CN111191349A - Missile launching motion parameter analysis method - Google Patents
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Abstract
The invention discloses a missile launching motion parameter analysis method, which comprises the following steps: identifying and positioning a mark point position in a photo by using an OpenCV visual library; calculating the spinning angular acceleration, the pitch angular acceleration and the gravity center acceleration of the projectile body; step three, acquiring the falling position coordinate information of the projectile body, and utilizing a tracking differentiator to conduct derivation calculation speed operation on the coordinate information to eliminate high-frequency noise; and step four, predicting the missile movement trend in a period of time in the future. The method can fully automatically carry out mark reading, operation analysis and result output on the photo; compared with manual operation, the method has the advantages that the analysis efficiency is greatly improved; the color mark recognition function is provided, and the universal type is extremely strong; the C + + language is used for compiling, all the bullet data are stored in the corresponding arrays, and the expansibility is good; a tracking differentiator is introduced, so that high-frequency noise is well eliminated; the method has the function of predicting the movement condition of the projectile body in a future period of time.
Description
Technical Field
The invention relates to a missile launching motion parameter analysis method, belongs to the technical field of aerospace and weapons, and relates to a method for analyzing missile motion parameters in an indoor platform test of airplane missile launching. The method writes a set of complete missile launching motion parameter analysis c + + language program. The program identifies and analyzes the shot pictures by calling an OpenCV vision library, detects the posture change of the projectile body when the projectile body falls, introduces a tracking differentiator into the program, carries out filtering processing on the obtained data by the tracking differentiator, eliminates partial errors, and finally predicts the movement trend of the projectile body in a period of time in the future.
Background
In an external store putting test of an airplane, the test analysis of motion parameters in the putting process is one of the problems frequently encountered in the field of scientific research and test flight.
Through an actual throwing test and field photography, the working conditions of all mechanisms can be intuitively reproduced, the translation parameters and the rotation motion parameters of the missile in the free falling process after throwing and separating are measured, and the feasibility of the design of the throwing hanging frame and the working correctness of the throwing mechanism are examined.
The separation movement of the moving body is tested by utilizing a high-speed photography technology, and the principle and the scheme are easy to realize. However, at present, missile motion data are analyzed through images by manually marking points on a missile body and measuring the position change of the marked points in a picture. When a plurality of images are shot by the measuring method, the workload of measuring personnel is increased, and the efficiency is low.
Disclosure of Invention
Aiming at the problems, the invention aims to provide a missile launching motion parameter analysis method. By calling a missile launching motion parameter analysis c + + language calculation program of an OpenCV visual library, the falling attitude information of a missile body is rapidly read and analyzed, a tracking differentiator is introduced into the missile launching motion parameter analysis program, partial sampling errors are eliminated, more accurate motion parameters are obtained, and finally the missile motion trend in a period of time in the future can be predicted.
The method calls an OpenCV vision library through a C + + language missile launching motion parameter analysis program to analyze the falling process of the missile body shot by a high-speed camera and obtain the posture position information of the falling process of the missile body. The measured partial projectile position data may have errors due to vibration and the like. When the differential operation is used for solving the speed and the acceleration, the errors are amplified and further influence the analysis result. A tracking differentiator is introduced into the program, data with larger errors are filtered, and more accurate and smooth missile motion parameters are calculated. In addition, because the projectile is recovered by the device in the later period, the program needs to predict the motion state in the middle and later periods of the actual throwing process.
The invention innovatively introduces the existing mature OpenCV visual library, c + + language programming and tracking differentiator into the field of missile launching indoor tests, and provides a brand-new missile launching motion parameter analysis method to replace the traditional low-efficiency manual identification analysis method. The problem that a large amount of time is wasted in manual identification of the positions of the mark points in the missile falling pictures in the traditional missile launching test is solved by utilizing an OpenCV visual library; the missile attitude and motion information is rapidly calculated by utilizing c + + language programming, and manual calculation in the previous test is replaced; the problem that the interference error of individual sampling is large is solved by utilizing the tracking differentiator.
