CN107356158A - A kind of ammunition automatic scoring round target system and target scoring method based on sound - Google Patents
A kind of ammunition automatic scoring round target system and target scoring method based on sound Download PDFInfo
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- CN107356158A CN107356158A CN201710763083.3A CN201710763083A CN107356158A CN 107356158 A CN107356158 A CN 107356158A CN 201710763083 A CN201710763083 A CN 201710763083A CN 107356158 A CN107356158 A CN 107356158A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
- F41J5/00—Target indicating systems; Target-hit or score detecting systems
- F41J5/04—Electric hit-indicating systems; Detecting hits by actuation of electric contacts or switches
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- General Engineering & Computer Science (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The present invention discloses a kind of ammunition automatic scoring round target system and target scoring method based on sound, the hit telling system includes target, sound collection node, wireless network, wireless gateway node and system terminal, the present invention is by building node, each node carries out landing moment estimation in local to the sound collected, and realize high precision clock synchronization using wireless network, each node transfers data to system terminal by wireless network, and validity event is positioned and shown using the arrival time difference positioning algorithm based on least square, realize the automatic target-indicating thrown in training process.Hit telling system fitness height of the present invention, carrying portable, lay low quick, strong antijamming capability, cost, low in energy consumption, fast response time, indication of shots precision height, it is possible to increase the level of informatization, training effectiveness and the training effect of People's Armed Police's daily workout.
Description
Technical field
The invention belongs to location Based service field, more particularly to a kind of ammunition automatic system and report based on sound
Target process.
Background technology
Civilian and military automatic scoring round target system domestic and international at present, most of is the gunnery target for light weapons, and big absolutely
Part is only applicable to indoor environment.The automatic scoring round target system designed for the training of People's Armed Police's antitank grenade, domestic and international media and periodical text
Offer and be not reported, still belong to blank.Except that, the target range of antitank grenade training is without fixed mesh with the automatic scoring round target system of gunnery target
Mark, generally surface mark thing or mark region, and Simulation Training bullet is used, it is obvious that obvious crater or bullet eye etc. can not be left
Indicate vestige.Meanwhile for hard training court, the bounce-back that lands of emulation antitank grenade can bring bounce, the observation bullet after the completion of throwing
Is not a little its actual position.These all bring huge challenge for measure antitank grenade drop point.It is more using artificial in antitank grenade training
, there are shortcomings in the form of indication of shots, as workload is big, security is low, indication of shots degree of error is larger, indication of shots rate is low.
Current gunnery target automatic scoring round target system both domestic and external, oneself based on image processing techniques can be divided into from technology species
Dynamic hit telling system, photoelectricity class automatic scoring round target system, double-deck short-circuit sampling system of click etc..And should by gunnery target automatic target-indicating technology
Use antitank grenade to throw in training automatic target-indicating, have some limitations.Two-layer electrode short circuit sampling system, i.e., electronically
After blanket, when in target range, area is larger, its weight is larger, is not easy to rapid deployment, and trained antitank grenade hits repeatedly, easily occur
Circuit damages, and maintenance cost is higher.Photoelectricity elements of a fix technology needs substantial amounts of photoelectric sensor, and cost of installation and use is all very
Height, and require that target range flatness is higher, place adaptability is poor, it has not been convenient to the motion in the field training of army.Based on image from
Dynamic hit telling system after being demarcated to camera position, it is necessary to could use, and in order to obtain higher indication of shots precision, image
Head position needs to be erected at higher position, and volume is also larger, is easily hit and damaged in training.Meanwhile for
Hard ground, due to that can not leave obvious point of impact, this is that image recognition brings very big difficulty, and for sandy
Face, it identifies that difficulty can be higher, and cost also can be raised drastically.
