CN112485804A - Machine gun shooting door design method and system based on shooting distribution - Google Patents
Machine gun shooting door design method and system based on shooting distribution Download PDFInfo
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- G—PHYSICS
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Abstract
A machine gun shooting door design method and system based on shooting distribution are disclosed, the method comprises: after finding the target, the fire control observing and aiming system selects the target as a target tracking frame; after a tracking target is determined, pulling the target to an observing center, and establishing a rectangular coordinate system with the target center as an origin; adjusting the target tracking frame to enable the edge of the target image to be overlapped with the edge of the target tracking frame, so that the size of the target tracking frame is corrected; carrying out laser ranging on a target, resolving the size and the position of a shooting door according to distance information, and displaying the shooting door in a display and control terminal picture through imaging conversion; determining whether the shooting door is in the target surface, if the shooting door is not in the target surface, adjusting the pitch angle and the azimuth angle of the machine gun to enable the shooting door to enter the target surface, and simultaneously enabling the target to be imaged in the pitch direction in the center of a view field; and monitoring the state of a firing button, judging whether a shooting condition is met or not when a shooter presses the firing button, and controlling the machine gun to shoot based on the judgment result.
Description
Technical Field
The invention belongs to the field of fire control, and particularly relates to a machine gun shooting door design method and system based on shooting distribution.
Background
The concept of a shooting gate is generally put forward in a tank gun system and is a key technology for ensuring the first-shot hit rate, and the control of the shooting gate of the tank gun is to ensure the first-shot hit rate by sacrificing the shooting time. The machine gun shooting door is different from the tank gun shooting door, the power of the machine gun shooting is not as strong as that of the tank gun, the target can be damaged by one shot sometimes, but the machine gun shooting door has the advantage of being capable of shooting for multiple times in unit time, and therefore the machine gun shooting door can not be designed by adopting shooting to spread the shooting hit rate as a target function like the tank gun so as to ensure the shooting hit rate of the machine gun during traveling.
The remote control weapon station is a comprehensive, intelligent and modular weapon system integrating a photoelectric searching and tracking system, a follow-up stabilizing system, a launching control system and a plurality of precise weapons. In the shooting process of the machine gun in the weapon station during vehicle-mounted travelling, due to the bumpy road surface during travelling and the vibration interference of the vehicle body, the shooting precision requirement of the machine gun cannot be met simply by aiming and shooting artificially, and even a shooter with abundant experience cannot grasp the optimal shooting time to ensure the hitting precision of the machine gun. Therefore, a set of more intelligent and efficient shooting system needs to be established for machine gun shooting, on the basis, a machine gun shooting door concept is provided, and proper shooting time is selected according to a shooting door algorithm to ensure the hit rate of a machine gun.
When the weapon station is controlled in a wireless mode, the problem of shooting precision of the manned weapon station exists, the trouble that target tracking is unstable due to wireless transmission delay of image data exists, and a set of perfect shooting strategy needs to be formulated to guarantee shooting precision under the delay condition.
Disclosure of Invention
In view of the technical drawbacks and technical disadvantages of the prior art, embodiments of the present invention provide a solution to the above problems or at least partially solve the above problems, and the solution is as follows:
a method of machine gun shooting gate design based on shooting dissemination, the method comprising:
step 1, after finding a target, a fire control observing and aiming system selects the target as a target tracking frame;
step 4, carrying out laser ranging on the target, resolving the size and the position of the shooting door according to the distance information, and displaying the shooting door in a display and control terminal picture through imaging conversion;
step 5, determining whether the shooting door is positioned in the target surface, and if so, performing the next step; otherwise, adjusting the pitch angle and the azimuth angle of the machine gun, enabling the shooting door to enter the target surface, and simultaneously enabling the target to be imaged in the pitch direction at the center of the field of view to carry out the next step;
and 6, monitoring the state of a firing button, judging whether a shooting condition is met or not when a shooter presses the firing button, and controlling the machine gun to shoot based on the judgment result.
Further, in step 4, the concrete steps of calculating the size and the position of the shooting door according to the distance information are as follows: after the shooting distance is determined, the diameter of a gun scattering circle at the distance is obtained according to the interpolation of the shooting scattering data of a gun shooting table, the axis angle value of the gun is read through a servo, the center position of a shooting door is determined based on the axis angle value of the gun, a square with the diameter of the scattering circle as the side length is used as the gun shooting door, the size of the shooting door is obtained, and the position of the shooting door is determined according to the center position of the shooting door.
