CN104990460B - Curve distribution formula shock wave bullet positioner and point of impact localization method thereof - Google Patents
Curve distribution formula shock wave bullet positioner and point of impact localization method thereof Download PDFInfo
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Abstract
The present invention relates to precision shooting automatic target-reporting equipment field, be specifically related to a kind of curve distribution formula shock wave bullet positioner and point of impact localization method thereof.This device includes sensor and support, sensor includes centrally located intermediate sensor and is symmetrically arranged in each side edge sensor at intermediate sensor two ends, each sensor is and is sequentially arranged along same circumference, the center of circle of this circumference is positioned at sensor sensing end institute towards direction place, and on the line of the centrally located sensor of its home position and target sheet central point；When the circumference that sensor is constituted is in least radius, its center of circle is positioned at target sheet central spot.The present invention also provides for a kind of point of impact localization method based on said apparatus, it is by with intermediate sensor for zero, horizontal direction is X-axis, vertical direction is Y-axis, set up rectangular coordinate system, and rely on three limit theorems to solve, thus simplifying location Calculation step, promote real reaction and the indication of shots efficiency of indication of shots equipment further.
Description
Technical field
The present invention relates to precision shooting automatic target-reporting equipment field, be specifically related to a kind of curve distribution formula shock wave bullet positioner and point of impact localization method thereof.
Background technology
Today at electronic technology high speed development, for realizing quickly and accurately indication of shots function during small arms ball firing training, the automatic target-reporting equipment based on the new and high technologies such as metallic object pair/multilamellar break-make technology, laser interrupter-type technology, image recognition technology or even box-type shock wave acoustic target technology is widely applied.Wherein, to adopt sound wave to realize noncontact, long service life and cost performance higher and be used widely because of it for shock wave acoustic target equipment.Domestic current existing shock wave acoustic target equipment many employings L-type or yi word pattern sensor array column distribution, wherein L-type structure is complicated and transducer arrangements height is higher, and to be not easy to equipment shellproof simultaneously, and therefore utilization rate is relatively low.In yi word pattern sensor array distribution mode, sensor is uniform along target surface central lower level, therefore uses wider.But, can there is waveform attenuating owing to bullet point of impact produces shock wave propagation in atmosphere, when shock wave arrives the distance difference of each sensor, its propagation time is also different, and the impact brought is that the signal waveform that each sensor receives is different.The more big different wave shape of range difference is more big, and the timer operation time simultaneously calculating time difference is more long.Owing to waveform is different, will there is error in judgement the time of advent when signal processing for waveform.It addition, timer itself has error, making its working time more long, the time error of accumulation is also more long.So when sensor adopts horizontal distribution, the any point in target position district all can exist shock propagation range difference, range difference is there is maximum particularly in 8-10 ring, so taking horizontal distribution its trueness error of formula array bigger at 8-10 ring, the shooter often the trained requirement to shooting indication of shots precision can not be met, because the point of impact that precision shooter beats at 8-10 ring is more.And the point of impact location mode of current horizontal yi word pattern sensor array, many employing Hyperbolic Equations solve, and its solution procedure is comparatively complicated, also further improves the complexity that equipment calculates.How to seek the shock wave location mode that a kind of calculating is more convenient and positioning precision is higher, to stop above-mentioned deficiency, under the premise ensureing precision shooting training effectiveness, it is achieved the high precision of bullet positions and quickly calculates demand, for the technical barrier that this area is urgently to be resolved hurrily in recent years.
Summary of the invention
The purpose of the present invention is and overcomes above-mentioned the deficiencies in the prior art, a kind of curve distribution formula shock wave bullet positioner is provided, it can under the premise ensureing precision shooting training effectiveness, lifting means computational efficiency, and synchronize to realize the positioning requirements of the higher precision of bullet, thus ensure accuracy and the rapidity of shooting indication of shots；Meanwhile, the present invention also provides for corresponding point of impact localization method, to simplify its coordinate calculating process, thus promoting real reaction and the indication of shots efficiency of indication of shots equipment further.
For achieving the above object, present invention employs techniques below scheme:
Curve distribution formula shock wave bullet positioner, including for monitoring the sensor of point of impact shock wave and for disposing the support of each sensor, described sensor is the odd number of more than three and along target sheet paper horizontally set, the induction end of sensor is towards direction, target sheet place, and between each sensor, line is in isoplanar and is arranged in parallel with target sheet paper；Sensor includes centrally located intermediate sensor and is symmetrically arranged in each side edge sensor at intermediate sensor two ends, and intermediate sensor is positioned at place immediately below target sheet central point；It is characterized in that: described each sensor is and is sequentially arranged along same circumference, the center of circle of this circumference is positioned at sensor sensing end institute towards direction place, and on the line of the centrally located sensor of its home position and target sheet central point；When the circumference that sensor is constituted is in least radius, its center of circle is positioned at target sheet central spot.
