CN114894030B - Matching method and system for direct aiming shooting training of heavy weapon target aircraft - Google Patents

Matching method and system for direct aiming shooting training of heavy weapon target aircraft Download PDF

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CN114894030B
CN114894030B CN202210590591.7A CN202210590591A CN114894030B CN 114894030 B CN114894030 B CN 114894030B CN 202210590591 A CN202210590591 A CN 202210590591A CN 114894030 B CN114894030 B CN 114894030B
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event
hit
matching
shooting
target
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CN114894030A (en
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常文超
徐中节
王震
王泽阳
钟凡
许长华
栗娜
解海
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Xian Aerospace Propulsion Institute
Xian Aerospace Yuanzheng Fluid Control Co Ltd
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Xian Aerospace Propulsion Institute
Xian Aerospace Yuanzheng Fluid Control Co Ltd
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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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/90—Details of database functions independent of the retrieved data types
    • G06F16/903—Querying
    • G06F16/9035—Filtering based on additional data, e.g. user or group profiles
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/90—Details of database functions independent of the retrieved data types
    • G06F16/907—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually
    • G06F16/909—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually using geographical or spatial information, e.g. location
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/16—Matrix or vector computation, e.g. matrix-matrix or matrix-vector multiplication, matrix factorization

Abstract

The invention discloses a matching method and a matching system for direct aiming shooting training of a heavy weapon target aircraft. The disclosed scheme adopts a screening principle, a uniqueness judging principle and a judging principle that the terminal to which the hit event belongs must judge the event in the shooting domain of the terminal to which the hit event belongs, so that the matching of a large number of hit events and shooting events is effectively realized. The method adopts a data screening method, so that the matching efficiency can be effectively improved, and the data matching time can be reduced; meanwhile, the event is judged in pairs by utilizing a uniqueness judging principle, the miss condition in the shooting event can be judged, and verification is carried out by utilizing a judging principle that the terminal to which the hit event belongs is necessarily in the shooting domain of the terminal to which the shooting event matched with the terminal to which the hit event belongs, so that the matching accuracy can be effectively improved.

Description

Matching method and system for direct aiming shooting training of heavy weapon target aircraft
Technical Field
The invention belongs to the technical field of shooting training equipment, and particularly relates to a high-accuracy matching algorithm for direct aiming shooting training of a long-distance heavy weapon target drone.
Background
In contract tactics training, heavy weapon target aircraft is used as training equipment which is most commonly contacted in armor training, and is target aircraft equipment with a long shooting distance (up to several kilometers or even more than ten kilometers according to weapon types) and a scattered target. The training device is mainly used for simulating direct aiming shooting training of armored vehicles in an actual battlefield under the conditions of different speeds, different team formations, different tactical forms and the like. In the training process, the battlefield is wide, the targets are scattered, in the novel training, the targets are mostly the combination of sports type and fixed type, and most of the targets appear in a formation mode, so that in the training process, the gun is difficult to match the shooting result with the shooter in free shooting, namely the intelligent matching of the shooting event of the shooter and the hit event of the targets cannot be realized, and the output of the achievement cannot be completed rapidly and effectively.
The existing system mainly carries out shooting command through personnel, namely, the shooting result is matched with an armored vehicle according to a set sequence in an artificial mode, the output of the shooting result is completed, the efficiency is low, the training progress is influenced, the independent intelligent matching after free shooting in the complex tactics training process cannot be met, and the shooting condition of a fighter in the training process cannot be effectively evaluated.
In the original direct aiming shooting skill and tactical training, command is operated and issued by commander, corresponding armored vehicles are commanded to perform fixed shooting training, and the shooting result is recorded. In the new intelligent shooting range, as a army target system, a heavy weapon target with a long distance and wide distribution is required to realize an intelligent shooter judging function. In the practical shooting training process, besides uploading the shooting result, the shooting effect can be completely estimated only by judging from which distance the shooting is performed. In a complex tactical exercise process, the battlefield is more free, the armored vehicles and targets are far and far apart, and both the armored vehicles and heavy weapon targets are moving targets. Armored vehicle firing does not produce as much data in a short period of time as light weapon firing, but requires higher matching accuracy due to the low number of shots and high ammunition costs. Therefore, it is important how to accurately implement the autonomous matching function of the shooting event and the hit event.
Disclosure of Invention
Aiming at the defects or shortcomings of the prior art, the invention provides a matching method for direct aiming shooting training of a heavy weapon target aircraft.
