CN114324817B - Unmanned aerial vehicle-based explosive TNT equivalent measurement system and measurement method - Google Patents
Unmanned aerial vehicle-based explosive TNT equivalent measurement system and measurement method Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle-based explosive TNT equivalent measurement system and an unmanned aerial vehicle-based explosive TNT equivalent measurement method, which aim to solve the problems of complex erection process and poor measurement precision of an optical measurement method and solve the problems of electromagnetic interference, difficult wiring and the like of an electrical measurement method. The measuring system consists of background cloth, a platform, an explosive to be measured, an unmanned aerial vehicle, nails and a remote control detonator. The background cloth is marked with scales, the platform is arranged in the center of the background cloth, and the explosive to be tested is arranged on the platform. The unmanned aerial vehicle is provided with a camera and hovers over the explosive to be tested. The background cloth is marked with a measuring scale and a direction line. The method for measuring the TNT equivalent of the explosive is as follows: firstly, assembling a measuring system, recording images by a camera, and igniting the explosive to be measured. Reading a photo in the camera after the explosion is finished; and processing the photo to obtain TNT equivalent test results. The device is simple, does not need power supply, is convenient to lay and can be repeatedly used; the method can quickly and conveniently obtain the accurate equivalent TNT equivalent of the explosive to be detected.
Description
Technical Field
The invention belongs to the field of measurement, and particularly relates to a measurement system for measuring TNT equivalent of an explosive to be measured through unmanned aerial vehicle aerial photography.
Background
TNT equivalent is an important parameter of the explosive, and plays an important role in the fields of prediction and evaluation of the explosion damage effect of the explosive, protection of explosion impact and the like. For many self-made explosives and modified explosives, TNT equivalent weight needs to be measured by explosion experiments. Therefore, the establishment of a novel explosive TNT equivalent measurement system has important significance.
When the explosive explodes in the air, high-temperature, high-pressure and high-speed explosion products are instantaneously generated, and the surrounding air is directly acted by the explosion products and can be strongly compressed to form initial shock waves and spread outwards. The front and back of the shock wave form a clear interface in the air, i.e. the shock wave front, due to the difference in refractive index of the air. The moving speed of the shock wave front, namely the shock wave speed has a function relation with the TNT equivalent of the explosive, and the TNT equivalent of the explosive can be estimated by measuring the shock wave speed.
The idea of using the shock wave velocity to infer the TNT equivalent of explosives is first shown in a nuclear explosion test field and is called photometry. Taylor calculates the shock wave velocity according to the photo of the nuclear explosion site by using a reference object in the photo, successfully calculates TNT equivalent of the nuclear bomb and is consistent with the design of the army. However, for conventional explosives, the release capacity is much smaller than that of a nuclear bomb, and for safety reasons, the mass used is often small, and it is difficult to form a large range of shock waves like a nuclear bomb. Therefore, modern measuring methods mainly lay background cloth with distance marks behind the explosive and record the arrival positions of the shock waves at different times by using a high-speed camera, so as to calculate the shock wave velocity. The measurement method has the defects that a large number of supports are needed to be erected on the measurement background cloth, the supports are damaged by explosives after each explosion experiment, the materials and manpower are wasted due to the fact that the supports are required to be erected again, in addition, the measurement method is limited by terrains, absolute parallelism of the supports is difficult to ensure, the erection of the background cloth is rough, and errors are large.
Another mainstream method of measuring TNT equivalents is electrical measurement. According to the electrical measurement method, free surface pressure sensors are arranged around the explosive, pressure history of shock waves in the air is obtained by the sensors, and TNT equivalent of the explosive is calculated. The method cannot be used under the condition that some natural environments are severe, such as desert, plateau or islands and other explosion test environments are relatively complex, and the problems of high layout cost, high layout difficulty and the like exist.
In summary, the existing measurement system for measuring TNT equivalent has at least the following technical problems:
(1) The existing optical measurement method needs to erect background cloth, and has the problems that the erection process is complex, a bracket is easy to damage, the position of the bracket has deviation, the measurement precision is poor, and the like.
