CN105300185A - Electronic sighting device capable of achieving long-distance and high-accuracy ranging - Google Patents
Electronic sighting device capable of achieving long-distance and high-accuracy ranging Download PDFInfo
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Abstract
The invention belongs to the technical field of sighting telescopes and particularly relates to an electronic sighting device capable of achieving long-distance and high-accuracy ranging. The electronic sighting device comprises a field-of-view acquisition unit, a display unit, a sighting circuit unit and a laser ranging unit, wherein the field-of-view acquisition unit acquires image information of the inside of a shooting field of view; the display unit displays divisions and the image information acquired by the field-of-view acquisition unit; the sighting circuit unit is used for transmitting the image information of the field-of-view acquisition unit to the display unit and performing accurate prediction on sighting; the laser ranging unit adopts wave-length laser with high penetrating power as a laser source to perform ranging on a target object and adds two-dimension coordinate data to a feedback laser signal so as to achieve long-distance and high-accuracy ranging.
Description
Technical field
The invention belongs to gun sight technical field, be specifically related to a kind of electronic sighting device realizing long distance and high precision range finding.
Background technology
Usual traditional sight is divided into mechanical aiming device and optical foresight, and wherein said mechanical aiming device general reference is mechanically by iron sight, and as rear sight, foresight and sight realize aiming at; Described optical foresight is by using optical lens imaging, target image and sight line being overlapped on same focussing plane, can realize aiming at.
Present stage more electronic sighting device or photoelectric integral gun sight be used on gun, electronic sighting device integrated with distance measurement device and other functional components and parts or multiple sensors assembly, its object in order to provide more information so that improve the accuracy of shooting.
Electronic sighting device is because being combined by with gun, the weight of electronic sighting device and volume are all subject to strict restriction, if the volume of electronic sighting device is excessive or the excessive difficulty all increasing it and be combined with gun of weight, and the difficulty used after combining, and the rangefinder volume of current long distance is excessive, quality is excessive, is difficult to be integrated on gun sight, because which limit the finding range of electronic sighting device, electronic sighting device only can be applied in short distance shooting.
Summary of the invention
In order to effectively solve the problem, the invention provides a kind of electronic sighting device realizing long distance and precision distance measurement.
Realize an electronic sighting device for long distance and precision distance measurement, described electronic sighting device comprises:
One visual field acquiring unit, gathers the image information in shooting visual field;
One display unit, the image information that display graduation and visual field acquiring unit gather, described display unit is provided with the displacement detecting unit of a detection display element displacement;
One laser ranging unit, the wavelength laser that application penetration capacity is strong is found range to object as lasing light emitter;
One aims at circuit unit, for the image information of visual field acquiring unit is sent to display unit.
Further, described laser ranging unit adopts the laser of 1540nm wavelength as lasing light emitter.
Further, described displacement detecting unit detection display element displacement data specifically comprise the steps:
A) in the image information shown by display unit, object is determined;
B) according to the centroid point of object determination object;
C) using centroid point as center basic point O, create the two-dimensional coordinate system on a display unit, wherein said two-dimensional coordinate system with the vertical direction of center basic point O for O-Y axle, with the direction of the vertical O-Y axle of center basic point O for O-X axle;
D) applying electronic sight is found range, and described displacement detecting unit collection obtains the displacement X of display unit X-axis and Y direction
1and Y
1, acquisition coordinate is (X
1, Y
1) distance value and record.
Further, described laser ranging unit comprises a Laser emission end and a laser pick-off end, and described Laser emission end and laser pick-off end are all arranged on housing forward end, and are symmetrically distributed on the upside of the acquiring unit of visual field.
Further, described laser ranging unit and visual field acquiring unit entirety form equilateral del, or isosceles del; Described Laser emission end and laser pick-off end all protrude from described housing forward end, and the certain altitude that the camera lens of described Laser emission end, laser pick-off end and described visual field acquiring unit exists is poor.
Further, described laser ranging unit also comprises gating circuit unit, counting unit and laser ranging control unit, described Laser emission end comprises the drive circuit of a driving emission pulse laser, and described laser pick-off end comprises photodetector, photoelectric conversion unit, shaping amplification circuit.
