CN106969667B - A kind of bullet number detection data processing method of shadow rocket meticulous process intelligent acquisition device - Google Patents

Abstract

The invention discloses an intelligent acquisition device and a data processing method for refined operation of a silhouette rocket. The mutual induction coil of the core inductance transformer; the mutual induction coil includes a ring-shaped iron core as a primary winding, and a secondary winding wound on the iron core; the secondary winding and the secondary load are connected in series to form a closed loop, and the two ends of the secondary load form a closed loop. The mutual inductance voltage is connected to the central processing unit after passing through the conditioning circuit; according to the relationship between the set effective pulse width standard value and the output pulse width of the current ammunition amount detection, the amount of ammunition used is counted. The invention adopts the core-through inductance current transformer to realize the accurate detection of the amount of bullets used, reduces the influence of the external environment on the detection results, and at the same time optimizes the standard value of the effective pulse through the self-learning ability, further improving the anti-interference ability .

Description

Data processing of bomb consumption detection data of an intelligent acquisition device for silhouette rocket refinement operation rationale

technical field

The invention relates to the technical field of information collection and management of shadow operations, in particular to an intelligent acquisition device and data processing method for refined operations of shadow rockets.

Background technique

In my country, fresh water resources are extremely scarce, and artificial rainfall enhancement has always been regarded as an important and effective means to protect the national economy, the people's livelihood and economic development. Drought and hail are two types of meteorological disasters that cause serious economic losses every year. It is of great significance to carry out artificial weather modification (referred to as shadow) operations to deal with earthquake prevention and disaster reduction, development and utilization of cloud water resources in the air, and alleviating the shortage of water resources in my country. At the same time, as a country with a large number of people, our country ranks first in the world in terms of workload. Since 2011, my country has clearly put forward requirements such as "strengthening weather modification infrastructure and technological capacity building" in China's No. 1 Central Document for three consecutive years. However, the application of modern technology of "Human Shadow" is backward, the degree of automation is low, and the operation effect is poor. The manual data reading method adopted can no longer meet the operation needs.

At present, the start and end time, number of launches, and azimuth and elevation angles of human shadow operations are obtained manually and the relevant information is reported to the human shadow command department and management department through telephone or radio. It is impossible to monitor the actual situation in real time, which consumes a lot of manpower and material resources. Because there are too many intermediate links, errors and inaccuracies caused by humans often occur. Through research, the start and end time of rocket operations, the number of rocket launches, azimuth and elevation angles, etc. Information is automatically collected to provide scientific data for operation management.

Human shadow operations mainly include ground anti-aircraft artillery and rocket operations and high-altitude aircraft operations. Antiaircraft artillery and rocket operations work in the wild, with harsh environments and no mains power. The vibration and sound are very loud during operations, and electromagnetic interference is also extremely complicated. Installation The data acquisition device (including sensor) on the antiaircraft gun or rocket rack must be small in size, light in weight, low in power consumption, simple in structure, stable in performance, strong in anti-interference ability, waterproof, moisture-proof, easy to install and use, therefore, The structural requirements are very high.

The authorized patents "ZL201220081619.6 and 201210057367.8" solve the problem of data collection for anti-aircraft gun operations, but cannot be used for data collection for rocket operations. The reasons are as follows: A. The structure of the anti-aircraft gun and the rocket launcher are completely different, and the design and installation of the acquisition device and sensor are completely different; B. The method of detecting the amount of ammunition is different. The anti-aircraft gun uses a proximity switch to detect the number of ejected shell cases. , Most of the anti-aircraft guns are double-barreled guns, and the two tubes work at the same time, which cannot be detected by vibration and sound recognition. The rocket is launched separately, which can be detected by vibration and sound recognition, but the rocket shell is not metal, so it cannot be detected by the proximity switch to test.

CN10456747A*Sound detection is easily disturbed, such as the sound of firecrackers, the sound of car horns, the high cost of vibration sensors, different rockets and rocket launchers, and different elevation angles, the vibration intensity is not the same.