(2) The existing electrical measurement method has the problems of electromagnetic interference, high cost, difficult wiring and the like, and TNT equivalent cannot be measured in a relatively severe natural environment.
If the unmanned aerial vehicle shooting mode is adopted, the ground shooting is changed into the aerial shooting mode, and various defects caused by the fact that a bracket needs to be built in the traditional optical measurement method can be overcome. Based on the thought, the invention provides an explosive TNT equivalent measurement system based on an unmanned aerial vehicle platform.
Disclosure of Invention
The invention aims to solve the technical problems that: the explosive TNT equivalent measurement system based on the unmanned aerial vehicle platform solves the problems that background cloth needs to be erected in an optical measurement method, the erection process is complex, a support is easy to damage, measurement accuracy is poor and the like, and solves the problems that the existing electrical measurement method has electromagnetic interference, high cost, difficult wiring and the like, and TNT equivalent cannot be measured in a relatively severe natural environment.
The measuring system consists of background cloth, a platform, an explosive to be measured, an unmanned aerial vehicle, nails and a remote control detonator. The background cloth is marked with scales, tiled and fixed on the ground by nails; the platform is arranged in the center of the background cloth, the explosive to be tested is arranged on the platform, and the ignition device of the explosive is arranged in the center of the explosive so as to ensure that the explosive is centrally detonated. Unmanned aerial vehicle takes the camera, and unmanned aerial vehicle lifts off, hovers directly over the explosive that awaits measuring.
The platform is made of stainless steel and is in the shape of a hollow prismatic table, so that the top of the prismatic table is ensured to have enough space for placing explosive, and the height is L 3 ，1m<L 3 <1.5m。L 3 Too high will affect the accuracy of the measurement and too low will be affected by the ground reflected wave. The mass of the explosive to be measured is preferably 10kg, and if the explosive to be measured has poor energy release capability, the mass of the explosive to be measured can be increased. The flying height of the unmanned plane is L 4 In order to ensure measurement accuracy and safety of unmanned aerial vehicle, L 4 >100m, and the entire background cloth needs to be placed in the field of view of the camera. The frame rate of the camera is more than or equal to 1000 frames/second, and the recording time is more than 5 seconds. The camera can be triggered by strong light, namely, when the explosive explodes, the camera starts shooting an explosion picture and records the propagation distance of the shock wave.
The background cloth is square, and the material is required to resist instantaneous high temperature and has certain strength, such as PVC material. Side length L of background cloth 1 20m or more so as to be able to mark a sufficient number of measurement scales. The measurement scale is a plurality of concentric circles, the distance s between adjacent concentric circles is 1m, and the radius of the concentric circle at the outermost layer is more than or equal to 10m. Four direction lines are also drawn on the background cloth and used for selecting the propagation direction of the shock wave. The center of the concentric circles is used for placing a platform for placing explosive. When the background cloth is used, nails are used for fixing the background cloth on the ground, so that the background cloth is prevented from being rolled up by shock waves.
TNT equivalent the method for measuring TNT equivalent of explosive by using the measuring system of the invention is as follows:
first, the measurement system is assembled. Firstly, the background cloth is paved on the ground, and the background cloth and the ground are fixed firmly by nails. And placing the platform at the center of the background cloth, and placing the explosive to be tested on the platform. And (3) flying the unmanned aerial vehicle with the camera to the sky, wherein the height is more than 100 meters, so that the explosive to be detected and the whole background are ensured to be distributed in the field of view of the camera. The camera is set in a glare trigger mode, and when glare is transmitted into the camera, the camera starts to record images. The ignition device of the explosive is arranged in place, so that the remote control exploder can ignite the explosive. After the measurement system has been deployed, the personnel are evacuated to a safe area with shelter.
