CN108036776A - It is a kind of to utilize radiographic measurement velocity of shot and the method for posture - Google Patents
It is a kind of to utilize radiographic measurement velocity of shot and the method for posture Download PDFInfo
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- CN108036776A CN108036776A CN201711353526.8A CN201711353526A CN108036776A CN 108036776 A CN108036776 A CN 108036776A CN 201711353526 A CN201711353526 A CN 201711353526A CN 108036776 A CN108036776 A CN 108036776A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
- G01C11/12—Interpretation of pictures by comparison of two or more pictures of the same area the pictures being supported in the same relative position as when they were taken
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of using radiographic measurement velocity of shot and the method for posture, comprise the following steps：（1）Tachometric survey：The distance that measurement bullet flies in the specific time, further according to formula：
Description
Technical field
It is specifically a kind of to utilize radiographic measurement velocity of shot and the method for posture the present invention relates to a kind of measuring method.
Background technology
First, tachometric survey：Bullet tests the speed generally using units of measurement apart from the time used both at home and abroad at present, further according to away from
From the ratio with the time, and then try to achieve the speed of bullet.The method of generally use has：
1. coil method：Coil target be will starting target and cut-off target be placed in planned orbit and L spaced apart when magnetic projectile according to
It is secondary when passing through two targets, two signals of starting and cut-off are produced, time-measuring gauge is controlled with the two signals, bullet can be measured in the area
Between flight time T, according to formula：V=L/T can calculate bullet and pass through in the average speed between two coil targets namely the section
The instantaneous velocity of point.
2. light curtain method：Light curtain target is a kind of speed-measuring method that startup and arresting stop are used as by the use of photoelectricity transformation principle.When
Bullet above light curtain by when, change the light on photoelectric tube, then just produce a signal, make calculagraph start or
It is stopped.His major advantage is that the flight time can be measured on trajectory, the normal flight without hindering bullet, but by
In lacking general spatial resolving power, using being above restricted.
3. aluminium foil target：Aluminium foil target is made of one block of foamed polystyrene insulating materials of folder among two pieces of aluminium foils, works as bullet
Calculagraph is connected by circuit during first aluminium foil to start to work；During by second piece of aluminium foil, calculagraph is stopped.Recycle
Time for measuring, distance try to achieve velocity of shot.
2nd, attitude measurement：Carry out extensively both at home and abroad on guided missile and the attitude measurement of shell, it is mainly former with gyroscope
The attitude angle of reason and CCD principles measurement body, but for bullet bullet, gyroscope can not be placed in bullet bullet, and CCD is swept
Retouch that speed is limited, the flight attitude of bullet can not be captured, so the research on projectile flight posture is still few in the literature
See.Some documents are only to utilize the attitude angle for measuring trajectory angle approximately equivalent bullet.
The content of the invention
It is an object of the invention to provide a kind of using radiographic measurement velocity of shot and the method for posture, to solve the above-mentioned back of the body
The problem of being proposed in scape technology.
To achieve the above object, the present invention provides following technical solution：
It is a kind of using radiographic measurement velocity of shot and the method for posture, comprise the following steps：
（1）Tachometric survey：The distance that measurement bullet flies in the specific time, further according to formula：Calculate speed；Tool
Body comprises the following steps：The track that bullet is flown using high speed camera is clapped into multiframe picture, is selected in bullet visual windows
First two field picture and last frame image are analyzed, and determine relative position of the bullet in picture, and with parent window size into
Row contrast, determines the actual range of bullet in two images, you can obtain actual flying distance s, determine the bat of two width pictures
Take the photograph the time, and then try to achieve velocity of shot v；
（2）Attitude measurement：Measure the projection angle of bullet axis respectively in horizontal plane and vertical plane, setting bullet axis with
The angle of horizontal direction is α, and the angle with vertical direction is β, up to the pitch angle and side drift angle of projectile flight posture is described；Tool
Body comprises the following steps：Both vertically and horizontally high speed camera is being utilized to capture Flight Projectile, in corresponding window image
Middle measuring and calculating plays axis in the projection dx in the image level direction and projection dy of image vertical direction, no matter measures pitch angle or lateral deviation
Angle, utilizes formula：α（β）=tan-1Dy/dx is tried to achieve；
As the further scheme of the present invention：Acquisition interval Δ t should meet：△ t ＜ S/v.
As the further scheme of the present invention：Image procossing uses kalman filter method.
