CN102175149A - Photoelectric measurement device and measurement method of flight projectile spatial burst point three-dimensional coordinates - Google Patents
Photoelectric measurement device and measurement method of flight projectile spatial burst point three-dimensional coordinates Download PDFInfo
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- CN102175149A CN102175149A CN 201110026845 CN201110026845A CN102175149A CN 102175149 A CN102175149 A CN 102175149A CN 201110026845 CN201110026845 CN 201110026845 CN 201110026845 A CN201110026845 A CN 201110026845A CN 102175149 A CN102175149 A CN 102175149A
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Abstract
The invention relates to a burst point three-dimensional coordinate measurement device and a burst point three-dimensional coordinate measurement method used in a target range to measure proximity fuse operating distance. The conventional photoelectric detection methods are mainly four-light-curtain junction and charge coupled device (CCD) combination-based measurement methods, and the conventional systems have great measurement errors. The photoelectric measurement device for measuring the projectile spatial burst point three-dimensional coordinates consists of a multi-light-curtain backdrop target, a system power supply, a projectile signal acquisition and processing device and a flame detector; the outputs of the multi-light-curtain backdrop target and the flame detector are connected to the signal acquisition and processing device; the multi-light-curtain backdrop target consists of a first backdrop target and a second backdrop target which are the same, the first backdrop target and the second backdrop target form three detection light curtains respectively, and the intersecting lines of the three detection light curtains and a random horizontal plane are 'N'-shaped in the space; and the first backdrop target, the second backdrop target and the flame detector are sequentially placed along the trajectory direction. The measurement principle is simple; the instruments are simple and convenient to place; and the measurement precision is high.
Description
Technical field
The invention belongs to exterior ballistic parameter measurement field, target range, relate generally to a kind of photoelectric measuring device and method of measuring flight bullet space fried some three-dimensional coordinate, fried some three-dimensional coordinate measurement device of the measurement influence fuse operating distance that use in particularly a kind of target range and measuring method.
Background technology
Because traditional projectile fuze is for triggering or the mechanical time fuse, contact fuze need direct hit on the target and just can detonate, and time faze need set the ignition time in advance, but the length of igniting time setting again with shell fly to the estimated value of target required time be foundation.Because the flying height and the speed of attacking aircraft or other weapons all are random variation, and machinery and time faze also be subjected to the influence of environmental baseline and shell state of flight bigger, and its result of use is all very undesirable.So influence fuse is arisen at the historic moment.No matter influence fuse adopts the sort of principle, but its effect that finally will reach is basic identical, promptly when warhead fly away from target satisfy set in advance apart from implode, thereby the fragmentation and the shock wave that rely on bullet to form are injured target.
In the middle of the development and pilot production of influence fuse, a whether qualified important indicator of check fuse is exactly to measure the warhead explosion time of influence fuse and the distance of target are housed, as warhead set apart from implode, then institute's arming is qualified, otherwise this fuse is defective.So, measure the demolition point of shell and the distance between the fried target of quilt, as long as record fried three-dimensional coordinate in the space when being exploded target in one timing of the position in space.
At present, the method for fried some three-dimensional coordinate measurement mainly is divided into two classes, and a class is an acoustic method, and another kind of is photo-detection method.Acoustic method is promptly arranged the sonic transducer of certain geometric array at the measured point near zone, after shellbursting, its explosive sound is propagation around the middle mind-set with fried point, because each sonic transducer is in the position in space difference, so each sensor receives the asynchronism(-nization) of acoustic signals, according to the mistiming of the received acoustic signals of each sensor, just can calculate, fried point is at the three-dimensional coordinate in space, but owing to be subjected to sound velocity error, the structure the formation influence of error and each sensor time delay error of sensor, passive acoustic fix ranging measuring system bearing accuracy is lower always, and this is to influence its engineering key in application problem.The method of photodetection at present mainly is based on the measuring method that four light curtains cross and CCD combines, four light curtains cross upright target record the two dimensional surface coordinate that bullet passes a certain predetermined target surface (
,
), area array CCD records fried point of bullet and the distance of target on the ballistic flight direction, promptly
Value, so just can obtain fried put a three-dimensional coordinate in the space (
,
,
).But upright target measuring system can not record the flight angle of bullet because four light curtains cross, and when bullet had certain angle incident, there was bigger measuring error in system.
