CN114993105B - Heavy weapon shooting monitoring method and monitoring system - Google Patents
Heavy weapon shooting monitoring method and monitoring system Download PDFInfo
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- CN114993105B CN114993105B CN202210632421.0A CN202210632421A CN114993105B CN 114993105 B CN114993105 B CN 114993105B CN 202210632421 A CN202210632421 A CN 202210632421A CN 114993105 B CN114993105 B CN 114993105B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
- F41A35/00—Accessories or details not otherwise provided for
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
- F41H7/00—Armoured or armed vehicles
- F41H7/02—Land vehicles with enclosing armour, e.g. tanks
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
The invention discloses a heavy weapon shooting monitoring method and a monitoring system. The disclosed solution is to employ three acoustic sensors on a heavy weapon in an equilateral triangle arrangement to monitor and distinguish whether a firing event for the heavy weapon and what type of firing occurred for the weapon on the heavy weapon. For weapons integrating a machine gun and a shell, the invention can accurately distinguish which weapon is shot by the shooting event. So as to make up for the deficiency of the prior art which lacks of the shooting monitoring technology of multi-weapon equipment.
Description
Technical Field
The invention relates to a heavy weapon equipment shooting event monitoring technology, in particular to a heavy weapon shooting monitoring method and system.
The background technology is as follows:
the heavy weapon is a fight vehicle weapon device such as a step fight vehicle and a tank which integrate the gun and the gun, and the gun is positioned at the side of the gun, as shown in figure 1, S is a turret on the heavy weapon vehicle, S is 1 Is the muzzle, S 2 Is the muzzle of the plane. The existing heavy weapon shooting event focuses on shooting target report monitoring, and most of shooting event monitoring technologies are judged by naked eyes of peopleCounting is inefficient and does not meet large scale operational environmental monitoring.
Disclosure of Invention
In response to the shortcomings or drawbacks of the prior art, the present invention provides a heavy weapon shooting monitoring system.
Therefore, the heavy weapon shooting monitoring system provided by the invention comprises three monitoring modules and a main controller, wherein each monitoring module comprises a sound sensor, a primary signal conditioning circuit and a secondary signal conditioning circuit;
the primary signal conditioning circuit comprises a first-order low-pass filter circuit, a first voltage amplifying circuit and a first comparing circuit,
the secondary signal conditioning circuit comprises a voltage follower circuit, a second voltage amplifying circuit and a second comparing circuit,
the amplification factor of the first voltage amplification circuit is larger than that of the second voltage amplification circuit;
the sound sensor converts sound wave signals into analog voltage Uo to be output, the analog voltage Uo is filtered by a first-order low-pass filter circuit and then is input into a first voltage amplifying circuit to amplify the voltage signals, the voltage Ualv is output after the voltage signals are filtered by the first-order low-pass filter circuit again, the first comparison circuit compares the Ualv with a reference voltage value Vref1 of the first comparison circuit, if the Ualv is larger than Vref1, the ALD is output to be high level by a first-stage signal conditioning circuit, and otherwise, the ALD is low level;
meanwhile, a voltage signal Ualv is input to a voltage follower circuit, the voltage follower circuit is used for signal isolation and then is input to a second voltage amplifying circuit for voltage signal amplification, then a first-order low-pass filter is used for outputting a voltage Uahv, a second comparison circuit is used for comparing the Uahv with a reference voltage value Vref2 of the second comparison circuit, if the Uahv is larger than Vref2, a second-level signal conditioning circuit outputs an AHD as a high level, and otherwise, the AHD is a low level;