The patent applied by Shaanxi Zhongtian Rocket Technology Co., Ltd.: rocket, anti-aircraft gun operation control and safety monitoring system and operation monitoring method (application number: 201110132819.X) is to determine the rocket launch volume by detecting the resistance of the ignition circuit, but the The problem is: by measuring the resistance of the ignition line of each channel to check, as many channels as there are, you have to design as many resistance detection circuits, which undoubtedly increases the hardware cost and is also easily affected by the launch controller; and there is no detection technical index, which is far from It does not meet the design requirements of the digital acquisition device for the operation parameters of the shadow rocket.

Contents of the invention

In view of the above problems, the object of the present invention is to provide an intelligent collection device for refined operation of human figure rockets that can automatically and accurately detect the amount of bombs and azimuth angles used during rocket operations, and is not easily affected by the external environment and has strong anti-interference capabilities. And data processing method, technical scheme is as follows:

An intelligent collection device for refined operation of a silhouette rocket, comprising a core-through inductance transformer for detecting the amount of ammunition used; a connecting line for providing ignition voltage for rocket launching through the mutual inductance coil of the core-through inductance transformer; The mutual inductance coil includes an annular iron core as a primary winding, and a secondary winding wound on the iron core; the secondary winding and the secondary load are connected in series to form a closed loop, and the mutual induction voltage formed at both ends of the secondary load is connected through the conditioning circuit. into the central processing unit.

Further, the conditioning circuit includes a bridge rectifier circuit, the input terminal of the bridge rectifier circuit is connected in parallel to both ends of the secondary load, and a signal at the output terminal is connected to the central processing unit through a program-controlled amplifier to detect the amount of ammunition used. The pulse width signal P1 and the other signal are connected to the central processing unit through the limiter diode to detect the pulse amplitude signal P2 of the bomb quantity detection; the central processing unit controls the program-controlled amplifier through the signal P3 of the judgment result of the amplitude.

Furthermore, it also includes a dual-antenna GPS circuit for detecting azimuth and connected to the central processing unit.

Furthermore, it also includes a pitch sensor circuit for detecting the pitch angle and connected to the central processing unit.

Furthermore, it also includes a Hall switch circuit connected to the central processing unit, and the Hall switch circuit includes a Zener diode W1, a Hall switch H1, an optocoupler chip U2 and a switch integrated chip U3 connected in sequence. The optocoupler chip U2 and the switch integrated chip U3 are respectively connected to the central processing unit.

Further, the central processing unit is an LPC2387 microcontroller.

A method for processing bomb quantity detection data processing of an intelligent acquisition device for refined operation of a silhouette rocket, comprising the following steps: comprising the following steps:

Step 1: Initialize the current output pulse width C of the bullet quantity detection, make C=0; initialize the number M of the bullet quantity, make M=0; read the effective pulse width standard value C ₀ output by the bullet quantity sensor;

Step 2: Determine whether there is a P2 signal: if there is no signal, then exit the subroutine; if there is, then enter step 3;

Step 3: Judge whether the P2 signal is normal: if not, go to step 4 after program-controlled amplification; if normal, go directly to step 4;

Step 4: Determine whether the P1 signal is valid: if it is invalid, exit the subroutine; if it is valid, enter step 5;

Step 5: Delay 10ms;

Step 6: Determine whether the P1 signal is valid: if it is invalid, exit the subroutine; if it is valid, enter step 7;

Step 7: Add 1 to the output pulse width of the currently used bomb quantity detection, that is, C=C+1;

Step 8: Determine whether the P1 signal is valid: if it is valid, return to step 5; if it is invalid, go to step 9;

Step 9: If the output pulse width C of the currently used bullet quantity detection is greater than or equal to the effective pulse width standard value C ₀ , then add 1 to the number of bullets used, that is, M=M+1; otherwise, exit the subroutine;

Step 10: If C ₀ is less than C-5, optimize C ₀ so that C ₀ =C-5, and go to step 11; otherwise, go to step 11 directly; step 11: store M and C ₀ , and exit the subroutine.