The method provided by the invention is to match a plurality of shooting events and a plurality of hit events which occur in one tactical training;
any one of the shooting events is
Figure BDA0003664990910000021
wherein ,/>
Figure BDA0003664990910000022
Heavy weapon vehicle ID for the occurrence of this firing event, < > for the moment>
Figure BDA0003664990910000023
For the moment of occurrence of this shooting event, +.>
Figure BDA0003664990910000024
Longitude of primary antenna on heavy weapon when this firing event occurs, +.>
Figure BDA0003664990910000025
Latitude of main antenna on heavy weapon when this firing event occurs, +.>
Figure BDA0003664990910000026
The sub-antenna longitude on heavy weapon when this firing event occurs,/->
Figure BDA0003664990910000027
Latitude of secondary antenna on heavy weapon when this firing event occurs, +.>
Figure BDA0003664990910000028
Is the impact factor of the projectile velocity after shooting, +.>
Figure BDA0003664990910000029
/>
Any one of the plurality of hit events is
Figure BDA00036649909100000210
wherein ,/>
Figure BDA00036649909100000211
Numbering for this hit target, +.>
Figure BDA00036649909100000212
For the hit time of the hit event, +.>
Figure BDA00036649909100000213
Main antenna longitude for target of this hit time, < >>
Figure BDA00036649909100000214
Main antenna latitude for target at this time of hit, < >>
Figure BDA00036649909100000215
Latitude of the secondary antenna targeted for this hit time, < >>
Figure BDA00036649909100000216
A secondary antenna latitude which is a target at the time of the hit;
any one event P x And any one hit event Q y The matching method of (1) comprises the following steps:
(1) If it is
Figure BDA00036649909100000217
Step (2) is performed; if->
Figure BDA00036649909100000218
Then any one event P x And any one hit event Q y Mismatch;
(2) If it is
Figure BDA0003664990910000031
Step (3) is executed, otherwise any event P x And any one hit event Q y Mismatch, wherein->
Figure BDA0003664990910000032
R is the effective kill distance of the martial arts used in this training, v the average speed of the gun used for the training is within the effective killing distance after the gun is ejected out of the chamber;
(3) If it is
Figure BDA0003664990910000033
And alpha is xy ≤α 0 Any one shooting event P x And any one hit event Q y Matching, otherwise, the two are not matched, wherein:
S yx for any one shooting event P x The location of the shooter when shooting and any hit event Q y The spatial distance of the position of the target when hit;
Figure BDA0003664990910000034
r is the average radius of the earth;
Figure BDA0003664990910000035
α xy is->
Figure BDA0003664990910000036
and />
Figure BDA0003664990910000037
Included angle alpha 0 For the firing angle of the shot is,
Figure BDA0003664990910000038
for shooting event P x Is a main antenna space coordinate point P1 of (1) x With auxiliary antenna space coordinate point P2 x Is composed of main direction pair, < ->
Figure BDA0003664990910000039
For shooting event P x Is a main antenna space coordinate point P1 of (1) x And hit event Q y Main antenna space coordinate point Q1 y A direction vector formed between them.
Further, any one of the plurality of shooting events is
Figure BDA00036649909100000310
wherein ,/>
Figure BDA00036649909100000311
A sequence of heavy weapon shots for which the firing event occurs.
Further, any one of the plurality of hit events is
Figure BDA00036649909100000312
wherein ,/>
Figure BDA00036649909100000313
Is the hit area of the target in this hit event.
Further, any one of the plurality of hit events is
Figure BDA0003664990910000041
wherein ,/>
Figure BDA0003664990910000042
For the included angle between the normal direction of the target surface and the target reference direction at the time of the hit, the target surface is in the range of +.>
Figure BDA0003664990910000043
Is the hit area of the target in this hit event. />
Further, in the step (3)
Figure BDA0003664990910000044
Replaced by->
Figure BDA0003664990910000045
σ 0 Is threshold value, sigma 0 ＝20-45ms。
Further, the method of the present invention comprises:
step1, setting initial parameters: effective kill distance R of heavy weapon used for this training; the average radius r of the earth; the average speed of the heavy weapon used in the training after being ejected out of the chamber is within the effective killing distance v The method comprises the steps of carrying out a first treatment on the surface of the Deviation threshold sigma 0 ；
Step2, accounting a plurality of shooting events and a plurality of hit events which occur in one tactical training in a plurality of periods, and judging a matching condition; constructing a corresponding matrix for a plurality of shooting events P and a plurality of hit events Q in any one accounting period:
Figure BDA0003664990910000046
Figure BDA0003664990910000051
