CN105136028A - Shooting precision measuring instrument used for multi-launch rocket and provided with quadrotor - Google Patents
Shooting precision measuring instrument used for multi-launch rocket and provided with quadrotor Download PDFInfo
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- CN105136028A CN105136028A CN201510362749.5A CN201510362749A CN105136028A CN 105136028 A CN105136028 A CN 105136028A CN 201510362749 A CN201510362749 A CN 201510362749A CN 105136028 A CN105136028 A CN 105136028A
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- rocket
- multibarrel
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Abstract
The invention relates to a shooting precision measuring instrument for a multi-launch rocket, belongs to the field of shooting precision and range measuring research of the multi-launch rocket. The measuring instrument can be used to measure the shooting range and calculate the shooting precision of the multi-launch rocket and is provided with a quadrotor. The measuring instrument comprises a visual tracking system, a photoelectric switching circuit, an amplification circuit, a single-chip microcomputer, an interface and the quadrotor. The visual tracking system is mounted on the quadrotor to realize comprehensive detection for a target area, visual images are compared and analyzed to accurately measure the shooting range of the multi-launch rocket, errors can be reduce din the precision calculation process, and the shooting precision is calculated as accurately as possible. Measurement and calculation time is greatly reduced, the economical performance is improved, and the precision calculation efficiency of the multi-launch rocket is improved.
Description
Technical field
The invention belongs to multibarrel rocket fire accuracy and area of fire measuring study field, be specifically related to a kind ofly realize that the area of fire is measured, fire accuracy calculates, the multibarrel rocket fire accuracy measuring instrument that is installed on four-axle aircraft to multibarrel rocket.
Background technology
Due to multibarrel rocket goal residing for position complicated and changeable, such as there is shelter etc., traditional measuring instrument exists observes dead angle, can not realize object that the multibarrel rocket area of fire measures in some cases or the multibarrel rocket area of fire that obtains inaccurate, this causes the calculating of fire accuracy to there is very big error; And traditional multibarrel rocket fire accuracy measuring instrument needs the angle of the adjustment camera thought, the visual pattern of acquisition is few, there is very big error to the result of calculation of fire accuracy.
Summary of the invention
The object of the invention is solve multibarrel rocket exist in fire accuracy process of calculation analysis in complex environment measurement difficulty, large, the consuming time length of error, economical low problem, a kind of multibarrel rocket fire accuracy measuring instrument for four-axle aircraft is provided.
The object of the present invention is achieved like this: comprise Visual Tracking System, photoelectric switching circuit, amplifying circuit, single-chip microcomputer, interface, four-axle aircraft, Visual Tracking System is made up of single camera, and the output terminal of camera (1) is connected with photoelectric switching circuit (2); The input end of photoelectric switching circuit (2) is connected with camera (1), and output terminal is connected with amplifying circuit (3); The input end of amplifying circuit (3) is connected with photoelectric switching circuit (2), and output terminal is connected with single-chip microcomputer (4); The input end of single-chip microcomputer (4) is connected with amplifying circuit (3), and output terminal is connected with interface (6); The input end of interface (6) is connected with single-chip microcomputer (4).
The present invention also has features:
1. the information of single-chip microcomputer to Visual Tracking System be passed back processes, image after preshot is analyzed, pass through analysis result, draw the scatter diagram of multibarrel rocket shooting drop point, the coordinate system of scatter diagram take target as true origin, and direct north is x-axis, with x-axis at same plane and vertical what point to due east is y-axis, after the position coordinates of all drop points of rocket projectile is determined, suppose that the position coordinates of drop point is respectively (x
1, y
1), (x
2, y
2), (x
i, y
i) (i=3,4 ..., m), calculate two distance d farthest between drop point site coordinate,
So, the area of fire of multibarrel rocket is:
Suppose centered by target object, region within radius 30 meters is effective target killing area, the image obtained for twice before and after measuring instrument is utilized to contrast, measure the crater quantity within effective beaten zone, suppose that the crater quantity within effective beaten zone is n, illustrate in m piece of guided missile of multiple launch rocket system to only have n wherein can effectively kill and wound target, remaining m-n rocket projectile territory, effective beaten zone beside the mark
The fire accuracy obtaining multibarrel rocket is:
δ＝n/m
2. in order to allow operator carry out processing to multibarrel rocket fire accuracy more intuitively and to adjust, add personal-machine operation interface and a display system especially, the object that man machine operation interface adds adjusts according to actual conditions the procedure parameter used in the area of fire and fire accuracy computation process, in the process that the multibarrel rocket area of fire calculates, owing to mutually disturbing between multiple rocket projectile, cause having the drop point of one or more rocket projectile partially too far away, so the drop point of this rocket projectile can not be the normal drop point of the multibarrel rocket area of fire, so the coordinate of this point will be rejected in computation process, in scatter diagram, rejecting operation is carried out to this point, in the process that multibarrel rocket fire accuracy calculates, carry out the area in artificial territory, adjustment aim effective beaten zone.
