Method for semi-physical simulation of shoulder-fired weapons

Abstract

The application provides a semi-physical simulation method of a shoulder-held weapon, and comprises the following steps: establishing a bullet-target motion relationship model between the shoulder-held weapon and a target according to the shoulder-held weapon and target motion information; the bullet-target motion relationship model comprises a bullet-target relative position relationship and a coordinate mapping relationship between the shoulder-held weapon and a five-axis flight turntable; and synchronizing the attitude of the five-axis flight turntable according to the change of the real-time attitude angle of the shoulder-held weapon by using the bullet-target motion relationship model. The application synchronizes the real-time attitude of the shoulder-held weapon with the five-axis turntable, realizes the simulation of the shooter moving and aiming process before firing, and improves the simulation accuracy.

Description

Technical Field

[0001] This invention relates to the field of military simulation, and more specifically to a semi-physical simulation method for shoulder-fired weapons. Background Technology

[0002] Hardware-in-the-loop (HIL) simulation is a complex simulation system that includes physical objects, physical models, and mathematical models. Existing HIL simulation experiments mainly verify the guidance performance of guidance systems and the tracking performance of seekers. The system primarily simulates the missile's motion during flight after firing and calculates the relative motion between the missile and the target.

[0003] Current hardware-in-the-loop simulation experimental schemes do not include the process of real-time changes between the projectile and the target before firing. Summary of the Invention

[0004] In view of the above problems, the present invention provides a semi-physical simulation method for a shoulder-fired weapon system that is synchronized in real time with a five-axis flight turntable.

[0005] This invention provides a semi-physical simulation method for a shoulder-fired weapon, comprising: establishing a projectile-target motion relationship model between the shoulder-fired weapon and the target based on the projectile-target motion information; using the projectile-target motion relationship model, synchronizing the attitude of a five-axis flight turntable according to the real-time attitude angle changes of the shoulder-fired weapon; wherein, the projectile-target motion relationship model includes the relative positional relationship between the projectile and the target, as well as the coordinate mapping relationship between the shoulder-fired weapon and the five-axis flight turntable.

[0006] According to an embodiment of the present invention, determining the relative positional relationship between the projectile and the target includes: obtaining the relative positional relationship between the projectile and the target using the position of the shoulder-fired weapon and the target motion information; wherein the target motion information is obtained based on a preset simulation scenario.

[0007] According to an embodiment of the present invention, a preset simulation scenario includes: setting the target's movement speed and direction; setting the firing direction of the shoulder-fired weapon to be perpendicular to the target's movement direction; and setting the vertical distance between the shoulder-fired weapon and the target to be less than a preset distance.

[0008] According to an embodiment of the present invention, determining the coordinate mapping relationship between a shoulder-launched weapon and a five-axis flight turntable includes: establishing the coordinate mapping relationship between the shoulder-launched weapon and the five-axis flight turntable; wherein the coordinate mapping relationship includes a first rotation matrix capable of converting attitude angles into the movement of the three inner frames of the five-axis flight turntable and a second rotation matrix capable of converting the relative motion relationship between the projectile and the target into the movement of the two outer frames of the five-axis flight turntable.

[0009] According to an embodiment of the present invention, the attitude of a five-axis flight turntable is synchronized based on the real-time attitude angle changes of a shoulder-fired weapon using a projectile-target motion relationship model. This includes: acquiring the initial attitude angles collected by the inertial components of the shoulder-fired weapon; the attitude angles include pitch, yaw, and roll angles; matching and aligning the seeker's field of view of the five-axis flight turntable and the target simulator's field of view of the shoulder-fired weapon based on the initial attitude angles and the projectile-target motion relationship model; playing a target simulation video in response to the alignment of the seeker's field of view of the five-axis flight turntable and the target simulator's field of view of the shoulder-fired weapon; driving the outer two frames of the five-axis flight turntable according to the projectile-target motion relationship model and target motion information; and driving the inner three frames of the five-axis flight turntable according to the projectile-target motion relationship model and the real-time attitude angles of the shoulder-fired weapon; wherein the target simulation video is generated based on the target motion information.

