CN111692916A - Aiming device and aiming method - Google Patents
Aiming device and aiming method Download PDFInfo
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- CN111692916A CN111692916A CN202010486783.4A CN202010486783A CN111692916A CN 111692916 A CN111692916 A CN 111692916A CN 202010486783 A CN202010486783 A CN 202010486783A CN 111692916 A CN111692916 A CN 111692916A
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000012545 processing Methods 0.000 claims abstract description 60
- 230000008569 process Effects 0.000 claims abstract description 15
- 230000004927 fusion Effects 0.000 claims abstract description 6
- 230000033001 locomotion Effects 0.000 claims description 63
- 238000012937 correction Methods 0.000 claims description 19
- 230000007613 environmental effect Effects 0.000 claims description 15
- 230000002093 peripheral effect Effects 0.000 claims description 15
- 238000010304 firing Methods 0.000 claims description 13
- 230000008685 targeting Effects 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000005286 illumination Methods 0.000 claims description 3
- 230000004069 differentiation Effects 0.000 claims description 2
- 230000006870 function Effects 0.000 description 11
- 238000005259 measurement Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000008676 import Effects 0.000 description 3
- 230000004297 night vision Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000010438 heat treatment Methods 0.000 description 2
- 238000000354 decomposition reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000007499 fusion processing Methods 0.000 description 1
- 238000000265 homogenisation Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G1/00—Sighting devices
- F41G1/46—Sighting devices for particular applications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G1/00—Sighting devices
- F41G1/32—Night sights, e.g. luminescent
- F41G1/34—Night sights, e.g. luminescent combined with light source, e.g. spot light
- F41G1/36—Night sights, e.g. luminescent combined with light source, e.g. spot light with infrared light source
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G1/00—Sighting devices
- F41G1/46—Sighting devices for particular applications
- F41G1/473—Sighting devices for particular applications for lead-indicating or range-finding, e.g. for use with rifles or shotguns
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G1/00—Sighting devices
- F41G1/46—Sighting devices for particular applications
- F41G1/52—Sighting devices for particular applications for rifles or shotguns having two or more barrels, or adapted to fire different kinds of ammunition, e.g. ball or shot
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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- Optics & Photonics (AREA)
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- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
The invention relates to a sighting device and a sighting method, wherein the sighting device comprises a sighting device body and an infrared mirror assembly, the sighting device body is detachably connected with the infrared mirror assembly, and the infrared mirror assembly is used for detecting infrared rays emitted by a target and generating an intensified infrared image. The aiming method comprises the following steps: starting the sighting device body and the outer infrared mirror assembly, observing and collecting infrared rays emitted by a target by the infrared mirror assembly, and processing to generate an enhanced infrared image; and the sighting device body receives and processes the strengthened infrared image and calculates a sighting coordinate. The sighting device combines the sighting device body and the infrared mirror assembly for use, realizes the use of the sighting device all day long, can realize the image fusion enhancement function, and improves the recognition probability of a target object.
Description
Technical Field
The invention belongs to the field of sighting devices, and particularly relates to a sighting device and a sighting method.
Background
Firearms belong to individual equipment, are main firepower for individual soldiers to carry out close-range combat missions, and occupy a main position in an equipment system. Through the development of the last hundred years, the performance of firearms is close to the limit, and especially the effective range and the shooting precision are difficult to effectively improve, so that the increasing requirements are not met. The gun is provided with the sighting device, so that the shooting precision of the gun can be effectively improved.
The existing sighting telescope has the functions of distance measurement and trajectory calculation, and can improve the shooting precision of firearms to a certain extent, but the existing sighting telescope equipment does not have the functions of accurate compensation of moving targets, automatic shooting control and the like, and is difficult to accurately eliminate errors brought by links such as target movement, shooting time judgment and the like, so that the final shooting precision is difficult to further improve. In addition, the existing intelligent sighting telescope does not have the capability of increasing night vision, quick sighting and other functions through additional peripheral equipment, and the full-time and multifunctional application of the sighting telescope is limited.
Disclosure of Invention
In view of the above problems, the present invention provides a sighting device and a sighting method.
A sighting device comprises a sighting device body and an infrared mirror assembly, wherein the sighting device body and the infrared mirror assembly are detachably connected,
wherein,
the infrared mirror assembly is used for detecting infrared rays emitted by a target object and generating an intensified infrared image;
the sighting device body is used for receiving the strengthened infrared image and calculating the coordinate of a sighting point according to the strengthened infrared image.
Further, the infrared mirror assembly comprises a lens set, a detector, a processor and an infrared mirror electrical interface, the infrared mirror electrical interface is connected with the detector and the processor,
wherein,
the lens group is used for observing the target object and collecting and converging infrared rays emitted by the target object;
the detector is connected with the lens group and used for receiving the infrared rays collected and converged by the lens group to form an infrared image of the target object;
the processor is connected with the detector and used for receiving and processing the infrared image to generate an enhanced infrared image;
the infrared mirror electrical interface is connected with a peripheral equipment interface of the sighting telescope body and is used for transmitting the current of the sighting telescope body, the control command of the sighting telescope body and the intensified infrared image.
Further, the sighting device body comprises an image processing computer, a ballistic computing-shooting control computer and a peripheral equipment interface,
wherein,
the peripheral equipment interface is connected with the infrared mirror assembly and is used for transmitting current and control commands by the sighting device body and generating an intensified infrared image by the infrared mirror assembly;
the image processing computer is used for processing the intensified infrared image according to different using conditions, acquiring target object data and generating a display image with the highlighted target object;
the ballistic computing-shooting control computer is connected with the image processing computer and used for computing the aiming point coordinates.
Further, the infrared mirror electrical interface comprises an infrared power supply interface, an infrared video interface and an infrared control interface,
wherein,
the infrared power supply interface is correspondingly connected with a sighting telescope power supply interface of the sighting telescope body and used for supplying current to the infrared mirror assembly from a battery pack in the sighting telescope body;
the infrared video interface is correspondingly connected with the sight video interface of the sight body and is used for transmitting the intensified infrared image to the image processing computer;
the infrared control interface is correspondingly connected with the sighting device control interface of the sighting device body and used for transmitting the control command of the image processing computer.
Furthermore, the sighting telescope body is provided with a mounting guide rail, and the infrared mirror assembly is provided with a mounting interface clamped with the mounting guide rail.
Further, the sight body further comprises: a range finder, an environmental sensor, and a motion sensor, wherein,
the range finder is used for measuring the distance of the target object and transmitting the distance to the trajectory calculation-shooting control computer;
the environment sensor is used for detecting environment parameters including temperature, air pressure and humidity and transmitting the environment parameters to the ballistic trajectory calculation-shooting control computer;
the motion sensor is used for detecting firearm parameters including a firearm inclination angle, a firearm angular motion speed and a firearm shooting direction and transmitting the firearm parameters to the trajectory calculation-shooting control computer.
Further, the trajectory calculation-shooting control computer calculates the aiming point coordinates according to the target distance, the environmental parameters, the firearm parameters and the target data.
A method of aiming, the method comprising the steps of:
A. the sight body and the outer infrared mirror assembly are opened,
B. the infrared mirror assembly observes and collects infrared rays emitted by a target object and processes the infrared rays to generate an enhanced infrared image;
C. and the sighting device body receives and processes the strengthened infrared image and calculates the coordinate of the sighting point.
Further, the step B includes:
a lens group in the infrared mirror assembly observes a target object and converges infrared rays emitted by the target object to a detector in the infrared mirror assembly;
the detector forms an infrared image according to the collected infrared rays;
and a processor in the infrared mirror assembly receives and processes the infrared image to generate an intensified infrared image, and the processor transmits the intensified infrared image to the sighting device body according to the transmission command of the sighting device body.
Further, the step C includes:
D. the image processing computer of the sighting telescope body processes the intensified infrared image according to different using conditions, so that target object data are obtained, and a display image with a prominent target object is generated;
E. and the trajectory calculation-shooting control computer of the sighting device body calculates the coordinates of the sighting point according to the distance of the target object, the environmental parameters, the motion parameters, the wind speed, the motion speed and the wind direction of the target object.
Further, the step D includes:
when the using condition is night, the image processing computer receives the intensified infrared image and processes the intensified infrared image;
and when the using condition is visible light illumination, the image processing computer receives the enhanced infrared image and the visible light digital image generated by the image sensor in the sighting telescope body, fuses the enhanced infrared image and the visible light digital image to generate a fused image, and processes the fused image.
Further, the step D further includes:
performing image enhancement on the enhanced infrared image or the fusion image to obtain a target object,
carrying out target locking tracking on the aiming target,
measuring the target object data comprising a target object movement rate and a target object movement angular rate according to the target object locking tracking;
and transmitting the intensified infrared image or the fused image to a display of the sight body for displaying after differentiation and superposition.
Further, the step E includes:
according to the elevation angle theta of the firearmTAnd said target distance X, knowing the basic aiming angle (θ)1y0,θ1z0)；
According to the input wind speed W and the wind direction thetawTemperature τ0And pressure P0Inquiring the bullet type correction shooting table corresponding to the firearm to obtain the height and transverse correction (Q)τ、Qp、Qwx、Qwz)，；
According to said basic aiming angle (theta)1y0，θ1z0) Calculating the elevation sighting angle theta2y0According to saidHigh low and lateral correction (Q)τ、Qp、Qwx、Qwz) Calculating the direction aiming angle theta2z0：
θ2y0＝θ1y0+Qτ+Qp+Qwx
θ2z0＝θ1z0+Qwz；
Inquiring a bullet type basic shooting table corresponding to the used firearm according to the target object distance X to obtain the flight time T;
according to angular rate omega of movement of the bodygAnd the angular velocity ω of the targetpCalculating the motion angular rate omega of the target object by fusiontAnd then according to the angular velocity omega of the movement of the target objecttCalculating the altitude and direction advance angle (theta) from the flight time Tfy，θfz)：
θfy＝T*ωty
θfz＝T*ωtz；
Aiming the elevation and direction at an angle (θ)2y0，θ2z0) Angle of advance (theta) with respect to said height and directionfy，θfz) Combining, calculating the motion compensated elevation and direction aiming angle (theta)y0，θz0)：
θy0＝θ2y0+θfy
θz0＝θ2z0+θfz；
According to the motion compensated altitude and direction aiming angle (theta)y0，θz0) Calculating the aiming point coordinate (Z) relative to an aiming reference line0，Y0)：
Z0＝θy0/θpix+Zq
Y0＝θy0/θpix+Yq
In the above formula: thetapixIs the pixel field angle, ZqFor line-of-sight return-to-zero correction in the rear direction, YqAnd the high and low correction values after the aiming line is reset to zero.
The sighting device body has the functions of ballistic calculation based on distance and environmental parameter compensation, accurate measurement and compensation of a moving target object, automatic shooting control and the like, accurately eliminates errors caused by links of target object movement, shooting time judgment and the like, and is high in shooting accuracy.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 shows a schematic view of a targeting device according to an embodiment of the present invention;
FIG. 2 shows a sighting device and firearm mounting diagram according to an embodiment of the invention;
FIG. 3 is a first schematic diagram of the structure of the sight body according to the embodiment of the invention;
FIG. 4 is a schematic diagram of a second sight body structure according to an embodiment of the invention;
fig. 5 shows a logical relationship diagram of an electric control part inside the sight body according to the embodiment of the invention;
FIG. 6 illustrates a display displaying an information content profile according to an embodiment of the present invention;
FIG. 7 illustrates an external structural view of an infrared mirror assembly in accordance with an embodiment of the present invention;
FIG. 8 shows a schematic diagram of an infrared mirror assembly according to an embodiment of the invention;
fig. 9 shows a flow chart of a targeting method according to an embodiment of the invention.
Description of the drawings:
1. a firearm; 2. a sight body; 201. a distance measuring machine; 202. an objective lens group; 203. a physical key assembly; 204. installing a guide rail; 205. a peripheral device interface; 206. a video output interface; 207. an eyepiece assembly; 208. a firearm mounting interface; 209. a trigger assembly control interface; 210. a battery pack; 211. an image sensor; 212. an image processing computer; 213. a display; 214. a memory; 215. a data export or import interface; 216. ballistic calculation-firing control computer; 217. a motion sensor; 217a, two-axis inclination angle; 217b, a three-axis gyroscope; 217c, three-axis geomagnetism; 218. an environmental sensor; 218a, a temperature sensor; 218b, an air pressure sensor; 218c, a humidity sensor; 219. first display information; 220. second display information; 221. third display information; 222. fourth display information; 223. fifth display information; 224. sixth display information; 225. seventh display information; 226. eighth display information; 227. ninth display information; 228. tenth display information; 229. eleventh display information; 3. an infrared mirror assembly; 301. an infrared mirror electrical interface; 302. a processor; 303. a detector; 304. a lens group; 305. an infrared mirror mounting interface; 4. trigger control assembly.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
A sighting device is shown in figure 1 and comprises a sighting device body 2 and an infrared mirror assembly 3.
The aiming device is used for shooting the firearm 1, and as shown in figure 2, the lower end of the firearm 1 is provided with a trigger control assembly 4. The aiming device is arranged at the upper end of the firearm 1 and is used for observing and aiming a gunshot target by a firearm 1 user; the infrared mirror assembly 3 is arranged on the sighting telescope body 2 and is used for observing an image of a target object at night; the trigger control assembly 4 is arranged at the lower end of the firearm 1, is used for being matched with the sighting device body 2 and is used for trajectory calculation, moving target object measurement and compensation and automatic shooting control.
As shown in fig. 3 and 4, the sight body 2 includes a housing, a range finder 201, a data processing assembly, an objective lens group 202, a physical key assembly 203, an eyepiece lens assembly 207, an interface assembly, a battery pack 210, a mounting rail 204, and a firearm 1 mounting interface.
The casing is the cuboid shape, and the casing bottom face is installed in 1 tops of firearms through 1 installation interface of firearms, realizes being connected with dismantling of firearms 1.
The distance measuring machine 201 is used for measuring the distance of the target object, the distance measuring machine 201 is located inside the shell, and the target object observation window of the distance measuring machine 201 is arranged on the shell. For example, after the target object is confirmed, the target object distance is measured by emitting laser light to the target object and measuring the moving distance of the laser light.
The objective lens group 202 is arranged at one end of the shell close to the bullet outlet of the firearm 1 and is used for observing a target object and the environment where the target object is located;
the eyepiece assembly 207 is arranged at one end of the shell far away from the objective lens group 202 and is used for a user of the firearm 1 to check the target object transmitted by the objective lens group 202 and the environment where the target object is located;
the battery pack 210 is disposed on a side of the housing and detachably connected to the housing, so that the battery pack 210 can be replaced to ensure continuous operation of various components in the sight.
The physical key assembly 203 is arranged on the other side surface of the shell and is arranged close to one end of the eyepiece assembly 207, so that the aim of users for all parts in the body and the infrared mirror assembly to set functions and parameters and adjust the visual field is realized.
For example, the physical key assembly 203 may include an up-down adjustment key, a left-right adjustment key, and a determination key, where the up-down adjustment key and the left-right adjustment key have functions of menu selection, adjusting the size of a viewing angle, adjusting numbers, dimming light intensity, and zooming in and out of a displayed image, and the determination key is used to fix a current function or a page.
The data acquisition processing assembly is arranged inside the shell, as shown in fig. 5, the data processing assembly comprises: ballistic calculation-firing control computer 216, image processing computer 212, display 213, environmental sensor 218, motion sensor 217, image sensor 211, and memory 214.
The image sensor 211 is connected to the eyepiece assembly 207 for collecting and recording the images viewed by the objective lens assembly 202 and transmitting the observed images as visible digital images to the image processing computer 212.
The image processing computer 212 has functions of image enhancement, target locking tracking, target movement rate measurement based on image tracking, and the like, tracks a locked target in real time, measures a target movement angular rate, provides position data and movement data of the target to the ballistic calculation-firing control computer 216, and simultaneously transmits the target image to the display 213 in a superimposed division manner.
The display 213 is aligned with the eyepiece assembly 207 and the image on the display 213 can be viewed directly through the eyepiece assembly 207. When the superimposed divided object image is displayed, the shooter can view through the eyepiece assembly 207.
The environment sensor 218 is used for measuring environment parameters required by ballistic calculation, and the environment sensor 218 is connected with the ballistic calculation-shooting control computer 216 for transmitting the environment parameters;
illustratively, the environmental sensors 218 include a temperature sensor 218a, an air pressure sensor 218b, and a humidity sensor 218c, and the temperature sensor 218 target, the air pressure sensor 218b, and the humidity sensor 218c are all coupled to the ballistic calculation-fire control computer 216 to transmit the current environmental temperature, the current air pressure, and the current environmental humidity to the ballistic calculation-fire control computer 216.
The motion sensor 217 is used to measure the firearm parameters required for ballistic calculations and is connected to the ballistic calculation-firing control computer 216 for transmission of the firearm parameters. The firearm parameters may be a firearm inclination angle, a firearm angular movement speed, a firearm direction, and the like, and the movement sensor 217 includes a two-axis inclination angle 217a, a three-axis gyroscope 217b, and a three-axis geomagnetism 217 c.
The ballistic calculation-shooting control computer 216 receives the data from the distance measuring machine 201, the environmental sensor 218, the motion sensor 217 and the image processing computer 212, performs ballistic calculation, moving target compensation calculation and shooting opportunity decision, and generates a sending shooting instruction of the trigger control assembly 4.
The memory 214 is connected to the image processing computer 212 and the ballistic calculation-firing control computer 218, and the memory 214 includes a firing table storage unit and a video storage unit. The shooting table storage unit is used for storing the shooting table required by the ballistic computing-shooting control computer, and the video storage unit is used for storing the video data received and processed by the image processing computer.
The interface assembly comprises a plurality of interfaces, and the plurality of interfaces are distributed at each position of the shell and are arranged close to the data acquisition and processing assembly corresponding to the interfaces. Specifically, the interface components include a video output interface 206, a data import or export interface 215, a trigger control interface 209, and a peripheral device interface 205.
The video output interface 206 is connected with the image processing computer 212, and is used for the image processing computer 212 to output the processed observation video of the target object to other equipment;
the data import or export interface 215 is connected to the storage 214 for importing or exporting data from the storage 214;
the trigger control interface 209 is respectively connected with the trigger control assembly 4 and the ballistic calculation-shooting control computer 216 and is used for transmitting the shooting command of the ballistic calculation-shooting control computer 216 to the trigger control assembly 4;
the peripheral device interface 205 is connected to the ballistic computation-firing control computer 216 and the image processing computer 212, and the peripheral device interface 205 is composed of a sight power supply interface, a sight video interface, and a sight control interface.
Wherein, the power supply interface of the sighting device is connected with the ballistic computing-shooting control computer 216 and is used for supplying power to the infrared mirror assembly 3;
the video interface of the sighting device is connected with the image processing computer 212 and is used for receiving or sending video data by the infrared mirror assembly 3;
the sight control interface is connected with the ballistic calculation-shooting control computer 216, and is used for the ballistic calculation-shooting control computer 216 to send control instructions to the infrared mirror assembly 3.
In this embodiment, the display 213 is used not only to display the image of the target object superimposed and divided, but also to display the current environment information, the firearm information, the status information of the data processing components, the image-related information, the optical axis position, the aiming point after ballistic calculation and moving target object compensation, and the target object locking frame.
The environmental information comprises data such as wind speed, wind direction, air pressure, air temperature, target object distance and the like;
the firearm information comprises current firearm information, bullet type information, a firearm rolling angle, a firearm elevation angle and current firearm shooting direction;
the state information of the data processing component comprises information such as residual capacity, current daylight or night mode, video recording state and the like.
The image-related information includes information such as an image source, a magnification, and a date and time.
In order to ensure that the target object image occupies a large area on the display 213, the various types of display information are distributed at different positions on the display 213, and the various types of information are distributed and displayed at edge positions of the display 213.
