Calculation method and system for effective shielding time of smoke screen jamming bomb
By establishing a trajectory model of missiles, drones, chaff, and smoke clouds in three-dimensional space, the distance between the missile and the cloud and the line-of-sight cone angle are accurately calculated. This solves the problem of large estimation errors in the existing technology of masking time, and realizes more accurate and reliable masking time calculation, which is suitable for mission planning of drones to deliver chaff in complex battlefield environments.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-03
- Publication Date
- 2026-03-27
AI Technical Summary
In existing technologies, the calculation of the effective shielding time of smoke flares ignores the complex coupling of kinematics, cloud dynamics, and line-of-sight geometry, resulting in large errors in shielding time estimation and affecting the reliability of tactical decisions and UAV deployment plans.
In three-dimensional space, a motion trajectory model of missiles, drones, chaff, and smoke clouds is established. By combining real-time sensor data and preset initial conditions, the distance between the missile and the center of the cloud and the line-of-sight cone angle are accurately calculated. The masking status is determined based on geometric masking criteria, and the effective masking time is statistically analyzed.
It provides more accurate and reliable cover time calculation results, adapts to complex three-dimensional environments, supports multi-missile and multi-aircraft collaborative scenarios, meets tactical-level real-time computing requirements, and significantly improves the reliability of tactical decision-making.
Smart Images
Figure CN121746586A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to a method and system for calculating the effective screening time of smoke screen jamming bombs, belonging to the field of military simulation and electronic countermeasure technology. BACKGROUND
[0002] Smoke screen jamming bombs generate aerosol clouds through chemical combustion or explosion to form a screen in the target airspace. In the prior art, the effective screening time of smoke screen jamming bombs is usually evaluated by an empirical model or a simplified geometric approximation, ignoring the complex coupling of kinematics, cloud dynamic sinking and line-of-sight geometric relationship, resulting in a large error in the estimation of screening time, thereby affecting the reliability of tactical decision and unmanned aerial vehicle deployment plan. The traditional method fails to fully consider the dynamic changes in the complex three-dimensional environment, especially the relative motion of the missile and the cloud and the processing of target discretization is not accurate enough.
[0003] To solve the above problems, the present application provides a method and system for calculating the effective screening time of smoke screen jamming bombs. SUMMARY
[0004] To solve the above problems of the traditional method, the present application provides a method and system for calculating the effective screening time of smoke screen jamming bombs. The present application can provide more accurate and reliable screening time calculation results. The present application establishes a motion trajectory model of the missile, unmanned aerial vehicle, jamming bomb and smoke cloud in three-dimensional space, combines real-time sensing data and preset initial conditions, more accurately calculates the distance between the missile and the cloud center and the line-of-sight cone angle, judges the screening state based on the geometric screening criterion and the target discretization result, and counts all the effective screening times in the time sequence.
[0005] The technical scheme of the present application is: a method for calculating the effective screening time of smoke screen jamming bombs, the method comprising:
[0006] S1, establishing a motion trajectory model of the missile, unmanned aerial vehicle, jamming bomb and smoke cloud in a three-dimensional rectangular coordinate system, the model taking real-time or historical sensing data and or preset initial conditions as input;
[0007] S2, calculating the distance d(t) from the missile to the cloud center and the half angle θ(t) corresponding to the missile guidance field of view or line of sight at any time t based on the model; Q
[0008] S3, judging whether the missile is in an effective screening state in the time sequence according to a preset geometric or optical screening criterion; the preset geometric or optical screening criterion includes a distance threshold, a line-of-sight half angle coverage, a proportion of target profile discrete points obscured by the cloud or a cloud optical thickness;
[0009] S4. Traverse the time series and count the cumulative duration of all effective masking states, then output the final effective masking time to the deployment control unit or command terminal.
