and irrelevant disturbance interference that may exist in other axes is excluded, providing a pure input for subsequent high-precision determination and improving the robustness and reliability of the algorithm.

[0012] Preferably, the generation method of the firing event identifier is:

[0013] The acceleration data of the continuous N sampling points is cached in a sliding window manner to form an analysis window, where N is a positive integer.

[0014] The acceleration data in the analysis window is subjected to windowing processing.

[0015] The data after windowing processing is subjected to fast Fourier transform to obtain a frequency energy spectrum.

[0016] The mean and standard deviation of the frequency energy spectrum are calculated.

[0017] When the following three conditions are met simultaneously, it is determined as an effective firing time and the firing event identifier is generated:

[0018] Condition one: the time-domain amplitude maximum value of the acceleration data in the analysis window exceeds a first preset threshold value;

[0019] Condition two: the mean value of the frequency-domain energy spectrum exceeds a second preset threshold value;

[0020] Condition three: the standard deviation of the frequency-domain energy spectrum exceeds a third preset threshold value.

[0021] The time-frequency domain joint decision algorithm process of the firing decision is described. The sliding window is used to ensure real-time performance, the windowing (such as the Hanning window) is used to suppress the frequency spectrum leakage, the FFT is used to perform the frequency domain transformation, and finally the time-domain amplitude, the frequency-domain energy mean value and the standard deviation of three dimensions are used to make the joint decision with the logical. The problem of how to design a robust decision algorithm which can quickly respond and effectively distinguish the firing impact from the general shaking, knocking and other interference is solved. The single time-domain threshold is easy to be disturbed, and the single frequency-domain feature may not be stable enough. The high-precision and low-false alarm firing event detection is realized. The joint decision of the dual-domain (time domain and frequency domain) and the triple feature (amplitude, energy mean value and energy distribution change) forms a strict decision condition, so that the system can accurately capture the high-intensity and wide-band unique impact generated by the gunpowder gas and ignore other conventional interference.

[0022] Preferably, the firing time determination unit performs the sliding window caching, the windowing processing, the fast Fourier transformation and the threshold determination operation in a parallel pipeline manner. The parallel computing and pipeline processing capability of the FPGA is used to ensure that the firing decision algorithm can run at the hardware speed, realize the microsecond-level decision delay, and thus can mark the firing time in near real time without affecting the high-speed data flow of the entire system.

[0023] Preferably, the electrical measurement unit further comprises:

[0024] The attitude solving unit is configured to receive the original angular velocity, the original acceleration and the original magnetic field data output by the attitude sensor, and perform fusion solving to obtain the attitude angle information for describing the gun muzzle pointing direction;

[0025] The electrical measurement unit is further configured to: encapsulate and send the firing event identification, the corresponding aiming point trajectory data and the attitude angle information synchronously.

[0026] Wherein, the attitude solving unit is integrated in the system, and the original sensor data is fused to solve the intuitive attitude angle information (such as the pitch angle and the yaw angle). The problem of how to synchronously acquire and record the space pointing information of the gun body during shooting to evaluate the stability of the shooter is solved. The shaking of the gun body itself cannot be completely reflected by the aiming point trajectory. The synchronous measurement and fusion of the aiming point trajectory and the gun body attitude information are realized. The firing event is associated with the gun muzzle pointing at the moment, and whether the gun muzzle jumps or deflects during firing can be analyzed, thereby providing a more comprehensive training diagnosis dimension.

[0027] Preferably, the electrical measurement unit further comprises:

[0028] A grip acquisition unit is configured to acquire a pressure signal reflecting the grip strength of the shooter and the trigger pulling strength.

[0029] The synchronous packaged data further comprises the pressure signal.

[0030] Preferably, the electrical measurement unit further comprises a grip acquisition unit configured to measure the pressure of the shooter's grip and trigger pulling. The problem of how to quantitatively evaluate the quality of the shooter's trigger pulling action (such as whether it is stable or sudden) which is a key human factor affecting shooting accuracy is solved. The objective quantitative monitoring of the shooter's operation action is realized. The grip / trigger force curve at the moment of firing is time-aligned and analyzed with the firing event and the aiming point jumping trajectory, so that the mistakes caused by improper trigger pulling action can be directly diagnosed, and the training feedback is more targeted and scientific.

[0031] Preferably, the electrical measurement unit is configured to take the firing event as a time reference, extract and mark the aiming point trajectory data and attitude angle information in a set time period before and after the firing event, and form a key data segment for evaluating the quality of a single shot.