As an example, a typical display image in the display 213 of the sight body 2 is shown in fig. 6, and in fig. 6, the first display information 219 is a firearm roll angle; the second display information 220 is data such as wind speed, wind direction, air pressure, air temperature, and target object distance; the third display information 221 is the current firearm and bullet information; the fourth display information 222 is the firearm elevation; the fifth display information 223 is the remaining power, the current mode, the video recording status, and the like; a sixth display 224 is the current firearm firing direction; the seventh display information 225 is information such as an image source, a magnification, and a date and time; the eighth display information 226 is the center of the reticle, which is the position of the optical axis; the ninth display information 227 is a cross line, and the center of the cross line is an aiming point after trajectory calculation and moving target object compensation; the tenth display information 228 is a lock target; the eleventh display information 229 is a lock frame for specifying a position of the lock target object, and the lock frame tracks the lock target object in real time.
In the embodiment of the invention, a three-axis gyroscope 217b is adopted as one of the motion sensors 217, and a target object motion rate measurement method combined with target object image tracking is adopted, so that gyroscope data and target object image tracking rate data can be fused at a short distance, and higher measurement speed is achieved on the premise of meeting motion compensation; and when the distance is long, the target object image is adopted to track the motion rate data relative to the background image so as to meet the motion compensation precision.
As shown in fig. 7 and 8, the infrared mirror assembly 3 includes an infrared mirror housing, a lens group 304, a detector 303, a processor 302, an infrared mirror electrical interface 301, and an infrared mirror mounting interface 305.
The infrared mirror mounting interface 305 and the infrared mirror housing are integrally formed, and the infrared mirror mounting interface 305 controls the circuit to be clamped with the mounting rail, so that the infrared mirror housing and the sighting telescope body 2 are stably connected.
The lens group 304, the detector 303 and the processor 302 are all connected with the peripheral device interface 205 of the sighting telescope body 2 through the infrared mirror electrical interface 301, so that the sighting telescope body 2 controls the infrared mirror assembly 3.
The lens group 304 is embedded in the side of the infrared mirror housing, is located on the same side as the eyepiece lens assembly 207, observes a target object at night, and collects and converges infrared rays emitted by the target object.
The detector 303 is located inside the infrared mirror housing and arranged corresponding to the lens assembly 304, and the receiving lens assembly 304 collects converged infrared rays to form an infrared image of the target object and records a moving video of the target object observed by the lens assembly 304 in real time.
The processor 302 is located inside the infrared mirror shell and connected with the detector 303 and the infrared mirror electrical interface 301, and the processor 302 receives the infrared image of the target object transmitted by the detector 303, performs enhancement, homogenization and other processing on the infrared image of the target object to generate a strengthened infrared image of the target object, and transmits the strengthened infrared image of the target object to the infrared mirror electrical interface 301.
The infrared mirror electrical interface 301 is connected to the peripheral device interface 205 of the sight body 2, and transmits the processed infrared image of the target object to the sight body 2 and transmits a control command sent by the sight body 2.
The infrared mirror electrical interface 301 includes an infrared power supply interface, an infrared video interface, and an infrared control interface.
The infrared power supply interface is correspondingly connected with the sighting device power supply interface, and a power supply is provided for the infrared mirror assembly 3 through a battery pack 210 in the sighting device body 2;
the infrared video interface is correspondingly connected with the sighting device video interface, so that the processor 302 transmits the processed infrared image of the target object and the moving video of the target object observed by the lens group 304 to the sighting device body 2 through the infrared video interface;
the infrared control interface is correspondingly connected with the sighting device control interface, so that the sighting device body 2 can control the processor 302.
The working principle of the infrared mirror assembly 3 is as follows: the lens group 304 observes a target object, infrared rays emitted by the target object are converged to the detector 303, the detector 303 forms an infrared image according to the collected infrared rays, the infrared image is sent to the processor 302, the image processing computer 212 in the sighting device body 2 sends an image processing command to the processor 302 through the sighting device control interface and the infrared control interface, the processor 302 processes the infrared image and then sends an image transmission command to the sighting device body 2 through the sighting device control interface and the infrared control interface, after the image processing computer 212 confirms, the processor 302 transmits the processed infrared image to the image processing computer 212 or the central computer through the infrared video interface and the infrared video interface, and then the image processing computer 212 continues to process the processed infrared image to identify the target object and the environment where the target object is located.
After the infrared mirror assembly 3 is combined with the sighting telescope body 2, the sighting telescope body 2 has the functions of infrared night vision and image fusion enhancement. When the infrared night vision function is used, the image processing computer 212 in the sighting device body 2 switches the video image input source from the image sensor 211 to the infrared mirror assembly 3, and displays the infrared image on the display 213 after processing, overlapping, dividing and other information, so that a shooter can watch the infrared image through the eyepiece assembly 207; when the image fusion enhancement function is realized, the image processing computer 212 receives the visible light digital image of the image sensor 211 and the infrared image of the infrared mirror assembly 3 at the same time, and highlights heating target objects such as people and vehicles after fusion processing, so that the reliability of identification and locking of the target objects in a complex background is improved.
The trigger assembly 4 receives a control instruction sent by the sighting device body 2 through a trigger control interface 209, wherein the control instruction comprises a locking instruction and a shooting instruction; before the target object is not aimed, a locking instruction is given; when aiming at the target object, the target object is a shooting instruction.
The invention also relates to a sighting method, wherein the sighting device arrangement on which the sighting method is based is shown in fig. 9, and the sighting method comprises the following steps:
step 1, starting the sighting device body and an external infrared mirror assembly, and inputting wind speed and wind direction data to the sighting device body.