Described sensor is three, and target sheet eight loop wire and the intersection point constituted through the horizontal line of target sheet central point to nearest side edge sensor spacing are equal to target sheet central point to intermediate sensor spacing.
The rectangular channel bar shape of described contoured cradle, its trough rim top, both sides and bottom land midline all offer the poroid accommodation hole of the ladder for holding sensor；This device also includes padding to be located at outside sensor to isolate the silica gel sheath holding hole with sensor, described silica gel sheath profile in and hold the straight cylindrical structure of hole external shape fits, postpone downwards along its axis the extension being provided with for coordinating also clamping with the small-bore section holding hole in silica gel sheath bottom.
This device also includes the shock wave focus lid being attached at sensor sensing end end, and described shock wave focus lid is the round lid-like of silica gel material；The circle centre position of shock wave focus lid offer run through lid so that shock wave enter through hole；Shock wave focus lid towards end face residing for shock wave approach axis be recessed cone bowl structure.
A kind of point of impact localization method applying curve distribution formula shock wave bullet positioner as claimed in claim 2, it is characterised in that comprise the steps of
Make three sensing stations respectively A, B, C from left to right, wherein sensors A, C horizontal range be L, sensor B is positioned at A, C centre position as intermediate sensor；Short transverse sensor B distance A or C is h；With sensor B for zero, horizontal direction is X-axis, and vertical direction is Y-axis, sets up rectangular coordinate system, and shooting point S represents, now coordinate calculates and is divided into three kinds of situations:
1), bullet shooting and the shock wave that produces arrives first at sensors A
In above-mentioned situation, shooting point S is positioned at the second picture limit of coordinate system, and therefore x is negative value；
To shoot some S to the distance of sensors A for SA, the distance of shooting point S to sensor B is SB, and the distance of shooting point S to sensor C is SC；The time difference obtaining shock wave arrival sensors A and sensor B is t1, then SB-SA=t1* V, wherein V is the velocity of sound under Current Temperatures environment；In like manner, it is thus achieved that it is t that shock wave arrives the time difference of sensors A and sensor C2, SC-SA=t2*V；
If SA=a, SB-SA=b, SC-SA=c, it is known that ABLevel=BCLevel=L/2, makes vertical line along S point to X-axis, and this vertical line and AC line intersection point are F, are G, FG=AB with X-axis intersection pointHighly=BCHighly=h, then:
For Δ SGB, by Pythagorean theorem, can establish an equation:
x2+y2=(a+b)2(1)
For Δ SFC, by Pythagorean theorem, can establish an equation
(y-h)2+(L/2-x)2=(a+c)2(2)
For Δ SFA, by Pythagorean theorem, can establish an equation
(y-h)2+(L/2+x)2=a2(3)
Set up equation group according to equation (1), (2), (3), solve and obtain x, y, a numerical value, it is thus achieved that point of impact coordinate；
2), bullet shooting and the shock wave that produces arrives first at sensor B
In above-mentioned situation, shooting point S is positioned near coordinate system y-axis, and its X-coordinate can just can be born；
To shoot some S to the distance of sensors A for SA, the distance of shooting point S to sensor B is SB, and the distance of shooting point S to sensor C is SC；The time difference obtaining shock wave arrival sensor B and sensors A is t1, then SA-SB=t1*V；The time difference obtaining shock wave arrival sensor C and sensor B is t2, SC-SB=t2*V；
If SB=b, SA-SB=a, SC-SB=c, it is known that ABLevel=BCLevel=L/2, makes vertical line along S point to X-axis, and this vertical line and AC line intersection point are F, are G, FG=AB with X-axis intersection pointHighly=BCHighly=h, then:
For Δ SGB, can establish an equation:
x2+y2=b2(4)
For Δ SFC, can establish an equation
(y-h)2+(L/2-x)2=(b+c)2(5)
For Δ SFA, can establish an equation
(y-h)2+(L/2+x)2=(b+a)2(6)
Set up equation group according to equation (4), (5), (6), solve and obtain x, y, b numerical value, it is thus achieved that point of impact coordinate；
3), bullet shooting and the shock wave that produces arrives first at sensor C
In above-mentioned situation, shooting point S is positioned at the first picture limit of coordinate system, and its X-coordinate is just；
To shoot some S to the distance of sensors A for SA, the distance of shooting point S to sensor B is SB, and the distance of shooting point S to sensor C is SC；The time difference obtaining shock wave arrival sensor C and sensors A is t1, then SA-SC=t1*V；The time difference obtaining shock wave arrival sensor B and sensor C is t2, SB-SC=t2*V；
If SC=c, SA-SC=a, SB-SC=b, it is known that ABLevel=BCLevel=L/2, makes vertical line along S point to X-axis, and this vertical line and AC line intersection point are F, are G, FG=AB with X-axis intersection pointHighly=BCHighly=h, then
For Δ SGB, can establish an equation:
x2+y2=(c+b)2(7)
For Δ SFC, can establish an equation
(y-h)2+(L/2-x)2=c2(8)
For Δ SFA, can establish an equation
(y-h)2+(L/2+x)2=(c+a)2(9)
Set up equation group according to equation (7), (8), (9), solve and obtain x, y, c numerical value, it is thus achieved that point of impact coordinate.