The inventor finds report or the document closely related and the same with the present invention as yet to domestic and international patent documentation and the journal article retrieval of publishing.
Summary of the invention
The objective of the invention is to explode some three-dimensional coordinate measuring technology present situation in the space at the bullet that influence fuse is housed, provide a kind of photoelectric measuring device and measuring method of measuring bullet space fried some three-dimensional coordinate that can be used in, to overcome the big problem of measuring error when bullet has certain angle incident that prior art exists.
For overcoming the problem that prior art exists, the present invention realizes by the following technical solutions:
A kind of photoelectric measuring device that is used to measure bullet space fried some three-dimensional coordinate, by many light curtain canopy of the heavens target, system power supply, bullet signals collecting and treating apparatus and flame detector are formed, the output of described many light curtain canopy of the heavens target and flame detector all inserts signals collecting and treating apparatus, it is characterized in that: many light curtain canopy of the heavens target is made up of two the first identical canopy of the heavens targets and second canopy of the heavens target, first canopy of the heavens target and second canopy of the heavens target form three respectively and survey the light curtain, these three are surveyed the light curtain is " N " font at the intersection of space and any surface level, first canopy of the heavens target, second canopy of the heavens target and flame detector lay successively along ballistic path direction.
A kind of flight bullet space fried some three-dimensional coordinate photoelectric measurement method comprises the steps:
One. arrange each measurement mechanism in test site: on destined trajectory the earth projection line, arrange first canopy of the heavens target, second canopy of the heavens target and the flame detector successively along the projectile flight direction, the height of first canopy of the heavens target and second canopy of the heavens target in a surface level and the orientation and the angle of arranging be consistent, effective detection viewing field of flame detector is not overlapped with effective detection viewing field of first canopy of the heavens target and second canopy of the heavens target, the detection viewing field of flame detector covers the predetermined blast of bullet space, after deploying, measure between first canopy of the heavens target and second canopy of the heavens target apart from being S;
Two. first canopy of the heavens target and second canopy of the heavens target form six and survey the light curtains in the space, the joint of three light curtains that form with second canopy of the heavens target is that initial point is set up coordinate system XOY, and this coordinate system is based upon the top of second canopy of the heavens target, and Y-axis is vertically upward; The Z axle along bullet directive level forward; X-axis becomes right hand system with Y, Z axle; Electrifying startup, importing in advance in bullet signals collecting and the treating apparatus between first canopy of the heavens target that records and second canopy of the heavens target apart from S;
Three. ball firing: bullet passes through six and surveys the light curtain, each surveys the circuit output bullet simulating signal of light curtain correspondence, bullet signals collecting and treating apparatus collect six road bullet simulating signals, six road bullet simulating signals that collect are handled, obtained the relative moment value that bullet passes through six light curtains
,
,
,
,
,
, the trajectory angle of pitch when obtaining bullet and pass through plane X OY according to following measure equation then
, the trajectory position angle
, projectile flight speed V, and pill impacting coordinate X and Y,
(2)
Four. when passing through six, bullet surveys the light backstage, and at predetermined space exploration explosion time, flame detector detects bullet blast flame signal, and export the pulse signal of a corresponding time break, bullet signals collecting and treating apparatus collect this signal, and calculate bullet and pass XOY plane to the time interval T of demolition point; Because known bullet arrives X coordinate, Y coordinate, projectile flight velocity magnitude V, the flying speed angle of pitch of plane X OY
With the flying speed position angle
, and the Z coordinate of bullet in XOY plane be 0, computing machine further calculates bullet in the fried point coordinate value of the three-dimensional in space according to the three-dimensional coordinate measurement formula of the fried point of system:
Five. bullet signals collecting and treating apparatus show and the storage computation result
,
With
In the above-mentioned steps one, S is 5～10m.According to the difference of velocity of shot distance between two targets is set, velocity of shot is big more, and range is big more, helps the raising of The measuring precision like this.