step3, constructing an initial matching matrix D, D= [ D ] 1 ,D 2 ,...D m ,…,D M ]，D m For arbitrary hit event Q m Matching matrix of D (D) m Initially P, D m ＝[D m (1),D m (2),...D m (n),…,D m (N)],D m (n)＝P n ；P n For any one of a plurality of firing events P,
Figure BDA0003664990910000052
m=1, 2,3, M is a natural number of 2 or more, n=1, 2,3, N is a natural number equal to or greater than 2,
step4, performing preliminary screening on the initial matching matrix D, traversing all vectors in the matching matrix of all hit events, and aiming at any hit eventPiece Q m And any vector D in its matching matrix m (n) if
Figure BDA0003664990910000053
Or->
Figure BDA0003664990910000054
Let vector D m (n) taking G, wherein G= [0,0,0,0,0,0,0,0 ]] T The method comprises the steps of carrying out a first treatment on the surface of the Obtaining a matching matrix after primary screening;
step5, constructing a space distance matrix S, a matching factor matrix sigma and a shooting angle matrix alpha according to the matched matrix after the preliminary screening:
Figure BDA0003664990910000055
Figure BDA0003664990910000061
Figure BDA0003664990910000062
if G= [0,0,0,0,0,0,0,0 ]] T Then, S mn ＝0，σ mn ＝σ 0 +1，α mn ＝α 0 +1，α 0 Is the firing angle; otherwise the first set of parameters is selected,
Figure BDA0003664990910000063
Figure BDA0003664990910000064
α mn is->
Figure BDA0003664990910000065
And
Figure BDA0003664990910000066
angle of (1)>
Figure BDA0003664990910000067
For shooting event P n Is a main antenna space coordinate point P1 of (1) n With auxiliary antenna space coordinate point P2 n Is composed of main direction pair, < ->
Figure BDA0003664990910000068
For shooting event P n Is a main antenna space coordinate point P1 of (1) n And hit event Q m Main antenna space coordinate point Q1 m A direction vector formed between the two;
step6, constructing a matching result matrix W= [ W ] of a plurality of shooting events P 1 ,W 2 ,...W n ,…,W N ]，
If sigma mn -σ 0 Less than or equal to 0 and alpha mn ≤α 0 Firing event P n And hit event Q m The matching is performed so that the matching is performed,
Figure BDA0003664990910000069
if sigma mn -σ 0 >0 or alpha mn >α 0 Firing event P n And hit event Q m The matching is not performed and the matching is not performed,
Figure BDA0003664990910000071
wherein: o= [0,0,0,0,0,0,0 ]] T 。/>
Further, the method comprises the steps of,
Figure BDA0003664990910000072
Figure BDA0003664990910000073
further, step6 includes: constructing a matching result matrix W= [ W ] of a plurality of shooting events P 1 ,W 2 ,...W n ,…,W N ]，
If sigma mn -σ 0 ≤0，α mn ≤α 0 And (2) andγ mn ≤γ 0 firing event P n And hit event Q m Matching, and the target report is effective,
Figure BDA0003664990910000081
Figure BDA0003664990910000082
for hit event Q m Is used for the normal unit vector of the target surface,
Figure BDA0003664990910000083
Figure BDA0003664990910000084
for shooting event P n Is a main antenna space coordinate point P1 of (1) n With auxiliary antenna space coordinate point P2 n Is composed of main direction pair, < ->
Figure BDA0003664990910000085
For hit event Q m The angle between the normal direction of the target surface of the target and the reference direction of the target at the moment of hit is +.>
Figure BDA0003664990910000086
For hit event Q m Is a main antenna space coordinate point Q1 of (1) m With auxiliary antenna space coordinate point Q2 m Is composed of a main direction pair; gamma ray 0 As the critical value of the incident angle, gamma 0 ＝15°；
If sigma mn -σ 0 ≤0，α mn ≤α 0 And gamma is mn >γ 0 Firing event P n And hit event Q m Matching, but target reporting is not effective,
Figure BDA0003664990910000087
if sigma mn -σ 0 >0 or alpha mn >α 0 Firing event P n And hit event Q m The matching is not performed and the matching is not performed,
Figure BDA0003664990910000088
wherein: o= [0,0,0,0,0,0,0,0 ]] T 。
The invention also provides a matching system for the direct aiming shooting training of the heavy weapon target aircraft. The provided system comprises a matching module for implementing the above method.
The method adopts a data screening method, so that the matching efficiency can be effectively improved, and the data matching time can be reduced; meanwhile, the event is judged in pairs by utilizing a uniqueness judging principle, the miss condition in the shooting event can be judged, and verification is carried out by utilizing a judging principle that the terminal to which the hit event belongs is necessarily in the shooting domain of the terminal to which the shooting event matched with the terminal to which the hit event belongs, so that the matching accuracy can be effectively improved.
In addition, the method adopts a matrix type data processing mode, is convenient for data storage and calling, and is also convenient for finding problems in the debugging process; and the matching results are matrix-represented for facilitating the querying of the results.
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.
