CN114963881B - Open type target reporting device for realizing omnidirectional incidence positioning - Google Patents
Open type target reporting device for realizing omnidirectional incidence positioning Download PDFInfo
- Publication number
- CN114963881B CN114963881B CN202210555751.4A CN202210555751A CN114963881B CN 114963881 B CN114963881 B CN 114963881B CN 202210555751 A CN202210555751 A CN 202210555751A CN 114963881 B CN114963881 B CN 114963881B
- Authority
- CN
- China
- Prior art keywords
- sensors
- virtual target
- bullet
- target surface
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
- F41J5/00—Target indicating systems; Target-hit or score detecting systems
- F41J5/06—Acoustic hit-indicating systems, i.e. detecting of shock waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
-
- 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
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- General Engineering & Computer Science (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
The invention discloses an open type target reporting device for realizing omnidirectional incidence positioning, which comprises a sensor array and a signal detection and processing module; the sensor array is a shock wave sensor array adopting a planar double-ring array, the number of the sensors is X, the value of X is a multiple of 4, and the mth sensor is recorded as Xm; the sensors form a concentric annular array, X/2 sensors are respectively and averagely arranged on the circular arcs of the inner ring and the outer ring, and the inner ring, the outer ring and the middle points of the sensors and the circular rings are collinear; the signal detection and processing module is used for calculating the impact point and the incident angle of the incident bullet on the virtual target surface after determining the virtual target surface, the bullet incident direction and the sensor pairing mode through the sensor array. The invention can simulate more real shooting training scenes and improve training quality and training level.
Description
Technical Field
The invention relates to an open type target reporting device for realizing omnidirectional incidence positioning.
Background
In direct aiming weapon shooting training, there is a need for moving targets shooting, and for moving targets, there is a need for a positioning target scoring system capable of achieving 360 ° incidence during maneuvering to achieve accurate assessment of shooting effect.
At present, an open acoustic target reporting method is mostly adopted for positioning supersonic speed pellets, and the method can only realize positioning in a fixed two-dimensional target surface. Because the motion target needs to simulate the actual combat environment to maneuver, the possible incident direction is within 360 degrees, and therefore, the method cannot meet the scene requirement;
the impact point positioning can be realized by a high-speed shooting method, but if the requirements are met, a plurality of cameras are required to be arranged in all directions to ensure no detection dead angle, and the shooting detection system is required to have extremely high acquisition rate and image processing speed due to extremely high speed of the shot, so that the cost is extremely high and the implementation is difficult;
disclosure of Invention
The invention aims to: aiming at the defects of the prior art, the invention provides an open target reporting device for realizing omnidirectional incidence positioning, which comprises a sensor array and a signal detection and processing module;
the sensor array is a shock wave sensor array adopting a planar double-ring array, the number of the sensors is X, the value of X is a multiple of 4, and the mth sensor is recorded as Xm;
the sensors form a concentric annular array, X/2 sensors are respectively and averagely arranged on the circular arcs of the inner ring and the outer ring, and the inner ring, the outer ring and the middle points of the sensors and the circular rings are collinear;
the signal detection and processing module is used for calculating the impact point and the incident angle of the incident bullet on the virtual target surface after determining the virtual target surface, the bullet incident direction and the sensor pairing mode through the sensor array.
The value of the sensor array quantity X is more than or equal to 16, and the sensors can uniformly divide the array plane into X/2 identical sector areas.
The signal detection and processing module specifically performs the following steps:
step 1, determining a virtual target surface;
step 2, judging the incident direction of the bullet;
step 3, sensor self-adaptive pairing;
and 4, positioning and resolving.
The step 1 comprises the following steps: the method comprises the steps of dividing 4 sensors positioned on a straight line in the sensors into a group, forming X/4 virtual target surfaces on a plane which passes through the straight line and is perpendicular to a horizontal plane, dividing an angle of 360 degrees into X/2 angle areas by the X/4 virtual target surfaces, and enabling each area to correspond to an azimuth angle of 720 degrees/X.