[0010] Further, S1 includes:
[0011] The trajectories of the missile and the drone are represented as follows:
[0012] M1(t) = M1(0) + v M1 tr M1 ;
[0013] F1(t) = F1(0) + v F1 tr F1 ;
[0014] Where M1(t) and F1(t) represent the trajectories of the missile and the UAV, respectively, and their positions are calculated by adding the initial position to the velocity vector and multiplying by the time; v M1 and v F1 M1(0) and F1(0) represent the velocity vectors of the missile and the UAV, respectively; M1(0) and F1(0) represent the initial position vectors of the missile and the UAV, respectively. tr M1 and tr F1 These represent the flight time of the missile and the drone, respectively;
[0015] The trajectory of the chaff projectile, Gt(t), is expressed as:
[0016] ;
[0017] This formula describes the projectile trajectory of the chaff, where g is the acceleration due to gravity, and t... drop It is the time when the chaff is deployed. Due to gravity, the chaff's trajectory is parabolic.
[0018] If the chaff descends at a constant speed after being detonated, the center position Q(t) of the smoke cloud is represented as:
[0019]
[0020] This formula calculates the sinking process of the smoke cloud, where, v sink t represents the speed at which the cloud descends. boom The detonation time of the chaff / flare. G t (t boom The trajectory of the decoy flare during detonation is shown in Figure 1. The cloud will descend at a constant speed in the vertical direction after detonation.
[0021] Furthermore, in S2, the distance d from the missile to the center of the cloud cluster...Q Represented as: ;
[0022] The formula calculates the distance between the missile and the center of the cloud, where ‖·‖ represents the Euclidean norm of the vector, i.e. the straight-line distance between two points, Q(t) is the position of the center of the smoke cloud, and M1(t) represents the trajectory of the missile.
[0023] The line-of-sight cone angle is expressed as:
[0024]
[0025] This formula calculates the half-angle corresponding to the missile's guidance field of view or line of sight, i.e., the range θ of the field of view, where R eff Let d be the effective radius of the missile's field of view. Q This refers to the distance from the missile to the center of the cloud.
[0026] Furthermore, in S3, the shielding conditions include: when the missile is at a distance d from the center of the cloud... Q If the distance is ≤ 10m, it is considered an effective shielding; otherwise, if all discrete points of the target outline are located outside the line-of-sight cone angle defined by the missile, it is considered an invalid shielding.
[0027] Furthermore, in S4, the effective occlusion time is defined as the cumulative time of all continuous time intervals that meet the occlusion conditions; the time step is selected to meet the numerical convergence accuracy requirements, preferably with a time step of no more than 0.01 seconds.
[0028] The present invention also provides a system for calculating the effective concealment time of smoke flares, the system comprising:
[0029] Trajectory modeling module, distance and angle calculation module, occlusion judgment module, and time statistics module;
[0030] The trajectory modeling module is used to establish the motion trajectory model of missiles, drones, chaff and smoke clouds in a three-dimensional rectangular coordinate system. The model takes real-time or historical sensor data and / or preset initial conditions as input.
[0031] The distance and angle calculation module is used to calculate the distance d from the missile to the center of the cloud cluster at any time t based on the model. Q (t) and the half angle θ(t) corresponding to the missile guidance field of view or line of sight;
[0032] The shielding judgment module is used to determine whether the missile is in an effective shielding state in a time series based on preset geometric or optical shielding criteria. The preset geometric or optical shielding criteria include distance threshold, line-of-sight half-angle coverage, proportion of discrete points of the target outline that are blocked by cloud clusters, or optical thickness of cloud clusters.
[0033] The time statistics module is used to traverse the time series and count the cumulative duration of all effective masking states, and output the final effective masking time to the deployment control unit or command terminal.
[0034] The trajectory modeling module, distance and angle calculation module, occlusion judgment module, and time statistics module are sequentially connected and executed by the processor of the flight control computer or command terminal. The modules exchange coordinate and time series data through a standard communication interface to ensure smooth data flow and meet real-time calculation requirements.
