CN209991849U

CN209991849U - Training guidance control and confrontation evaluation system for aiming weapon simulation

Info

Publication number: CN209991849U
Application number: CN201920373748.4U
Authority: CN
Inventors: 仲伟君; 丁向; 刘秋生; 李小民; 周祥; 汪光; 姜祖凯; 郑力兴
Original assignee: Zoomlion Zhituo Technology Co Ltd
Current assignee: ZHONGLIAN TIANTONG TECHNOLOGY (BEIJING) CO.,LTD.
Priority date: 2019-03-22
Filing date: 2019-03-22
Publication date: 2020-01-24
Anticipated expiration: 2029-03-22

Abstract

The utility model discloses a training guidance control and confrontation evaluation system for simulation training of indirect weapons, which comprises indirect weapons distributed in each emission location; the inter-aiming weapon simulator is arranged at the inter-aiming weapon; and a wireless data network for transmitting the data of the indirect weapon simulator to the guidance control center; and a regulatory control center in communication with the wireless data network; the method for guiding regulation control and confrontation evaluation specifically comprises the following steps: the method comprises the following steps of firstly, simulating training equipment arrangement, secondly, inter-aiming weapon data transmission, and thirdly, data analysis and striking evaluation; the utility model provides a target weapon simulation training and lead transfer control and fight aassessment method and system between can not only improve the real-time of target weapon simulation training process control between, still help improving and use the operation training level of striking the precision as the aassessment index, still can greatly improve the mental bearing capacity who indicates tactics synergistic power between the fighter, the comprehensive application ability of equipment and fight confrontation.

Description

Training guidance control and confrontation evaluation system for aiming weapon simulation

Technical Field

The utility model relates to an aim weapon training system between, concretely relates to aim weapon simulation training between and lead transfer control and confrontation evaluation system belongs to and aims weapon training equipment technical field between.

Background

The indirect aiming weapon is a weapon with a weapon aiming point and a target which are not on the same straight line, and the flight track of a projectile of the indirect aiming weapon is an arc line with a large radian and is basically a parabola; the aiming base line of the artillery and the target are not in the same straight line at all, and the artillery cannot see the target, so that the artillery is completely shot in a ballistic way; calculating the ballistic trajectory, determining and calculating the muzzle elevating angle according to the ballistic trajectory of the cannonball, and enabling the cannonball to move in a parabolic manner, so as to hit targets, such as a mortar, a grenade, an addict, a grenade and a rocket cannon; the operation training of the prior indirect aiming weapon is mainly carried out by two modes, one mode is that a real shell is adopted for live firing, so that the actual operation capability of a soldier in an actual combat scene is cultured; the other method is that an equal-scale or reduced-scale physical model of a sighting weapon and a shell made of metal or nonmetal materials is adopted to carry out basic structure learning and operation flow training; these two modes have the following disadvantages: the physical model produced based on special materials has large difference with the actual installation, poor fidelity, poor immersion in the training process and poor training effect; the adoption of the live ammunition training has large safety risk and large consumption; none of them can well meet the actual combat training of the intermediate aiming weapon in the actual combat scene; therefore, in the field of simulated training of indirect aiming weapons, a method and a means which can be applied to actual combat scenes, can monitor the simulated training process of the indirect aiming weapons in real time and can quantitatively evaluate the striking effect of the indirect aiming weapons are urgently needed.

SUMMERY OF THE UTILITY MODEL

In order to solve the problem, the utility model provides a between aim at weapon simulation training and lead transfer control and antagonism aassessment method and system can not only improve the real-time of aiming at weapon simulation training process control between, still help improving the operation training level who uses the striking precision as the aassessment index, still can greatly improve the tactics coordination ability between the finger fighter, the comprehensive application ability of equipment and the psychological bearing capacity of combat antagonism.

The utility model discloses a training guidance control and confrontation evaluation system for simulating aiming weapons, which comprises aiming weapons distributed in each launching location and used for simulating projectile launching; the inter-aiming weapon simulator is arranged at the inter-aiming weapon and is used for acquiring shot data and launching state data; and a wireless data network for transmitting the data of the indirect weapon simulator to the guidance control center; the guidance control center is communicated with the wireless data network, transmits data in real time through a wireless data network link, estimates the impact point of the emission state parameter analyzed by the indirect weapon simulator by using the ID number, the positioning data, the attitude data and the environment data of the emission state parameter, and further estimates the impact effect; the inter-aiming weapon simulator comprises a launch position simulator, a cannon view simulator and an air image condition detection device; the transmitting place simulator comprises a host and a place PDA;

the host comprises a host shell; the transmitting array ground electric control module is arranged on the inner side of the main machine shell; the main machine shell is fixed on the mounting platform of the annular clamp; the annular clamp is arranged on the outer ring of the indirect aiming weapon;

the transmitting array place electric control module is a transmitting host MCU consisting of a singlechip minimum system; the series of single-chip microcomputers have the advantages of low power consumption, high stability and flexible interface configuration;

and a positioning and height-fixing module communicated with the transmitting host MCU; the positioning and height-fixing module is used for fixing the satellite for obtaining the coordinates and the elevation of the cannon positionA bit module and an altimeter; the altimeter is composed of a barometric sensor, and the satellite positioning module adopts a satellite differential positioning mode; the indirect aiming weapon positioning module adopts a satellite positioning mode and is combined with the altimeter to obtain (X)_P,Y_P,H_P) The coordinates and the elevation of the cannon position are used, and the positioning precision is less than 1 m; the normal positioning mode cannot meet the precision requirement, and a differential positioning mode is required; the altimeter is realized by using a baroceptor, and is combined with satellite differential positioning to improve the elevation positioning precision;

and the MCU is communicated with the transmitting host machine and is used for detecting the inclination angle of the aiming weapon barrel