5. The device for realizing omnidirectional incidence positioning according to claim 4, wherein in step 1, when the value of X is 16, 4 sensors located in the same virtual target surface are paired as follows and obtain 4 sets of decision features corresponding to the 4 virtual target surfaces respectively, which are respectively expressed as:
T1＝T(7,15)+T(3,11)，
T2＝T(8,16)+T(4,12)，
T3＝T(1,9)+T(5,13)，
T4＝T(2,10)+T(6,14)，
wherein T1, T2, T3, T4 represent a first set of decision features corresponding to the 4 sensors of the first virtual target surface; t (m, n) represents the time difference between the channel m and the channel n, and the values of m and n are 1-X;
when a bullet is incident from a certain direction, under the condition that the bullet speed is larger than the sound velocity, the judging characteristic value of the virtual target surface with a larger included angle with the ballistic line is larger, and the virtual target surface corresponding to the largest characteristic value is selected as a positioning reference plane, so that the minimum judging incident angle can be ensured.
The step 2 comprises the following steps: for a determined virtual target surface, denoted as virtual target surface 2, the possible direction of incidence of the bullet comprises a region covering a range of angles of normal vector passing through the point of impact of the virtual target surface of + -22.5 °;
at this time, the incident azimuth angle of the bullet can be determined to be within a range of +/-22.5 degrees by taking the virtual target surface 2 as a reference;
further, looking at the two sensors M2, M6 facing the virtual target surface 2, when the bullet is shot from the forward direction, the M2 receives a shock signal before the M6, and at this time, it can be determined that the bullet incident direction is the direction corresponding to the sensor M2.
The step 3 comprises the following steps: after the virtual target surface and the incident direction of the bullet are determined, an available area in the current shooting state is obtained, the sensors in the available area are selected, and the time difference is obtained by taking the first triggered sensor as a reference according to the triggering sequence.
Step 4 comprises:
after obtaining the time difference between the sensors, establishing a time difference equation between the two sensors according to a preset pairing mode:
wherein c is the ambient sound velocity, v is the bullet end velocity, and α is the horizontal incident angle; (x) p ，y p ) Coordinates of the impact point on the virtual target surface; (x 1, y 1), (x 2, y 2) are the relative coordinates of a set of paired two sensors, T 21 The time difference between the arrival of the bullet shock wave at the two sensors;
substituting the time difference data and the coordinates of the paired sensors to obtain a nonlinear equation set composed of time difference equations which are not related with each other and shown in the formula (1), and solving the equation set to obtain an unknown vector x p ，y p ，c，v，α。
The device also comprises a power supply module and a wireless communication module;
the power module supplies power to the sensor array, the signal detection and processing module and the wireless communication module;
the wireless communication module is used for transmitting the result obtained by the signal detection and processing module to the upper computer.
The beneficial effects are that: the device can realize accurate positioning (average positioning accuracy is no more than 10 mm) of the supersonic projectile under 360 DEG incidence condition, can be used for indoor or outdoor environments, is matched with an indoor or outdoor mobile platform, forms an actual combat training system meeting specific combat scenes and tactical subjects together with a control system and a shooting range environment, can be used for shooting training of field operations of land armies, field environment simulation anti-shooting training, armed police city anti-terrorism training, mobile anti-armour training and the like, can simulate more real shooting training scenes, and improves training quality and training level.
Drawings
The foregoing and other advantages of the invention will become more apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings and detailed description.
FIG. 1 is a top view of a sensor array format.
Fig. 2 is a schematic diagram of an omni-directional open system circuit configuration (16 channels are taken as an example).
Fig. 3 is an omni-directional open-precision positioning flow chart.
Fig. 4 is a schematic diagram of an incident direction determination method.
Fig. 5 is a positioning solution flowchart.
Detailed Description
The invention will be further described with reference to the accompanying drawings and examples.
The invention provides an open type target reporting device for realizing omnidirectional incidence positioning, which comprises a sensor array, a signal detection and processing module (shown in figure 3), a power supply module and a wireless communication module.