The invention relates to a missile launching motion parameter analysis method, which comprises the following specific processes:
step one, identifying and positioning mark point positions in photos by using OpenCV vision library
And S11, before the test is put in, symmetrically pasting two specific color marks in any shapes on the side surface and the tail part of the projectile body according to the gravity center position, and using the two specific color marks as reference points for identifying the posture of the projectile body by software.
And S12, when the projectile body is released from the hanging rack during the throwing test, two high-speed cameras positioned on the side surface and the tail part of the projectile body start to continuously take pictures of the falling projectile body, and the pictures are stored in a computer according to specific numbers.
And S13, after the shooting process of the projectile throwing test is finished, operating a missile throwing motion parameter analysis program to process the photos. Firstly, a user confirms the approximate RGB range of the marking color according to the marking color by contrasting the RGB colorimetric card. Secondly, after the RGB range is input into a missile launching motion parameter analysis program, the program can automatically retrieve all pixels in the picture, and the pixels are compared with the RGB range input by the user to screen out the pixels which are in line with the range. And thirdly, after the pixel points are screened out, only the pixel points which accord with the RGB range are reserved, and the processed photo is output.
The missile launching motion parameter analysis program is a complete c + + language program, and after the missile is marked and photographed, the rest of calculation work and the output of the missile motion parameters are completely completed by the program. The program calls an OpenCV visual library and also comprises an autonomously designed tracking differentiator algorithm.
And S14, performing Gaussian filtering on the processed picture to eliminate noise. And carrying out binarization processing on the filtered photo, and outputting a black and white picture, wherein the white area is a bullet marking area, and the rest positions are black. And analyzing the picture subjected to binarization processing by the missile launching motion parameter analysis program to find out the centroid position coordinates of the white area, and determining the position of the missile body mark point in the picture by the coordinates.
And step two, calculating the spinning angular acceleration, the pitching angular acceleration and the gravity center acceleration of the projectile body.
And S21, calculating the spinning angular speed of the projectile. And analyzing the pictures shot by the high-speed camera at the tail part of the projectile body to obtain the position change information of the tail mark point. And (4) calculating the angle of the connecting line of the two mark points at the tail in the picture, namely the spinning angle of the projectile at the moment. The difference of the spin angles in the two adjacent pictures is divided by the shooting interval of the high-speed camera, so that the spin angular speed of the projectile at the moment is obtained. And calculating the spin angular velocity in the process and storing the spin angular velocity in the corresponding array.
And S22, calculating the pitch angle speed of the projectile body. And obtaining the position change information of the side marking points through analyzing the pictures shot by the high-speed camera at the side of the projectile body. And (5) calculating the angle of the connecting line of the two mark points at the side part in the picture, namely the pitch angle of the projectile body at the moment. The difference of the pitch angles in the two adjacent pictures is divided by the shooting interval of the high-speed camera, so that the pitch angle speed of the projectile body at the moment is obtained. And calculating the pitch angle speed in the process and storing the pitch angle speed in the corresponding array.
And S23, calculating the moving speed of the center of gravity of the projectile. And obtaining the position change information of the side marking points through analyzing the pictures shot by the high-speed camera at the side of the projectile body. And respectively averaging the horizontal and vertical coordinates of the two marking points on the side surface to obtain a coordinate, namely a position coordinate of the central points of the two marking points, namely a barycentric coordinate. Firstly, dividing the coordinate difference of the central points of the two pictures by the shooting interval of the high-speed camera to obtain the moving speed of the central point. The moving speed obtained at this time is only the moving linear speed of the center point of the two marked points on the graph, and is not the actual speed. If the actual speed of the two marked central points on the side surface of the projectile body is required to be known, conversion is needed. At the moment, the user only needs to input two mark distances obtained by actual measurement, the program can convert according to the two mark distances on the picture to obtain the proportional relation between the actual mark distance and the picture, and the speed calculated on the picture is converted into the actual speed, namely the gravity center moving speed. And calculating the moving speed of the gravity center in the process and storing the moving speed into the corresponding array.
