A moving target simulation shooting training system and method

Abstract

The application provides a moving target simulation shooting training system and method, and relates to the technical field of simulation training, which comprises an image acquisition module, a parameter acquisition module, an advance amount calculation module, an image mapping module and a hit determination module. The target advance distance is determined according to the shooting distance, the initial speed of the projectile and the moving speed of the target. The mapping relationship between the actual space offset and the image offset is established according to the actual size and the image size of the target, the target advance distance is converted into the image advance amount, and the advance aiming position is determined according to the moving direction. When the simulation shooting trigger signal is received, the simulation impact position is obtained by compensating the aiming position according to the image advance amount, and the simulation shooting result is determined according to the position relationship between the simulation impact position and the target area. The application can determine the image advance amount according to the shooting condition and the moving state of the target, and improve the accuracy of the simulation shooting training of the moving target.

Description

Technical Field

[0001] This invention relates to the field of simulation training technology, and in particular to a moving target simulation shooting training system and method. Background Technology

[0002] Moving target shooting training is primarily used to train personnel's ability to observe, track, aim, and fire at moving targets. Traditional training typically relies on live-fire exercises, using targets that can move laterally, tilt, or change speed to simulate moving targets. With advancements in simulated shooting technology, image acquisition technology, and computer image processing technology, using video equipment to capture aiming images and combining this with shooting distance, projectile properties, and target movement status for simulated shooting training allows for training on moving targets at different distances and target speeds within limited spaces. It also facilitates the recording and analysis of the shooting process and training results.

[0003] For moving targets, a projectile takes a certain amount of time to travel from launch to its target position, during which the target may still shift. Therefore, shooting at moving targets requires determining an appropriate aiming lead based on firing conditions and the target's motion. In simulated shooting training, since the actual target movement occurs in the physical training space, while the target observed and aimed at by the trainee is represented by the target area in the image, factors such as target distance, speed, and image size all affect the lead's representation in the image. Existing simulation training methods rely heavily on preset aiming prompts or relatively fixed parameter relationships when reproducing this relationship. When the target's motion state, image size, or training conditions change, the simulated aiming position and shooting results are prone to deviation from the actual motion relationship under the corresponding training conditions. This deviation is particularly pronounced when there are time differences in target start-stop, speed changes, direction changes, and image processing, affecting the accuracy of lead judgment and simulated hit results in moving target shooting training. Therefore, how to ensure that the lead determined during simulated shooting accurately reflects the relationship between firing conditions, target motion state, and target image is a problem that needs to be solved in simulated shooting training of moving targets. Summary of the Invention

[0004] To overcome the shortcomings of existing technologies, the technical problem to be solved by this invention is to provide a moving target simulated shooting training system and method, employing the following technical solution: This invention provides a moving target simulated shooting training system, comprising: The image acquisition module acquires a target image of a moving target and determines the target region and the target's image size within the image based on the target image. The parameter acquisition module acquires training parameters, which include firing parameters, target parameters, and target motion parameters. The firing parameters include at least the firing distance and the initial velocity of the projectile. The target parameters include at least the actual size of the target. The target motion parameters include at least the target's moving speed and direction of motion. The lead calculation module is connected to the parameter acquisition module. It determines the projectile flight time based on the shooting distance and the initial velocity of the projectile, uses the projectile flight time as the target prediction duration, and determines the target lead distance based on the target prediction duration and the target movement speed. The image mapping module is connected to the image acquisition module, parameter acquisition module and lead calculation module mentioned above. It determines the mapping ratio between the actual spatial offset and the image offset based on the actual target size and the image size, converts the target lead distance into the image lead, and determines the offset direction of the image lead in the target image and the advance aiming position based on the direction of movement. The hit determination module, connected to the image mapping module, when receiving the simulated firing trigger signal, performs position compensation on the aiming position at the time of firing in the opposite direction to the offset direction of the image lead, thereby obtaining the simulated impact position relative to the target area at the time of firing trigger, and determines the simulated firing result based on the positional relationship between the simulated impact position and the target area.

[0005] Further improvements include a motion state association module, which is connected to the guide rail master controller of the moving target. The guide rail master controller provides a motion control sequence arranged in chronological order. The motion control sequence includes multiple control periods and the time information, target movement speed and direction of movement corresponding to each control period. The motion state association module determines the control period of the target at the acquisition time based on the acquisition time corresponding to the target image used for lead calculation in the motion control sequence, and uses this control period as the starting control period for target motion prediction.

[0006] As a further improvement, when the target prediction duration crosses the boundary of at least one control period in the motion control sequence, the lead calculation module determines the effective duration of each control period that falls within the target prediction duration according to the order of the starting control period and subsequent control periods of the target motion prediction. It then determines the segmented displacements according to the target moving speed, motion direction and effective duration corresponding to each control period, and synthesizes the segmented displacements according to the motion direction to obtain the target lead distance.

[0007] Further improvements include a time correction module, which acquires the acquisition time corresponding to the continuous target images and, upon receiving the simulated firing trigger signal, determines the judgment image for this simulated firing judgment from the continuous target images based on the trigger time of the simulated firing trigger signal. The image mapping module determines the image lead based on the image size corresponding to the judgment image, and the hit determination module determines the simulated shooting result based on the target area, aiming position, and corresponding image lead in the judgment image.