Compared with prior art, the invention has the beneficial effects as follows: the present invention is owing to being installed on four-axle aircraft by Visual Tracking System, omnidirectional detection can be carried out to target area, by multiple visual pattern comparative analysis, accurately can measure the area of fire of multibarrel rocket, in design accuracy computation process, can error be reduced, calculate fire accuracy as far as possible accurately.Not only greatly save the time of measurements and calculations, and economy is improved, improves multibarrel rocket fire accuracy counting yield.
Accompanying drawing explanation
Fig. 1 is measuring instrument of the present invention composition schematic diagram.
Fig. 2 is plan structure schematic diagram of the present invention.
Fig. 3 is side-looking structural representation of the present invention.
Fig. 4 is multibarrel rocket crater scatter diagram.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described further.
The present invention relates to a kind of multibarrel rocket area of fire measure, multitube win a prize fire accuracy analyze, for multibarrel rocket fire accuracy measuring instrument and its implementation of four-axle aircraft, belong to multibarrel rocket fire accuracy analysis technical field.
In accompanying drawing 1, Visual Tracking System comprises single camera, and the shooting angle of camera can adjust according to actual conditions.
The present invention includes Visual Tracking System 1, photoelectric switching circuit 2, amplifying circuit 3, single-chip microcomputer 4, interface 6, four-axle aircraft.
Visual Tracking System is made up of single camera, and the output terminal of camera 1 is connected with photoelectric switching circuit 3;
The input end of photoelectric switching circuit 2 is connected with camera 1, and output terminal is connected with amplifying circuit 3;
The input end of amplifying circuit 3 is connected with photoelectric switching circuit 2, and output terminal is connected with single-chip microcomputer 4;
The input end of single-chip microcomputer 4 is connected with amplifying circuit 3, and output terminal is connected with interface 6;
The input end of interface 6 is connected with single-chip microcomputer 4.
The effect of Visual Tracking System 1 is before multiple launch rocket system, makes a video recording to target area, and the image information of acquisition is converted to electric signal by photo-translating system 3, afterwards typing single-chip microcomputer 4.Visual Tracking System comprises two cameras: camera 1 and camera 2, and single-chip microcomputer 5 carries out contrast process to two image informations.After multibarrel rocket is shot target area, Visual Tracking System 1 is made a video recording to target area again, through same route by image information typing single-chip microcomputer 4, single-chip microcomputer compares to the image before and after shooting, by measuring the area of fire and the fire accuracy of the quantity in crater and the position calculation multibarrel rocket in crater.
Both are analyzed by the image of the formation after multibarrel rocket preshot, by analysis result, draw the scatter diagram of multibarrel rocket shooting drop point.The coordinate system of scatter diagram take target as true origin, and direct north is x-axis, with x-axis at same plane and vertical what point to due east is y-axis.After the position coordinates of all drop points of rocket projectile is determined, suppose that the position coordinates of drop point is respectively (x
1, y
1), (x
2, y
2), (x
i, y
i) (i=3,4 ..., m), calculate two distance d farthest between drop point site coordinate, the area of fire of multibarrel rocket take d as the circle of diameter.
Suppose centered by target object, region within radius 10 meters is effective target killing area, the image obtained for twice before and after measuring instrument is utilized to contrast, measure the crater quantity within effective beaten zone, suppose that the crater quantity within effective beaten zone is n, illustrate in m piece of guided missile of multiple launch rocket system, n wherein is only had can effectively to kill and wound target, remaining m-n rocket projectile territory, effective beaten zone beside the mark, so the fire accuracy of multibarrel rocket is n/m.