The device adopts a shock wave sensor array with planar double-ring arrays;
the sensors on the same array ring are distributed at equal intervals, and the horizontal direction is divided into equal areas with corresponding numbers;
the device can predict the incidence direction of the bullet by detecting the time difference of the arrival of the split shock wave of the supersonic bullet shot in the 360-degree direction at each detection channel;
the device can adaptively determine the direction of the virtual target surface and the pairing mode of the sensors through the pre-determined incidence direction;
the device can calculate the impact point and the accurate incidence angle of the incident projectile on the virtual target surface after determining the incidence direction, the virtual target surface and the sensor pairing mode;
the method comprises the steps of detecting the time difference of the split shock wave of the supersonic projectile emitted in the 360-degree direction to each detection channel through a planar double-ring-array multichannel (the number of channels is greater than or equal to 16 channels) shock wave sensor array, calculating the impact point position of the projectile on a virtual target surface through the methods of pre-judging the incident direction of the projectile, selecting the virtual target surface, self-adapting the sensor, positioning and resolving, and transmitting the calculation result to an upper computer through a wireless communication module.
The invention comprises a sensor array structure and a shooting detection method.
FIG. 1 is a top view of an array of sensors of the present invention, for example, a 16-channel array, wherein 1 is a shock sensor, piezoelectric ultrasonic sensors are used, and 16 sensors are respectively denoted as M1-M16, wherein M1-M8 are arranged at equal intervals on a large circular arc, M9-M16 are arranged at equal intervals on a small circular arc and concentric with the large circular arc, and simultaneously, M1, M9, M13, M5, M2, M10, M14, M6, M3, M11, M15, M7, M4, M12, M16 and M8 are respectively arranged on a straight line; 2 are virtual target surfaces determined by the array, 4 are planes which are perpendicular to the ground through the sensors M1, M9, M13, M5, M2, M10, M14, M6, M3, M11, M15, M7 and M4, M12, M16 and M8 respectively.
The circuit system composition of the invention is shown in figure 2, the detection module adopts multi-channel time difference detection, is realized based on FPGA, shock waves are detected by a sensor, are connected into the FPGA after signal conditioning and threshold detection, and the time difference between the channels is measured and calculated by a hardware algorithm. The time difference data is input into the embedded MCU through the serial port for judgment and calculation, and finally the positioning result is output through the serial port input wireless module. The system is uniformly powered by a power module (lithium battery).
The steps for realizing the omni-directional open type target reporting positioning are shown in fig. 3:
the working principle of the system is described by taking 16-channel array as an example.
When shooting occurs, firstly, rapidly judging the corresponding virtual target surface according to the time difference characteristics of the array, and roughly predicting the attack direction of the bullet; after the virtual target surface and the attack direction of the bullet are determined, dividing the area where the sensor is located into an available area and an unavailable area, thereby determining the sensor to be applied to positioning calculation; after the sensors are determined, pairing the sensors (at least 6) in the available area according to fixed rules, and calculating a time difference vector; and finally, substituting the available sensor coordinates, the pairing mode and the time difference vector into a positioning resolving model for resolving to obtain high-precision positioning coordinates.
Determining a virtual target surface:
the method comprises the steps of dividing 4 sensors positioned on a straight line in the sensors into a group, forming 4 reference virtual target surfaces through planes which pass through the straight line and are perpendicular to a horizontal plane, dividing an angle space of 360 degrees into 8 angle areas by the 4 virtual target surfaces, and enabling each area to correspond to an azimuth angle of 45 degrees.
The 4 sensors located in the same reference plane are paired as follows and obtain 4 sets of decision features corresponding to the 4 virtual target surfaces respectively, which are respectively expressed as:
T1＝T(7,15)+T(3,11)；
T2＝T(8,16)+T(4,12)；
T3＝T(1,9)+T(5,13)；
T4＝T(2,10)+T(6,14).
wherein T (m, n) represents the time difference between the channel m and the channel n, and the values of m and n are 1-16; when a bullet is incident from a certain direction, under the condition that the bullet speed is larger than the sound velocity, the judging characteristic value of the virtual target surface with a larger included angle with the ballistic line is larger, and when the ballistic line is vertical to a certain virtual target surface, the judging characteristic value corresponding to the virtual target surface takes the maximum value.