A method for processing azimuth detection data of an intelligent acquisition device for refinement operation of a shadow rocket, comprising the following steps:

Step 1) the central processing unit reads a set of data formed by a azimuth instantaneous values output by the dual-antenna GPS circuit per second;

Step 2) correcting the group of azimuth instantaneous values: remove b larger and smaller data, and find the mean value and variance of the remaining azimuth instantaneous values;

Step 3) If the difference between the instantaneous value of any azimuth angle in the group of data and the average value exceeds the preset percentage of the variance, the instantaneous value of the azimuth angle is replaced by the average value, and the correction calculation is performed in a loop;

Step 4) otherwise, the average value obtained by the last calculation is used as the current second azimuth detection value;

Step 5) if the above-mentioned azimuth detection value is the data for the first time, then set a sign, and the azimuth detection value is used as the current second azimuth second value;

Step 6) Otherwise, compare the azimuth detection value with the azimuth second value of the previous second, if the difference between the two does not exceed the preset angle threshold 1°, then use the azimuth detection value as the current second azimuth seconds value;

Step 7) Otherwise, do the following processing: θ=0.2θ ₀ +0.8θ ₁ ; wherein, θ is the second value of the pitch angle in the current second, θ ₀ is the second value of the pitch angle in the previous second, and θ ₁ is the detection of the pitch angle in the current second value;

Step 8) Output the current second azimuth second value.

A method for processing pitch angle detection data of an intelligent acquisition device for refinement operation of a silhouette rocket, comprising the following steps:

Step 1) the central processing unit reads a group of a pitch angle instantaneous values output by the pitch angle circuit per second;

Step 2) correcting the instantaneous values of the group of pitch angles: sorting the group of data from small to large, removing b data before and after, and a>2b, and finding the mean and variance of the instantaneous values of the remaining pitch angles;

Step 3) If the difference between the instantaneous value of any pitch angle in the group of data and the average value exceeds the preset percentage of the variance, the instantaneous value of the pitch angle is replaced by the average value, and the correction calculation is performed in a loop;

Step 4) Otherwise, the average value obtained by the last calculation is used as the current second pitch angle detection value;

Step 5) If the above-mentioned pitch angle detection value is the data for the first time, then put a sign, and this pitch angle detection value is used as the current second pitch angle second value;

Step 6) Otherwise, compare the pitch angle detection value with the pitch angle second value of the previous second, if the difference between the two does not exceed the preset angle threshold 1°, then use the pitch angle detection value as the current second pitch angle seconds value;

Step 7) Otherwise, do the following processing: α=0.2α ₀ +0.8α ₁ ; wherein, α is the second value of the pitch angle in the current second, α ₀ is the second value of the pitch angle in the previous second, and α ₁ is the detection of the pitch angle in the current second value;

Step 8) the current second pitch angle detection value α ₁ is processed through the "latitude correction algorithm", and the processing is as follows:

Among them, α _k is the second value after the latitude revision, The latitude and longitude of the product verification location, Apply location latitude for products;

Step 9) Output the current second pitch angle second value.

The beneficial effects of the present invention are: the present invention adopts the through-core inductive current transformer to realize the accurate detection of the amount of bullets used, reduces the influence of the external environment on the detection results, and at the same time optimizes the standard value of the effective pulse through the self-learning ability , which further improves the anti-interference ability; and is suitable for different rockets and rocket launchers; and through data processing plus quality control technology to solve the impact of strong vibration and electromagnetic interference on the azimuth, the central processing has intelligent learning and processing functions, The intelligent learning and updating of bomb quantity and azimuth detection and judgment standards makes the bomb quantity and azimuth detection more reliable, fault intelligent detection and judgment, and abnormal value statistical processing improve the self-judgment ability of the system, providing scientific and standardized management of meteorological shadow rocket operations Strong guarantee.

Description of drawings

FIG. 1 is a schematic diagram of the circuit structure of the feedthrough inductive current transformer of the present invention.

Fig. 2 is a structural schematic diagram of the intelligent acquisition device for the refinement operation of the shadow rocket according to the present invention.

Fig. 3 is a software flow chart of the present invention.

Fig. 4 is a flow chart of data processing in bomb quantity detection in the present invention.