And shot to F_j(mil) to obtain a firing angle shot of the indirect weapon; the shooting angle shooting detection module comprises a 9-axis motion sensor module, is integrated with the satellite positioning module and is fixed at the muzzle position of the barrel of the indirect aiming weapon;

the wireless communication module is communicated with the transmitting host MCU; the wireless communication module comprises a long-distance wireless communication module which is used for data communication among cannons, places and a master control and meteorological data receiving, the communication distance is more than 10km, and LoRa communication is wirelessly transmitted and received by adopting 433MHz carrier waves, so that the wireless communication module has strong anti-interference and diffraction capabilities; the short-distance wireless communication module is used for simulating the communication among the bomb, the host and the PDA, receiving the wireless strike information of the landmine, and simultaneously connecting the launch position simulator with the gun class personnel, wherein the communication distance is more than 20 m;

and communicate with launching host computer MCU, is used for communicating with guiding the central authorities, transmit identity, bullet kind and quantity, training mode, exercise start time, weather, casualty state, position, combat event information, transmit the information of the impact point, flight time, damage distance at the same time, receive the cannon from the master control and input the weather condition, ballistic condition namely the cannon and observe to the 4G communication module of the position to the master control; the 4G communication module is composed of a 4G communication component;

the laser receiving module is communicated with the transmitting host MCU and used for receiving laser striking information;

the sound-light cigarette device is communicated with the transmitting host machine MCU, is used for simulating the sound-light effect during transmitting, and is used for alarming and sounding prompt when being struck; the acousto-optic smoke device comprises an LED driving module and a voice chip driving module which are communicated with the MCU of the emission host; the LED driving module and the voice chip driving module are respectively and electrically connected with the high-brightness LED and a sounding module which supports research and development of recorded audio data and is formed on the basis of the OTP voice chip or the plug-in flash voice chip; the transmitting host machine MCU is also in communication connection with a smoke generating tank interface for displaying the damage state;

and a power management module which is communicated with the transmitting host MCU; the power management module comprises a battery and a power conversion circuit electrically connected with the battery, and the battery converts the voltage of the battery into the voltage required by each module through the power conversion circuit; the power supply conversion circuit adopts an LDO voltage stabilizer for converting voltage;

the storage module is communicated with the transmitting host MCU; the storage module is used for storing the identity, the bullet type and number, the training mode, the exercise starting time, the casualty state, the position and the fighting event; the storage module is a ferroelectric memory;

the simulation bomb comprises a simulation bomb shell; the ejection mechanism is fixed at the tail of the simulation cartridge case; and an electric control module arranged on the simulated cartridge case; the electric control module is a simulated bomb MCU consisting of a singlechip minimum system;

the firing detection device is communicated with the simulation bomb MCU, detects the firing action, converts the firing action into an electric signal and informs the simulation bomb MCU to process the firing action data; detecting a firing action, converting the firing action into an electric signal, and informing the simulation bomb MCU to perform corresponding firing action data processing; the firing detection can be realized by a reset switch or a Hall sensor fixed in the simulation bomb and adopting magnetic field interference; the gun muzzle magnetic-electric induction mode can be adopted for detection;

and an OLED display screen and operation keys which are communicated with the simulation bomb MCU to complete bomb species selection, residual bomb quantity display, explosive charge number selection, explosive temperature setting, initial speed deviation display or setting and bomb weight symbol display;

the short-distance wireless communication module is communicated with the simulation bomb MCU, is communicated with the host and the PDA of the launching place through short-distance wireless communication, and sends information such as the launched bomb seeds, the charge number, the explosive temperature, the bomb weight symbol, the fuse setting, the initial speed deviation and the like to the PDA of the launching place;

and a power management module for supplying power to the whole machine; the power management module comprises a battery and a power conversion circuit, wherein the battery adopts a battery pack to provide power, and the battery voltage is converted into the voltage required by each module through the power conversion circuit;

the ejection mechanism comprises an ejection piece arranged in a tail pipe of the simulation cartridge case; the launching part comprises one of a spring catapult, a gunpowder launcher, a pneumatic launcher or an electromagnetic catapult;

the array PDA acquires positioning, shooting angle shooting and meteorological data information sent by a shooting array host and a simulated bomb through internally integrated WIFI and Bluetooth modules, a military exercise calculation module for calculating the impact point, the flight time and the damage distance of the acquired information is integrated in the array PDA, and the array PDA is further provided with a data entry system required by calculation; as the indirect aiming weapon has high shooting speed and a large number of ammunitions are shot, the impact point, the flight time and the damage resolution are realized in a shooting position and are resolved by a PDA or a host computer equipped in the shooting position;

the cannon view simulator is input display equipment for displaying impact points and inputting part of shooting data; the input display equipment consists of a PDA and individual-soldier wearing equipment; inputting a display device to display the impact point, and particularly when the ammunition does not damage the target or the target is damaged but is displayed in a smokeless manner, observing the impact point, wherein the impact point cannot be obtained; recording partial shooting data: geodesic data, meteorological conditions and initial speed deviation; adopting the form of PDA and individual wearing equipment, utilizing individual communication to receive the position information of the impact point sent by the guide control or cannon formation, transmitting it to PDA, displaying it on the digital map of PDA according to preset time and giving out the coordinate (X) of the impact point_Z,Y_Z,H_Z) According to the observed coordinates (personnel coordinates), the viewing direction, the viewing distance, the viewing elevation angle and the like are given; target casualty conditions can also be displayed; individual soldier (scout)Soldiers) wearing equipment receives the impact of laser and landmine radio, and the damage condition is displayed through an individual soldier indicator lamp, a loudspeaker and a smoke tank, so that cheating can be prevented; recording partial shooting data through the PDA;

the meteorological condition detection device comprises a meteorological master control CPU; the air temperature and air pressure sensor and the wind direction and wind speed sensor are communicated with the meteorological master control CPU; the long-distance wireless communication module or the 4G communication module is electrically connected with the master control CPU and is used for sending the acquired data to the launching array simulator and the cannon-watch simulator; the OLED display screen and the operation keys are used for displaying and actively inputting meteorological conditions; according to the characteristics of the cross-target weapon, the meteorological conditions set the following modes: manual input mode according to weather advisory (1111 weather advisory); automatically receiving a weather advisory mode (5555 weather advisory); manually inputting a simple meteorological model measured by a troop; the system automatic detection mode is characterized in that a meteorological condition detection device is used for detecting air temperature, air pressure, wind direction and wind speed, is independently arranged in a certain area at a battlefield and sends meteorological information in a long-distance wireless communication or 4G communication mode; the launch position simulator calculates the 'air temperature, air pressure, wind direction and wind speed' used by the impact point, and the default adopts a meteorological notification form (manual input or automatic receiving); when no weather report is made, the simple weather data measured by the army is adopted, and the detection data of the weather condition detection device is adopted (automatically received).

