CN110472185A - The ballistic trajectory calculation method of round bullet impact and the window at the inclined angle in ground - Google Patents
The ballistic trajectory calculation method of round bullet impact and the window at the inclined angle in ground Download PDFInfo
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Abstract
The invention discloses the ballistic trajectory calculation method of a kind of round bullet impact and the window at the inclined angle in ground, ballistic trajectory parameter is calculated: obtaining the numerical value of the angle γ of instantaneous velocity V and glass planar；Measure the numerical value of shell hole image long axis and glass planar y' axis angle α；Measure the numerical value of inclination angle theta between y-axis in glass planar and Three Dimensional Ground coordinate system xyz；Calculate the angle beta of plane yoz in trajectory plane and three-dimensional system of coordinate xyz；Trajectory parabolic path is calculated, ballistic trajectory direction is calculated；The ballistic trajectory calculation method of circle bullet impact and the perpendicular window in ground provided by the invention, it is easy to operate, it is easy to accomplish, maximum precise restoration ballistic trajectory parabola.
Description
Technical field
The present invention relates to the ballistic trajectory calculation methods of a kind of round bullet impact and the window at the inclined angle in ground, belong to
Criminal investigation technical field.
Background technique
In recent years, with the extensive use of social economy's fast development and internet, illegal activities people can be increasingly lighter
It changes places and obtains gun-simulation, air gun and this kind of contraband of bow and crossbow, leading to steel ball class illegal activities in recent years is in continue high-incidence situation.
Such illegal activities are multiple big in the density of population, the strong main city zone of mobility, these region residential blocks, shopping centre and
Office building of handling official business is numerous, often has more sensibility and propagated compared to periphery city.
In such illegal activities, lawbreaker can emit bullet in distance field remote position, have randomness
And concealment, this just brings biggish difficulty and pressure to public security organ's such illegal activities of investigating and prosecuting.How analysis steel ball is passed through
Trace after breaking glass, to determine the ballistic trajectory of transmitting steel ball, to be this to further determine that lawbreaker's location-based service
Field technical staff's problem in urgent need to solve.
Calculate that the parabolical calculation method of trajectory is primarily present following difficult point by shell hole trace:
1, it can not be measured for the vector component velocity of trajectory parabola calculation and the angular relationship of projectile flight speed；
2, the orientation angles of the trajectory plane of projectile flight can not measure；
3, the different angle relationship between glass planar and ground can not measure the influence that ballistic trajectory calculates.
Existing bullet is beaten in category of glass case, and the different angle relationship between glass planar and ground will affect trajectory rail
The calculating of mark, the bullet to be studied of the present invention beat the window that object is glass planar Yu the inclined angle in ground, as shown in Figure 1-3,
Including at least one of: top-hung window interior opens projecting top-hung window and internal-open and inner tilt window.
Summary of the invention
Purpose: in order to overcome the deficiencies in the prior art, the present invention provides a kind of round bullet impact with ground and is in
The ballistic trajectory calculation method of the window at inclination angle, such bullet shape are fixed, and flight is by air in calm or gentle breeze environment
Drag effects are smaller, and for velocity attenuation less than 10%, trajectory is similar to parabolic motion, it then follows parabolic motion rule, it is public
Formula isV in formulaLAnd VHThe respectively component velocity of bullet in the horizontal and vertical directions, the two with
There are geometry teaching relationships by speed V in projectile flight, and are influenced with the angular values of V by following situations: 1, projectile impact
The instantaneous velocity and glass planar angle of glass；2, inclined degree of the shell hole trace in glass planar；3, glass planar and ground
The tilt angle in face.