Fig. 5 is a flow chart of data processing in azimuth detection in the present invention.

Fig. 6 is the flow chart of data processing in pitch angle detection of the present invention

In the figure: 1-iron core; 2-primary winding; 3-secondary winding; 4-rocket launch voltage connection line;

Detailed ways

Below in conjunction with accompanying drawing and specific embodiment, the present invention is described in further detail, as shown in Figure 1, a kind of figure rocket refinement operation intelligent acquisition device, comprises the through-the-heart inductance transformer of the amount of bullets used for detection; The connection wire that the rocket launch provides the ignition voltage passes through the mutual induction coil of the core-through inductance transformer; the mutual induction coil includes an annular iron core as a primary winding, and a secondary winding wound on the iron core; the secondary winding and the secondary winding The secondary loads are connected in series to form a closed loop, and the mutual inductance voltage formed at both ends of the secondary load is connected to the central processing unit after passing through the conditioning circuit.

The central processor uses LPC2387 as the core to control the information acquisition, signal processing, communication and other processing operations of the entire system. This device is mainly composed of eight parts: LPC2387 central processor, dual antenna GPS, pitch sensor, through-heart inductive choke coil circuit, GPRS communication, Bluetooth communication, Hall switch circuit, ferroelectric storage circuit and other parts. The overall block diagram of the entire hardware is shown in Figure 2 below. The central processing unit of the acquisition device adopts LPC2387, which controls the information acquisition, signal processing, communication and other processing operations of the entire system. The software flow chart is shown in Figure 3.

Main functions: automatic detection of azimuth, pitch angle, and ammunition used for rocket operations; data storage; data interaction between Bluetooth and handheld command terminals. The front end of the system is installed at the Human Shadow rocket operation site. Using technologies such as dual-antenna GPS direction and position measurement, high-precision acceleration measurement, and through-core inductance transformer bullet detection, the automatic detection of the operating parameters of the shadow rocket is realized. In terms of communication, Bluetooth and GPRS data transmission is used to realize data transmission with the remote management center. In terms of azimuth and elevation detection, the system uses high-precision sensors to obtain high-precision azimuth and elevation angle data, and uses data processing methods to further improve measurement accuracy. For the bomb quantity detection, the core-through inductance transformer is used to detect the change of the firing ignition current to achieve real-time and accurate measurement.

Due to the magnetic effect of the current (there is a magnetic field around the current-carrying conductor), then a wire passing through the current transformer passes through the current transformer, and an alternating magnetic field will be generated on the iron core of the current transformer. Winding a few turns of the coil on the iron core can control the transformation ratio.

The core-through inductive current transformer does not have a primary winding in its own structure, and the current-carrying (load current) wire passes through the circular (or other shape) core made of silicon steel sheets from L1 to L2 to act as a primary winding. The secondary winding is directly and evenly wound on the circular iron core, and is connected in series with the secondary load of the current coil such as the instrument, relay, and transmitter to form a closed loop. Since the core-through inductive current transformer does not have a primary winding, its transformation ratio is based on The number of turns that the primary winding passes through the core of the transformer is determined. The more turns of the through-core inductance, the smaller the transformation ratio; on the contrary, the fewer the turns of the through-core inductance, the larger the transformation ratio, and the rated current ratio I ₁ /n: where I ₁ is the primary rated current for one turn of the through-core inductor; n is the number of turns of the core inductor.

The conditioning circuit of this embodiment includes a bridge rectifier circuit, the input end of the bridge rectifier circuit is connected in parallel to the two ends of the secondary load, and one signal at the output end is connected to the IO port P1 of the central processing unit through a program-controlled amplifier to detect The effective width of the signal, the other signal is connected to the AD port P2 of the central processing unit through the limiting zener diode to detect the amplitude of the signal; the judgment result of the amplitude is returned through the IO port P3 of the central processing unit to control the program-controlled amplifier. Make sure that the signal amplitude of the bullet signal width used for detection reaches the normal range of the CPU. The P1 signal is the pulse width signal for detecting the amount of ammunition connected to the CPU; the P2 signal is the pulse width signal for detecting the amount of ammunition connected to the CPU; the P3 signal is the control signal for controlling the program-controlled amplifier.