[0032] Preferably, the system takes the firing event as the core time reference, and automatically performs intelligent processing logic for data segmentation and marking. The problem of how to automatically extract the most relevant effective data segment of a single shot from the massive training data to reduce invalid data storage and facilitate subsequent focused analysis is solved. The intelligentization of data acquisition and processing is realized. The system can automatically extract the data of the key time period before and after each firing (such as the aiming process 2 seconds before firing and the recoil performance 0.5 seconds after firing), form a structured shooting event data package, and greatly improve the data management efficiency and the convenience of subsequent analysis.

[0033] The applicant improves the shooting target unit to solve the problem of single light source mode in the prior art, which cannot meet the requirements of close-range shooting training and long-range sniping training at the same time, and realizes the purpose of improving the functionality of the target system and meeting the requirements of close-range shooting training and long-range sniping training at the same time.

[0034] Specifically comprising:

[0035] The light source is provided with a light collector at the front end, the light collector is provided with a light collecting lens inside, the front end of the light collector is provided with a light homogenizing plate, and a rotating mechanism for driving the light homogenizing plate to rotate is further included.

[0036] In view of the single light source mode in the prior art, which cannot simultaneously meet the requirements of close-range shooting training and long-range sniping training, the present application first proposes a shooting target unit, which is provided with a light collector at the front end of the light source and a light collecting lens inside the light collector, so that the light is converged towards the front end of the light collector, and the light collector and the light collecting lens cooperate to play a light collecting function to reduce the loss of light.

[0037] In addition, the inventors found in the research process that, in long-range (such as 1Km or more) shooting training, even if a 100mm diameter light hole is used, only a very small light spot can be formed, so that the circularity of the light spot is no longer important at this training distance, but the brightness of the light spot is more important; while in close-range shooting training, the circularity of the light spot is more important. Therefore, the present application is provided with a light homogenizing plate at the front end of the light collector, and the light homogenizing plate is controlled to rotate by a rotating mechanism: when the light homogenizing plate is rotated to the front of the light collector, the light converged by the light collector and the light collecting lens needs to pass through the light homogenizing plate before being emitted outward, which will form a circular light spot with high circularity and high uniformity on the light homogenizing plate, which is more suitable for close-range and small target shooting training; when the light homogenizing plate is rotated to be away from the front of the light collector, the light converged by the light collector and the light collecting lens is directly emitted outward, which can produce a high-brightness light spot, which is more suitable for long-range and large target shooting training, and can effectively support the long-range sniping training requirements.

[0038] Therefore, the present application overcomes the technical defect of single light source mode in the prior art through a simple structure, and can simultaneously meet the requirements of close-range shooting training and long-range sniping training under the premise of constant light source energy, so that the present application can be compatible with two different training modes, and the functionality of the sniping aiming point trajectory measurement target system is significantly improved.

[0039] Those skilled in the art should understand that, in the present application, "front" is based on the light source, and the direction of the target paper or the trainee is the front.

[0040] Further, the inner diameter of the light collector gradually increases from the end close to the light source to the end away from the light source. The present application uses a light collector with gradually increasing diameter to make the light emitted by the light source diffuse outward stably and orderly, which is conducive to forming a uniform light spot with sufficient size, and is more suitable for close-range and small target shooting training.

[0041] Further, the rotation axis of the light homogenizing plate is parallel to the axis of the condensing lens, so that the light homogenizing plate can rotate in a plane perpendicular to the axis of the condensing lens, thereby quickly leaving the range of the condensing cover and reducing the space occupation of the light homogenizing plate.

[0042] Further, the rotating mechanism comprises a rotating device, and the output end of the rotating device is connected with the light homogenizing plate.

[0043] Further, a target paper mounting plate is arranged on the front side of the light homogenizing plate.

[0044] Further, the light source, the condensing cover and the light homogenizing plate are arranged in the box body, and the box body is provided with a light transmission hole facing the condensing cover, and the rotating mechanism is used to drive the light homogenizing plate to shield or open the light transmission hole.

[0045] The box body is used to accommodate and protect the light source, the condensing cover and the light homogenizing plate, so as to reduce the interference of bad weather conditions such as wind, rain and sunshine, and the light collected by the condensing cover is emitted outward through the light transmission hole.

[0046] Further, the target paper mounting plate is arranged outside the box body, and the area of the target paper mounting plate facing the light transmission hole is hollowed out.

[0047] Further, the heat dissipation fins are filled with heat-conducting materials between the light source and the heat dissipation fins.

