CN102589351A - Digitizing collection device and detection method based on antiaircraft gun operation parameter of weather modification - Google Patents
Digitizing collection device and detection method based on antiaircraft gun operation parameter of weather modification Download PDFInfo
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Abstract
The invention discloses a digitizing collection device and a detection method based on antiaircraft gun operation parameter of weather modification and relates to the technical field of weather modification gun operation detecting and sensing and automatic control, a position detecting circuit of the device is composed of a coaxial duplex complementary multi-turn potentiometer and a corresponding signal conditioning circuit, wherein the coaxial duplex potentiometer is composed of two independent potentiometers, a quantity detection circuit is composed of an approach switch, a 4N 25 optical coupler and a central processing unit, wherein the central processing unit is connected with all the circuits through a data bus/address bus/control bus, the coaxial duplex potentiometer is arranged at a rotation position of the azimuth angle controller of an antiaircraft gun of weather modification in the way of the coaxial duplex complementary multi-turn potentiometer, the approach switch is arranged at the ejection port of the antiaircraft gun so as to complete the automatic detection on the position and the angle of pitch of the antiaircraft gun operation; therefore, based on the TCP/IP (Transmission Control Protocol/Internet Protocol) data transmission, the time and number of shell launching can be detected automatically.
Description
Technical field
The present invention relates to the weather modification big gun and penetrate on-stream monitoring and sensing and automatic control technology field, especially a kind of numeralization collecting device and detection method thereof based on shadow antiaircraft gun job parameter.
Background technology
According to people's wish, through manual intervention, some local weather phenomenon is transformed towards helping the predetermined purpose direction of people, to overcome or to alleviate the disaster that bad weather causes, weather modification is claimed in the scientific and technical measure of this nature remodeling, is called for short the shadow.
Along with social development and progress of science and technology; Height in the weather modification is bombarded rain and is more and more received people's attention with the scientific and effective property of beating hail (hereinafter to be referred as shadow operation); Shadow job information is collected and management is a routine work of weather modification vocational work; Job information is collected and can be increased work efficiency greatly fast and easily; The real time information that lets administrative department in time obtain operation one line for the assessment of operation command and operational benefit provides basic data, solves the technical barrier that commander, operation, assessment for many years disconnect each other.
At present; The beginning and ending time of shadow antiaircraft gun operation, shell emission quantity and azimuth and the elevation angle all are to rely on artificial method to obtain and through phone or radio station relevant information is reported to shadow commander department and administrative department; Therefore; Have actual conditions such as work data acquisition is difficult, equipment operation condition can't be monitored in real time, the human and material resources of labor are because intermediate link is too many; Manual work causes that the inaccurate situation of sum of errors happens occasionally, and is badly in need of setting up a cover and penetrates the operation detection system based on modernized big gun.The inventor once penetrated to present big gun that the operating system intellectuality is low, the problem of poor stability in 2008; Proposing a kind of is core with Cygnal C8051F340 single-chip microcomputer, HBR110 voice recognition chip; By the SANG1000 obliquity sensor, the big gun that CANG10 electronic compass and other peripheral circuits are formed is penetrated the operation detection system and has been delivered one piece of relevant article " meteorological big gun is penetrated the detection system design " (author: Li Dong, Guo Weibo, Fan Changyuan, Huang Hua).But, there are a lot of key technology defect problems in " meteorological big gun is penetrated the detection system design ":
1, azimuth determination problem: adopting the electronic compass measurement is azimuth sensor CANG10, utilizes the earth's magnetic field to realize obtaining the high accuracy azimuth determination in the laboratory by orientating function; Because antiaircraft gun belongs to metal; Electromagnetic field effects to around measuring is very big, and the electronic compass certainty of measurement that is installed to behind the antiaircraft gun descends greatly, has time error to reach tens degree; Its precision does not reach measurement requirement far away, and for example cost an arm and a leg 4800 yuan of CANG10 sensors/only of this sensor;
2, the detection problem of number of rounds: the method through speech recognition obtains number of rounds; What bombard the employing of voice recognition module is HBR110 or RSC-300 voice recognition chip; At breadboard discrimination Gao Bugao not, and affected by environment very big, this method is not suitable for product;
3, angle of pitch problems of measurement: adopt obliquity sensor SANG1000 to measure, for example cost an arm and a leg 4800 yuan of SANG1000 sensors/only of this sensor.
