CN103808203A - Shooting aiming track detection method based on aiming cursor on target and gun gesture detection - Google Patents
Shooting aiming track detection method based on aiming cursor on target and gun gesture detection Download PDFInfo
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- CN103808203A CN103808203A CN201410061722.8A CN201410061722A CN103808203A CN 103808203 A CN103808203 A CN 103808203A CN 201410061722 A CN201410061722 A CN 201410061722A CN 103808203 A CN103808203 A CN 103808203A
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Abstract
Provided is a shooting aiming track detection method based on an aiming cursor on a target and gun gesture detection. The shooting aiming track detection method based on the aiming cursor on the target and gun gesture detection comprises the following steps that (1) a gesture track on the target is obtained in a calculation mode through a six-dimensional gesture sensor additionally installed on a gun, a cursor point is formed on the target surface through a laser beam transmitter additionally installed on the gun, and a cursor track on the target is formed; (2) a data sequence of the cursor track on the target and a data sequence of the gesture track on the target are kept to be synchronous, each point on a data track of the cursor track on the target serves as a synchronous point, data points which correspond to the synchronous points are picked out from the data sequence of the gesture data track on the target, every two continuous synchronous points serve as a synchronizing cycle, and the drift distance of the gesture track in each synchronizing cycle is calculated; (3) subtraction between discrete values of points on the gesture track on the target in each synchronizing cycle and the drift distance of the synchronizing cycle is carried out to obtain gesture track discrete points which are denser than discrete points of the cursor track on the target, and a shooting aiming track is obtained. According to the shooting aiming track detection method based on the aiming cursor on the target and gun gesture detection, detection accuracy is effectively improved.
Description
Technical field
The present invention relates to shooting and take aim at target training technique, especially a kind of shooting target trajectory detection method.
Background technology
What aiming drill middle employing in shooting at present is the method that cursor tracking is described, utilize the laser beam emitter on gun, produce a laser alignment mark, the luminous point mark that utilizes this cursor to form on target surface, track by this cursor of camera record on target surface, and this realizes the record that aims at sensing track.The mode of this detection record, be subject to the restriction of camera frame speed, i.e. 25～30 frame/seconds, the description precision being equivalent to aiming at sensing track was 25～30 point/seconds, and the description of requirement to track during gun percussion, reach points up to a hundred/more than second, to describe out more subtly before and after the percussion of gun trigger in 1～2 second time, force to aim at the meticulous trail change pointing to.And this kind of recording mode is only a kind ofly to simulate with photoelectronic trace the shooting of carrying out and aim at, the not record to muzzle target trajectory before and after live shell percussion in ball firing.
In addition, also utilize at present the gestures of object detecting sensors such as digital gyro (being three-dimensional rotation angular-rate sensor), three dimension acceleration sensor, detecting the attitude of gun before and after trigger percussion changes, thereby describe out gun and aim at the variation of pointing to track, record the situation of change of gun target trajectory.This detection method can be subject to the impact of the detection data drift of digital gyro, acceleration transducer significantly, and along with the increasing of shooting sighting range is far away, this data drift will play significant impact to the accuracy of detection of gun target trajectory.
Summary of the invention
In order to overcome the lower deficiency of accuracy of detection of existing gun target trajectory, the invention provides a kind of shooting target trajectory detection method based on aiming at cursor and gun attitude detection on target of effective lifting accuracy of detection.
The technical solution adopted for the present invention to solve the technical problems is:
Based on a shooting target trajectory detection method that aims at cursor and gun attitude detection on target, described detection method comprises the steps:
(1) utilize the sextuple attitude transducer being installed on gun, form the aiming attitude of gun is detected in real time;
Describe out the instantaneous sensing of muzzle by this gun attitude data, by the data sequence of these instantaneous sensing positions, calculate the target trajectory of this sequence on target surface, obtain attitude track on target;
Simultaneously, by being installed at the laser beam transmitter on gun, on target surface, form a cursor point, and target surface is carried out to IMAQ with the video acquisition frame speed of camera setting, gather the cursor discrete loci point of cursor on target surface, by computer, collected each picture frame is carried out to visual pattern processing, obtain the relative position of each cursor point on target surface, the sequence that the relative position on described target surface forms is cursor track on target;
(2) by keeping synchronizeing of cursor track data sequence and attitude track data sequence on target on target, every bit data on target in cursor track data track are synchronous point, on the higher target of packing density, in attitude data track data sequence, pick out the data point corresponding with synchronous point; Take the coordinate of synchronous point as benchmark, two continuous synchronous points are synchronizing cycle, calculate the data deviation of the synchronous point that on selected corresponding target, in attitude track, in the synchronizing cycle, a rear discrete point is corresponding with it, be the drift value of attitude track in this synchronizing cycle;
(3) centrifugal pump of each point in this synchronizing cycle on attitude track on target and this drift value are subtracted each other, obtain the attitude track discrete point than cursor track discrete point is more intensive on target, obtain the target trajectory of this synchronizing cycle, the like, obtain the target trajectory of each synchronizing cycle, target trajectory is successively in turn connected to form to shooting target trajectory.