[0048] In view of the problem that the high-power LED array in the prior art has a high temperature after long-time use and has a risk of igniting the target paper, the heat dissipation fins are arranged, and the heat-conducting materials are filled between the heat dissipation fins and the light source.

[0049] Further, the heat dissipation fins are located in the box, and a streamlined heat dissipation air duct is arranged in the box; both ends of the heat dissipation air duct are open from the bottom surface of the box, and the heat dissipation fins are located at the top end inside the heat dissipation air duct; one end of the heat dissipation air duct is provided with a blowing device with an inward blowing direction, and the blowing device has a spacing of 5-10 cm from the bottom surface of the box.

[0050] The present application realizes active heat dissipation of the heat dissipation fins through the heat dissipation air duct, so as to significantly improve the heat dissipation effect. The blowing device is arranged in the heat dissipation air duct to continuously blow air to the heat dissipation fins, so as to accelerate air flow to quickly dissipate heat; the heat dissipation air duct is streamlined to effectively reduce air resistance and improve heat dissipation efficiency, such as U-shaped, C-shaped, arc-shaped and the like.

[0051] In addition, both ends of the heat dissipation air duct in the present application are open from the bottom surface of the box, and the blowing device has a spacing of 5-10 cm from the bottom surface of the box, which can improve the rainproof ability of the present application and prevent rainwater from being sucked into the heat dissipation air duct by the blowing device in rainy weather.

[0052] Further, a temperature sensor for monitoring the temperature of the light source and a controller for controlling the blowing device and / or the light source are further included, and the temperature sensor is signal connected with the controller.

[0053] The present application monitors the temperature state of the light source through the temperature sensor; when the temperature exceeds the set threshold, the blowing device can be started by the controller for rapid cooling, and / or the light source can be temporarily turned off to accelerate cooling. When the temperature does not exceed the set threshold, the blowing device can be turned off to avoid energy waste.

[0054] The one or more technical solutions provided by the present application have at least the following technical effects or advantages:

[0055] The system can simultaneously realize measurement of a sniping aiming point trajectory and determination of a firing moment.

[0056] The present application overcomes the technical defect of single light source mode in the prior art through a simple structure, and can simultaneously meet the requirements of close-range shooting training and long-range sniping training under the premise that the light source energy is unchanged, so that the present application can be compatible with the two different training modes, and the functionality of the sniping aiming point trajectory measurement target system is significantly improved.

[0057] The present application enables the large amount of heat emitted by the light source to be quickly conducted to the heat dissipation fins through the heat-conducting material, and then quickly dissipated through the heat dissipation fins, thereby reducing the risk of the target paper being ignited and improving the safety and stability of the shooting training.

[0058] The present application has good rainproof ability and is conducive to use in rainy days. BRIEF DESCRIPTION OF DRAWINGS

[0059] The accompanying drawings, which are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the principles of the application.

[0060] Figure 1 Structure diagram of a sniper aiming point trajectory measurement system based on visual measurement;

[0061] Figure 2 Flow chart for determining the firing moment;

[0062] Figure 3 Image effect diagram of a reference target in the prior art;

[0063] Figure 4 Local magnification and circle center coordinate extraction result diagram of an image based on a reference target collected in the prior art;

[0064] Figure 5 Structure diagram of a specific embodiment of the application;

[0065] Figure 6 Schematic diagram of a rotating mechanism in a specific embodiment of the application;

[0066] Figure 7 Schematic diagram of a heat dissipation air duct in a specific embodiment of the application;

[0067] Markings in the drawings and corresponding names of parts:

[0068] 1 - light source, 2 - light shield, 3 - condenser lens, 4 - homogenizing plate, 5 - rotating device, 6 - target paper mounting plate, 7 - box body, 8 - light transmission hole, 9 - heat dissipation fin, 10 - heat conductive material, 11 - blowing device, 12 - temperature sensor, 13 - controller, 14 - support, 15 - surrounding edge, 16 - supporting device, 17 - heat dissipation air duct. DETAILED DESCRIPTION

[0069] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the present application will be further described in detail below with reference to the drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0070] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application, however, the present application can also be implemented in other ways different from the scope described herein, therefore, the scope of protection of the present application is not limited by the specific embodiments disclosed below.

[0071] Those skilled in the art should understand that, in the disclosure of this invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limiting this invention.

[0072] It is understood that the term "a" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element can be one, while in another embodiment, the number of the element can be multiple, and the term "a" should not be understood as a limitation on the number.