the three detection modules are arranged on the heavy weapon, and one of the monitoring modules M 1 The sound sensor in (a) is positioned on the extension line from the muzzle to the tail of the heavy weapon, the sound sensors in the three monitoring modules are positioned on three vertexes of the same equilateral triangle, and the monitoring module M 1 The sound sensor in the gun is nearest to the muzzle, and the other two monitoring modules M 2 And M 3 The distance between the sound sensor and the muzzle is the same; monitoring module M 1 In (a) and a monitoring module M 2 The distance between the sound sensor and the gun mouth is the same;
the main controller receives the outputs of the primary signal conditioning circuit and the secondary signal conditioning circuit of the three monitoring modules, and judges whether shooting occurs or not according to the outputs, and the judging method comprises the following steps:
(1) When the main controller captures a high-level signal, the following judgment is performed:
if AHD is 1 、AHD 2 、AHD 3 、ALD 1 、ALD 2 And ALD (atomic layer deposition) 3 All are high level, then carry out step (2); ALD (atomic layer deposition) 1 、ALD 2 And ALD (atomic layer deposition) 3 Respectively three detection modules M 1 、M 2 And M 3 The output of the middle-level signal conditioning circuit; AHD (advanced high-performance digital) 1 、AHD 2 And AHD (advanced high-performance digital) 3 Respectively three detection modules M 1 、M 2 And M 3 The output of the secondary signal conditioning circuit;
if AHD is 1 、AHD 2 And AHD (advanced high-performance digital) 3 All at high level, ALD 1 、ALD 2 And ALD (atomic layer deposition) 3 All are low level, then carry out step (3);
otherwise, judging that the heavy weapon does not have a shooting event;
(2) If the condition of the formula (I) is met, the gun of the heavy weapon is judged to have a shooting event, and if the condition of the formula (I) is not met, the gun of the heavy weapon is judged to have no shooting event;
wherein:
c is the speed of sound;
t 1 、t 2 、t 3 respectively three monitoring modules M 1 、M 2 And M 3 In acoustic sensor monitoringBy the moment of the mechanical wave, unit s;
σ th is threshold value, sigma th The value range is 10-100us;
L 1 is the distance between the muzzle and the tail;
h is a monitoring module M 1 The distance between the sound sensor and the tail of the gun;
a is the side length of an equilateral triangle formed by sound sensors in the three monitoring modules;
(3) If the condition of the formula (II) is satisfied, judging that the heavy weapon machine gun has a shooting event, and if the condition of the formula (II) is not satisfied, judging that the heavy weapon has no shooting event;
wherein: l (L) 2 The length of the gun extending out of the gun turret;
L 3 is the installation distance between the machine gun and the gun barrel.
Further, the master controller is installed in the monitoring module M 1 Is a kind of medium.
Optionally, vref1 is equal to Vref 2.
Further, the system of the invention further comprises, when it is determined that the heavy weapon gun has a firing event, calculating the moment when the firing of the heavy weapon gun has occurred: t is t 1 -(L 1 +H)/c; when the heavy weapon gun is judged to have a shooting event, the moment of the heavy weapon gun shooting is calculated:
further, the system of the invention further comprises a data center and a display unit, wherein the data center receives the judging structure of the master controller and transmits the judging structure to the display unit, and the display unit is used for displaying the judging result.
The invention also provides a method for monitoring the shooting of the heavy weapon corresponding to the system
The invention can accurately detect the shooting event of the weapon with/without shooting acceleration characteristics in the complex battlefield environment; in addition, the invention can accurately detect whether a shooting event occurs or not and the type of the shooting weapon can be accurately detected for the fight vehicle weapon equipment such as a fight vehicle, a tank and the like which integrate various weapons such as artillery, machine gun and the like, and can judge the fight training injury according to the power of the shooting weapon. The shooting detection method can accurately judge shooting events in a complex combat environment, and provides data basis for combat judgment of an intelligent target system.
Drawings
Fig. 1 is a schematic diagram of the present invention.
Detailed Description
Unless specifically stated otherwise, the terms herein are to be understood based on knowledge of one of ordinary skill in the relevant art.