The principle of bomb quantity detection: the rocket launch is to provide the rocket with an ignition voltage of about 85 volts through the rocket launch controller, the internal resistance of the rocket is 1-20 ohms, and the ignition current reaches several amperes to tens of amperes. Pass a wire of the ignition current through the heart-through inductance transformer. When the rocket is launched, it will be a high-voltage pulse. There will be a pulse current in the wire, and the heart-through inductance transformer will output current. The current will pass through a resistive load to obtain a voltage. After processing Connect to the A/D that comes with the CPU, and detect the ammo consumption after software processing.

Figure 4 shows the data processing flow of bullet volume, and the specific steps are as follows:

Step 1: Initialize the current output pulse width C of the bullet quantity detection, make C=0; initialize the number M of the bullet quantity, make M=0; read the effective pulse width standard value C ₀ output by the bullet quantity sensor;

Step 2: Determine whether there is a P2 signal: if there is no signal, then exit the subroutine; if there is, then enter step 3;

Step 3: Judge whether the P2 signal is normal: if not, go to step 4 after program-controlled amplification; if normal, go directly to step 4;

Step 4: Determine whether the P1 signal is valid: if it is invalid, exit the subroutine; if it is valid, enter step 5;

Step 5: Delay 10ms;

Step 6: Determine whether the P1 signal is valid: if it is invalid, exit the subroutine; if it is valid, enter step 7;

Step 7: Add 1 to the output pulse width of the currently used bomb quantity detection, that is, C=C+1;

Step 8: Determine whether the P1 signal is valid: if it is valid, return to step 5; if it is invalid, go to step 9;

Step 9: If the output pulse width C of the currently used bullet quantity detection is greater than or equal to the effective pulse width standard value C ₀ , then add 1 to the number of bullets used, that is, M=M+1; otherwise, exit the subroutine;

Step 10: If C ₀ is less than C-5, optimize C ₀ so that C ₀ =C-5, and go to step 11; otherwise, go to step 11 directly; step 11: store M and C ₀ , and exit the subroutine.

Among them, C is the output pulse width calculator (the time width is 10 milliseconds) of the currently used bullet quantity detection, and C ₀ is the effective pulse width judgment standard output by the bullet quantity sensor. In the rocket operation business, the minimum width of the actually measured rocket ignition is 150 Milliseconds, if the pulse width reaches 100 milliseconds when igniting, it can be judged that a rocket has been launched. The larger the C ₀ is, the easier it is to remove the interference. Because different rockets and rocket launch controllers have different pulse widths, and will be affected by Field influence, if the standard is too high, the amount of ammunition used will be missed. Experience gives C ₀ =10, and the standard will be raised through self-study to further improve the anti-interference ability of the device.

At the same time, because different rockets and rocket launchers have different ignition currents, and the difference is large, the signal size can be quantitatively detected to provide data for system self-learning. The central processing has the functions of intelligent learning and processing. The intelligent learning and updating of the judging standard for ammunition detection makes the ammunition detection more reliable, the intelligent fault detection and judgment, and the statistical processing of abnormal values improve the self-judgment ability of the system.

This embodiment also includes a dual-antenna GPS circuit for detecting azimuth and connected to the central processing unit.

The dual-antenna GPS mainly obtains the automatic detection of the azimuth angle of the rocket operation. Specifically, it is composed of dual-antenna GPS module GPS120, interface and signal processing circuit. GPS 120 can provide the carrier's location information (latitude, longitude, altitude), speed information, direction information, GPS time and UTC time. It has high positioning accuracy, good real-time performance, stability and reliability, and is not affected by the magnetic field environment.

Dual-antenna GPS direction finding is the high-precision two-dimensional attitude information obtained by processing the baseline distance between the main GPS antenna and the second antenna. It can calculate the pitch, roll, heading and other data of the carrier in real time, and can reach the fastest 10 times per second.