As a preferred embodiment, the short-distance wireless communication module is at least one of a WIFI integrated module, a bluetooth integrated module or a Zigbee integrated module; the WIFI integrated module and the Bluetooth integrated module are directly communicated with the WIFI and Bluetooth modules integrated in the PDA in the current system, and the Bluetooth integrated module is an integrated module of a Bluetooth 5.0 version.

As a preferred embodiment, the ring clamp is provided with a leveling device or an electronic leveling module on its mounting platform.

In a preferred embodiment, the firing angle direction detection module further comprises an absolute value encoder fixed on the sighting device; the single-use motion sensor is easily influenced by peripheral metal objects, and the detection precision can reach 0.8 mil; the absolute value encoder is a device for calculating a rotation angle by rotating an output pulse, needs to be fixed on the sighting device when in use, and can measure an adjustment angle when the sighting device is adjusted; in order to realize high-precision detection, the angular displacement can be measured by an absolute value encoder in a mode of combining the two modes of measurement, and the motion sensor realizes the functions of calibration and cheat prevention.

A cross-target weapon simulated training, guidance and control and confrontation evaluation method comprises the following specific steps:

firstly, simulating the arrangement of training equipment, distributing the aiming weapon actual equipment in a designated position of a drilling field, arranging a control center behind the aiming weapon position,

secondly, transmitting data of the indirect weapon, and transmitting each emission state parameter of the indirect weapon to a guidance control center in real time through a wireless data transmission link of an indirect weapon simulator;

thirdly, analyzing data and evaluating the strike; the shooting state parameters analyzed by the indirect aiming weapon simulator are used for estimating the impact point by utilizing the ID number, the positioning data, the attitude data and the environment data, and further evaluating the striking effect.

As a preferred embodiment, the impact point is randomized according to the distribution condition by the theoretical coordinate of the impact point, so as to improve the conformity with the actual condition.

As a preferred embodiment, the striking effect is evaluated specifically as follows: and comprehensively evaluating based on different fuze striking effects, killing radii and target attributes to predict the damage effect of the indirect weapon and really and quantitatively evaluate the actual combat countermeasure data of the indirect weapon.

Compared with the prior art, the utility model discloses a training guidance control and confrontation assessment method and system are simulated to the indirect weapon; the distributed and convergent type aiming weapon real soldier confrontation simulation training guidance control system framework is adopted, so that the problem that the whole process monitoring of the aiming weapon simulation training in a drilling field is difficult is solved; the method for accurately estimating the impact point based on the measured launch data and the ballistic model calculation is adopted, so that the problem that the simulated launch impact point of the indirect aiming weapon is difficult to accurately estimate is solved; by adopting the comprehensive evaluation method of the striking effect of the indirect aiming weapon based on the set fuse, the killing radius and the target attribute, the problem that the striking effect cannot be quantitatively evaluated under the condition that the indirect aiming weapon does not launch live ammunition is solved.

Drawings

Fig. 1 is a schematic view of the pilot control of the present invention.

Fig. 2 is a block diagram of the electric control module of the transmission position of the present invention.

Fig. 3 is a block diagram of the working process of the host of the present invention.

Fig. 4 is a block diagram of the electric control module of the simulation bomb according to the present invention.

Fig. 5 is the structural schematic diagram of the parameter setting of the simulation bomb module of the present invention.

Fig. 6 is a flow chart of the electric control module of the present invention.

Fig. 7 is a schematic diagram of setting the interface parameters of the PDA in a transmission location according to the present invention.

Fig. 8 is a schematic view of setting the interface parameters of the cannon-viewing PDA of the present invention.

Fig. 9 is a block diagram of the weather condition detection electronic control module of the present invention.

Fig. 10 is a schematic diagram of a communication object of the short-range wireless communication module according to the present invention.

Fig. 11 is a schematic view of a communication object of the remote wireless communication module of the present invention.

Fig. 12 is a schematic diagram of the correction term deviation amount and the correction amount according to the present invention.

Fig. 13 is a schematic diagram illustrating the influence of deviation such as ballistic conditions and meteorological conditions on shooting and the provision of correction symbols.

Fig. 14 is a schematic diagram of a shooter format according to the present invention.

Fig. 15 is a schematic view of the present invention with different altitude.

Fig. 16 is a schematic diagram of the correction amount of the shot hole height difference of the present invention.

Figure 17 a schematic diagram of the mortar shell damage resolving result of the utility model.

FIG. 18 is a schematic representation of the degree of shock wave injury to an exposed person.

Figure 19 is a schematic view of the vulnerability of the building element of the present invention.

Fig. 20 is a schematic view of the natural vibration cycle and breaking load of the building structure of the present invention.

Fig. 21 is a schematic view of the damage of the shock wave to the building structure.

FIG. 22 is a schematic view of the damage of the shock wave to the vehicle.

FIG. 23 is a schematic view of the damage of the shock wave to the ground weapons and technical equipments.

FIG. 24 is a schematic view of a damage standard of the present invention.

