CN202329420U - Counter-sniper location device - Google Patents

Abstract

The utility model discloses a counter-sniper location device, which comprises a rod-shaped support and an industrial personal computer. A first acoustic sensor for detecting ballistic waves is arranged at one end of the rod-shaped support, a first connecting rod, a second connecting rod and a third connecting rod are arranged on the rod-shaped support and below the first acoustic sensor, one ends of the first connecting rod, the second connecting rod and the third connecting rod are all connected with the rod-shaped support, and a second acoustic sensor for detecting the ballistic waves is respectively arranged at the other ends of the first connecting rod, the second connecting rod and the third connecting rod, the other end of the rod-shaped support is connected with a data acquisition unit which receives ballistic wave signals collected by the first acoustic sensor and the second acoustic sensor and transmits the ballistic wave signals to the industrial personal computer, and the first acoustic sensor and the second acoustic sensor are respectively connected with the data acquisition unit which is connected with the industrial personal computer. The counter-sniper location device is less in influence of external environment, and working of equipment is stable.

Description

Anti-sniper is used positioner

Technical field

The utility model relates to a kind of positioner, particularly relates to a kind of anti-sniper and uses positioner.

Background technology

Existing anti-sniper technology adopts the infrared electro technology; When adopting this technology to carry out anti-sniper, have the deficiency of a lot of aspects, be mainly reflected in the following aspects: receive bias light to influence big, location and be interfered easily; The particularly interference of multiple spot blast light time on the battlefield; The battlefield practicality is not fine, and the equipment job insecurity uses very inconvenient; Such as above-mentioned multiple deficiency, the anti-sniper technology based on the infrared electro technology that makes is not suitable for the war fighting requirement of modern battlefield gradually.Accordingly, the anti-sniper technology of good, the equipment working stability of battlefield practicality, little interference by environment is that various equivalent modifications is devoted to research topic.

The utility model content

The purpose of the utility model is to overcome above-mentioned deficiency of the prior art, provides a kind of anti-sniper to use positioner.This anti-sniper is affected by the external environment little with positioner, the equipment working stability, and it is simple in structure, and easy to use.

For realizing above-mentioned purpose; The technical scheme that the utility model adopts is: anti-sniper is used positioner; It is characterized in that: comprise rod-shaped scaffold and industrial computer; One end of said rod-shaped scaffold is provided with the acoustic sensor one that is used to survey bow wave; On the said rod-shaped scaffold and the below that is positioned at acoustic sensor one is provided with connecting rod one, connecting rod two and connecting rod three; One end of said connecting rod one, connecting rod two and connecting rod three all is connected with rod-shaped scaffold, and the other end of said connecting rod one, connecting rod two and connecting rod three is provided with the acoustic sensor two that is used to survey bow wave, and the other end of said rod-shaped scaffold is connected with and receives bow wave signal that acoustic sensor one and acoustic sensor two collect and the data acquisition unit that is transferred to industrial computer; Said acoustic sensor one joins with data acquisition unit respectively with acoustic sensor two, and said data acquisition unit and industrial computer join.

Above-mentioned anti-sniper is used positioner; It is characterized in that: said connecting rod one, connecting rod two and connecting rod three are mutually 120 ° of angles; Distance between the plane of distance between the plane that said rod-shaped scaffold forms perpendicular to three acoustic sensors two, said acoustic sensor two and rod-shaped scaffold and acoustic sensor one and two formation of three acoustic sensors all equates.

Above-mentioned anti-sniper is used positioner; It is characterized in that: on the said rod-shaped scaffold and the below that is positioned at connecting rod one, connecting rod two and connecting rod three is provided with acoustic sensor three; On the said rod-shaped scaffold and the below that is positioned at acoustic sensor three is provided with connecting rod four, connecting rod five and connecting rod six; One end of said connecting rod four, connecting rod five and connecting rod six all is connected with rod-shaped scaffold; The other end of said connecting rod four, connecting rod five and connecting rod six is provided with acoustic sensor four, and said acoustic sensor three joins with data acquisition unit respectively with acoustic sensor four.