Triggering of a shooting event is recorded by a vehicle terminal of an armored vehicle device and event information is uploaded, the armored vehicle completes a single shooting action through a weapon of the armored vehicle device to record as a shooting event, and continuous shooting records as a plurality of shooting events. Recording a shooting event as P, wherein the included parameters include a vehicle ID; shooting time t; the main antenna longitude and latitude coordinates Mlon and Mlat at the shooting moment of a shooter, the auxiliary antenna longitude and latitude coordinates Vlon and Vlat, the main antenna and the auxiliary antenna are arranged above a gun turret and are positioned on a gun barrel extension line, the direction of the main antenna to the auxiliary antenna represents the shooting direction during shooting, in addition, the coordinates of the main antenna are taken to represent the position information of an armored vehicle, and the coordinates of the auxiliary antenna are taken to calculate the shooting direction; the speed influence factor mu is mainly influenced by the environment where the shooting moment is, such as wind speed, wind direction, etc., and is obtained by equipment acquisition in real time to obtain a specific value for correcting the average speed of the shooting, muThe value range is 0.8-1.2. The method further comprises the steps of shooting order ord, wherein a certain number of shells can be distributed when a common weapon is in actual combat, the parameters can count the number of hits of the shells, statistics is convenient, cheating can be detected, the value of the shooting order ord is obtained by adding one to the value of each shot, and the upper limit is the maximum carrying capacity of the weapon. For example, the x-th firing event is noted as a column vector:
Figure BDA0003664990910000091
triggering of hit events is recorded and uploaded by the heavy weapon target terminal, and the effective detection position of the heavy weapon target is subjected to one effective shooting of the shell to trigger one hit event, and the continuous shell is recorded as a plurality of hit events. Recording a shooting event as Q, wherein parameters are included with a heavy weapon target ID; hit time t, main antenna longitude and latitude coordinates Mlon and Mlat of heavy weapon target at hit time; longitude and latitude coordinates Vlon and Vlat of the auxiliary antenna; the main antenna and the auxiliary antenna are both arranged on a chassis vehicle of a target, the connecting line of the main antenna and the auxiliary antenna is parallel to the running direction (target reference direction) of the chassis vehicle, namely the direction of the main antenna pointing to the auxiliary antenna represents the running direction of the vehicle, in addition, the coordinates of the main antenna are taken to represent the position information of the target, and the coordinates of the auxiliary antenna are taken to calculate the running direction. The target surface normal direction and the target reference direction included angle during hit are recorded as a target surface angle beta, the target surface can rotate around the axis, the angle beta is measured by an encoder, the incidence angle of each time can be comprehensively calculated through the value, the position information of a shooting event and the position information of the hit event, whether the target is effective or not is judged, if the target is a fixed target, beta=0, and if the target is a moving target, beta is measured by the encoder of the target rotating mechanism. The target is characterized by further comprising a hit region reg on the target, wherein the value of the hit region reg is determined by the carried target type and the type of the target type classified region, wherein the target type and the type of the target type classified region are based on the requirements in a military training outline, for example, a whole-body target is often divided into five regions (respectively: head, heart, chest, abdomen and others), a half-body target is divided into three regions (respectively: head, heart and chest), and a reg phase is added in a hit event, so that on one hand, the accurate judgment of the shooting result can be realized, and the shooting level of a shooter can be more accurately estimated; on the other hand, the simulation of the actual shooting result is more fit, for example, when shooting to the head and the heart, the target judges death; shooting to the chest, abdomen, and others, the target determines the injury. For example, the y-th hit event is noted as a column vector:
Figure BDA0003664990910000101
the shooting time in the shooting event and the hit time in the hit event are both satellite credit clocks. Because the projectile firing distance is far, the influence of wind speed is not negligible, the influence factor of environmental factors such as downwind, upwind and oblique crosswind (only the wind force condition which has influence on the calculation of the actual average speed of the projectile) on the speed is set as mu, and mu is adopted to correct the average speed v of the weapon in the windless state within the effective killing distance after being ejected out of the chamber, wherein mu E [ mu ] is closer to the actual condition min ,μ max ]. The effective killing distance of the weapon is R, the value range of R is related to the type of weapon used for shooting, for example, a shooting event is triggered by a certain type of tank shooting, the effective direct distance is about 1900-2000 m, the average speed of the projectile in the windless state is 1600-1800 m/s, and the specific accurate value needs to be measured according to a test.