The components in the sighting telescope body to be started are a distance measuring machine, an image sensor, an image processing computer, a trajectory calculation-shooting control computer, an environment sensor, a motion sensor, a memory, a display and a peripheral equipment interface connected with a peripheral infrared mirror assembly.
The opening of the parts in the sighting telescope body is manually started by the shooting personnel.
The external infrared mirror assembly comprises a detector, a processor and an infrared mirror electric interface, and the external infrared mirror assembly starts power supply and operation commands through the sighting telescope body.
And 2, collecting a visible light digital image by an image sensor of the sight body, observing and collecting infrared rays emitted by the target object by the infrared mirror assembly, and processing to generate a strengthened infrared image.
Specifically, a visible light digital image is collected and converged to an image sensor through an objective lens group to generate a visible light digital image; the lens group in the infrared lens component converges infrared rays emitted by a target object to the detector to form an infrared image, and the infrared image is enhanced, homogenized and the like by the processor to generate an enhanced infrared image.
specifically, the transmission command is sent by a ballistic calculation-shooting control computer of the sighting device body through a sighting device control interface, the transmission command is received by a processor of the infrared mirror assembly, and the infrared image is transmitted through the infrared video interface.
And 4, receiving and processing the intensified infrared image by the image processing computer, continuously intensifying the fusion image, determining the aiming target object, tracking the target object according to the locking command, and acquiring the target object data.
At night, the image processing computer only receives the enhanced infrared image, performs image enhancement processing on the enhanced infrared image, and transmits the enhanced infrared image after the enhancement processing to a display for display after superposition and division;
under the illumination of visible light, the image processing computer receives the enhanced infrared image and the visible light digital image generated by the image sensor in the sighting device body, fuses the enhanced infrared image and the visible light digital image to generate a fused image, and transmits the fused image to the display for display after superposition and division;
the shooter determines to aim at a target object through an optical axis according to the display image and inputs a distance measuring instruction and a locking instruction through a physical key;
the distance measuring machine measures the distance of the target object according to the distance measuring instruction, the image processing computer locks the target object according to the locking instruction, the target object is switched into a target object tracking state, and target object data comprising the movement rate of the target object and the movement angular rate of the target object are obtained.
And 5: calculating aiming point coordinates (Z) by a trajectory calculation-shooting control computer according to the target distance, the environment parameters, the motion parameters, the wind speed, the target motion speed and the wind direction provided by the sighting device body0，Y0)。
The trajectory calculation-shooting control computer performs basic trajectory calculation, trajectory correction amount calculation, height and direction aiming angle (theta) successively according to the above parameters2y0，θ2z0) Calculating, height and direction advance angle (theta)fy，θfz) ComputingAnd motion compensated elevation and direction aiming angle (theta)y0，θz0) Calculating to obtain the coordinate (Z) of the aiming point0，Y0)。
The basic ballistic quantity is specifically calculated as: ballistic calculation-shooting control computer based on firearm elevation angle theta measured by inclination sensor in motion sensorTThe distance X between the target object and the distance measuring machine is measured, and then the basic aiming angle (theta) is obtained according to the basic shooting table of the bullet type corresponding to the firearm used by inquiry1y0,θ1Z0) Basic sighting angle (theta)1y0,θ1z0) I.e. the ballistic basic quantity.
The ballistic correction calculation is specifically: the ballistic computing-shooting control computer inputs the wind speed W and the wind direction thetawDecomposition of data into longitudinal winds WxAnd cross wind WzAnd then according to the temperature tau actually measured by the temperature sensor in the environment sensor0Pressure P of air0Longitudinal wind WxCrosswind WzInquiring the bullet type correction shooting table corresponding to the firearm to obtain the height and transverse correction (Q)τ、Qp、Qwx、Qwz)；
High low and lateral correction (Q)τ、Qp、Qwx、Qwz) Is the ballistic correction.
Elevation and direction aiming angle (theta)2z0，θ2y0) Calculating the basic quantity (theta) of trajectory by ballistic trajectory-shooting control computer1y0，θ1z0) And ballistic correction (Q)τ、Qp、Qwx、Qwz) Calculating to obtain:
θ2y0＝θ1y0+Qτ+Qp+Qwx
θ2z0＝θ1z0+Qwz
namely, the height and the direction aiming angle (theta) are obtained2y0，θ2z0)。
Elevation and direction advance angle (theta)fy，θfz) The calculation of (a) includes: ballistic calculation-firing control computer based on angular rate of movement ω of the body of the gun measured by a gyroscope in a motion sensorgAnd image processing calculationMachine-tracked target angular rate omegapCalculating the motion angular rate omega of the target object by fusiont；
Calculating the flight time T according to the target object distance X;
then according to the angular rate omega of the target objecttCalculating the altitude and direction advance angle (theta) from the flight time Tfy，θfz):
θfy＝T*ωty
θfz＝T*ωtz
In the formula: omegatyIs omegatHigh and low components, omegatzIs omegatA directional component of which ωtyAnd ωtzAt target angular velocity ωtWhen the movement is determined, the image processing computer determines the movement angle of the target object according to the movement trace of the target object and the movement trend of the target object, and then determines the movement angle according to the movement angular rate omegatRespectively calculating high and low components omega with sine value and cosine value of target object motion angletyDirection component ωtz。
Angular rate of motion omega of targettThe measurement of (a) includes:
judging whether the distance X of the target object is larger than a set value X or not1；
(1) If X is>X1，
ωt＝(Vtpix-Vbpix)*θpix；
In the formula: omegatIs the angular rate of movement of the object (in degrees or radians/pixel), VtpixIs the pixel velocity (unit is pixel/second), V, of the target object image in the field of viewbpixIs the pixel velocity (in pixels/second) of the background image in the field of view, θpixIs the pixel angular spread (i.e., the angular spread of each pixel in the field of view of the scope, in degrees or radians per pixel).