The content of the invention
In view of the shortcomings of the prior art, the present invention proposes a kind of ammunition automatic system and target scoring method based on sound,
Indication of shots precision is high, fast response time, and with adaptable, carrying portable, lay quick, strong antijamming capability, cost it is low,
The features such as low in energy consumption and level of informatization is high, the training effectiveness of People's Armed Police's daily workout and complex scene can be significantly improved
And training effect.Concrete technical scheme is as follows：
A kind of ammunition automatic scoring round target system based on sound, it is characterised in that the system includes target, sound is adopted
Collect node, wireless network, wireless gateway node and system terminal, wherein：
The target is made up of the identical size regular polygon cored slab no less than 4 pieces, the one side of described cored slab
Or two iso-surface patch identical pattern so that all cored slabs are spliced into a target pattern；The target is used for as instruction
The ammunitions such as thunder/grenade of trying one's hand throw the target in training, while ammunition drop point sound is strengthened, and limit drop point
The spectral range of sound；
The sound collection node includes microprocessing unit, acoustic signal sensor, signal acquisition module, memory cell, nothing
Line communication module and power module；The sound collection node installation is in the surrounding of the target, for monitoring and gathering mesh
The collision sound of target area, and collision accident is carried out to land moment estimation, and estimated result is passed through into wireless network transmissions
To wireless gateway node；
The wireless network is used for Transmission system control instruction, and each sound collection node landing moment estimated result passes
It is defeated；
The wireless gateway node is connected with the system terminal, whole from the system to wireless network forwarding
The system control instruction at end, and forward the landing moment estimated result from the wireless network to the system terminal；It is described
Wireless gateway node includes microprocessing unit, serial communication modular, wireless communication module and power module；
The system terminal is provided with upper computer software, is run for control system, and receive each sound collection node and fall
Ground moment estimated result, and then reaching time-difference is calculated, and using the arrival time difference positioning algorithm based on least square to having
Effect event is positioned and shown.
Further, the one kind of described regular polygon cored slab in plank, plastic plate or metallic plate.
Further, described regular polygon is equilateral triangle, square, pentagon, hexagon.
Further, the system control instruction includes system operation, system halt, system stops and clock is synchronous.
A kind of target scoring method of ammunition automatic system based on sound using described in any of the above-described, its feature exist
In this method comprises the following steps：
Step 1：Throwing target is spliced into using at least 4 pieces of regular polygon cored slabs, and in target surrounding laying sound
Sound acquisition node, and relative position coordinates system is established, measure and record the coordinate value of each sound collection node；Lay radio network gateway
Node, and pass through wireless gateway node setting up wireless networks；
Step 2：The coordinate value of sound collection node is to establish relative position in the upper computer software recording step 1 of system terminal
Put coordinate system；System terminal sends system control instruction by serial communication modular to wireless gateway node；
Step 3：After wireless gateway node receives the system control instruction of system terminal in step 2, it is parsed
And data frame is packaged into, by the wireless network built in step 1, system is broadcasted；Each sound collection node is connecing
After receiving operation order, open acoustic signal sensor and start to gather acoustical signal, and open signal handling process, collected to all
Sound event be identified, land the moment estimation；The machine ID, target are landed moment and local zone time by each sound collection node
Stamp is packaged into data frame, and the initial data collected is stored to local storage unit；
Step 4：The wireless network that sound collection node is built by step 1, will be obtained in step 3 by the machine ID,
The data frame that target landing moment and local time stamp are packaged into is sent to wireless gateway node；Wireless gateway node passes through serial ports
Communication module forwards it to system terminal；
Step 5：Target obtained by each sound collection node that the upper computer software of system terminal is received by step 4 falls
Ground moment estimated result and local time stamp information, and then reaching time-difference TDOA is calculated, and utilize arriving based on least square
Validity event is positioned and shown up to digital algorithm.
Further, the local time stamp information of the sound collection node in described step 3 is by its internal timer
There is provided；Described system control instruction includes system operation, system halt, system stops and clock is synchronous, each sound collection section
Point closes acoustic signal sensor and Underwater Acoustic channels flow after system halt instruction is received；Each sound collection node is connecing
After receiving system halt instruction, acoustic signal sensor and Underwater Acoustic channels flow are closed, closes local storage unit storage；Each sound
Sound acquisition node is after system clock synchronic command is received, by the numerical value zero setting in local timer.
Compared with prior art, beneficial effects of the present invention are as follows：
The present invention is positioned using sound to point of impact, and wireless sensor network is combined with passive acoustic direction,
Sound collection node is laid on target border, when the drop point sound by gathering, measuring training antitank grenade reaches the arrival of each node
Between it is poor, to calculate to the position of point of impact；By being recognized to drop point sound, it can effectively exclude voice, sound of the wind, move
Thing sound, mechanical sounds etc. are disturbed；And row clock synchronization is entered by acoustical signal, system hardware complexity can be further reduced,
Improve the stability of a system and reliability.Each node is only by microprocessor, wireless transport module, acoustic signal sensor, signal acquisition
Module and memory cell composition, cost is relatively low, low in energy consumption, small volume, lay it is efficient and convenient, easy to carry.
Simultaneously hit telling system fitness height of the present invention, carrying portable, lay fast, strong antijamming capability, cost be low, work(
It is high to consume low, fast response time, indication of shots precision, it is possible to increase the level of informatization, training effectiveness and the instruction of People's Armed Police's daily workout
Practice effect.
