CN117387443A - Missile separation attitude testing device and method based on inertial measurement module - Google Patents
Missile separation attitude testing device and method based on inertial measurement module Download PDFInfo
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- CN117387443A CN117387443A CN202311706880.XA CN202311706880A CN117387443A CN 117387443 A CN117387443 A CN 117387443A CN 202311706880 A CN202311706880 A CN 202311706880A CN 117387443 A CN117387443 A CN 117387443A
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- 238000005259 measurement Methods 0.000 title claims abstract description 109
- 238000012360 testing method Methods 0.000 title claims abstract description 43
- 238000000926 separation method Methods 0.000 title claims abstract description 33
- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000004880 explosion Methods 0.000 claims abstract description 31
- 230000001360 synchronised effect Effects 0.000 claims abstract description 9
- 230000007613 environmental effect Effects 0.000 claims abstract description 8
- 238000004364 calculation method Methods 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 3
- 239000012634 fragment Substances 0.000 abstract description 8
- 230000000694 effects Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 2
- 238000000691 measurement method Methods 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B35/00—Testing or checking of ammunition
- F42B35/02—Gauging, sorting, trimming or shortening cartridges or missiles
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Abstract
The invention relates to the technical field of measurement, and provides a missile separation attitude testing device and method based on an inertia measurement module, wherein the missile separation attitude testing device based on the inertia measurement module comprises a power module, the power module supplies power to a data acquisition module and a digital signal output module, the data acquisition module and the digital signal output module are connected with at least six inertia measurement modules, the data acquisition module is connected with the data acquisition module and is used for receiving data of the inertia measurement module, and the digital signal output module is connected with the data acquisition module and is used for sending synchronous signals; the inertia measurement module is arranged around a test area, and an explosion source is arranged in the middle of the test area; the impact resistance of the inertial measurement module is not less than 30g. According to the invention, the attitude data in the missile explosion process is measured through the plurality of inertial measurement modules, so that effective measurement of information such as separation attitudes, movement speeds, angular speeds and the like of fragments after explosion in different directions can be realized almost without environmental influence, and the measurement is particularly convenient in a complex environment.
Description
Technical Field
The invention relates to a missile separation attitude testing device and method based on an inertial measurement module, and belongs to the technical field of measurement.
Background
And testing the killing range and effect of certain weapon equipment after explosion, and measuring the separation gesture, movement speed, angular speed and other information of fragments in different directions after explosion. The missile separation process has the characteristics of short time, strong impact force and the like, and has higher requirements on the data acquisition precision, acquisition frequency and impact resistance of the sensor.
Specifically, for the current information such as separation postures, movement speeds, angular speeds and the like of fragments in different directions after explosion is measured, the main mode is to install high-speed cameras at a plurality of positions in a space range, the high-speed cameras are aligned to the positions of a test area, continuous and multi-angle images of the test area are obtained, then a three-dimensional model of a virtual environment is built based on the positions of the high-speed cameras and image time sequences, and accordingly the needed information such as separation postures, movement speeds, angular speeds and the like of fragments in different directions after explosion can be calculated based on scale correspondence.
This approach generally has no problem in indoor tests, but when such measurements are put on higher demands to fit the real environment, this makes the test measurements have to be performed outdoors, or the outdoor environment is simulated, several typical situations requiring simulation are heavy rain (with continuous downward force), heavy snow (with easy adhesion to influence fragments), and heavy fog (with complex aerodynamic environment), and in these situations there is a situation where the view is blocked commonly with a high-speed camera, resulting in an inability to measure normally.
Disclosure of Invention
In order to solve the technical problems, the invention provides a missile separation attitude testing device and method based on an inertia measurement module, and the missile separation attitude testing method based on the inertia measurement module can realize effective measurement of information such as separation attitudes, movement speeds, angular speeds and the like of fragments in different directions after explosion almost without environmental influence.
The invention is realized by the following technical scheme.
The invention provides a missile separation attitude testing device based on an inertia measurement module, which comprises a power supply module, wherein the power supply module supplies power to a data acquisition module and a digital signal output module; the inertia measurement module is arranged around a test area, and an explosion source is arranged in the middle of the test area; the data acquisition module is also connected with an upper computer, and a data resolving module is arranged in the upper computer; the impact resistance of the inertial measurement module is not less than 30g.
The number of the inertial measurement modules is eight.
The digital signal output module sends a 5V level synchronous signal to the inertial measurement module.
The power module is also used for supplying power to the environment acquisition module, and the environment acquisition module is connected to the upper computer to provide environment data.
The data resolving module is used for resolving the data of the inertial measurement module into real-time speed and angular speed.
And the upper computer is also provided with a three-dimensional drawing module which is used for drawing a dynamic three-dimensional curve according to the real-time speed and the angular speed.
The inertial measurement module is connected with the data acquisition module through an RS422 interface.
The invention also provides a missile separation attitude testing method based on the inertia measurement module, which adopts the missile separation attitude testing device based on the inertia measurement module and comprises the following steps:
(1) transmitting synchronization level: the digital signal output module sends a level synchronous signal to the inertia measurement module;
(2) simulating explosion impact: the method comprises the steps of simulating explosion by utilizing a high-pressure gas instantaneous expansion mode to generate impact, and acting on at least one inertia measurement module;
(3) receiving inertial data: the data acquisition module receives the data of the inertial measurement module in a passive receiving mode;
(4) and (3) data calculation: the data resolving module is used for resolving the received data of the inertial measurement module to obtain the real-time speed and the angular speed of the corresponding position of the inertial measurement module.
In the step (3), the data transmission interval of the inertial measurement module is less than 2ms.
The invention has the beneficial effects that: the attitude data in the missile explosion process is measured through the plurality of inertial measurement modules, the effective measurement of the information such as the separation attitude, the movement speed, the angular speed and the like of fragments after explosion in different directions can be realized almost without environmental influence, the measurement is particularly convenient in a complex environment, the practical effect is good, and the fitting degree of a sampling result and the actual condition is obviously higher than that of a mode of analog calculation.
Drawings
FIG. 1 is a schematic illustration of a connection of at least one embodiment of the present invention.
Detailed Description
The technical solution of the present invention is further described below, but the scope of the claimed invention is not limited to the above.
The first embodiment of the invention relates to a missile separation attitude testing device based on an inertia measurement module, which is shown in fig. 1 and comprises a power supply module, wherein the power supply module supplies power to a data acquisition module and a digital signal output module, the data acquisition module and the digital signal output module are connected with at least six inertia measurement modules, the data acquisition module is connected with the data acquisition module and is used for receiving data of the inertia measurement module, and the digital signal output module is connected with a synchronous signal; the inertia measurement module is arranged around a test area, and an explosion source is arranged in the middle of the test area; the data acquisition module is also connected with an upper computer, and a data resolving module is arranged in the upper computer; the impact resistance of the inertial measurement module is not less than 30g to ensure that the inertial measurement module can properly and effectively complete the measurement without being damaged during the measurement process.
Therefore, attitude data in the missile explosion process are measured through a plurality of inertia measurement modules, compared with a mode of installing a high-speed camera to carry out multi-angle shooting, the adoption of the scheme does not cause the situation that accurate data cannot be obtained due to shielding of a visual field no matter what circumstances are, but in order to reduce cost caused by damage, elastic materials can be wrapped outside the inertia measurement modules to properly reduce buffering, so that the scheme is installed around a test area through the inertia measurement modules, an explosion source is installed in the middle of the test area, effective measurement of information such as separation attitude, movement speed, angular speed and the like of fragments in different directions after explosion can be realized, the practical effect is good, and the fitting degree of a sampling result and actual conditions is remarkably higher than that of a simulation calculation mode.