And secondly, igniting the explosive to be tested. And after the explosion is finished, the unmanned aerial vehicle is lowered, and all I photos stored in the camera are read. I is a positive integer and is more than or equal to 1000.
And thirdly, processing the photo to obtain a TNT equivalent test result. The method comprises the following steps:
3.1, sorting the I photos according to the time sequence of shooting;
3.2 measuring the actual propagation distance d of the shock wave in the direction of a direction line by using a propagation distance measuring method of the shock wave i1 ：
3.2.1 selecting the ith photo of all the photos in good order, wherein the selection principle is that the ith photo and the (i+1) th photo behind the ith photo can see clear wave fronts (namely interfaces where air is refracted). Along a certain direction line of the background cloth,determining the propagation distance L of the shock wave in the direction from the concentric circle scale 2 (i.e., the distance between the shock front and the platform). If necessary, image processing software (such as PVF (version v4.0 and above) matched with high-speed camera, tracker (version v1.0 and above)) can be used for assisting in reading propagation distance L of shock wave 2 To improve accuracy.
3.2.2 according to L 2 Determining the actual propagation distance d of the shock wave, L, due to the light propagating along a straight line 2 And not the actual propagation distance of the shock wave. L (L) 2 The relation with d is:
due to the pair L 3 And L 4 Is limited in length at L 2 <Within 10m, it can be approximately considered that d=l 2 Let d=l at this time 2 The actual propagation distance d of the directional shockwave in the ith photo is named d i1 3.3. If L 2 And (3) calculating the actual propagation distance d of the shock wave by using the formula (1). The actual propagation distance d of the directional shockwave in the ith photo is named d i1 3.3.
3.3 measuring the Total propagation distance D of the shockwave in the ith photo by means of the method of measuring the Total propagation distance of shockwave i : the propagation distance measuring method of the shock wave of 3.2 is adopted to respectively measure the actual propagation distances of the shock wave in the directions pointed by the other three direction lines 13 along the other three direction lines of the background cloth, so as to obtain the other 3 actual propagation distances which are d respectively i2 ，d i3 ，d i4 . Averaging the propagation distances on the four lines 13 reduces the occasional error to obtain the overall propagation distance D of the shockwave in the ith photo i Namely the following formula:
3.4 use of explosivesTNT equivalent measurement method for measuring TNT equivalent W in ith photo i ：
3.4.1 selecting the (i+1) th photo, obtaining the total propagation distance D of the shock wave in the (i+1) th photo according to the methods of 3.2 and 3.3 i+1 。
3.4.2 calculating the average propagation distance Da of the shock wave in the ith photo by using the formula (2) i ：
3.4.3 determining the propagation velocity v of the shock wave in the ith photo using equation (3) i ：
v i ＝(D i+1 -D i )·f (3)
f is the frame rate of the camera.
3.4.4 assume that the atmospheric pressure at the measurement site is P 0 The air sound velocity is c, and the propagation velocity v of the shock wave is utilized i Obtaining the overpressure P of the shock wave in the ith photo by using the formula (4) mi ：
3.4.5 obtaining the explosive TNT equivalent weight W in the ith photo by using the formula (5) i ：
3.5 selecting the j-th photo, i by adopting the propagation distance measuring method of the shock wave described in 3.2<j<I, measuring the actual propagation distance d of the j-th frame shock wave along one direction line direction j1 。
3.6 selecting the kth photo, i by using the propagation distance measuring method of the shock wave described in 3.2<j<k<I, measuring the actual propagation distance d of the kth frame shock wave along one direction line direction k1 。
3.7 in order to ensure the accuracy of the calculation,judgment d i1 、d j1 、d k1 Whether or not formula (6) is satisfied:
if not, returning to 3.5 steps, and re-selecting j and k; if so, turning to 3.8;
3.8 measuring the Total propagation distance D of the shockwave in the jth photo by using the method for measuring the Total propagation distance of shockwave in 3.3 steps j TNT equivalent W in the j-th photo was measured using the TNT equivalent measurement method for explosives described in 3.4 steps j 。
3.9 measuring the Total propagation distance D of the shockwave in the kth photo by means of the method for measuring the Total propagation distance of shockwave in 3.3 steps k TNT equivalent weight W corresponding to shock wave in the kth photo is measured by adopting a TNT equivalent weight measuring method of the explosive in 3.4 steps k 。
3.10 eliminating errors by using the formula (7) to obtain a measurement result W of TNT equivalent of the final explosive:
and fourthly, replacing the platform, cleaning the background cloth and preparing the next experiment. The invention has the following beneficial effects:
1. according to the invention, through analyzing the photo shot by the unmanned aerial vehicle, the transmission speed of the shock wave in the air is measured, so that TNT equivalent parameters of the explosive to be detected can be rapidly and conveniently obtained.