Brief description of the drawings
Fig. 1 is the working-flow figure of the present invention；
Fig. 2 is the system architecture and node layout's figure of the present invention；
Fig. 3 is sound collection node structure theory diagram；
Fig. 4 is comparison diagram before and after original sound signals filtering；
Fig. 5 is system positioning result distribution map.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, the present invention will be made further with reference to accompanying drawing
It is described in detail.This description is to describe specific implementation consistent with the principles of the present invention by way of example, and not limitation
Mode, the description of these embodiments is detailed enough, to enable those skilled in the art to put into practice the present invention, is not being taken off
Other embodiment can be used in the case of from scope and spirit of the present invention and can change and/or replace each key element
Structure.Therefore, the following detailed description should not be understood from restrictive, sense.Here with zigbee wireless networks and
Exemplified by zigbee wireless gateway nodes, illustrate.
A kind of ammunition automatic scoring round target system based on sound, as shown in Fig. 2 including target, sound collection node, nothing
Gauze network, wireless gateway node and system terminal, wherein：
Target is made up of 16 pieces of identical dimension square cored slab (such as plank, plastic plate or metallic plate), and the one of plate
Face or two iso-surface patch identical patterns so that all plates are spliced into a target pattern；Target be used for as training antitank grenade/
The ammunitions such as grenade throw the target in training, while ammunition drop point sound is strengthened, and limit drop point sound
Spectral range；
Sound collection node includes single-chip microcomputer, microphone, A/D chips, SD card, wireless communication module and power module；Sound
Sound acquisition node is installed on the surrounding of the target, for monitoring and gathering the collision sound of target target region, and to collision
Event is carried out landing moment estimation, and estimated result is passed through into zigbee wireless network transmissions to zigbee wireless gateway nodes；
As figure (3) show sound collection node structure theory diagram.
Zigbee wireless networks are used for Transmission system control instruction and each sound collection node landing moment estimated result
Transmission；Wherein, system control instruction includes system operation, system halt, system stops and clock synchronic command；
Zigbee wireless gateway nodes are connected with system terminal, and the system control from system terminal is forwarded to wireless network
System instruction, and forward the landing moment estimated result from zigbee wireless networks to system terminal；Zigbee wireless networks joint
Point includes single-chip microcomputer, serial communication modular, zigbee wireless communication modules and power module；
System terminal (such as PC, industrial computer and notebook) is provided with upper computer software, is transported for control system
OK, and each sound collection node landing moment estimated result is received, and then calculates reaching time-difference TDOA, and using based on minimum
The two arrival time difference positioning algorithms multiplied are positioned and shown to validity event.
The ammunition automatic scoring round target system target scoring method based on sound of the present invention, specific workflow is as shown in figure 1, be
On system after electricity operation, zigbee wireless gateway nodes initiate networking commands first, and each sound collection node is according to zigbee agreement
Add network.System control instruction is packaged into control data frame and is sent to zigbee wireless networks by the upper computer software of system terminal
Artis；Zigbee wireless gateway nodes are distributed to each sound collection node after instruction is parsed；Each sound collection node
Open microphone, open acoustical signal collecting flowchart, open signal handling process, and by local ident, landing moment estimated result and
Local time stamp is packaged into data frame, is sent to zigbee wireless gateway nodes；After system operation, when system terminal sends system
Clock synchronic command gives zigbee wireless gateway nodes；Zigbee wireless gateway nodes to net broadcast system clock synchronic command,
After each sound collection node receives the instruction, local timer is emptied；When the upper computer software of system terminal is periodically sent
Clock synchronic command, while the landing moment value of each node is received, after TDOA values are calculated, interface is shown in after carrying out location Calculation
On.
Comprise the following steps that：
1. the splicing target as shown in figure (2), and sound collection node is laid in target surrounding, and establish relative position
Coordinate system, measure and record the coordinate value of each node；Wireless gateway node is laid, system selects zigbee agreement building network,
And the wireless network is set up by wireless gateway node；
2. each sound collection node coordinate value in the upper computer software recording step 1 of system terminal is to establish relative position
Coordinate system；System terminal sends system control instruction by RS232 serial communication modulars to without zigbee gauzes artis；System
Control instruction includes system operation, system halt, system stops and clock synchronic command.