And S24, calculating the spin angular acceleration, pitch angular acceleration and gravity center acceleration of the projectile. According to the formula:
wherein, αSpin of spinIs spin angular acceleration, αPitchingIs the pitch angular acceleration, aCenter of gravityIs the acceleration of the center of gravity, d omegaSpin of spinIs the difference between the spin angular velocities of two adjacent photographs, d omegaPitchingIs the difference between pitch angle and pitch velocity, dv, of two adjacent picturesCenter of gravityIs the difference between the gravity center speeds of two adjacent pictures, and dt is the time interval of high-speed camera photographing.
And step three, acquiring the falling position coordinate information of the projectile body, and carrying out derivation speed calculation operation on the coordinate information by using a tracking differentiator to eliminate high-frequency noise.
The tracking differentiator is improved by using a new control function, and the tracking differentiator constructed by using the control function has smaller phase time lag and smaller amplitude loss than the Korean tracking differentiator. The discrete form of such a tracking differentiator is as follows:
where h is the sampling period, v (k) is the input signal sequence, x1(k)、x2(k) The tracking signal and the differential signal at the k-th step t ═ kh are respectively. l is a filter factor.
And step four, predicting the missile movement trend in a period of time in the future.
According to the predicted duration input by the user, determining the predicted step number by using the following formula:
wherein n isPredictionPredicting step number, t, for the futurePredictionThe future predicted duration, dt, input for the user is the high speed camera photographing time interval. And (3) pre-outputting the predicted speed of future multiple steps according to a formula:
vt＝v0+a·dt
wherein v istTo predict speed, v0At the initial speed, dt is the high speed camera photographing time interval.
The invention provides a missile launching motion parameter analysis method, which has the advantages and effects that:
1. in the past, when a projectile body is subjected to posture analysis, marking points are arranged on the projectile body, a high-speed camera is used for shooting and sampling during throwing, and after a picture is obtained, the picture is manually identified and analyzed. The staff needs to find the coordinates of the mark point position in the shot picture manually, then calculate the falling distance of the coordinates, and finally calculate the moving speed and the acceleration of the projectile body. When facing thousands of photo samples taken by a high-speed camera, the manual identification is time-consuming and labor-consuming. The motion parameter analysis method provided by the invention can be used for fully automatically reading the marks of the photos, performing operation analysis and outputting the results. Compared with manual operation, the method has the advantage that the analysis efficiency is greatly improved.
2. The program is provided with different color mark identification functions, and the universal type is extremely strong. The user only needs to enter the RGB range of the bullet marking colors in the program and the program will automatically locate the mark points in the picture. Therefore, when the user faces test bullets with different colors, different background environments and different light conditions, the program can work normally only by adjusting the RGB range of the identification mark.
3. The program is compiled by using C + + language, all the bullet data are stored in the corresponding arrays, and the expansibility is good. And a visual window can be additionally arranged at the later stage, and the bullet motion parameters calculated by the program are further processed, such as drawing falling speed and acceleration curves of the bullet, filtering data and the like.
4. In the final data processing of the program, in order to eliminate the amplification effect of the derivation on the measurement noise, a tracking differentiator is introduced, so that high-frequency noise is well eliminated, and more accurate speed and acceleration calculation information is obtained.
5. The program has the function of predicting the projectile motion conditions for a future period of time. Due to the limitation of an experimental site, the projectile body can fall into the supporting plate to be recovered within a short time after being thrown, and the future movement condition of the projectile body cannot be predicted under the condition that the movement parameters of the projectile body are manually calculated in the prior art. When the actual airplane is thrown, the projectile body falls off from the hanging rack and then freely falls for a period of time to ignite. In order to predict the process more accurately, the program can automatically predict the movement condition of the projectile in the next few seconds according to the projectile movement data calculated in the photos, and more comprehensive test data can be obtained.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
FIG. 2a is a schematic illustration of the side of a projectile prior to testing with a tag for program identification.
Figure 2b is a schematic representation of a projectile tail having a tag for program identification posted prior to testing.
Fig. 3a shows the result of binarization processing of the projectile tail photograph after program filtering. And outputting a black and white picture, wherein the white area is a bullet marking area, and the rest positions are black.