The present invention has a major advantage in that:
1), on the basis of traditional horizontal sensor array, the present invention proposes the sensor construction of curve distribution formula, owing to each sensor constitutes curve pattern, point of impact place shock wave during each point of impact at round target place high number of rings especially obtains effective reduction to the propagation distance at each side edge sensor place.Its waveform attenuating corresponding is more low, the signal waveform that each side edge sensor receives is more accurate, diversity factor is lower, it is finally reached and has promoted accuracy of waveform and reduce the effect of waveform error degree, and especially reduce the waveform transmission distance when the contour number of rings of shooting 8-10 ring, improve the indication of shots precision when shooting high number of rings reliably.The present invention can under the premise ensureing precision shooting training effectiveness, lifting means computational efficiency, and can synchronize to realize the positioning requirements of the higher precision of bullet.
2), the home position of curve pattern that constitutes of each sensor, be related to the computational efficiency height of each number of rings point of impact.As being positioned at target surface central point when the curve pattern center of circle of sensor, and when point of impact is target surface center, the distance that shock wave arrives three sensors is identical, and uniformity in waveform is good, and the timer operation time calculating time difference is 0, and corresponding response efficiency is naturally high.But, consider that traditional precision fire is greatly all in 8-10 ring place, therefore, by by target sheet 8 loop wire with the intersection point constituted through the horizontal line of target sheet central point to nearest side edge sensor spacing equal to target sheet central point to intermediate sensor spacing, thus reaching when point of impact is positioned at 8-10 ring place and the time difference of each sensor is in desirable minima place.By by within sound wave focusing range shorter to 8 rings, improve the indication of shots precision within 8 rings, meet current precision fire training demand.
3), the profile of support be referred to existing straight-bar structure, and by its two ends lifting, thus forming similar trough with straight angle rodding structure.Its two ends and central spot all arrange that accommodation hole is to dispose each sensor.By the layout of silica gel sheath, it is ensured that the waveform interference phenomenon between each adjacent sensors, to promote its waveform acquisition precision.
4), another emphasis being set to the present invention of shock wave focus lid.The induction end of current Shock Wave Sensors all adopts pressure plate structure, relies on outside shock-impingement pressure plate to produce deformation, thus obtaining signal.And owing to traditional sensor senses end is completely exposed, when outside shock-impingement is to pressure plate, likely make because of the deflection of projected angle of impact pressure plate edge first put forth effort, cause pressure plate center to produce " heaving " phenomenon on the contrary, the strong influence precision of signals collecting.The present invention is by the silica gel shock wave focus lid with through hole, thus protecting the pressure plate edge at sensor sensing end place so that shock wave can only directly clash into pressure plate center and make its indent along through hole, thus obtaining the signals collecting effect of the best.The bowl-shape structure of its end face, even being then to ensure that the oblique shock wave passed over, still can be exactly in through hole and having influence on pressure plate, to promote its functional reliability.
5), on the basis of said structure, it is different from current Hyperbolic Equation and solves, present invention also offers a kind of three limit theorems and solve mode, to optimize its coordinate solution procedure.By simple data acquisition and substitution, three limit theorems can being relied on to realize its solving result, its calculating is more simple, and system complexity is lower, and corresponding indication of shots efficiency obviously also can be promoted further.