Principle of direction finding: The accuracy of the dual-antenna GPS direction-finding system is directly proportional to the distance between the two antennas, which is close to a linear relationship; (the baseline length of 1 meter antenna, the heading accuracy is 0.20°), the longer the length between the baselines, The better the effect of attitude measurement accuracy, the baseline length in this design and application is not less than 2 meters, and the azimuth measurement error is less than 0.1°.

Acquisition of position data: GPS outputs the latitude and longitude of the operating point. Through algorithm processing, the precise position of the operating point can be obtained through the average of two GPS data, and the error is less than 1 meter.

Data quality control: Since GPS may be disturbed by lightning strikes, lightning and strong magnetic fields, although these disturbances are short-lived, they will inevitably lead to a decline in product quality. We use data quality control methods to deal with them.

Lightning strikes, lightning and strong magnetic field interference are launched instantaneously, and the affected data is very individual. According to the business process of rocket operations, the azimuth and pitch angles are fixed for the first 3 seconds of the operation, and the output data applications are relatively stable. The secondary data change will not exceed 1°, therefore, the following algorithm can be used to solve the interference problem.

The azimuth data processing method is as follows: the GPS module outputs 20 azimuth instantaneous values per second, the CPU reads and stores 20 data per second, removes the larger and smaller instantaneous values, calculates the average value and variance, and exceeds the average value 5% is replaced by the average value, and then averaged until there is no value exceeding 5% of the average value, the average value is used as the value of the second, if it is the first data, it is directly output, and the flag is set, if it is not the first time, then Compared with the historical data, if it does not exceed 1°, the current value will be used as the current data and output; if the difference exceeds 1°, it will be processed as the current value after the following formula

θ＝0.2θ ₀ +0.8θ ₁ (1)

Among them, θ is the second value of the azimuth angle in the current second, and it is used as the next θ ₀ at the same time; θ ₀ is the second value of the azimuth angle in the previous second, and θ ₁ is the detected value of the azimuth angle in the current second.

The process is as follows:

1) The central processing unit reads 20 azimuth instantaneous values output by the GPS module per second and forms a set of data;

2) Make corrections to the group of 20 instantaneous values of azimuth angles: remove the 5 larger and smaller data in the group, and obtain the average and standard deviation of the remaining 10 values of the instantaneous values of the azimuth angles. If the difference between the instantaneous value of the azimuth angle and the average value exceeds the preset percentage of the standard deviation, the instantaneous value of the azimuth angle is replaced by the average value, and the correction calculation is performed cyclically;

3) Otherwise, the average value obtained by the last calculation is used as the current second azimuth detection value;

4) If the above-mentioned azimuth detection value is the data for the first time, a flag is set, and the azimuth detection value is used as the current second azimuth second value;

5) Otherwise, compare the azimuth detection value with the azimuth second value of the previous second, if the difference between the two does not exceed the preset angle threshold 1°, then use the azimuth detection value as the current second azimuth second clock value;

6) Otherwise, do the following processing: θ=0.2θ ₀ +0.8θ ₁ ;

7) Output the current second azimuth second value.

This embodiment also includes a pitch sensor circuit for detecting the pitch angle and connected to the central processing unit. The circuit is mainly composed of a tilt sensor DCM260 module and a corresponding interface circuit.

The theoretical basis is Newton's second law: According to basic physical principles, within a system, the velocity cannot be measured, but its acceleration can be measured. If the initial velocity is known, the linear velocity can be calculated by integral, and then the linear displacement can be calculated, so it is actually an acceleration sensor using the principle of inertia. When the inclination sensor is stationary, that is, there is no acceleration in the side and vertical directions, then only the acceleration of gravity acts on it. The angle between the vertical axis of gravity and the sensitive axis of the acceleration sensor is the tilt angle. With the development of MEMS technology, inertial sensor devices have become one of the most successful and widely used micro-electromechanical system devices in the past few years, and microaccelerometers (microaccelerometer) are outstanding representatives of inertial sensor devices. As the most mature inertial sensor application, the current MEMS accelerometer has a very high degree of integration, that is, the sensing system and the interface circuit are integrated on one chip. The most typical principle of the micro accelerometer is: a mass block is used as a sensitive part. When the carrier has an acceleration in a certain direction, the mass block shifts in one direction, and then the displacement is measured through the electrodes (or the inertial force that generates the shift ) is converted to acceleration.