Fig. 3b is a picture processed by binarization through program analysis, and the centroid position coordinates of the white area are found out, and the coordinates determine the position of the bullet mark point in the picture.
Fig. 4 is a software flowchart of a missile launching motion parameter analysis program.
The numbering in the figures is as follows:
1. bullet side mark (can be any shape and color)
2. Bullet tail mark (can be any shape and color)
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The invention discloses a missile launching motion parameter analysis method, which comprises the following specific processes as shown in figure 1:
before the drop test, two specific color marks in any shapes are symmetrically pasted on the side surface and the tail part of the projectile body according to the gravity center position, as shown in fig. 2a and 2 b. These markers will be the reference points for the software to recognize the pose of the projectile.
During the throwing test, the projectile body is released from the hanging rack, and two high-speed cameras positioned on the side surface and the tail part of the projectile body start to continuously shoot the falling projectile body. The photos are stored in the computer according to specific numbers.
And after the shooting process of the projectile throwing test is finished, operating a missile throwing motion parameter analysis program to process the photos. A flow chart of a missile launching motion parameter analysis program is shown in fig. 4; first, the user checks the RGB color chart based on the mark color, and confirms the approximate RGB range of the mark color. Secondly, after the RGB range is input into the program, the program can automatically search all pixels in the picture, and the pixels are compared with the RGB range input by the user to screen out the pixels which are in line with the range. And thirdly, outputting a processed photo after the pixel points are screened out. The photo only keeps the pixel points which accord with the RGB range, and the processed photo is output.
And performing Gaussian filtering on the processed photos to eliminate noise points. And (4) carrying out binarization processing on the filtered photo, and outputting a black and white picture, wherein a white area is a bullet marking area, and the rest positions are black, as shown in fig. 3 a. The program analyzes the binarized picture to find the centroid position coordinates of the white area, which determine the position of the bullet marking point in the picture, as shown in fig. 3 b.
And calculating the spinning angular speed of the projectile. And analyzing the pictures shot by the high-speed camera at the tail part of the projectile body to obtain the position change information of the tail mark point. And (4) calculating the angle of the connecting line of the two mark points at the tail in the picture, namely the spinning angle of the projectile at the moment. The difference of the spin angles in the two adjacent pictures is divided by the shooting interval of the high-speed camera, so that the spin angular speed of the projectile at the moment is obtained. And calculating the spin angular velocity in the process and storing the spin angular velocity in the corresponding array.
And calculating the pitch angle speed of the projectile body. And obtaining the position change information of the side marking points through analyzing the pictures shot by the high-speed camera at the side of the projectile body. And (5) calculating the angle of the connecting line of the two mark points at the side part in the picture, namely the pitch angle of the projectile body at the moment. The difference of the pitch angles in the two adjacent pictures is divided by the shooting interval of the high-speed camera, so that the pitch angle speed of the projectile body at the moment is obtained. And calculating the pitch angle speed in the process and storing the pitch angle speed in the corresponding array.
And calculating the moving speed of the gravity center of the projectile body. And obtaining the position change information of the side marking points through analyzing the pictures shot by the high-speed camera at the side of the projectile body. And respectively averaging the horizontal and vertical coordinates of the two marking points on the side surface to obtain a coordinate, namely a position coordinate of the central points of the two marking points, namely a barycentric coordinate. Firstly, dividing the coordinate difference of the central points of the two pictures by the shooting interval of the high-speed camera to obtain the moving speed of the central point. The moving speed obtained at this time is only the moving linear speed of the center point of the two marked points on the graph, and is not the actual speed. If the actual speed of the two marked central points on the side surface of the projectile body is required to be known, conversion is needed. At the moment, the user only needs to input two mark distances obtained by actual measurement, the program can convert according to the two mark distances on the picture to obtain the proportional relation between the actual mark distance and the picture, and the speed calculated on the picture is converted into the actual speed, namely the gravity center moving speed. And calculating the moving speed of the gravity center in the process and storing the moving speed into the corresponding array.
