CN114857991B - Control method and system for automatically tracking shooting direction of target plane in tactical training - Google Patents
Control method and system for automatically tracking shooting direction of target plane in tactical training Download PDFInfo
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- CN114857991B CN114857991B CN202210589557.8A CN202210589557A CN114857991B CN 114857991 B CN114857991 B CN 114857991B CN 202210589557 A CN202210589557 A CN 202210589557A CN 114857991 B CN114857991 B CN 114857991B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
- F41A33/00—Adaptations for training; Gun simulators
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The invention discloses a control method and a system for automatically tracking shooting direction of a target plane in tactical training. The disclosed method includes adjusting the target surface direction of the entire defending team to face the attacking team in the case of remote shooting; in the case of close shooting, the difference in position between the team members cannot be ignored, and when the distance between the red team and the blue team reaches a certain threshold, the target orientation adjustment is based on the nearest member of the team members to the target. The method can realize the intelligent direction control of target surface tracking shooting.
Description
Technical Field
The invention belongs to the technical field of shooting training equipment, and particularly relates to a control method for automatically tracking a shooting direction of a target surface.
Background
In contractual tactical training, the target drone is the most commonly contacted training equipment in soldier training, and is the most numerous and complex device. The common target plane is divided into two kinds, one is a light weapon target plane, and is mainly used for simulating shooting training of soldiers in an actual battlefield under the conditions of different postures, different team formations, different tactical forms and the like; the other heavy weapon target is mainly used for simulating direct aiming shooting training of armored vehicles in actual battlefield at different speeds and different directions.
For a light weapon target machine, the target surface is required to be switched in the training process, so that the switched target surface faces towards a shooter, and for a heavy weapon target machine, a shock wave target is adopted, so that a certain requirement on the incident angle of a shell exists, and the target surface can be automatically adjusted to face towards the shooter in the training process. In both cases, the drone equipment is required to have the function of automatically tracking the direction of the shot.
The existing system mainly conducts shooting command through personnel, and the shooting direction is naturally matched with the target surface direction according to a set route after a shooter reaches a designated position; the other is to adjust the direction of the target surface by remote control so as to face the shooter who is about to shoot. The efficiency of the two modes is low, the training progress is influenced, the training process is inflexible, the requirement of autonomous shooting direction tracking of the target surface in the complex tactics training process cannot be met, and the training task cannot be completed efficiently and smoothly.
Disclosure of Invention
Aiming at the defects or shortcomings in the prior art, the invention provides a control method for automatically tracking the shooting direction of a target plane in tactical training.
The method provided by the invention periodically controls a plurality of target plane target surfaces of the defending team to automatically track the shooting direction of the attacking team, and the control method in each period comprises the following steps:
step1, if there is an attack on the team, executing Step2; if a plurality of attack teams exist, selecting an attack team with a virtual center closest to the virtual center of the current period of the defending team, and executing Step2;
step2, (1) if S PQ (t)≥S 0 Taking the virtual center point of the attack team or the selected attack team as all target surfaces of the defending teamPointing to a target, and adjusting the directions of all target surfaces; s is S PQ (t) is the virtual center point distance in the current period of the defending team and the attacking team or the selected attacking team; t is a certain moment in the current period, and 800m is less than or equal to S 0 S is more than or equal to 1000m or more than or equal to 200m 0 ≤400m；
(2) If S PQ (t)<S 0 And taking the member closest to each target plane in the attack team or the selected attack team member as the pointing target of the corresponding target plane, and adjusting the orientation of each target plane.
Further, if two attack teams have the virtual centers closest to the defending team virtual center, taking the midpoints of the two attack teams as the virtual center of the attack team selected in Step2 (1), and adjusting the direction of the target surface;
if the virtual center and the defending team have three or more attack teams with the closest distance from the virtual center, any one of the three or more attack teams is taken as the virtual center of the attack teams selected in Step2 (1), and the direction of the target surface is adjusted;
if the virtual center and the defending team have two or more attack teams with the closest distance from the virtual center, any one of the two or more attack teams is taken as the attack team selected in Step2 (2), and the direction of the target surface is adjusted.
Further, the method is characterized in that if two members closest to the target plane exist in the attack team, the midpoint position of the two members is taken as a pointing target of the target plane, and the direction of the target plane is adjusted;
if three or more members closest to the target plane exist in the attack team, one member is selected as a pointing target of the target plane, and the direction of the target plane is adjusted.
