CN103852746A - Gunshot positioning and orienting device - Google Patents

Abstract

The invention relates to a sound source positioning device, in particular to a gunshot positioning and orienting device. The gunshot positioning and orienting device comprises a initializing module, a signal to noise ratio judging module, a fragment intercepting module, a fragment type judging module, a calculating module a, a shock wave signal detection module, a calculating b, a gunshot position calculating module, and an alarm message sending module. According to the gunshot positioning and orienting device, relevant parameters of a gunshot position and distance between the gunshot position and a collecting device are obtained through treatment of the collected gunshots, so that enemy sound source position is judged at any moment, accurate judgment and response options are made, and soldier safety factor is greatly improved.

Description

Shot positioning and orienting device

Technical field

The present invention relates to a kind of sound source locating device, especially a kind of shot positioning and orienting device.

Background technology

In modern war, sniper is threatening soldier's life with its surreptitious whereabouts and efficient killing-efficiency, the military or the police are only applicable to the systems approach of large-scale vehicle-mounted sound source sniffer at present, be not applicable to the systems approach of small-sized portable sound source sniffer, soldier, in the time of individual combat, cannot carry, and just can not judge accurately at any time enemy's sound position, cannot make counte-rplan accurately, greatly increase soldier's danger coefficient.

Summary of the invention

For the weak point existing in the problems referred to above, the invention provides a kind of correlation parameter that can obtain rifle source position and the rifle source position shot positioning and orienting device to distance between harvester.

For achieving the above object, the invention provides a kind of shot positioning and orienting device, comprising:

Initialization module, for carrying out initialization to equipment;

Signal to noise ratio (S/N ratio) judge module, for the signal to noise ratio (S/N ratio) of the voice signal collecting is judged, if the signal to noise ratio (S/N ratio) of this voice signal is greater than default shot signal to noise ratio (S/N ratio), result of determination is shot, fragment interception module is processed;

Fragment interception module, is greater than the shot signal segment of default shot signal to noise ratio (S/N ratio) for intercepted out signal to noise ratio (S/N ratio) by voice signal;

Clip types judge module, for shot signal segment is carried out after FFT conversion, low frequency average L and high frequency average H corresponding in result are compared, if low frequency average L is greater than high frequency average H, the type that shows shot signal segment is thorax mouth ripple signal, and computing module a processes, if low frequency average L is less than high frequency average H, the type that shows shot signal segment is shock-Wave Signal, shock-Wave Signal Detection module is processed;

Computing module a, after being thorax mouth ripple signal in the type of determining shot signal segment, shows that bullet aims at the flight of shot locating module reverse direction, calculates after rifle source side position and the angle of pitch, and redirect is processed warning message sending module;

Shock-Wave Signal Detection module, for shock-Wave Signal is detected, and judge whether shock-Wave Signal also includes thorax mouth ripple signal, if judged result is for being, shock-Wave Signal and accent ripple signal being carried out to computing module processes, if judged result is no, redirect is processed warning message sending module;

Computing module b, for respectively shock-Wave Signal and accent ripple signal being calculated, to draw the position angle of shock wave position angle and thorax mouth ripple;

Rifle source position computing module, for showing that according to the position angle of the position angle of shock-Wave Signal and thorax mouth ripple signal rifle source position is to the distance between voice collection device;

Warning message sending module, for the rifle source side position obtaining and the angle of pitch and rifle source position to the distance between voice collection device are generated to warning message, and sends by signal transmitting apparatus.

Above-mentioned shot positioning and orienting device, wherein, at computing module, b comprises:

Mistiming acquiring unit, for collecting shock-Wave Signal data by four microphones of sound source harvester and accent ripple signal data carries out cross correlation function computing, to obtain respectively the mistiming of the first microphone and other three microphones;

Calculating unit, position angle, for trying to achieve position angle and the angle of pitch according to quaternary time delay localization algorithm, draws respectively the position angle of shock-Wave Signal and the position angle of thorax mouth ripple signal.

Above-mentioned shot positioning and orienting device, wherein, in rifle source position, computing module comprises:

Angle acquiring unit, for according to the position angle of the position angle of shock-Wave Signal and thorax mouth ripple signal to obtain two angles that position angle was formed;

Rifle source position computing unit, for adopting triangle formula to calculate above-mentioned angle, to show that rifle source position is to the distance between voice collection device.