Further, described laser ranging control unit connects described drive circuit, described photodetector, photoelectric switching circuit and shaping amplification circuit connect successively, and described shaping amplification circuit is by gating circuit unit connection count unit, described laser ranging control unit is connected with described gating circuit unit and drive circuit simultaneously, described counting unit comprises counter and reference clock, described counter is connected with described gating circuit unit, described counter exports range measurement, and range measurement is sent to the aiming circuit unit of electronic sighting device.
Further, the integrated video camera of described visual field acquiring unit, described display unit is LCD touch display screen.
Further, described aiming circuit unit comprises interface board and core board, and described interface board is oppositely arranged with described core board and is connected, and described visual field acquiring unit and laser ranging unit are all connected on core board by interface board.
Further, described displacement detecting unit comprises a 3-axis acceleration sensor and a triaxial magnetic field sensor, and described 3-axis acceleration sensor gathers the axial displacement of O-Y, and described triaxial magnetic field sensor gathers the axial displacement of O-X.
Beneficial effect of the present invention: the present invention adopts wavelength to be the laser of 1540nm, laser piercing power under this wavelength is strong, produce dispersion situation in atmosphere slight, what ensure that laser signal can be stable returns, long distance ranging can be realized, the present invention can determine the distance value of the other unit beyond image information internal object thing and object, can judge whether object periphery has the influence amount of interference shooting, and when there are other distance values in gun shake, can be defined as unit under this distance value according to the coordinate value of the skew of display unit is not object, then can the accuracy of judging distance value, realize precisely range finding.
Accompanying drawing explanation
Fig. 1 is the surface structure schematic diagram of the embodiment of the present invention;
Fig. 2 is the front-end architecture schematic diagram of electronic sighting device of the present invention;
Fig. 3 is the trajectory simulation contrast schematic diagram that electronic sighting device application outer trajectory six degree of freedom rigidity model of the present invention is carried out two kinds of bullets.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is explained in further detail.Should be appreciated that specific embodiment described herein only for explaining the present invention, being not intended to limit the present invention.
On the contrary, the present invention is contained any by the substituting of making on marrow of the present invention and scope of defining of claim, amendment, equivalent method and scheme.Further, in order to make the public have a better understanding to the present invention, in hereafter details of the present invention being described, detailedly describe some specific detail sections.
As shown in Figure 1, a kind of electronic sighting device realizing long distance and high precision range finding provided by the present invention, this electronic sighting device described comprises a housing 1, described housing 1 defines a spatial accommodation, a visual field acquiring unit 3 is contained in described spatial accommodation, one display unit 2, one aims at circuit unit and a laser ranging unit 4, described visual field acquiring unit 3 and laser ranging unit 4 are all arranged on housing forward end, described display unit 2 is arranged on housing rear end, described aiming circuit unit is arranged on enclosure interior, described visual field acquiring unit 3, display unit 2 and laser ranging unit 4 are all connected to and aim on circuit unit, the integrated video camera of described visual field acquiring unit 3, described display unit 2 is a LCD touch display screen.
Be provided with a displacement detecting unit bottom described display unit 2, described displacement detecting unit comprises a 3-axis acceleration sensor and a triaxial magnetic field sensor.
Described aiming circuit unit comprises interface board and core board, described interface board is oppositely arranged with described core board and is connected, described visual field acquiring unit 3 and laser ranging unit 2 are all connected on core board by interface board, and via core board, the video of shooting is sent to display unit and shows, described core board is also integrated with multiple sensors, there is operative sensor external simultaneously, connect core board by terminal plate.
Described multiple sensor, specifically can be acceleration transducer, wind speed wind direction sensor, geomagnetic sensor, temperature sensor, baroceptor, several or whole (different sensing datas can be obtained according to the trajectory selected) in humidity sensor, in one embodiment, wherein acceleration transducer and geomagnetic sensor are integrated on the core board of aiming circuit unit, described acceleration transducer is the chip MPU-6050 of integrated gyroscope and accelerometer, described geomagnetic sensor is three axle magnetometer MAG3110, EOTS is located at outside described wind speed wind direction sensor, and be connected on interface board, temperature sensor described in other, baroceptor and humidity sensor accessible site are on core cpu plate or be connected on described core cpu plate by interface board, the sensor all adopts IIC (or to be written as I2C, I
2c) interface.