In firing event P x Hit event Q y For example, the matching principle of the present invention is explained as follows:
1) If shooting event P x Hit event Q y Match, then shoot event P x Must occur at hit event Q y Before, namely:
Figure BDA0003664990910000102
2) The effective killing distance of the weapon is R, when the shooter is judged, armored vehicles positioned outside the radius R of the heavy weapon target are not counted, so that the heavy weapon target of the hit event is necessarily positioned in the effective killing distance R of the vehicle terminal of the shot event, namely:
Figure BDA0003664990910000111
because the calculation related to the distance is complicated and the calculation speed is influenced when the data quantity is large, the shooting time t of the effective killing distance R can be taken R Making a judgment, i.e. for a shooting event P in which both match x Hit event Q y For the time difference
Figure BDA0003664990910000112
Should be less than the shooting time t R The method comprises the following steps: />
Figure BDA0003664990910000113
wherein ：/>
Figure BDA0003664990910000114
3) For a hit event Q y There must be a shooting event P matching with it x And the two theoretically have the following unique relationship:
Figure BDA0003664990910000115
wherein ：
Figure BDA0003664990910000116
the time of occurrence of the hit event is satellite credit time;
Figure BDA0003664990910000117
the time of the shooting event is satellite credit time;
Figure BDA0003664990910000118
is a speed influencing factor when a shooting event occurs;
v is the average velocity of the shell after it has been discharged from the chamber within the effective killing distance;
S yx for the space distance between the position of the target terminal of the y hit event at the hit time and the position of the weapon terminal of the x hit event at the shooting time, the vehicle terminal and the target terminal both comprise a main antenna and an auxiliary antenna, the distance between the main antenna and the auxiliary antenna is negligible compared with the distance between the terminals, the invention calculates by the coordinates of the main antenna,
Figure BDA0003664990910000119
and due to a hit event Q y The spatial position of the target terminal is necessarily located at the shooting event P matched with the target terminal x Within the shooting range of the associated terminal, i.e.
Figure BDA0003664990910000121
and />
Figure BDA0003664990910000122
Included angle alpha of (2) xy At firing angle alpha 0 (direct aiming of heavy weapon, firing angle alpha) 0 Is [ -2 DEG, 2 DEG]Inner), i.e. alpha xy ≤α 0, wherein ：/>
Figure BDA0003664990910000123
Figure BDA0003664990910000124
Representing a shooting event P x Is a main antenna space coordinate point P1 of (1) x With auxiliary antenna space coordinate point P2 x Is composed of main direction pair, < ->
Figure BDA0003664990910000125
Representing a shooting event P x And hit event Q y Between which are locatedThe direction vector being constituted, i.e. firing event P x Main antenna space coordinate point and hit event Q y Main antenna space coordinate point Q1 y Is a vector of the constitution of (a).
In a training effort, the number of armored vehicles and armored targets put into is large, each hit event needs to be judged with each shooting event one by one, and a large amount of operation is caused, so that preliminary screening can be carried out through the steps (1) and (2) before matching, and then final judgment is finished through the step (3), so that the matching efficiency is improved.
In a further aspect, we set a threshold σ because it is difficult to satisfy theoretical equation determination due to certain errors in all measured parameters caused by various influencing factors during actual shooting 0 When the deviation falls within the threshold sigma 0 When the range is in the range, the two are considered to be matched, namely:
Figure BDA0003664990910000126
in still other embodiments, considering that the weapon firing distance is long, and the average velocity of the projectile is difficult to measure accurately, there may be cases where the matched result is inaccurate, and there may be one or more firing events meeting the matching requirement for the same hit event; moreover, as the armored weapon target adopts the shock wave target, a certain incident angle requirement exists for the projectile shot into the armored weapon target, when the incident angle requirement is met, the accuracy of the target is considered to meet the requirement, namely the hit and hit area result is valid, otherwise, the hit and hit area result is invalid, and the matching result of the scheme is further verified:
for a hit event Q y The spatial position of the target terminal is necessarily located at the shooting event P matched with the target terminal x In the shooting domain of the terminal, the hit result is judged, in theory, when the target surface is shot vertically, the target reporting accuracy is highest, the incidence angle is gamma, and the critical value of the incidence angle is gamma 0 ，γ 0 The value is generally [ -15 DEG, 15 DEG °]If: gamma is less than or equal to gamma 0 The target scoring precision meets the requirement, the shell hits and the hit area results are valid, otherwise the results are only hit, but the hit area results are invalid, and the concrete calculation and explanation are as follows:
set hit event Q m The normal unit vector of the target surface is
Figure BDA0003664990910000131
Because the included angle between the normal direction of the target surface and the reference direction of the target surface during hit is recorded as the target surface angle +.>
Figure BDA0003664990910000132
Then
Figure BDA0003664990910000133
/>
Due to
Figure BDA0003664990910000134
As a unit vector, the system of equations can be solved to obtain its value. Then for hit event Q m And shooting event P n The angle between the shooting direction and the normal direction of the target surface can be obtained by using the vector, and the incident angle gamma can be obtained mn The formula is as follows:
Figure BDA0003664990910000135
thus, when gamma mn ≤γ 0 Indicating shooting hit, wherein hit area is effective in target reporting, and the result matrix is indicated by '1'; whereas a shot hit is indicated, but hit area target is not valid. The result matrix is denoted by "2".
Examples:
the embodiment simulates the tactical training, records the matching condition of shooting events and hit events, and then matches a plurality of shooting events and a plurality of hit events obtained by simulation by adopting the method of the invention.