Detailed Description

Example 1:

as shown in FIG. 1, a simulated training, guidance, control and confrontation evaluation system for indirect weapon comprises indirect weapons distributed in each launch site for simulating projectile launching; the inter-aiming weapon simulator is arranged at the inter-aiming weapon and is used for acquiring shot data and launching state data; and a wireless data network for transmitting the data of the indirect weapon simulator to the guidance control center; the guidance control center is communicated with the wireless data network, transmits data in real time through a wireless data network link, estimates the impact point by using the ID number, the positioning data, the attitude data and the environment data of the emission state parameters analyzed by the indirect weapon simulator and further evaluates the impact effect; the inter-aiming weapon simulator comprises a launch position simulator, a cannon view simulator and an air image condition detection device; the transmitting place simulator comprises a host and a place PDA;

the host comprises a host shell; the transmitting array ground electric control module is arranged on the inner side of the main machine shell; the main machine shell is fixed on the mounting platform of the annular clamp; the annular clamp is arranged on the outer ring of the mortar;

the transmission array ground electric control module shown in fig. 2 is a transmission host MCU formed by a minimum system of a single chip microcomputer; the series of single-chip microcomputers have the advantages of low power consumption, high stability and flexible interface configuration;

and a positioning and height-fixing module communicated with the transmitting host MCU; the positioning and height-fixing module is a satellite positioning module and an altimeter for acquiring shot position coordinates and elevations; the altimeter is composed of a barometric sensor, and the satellite positioning module adopts a satellite differential positioning mode; the mortar positioning module adopts a satellite positioning mode and is combined with the altimeter to obtain (X)_P,Y_P,H_P) The coordinates and the elevation of the cannon position are used, and the positioning precision is less than 1 m; the normal positioning mode cannot meet the precision requirement, and a differential positioning mode is required; the altimeter is realized by using a baroceptor, and is combined with satellite differential positioning to improve the elevation positioning precision;

and the MCU is communicated with the transmitting host machine and is used for detecting the inclination angle of the mortar barrel

And shot to F_j(mil) so as to obtain the firing angle shot by the mortar firing angle shot to the detection module; the firing angle shooting detection module comprises a 9-axis motion sensor module, is integrated with the satellite positioning module and is fixed at the muzzle position of the mortar barrel;

as shown in fig. 3, the host working process is as follows: initializing, carrying out self-checking on power supply and communication, prompting self-checking faults when the self-checking fails, and obtaining a geographical coordinate by carrying out satellite positioning when the self-checking passes; then, short-distance communication detection is carried out, when no signal exists in a short distance, the 4G communication module is detected, and when no signal exists in the 4G communication module, the long-distance communication module is detected; returning to detect again when the long-distance communication module has no signal, judging whether meteorological information exists or not when the 4G communication module or the long-distance signal is detected, storing and returning if the meteorological information exists, judging whether differential positioning is performed or not if the meteorological information does not exist, and calculating differential coordinate data and returning if the positioning data exists; if not, judging whether the information is damaged or not, if so, displaying the damaged state and returning, if not, directly returning, if so, judging whether a calibration command exists or not, if so, sending the shooting angle shot data, if not, judging whether a transmitting signal exists or not, if so, sending positioning, shooting angle shot and meteorological information, if not, judging whether thunder wireless killing exists or not, if so, displaying the damaged state, and if not, returning.

As shown in fig. 4 and 5, the cross-target weapon is a simulated projectile; the simulation bomb comprises a simulation bomb shell; the ejection mechanism is fixed at the tail of the simulation cartridge case; and an electric control module arranged on the simulated cartridge case; the electric control module comprises a simulated missile MCU consisting of a PIC24 singlechip minimum system;

and a power management module for supplying power to the whole machine; the power management module comprises a battery and a power conversion circuit, wherein the battery adopts a 18650 battery pack to provide power, and the voltage of the battery is converted into the voltage required by each module through the power conversion circuit;

as shown in fig. 6, when the electronic control module works, the electronic control module is initialized first, and communication self-check is performed on the power supply and each module; the self-checking passes and the real-time detection is carried out to determine whether the percussion action exists; if the detection is not passed, prompting fault information; when the firing information is detected, the firing detection device sends the information to the simulation bomb MCU; the simulated bomb MCU sends the set data to the PDA; when the triggering information is not detected, judging whether to carry out internal communication, if not, detecting whether to carry out key operation, if not, returning, if so, and if so, judging whether to switch the bullet type and the bullet loading amount; if the internal communication exists, the loading information is input;

as shown in fig. 7, the place PDA acquires positioning, shooting angle directive and meteorological data information sent by a launch place host and a simulated bomb through internally integrated WIFI and bluetooth modules, a military performance calculation module for calculating the impact point and flight time and calculating the damage distance of the acquired information is integrated inside the place PDA, and the place PDA is further provided with a data entry system required for calculation; as the mortar has high firing speed and a large number of ammunitions are fired, the solution of the impact point, the flight time and the damage is realized in a firing position and is solved by a PDA (personal digital assistant) equipped in the firing position;

as shown in fig. 8, the cannon view simulator is an entry display device for displaying the entry of impact points and partial shot data; the input display equipment consists of a PDA and individual-soldier wearing equipment; inputting a display device to display the impact point, and particularly when the ammunition does not damage the target or the target is damaged but is displayed in a smokeless manner, observing the impact point, wherein the impact point cannot be obtained; recording partial shooting data: geodesic data, meteorological conditions and initial speed deviation; adopting the form of PDA and individual wearing equipment, utilizing individual communication to receive the position information of the impact point sent by main control or cannon formation, transmitting it to PDA, displaying it on the digital map of PDA according to preset time and giving out the coordinate (X) of the impact point_Z,Y_Z,H_Z) According to the observed coordinates (personnel coordinates), the viewing direction, the viewing distance, the viewing elevation angle and the like are given; target casualty conditions can also be displayed; the wearing equipment of the individual soldier (scout) receives the attack of laser and landmine radio, and the individual soldier indicator lamp, the loudspeaker and the smoke tank display the damage condition, thereby preventing cheating; recording partial shooting data through the PDA;