In finding range at a distance, all long because of measuring distance, it is more serious that laser produces dispersion situation in atmosphere, cause the laser intelligence that cannot receive feedback, or the laser intelligence dispersion situation receiving feedback is serious, None-identified, therefore how the pulse laser of broadening after being subject to atmosphere environment impact is effectively identified or dispersion compensation, be the present invention for solve problem, the present invention adopts wavelength to be the laser of 1540nm, laser piercing power under this wavelength is strong, produce dispersion situation in atmosphere slight, what ensure that laser signal can be stable returns.
As shown in Figure 2, this laser ranging unit described comprises Laser emission end 41 and a laser pick-off end 42, and described Laser emission end 41 and laser pick-off end 42 are all arranged on housing 1 front end, and are symmetrically distributed on the upside of visual field acquiring unit 3, the equilateral del of overall formation, or isosceles del, described Laser emission end 41 and laser pick-off end 42 all protrude from described housing 1 front end, and described Laser emission end 41, the certain altitude that laser pick-off end 42 exists with the camera lens of described visual field acquiring unit 3 is poor, described the present invention's application is by Laser emission end 41, and laser pick-off end 42 protrudes from described housing 1 front end, reduce the enclosure interior space shared by laser ranging unit 4, by described Laser emission end 41, and the long part of laser pick-off end 42 to protrude from housing 2 front end outside, the height achieving enclosure interior space is integrated, make electronic sighting device more miniaturized, make electronic sighting device more flexible, light,
Described laser ranging unit 4 also may comprise gating circuit unit, counting unit and laser ranging control unit, described Laser emission end 41 comprises the drive circuit of a driving emission pulse laser, and described laser pick-off end 42 comprises photodetector, photoelectric conversion unit, shaping amplification circuit; Described laser ranging control unit connects described drive circuit, described photodetector, photoelectric switching circuit and shaping amplification circuit connect successively, and described shaping amplification circuit is also by gating circuit unit connection count unit, described laser ranging control unit is connected with described gating circuit unit and drive circuit simultaneously, described counting unit comprises counter and reference clock, described counter is connected with described gating circuit unit, described counter exports range measurement, and range measurement is sent to the control appliance of electronic sighting device.
The work of the laser ranging unit of the above embodiment of the present invention is specially: the lasing light emitter emission pulse laser signal in described drive circuit driving laser transmitting terminal 41, after the small part of pulsed laser signal is sampled by speculum, be transferred to the receiving unit of electronic sighting device, as the reference signal of sight, the light energy photodetector of reference signal receives, and make it to be converted into the signal of telecommunication, again after a series of amplification shaping, door capable of being opened control circuit, counter is made to start to count the clock pulses of reference signal, remaining light energy is transmitted into testee, received by the receiving terminal of laser ranging unit after the reflection of testee, successively via photoelectric detector, after amplification shaping becomes the signal of telecommunication, close gating circuit, counter completes a counting load.Can show that the distance of object to be measured is:
Described f
0for the pulse frequency of reference clock, N is the number of count pulse; Stable range finding can be realized by above formula.
The laser ranging unit of the embodiment of the present invention, employing operation wavelength is the semiconductor laser of 1540 nanometers, first the injury of laser to human body is avoided, photodetector can be judged the terminal of laser pulse exactly and measure the flight time of laser exactly simultaneously, by controlling the frequency of pulse reference clock at more than 1.5GHz, achieve reduction error.