2. Compared with the traditional TNT equivalent testing method, the TNT equivalent testing method has the characteristics of simple structure, no need of power supply, convenience in arrangement and use, simple and visual result, low use cost, reusability and the like.
3. The unmanned aerial vehicle has high flying height, and the background cloth is paved on the ground, so that the error caused by the bracket erection deviation in the traditional TNT equivalent test method can be overcome, and the method has higher measurement accuracy.
Drawings
FIG. 1 is a schematic view of the general structure of the present invention;
FIG. 2 is a design of a background fabric 1 according to the invention;
FIG. 3 is a schematic diagram of the present invention for measuring shock wave wavefront location.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
as shown in fig. 1, the measuring system of the invention consists of background cloth 1, a platform 2, an explosive to be measured 3, an unmanned aerial vehicle 4, nails and a remote control primer. The background cloth 1 is marked with scales, tiled and fixed on the ground by nails; the platform 2 is arranged in the center of the background cloth 1, the explosive 3 to be tested is arranged on the platform 2, and the ignition device of the explosive is arranged in the center of the explosive so as to ensure that the explosive is centrally detonated. Unmanned aerial vehicle 4 takes the camera, and unmanned aerial vehicle 4 lifts off, hovers in the explosive 3 that awaits measuring directly over.
The platform 2 is made of stainless steel and is in a hollow prismatic table shape, so that the top of the prismatic table is ensured to have enough space for placing explosive, and the height is L 3 ，1m<L 3 <1.5m。L 3 Too high will affect the accuracy of the measurement and too low will be affected by the ground reflected wave. The mass of the explosive 3 to be measured is preferably 10kg, and if the explosive 3 to be measured has poor release capacity, the mass of the explosive 3 to be measured can be increased. Unmanned aerial vehicle 4 flies highly L 4 In order to ensure the measurement accuracy and the safety of the unmanned aerial vehicle 4, L 4 >100m, and the whole background cloth 1 needs to be placed in the field of view of the camera. The camera carried by the unmanned aerial vehicle is a high-speed camera, the frame rate of the camera is more than or equal to 1000 frames/second, and the recording time is more than 5 seconds. The video camera needs to be able to output photographed scenes in a continuous picture manner after photographing is finished (i.e., 5000 pictures can be output when the frame rate is 10000 frames/sec, the recording time is 5 sec). The camera can be triggered by strong light, namely, when the explosive explodes, the camera starts shooting an explosion picture and records the propagation distance of the shock wave.
As shown in fig. 2, the background cloth 1 is square, and is made of a material resistant to instantaneous high temperature and having a certain strength, such as PVC. Side length L of background cloth 1 1 20m, in order to put down a sufficient number of measurement scales 12.The measuring scale 12 is a plurality of concentric circles, the distance s between the adjacent concentric circles is 1m, and the radius of the concentric circle at the outermost layer is more than or equal to 10m. Four orthogonal direction lines 13 which are used for selecting the propagation direction of the shock wave and take the center 11 of the concentric circle as the center are also drawn on the background cloth 1. The center 11 of the concentric circles is used for placing the platform 2 for placing the explosive. When the background cloth 1 is used, nails are used for fixing the background cloth on the ground, so that the background cloth is prevented from being rolled up by shock waves.