[0008] As a further improvement, the moving target is a scaled-down target set relative to the simulated target, and the parameter acquisition module acquires the spatial scaling parameters between the physical training space and the simulated shooting space. The lead calculation module converts the target movement speed and actual target size in the physical training space into the equivalent target movement speed and equivalent target size in the simulated firing space based on the spatial scaling parameters, and determines the equivalent target lead distance based on the equivalent target movement speed and target prediction time. The image mapping module determines the image lead based on the ratio of the equivalent target advance distance to the equivalent target size and the image size of the scaled-down target in the target image.

[0009] As a further improvement, the hit determination module stops determining the simulated impact position based on the image lead when it fails to detect the target area, the pre-aiming position exceeds the effective image processing area, or the system is in a paused or calibration state, and marks the corresponding simulated firing trigger signal as invalid firing.

[0010] Another aspect of the present invention provides a method for simulated shooting training of moving targets, comprising: S1: Obtain the target image and training parameters of the moving target. Determine the target region and the target size in the image based on the target image. The training parameters include shooting parameters, target parameters and target motion parameters. The shooting parameters include at least the shooting distance and the initial velocity of the projectile. The target parameters include at least the actual size of the target. The target motion parameters include at least the target's moving speed and direction of motion. S2: Determine the projectile flight time based on the firing distance and the initial velocity of the projectile, use the projectile flight time as the target prediction duration, and determine the target lead distance based on the target prediction duration and the target movement speed; S3: Determine the mapping ratio between the actual spatial offset and the image offset based on the actual target size and the image size, convert the target advance distance into the image advance, and determine the offset direction of the image advance in the target image and the advance aiming position based on the direction of movement. S4: Upon receiving the simulated firing trigger signal, the aiming position at the time of firing is compensated with the image lead in the opposite direction to the offset direction of the image lead, so as to obtain the simulated impact position relative to the target area at the time of firing trigger. S5: Determine the simulated firing result based on the positional relationship between the simulated impact position and the target area.

[0011] As a further improvement, in step S1, the continuously acquired target images are cached according to the acquisition time. In step S4, after receiving the simulated firing trigger signal, the judgment image for this simulated firing judgment is determined from the cached target image according to the trigger time of the simulated firing trigger signal. The image lead corresponding to the judgment image is determined according to the image size in the judgment image, and the aiming position in the judgment image is compensated with the image lead corresponding to the judgment image.

[0012] As a further improvement, in step S3, the image size in the continuous target images is determined respectively, the mapping ratio between the actual spatial offset and the image offset is updated according to the change in image size, and the image advance of the corresponding target image is determined based on the updated mapping ratio.

[0013] As a further improvement, in step S5, when the simulated impact position is outside the target area, the simulated firing result is classified into insufficient lead or excessive lead based on the positional relationship between the simulated impact position and the target area in the direction of target movement.

[0014] Compared with the prior art, the beneficial effects of the present invention are: Firstly, this invention acquires a target image of a moving target, along with firing parameters, target parameters, and target motion parameters. It determines the projectile's flight time based on the firing distance and initial projectile velocity, and calculates the target lead distance by combining this with the target's movement speed. Then, it determines the mapping ratio between the actual spatial offset and the image offset based on the target's actual size and its size in the image, converting the target lead distance into an image lead, and determining the pre-aiming position according to the target's movement direction. After simulated firing, the image lead is used to perform reverse position compensation on the aiming position during firing, obtaining the simulated impact position relative to the target area. This allows the target's motion relationship in actual space during projectile flight to be converted into the target image, ensuring that the pre-aiming position and simulated hit determination change accordingly with firing distance, initial projectile velocity, target movement speed, and target imaging size, better reflecting the aiming lead required for moving targets under different training conditions.

[0015] Secondly, by associating the acquisition time of the target image used for lead calculation with the motion control sequence in the guide rail master control, the control period in which the target is located during target image acquisition is determined. When the target prediction duration crosses the boundary of the control period, the segmented displacement is determined based on the effective duration of each control period falling within the target prediction duration, combined with the corresponding target moving speed and direction of motion. The segmented displacements are then synthesized to obtain the target lead distance. Thus, when the moving target starts or stops, switches speeds, or changes its direction of motion, the target displacement can be determined according to the actual motion control process executed by the moving target during the prediction period, reducing the lead deviation caused by continuous prediction using a single current speed.

[0016] Third, by recording the acquisition time corresponding to continuous target images and determining the judgment image used for this shooting judgment based on the trigger time of the simulated shooting trigger signal, the target area, image size and aiming position are derived from the same target image corresponding to the current shooting trigger time, reducing data time mismatch caused by the time difference of image acquisition, transmission and processing, and improving the time consistency of simulated shooting judgment.