Owing to still do not have a shadow antiaircraft gun job parameter numeralization collecting device at present, and " meteorological big gun is penetrated the detection system design " method has shortcomings such as cost height, precision are low and do not reach the designing requirement of shadow antiaircraft gun job parameter numeralization collecting device far away.The inventor penetrates operation beginning and ending time, shell emission quantity and automatic information collecting technology such as the azimuth and the elevation angle through the big gun of concentrating on studies; Numeralization collecting device and detection method thereof based on shadow antiaircraft gun job parameter have been proposed; In the hope of passing through to introduce this device, method, monitoring results beginning and ending time, shell are launched quantity and the orientation and the elevation angle in real time, for job management provides science data; Can reach purpose scientific, standardized management, also can sound assurance be provided for safety in production.
Summary of the invention
The object of the invention has two, the first, proposes and designs a kind of shadow antiaircraft gun job parameter numeralization collecting device; The second, the coaxial complementary multiturn potentiometer azimuth measuring method of a kind of duplex based on shadow antiaircraft gun is proposed.
For realizing above-mentioned purpose; Technical solution provided by the invention is; A kind of numeralization collecting device based on shadow antiaircraft gun job parameter is provided, comprises central microprocessor U1, orientation detection circuit U 6, pitching testing circuit, amount detection circuit U7, gsm module circuit, clock circuit, power control circuit, ferroelectric memory circuit; Especially; Described orientation detection circuit is made up of a complementary multiturn potentiometer of coaxial duplex and corresponding signal modulate circuit; Coaxial duplex potentiometer is made up of two independent potentiometers; Each potentiometer is the signal of telecommunication through signal conditioning circuit separately with electric resistance changing, and the signal of telecommunication obtains corresponding digital signal after microprocessor carries the A/D conversion; Said amount detection circuit mainly is made up of near switch J1 and 4N25 photo-coupler U5, central microprocessor U1 IDB40NA; Said central microprocessor U1 is connected with above-mentioned each circuit through data/address bus/address bus/control bus.
Said corresponding signal modulate circuit is meant the first one-channel signal modulate circuit and the second one-channel signal modulate circuit and identical; Mainly comprise coaxial duplex potentiometer RPD1, central microprocessor U1, TLC2652 high precision operating amplifier U2, TL431 voltage-reference U3, AD8221 instrumentation amplifier U4, K switch 1, K2; Its K switch 1, K2 are controlled by microprocessor U1.
Further; Detection method based on the numeralization collecting device of shadow antiaircraft gun job parameter is provided; Especially installation aspect, said coaxial duplex potentiometer RPD1 is the rotation place U8 that is installed in shadow antiaircraft gun azimuth controller with the form of coaxial complementary multiturn potentiometer.Said IDB40NA is mounted in the U9 of ejector opening place of antiaircraft gun near switch J1, whenever withdraws from a shell case through IDB40NA during near switch J1, and IDB40NA just exports a high-low level near switch J1 and changes, thereby detects number of rounds.
Further, the detection method based on the numeralization collecting device of shadow antiaircraft gun job parameter is provided, especially, comprises the steps: based on the coaxial complementary multiturn potentiometer azimuth measuring method of the duplex of shadow antiaircraft gun
(1) adopts based on the coaxial complementary multiturn potentiometer azimuth determination method of duplex, each potentiometer of duplex potentiometer in the device is carried out resistance measurement, measure because duplex is the complementary full azimuth that can realize antiaircraft gun;
(2) add a suitable power supply for the duplex potentiometer two ends, the centre tapped voltage of potentiometer changes with the potentiometer rotation, has realized the conversion of voltage measurement to angular surveying;
(3) voltage of measuring center tap promptly can be measured potentiometer resistance, thereby obtains azimuth measurement data at any angle, i.e. the measurement data of shadow antiaircraft gun mechanical rotation angle;
(4) under the instruction of central microprocessor LPC2387, deposit the azimuth determination data in memory.