Compared with prior art, the beneficial effects of the invention are as follows：
The present invention has the following advantages：1）The result to test the speed is more nearly the instantaneous velocity of bullet；The definition of instantaneous velocity：v=
The derivative of ds/dt, i.e. displacement and time, instantaneous velocity to be tried to achieve, it is necessary to try to achieve the displacement flown in very short time；Existing side
Case is all to measure the time that fixed displacement bullet is flown, this time slice is with being due to multiple reasons such as bullet length
The definition of Shi Sudu is not inconsistent, so gained is inevitable larger with instantaneous velocity error, it is the time slice to survey in a strict sense
Average speed；And measuring method described in the invention is to measure the bullet change in location at two neighboring moment, this time
Less than 0.1mS, meet the time t that instantaneous velocity defines and level off to 0, so from the scheme of measurement instantaneous velocity, the present invention
The scheme is consistent with the definition of instantaneous velocity, has certain advance；2）Measurable bullet species is more；Now measurement speed
The method of degree is mostly the metallic character using bullet, cannot induce magnetic effect for nonmetallic bullet or size is smaller（Diameter
Less than 4mm）Bullet cannot effectively block light path, can not effectively be measured；And the method for the present invention is then different, it is to utilize
The change in location of framing bullet, thus no matter whether conductive, the magnetic induction characteristic of bullet, also no matter bullet it is outer
Shape size, as long as properly increasing the resolution ratio of shooting, can measure its flight parameter；3）The measurable instant posture of bullet；At present
Rarely have measurement bullet attitude angle scheme, some schemes to measure the attitude angle of the angle Approximate Equivalent projectile flight of trajectory, its
The angle of live shell ball trajectory and the attitude angle of Flight Projectile are essentially different, and are said on stricti jurise, existing trajectory
What the measuring methods such as position method measured is the trajectory parameter of Flight Projectile, is not the flight parameter of bullet；The measurement side of the present invention
Method can faithfully extract the posture angular dimensions of multiple flight characteristics of Flight Projectile, especially bullet, and be faithfully anti-
Reflect the instant attitude angle of projectile flight.
Embodiment
Technical scheme is described in more detail with reference to embodiment.
Embodiment 1
It is a kind of using radiographic measurement velocity of shot and the method for posture, comprise the following steps：
（1）Tachometric survey：The distance that measurement bullet flies in the specific time, further according to formula：Calculate speed；
Specifically include following steps：The track that bullet is flown using high speed camera is clapped into multiframe picture, selectes bullet visual window
The first two field picture and last frame image in mouthful are analyzed, and determine relative position of the bullet in picture, and and parent window
Size is contrasted, and determines the actual range of bullet in two images, you can is obtained actual flying distance s, is determined that two width are drawn
The shooting time in face, and then try to achieve velocity of shot v；
The speed measurement method is different from current common speed-measuring method both at home and abroad, and coil method and light curtain method are that measurement bullet is specific
Distance flight time, the measurement accuracy of time directly affects the measurement accuracy of speed, and image application method tests the speed, equipment
Resolution ratio（Or sampling rate）Determine the measurement accuracy of flying distance, and then have impact on the measurement accuracy of speed；
Understood according to above method：The form of camera shooting is bigger, and s is bigger, and speed v calculates more accurate；
（2）Attitude measurement：Measure the projection angle of bullet axis respectively in horizontal plane and vertical plane, setting bullet axis with
The angle of horizontal direction is α, and the angle with vertical direction is β, up to the pitch angle and side drift angle of projectile flight posture is described；
Specifically include following steps：Both vertically and horizontally utilizing high speed camera to capture Flight Projectile, regarded corresponding
Measuring and calculating plays axis in the projection dx in the image level direction and projection dy of image vertical direction in window image, no matter measures pitch angle also
It is side drift angle, utilizes formula：α（β）=tan-1Dy/dx is tried to achieve；
Understood according to above method：The form of camera shooting is smaller, and pixel shared by bullet projection is more, and pitch angle and side drift angle are got over
Accurately.Form is too small to be made bullet skim over form can not to capture, therefore should adjust collection pixel, it is ensured that had in a two field picture
Whole body, acquisition interval Δ t should meet：△ t ＜ S/v.