as shown in fig. 9, the weather condition detection device includes a weather master CPU; the air temperature and air pressure sensor and the wind direction and wind speed sensor are communicated with the meteorological master control CPU; the long-distance wireless communication module or the 4G communication module is electrically connected with the master control CPU and is used for sending the acquired data to the launching array simulator and the cannon-watch simulator; the OLED display screen and the operation keys are used for displaying and actively inputting meteorological conditions; according to the characteristics of the mortar, the meteorological conditions set the following modes: manual input mode according to weather advisory (1111 weather advisory); automatically receiving a weather advisory mode (5555 weather advisory); manually inputting a simple meteorological model measured by a troop; the system automatic detection mode is characterized in that a meteorological condition detection device is used for detecting air temperature, air pressure, wind direction and wind speed, is independently arranged in a certain area at a battlefield and sends meteorological information in a long-distance wireless communication or 4G communication mode; the launch position simulator calculates the 'air temperature, air pressure, wind direction and wind speed' used by the impact point, and the default adopts a meteorological notification form (manual input or automatic receiving); when no weather report is made, the simple weather data measured by the army is adopted, and the detection data of the weather condition detection device is adopted (automatically received).

As shown in fig. 10 and 11, the wireless communication module includes a long-distance wireless communication module and a short-distance wireless communication module; the short-distance wireless communication module has a communication distance of more than or equal to 20m and is used for communication among the modules of the launching place simulator, the specific communication content of the short-distance wireless communication module is shown in figure 9, the long-distance wireless communication module has a communication distance of more than or equal to 10km and is used for communication among the launching place simulator, the cannon-watch simulator, the meteorological condition detection device and the main control (guiding and regulating department), the specific communication content of the long-distance wireless communication module is shown in figure 10,

in another embodiment, the short-distance wireless communication module is at least one of a WIFI integrated module, a bluetooth integrated module or a Zigbee integrated module; the WIFI integrated module and the Bluetooth integrated module are directly communicated with the WIFI and Bluetooth modules integrated in the PDA in the current system, and the Bluetooth integrated module is a Bluetooth 5.0 version integrated module.

In another embodiment, the mounting platform of the ring clamp is provided with a leveling device or an electronic leveling module.

In another embodiment, the firing angle direction detection module further comprises an absolute value encoder fixed on the sighting device; the single-use motion sensor is easily influenced by peripheral metal objects, and the detection precision can reach 0.8 mil; the absolute value encoder is a device for calculating a rotation angle by rotating an output pulse, needs to be fixed on the sighting device when in use, and can measure an adjustment angle when the sighting device is adjusted; in order to realize high-precision detection, the angular displacement can be measured by an absolute value encoder in a mode of combining the two modes of measurement, and the motion sensor realizes the functions of calibration and cheat prevention.

firstly, simulating the arrangement of training equipment, distributing the actual equipment of indirect aiming weapons in a designated position of a practice field, arranging a control center behind a mortar position,

The impact point and flight time calculation and the damage distance calculation are concretely as follows:

as shown in fig. 12 to 16, regarding the impact point, the following is solved:

setting blast location as P, observation as G, target as M and impact point as Z, and using their coordinate and elevation respectively (X)_P,Y_P,H_P)、(X_G,Y_G,H_G)、(X_M,Y_M,H_M)、(X_Z,Y_Z,H_Z) Indicated by the horizontal distance between them D_PM、D_PZ、D_GM、D_GPEtc.;

the method for determining the starting data of the fire of the mortar comprises the following steps: visual measurement, simple method, precision method, achievement method, transfer shooting, bomb measurement and the like; the shooting direction comprises fire collecting shooting direction, proper width shooting direction or parallel shooting direction and the like; the pilot injection is divided into target pilot injection and pilot injection to a pilot injection point, and the pilot injection is divided into a deviation method and an inclusion method according to whether the deviation amount of the explosion point can be measured or not; the effective shooting method comprises rapid shooting, constant-speed shooting, simultaneous shooting, single shooting and the like; the basic procedure for determining the firing data at the time of firing is as follows: measuring the distance, direction and height difference of the gun eyes, namely selecting the number of charge numbers according to the distance to the ground, selecting a jet printer according to the altitude and the number of charge numbers according to the distance to the ground, checking correction values (temperature, air pressure, longitudinal wind, transverse wind, bullet weight, charge temperature, initial speed deviation and the like, but not including the correction of the height difference of the gun eyes), determining a starting distance and a starting direction, wherein the starting distance is the distance to the ground plus the correction value, the starting direction is the direction to the ground plus the correction value, namely according to the starting distance, checking a table ruler corresponding to the starting distance, namely according to the height difference of the gun eyes and the table ruler corresponding to the starting distance, checking the correction value (table ruler) of the height difference of the gun eyes, namely the table ruler corresponding to the starting distance plus the correction value of the height difference of the gun eyes; as shown in fig. 11, according to the mortar shell firing schedule, the correction items include the deviation of the height difference of the gun eyes, the air temperature, the air pressure, the longitudinal wind, the transverse wind, the bullet weight, the medicine temperature and the initial speed, wherein the transverse wind corrects the direction, and the rest corrects the distance (gauge);

description of wind: let the azimuth angle of the wind direction coordinate be alpha_w(the right-hand angle of the wind coming direction relative to the true north) and the wind speed is v_wThe azimuth angle of the gun eye coordinate is alpha_PM(the right-hand angle of the direction of the shot hole relative to the true north) and the wind angle is alpha_PM-α_w(ii) a Then the velocity v of the longitudinal wind_wz＝|v_wcos|α_PM-α_w||，α_PM-90°＜α_w＜α_PMThe +90 deg. time is headwind, alpha_PM+90°＜α_w＜α_PMThe wind is downwind at +270 degrees; crosswind velocity v_wh＝|v_wsin|α_PM-α_w||，α_PM-180°＜α_w＜α_PMBlowing right at a time of alpha_PM＜α_w＜α_PMBlowing leftwards at 180 degrees;