The present invention also proposes other embodiments, other embodiments described are for solving following problem, when user is when preparing the distance of a mensuration specific objective, the vibration of human body self can cause the vibration of gun, and then make to change the aiming point of laser beam and intended target and produce and offset, therefore, the object of what laser ranging unit gathered is range information changes, become the range information of object periphery, be specially the laser signal for other objects of object periphery feedback that laser pick-off termination receives, therefore multiple distance values of different objects in visual field can be produced, the feedback of range data crosses Sheng, or ceaselessly obtain range data and feedback range data, the operand for the treatment of facility can be improved, increase burden, produce the true situation of dysmetria simultaneously, in one embodiment of the invention, electronic sighting device has the coordinate value of a display unit to the laser beam correspondence that lasing light emitter penetrates, described coordinate value is the X that a two-dimensional coordinate is fastened, Y-axis coordinate value, the creation method of described two-dimensional coordinate system comprises the following steps:
A) in the image information shown by display unit, object is determined;
B) according to the centroid point of object determination object;
C) using centroid point as center basic point O, create a two-dimensional coordinate system, wherein said two-dimensional coordinate system with the vertical direction of center basic point O for O-Y axle, with the direction of the vertical O-Y axle of center basic point O for O-X axle; Described 3-axis acceleration sensor gathers the axial displacement of O-Y, and described triaxial magnetic field sensor gathers the axial displacement of O-X;
D) applying electronic sight is found range, and described displacement detecting unit collection obtains the displacement X of display unit X-axis and Y direction
1and Y
1, acquisition coordinate is (X
1, Y
1) distance value.
Therefore in shown on the display unit image information, each coordinate value of display unit all has corresponding range information, on the basis with coordinate value, the distance value of its this coordinate value is accurately determined, to not need to find range to this coordinate value again, avoid laser ranging unit and ceaselessly obtain range data, and feed back range data, coordinate value and distance value can be recorded and be stored in the memory card of electronic sighting device simultaneously;
The described acquisition methods of centroid point by the image aiming at thing is: be multiple simply basic figures by irregular object inserting drawing, after wherein tortuous boundary separates, be similar to straight line, according to position of form center and the area of each fundamental figure, following computing formula is utilized to obtain by the impact point of the image aiming at thing.Described formula is:
Wherein said A
ifor the area of each fundamental figure, x
i, y
ithe x direction of each fundamental figure centre of form of difference and y direction coordinate, x
c, y
caimed at the centroid point of the image of thing, namely regarded as the centre coordinate point of the two-dimensional coordinate created in the present invention.
On the architecture basics of above-mentioned electronic sighting device, its core board aiming at circuit also connects a RAM card, is provided with bullet information database and two trajectory prediction model systems in described RAM card; User can according to the one arranged in these two kinds of model trajectorys of selection of sensor, and described model trajectory is respectively outer trajectory six degree of freedom rigidity model or flat path model, realizes electronic sighting device precise positioning by two kinds of model trajectorys.
For the position of Accurate Prediction point of impact, according to the data that each sensor gathers, and the bullet data stored in memory, adopt outer trajectory six degree of freedom rigid model to predict point of impact.
When bullet aloft flies, the force and moment acting on bullet is the active force of the earth and air force mainly, usually can be center of mass motion and around center of mass motion (around heart motion) two parts by the Kinematic Decomposition of bullet, be described by momentum law and law of moment of momentum respectively.
Described six degree of freedom rigid body trajectory model of rolling, the bullet of spatial movement is regarded as rigid body, considers the three degree of freedom of bullet barycenter and the three degree of freedom of rotation around center of mass, considers whole force and moments acted on bullet.
In above-mentioned model, the amount of the parameter of input is needed to comprise 1) atmospheric conditions: wind speed and direction, temperature, air pressure, humidity; 2) firing point: the longitude and latitude of shooting point and elevation coordinate; 3) shooting condition: the initial velocity magnitude of bullet outlet and direction, wherein the direction angle of site of gun barrel and azimuth represents; 3) missile-target distance: obtained by laser range finder; 4) data (storing in a database) of bullet: the quality of bullet, the sectional area of bullet, bullet mass eccentricity (or rotary inertia), resistance coefficient etc.
Fig. 3 is that 125g, PSP bullet carries out simulation calculation respectively to M16233Rem, 55g, PSP bullet and AK47 (7.62 × 39mm), and emulation is only carried out vertical, temporarily ignores side direction.Environmental postulates condition: missile-target distance 200m, penetrates high 0.001m, height 500m, temperature 50 degrees Fahrenheit.As can be seen from the figure, for hitting same distance objective, initially penetrating of the two is high different, by the constraints according to meteorologic survey, calculates and required penetrates height and directive, can adjust and make it hit target on a certain specific range.