Tactical training simulation: two tanks equipped with vehicle terminals utilize their main cannons to randomly shoot the vehicle targets at 800 meters, 1300 meters and 1800 meters respectively, fire ten shells altogether, and the matching relation between shooting events and hit events is recorded manually in the process, and 10 shooting events and 8 hit events are collected totally through statistics, wherein the tank No. 1 uploads 6 shooting events, the tank No. 2 uploads 4 shooting events, the fixed vehicle target at 800 meters uploads 4 hit events, the fixed target at 1300 meters uploads 3 hit events, and the fixed target at 1800 meters uploads 1 hit event.
Then matching is carried out by adopting the method of the invention:
step1, setting initial parameters: effective kill distance r=1950m for heavy weapons used for this training; the average radius r=6371 kilometers; the average velocity of the heavy weapon used in this training after the gun is ejected out of the chamber is v=1700 m/s within the effective killing distance; deviation threshold sigma 0 ＝33；
Step2, accounting a plurality of shooting events and a plurality of hit events which occur in one tactical training in a plurality of periods, and judging a matching condition; constructing a corresponding matrix for a plurality of shooting events P and a plurality of hit events Q in any one accounting period:
Figure BDA0003664990910000141
/>
Figure BDA0003664990910000151
step3, constructing an initial matching matrix D, D= [ D ] 1 ,D 2 ,...D m ,…,D M ]，D m For arbitrary hit event Q m Matching matrix of D (D) m Initially P, D m ＝[D m (1),D m (2),...D m (n),…,D m (N)],D m (n)＝P n ；P n For any one of a plurality of firing events P,
Figure BDA0003664990910000152
m=1, 2,3, M is a natural number of 2 or more, n=1, 2,3, N is a natural number equal to or greater than 2,
step4, performing preliminary screening on the initial matching matrix D, traversing all vectors in the matching matrix of all hit events, and for any hit event Q m And any vector D in its matching matrix m (n) if
Figure BDA0003664990910000153
Or->
Figure BDA0003664990910000154
Let vector D m (n) taking G, wherein G= [0,0,0,0,0,0,0,0 ]] T The method comprises the steps of carrying out a first treatment on the surface of the Obtaining a matching matrix after primary screening;
step5, constructing a space distance matrix S, a matching factor matrix sigma and a shooting angle matrix alpha according to the matched matrix after the preliminary screening:
Figure BDA0003664990910000155
Figure BDA0003664990910000161
Figure BDA0003664990910000162
if G= [0,0,0,0,0,0,0,0 ]] T Then, S mn ＝0，σ mn ＝σ 0 +1，α mn ＝α 0 +1，α 0 For firing angle alpha 0 ＝2；
Otherwise the first set of parameters is selected,
Figure BDA0003664990910000163
Figure BDA0003664990910000164
α mn is->
Figure BDA0003664990910000165
and />
Figure BDA0003664990910000166
Angle of (1)>
Figure BDA0003664990910000167
For shooting event P n Is a main antenna space coordinate point P1 of (1) n With auxiliary antenna space coordinate point P2 n Is composed of main direction pair, < ->
Figure BDA0003664990910000168
For shooting event P n And hit event Q m A direction vector formed between them.
Step6, constructing a matching result matrix W= [ W ] of a plurality of shooting events P 1 ,W 2 ,...W n ,…,W N ]，
If sigma mn -σ 0 ≤0，α mn ≤α 0 And gamma is mn ≤γ 0 Firing event P n And hit event Q m Matching, and the target report is effective,
Figure BDA0003664990910000169
Figure BDA00036649909100001610
Figure BDA00036649909100001611
for hit event Q m Is used for the normal unit vector of the target surface,
Figure BDA00036649909100001612
Figure BDA00036649909100001613
for shooting event P n Is a main antenna space coordinate point P1 of (1) n With auxiliary antenna space coordinate point P2 n Is composed of (1) a vector composed ofMain pointing to the pair->
Figure BDA0003664990910000171
For hit event Q m The angle between the normal direction of the target surface of the target and the reference direction of the target at the moment of hit is +.>
Figure BDA0003664990910000172
For hit event Q m Is a main antenna space coordinate point Q1 of (1) m With auxiliary antenna space coordinate point Q2 m Is composed of a main direction pair; gamma ray 0 As the critical value of the incident angle, gamma 0 ＝15°；
If sigma mn -σ 0 ≤0，α mn ≤α 0 And gamma is mn >γ 0 Firing event P n And hit event Q m Matching, but target reporting is not effective,
Figure BDA0003664990910000173
if sigma mn -σ 0 >0 or alpha mn >α 0 Firing event P n And hit event Q m The matching is not performed and the matching is not performed,
Figure BDA0003664990910000174
wherein: o= [0,0,0,0,0,0,0,0 ]] T 。
And comparing the matched result with the manual recording condition, wherein the matching result of the shooting event and the hit event is completely consistent with the matching result of the manual recording. Wherein, because the incidence angles of 2 hit events in the judging process do not meet the requirement, the hit of 2 hit events is effective, and the target reporting result is invalid. The test structure meets the matching requirement.

