JP2001091196A - Passive impact orienting apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain a passive impact orienting apparatus capable of automatically orienting an impact position by detecting an explosion sound of the impact simply at a low cost with excellent safety. SOLUTION: Microphones are provided at least three observation points. An explosion sound generated when a shell is impacted at the respective points is detected by the microphones, and a position of the impact is oriented from the sound detecting time, a distance between the observing points and a sonic speed at the positions.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a passive impact locating device for locating an impact position used in a system requiring observation of impact of a shell.

[0002]

2. Description of the Related Art FIG. 5 shows an example of a system to which a passive impact locating device is applied. This system is used to locate an impact position by a passive impact location device 49 installed at a plurality of observation points when a bullet 51 fired from a gun 50 reaches an impact point 1.

FIG. 6 is a block diagram showing a conventional impact locating device. In the figure, reference numeral 54 denotes an imaging camera which captures the incident light 52 from the direction of the impact point 1 of the shell, 57 denotes an observation status display which inputs a video signal 56 from the imaging camera 54 and displays and outputs an observation status 58, and 59 denotes a measurement status display. In response to the input of the distance command 63, a laser distance measuring device emits a distance measuring laser beam 53 to measure the distance to the impact point 1 and outputs a laser impact distance 62. Reference numeral 61 denotes an imaging camera 54 and a laser distance measuring device 59. The mounting bases are mounted via the camera position adjusting mechanism 55 and the laser position adjusting mechanism 60, respectively, and are movable by a direction control command 64.

[0004] A conventional impact locating device is constructed as described above and operates as follows. Incident light 52 of imaging camera 54
The camera position adjusting mechanism 55 and the laser position adjusting mechanism so that the visual axis direction, which is the direction, and the laser optical axis, which is the direction of the distance measuring laser beam 53 of the laser telemeter 59, are directed in the same direction on the mounting base 61. Attached via 60. Therefore, the incident light 52 including the impact point 1 is imaged by the imaging camera 54, and the impact point 1 is observed from the observation status 58 of the output of the observation status indicator 57, and the direction of the observed impact point 1 is obtained. By inputting the direction control command 64 in such a manner to move the mounting base 61 and thereafter inputting the distance measurement command 63, the laser impact observation distance 62 can be measured from the laser telescope 59.

FIG. 7 is a diagram showing a method of operating a conventional landing target device. In FIG. 7, reference numeral 65 denotes a laser optical axis direction whose direction has been adjusted so as to match the visual axis direction of the imaging camera 54. FIG. 7A shows an observation state 58 at the time of impact, in which the observed impact point 1 is located at a position shifted from the laser optical axis direction 65. FIG. 7B shows a state in which the mounting base 61 is moved by a direction control command 64 so that the laser telescope 59 can be measured, and the observed impact point 1 matches the laser optical axis direction 65. It shows.
As described above, in the conventional impact location device, the impact point 1 is detected from the observation situation 58 at the time of impact, and the mounting base 61 is moved so that the laser optical axis direction 65 coincides with the impact point 1 direction. The laser telescope 59 is used to measure the laser impact observation distance 62. By using two or more such landing location devices at distant observation positions, it is possible to locate the landing position from the distance from each observation position to the observed landing point.

[0006]

In the above-described conventional impact locating device, laser telemetry is an active observation means capable of measuring a long distance in the direction of the impact point observed by the imaging camera 54. The device 59 is used. The laser telemeter 59 capable of long-distance measurement has a large output and is erroneously detected. From the aspect of safety for the human body at the time of malfunction, it is difficult to automate from the detection of the direction of the impact point observed by the imaging camera 54 to the distance measurement. For this reason, there was a problem that it was dangerous work near the landing, but the operator had to perform the operation.
In addition, for distance measurement, an operation and a configuration for precisely aligning the laser optical axis direction 65 with the direction of the impact point are necessary, and together with the laser telemeter 59 capable of long distance measurement, an expensive device is required. There was a problem of becoming.

The present invention has been made in order to solve such a problem, and uses only the explosion sound generated when a shell is landed. This eliminates the need for the operator to carefully watch the direction of the shell. By applying a low-cost microphone as a sensor, a simple configuration with less directivity restrictions is possible, and by eliminating safety issues, low-cost,
With a simple configuration that is easy to handle, regardless of day or night,
It is an object of the present invention to obtain a passive impact locating device that enables unmanned operation and automatic measurement of an impact position.

[0008]

According to a first aspect of the present invention, there is provided a passive hitting position locating device comprising: at least three positioning microphones disposed at a distance from each other for passively detecting an explosion sound generated when a bullet is hit; A position sensor for detecting the position of the orientation microphone, an explosion sound detecting means for detecting each explosion sound from an acoustic signal output from the orientation microphone, and outputting respective detection timings, and a detection timing from the explosion sound detection means. Each,
Reference time generation means for generating each detection time, time difference detection means for detecting each detection time difference from the detection time from each of the reference time generation means, and a sound velocity table recording the sound propagation velocity of the atmosphere And a landing observation distance difference calculating means for calculating each landing observation distance difference from the output of the time difference detection means and the output of the sound velocity table; and detecting the observation distance from the output of each of the position sensors. And an impact position locating operation means for locating an impact position based on an output of the impact observation distance difference calculating means and an output of the position difference detecting means.

Further, a passive lander locating apparatus according to a second aspect of the present invention comprises an atmospheric temperature detecting means for automatically obtaining a sound propagation speed of the atmosphere which changes according to the atmospheric temperature, instead of the sound velocity table, and an atmospheric sound detecting means. Sound speed calculating means for calculating the sound speed.