Compared with prior art, the present invention has the following advantages:

The present invention is by processing collected shot, to obtain the correlation parameter of rifle source position and rifle source position to the distance between harvester, judge at any time enemy's sound source position, and make accurate judgement and counte-rplan, thereby increase substantially soldier's safety coefficient, special adaptation for the military or police detection to enemy's shot firepower sound position.

Brief description of the drawings

Fig. 1 is the process flow diagram of method part in the present invention;

Fig. 2 is cruciform acoustic sensor array figure;

Fig. 3 is bullet shock-Wave Signal and thorax mouth ripple signal propagation model;

Fig. 4 is the structured flowchart of device part in the present invention.

Main element symbol description is as follows:

1-initialization module 2-signal to noise ratio (S/N ratio) judge module

3-fragment interception module 4-clip types judge module

5-computing module a 6-shock-Wave Signal Detection module

7-computing module b 8-rifle source position computing module

9-warning message sending module

Embodiment

As shown in Figures 1 to 4, the invention provides a kind of shot positioning and orienting method, specifically comprise the following steps:

S10, device initialize.

S20, the signal to noise ratio (S/N ratio) of the voice signal collecting is judged, if the signal to noise ratio (S/N ratio) of this voice signal is greater than default shot signal to noise ratio (S/N ratio), result of determination is shot, execution step S30, if the signal to noise ratio (S/N ratio) of this voice signal is less than default shot signal to noise ratio (S/N ratio), result of determination, for not being shot, is returned to execution step S10.

Concrete, by detecting the signal to noise ratio (S/N ratio) of voice signal, set a shot signal-noise ratio threshold value, in the time that Signal-to-Noise is greater than the default signal to noise ratio (S/N ratio) of shot, result of determination is shot.

S30, by the shot signal segment that intercepts out signal to noise ratio (S/N ratio) in voice signal and be greater than default shot signal to noise ratio (S/N ratio).Wherein, shot signal segment, by intercepting out in voice signal, can be convenient to it is carried out to follow-up calculating.

S40, shot signal segment is carried out after FFT conversion, low frequency average L and high frequency average H corresponding in result are compared, if low frequency average L is greater than high frequency average H, the type that shows shot signal segment is thorax mouth ripple signal, perform step S50, if low frequency average L is less than high frequency average H, the type that shows shot signal segment is shock-Wave Signal, performs step S60.

Wherein, the energy of thorax mouth ripple signal mainly concentrates on the low frequency part of 300Hz-1000Hz, and the energy of shock-Wave Signal mainly concentrates in 2kHz-7kHz frequency range.

After S50, the type of determining shot signal segment are thorax mouth ripple signal, show that bullet aims at the flight of shot locating module reverse direction, calculate after rifle source side position and the angle of pitch redirect execution step S90.

S60, shock-Wave Signal is detected, judge whether shock-Wave Signal also includes thorax mouth ripple signal, if judged result is for, performs step S70, if judged result is no, redirect execution step S90.

Concrete, after step S40 detects, determine that the type of shot signal segment is shock-Wave Signal, illustrate that bullet aims at shot detection module direction and flies, because bullet velocity is greater than the velocity of sound, so shock wave first arrives shot detection module than thorax mouth ripple, need to continue to detect thorax mouth ripple signal.

S70, respectively shock-Wave Signal and accent ripple signal are calculated, to draw the position angle of shock wave position angle and thorax mouth ripple.