The method for measuring the TNT equivalent of the explosive by using the measuring system comprises the following steps:
first, the measurement system is assembled. Firstly, the background cloth 1 is paved on the ground, and the background cloth 1 and the ground are firmly fixed by nails. The platform 2 is arranged at the center 11 of the background cloth 1, and the explosive 3 to be tested is arranged on the platform 2. The unmanned aerial vehicle 4 with the camera flies to the sky, the height is more than 100 meters, and the explosive 3 to be detected and the whole background cloth 1 are ensured to be in the field of view of the camera. The camera is set in a glare trigger mode, and when glare is transmitted into the camera, the camera starts to record images. The ignition device of the explosive is arranged in place, so that the remote control exploder can ignite the explosive. After the measurement system has been deployed, the personnel are evacuated to a safe area with shelter.
And secondly, igniting the explosive to be tested 3. After the explosion is finished, the unmanned aerial vehicle 4 is lowered, and all I photos stored in the camera are read. I is a positive integer and is more than or equal to 1000.
And thirdly, processing the photo to obtain a TNT equivalent test result. The method comprises the following steps:
3.1, sorting the I photos according to the time sequence of shooting;
3.2 measuring the actual propagation distance d of the shock wave in the direction of the one direction line 13 by using the propagation distance measuring method of the shock wave i1 ：
3.2.1 selecting the ith photo of all the photos in good order, wherein the selection principle is that the ith photo and the (i+1) th photo behind the ith photo can see clear wave fronts (namely interfaces where air is refracted). As shown in FIG. 2, the broken black line represents the wave front of the shock wave, and the propagation distance L of the shock wave in a certain direction is determined from the concentric circles 12 along a certain direction line 13 of the background cloth 1 2 I.e. the distance between the shock front and the platform 2. If necessary, image processing software (such as PVF, version v4, tracker, unlimited version, etc.) can be used to assist in reading propagation distance L of shock wave 2 To improve accuracy.
3.2.2 FIG. 3 is a schematic diagram of the position of the wavefront of the measured shock wave according to the present invention, wherein the arc is the shock wavefront. As shown in FIG. 3, L is due to the light traveling in a straight line 2 And not the actual propagation distance of the shock wave. Assuming that the actual propagation distance of the shock wave is d, L 2 The relation with d is:
due to the pair L 3 And L 4 Is limited in length at L 2 <Within 10m, it can be approximately considered that d=l 2 Let d=l at this time 2 The actual propagation distance d of the directional shockwave in the ith photo is named d i1 3.3. If L 2 And (3) calculating the actual propagation distance d of the shock wave by using the formula (1). The actual propagation distance d of the directional shockwave in the ith photo is named d i1 3.3.
3.3 measuring the Total propagation distance D of the shockwave in the ith photo by means of the method of measuring the Total propagation distance of shockwave i : along the other three direction lines 13 of the background cloth 1, the propagation distance measuring method of the shock wave of 3.2 is adopted to respectively measure the actual propagation distances of the shock wave in the directions pointed by the other three direction lines 13, so as to obtain the other 3 actual propagation distances which are d respectively i2 ，d i3 ，d i4 . Averaging the propagation distances on the four lines 13 reduces the occasional error to obtain the overall propagation distance D of the shockwave in the ith photo i Namely the following formula:
3.4TNT equivalent W in ith photo measured by TNT equivalent measurement method of explosive i ：
3.4.1 selecting the (i+1) th photo, obtaining the total propagation distance D of the shock wave in the (i+1) th photo according to the methods of 3.2 and 3.3 i+1 。
3.4.2 calculating the average propagation distance Da of the shock wave in the ith photo by using the formula (2) i ：
3.4.3 determining the propagation velocity v of the shock wave in the ith photo using equation (3) i ：
v i ＝(D i+1 -D i )·f (3)
f is the frame rate of the camera.
3.4.4 assume that the atmospheric pressure at the measurement site is P 0 The air sound velocity is c, and the propagation velocity v of the shock wave is utilized i Obtaining the overpressure P of the shock wave in the ith photo by using the formula (4) mi ：
3.4.5 obtaining the explosive TNT equivalent weight W in the ith photo by using the formula (5) i ：
3.5 selecting the j-th photo, i by adopting the propagation distance measuring method of the shock wave described in 3.2<j<I, measuring the actual propagation distance d of the j-th frame shock wave along one direction line 13 j1 。
3.6 selecting the kth photo, i by using the propagation distance measuring method of the shock wave described in 3.2<j<k<I, measuring the actual propagation distance d of the kth frame shock wave along one direction line 13 k1 。
3.7 for securityAccuracy of syndrome calculation, d i1 、d j1 、d k1 Equation (6) should be satisfied:
if not, returning to 3.5 steps, and re-selecting j and k; if so, turning to 3.8;
3.8 measuring the Total propagation distance D of the shockwave in the jth photo by using the method for measuring the Total propagation distance of shockwave in 3.3 steps j TNT equivalent W in the j-th photo was measured using the TNT equivalent measurement method for explosives described in 3.4 steps j 。
3.9 measuring the Total propagation distance D of the shockwave in the kth photo by means of the method for measuring the Total propagation distance of shockwave in 3.3 steps k TNT equivalent weight W corresponding to shock wave in the kth photo is measured by adopting a TNT equivalent weight measuring method of the explosive in 3.4 steps k 。
3.10 eliminating errors by using the formula (7) to obtain a measurement result W of TNT equivalent of the final explosive:
and fourthly, replacing the platform 2, cleaning the background cloth and preparing the next experiment.
Claims (10)
1. The explosive TNT equivalent measurement system based on the unmanned aerial vehicle is characterized by comprising a background cloth (1), a platform (2), an explosive to be measured (3), an unmanned aerial vehicle (4), nails and a remote control primer; the background cloth (1) is marked with scales (12), tiled and fixed on the ground by nails; the platform (2) is arranged in the center of the background cloth (1), the explosive (3) to be tested is arranged on the platform (2), and the ignition device of the explosive is arranged in the center of the explosive; the unmanned aerial vehicle (4) is provided with a camera, and the unmanned aerial vehicle (4) is lifted off and hovered above the explosive (3) to be tested;
the height of the platform (2) is L 3 The method comprises the steps of carrying out a first treatment on the surface of the The flying height of the unmanned aerial vehicle (4) is L 4 The whole background cloth (1) is placed in the view field of the camera; outputting a shot scene by a camera carried by the unmanned aerial vehicle in a continuous photo mode after shooting is finished; when the camera is triggered by strong light, namely when the explosive explodes, the camera starts shooting an explosion picture and records the propagation distance of the shock wave;
the background cloth (1) is square, and the material is required to resist instantaneous high temperature; the scales (12) marked on the background cloth (1) are a plurality of concentric circles, the spacing between adjacent concentric circles is s, and the radius of the concentric circle at the outermost layer is more than or equal to 10m; four orthogonal direction lines (13) which take the center (11) of the concentric circle as the center are also drawn on the background cloth (1) and used for selecting the propagation direction of the shock wave; the platform (2) is placed at the position of the center (11) of the concentric circles.
2. The unmanned aerial vehicle-based explosive TNT equivalent measurement system according to claim 1, wherein the platform (2) is made of stainless steel and is shaped as a hollow prismatic table, the top of the prismatic table is provided with an explosive, and the height L of the platform (2) 3 Satisfy 1m<L 3 <1.5m。
3. Unmanned aerial vehicle based explosive TNT equivalent measurement system according to claim 1, characterised in that the unmanned aerial vehicle (4) flies at a height L 4 >100m。
4. Unmanned aerial vehicle based explosive TNT equivalent measurement system according to claim 1, characterised in that the mass of the explosive (3) to be measured is 10kg.
5. The unmanned aerial vehicle-based explosive TNT equivalent measurement system according to claim 1, wherein a camera mounted by the unmanned aerial vehicle requires a camera frame rate of not less than 1000 frames/second and a recording time of not less than 5 seconds.
6. The unmanned aerial vehicle-based explosive TNT equivalent measurement system according to claim 1, wherein the background cloth (1) is square and is made of PVC; side length L of background cloth (1) 1 More than or equal to 20m, the distance s between adjacent concentric circles is 1m, and the radius of the concentric circle of the outermost layer is more than or equal to 10m。
7. A method of measuring TNT equivalents of explosives, characterized in that an unmanned based TNT equivalent measuring system according to claim 1 is used and comprising the steps of:
firstly, assembling a measuring system; firstly, spreading the background cloth (1) on the ground, and fixing the background cloth (1) with the ground firmly by nails; placing a platform (2) at the center (11) of a background cloth (1), and placing an explosive (3) to be tested on the platform (2); flying the unmanned aerial vehicle (4) with the camera to the sky at the height L 4 Ensuring that the explosive (3) to be tested and the whole background cloth (1) are in the view field of the camera; setting the camera in a strong light triggering mode, and when strong light is transmitted into the camera, starting to record images by the camera; arranging an ignition device of the explosive in a position for ensuring that the remote control exploder can ignite the explosive; after the measurement system is arranged, people are evacuated to a safe area with a shelter;
secondly, igniting the explosive to be tested (3); after the explosion is finished, the unmanned aerial vehicle (4) is lowered, and all I photos stored in the camera are read; i is a positive integer and is more than or equal to 1000;
thirdly, processing the photo to obtain a TNT equivalent test result; the method comprises the following steps:
3.1, sorting the I photos according to the time sequence of shooting;
3.2 measuring the actual propagation distance d of the shock wave in the direction of a direction line (13) by using the propagation distance measuring method of the shock wave i1 ：
3.2.1 selecting the ith photo in all the photos in good order, wherein the selection principle is that the ith photo and the (i+1) th photo behind the ith photo can see a clear shock wave wavefront, namely an interface where air is refracted; along a certain direction line (13) of the background cloth (1), determining the propagation distance L of the shock wave in the direction from the scale (12) 2 I.e. the distance between the impact wavefront and the platform (2);
3.2.2 according to L 2 Determining the actual propagation distance d, L of the shock wave 2 The relation with d is:
if L 2 <10m, let d=l 2 The actual propagation distance d of the directional shockwave in the ith photo is named d i1 Turning to 3.3; if L 2 Calculating the actual propagation distance d of the shock wave by using the formula (1) if the propagation distance d is more than or equal to 10m; the actual propagation distance d of the directional shockwave in the ith photo is named d i1 Turning to 3.3;
3.3 measuring the Total propagation distance D of the shockwave in the ith photo by means of the method of measuring the Total propagation distance of shockwave i : the propagation distance measuring method of the shock wave is adopted to respectively measure the actual propagation distances of the shock wave in the directions pointed by the other three direction lines (13) along the other three direction lines (13) of the background cloth (1), and the other 3 actual propagation distances are obtained and are respectively d i2 ，d i3 ，d i4 The method comprises the steps of carrying out a first treatment on the surface of the Averaging the propagation distances on the four lines (13) reduces the occasional error to obtain the overall propagation distance D of the shockwave in the ith photo i Namely the following formula:
3.4 TNT equivalent weight W in the ith photo measured by TNT equivalent weight measurement method of explosive i ：
3.4.1 selecting the (i+1) th photo, obtaining the total propagation distance D of the shock wave in the (i+1) th photo according to the methods of 3.2 and 3.3 i+1 ；
3.4.2 calculating the average propagation distance Da of the shock wave in the ith photo by using the formula (2) i ：
3.4.3 determining the propagation velocity v of the shock wave in the ith photo using equation (3) i ：
v i ＝(D i+1 -D i )×f (3)
f is the frame rate of the camera;
3.4.4 assume that the atmospheric pressure at the measurement site is P 0 The air sound velocity is c, and the propagation velocity v of the shock wave is utilized i Obtaining the overpressure P of the shock wave in the ith photo by using the formula (4) mi ：
3.4.5 obtaining the explosive TNT equivalent weight W in the ith photo by using the formula (5) i ：
3.5 selecting the j-th photo, i by adopting the propagation distance measuring method of the shock wave described in 3.2<j<I, measuring the actual propagation distance d of the j-th frame shock wave along one direction line (13) j1 ；
3.6 selecting the kth photo, i by using the propagation distance measuring method of the shock wave described in 3.2<j<k<I, measuring the actual propagation distance d of the kth frame shock wave along one direction line (13) k1 ；
3.7 judgment of d i1 、d j1 、d k1 Whether or not formula (6) is satisfied:
if not, returning to 3.5 steps, and re-selecting j and k; if so, turning to 3.8;
3.8 measuring the Total propagation distance D of the shockwave in the jth photo by using the method for measuring the Total propagation distance of shockwave in 3.3 steps j TNT equivalent W in the j-th photo was measured using the TNT equivalent measurement method for explosives described in 3.4 steps j ；
3.9 use 3.The method for measuring the total propagation distance of the shock wave in step 3 measures the total propagation distance D of the shock wave in the kth photo k TNT equivalent weight W corresponding to shock wave in the kth photo is measured by adopting a TNT equivalent weight measuring method of the explosive in 3.4 steps k ；
3.10 eliminating errors by using the formula (7) to obtain a measurement result W of TNT equivalent of the final explosive:
and fourthly, replacing the platform (2), cleaning the background cloth and preparing the next experiment.
8. A method for measuring the TNT equivalent of explosives according to claim 7, characterised in that in the first step the unmanned aerial vehicle (4) is flying over the sky at a height above 100 metres.
9. A method for measuring the TNT equivalent of an explosive according to claim 7, characterised in that the propagation distance L of the shock wave is 3.2.1 steps 2 Reading is aided by image processing software.
10. A method of measuring TNT equivalents of explosives as claimed in claim 9 wherein the image processing software means is a high speed camera suite software PVF v4.0 or more, or tracker v1.0 or more.
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| CN103292943A (en) * | 2012-02-27 | 2013-09-11 | 中国人民解放军总参谋部工程兵科研三所 | Non-contact type impact wave hyperpressure measuring method |
| CN105353102A (en) * | 2015-12-08 | 2016-02-24 | 西安近代化学研究所 | Comprehensive effect evaluation method for explosion of thermobaric explosive in semi-closed tunnel |
| CN113155338A (en) * | 2021-04-21 | 2021-07-23 | 北京理工大学 | System and method for testing time constant of underwater explosion near-field shock wave |
| CN113514182A (en) * | 2021-06-29 | 2021-10-19 | 西安航天动力测控技术研究所 | Shock wave overpressure field measuring method based on high-speed photographic system |
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| JP6598154B2 (en) * | 2015-11-05 | 2019-10-30 | 株式会社Ｉｈｉエアロスペース | Explosive detection system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103292943A (en) * | 2012-02-27 | 2013-09-11 | 中国人民解放军总参谋部工程兵科研三所 | Non-contact type impact wave hyperpressure measuring method |
| CN105353102A (en) * | 2015-12-08 | 2016-02-24 | 西安近代化学研究所 | Comprehensive effect evaluation method for explosion of thermobaric explosive in semi-closed tunnel |
| CN113155338A (en) * | 2021-04-21 | 2021-07-23 | 北京理工大学 | System and method for testing time constant of underwater explosion near-field shock wave |
| CN113514182A (en) * | 2021-06-29 | 2021-10-19 | 西安航天动力测控技术研究所 | Shock wave overpressure field measuring method based on high-speed photographic system |
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