Due to the heavy vibration of the rocket operation and complex electromagnetic interference, this will inevitably form a new acceleration, resulting in inaccurate detection of azimuth angles, and even large errors. Therefore, we use software to solve this problem. Advanced quality control technology to solve the impact of strong vibration and electromagnetic interference on elevation angle detection. Choose DCM260 as the pitch angle sensor, the sensor module outputs 20 instantaneous pitch angle values per second, the CPU reads and stores 20 data per second, calculates the average, calculates the standard deviation, and replaces the average value by 2% if it exceeds the average value , and then average until there is no value exceeding 2% of the average value. The average value is used as the value of the second. If it is the first data, it will be directly output, and the flag will be set. If it is not the first time, it will be compared with the historical data and carried out. For the corresponding processing, see Formula 2 for details, where α is the processed data, α ₀ is the historical data, and α ₁ is the current detection data. Specific method: compare the current value with the historical value. If it does not exceed 1°, the current value will be used as the current data. If the difference exceeds 1°, it can be used as the current value after being processed by formula 1 and output. At the same time, the The current value is used as α ₀ for the next time.

α＝0.1α ₀ +0.9α ₁ (2)

Since the acceleration of gravity has different values at different latitudes and altitudes on the earth, the impact of altitude is very small and can be ignored, but the maximum impact of latitude can reach about three thousandths, and the maximum error caused can reach more than 0.2° , for fine work, the detection error of the elevation angle should be less than 0.3°, and the error caused by latitude must be resolved. To solve this problem, according to the principle of the influence of latitude on the acceleration of gravity, this paper proposes a "latitude correction algorithm" to solve this problem. The algorithm is as follows:

Among them, α _k is the second value after the latitude revision, The latitude and longitude of the product verification location, Apply the location latitude to the product, which can be detected by the GPS in the smart device.

The software flow chart is shown in Figure 6.

This embodiment also includes a Hall switch circuit connected to the central processing unit for realizing wireless power-on and power-off. It is realized by a Hall switch and a permanent magnet. In this embodiment, the Hall switch is selected, and the Hall element requires a power supply to work. The micro-power consumption Hall switch is the best choice, but the operating voltage of almost all micro-power Hall switches is below 6 volts, and the acquisition device in this embodiment The sensor needs a 12-volt power supply, so the design of this circuit is very important to ensure that the current of the acquisition device in the standby state is less than 0.05 mA. In the off state, the magnetic field can be turned on if it is close. The Hall switch circuit includes a Zener diode W1, a Hall switch H1, an optocoupler chip U2 and a switch integrated chip U3 connected in sequence, and the optocoupler chip U2 and the switch integrated chip U3 are respectively connected to the central processing unit.

This embodiment also includes a handheld command terminal, which communicates with the collector through Bluetooth, and the handheld terminal receives and displays the rocket launch azimuth, pitch angle, operation start and stop time, and battery power information detected by the collector in real time; Various information (including forgetting to shut down, low battery warning, judgment criteria, etc.); detect the QR code of the rocket, and obtain the code of the rocket and the data of the rocket in and out of the warehouse. It effectively solves a variety of problems in the process of data collection, transmission, command issuance, and operation information feedback under specific conditions such as severe vibration of the operating rocket and strong magnetic interference.