[0073] Example 1;

[0074] Please refer to Figure 1 , Figure 1 This invention provides a visual measurement-based sniper aiming point trajectory measurement system, comprising: a shooting target unit, an optical measurement unit, an electrical measurement unit, a firing time determination unit, and a data display unit. The shooting target unit is equipped with a light source. The optical measurement unit is used to acquire target images and for the shooter to aim at the target, and to transmit the acquired target images to the electrical measurement unit. The electrical measurement unit is used to measure aiming point trajectory data based on the target images. The firing time determination unit is used to acquire raw acceleration data output from an attitude sensor mounted on the rifle, process the raw acceleration data in real time, and generate a firing event identifier when a firing event is determined through joint analysis of time-domain amplitude and frequency-domain energy characteristics. The electrical measurement unit is also used to associate and package the firing event identifier with the aiming point trajectory data at the same time, and send it to the data display unit, which displays the aiming point trajectory and the firing event identifier.

[0075] This invention provides a sniper aiming point trajectory measurement system for accurately measuring, recording, and analyzing the movement trajectory of a shooter's aiming point under long-range conditions. It can also automatically identify the firing moment, thereby providing a refined evaluation of the entire shooting process. The difference between this invention and existing sniper aiming point trajectory measurement systems lies in the firing moment determination unit. Therefore, the target unit, optical measurement unit, electrical measurement unit, and data display unit are not described in detail here. For the corresponding content, please refer to the patent application with application number 2024108446762 and the Master's thesis of Zeng Yuhang, Southwest University of Science and Technology.

[0076] System overall structure

[0077] The system mainly includes three parts: shooting target unit set in the distance, optical measurement unit installed on the sniper rifle, electrical measurement unit, firing moment determination unit, and data display unit near the shooter or coach. The three are connected through a wireless communication link.

[0078] The shooting target unit is usually placed at the preset shooting target position. Its core is to install a high-power infrared light source in the center of the target surface. As a specific embodiment, the light source emits infrared light with a wavelength of 950 nm, and the light emitting power is not less than 100 watts, and the light beam has a certain divergence angle. This light source appears as a bright spot in the sniper scope as a reference point for measurement. Its high power ensures that it can be clearly captured by the measurement module at a distance of 1 kilometer or even farther.

[0079] Image processing pipeline:

[0080] The high-speed LVDS data stream output by the image sensor enters the FPGA (PL, programmable logic) end. First, the image parsing module performs serial-parallel conversion and sync code extraction to obtain valid pixel matrix data. The data is stored in DDR3 cache on one hand, and sent to the ROI (Region of Interest) extraction module on the other hand. The ROI module quickly locates the approximate area of the light spot (such as a 256x256 pixel window) by calculating the horizontal and vertical projections of the image, thereby greatly reducing the data volume for subsequent processing. Subsequently, the system reads the image data within the ROI window from the DDR3 and sends it to the centroid calculation module. The module sequentially performs image stretching (enhancing contrast), Otsu threshold binaryzation, and connected component labeling to finally calculate the precise centroid coordinates (X, Y) of the light spot and other characteristic values such as area. The entire image processing pipeline is implemented in parallel and pipelined manner in the PL end, meeting the real-time measurement requirement of 100Hz frequency.

[0081] Firing moment determination unit:

[0082] This unit continuously monitors the original three-axis acceleration data from the micro-electromechanical system inertial measurement unit. Its determination process is as follows:

[0083] Signal selection: From the three-axis data, select the axial acceleration data consistent with the barrel axis (the main direction of recoil) as the firing feature analysis signal.

[0084] Sliding window buffer: receive data in real time at the sampling rate of the signal, and continuously buffer the latest 32 sampling points in a sliding window manner.

[0085] Time domain preliminary screening and windowing: judge the time domain amplitude of the data in the window, if the maximum value is lower than a lower preset threshold, it is considered that there is no significant event, and the subsequent frequency domain analysis is skipped, and the window is updated. If it exceeds, the 32-point data in the window is subjected to a Hanning window function to suppress the frequency spectrum leakage of the subsequent FFT.

[0086] Frequency domain transformation and feature extraction: 32-point fast Fourier transform (FFT) is performed on the 32-point data after windowing to obtain its frequency domain representation. Then the energy spectrum of the frequency spectrum is calculated, and the mean and standard deviation of the energy spectrum are calculated. The mean reflects the overall energy intensity of the impact, and the standard deviation reflects the mutation degree of the energy distribution in the frequency band (firing impact will cause wideband excitation).