[0017] Fourth, for training scenarios using scaled-down targets, the target's movement speed and actual size are converted to a unified simulated shooting spatial scale through spatial scaling parameters. At this unified scale, the equivalent target lead distance and its proportional relationship with the equivalent target size are determined. Then, the image lead is determined by combining this with the image size of the scaled-down target in the target image. This avoids the direct mixing of target motion parameters, lead distance, and target size at different spatial scales in image mapping, ensuring that all calculated parameters maintain a unified scale reference under scaled training conditions. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structural framework of the system of the present invention; Figure 2 This is a schematic diagram of the steps of the method of the present invention. Detailed Implementation

[0020] To facilitate understanding by those skilled in the art, the technical solution of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0021] This embodiment is used to illustrate the specific implementation of the present invention. Under the condition that each technical feature can achieve the corresponding function and the cooperation relationship between them is consistent, the specific hardware form, data processing method and parameter settings of each module can be configured according to the training site and training requirements.

[0022] like Figure 1 As shown, this invention provides a moving target simulated shooting training system, primarily addressing the problem of motion lead between the aiming position and the simulated impact position caused by the continuous movement of the target during simulated shooting. The system acquires a target image of the moving target and, combined with training parameters such as shooting distance, initial projectile velocity, actual target size, target movement speed, and direction of motion, calculates the target lead distance generated during projectile flight. This target lead distance in actual space is then mapped to the target image, forming an image lead that can be represented in image space. After simulated shooting is triggered, the system uses the image lead to compensate for the aiming position during shooting, thereby determining the simulated impact position and the simulated shooting result.

[0023] In one specific embodiment, the system is applied to a simulated shooting training device that includes a moving target, a camera simulator, communication equipment, and a target reporting terminal. The moving target can move along a guide rail, and the guide rail controller controls the moving target's speed, direction, and changes in its motion state.

[0024] In a preferred embodiment, an LED light strip is provided on the guide rail. The LED light strip extends along the moving area of ​​the moving target and has three working modes: always on, always off, and alternating light and dark. The corresponding working mode can be selected according to the training content to form a moving target training environment under different lighting conditions.

[0025] Furthermore, the camera-simulated launcher includes a launcher body and an image acquisition component disposed at the front of the launcher body. The image acquisition component acquires images of the area where the moving target is located in the firing direction, and synchronously changes its acquisition direction with the aiming direction of the launcher body. The image acquisition component can be a high frame rate camera, capable of continuously capturing target images, so that the moving target forms target images arranged according to the acquisition time during continuous movement. The camera-simulated launcher includes a launcher body and an image acquisition component disposed on the launcher body, the image acquisition component acquiring images of the area where the moving target is located in the firing direction. In one specific embodiment, the image acquisition component is a high frame rate camera, capable of continuously capturing target images, so that the moving target forms target images arranged according to the acquisition time during continuous movement. In this embodiment, the system's data processing function is executed by the target reporting terminal, or, depending on the device configuration, some data processing functions can be disposed in a computing device communicatively connected to the target reporting terminal.

[0026] The image acquisition module acquires a target image of the moving target and determines the target region and the target's image size within the image based on the target image. The target region represents the image area occupied by the moving target in the current target image, and the image size represents the scale information corresponding to the target in the target image.

[0027] Specifically, the image acquisition component continuously acquires images of the training area and transmits the acquired images to the image acquisition module. The image acquisition module determines the target region based on the outer contour of the moving target, pre-set target features, or image recognition results. The target region can be represented as a bounding rectangle, a target contour, or other regions that can characterize the scope of the target. For subsequent mapping between the actual space and the image space, the pixel size of the target region in the direction of motion can be used as the image size. For example, when the moving target moves laterally along the image, the horizontal pixel width of the target region can be taken as the image size; when the direction of motion changes, the projection size of the target region in the corresponding direction can also be determined based on the direction of motion.

[0028] When processing continuous images, each target image is accompanied by a corresponding acquisition time. The acquisition time is generated by the image acquisition component, or written according to the timing reference used by the system when the image acquisition module receives or creates the target image data. Establishing a correspondence between the acquisition time and the target image enables the system to determine when a particular target image reflects the actual state of the moving target.

[0029] The parameter acquisition module acquires training parameters, including firing parameters, target parameters, and target motion parameters. Firing parameters include at least the firing distance and initial projectile velocity; target parameters include at least the actual target size; and target motion parameters include at least the target's speed and direction of motion.

[0030] Among them, the firing distance represents the firing distance corresponding to the current simulated training, which can be preset according to the training subject. The initial velocity of the projectile represents the initial velocity of the projectile corresponding to the current simulated weapon, and in one specific embodiment, it is configured according to the simulated weapon and ammunition type. The actual target size represents the actual target size corresponding to the direction represented by the image size; when the pixel size of the target area along the direction of motion is used as the image size, the actual target size is the actual projected size of the target along that direction of motion. The target movement speed and direction of motion represent the motion state of the moving target during the current training process.

[0031] In the above embodiments, the target's moving speed and direction of motion are directly derived from the control data of the moving target. Since the moving target is driven by the guide rail master controller, its running speed, direction, and state switching are controlled by the guide rail master controller. Therefore, the control data output by the guide rail master controller serves as the data source for the target's motion state. Thus, the image acquisition component primarily undertakes the functions of target image acquisition and image spatial positioning, while the target's motion state in the actual training space is determined based on the moving target's own motion control information.