Above-mentioned anti-sniper is used positioner; It is characterized in that: said connecting rod four, connecting rod five and connecting rod six are mutually 120 ° of angles; Distance between the plane of distance between the plane that said rod-shaped scaffold forms perpendicular to three acoustic sensors three, said acoustic sensor four and rod-shaped scaffold and acoustic sensor three and four formation of three acoustic sensors all equates.

Above-mentioned anti-sniper is used positioner, it is characterized in that: said connecting rod one, connecting rod two, connecting rod three, connecting rod four, connecting rod five and connecting rod six are all L-shaped.

Above-mentioned anti-sniper is used positioner, it is characterized in that: said data acquisition unit and industrial computer wireless connections.

The utility model compared with prior art has the following advantages:

1, the utility model is simple in structure, novel and reasonable design.

2, the utility model forms a sensor array through acoustic sensor one and acoustic sensor two totally 4 sensors are set, can omnibearing collection bullet wave and muzzle blast.

3, the utility model simple in structure, volume is little, in light weight, it is less to be affected by the external environment.

4, the realization cost of the utility model is low, and result of use is good.

In sum, the utility model is simple in structure, novel and reasonable design, functional reliability is high, long service life, under battle conditions in strong, the maneuverability of adaptive capacity, be applicable to the security of laying special stress on protecting target, reduce personnel's operational loss to greatest extent.

Through accompanying drawing and embodiment, the technical scheme of the utility model is done further detailed description below.

Description of drawings

Fig. 1 is the structural representation of the utility model.

Fig. 2 is the schematic block circuit diagram of the utility model.

Fig. 3 is arranged in the sketch map of the point source of sound coordinate of generation shock wave on incident direction that coordinate system calculates the trajectory shock wave and the trajectory for the utility model.

Description of reference numerals:

1-acoustic sensor one; The 2-rod-shaped scaffold; 3-acoustic sensor two;

4-connecting rod one; 5-connecting rod two; 6-connecting rod three;

7-acoustic sensor three; 8-acoustic sensor four; 9-connecting rod four;

10-connecting rod five; 11-connecting rod six; The 12-data acquisition unit;

The 13-industrial computer.

The specific embodiment

A kind of anti-sniper as depicted in figs. 1 and 2 is used positioner; Comprise rod-shaped scaffold 2 and industrial computer 13; One end of said rod-shaped scaffold 2 is provided with the acoustic sensor 1 that is used to survey bow wave; On the said the rod-shaped scaffold 2 and below that is positioned at acoustic sensor 1 is provided with connecting rod 1, connecting rod 25 and connecting rod 36; One end of said connecting rod 1, connecting rod 25 and connecting rod 36 all is connected with rod-shaped scaffold 2; The other end of said connecting rod 1, connecting rod 25 and connecting rod 36 is provided with the acoustic sensor 23 that is used to survey bow wave; The other end of said rod-shaped scaffold 2 is connected with and receives bow wave signal that acoustic sensor 1 and acoustic sensor 23 collect and the data acquisition unit 12 that is transferred to industrial computer 13; Said acoustic sensor 1 joins with data acquisition unit 12 respectively with acoustic sensor 23; Said data acquisition unit 12 joins with industrial computer 13, and said connecting rod 1, connecting rod 25 and connecting rod 36 are mutually 120 ° of angles, the plane that said rod-shaped scaffold 2 forms perpendicular to three acoustic sensors 23; Distance between said acoustic sensor 23 and the rod-shaped scaffold 2 and acoustic sensor 1 all equate with distance between the plane that three acoustic sensors 23 form, thereby make three acoustic sensors 23 and an acoustic sensor 1 spatially be the positive tetrahedron distribution.