Embodiment one: present embodiment is described below in conjunction with Fig. 3, present embodiment comprises Visual Tracking System, photoelectric switching circuit, amplifying circuit, single-chip microcomputer, four-axle aircraft.
Visual Tracking System is made up of single camera, and the output terminal of camera 1 is connected with photoelectric switching circuit 2; The input end of photoelectric switching circuit 2 is connected with camera 1, and output terminal is connected with amplifying circuit 3; The input end of amplifying circuit 3 is connected with photoelectric switching circuit 2, and output terminal is connected with single-chip microcomputer 4; The input end of single-chip microcomputer 4 is connected with amplifying circuit 3, and output terminal is connected with interface 6; The input end of interface 6 is connected with single-chip microcomputer 4.
The information of single-chip microcomputer to Visual Tracking System be passed back processes, and is analyzed by the image after preshot, by analysis result, draws the scatter diagram of multibarrel rocket shooting drop point.The coordinate system of scatter diagram take target as true origin, and direct north is x-axis, with x-axis at same plane and vertical what point to due east is y-axis.After the position coordinates of all drop points of rocket projectile is determined, suppose that the position coordinates of drop point is respectively (x
1, y
1), (x
2, y
2), (x
i, y
i) (i=3,4 ..., m), calculate two distance d farthest between drop point site coordinate.
So, the area of fire of multibarrel rocket is:
Suppose centered by target object, region within radius 30 meters is effective target killing area, the image obtained for twice before and after measuring instrument is utilized to contrast, measure the crater quantity within effective beaten zone, suppose that the crater quantity within effective beaten zone is n, illustrate in m piece of guided missile of multiple launch rocket system to only have n wherein can effectively kill and wound target, remaining m-n rocket projectile territory, effective beaten zone beside the mark.
So, the fire accuracy of multibarrel rocket is:
Embodiment two: the present embodiment and embodiment one difference are, it also comprises the interface 6 connected with man machine operation interface and display system, and the input end of interface 6 is connected with single-chip microcomputer 4, and output terminal is connected with display system with man machine operation interface.
In order to allow operator carry out processing to multibarrel rocket fire accuracy more intuitively and to adjust, add personal-machine operation interface and a display system especially.The object that man machine operation interface adds adjusts according to actual conditions the procedure parameter used in the area of fire and fire accuracy computation process.Such as in the process of multibarrel rocket area of fire calculating, owing to mutually disturbing between multiple rocket projectile, cause having the drop point of one or more rocket projectile partially too far away, so the drop point of this rocket projectile can not be the normal drop point of the multibarrel rocket area of fire, so the coordinate of this point will be rejected in computation process, in scatter diagram, rejecting operation can be carried out to this point; Such as in the process of multibarrel rocket fire accuracy calculating, the area in territory, adjustment aim effective beaten zone that can be artificial.
Display system refers to and is shown by the scatter diagram of multibarrel rocket drop point, and the drop point for rocket projectile has to be familiar with intuitively.
Claims (3)
1. the multibarrel rocket fire accuracy measuring instrument for four-axle aircraft, it is characterized in that: comprise Visual Tracking System, photoelectric switching circuit, amplifying circuit, single-chip microcomputer, interface, four-axle aircraft, Visual Tracking System is made up of single camera, and the output terminal of camera (1) is connected with photoelectric switching circuit (2); The input end of photoelectric switching circuit (2) is connected with camera (1), and output terminal is connected with amplifying circuit (3); The input end of amplifying circuit (3) is connected with photoelectric switching circuit (2), and output terminal is connected with single-chip microcomputer (4); The input end of single-chip microcomputer (4) is connected with amplifying circuit (3), and output terminal is connected with interface (6); The input end of interface (6) is connected with single-chip microcomputer (4).