In complex and large-scale simulated anti-firing practice, the accurate detection of weapon firing actions can provide data basis for hit judgment and injury calculation of an intelligent target system. For multi-weapon integrated weapon equipment of combat vehicles such as a step combat vehicle and a tank, whether a shooting event occurs or not needs to be accurately detected, what type of weapon is shot on equipment needs to be distinguished, and whether an artillery or a machine gun is shot on the equipment needs to be distinguished, so that hit effect and injury resolving judgment can be carried out according to the weapon power. In order to meet the above requirements, the heavy weapon shooting detection system of the present invention comprises three monitoring modules and a master controller, wherein each monitoring module comprises a sound sensor and a primary and a secondary signal conditioning circuits, and mainly realizes shooting event detection and signal conditioning functions, as shown in fig. 1;
when the weapon shoots, mechanical waves are generated at the shooting moment at the muzzle of the weapon, the mechanical waves are outwards diffused by taking the muzzle as the center, and when the mechanical waves reach the shooting detection module, the sound sensor generates inverse piezoelectric effect to convert the mechanical waves into analog voltage, and the amplitude of the analog voltage is in direct proportion to the strength of the mechanical waves;
because the mechanical wave intensity generated when the shells and the gun weapons are shot is different, a two-stage conditioning circuit design is adopted in the signal conditioning circuit for accurately detecting and distinguishing shooting events of different power weapons such as the gun and the shell;
the primary signal conditioning circuit comprises a first-order low-pass filter circuit, a first voltage amplifying circuit and a first comparing circuit,
the secondary signal conditioning circuit comprises a voltage follower circuit, a second voltage amplifying circuit and a second comparing circuit,
the amplification factor of the first voltage amplification circuit is larger than that of the second voltage amplification circuit;
the sound sensor converts sound wave signals into analog voltage Uo to be output, the analog voltage Uo is filtered by a first-order low-pass filter circuit and then is input into a first voltage amplifying circuit to amplify the voltage signals, the voltage signals Ualv are filtered by the first-order low-pass filter circuit again, the first comparison circuit compares the Ualv with a reference voltage value Vref1 of the first comparison circuit, if the Ualv voltage value is larger than Vref1, the first-stage signal conditioning circuit outputs ALD to be high level, and otherwise, the first-stage signal conditioning circuit outputs ALD to be low level;
meanwhile, a voltage signal Ualv is input to a voltage follower circuit, the voltage follower circuit is used for signal isolation and then is input to a second voltage amplifying circuit for voltage signal amplification, then a first-order low-pass filter is used for outputting a voltage signal Uahv, a second comparison circuit is used for comparing the Uahv with a reference voltage value Vref2 of the second comparison circuit, if the voltage value of the Uahv is larger than Vref2, a second-level signal conditioning circuit outputs AHD as high level, and otherwise, the AHD is low level;
because of different acoustic wave energy generated when the machine gun and the gun are emitted, when the machine gun is emitted, the analog voltage value output by the sound sensor is smaller, after the voltage signal is amplified by the first-stage signal conditioning circuit, the output voltage Ualv is smaller than the reference voltage Vref1 value, namely ALD is low level, and after the second-stage amplification, the output voltage Uahv is larger than the reference voltage Vref2 value, namely AHD is high level; when the gun is launched, the energy is larger, so that the output signal of the first-stage conditioning circuit and the output signal of the second-stage conditioning circuit are both larger than the reference voltage value, and ALD and AHD are both high level.
In the scheme, when the Vref1 value and the Vref2 value of the comparison circuit are set, the voltage amplitude output by the conditioning circuit during shooting of the actually measured gun and the machine gun is set, so that accurate output signal level can be obtained. In the comparison process of the comparison circuits, the signals are analog signals, so that the condition that the two input ends are equal is generally avoided; ideally, if the two input terminals are equal, the output of the corresponding signal conditioning circuit is at a low level. When the Vref1 value and the Vref2 value take the same value, fewer devices can be used in the circuit, and the cost is saved.
When the signals ALD and AHD are high-level signals at the same time, a shooting event of the shell weapon occurs; when the signal AHD is high and the signal ALD is low, the signal AHD indicates that an organic gun weapon shooting event occurs; when signals ALD and AHD are both low, indicating no firing event has occurred;