The said anti-sniper of the utility model is based on anti-sniper acoustic-electric location technology with positioner and comes work; During use; Signal when passing the acoustic sensor array with acoustic sensor 23 detected bullets by data acquisition unit 12 reception acoustic sensors 1, and be transferred to industrial computer 13; T when writing down and storing walking of four acoustic sensors correspondences such as acoustic sensor 1 and acoustic sensor 23 by industrial computer 13 ₀, t ₁, t ₂, t ₃, confirm bullet incident direction angle through resolving inconsistent equation, the angle parameter that calculates gained is stored; Acoustic sensor 1 locks with sensor after collecting the bow wave signal such as 4 acoustic sensors such as acoustic sensor 23 grades then, and remembers value perdurabgility of each acoustic sensor work, t ₀, t ₁, t ₂, t ₃, with this perdurabgility value related, the integrated value of this time value multiply by acoustic velocity can confirm to be sniped target to sniper's distance.

Concrete, definite method of ballistic trajectory direction is following: based on the N wave characteristic of bow wave, designed a kind of array of definite ballistic trajectory.As shown in Figure 3, cross tetrahedral two summits and set up coordinate system, survey basic matrix by sensor (acoustic sensor) S that installs on four angles of positive tetrahedron ₁, S ₂, S ₃, S ₄Form, its coordinate is respectively: (x _i, y _i, z _i) (i=1,2,3,4).

Through measuring the time difference τ that the trajectory shock wave skims over four sensors _iCalculate the incident direction n of shock wave _k(unit vector).

If sensor frame is a positive tetrahedron, acoustic sensor is distributed on four summits of positive tetrahedron, and is as shown in Figure 3, and at t=0 constantly, the bus AA on the trajectory shock wave cone at first runs into sensor (acoustic sensor) S ₂, establish the shock wave that sound source A (be positioned on the trajectory and produce the point source of sound of this shock wave) produces and arrive sensor (acoustic sensor) S at first ₂, n _kUnit vector for the direction of propagation of shock wave.Replace a part of conical surface with plane approximation, this plane is the tangent plane (MM among Fig. 3) that comprises the trajectory shock wave taper seat of bus AA.

If S ₁Put on the X axle S ₄On the Z axle, the length of side of positive tetrahedron is 2 long measures, and then the coordinate of each measuring point is:

$\left\{\begin{array}{c}{s}_1(x_1,y_1,z_1)=(\frac{2\sqrt{3}}{3},\mathrm{0,0})\\ s_2(x_2,y_2,z_2)=(-\frac{\sqrt{3}}{3},\mathrm{1,0})\\ s_3(x_3,{\mathrm{<figure-callout\; id="3"\; label="y"\; filenames="HDA0000106630420000021.png"\; state="\{\{state\}\}">y</figure-callout>}}_3,z_3)=(-\frac{\sqrt{3}}{3},-\mathrm{1,0})\\ s_4(x_4,y_4,z_4)=(\mathrm{0,0},\frac{2\sqrt{6}}{3})\end{array}\right.---\left(1\right)$

If the unit vector of ballistic path direction is: the step that

then finds the solution the trajectory vector is following:

1) confirms the unit vector

of the incident direction of trajectory shock wave

At t=0 constantly, the distance of each measuring point MM to the plane is:

L _i=r _2iN _k(" " expression scalar product; I=1,3,4; r ₂₁Expression S ₁To S ₂Distance; r ₂₃Expression S ₃To S ₂Distance; r ₂₄Expression S ₄To S ₂Distance.)

The time that shock wave arrives each measuring point is:

τ _i＝L _i/v _k＝r _2i·n _k/v _k (2)

In the formula, v _kThe spread speed that is plane MM (supposes that plane MM propagates with the velocity of sound, i.e. v _k=c)

$\left\{\begin{array}{c}\\ r_{21}=\{-\sqrt{3},\mathrm{1,0}\}\\ r_{23}=\left\{\mathrm{0,2,0}\right\}\\ r_{24}=\{-\frac{\sqrt{3}}{3},1,-\frac{2\sqrt{6}}{3}\}\end{array}\right.---\left(3\right)$

The equation that makes

then to find the solution the direction number of n ' becomes:

$\left|\begin{array}{ccc}& & \\ -\sqrt{3}& 1& 0\\ 0& 2& 0\\ -\frac{\sqrt{3}}{3}& 1& -\frac{2\sqrt{6}}{3}\end{array}\right|\&CenterDot;\left|\begin{array}{c}{n}_x^{\&prime;}\\ n_y^{\&prime;}\\ n_z^{\&prime;}\end{array}\right|=\left|\begin{array}{c}{\mathrm{\&tau;}}_1\\ {\mathrm{\&tau;}}_2\\ {\mathrm{\&tau;}}_3\end{array}\right|---\left(4\right)$

In the formula, τ _iThe acoustical signal of (i=1,3,4) expression sound source A arrives sensor (acoustic sensor) S _iAnd S ₂The time difference.Finding the solution this formula obtains:

$\left\{\begin{array}{c}{n}_x^{\&prime;}=\frac{\sqrt{3}}{6}{\mathrm{\&tau;}}_3-\frac{\sqrt{3}}{3}{\mathrm{\&tau;}}_1\\ n_y^{\&prime;}=\frac{1}{2}{\mathrm{\&tau;}}_3\\ n_z^{\&prime;}=\frac{\sqrt{6}}{12}{\mathrm{\&tau;}}_3-\frac{\sqrt{6}}{4}{\mathrm{\&tau;}}_4+\frac{\sqrt{6}}{12}{\mathrm{\&tau;}}_1\end{array}\right.---\left(5\right)$

The unit vector n of the incident direction of trajectory shock wave then _kFor

$n_k=\frac{n^{\&prime;}(n_x^{\&prime;},n_y^{\&prime;},n_z^{\&prime;})}{\left|\stackrel{r}{n}\right|}---\left(6\right)$

2) ask the coordinate (x that produces the point source of sound A of this shock wave on the trajectory _A, y _A, z _A).

Why adopting positive tetrahedron location array is because can guarantee sensor (acoustic sensor) S ₁, S ₂, S ₃, S ₄The signal that the corresponding same point source of sound of the signal that receives produces is so can adopt the time difference to calculate the coordinate of point source of sound A.Use r _I2The acoustical signal of (i=1,3,4) expression target arrives sensor (acoustic sensor) S _iAnd S ₂Range difference, represent the velocity of sound with c, then have:

r _i2＝AS _i-AS ₂＝τ _i·c(i＝1，3，4)

Geometrical relationship according to model can get following equation group:

$\left\{\begin{array}{c}{(x_A-x_2)}^2+{(y_A-y_2)}^2+{(z_A-z_2)}^2={r_2}^2\\ {(x_A-x_1)}^2+{(y_A-y_1)}^2+{(z_A-z_1)}^2={(r_2+r_{12})}^2\\ {(x_A-x_3)}^2+{(y_A-y_3)}^2+{(z_A-z_3)}^2={(r_2+r_{32})}^2\\ {(x_A-x_4)}^2+{(y_A-y_4)}^2+{(z_A-z_4)}^2={(r_2+r_{42})}^2\end{array}\right.---\left(7\right)$

In the formula, r ₂Expression point source of sound A is to sensor S ₂Distance.

Just can confirm the coordinate (x of point source of sound A through solving equation group (7) _A, y _A, z _A).

As shown in Figure 1; On the said the rod-shaped scaffold 2 and below that is positioned at connecting rod 1, connecting rod 25 and connecting rod 36 is provided with acoustic sensor 37; On the said the rod-shaped scaffold 2 and below that is positioned at acoustic sensor 37 is provided with connecting rod 49, connecting rod 5 10 and connecting rod 6 11; One end of said connecting rod 49, connecting rod 5 10 and connecting rod 6 11 all is connected with rod-shaped scaffold 2; The other end of said connecting rod 49, connecting rod 5 10 and connecting rod 6 11 is provided with acoustic sensor 48, and said acoustic sensor 37 joins with data acquisition unit 8 respectively with acoustic sensor 48.