[0032] When using the target motion direction to determine the lead in image space, a directional mapping relationship between the moving target motion direction and the target image coordinate direction can be established in advance. The target motion direction provided by the guide rail main controller is converted into the image motion direction in the target image through this directional mapping relationship, and the offset direction of the image lead is determined based on the image motion direction. This directional mapping relationship can be pre-calibrated according to the arrangement direction of the guide rail relative to the image acquisition component and the installation attitude of the image acquisition component.

[0033] The lead calculation module is connected to the parameter acquisition module. It determines the projectile flight time based on the shooting distance and the initial velocity of the projectile. The projectile flight time is used as the target prediction duration, and the target lead distance is determined based on the target prediction duration and the target movement speed.

[0034] In one specific calculation method, when using the uniform flight approximation that meets the current training accuracy requirements, the projectile flight time is determined based on the relationship between the firing distance and the projectile's initial velocity, namely: t=D / v0; Where t represents the projectile's flight time, D represents the firing distance, and v0 represents the projectile's initial velocity.

[0035] After obtaining the projectile's flight time, this flight time is used as the target prediction duration. When the target maintains its current speed within the target prediction duration, the target lead distance is expressed as: L=v t ×t; Where L represents the target lead distance, v t Indicates the target's movement speed.

[0036] When it is necessary to indicate the direction of motion, the target's speed can be expressed as a directional motion quantity, or the speed and direction of motion can be recorded separately, and the direction of the target's lead distance can be determined based on the direction of motion. The target lead distance obtained in this way represents the spatial displacement of the target according to the set motion state from the current target position to the position corresponding to the expected distance when the projectile arrives at the target.

[0037] It should be understood that the above calculation relationship can be further refined according to training requirements. For example, when it is necessary to consider the flight characteristics of the simulated projectile, the projectile flight time can be determined according to the preset correspondence between firing distance and projectile flight time, or the flight time at the corresponding firing distance can be obtained according to the pre-stored ballistic parameters. Regardless of the specific calculation method used, the target prediction time is determined by the projectile flight process corresponding to the firing distance and the initial velocity of the projectile, and the target lead distance is calculated accordingly.

[0038] The image mapping module is connected to the image acquisition module, parameter acquisition module, and lead calculation module. It determines the mapping ratio between the actual spatial offset and the image offset based on the actual target size and the image size, converts the target lead distance into the image lead, and determines the offset direction of the image lead in the target image and the advance aiming position based on the direction of motion.

[0039] Specifically, when the actual size of the target along the direction of motion is W, and the image size of the target in the corresponding direction in the target image is w, a proportional relationship between the actual target size and the image size is established. When the target advance distance L and the actual target size W use the same unit of length, the corresponding image advance amount p can be determined according to the following formula: p = L × w / W.

[0040] Where p represents the image lead. Through the above mapping, the target lead distance in the actual training space is converted into the pixel offset in the target image, so that the lead distance in the actual space can be directly mapped to the target image obtained by the camera simulation transmitter.

[0041] In this embodiment, the direction of motion, when participating in image mapping, represents the direction of image motion transformed into the target image coordinate system according to a preset direction mapping relationship.

[0042] Image lead also includes directional information. When the target moves in a direction in the image, the advance aiming position is located on the side corresponding to the direction of the target's movement. The system uses a preset reference position in the target area as the target's current position, such as the center of the target area, the center of the target body, or a pre-determined aiming reference point, and then offsets the image lead along the target's direction of movement to obtain the advance aiming position.

[0043] Since the image acquisition component is mounted on the camera simulator, and the camera simulator may change orientation during aiming due to the trainee's operation, this embodiment does not directly calculate the target's movement speed in the actual training space using changes in target position between consecutive target images. The actual target speed is determined by the control data corresponding to the moving target. The target image is mainly used to determine the target area, image size, and aiming position, thereby avoiding the influence of the camera simulator's own movement and the moving target's movement being reflected in the image position changes and affecting the determination of actual motion parameters.

[0044] The hit determination module is connected to the image mapping module. When it receives the simulated firing trigger signal, it performs position compensation on the aiming position at the time of firing in the opposite direction to the offset direction of the image lead, so as to obtain the simulated impact position relative to the target area at the time of firing trigger, and determines the simulated firing result based on the positional relationship between the simulated impact position and the target area.

[0045] Specifically, when trainees aim at a moving target, they need to anticipate the target's movement. Assuming the target's direction of motion in the target image corresponds to the positive direction, the calculated image lead is p, and the aiming position at the moment of firing is A. Then, the aiming position A is offset by p in the opposite direction to the image lead to obtain the simulated impact position B. The simulated impact position B reflects the position formed after converting the shooter's actual lead back to the target's current area.

[0046] For example, when a target moves from left to right in a target image, the pre-aiming position is located in front of the target's direction of movement. The trainee performs simulated firing in front of the target, and the hit determination module compensates for this image lead by shifting the aiming position to the side opposite to the target's direction of movement. If the compensated simulated impact position falls within the target area, the simulated shot is considered a hit; if the simulated impact position is outside the target area, it is considered a miss. The target area can be further divided into multiple hit zones, thus generating corresponding target reporting results based on the region where the simulated impact position is located.