Claims (9)

1. A matching method for direct aiming shooting training of a heavy weapon target aircraft, which is characterized in that a plurality of shooting events and a plurality of hit events which occur in one tactical training are matched;
any one of the shooting events is
Figure FDA0003664990900000011
wherein ,/>
Figure FDA0003664990900000012
Heavy weapon vehicle ID for the occurrence of this firing event, < > for the moment>
Figure FDA0003664990900000013
For the moment of occurrence of this shooting event, +.>
Figure FDA0003664990900000014
Longitude of primary antenna on heavy weapon when this firing event occurs, +.>
Figure FDA0003664990900000015
Latitude of main antenna on heavy weapon when this firing event occurs, +.>
Figure FDA0003664990900000016
The sub-antenna longitude on heavy weapon when this firing event occurs,/->
Figure FDA0003664990900000017
Latitude of secondary antenna on heavy weapon when this firing event occurs, +.>
Figure FDA0003664990900000018
Is the impact factor of the projectile velocity after shooting, +.>
Figure FDA0003664990900000019
Any one of the plurality of hit events is
Figure FDA00036649909000000110
wherein ,/>
Figure FDA00036649909000000111
Numbering for this hit target, +.>
Figure FDA00036649909000000112
For the hit time of the hit event, +.>
Figure FDA00036649909000000113
Main antenna longitude for target of this hit time, < >>
Figure FDA00036649909000000114
Main antenna latitude for target at this time of hit, < >>
Figure FDA00036649909000000115
Latitude of the secondary antenna targeted for this hit time, < >>
Figure FDA00036649909000000116
A secondary antenna latitude which is a target at the time of the hit;
any one event P x And any one hit event Q y The matching method of (1) comprises the following steps:
(1) If it is
Figure FDA00036649909000000117
Step (2) is performed; if->
Figure FDA00036649909000000118
Then any one event P x And any one hit event Q y Mismatch;
(2) If it is
Figure FDA00036649909000000119
Step (3) is executed, otherwise any event P x And any one hit event Q y Mismatch, wherein->
Figure FDA00036649909000000120
R is the effective killing distance of the martial arts used in the training, and v is the average speed of the martial arts used in the training within the effective killing distance after being ejected out of the chamber;
(3) If it is
Figure FDA00036649909000000121
And alpha is xy ≤α 0 Any one shooting event P x And any one hit event Q y Matching, otherwise, the two are not matched, wherein:
S yx for any one shooting event P x The location of the shooter when shooting and any hit event Q y The spatial distance of the position of the target when hit;
Figure FDA0003664990900000021
r is the average radius of the earth;
Figure FDA0003664990900000022
α xy is->
Figure FDA0003664990900000023
and />
Figure FDA0003664990900000024
Included angle alpha 0 For the firing angle of the shot is,
Figure FDA0003664990900000025
for shooting event P x Is a main antenna space coordinate point P1 of (1) x With auxiliary antenna space coordinate point P2 x Is composed of main direction pair, < ->
Figure FDA0003664990900000026
For shooting event P x Is a main antenna space coordinate point P1 of (1) x And hit event Q y Main antenna space coordinate point Q1 y A direction vector formed between them.
2. The method of matching direct aiming firing trains of a heavy weapon target according to claim 1, wherein any one of the firing events is
Figure FDA0003664990900000027
wherein ,/>
Figure FDA0003664990900000028
A sequence of heavy weapon shots for which the firing event occurs.
3. The method of matching direct aiming firing trains of heavy weapon target according to claim 1, wherein any one of the plurality of hits is
Figure FDA0003664990900000029
wherein ,
Figure FDA00036649909000000210
is the hit area of the target in this hit event.
4. The method of matching direct aiming firing trains of heavy weapon target according to claim 1, wherein any one of the plurality of hits is
Figure FDA00036649909000000211
wherein ,/>
Figure FDA00036649909000000212
For the included angle between the normal direction of the target surface and the target reference direction at the time of the hit, the target surface is in the range of +.>
Figure FDA00036649909000000213
Is the hit area of the target in this hit event.