As shown in Figure 1; Said connecting rod 49, connecting rod 5 10 and connecting rod 6 11 are mutually 120 ° of angles; Distance between the plane of distance between the plane that said rod-shaped scaffold 2 forms perpendicular to three acoustic sensors 37, said acoustic sensor 48 and rod-shaped scaffold 2 and acoustic sensor 37 and 48 formation of three acoustic sensors all equates.Thereby distribute thereby make three acoustic sensors 48 and an acoustic sensor 37 spatially be positive tetrahedron, make that the accuracy of positioner is higher.Said acoustic sensor 1, acoustic sensor 23, acoustic sensor 37 and acoustic sensor 48 are surveys the acoustic sensor of 5kHz-16kHz frequency bullet wave responsiveness-40dB to-42dB.

As shown in Figure 1, said connecting rod 1, connecting rod 25 and connecting rod 36 are all L-shaped.Said connecting rod 49, connecting rod 5 10 and connecting rod 6 11 are all L-shaped.Said data acquisition unit 12 and industrial computer 13 wireless connections.

The above; It only is the preferred embodiment of the utility model; Be not that the utility model is done any restriction; Every according to the utility model technical spirit to any simple modification, change and equivalent structure transformation that above embodiment did, all still belong in the protection domain of the utility model technical scheme.

Claims (6)

1. anti-sniper is used positioner; It is characterized in that: comprise rod-shaped scaffold (2) and industrial computer (13); One end of said rod-shaped scaffold (2) is provided with the acoustic sensor one (1) that is used to survey bow wave; Said rod-shaped scaffold (2) is gone up and the below that is positioned at acoustic sensor one (1) is provided with connecting rod one (4), connecting rod two (5) and connecting rod three (6); One end of said connecting rod one (4), connecting rod two (5) and connecting rod three (6) all is connected with rod-shaped scaffold (2); The other end of said connecting rod one (4), connecting rod two (5) and connecting rod three (6) is provided with the acoustic sensor two (3) that is used to survey bow wave; The other end of said rod-shaped scaffold (2) is connected with and receives bow wave signal that acoustic sensor one (1) and acoustic sensor two (3) collect and the data acquisition unit (12) that is transferred to industrial computer (13), and said acoustic sensor one (1) and acoustic sensor two (3) join with data acquisition unit (12) respectively, and said data acquisition unit (12) and industrial computer (13) join.

2. anti-sniper according to claim 1 is used positioner; It is characterized in that: said connecting rod one (4), connecting rod two (5) and connecting rod three (6) are mutually 120 ° of angles; Distance between the plane of distance between the plane that said rod-shaped scaffold (2) forms perpendicular to three acoustic sensors two (3), said acoustic sensor two (3) and rod-shaped scaffold (2) and acoustic sensor one (1) and two (3) formation of three acoustic sensors all equates.

3. anti-sniper according to claim 1 and 2 is used positioner; It is characterized in that: said rod-shaped scaffold (2) is gone up and the below that is positioned at connecting rod one (4), connecting rod two (5) and connecting rod three (6) is provided with acoustic sensor three (7); Said rod-shaped scaffold (2) is gone up and the below that is positioned at acoustic sensor three (7) is provided with connecting rod four (9), connecting rod five (10) and connecting rod six (11); One end of said connecting rod four (9), connecting rod five (10) and connecting rod six (11) all is connected with rod-shaped scaffold (2); The other end of said connecting rod four (9), connecting rod five (10) and connecting rod six (11) is provided with acoustic sensor four (8), and said acoustic sensor three (7) and acoustic sensor four (8) join with data acquisition unit (8) respectively.

4. anti-sniper according to claim 3 is used positioner; It is characterized in that: said connecting rod four (9), connecting rod five (10) and connecting rod six (11) are mutually 120 ° of angles; Distance between the plane of distance between the plane that said rod-shaped scaffold (2) forms perpendicular to three acoustic sensors three (7), said acoustic sensor four (8) and rod-shaped scaffold (2) and acoustic sensor three (7) and four (8) formation of three acoustic sensors all equates.

5. anti-sniper according to claim 4 is used positioner, it is characterized in that: said connecting rod one (4), connecting rod two (5), connecting rod three (6), connecting rod four (9), connecting rod five (10) and connecting rod six (11) are all L-shaped.

6. anti-sniper according to claim 1 and 2 is used positioner, it is characterized in that: said data acquisition unit (12) and industrial computer (13) wireless connections.

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