Generally, the inertial measurement module is installed around a test area, and an explosion source is installed in the middle of the test area, and the explosion source can be surrounded in a three-dimensional distribution mode or a planar distribution mode. A typical way of three-dimensional distribution is to make a square box body, fix an inertial measurement module at the center of each of six faces of the square, install a simulated explosion source at the center of the square box body, and then hoist the square box body; one typical way of planar distribution is to form a planar hexagon around six plates standing around the center of the test area, fix the inertial measurement module on the plates, and install a simulated explosion source within the surrounding range of the plates. It is easy to understand that in practical application, the square box body can be replaced by a regular dodecahedron, a special-shaped thirty hexahedron and the like, and a plurality of flat plates can form a plane octagon and a plane sixteen deformation; similarly, a plurality of inertial measurement modules may be mounted on each plate or plane, for example, a triangular plate may be mounted adjacent to each corner with the three triangular plates forming three faces of the triangular box, and the face of the triangle not having the plate being used to connect the source of the explosion. After the inertial measurement modules are distributed and installed in the mode, the simulated explosion source is started to enable a flat plate or a plane for installing the inertial measurement modules to be exploded from inside to outside, so that attitude data can be read from each inertial measurement module, and measurement can be completed after summarizing.
The core of the inertial measurement module is an IMU, a communication module (such as the IMU is connected with an MCU, the MCU is connected with a WiFi communication module) and the like can be added according to the need, and then the inertial measurement module is packaged into a miniature box body, so that the realization of any single inertial measurement module and the acquisition of information of separation gesture, movement speed and angular speed can be realized by referring to a gesture measurement method applicable to a vertical downward-looking aviation nacelle as disclosed in China patent with the application number of CN202211478462.5, and also referring to an automobile dynamics parameter measurement method based on double-full-ball positioning and inertial measurement as disclosed in China patent with the application number of CN 201210105045.6.
Specifically, the number of inertial measurement modules is eight. Thus, the eight directions that can be mounted exactly on the missile cross section are the minimum number for reasonable results.
Preferably, the digital signal output module transmits a 5V level synchronization signal to the inertial measurement module. The digital signal output module sends the synchronous signal, the level is stable and uniform, the measurement error caused by the electric parameter of the inertial measurement module can be avoided as far as possible, the stability and the universality of the 5V level are relatively optimal, the cost is easy to reduce, and the measurement effect is not influenced.
Further, the data resolving module is used for resolving the data of the inertial measurement module into real-time speed and angular speed. Other information such as separation gesture and the like can be easily calculated according to the real-time speed and the angular speed, so that one-hand calculation is finished at the highest speed, and the situation of delay caused by data accumulation is effectively avoided. The technical scheme disclosed by the prior art is easy to know how to solve a single inertial measurement module, and is generally realized in a matrix conversion mode, and specific details can refer to gesture solving: in the present embodiment, the calculation of the plurality of inertial measurement modules is performed only by solving each inertial measurement module in the same manner and then summarizing the data, but the implementation is not different, but the calculation of the plurality of inertial measurement modules in the same manner is involved, so that the calculation amount is large, and an independent data calculation module is arranged to avoid calculation delay caused by completion of the calculation work by an upper computer.
The second embodiment of the present invention is substantially the same as the first embodiment, and the main difference is that the power module further supplies power to the environment collection module, and the environment collection module is connected to the upper computer to provide environment data. Therefore, the environmental data can be used for providing reference contrast data, and the overall data measurement accuracy is greatly improved. In general, environmental data relates primarily to data that may affect the dynamics of the inertial measurement module, including primarily wind speed, rainfall intensity, snowfall intensity, air humidity.
Furthermore, the upper computer is also provided with a three-dimensional drawing module for drawing a dynamic three-dimensional curve according to the real-time speed and the angular speed. Therefore, the interpretation capability of the measurement results can be greatly improved, and the on-site real-time observation and adjustment are facilitated.
Specifically, the inertial measurement module is connected with the data acquisition module through an RS422 interface. The RS422 interface has better synchronism, and is particularly suitable for keeping the data time stamp synchronous under the condition that a plurality of inertia measurement modules simultaneously transmit data.