Compared with prior art, advantage of the present invention is:
1) measuring principle is simple, be convenient to Project Realization: six six cover light paths and photoelectric conversion devices of surveying light curtain correspondence are installed on two canopy of the heavens target casings, form two many light that structure is identical curtain canopy of the heavens targets respectively, survey the light curtain for three of the curtain of light more than each canopy of the heavens target and form N font light curtain array in the space, cooperate bullet signals collecting and treating apparatus and flame detector to finish the measurement of bullet space fried some three-dimensional coordinate.
2) instrument layout is easy, is applicable to field operation.Need the on-the-spot device of accurately arranging to have only the canopy of the heavens target of light curtain more than two and a flame detector, the layout of the canopy of the heavens of light curtain more than two target and the layout of the common canopy of the heavens target that tests the speed are similar, the laying of flame detector only needs its detection viewing field to comprise the predetermined blast of bullet space get final product, and a whole set of instrument field layout time is no more than 30 minutes.
3) measuring accuracy height: The theoretical analysis and experimental verification system coordinates measuring accuracy can reach ± 50mm, and with respect to having the measuring method that acoustic method and four light curtains cross now, measuring accuracy is significantly improved.
4) computing machine participates in, the automaticity height, and real-time is good.Signal is handled based on the method for computer software owing to adopt, finished so each sends out the bullet shooting, measurement result shows output by computing machine in real time.
Description of drawings
Fig. 1 is apparatus of the present invention overall schematic;
Fig. 2 is many light curtain canopy of the heavens target structure synoptic diagram;
Fig. 3 is that the A of Fig. 2 is to view;
Fig. 4 is that space coordinates are set up synoptic diagram;
Fig. 5 is the combination vertical view of single cover many light curtain canopy of the heavens target and flame detector;
Fig. 6 is that two many light of cover curtain canopy of the heavens targets are combined to form bigger detection viewing field vertical view;
Fig. 7 is the field stitching synoptic diagram of two many light of cover curtain canopy of the heavens targets among Fig. 6;
Fig. 8 is that three camera lenses lay the flame detector synoptic diagram that is combined to form bigger detection viewing field along ballistic path direction;
Fig. 9 is the flame detector synoptic diagram that three camera lenses edges and trajectory vertical direction are combined to form bigger detection viewing field;
Figure 10 is the flame detector synoptic diagram that five camera lenses are combined to form bigger detection viewing field;
Figure 11 is that three platform independent flame detectors lay synoptic diagram along ballistic path direction;
Figure 12 is that three platform independent flame detectors are along laying synoptic diagram with the trajectory vertical direction;
Figure 13 is that five platform independent flame detectors lay synoptic diagram simultaneously along ballistic path direction with the trajectory vertical direction.
Embodiment
Below in conjunction with accompanying drawing the present invention is described in detail.
Referring to Fig. 1～Fig. 5, a kind of photoelectric measuring device that is used to measure bullet space fried some three-dimensional coordinate, by many light curtain canopy of the heavens target, system power supply 7, bullet signals collecting and treating apparatus 3 and flame detector 4 are formed, and the output of described many light curtain canopy of the heavens target and flame detector 4 all inserts signals collecting and treating apparatus 3.Many light curtain canopy of the heavens target is made up of two the first identical canopy of the heavens targets 1 and second canopy of the heavens target 2, first canopy of the heavens target 1 and second canopy of the heavens target 2 form three respectively and survey the light curtain, these three are surveyed the light curtains be " N " font in the space with the intersection of surface level arbitrarily, and first canopy of the heavens target 1, second canopy of the heavens target 2 and flame detector 4 lay successively along ballistic path direction.