Technical solution: in order to solve the above technical problems, the technical solution adopted by the present invention are as follows:
A kind of ballistic trajectory calculation method of circle bullet impact and the window at the inclined angle in ground, includes the following steps:
Ballistic trajectory parameter calculates:
Obtain the numerical value of the angle γ of instantaneous velocity V and glass planar；
Measure the numerical value of shell hole image long axis and glass planar y' axis angle α；
Measure the numerical value of inclination angle theta between y-axis in glass planar and Three Dimensional Ground coordinate system xyz；
Calculate the angle beta of plane yoz in trajectory plane and three-dimensional system of coordinate xyz；
Calculate trajectory parabolic path:
The instantaneous stroke speed V of bullet is set to limit variable, then trajectory parabola indicates are as follows:
T in formula is time variable, and g is acceleration of gravity, shot orbit horizontal axis flying distance L, the shot orbit longitudinal axis
Flying height H, h are shell hole o point apart from ground level；
Set the horizontal maximum distance L of trajectory parabolamaxTo limit variable, then trajectory parabola indicates are as follows:
T in formula is time variable, and g is acceleration of gravity, shot orbit horizontal axis flying distance L, the shot orbit longitudinal axis
Flying height H, h are shell hole o point apart from ground level；
Set ballistic trajectory apogee distance shell hole o point maximum normal distance h1To limit variable, then trajectory parabola table
It is shown as:
T in formula is time variable, and g is acceleration of gravity, shot orbit horizontal axis flying distance L, the shot orbit longitudinal axis
Flying height H, h are shell hole o point apart from ground level；
Calculate ballistic trajectory direction:
Plane is on the right side of plane where glass planar normal where trajectory parabola, then the parabolical azimuth of trajectory
For δ+β, plane is in the left side of plane where glass planar normal, the then parabolical azimuth of trajectory where trajectory parabola
δ-β, δ are the azimuth of the normal of glass planar where shell hole.
Preferably, described
Preferably, steps are as follows for the numerical value acquisition of the angle γ of instantaneous velocity V and glass planar:
Step 1: hole on glass image recognition: passing through image algorithm and the convolutional neural networks bullet based on TensorFlow
The angle γ of instantaneous velocity and glass when hitting glass is identified；
1.1 sample image pre-processings:
Angle γ is set as 0-90 degree, average every image increases by 1 degree, and totally 91 hole on glass images are input to machine
In, binary conversion treatment is carried out, is removed variegated；
Using the outermost pixel on shell hole image four sides up and down as basic point, expands a certain distance respectively and intercept, obtain
To master sample image；
1.2 sample image feature extractions:
Master sample image is input in the convolutional neural networks of TensorFlow and carries out the operation of n times convolution pondization, it will
Sample image gradually decomposes, and calculates the characteristic value of sample image；
1.3 sample images substitute into training:
The hole on glass image pattern of multiple same angle γ angles is input in machine, 1.1 and 1.2 behaviour is repeated
Make, machine is allowed to carry out a large amount of repetition training；
Step 2: the identification of live image:
2.1 live image pre-processings:
The hole on glass image of live shooting is input in machine, image binaryzation processing and image interception is carried out, obtains
Standard to live shell hole image identifies format；
2.2 live image feature extractions:
The live shell hole image of reference format is input in the convolutional neural networks of TensorFlow, n times convolution is carried out
Chi Hua calculates the characteristic value of live shell hole image；
2.3 aspect ratios pair obtain angle γ:
The feature of different angle sample image in the characteristic value and sample database of the live shell hole image that system-computed is gone out
Value is compared, and carries out result output for the highest angle of degree of fitting as the angle of live shell hole image.
A kind of ballistic trajectory computing device of circle bullet impact and the window at the inclined angle in ground, including following module:
Ballistic trajectory parameter calculating module: for inputting the numerical value of the angle γ of instantaneous velocity V and glass planar；Input bullet
The numerical value of hole image long axis and glass planar y' axis angle α；It inputs in glass planar and Three Dimensional Ground coordinate system xyz between y-axis
The numerical value of inclination angle theta；Calculate the angle beta of plane yoz in trajectory plane and three-dimensional system of coordinate xyz；
Calculate trajectory parabolic path module:
For setting the instantaneous stroke speed V of bullet to limit variable, then trajectory parabola indicates are as follows:
T in formula is time variable, and g is acceleration of gravity, shot orbit horizontal axis flying distance L, the shot orbit longitudinal axis
Flying height H, h are shell hole o point apart from ground level；
Set the horizontal maximum distance L of trajectory parabolamaxTo limit variable, then trajectory parabola indicates are as follows:
T in formula is time variable, and g is acceleration of gravity, shot orbit horizontal axis flying distance L, the shot orbit longitudinal axis
Flying height H, h are shell hole o point apart from ground level；
Set ballistic trajectory apogee distance shell hole o point maximum normal distance h1To limit variable, then trajectory parabola table
It is shown as:
T in formula is time variable, and g is acceleration of gravity, shot orbit horizontal axis flying distance L, the shot orbit longitudinal axis
Flying height H, h are shell hole o point apart from ground level；
Ballistic trajectory is calculated towards module:
For plane to be on the right side of plane where glass planar normal where the trajectory parabola, then the parabolical side of trajectory
Parallactic angle is δ+β, and plane is in the left side of plane where glass planar normal where trajectory parabola, then the parabolical orientation of trajectory
Angle is δ-β, and δ is the azimuth of the normal of glass planar where shell hole.