After 3. wireless gateway node receives the system control instruction of system terminal in step 2, it is parsed and sealed
Data frame is dressed up, by the wireless network built in step 1, system is broadcasted；Each sound collection node is receiving
After operation order, open microphone and start to gather acoustical signal, and open signal handling process, to all sound events collected
It is identified, lands moment estimation；Are landed into the moment by the machine ID, target for each sound collection node and local time stamp is packaged into number
Stored according to frame, and the initial data collected to local SD card；The local time stamp information of sound collection node is by inside it
Timer provide；Each sound collection node is after system halt instruction is received, mute microphone (MIC) and Underwater Acoustic channels flow；
Each sound collection node mute microphone (MIC) and Underwater Acoustic channels flow, closes local SD card after system halt instruction is received
Storage；Each sound collection node is after system clock synchronic command is received, by the numerical value zero setting in local timer；
Here signal processing algorithm includes F.I.R filtering, effective thing based on short-time energy detection and short-time zero-crossing rate
Part detection, the time domain landing moment algorithm for estimating based on energy threshold；
The wave filter of F.I.R filtering is bandpass filter, and its band connection frequency is [200,1000] Hz, and low-frequency cut-off frequency is
150Hz, high-frequency cut-off frequency are 1500Hz；As figure (4) show comparison diagram before and after original sound signals filter.
Original sound signal sequence is denoted as x (n), n=1,2 ..., N, it is described to be based on short-time energy detection expression formula：I=1,2,3 ... N, N are data frame length, N=4096.WhereinIn short-term
Amount, selected short signal length S=100,For it is long when energy, selected long signal length L=500.
Due to the accident that antitank grenade drop point sound is pulsed, RiThere is performance well for this accident
Power.
The short-time zero-crossing rate expression formula is：
Wherein, N is data frame length, and sgn [] is sign function, and T is threshold value.ZnValue it is smaller its closer to harmonic wave,
Whether it is higher for the probability of validity event, effective by short-time energy and short-time zero-crossing rate comprehensive descision event.
The time domain landing moment algorithm for estimating based on energy threshold, its expression formula are For the normalized form of signal waveform, pthdFor a fixed threshold, according to experimental result, pthd=0.1.It will normalize
After waveform, signal waveform energy at first 0.1 times of arriving signal maximum point as landing moment estimate.
4. the wireless network that each sound collection node is built by step 1, by the node ID obtained in step 3, landing
Moment estimated result and local time stamp information are sent to zigbee wireless gateway nodes；Zigbee wireless gateway nodes pass through string
Port communications module forwards it to system terminal；
5. the target obtained by each sound collection node that the upper computer software of system terminal is received by step 4 is landed
When carving estimated result and local time stamp information, and then calculate reaching time-difference TDOA, and utilizing the arrival based on least square
Between difference positioning algorithm validity event is positioned and shown.
The location algorithm based on reaching time-difference TDOA, [xj,yj]T, j=1,2 ..., 8 be with direct point coordinates,
[x,y]TFor venue location point coordinates, dijThe distance between node i and node j are represented, its calculation formula is：
Wherein, c is sound propagation velocity, Δ tijThe reaching time-difference reached between node i and node j is landed for target, its
Calculation formula is：
Δtij=| Ti+ti-Tj-tj|
Wherein, tiMoment estimated result, t are landed for the target obtained by node ijWhen being landed for the target obtained by node j
Carve estimated result, TiFor the timestamp information of node i, TjFor node j timestamp information.
Using based on least square positioning principle
Estimate the position of user
As figure (5) show system positioning result distribution map；Stain is the positioning result of 40 fixed point experiments in figure, is had
Good concentration degree.Experiment shows, System and method for provided by the present invention so that the positioning precision of antitank grenade drop point wild environment
Less than 20cm, algorithm stability and robustness are all preferable.
Claims (6)
1. a kind of ammunition automatic scoring round target system based on sound, it is characterised in that the system includes target, sound collection
Node, wireless network, wireless gateway node and system terminal, wherein：
The target is made up of the identical size regular polygon cored slab no less than 4 pieces, the one side of described cored slab or two
Iso-surface patch identical pattern so that all cored slabs are spliced into a target pattern；The target is used for as training hand
The ammunitions such as thunder/grenade throw the target in training, while ammunition drop point sound is strengthened, and limit drop point sound
Spectral range；
The sound collection node includes microprocessing unit, acoustic signal sensor, signal acquisition module, memory cell, channel radio
Believe module and power module；The sound collection node installation is in the surrounding of the target, for monitoring and gathering target
The collision sound in region, and collision accident is carried out to land moment estimation, and estimated result is passed through into wireless network transmissions to nothing
Gauze artis；
The wireless network is used for Transmission system control instruction, and the estimated result transmission of each sound collection node landing moment；
The wireless gateway node is connected with the system terminal, is forwarded to the wireless network from the system terminal
System control instruction, and forward the landing moment estimated result from the wireless network to the system terminal；It is described wireless
Gateway node includes microprocessing unit, serial communication modular, wireless communication module and power module；
The system terminal is provided with upper computer software, is run for control system, and when receiving the landing of each sound collection node
Estimated result is carved, and then calculates reaching time-difference, and using the arrival time difference positioning algorithm based on least square to effective thing
Part is positioned and shown.