[0047] The aiming position here can be determined based on the aiming reference of the camera simulator. In one embodiment, the image acquisition component and the aiming direction of the simulator are pre-calibrated, and a preset position in the target image can be used as the aiming reference position; alternatively, calibrated aiming marks can be set in the target image, and the image coordinates corresponding to the aiming marks can represent the aiming position during firing. The method used to determine the aiming position can be set according to the installation relationship between the image acquisition component of the camera simulator and the aiming direction of the transmitter.

[0048] Furthermore, the system also includes a motion state association module. This module communicates with the master controller of the moving target's guide rail. The master controller provides a motion control sequence arranged in chronological order, including multiple control periods and corresponding time information, target speed, and direction of movement for each period. Based on the acquisition time of the target image used for lead calculation, the motion state association module determines the control period in the motion control sequence where the target is located at that acquisition time, and uses this control period as the starting control period for target motion prediction.

[0049] In one specific embodiment, the guide rail controller controls the movement of the moving target according to a pre-configured training program. For example, a training process sequentially includes movements such as moving in one direction, changing the speed, moving in the opposite direction, and continuing to move at another speed. The guide rail controller records the start time, end time, or duration of each control period in chronological order, and records the corresponding movement speed and direction for each control period, thereby forming a motion control sequence.

[0050] When the image acquisition module obtains a target image, it can query the motion control sequence based on the acquisition time of the target image. For example, if the target image acquisition time falls between the start and end times of a control period, then that control period is determined as the starting control period for target motion prediction. In this way, a time correspondence can be established between the target state reflected in the target image and the actual motion control state executed by the guide rail master controller.

[0051] If the target prediction duration does not cross the boundary of the current control period, the target advance distance is determined according to the target's moving speed and direction of motion corresponding to the current control period. When the target prediction duration crosses the boundary of at least one control period in the motion control sequence, the advance calculation module determines the effective duration of each control period that falls within the target prediction duration according to the order of the starting control period and subsequent control periods of the target motion prediction. It then determines the segmented displacements according to the target's moving speed, direction of motion, and effective duration corresponding to each control period, and synthesizes the segmented displacements according to the direction of motion to obtain the target advance distance.

[0052] For example, at the start of target prediction, the target is in a control period moving to the right, with a remaining time of t1 and a corresponding movement speed of v1. Then, it enters another control period, with an effective duration of t2 within the target prediction time, corresponding to a movement speed of v2. When the two control periods are in the same direction, their respective segmented displacements are accumulated according to their directions; when the movement directions are opposite, the segmented displacements are synthesized according to their directions. Therefore, the target's advance distance is determined by the combined effect of multiple control periods that actually fall within the prediction time range.

[0053] This approach calculates the target's displacement during projectile flight using a pre-defined motion control sequence from the guide rail master controller during training when the moving target undergoes speed or direction changes according to a preset control program. Particularly useful when the target prediction time spans speed or direction changes, the prediction process can be performed separately for different control periods, avoiding the need to consistently use a single moving speed corresponding to the target image acquisition moment to calculate the target displacement over the entire prediction time.

[0054] The system also includes a time correction module. Each of the continuously acquired target images has a corresponding acquisition time. After receiving the simulated firing trigger signal, the time correction module determines the judgment image for this simulated firing judgment from the continuous target images based on the trigger time of the simulated firing trigger signal. Specifically, it can select the target image whose acquisition time is closest to the trigger time, or select the corresponding target image based on a pre-determined relationship between image acquisition and firing trigger time. After the judgment image is determined, the target area, image size, and aiming position corresponding to the judgment image are used for this simulated firing judgment, ensuring that the data used in the same judgment has a unified time reference.

[0055] Preferably, the time correction module and the image acquisition module use the same timing reference, enabling the acquisition time of the target image and the trigger time of the simulated firing trigger signal to be compared on the same time scale. In specific equipment, the timing reference can be provided by the target reporting terminal or the computing device undertaking the data processing task, so that the target image and the simulated firing trigger signal carry corresponding time information, thereby determining the judgment image used for this simulated firing judgment based on the trigger time.

[0056] In another embodiment, the moving target is a scaled-down target relative to the simulated target. The parameter acquisition module acquires the spatial scaling parameters between the physical training space and the simulated firing space. The lead calculation module converts the target's moving speed and actual size in the physical training space into the equivalent target's moving speed and equivalent target size in the simulated firing space based on the spatial scaling parameters, and determines the equivalent target lead distance based on the equivalent target's moving speed and target prediction time. The image mapping module determines the image lead based on the ratio of the equivalent target lead distance to the equivalent target size and the image size of the scaled-down target in the target image.

[0057] This implementation method is suitable when the size, moving distance, or moving speed of the physical target in the training field is scaled proportionally to the simulated object. Let the spatial scaling parameter be k, which can be uniformly defined as the ratio between the size of the simulated shooting space and the size of the physical training space. The target's moving speed and actual size in the physical training space are converted using the same spatial scaling relationship to obtain the equivalent target moving speed and equivalent target size, respectively. Multiplying the equivalent target moving speed by the target prediction time yields the equivalent target lead distance.