And calculating the spinning angular acceleration, the pitching angular acceleration and the gravity center acceleration of the projectile body. According to the formula:
wherein, αSpin of spinIs spin angular acceleration, αPitchingIs the pitch angular acceleration, aCenter of gravityIs the acceleration of the center of gravity, d omegaSpin of spinIs the difference between the spin angular velocities of two adjacent photographs, d omegaPitchingIs the difference between pitch angle and pitch velocity, dv, of two adjacent picturesCenter of gravityIs the difference between the gravity center speeds of two adjacent pictures, and dt is the time interval of high-speed camera photographing.
And acquiring the falling position coordinate information of the projectile body, and carrying out derivation calculation speed operation on the coordinate information by using a tracking differentiator to eliminate high-frequency noise. The tracking differentiator has two parameters to be adjusted, namely a tracking factor and a filtering factor, wherein the tracking factor is a parameter for determining the tracking speed, and the tracking speed is faster when the value is larger. The magnitude of the filter factor determines the filtering capability of the algorithm. In the use of the tracking differentiator, it is found that when the noise pollution degree of the measurement signal is small, a good filtering effect can be obtained by selecting a proper filtering factor, but when the noise is increased, although the noise can be well filtered by increasing the filtering factor, the larger the filtering factor is, the larger the phase loss of the tracking signal is, and the use requirement is difficult to meet even through phase compensation. There is therefore a need for an improved tracking differentiator which is capable of enhancing the filtering capability while minimizing phase loss. Here we use a new control function that has better tracking performance than the korean fast function. The tracking differentiator constructed using the control function has a smaller phase lag and a smaller amplitude loss than the korean tracking differentiator. The discrete form of such a tracking differentiator is as follows:
where h is the sampling period, v (k) is the input signal sequence, x1(k)、x2(k) Are respectively asThe tracking signal and the differential signal at the k-th step t-kh. l is a filter factor, the larger the value of l, the stronger the filter function, but the larger l, the larger the phase loss of the tracking signal. By the tracking differentiator, the coordinate of the projectile body is subjected to differentiation processing, noise interference is eliminated to a certain degree, and more accurate speed and acceleration information is obtained.
And predicting the missile motion trend in a future period of time. According to the predicted duration input by the user, determining the predicted step number by using the following formula:
wherein n isPredictionPredicting step number, t, for the futurePredictionThe future predicted duration, dt, input for the user is the high speed camera photographing time interval. And (3) pre-outputting the predicted speed of future multiple steps according to a formula:
vt＝v0+a·dt
wherein v istTo predict speed, v0At the initial speed, dt is the high speed camera photographing time interval.
Claims (6)
1. A missile launching motion parameter analysis method is characterized by comprising the following steps: the method comprises the following steps:
identifying and positioning a mark point position in a photo by using an OpenCV visual library;
calculating the spinning angular acceleration, the pitch angular acceleration and the gravity center acceleration of the projectile body;
step three, acquiring the falling position coordinate information of the projectile body, and utilizing a tracking differentiator to conduct derivation calculation speed operation on the coordinate information to eliminate high-frequency noise;
and step four, predicting the missile movement trend in a period of time in the future.
2. The missile launching motion parameter analysis method according to claim 1, characterized in that: the specific process of the step one is as follows:
s11, before a putting test, symmetrically and respectively sticking two specific color marks in any shapes on the side surface and the tail part of the projectile body according to the gravity center position, and using the two specific color marks as reference points for identifying the posture of the projectile body by software;
s12, when the projectile body is released from the hanging rack during a throwing test, two high-speed cameras positioned on the side surface and the tail part of the projectile body start to continuously shoot the falling projectile body, and the pictures are stored in a computer according to specific numbers;
s13, after the shooting process of the projectile throwing test is finished, operating a missile throwing motion parameter analysis program to process the picture;
s14, performing Gaussian filtering on the processed picture to eliminate noise; carrying out binarization processing on the filtered photo, and outputting a black and white picture, wherein a white area is a bullet marking area, and the rest positions are black; and analyzing the picture subjected to binarization processing by the missile launching motion parameter analysis program to find out the centroid position coordinates of the white area, and determining the position of the missile body mark point in the picture by the coordinates.