in addition, in order to accurately detect whether a firing event occurs or not in a complex combat environment and avoid erroneous judgment due to interference of firing events occurring in a weapon having a relatively short distance, in a specific embodiment, three monitoring modules of the present invention are mounted on a heavy weapon in an equilateral triangle with a side length a, and one of the monitoring modules M 1 On the extension line from the muzzle to the tail of the heavy weapon, while the three monitoring modules are positioned on the three vertexes of an equilateral triangle, and the monitoring module M 1 The distance between the other two monitoring modules and the muzzle is the same; monitoring module M 1 And a monitoring module M 2 The same distance from the muzzle as shown in fig. 1; wherein S is a turret on a heavy weapon vehicle, S 1 Is the muzzle, S 2 Is a machine gun port S 1 And S is equal to 2 The horizontal distance (i.e. the installation distance of the gun and the machine gun) is L 3 Monitoring module M 1 The installation position of the sound sensor in the device is in the same straight line with the main barrel direction of the weapon, namely on the extension line from the muzzle to the tail, and S is the same time 1 Muzzle and monitoring module M 2 Monitoring module M 3 The sound sensor in the gun turret is isosceles triangle, the waist length of the isosceles triangle is b, and the distance from the gun muzzle to the gun turret edge (namely the distance from the gun muzzle to the gun tail or the gun barrel length) is L 1 The distance from the gun port to the edge of the gun turret (i.e. the distance from the gun to the gun turret) is L 2 MonitoringModule M 1 The distance of the sound sensor from the turret edge (i.e. the monitoring module M 1 Distance from the tail) is H, and the muzzle S of the gun 2 And monitor module M 1 And a monitoring module M 2 The distances of the sound sensors are consistent, d is d, and according to the geometric relationship, the parameters meet the following conditions:
the main function of the main controller is to capture the level signal and the trigger time output by each monitoring module in real time, and calculate and judge the weapon shooting event through the following logic algorithm:
(1) When the main controller captures a high-level signal, the following judgment is performed:
if the AHD is satisfied 1 、AHD 2 、AHD 3 、ALD 1 、ALD 2 And ALD (atomic layer deposition) 3 All are high level, then carry out step (2); ALD (atomic layer deposition) 1 、ALD 2 And ALD (atomic layer deposition) 3 Respectively three detection modules M 1 、M 2 And M 3 The output of the middle-level signal conditioning circuit; AHD (advanced high-performance digital) 1 、AHD 2 And AHD (advanced high-performance digital) 3 Respectively three detection modules M 1 、M 2 And M 3 The output of the secondary signal conditioning circuit;
if the AHD is satisfied 1 、AHD 2 And AHD (advanced high-performance digital) 3 All at high level, ALD 1 、ALD 2 And ALD (atomic layer deposition) 3 All are low level, then carry out step (3);
otherwise, judging that the heavy weapon does not have a shooting event;
(2) If the condition of the formula (I) is met, determining that the gun of the heavy weapon has a shooting event, and if the condition of the formula (I) is not met, determining that the gun of the heavy weapon has no shooting event;
wherein:
c is the speed of sound;
t 1 、t 2 、t 3 respectively three monitoring modules M 1 、M 2 And M 3 The time unit s when the acoustic sensor in (a) detects the mechanical wave;
σ th taking the error threshold value into consideration of the influence of parameters such as environment, installation error, circuit signal transmission and the like, and testing and verifying that the error threshold value is 10-100us;
(3) If the condition of the formula (II) is satisfied, judging that the heavy weapon machine gun shoots, and if the condition is not satisfied, judging that the heavy weapon does not shoot;
wherein:
in a further scheme, when the gun firing event of the heavy weapon is judged, the moment of the gun firing of the heavy weapon is calculated: t is t 1 -(L 1 +H)/c。
In a further scheme, when the heavy weapon gun is judged to have a shooting event, the moment of the heavy weapon gun shooting is calculated: t is t 1 -d/c。
In some schemes, the system is also provided with a data center and a display unit for uploading and displaying data, specifically, the data center receives the judging result of the main controller, stores the judging result and transmits the judging result to the display unit, and the display unit displays shooting events.
In some other schemes, for installing the system in use, a main controller and a monitoring module M in the system 1 Mounted together, such as integrally in a box.
Examples:
this embodiment uses the system and method of the present invention for field measurement of a heavy weapon firingAt the same time, manual recording was performed, and the Vref1 value in this embodiment is: 3.8V, vref2 of 3.8V, and FSM42A3722H11 silicon microphone manufactured by Xinfeng electronic company; the master controller selects an ARM master control chip; l (L) 3 ＝400mm，b＝5239mm，L 1 ＝5000mm，L 2 ＝50mm，H＝65.47mm，a＝200mm，d＝416mm；c＝340m/s；σ th ＝50μs；
The actual emission number of the manual recording machine gun is 200, wherein three continuous emissions are carried out for 20 times, the monitoring result of the method is 199, and the accuracy is 99%;
the method provided by the invention has the advantages that the number of the manual record cannons is 30, the data is 30, the accuracy is 100%, and the accuracy of the heavy weapon shooting detection method is high through comparison.