[0010] According to an embodiment of the present invention, matching and aligning the field of view of the seeker head of the five-axis flight turntable and the field of view of the target simulator of the shoulder-fired weapon includes: determining the initial movement of the three inner frames and the initial movement of the two outer frames of the five-axis flight turntable based on the initial attitude angle, the relative position relationship between the projectile and the target, and the coordinate mapping relationship between the shoulder-fired weapon and the five-axis flight turntable; and rotating the five-axis flight turntable to the initial position based on the initial movement of the three inner frames, the initial movement of the two outer frames, and a preset alignment time.

[0011] According to an embodiment of the present invention, the method further includes a firing synchronization step: in response to the shooter pressing the firing button and the azimuth frame angle of the two outer frames of the five-axis flight turntable moving to a preset range of 0 degrees, the attitude angle of the last frame transmitted by the shoulder-fired weapon is set as the initial attitude angle for firing; and the simulation model is called to calculate the projectile-target motion after firing.

[0012] A second aspect of the present invention provides a hardware-in-the-loop simulation system for a shoulder-fired weapon, which can be used to implement the aforementioned hardware-in-the-loop simulation method for a shoulder-fired weapon, comprising: a projectile-target relationship module, used to establish a projectile-target motion relationship model between the shoulder-fired weapon and the target based on the motion information of the shoulder-fired weapon and the target; and an attitude synchronization module, used to synchronize the attitude of a five-axis flight turntable based on the real-time attitude angle changes of the shoulder-fired weapon using the projectile-target motion relationship model; wherein the projectile-target motion relationship model includes the relative positional relationship between the projectile and the target, as well as the coordinate mapping relationship between the shoulder-fired weapon and the five-axis flight turntable.

[0013] A third aspect of the present invention provides an electronic device comprising: one or more processors; and a memory for storing one or more programs, wherein, when the one or more programs are executed by the one or more processors, the one or more processors perform the aforementioned hardware-in-the-loop simulation method for a shoulder-fired weapon.

[0014] A fourth aspect of the present invention also provides a computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, cause the processor to perform the aforementioned hardware-in-the-loop simulation method for a shoulder-fired weapon.

[0015] The hardware-in-the-loop simulation method for shoulder-fired weapons provided by this invention establishes a projectile-target motion relationship model and synchronizes the real-time attitude changes of the shoulder-fired weapon with a five-axis turntable, thereby simulating the shooter's movement and aiming process before firing. Because shoulder movement is simulated, the technical problem of shoulder disturbance is at least partially solved, achieving the technical effect of improving simulation synchronization accuracy. Attached Figure Description

[0016] Figure 1 A flowchart illustrating a semi-physical simulation method for a shoulder-fired weapon according to an embodiment of the present invention is shown schematically.

[0017] Figure 2 A projectile-eye motion relationship model according to an embodiment of the present invention is illustrated schematically;

[0018] Figure 3 The schematic diagram illustrates a structural block diagram of a hardware-in-the-loop simulation system for a shoulder-fired weapon according to an embodiment of the present invention;

[0019] Figure 4 A block diagram of an electronic device suitable for implementing a hardware-in-the-loop simulation method for shoulder-fired weapons according to an embodiment of the present invention is shown schematically. Detailed Implementation

[0020] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the invention. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of the invention for ease of explanation. However, it will be apparent that one or more embodiments may be practiced without these specific details. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0021] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0022] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0023] When using expressions such as "at least one of A, B and C", they should generally be interpreted in accordance with the meaning that is commonly understood by those skilled in the art (e.g., "a system having at least one of A, B and C" should include, but is not limited to, a system having A alone, a system having B alone, a system having C alone, a system having A and B, a system having A and C, a system having B and C, and / or a system having A, B and C, etc.).