The key technical indexes of the present invention is seen table one:
Table one the key technical indexes
| Leading indicator | Number range |
| Azimuth accuracy | ＜1° |
| Angle of pitch precision | ＜1° |
| Beginning and ending time | ＜2S |
| Number of rounds detects | ＞99％ |
| Operating voltage | 12V DC (inner lithium battery power supply) |
| Operating current | ＜200MA (average current) |
| Operating temperature | -20℃+70℃ |
| Working relative humidity | ＜95%, no condensation |
| Storage temperature | -40℃+85℃ |
| Communication frequency | 900/1800Mhz |
[0021]
| The information interaction time | ＜20S (average time) |
| Stand-by time | ＞60 hours (inner lithium battery power supply) |
Compare with prior art, advantage and remarkable result that the present invention has are following:
1, device is installed on the shadow antiaircraft gun, the orientation and the angle of pitch that can accomplish the antiaircraft gun operation detect automatically; Realize the automatic detection of shell launch time and quantity, the related data storage; Based on the GPRS transfer of data of TCP/IP, its system front end is installed in shadow antiaircraft gun operation field.
2, can related data be real-time transmitted to shadow administrative department; Let administrative department in time obtain the real time information of operation one line; For the assessment of operation command and operational benefit provides basic data, solve the technical barrier that commander, operation, assessment for many years disconnect each other, avoid because of intermediate link many; Manual work causes that the inaccurate situation of sum of errors takes place, and, standardized management scientific for the operation of meteorological shadow antiaircraft gun provides powerful guarantee.
3, proposition and employing " based on the coaxial complementary multiturn potentiometer azimuth determination method of duplex " make its completion measure at any angle the azimuth; Solved the blind area of potentiometer in rotary course, the measurement that makes orientation angles is brought up to 360 ° of full angles from original about 340 °.
4, this device has job information capacity gauge fast and easily, increases work efficiency greatly, saves great amount of manpower and material resources simultaneously.
Description of drawings
Fig. 1 is a hardware circuit The general frame sketch map according to the invention.
Fig. 2 is the complementary multiturn potentiometer one-channel signal of a coaxial duplex according to the invention modulate circuit sketch map.
Fig. 3 is a number of rounds testing circuit sketch map according to the invention.
Fig. 4 is the embodiment of the invention, the mounting portion sketch map of said device A on shadow antiaircraft gun.
Fig. 5 is the embodiment of the invention, said mounting portion sketch map based on the coaxial complementary multiturn potentiometer of duplex.
Fig. 6 is further embodiment of this invention, and said IDB40NA is near the scheme of installation of switch with regard to J1.
The specific embodiment
Referring to Fig. 1～Fig. 5, the present invention includes central microprocessor U1, orientation detection circuit U 6, pitching testing circuit, amount detection circuit U7, gsm module circuit, clock circuit, power control circuit, ferroelectric memory circuit.Said central microprocessor U1 is connected with above-mentioned each circuit through data/address bus/address bus/control bus.The central microprocessor U1 of harvester adopts the LPC2387 chip, and the information of control whole system is obtained the operation of processing such as handling, communicate by letter with signal.The LPC2387 microprocessor is based on 16/32 ARM7TDMI-S CPU that support real-time simulation; And having the high speed Flash memory that 512kB embeds, the memory interface of 128 bit widths can move 32 codes with unique accelerating structure under maximum clock speed.
Said orientation detection circuit U 6 is made up of a complementary multiturn potentiometer of coaxial duplex and corresponding signal modulate circuit; Said corresponding signal modulate circuit is meant that the first one-channel signal modulate circuit is identical with the second one-channel signal modulate circuit and circuit; Mainly comprise coaxial duplex potentiometer RPD1, central microprocessor U1, TLC2652 high precision operating amplifier U2 and voltage-reference U3TL431, K switch 1, K2; Its K switch 1, K2 are controlled by central microprocessor U1.Coaxial duplex potentiometer is made up of two independent potentiometers, and each potentiometer is the signal of telecommunication through signal conditioning circuit separately with electric resistance changing, and the signal of telecommunication obtains corresponding digital signal after microprocessor carries the A/D conversion; RPD1 is a potentiometer in the coaxial duplex potentiometer among Fig. 2, and measuring circuit adopts the mode of 4 line systems to design, and needs accurate constant-current source in the circuit of 4 line systems; In addition; Since the output signal of unit measuring circuit a little less than, need signal be amplified, carry out the A/D conversion after the amplification again.U1 is the LPC2387 central processing unit among Fig. 2, and RPD1 selects for use the WDD35 conduction to mould potentiometer, selects TLC2652 high precision operating amplifier and voltage-reference TL431 for use in the constant-current source circuit design.