description of the shootdown of FIG. 13: the use of the firing table is referred to in the retrieval, and the following is additionally described here: 1) selecting a shooting table according to the most adjacent (0 m, 500 m and 1000m … …) principle in the altitude; 2) the correction adopts an interpolation method, namely when the shooting distance is between two distances in the shooting table, the interpolation of the correction of the two distances is adopted; 3) the correction of wind is selected from the values close to the altitude (close to 0m, 1500 m and 4500 m); 4) according to the starting distance, searching a table ruler corresponding to the starting distance, and adopting an interpolation method; 5) interpolation is carried out on the gun-eye altitude difference correction quantity twice, interpolation is carried out on two adjacent gauge rules according to the gauge rule corresponding to the starting distance once, and interpolation is carried out on two adjacent altitude differences according to the gun-eye altitude difference again;

the gauge rule measured by the shooting angle shooting to the detection module is set as BC_j(the unit is division, and the angle is converted from the angle of incidence detection, and the conversion relation is that the division number of the table ruler is 1750-the number of the angle of incidence density), the direction of incidence is F_j(unit mil, converted from the detection angle of the shot);

1) determining a shooting table to be searched according to weapons, ammunition seeds, charge numbers and altitude (selecting the close height);

2) according to the measured gauge rule BC_jThe corresponding shot distance D is obtained by looking up the shot table_j；

3) Manual input with a watch house or cannon location PDA: target point coordinates (X)_M,Y_M,H_M) Or distance D of the order of the holes_PMTarget elevation H_M；

4) According to the distance D of the gun mesh_PMAir temperature deviation delta t, air pressure deviation delta p and longitudinal wind w_zHorizontal wind w_hDeviation of bullet weight and deviation of medicine temperature delta t_yInitial velocity deviation Δ v₀Looking up the corresponding correction quantity Delta D from the shooting table_t、ΔD_p、ΔD_wz、ΔF、ΔD_q、ΔD_ty、ΔD_v0；

5) Calculating a starting distance:

6) from a starting distance

Looking up the shooting table to obtain 'the table ruler corresponding to the starting distance' BC_ks；

7) According to the corresponding gauge rule of the 'starting distance' BC_ksBlast hole height difference delta H_PM(ΔH_PM＝H_M-H_P) Looking up the correction quantity of shot height difference Delta B from the shooting table_H(division);

8) calculating a start table ruler:

9) calculating the starting direction:wherein F_PMIs the target geodetic direction;

10) meter ruler BC detected by calculation_jThe difference from the starting meter scale is,

11) from the difference value of the gauge_jkThe distance change amount Δ D caused by the difference is obtained by looking up the look-up table_jk；

12) Calculating the distance from the cannon position to the shooting point, D_PZ＝D_PM+ΔD_jk；

13) Calculating impact point resolving coordinates:

wherein:

beta, the mortar barrel before crosswind correction is shot to the angle relative to the positive north direction, rotates clockwise from the positive north, and subtracts the crosswind correction amount from the angle detected by the shot detection module; gaussian coordinates are not considered temporarily, the X coordinate axis is in the east-west direction, the east-down direction is positive, the Y coordinate axis is in the north-south direction, and the north-north direction is positive. The Gaussian coordinate takes south and north as an ordinate axis X and east and west as an abscissa axis Y;

14) following the point of impactOrganizing: the impact point is set to calculate the coordinate as (X)_Zj,Y_Zj,H_Zj) The corresponding distance arithmetic deviation is B_dThe direction arithmetic deviation is B_f. The actual impact point follows normal distribution, and the impact point coordinate after randomization according to normal distribution is set as (X)_Z,Y_Z,H_Z). At a distance: with 0 as the mean, B_dFor the standard deviation (. sigma.), a normal distribution N (0, B) was constructed_d ²) Generating a normally distributed random number D_DAs a random value over distance. Similarly, in the direction: with 0 as the mean, B_fFor the standard deviation (. sigma.), a normal distribution N (0, B) was constructed_f ²) Generating a normally distributed random number D_FAs a directionally random value.

Then:

height of impact point, using coordinates (X)_Z,Y_Z) Elevation H of_Z；

Wherein:

alpha-the angle of the mortar barrel shot to the opposite north direction during shooting and the mortar barrel rotates clockwise from the north direction, namely the angle detected by the shot detection module;

beta is the angle of the mortar barrel before crosswind correction in the direction opposite to the due north, and rotates clockwise from the due north to subtract the crosswind correction amount from alpha.

(2) Resolving the flight time:

the time of flight for a certain "throw distance" under standard conditions, which is the time for the projectile to fly from muzzle to the drop point, can be looked up from the shooter. According to the ballistic characteristics of the mortar shell, under the normal meteorological and ballistic correction conditions, the ballistic flight time can be approximately considered to be the same as that before correction; the time of flight from the muzzle to the impact point (denoted as T) is compared with the time of flight under the standard condition in the shooter_z) The largest influence is caused by the height difference of the shot holes; the measured gauge is BC_j(division) the time of flight under the standard condition found from the shooter is T_jSecond, falling velocity v_cjAngle of fall theta_cj. The difference of the blasting height is delta H_PZ(in this case, the height difference from the impact point,. DELTA.H, is used_PZ＝H_Z-H_PWith a + -sign), the time to fly from the target point to the landing point may be approximated as Δ H_PZ/(v_cjsinθ_cj) (with a + -number); then, muzzle-to-impact time of flight: t is_z＝T_j-ΔH_PZ/(v_cjsinθ_cj)；

Another method for calculating the impact point and the flight time is to establish a 'projectile motion equation set', calculate the flight coordinates (distance, height and direction) of the projectile at each moment, intersect with terrain coordinates, and calculate the impact point and the flight time, and the method is not adopted here, but a 'shooting table-based' method is adopted, and is mainly based on the following points:

1) the mortar shooting data element determining method adopts a firing table-based method;

2) because the data of the structural parameters and the pneumatic parameters of the projectile are not mastered in detail, a simplified projectile motion equation set can only be established, the conformity with the actual trajectory is lower than that of shooting table data, certain deviation between a 'shooting table-based' method and a 'shot-based motion equation set' method can always occur, and a disjointing phenomenon can occur;

3) when the terrain elevation data is not accurate enough, or detailed elevation data below the trajectory is lacked, or the target has height, the intersection precision of the motion track of the projectile and the terrain is insufficient or the projectile cannot intersect, and a shot point with large difference or a shot point cannot be obtained.