In specific applications, the collector is installed on the rocket rack, and the handheld terminal is used by the staff at the operation point. It can mainly obtain the azimuth and elevation angle of the rocket in real time, and the amount of ammunition used after the operation. The human figure operation management system software is installed in the human figure management center. computer to complete operation command, data collection and management. The specific use process is as follows:

The staff at the rocket operation point opens the handheld terminal, and at the same time approaches the collector through the magnet on the handheld command terminal (a permanent magnet can also be equipped separately), the collector automatically starts up, and the handheld terminal and the collector automatically establish communication through Bluetooth. After the communication is established, Collector clock, attitude (azimuth, elevation), battery power, operating point number, operator changes and other data are automatically transmitted to the handheld command terminal, and the handheld terminal can set the parameters of the collector through its interface, such as: automatic shutdown time, Working mode, sensor parameters, etc.; at the same time, the intelligent collector and the command center automatically establish communication through GPRS and computer network, and the command center issues operation instructions to the handheld command terminal according to satellite cloud images and radar information. The instructions include: operation start time, azimuth, Elevation angle, amount of ammunition used, operating time, etc., the command personnel at the operating point adjust the rocket launcher to the specified azimuth and elevation angle, and when the operating time arrives, the operation starts. azimuth, elevation, ammunition used, operating point number, operator number) to the command center, and at the same time send the operation data to the mobile phone of the relevant personnel through SMS; the operator sends a shutdown command to the collector through the handheld command terminal, and the collector receives It will automatically shut down after the command is received. If the shutdown command is not sent, the collector will automatically shut down when the time is up, and it will also shut down when it detects that the permanent magnet is approaching more than 5 minutes after it is turned on.

The human shadow rocket operation data acquisition device is installed on the rocket rack, which can automatically detect the start and end time of the rocket operation, the amount of ammunition used, the azimuth angle and the elevation angle with high precision, and transmit the relevant data to the human shadow management department in real time, realizing the automation, digitization, and Precise, it solves the problems of strong vibration, high noise, untimely and inaccurate information acquisition, and labor-intensive problems during manual operations in the past, and can effectively collect, transmit, and process information and data related to operations and command, greatly improving The timeliness, effectiveness and accuracy of operation command and implementation improve the safety of operations.

Claims (1)

1. a kind of bullet number detection data processing method of shadow rocket meticulous process intelligent acquisition device, shadow rocket are fine It is turned into industry intelligent acquisition device, including the punching inductance mutual inductor for the bullet number for being used to detect；For providing point to rocket launching The connecting line of thermoelectricity pressure passes through the mutual inductor of the punching inductance mutual inductor；The mutual inductor is included as first winding Annular core and the secondary winding being wrapped on iron core；Secondary winding and secondary load closed circuit in series, secondary load The mutual voltage that both ends are formed after modulate circuit by accessing central processing unit；

The modulate circuit includes bridge rectifier, and the input terminal of bridge rectifier is parallel to the two of the secondary load End, signal is connected to central processing unit to output terminal by programmable amplifier all the way, to detect bullet number detection pulse width signal P1, in addition signal is connected to central processing unit by amplitude limit zener diode all the way, to detect bullet number detection impulse amplitude letter Number P2；Central processing unit controls programmable amplifier by the judging result P3 signals to amplitude；

It is characterized in that, method comprises the following steps：

Step 1：Current bullet number detection output pulse width C is initialized, makes C=0；Bullet number number M is initialized, makes M=0；It reads Take the effective pulse width standard value C for playing quantity sensor output₀；

Step 2：Determine whether P2 signals：If nothing exits subprogram；If any then entering step 3；

Step 3：Judge whether P2 signals are normal：If abnormal, 4 are entered step after programming amplifying；If normal, directly into Enter step 4；

Step 4：Judge whether P1 signals are effective：If invalid, subprogram is exited；If effectively, enter step 5；

Step 5：Be delayed 10ms；

Step 6：Judge whether P1 signals are effective：If invalid, subprogram is exited；If effectively, enter step 7；

Step 7：Current bullet number detection output pulse width adds 1, i.e. C=C+1；

Step 8：Judge whether P1 signals are effective：If effectively, return to step 5：9 are entered step if invalid；

Step 9：If current bullet number detection output pulse width C is more than or equal to effective pulse width standard value C₀, then bullet number number Mesh adds 1, i.e. M=M+1；Otherwise, subprogram is exited；

Step 10：If C₀Less than C-5, then optimize C₀, make C₀=C-5, enters step 11；Otherwise it is directly entered step 11；Step 11： Store M and C₀, and exit subprogram.