Preferably, further include the angle γ identification module of instantaneous velocity V and glass:
For step 1: hole on glass image recognition: by image algorithm and based on the convolutional neural networks of TensorFlow
The angle γ of instantaneous velocity and glass when projectile impact glass is identified；
1.1 sample image pre-processing:
Angle γ is set as 0-90 degree, average every image increases by 1 degree, and totally 91 hole on glass images are input to machine
In, binary conversion treatment is carried out, is removed variegated；
Using the outermost pixel on shell hole image four sides up and down as basic point, expands a certain distance respectively and intercept, obtain
To master sample image；
1.2 sample image feature extractions:
Master sample image is input in the convolutional neural networks of TensorFlow and carries out the operation of n times convolution pondization, it will
Sample image gradually decomposes, and calculates the characteristic value of sample image；
1.3 sample images substitute into training:
The hole on glass image pattern of multiple same angle γ angles is input in machine, 1.1 and 1.2 behaviour is repeated
Make, machine is allowed to carry out a large amount of repetition training；
Step 2: the identification of live image:
2.1 live image pre-processings:
The hole on glass image of live shooting is input in machine, image binaryzation processing and image interception is carried out, obtains
Standard to live shell hole image identifies format；
2.2 live image feature extractions:
The live shell hole image of reference format is input in the convolutional neural networks of TensorFlow, n times convolution is carried out
Chi Hua calculates the characteristic value of live shell hole image；
2.3 aspect ratios pair obtain angle γ:
The feature of different angle sample image in the characteristic value and sample database of the live shell hole image that system-computed is gone out
Value is compared, and carries out result output for the highest angle of degree of fitting as the angle of live shell hole image.
The utility model has the advantages that the ballistic trajectory calculating side of circle bullet impact and the window at the inclined angle in ground provided by the invention
Method is α by estimation, shell hole image long axis and the angle of glass planar y' axis to instantaneous velocity and the angle γ of glass planar
Measurement, calculate the angle beta of trajectory plane and plane yoz, and combine live actual environment, below setting in three item datas one
:
1, speed when projectile impact glass；
2, the parabolical maximum height in place；
3, the parabolical longest distance in place.
Parabola is calculated, to calculate the direction δ ± β and distance in transmitting bullet place.
There are following advantages for this method:
1, related fields blank has been filled up, a kind of calculating side for extrapolating entire ballistic trajectory from shell hole trace has been invented
Method；
2, this method only need to make DATA REASONING for the shell hole after projectile impact, without measuring entire ballistic flight rail
Mark, it is easy to operate, it is easy to accomplish；
3, this method can be according to live different situations setup parameter, and all algorithms meet physics by stringent operation
And mathematical operation rule, it can maximum precise restoration ballistic trajectory parabola.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of top-hung window；
Fig. 2 is the interior structural schematic diagram for opening projecting top-hung window；
Fig. 3 is the structural schematic diagram of internal-open and inner tilt window；
Fig. 4 is sample image pre-processing schematic diagram；
Fig. 5 is master sample image procossing schematic diagram；
Fig. 6 is sample image feature extraction processing schematic；
Fig. 7 is the schematic diagram of the angle γ of instantaneous velocity and glass planar；
Fig. 8 is the schematic diagram that the angle of shell hole image long axis and glass planar y' axis is α；
Fig. 9 be x' axis, y' axis in glass planar x'y'z', on z' axis velocity component and Three Dimensional Ground coordinate system xyz in x
Axis, y-axis, in z-axis fast bottom component triangle relation schematic diagram；
Figure 10 is the schematic diagram of trajectory plane and the angle β of plane yoz；
Figure 11 is the triangle relation schematic diagram of angle α, γ, β, η；
Figure 12 is the schematic diagram of shot orbit；
Figure 13 is the relation schematic diagram of ballistic trajectory direction.