Further, the method is characterized in that the method also comprises the steps of periodically updating all virtual centers for grouping respectively, and the method for updating one virtual center for attacking the grouping in any period comprises the following steps: and acquiring member information with the distance from the current virtual center of the team being smaller than a first critical value, calculating a virtual center by using all the acquired member information, wherein the calculated virtual center is used as the updated virtual center of the team, and the value range of the first critical value is [300,500] or [50,100].
Further, the method further comprises periodically updating the virtual centers of all defending teams respectively, and the method for updating the virtual center of one defending team in any period comprises the following steps: and acquiring member information with the distance from the current virtual center of the team being smaller than a second critical value, calculating a virtual center by using all the acquired member information, wherein the calculated virtual center is used as the updated virtual center of the team, and the second critical value is in the range of [300,500] or [50,100].
Optionally, the period duration is 1s-10s.
The invention also provides a control system for automatically tracking the shooting direction of the target plane in tactical training. The provided system comprises a control module for implementing the above method.
In the complex tactical exercise process, the battlefield is more free, the fighter and the target plane are moving targets, the corresponding fighter can not be commanded one by one through master personnel to shoot, and the target plane can be used as a blue army target plane system to face the light weapon target plane and the heavy weapon target plane with the largest quantity.
Drawings
FIG. 1 is a diagram of S in the method of the present invention PQ (t)≥S 0 Schematic diagram of target surface orientation principle during time division attack;
FIG. 2 is a diagram of S in the method of the present invention PQ (t)≥S 0 Schematic diagram of target surface orientation adjustment principle;
FIG. 3 is a diagram of S in the method of the present invention PQ (t)<S 0 Schematic diagram of target surface orientation during time division attack;
FIG. 4 is a diagram of S in the method of the present invention PQ (t)<S 0 Schematic diagram of target surface orientation during attack in a shorter distance;
FIG. 5 is a diagram of S in the method of the present invention PQ (t)<S 0 Principle of time target surface orientation adjustmentIntent.
Detailed Description
Unless specifically stated otherwise, the terms herein are to be understood based on knowledge of one of ordinary skill in the relevant art.
In the actual tactical training process, the training is usually carried out in a red party team and a blue party team, wherein the red party is an attack team and consists of an individual soldier carrying an individual soldier terminal or an armored vehicle carrying a vehicle solid soldier terminal; the blue party is a defending team and consists of a small weapon target plane or a heavy weapon target plane; namely, the red party is an attack party, comprises a plurality of tactical formations, and the blue party is a defender and is used as a shooting target for the red party to carry out shooting training.
In the prior shooting skill and tactics training, a command is operated and issued by a commander, after the corresponding shooter is commanded to reach a designated position according to a set route, the relative position of the shooter and a target surface is determined, the shooting condition is met, then the fixed shooting training is carried out, and the shooting result is recorded; the other is that the shooter reports the target object to be shot first, and the commander remotely controls the target plane equipment to finish the rotation adjustment of the target surface to enable the target surface to face the shooter, thereby finishing shooting training. In the new intelligent shooting range, as a army target system, the most number of small arms targets and heavy arms targets are faced, and the function of intelligently tracking the shooting direction of the target surface is required to be realized.
In order to realize the intelligent control method of the target surface tracking shooting direction, the invention concept of the invention is as follows:
under the condition of long-distance shooting, the shooting direction of members of the team is not required to be tracked, and only the direction of the whole attack team is adjusted, namely the direction of the target surface of the whole defending team is adjusted to face the attack team, and for the target aircraft terminal in the defending team, the target aircraft terminal is adjusted according to the real-time condition of each target aircraft, and finally the result that all target surfaces face the same direction is achieved; for each member of the attack team, the direction of the target surface is only slightly different due to the long distance, and the long-distance shooting is not affected;
in the case of close firing, the difference in position between team members cannot be ignored, and when the distance between the red team and the blue team reaches a certain threshold, the target face orientation adjustment will target the team members, and according to the fire crossing rule, the closer the distance is, the higher the hazard level is, and the target plane considers the unit as a priority to eliminate the object, based on the principle, the target plane preferentially adjusts the direction to face the soldier closest to the target plane.