The bullet incidence direction determination method is as shown in fig. 4:
after the virtual target surface is determined, the approximate incident direction of the bullet can be judged by taking the virtual target surface as a reference. For a certain reference target (assumed to be virtual target 2), the possible direction of incidence of the bullet is shown in the shaded area in fig. 4. This region covers the range of + -22.5 deg. normal vector angles through the virtual target surface impact point, but contains both forward and backward directions.
At this time, it can be determined whether the incident azimuth angle of the bullet is within ±22.5 degrees with reference to the virtual target surface 2, but it is not yet possible to determine whether the bullet is fired from the front or the back.
On the basis of the previous step, two sensors M2 and M6 facing the virtual target surface are inspected, when a bullet is shot from the forward direction, M2 receives a shock wave signal before M6, and at the moment, the area where M2 is located can be judged to be an available area, and the attack direction of the bullet is the direction corresponding to the sensor. The opposite is true.
Therefore, the method is popularized to the other 4 virtual target surfaces, and the approximate incident direction judgment of the bullets with 360-degree azimuth angles can be realized.
Sensor adaptive pairing:
after the virtual target surface and the approximate incident direction of the bullet are determined, an available area in the current shooting state can be obtained, and the sensor in the area can be used as a pairing for time difference detection so as to establish a time difference equation.
Firstly, selecting sensors in 6 available areas (6 sensors triggered first in the available areas and 6 sensors in front of a virtual target surface can be used), and respectively representing the sensors as Ms 1-Ms 6 according to the sequence of triggering; then, 5 sets of time differences are obtained based on the first triggered sensor Ms1 (as shown in the following table):
TABLE 1
The positioning calculation flow is as shown in fig. 5:
after the pairing mode and the time difference are obtained, the following model can be substituted, and a time difference equation between the two sensors can be established.
Wherein c is the ambient sound velocity, v is the bullet end velocity, P: (xp, yp) is the coordinates of the impact point on the virtual target surface, (x 1, y 1), (x 2, y 2) are the relative coordinates of a set of paired sensors, respectively. After substituting 5 sets of time difference data and coordinates of the paired sensors, 5 nonlinear equation sets composed of time difference equations which are not related with each other are obtained, and the equation sets are solved to obtain unknown vectors (xp, yp, c, v, alpha).
The positioning calculation adopts a basic intelligent optimization calculation method, and the algorithm has the main advantages of high convergence speed, difficult influence of local optimal points and good performance in solving the impact point positioning model through verification.
Under the same array structure, the number of channels can be increased or decreased according to actual conditions (in order to realize accurate positioning, the number of the suggested channels is not less than 16), the increase of the number of the channels can improve the angle resolution accuracy of the attack direction of the bullet, and redundant detection channels can also improve the stability of a positioning algorithm.
The invention provides an open target reporting device for realizing omnidirectional incidence positioning, and the method and the way for realizing the technical scheme are numerous, the above is only a preferred embodiment of the invention, and it should be pointed out that a plurality of improvements and modifications can be made to those skilled in the art without departing from the principle of the invention, and the improvements and modifications are also considered as the protection scope of the invention. The components not explicitly described in this embodiment can be implemented by using the prior art.
Claims (8)
1. The open type target reporting device for realizing omnidirectional incidence positioning is characterized by comprising a sensor array and a signal detection and processing module;
the sensor array is a shock wave sensor array adopting a planar double-ring array, the number of the sensors is X, the value of X is a multiple of 4, and the mth sensor is recorded as Xm;
the sensors form a concentric annular array, X/2 sensors are respectively and averagely arranged on the circular arcs of the inner ring and the outer ring, and the sensors on the inner ring and the outer ring are collinear with the center of the circular ring;
the signal detection and processing module is used for calculating the impact point and the incidence angle of an incident bullet on the virtual target surface after determining the virtual target surface, the bullet incidence direction and the sensor pairing mode through the sensor array;
the value of the sensor array quantity X is more than or equal to 16, and the sensors can uniformly divide the array plane into X/2 identical sector areas.
2. The open target device for realizing omnidirectional incident localization of claim 1, wherein the signal detection and processing module specifically performs the following steps:
step 1, determining a virtual target surface;
step 2, judging the incident direction of the bullet;
step 3, sensor self-adaptive pairing;
and 4, positioning and resolving.