[0035] Furthermore, the trajectory modeling module uses a kinematic equation and sensor fusion algorithm to describe the motion of each object in three-dimensional space. The sensors include GPS, inertial measurement unit (IMU), and visual / infrared sensors to ensure the accuracy of the trajectory.
[0036] Furthermore, the occlusion judgment module adopts geometric occlusion criteria, combined with the target cylinder discretization method for comprehensive judgment, and triggers occlusion event recording when it is determined to be effective occlusion;
[0037] The occlusion judgment module determines whether the target is occluded by using geometric occlusion criteria, and makes the judgment by combining the discretized geometric shape of the target; once it is determined to be effective occlusion, a recording event will be triggered.
[0038] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method for calculating the effective shielding time of a smoke flare.
[0039] The beneficial effects of this invention are:
[0040] 1. This invention improves the accuracy of occlusion calculation through precise kinematic modeling;
[0041] 2. This invention combines geometric occlusion criteria to adapt to complex three-dimensional environments;
[0042] 3. This invention, through its modular system design, facilitates integration and expansion in UAVs or command terminals;
[0043] 4. This invention supports multi-missile and multi-aircraft collaborative scenarios, meeting tactical-level real-time computing requirements. Attached Figure Description
[0044] Figure 1 This is a diagram illustrating the effect of smoke screen concealment; for example... Figure 1 The diagram illustrates the geometric relationship between missiles, drones, and cloud formations.
[0045] Figure 2 This is a schematic diagram illustrating the positional relationships between missiles, drones, and real / false targets on the XZ plane; for example... Figure 2As shown, the missile trajectory and distance d are marked. Q ;
[0046] Figure 3 A schematic diagram illustrating the three-dimensional positional relationship between the missile, drone, target, and smoke cloud; such as... Figure 3 As shown, the spatial distribution under equidistant projection is illustrated.
[0047] Figure 4 This is a schematic diagram illustrating the trajectory of the chaff deployment and the formation and descent of the smoke cloud; such as Figure 4 As shown, the drop point, detonation point, and the direction of cloud descent are marked.
[0048] Figure 5 The effective shading time statistics curve (shading = 1, no shading = 0); for example Figure 5 As shown, the occlusion intervals in the example time series are illustrated.
[0049] Figure 6 This is a schematic diagram illustrating the smoke-screen concealment effect of a specific embodiment of the present invention;
[0050] Figure 7 This is a schematic diagram of the XZ plane of a missile, a drone, a real target, and a decoy target according to a specific embodiment of the present invention; Figure 8 This is a three-dimensional positional relationship diagram of the missile, drone, real target, and decoy target according to a specific embodiment of the present invention;
[0051] Figure 9 This is a schematic diagram illustrating the trajectory of the chaff and the formation process of the smoke cloud in a specific embodiment of the present invention;
[0052] Figure 10 This is a flowchart illustrating the algorithm of a specific embodiment of the present invention. Detailed Implementation
[0053] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments, but the present invention is not limited to the following embodiments.
[0054] Example 1: As Figures 1-10 As shown, a method for calculating the effective concealment time of a smoke grenade is provided, the method comprising:
[0055] S1. Establish a motion trajectory model of missile, drone, chaff and smoke cloud in a three-dimensional rectangular coordinate system. The model is input with real-time or historical sensor data and / or preset initial conditions.
[0056] This step describes the relative motion of the missile, drone, chaff, and smoke cloud by establishing a three-dimensional Cartesian coordinate system model.
[0057] The data used can be measurement data from real-time sensors or preset initial conditions to ensure the accuracy of the model and the description of dynamic changes.