Include three cover light path and the photoelectric conversion parts 5 that are fixedly set in the casing 6 in first canopy of the heavens target 1 and second canopy of the heavens target 2.
What many light curtain canopy of the heavens target was here selected for use is a cover.
Bullet leaps the top detection viewing field of the canopy of the heavens of light curtain more than two target, and pass through six light curtains that the canopy of the heavens of light curtain more than two target forms in the space successively, the six cover circuit corresponding with six light curtains are exported six road bullet simulating signals successively, signals collecting and treating apparatus 3 are gathered six road bullet simulating signals, and calculate the relative moment value that bullet passes through six light curtains by software processes
,
,
,
,
,
,, bring six time values into measure equation again, the trajectory angle of pitch in the time of just can obtaining bullet and pass through target surface XOY
, the trajectory position angle
, projectile flight speed V, and pill impacting coordinate X and Y.When passing through six, bullet surveys the light backstage, in the detection viewing field of flame detector, blast, one of flame detector circuit output and the corresponding pulse signal time break, this signal is gathered and is handled by signals collecting and treating apparatus 3 and obtains bullet and pass through the moment value T of target surface XOY to blast, according to six parameters that record above
,
, V, X, Y and T just can further calculate bullet explodes point in the space three-dimensional coordinate according to formula.
When bullet explosion time not, this method can be measured two-dimensional coordinate, velocity magnitude and the direction that bullet passes through predetermined light curtain face.
A kind of flight bullet space fried some three-dimensional coordinate photoelectric measurement method that utilizes said apparatus comprises the steps:
One. arrange each measurement mechanism in test site: on destined trajectory the earth projection line, arrange first canopy of the heavens target 1 successively along the projectile flight direction, second canopy of the heavens target 2 and flame detector 4, the height of first canopy of the heavens target 1 and second canopy of the heavens target 2 in a surface level and the orientation and the angle of arranging be consistent, effective detection viewing field of flame detector 4 is not overlapped with effective detection viewing field of first canopy of the heavens target 1 and second canopy of the heavens target 2, the detection viewing field of flame detector 4 covers the predetermined blast of bullet space, after deploying, measure between first canopy of the heavens target 1 and second canopy of the heavens target 2 apart from being S;
Two. set up space coordinates: first canopy of the heavens target 1 and second canopy of the heavens target 2 form six and survey the light curtain in the space, the joint of three light curtains that form with second canopy of the heavens target 2 is that initial point is set up coordinate system XOY, referring to Fig. 4, this coordinate system is based upon the top of second canopy of the heavens target 2, and Y-axis vertically upward; The Z axle along bullet directive level forward; X-axis becomes right hand system with Y, Z axle; Electrifying startup, importing in advance in bullet signals collecting and the treating apparatus 3 between first canopy of the heavens target 1 that records and second canopy of the heavens target 2 apart from S;
Three. ball firing: bullet passes through six and surveys the light curtain, each surveys the circuit output bullet simulating signal of light curtain correspondence, bullet signals collecting and treating apparatus 3 collect six road bullet simulating signals, six road bullet simulating signals that collect are handled, obtained the relative moment value that bullet passes through six light curtains
,
,
,
,
,
, the trajectory angle of pitch when obtaining bullet and pass through plane X OY according to following measure equation then
, the trajectory position angle
, projectile flight speed V, and pill impacting coordinate X and Y,
(5)
Four. when passing through six, bullet surveys the light backstage, and at predetermined space exploration explosion time, flame detector 4 detects bullet blast flame signal, and export the pulse signal of a corresponding time break, bullet signals collecting and treating apparatus 3 collect this signal, and calculate bullet and pass XOY plane to the time interval T of demolition point; Because known bullet arrives X coordinate, Y coordinate, projectile flight velocity magnitude V, the flying speed angle of pitch of plane X OY
With the flying speed position angle