Specific embodiment
The present invention will be further explained with reference to the accompanying drawing.
A kind of ballistic trajectory calculation method of circle bullet impact and the window at the inclined angle in ground, includes the following steps:
Step 1: hole on glass image recognition: passing through image algorithm and the convolutional neural networks bullet based on TensorFlow
The angle γ of instantaneous velocity and glass when hitting glass is identified.
1.1 sample image pre-processings:
As shown in figure 4, setting angle γ as 0-90 degree, average every image increases by 1 degree, and totally 91 hole on glass images are defeated
Enter into machine, carry out binary conversion treatment, removes variegated.
As shown in figure 5, expanding a certain distance respectively using the outermost pixel on shell hole image four sides up and down as basic point
And intercept, obtain master sample image.
1.2 sample image feature extractions:
As shown in fig. 6, master sample image is input to progress n times convolution pond in the convolutional neural networks of TensorFlow
Change operation, sample image is gradually decomposed, calculates the characteristic value of sample image by such as n=5.
1.3 sample images substitute into training:
The hole on glass image pattern of multiple same angle γ angles is input in machine, 1.1 and 1.2 behaviour is repeated
Make, allows machine to carry out a large amount of repetition training, keep characteristic value more accurate.
Step 2: the identification of live image:
2.1 live image pre-processings:
The hole on glass image of live shooting is input in machine, image binaryzation processing and image interception is carried out, obtains
Standard to live shell hole image identifies format.
2.2 live image feature extractions:
The live shell hole image of reference format is input in the convolutional neural networks of TensorFlow, n times convolution is carried out
Chi Hua calculates the characteristic value of live shell hole image.
2.3 aspect ratios pair obtain angle γ:
The feature of different angle sample image in the characteristic value and sample database of the live shell hole image that system-computed is gone out
Value is compared, and carries out result output for the highest angle of degree of fitting as the angle of live shell hole image.
Step 3: ballistic trajectory parameter calculates:
3.1 obtain the angle γ of instantaneous velocity and glass planar, as shown in fig. 7, o ' is shell hole, V is that steel ball hits glass
Instantaneous velocity when plane, x ' are the trunnion axis of glass planar, and y ' is the vertical axis of glass planar, and z ' is perpendicular to glass planar
Normal axis, o ' a be projection of the V in glass planar, angle of the angle γ between V and o ' a.
When 3.2 bullet tilt angles hit glass, shell hole image is an ellipse, and oval long axis is that shell hole image is long
Axis, if the angle of shell hole image long axis and glass planar y' axis is α, as shown in figure 8, wherein shell hole image long axis direction is wink
Projecting direction of the Shi Sudu V in glass planar.
3.3 calculate the angle beta of trajectory plane and plane yoz.
Instantaneous velocity is V when 3.3.1 setting steel ball shock glass；
3.3.2 setting when hoodle hits glass has glass planar x' axle speed Vx', glass planar y' axle speed Vy' and perpendicular to
The z' axle speed Vz' of glass planar；
3.3.3 as shown in figure 9, setting when hoodle hits glass has Three Dimensional Ground coordinate system xyz, wherein origin is o, o and o '
It is overlapped, xoy plane is parallel to ground, and yoz plane is perpendicular to ground, wherein x-axis speed Vx, y-axis speed VyWith z-axis speed Vz；
3.3.4 obtaining following relationship:
3.3.5 it sets and is tilted between glass planar and y-axis as θ, V in x' axis, y' axis and z' axisx'、Vy', Vz' decompose ground
In x-axis, y-axis and z-axis in the three-dimensional system of coordinate xyz of face, following relationship is obtained:
By Vx'、Vy' and Vz' value substitute into above formula, following relationship can be obtained:
3.3.6 as shown in Figure 10, if the angle of trajectory plane and plane yoz are β, ballistic trajectory plane and plane xoz phase
Straight line ob is handed over, then line ob and line oz angle are the angle of trajectory plane Yu plane yoz.