As shown in fig. 17 to 24, the damage resolving main function is to resolve damage distances of different bullet types to different kinds of targets; the damage resolution results are given in the form of fig. 17; its killing distance to a human (exposed) target refers to the exposed human target; personnel targets within the work and weapon vehicle armors, with reference to the respective work and weapon vehicle armors; whether a person is killed or not is also related to the assumed combat task, such as attack, defense and logistics guarantee; it is determined by the pilot; the damage to the exposed personnel comprises fragment killing and shock wave killing, according to the characteristics of the mortar shell and the calculation result, the shock wave killing distance is less than the fragment killing distance to the personnel target, so the killing distance of the fragment is adopted as the killing distance of the mortar shell to the exposed personnel target;

as shown in fig. 18, the method for determining the fragment killing distance: firstly, theoretical calculation is carried out according to kinetic energy criterion, the number of the killer fragments, the initial speed of the fragments, the fragment quality, the fragment shape and the like; secondly, test data are adopted; according to the actual situation of the mortar shell, the mode of adopting test data is taken as the main mode, the killing radius obtained by the test is taken as the killing distance of the mortar shell to exposed personnel, and the mode of theoretical calculation is taken as the auxiliary mode;

for the exposed standing person: taking a killing distance as a dense killing radius; for the exposed prone person: taking the killing distance to be 2/3 times of the dense killing radius; within the killing distance, the personnel target loses the fighting capacity under the action of fragments; considering the distribution situation of fragments, the hit probability and the fragment kinetic energy of personnel by fragments are all reduced outside the killing distance, for a single personnel target, the hit situation of a specific fragment is difficult to determine, the injury degree also does not reach the level of losing the fighting power, and the low-degree injury situation outside the killing distance is not considered temporarily; the damage distance of the work target is determined mainly by the damage distance of detonation products and shock waves to the work target according to the power condition of the mortar shell;

the overpressure peak of the shock wave is determined according to the explosion condition of the projectile on the ground:

in the formula:

Δ p — the surge overpressure peak at distance R, MPa;

r-distance from center of explosion, m;

omega-TNT equivalent of charge, omega ═ omega_iQ_vi/Q_vT，ω_iFor loading the pill with dose, Q_viExplosive heat of charge for projectiles, Q_vTIs the detonation heat of TNT explosive.

As shown in fig. 19 and 20, the destructive effect of the target at a distance from the charge is measuredCalculating the vibration period T of the structure and the positive pressure action time tau of the shock wave₊And (6) determining. E.g. tau₊< T (generally τ)₊T is less than or equal to 0.25), the destructive effect on the target is determined by the shock wave impulse; on the contrary, if τ₊> T (generally τ)₊/T ≧ 10), then depends on the peak overpressure. Wherein

The value of b is about 1.4-2.1; specific impulse I generated by explosion of spherical TNT charge in infinite air₊＝9.807Aω^2/3and/R, A is a coefficient related to explosive performance, and for TNT, A is 30-40.

As shown in fig. 21, civil ignition point, shelter, observation: the distance between the target and the target edge is not more than 2/3-3/4 crater radius, and the crater radius of the 82mm mortar shell is about 1 m; comprehensive analysis, the damage distance to the work target is as follows:

for civil engineering: distance of injury can be pressed

Estimating, wherein R is the distance of the frying point from the edge of the target;

for masonry: distance of injury can be pressed

for steel-concrete works (thickness 0.25 m): distance of injury can be pressed

damage distance to weapon vehicle armored target: the weapon vehicle armored targets comprise various traction weapons, logistic vehicles, armored vehicles, tanks and the like, and are classified into non-armored protection type targets, medium protection type targets and heavy protection type targets according to different protection degrees; "no armor protection class" goal: mainly refers to transport vehicles, self-propelled artillery, rocket artillery, traction artillery and mortar targets without armor protection; "intermediate protection class" targets: mainly refers to infantry combat vehicles, assault guns, armored delivery vehicles, missile launching vehicles, armored reconnaissance vehicles, armored command vehicles, armored security vehicles, self-propelled artillery and rocket gun targets with medium protection; "heavy protection class" target: mainly refers to the targets such as tanks adopting heavy protection; the damage to the armored target of the weapon vehicle comprises two aspects of the damage distance of the shock wave and the damage of the fragment; the method for estimating the damage distance of the shock wave is similar to the target of the engineering class; for vehicles, when the overpressure of the shock wave is 0.034-0.29 MPa, the light armored vehicles are damaged to different degrees; the overpressure of the shock wave is more than 0.049MPa, and various light technical weapons can be damaged;

as shown in fig. 22 and 23, the damage of the fragment mainly depends on the energy of the fragment and the number of the fragments, and the flight speed of the fragment exponentially decreases with the flight distance;

let the initial velocity of the fragment be v₀The initial velocity can be estimated as follows:

wherein E is the energy of a unit mass of explosive,

the TNT explosive is 2370m/s, the B explosive is 2720, the RDX is 2930, the HMX is 2970, the PETN is 2930 and the TETRY is 2500; m is the explosive mass; m is the projectile mass;

in combination with the test results, the initial velocity of the mortar shell fragment is about 1000 m/s. The fragment flies to a distance R, and the storage speed is as follows:

v＝v₀exp(-aR)；

c_xthe air resistance coefficient of the fragments is 0.97; rho_HFor the air density, 1.29kg/m under standard conditions³(ii) a A is the windward area of the fragment, and the natural fragment can be pressed to 0.005m_f ^2/3Estimating; m is_fIs a broken pieceQuality; specific kinetic energy E of fragment killer_brAccording to the meter of 1.17 MJ/square meter, the killing distance to personnel is set as R_rKilling distance to armor is R_zThe specific kinetic energy of destruction is E_bzAssuming that the area remains unchanged when the fragment killer and the armor are damaged