The scheme adopted by the invention is that a plurality of target plane target surfaces of a periodic control defending team automatically track the shooting direction of an attack team, and the control method in each period (the time length of each period is 1s-10 s) comprises the following steps:
step1, if there is an attack on the team, executing Step2; if a plurality of attack teams exist, selecting an attack team with the closest distance between the virtual center of the current period and the virtual center of the current period of the defending team, and executing Step2;
step2, (1) if S PQ (t)≥S 0 The virtual center point of the attack team or the selected attack team is used as a pointing target of all target surfaces in the defending team, and the orientations of all target surfaces are adjusted; s is S PQ (t) is the virtual center point distance between the defending team and the current period of the attack team or the selected attack team, and t is a certain moment in the current period; s is S 0 The value range of (1) is related to the target class of the defending team, if the defending team consisting of the vehicle targets (heavy weapon targets), S 0 Can take a value of 800-1000 m, if the defending team consists of individual targets (small arms targets), S 0 The value can be 200 m-400 m;
(2) If S PQ (t)<S 0 And the nearest member of the attack team or the selected attack team member, which is away from each target plane in the defending team, is used as the pointing target of the corresponding target surface, and the orientation of each target surface is adjusted.
In a specific scheme, the virtual center of each team can be obtained by calculating longitude and latitude coordinates of all members of each team, and examples are:
the member of the attack team with a red party is composed of N soldiers carrying real soldier terminals or armored vehicles provided with vehicle terminals in a combined mode, the terminal equipment carried by the member of the attack team can upload the longitude and latitude coordinate positions of the member of the attack team in real time, in general, the real soldier terminals take convenience into consideration and carry a main positioning antenna, the vehicle terminals take higher precision into consideration, an auxiliary positioning antenna is additionally arranged outside the main positioning antenna, the vector direction of the main positioning antenna pointing to the auxiliary positioning antenna is consistent with the weapon shooting of the armored vehicles, and the longitude and latitude coordinates of the main positioning antenna acquired by the N terminals at the moment t are as follows:
(Slat 1 (t),Slon 1 (t)),(Slat 2 (t),Slon 2 (t)),...,(Slat n (t),Slon n (t)),...,(Slat N (t),Slon N (t))，
(Slat n (t),Slon n (t)) is the longitude and latitude coordinates of the main positioning antenna on the nth terminal at time t, n=1, 2,3, & gt, N; n is a natural number;
the longitude and latitude coordinates of the auxiliary positioning antenna on the vehicle real terminal are as follows:
(Slat′ 1 (t),Slon′ 1 (t)),(Slat′ 2 (t),Slon′ 2 (t)),...,(Slat′ n (t),Slon′ n (t)),...,(Slat′ N (t),Slon′ N (t))
it should be noted that, for the team formed by the vehicle real soldier terminals, the distance between the positions of the main positioning antenna and the auxiliary positioning antenna relative to the team members is negligible, so for the vehicle real soldier terminals, the coordinates of the main positioning antenna are used for calculating the virtual center point, and the distance between the team members is not too far, which is far less than hundred kilometers, so the virtual center point P (Slat P (t),Slon P (t))：
Slat P (t)＝(Slat 1 (t)+Slat 2 (t)+...+Slat n (t)+...+Slat N (t))/N
Slon P (t)＝(Slon 1 (t)+Slon 2 (t)+...+Slon n (t)+...+Slon N (t))/N；
The defending and separating team consists of M target planes, wherein the target planes comprise a light weapon target plane or a heavy weapon target plane, the two target planes are identical in configuration on a positioning antenna, each target plane is provided with a main positioning antenna and a secondary positioning antenna, the main antenna of the target plane points to the direction of the secondary antenna, if the target plane is a sport type target plane, the target plane points to the advancing direction, and if the target plane is a fixed target plane, the target plane points to the opposite direction of the reversing direction. The target surfaces of the existing light weapon target drone and heavy weapon target drone can be independently rotated, the angle is controllable, the target drone can upload the longitude and latitude coordinate positions of the target drone in real time, and the longitude and latitude coordinates of the main antenna of each target drone at the moment t are set as follows:
(Llat 1 (t),Llon 1 (t)),(Llat 2 (t),Llon 2 (t)),...,(Llat m (t),Llon m (t)),...,(Llat M (t),Llon M (t)) m=1, 2,3,; m is a natural number;
the longitude and latitude coordinates of the auxiliary antenna of each target drone are as follows:
(Llat′ 1 (t),Llon′ 1 (t)),(Llat′ 2 (t),Llon′ 2 (t)),...,(Llat′ m (t),Llon′ m (t)),...,(Llat′ M (t),Llon′ M (t))
based on the main antenna coordinates, the defending team virtual center point Q (lalat Q (t),Llon Q (t)), then:
Llat Q (t)＝(Llat 1 (t)+Llat 2 (t)+...+Llat m (t)+...+Llat M (t))/M
Llon Q (t)＝(Slon 1 (t)+Slon 2 (t)+...+Slon m (t)+...+Slon M (t))/M
according to the space geometric position relationship, the virtual center point distance of the attack team and the defense team in the current period is the longitude and latitude coordinate distance of the points P and Q:
in a further scheme, if two attack teams have the virtual centers closest to the defending teams, taking the midpoints of the two attack teams as the virtual center of the attack teams selected in Step2 (1), and adjusting the direction of the target surface;
if the virtual center and the defending team have three or more attack teams with the closest distance from the virtual center, any one of the three or more attack teams is taken as the virtual center of the attack teams selected in Step2 (1), and the direction of the target surface is adjusted;
if the virtual center and the defending team have two or more attack teams with the closest distance from the virtual center, any one of the two or more attack teams is taken as the attack team selected in Step2 (2), and the direction of the target surface is adjusted.