5. The matching method for direct aiming shooting training of heavy weapon target according to claim 1, wherein in the step (3)
Figure FDA0003664990900000031
Replaced by->
Figure FDA0003664990900000032
σ 0 Is threshold value, sigma 0 ＝20-45ms。
6. The method of matching direct aiming shooting training of a heavy weapon target as claimed in claim 1, wherein the method comprises:
step1, setting initial parameters: effective kill distance R of heavy weapon used for this training; the average radius r of the earth; the average speed of the heavy weapon used in the training after being ejected out of the chamber is within the effective killing distance v The method comprises the steps of carrying out a first treatment on the surface of the Deviation threshold sigma 0 ；
Step2, accounting a plurality of shooting events and a plurality of hit events which occur in one tactical training in a plurality of periods, and judging a matching condition; constructing a corresponding matrix for a plurality of shooting events P and a plurality of hit events Q in any one accounting period:
Figure FDA0003664990900000033
Figure FDA0003664990900000041
step3, constructing an initial matching matrix D, D= [ D ] 1 ,D 2 ,...D m ,…,D M ]，D m For arbitrary hit event Q m Matching matrix of D (D) m Initially P, D m ＝[D m (1),D m (2),...D m (n),…,D m (N)],D m (n)＝P n ；P n For any one of a plurality of firing events P,
Figure FDA0003664990900000042
m is a natural number of 2 or more, n=1, 2,3, N is a natural number of 2 or more,
step4, performing preliminary screening on the initial matching matrix D, traversing all vectors in the matching matrix of all hit events, and for any hit event Q m And any vector D in its matching matrix m (n) if
Figure FDA0003664990900000043
Or->
Figure FDA0003664990900000044
Let vector D m (n) taking G, wherein G= [0,0,0,0,0,0,0,0 ]] T The method comprises the steps of carrying out a first treatment on the surface of the Obtaining a matching matrix after primary screening;
step5, constructing a space distance matrix S, a matching factor matrix sigma and a shooting angle matrix alpha according to the matched matrix after the preliminary screening:
Figure FDA0003664990900000045
Figure FDA0003664990900000051
Figure FDA0003664990900000052
if G= [0,0,0,0,0,0,0,0 ]] T Then, S mn ＝0，σ mn ＝σ 0 +1，α mn ＝α 0 +1，α 0 Is the firing angle; otherwise the first set of parameters is selected,
Figure FDA0003664990900000053
Figure FDA0003664990900000054
α mn is->
Figure FDA0003664990900000055
And
Figure FDA0003664990900000056
angle of (1)>
Figure FDA0003664990900000057
For shooting event P n Is a main antenna space coordinate point P1 of (1) n With auxiliary antenna space coordinate point P2 n Is composed of main direction pair, < ->
Figure FDA0003664990900000058
For shooting event P n Is a main antenna space coordinate point P1 of (1) n And hit event Q m Main antenna space coordinate point Q1 m A direction vector formed between the two;
step6, constructing a matching result matrix W= [ W ] of a plurality of shooting events P 1 ,W 2 ,...W n ,…,W N ]，
If sigma mn -σ 0 Less than or equal to 0 and alpha mn ≤α 0 Firing event P n And hit event Q m The matching is performed so that the matching is performed,
Figure FDA0003664990900000059
if sigma mn -σ 0 >0 or alpha mn >α 0 Firing event P n And hit event Q m The matching is not performed and the matching is not performed,
Figure FDA0003664990900000061
wherein: o= [0,0,0] T 。
7. The matching method for direct aiming shooting training of heavy weapon target according to claim 1, wherein,
Figure FDA0003664990900000062
Figure FDA0003664990900000063
8. the method of matching direct aiming firing training of a heavy weapon target as set forth in claim 7, step6 comprising: constructing a matching result matrix W= [ W ] of a plurality of shooting events P 1 ,W 2 ,...W n ,…,W N ]，
If sigma mn -σ 0 ≤0，α mn ≤α 0 And gamma is mn ≤γ 0 Firing event P n And hit event Q m Matching, and the target report is effective,
Figure FDA0003664990900000071
Figure FDA0003664990900000072
for hit event Q m Target surface normal unit vector of>
Figure FDA0003664990900000073
Figure FDA0003664990900000074
For shooting event P n Is a main antenna space coordinate point P1 of (1) n With auxiliary antenna space coordinate point P2 n Is composed of main direction pair, < ->
Figure FDA0003664990900000075
For hit event Q m The angle between the normal direction of the target surface of the target and the reference direction of the target at the moment of hit is +.>
Figure FDA0003664990900000076
For hit event Q m Is a main antenna space coordinate point Q1 of (1) m With auxiliary antenna space coordinate point Q2 m Is composed of a main direction pair; gamma ray 0 As the critical value of the incident angle, gamma 0 ＝15°；
If sigma mn -σ 0 ≤0，α mn ≤α 0 And gamma is mn >γ 0 Firing event P n And hit event Q m Matching, but target reporting is not effective,
Figure FDA0003664990900000077
if sigma mn -σ 0 >0 or alpha mn >α 0 Firing event P n And hit event Q m The matching is not performed and the matching is not performed,
Figure FDA0003664990900000078
wherein: o= [0,0,0,0,0,0,0,0 ]] T 。
9. A matching system for direct aiming shooting training of a heavy weapon target, comprising a matching module for implementing the method of any one of claims 1-8.
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