[0024] Hardware-in-the-loop (HIL) simulation is a hybrid simulation method that combines turntable motion with mathematical models. Unlike pure computer simulation, it improves the realism and accuracy of the simulation by introducing real hardware. In realistic lateral motion scenarios, due to the small field of view of the seeker, the gunner moves the shoulder-fired launch tube until the target appears in the seeker's field of view before locking on. During realistic shoulder-fired aiming, the missile's initial attitude angle changes, and the relative position of the missile and target also changes in real time. Therefore, traditional simulation schemes often only focus on the missile's flight process after launch, neglecting the gunner's aiming phase before launch. Because realistic shoulder disturbances and gunner movement are not introduced, it is impossible to verify the seeker's tracking ability and servo performance, the gunner's rapid lock-on reaction capability, and the accuracy of the inertial navigation system when the missile strikes a moving target.

[0025] In response to the above problems, Figure 1 A flowchart illustrating a semi-physical simulation method for a shoulder-fired weapon according to an embodiment of the present invention is shown, such as... Figure 1 As shown, an embodiment of the present invention provides a semi-physical simulation method for a shoulder-fired weapon, comprising: establishing a projectile-target motion relationship model between the shoulder-fired weapon and the target based on the projectile-target motion information; using the projectile-target motion relationship model, synchronizing the attitude of a five-axis flight turntable according to the real-time attitude angle change of the shoulder-fired weapon; wherein, the projectile-target motion relationship model includes the relative positional relationship between the projectile and the target, as well as the coordinate mapping relationship between the shoulder-fired weapon and the five-axis flight turntable.

[0026] In this embodiment, the five-axis flight turntable is a simulation device capable of simulating five degrees of freedom of motion to reproduce the flight attitude of a missile. Its five axes of motion are divided into two groups: two outer frames and three inner frames. The two outer frames are used to simulate the relative motion between the missile and the target, while the three inner frames are used to simulate the weapon's attitude.

[0027] Through the embodiments of this invention, existing simulation schemes only consider the missile's flight process after launch. Building upon existing hardware-in-the-loop (HIL) simulation schemes, this invention considers the process of the gunner carrying the launch tube to lock onto the target during the target vehicle's movement before launch, adding shoulder-mounted disturbance and turntable synchronization to the HIL simulation process. This allows for verification of the inertial components' accuracy, the seeker's rapid identification and tracking of targets and servo functions, and simulation of the gunner's reaction capability to lock onto moving targets in real-world scenarios.

[0028] Figure 2 The schematic diagram illustrates the missile-target motion relationship model according to an embodiment of the present invention. Based on the missile parameters carried by the gunner and the target motion information, a simulation model of the relative relationship between the missile and the target is established, specifically including: (1) determining the relative positional relationship between the missile and the target, including: using the position of the shoulder-mounted weapon and the target motion information to obtain the relative positional relationship between the missile and the target, wherein the target motion information is obtained according to the preset simulation scenario; (2) determining the coordinate mapping relationship between the shoulder-mounted weapon and the five-axis flight turntable, including: establishing the coordinate mapping relationship between the shoulder-mounted weapon and the five-axis flight turntable, wherein the coordinate mapping relationship includes a first rotation matrix that can convert the attitude angle into the movement of the three inner frames of the five-axis flight turntable and a second rotation matrix that can convert the relative motion relationship between the missile and the target into the movement of the two outer frames of the five-axis flight turntable.

[0029] In this embodiment, the missile-target motion relationship model describes the relative motion between the missile and the target. It comprises two parts: the missile-target relative position relationship, which calculates the real-time relative distance and angle between the missile and the target based on the position of the shoulder-launched weapon and the target's motion information; and the coordinate mapping relationship, which establishes the transformation relationship between the shoulder-launched weapon coordinate system and the five-axis flight turntable coordinate system, converting attitude angles into turntable motion quantities through a rotation matrix. This model ensures that the real-time attitude of the shoulder-launched weapon is synchronized to the turntable, achieving accurate simulation. In the five-axis flight turntable, the three components of the three coordinate axes of the spatial rectangular coordinate system of the distance between the missile and the target are converted into the drive of the outer two frames. The synchronized attitude angle information provides the initial parameters for missile launch to the guidance algorithm, affecting the missile's attitude and velocity in the air after launch.