The third embodiment of the invention relates to a missile separation attitude testing method based on an inertia measurement module, in particular to a missile separation attitude testing device based on the inertia measurement module, which comprises the following steps:
(1) transmitting synchronization level: the digital signal output module sends a level synchronous signal to the inertia measurement module;
(2) simulating explosion impact: the method comprises the steps of simulating explosion by utilizing a high-pressure gas instantaneous expansion mode to generate impact, and acting on at least one inertia measurement module;
(3) receiving inertial data: the data acquisition module receives the data of the inertial measurement module in a passive receiving mode;
(4) and (3) data calculation: the data resolving module is used for resolving the received data of the inertial measurement module to obtain the real-time speed and the angular speed of the corresponding position of the inertial measurement module.
Further, in step (3), the data transmission interval of the inertial measurement module is less than 2ms. Thereby ensuring that the speed resolution is not less than 0.1m/s.
Compared with the traditional measuring mode which adopts the actual explosion mode of explosive, the method adopts high-pressure gas to simulate the explosion, has lower cost and can achieve the same effect. In a typical mode, eight inertial measurement modules are arranged in a plane surrounding manner in a test area, a high-pressure gas spray head is vertically arranged downwards in the center of the test area, and the high-pressure gas is sprayed vertically downwards to simulate explosion in a mode of enabling the high-pressure gas to instantaneously expand.
Claims (9)
1. The missile separation attitude testing device based on the inertia measurement module comprises a power module and is characterized in that the power module supplies power to a data acquisition module and a digital signal output module, the data acquisition module and the digital signal output module are connected with at least six inertia measurement modules, the data acquisition module is connected to receive data of the inertia measurement modules, and the digital signal output module is connected to send synchronous signals; the inertia measurement module is arranged around a test area, and an explosion source is arranged in the middle of the test area; the data acquisition module is also connected with an upper computer, and a data resolving module is arranged in the upper computer; the impact resistance of the inertial measurement module is not less than 30g.
2. The inertial measurement module-based missile separation attitude testing device of claim 1, wherein the number of inertial measurement modules is eight.
3. The inertial measurement module-based missile separation attitude testing device of claim 1, wherein the digital signal output module sends a 5V level synchronization signal to the inertial measurement module.
4. The inertial measurement module-based missile separation attitude testing device of claim 1, wherein the power module further provides power to an environmental acquisition module, the environmental acquisition module being connected to an upper computer to provide environmental data.
5. The inertial measurement module-based missile separation attitude testing device of claim 1, wherein the data resolution module is configured to resolve data of the inertial measurement module into real-time velocity and angular velocity.
6. The missile separation attitude testing device based on the inertia measurement module according to claim 1, wherein the upper computer is further provided with a three-dimensional drawing module for drawing a dynamic three-dimensional curve according to the real-time speed and the angular speed.
7. The missile separation attitude testing device based on an inertial measurement module according to claim 1, wherein the inertial measurement module is connected with the data acquisition module through an RS422 interface.
8. The missile separation attitude testing method based on the inertial measurement module is characterized by adopting the missile separation attitude testing device based on the inertial measurement module as claimed in any one of claims 1-7, and comprises the following steps:
(1) transmitting synchronization level: the digital signal output module sends a level synchronous signal to the inertia measurement module;
(2) simulating explosion impact: the method comprises the steps of simulating explosion by utilizing a high-pressure gas instantaneous expansion mode to generate impact, and acting on at least one inertia measurement module;
(3) receiving inertial data: the data acquisition module receives the data of the inertial measurement module in a passive receiving mode;
(4) and (3) data calculation: the data resolving module is used for resolving the received data of the inertial measurement module to obtain the real-time speed and the angular speed of the corresponding position of the inertial measurement module.
9. The missile separation attitude testing method based on the inertial measurement module according to claim 8, wherein in the step (3), the data transmission interval of the inertial measurement module is less than 2ms.
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