Further, in described step (2), inter-sync synchronizing cycle has u discrete point to attitude track data sequence on target, the sample rate of image sampling frame is S1 frame/second, the sample rate of sextuple attitude transducer is S2 frame/second, S2>S1, u=S2/S1, wherein, S2, S1, u are integer;
In described step (3), u discrete point centrifugal pump and the described drift value of attitude track on the target of this synchronizing cycle are subtracted each other.
Further again, in described step (1), described sextuple attitude transducer is three dimension acceleration sensor and digital gyro.
Technical conceive of the present invention is: the light spot position that utilizes laser beam to form on target surface, points to the target trajectory of the formation of attitude on target surface and proofreaies and correct, to obtain the higher shooting target trajectory record of precision to gun.
Beneficial effect of the present invention is mainly manifested in: accuracy of detection is higher.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of shooting target trajectory detection system.
Fig. 2 is the schematic diagram that on target surface, muzzle aims at cursor track AB2 on attitude track AB1 and target.
The specific embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
See figures.1.and.2, a kind of shooting target trajectory detection method based on aiming at cursor and gun attitude detection on target, comprises the steps:
(1) utilize the sextuple attitude transducer 1 that is installed at three dimension acceleration sensor on gun and digital gyro composition, form the aiming attitude of gun is detected in real time.By this gun attitude data, describe out the instantaneous sensing of muzzle, and then by the data sequence of these instantaneous sensing positions, calculate the target trajectory of this sequence on target surface.We are called attitude track on target.The discrete description precision of this track, is subject to the restriction of the data sampling rate of above-mentioned sextuple attitude transducer, reaches as high as for 800 point/seconds.
Meanwhile, by being installed at the laser beam transmitter 3 on gun, on target surface, form a cursor point, and with video camera 2 the video acquisition frame speed with 25～30 frame/seconds, target surface is carried out to IMAQ, with the sample rate of 25～30 point/seconds, gather the cursor discrete loci point of cursor on target surface.By computer, collected each picture frame is carried out to visual pattern processing, to obtain the relative position of each cursor point on target surface, the sequence that we claim the relative position on these target surfaces to form is cursor track on target.
(2) by keeping synchronizeing of cursor track data sequence and attitude track data sequence on target on target, every bit data on target in cursor track data track are synchronous point, on the higher target of packing density, in attitude data track data sequence, pick out the data point corresponding with synchronous point; Take the coordinate of synchronous point as benchmark, two continuous synchronous points are synchronizing cycle, calculate the data deviation of the synchronous point that on selected corresponding target, in attitude track, in the synchronizing cycle, a rear discrete point is corresponding with it, be the drift value of attitude track in this synchronizing cycle;
(3) centrifugal pump of each point in this synchronizing cycle on attitude track on target and this drift value are subtracted each other, obtain the attitude track discrete point than cursor track discrete point is more intensive on target, obtain the target trajectory of this synchronizing cycle, the like, obtain the target trajectory of each synchronizing cycle, target trajectory is successively in turn connected to form to shooting target trajectory.
Thereby both guaranteed to aim at the discrete data closeness (being the precision of track) of pointing to track, by the correction calculation with respect to cursor track on target, avoided the drift of attitude track on target again.
Preferred: in described step (2), inter-sync synchronizing cycle has u discrete point to attitude track data sequence on target, the sample rate of image sampling frame is S1 frame/second, the sample rate of sextuple attitude transducer is S2 frame/second, S2>S1, u=S2/S1, wherein, S2, S1, u are integer;
In described step (3), u discrete point centrifugal pump and the described drift value of attitude track on the target of this synchronizing cycle are subtracted each other.
In the present embodiment, laser beam transmitter irradiates a luminous point on target surface, i.e. target surface cursor, and muzzle moves, and cursor also moves thereupon, thereby forms target surface cursor track.
Video camera can carry out IMAQ to view picture target surface image, thereby obtains the picture frame that comprises cursor point, and each picture frame is real-time transmitted to personal computer PC.
Sextuple attitude transducer is by three dimension acceleration sensor (can detect the acceleration in its X, Y, Z direction) and three dimensional angular velocity sensor (can detect its angular speed around X, Y, the rotation of Z three axes).These attitude datas send PC to by data line.
Because the sample rate of above-mentioned picture frame sample rate and sextuple attitude data is all fixing changes, be respectively S1 and S2, S1=25 frame/second, S2=800 point/second (can be also other numerical value, S2≤800 point/second), S2>S1, S2, S1 are integer, and S2 can be divided exactly by S1.