Further, the scattering circle diameter is calculated by the formula
The unit is pixel, the coordinates of the center position of the shooting door are (-5.63 delta theta, -5.63 delta beta), wherein, the (delta theta, delta beta) is the machine gun solutionAn angle; l is the side length of the shooting door, and D is the shooting distance.
Further, step 5 specifically comprises:
use the target surface center as the original point, establish rectangular coordinate system, the coordinate of four angular points of target surface is confirmed based on the size of target surface, the coordinate of four angular points of shooting door is confirmed based on shooting door size and position, through the coordinate position with four angular points of shooting door and target surface carries out the comparison, judges whether the shooting door is in the target surface, specifically as follows:
the coordinates of four angular points of the shooting door, namely the upper left corner, the upper right corner, the lower left corner and the lower right corner, are respectively (x)a，ya)、 (xb，yb)、(xd，yd) And (x)c，yc) The coordinates of four angular points of the target surface, namely the upper left corner, the upper right corner, the lower left corner and the lower right corner, are respectively (x)A，yA)、(xB，yB)、(xD，yD) And (x)C，yC)；
If it satisfies
Indicating that the firing gate is within the target; otherwise, the shooting door is not in or is not completely in the target surface, the pitching angle and the azimuth angle of the machine gun are adjusted, the shooting door enters the target surface, and simultaneously the target is imaged in the center of the view field in the pitching direction.
Further, in step 6, the specific step of judging whether the shooting condition is satisfied is:
when the projectile is shot, the stable angular speed of the follow-up turntable can enable the projectile to generate tangential speed along a muzzle, and the tangential speed is called a bulk velocity;
the bulk velocity causes the deviation of the target distance of the projectile during flight to be expressed as:
wherein wfwAnd wgdThe tracking angular velocity of the machine gun in the azimuth direction and the tracking angular velocity of the machine gun in the pitch direction are respectively ensuredWhen the gun shoots during marching, 50% of shot pellets are shot and scattered in the target surface, namely at least 50% of hit rate is ensured, and shooting judgment conditions need to be increased; the formula of the emission judgment condition is as follows:
wherein Δ B1 is a deviation value of the projectile in the azimuth direction due to the tracking angular velocity, and Δ H1 is a deviation value of the projectile in the pitch direction due to the tracking angular velocity; t is the flight time of the projectile and is calculated by a shooting table interpolation formula, LGunRepresenting the length of a gun barrel, wherein k is an amplification factor and is determined according to the required hit rate, and the smaller k is, the higher the hit rate is and the higher the requirement on shooting time is; the larger k is, the lower the hit rate is, and the lower the requirement on shooting opportunity is;
at the moment when a firing button is pressed during traveling shooting, if the firing judgment condition is not met, the shot cannot be fired, the second reading is carried out, the firing condition judgment is carried out again within a certain time, and the shot is fired if the condition is met.
As a second aspect of the present invention, there is provided a machine gun shooting gate design system based on shooting dissemination, the system including a framing module, a correction module, a shooting gate resolving module, a shooting gate judgment adjustment module, and a shooting condition judgment module;
the framing module is used for framing the target and taking the target as a target tracking frame after the target is found by the fire control observing and aiming system;
the correction module is used for pulling the target to the observing and aiming center, establishing a rectangular coordinate system with the target center as an origin, and adjusting the target tracking frame to ensure that the edge of the target image is basically superposed with the edge of the target tracking frame, so as to correct the size of the target tracking frame;
the shooting gate resolving module is used for carrying out laser ranging on a target, resolving the size and the position of a shooting gate according to distance information, and displaying the shooting gate in a display and control terminal picture through imaging conversion;
the shooting door judging and adjusting module is used for determining whether the shooting door is positioned in the target surface, if the shooting door is not positioned in the target surface, adjusting the pitch angle and the azimuth angle of the machine gun to enable the shooting door to enter the target surface, and enabling the target to be imaged in the center of a view field in the pitch direction;
the shooting condition judging module is used for monitoring the state of a firing button, judging whether the shooting condition is met or not when a shooter presses the firing button, and controlling the machine gun to shoot based on the judgment result;
further, the shooting gate calculation module is specifically configured to: after the shooting distance is determined, the diameter of a gun scattering circle at the distance is obtained according to the interpolation of the shooting scattering data of the gun shooting table, the axis angle value of the gun is read, the center position of a shooting door is determined based on the axis angle value of the gun, a square with the diameter of the scattering circle as the side length is used as the gun shooting door, the size of the shooting door is obtained, and the position of the shooting door is determined according to the center position of the shooting door.