The factor that six degrees of freedom model is considered comparatively complete, in actual applications, can simplify model according to the different combination of sensor.
In another case, if when wind-force wind speed is little, the active force of beam wind is very little, then consider to adopt flat path model (flatness model can use when not arranging speed wind sensor, temperature, air pressure also can not consider or in the meteorological value of standard).
In flat path model, can think that the aerial motion of bullet is mainly subject to the impact of gravity and air drag.Wherein air drag has the motion of bullet relative atmospheric to produce, main influence factor has: air characteristics (temperature, density, viscosity etc.), bullet characteristic (shape, size, weight etc.), the characteristic (relative velocity, bullet axle orientation etc.) of relative motion.
The general expression of air drag R is:
Wherein, R is air drag,
ρ atmospheric density, units/kg s
2/ m
4
for bullet bourrelet area of section, unit m
2, d is caliber, unit m
V is the speed of bullet relative atmospheric, unit m/s
A is velocity of sound, illustrates the compressibility of air, unit m/s
for resistance coefficient, dimensionless, it is Mach number
function.
C in above formula
x0represent that the angular separation (being called the angle of attack or nutational angle) playing axle and speed is 0.
Resistance suffered by bullet
and gravity
so bullet made a concerted effort be:
With time t for independent variable, set up the center of mass motion equation of bullet:
X-direction:
Y direction is:
And have:
Air resistance acceleration is J, primary condition: meet during t=0, u=u
0=v
0cos θ
0, w=w
0=v
0sin θ
0, x=y=0, θ
0for initially shooting the angle of site.
Above-mentioned formula is the equation under rectangular coordinate system, by Coordinate Conversion, under can being converted to other coordinate systems.
Trajectory position (x, y, t) is under air determined relative to the speed v of air, shooting angle of site θ by ballistic coefficient c, bullet:
What wherein ballistic coefficient c reacted is bullet feature, and H (y) reacts the relation between air characteristics and height y, and F (v), vG (v) reacting phase is on the impact of kinetic characteristic on Projectile Motion.
Claims (10)
1. realize an electronic sighting device for long distance and precision distance measurement, it is characterized in that, described electronic sighting device comprises:
One visual field acquiring unit, gathers the image information in shooting visual field;
One display unit, the image information that display graduation and visual field acquiring unit gather, described display unit is provided with the displacement detecting unit of detection display element displacement data;
One laser ranging unit, the wavelength laser that application penetration capacity is strong is found range to object as lasing light emitter;
One aims at circuit unit, for the image information of visual field acquiring unit is sent to display unit.
2. a kind of electronic sighting device realizing long distance and precision distance measurement according to claim 1, it is characterized in that, described laser ranging unit adopts the laser of 1540nm wavelength as lasing light emitter.
3. a kind of electronic sighting device realizing long distance and precision distance measurement according to claim 1, it is characterized in that, described displacement detecting unit detection display element displacement data specifically comprise the steps:
A) in the image information shown by display unit, object is determined;
B) according to the centroid point of object determination object;
C) using centroid point as center basic point O, create the two-dimensional coordinate system on a display unit, wherein said two-dimensional coordinate system with the vertical direction of center basic point O for O-Y axle, with the direction of the vertical O-Y axle of center basic point O for O-X axle;
D) applying electronic sight is found range, and described displacement detecting unit collection obtains the displacement X of display unit X-axis and Y direction
1and Y
1, acquisition coordinate is (X
1, Y
1) distance value and record.
4. a kind of electronic sighting device realizing long distance and precision distance measurement according to claim 1, it is characterized in that, described laser ranging unit comprises a Laser emission end and a laser pick-off end, described Laser emission end and laser pick-off end are all arranged on electronic sighting device front end, and are symmetrically distributed on the upside of the acquiring unit of visual field.