[0058] For example, when the spatial scaling parameter is defined according to the ratio of the simulated firing space size to the actual training space size, the target movement speed in the actual training space can be multiplied by the spatial scaling parameter to obtain the equivalent target movement speed, and the actual size of the actual target can be multiplied by the spatial scaling parameter to obtain the equivalent target size. Then, the ratio between the equivalent target lead distance and the equivalent target size is calculated, and combined with the image size of the scaled target in the target image, the image lead is obtained.

[0059] Since the equivalent target advance distance and equivalent target size are converted using the same spatial scale, their proportional relationship can remain consistent. Therefore, the image mapping process can map the target motion advance distance in the simulated firing space to the actual acquired scaled-down target image under scaled-down training conditions, avoiding the direct mixing of the advance distance in the simulated firing space with the target size in the actual training space.

[0060] The hit determination module can also determine whether the current simulated firing meets the valid determination conditions. If no target area is detected, the pre-aiming position exceeds the effective image processing area, or the system is in a paused or calibration state, the determination of the simulated impact position based on the image lead is stopped, and the corresponding simulated firing trigger signal is marked as invalid firing.

[0061] The effective image processing area represents the image range within which the system can perform target recognition, aiming position determination, and position compensation. When the pre-aiming position exceeds this range, the current target image is insufficient to fully represent the pre-aiming position required for this simulated firing, therefore the trigger is recorded as an invalid firing. When the system is in paused or calibration mode, the corresponding trigger signal is prevented from entering the normal hit determination process by the running status indicator. If the target area has been normally detected, the pre-aiming position is within the effective image processing area, and the system is in training mode, then the simulated impact position calculation and hit determination are performed in the manner described above.

[0062] Another aspect of the present invention provides a method for training in simulated shooting of moving targets. This method is executed by the aforementioned simulated shooting training system for moving targets, and processes the targets in the following order: acquisition of target images and training parameters, calculation of target lead distance, mapping of image lead, compensation for reverse position after firing trigger, and determination of simulated firing results.

[0063] S1: Acquire the target image and training parameters of the moving target. Determine the target region and the target's image size based on the target image. The training parameters include firing parameters, target parameters, and target motion parameters. The firing parameters include at least the firing distance and the initial velocity of the projectile. The target parameters include at least the actual size of the target. The target motion parameters include at least the target's movement speed and direction of motion.

[0064] In step S1, the image acquisition component continuously acquires images of the moving target at a set frame rate, recording the acquisition time each time a target image is acquired. After target recognition, the target region is determined, and the target's image size in the image is determined based on the target region. The firing distance, initial projectile velocity, and actual target size can be read from pre-configured data according to the current training subject, while the target's moving speed and direction can be obtained from the motion control data corresponding to the guide rail main controller.

[0065] Furthermore, in step S1, the continuously acquired target images are cached according to the acquisition time. The cached content includes the target image itself, as well as information associated with the target image such as the acquisition time, target area, image size, and aiming position. The continuous target images are arranged according to the acquisition time, so that after the simulated shooting is triggered, the judgment image corresponding to this shooting can be selected according to the trigger time.

[0066] In the above embodiments, the cache can employ an image queue that is updated chronologically. As new target images enter the cache, the queue is updated according to a set cache time range or the number of cached images, ensuring that consecutive target images near the firing trigger moment are retained. Using this processing method, when the simulated firing trigger signal arrives, a target image corresponding to the trigger action in time can be selected from the already acquired images.

[0067] S2: Determine the projectile flight time based on the firing distance and the initial velocity of the projectile, use the projectile flight time as the target prediction duration, and determine the target lead distance based on the target prediction duration and the target movement speed.

[0068] In step S2, the projectile flight time is determined using the aforementioned relationship between the firing distance and the initial velocity of the projectile, and the target's displacement during the projectile flight time is calculated based on the target's moving speed. When the moving target maintains the same motion state within the predicted target time, the target's advance distance is directly calculated according to this motion state; when the known motion control sequence indicates that the target's velocity or direction changes within the predicted time, segmented displacements can be determined separately according to different control periods, and then the segmented displacements can be synthesized according to the motion direction.

[0069] S3: Determine the mapping ratio between the actual spatial offset and the image offset based on the actual target size and the image size, convert the target advance distance into the image advance, and determine the offset direction of the image advance in the target image and the advance aiming position based on the direction of movement.

[0070] In step S3, a mapping relationship is established using the ratio between the actual size of the target and the corresponding image size in the target image. The target advance distance is converted to pixel distance according to this ratio, and then offset by the corresponding pixel distance along the target's movement direction from a preset reference position in the target area to obtain the advance aiming position. For scaled-down targets, the motion parameters and target size in the physical training space are first converted to the same simulated firing space scale, and then the image advance amount is determined based on the ratio between the equivalent target advance distance and the equivalent target size, as well as the image size of the scaled-down target.

[0071] Further, in step S3, the image size in the continuous target images is determined respectively, the mapping ratio between the actual spatial offset and the image offset is updated according to the change in image size, and the image advance of the corresponding target image is determined based on the updated mapping ratio.

[0072] During actual training, the camera simulator may change its orientation as the trainee aims, and the target's image size in consecutive target images may also change with the imaging state. Therefore, the image size can be determined for each target image, and the mapping ratio can be calculated using the corresponding image size. When the target size in a target image changes, the mapping ratio between the actual spatial offset and the image offset of that target image is updated accordingly, allowing the target lead distance to be converted into image lead based on the current imaging scale of the target in the image.

[0073] For example, if the target's image size is w1 in one frame and w2 in another, corresponding mapping ratios can be established based on w1 and w2 respectively. In this way, even if the aiming posture of the camera simulator changes, causing a change in the target's imaging scale in the image, the image lead for that shot can still be determined based on the image size of the target itself.

[0074] S4: Upon receiving the simulated firing trigger signal, the aiming position at the time of firing is compensated with the image lead in the opposite direction to the offset direction of the image lead, so as to obtain the simulated impact position relative to the target area at the time of firing trigger.

[0075] In step S4, after receiving the simulated firing trigger signal, the judgment image for this simulated firing judgment is determined from the cached target image according to the trigger time of the simulated firing trigger signal. The image lead corresponding to the judgment image is determined according to the image size in the judgment image, and the aiming position in the judgment image is compensated with the image lead corresponding to the judgment image.

[0076] In practice, a target image with a preset time correspondence between the acquisition time and the simulated firing trigger time can be selected from the cache as the judgment image. For example, the target image whose acquisition time is closest to the trigger time can be selected, or the corresponding image can be selected according to the image acquisition and firing trigger time relationship already determined in the system. After the judgment image is determined, the target area, image size, and aiming position corresponding to this image are used for the current simulated firing judgment, so that the data used for the same judgment corresponds to the same target image.

[0077] If the image lead corresponding to the judgment image points forward along the target's direction of motion, then position compensation is performed in the opposite direction. The compensation distance is the image lead corresponding to the judgment image. The simulated impact position obtained after compensation is in the same image coordinate system as the target area in the judgment image, so the positional relationship can be directly determined.

[0078] S5: Determine the simulated firing result based on the positional relationship between the simulated impact position and the target area.

[0079] In one specific implementation, when the simulated impact point is within the target area, the simulated shot is determined to have hit the target. Multiple determination zones can be set within the target area according to the target's form, thereby further generating different impact points or corresponding target reporting information. When the simulated impact point is outside the target area, the simulated shot is determined to have missed the target.

[0080] Furthermore, in step S5, when the simulated impact position is outside the target area, the simulated firing result is classified as either insufficient lead or excessive lead based on the positional relationship between the simulated impact position and the target area in the direction of target movement.

[0081] Specifically, a one-dimensional positional relationship is established along the target's direction of motion. If the simulated impact position is located behind the target area relative to the target's direction of motion, it indicates that the actual lead used during firing is less than the image lead corresponding to the current training conditions, and is determined to be an insufficient lead result. If the simulated impact position is located in front of the target area relative to the target's direction of motion, it indicates that the actual lead used exceeds the image lead corresponding to the current training conditions, and is determined to be an excessive lead result. For deviations of the simulated impact position perpendicular to the target's direction of motion, the corresponding positional deviation information can also be retained to distinguish lead deviations from other aiming deviations.

[0082] Through the above result classification, the simulated shooting results can not only indicate whether a hit was achieved, but also reflect the relationship between the lead used by the trainee during shooting at a moving target and the lead corresponding to the current shooting distance, the initial velocity of the projectile, and the target's motion state. The target reporting terminal displays the hit result, the insufficient lead result, or the excessive lead result, enabling the trainee to judge the degree of advance aiming based on the shooting results.

[0083] During continuous training, each simulated firing can determine the corresponding judgment image, image lead, simulated impact position, and simulated firing result according to S1 to S5. As the moving target continuously runs according to the motion control sequence configured by the guide rail master control, different firing times can correspond to different target movement speeds and directions; when the image size changes with the aiming state of the camera simulation launcher, the mapping ratio can also be updated according to the corresponding target image. Therefore, even when the moving target's motion state, image imaging scale, and training parameters change, the target lead distance calculation, image spatial mapping, and simulated firing judgment can all be completed based on the data at the corresponding moment.

[0084] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the invention should be included within the scope of protection of the invention.