[0087] Joint time-frequency domain decision: adopt triple threshold and logical decision. Only when the following conditions are met at the same time:

[0088] (1) the maximum value of the time domain acceleration amplitude in the window is greater than the first preset threshold (time domain intensity threshold);

[0089] (2) the mean of the frequency domain energy spectrum is greater than the second preset threshold (frequency domain energy threshold);

[0090] (3) the standard deviation of the frequency domain energy spectrum is greater than the third preset threshold (spectrum mutation threshold);

[0091] The system only determines that an effective firing event occurs, and generates a firing event identification pulse signal at the same time, and simultaneously stamps a high-precision time stamp.

[0092] This algorithm can accurately distinguish the unique impact of firing from general body shaking, weapon bumping and other interference through strict joint judgment of time domain and frequency domain features, and realizes high reliability and low delay firing detection.

[0093] Multi-sensor data fusion and processing:

[0094] Attitude solution: the three-axis angular velocity, three-axis acceleration and three-axis magnetometer raw data provided by the MEMS sensor are analyzed by the PL end, and then sent to the ARM dual-core processor (PS, processing system) through the AXI bus. The PS end runs a sensor fusion algorithm based on extended Kalman filter or complementary filter to solve the attitude angle (pitch angle, yaw angle, roll angle) of the gun body in real time, which is used to evaluate the stability of the gun.

[0095] Grip force collection: the thin film pressure sensor attached to the gun handle and trigger ring changes its resistance value with pressure, which is converted into digital quantity by the signal conditioning circuit and ADC chip. The data is collected by the PL end and sent to the PS end, which is used to monitor the shooter's grip strength and trigger pull strength curve.

[0096] Data packaging and association: PS end as the system control center, receives the image centroid data, attitude angle data, grip data and firing event identification from the PL end. The PS end takes the firing event identification as the most critical time synchronization reference, aligns and encapsulates all data at the same time to form a structured data packet. The data packet contains timestamp, aiming point coordinates, attitude angle, grip value, and a firing flag bit (set by the firing event identification). Subsequently, the data packet is sent to the display terminal through the wireless transmission module (such as ESP32 chip integrated with Wi-Fi and Bluetooth).

[0097] In the embodiment of the present application, the data display unit has a data image display unit, which is configured to mark the firing moment point corresponding to the firing event identification and the aiming point position at that moment in the displayed aiming point trajectory curve with a visual element that is distinguished from the trajectory line. The abstract firing event identification is converted into a visual graphical interface mark on the display terminal. It solves the problem of how to intuitively and clearly present the determined firing time to the shooter or coach, so that they can see at a glance where the shooting action occurs on the trajectory. It provides intuitive human-computer interaction feedback. The firing point is highlighted on the trajectory curve, so that the relationship between the shooting opportunity, aiming point position and firing action is clear at a glance, greatly improving the immediacy and understandability of training feedback.

[0098] In the embodiment of the present application, the data image display unit is further configured to automatically divide the continuous aiming point trajectory data into pre-firing aiming segment, firing moment segment and post-firing movement segment according to the received firing event identification, and calculate and display the statistical characteristic parameters of each trajectory segment respectively. Based on the firing time identification, the display terminal software has the functions of automatic trajectory segmentation and segmented statistics. It solves the tedious problem of manual observation and segmented calculation of trajectory characteristics (such as stable period dispersion and jump amplitude), and realizes the automation of data analysis. It converts the original trajectory data into quantitative indicators with clear physical meaning. It automatically generates reports such as aiming stability period accuracy and firing disturbance amplitude, so that the training evaluation is upgraded from qualitative observation to quantitative analysis, improving the objectivity and efficiency of evaluation.

[0099] In the embodiment of the present application, the statistical characteristic parameters include the dispersion circle radius of the pre-firing aiming segment, the aiming point jump amplitude at the firing moment, and the reset trajectory characteristics of the post-firing movement segment. Specific segmented statistical indicators are listed, and the specific output of data analysis is clear. The specific analysis pain points to be solved by the system are clear, i.e. quantifying the key performance indicators of the shooting process. The core value information of the system output is defined. These indicators (such as dispersion circle radius and jump amplitude) directly correspond to the technical points of the shooter (stability and firing control), so that the training improvement target is clear and the effect is measurable.

[0100] In the embodiment of the application, the attitude sensor is a micro-electro-mechanical system inertial measurement unit.