Detect while beginning, first, by the cursor position on target surface image, calculate the relative coordinate of cursor on target surface, i.e. (X01, Y01); And sextuple attitude parameter (being three-dimensional acceleration and three dimensional angular velocity amplitude), calculate and under this gun attitude, go out the straight line point of impact of chamber bullet at target surface, i.e. target surface attitude track point (X02, Y02) by the distance of integration and muzzle and target surface.
Δx0=X02-X01
Δy0=Y02-Y01
This is two kinds of inherent variabilities between measuring method, if ignore this deviation, naming a person for a particular job that two kinds of measuring methods obtain is all on A point.
Subsequently, the cursor in aiming process on target surface and attitude tracing point are all by movement, referring to accompanying drawing 2.Suppose that cursor movement has arrived B2 in the time of the second two field picture sampling, its coordinate is (X11, Y11), and attitude tracing point has moved to B1, and its coordinate is (X12, Y12), and between A and B1, has collected attitude tracing point sequence F:
（Xm1，Ym1）、（Xm2，Ym2）、（Xm3，Ym3）、…（Xmu，Ymu）
Wherein, u=S2/S1=32;
Calculate the deviation of X, Y between B1 and B2:
Δx1=X12-X11
Δy1=Y12-Y11
Each coordinate points in sequence F is subtracted to Δ x1, Δ y1, thereby eliminate the drift bias of each point on attitude track, as shown in the formula:
Xt1=Xm1-Δx1,Yt1=Ym1-Δy1；
Xt2=Xm2-Δx1,Yt2=Ym2-Δy1；
Xt3=Xm3-Δx1,Yt3=Ym3-Δy1；
……
Xtu=Xmu-Δx1,Ytu=Ymu-Δy1；
Like this sequence (Xt1, Yt1), (Xt2, Yt2), (Xt3, Yt3) ... (Xtu, Ytu) just formed A point to more high-precision shooting target trajectory between B2 point.
By that analogy, space-number strong point in attitude track data sequence that as long as we keep, with synchronizeing of each data in cursor track, we just can revise the drift coordinate points between the data point of interval in attitude track sequence in real time, thereby obtain than based on the more high-precision muzzle target trajectory of video image frame sequence, can reduce most possibly again the data drift of the muzzle target trajectory of three-dimensional attitude sensor measurement simultaneously.
Claims (3)
1. the shooting target trajectory detection method based on aiming at cursor and gun attitude detection on target, is characterized in that: described detection method comprises the steps:
(1) utilize the sextuple attitude transducer being installed on gun, form the aiming attitude of gun is detected in real time;
Describe out the instantaneous sensing of muzzle by this gun attitude data, by the data sequence of these instantaneous sensing positions, calculate the target trajectory of this sequence on target surface, obtain attitude track on target;
Simultaneously, by being installed at the laser beam transmitter on gun, on target surface, form a cursor point, and target surface is carried out to IMAQ with the video acquisition frame speed of camera setting, gather the cursor discrete loci point of cursor on target surface, by computer, collected each picture frame is carried out to visual pattern processing, obtain the relative position of each cursor point on target surface, the sequence that the relative position on described target surface forms is cursor track on target;
(2) by keeping synchronizeing of cursor track data sequence and attitude track data sequence on target on target, every bit data on target in cursor track data track are synchronous point, on the higher target of packing density, in attitude data track data sequence, pick out the data point corresponding with synchronous point; Take the coordinate of synchronous point as benchmark, two continuous synchronous points are synchronizing cycle, calculate the data deviation of the synchronous point that on selected corresponding target, in attitude track, in the synchronizing cycle, a rear discrete point is corresponding with it, be the drift value of attitude track in this synchronizing cycle;
(3) centrifugal pump of each point in this synchronizing cycle on attitude track on target and this drift value are subtracted each other, obtain the attitude track discrete point than cursor track discrete point is more intensive on target, obtain the target trajectory of this synchronizing cycle, the like, obtain the target trajectory of each synchronizing cycle, target trajectory is successively in turn connected to form to shooting target trajectory.
2. the shooting target trajectory detection method based on aiming at cursor and gun attitude detection on target as claimed in claim 1, it is characterized in that: in described step (2), inter-sync synchronizing cycle has u discrete point to attitude track data sequence on target, the sample rate of image sampling frame is S1 frame/second, the sample rate of sextuple attitude transducer is S2 frame/second, S2>S1, u=S2/S1, wherein, S2, S1, u are integer;
In described step (3), u discrete point centrifugal pump and the described drift value of attitude track on the target of this synchronizing cycle are subtracted each other.
3. the shooting target trajectory detection method based on aiming at cursor and gun attitude detection on target as claimed in claim 1 or 2, is characterized in that: in described step (1), described sextuple attitude transducer is three dimension acceleration sensor and digital gyro.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105606121A (en) * | 2016-01-21 | 2016-05-25 | 河南科技大学 | Separation parameter detection system and separation parameter detection method for catapult device |
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| CN1344906A (en) * | 2000-09-18 | 2002-04-17 | 美国导航控制公司 | Miniature fire control method and system for rifle |
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