In the method of the invention, when S PQ (t)≥S 0 Referring to FIGS. 1 and 2, if the target surface is to be oriented in the direction of the attack team, it is necessary to have
And->
In parallel and in opposite directions, that is to say, the rotation mechanism of the target machine is adjusted so that its rotation angle meets the above requirements, so that the target surface faces in the direction of the attack team. Each target plane terminal carries out independent calculation according to the parameters acquired by the target plane terminal, and the final target surfaces of the members of the defending team face the direction of the attack team; wherein:
wherein: x is x P (t),x Q (t),y P (t),y Q (t),z P (t),z Q And (t) is the coordinates of two points at the moment t P, Q in a space rectangular coordinate system:
x P (t)＝r cos(Slat P (t))cos(Slon P (t)) x Q (t)＝r cos(Llat Q (t))cos(Llon Q (t))
y P (t)＝r cos(Slat P (t))sin(Slon P (t)) y Q (t)＝r cos(Llat Q (t))sin(Llon Q (t))
z P (t)＝r sin(Slat P (t)) z Q (t)＝r sin(Llat Q (t))
r is the earth radius;
further available alpha j (t)＝β j (t) +pi represents the target rotation adjustment angle:
α j (t) is the rotation angle of the target plane of the target machine with the number j at the moment t, namely the included angle between the normal vector of the target plane and the direction vector of the target machine;
β j (t) target drone direction vector with t time j
With the offensive team direction vector->
An included angle between the two; beta j (t)∈[0,2π]；
With anticlockwise direction as positive, when attacking the team direction vector
Direction vector of target drone>
Is the left half of the (c):
when attacking the team direction vector
Direction vector of target drone>
Right half area:
wherein:
the coordinates of the main antenna and the auxiliary antenna on the target aircraft terminal with the time j under the space rectangular coordinate system are obtained by the following formula:
in the scheme of the invention, when S PQ (t)<S 0 When referring to fig. 3-5, the team is considered to be in a member-dispersed state, the spacing between members being non-negligible compared to the spacing between targets, each target being oriented towards the nearest unit to the target. If the target is to be directed to the nearest member (offending team), then it is necessary to cause
And->
In parallel and opposite in direction, that is to say, adjust the rotary mechanism of target drone, make its rotation angle satisfy above-mentioned requirement, can make the target surface face soldier's direction nearest to it, every target drone terminal carries out independent solution according to the parameter that self obtained, and the final target surface of member of defending the team all faces the member direction of attacking the team. Wherein:
further, the same applies to alpha as described above j (t)＝β j The target surface direction is adjusted by the rotation angle (t) +pi.
In a further scheme, if two members of the attack team, which are closest to the target plane, exist, the midpoint positions of the two members are taken as the pointing targets of the target surface, and the direction of the target surface is adjusted; if three or more members closest to the target plane exist in the attack team, one member is selected as a pointing target of the target plane, and the direction of the target plane is adjusted.
The virtual center point of each team is obtained by the coordinate weighted average value of the team members, but in the course of battlefield training, the conditions of dequeuing the team members and adding new members exist, so in some schemes, the method also comprises the steps of periodically updating all the virtual centers for team respectively, and the method for updating the virtual center of one of the attack teams in any period comprises the following steps:
and acquiring member information with the distance from the current virtual center of the attack team being smaller than a critical value, calculating a virtual center by using all the acquired member information, and taking the calculated virtual center as the updated virtual center of the team. The threshold is also determined by the types of members that make up the offending team, and may be 300-500 meters if it is made up of a class of vehicles, or 50-100 meters if it is made up of warriors. And finally, the specific value is determined by combining the actual condition of the site and the test.
For the defending team, the defending team is controllable generally, and if the defending team is a fixed target, the virtual center point is fixed, so that periodic updating is not needed; if the defending team contains moving targets, the central point is dynamically changed, and meanwhile, dequeuing and enqueuing situations exist. The updated critical value of the defending team virtual center is the same as the corresponding attack team, namely, if the attack team consists of vehicles, the critical value of the defending team virtual center is 300-500 meters, and if the attack team consists of warriors, the critical value of the defending team virtual center is 50-100 meters.
Claims (7)
1. A control method for automatically tracking shooting directions of target planes in tactical training is characterized in that the method periodically controls a plurality of target planes of a defending team to automatically track shooting directions of an attacking team, and the control method in each period comprises the following steps:
step1, if there is an attack on the team, executing Step2; if a plurality of attack teams exist, selecting an attack team with a virtual center closest to the virtual center of the current period of the defending team, and executing Step2;
step2, (1) if S PQ (t)≥S 0 ThenTaking the attack team or the virtual center point of the selected attack team as the pointing target of all the target surfaces of the defending team, and adjusting the orientations of all the target surfaces; s is S PQ (t) is the virtual center point distance in the current period of the defending team and the attacking team or the selected attacking team; t is a certain moment in the current period, and 800m is less than or equal to S 0 S is more than or equal to 1000m or more than or equal to 200m 0 ≤400m；
(2) If S PQ (t)<S 0 And taking the member closest to each target plane in the attack team or the selected attack team member as the pointing target of the corresponding target plane, and adjusting the orientation of each target plane.
2. The control method for automatically tracking shooting direction of target plane in tactical training according to claim 1, wherein if two attack teams are located closest to the virtual center of the defending team, the middle point of the virtual centers of the two attack teams is taken as the virtual center of the selected attack team in Step2 (1), and the direction of the target plane is adjusted;
if the virtual center and the defending team have three or more attack teams with the closest distance from the virtual center, any one of the three or more attack teams is taken as the virtual center of the attack teams selected in Step2 (1), and the direction of the target surface is adjusted;
if the virtual center and the defending team have two or more attack teams with the closest distance from the virtual center, any one of the two or more attack teams is taken as the attack team selected in Step2 (2), and the direction of the target surface is adjusted.
3. The control method for automatically tracking shooting direction of target plane in tactical training according to claim 1 or 2, wherein if there are two members closest to the target plane in the attack team, the midpoint position of the two members is taken as the pointing target of the target plane, and the direction of the target plane is adjusted;
if three or more members closest to the target plane exist in the attack team, one member is selected as a pointing target of the target plane, and the direction of the target plane is adjusted.
4. A method of controlling automatic target plane follow-up firing direction in tactical training as claimed in claim 1 or 2, wherein the method further comprises periodically updating each of the virtual centers for the teams, the method of updating one of the virtual centers for the offending teams during any one period comprising: and acquiring member information with the distance from the current virtual center of the team being smaller than a first critical value, calculating a virtual center by using all the acquired member information, wherein the calculated virtual center is used as the updated virtual center of the team, and the value range of the first critical value is [300,500] or [50,100].
5. The control method for automatically tracking shooting direction of target plane in tactical training according to claim 1 or 2, wherein the method further comprises periodically updating virtual centers of all defending teams, respectively, and the method for updating the virtual center of one of the defending teams in any one period comprises: and acquiring member information with the distance from the current virtual center of the team being smaller than a second critical value, calculating a virtual center by using all the acquired member information, wherein the calculated virtual center is used as the updated virtual center of the team, and the second critical value is in the range of [300,500] or [50,100].
6. The method of claim 1, wherein the period is 1s-10s long.
7. A control system for automatically tracking the direction of a shot by a target plane in tactical training, comprising a control module for implementing the method of claim 1,2 or 6.
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