[0101] Please refer to Figure 2 The recoil force generated at the moment of firing is a unique physical feature for determining the shooting time. To achieve accurate identification of this event, the system uses a time-frequency domain joint analysis algorithm based on inertial measurement unit data. The algorithm continuously monitors the acceleration signal output by the attitude sensor. In the state of being ready to fire, the signal mainly shows low-frequency noise introduced by the shooter's physiological tremor. When firing occurs, the recoil force will exert a high-intensity impact acceleration on the gun body in a very short time. This event presents a Gaussian pulse with a significantly higher amplitude than the noise baseline in the time domain, and an instantaneous energy spread to the high frequency band in the frequency domain.

[0102] In the data processing process, the FPGA receives the acceleration data after the MTI-3 sensor analysis, first buffers 32 consecutive data points in a sliding window manner to form a complete analysis unit. Before performing frequency domain analysis, the system performs preliminary screening on the time domain data to identify data segments that may contain firing characteristics. To improve the quality of spectral analysis, the screened data is subjected to a Hanning window process to effectively suppress spectral leakage. Then the signal is converted to the frequency domain by 32-point fast Fourier transform to extract its frequency component characteristics.

[0103] In the frequency domain analysis stage, the system calculates the mean and standard deviation of the energy spectrum, representing the average energy level and the fluctuation degree of the signal, respectively. To ensure the accuracy of the judgment, a double-threshold decision mechanism is used: only when the time-domain acceleration amplitude exceeds the preset threshold and the mean and standard deviation of the frequency domain energy spectrum both exceed the corresponding threshold, the system determines that the current time is the effective firing time. This joint decision mechanism significantly reduces the probability of false positives and improves the system's anti-interference ability.

[0104] Embodiment two;

[0105] On the basis of embodiment one, embodiment two of the application provides a shooting target unit, and the background of the shooting target unit is:

[0106] The applicant finds that the existing system has the following outstanding problems in actual use:

[0107] 1) The infrared light source on the reference target emits light in the form of an LED array. When imaging at the imaging end, it is difficult to form a high-quality light spot, such as Figure 3 and Figure 4As shown, the imaged light spot is not an ideal circle. Using the center of the light spot for aiming point trajectory measurement and calculation will lead to significant errors in the system's calculation results. Furthermore, during close-range training, because the imaging is actually performed on an LED array, not an ideal circular light source, the non-uniformity of the light spot will be more pronounced. Therefore, the previously applied light source mode is singular and limited by the light source's energy, unable to simultaneously meet the requirements of close-range shooting training (highly circular and uniform light spot) and long-range sniping training (high-brightness light spot).

[0108] 2) To meet the requirements of long-distance measurement, the reference target needs to integrate a high-power LED array, as the prior application explicitly requires a luminous power of not less than 100 watts. However, in actual use, it has been found that such high-power LED arrays have serious heat generation issues; after 10 minutes of continuous use, the temperature of the LED base rapidly rises to over 150°C; under longer usage conditions, it may even ignite the target paper, not only interfering with the normal conduct of sniper shooting training, but also posing a great safety hazard.

[0109] 3) The waterproof performance is relatively weak when used outdoors.

[0110] In summary, the reference targets of the existing system are insufficient to meet the needs of practical applications, and it is necessary to improve and optimize them.

[0111] like Figure 5 The shooting target unit shown includes a light source 1, a condenser 2 disposed at the front end of the light source 1, a condenser lens 3 disposed inside the condenser 2, a light-diffusing plate 4 disposed at the front end of the condenser 2, and a rotating mechanism for driving the light-diffusing plate 4 to rotate. The condenser lens 3 is a convex lens. The axis of rotation of the light-diffusing plate 4 is parallel to the axis of the condenser lens 3.

[0112] In this embodiment, the light source 1 is a plurality of LED beads arranged in an array, with a total power of at least 100W. The focusing cover 2 is trumpet-shaped, and its inner diameter gradually increases from the end closer to the light source 1 to the end farther away from the light source 1.

[0113] The target paper mounting plate 6 is provided on the front side of the light-diffusing plate 4 for attaching the target paper thereon.

[0114] The rotating mechanism is as follows Figure 6 As shown, the device includes a rotating device 5, the output end of which is connected to the light-diffusing plate 4. In this embodiment, the rotating device 5 is a motor, preferably a stepper motor or a servo motor, and its output end is fixedly connected to the light-diffusing plate 4 via a bracket 14. Figure 6 The arrow in the image indicates the direction of rotation of the light-diffusing plate 4.