(2) If X is less than or equal to X1，
ωt＝Vtpix*θpix-ωg；
In the formula: omegagThe angular rate of movement of the firearm (in degrees or radians/pixel) measured for the gyroscope.
Aiming the altitude and direction at an angle (theta)2y0，θ2z0) Angle of advance with height and direction (theta)fy，θfz) Combining, calculating the motion compensated elevation and direction aiming angle (theta)y0，θz0):
θy0＝θ2y0+θfy
θz0＝θ2z0+θfz。
Based on motion compensated altitude and direction aiming angle (theta)y0，θz0) Calculating the height and direction coordinates (Z) of the sighting point relative to the sighting datum line0，Y0)：
Z0＝θy0/θpix+Zq
Y0＝θy0/θpix+Yq
In the formula: thetapixIs the pixel field angle, ZqFor line-of-sight return-to-zero correction in the rear direction, YqAnd the high and low correction values after the aiming line is reset to zero.
Step 6: the image processing computer is based on the coordinates (Z)0，Y0) An aiming point is generated, and the shooter aims at the target object by using the aiming point.
When the aiming method is used for generating a shooting instruction, the aiming method further comprises the following steps: calculating the distance R between the aiming point and the center of the target locking frame in real time by a trajectory calculation-shooting control computer, and if the distance is smaller than the set shooting area radius R0Generating a shooting instruction;
the trigger control assembly completes firing according to the firing command.
The aiming method disclosed by the invention has the advantages that the visible light digital image and the infrared image are fused, the heating target object is highlighted, the accurate target object data is obtained, the aiming point can be accurately obtained through the accurate calculation of the target object data, the environmental parameters and the motion parameters, and the aiming efficiency is effectively improved.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (13)
1. The aiming device is characterized by comprising an aiming device body and an infrared mirror assembly, wherein the aiming device body and the infrared mirror assembly are detachably connected,
wherein,
the infrared mirror assembly is used for detecting infrared rays emitted by a target object and generating an intensified infrared image;
the sighting device body is used for receiving the strengthened infrared image and calculating the coordinate of a sighting point according to the strengthened infrared image.
2. The aiming device of claim 1, wherein the infrared mirror assembly comprises a lens assembly, a detector, a processor, and an infrared mirror electrical interface, the infrared mirror electrical interface being connected to the detector and the processor,
wherein,
the lens group is used for observing the target object and collecting and converging infrared rays emitted by the target object;
the detector is connected with the lens group and used for receiving the infrared rays collected and converged by the lens group to form an infrared image of the target object;
the processor is connected with the detector and used for receiving and processing the infrared image to generate an enhanced infrared image;
the infrared mirror electrical interface is connected with a peripheral equipment interface of the sighting telescope body and is used for transmitting the current of the sighting telescope body, the control command of the sighting telescope body and the intensified infrared image.
3. The aiming device according to claim 1 or 2, characterized in that the sight body comprises an image processing computer, a ballistic calculation-firing control computer and a peripheral device interface,
wherein,
the peripheral equipment interface is connected with the infrared mirror assembly and is used for transmitting current and control commands by the sighting device body and generating an intensified infrared image by the infrared mirror assembly;
the image processing computer is used for processing the intensified infrared image according to different using conditions, acquiring target object data and generating a display image with the highlighted target object;
the ballistic computing-shooting control computer is connected with the image processing computer and used for computing the aiming point coordinates.
4. The aiming device of claim 2, wherein the infrared mirror electrical interface comprises an infrared power supply interface, an infrared video interface, and an infrared control interface,
wherein,
the infrared power supply interface is correspondingly connected with a sighting telescope power supply interface of the sighting telescope body and used for supplying current to the infrared mirror assembly from a battery pack in the sighting telescope body;
the infrared video interface is correspondingly connected with the sight video interface of the sight body and is used for transmitting the intensified infrared image to the image processing computer;
the infrared control interface is correspondingly connected with the sighting device control interface of the sighting device body and used for transmitting the control command of the image processing computer.
5. The aiming device as claimed in claim 1, wherein the aiming device body is provided with a mounting rail, and the infrared mirror assembly is provided with a mounting interface which is clamped with the mounting rail.