3. An open target device for realizing omnidirectional incident localization as recited in claim 2, wherein step 1 comprises: the method comprises the steps of dividing 4 sensors positioned on a straight line in the sensors into a group, forming X/4 virtual target surfaces on a plane which passes through the straight line and is perpendicular to a horizontal plane, dividing an angle of 360 degrees into X/2 angle areas by the X/4 virtual target surfaces, and enabling each area to correspond to an azimuth angle of 720 degrees/X.
4. An open target reporting device for realizing omnidirectional incidence positioning according to claim 3, wherein in step 1, when the value of X is 16, 4 sensors located in the same virtual target surface are paired as follows and obtain 4 sets of decision features corresponding to the 4 virtual target surfaces respectively, which are respectively expressed as:
T1＝T(7,15)+T(3,11)，
T2＝T(8,16)+T(4,12)，
T3＝T(1,9)+T(5,13)，
T4＝T(2,10)+T(6,14)，
wherein T1, T2, T3, T4 represent a first set of decision features corresponding to the 4 sensors of the first virtual target surface; t (m, n) represents the time difference between the channel m and the channel n, and the values of m and n are 1-X.
5. An open target device for realizing omnidirectional incident localization of claim 4, wherein step 2 comprises: for a determined virtual target surface, denoted as virtual target surface 2, the possible incident direction of the bullet comprises a region covering the range of the normal vector included angle passing through the impact point of the virtual target surface 2 to be +/-22.5 degrees;
at this time, the incident azimuth angle of the bullet can be determined to be within a range of +/-22.5 degrees by taking the virtual target surface 2 as a reference;
further, when the bullet is shot from the forward direction, the sensor M2 receives the shock signal before the sensor M6, and at this time, it can be determined that the bullet incidence direction is the direction corresponding to the sensor M2.
6. An open target device for achieving omnidirectional input localization of claim 5, wherein step 3 comprises: after the virtual target surface and the incident direction of the bullet are determined, an available area in the current shooting state is obtained, the sensors in the available area are selected, and the time difference is obtained by taking the first triggered sensor as a reference according to the triggering sequence.
7. An open target device for achieving omnidirectional input localization of claim 6, wherein step 4 comprises:
after obtaining the time difference between the sensors, establishing a time difference equation between the two sensors according to a preset pairing mode:
wherein c is the ambient sound velocity, v is the bullet end velocity, and α is the horizontal incident angle; (x) p ，y p ) Coordinates of the impact point on the virtual target surface; (x 1, y 1), (x 2, y 2) are the relative coordinates of a set of paired two sensors, dT, respectively 21 The time difference between the arrival of the bullet shock wave at the two sensors;
substituting the time difference data and the coordinates of the paired sensors to obtain a nonlinear equation set composed of time difference equations which are not related with each other and shown in the formula (1), and solving the equation set to obtain an unknown vector x p ，y p ，c，v，α。
8. The open target reporting device for realizing omnidirectional incident localization of claim 7, further comprising a power module and a wireless communication module;
the power module supplies power to the sensor array, the signal detection and processing module and the wireless communication module;
the wireless communication module is used for transmitting the result obtained by the signal detection and processing module to the upper computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210555751.4A CN114963881B (en) | 2022-05-19 | 2022-05-19 | Open type target reporting device for realizing omnidirectional incidence positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210555751.4A CN114963881B (en) | 2022-05-19 | 2022-05-19 | Open type target reporting device for realizing omnidirectional incidence positioning |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114963881A CN114963881A (en) | 2022-08-30 |
| CN114963881B true CN114963881B (en) | 2023-07-25 |
Family
ID=82985480