[0115] In a more preferred embodiment, the distance between the axis of the condenser lens 3 and the motor output shaft is greater than 1 / 2 of the maximum outer diameter of the condenser cover 2, so as to ensure that the light-diffusing plate 4 can be completely rotated outside the range of the condenser cover 2.

[0116] This embodiment can generate circular and uniform light spots in a targeted manner during close-range training, providing effective data for high-precision marker point measurement in close-range situations; while during long-range sniper shooting training, it can generate high-brightness light spots to effectively support measurements in long-range situations.

[0117] Example 3:

[0118] A shooting target unit, based on Embodiment 2, such as Figures 5 to 7 As shown, it also includes a housing 7; the light source 1, the light-concentrating cover 2, and the light-diffusing plate 4 are all located inside the housing 7; a light-transmitting hole 8 is opened on the surface of the housing 7, facing the light-concentrating cover 2, and the rotating mechanism is used to drive the light-diffusing plate 4 to block or open the light-transmitting hole 8. The target paper mounting plate 6 is located outside the housing 7, and the area on the target paper mounting plate 6 facing the light-transmitting hole 8 is hollowed out.

[0119] In this embodiment, both the light-transmitting hole 8 and the light-diffusing plate 4 are circular and coaxial, with the outer diameter of the light-diffusing plate 4 being larger than the diameter of the light-transmitting hole 8. The hollowed-out area on the target paper mounting plate 6 is a circular hole coaxial with the light-transmitting hole 8, and the diameter of this circular hole is larger than the diameter of the light-transmitting hole 8. The housing 7 and other components are supported by the support device 16.

[0120] This embodiment also includes heat dissipation fins 9, and the space between the heat dissipation fins 9 and the light source 1 is filled with a thermally conductive material 10, such as thermally conductive silicone grease.

[0121] The heat dissipation fins 9 are located inside the housing 7, and a streamlined heat dissipation duct 17 is provided inside the housing 7. Both ends of the heat dissipation duct 17 open from the bottom surface of the housing 7, and the heat dissipation fins 9 are located at the top inside the heat dissipation duct 17. One end of the heat dissipation duct 17 is provided with an air blowing device 11 with the blowing direction pointing inward, and there is a distance of 5~10cm between the air blowing device 11 and the bottom surface of the housing 7.

[0122] like Figure 7 As shown, the heat dissipation duct 17 in this embodiment has an inverted U-shaped structure, and the heat dissipation fins 9 are located at the top of the inverted U-shape.

[0123] In addition, this embodiment also provides a perimeter 15 at the bottom of the housing 7 to further prevent rainwater from being drawn into the heat dissipation duct 17 by the blower 11. Figure 7 The arrows in the diagram indicate the direction of airflow.

[0124] The embodiment also comprises a temperature sensor 12 for monitoring the temperature of the light source 1, and a controller 13 for controlling the blowing device 11 and / or the light source 1, the temperature sensor 12 being in signal connection with the controller 13. The temperature sensor 12 is preferably a platinum resistance temperature sensor, and the controller 13 can be an SMT32 single-chip microcomputer.

[0125] In addition, the embodiment can also be configured with a wireless communication control module for receiving control instructions through wireless communication technology, and then transmitting the control instructions to the controller for turning on or off the light source and / or the blowing device. In order to improve the communication reliability of the wireless communication module, all components except the supporting device can be made of non-metallic materials, such as a plastic shell for the box, which is convenient for wireless communication through radio waves, and the antenna of the wireless communication module is placed inside the light box to facilitate transportation and avoid damage to the antenna when it is placed outside during transportation.

[0126] The active heat dissipation method provided by the embodiment ensures the stable and continuous operation of the target system during shooting training. According to the actual verification of the inventor, the embodiment can also work stably and continuously in the actual application environment on a hot summer day, and the single working time exceeds 48 hours, and there is no problem of overheating of the light source, or causing the target paper to self-ignite, etc. This is sufficient to prove that the present application has made significant progress compared with the prior art.

[0127] Although the preferred embodiments of the present application have been described, those skilled in the art can make further changes and modifications to these embodiments once they know the basic inventive concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0128] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application also intends to include these modifications and variations.