6. The aiming device of claim 3, wherein the aiming body further comprises: a range finder, an environmental sensor and a motion sensor,
wherein,
the range finder is used for measuring the distance of a target object and transmitting the distance to the trajectory calculation-shooting control computer;
the environment sensor is used for detecting environment parameters including temperature, air pressure and humidity and transmitting the environment parameters to the ballistic trajectory calculation-shooting control computer;
the motion sensor is used for detecting firearm parameters including a firearm inclination angle, a firearm angular motion speed and a firearm shooting direction and transmitting the firearm parameters to the trajectory calculation-shooting control computer.
7. The aiming device of claim 3, wherein the ballistic calculation-firing control computer calculates the aiming point coordinates as a function of the target distance, environmental parameters, firearm parameters, and target data.
8. A targeting method, characterized in that the targeting method comprises the steps of:
A. the sight body and the outer infrared mirror assembly are opened,
B. the infrared mirror assembly observes and collects infrared rays emitted by a target object and processes the infrared rays to generate an enhanced infrared image;
C. and the sighting device body receives and processes the strengthened infrared image and calculates the coordinate of the sighting point.
9. The targeting method of claim 8, wherein the step B comprises:
a lens group in the infrared mirror assembly observes a target object and converges infrared rays emitted by the target object to a detector in the infrared mirror assembly;
the detector forms an infrared image according to the collected infrared rays;
and a processor in the infrared mirror assembly receives and processes the infrared image to generate an intensified infrared image, and the processor transmits the intensified infrared image to the sighting device body according to the transmission command of the sighting device body.
10. The aiming method according to claim 8 or 9, characterized in that said step C comprises:
D. the image processing computer of the sighting telescope body processes the intensified infrared image according to different using conditions, so that target object data are obtained, and a display image with a prominent target object is generated;
E. and the trajectory calculation-shooting control computer of the sighting device body calculates the coordinates of the sighting point according to the distance of the target object, the environmental parameters, the motion parameters, the wind speed, the motion speed and the wind direction of the target object.
11. The targeting method of claim 10, wherein the step D includes:
when the using condition is night, the image processing computer receives the intensified infrared image and processes the intensified infrared image;
and when the using condition is visible light illumination, the image processing computer receives the enhanced infrared image and the visible light digital image generated by the image sensor in the sighting telescope body, fuses the enhanced infrared image and the visible light digital image to generate a fused image, and processes the fused image.
12. The targeting method of claim 11, wherein the step D further comprises:
performing image enhancement on the enhanced infrared image or the fusion image to obtain a target object,
carrying out target locking tracking on the aiming target,
measuring the target object data comprising a target object movement rate and a target object movement angular rate according to the target object locking tracking;
and transmitting the intensified infrared image or the fused image to a display of the sight body for displaying after differentiation and superposition.
13. The targeting method of claim 10, wherein the step E comprises:
according to the elevation angle theta of the firearmTAnd said target distance X, knowing the basic aiming angle (θ)1y0,θ1z0)；
According to the input wind speed W and the wind direction thetawTemperature τ0And pressure P0Inquiring the bullet type correction shooting table corresponding to the firearm to obtain the height and transverse correction (Q)τ、Qp、Qwx、Qwz)，；
According to said basic aiming angle (theta)1y0，θ1z0) Calculating the elevation sighting angle theta2y0According to the high/low and lateral correction quantity (Q)τ、Qp、Qwx、Qwz) Calculating the direction aiming angle theta2z0：
θ2y0＝θ1y0+Qτ+Qp+Qwx
θ2z0＝θ1z0+Qwz；
Inquiring a bullet type basic shooting table corresponding to the used firearm according to the target object distance X to obtain the flight time T;
according to angular rate omega of movement of the bodygAnd the angular velocity ω of the targetpCalculating the motion angular rate omega of the target object by fusiontAnd then according to the angular velocity omega of the movement of the target objecttCalculating the altitude and direction advance angle (theta) from the flight time Tfy，θfz)：
θfy＝T*ωty
θfz＝T*ωtz；
Aiming the elevation and direction at an angle (θ)2y0，θ2z0) Angle of advance (theta) with respect to said height and directionfy，θfz) Combining, calculating the motion compensated elevation and direction aiming angle (theta)y0，θz0)：
θy0＝θ2y0+θfy
θz0＝θ2z0+θfz；
According to the motion compensated altitude and direction aiming angle (theta)y0，θz0) Calculating the aiming point coordinate (Z) relative to an aiming reference line0，Y0)：
Z0＝θy0/θpix+Zq
Y0＝θy0/θpix+Yq
In the above formula: thetapixIs the pixel field angle, ZqFor line-of-sight return-to-zero correction in the rear direction, YqAnd the high and low correction values after the aiming line is reset to zero.
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| CN114322659A (en) * | 2021-12-31 | 2022-04-12 | 吉林市江机民科实业有限公司 | White light sighting telescope division projection display method |
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| CN104613816B (en) * | 2015-01-30 | 2016-08-24 | 浙江工商大学 | Numeral sight and use its method to target following, locking and precision fire |
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| CN113203320A (en) * | 2021-05-29 | 2021-08-03 | 北京波谱华光科技有限公司 | Simple fire control sighting device based on three lights |
| CN114322659A (en) * | 2021-12-31 | 2022-04-12 | 吉林市江机民科实业有限公司 | White light sighting telescope division projection display method |
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