Concrete, in step S70, comprise the following steps:

S701, four microphones in sound source harvester are collected to shock-Wave Signal data and accent ripple signal data carries out cross correlation function computing, to obtain respectively the mistiming of the first microphone and other three microphones;

S702, try to achieve position angle and the angle of pitch according to quaternary time delay localization algorithm, draw respectively the position angle of shock-Wave Signal and the position angle of thorax mouth ripple signal, its concrete steps are as follows:

S7021, set up cruciform acoustic sensor array, as shown in Figure 2, be respectively by the rectangular coordinate that draws four array elements in rectangular coordinate system and spherical coordinate system: S1 (D/2,0,0), S3 (D/2,0,0), S2 (0, D/2,0), S4 (0,-D/2,0) be, (x with the rectangular coordinate of target sound source T, y, z), and spherical coordinates is

that is, target sound source T is r to the distance of true origin, and position angle is the angle of pitch is θ, and wherein, cruciform acoustic sensor array is made up of two mutually orthogonal linear array S1, S3 and S2, S4, and the array element distance of linear array is D, taking the intersection point of two linear arrays as true origin;

S7022, in the time that the distance at target sound source T Li Zhen center is larger than array element distance, hypothetical target T is point sound source, and propagates with spherical wave form, wherein, the travel-time of establishing sound source arrival array element S1 is t1, arrives array element S2, S3, S4 and the time delay with respect to arrival array element S1 are respectively τ ₁₂, τ ₁₃, τ ₁₄, utilize following formula to calculate the path difference d that sound source propagates into S2, S3, S4 and propagates into S1 ₁₂, d ₁₃, d ₁₄:

$\left\{\begin{array}{c}{d}_{12}={\mathrm{\τ}}_{12}\·c\\ d_{13}={\mathrm{\τ}}_{13}\·c\\ d_{14}={\mathrm{\τ}}_{14}\·c\end{array}\right.---\left(1\right)$

Wherein, C is air velocity, C=340m/s;

S7023, the distance of establishing target sound source T and array element S1 are r1, obtain following formula:

r ₁=ct ₁ （2）

S7024, target sound source T propagate with spherical wave, thus array element S1, S2, S3, S4 lay respectively at taking T as the centre of sphere with r1,

on four spheres for radius, thus can simultaneous to list system of equations as follows:

$\left\{\begin{array}{c}{x}^2+y^2+z^2=r^2<1>\\ {(x-D/2)}^2+y^2+z^2={r_1}^2<2>\\ x^2+{(y-D/2)}^2+z^2={(r_1+d_{12})}^2<3>\\ {(x+D/2)}^2+y^2+z^2={(r_1+d_{13})}^2<4>\\ x^2+{(y+D/2)}^2+z^2={(r_1+d_{14})}^2<5>\end{array}\right.---\left(3\right)$

Measure time delay τ ₁₂, τ ₁₃, τ ₁₄, i.e. known path difference d ₁₂, d ₁₃, d ₁₄, then by separating above-mentioned system of equations, to draw the position coordinates (x, y, z) of target.

S7025, the spherical coordinates of derived object below

with time delay τ ₁₂, τ ₁₃and τ ₁₄relation, < 3 >, < 4 >, < 5 > formulas are subtracted each other with < 2 > formulas respectively:

$\left\{\begin{array}{c}{r}_1=\frac{{d_{12}}^2+{d_{14}}^2-{d_{13}}^2}{2(d_{13}-d_{12}-d_{14})}\\ x=\frac{2d_{13}{r}_1+{d_{13}}^2}{2D}\\ y=\frac{2(d_{14}-d_{12})r_1+({d_{14}}^2-{d_{12}}^2)}{2D}\end{array}\right.---\left(4\right)$

Position coordinates under S7026, rectangular coordinate system under the position coordinates of target sound source T (x, y, z) and spherical coordinate system

relational expression be:

In formula, 0 °≤θ≤90 °,

S7027, the formula in step S7026 is solved, draw the position angle being represented by rectangular coordinate (x, y, z) pitching angle theta,

Due to r ₁>>d _1i, i=2,3,4, so above formula can be reduced to:

S7028, deduct < 1 > formula by < 2 > formulas:

$r^2={r_1}^2+\mathrm{Dx}-\frac{D^2}{4}={r_1}^2+d_{13}{r}_1+\frac{{d_{13}}^2}{2}-\frac{D^2}{4}---\left(9\right)$

$\sin \mathrm{\&theta;}=\sqrt{\frac{x^2+y^2}{r^2}}=\frac{1}{2D}\sqrt{\frac{{(2d_{13}{r}_1+{d_{13}}^2)}^2+{(2(d_{14}-d_{12})r_1+{d_{14}}^2-{d_{12}}^2)}^2}{{r_1}^2+d_{13}{r}_1+\frac{{d_{13}}^2}{2}-\frac{D^2}{4}}}---\left(10\right)$