Claims (8)
1. The heavy weapon shooting monitoring system is characterized by comprising three monitoring modules and a main controller, wherein each monitoring module comprises a sound sensor, a primary signal conditioning circuit and a secondary signal conditioning circuit;
the primary signal conditioning circuit comprises a first-order low-pass filter circuit, a first voltage amplifying circuit and a first comparing circuit,
the secondary signal conditioning circuit comprises a voltage follower circuit, a second voltage amplifying circuit and a second comparing circuit,
the amplification factor of the first voltage amplification circuit is larger than that of the second voltage amplification circuit;
the sound sensor converts sound wave signals into analog voltage Uo to be output, the analog voltage Uo is filtered by a first-order low-pass filter circuit and then is input into a first voltage amplifying circuit to amplify the voltage signals, the voltage Ualv is output after the voltage signals are filtered by the first-order low-pass filter circuit again, the first comparison circuit compares the Ualv with a reference voltage value Vref1 of the first comparison circuit, if the Ualv is larger than Vref1, the ALD is output to be high level by a first-stage signal conditioning circuit, and otherwise, the ALD is low level;
meanwhile, a voltage signal Ualv is input to a voltage follower circuit, the voltage follower circuit is used for signal isolation and then is input to a second voltage amplifying circuit for voltage signal amplification, then a first-order low-pass filter is used for outputting a voltage Uahv, a second comparison circuit is used for comparing the Uahv with a reference voltage value Vref2 of the second comparison circuit, if the Uahv is larger than Vref2, a second-level signal conditioning circuit outputs an AHD as a high level, and otherwise, the AHD is a low level;
the three detection modules are arranged on the heavy weapon, and one of the monitoring modules M 1 The sound sensor in (a) is positioned on the extension line from the muzzle to the tail of the heavy weapon, the sound sensors in the three monitoring modules are positioned on three vertexes of the same equilateral triangle, and the monitoring module M 1 The sound sensor in the gun is nearest to the muzzle, and the other two monitoring modules M 2 And M 3 The distance between the sound sensor and the muzzle is the same; monitoring module M 1 In (a) and a monitoring module M 2 The distance between the sound sensor and the gun mouth is the same;
the main controller receives the outputs of the primary signal conditioning circuit and the secondary signal conditioning circuit of the three monitoring modules, and judges whether shooting occurs or not according to the outputs, and the judging method comprises the following steps:
(1) When the main controller captures a high-level signal, the following judgment is performed:
if AHD is 1 、AHD 2 、AHD 3 、ALD 1 、ALD 2 And ALD (atomic layer deposition) 3 All are high level, then carry out step (2); ALD (atomic layer deposition) 1 、ALD 2 And ALD (atomic layer deposition) 3 Respectively three detection modules M 1 、M 2 And M 3 The output of the middle-level signal conditioning circuit; AHD (advanced high-performance digital) 1 、AHD 2 And AHD (advanced high-performance digital) 3 Respectively three detection modules M 1 、M 2 And M 3 The output of the secondary signal conditioning circuit;
if AHD is 1 、AHD 2 And AHD (advanced high-performance digital) 3 All at high level, ALD 1 、ALD 2 And ALD (atomic layer deposition) 3 All are low level, then carry out step (3);
otherwise, judging that the heavy weapon does not have a shooting event;
(2) If the condition of the formula (I) is met, the gun of the heavy weapon is judged to have a shooting event, and if the condition of the formula (I) is not met, the gun of the heavy weapon is judged to have no shooting event;
wherein:
c is the speed of sound;
t 1 、t 2 、t 3 respectively three monitoring modules M 1 、M 2 And M 3 The time when the acoustic sensor in (a) detects the mechanical wave;
σ th is threshold value, sigma th The value range is 10-100us;
L 1 is the distance between the muzzle and the tail;
h is a monitoring module M 1 The distance between the sound sensor and the tail of the gun;
a is the side length of an equilateral triangle formed by sound sensors in the three monitoring modules;
(3) If the condition of the formula (II) is satisfied, judging that the heavy weapon machine gun has a shooting event, and if the condition of the formula (II) is not satisfied, judging that the heavy weapon has no shooting event;
wherein: l (L) 2 The length of the gun extending out of the gun turret;
L 3 is the installation distance between the machine gun and the gun barrel.
2. The heavy weapon fire monitoring system of claim 1, wherein the master controller is mounted to a monitoring module M 1 Is a kind of medium.
3. The heavy weapon fire monitoring system of claim 1, wherein Vref1 is equal to Vref 2.
4. The method as claimed in claim 1The heavy weapon shooting monitoring system is characterized by further comprising the step of calculating the moment when the heavy weapon gun shoots when the heavy weapon gun is judged to shoot events: t is t 1 -(L 1 +H)/c; when the heavy weapon gun is judged to have a shooting event, the moment of the heavy weapon gun shooting is calculated:
5. the heavy weapon fire monitoring system of claim 1, further comprising a data center and a display unit, the data center receiving the determination structure of the master controller and transmitting the determination structure to the display unit, the display unit for displaying the determination result.