[0058] Further, S1 includes:
[0059] The trajectories of the missile and the drone are represented as follows:
[0060] M1(t) = M1(0) + v M1 tr M1 ;
[0061] F1(t) = F1(0) + v F1 tr F1 ;
[0062] Where M1(t) and F1(t) represent the trajectories of the missile and the UAV, respectively, and their positions are calculated by adding the initial position to the velocity vector and multiplying by the time; v M1 and v F1 M1(0) and F1(0) represent the velocity vectors of the missile and the UAV, respectively; M1(0) and F1(0) represent the initial position vectors of the missile and the UAV, respectively. tr M1 and tr F1 These represent the flight time of the missile and the drone, respectively;
[0063] The trajectory of the chaff projectile, Gt(t), is expressed as:
[0064] ;
[0065] This formula describes the projectile trajectory of the chaff, where g is the acceleration due to gravity, and t... drop It is the time when the chaff is deployed. Due to gravity, the chaff's trajectory is parabolic.
[0066] If the chaff descends at a constant speed after being detonated, the center position Q(t) of the smoke cloud is represented as:
[0067]
[0068] This formula calculates the sinking process of the smoke cloud, where, v sink t represents the speed at which the cloud descends. boom The detonation time of the chaff / flare. G t (t boom The trajectory is the projectile trajectory when the decoy detonates, and the cloud will sink at a constant speed in the vertical direction after detonation.
[0069] S2. Based on the model, calculate the distance d from the missile to the center of the cloud at any time t.Q (t) and the half angle θ(t) corresponding to the missile guidance field of view or line of sight;
[0070] This step calculates the distance d between the missile and the center of the cloud. Q The system calculates the missile's line-of-sight angle θ(t), which represents the coverage area of the missile's guidance field of view in three-dimensional space. This calculation determines whether the missile is within the cloud's obscuration range.
[0071] Furthermore, in S2, the distance d from the missile to the center of the cloud cluster... Q Represented as: ;
[0072] The formula calculates the distance between the missile and the center of the cloud, where ‖·‖ represents the Euclidean norm of the vector, i.e. the straight-line distance between two points, Q(t) is the position of the center of the smoke cloud, and M1(t) represents the trajectory of the missile.
[0073] The line-of-sight cone angle is expressed as:
[0074]
[0075] This formula calculates the half-angle corresponding to the missile's guidance field of view or line of sight, i.e., the range θ of the field of view, where R eff Let d be the effective radius of the missile's field of view. Q This refers to the distance from the missile to the center of the cloud.
[0076] S3. Determine whether the missile is in an effective shielding state in the time series based on preset geometric or optical shielding criteria; preset geometric or optical shielding criteria include distance threshold, line-of-sight half-angle coverage, proportion of discrete points of the target outline that are blocked by cloud clusters or optical thickness of cloud clusters.
[0077] This step makes a judgment based on preset criteria, such as a distance threshold (e.g., d). Q The presence of a smoke cloud can be used to determine whether a missile is obscured, based on criteria such as the percentage of obscuration below a certain threshold and the coverage of the half-angle of the line of sight. The obscuration status can also be further determined by the proportion of obscuration at discrete points on the target outline or the optical thickness of the cloud. This step uses preset criteria for judgment, such as a distance threshold (e.g., d). Q The system uses parameters such as the value of a missile being considered obscured (e.g., less than a certain value is considered obscured) and the coverage of the half-angle of the line of sight to determine whether the missile is obscured by the smoke cloud.
[0078] Furthermore, in S3, the shielding conditions include: when the missile is at a distance d from the center of the cloud... Q If the distance is ≤ 10m, it is considered an effective shielding; otherwise, if all discrete points of the target outline are located outside the line-of-sight cone angle defined by the missile, it is considered an invalid shielding.
[0079] This step specifies the conditions for effective shielding. If the distance d between the missile and the cloud... Q If the distance is less than or equal to 10 meters, it is considered an effective shield.
[0080] If this condition is not met, then it is necessary to determine whether the target is completely outside the line-of-sight cone angle.
[0081] S4. Traverse the time series and count the cumulative duration of all effective masking states, then output the final effective masking time to the deployment control unit or command terminal.