In Fig. 2, K switch 1, K2 receive microprocessor controls, and when being in shown position, voltage-reference U3 makes the V of U2
+The end input voltage is 2.5V, according to the ideal operational amplifier characteristics, V is arranged
+=V
-=2.5V and V
-The end no current flows out, and the electric current that then flows through R1 is 0.5mA.No current among R3 and the R4, then having electric current among the potentiometer RPD1 to equal the R1 electric current is 0.5mA, and the potentiometer RPD1 electric current of promptly flowing through is the constant-current source of 0.5mA, and differential amplifier circuit fortune side is TLC2652.R0 and R1 select for use has the high-accuracy resistance that same temperature is floated, and when K switch 1, K2 all were in another position, the electric current of the R0 that flows through also was constant 0.5mA, will use for temperature-compensating and calibration.
Among Fig. 3, the function of amount detection circuit U7 is to accomplish the automatic detection of antiaircraft gun operation with the bullet amount, and circuit mainly is made up of near switch J1 and 4N25 photo-coupler U5, central microprocessor U1 IDB40NA; J1 is near switch I DB40NA, and artillery shell is through out-of-date, and output level changes; U5 is the 4N25 photo-coupler, and main effect is anti-interference and accomplishes level match that the proximity transducer operating voltage is 12 volts; 3.3 volts of central processing unit operating voltages; U1 is the LPC2387 central processing unit, accomplishes near the low level real-time detection of the height of switch, to obtain the real-time detection of number of rounds.
In addition, the angle of pitch that the pitching testing circuit is mainly accomplished the antiaircraft gun operation detects automatically, and circuit mainly is made up of obliquity sensor BX-1XN-232 and corresponding interface circuit.The gsm module circuit is mainly accomplished after the antiaircraft gun end of job azimuth, the angle of pitch of operation, is real-time transmitted to shadow administrative department with data such as bullet amount, operation beginning and ending times through the TCP/IP mode, and circuit is made up of GTM900 and corresponding interface circuits.
Clock circuit obtains the clock of circuit operation, and the antiaircraft gun operation beginning and ending time is provided, and circuit is made up of with corresponding circuit DS1302.Power control circuit is accomplished the low electric weight of capacity check, automatic charge control, battery of battery and the functions such as automatic protection of the high low temperature of environment.Serial port circuit is accomplished the data communication interface of liquid crystal display function button or computer and this device, mainly is made up of MAX232 and peripheral circuit.The long-time storage of setting of ferroelectric memory circuit implement device parameter and antiaircraft gun operation significant data, circuit mainly is made up of FM25H20 and respective peripheral circuit.
Liquid crystal display and function button part are main to be accomplished all information demonstrations and to the device man-machine interactive operation, comprises functions such as system parameter setting, clock adjustment, scaling instruction TCP/IP address, azimuth pitch angle are provided with.This modular circuit can be independent of outside the harvester.
Fig. 4, Fig. 5 provide a kind of detection method of the numeralization collecting device based on shadow antiaircraft gun job parameter, especially installation aspect.Fig. 4 has shown the installation site of said device on shadow antiaircraft gun, and the hole of 2 6mm is arranged on the shadow antiaircraft gun, just in time is fit to this equipment and installs.In addition, pitch sensor just is designed in the equipment, does not need independent installation.Fig. 5 has shown that said coaxial duplex potentiometer RPD1 is the rotation place U8 that is installed in shadow antiaircraft gun azimuth controller with the form of coaxial complementary multiturn potentiometer.Said IDB40NA is mounted in the U9 of ejector opening place of antiaircraft gun near switch J1, whenever withdraws from a shell case through IDB40NA during near switch J1, and IDB40NA just exports a high-low level near switch J1 and changes, thereby detects number of rounds.
The present invention also provides the detection method based on the numeralization collecting device of shadow antiaircraft gun job parameter, especially based on the coaxial complementary multiturn potentiometer azimuth measuring method of the duplex of shadow antiaircraft gun, comprises the steps:
(1) adopts based on the coaxial complementary multiturn potentiometer azimuth determination method of duplex, each potentiometer of duplex potentiometer in the device is carried out resistance measurement, measure because duplex is the complementary full azimuth that can realize antiaircraft gun;
(2) add a suitable power supply for the duplex potentiometer two ends, the centre tapped voltage of potentiometer changes with the potentiometer rotation, has realized the conversion of voltage measurement to angular surveying;
(3) voltage of measuring center tap promptly can be measured potentiometer resistance, thereby obtains azimuth measurement data at any angle, i.e. the measurement data of shadow antiaircraft gun mechanical rotation angle;
(4) under the instruction of central microprocessor LPC2387, deposit the azimuth determination data in memory.Said azimuth detection design is to adopt " based on the coaxial complementary multiturn potentiometer azimuth determination method of duplex ".