According to the fragment speed after the mortar shell explosion (the initial speed is about 1000m/s), only an armor with the thickness of about 10mm can be penetrated, so that the effect of the mortar shell fragments on a medium and heavy armored target is not obvious; fragments are mostly concentrated between 0.3 g and 1g and 4g after the mortar shell explodes, and the fragments with the mass less than 1g are difficult to damage the armor. For armor thickness of 4mm, the penetration distance of 2g of fragments is about 0.2 times the distance of personnel destruction, and the penetration distance of 4g of fragments is about 0.5 times the distance of personnel destruction. Considering the number of the fragments, the damage distance is less than 0.2 times of the personnel killing distance.

As shown in fig. 24, the distance of damage to the armored target of the weapon vehicle is estimated by integrating the blast damage according to the number, velocity and distribution of fragments of the mortar shell as follows:

for the non-armor protection type target: distance of injury can be pressed

for medium protection class targets: distance of injury can be pressed

for heavy protection type targets: the hit can destroy it.

The calculated impact point coordinate, flight time and damage distances to different types of targets of each projectile are sent to a main control system through a launch position simulator, the main control system judges whether the projectile is injured or not according to the target condition in the damage distance around the impact point at the impact moment, and sends the judgment result to the corresponding target for control; distinguishing the striking points displayed by red and blue, different units and different artilleries, and distinguishing the shot collecting direction and the proper width direction; the method can be specifically used for displaying by adopting methods of selecting troops, selecting weapons and selecting the time period of impact; and displaying the shot flying schematic track according to specific conditions.

The above-mentioned embodiment is only the preferred embodiment of the present invention, so all the equivalent changes or modifications made by the structure, features and principles of the present invention are included in the claims of the present invention.

Claims

1. A training guidance control and confrontation evaluation system for aiming weapon simulation is characterized in that: comprises aiming weapons distributed in each shooting position and used for simulating shot shooting; the inter-aiming weapon simulator is arranged at the inter-aiming weapon and is used for acquiring shot data and launching state data; and a wireless data network for transmitting the data of the indirect weapon simulator to the guidance control center; the guidance control center is communicated with the wireless data network, transmits data in real time through a wireless data network link, estimates the impact point of the emission state parameter analyzed by the indirect weapon simulator by using the ID number, the positioning data, the attitude data and the environment data of the emission state parameter, and further estimates the impact effect; the inter-aiming weapon simulator comprises a launch position simulator, a cannon view simulator and an air image condition detection device; the transmitting place simulator comprises a host and a place PDA;

the transmitting array place electric control module is a transmitting host MCU consisting of a singlechip minimum system;

and a positioning and height-fixing module communicated with the transmitting host MCU; the positioning and height-fixing module is a satellite positioning module and an altimeter for acquiring shot position coordinates and elevations; the altimeter is composed of a barometric sensor, and the satellite positioning module adopts a satellite differential positioning mode;

the wireless communication module is communicated with the transmitting host MCU; the wireless communication module comprises a long-distance wireless communication module which is used for data communication among cannons, places and guide control and meteorological data receiving, the communication distance is more than 10km, and 433MHz carrier wave is adopted for wireless receiving and sending of LoRa communication; the short-distance wireless communication module is used for simulating the communication among the bomb, the host and the PDA, receiving the wireless strike information of the landmine, and simultaneously connecting the launch position simulator with the gun class personnel, wherein the communication distance is more than 20 m;

the firing detection device is communicated with the simulation bomb MCU, detects the firing action, converts the firing action into an electric signal and informs the simulation bomb MCU to process the firing action data;

the position PDA acquires positioning, shooting angle shooting and meteorological data information sent by a shooting position host and a simulation bomb through internally integrated WIFI and Bluetooth modules; the battlefield PDA is internally integrated with a military performance calculation module for calculating impact points, flight time and damage distance of acquired information, and is also provided with a data entry system required by calculation;

the cannon view simulator is input display equipment for displaying impact points and inputting part of shooting data; the input display equipment consists of a PDA and individual-soldier wearing equipment;

the meteorological condition detection device comprises a meteorological master control CPU; the air temperature and air pressure sensor and the wind direction and wind speed sensor are communicated with the meteorological master control CPU; the long-distance wireless communication module or the 4G communication module is electrically connected with the master control CPU and is used for sending the acquired data to the launching array simulator and the cannon-watch simulator; and the OLED display screen and the operation keys are used for displaying and actively inputting meteorological conditions.

2. The simulated training, guidance, control and confrontation assessment system for indirect weapon according to claim 1, wherein: the short-distance wireless communication module is at least one of a WIFI integrated module, a Bluetooth integrated module or a Zigbee integrated module; the WIFI integrated module and the Bluetooth integrated module are directly communicated with the WIFI and Bluetooth modules integrated in the PDA in the current system, and the Bluetooth integrated module is an integrated module of a Bluetooth 5.0 version.

3. The simulated training, guidance, control and confrontation assessment system for indirect weapon according to claim 1, wherein: and a leveling device or an electronic leveling module is arranged on the mounting platform of the annular clamp.

4. The simulated training, guidance, control and confrontation assessment system for indirect weapon according to claim 1, wherein: the firing angle shooting detection module further comprises an absolute value encoder fixed on the sighting device.