[0030] Through the embodiments of the present invention, a missile-target motion relationship model is established based on the initial angle information of the inertial component. At this time, the spatial coordinate system of the shoulder-launched electronic missile is transformed into the coordinate system of the actual missile on the turntable.

[0031] Based on the above embodiments, a preset simulation scenario is included, including: setting the target's movement speed and direction; setting the shoulder-fired weapon's firing direction to be perpendicular to the target's movement direction; and setting the vertical distance between the shoulder-fired weapon and the target to be less than a preset distance.

[0032] In this embodiment, the target motion information and missile seeker parameters are set as follows for process design: (1) Target motion speed: speed and direction of lateral motion; (2) The missile pitch angle in the launch tube is incorrect due to shoulder-mounted shaking; (3) The seeker's azimuth field of view is not large (e.g., 8 degrees); (4) The missile is placed perpendicular to the target motion direction and fired in that direction. The missile body rotates in real time with the shooter's shoulder before firing; (5) The vertical distance between the missile and the target motion direction is close (e.g., 200 meters).

[0033] Through the embodiments of the present invention, a preset simulation scenario is used to accurately simulate the aiming situation of a shooter at close range, thereby reflecting the shooter's rapid locking reaction capability and the accuracy of the inertial navigation system.

[0034] Based on the above embodiments, the attitude of the five-axis flight turntable is synchronized according to the real-time attitude angle changes of the shoulder-fired weapon using a projectile-target motion relationship model. This includes: acquiring the initial attitude angles collected by the inertial components of the shoulder-fired weapon; the attitude angles include pitch, yaw, and roll angles; matching and aligning the seeker's field of view of the five-axis flight turntable and the target simulator's field of view of the shoulder-fired weapon according to the initial attitude angles and the projectile-target motion relationship model; playing a target simulation video in response to the alignment of the seeker's field of view of the five-axis flight turntable and the target simulator's field of view of the shoulder-fired weapon; driving the outer two frames of the five-axis flight turntable according to the projectile-target motion relationship model and target motion information; and driving the inner three frames of the five-axis flight turntable according to the projectile-target motion relationship model and the real-time attitude angles of the shoulder-fired weapon. The target simulation video is generated based on the target motion information.

[0035] In this embodiment, the inertial components typically include a gyroscope and an accelerometer, mounted on the shoulder-fired weapon, for measuring three-axis attitude angles. The target simulation video is a video stream generated based on preset target motion information (such as velocity and direction), played through a target simulator. Once the seeker's field of view aligns with the simulator's field of view, the video begins playing, simulating the motion of a real target for the shooter to aim.

[0036] In this embodiment, in the missile-target motion relationship model, pressing the synchronization button enters the stage of synchronizing the turntable with the inertial navigation system. At this time, the simulated video starts playing. The outer frame drive of the five-axis turntable is controlled by the missile-target distance and target motion mode set in the project. The azimuth frame angle of the outer frame moves towards 0°. The inner three frames of the five-axis turntable are driven by the inertial navigation system of the shoulder-fired electronic missile in real time. The shooter searches for the moving target according to the eyepiece of the launch tube (the image displayed by the eyepiece is acquired in real time by the missile's seeker on the turntable). When the shooter moves the shoulder-fired launch tube, the target needs to be placed in the center of the seeker's field of view. At this time, the seeker detects the target. The shooter quickly locks onto the suspected target and slowly moves the shoulder-fired launch tube to keep the target always in the center of the field of view.

[0037] In the embodiments of the present invention, after the turntable reaches the preset position (field of view alignment), the outer two frames of the turntable are driven according to the movement mode of the target set in the subject, the gunner moves the launch tube by shoulder for aiming, and the inner three frames of the turntable are driven according to the angular velocity collected by the inertial navigation system.