$=\frac{1}{D}\sqrt{{(d_{12}-d_{14})}^2+{d_{13}}^2}*\sqrt{1+\frac{4{(d_{12}-d_{14})}^2(d_{12}+d_{14}-d_{13})r_1+O(d_{1i},D)}{{r_1}^2+d_{13}{r}_1+\frac{{d_{13}}^2}{2}-\frac{D^2}{4}}}---\left(11\right)$

In formula, O (d _1i, D) and=d ₁₃ ²+ (d ₁₂ ²-d ₁₄ ²) ²+ (D ²-2d ₁₃ ²) (d ₁₃ ²+ (d ₁₂-d ₁₄) ²), (12)

Due to r _i> > a _li, what Bian used is undersized acoustic array, therefore, above formula can be reduced to:

$\sin \mathrm{\&theta;}\&ap;\frac{1}{D}\sqrt{{(d_{12}-d_{14})}^2+{d_{13}}^2}=\frac{C}{D}\sqrt{{({\mathrm{\&tau;}}_{12}-{\mathrm{\&tau;}}_{14})}^2+{{\mathrm{\&tau;}}_{13}}^2}$

By estimation time delay τ ₁₂, τ ₁₃and τ ₁₄, can determine the position angle of target sound source

and pitching angle theta.

S80, show that according to the position angle of the position angle of shock-Wave Signal and thorax mouth ripple signal rifle source position is to the distance between voice collection device.

Concrete, in step S80, comprise the following steps:

S801, according to the position angle of the position angle of shock-Wave Signal and thorax mouth ripple signal to obtain two angles that position angle was formed;

S802, employing triangle formula calculate above-mentioned angle, and to show that rifle source position is to the distance between voice collection device, its concrete steps are as follows:

S8021, based on shock-Wave Signal and thorax mouth ripple signal direction of arrival and mistiming between the two, set up bullet shock-Wave Signal and thorax mouth ripple signal propagation model, as shown in Figure 3, and the thorax mouth ripple receiving according to microphone array is directly from ejaculator position, the thorax mouth ripple arrival time:

${\mathrm{TOA}}_{\mathrm{muzzle}}=\frac{r}{c};---\left(15\right)$

S8022, the shock wave receiving be after bullet flight x distance, propagates, and arrive at prior to thorax mouth ripple from P point with the velocity of sound, and it is the bullet x rice that flies that shock wave arrives at required time, then with the velocity of sound time sum from P to S:

${\mathrm{TOA}}_{\mathrm{shock}}=\frac{x}{v}+\frac{b}{c\cos \left(\mathrm{\&theta;}\right)};---\left(16\right)$

S8023, b are that observation point arrives the vertical range that plays rail, i.e. miss distance, and θ is conical surface angle of release, i.e. Mach angle, v is bullet velocity, and x is the distance that shooting point is ordered to P, and the mistiming Δ TOA that shock wave and thorax mouth ripple arrive at observation station is:

$\mathrm{\&Delta;TOA}={\mathrm{TOA}}_{\mathrm{muzzle}}-{\mathrm{TOA}}_{\mathrm{shock}}=\frac{r}{c}-\frac{x}{v}-\frac{b}{c\cos \left(\mathrm{\&theta;}\right)};---\left(17\right)$

S8024, extend SP and done the vertical line of SP by muzzle W, giving E point, Δ AOA is the angle of shock wave and thorax mouth ripple direction of arrival, can be obtained by geometric knowledge:

$x=\frac{r\&CenterDot;\sin \left(\mathrm{\&Delta;AOA}\right)}{\cos \left(\mathrm{\&theta;}\right)}---\left(18\right)$

b＝r·sin(90°-θ-ΔAOA)=r·(cos(θ)·cos(ΔAOA)-sin(θ)·sin(ΔAOA))； (19)

S8025, Mach number M, Mach angle θ, formula (18), formula (19) are brought into and in formula (17), finally can be obtained observation station and to the distance of muzzle be:

$r=\frac{c\&CenterDot;\mathrm{\&Delta;TOA}}{1-\cos \left(\mathrm{\&Delta;AOA}\right)},---\left(20\right)$

Wherein, Δ AOA is the angle of shock-Wave Signal and thorax mouth ripple sense vector, can be measured after shock-Wave Signal and thorax mouth ripple signal direction of arrival by microphone array, calculate, Δ TOA is the mistiming that two kinds of ripples arrive at the moment, the data estimation that also can be received by microphone draws, so as long as know thorax mouth ripple signal and shock-Wave Signal direction of arrival and the mistiming that both arrive at, just can obtain the distance of ejaculator to observation station.