Claims

1. A sniper aiming point trajectory measurement system based on vision measurement, characterized in that, The system includes: a shooting target unit, an optical measurement unit, an electrical measurement unit, a firing time determination unit, and a data display unit. The shooting target unit is equipped with a light source. The optical measurement unit is used to acquire target images and for the shooter to aim at the target, and to transmit the acquired target images to the electrical measurement unit. The electrical measurement unit is used to measure and obtain aiming point trajectory data based on the target images. The firing time determination unit is used to acquire raw acceleration data output by an attitude sensor mounted on the gun body, process the raw acceleration data in real time, and generate a firing event identifier when a firing event is determined through joint analysis of time-domain amplitude and frequency-domain energy characteristics. The electrical measurement unit is also used to associate and package the firing event identifier with the aiming point trajectory data at the same time, and send it to the data display unit, which displays the aiming point trajectory and the firing event identifier.

2. The sniper aiming point trajectory measurement system based on vision measurement according to claim 1, characterized in that, The firing timing determination unit is specifically used for: From the raw acceleration data output by the attitude sensor, the axial acceleration data corresponding to the main direction of the gun recoil is selected as the firing characteristic analysis signal.

3. The sniper aiming point trajectory measurement system based on vision measurement according to claim 1, characterized in that, The method for generating the firing event identifier is as follows: Acceleration data from N consecutive sampling points are cached in a sliding window manner to form an analysis window, where N is a positive integer; Windowing is applied to the acceleration data within the analysis window; A fast Fourier transform is performed on the windowed data to obtain the frequency domain energy spectrum; Calculate the mean and standard deviation of the frequency domain energy spectrum; When all three of the following conditions are met simultaneously, the firing moment is determined to be valid and the firing event identifier is generated: Condition 1: The maximum value of the time-domain amplitude of the acceleration data within the analysis window exceeds a first preset threshold; Condition 2: The mean value of the frequency domain energy spectrum exceeds the second preset threshold; Condition 3: The standard deviation of the frequency domain energy spectrum exceeds the third preset threshold.

4. The sniper aiming point trajectory measurement system based on vision measurement according to claim 3, characterized in that, The firing time determination unit performs sliding window buffering, windowing processing, fast Fourier transform, and threshold determination operations in a parallel pipeline manner.

5. The sniper aiming point trajectory measurement system based on vision measurement according to claim 1, characterized in that, The electrical measurement unit also includes: The attitude calculation unit is used to receive the raw angular velocity, raw acceleration and raw magnetic field data output by the attitude sensor, and perform fusion calculation to obtain attitude angle information describing the muzzle pointing. The electrical measurement unit is further configured to synchronously encapsulate and send the firing event identifier, the aiming point trajectory data at the corresponding moment, and the attitude angle information.

6. The sniper aiming point trajectory measurement system based on vision measurement according to claim 5, characterized in that, The electrical measurement unit also includes: The grip force acquisition unit is used to acquire pressure signals that reflect the force of the hand gripping the gun and the force of pulling the trigger. The synchronously encapsulated data also includes the pressure signal.

7. The sniper aiming point trajectory measurement system based on vision measurement according to claim 6, characterized in that, The electrical measurement unit is configured to: use the firing event identifier as a time reference to extract and mark the aiming point trajectory data and attitude angle information within a set time period before and after the firing event, forming a key data segment for evaluating the quality of a single shot.

8. The sniper aiming point trajectory measurement system based on vision measurement according to claim 1, characterized in that, The shooting target unit includes: a light source (1), a light-concentrating cover (2) at the front end of the light source (1), a light-concentrating lens (3) inside the light-concentrating cover (2), a light-diffusing plate (4) at the front end of the light-concentrating cover (2), and a rotating mechanism for driving the light-diffusing plate (4) to rotate.

9. The sniper aiming point trajectory measurement system based on vision measurement according to claim 8, characterized in that, The shooting target unit also includes a housing (7); the light source (1), the light condenser (2) and the light dome (4) are all located inside the housing (7); a light-transmitting hole (8) is opened on the surface of the housing (7) facing the light condenser (2), and the rotating mechanism is used to drive the light dome (4) to block or open the light-transmitting hole (8).

10. The sniper aiming point trajectory measurement system based on vision measurement according to claim 8, characterized in that, The shooting target unit also includes heat dissipation fins (9), and the space between the heat dissipation fins (9) and the light source (1) is filled with thermally conductive material (10). The heat dissipation fins (9) are located inside the housing (7), and a streamlined heat dissipation duct (17) is provided inside the housing (7). Both ends of the heat dissipation duct (17) are open from the bottom surface of the housing (7), and the heat dissipation fins (9) are located at the top inside the heat dissipation duct (17). One end of the heat dissipation duct (17) is provided with a blower (11) blowing inward, and there is a distance of 5~10cm between the blower (11) and the bottom surface of the housing (7).

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