6. A monitoring method for shooting of a heavy weapon is characterized in that the method is realized by a main controller and three detection modules arranged on the heavy weapon, wherein one of the detection modules M 1 The sound sensor in (a) is positioned on the extension line from the muzzle to the tail of the heavy weapon, the sound sensors in the three monitoring modules are positioned on three vertexes of the same equilateral triangle, and the monitoring module M 1 The sound sensor in the gun is nearest to the muzzle, and the other two monitoring modules M 2 And M 3 The distance between the sound sensor and the muzzle is the same; monitoring module M 1 In (a) and a monitoring module M 2 The distance between the sound sensor and the gun mouth is the same;
each monitoring module comprises a sound sensor, a primary signal conditioning circuit and a secondary signal conditioning circuit;
the primary signal conditioning circuit comprises a first-order low-pass filter circuit, a first voltage amplifying circuit and a first comparing circuit,
the secondary signal conditioning circuit comprises a voltage follower circuit, a second voltage amplifying circuit and a second comparing circuit,
the amplification factor of the first voltage amplification circuit is larger than that of the second voltage amplification circuit;
the sound sensor converts sound wave signals into analog voltage Uo to be output, the analog voltage Uo is filtered by a first-order low-pass filter circuit and then is input into a first voltage amplifying circuit to amplify the voltage signals, the voltage Ualv is output after the voltage signals are filtered by the first-order low-pass filter circuit again, the first comparison circuit compares the Ualv with a reference voltage value Vref1 of the first comparison circuit, if the Ualv is larger than Vref1, the ALD is output to be high level by a first-stage signal conditioning circuit, and otherwise, the ALD is low level;
meanwhile, a voltage signal Ualv is input to a voltage follower circuit, the voltage follower circuit is used for signal isolation and then is input to a second voltage amplifying circuit for voltage signal amplification, then a first-order low-pass filter is used for outputting a voltage Uahv, a second comparison circuit is used for comparing the Uahv with a reference voltage value Vref2 of the second comparison circuit, if the Uahv is larger than Vref2, a second-level signal conditioning circuit outputs an AHD as a high level, and otherwise, the AHD is a low level;
the method comprises the following steps:
(1) When the main controller captures a high-level signal, the following judgment is performed:
if the AHD is satisfied 1 、AHD 2 、AHD 3 、ALD 1 、ALD 2 And ALD (atomic layer deposition) 3 All are high level, then carry out step (2); ALD (atomic layer deposition) 1 、ALD 2 And ALD (atomic layer deposition) 3 Respectively three detection modules M 1 、M 2 And M 3 The output of the middle-level signal conditioning circuit; AHD (advanced high-performance digital) 1 、AHD 2 And AHD (advanced high-performance digital) 3 Respectively three detection modules M 1 、M 2 And M 3 The output of the secondary signal conditioning circuit;
if the AHD is satisfied 1 、AHD 2 And AHD (advanced high-performance digital) 3 All at high level, ALD 1 、ALD 2 And ALD (atomic layer deposition) 3 All are low level, then carry out step (3);
otherwise, judging that the heavy weapon does not have a shooting event;
(2) If the condition of the formula (I) is met, determining that the gun of the heavy weapon has a shooting event, and if the condition of the formula (I) is not met, determining that the gun of the heavy weapon has no shooting event;
wherein:
c is the speed of sound;
t 1 、t 2 、t 3 respectively three monitoring modules M 1 、M 2 And M 3 The time when the acoustic sensor in (a) detects the mechanical wave;
σ th is threshold value, sigma th The value range is 10-100us;
L 1 the distance between the muzzle and the tail, namely the length of the gun barrel;
h is a monitoring module M 1 The distance between the sound sensor and the tail of the gun;
a is the side length of an equilateral triangle formed by sound sensors in the three monitoring modules;
(3) If the condition of the formula (II) is satisfied, judging that the heavy weapon machine gun has a shooting event, and if the condition of the formula (II) is not satisfied, judging that the heavy weapon machine gun has no shooting event;
wherein: l (L) 2 The length of the gun extending out of the gun turret;
L 3 is the installation distance between the machine gun and the gun barrel.
7. The method of monitoring heavy weapon firing as claimed in claim 6, wherein Vref1 is equal to Vref 2.
8. The method of claim 6, further comprising, when it is determined that a firing event has occurred for the heavy weapon, calculating a moment when the firing of the heavy weapon occurs: t is t 1 -(L 1 +H)/c; when the heavy weapon gun is judged to have a shooting event, the moment of the heavy weapon gun shooting is calculated:
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