[0082] This step iterates through the time series to calculate the total duration of the missile's effective masking within a given time period. The final effective masking time can be provided to the launch control unit or command terminal to assist in tactical decision-making.
[0083] Furthermore, in S4, the effective occlusion time is defined as the cumulative time of all continuous time intervals that meet the occlusion conditions; the time step is selected to meet the numerical convergence accuracy requirements, preferably with a time step of no more than 0.01 seconds.
[0084] This step defines the method for calculating the effective shading time, which is the sum of all time periods that meet the shading conditions. The time step must be selected to meet numerical precision requirements, and is usually set to 0.01 seconds.
[0085] The present invention also provides a system for calculating the effective concealment time of smoke flares, the system comprising:
[0086] Trajectory modeling module, distance and angle calculation module, occlusion judgment module, and time statistics module;
[0087] The trajectory modeling module is used to establish the motion trajectory model of missiles, drones, chaff and smoke clouds in a three-dimensional rectangular coordinate system. The model takes real-time or historical sensor data and / or preset initial conditions as input.
[0088] The distance and angle calculation module is used to calculate the distance d from the missile to the center of the cloud cluster at any time t based on the model. Q (t) and the half angle θ(t) corresponding to the missile guidance field of view or line of sight;
[0089] The shielding judgment module is used to determine whether the missile is in an effective shielding state in a time series based on preset geometric or optical shielding criteria. The preset geometric or optical shielding criteria include distance threshold, line-of-sight half-angle coverage, proportion of discrete points of the target outline that are blocked by cloud clusters, or optical thickness of cloud clusters.
[0090] The time statistics module is used to traverse the time series and count the cumulative duration of all effective masking states, and output the final effective masking time to the deployment control unit or command terminal.
[0091] The trajectory modeling module, distance and angle calculation module, occlusion judgment module, and time statistics module are sequentially connected and executed by the processor of the flight control computer or command terminal. The modules exchange coordinate and time series data through a standard communication interface to ensure smooth data flow and meet real-time calculation requirements.
[0092] Furthermore, the trajectory modeling module uses a kinematic equation and sensor fusion algorithm to describe the motion of each object in three-dimensional space. The sensors include GPS, inertial measurement unit (IMU), and visual / infrared sensors to ensure the accuracy of the trajectory.
[0093] Furthermore, the occlusion judgment module adopts geometric occlusion criteria, combined with the target cylinder discretization method for comprehensive judgment, and triggers occlusion event recording when it is determined to be effective occlusion;
[0094] The occlusion judgment module determines whether the target is occluded by using geometric occlusion criteria, and makes the judgment by combining the discretized geometric shape of the target; once it is determined to be effective occlusion, a recording event will be triggered.
[0095] The system is suitable for coordinated shielding scenarios involving multiple chaff and flares and multiple drones, and supports parallel computing to meet real-time requirements. This system can handle coordinated shielding tasks involving multiple chaff and flares and multiple drones, and supports parallel computing to meet real-time requirements.
[0096] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method for calculating the effective shielding time of a smoke flare.
[0097] Example 2: Figures 1-10 As shown, let the missile's initial position be M1(0) = (20000,0,2000) (unit: m), and its velocity be v. M1 =300m / s; UAV initial position F1(0) = (17800,0,1800), velocity v F1 =120m / s. The time t for the chaff / flare deployment. drop = 1.5s, detonation time t boom =5.1s. The cloud's sinking velocity is taken as 3 m / s, the effective shielding radius as 10 m, and the gravitational acceleration g = 9.8 m / s². 2 Based on the kinematic model in Example 1, Q(t) and M1(t) are calculated to obtain d. Q Using the line-of-sight cone angle θ, we traverse the time series and count the continuous time intervals that satisfy the occlusion condition. The effective occlusion time calculated by the example numerical calculation is approximately 1.395s (example result, for illustrative purposes only).