Claims

1. A moving target simulated shooting training system, characterized in that, include: The image acquisition module acquires a target image of a moving target and determines the target region and the target's image size within the image based on the target image. The parameter acquisition module acquires training parameters, which include firing parameters, target parameters, and target motion parameters. The firing parameters include at least the firing distance and the initial velocity of the projectile. The target parameters include at least the actual size of the target. The target motion parameters include at least the target's moving speed and direction of motion. The lead calculation module is connected to the parameter acquisition module. It determines the projectile flight time based on the shooting distance and the initial velocity of the projectile, uses the projectile flight time as the target prediction duration, and determines the target lead distance based on the target prediction duration and the target movement speed. The image mapping module is connected to the image acquisition module, parameter acquisition module and lead calculation module. It determines the mapping ratio between the actual spatial offset and the image offset based on the actual target size and the image size, converts the target lead distance into the image lead, and determines the offset direction of the image lead in the target image and the advance aiming position based on the direction of movement. The hit determination module, connected to the image mapping module, when receiving the simulated firing trigger signal, performs position compensation on the aiming position at the time of firing in the opposite direction to the offset direction of the image lead, thereby obtaining the simulated impact position relative to the target area at the time of firing trigger, and determines the simulated firing result based on the positional relationship between the simulated impact position and the target area.

2. The moving target simulated shooting training system according to claim 1, characterized in that, It also includes a motion state association module, which is connected to the guide rail master controller of the moving target. The guide rail master controller provides a motion control sequence arranged in chronological order. The motion control sequence includes multiple control periods and the time information, target movement speed and movement direction corresponding to each control period. The motion state association module determines the control period of the target at the acquisition time based on the acquisition time corresponding to the target image used for lead calculation in the motion control sequence, and uses this control period as the starting control period for target motion prediction.

3. The moving target simulated shooting training system according to claim 2, characterized in that, When the target prediction duration crosses the boundary of at least one control period in the motion control sequence, the advance calculation module determines the effective duration of each control period that falls within the target prediction duration according to the order of the starting control period and subsequent control periods of the target motion prediction. It then determines the segmented displacements according to the target moving speed, direction of motion and effective duration corresponding to each control period, and synthesizes the segmented displacements according to the direction of motion to obtain the target advance distance.

4. The moving target simulated shooting training system according to claim 1, characterized in that, It also includes a time correction module, which acquires the acquisition time corresponding to the continuous target images, and when a simulated firing trigger signal is received, determines the judgment image for this simulated firing judgment from the continuous target images according to the trigger time of the simulated firing trigger signal; The image mapping module determines the image lead based on the image size corresponding to the judgment image, and the hit determination module determines the simulated shooting result based on the target area, aiming position, and corresponding image lead in the judgment image.

5. The moving target simulated shooting training system according to claim 1, characterized in that, The moving target is a scaled-down target relative to the simulated target, and the parameter acquisition module acquires the spatial scaling parameters between the physical training space and the simulated shooting space. The lead calculation module converts the target movement speed and actual target size in the physical training space into the equivalent target movement speed and equivalent target size in the simulated firing space based on the spatial scaling parameters, and determines the equivalent target lead distance based on the equivalent target movement speed and target prediction time. The image mapping module determines the image lead based on the ratio of the equivalent target advance distance to the equivalent target size and the image size of the scaled-down target in the target image.

6. The moving target simulated shooting training system according to claim 1, characterized in that, When the hit determination module fails to detect the target area, the pre-aiming position exceeds the effective image processing area, or the system is in a paused or calibration state, it stops determining the simulated impact position based on the image lead and marks the corresponding simulated firing trigger signal as invalid firing.

7. A method for simulated shooting training on moving targets, characterized in that, include: S1: Obtain the target image and training parameters of the moving target. Determine the target region and the target size in the image based on the target image. The training parameters include shooting parameters, target parameters and target motion parameters. The shooting parameters include at least the shooting distance and the initial velocity of the projectile. The target parameters include at least the actual size of the target. The target motion parameters include at least the target's moving speed and direction of motion. S2: Determine the projectile flight time based on the firing distance and the initial velocity of the projectile, use the projectile flight time as the target prediction duration, and determine the target lead distance based on the target prediction duration and the target movement speed; S3: Determine the mapping ratio between the actual spatial offset and the image offset based on the actual target size and the image size, convert the target advance distance into the image advance, and determine the offset direction of the image advance in the target image and the advance aiming position based on the direction of movement. S4: Upon receiving the simulated firing trigger signal, the aiming position at the time of firing is compensated with the image lead in the opposite direction to the offset direction of the image lead, so as to obtain the simulated impact position relative to the target area at the time of firing trigger. S5: Determine the simulated firing result based on the positional relationship between the simulated impact position and the target area.

8. The method for simulated shooting training of moving targets according to claim 7, characterized in that, In step S1, the continuously acquired target images are cached according to the acquisition time. In step S4, after receiving the simulated firing trigger signal, the judgment image for this simulated firing judgment is determined from the cached target image according to the trigger time of the simulated firing trigger signal. The image lead corresponding to the judgment image is determined according to the image size in the judgment image, and the aiming position in the judgment image is compensated with the image lead corresponding to the judgment image.

9. The method for simulated shooting training of moving targets according to claim 7, characterized in that, In step S3, the image size in the continuous target images is determined respectively, the mapping ratio between the actual spatial offset and the image offset is updated according to the change in image size, and the image advance of the corresponding target image is determined based on the updated mapping ratio.

10. The method for simulated shooting training of moving targets according to claim 7, characterized in that, In step S5, when the simulated impact position is outside the target area, the simulated firing result is classified as either insufficient lead or excessive lead based on the positional relationship between the simulated impact position and the target area in the direction of target movement.

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