Further, the scattering circle diameter is calculated by the formula
The unit is pixel, the coordinates of the center position of the shooting door are (-5.63 delta theta, -5.63 delta beta), wherein (delta theta, delta beta) are machine gun resolving angles; l is the side length of the shooting door, and D is the shooting distance.
Further, the shooting door judgment adjustment module is specifically configured to: use the target surface center as the original point, establish rectangular coordinate system, the coordinate of four angular points of target surface is confirmed based on the size of target surface, the coordinate of four angular points of shooting door is confirmed based on shooting door size and position, through the coordinate position with four angular points of shooting door and target surface carries out the comparison, judges whether the shooting door is in the target surface, specifically as follows:
the coordinates of four angular points of the shooting door, namely the upper left corner, the upper right corner, the lower left corner and the lower right corner, are respectively (x)a，ya)、 (xb，yb)、(xd，yd) And (x)c，yc) The coordinates of four angular points of the target surface, namely the upper left corner, the upper right corner, the lower left corner and the lower right corner, are respectively (x)A，yA)、(xB，yB)、(xD，yD) And (x)C，yC)；
If it satisfies
Indicating that the firing gate is within the target; otherwise, the shooting door is not in or is not completely in the target surface, the pitching angle and the azimuth angle of the machine gun are adjusted, the shooting door enters the target surface, and the image of the target in the pitching direction is formed in the center of the view field.
Further, the shooting condition judgment module is configured to: when the projectile is shot, the stable angular speed of the follow-up turntable can enable the projectile to generate tangential speed along a muzzle, and the tangential speed is called a bulk velocity;
the bulk velocity causes the deviation of the target distance of the projectile during flight to be expressed as:
wherein wfwAnd wgdThe tracking angular velocity of the machine gun in the azimuth direction and the tracking angular velocity of the machine gun in the pitching direction are respectively, and in order to ensure that 50% of shot pellets are shot and scattered in a target surface when the machine gun shoots during traveling, namely at least 50% of hit rate is ensured, the launching judgment condition needs to be increased; the formula of the emission judgment condition is as follows:
wherein Δ B1 is a deviation value of the projectile in the azimuth direction due to the tracking angular velocity, and Δ H1 is a deviation value of the projectile in the pitch direction due to the tracking angular velocity; t is the flight time of the projectile and is calculated by a shooting table interpolation formula, LGunRepresenting the length of a gun barrel, wherein k is an amplification factor and is determined according to the required hit rate, and the smaller k is, the higher the hit rate is and the higher the requirement on shooting time is; the larger k is, the lower the hit rate is, and the lower the requirement on shooting opportunity is;
at the moment when a firing button is pressed during traveling shooting, if the firing judgment condition is not met, the shot cannot be fired, the second reading is carried out, the firing condition judgment is carried out again within a certain time, and the shot is fired if the condition is met.
The invention has the following beneficial effects:
1. when the machine gun loaded on the weapon station shoots during marching, the best shooting time is difficult to master by means of manual judgment of a shooter, so that the hit rate of the machine gun is very low.
2. When the weapon station is controlled in a remote control mode, tracking shooting instability can be caused due to wireless transmission delay of photoelectric images, so that the shooting hit rate is extremely low, interference caused by image delay can be effectively avoided by a shooting gate algorithm, shooting is carried out at a time with a high hit rate, and the machine gun shooting precision of the remote control weapon station is improved.
Drawings
FIG. 1 is a flow chart of a method for designing a gun firing gate based on firing distribution according to an embodiment of the present invention;
FIG. 2 is a scatter plot of machine gun shots provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of target frame selection tracking according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a target being pulled to a viewing center according to an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating an adjustment of a target tracking frame according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a target tracking frame adjusted to a position of a target surface according to an embodiment of the present invention;
FIG. 7 is a schematic view of a lower firing gate within a target plane in a viewing system in accordance with an embodiment of the present invention;
FIG. 8 is a schematic view of a portion of a lower firing gate in a target plane in a viewing system according to an embodiment of the present invention;
FIG. 9 is a schematic view of a lower firing gate outside of a target in a viewing system according to an embodiment of the present invention;
fig. 10 is a schematic diagram of the relationship between the projectile velocity and the bulk velocity according to an embodiment of the present invention.
Detailed Description
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 only a part of the present invention, and not all embodiments. 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.
As shown in fig. 1, as a first embodiment of the present invention, there is provided a machine gun shooting gate design method based on shooting spread, the method including:
step 1, after finding a target, a fire control sighting system selects the target as a target tracking frame and prompts a shooter, as shown in fig. 3;
step 4, carrying out laser ranging on the target, resolving the size and the position of the shooting door according to the distance information, and displaying the shooting door in a display and control terminal picture through imaging conversion;
step 5, as shown in fig. 6, determining whether the shooting door is in the target surface, and if so, performing the next step; otherwise, the pitch angle and the azimuth angle of the machine gun are adjusted through the servo, the shooting door enters the target surface, and the target is imaged in the pitch direction at the center of the field of view through the observation and aiming servo adjustment to carry out the next step;
and 6, monitoring the state of a firing button, judging whether a shooting condition is met or not when a shooter presses the firing button, and controlling the machine gun to shoot based on the judgment result.
Preferably, in the step 4, the calculating the size and the position of the shooting gate according to the distance information specifically includes: after the shooting distance is determined, the diameter of a gun scattering circle at the distance is obtained according to the interpolation of the shooting scattering data of a gun shooting table, the axis angle value of the gun is read through a servo, the center position of a shooting door is determined based on the axis angle value of the gun, a square with the diameter of the scattering circle as the side length is used as the gun shooting door, the size of the shooting door is obtained, and the position of the shooting door is determined according to the center position of the shooting door.
Preferably, the scattering circle diameter is calculated by the formulaAfter the diameter of the scattering circle is obtained in units of pixels, a square with the diameter of the scattering circle as the side length can be obtained as the size of a gun shooting door, the coordinates of the center position of the shooting door are (-5.63 delta theta, -5.63 delta beta), wherein (delta theta, delta beta) are machine gun resolving angles, namely the axial line angle values of the gun, delta theta represents the altitude angle of gun trajectory resolving, delta beta represents the azimuth angle of the gun trajectory resolving, and the unit is a dense position; l is the side length of the shooting door, and D is the shooting distance.
The concept of shot scattering: taking the example of a 12.7mm gun shot, the gun, after shooting towards the center of the target, will form a scatter area on the target surface, as shown in fig. 2, which is obtained by simulation of the monte carlo shooting method and shows a scatter effect of the gun shooting at a distance of 500m from the target at a static target surface of 4.6m × 2.3m, defined as 100% scatter radius of shot pellets, R50The shot pellets are 50% interspersed with the radius of the circle, as shown by the circles in the figure.
Preferably, step 5 is specifically:
with the target surface center as the original point, establish rectangular coordinate system, can confirm the coordinate of four angular points of target surface based on the target surface length of side, can confirm the coordinate of four angular points of shooting door based on the central point position coordinate and the length of side of shooting door, through comparing the coordinate position of four angular points of shooting door and target surface, judge whether the shooting door is in the target surface, specifically as follows:
the coordinates of four angular points of the shooting door, namely the upper left corner, the upper right corner, the lower left corner and the lower right corner, are respectively (x)a，ya)、 (xb，yb)、(xd，yd) And (x)c，yc) The coordinates of four angular points of the target surface, namely the upper left corner, the upper right corner, the lower left corner and the lower right corner, are respectively (x)A，yA)、(xB，yB)、(xD，yD) And (x)C，yC)；
If it satisfies
The shooting gate is shown in the target plane, as shown in fig. 7, which shows that shooting is possible at this time, and the shooting can guarantee at least 50% of the hit rate; otherwise it means that the firing gate is not or not completely within the target surface.
As shown in fig. 8, the schematic diagram of the shooting door is not completely in the target surface, at this time, 50% of the hit rate cannot be guaranteed when shooting, and in order to improve the hit rate, the shooter needs to adjust the machine gun to move the shooting door to the target surface for shooting; the smaller the error between the central line of the shooting door and the central line of the target surface is, the higher the hit rate is.