5. a kind of electronic sighting device realizing long distance and precision distance measurement according to claim 4, is characterized in that, described laser ranging unit and visual field acquiring unit entirety form equilateral del, or isosceles del; Described Laser emission end and laser pick-off end all protrude from described housing forward end, and the certain altitude that the camera lens of described Laser emission end, laser pick-off end and described visual field acquiring unit exists is poor.
6. a kind of electronic sighting device realizing long distance and precision distance measurement according to claim 4, it is characterized in that, described laser ranging unit also comprises gating circuit unit, counting unit and laser ranging control unit, described Laser emission end comprises the drive circuit of a driving emission pulse laser, and described laser pick-off end comprises photodetector, photoelectric conversion unit, shaping amplification circuit.
7. a kind of electronic sighting device realizing long distance and precision distance measurement according to claim 6, it is characterized in that, described laser ranging control unit connects described drive circuit, described photodetector, photoelectric switching circuit and shaping amplification circuit connect successively, and described shaping amplification circuit is by gating circuit unit connection count unit, described laser ranging control unit is connected with described gating circuit unit and drive circuit simultaneously, described counting unit comprises counter and reference clock, described counter is connected with described gating circuit unit, described counter exports range measurement, and range measurement is sent to the aiming circuit unit of electronic sighting device.
8. a kind of electronic sighting device realizing long distance and precision distance measurement according to claim 1, it is characterized in that, the integrated video camera of described visual field acquiring unit, described display unit is LCD touch display screen.
9. a kind of electronic sighting device realizing long distance and precision distance measurement according to claim 1, it is characterized in that, described aiming circuit unit comprises interface board and core board, described interface board is oppositely arranged with described core board and is connected, and described visual field acquiring unit and laser ranging unit are all connected on core board by interface board.
10. a kind of electronic sighting device realizing long distance and precision distance measurement according to claim 3, it is characterized in that, described displacement detecting unit comprises a 3-axis acceleration sensor and a triaxial magnetic field sensor, described 3-axis acceleration sensor gathers the axial displacement of O-Y, and described triaxial magnetic field sensor gathers the axial displacement of O-X.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110332854A (en) * | 2019-07-25 | 2019-10-15 | 深圳市恒天伟焱科技有限公司 | Localization method, gun sight and the computer readable storage medium of object |
| CN110412605A (en) * | 2019-08-02 | 2019-11-05 | 成都昊图新创科技有限公司 | A kind of auxiliary aiming laser rangefinder and auxiliary aim at distance measuring method |
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| CN1448728A (en) * | 2002-03-29 | 2003-10-15 | 蔡成 | Laser range finding method and apparatus |
| CN104613816A (en) * | 2015-01-30 | 2015-05-13 | 杭州硕数信息技术有限公司 | Digital optical sight and method for achieving target tracking, locking and precise shooting through same |
| CN104848745A (en) * | 2015-05-25 | 2015-08-19 | 南通大学 | Automatic remote high-precision aiming system |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1448728A (en) * | 2002-03-29 | 2003-10-15 | 蔡成 | Laser range finding method and apparatus |
| CN104613816A (en) * | 2015-01-30 | 2015-05-13 | 杭州硕数信息技术有限公司 | Digital optical sight and method for achieving target tracking, locking and precise shooting through same |
| CN104848745A (en) * | 2015-05-25 | 2015-08-19 | 南通大学 | Automatic remote high-precision aiming system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110332854A (en) * | 2019-07-25 | 2019-10-15 | 深圳市恒天伟焱科技有限公司 | Localization method, gun sight and the computer readable storage medium of object |
| CN110412605A (en) * | 2019-08-02 | 2019-11-05 | 成都昊图新创科技有限公司 | A kind of auxiliary aiming laser rangefinder and auxiliary aim at distance measuring method |
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| CN105300185B (en) | 2017-10-17 |
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Effective date of registration: 20210708 Address after: 550002 aluminum and aluminum processing park, Baiyun District, Guiyang City, Guizhou Province Patentee after: GUIZHOU JINGHAO TECHNOLOGY Co.,Ltd. Address before: 100080 3rd floor, building 1, 66 Zhongguancun East Road, Haidian District, Beijing Patentee before: BEIJING AIKELITE OPTOELECTRONIC TECHNOLOGY Co.,Ltd. |