, and the Z coordinate of bullet in XOY plane be 0, computing machine further calculates bullet in the fried point coordinate value of the three-dimensional in space according to the three-dimensional coordinate measurement formula of the fried point of system:
Five. bullet signals collecting and treating apparatus 3 show and the storage computation result
,
With
In device provided by the invention, wherein:
One, about first canopy of the heavens target 1 and second canopy of the heavens target 2: as long as the detection light curtain of formation all can be selected for use for the canopy of the heavens target of " N " font with the intersection of any surface level in the space.First canopy of the heavens target 1 that is adopted in the present embodiment and the structure of second canopy of the heavens target 2 are referring to Fig. 2 and Fig. 3, include three cover light path and the photoelectric conversion parts 5 that are fixedly set in the casing 6 in first canopy of the heavens target 1 and second canopy of the heavens target 2, it is that 30 degree are surveyed the light curtain that every cover light path and photoelectric conversion part 5 form a field angle aloft, light curtain and arbitrary horizontal section that three cover light paths and photoelectric conversion part 5 form in the space intersect " N " font, the angle of the camera lens primary optical axis of the camera lens primary optical axis of both sides light path and photoelectric conversion part 5 and middle light path and photoelectric conversion part 5 is 25 degree, and the angle of angle in arbitrary surface level of intermediate light curtain and two sidelight curtains still is 25 degree.
Two, flame detector 4 selects for use camera lens for focusing 50mm f/2.8D, and the effective light-sensitive surface of photoelectric detector is the circle of diameter 20mm, and sensitive detection parts and camera lens acting in conjunction form the detection viewing field that cone angle is 22 degree, and the power of point-like semiconductor laser is 10mw.
Three, in order to improve effective detection target surface of system: referring to Fig. 6 and Fig. 7, can adopt the method for two many light of cover curtain canopy of the heavens target detection viewing field splicings in the device, be that many light curtain canopy of the heavens target is provided with two parallel covers, every many light of cover curtain canopy of the heavens target lays successively along ballistic path direction, it is fan-shaped that the detection viewing field of single many light of cover curtain canopy of the heavens target is about 30 degree, and two cover combinations just can form more large-area detection viewing field.
Four, in order to enlarge the detection viewing field of flame detector 4, adoptable organization plan is as follows:
(1) on ballistic path direction, enlarged the visual field of flame detector, referring to Fig. 8, adopt three methods of surveying the camera lens splicing, being about to three camera lenses is installed on the casing, there are certain included angle in both sides camera lens primary optical axis and intermediate lens primary optical axis, can enlarge the detection viewing field of flame detector (4) in one direction, when arranging flame detector (4), three camera lenses all are positioned on the destined trajectory projection line.
(2) with the trajectory vertical direction on enlarged the visual field, referring to Fig. 9, the same methods that adopt the splicing of three detection camera lenses, to enlarge the detection viewing field of flame detector (4), when arranging flame detector (4), a camera lens is positioned on the destined trajectory projection line, and two other camera lens is positioned at destined trajectory projection line both sides.
(3) all enlarged the visual field on the both direction, referring to Figure 10, adopt five methods of surveying the camera lens splicing, being about to five camera lenses is installed on the casing, there are certain included angle in four camera lens primary optical axis and intermediate lens primary optical axis on every side, can enlarge the detection viewing field of flame detector (4) simultaneously on both direction, when arranging flame detector (4), intermediate lens and two other camera lenses are positioned on the destined trajectory projection line, and all the other two camera lenses are positioned at destined trajectory projection line both sides.
Five, in order to enlarge the detection viewing field of flame detector, also adoptable organization plan is as follows:
(1) on ballistic path direction, enlarged the visual field of flame detector,, adopted the flame detector (4) of three platform independent to lay along ballistic path direction referring to Figure 11.
(2) with the trajectory vertical direction on enlarged the visual field, referring to Figure 12, the flame detector (4) that adopts three platform independent is along laying with the trajectory vertical direction.