Accompanying drawing explanation
Fig. 1 is the perspective view of this device；
Fig. 2 is the front view of Fig. 1；
Fig. 3 is silica gel sheath, shock wave focus lid and coordinates explosive view between sensor；
Fig. 4 is the profile of shock wave focus lid；
Fig. 5 is the view that the center of circle of the curve pattern that each sensor is constituted is positioned at target surface central spot；
Fig. 6 is the position state diagram of the constituted curve pattern of each sensor of this device；
Fig. 7 is the shock wave that bullet shooting produces point of impact coordinate system figure when arriving first at sensors A；
Fig. 8 is the shock wave that bullet shooting produces point of impact coordinate system figure when arriving first at sensor B；
Fig. 9 is the shock wave that bullet shooting produces point of impact coordinate system figure when arriving first at sensor C.
In accompanying drawing, each label is as follows with the corresponding relation of each component names of the present invention:
A-target sheet
10-support 21-intermediate sensor 22-side edge sensor
30-silica gel sheath 40-shock wave focus lid 41-through hole
Detailed description of the invention
For ease of understanding, here in connection with accompanying drawing, specifically test device and the operating process thereof of the present invention are made described further below:
The concrete structure of this device, as Figure 1-4, its bag is the curve distribution array that three sensors are constituted.It includes an intermediate sensor 21 and two symmetrical side edge sensor 22, and the position of intermediate sensor 21 is positioned at the underface of target sheet a central point.The layout height of dual-side sensor 22 is higher than intermediate sensor 21 height, and is on the line of the centrally located sensor 21 in the center of circle and target sheet a central point.
It practice, as shown in Figure 6, above-mentioned curve distribution array can consider with 10 ring centers namely target surface center for round dot, the circular curve being radius to the distance of side edge sensor 22 with 10 ring centers.The indication of shots target surface size that the horizontal range of dual-side sensor 22 needs according to shooting determines.It provides the benefit that, when point of impact is 10 ring center, the distance that shock wave arrives three sensors is identical, uniformity in waveform is good, the timer operation time calculating time difference is 0, thus equipment response efficiency when being greatly improved high accuracy shooting, and improve its indication of shots precision；Also can reduce each point of impact shock wave within 8 rings simultaneously accordingly and arrive the range difference of each sensor, improve the indication of shots precision in 8-10 ring.
And consider current precision shooting present situation, no doubt can not play 10 rings every time, but beyond 8 rings, situation is also few.Therefore, arrive the optimization of the range difference of each sensor for each point of impact shock wave reached within 8 rings, reduce the height (it is more high that highly more high armour is accomplished by doing so that equipment cost and weight increase) of side edge sensor 22 simultaneously.By 8 loop wires of target sheet a and the intersection point constituted through the horizontal line of target sheet central point to nearest side edge sensor 22 spacing being equal to target sheet central point to intermediate sensor 21 spacing, as it is shown in figure 5, the circular curve of the now concyclic formation of each sensor is the curve of the curve distribution formula of this device.
The corresponding point of impact localization method of this device is as follows:
In three sensor coordinates figure of Fig. 7-9, it is shown that from left to right respectively sensors A, B, C.Wherein sensors A, C horizontal range be L, sensor B is positioned at A, C centre position.Sensors A, C are positioned at sustained height, and short transverse sensor B distance A or C is h.With sensor B for zero, horizontal direction is X-axis, and vertical direction is Y-axis, sets up rectangular coordinate system, and shooting point S represents, as Figure 7-9.
Coordinate calculates and is divided into three kinds of situations:
1), A head meets
In A head chance situation, as it is shown in fig. 7, in this case, shooting point S can be only positioned at the second picture limit of coordinate system to the coordinate position of shooting point, and therefore x should be negative value.
A head meets the first-harmonic produced for bullet shooting and arrives first at detection A, then shooting point is SA to the distance of sensors A, in figure, and SD=SE=SA.If the time difference that first-harmonic arrives sensors A and sensor B is t1, then DB=t1* V, wherein V is the velocity of sound under Current Temperatures environment.In like manner, if the time difference that first-harmonic arrives sensors A and sensor C is t2, EC=t2*V。
If SA=SD=SE=a, DB=b, EC=c, it is known that ABLevel=BCLevel=L/2, FG=h.
For Δ SGB, can establish an equation:
x2+y2=(a+b)2(1)
For Δ SFC, can establish an equation
(y-h)2+(L/2-x)2=(a+c)2(2)
For Δ SFA, can establish an equation
(y-h)2+(L/2+x)2=a2(3)
Equation group can be set up according to equation (1), (2), (3), x, y, a are solved.