[0038] Based on the above embodiments, matching and aligning the field of view of the seeker head of the five-axis flight turntable and the field of view of the target simulator of the shoulder-fired weapon includes: determining the initial movement of the three inner frames and the initial movement of the two outer frames of the five-axis flight turntable according to the initial attitude angle, the relative position of the projectile and the target, and the coordinate mapping relationship between the shoulder-fired weapon and the five-axis flight turntable; and rotating the five-axis flight turntable to the initial position according to the initial movement of the three inner frames, the initial movement of the two outer frames, and the preset alignment time.

[0039] In this embodiment, while waiting for the target to appear, the seeker's field of view is relatively small. The pitch and azimuth angles of the shooter's shoulder-mounted inertial navigation system are synchronized in real time with the pitch and azimuth frame angles of the turntable. The seeker's field of view is moved to coincide with the target simulator's field of view. At this time, the turntable is in the preset stage. To prevent damage to the turntable due to excessively rapid preset angle movement, the turntable is controlled in the simulator code to smoothly preset to the initial attitude angle position of the shoulder-mounted inertial navigation system within 6 seconds.

[0040] In an embodiment of the present invention, the turntable control system drives the outer two frames to rotate, so that the seeker head installed inside the turntable can receive images from the target simulator. Just as there is relative motion between the missile and the target in a real scene, the inner three frames of the turntable then reproduce these movements, thereby making the seeker head produce the same sway as a real shoulder-fired weapon.

[0041] Based on the above embodiments, the method further includes a firing synchronization step: in response to the shooter pressing the firing button and the azimuth frame angle of the two outer frames of the five-axis flight turntable moving to a preset range of 0 degrees, the attitude angle of the last frame transmitted by the shoulder-fired weapon is set as the initial attitude angle for firing; and the simulation model is called to calculate the projectile-target motion after firing.

[0042] In this embodiment, after the target moves to the center of the field of view, the shooter presses the fire button. The outer frame is still driven by the target velocity of the simulator. When the azimuth angle of the outer frame moves to 0°, it is the pre-realistic firing position. The simulation model immediately sends a firing signal to the onboard computer, the missile is fired, and the simulation model begins to calculate the missile-target motion after firing. The firing time of the simulation model and the onboard computer are synchronized. After the pre-firing process is completed, the simulation system enters the post-firing semi-physical simulation process.

[0043] Through embodiments of the present invention, when the shooter moves the launch tube to bring the target into the field of view of the seeker, a suspected target is locked with a single click. Simultaneously, a firing signal is immediately sent to the onboard computer, synchronizing the simulation model with the missile's firing moment. Therefore, this simulation method can also reflect the shooter's aiming ability.

[0044] It should be noted that the semi-physical simulation of the shoulder-fired weapon provided by this invention has one of the following advantages:

[0045] (1) This scheme simulates the real-time relative motion relationship between the missile and the target before the missile is fired, realizes the synchronization between the shoulder-launched weapon system and the five-axis flight turntable, verifies the algorithm performance of the seeker to quickly identify, lock and track the target before firing, and verifies the accuracy of the inertial navigation system.

[0046] (2) This scheme simulates the close-range target movement of shooters in a real shooting range more realistically and can effectively train shooters to dynamically lock onto targets.

[0047] (3) This scheme includes a full-process semi-physical simulation test before and after firing, which can verify the capabilities of the weapon system and guidance algorithm to a certain extent.