Big gun is penetrated the key technology that the operation azimuth determination is a collector, can accurately measure the azimuth of antiaircraft gun through adopting " based on the coaxial complementary multiturn potentiometer azimuth determination method of duplex ", because the potentiometer mechanical rotation; Its resistance is different, through measuring resistance just can measuring appliance the angle of rotation, in fact the mechanical rotation angle of multiturn potentiometer is 360 °; And the electrical equipment angle does not reach 360 °; Usually have only about 340 °, its senior especially price is also very expensive, can reach about 350 °; The measurement blind area is so just arranged; Propose thus " based on the coaxial complementary multiturn potentiometer azimuth determination method of duplex ", through resistance measurement, because duplex is the complementary azimuth determination that just can realize antiaircraft gun each potentiometer of duplex potentiometer; The measurement of resistance adds a suitable power supply normally for the potentiometer two ends; The centre tapped voltage of potentiometer changes with the potentiometer rotation; Voltage through the measuring center tap just can be measured potentiometer resistance; Thereby obtain the mechanical rotation angle, solved the blind area of potentiometer in rotary course.
The algorithm design principle: a potentiometer has a blind area in rotary course, is that in this blind area, measured value is 0 entirely, can't reach system's designing requirement such as 0 °～330 ° blind areas that just have 30 ° such as the electrical measurement scope.Therefore system adopts duplex potentiometer to accomplish measuring at any angle.
Potentiometer is to install with the form of coaxial complementation; After adding power supply to them; They simultaneously all can be to the voltage dividing potential drop; Two AD chips also all can be sampled to the voltage of being got, and when should be benchmark with first potentiometer? When should be benchmark with second potentiometer again? How to avoid the problem that blind area voltage can't be measured? These two potentiometers this how co-ordination come the common measurement of accomplishing angle? Here just involve the problem that a thresholding is set.The setting thresholding is U
L～U
H(if potentiometer voltage is 3.3 volts, is chosen as 0.9～2.7 volt).The voltage of getting in real time when potentiometer 1 is at U
LAnd U
HBetween the time, this moment just take measurement of an angle with potentiometer 1; The magnitude of voltage of getting in real time when potentiometer 1 is beyond threshold value, and just take measurement of an angle with potentiometer 2 this moment.
If total voltage is U
0, the voltage that potentiometer 1 is got in real time is U
1, the voltage that potentiometer 2 is got in real time is U
2When the potentiometer 1 real-time voltage of getting in thresholding, i.e. U
L≤U
1≤U
HThe time:
The voltage of getting in real time when potentiometer 1 beyond thresholding, i.e. U
1＜U
LPerhaps U
1＞U
HThe time:
Wherein, θ---azimuth, zero graduation can be revised according to the actual installation position;
U
2B---the voltage that records when potentiometer 1 is U
HThe time potentiometer 2 magnitude of voltage, and this value can accurately measure.
Calculate back θ, just obtain relative bearing, equipment is installed on the antiaircraft gun just can obtain antiaircraft gun true bearing angle through zero graduation correction back.
Use after apparatus of the present invention are installed:
Device and sensor are installed on the antiaircraft gun, turn on the power switch, and check each indicator lamp; After indicator lamp is normal; Device has just got into the azimuth and the angle of pitch of real time automatic detection antiaircraft gun, and can carry out the antiaircraft gun operation this moment, accomplishes the synchronization of first bombard operation when antiaircraft gun; Just write down the time started of operation and azimuth, the angle of pitch of this bullet of firing automatically; Start timer simultaneously, if there was not operation just the last activity duration to be noted in 20 seconds in (this time can be provided with as required), and the mode through note or TCT/IP is with the beginning and ending time of this subjob, whenever the fire azimuth pitch angle data of bullet is transmitted into administrative center.Whole process, except that handling Switching Power Supply, all the other processes are to accomplish automatically entirely.