3.3.7 obtaining following relationship:
By VxAnd VyValue substitution can obtain following relationship formula:
As shown in figure 11,3.4 trajectory parabola and y-axis angle η are calculated.
The y-axis angle in instantaneous velocity V and Three Dimensional Ground coordinate system when 3.4.1 setting projectile impact glass as η, throw by trajectory
For object line in plane yob, η is the angle of line oc and Y-axis；
3.4.2 obtaining following relationship:
Vcos η=vy
By VyValue substitution can obtain following relationship:
Vcos η=vcos γ cos α cos θ+vsin γ sin θ
Cos η=cos γ cos α cos θ+sin γ sin θ
∴ η=arccos (cos γ cos α cos θ+sin γ sin θ)
It can be seen that it is unrelated with the numerical value of instantaneous velocity V to calculate angle η.
Step 4: calculating trajectory parabolic path.
It is shot orbit flying distance L that trajectory parabolic path plane, which is set as horizontal axis, and the longitudinal axis is that shot orbit flight is high
Spend the two-dimensional plane coordinate system of H.As shown in figure 12, it is hole on glass position that o point, which is projectile impact point, in figure, and c point is
Coordinate origin, the angle of instantaneous velocity V and y-axis both H axis when the angle η is projectile impact glass, a point are ballistic trajectory apart from ground
Highest point, b point are the minimum transmitting position of bullet both ground launch positions, and h is shell hole o point apart from ground level, h1For trajectory rail
Mark apogee distance shell hole o point maximum normal distance, LmaxFarthest horizontal distance for ballistic trajectory apart from shell hole o point both bullet
The maximum distance of transmitting.
When projectile impact glass, using rum point shell hole o point as track starting point, trajectory parabolic path is calculated.Due to nothing
Spot speed V is hit in method measurement, needs to introduce restriction variable, various respectively to hit spot speed V, ballistic trajectory apart from shell hole below
The farthest horizontal distance L of o pointmax, ballistic trajectory vertex distance shell hole o point maximum normal distance h1To limit variable, both basis
Live actual environment sets each numberical range for limiting variable.
4.1: step 1.1 make shell hole sample image during, measurement record each shell hole sample angle be γ when
The instantaneous stroke speed V of bullet, instantaneous velocity V under same glass material and thickness when projectile impact glass and shell hole angle
The rule of γ is stablized, so when live window-glass is approximate with sample glass in material and thickness, it can be according to angle γ's
Recognition result directlys adopt the speed V recorded in laboratory.To hit spot speed V to limit variable, both according to live glass material
Matter and projected angle of impact delimit the velocity interval of V.Then trajectory parabola is represented by following relationship:
Wherein, the t in formula is time variable, indicates the value of the L and H under different time.
It willThe substitution of η value can obtain following relationship:
As H=0, indicate that both ballistic trajectory has extended to ground to ballistic trajectory apart from shell hole o point vertical range for-h, this
When be set as trail termination.
4.2: specific by some such as rivers, city wall such as discovery scene because particular surroundings limits according to on-site actual situations
L can not then be set as limiting variable by landform barrier in place transmitting bullet of the distance greater than L, otherwise horizontal with trajectory parabola
Maximum distance L is to limit variable, then trajectory parabola is represented by following formula:
T in above formulacbTrack time required for from L axis c point to b point in indicates coordinate system, in this period rail
The horizontal distance that mark is passed through is Lmax。
Eliminate tcb, then:
By η value, cos η=cos γ cos α, sin2η=1-cos2η,
It substitutes intoFollowing relationship can be obtained:
As H=0, indicate that both ballistic trajectory has extended to ground to ballistic trajectory apart from shell hole o point vertical range for-h, this
When be set as trail termination.
4.3: in conjunction with on-site actual situations, such as finding live periphery but the special launch site of high building, plateau, with trajectory
Maximum vertical height of the parabola apart from shell hole o point is to limit variable, both sets track apex height depending on the site environment, then bullet
Road parabola is represented by following relationship:
T in above formulacaIndicate that track is the time required to from L axis c point to a point in a coordinate system, a point is track vertex
Coordinate, in this coordinate, the vertical component speed of path velocity is 0, according to free-fall velocity formula, in shell hole position when o point
The vertical component of instantaneous velocity be vcos η=gtca。
Result above substitution coordinate formula can be obtained into following relationship:
η value is substituted into above formula, following relationship can be obtained:
As H=0, indicate that both ballistic trajectory has extended to ground to ballistic trajectory apart from shell hole o point vertical range for-h, this
When be set as trail termination.