As shown in fig. 9, when the shooting gate is outside the target surface, the shooting hit rate is very low, and in order to increase the hit rate, the shooter needs to adjust the gun to move the shooting gate toward the target surface, and the hit rate is higher as the error value between the central line of the shooting gate and the central line of the target surface is smaller.
Further, in step 6, the specific step of judging whether the shooting condition is satisfied is:
as shown in fig. 10, at the time of shot firing, the stable angular velocity of the follower turret causes the shot to produce a tangential velocity along the muzzle, which is called the bulk velocity;
the bulk velocity causes the deviation of the target distance of the projectile during flight to be expressed as:
wherein wfwAnd wgdTracking angular velocity in azimuth direction and tracking angular velocity in pitch direction respectively for servo, and ensuring that 50% of shot pellets are shot and scattered on target surface when the machine gun shoots in advanceInternally, namely at least 50% of target hit rate is ensured, and emission judgment conditions need to be increased; the formula of the emission judgment condition is as follows:
wherein, Δ B1 is a deviation value of the projectile in the azimuth direction due to the tracking angular velocity, and Δ H1 is a deviation value of the projectile in the azimuth direction due to the tracking angular velocity; t is the flight time of the projectile and is calculated by a shooting table interpolation formula, LGunRepresenting the length of a gun barrel, wherein the unit is meter, k is an amplification factor, the length is determined according to the required hit rate, and the smaller k is, the higher the hit rate is and the higher the requirement on shooting time is; the larger k is, the lower the hit rate is, and the lower the requirement on shooting opportunity is;
at the moment when a firing button is pressed during shooting in the advancing process, if the firing judgment condition is not met, the shot cannot be fired, at the moment, reading is carried out for a second, the firing condition judgment is carried out within 1500ms, the shot meeting the condition is fired during the period, and the fired shot has higher hit rate; otherwise, the firing is invalid, and the shooter needs to press the firing button again to shoot.
The pitch angle pair and the angle of the machine gun in the vertical direction, namely the azimuth angle of the machine gun in the horizontal direction.
As a second aspect of the present invention, there is provided a machine gun shooting gate design system based on shooting dissemination, the system including a framing module, a correction module, a shooting gate resolving module, a shooting gate judgment adjustment module, and a shooting condition judgment module;
the framing module is used for framing the target and taking the target as a target tracking frame after the target is found by the fire control observing and aiming system;
the correction module is used for pulling the target to the observing and aiming center, establishing a rectangular coordinate system with the target center as an origin, and adjusting the target tracking frame to ensure that the edge of the target image is basically superposed with the edge of the target tracking frame, so as to correct the size of the target tracking frame;
the shooting gate resolving module is used for carrying out laser ranging on a target, resolving the size and the position of a shooting gate according to distance information, and displaying the shooting gate in a display and control terminal picture through imaging conversion;
the shooting door judgment and adjustment module is used for determining whether the shooting door is positioned in the target surface or not, and if so, carrying out the next step; otherwise, the pitch angle and the azimuth angle of the machine gun are adjusted through the servo, the shooting door enters the target surface, and the target is imaged in the pitch direction at the center of the field of view through the observation and aiming servo adjustment to carry out the next step;
the shooting condition judging module is used for monitoring the state of a firing button, judging whether the shooting condition is met or not when a shooter presses the firing button, and controlling the machine gun to shoot based on the judging result.
The invention adopts the gun shooting gate algorithm, can judge the optimal shooting time by depending on a computer system to ensure the gun shooting hit rate during traveling, improves the gun shooting precision during traveling of the weapon station, can effectively avoid the interference caused by image delay through the gun shooting gate algorithm, shoots at the time with higher hit rate and improves the gun shooting precision of the remote control weapon station.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A method of designing a machine gun firing gate based on shot dispersal, the method comprising:
step 1, after finding a target, a fire control observing and aiming system selects the target as a target tracking frame;
step 2, after a tracking target is determined, pulling the target to an observing and aiming center, and establishing a rectangular coordinate system with the target center as an origin;
step 3, adjusting the target tracking frame to enable the edge of the target image to coincide with the edge of the target tracking frame, so that the size of the target tracking frame is corrected;
step 4, carrying out laser ranging on the target, resolving the size and the position of the shooting door according to the distance information, and displaying the shooting door in a display and control terminal picture through imaging conversion;
step 5, determining whether the shooting door is positioned in the target surface, and if so, performing the next step; otherwise, adjusting the pitch angle and the azimuth angle of the machine gun, enabling the shooting door to enter the target surface, and simultaneously enabling the target to be imaged in the pitch direction at the center of the field of view to carry out the next step;
and 6, monitoring the state of the firing button, judging whether a shooting condition is met or not when the firing button is pressed down, and controlling the machine gun to shoot based on the judgment result.