(3) all enlarged the visual field on the both direction, referring to Figure 13, the flame detector (4) that adopts five platform independent along ballistic path direction and with the trajectory vertical direction on lay simultaneously.
In order to increase detection viewing field of the present invention, above said two many light of cover curtain canopy of the heavens targets be spliced to form the visual field expansion project of the scheme of bigger detection viewing field and flame detecting can independent assortment.
Claims (3)
1. one kind is used to measure the photoelectric measuring device that the some three-dimensional coordinate is exploded in the bullet space, by many light curtain canopy of the heavens target, system power supply (7), bullet signals collecting and treating apparatus (3) and flame detector (4) are formed, the output of described many light curtain canopy of the heavens target and flame detector (4) all inserts signals collecting and treating apparatus (3), it is characterized in that: many light curtain canopy of the heavens target is made up of two the first identical canopy of the heavens targets (1) and second canopy of the heavens target (2), first canopy of the heavens target (1) and second canopy of the heavens target (2) form three respectively and survey the light curtain, these three are surveyed the light curtain is " N " font at the intersection of space and any surface level, first canopy of the heavens target (1), second canopy of the heavens target (2) lays along ballistic path direction successively with flame detector (4).
2. a flight bullet space fried some three-dimensional coordinate photoelectric measurement method comprises the steps:
One. arrange each measurement mechanism in test site: on destined trajectory the earth projection line, arrange first canopy of the heavens target (1) successively along the projectile flight direction, second canopy of the heavens target (2) and flame detector (4), the height of first canopy of the heavens target (1) and second canopy of the heavens target (2) in a surface level and the orientation and the angle of arranging be consistent, effective detection viewing field of flame detector (4) is not overlapped with effective detection viewing field of first canopy of the heavens target (1) and second canopy of the heavens target (2), the detection viewing field of flame detector (4) covers the predetermined blast of bullet space, after deploying, measure between first canopy of the heavens target (1) and second canopy of the heavens target (2) apart from being S;
Two. first canopy of the heavens target (1) and second canopy of the heavens target (2) form six and survey the light curtain in the space, the joint of three light curtains that form with second canopy of the heavens target (2) is that initial point is set up coordinate system XOY, this coordinate system is based upon the top of second canopy of the heavens target (2), and Y-axis vertically upward; The Z axle along bullet directive level forward; X-axis becomes right hand system with Y, Z axle; Electrifying startup, importing in advance in bullet signals collecting and the treating apparatus (3) between first canopy of the heavens target (1) that records and second canopy of the heavens target (2) apart from S;
Three. ball firing: bullet passes through six and surveys the light curtain, each surveys the circuit output bullet simulating signal of light curtain correspondence, bullet signals collecting and treating apparatus (3) collect six road bullet simulating signals, six road bullet simulating signals that collect are handled, obtained the relative moment value that bullet passes through six light curtains
,
,
,
,
,
, the trajectory angle of pitch when obtaining bullet and pass through plane X OY according to following measure equation then
, the trajectory position angle
, projectile flight speed V, and pill impacting coordinate X and Y,
(2)
Four. when passing through six, bullet surveys the light backstage, and at predetermined space exploration explosion time, flame detector (4) detects bullet blast flame signal, and export the pulse signal of a corresponding time break, bullet signals collecting and treating apparatus (3) collect this signal, and calculate bullet and pass XOY plane to the time interval T of demolition point; Because known bullet arrives X coordinate, Y coordinate, projectile flight velocity magnitude V, the flying speed angle of pitch of plane X OY
With the flying speed position angle
, and the Z coordinate of bullet in XOY plane be 0, computing machine further calculates bullet in the fried point coordinate value of the three-dimensional in space according to the three-dimensional coordinate measurement formula of the fried point of system:
(8)
Five. bullet signals collecting and treating apparatus (3) show and the storage computation result
,
With
3. flight bullet according to claim 2 space fried some three-dimensional coordinate photoelectric measurement method, it is characterized in that: in the described step 1, S is 5～10m.
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