Step 5, ballistic trajectory direction is calculated.
As shown in figure 13, δ is the azimuth of the normal of glass planar where shell hole, plane and glass where β trajectory parabola
The angle of plane where glass plane normal, plane is on the right side of plane where glass planar normal where trajectory parabola, then
The parabolical azimuth of trajectory is δ+β, and plane is in the left side of plane where glass planar normal where trajectory parabola, then bullet
The parabolical azimuth in road is δ-β, the as direction of trajectory parabolic path.
It should be understood by those skilled in the art that, embodiments herein can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the application
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the application, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The application is referring to method, the process of equipment (system) and computer program product according to the embodiment of the present application
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (6)
1. a kind of ballistic trajectory calculation method of circle bullet impact and the window at the inclined angle in ground, it is characterised in that: including
Following steps:
Ballistic trajectory parameter calculates:
Obtain the numerical value of the angle γ of instantaneous velocity V and glass planar；
Measure the numerical value of shell hole image long axis and glass planar y' axis angle α；
Measure the numerical value of inclination angle theta between y-axis in glass planar and Three Dimensional Ground coordinate system xyz；
Calculate the angle beta of plane yoz in trajectory plane and three-dimensional system of coordinate xyz；
Calculate trajectory parabolic path:
The instantaneous stroke speed V of bullet is set to limit variable, then trajectory parabola indicates are as follows:
T in formula is time variable, and g is acceleration of gravity, shot orbit horizontal axis flying distance L, the flight of the shot orbit longitudinal axis
Height H, h are shell hole o point apart from ground level；
Set the horizontal maximum distance L of trajectory parabolamaxTo limit variable, then trajectory parabola indicates are as follows:
T in formula is time variable, and g is acceleration of gravity, shot orbit horizontal axis flying distance L, the flight of the shot orbit longitudinal axis
Height H, h are shell hole o point apart from ground level；
Set ballistic trajectory apogee distance shell hole o point maximum normal distance h1To limit variable, then trajectory parabola indicates are as follows:
T in formula is time variable, and g is acceleration of gravity, shot orbit horizontal axis flying distance L, the flight of the shot orbit longitudinal axis
Height H, h are shell hole o point apart from ground level；
Calculate ballistic trajectory direction:
Plane is on the right side of plane where glass planar normal where trajectory parabola, then the parabolical azimuth of trajectory be δ+
β, plane is in the left side of plane where glass planar normal where trajectory parabola, then the parabolical azimuth of trajectory is δ-β,
δ is the azimuth of the normal of glass planar where shell hole.
2. the ballistic trajectory calculation method of circle bullet impact and the window at the inclined angle in ground according to claim 1,
It is characterized by: described
3. the ballistic trajectory calculation method of circle bullet impact and the window at the inclined angle in ground according to claim 1,
It is characterized by: the numerical value of the angle γ of instantaneous velocity V and glass planar obtains, steps are as follows:
Step 1: hole on glass image recognition: passing through image algorithm and the convolutional neural networks projectile impact based on TensorFlow
The angle γ of instantaneous velocity and glass when glass is identified；
1.1 sample image pre-processings:
Angle γ is set as 0-90 degree, average every image increases by 1 degree, and totally 91 hole on glass images are input in machine, into
Row binary conversion treatment removes variegated；
Using the outermost pixel on shell hole image four sides up and down as basic point, expands a certain distance respectively and intercept, marked
Quasi- sample image；
1.2 sample image feature extractions:
Master sample image is input in the convolutional neural networks of TensorFlow and carries out the operation of n times convolution pondization, by sample
Image gradually decomposes, and calculates the characteristic value of sample image；
1.3 sample images substitute into training:
The hole on glass image pattern of multiple same angle γ angles is input in machine, 1.1 and 1.2 operation is repeated, allows
Machine carries out a large amount of repetition training；
Step 2: the identification of live image:
2.1 live image pre-processings:
The hole on glass image of live shooting is input in machine, image binaryzation processing and image interception is carried out, is showed
The standard of field shell hole image identifies format；
2.2 live image feature extractions:
The live shell hole image of reference format is input in the convolutional neural networks of TensorFlow, n times convolution pond is carried out,
Calculate the characteristic value of live shell hole image；
2.3 aspect ratios pair obtain angle γ:
By system-computed go out live shell hole image characteristic value and sample database in different angle sample image characteristic value into
Row compares, and carries out result output for the highest angle of degree of fitting as the angle of live shell hole image.