Image procossing：Either test the speed, or measurement posture, its according to must be more clearly image, however, for
The bullet of high-speed flight, it is necessary to use the time for exposure short enough（Usual several microseconds）, the track of shooting bullet flight.Generally
For, the projectile flight track directly photographed is difficult to be directly used in measuring speed and posture, it is necessary to it is filtered, denoising, obtained
To more clearly bullet edge；
Image is handled using kalman filter method；Kalman filtering is that (autoregression filters a kind of efficient recursion filter
Device), it not exclusively and in the image comprising noise, can estimate the state of dynamical system from a series of.The result shows that karr
Graceful filtering method can significantly reduce noise on original image, and effectively solve image filtering necessarily adjoint mould
Detailed problem is pasted, compared to other traditional denoising methods, the noise reduction that Kalman filtering algorithm has had, and it is to original graph
As in some lines, point and edge detailed information protect it is fine, almost without loss；In addition, using Kalman filtering
Calculation amount greatly reduces in method processing image, because image is simple describing using the model, and can catch image
Main feature, is the change that image information is transmitted by the correlation between image information, and in the model, current picture
The update area of element only considers a certain range of pixel region, and have ignored the influence apart from distant pixel, so
With regard to that can obtain comparing as accurate and practical useful information, and the calculating in Kalman filtering renewal can greatly reduce
Amount.
Boundary Extraction technology：Based on filtered image, the coordinate position that calculates bullet barycenter is that image method tests the speed appearance
Another important technology of state.Bullet be in the picture one closing region, border and it is rough in the case of, exactly
Mark the coordinate of barycenter, it is necessary to extract the bullet border in image.The present invention is considered using the quick multiple dimensioned of 2-d wavelet
Edge calculations method, carries out the extraction of boundary point.It is this it is multiple dimensioned not only change the defects of amount of being previously calculated is big, but also with compared with
Few computing can obtain preferable processing result image.Obtained with compared with traditional algorithm as drawn a conclusion：It is 1. and traditional
Classical edge detection algorithm has the advantages that registration and calculation amount are small compared to this wavelet transformation；It is and traditional and classical
Edge detection algorithm not only not accurate and computationally intensive enough the sensitivity to noise also be significantly larger than wavelet transformation algorithm.2.
Ability using the multiscale space information identification image border characteristic of small echo is strong, since wavelet transformation has the characteristics of multiple dimensioned,
Multiple dimensioned characteristic can be utilized, by approaching for details and slubbing, the spatial information of image is preferably described, with it is traditional and
Classical edge detection algorithm is compared, and in terms of edge feature is identified, is better than them；3. in the choice of edge and noise, by
In both at high-frequency signal, it is difficult to be divided with frequency band, the method for wavelet transformation so that suppress noise, small ruler under large scale
Under degree, the actual position at edge is obtained.And traditional and classics edge detection algorithms cannot then provide effectively in this problem
Solution.
Trigger simultaneous techniques：Measure bullet two attitude angles when, it is desirable to two cameras at the same time, sync pulse jamming, so
Two attitude angles of bullet same position can just be photographed.So synchronously triggering is particularly critical for two cameras.This project uses light
Electric trigger theory, gathers the triggering flame of muzzle, and then generates the pulse signal of two-way synchronization, to the external trigger of camera.Should
It is method reliable trigger, rapid, and two trigger pulses come from same clock, thus it is synchronous good, it is real-time.
Image method measuring speed, the error of posture are produced and corrected：The method of image method measurement bullet parameter is based on to bullet
The identification of ball flight map picture, its main source of error are consistent with ballistic flight track in acquisition precision and the equipment installation of image
Property.Specific in project, mainly there is the following aspects：1. acquisition resolution：Digital picture is exactly by a width complete image point
It is cut into n*m pixel unit, each pixel color, the picture characteristics of the gray scale isoparametric formulations point, therefore, pixel is got over
Height, performance image are more true to nature.Specific in the project, Image Acquisition point is higher, and the positioning of bullet position is more accurate.But appoint
What collecting device has resolution ratio to reach the standard grade, so the site error caused by bullet resolution ratio is inevitable, it is however generally that：1
Space length representated by pixel is the maximum that acquisition resolution reason brings bullet position error.So in reality
In measurement, reasonable employment device resource, improves the resolution ratio in projectile's path direction to greatest extent, appropriate diminution vertical
Resolution ratio so that measurement window becomes a long and narrow region.2. camera lens curvature：Generally, due to think the space of shooting
It is uniform, so, the change of bullet position is measurable.In fact, since the mismachining tolerance of taking lens curvature influences,
The shooting space of reality is in non-linearization, and due to going to the position of processing bullet to become according to homogeneous space or describable space
Change information, so bring the measurement error of positional information.It is camera lens to be controlled to reduce the primary task of error to greatest extent
Error of curvature so that measurement space can be described with a mathematical model, in addition, in a static condition, for causing measurement
The direction of error carries out static measurement, and is corrected when position calculates and reduction camera lens curvature is brought one of error and had
Efficacious prescriptions method.3. trajectory and measurement window angle：In measurement process, due to thinking that projectile flight trajectory is completely flat with measurement window
OK, two alternate position spikes of the bullet in measurement window are exactly the range difference that bullet flies in the unit interval.In fact, trajectory can not
It is substantially parallel with measurement window, it certainly exists an angle α, and the bullet position d measured is actually true projectile's path
One in measurement window projects, and real bullet alternate position spike is d/cos α, but shooting is with necessarily random every time
Property, so angle α has uncertainty, therefore to reduce the error, it is necessary to fixed fire position, specification shooting trajectory.
The present invention has the following advantages：1）The result to test the speed is more nearly the instantaneous velocity of bullet；The definition of instantaneous velocity：
The derivative of v=ds/dt, i.e. displacement and time, instantaneous velocity to be tried to achieve, it is necessary to try to achieve the displacement flown in very short time；It is existing
Scheme due to multiple reasons such as bullet length, be all to measure the time that fixed displacement bullet is flown, this time slice with
The definition of instantaneous velocity is not inconsistent, so gained is inevitable larger with instantaneous velocity error, it is the timeslice to survey in a strict sense
The average speed of section；And measuring method described in the invention is to measure the bullet change in location at two neighboring moment, this when
Between be less than 0.1mS, meet the time t that instantaneous velocity defines and level off to 0, so from the scheme of measurement instantaneous velocity, this hair
The bright scheme is consistent with the definition of instantaneous velocity, has certain advance；2）Measurable bullet species is more；Now measure
The method of speed is mostly the metallic character using bullet, cannot induce magnetic effect for nonmetallic bullet or size is smaller（Directly
Footpath is less than 4mm）Bullet cannot effectively block light path, can not effectively be measured；And the method for the present invention is then different, it is profit
With the change in location of framing bullet, thus no matter whether conductive, the magnetic induction characteristic of bullet, also no matter bullet
Shape size, as long as properly increasing the resolution ratio of shooting, can measure its flight parameter；3）The measurable instant posture of bullet；Mesh
Before rarely have measurement bullet attitude angle scheme, some schemes to measure the attitude angle of the angle Approximate Equivalent projectile flight of trajectory,
The angle of projectile flight trajectory and the attitude angle of Flight Projectile are essentially different in fact, are said on stricti jurise, existing bullet
What the measuring methods such as road position method measured is the trajectory parameter of Flight Projectile, is not the flight parameter of bullet；The measurement of the present invention
Method can faithfully extract the posture angular dimensions of multiple flight characteristics of Flight Projectile, especially bullet, and be faithfully
Reflect the instant attitude angle of projectile flight.
The better embodiment of the present invention is explained in detail above, but the present invention is not limited to above-mentioned embodiment party
Formula, can also be on the premise of present inventive concept not be departed from the knowledge that one skilled in the relevant art possesses
Make a variety of changes.
Claims (3)
1. a kind of utilize radiographic measurement velocity of shot and the method for posture, it is characterised in that comprises the following steps：
（1）Tachometric survey：The distance that measurement bullet flies in the specific time, further according to formula：Calculate speed；Specifically
Comprise the following steps：The track that bullet is flown using high speed camera is clapped into multiframe picture, selectes the in bullet visual windows
One two field picture and last frame image are analyzed, and determine relative position of the bullet in picture, and carry out with parent window size
Contrast, determines the actual range of bullet in two images, you can obtain actual flying distance s, determine the shooting of two width pictures
Time, and then try to achieve velocity of shot v；
（2）Attitude measurement：Measure the projection angle of bullet axis respectively in horizontal plane and vertical plane, setting bullet axis with
The angle of horizontal direction is α, and the angle with vertical direction is β, up to the pitch angle and side drift angle of projectile flight posture is described；Tool
Body comprises the following steps：Both vertically and horizontally high speed camera is being utilized to capture Flight Projectile, in corresponding window image
Middle measuring and calculating plays axis in the projection dx in the image level direction and projection dy of image vertical direction, no matter measures pitch angle or lateral deviation
Angle, utilizes formula：α（β）=tan-1Dy/dx is tried to achieve.
2. according to claim 1 utilize radiographic measurement velocity of shot and the method for posture, it is characterised in that acquisition interval
Δ t should meet：△ t ＜ S/v.