[0048] Figure 3 A schematic diagram illustrates the structural block diagram of a hardware-in-the-loop simulation system for a shoulder-fired weapon according to an embodiment of the present invention, such as... Figure 3 As shown, based on the aforementioned hardware-in-the-loop simulation method for shoulder-fired weapons, this invention also provides a hardware-in-the-loop simulation system for shoulder-fired weapons, which can be used to implement the aforementioned hardware-in-the-loop simulation method for shoulder-fired weapons. The system includes: a projectile-target relationship module, used to establish a projectile-target motion relationship model between the shoulder-fired weapon and the target based on the motion information of the shoulder-fired weapon and the target; and an attitude synchronization module, used to synchronize the attitude of the five-axis flight turntable according to the real-time attitude angle changes of the shoulder-fired weapon using the projectile-target motion relationship model; wherein, the projectile-target motion relationship model includes the relative positional relationship between the projectile and the target, as well as the coordinate mapping relationship between the shoulder-fired weapon and the five-axis flight turntable.

[0049] Figure 4 A block diagram of an electronic device suitable for implementing a hardware-in-the-loop simulation method for shoulder-fired weapons according to an embodiment of the present invention is shown schematically.

[0050] like Figure 4 As shown, an electronic device 400 according to an embodiment of the present invention includes a processor 401, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 402 or a program loaded from a storage portion 408 into a random access memory (RAM) 403. The processor 401 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or an associated chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 401 may also include onboard memory for caching purposes. The processor 401 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present invention.

[0051] RAM 403 stores various programs and data required for the operation of electronic device 400. Processor 401, ROM 402, and RAM 403 are interconnected via bus 404. Processor 401 executes various operations of the method flow according to embodiments of the present invention by executing programs in ROM 402 and / or RAM 403. It should be noted that the programs may also be stored in one or more memories other than ROM 402 and RAM 403. Processor 401 may also execute various operations of the method flow according to embodiments of the present invention by executing programs stored in said one or more memories.

[0052] According to an embodiment of the present invention, the electronic device 400 may further include an input / output (I / O) interface 405, which is also connected to a bus 404. The electronic device 400 may also include one or more of the following components connected to the I / O interface 405: an input section 406 including a keyboard, mouse, etc.; an output section 407 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 408 including a hard disk, etc.; and a communication section 409 including a network interface card such as a LAN card, modem, etc. The communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to the I / O interface 405 as needed. A removable medium 411, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on the drive 410 as needed so that computer programs read from it can be installed into the storage section 408 as needed.

[0053] The present invention also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or it may exist independently and not assembled into the device / apparatus / system. The computer-readable storage medium carries one or more programs, which, when executed, implement the method according to the embodiments of the present invention.

[0054] Embodiments of the present invention also include a computer program product comprising a computer program containing program code for performing the methods shown in the flowchart. When the computer program product is run on a computer system, the program code is used to cause the computer system to implement the methods provided in the embodiments of the present invention.

[0055] According to embodiments of the present invention, program code for executing the computer programs provided in the embodiments of the present invention can be written in any combination of one or more programming languages. Specifically, these computational programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, languages ​​such as Java, C++, Python, "C", or similar programming languages. The program code can be executed entirely on the user's computing device, partially on the user's device, partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0056] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0057] Those skilled in the art will understand that the features described in the various embodiments and / or claims of the present invention can be combined or combined in various ways, even if such combinations or combinations are not explicitly described in the present invention. In particular, the features described in the various embodiments and / or claims of the present invention can be combined or combined in various ways without departing from the spirit and teachings of the present invention. All such combinations and / or combinations fall within the scope of the present invention.

[0058] The embodiments of the present invention have been described above. However, these embodiments are merely illustrative and not intended to limit the scope of the invention. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. The scope of the invention is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of the invention, and all such substitutions and modifications should fall within the scope of the invention.

Claims

1. A semi-physical simulation method for a shoulder-fired weapon, characterized in that, include: Based on the motion information of the shoulder-fired weapon and the target, establish a model of the projectile-target motion relationship between the shoulder-fired weapon and the target; Using the aforementioned projectile-target motion relationship model, the attitude of the five-axis flight turntable is synchronized according to the real-time attitude angle changes of the shoulder-fired weapon; The projectile-target motion relationship model includes the relative positional relationship between the projectile and the target, as well as the coordinate mapping relationship between the shoulder-fired weapon and the five-axis flight turntable.