2), B head meets
In B head chance situation, as shown in Figure 8, in this case, shooting point S is positioned near coordinate system y-axis the coordinate position of shooting point, and its X-coordinate can just can be born.
B head meets the first-harmonic produced for bullet shooting and arrives first at detection B, then shooting point is SB to the distance of sensor B, in figure, and SD=SB=SE.If the time difference that first-harmonic arrives sensor B and sensors A is t1, then DA=t1*V.In like manner, if the time difference that first-harmonic arrives sensor C and sensor B is t2, EC=t2*V。
If SD=SB=SE=b, AD=a, EC=c, it is known that ABLevel=BCLevel=L/2, FG=h.
For Δ SGB, can establish an equation:
x2+y2=b2(4)
For Δ SFC, can establish an equation
(y-h)2+(L/2-x)2=(b+c)2(5)
For Δ SFA, can establish an equation
(y-h)2+(L/2+x)2=(b+a)2(6)
Equation group can be set up according to equation (4), (5), (6), x, y, b are solved.
3), C head meets
In C head chance situation, as it is shown in figure 9, in this case, shooting point S is positioned at the first picture limit of coordinate system to the coordinate position of shooting point, and its X-coordinate is just.
C head meets the first-harmonic produced for bullet shooting and arrives first at detection C, then shooting point is SC to the distance of sensor C, in figure, and SC=SD=SE.If the time difference that first-harmonic arrives sensors A and sensor C is t1, then EA=t1*V.In like manner, if the time difference that first-harmonic arrives sensor B and sensor C is t2, DB=t2*V。
If SC=SD=SE=c, AE=a, BD=b, it is known that ABLevel=BCLevel=L/2, FG=h.
For Δ SGB, can establish an equation:
x2+y2=(c+b)2(7)
For Δ SFC, can establish an equation
(y-h)2+(L/2-x)2=c2(8)
For Δ SFA, can establish an equation
(y-h)2+(L/2+x)2=(c+a)2(9)
Equation group can be set up according to equation (1), (2), (3), x, y, c are solved.
More than for the derivation algorithm of the coordinate position of shooting point, in calculating process, it may appear that bilingual problem, according to practical situation, remove the solution not being likely to occur.
Claims (5)
1. a curve distribution formula shock wave bullet positioner, including for monitoring the sensor of point of impact shock wave and for disposing the support (10) of each sensor, described sensor is the odd number of more than three and along target sheet paper horizontally set, the induction end of sensor is towards direction, target sheet place, and between each sensor, line is in isoplanar and is arranged in parallel with target sheet paper；Sensor includes centrally located intermediate sensor (21) and is symmetrically arranged in each side edge sensor (22) at intermediate sensor (21) two ends, and intermediate sensor (21) is positioned at place immediately below target sheet central point；It is characterized in that: described each sensor is and is sequentially arranged along same circumference, the center of circle of this circumference is positioned at sensor sensing end institute towards direction place, and on the line of the centrally located sensor of its home position (21) and target sheet central point；When the circumference that sensor is constituted is in least radius, its center of circle is positioned at target sheet central spot.
2. curve distribution formula shock wave bullet positioner according to claim 1, it is characterized in that: described sensor is three, and target sheet eight loop wire and the intersection point constituted through the horizontal line of target sheet central point to nearest side edge sensor (22) spacing are equal to target sheet central point to intermediate sensor (21) spacing.
3. curve distribution formula shock wave bullet positioner according to claim 2, it is characterized in that: the rectangular channel bar shape of described support (10) profile, its trough rim top, both sides and bottom land midline all offer the poroid accommodation hole of the ladder for holding sensor；This device also includes padding to be located at outside sensor to isolate the silica gel sheath (30) holding hole with sensor, described silica gel sheath (30) profile in and hold the straight cylindrical structure of hole external shape fits, postpone downwards along its axis the extension being provided with for coordinating also clamping with the small-bore section holding hole in silica gel sheath bottom.
4. the curve distribution formula shock wave bullet positioner according to claim 1 or 2 or 3, it is characterized in that: this device also includes being attached at the shock wave focus lid (40) of sensor sensing end end, the round lid-like that described shock wave focus lid (40) is silica gel material；The circle centre position of shock wave focus lid (40) offer run through lid so that shock wave enter through hole (41)；Shock wave focus lid (40) towards end face residing for shock wave approach axis be recessed cone bowl structure.