3. according to claim 1 utilize radiographic measurement velocity of shot and the method for posture, it is characterised in that image procossing
Using kalman filter method.
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110207539A (en) * | 2019-05-22 | 2019-09-06 | 西安电子科技大学 | Projectile Motion state parameter measuring system in a kind of cannon thorax |
| CN110472180A (en) * | 2019-06-27 | 2019-11-19 | 南京市公安局鼓楼分局 | The ballistic trajectory calculation method of round bullet impact and the perpendicular window in ground |
| CN110472179A (en) * | 2019-06-27 | 2019-11-19 | 南京市公安局鼓楼分局 | Round bullet impact and the case suspect of the perpendicular window in ground check method |
| CN110472185A (en) * | 2019-06-27 | 2019-11-19 | 南京市公安局鼓楼分局 | The ballistic trajectory calculation method of round bullet impact and the window at the inclined angle in ground |
| CN110472181A (en) * | 2019-06-27 | 2019-11-19 | 南京市公安局鼓楼分局 | Round bullet impact and the case suspect of the window at the inclined angle in ground check method |
| CN111220131A (en) * | 2020-03-06 | 2020-06-02 | 山东开泰智能抛喷丸技术研究院有限公司 | Shot blasting machine shot projection angle and speed detection method based on two-dimensional vision |
| CN111578835A (en) * | 2020-04-27 | 2020-08-25 | 南京航空航天大学 | Bird body motion track recognition and test device and method based on multilayer sheet light |
| CN112034198A (en) * | 2020-07-03 | 2020-12-04 | 朱建国 | High-shooting-speed bullet continuous-firing initial speed measuring method |
| CN113709658A (en) * | 2020-05-22 | 2021-11-26 | 大唐移动通信设备有限公司 | Method, device and equipment for estimating terminal moving speed |
| CN114199226A (en) * | 2021-11-29 | 2022-03-18 | 南京理工大学 | Method for testing cross-medium attitude of projectile |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110207539A (en) * | 2019-05-22 | 2019-09-06 | 西安电子科技大学 | Projectile Motion state parameter measuring system in a kind of cannon thorax |
| CN110207539B (en) * | 2019-05-22 | 2021-06-29 | 西安电子科技大学 | System for measuring motion state parameters of projectile in bore of cannon |
| CN110472181A (en) * | 2019-06-27 | 2019-11-19 | 南京市公安局鼓楼分局 | Round bullet impact and the case suspect of the window at the inclined angle in ground check method |
| CN110472179B (en) * | 2019-06-27 | 2023-07-18 | 南京市公安局鼓楼分局 | Case suspicion checking method for round shot hitting window perpendicular to ground |
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| CN110472180A (en) * | 2019-06-27 | 2019-11-19 | 南京市公安局鼓楼分局 | The ballistic trajectory calculation method of round bullet impact and the perpendicular window in ground |
| CN110472185B (en) * | 2019-06-27 | 2023-07-18 | 南京市公安局鼓楼分局 | Method for calculating trajectory of window with inclination angle between round projectile impact and ground |
| CN110472181B (en) * | 2019-06-27 | 2023-07-18 | 南京市公安局鼓楼分局 | Case suspicion checking method for round shot striking window with inclination angle with ground |
| CN111220131A (en) * | 2020-03-06 | 2020-06-02 | 山东开泰智能抛喷丸技术研究院有限公司 | Shot blasting machine shot projection angle and speed detection method based on two-dimensional vision |
| CN111578835A (en) * | 2020-04-27 | 2020-08-25 | 南京航空航天大学 | Bird body motion track recognition and test device and method based on multilayer sheet light |
| CN113709658B (en) * | 2020-05-22 | 2022-09-27 | 大唐移动通信设备有限公司 | Method, device and equipment for estimating moving speed of terminal |
| CN113709658A (en) * | 2020-05-22 | 2021-11-26 | 大唐移动通信设备有限公司 | Method, device and equipment for estimating terminal moving speed |
| CN112034198A (en) * | 2020-07-03 | 2020-12-04 | 朱建国 | High-shooting-speed bullet continuous-firing initial speed measuring method |
| CN114199226A (en) * | 2021-11-29 | 2022-03-18 | 南京理工大学 | Method for testing cross-medium attitude of projectile |
| CN114199226B (en) * | 2021-11-29 | 2024-05-07 | 南京理工大学 | Pellet cross-medium attitude test method |
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Application publication date: 20180515 |