2. The method according to claim 1, wherein, Determining the relative positional relationship between the projectile and the target includes: By using the position of the shoulder-fired weapon and the target's motion information, the relative positional relationship between the projectile and the target can be obtained; The target motion information is obtained based on a preset simulation scenario.

3. The method according to claim 2, wherein, The preset simulation scenario includes: Set the target speed and target direction of motion; The shoulder-fired weapon should be fired in a direction perpendicular to the target's direction of movement. Set the vertical distance between the shoulder-fired weapon and the target to be less than a preset distance.

4. The method according to claim 1, wherein, Determining the coordinate mapping relationship between the shoulder-fired weapon and the five-axis flight turntable includes: Establish the coordinate mapping relationship between the shoulder-fired weapon and the five-axis flight turntable; The coordinate mapping relationship includes a first rotation matrix that can convert attitude angles into the movement of the three inner frames of a five-axis flight turntable, and a second rotation matrix that can convert the relative motion relationship between the projectile and the target into the movement of the two outer frames of a five-axis flight turntable.

5. The method according to claim 1, wherein, The method of using the projectile-target motion relationship model to synchronize the attitude of the five-axis flight turntable according to the real-time attitude angle changes of the shoulder-fired weapon includes: Acquire the initial attitude angles from the inertial components of the shoulder-fired weapon; the attitude angles include pitch angle, yaw angle, and roll angle. Based on the initial attitude angle and the projectile-target motion relationship model, the field of view of the seeker on the five-axis flight turntable and the field of view of the target simulator of the shoulder-fired weapon are matched and aligned. If the field of view of the seeker head on the five-axis flight turntable and the field of view of the target simulator of the shoulder-fired weapon are aligned, then the target simulation video is played. Based on the projectile-target motion relationship model and target motion information, drive the two outer frames of the five-axis flight turntable; Based on the projectile-target motion relationship model and the real-time attitude angle of the shoulder-fired weapon, drive the three inner frames of the five-axis flight turntable; The target simulation video is generated based on the target motion information.

6. The method according to claim 5, wherein, The matching and alignment of the seeker's field of view on the five-axis flight turntable and the target simulator's field of view for the shoulder-fired weapon includes: Based on the initial attitude angle, the relative position of the projectile and the target, and the coordinate mapping relationship between the shoulder-fired weapon and the five-axis flight turntable, the initial movement of the three inner frames and the initial movement of the two outer frames of the five-axis flight turntable are determined. Based on the initial movement of the three inner frames of the five-axis flight turntable, the initial movement of the two outer frames of the five-axis flight turntable, and the preset alignment time, rotate the five-axis flight turntable to the initial position.

7. The method according to claim 1, wherein, The method also includes a firing synchronization step: In response to the shooter pressing the fire button and the orientation frame angle of the two outer frames of the five-axis flight turntable moving to the preset range of 0 degrees, the attitude angle of the last frame transmitted by the shoulder-fired weapon is set as the initial attitude angle for firing. The simulation model is called to calculate the projectile motion after firing.

8. A hardware-in-the-loop simulation system for a shoulder-fired weapon, characterized in that, Capable of implementing the method as described in any one of claims 1 to 7, comprising: The projectile-target relationship module is used to establish a projectile-target motion relationship model between the shoulder-fired weapon and the target based on the motion information of the shoulder-fired weapon and the target. The attitude synchronization module is used to synchronize the attitude of the five-axis flight turntable according to the real-time attitude angle changes of the shoulder-fired weapon using the projectile-target motion relationship model. The projectile-target motion relationship model includes the relative positional relationship between the projectile and the target, as well as the coordinate mapping relationship between the shoulder-fired weapon and the five-axis flight turntable.

9. An electronic device, comprising: One or more processors; Storage device for storing one or more programs. Wherein, when the one or more programs are executed by the one or more processors, the one or more processors perform the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, cause the processor to perform the method according to any one of claims 1 to 7.

Images