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210555751.4A Active CN114963881B (en) | 2022-05-19 | 2022-05-19 | Open type target reporting device for realizing omnidirectional incidence positioning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114963881B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104990460A (en) * | 2015-05-22 | 2015-10-21 | 秦子刚 | Curve distribution type shock wave bullet positioning apparatus and impact point positioning method thereof |
| CN106091836A (en) * | 2016-08-05 | 2016-11-09 | 邱金木 | Automatic scoring round target device |
| CN209820282U (en) * | 2019-04-27 | 2019-12-20 | 南京创赛电气有限公司 | Sensor array impact point positioning device |
| CN111998735A (en) * | 2020-08-25 | 2020-11-27 | 中国科学院半导体研究所 | Ultrasonic target-reporting method and device with sensors capable of being randomly arrayed |
| CN112378295A (en) * | 2020-12-07 | 2021-02-19 | 济南大学 | double-T-shaped array shock wave projectile landing point positioning method |
| WO2021249065A1 (en) * | 2020-06-10 | 2021-12-16 | 南京润景丰创信息技术有限公司 | Closed u-shaped array ultrasonic automatic target-scoring system |
-
2022
- 2022-05-19 CN CN202210555751.4A patent/CN114963881B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104990460A (en) * | 2015-05-22 | 2015-10-21 | 秦子刚 | Curve distribution type shock wave bullet positioning apparatus and impact point positioning method thereof |
| CN106091836A (en) * | 2016-08-05 | 2016-11-09 | 邱金木 | Automatic scoring round target device |
| CN209820282U (en) * | 2019-04-27 | 2019-12-20 | 南京创赛电气有限公司 | Sensor array impact point positioning device |
| WO2021249065A1 (en) * | 2020-06-10 | 2021-12-16 | 南京润景丰创信息技术有限公司 | Closed u-shaped array ultrasonic automatic target-scoring system |
| CN111998735A (en) * | 2020-08-25 | 2020-11-27 | 中国科学院半导体研究所 | Ultrasonic target-reporting method and device with sensors capable of being randomly arrayed |
| CN112378295A (en) * | 2020-12-07 | 2021-02-19 | 济南大学 | double-T-shaped array shock wave projectile landing point positioning method |
Non-Patent Citations (1)
| Title |
|---|
| 基于开放式靶标的数学建模及传感器阵列分析;杜立;;电子设计工程;第26卷(第09期);第109-113页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114963881A (en) | 2022-08-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7796470B1 (en) | Acoustic detection of weapons near transportation centers | |
| CA2635763C (en) | Self-calibrating shooter estimation | |
| US20100226210A1 (en) | Vigilante acoustic detection, location and response system | |
| JPH07505219A (en) | Supersonic projectile trajectory determination method and device | |
| JP3857651B2 (en) | Curvature correction method and system in projectile ballistic determination | |
| EP0855040A1 (en) | Automatic determination of sniper position from a stationary or mobile platform | |
| US20200029157A1 (en) | Method for acoustic detection of shooter location | |
| CN106019266A (en) | Gunfire distance determining and projectile velocity measuring method | |
| CN107990789B (en) | Method for determining position of projectile based on vibration signal | |
| CN114963881B (en) | Open type target reporting device for realizing omnidirectional incidence positioning | |
| KR101943631B1 (en) | Impact point estimation system for rifle based on TDoA | |
| Still et al. | Shooter localization with a microphone array based on a linearly modeled bullet speed | |
| KR101614602B1 (en) | Method for location detection using time difference of arrival of acousic signal and apparatus therefor | |
| Still et al. | Field experiments on shooter state estimation accuracy based on incomplete acoustic measurements | |
| Astapov et al. | Gunshot acoustic component localization with distributed circular microphone arrays | |
| Still et al. | Optimal sensor placement for shooter localization within a surveillance area | |
| US20240219149A1 (en) | Device, method and vehicle | |
| Doğan | Sensor layout optimization using genetic algorithm for sniper localization systems | |
| CN221198180U (en) | Be applied to omnidirectional open type and examine target device | |
| Zhang et al. | Research on group target acoustic-image localization and data fusion method | |
| Lo | Supersonic bullet trajectory estimation using ballistic shock wave arrivals at an acoustic sensor array | |
| Nimmy et al. | Analysis of acoustic signatures of small firearms for Gun Shot localization | |
| Showen et al. | Three layers of battlefield gunfire protection: soldier, vehicle, and area protection sensors | |
| Snarski et al. | Autonomous UAV-based mapping of large-scale urban firefights | |
| Deligeorges et al. | The development of a biomimetic acoustic direction finding system for use on multiple platforms |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |