CN212274732U - Automatic target-scoring system for marine firing practice of warship cannon virtual target - Google Patents
Automatic target-scoring system for marine firing practice of warship cannon virtual target Download PDFInfo
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- CN212274732U CN212274732U CN202021167659.3U CN202021167659U CN212274732U CN 212274732 U CN212274732 U CN 212274732U CN 202021167659 U CN202021167659 U CN 202021167659U CN 212274732 U CN212274732 U CN 212274732U
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Abstract
The utility model discloses an automatic target system that reports of marine firing practice of virtual target of naval gun, system include built-in host computer, signal receiver, four sensor carriers, sensor array, sensor preamplifier, singlechip preprocessing circuit, positioner and the signal transmission device of resolving the software. The utility model discloses in, the naval cannon sends the host computer to the moment of receiving the seismic wave to virtual target shooting back, can solve out actual shell placement coordinate according to the moment and the time difference that each sensor carrier received the seismic wave. The utility model discloses a system is with low costs, the precision is high, high automation, portable, lay and retrieve, can rectify artillery shooting precision in advance, newspaper target efficiency and precision and security when improving the training, reduce the training cost. The utility model belongs to the technical field of military training equipment and water acoustics technical field for the training aiding when general shooting training of naval vessel and ocean cruise.
Description
Technical Field
The utility model belongs to the technical field of military training equipment and water acoustics technical field for naval gun live ammunition shooting target-scoring in naval force ocean or coastal waters military training, specifically speaking is an automatic target-scoring system of naval gun virtual target marine live ammunition shooting.
Background
The firing practice of oceangoing or offshore cannons is one of the training subjects of navy. The virtual shooting of the naval cannon to the sea is an effective means for improving the shooting precision of the marine target, can omit direct effective shooting of target shooting, and has important significance for improving the combat effectiveness. The distance and the azimuth angle of a traditional virtual shooting virtual point of a ship by a ship cannon relative to a shooting ship are fixed, the virtual point is static relative to the shooting ship, and the shooting ship keeps the course navigational speed unchanged, but the actual course navigational speed is inconsistent with the predicted course navigational speed due to the influence of conditions such as wind, flow, surge and the like, so that the virtual shooting precision is reduced.
In the article entitled "virtual shooting of ship-based gun to sea based on ship position longitude and latitude coordinates" published by Huang Yi, Wang Jianming and Yuan Jia Xiang, a new virtual shooting method of ship-based gun to sea based on ship position longitude and latitude coordinates is provided, the distance and the angle of an ejected water column are measured by using a ship-based radar, the ship position longitude and latitude coordinates and the course are combined to calculate the ship position longitude and latitude coordinates of the ejected water column, and the distance deviation and the direction deviation of the ejected water column relative to a virtual point are solved in an absolute coordinate system by taking a ship-based gun launching point as an origin. The method has the main defect that the shipborne radar is used for measuring the position of the water column of the impact point. At present, the main ships and cannons of 76 mm are used on protective ships such as 054/054A, 056 and the like in China, and the shooting speed is about 120 rounds per minute, namely 2 rounds per second. When the ship cannon continuously shoots, under the condition that the shot drop points are concentrated, the drop point water columns are dense, radar echoes are concentrated together, and a plurality of drop points can be identified as a single drop point at a high probability. Under severe sea conditions, the interference of sea waves cannot be ignored. For the above reasons, this method is poor in practical use.
The warship-based gun-to-sea shooting target-scoring method based on the ship-based photoelectric tracker published by zhanghui provides a convergence measurement method by utilizing the ship-based photoelectric tracker. The method adopts one target ship and two observation ships, when carrying out marine shooting training, the two observation ships are arranged in front of two sides of a target ship course and run at the same speed with the target ship, a photoelectric tracker is used for aiming at the center of the observation target ship to carry out tracking shooting, and the width of a view field is adjusted, so that the target ship can be tracked, and simultaneously, a water column which is kicked up by a bouncing point in a certain range in front of and behind the target ship on the sea surface can be observed. The photoelectric tracker on the observation naval vessel aims at the center of the target vessel when tracking the target vessel, the deflection angle can be measured when the target vessel is impacted by a point water column, and meanwhile, the projection length of the distance between the water column and the center of the target vessel on the plane of the photoelectric camera can be determined by the digital image processing technology because the length, the width and the height of the target vessel are known. Under the common conditions, a certain included angle exists between the course of the target ship and the plane of the photoelectric camera, and the projection length of the target ship on the plane of the photoelectric camera is the cosine of the actual length, so that the included angle between the target ship and the plane of the photoelectric camera is calculated. According to the included angle, the water column deflection angle of the impact point and the projection length of the distance between the water column and the center of the target ship on the plane of the photoelectric camera, an impact point linear equation under a plane rectangular coordinate system taking the center of the target ship as the center can be solved. Similarly, the photoelectric tracker of another naval vessel can also observe and calculate another impact point linear equation. The coordinates of the impact point under the rectangular coordinate system, namely the miss distance of the target ship relative to the center of the target ship can be obtained by intersecting the two straight lines. The method has the defects that a target ship and an observation ship are required to be matched during shooting training, the training cost is increased, and the pressure of carrying matched equipment is increased during ocean-going training or convoying of a fleet. Meanwhile, a photoelectric tracker on a ship needs to be manually operated, obtained data needs to be manually solved, instantaneity is lacked, and the automation degree is low.
Considering the requirements of design training in naval ocean training and ocean convoy, if a gun shooting target-scoring system which is low in cost, high in precision, highly automatic, convenient to carry, arrange and recycle is researched and manufactured, the precision and the efficiency of virtual shooting training can be greatly improved.
Disclosure of Invention
The utility model aims at providing an automatic target scoring system of marine live ammunition shooting of naval gun virtual target, its simple structure lays and removes and receive the convenience, and is sturdy and durable, has high reliability, is fit for the on-the-spot harsh environment of army's training and uses.
The utility model discloses a realize above-mentioned purpose, the technical scheme who adopts as follows:
an automatic target-scoring system for virtual target marine firing practice of a naval gun comprises an upper computer with built-in resolving software, a signal receiving device and first to fourth sensor carriers A0～A3Each sensor carrier is respectively provided with a sensor array, a sensor preamplifier, a singlechip preprocessing circuit, a positioning device and a signal sending device which correspond to the sensor carrier;
the positioning device is connected with the upper computer through the signal receiving device, and the positioning device sends the current position of the positioning device, receives the current position through the signal receiving device and sends the current position to the upper computer;
the output end of the sensor array is connected with the single chip microcomputer preprocessing circuit through a sensor preamplifier, the single chip microcomputer preprocessing circuit is connected with the signal receiving device through a signal sending device and further connected with the upper computer, the sensor array outputs corresponding data to the sensor preamplifier after receiving the seismic wave signal, the sensor preamplifier amplifies the received data and then outputs the amplified data to the single chip microcomputer preprocessing circuit, and the single chip microcomputer preprocessing circuit preprocesses the received data and then sends the preprocessed data to the upper computer through the signal sending device and the signal receiving device;
and the upper computer combines the received data and the position signal and utilizes built-in resolving software to calculate and obtain a conclusion.
As a limitation: first to fourth sensor carriers A0～A3Adopting a first to a fourth remote control boat B0～B3First to fourth manually driven boats C0～C3Or the first to fourth buoys with powerDevice D0～D3。
As a further limitation: the first to fourth buoy devices D with power0～D3First to fourth sensing buoys Q0～Q3；
The first to fourth sensing buoys Q0～Q3The structure is the same, the device is a hollow cylindrical shell structure and comprises a floater cabin, a control cabin, a power cabin, a sensor cabin and a battery cabin which are sequentially arranged from top to bottom;
the positioning device comprises a GPS/Beidou positioning module and an antenna, the sensor array comprises N sensors, the antenna and the signal sending device are arranged in the floater cabin, the sensor preamplifier, the singlechip preprocessing circuit and the GPS/Beidou positioning module are arranged in the control cabin, the power device is arranged in the power cabin, the N sensors are uniformly arranged on the side wall of the sensor cabin in the circumferential direction, and the power supply is arranged in the battery cabin;
wherein N is more than or equal to 4 and less than or equal to 8.
As a second limitation: the signal receiving device adopts a wireless data transmission radio station or a Beidou system short message receiving device, and the signal sending device adopts a wireless data transmission radio station or a Beidou system short message sending device.
The utility model discloses owing to adopted foretell technical scheme, it compares with prior art, and the technical progress who gains lies in:
(1) the utility model fully considers the requirements of design training during navy ocean training and ocean convoy, and the provided target scoring system has low cost, high precision, high automation, and is convenient to carry, lay and recover;
(2) the utility model provides a target-scoring system is sturdy and durable, has high reliability, is fit for the army to train on-the-spot harsh environment and uses
(3) The sensor carrier of the utility model is a remote control boat, a manually driven boat or a buoy device with power, and has various forms and strong applicability;
(4) the sensor carrier of the utility model is provided with the power cabin, which can provide power for the sensor carrier and can finely adjust the position of the sensor carrier, so that the position is kept unchanged after the sensor carrier is arranged, and the accuracy of the target scoring system is further improved;
(5) the sensor carrier buoy of the utility model is provided with the sensor cabin, and four to eight sensors are evenly distributed along the circumferential direction of the sensor cabin, so as to ensure that seismic signals transmitted from any direction can be reliably received and processed;
(6) the sensor carrier of the utility model is an integral body, has simple structure, small volume and weight, is convenient for carrying and keeping by warships and has good maintenance; when in use, the helicopter or the yacht is arranged or drives at a corresponding position by self, so that the arrangement is convenient; after the shooting is finished, the speedboat or the helicopter is dispatched according to the position sent by the positioning device, so that the sensor carrier buoy can be conveniently recovered, is easy to find when being recovered and is not easy to lose;
(7) the utility model provides a target-scoring system, the commonality is good, is applicable to the naval gun target-scoring of multiple bore and shooting speed;
(8) the target-scoring method realized by adopting the utility model belongs to non-contact real-time target scoring, after the shot explodes, the shot position and the target-scoring time can be calculated immediately, thereby the shooting error is calculated immediately, the artillery data is corrected in time, and the correction purpose can be realized by adopting a projectile; especially, in wartime, the gun shooting precision can be conveniently and quickly corrected in advance, the target scoring efficiency, precision and safety of gun shooting training and exercise of naval ships and warships can be greatly improved, and the training cost is reduced.
The utility model belongs to the technical field of military training equipment and water acoustics technical field, the training aiding when can extensively be used for general shooting training of naval vessel and ocean cruise.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention.
In the drawings:
fig. 1 is a schematic structural diagram of a sensing buoy according to an embodiment of the present invention;
fig. 2 is a coordinate diagram in the calculation method according to the embodiment of the present invention.
In the figure: 1. the device comprises a floater cabin, 2 a control cabin, 3 a power cabin, 4a sensor cabin, 5 and a battery cabin.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for purposes of illustration and explanation only and are not intended to limit the invention.
Embodiment of the invention provides an automatic target scoring system for marine firing practice of a naval gun virtual target
The embodiment comprises an upper computer with built-in resolving software, a signal receiving device and first to fourth sensor carriers A0～A3。
And each sensor carrier is respectively provided with a corresponding sensor array, a sensor preamplifier, a singlechip preprocessing circuit, a positioning device and a signal sending device.
The positioning device is connected with the upper computer through the signal receiving device, and the positioning device sends the current position of the positioning device, receives the current position through the signal receiving device and sends the current position to the upper computer. The output end of the sensor array is connected with the single chip microcomputer preprocessing circuit through the sensor preamplifier, the single chip microcomputer preprocessing circuit is connected with the signal receiving device through the signal sending device and further connected with the upper computer, the sensor array outputs corresponding data to the sensor preamplifier after receiving the seismic wave signals, the sensor preamplifier amplifies the received data and then outputs the amplified data to the single chip microcomputer preprocessing circuit, and the single chip microcomputer preprocessing circuit preprocesses the received data and then sends the preprocessed data to the upper computer through the signal sending device and the signal receiving device. And the upper computer combines the received data and the position signal and utilizes built-in resolving software to calculate and obtain a conclusion.
In this embodiment, positioner includes big dipper orientation module and antenna, and signal receiving device adopts big dipper system short message receiving arrangement, and signal sending device adopts big dipper system short message sending device, and the sensor array includes eight sensors. In practical use, both the signal receiving device and the signal sending device can adopt wireless data transmission radio stations.
First to fourth sensor carriers A in the present embodiment0～A3First to fourth sensing buoys Q0～Q3。
For convenience of description, the first to fourth sensing buoys are illustrated as the same structure in this embodiment. As shown in fig. 1, the first to fourth sensing buoys are all hollow cylindrical shell structures, and include a float cabin 1, a control cabin 2, a power cabin 3, a sensor cabin 4 and a battery cabin 5, which are sequentially arranged from top to bottom. The positioning antenna and the communication antenna are arranged in the floater cabin 1, and the floater cabin 1 provides buoyancy for the sensing buoy; the sensor preamplifier, the singlechip preprocessing circuit and the Beidou positioning module are arranged in the control cabin 2; a control device is further arranged in the control cabin 2, a power device is arranged in the power cabin 3, the power device comprises two electric propellers, and power is provided for the sensing buoy through the two electric propellers; the eight sensors are uniformly arranged on the side wall of the sensor cabin 4 in the circumferential direction, so that seismic signals transmitted from any direction can be reliably received and processed; a power supply is provided in the battery compartment 5 to provide power to other components on the sensing buoy.
The position coordinates are set for the sensing buoy through the shooting ship, when the sensing buoy deviates from the designated position due to external interference of ocean currents, wind power and the like, a positioning device on the sensing buoy detects the offset, then a control device of the buoy drives two electric propellers, and the moving direction and speed of the sensing buoy are adjusted by differentially adjusting the rotating speed of the two propellers, so that the position of the sensing buoy can be finely adjusted, and the sensing buoy can be kept unchanged after being arranged.
During actual use, the Beidou positioning module can be replaced by the GPS positioning module. The embodiment is only described by taking an example that the sensor array comprises eight sensors, and the number of the sensors can be changed according to needs in actual use, and the number of the sensors is preferably four to eight.
The method for automatically reporting the target of the virtual target marine firing practice of the naval gun realized by the embodiment is carried out according to the following steps,
firstly, setting the coordinate of a marine virtual shooting target as P in an upper computerT( XT,YT) Randomly arranging the first to fourth sensing buoys on the sea surface near the marine virtual shooting target by using a helicopter or a yacht;
second, first to fourth sensing buoys Q0～Q3Determining respective synchronized clocks and coordinates (X) by respective positioning devices0,Y0)、(X1,Y1) (X2,Y2) (X3,Y3) And sent to an upper computer;
secondly, in training, commanding the cannonball to aim at a virtual shooting target at sea for shooting, wherein due to the fact that shooting has errors, the actual cannonball drop point coordinate is P (X, Y);
third, first to fourth sensing buoys Q0～Q3The seismic waves generated in seawater during the explosion of the shells are detected in real time through the corresponding sensor arrays, and the seismic waves are transmitted to the first to fourth sensing buoys Q from the actual dropping point coordinates P (X, Y) of the shells0～Q3Time T of0～T3Sending the data to an upper computer;
fourthly, the upper computer calculates the actual dropping point coordinates P (X, Y) of the cannonball and the propagation velocity V of the seismic wave in the sea water through the built-in calculation softwareSFurther calculating the shooting error E according to the actual cannonball drop point coordinate P (X, Y)X=X-XT；EY=Y-YT；
And fifthly, after shooting is finished, sending out a speedboat or a helicopter to recover the sensing buoy according to the position sent by the sensing buoy positioning device.
In the above process, the fourth step includes the following steps,
a1 calculating the drop point P (X, Y) of cannonball to the first to the fourth sensing buoys Qi(Xi,Yi) Distance L ofiThen, then
Formula I;
the calculated seismic waves are transmitted to the first to fourth sensing buoys from the cannonball falling point P (X, Y)Qi(Xi,Yi) Time of
Then, then
a2 transmitting the calculated seismic wave from the drop point P (X, Y) to QJ(XJ,YJ) Time and transmission to Q of (J =1,2,3)0(X0,Y0) Has a time difference of
a3, X, Y, V resolved from formula IIISObtaining the actual coordinates P (X, Y) of the drop point of the cannonball and the propagation velocity V of the seismic wave in the seawaterS；
In step a1-A3, i =0,1,2,3, J =1,2, 3.
In the calculation process of the embodiment, the first to fourth sensing buoys Q0～Q3Approximately in the same horizontal plane. If more accurate calculation is desired, spherical correction may also be performed.
In actual use, the first to fourth sensor carriers A0～A3Remote control boats, manually operated boats or other self-powered buoy devices may also be used.
Similarly, if the sensor carrier adopts other buoy devices with power, the sensor carrier is also laid and recovered by a helicopter or a yacht; if the sensor carrier adopts a remote control boat or a manually-driven boat, the sensor carrier is laid and recovered in a remote control or manual driving mode.
Claims (4)
1. The utility model provides an automatic target scoring system of virtual target marine firing practice of naval gun which characterized in that: comprises an upper computer with built-in resolving software, a signal receiving device and first to fourth sensor carriers A0～A3Each of the sensorsThe device carrier is respectively provided with a sensor array, a sensor preamplifier, a singlechip preprocessing circuit, a positioning device and a signal sending device which correspond to the device carrier;
the positioning device is connected with the upper computer through the signal receiving device, and the positioning device sends the current position of the positioning device, receives the current position through the signal receiving device and sends the current position to the upper computer;
the output end of the sensor array is connected with the single chip microcomputer preprocessing circuit through a sensor preamplifier, the single chip microcomputer preprocessing circuit is connected with the signal receiving device through a signal sending device and further connected with the upper computer, the sensor array outputs corresponding data to the sensor preamplifier after receiving the seismic wave signal, the sensor preamplifier amplifies the received data and then outputs the amplified data to the single chip microcomputer preprocessing circuit, and the single chip microcomputer preprocessing circuit preprocesses the received data and then sends the preprocessed data to the upper computer through the signal sending device and the signal receiving device;
and the upper computer combines the received data and the position signal and utilizes built-in resolving software to calculate and obtain a conclusion.
2. The automatic target scoring system for marine firing practice of cannon virtual targets as claimed in claim 1, wherein: first to fourth sensor carriers A0～A3Adopting a first to a fourth remote control boat B0～B3First to fourth manually driven boats C0～C3Or the first to fourth self-powered buoy devices D0～D3。
3. The automatic target scoring system for marine firing practice of cannon virtual targets as claimed in claim 2, wherein: the first to fourth buoy devices D with power0～D3First to fourth sensing buoys Q0～Q3；
The first to fourth sensing buoys Q0～Q3The structure is the same, the device is a hollow cylindrical shell structure and comprises a floater cabin, a control cabin, a power cabin, a sensor cabin and a battery cabin which are sequentially arranged from top to bottom;
the positioning device comprises a GPS/Beidou positioning module and an antenna, the sensor array comprises N sensors, the antenna and the signal sending device are arranged in the floater cabin, the sensor preamplifier, the singlechip preprocessing circuit and the GPS/Beidou positioning module are arranged in the control cabin, the power device is arranged in the power cabin, the N sensors are uniformly arranged on the side wall of the sensor cabin in the circumferential direction, and the power supply is arranged in the battery cabin;
wherein N is more than or equal to 4 and less than or equal to 8.
4. The automatic target scoring system for marine firing practice of cannon virtual targets according to any one of claims 1 to 3, characterized in that: the signal receiving device adopts a wireless data transmission radio station or a Beidou system short message receiving device, and the signal sending device adopts a wireless data transmission radio station or a Beidou system short message sending device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021167659.3U CN212274732U (en) | 2020-06-22 | 2020-06-22 | Automatic target-scoring system for marine firing practice of warship cannon virtual target |
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| CN202021167659.3U CN212274732U (en) | 2020-06-22 | 2020-06-22 | Automatic target-scoring system for marine firing practice of warship cannon virtual target |
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