2. the ammunition automatic scoring round target system based on sound as claimed in claim 1, described regular polygon cored slab is selected from
One kind in plank, plastic plate or metallic plate.
3. the ammunition automatic scoring round target system based on sound as claimed in claim 1, described regular polygon be equilateral triangle,
Square, pentagon, hexagon.
4. the ammunition automatic scoring round target system based on sound as claimed in claim 1 or 2, the system control instruction is including being
System operation, system halt, system stops and clock is synchronous.
5. a kind of target scoring method of ammunition automatic system based on sound using any one of claim 1-4, its
It is characterised by, this method comprises the following steps：
Step 1：Throwing target is spliced into using at least 4 pieces of regular polygon cored slabs, and lays sound in target surrounding and adopts
Collect node, and establish relative position coordinates system, measure and record the coordinate value of each sound collection node；Lay wireless network joint
Point, and pass through wireless gateway node setting up wireless networks；
Step 2：The coordinate value of sound collection node is sat with establishing relative position in the upper computer software recording step 1 of system terminal
Mark system；System terminal sends system control instruction by serial communication modular to wireless gateway node；
Step 3：After wireless gateway node receives the system control instruction of system terminal in step 2, it is parsed and sealed
Data frame is dressed up, by the wireless network built in step 1, system is broadcasted；Each sound collection node is receiving
After operation order, open acoustic signal sensor and start to gather acoustical signal, and open signal handling process, to all sound collected
Sound event is identified, lands moment estimation；Are landed into the moment by the machine ID, target for each sound collection node and local time stamp seals
Data frame is dressed up, and the initial data collected is stored to local storage unit；
Step 4：The wireless network that sound collection node is built by step 1, it will be obtained in step 3 by the machine ID, target
The data frame that landing moment and local time stamp are packaged into is sent to wireless gateway node；Wireless gateway node passes through serial communication
Module forwards it to system terminal；
Step 5：When target obtained by each sound collection node that the upper computer software of system terminal is received by step 4 is landed
When carving estimated result and local time stamp information, and then calculate reaching time-difference TDOA, and utilizing the arrival based on least square
Between difference positioning algorithm validity event is positioned and shown.
6. target scoring method according to claim 5, the local time stamp information of the sound collection node in described step 3
There is provided by its internal timer；Described system control instruction includes system operation, system halt, system stops and clock is same
Step, each sound collection node close acoustic signal sensor and Underwater Acoustic channels flow after system halt instruction is received；Each sound
Sound acquisition node closes acoustic signal sensor and Underwater Acoustic channels flow after system halt instruction is received, and closes local deposit
Storage unit stores；Each sound collection node is after system clock synchronic command is received, by the numerical value zero setting in local timer.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710763083.3A CN107356158A (en) | 2017-08-30 | 2017-08-30 | A kind of ammunition automatic scoring round target system and target scoring method based on sound |
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ID=60288468
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108151747A (en) * | 2017-12-27 | 2018-06-12 | 浙江大学 | A kind of indoor locating system and localization method merged using acoustical signal with inertial navigation |
| CN113112681A (en) * | 2020-01-13 | 2021-07-13 | 阿里健康信息技术有限公司 | Vending equipment, and shipment detection method and device |
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| CN206192187U (en) * | 2016-11-08 | 2017-05-24 | 甘肃神枪声像科技工程有限公司 | Open -air wireless automatic indication of shots equipment |
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| CN1074753A (en) * | 1992-01-14 | 1993-07-28 | 抚顺市发明学会技术服务部 | Ball firing automatic target checking, hit telling system |
| CN205300397U (en) * | 2016-01-07 | 2016-06-08 | 高源收 | Automatic target scoring device for firing practice |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108151747A (en) * | 2017-12-27 | 2018-06-12 | 浙江大学 | A kind of indoor locating system and localization method merged using acoustical signal with inertial navigation |
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