4. a kind of ballistic trajectory computing device of circle bullet impact and the window at the inclined angle in ground, it is characterised in that: including
Following module:
Ballistic trajectory parameter calculating module: for inputting the numerical value of the angle γ of instantaneous velocity V and glass planar；Input shell hole figure
As the numerical value of long axis and glass planar y' axis angle α；Input in glass planar and Three Dimensional Ground coordinate system xyz inclination angle theta between y-axis
Numerical value；Calculate the angle beta of plane yoz in trajectory plane and three-dimensional system of coordinate xyz；
Calculate trajectory parabolic path module:
For setting the instantaneous stroke speed V of bullet to limit variable, then trajectory parabola indicates are as follows:
T in formula is time variable, and g is acceleration of gravity, shot orbit horizontal axis flying distance L, the flight of the shot orbit longitudinal axis
Height H, h are shell hole o point apart from ground level；
Set the horizontal maximum distance L of trajectory parabolamaxTo limit variable, then trajectory parabola indicates are as follows:
T in formula is time variable, and g is acceleration of gravity, shot orbit horizontal axis flying distance L, the flight of the shot orbit longitudinal axis
Height H, h are shell hole o point apart from ground level；
Set ballistic trajectory apogee distance shell hole o point maximum normal distance h1To limit variable, then trajectory parabola indicates are as follows:
T in formula is time variable, and g is acceleration of gravity, shot orbit horizontal axis flying distance L, the flight of the shot orbit longitudinal axis
Height H, h are shell hole o point apart from ground level；
Ballistic trajectory is calculated towards module:
For plane to be on the right side of plane where glass planar normal where the trajectory parabola, then the parabolical azimuth of trajectory
For δ+β, plane is in the left side of plane where glass planar normal, the then parabolical azimuth of trajectory where trajectory parabola
δ-β, δ are the azimuth of the normal of glass planar where shell hole.
5. the ballistic trajectory computing device of circle bullet impact and the window at the inclined angle in ground according to claim 4,
It is characterized by: described
6. the ballistic trajectory computing device of circle bullet impact and the window at the inclined angle in ground according to claim 4,
It is characterized by also including the angle γ identification modules of instantaneous velocity V and glass:
For step 1: hole on glass image recognition: passing through image algorithm and the convolutional neural networks bullet based on TensorFlow
The angle γ of instantaneous velocity and glass when hitting glass is identified；
1.1 sample image pre-processings:
Angle γ is set as 0-90 degree, average every image increases by 1 degree, and totally 91 hole on glass images are input in machine, into
Row binary conversion treatment removes variegated；
Using the outermost pixel on shell hole image four sides up and down as basic point, expands a certain distance respectively and intercept, marked
Quasi- sample image；
1.2 sample image feature extractions:
Master sample image is input in the convolutional neural networks of TensorFlow and carries out the operation of n times convolution pondization, by sample
Image gradually decomposes, and calculates the characteristic value of sample image；
1.3 sample images substitute into training:
The hole on glass image pattern of multiple same angle γ angles is input in machine, 1.1 and 1.2 operation is repeated, allows
Machine carries out a large amount of repetition training；
Step 2: the identification of live image:
2.1 live image pre-processings:
The hole on glass image of live shooting is input in machine, image binaryzation processing and image interception is carried out, is showed
The standard of field shell hole image identifies format；
2.2 live image feature extractions:
The live shell hole image of reference format is input in the convolutional neural networks of TensorFlow, n times convolution pond is carried out,
Calculate the characteristic value of live shell hole image；
2.3 aspect ratios pair obtain angle γ:
By system-computed go out live shell hole image characteristic value and sample database in different angle sample image characteristic value into
Row compares, and carries out result output for the highest angle of degree of fitting as the angle of live shell hole image.
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