3. The missile launching motion parameter analysis method according to claim 2, characterized in that: the process of processing the picture by the missile launching motion parameter analysis program is as follows: firstly, contrasting an RGB colorimetric card according to a marking color, and confirming the approximate RGB range of the marking color; secondly, inputting the RGB range into a missile launching motion parameter analysis program, retrieving all pixels in a picture, comparing the pixels with the RGB range input by a user, and screening out pixel points which accord with the range; and thirdly, after the pixel points are screened out, only the pixel points which accord with the RGB range are reserved, and the processed photo is output.
4. The missile launching motion parameter analysis method according to claim 1, characterized in that: the specific process of the second step is as follows:
s21, calculating the spin angular velocity of the projectile
Analyzing the pictures shot by the high-speed camera at the tail part of the projectile body to obtain the position change information of the tail mark point; calculating the angle of the connecting line of the two mark points at the tail in the picture, namely the spinning angle of the projectile body at the moment; dividing the difference of the spin angles in the two adjacent pictures by the shooting interval of the high-speed camera to obtain the spin angular speed of the projectile at the moment; calculating the spin angular velocity in the process and storing the spin angular velocity in a corresponding array;
s22, calculating the pitch angle speed of the projectile body
Analyzing the pictures shot by the high-speed camera at the side part of the projectile body to obtain the position change information of the side part mark points; calculating the angle of the connecting line of the two mark points at the side part in the picture, namely the pitch angle of the projectile body at the moment; dividing the difference of the pitch angles in the two adjacent pictures by the shooting interval of the high-speed camera to obtain the pitch angle speed of the projectile body at the moment; calculating the pitch angle speed in the process and storing the pitch angle speed in the corresponding array;
s23, calculating the moving speed of the center of gravity of the projectile, and analyzing the shot pictures of the high-speed camera at the side part of the projectile to obtain the position change information of the mark points at the side part; respectively averaging the horizontal and vertical coordinates of the two marking points on the side surface to obtain a coordinate, namely a position coordinate of the central point of the two marking points, namely a gravity center coordinate; dividing the coordinate difference of the central points of the two pictures by the shooting interval of the high-speed camera to obtain the moving speed of the central point; inputting two mark distances obtained by actual measurement, converting according to the two mark distances on the picture to obtain a proportional relation between the actual mark distance and the picture, and converting the speed calculated on the picture into an actual speed, namely the gravity center moving speed; calculating the moving speed of the gravity center in the process and storing the moving speed into a corresponding array;
s24, calculating the spinning angular acceleration, pitch angular acceleration and gravity center acceleration of the projectile body; according to the formula:
wherein, αSpin of spinIs spin angular acceleration, αPitchingIs pitch angular acceleration, αCenter of gravityIs the acceleration of the center of gravity, d omegaSpin of spinIs the difference between the spin angular velocities of two adjacent photographs, d omegaPitchingIs the difference between pitch angle and pitch velocity, dv, of two adjacent picturesCenter of gravityIs the difference between the gravity center speeds of two adjacent pictures,dt is the high speed camera shot interval.
5. The missile launching motion parameter analysis method according to claim 1, characterized in that: the specific process of the third step is as follows: the tracking differentiator has two parameters needing to be adjusted, namely a tracking factor and a filtering factor, the tracking differentiator is improved, a control function is provided, and the tracking differentiator is constructed by utilizing the control function; the tracking differentiator is in discrete form as follows:
where h is the sampling period, v (k) is the input signal sequence, x1(k)、x2(k) Respectively a tracking signal and a differential signal when the kth step t is equal to kh; l is a filter factor.
6. The missile launching motion parameter analysis method according to claim 1, characterized in that: the specific process of the step four is as follows: according to the predicted duration input by the user, determining the predicted step number by using the following formula:
wherein n isPredictionPredicting step number, t, for the futurePredictionThe future predicted duration, dt, input for the user is the high speed camera photographing time interval; and (3) pre-outputting the predicted speed of future multiple steps according to a formula:
vt＝v0+a·dt
wherein v istTo predict speed, v0At the initial speed, dt is the high speed camera photographing time interval.
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