Claims (5)
1. the numeralization collecting device based on shadow antiaircraft gun job parameter comprises central microprocessor (U1), orientation detection circuit (U6), pitching testing circuit, amount detection circuit (U7), gsm module circuit, clock circuit, power control circuit, ferroelectric memory circuit; It is characterized in that; Said orientation detection circuit (U6) is made up of a complementary multiturn potentiometer of coaxial duplex and corresponding signal modulate circuit; Coaxial duplex potentiometer is made up of two independent potentiometers; Each potentiometer is the signal of telecommunication through signal conditioning circuit separately with electric resistance changing, and the signal of telecommunication obtains corresponding digital signal after microprocessor carries the A/D conversion; Said amount detection circuit (U7) mainly is made up of near switch (J1) and 4N25 photo-coupler (U5), central microprocessor (U1) IDB40NA; Said central microprocessor (U1) is connected with above-mentioned each circuit through data/address bus/address bus/control bus.
2. a kind of numeralization collecting device according to claim 1 based on shadow antiaircraft gun job parameter; It is characterized in that; Said corresponding signal modulate circuit is meant that the first one-channel signal modulate circuit is identical with the second one-channel signal modulate circuit and circuit; Mainly comprise coaxial duplex potentiometer RPD1, central microprocessor (U1), TLC2652 high precision operating amplifier (U2), TL431 voltage-reference (U3), AD8221 instrumentation amplifier (U4), K switch 1, K2; Its K switch 1, K2 receive microprocessor (U1) control.
3. the detection method of a kind of numeralization collecting device based on shadow antiaircraft gun job parameter according to claim 1 and 2; It is characterized in that said coaxial duplex potentiometer RPD1 is rotation place (U8) that is installed in shadow antiaircraft gun azimuth controller with the form of coaxial complementary multiturn potentiometer.
4. the detection method of a kind of numeralization collecting device based on shadow antiaircraft gun job parameter according to claim 1; It is characterized in that; IDB40NA is installed in the ejector opening place (U9) of antiaircraft gun near switch (J1); When whenever withdrawing from a shell case process IDB40NA near switch (J1), IDB40NA just exports a high-low level near switch (J1) and changes, thereby detects number of rounds.
5. the detection method of a kind of numeralization collecting device based on shadow antiaircraft gun job parameter according to claim 1 is characterized in that, comprises the steps:
(1) adopts based on the coaxial complementary multiturn potentiometer azimuth determination method of duplex, each potentiometer of duplex potentiometer is carried out resistance measurement, measure because duplex is the complementary full azimuth that can realize antiaircraft gun;
(2) add a suitable power supply for the potentiometer two ends, the centre tapped voltage of potentiometer changes with the potentiometer rotation, has realized the conversion of voltage measurement to angular surveying;
(3) voltage of measuring center tap promptly can be measured potentiometer resistance, thereby obtains azimuth measurement data at any angle, i.e. the measurement data of shadow antiaircraft gun mechanical rotation angle;
(4) under the instruction of central microprocessor LPC2387, deposit the azimuth determination data in memory.
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| CN104932034A (en) * | 2015-06-16 | 2015-09-23 | 中国气象科学研究院 | Man-made influence weather operation data acquisition and recognition system and method thereof |
| CN104932034B (en) * | 2015-06-16 | 2017-04-05 | 中国气象科学研究院 | A kind of collection of Weather modification operation data and identifying system and its method |
| CN105532339A (en) * | 2015-12-30 | 2016-05-04 | 雷神科技（天津）有限公司 | Two-way firing type weather modification antiaircraft gun system |
| CN105532339B (en) * | 2015-12-30 | 2018-06-22 | 雷神科技（天津）有限公司 | Two-way trigger type figure antiaircraft gun system |
| CN106688743A (en) * | 2016-12-29 | 2017-05-24 | 雷神科技（天津）有限公司 | Antiaircraft gun launching data online monitoring device and analyzing system |
| CN106969667A (en) * | 2017-05-10 | 2017-07-21 | 成都信息工程大学 | A kind of shadow rocket meticulous process intelligent acquisition device and data processing method |
| CN106969667B (en) * | 2017-05-10 | 2018-06-05 | 成都信息工程大学 | A kind of bullet number detection data processing method of shadow rocket meticulous process intelligent acquisition device |
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