In the time that α increases to a certain degree, thorax mouth ripple and shock wave can arrive at microphone array simultaneously, and at this moment two kinds of pulsed sounds are aliasing in together, are unable to estimate out time difference.In the time that α is greater than this critical value, microphone array just can only receive thorax mouth ripple.Thus, the information of acoustic wave receiving with the corresponding relation that can calculate sound source information in table 1.1.

Table 1.1 is surveyed waveform and is resolved the information table of comparisons

S90, the rifle source side position obtaining and the angle of pitch and rifle source position to the distance between voice collection device are generated to warning message, and send by signal transmitting apparatus.Wherein, signal transmitting apparatus is earphone and bluetooth.

The present invention also provides the device of a kind of shot location, comprising:

Initialization module 1, for carrying out initialization to equipment.

Mainly that fpga computing module and related data are carried out to initialization setting.

Signal to noise ratio (S/N ratio) judge module 2, for the signal to noise ratio (S/N ratio) of the voice signal collecting is judged, if the signal to noise ratio (S/N ratio) of this voice signal is greater than default shot signal to noise ratio (S/N ratio), result of determination is shot, fragment interception module is processed.

By detecting the signal to noise ratio (S/N ratio) of voice signal, set a shot signal-noise ratio threshold value, in the time that Signal-to-Noise is greater than the default signal to noise ratio (S/N ratio) of shot, result of determination is shot.

Fragment interception module 3, is greater than the shot signal segment of default shot signal to noise ratio (S/N ratio) for intercepted out signal to noise ratio (S/N ratio) by voice signal.

Wherein, shot signal segment, by intercepting out in voice signal, can be convenient to it is carried out to follow-up calculating.

Clip types judge module 4, for shot signal segment is carried out after FFT conversion, low frequency average L and high frequency average H corresponding in result are compared, if low frequency average L is greater than high frequency average H, the type that shows shot signal segment is thorax mouth ripple signal, and computing module a processes, if low frequency average L is less than high frequency average H, the type that shows shot signal segment is shock-Wave Signal, shock-Wave Signal Detection module is processed.

Wherein, the energy of thorax mouth ripple signal mainly concentrates on the low frequency part of 300Hz-1000Hz, and the energy of shock-Wave Signal mainly concentrates in 2kHz-7kHz frequency range.

Computing module a5, after being thorax mouth ripple signal in the type of determining shot signal segment, shows that bullet aims at the flight of shot locating module reverse direction, calculates after rifle source side position and the angle of pitch, and redirect is processed warning message sending module 9.

Shock-Wave Signal Detection module 6, for shock-Wave Signal is detected, and judge whether shock-Wave Signal also includes thorax mouth ripple signal, if judged result is for being, shock-Wave Signal and accent ripple signal being carried out to computing module processes, if judged result is no, redirect is processed warning message sending module 9.

Concrete, after clip types judge module 4 detects, the type of having determined shot signal segment is shock-Wave Signal, illustrate that bullet aims at shot detection module direction and flies, because bullet velocity is greater than the velocity of sound, so shock wave first arrives shot detection module than thorax mouth ripple, need to continue to detect thorax mouth ripple signal.

Computing module b7, for respectively shock-Wave Signal and accent ripple signal being calculated, to draw the position angle of shock wave position angle and thorax mouth ripple.Wherein, computing module b7 also comprises:

Mistiming acquiring unit, for collecting shock-Wave Signal data by four microphones of sound source harvester and accent ripple signal data carries out cross correlation function computing, to obtain respectively the mistiming of the first microphone and other three microphones;

Calculating unit, position angle, for trying to achieve position angle and the angle of pitch according to quaternary time delay localization algorithm, draws respectively the position angle of shock-Wave Signal and the position angle of thorax mouth ripple signal.