[0098] In implementation, the cloud's interior is approximated by a sphere or cylinder with a radius R = 10m, and the target profile is discretized using a cylinder (divided into several discrete points along the height direction). For each discrete point, it is determined whether it falls within the missile's line-of-sight cone. When the masking conditions are met within a continuous time step, the masking judgment module records the start and end times, and the time statistics module sums all continuous intervals to obtain the total effective masking time (see...). Figure 5 Example of a broken line).
[0099] In terms of system implementation, the trajectory modeling module can generate interpolated curves based on position information obtained from sensor fusion; the distance and angle calculation module calculates d in real time. Q The occlusion judgment module outputs a Boolean occlusion signal based on geometric criteria, while the time statistics module records and outputs statistical results. All modules can be implemented in software within an embedded processor or the processor of a ground command terminal, and integrated with the UAV controller or command system via an interface.
[0100] The scope of protection of the claims should include the above embodiments and equivalent modifications that can be made by those skilled in the art without departing from the essence of the invention.
[0101] Simulation verification:
[0102] To verify the effectiveness of the method of this invention, numerical simulation was used to compare the occlusion time calculation results of the traditional empirical model and the method of this invention. Simulation parameters: v M1 =300m / s, v F1 =120m / s, v sink =3m / s. The results show that the effective shading time calculated by this method is 1.395s, with an error of less than 3% compared with the simulation and measured results, which significantly improves the accuracy compared with the traditional model (error of about 15%).
[0103] Table 1 shows the meanings and units of the symbols used in the instruction manual.
[0104] This method establishes a trajectory model of the missile, UAV, chaff, and smoke cloud in three-dimensional space. Combining real-time sensor data with preset initial conditions, it accurately calculates the distance between the missile and the center of the smoke cloud, as well as the line-of-sight cone angle. Based on geometric masking criteria and target discretization methods, it accurately determines whether the missile is in an effective masking state and statistically analyzes all effective masking time periods in a time series. This invention overcomes the shortcomings of traditional methods, providing more accurate and reliable masking time calculation results. It is particularly suitable for mission planning of UAV-deployed chaff in complex battlefield environments, significantly improving battlefield survivability.
[0105] The specific embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.
Claims
1. A method for calculating the effective concealment time of a smoke grenade, characterized in that, The method includes: S1. Establish a motion trajectory model of missile, drone, chaff and smoke cloud in a three-dimensional rectangular coordinate system. The model is input with real-time or historical sensor data and / or preset initial conditions. S2. Based on the model, calculate the distance d from the missile to the center of the cloud at any time t. Q (t) and the half angle θ(t) corresponding to the missile guidance field of view or line of sight; S3. Determine whether the missile is in an effective shielding state in the time series based on preset geometric or optical shielding criteria; preset geometric or optical shielding criteria include distance threshold, line-of-sight half-angle coverage, proportion of discrete points of the target outline that are blocked by cloud clusters or optical thickness of cloud clusters. S4. Traverse the time series and count the cumulative duration of all effective masking states, then output the final effective masking time to the deployment control unit or command terminal.
2. The method for calculating the effective concealment time of a smoke grenade according to claim 1, characterized in that, S1 includes: The trajectories of the missile and the drone are represented as follows: M1(t) = M1(0)+ v M1 tr M1 ; F1(t) = F1(0)+ v F1 tr F1 ; Where M1(t) and F1(t) represent the trajectories of the missile and the UAV, respectively, and their positions are calculated by adding the initial position to the velocity vector and multiplying by the time; v M1 and v F1 are the velocity vectors of the missile and the UAV, respectively; M1(0) and F1(0) are the initial position vectors of the missile and the UAV, respectively; tr M1 and tr F1 These represent the flight time of the missile and the drone, respectively; The trajectory of the chaff projectile, Gt(t), is expressed as: ； This formula describes the projectile trajectory of the chaff, where g is the acceleration due to gravity, and t... drop It is the time when the chaff is deployed. Due to gravity, the chaff's trajectory is parabolic. If the chaff descends at a constant speed after being detonated, the center position Q(t) of the smoke cloud is represented as: ； This formula calculates the sinking process of the smoke cloud, where, v sink t represents the speed at which the cloud descends. boom The detonation time of the chaff / flare. G t (t boom The trajectory of the decoy flare during detonation is shown in Figure 1. The cloud will descend at a constant speed in the vertical direction after detonation.