2. The method for designing a gun firing gate based on shooting dissemination of claim 1, wherein the step 4 of calculating the size and position of the firing gate according to the distance information includes: after the shooting distance is determined, the diameter of a gun scattering circle at the distance is obtained according to the interpolation of the shooting scattering data of a gun shooting table, the axis angle value of the gun is read through a servo, the center position of a shooting door is determined based on the axis angle value of the gun, a square with the diameter of the scattering circle as the side length is used as the gun shooting door, the size of the shooting door is obtained, and the position of the shooting door is determined according to the center position of the shooting door.
3. The method of claim 2, wherein the scattering circle diameter is calculated as
The unit is pixel, the coordinates of the center position of the shooting door are (-5.63 delta theta, -5.63 delta beta), wherein (delta theta, delta beta) are machine gun resolving angles; l is the side length of the shooting door, and D is the shooting distance.
4. The machine gun shooting door design method based on shooting dissemination according to claim 1, characterized in that step 5 is embodied as:
use the target surface center as the original point, establish rectangular coordinate system, the coordinate of four angular points of target surface is confirmed based on the size of target surface, the coordinate of four angular points of shooting door is confirmed based on shooting door size and position, through the coordinate position with four angular points of shooting door and target surface carries out the comparison, judges whether the shooting door is in the target surface, specifically as follows:
the coordinates of four angular points of the shooting door, namely the upper left corner, the upper right corner, the lower left corner and the lower right corner, are respectively (x)a，ya)、(xb，yb)、(xd，yd) And (x)c，yc) The coordinates of four angular points of the target surface, namely the upper left corner, the upper right corner, the lower left corner and the lower right corner, are respectively (x)A，yA)、(xB，yB)、(xD，yD) And (x)C，yC)；
If it satisfies
Indicating that the firing gate is within the target; otherwise, the shooting door is not in or is not completely in the target surface, the pitching angle and the azimuth angle of the machine gun are adjusted, the shooting door enters the target surface, and simultaneously the target is imaged in the center of the view field in the pitching direction.
5. The method for designing a gun shooting gate based on shooting dissemination of claim 1, wherein in the step 6, the judging whether the shooting condition is satisfied is specifically as follows:
when the projectile is shot, the stable angular speed of the follow-up turntable can enable the projectile to generate tangential speed along a muzzle, and the tangential speed is called a bulk velocity;
the bulk velocity causes the deviation of the target distance of the projectile during flight to be expressed as:
wherein wfwAnd wgdThe tracking angular velocity of the machine gun in the azimuth direction and the tracking angular velocity of the machine gun in the pitching direction respectively need to be increased for ensuring that the shot pellets are shot by 50 percent and spread in the target surface when the machine gun shoots during traveling, namely at least 50 percent of the hit rate is ensuredJudging conditions; the formula of the emission judgment condition is as follows:
wherein Δ B1 is a deviation value of the projectile in the azimuth direction due to the tracking angular velocity, and Δ H1 is a deviation value of the projectile in the pitch direction due to the tracking angular velocity; t is the flight time of the projectile and is calculated by a shooting table interpolation formula, LGunRepresenting the length of the gun barrel, and k is an amplification factor;
at the moment when a firing button is pressed during traveling shooting, if the firing judgment condition is not met, the shot cannot be fired, the firing condition is judged again within a certain time, and the shot is fired if the firing judgment condition is met.
6. A machine gun shooting door design system based on shooting distribution is characterized by comprising a framing module, a correction module, a shooting door resolving module, a shooting door judgment and adjustment module and a shooting condition judgment module;
the framing module is used for framing the target and taking the target as a target tracking frame after the target is found by the fire control observing and aiming system;
the correction module is used for pulling the target to the observing and aiming center, establishing a rectangular coordinate system with the target center as an origin, and adjusting the target tracking frame to ensure that the edge of the target image is basically superposed with the edge of the target tracking frame, so as to correct the size of the target tracking frame;
the shooting gate resolving module is used for carrying out laser ranging on a target, resolving the size and the position of a shooting gate according to distance information, and displaying the shooting gate in a display and control terminal picture through imaging conversion;
the shooting door judging and adjusting module is used for determining whether the shooting door is positioned in the target surface, if the shooting door is not positioned in the target surface, adjusting the pitch angle and the azimuth angle of the machine gun to enable the shooting door to enter the target surface, and enabling the target to be imaged in the center of a view field in the pitch direction;
the shooting condition judging module is used for monitoring the state of the firing button, judging whether the shooting condition is met or not when the firing button is pressed down, and controlling the machine gun to shoot based on the judgment result.
7. The machine gun shooting gate design system based on shooting dissemination of claim 6, wherein the shooting gate solver module is specifically configured to: after the shooting distance is determined, the diameter of a gun scattering circle at the distance is obtained according to the interpolation of the shooting scattering data of the gun shooting table, the axis angle value of the gun is read, the center position of a shooting door is determined based on the axis angle value of the gun, a square with the diameter of the scattering circle as the side length is used as the gun shooting door, the size of the shooting door is obtained, and the position of the shooting door is determined according to the center position of the shooting door.
8. The machine gun shooting door design system based on shooting scatter of claim 7, wherein the scatter circle diameter calculation formula is
The unit is pixel, the coordinates of the center position of the shooting door are (-5.63 delta theta, -5.63 delta beta), wherein (delta theta, delta beta) are machine gun resolving angles; l is the side length of the shooting door, and D is the shooting distance.
9. The machine gun firing gate design system based on shot dissemination according to claim 6, wherein the firing gate judgment adjustment module is specifically configured to: use the target surface center as the original point, establish rectangular coordinate system, the coordinate of four angular points of target surface is confirmed based on the size of target surface, the coordinate of four angular points of shooting door is confirmed based on shooting door size and position, through the coordinate position with four angular points of shooting door and target surface carries out the comparison, judges whether the shooting door is in the target surface, specifically as follows:
the coordinates of four angular points of the shooting door, namely the upper left corner, the upper right corner, the lower left corner and the lower right corner, are respectively (x)a，ya)、(xb，yb)、(xd，yd) And (x)c，yc) Upper left, upper right, lower left of target surfaceAnd the coordinates of the four lower right corner points are respectively (x)A，yA)、(xB，yB)、(xD，yD) And (x)C，yC)；
If it satisfies
Indicating that the firing gate is within the target; otherwise, the shooting door is not in or is not completely in the target surface, the pitching angle and the azimuth angle of the machine gun are adjusted, the shooting door enters the target surface, and the image of the target in the pitching direction is formed in the center of the view field.
10. The machine gun shooting door design system based on shooting dissemination of claim 6, wherein said shooting condition decision module is to: when the projectile is shot, the stable angular speed of the follow-up turntable can enable the projectile to generate tangential speed along a muzzle, and the tangential speed is called a bulk velocity;
the bulk velocity causes the deviation of the target distance of the projectile during flight to be expressed as:
wherein wfwAnd wgdThe tracking angular velocity of the machine gun in the azimuth direction and the tracking angular velocity of the machine gun in the pitching direction are respectively, and in order to ensure that 50% of shot pellets are shot and scattered in a target surface when the machine gun shoots during traveling, namely at least 50% of hit rate is ensured, the launching judgment condition needs to be increased; the formula of the emission judgment condition is as follows:
wherein Δ B1 is a deviation value of the projectile in the azimuth direction due to the tracking angular velocity, and Δ H1 is a deviation value of the projectile in the pitch direction due to the tracking angular velocity; t is the flight time of the projectile and is calculated by a shooting table interpolation formulaTo, LGunRepresenting the length of the gun barrel, and k is an amplification factor;
at the moment when a firing button is pressed during traveling shooting, if the firing judgment condition is not met, the shot cannot be fired, the firing condition is judged again within a certain time, and the shot is fired if the firing judgment condition is met.
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