2. the multibarrel rocket fire accuracy measuring instrument of a kind of view-based access control model analysis according to claim 1, it is characterized in that: the information of single-chip microcomputer to Visual Tracking System be passed back processes, image after preshot is analyzed, pass through analysis result, draw the scatter diagram of multibarrel rocket shooting drop point, the coordinate system of scatter diagram take target as true origin, direct north is x-axis, with x-axis at same plane and vertical what point to due east is y-axis, after the position coordinates of all drop points of rocket projectile is determined, suppose that the position coordinates of drop point is respectively (x
1, y
1), (x
2, y
2), (x
i, y
i) (i=3,4 ..., m), calculate two distance d farthest between drop point site coordinate,
The area of fire of multibarrel rocket is:
Suppose centered by target object, region within radius 30 meters is effective target killing area, the image obtained for twice before and after measuring instrument is utilized to contrast, measure the crater quantity within effective beaten zone, suppose that the crater quantity within effective beaten zone is n, illustrate in m piece of guided missile of multiple launch rocket system to only have n wherein can effectively kill and wound target, remaining m-n rocket projectile territory, effective beaten zone beside the mark
The fire accuracy obtaining multibarrel rocket is:
δ＝n/m。
3. the multibarrel rocket fire accuracy measuring instrument of a kind of view-based access control model analysis according to claim 1, it is characterized in that: carry out processing to multibarrel rocket fire accuracy more intuitively to allow operator and adjust, add personal-machine operation interface and a display system especially, the object that man machine operation interface adds adjusts according to actual conditions the procedure parameter used in the area of fire and fire accuracy computation process, in the process that the multibarrel rocket area of fire calculates, owing to mutually disturbing between multiple rocket projectile, cause having the drop point of one or more rocket projectile partially too far away, so the drop point of this rocket projectile can not be the normal drop point of the multibarrel rocket area of fire, so the coordinate of this point will be rejected in computation process, in scatter diagram, rejecting operation is carried out to this point, in the process that multibarrel rocket fire accuracy calculates, carry out the area in artificial territory, adjustment aim effective beaten zone.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510362749.5A CN105136028A (en) | 2015-06-26 | 2015-06-26 | Shooting precision measuring instrument used for multi-launch rocket and provided with quadrotor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510362749.5A CN105136028A (en) | 2015-06-26 | 2015-06-26 | Shooting precision measuring instrument used for multi-launch rocket and provided with quadrotor |
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| CN105136028A true CN105136028A (en) | 2015-12-09 |
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| CN201510362749.5A Pending CN105136028A (en) | 2015-06-26 | 2015-06-26 | Shooting precision measuring instrument used for multi-launch rocket and provided with quadrotor |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106019989A (en) * | 2016-05-10 | 2016-10-12 | 中国人民解放军海军工程大学 | Security control method for multi-tube emission system |
| CN108375366A (en) * | 2017-12-19 | 2018-08-07 | 南京嘉谷初成通信科技有限公司 | A kind of parcel survey system and method based on unmanned plane |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07234096A (en) * | 1994-02-25 | 1995-09-05 | Babcock Hitachi Kk | Shooting training device |
| CN103090796A (en) * | 2011-11-01 | 2013-05-08 | 北京航天发射技术研究所 | Measuring system and measuring method for deflection and descending of rocket |
-
2015
- 2015-06-26 CN CN201510362749.5A patent/CN105136028A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07234096A (en) * | 1994-02-25 | 1995-09-05 | Babcock Hitachi Kk | Shooting training device |
| CN103090796A (en) * | 2011-11-01 | 2013-05-08 | 北京航天发射技术研究所 | Measuring system and measuring method for deflection and descending of rocket |
Non-Patent Citations (1)
| Title |
|---|
| 周承仙: "连发射弹弹丸速度及弹着点坐标测量***的研究", 《优秀硕士论文数据库》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106019989A (en) * | 2016-05-10 | 2016-10-12 | 中国人民解放军海军工程大学 | Security control method for multi-tube emission system |
| CN108375366A (en) * | 2017-12-19 | 2018-08-07 | 南京嘉谷初成通信科技有限公司 | A kind of parcel survey system and method based on unmanned plane |
| CN108375366B (en) * | 2017-12-19 | 2020-07-07 | 南京嘉谷初成通信科技有限公司 | Land parcel measuring system and method based on unmanned aerial vehicle |
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Application publication date: 20151209 |
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