5. the point of impact localization method applying curve distribution formula shock wave bullet positioner as claimed in claim 2, it is characterised in that comprise the steps of
Make three sensor present position points respectively A, B, C from left to right, wherein sensors A, C horizontal range be L, sensor B is positioned at A, C centre position as intermediate sensor；Short transverse sensor B distance A or C is h；With sensor B for zero, horizontal direction is X-axis, and vertical direction is Y-axis, sets up rectangular coordinate system, and shooting point S represents, now coordinate calculates and is divided into three kinds of situations:
1), bullet shooting and the shock wave that produces arrives first at sensors A
In above-mentioned situation, shooting point S is positioned at the second picture limit of coordinate system, and therefore x is negative value；
To shoot some S to the distance of sensors A for SA, the distance of shooting point S to sensor B is SB, and the distance of shooting point S to sensor C is SC；The time difference obtaining shock wave arrival sensors A and sensor B is t1, then SB-SA=t1* V, wherein V is the velocity of sound under Current Temperatures environment；In like manner, it is thus achieved that it is t that shock wave arrives the time difference of sensors A and sensor C2, SC-SA=t2*V；
If SA=a, SB-SA=b, SC-SA=c, it is known that ABLevel=BCLevel=L/2, makes vertical line along S point to X-axis, and this vertical line and AC line intersection point are F, are G, FG=AB with X-axis intersection pointHighly=BCHighly=h, then:
For Δ SGB, by Pythagorean theorem, can establish an equation:
x2+y2=(a+b)2(1)
For Δ SFC, by Pythagorean theorem, can establish an equation
(y-h)2+(L/2-x)2=(a+c)2(2)
For Δ SFA, by Pythagorean theorem, can establish an equation
(y-h)2+(L/2+x)2=a2(3)
Set up equation group according to equation (1), (2), (3), solve and obtain x, y, a numerical value, it is thus achieved that point of impact coordinate；
2), bullet shooting and the shock wave that produces arrives first at sensor B
In above-mentioned situation, shooting point S is positioned near coordinate system y-axis, and its X-coordinate can just can be born；
To shoot some S to the distance of sensors A for SA, the distance of shooting point S to sensor B is SB, and the distance of shooting point S to sensor C is SC；The time difference obtaining shock wave arrival sensor B and sensors A is t1, then SA-SB=t1*V；The time difference obtaining shock wave arrival sensor C and sensor B is t2, SC-SB=t2*V；
If SB=b, SA-SB=a, SC-SB=c, it is known that ABLevel=BCLevel=L/2, makes vertical line along S point to X-axis, and this vertical line and AC line intersection point are F, are G, FG=AB with X-axis intersection pointHighly=BCHighly=h, then:
For Δ SGB, can establish an equation:
x2+y2=b2(4)
For Δ SFC, can establish an equation
(y-h)2+(L/2-x)2=(b+c)2(5)
For Δ SFA, can establish an equation
(y-h)2+(L/2+x)2=(b+a)2(6)
Set up equation group according to equation (4), (5), (6), solve and obtain x, y, b numerical value, it is thus achieved that point of impact coordinate；
3), bullet shooting and the shock wave that produces arrives first at sensor C
In above-mentioned situation, shooting point S is positioned at the first picture limit of coordinate system, and its X-coordinate is just；
To shoot some S to the distance of sensors A for SA, the distance of shooting point S to sensor B is SB, and the distance of shooting point S to sensor C is SC；The time difference obtaining shock wave arrival sensor C and sensors A is t1, then SA-SC=t1*V；The time difference obtaining shock wave arrival sensor B and sensor C is t2, SB-SC=t2*V；
If SC=c, SA-SC=a, SB-SC=b, it is known that ABLevel=BCLevel=L/2, makes vertical line along S point to X-axis, and this vertical line and AC line intersection point are F, are G, FG=AB with X-axis intersection pointHighly=BCHighly=h, then
For Δ SGB, can establish an equation:
x2+y2=(c+b)2(7)
For Δ SFC, can establish an equation
(y-h)2+(L/2-x)2=c2(8)
For Δ SFA, can establish an equation
(y-h)2+(L/2+x)2=(c+a)2(9)
Set up equation group according to equation (7), (8), (9), solve and obtain x, y, c numerical value, it is thus achieved that point of impact coordinate.
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| CN112162239B (en) * | 2020-09-14 | 2023-12-22 | 西北工业大学 | Impact point positioning method based on horizontal gate array |
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