Rifle source position computing module 8, for showing that according to the position angle of the position angle of shock-Wave Signal and thorax mouth ripple signal rifle source position is to the distance between voice collection device.Wherein, rifle source position computing module 8 also comprises:

Angle acquiring unit, for according to the position angle of the position angle of shock-Wave Signal and thorax mouth ripple signal to obtain two angles that position angle was formed;

Rifle source position computing unit, for adopting triangle formula to calculate above-mentioned angle, to show that rifle source position is to the distance between voice collection device.

Warning message sending module 9, for the rifle source side position obtaining and the angle of pitch and rifle source position to the distance between voice collection device are generated to warning message, and sends by signal transmitting apparatus.

Wherein, signal transmitting apparatus is earphone and bluetooth.

Only above person is only preferred embodiment of the present invention, such as professional who are familiar with this art.After understanding technological means of the present invention, natural energy, according to actual needs, is changed under instruction of the present invention.Therefore all equal variation and modifications of doing according to the present patent application the scope of the claims, once should still remain within the scope of the patent.

Claims (3)

1. a shot positioning and orienting device, is characterized in that, comprising:

Initialization module, for carrying out initialization to equipment;

Signal to noise ratio (S/N ratio) judge module, for the signal to noise ratio (S/N ratio) of the voice signal collecting is judged, if the signal to noise ratio (S/N ratio) of this voice signal is greater than default shot signal to noise ratio (S/N ratio), result of determination is shot, fragment interception module is processed;

Fragment interception module, is greater than the shot signal segment of default shot signal to noise ratio (S/N ratio) for intercepted out signal to noise ratio (S/N ratio) by voice signal;

Clip types judge module, for shot signal segment is carried out after FFT conversion, low frequency average (L) corresponding in result and high frequency average (H) are compared, if low frequency average (L) is greater than high frequency average (H), the type that shows shot signal segment is thorax mouth ripple signal, and computing module a processes, if low frequency average (L) is less than high frequency average (H), the type that shows shot signal segment is shock-Wave Signal, shock-Wave Signal Detection module is processed;

Computing module a, after being thorax mouth ripple signal in the type of determining shot signal segment, shows that bullet aims at the flight of shot locating module reverse direction, calculates after rifle source side position and the angle of pitch, and redirect is processed warning message sending module;

Shock-Wave Signal Detection module, for shock-Wave Signal is detected, and judge whether shock-Wave Signal also includes thorax mouth ripple signal, if judged result is for being, shock-Wave Signal and accent ripple signal being carried out to computing module processes, if judged result is no, redirect is processed warning message sending module;

Computing module b, for respectively shock-Wave Signal and accent ripple signal being calculated, to draw the position angle of shock wave position angle and thorax mouth ripple;

Rifle source position computing module, for showing that according to the position angle of the position angle of shock-Wave Signal and thorax mouth ripple signal rifle source position is to the distance between voice collection device;

Warning message sending module, for the rifle source side position obtaining and the angle of pitch and rifle source position to the distance between voice collection device are generated to warning message, and sends by signal transmitting apparatus.

2. according to the shot positioning and orienting device described in claim 1, it is characterized in that, at computing module, b comprises:

Mistiming acquiring unit, for collecting shock-Wave Signal data by four microphones of sound source harvester and accent ripple signal data carries out cross correlation function computing, to obtain respectively the mistiming of the first microphone and other three microphones;

Calculating unit, position angle, for trying to achieve position angle and the angle of pitch according to quaternary time delay localization algorithm, draws respectively the position angle of shock-Wave Signal and the position angle of thorax mouth ripple signal.

3. according to the shot positioning and orienting device described in claim 2, it is characterized in that, in rifle source position, computing module comprises:

Angle acquiring unit, for according to the position angle of the position angle of shock-Wave Signal and thorax mouth ripple signal to obtain two angles that position angle was formed;

Rifle source position computing unit, for adopting triangle formula to calculate above-mentioned angle, to show that rifle source position is to the distance between voice collection device.

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