3. The method for calculating the effective concealment time of a smoke grenade according to claim 1, characterized in that, In S2, the distance d from the missile to the center of the cloud cluster Q Represented as: ; The formula calculates the distance between the missile and the center of the cloud, where ‖·‖ represents the Euclidean norm of the vector, i.e. the straight-line distance between two points, Q(t) is the position of the center of the smoke cloud, and M1(t) represents the trajectory of the missile. The line-of-sight cone angle is expressed as: ； This formula calculates the half-angle corresponding to the missile's guidance field of view or line of sight, i.e., the range θ of the field of view, where R eff Let d be the effective radius of the missile's field of view. Q This refers to the distance from the missile to the center of the cloud.
4. The method for calculating the effective concealment time of a smoke grenade according to claim 1, characterized in that, In S3, the shielding conditions include: when the missile is at a distance d from the center of the cloud. Q If the distance is ≤ 10m, it is considered an effective shielding; otherwise, if all discrete points of the target outline are located outside the line-of-sight cone angle defined by the missile, it is considered an invalid shielding.
5. The method for calculating the effective concealment time of a smoke grenade according to claim 1, characterized in that, In S4, the effective occlusion time is defined as the cumulative time of all continuous time intervals that meet the occlusion conditions; the time step is selected to meet the numerical convergence accuracy requirements, and preferably the time step is no greater than 0.01 seconds.
6. A system for calculating the effective concealment time of smoke flares, characterized in that, The system includes: Trajectory modeling module, distance and angle calculation module, occlusion judgment module, and time statistics module; The trajectory modeling module is used to establish the motion trajectory model of missiles, drones, chaff and smoke clouds in a three-dimensional rectangular coordinate system. The model takes real-time or historical sensor data and / or preset initial conditions as input. The distance and angle calculation module is used to calculate the distance d from the missile to the center of the cloud cluster at any time t based on the model. Q (t) and the half angle θ(t) corresponding to the missile guidance field of view or line of sight; The shielding judgment module is used to determine whether the missile is in an effective shielding state in a time series based on preset geometric or optical shielding criteria. The preset geometric or optical shielding criteria include distance threshold, line-of-sight half-angle coverage, proportion of discrete points of the target outline that are blocked by cloud clusters, or optical thickness of cloud clusters. The time statistics module is used to traverse the time series and count the cumulative duration of all effective masking states, and output the final effective masking time to the deployment control unit or command terminal. The trajectory modeling module, distance and angle calculation module, occlusion judgment module, and time statistics module are sequentially connected and executed by the processor of the flight control computer or command terminal. The modules exchange coordinate and time series data through a standard communication interface to ensure smooth data flow and meet real-time calculation requirements.
7. The system for calculating the effective concealment time of a smoke grenade according to claim 6, characterized in that, The trajectory modeling module uses a kinematic equation and sensor fusion algorithm to describe the motion of each object in three-dimensional space. The sensors include GPS, inertial measurement unit (IMU), and visual / infrared sensors to ensure the accuracy of the trajectory.
8. The system for calculating the effective concealment time of a smoke grenade according to claim 6, characterized in that, The occlusion judgment module uses geometric occlusion criteria and combines the target cylinder discretization method to make a comprehensive judgment, and triggers occlusion event recording when it is determined to be effective occlusion. The occlusion judgment module determines whether the target is occluded by using geometric occlusion criteria, and makes the judgment by combining the discretized geometric shape of the target; once it is determined to be effective occlusion, a recording event will be triggered.
9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements a method for calculating the effective shielding time of a smoke flare as described in any one of claims 1 to 5.