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 FIG. 1 is a configuration diagram showing Embodiment 1 of the present invention. In the figure, reference numeral 1 denotes an impact point, 2 denotes an explosion sound A generated from the impact point toward one observation point from the impact point, 3 denotes an explosion sound generated toward another observation point B, and 4 denotes a further observation point direction. Explosion sound C, 5
Is a location microphone (hereinafter referred to as a location microphone) that inputs a bomb sound and outputs an acoustic signal. At a certain observation point, an acoustic signal A7 is output in response to the input of the bomb sound A2, and the other observation points function similarly. . Reference numeral 6 denotes a position sensor that detects the position of the observation point of the orientation microphone 5 and outputs the detection position. The position sensor 6 outputs a detection position A10 at one observation point.
Other stations work similarly. Reference numeral 13 denotes an explosion sound detection circuit that detects an explosion sound from an acoustic signal and outputs a detection timing. The explosion sound detection circuit 13 outputs a detection timing A14 in response to an input of the acoustic signal A7 at one observation point, and functions similarly at other observation points. . A reference time generator 17 outputs the occurrence time of the detection timing as the detection time. The reference time generator outputs the detection time A18 in response to the input of the detection timing A14 at a certain observation point, and functions similarly at other observation points. . Here, the orientation microphone 5, the position sensor 6, the explosion sound detection circuit 13, and the reference time generator 17 are installed and used at different observation points, respectively, and the detection time and the detection position at each observation point are used. Is output. Although input and output signals at each observation point are distinguished by adding A and B, the physical meaning and operation are the same. 21 is each detection time A
18, a detection time B19 and a detection time C20, a time difference detection circuit for detecting a time difference between the respective detection times and outputting a detection time difference 22; An arrival observation distance difference calculating circuit for obtaining an impact observation distance difference 25 at the detection point 26 receives a detection position A10, a detection position B11, and a detection position C12 and inputs the detection distance A2.
A position difference detecting circuit 28 for detecting and outputting 7, and receives a landing observation distance difference 25 and an inter-observation distance 27 and receives a landing target position 29.
Is a sound velocity position calculating circuit for calculating and outputting the sound velocity, 30 is a display for displaying the measured landed position 29, 32 is a sound velocity that stores the sound velocity set by the setting input 31 and outputs a sound velocity 23 It is a table.

The principle of locating the hit position of the passive hitting position locating device configured as described above will be described with reference to FIGS. 3 and 4. FIG. FIG. 3 is a diagram showing an example of an observation system model for explaining the principle of the landing position locating. In FIG. 3, reference numeral 37 denotes an X-direction coordinate axis of the observation system position, 38 denotes a Y-direction coordinate axis of the observation system position, and 39 denotes an observation point A, which is one observation point.
Is an observation point B, 41, which is another observation point at a position distant from the observation point A, and is an observation point C, 42, which is another observation point.
Is an equidistant range between the impact point 1 and the observation point A39; 43 is an observation distance AB between the observation point A39 and the observation point B40;
Is the distance A between observation points between observation point A39 and observation point C41.
C and 45 are the distance between the landing point 1 and the observation point A39 and the landing point 1
And the observation point difference A, which is the difference between the distance from the observation point B40
B, 46 are the distance between the landing point 1 and the observation point A39 and the landing point 1
Landing distance difference A that is the difference between the distance between
C.

Further, the coordinates of the impact point 1 are represented by T (xT, y
T), the coordinates of the observation point A39 are represented by A (0,0), and the observation point B4
The coordinate of 0 is B (LO, 0), and the coordinate of observation point C41 is C
(LO ', 0). When the observation position near the impact point 1 is the observation point A39, the observation point B40, and the observation point C41, and the observation point A39, the observation point B40, and the observation point C41 are on the X-direction coordinate axis 37, the observation point B40 And observation point C4
The inter-observation distance AB43 and the inter-observation distance AC44 from the first observation point A39 are LO and LO ', respectively. Further, the equation of sound propagation at time t from the impact point 1 is given by the following equation for an arbitrary point (x, y), where V is the sound velocity since the sound spatially expands in a circular shape. .
Here, Vt indicates the sound arrival distance.

[0013]

(Equation 1)

At time ta after the impact, the explosion sound A2
Arrives at the observation point A39, so that (x, y) contains A (0,
0) to obtain the following equation. Here, Vta indicates the distance between the impact point 1 and the observation point A39, and since the sound propagates in a circular shape, the equidistant range 42 between the impact point 1 and the observation point A39 is a circle having a radius Vta.

[0015]

(Equation 2)

Similarly, after reaching the observation point A39, at the observation points B40 and C41, the detection time differences Δt and Δ
Since the explosion arrives after a delay of t ', B
Substituting (LO, 0) and C (LO ', 0) respectively yields the following equation. Here, V (ta + Δt) and V (ta + Δt ′) indicate the distances between the landing point 1 and the observation points B40 and C41, respectively.

[0017]

(Equation 3)

[0018]

(Equation 4)

Further, LO and L, which are the distance AB43 between observations and the distance AC44 between observations, are obtained from the geometrical relationship of each position.
The following equations are obtained for O ′.

[0020]

(Equation 5)

[0021]

(Equation 6)

Further, when the landing observation distance difference AB45 and the landing observation distance difference AC46 are m and m ', respectively, they are given by the following equations.

[0023]

(Equation 7)

[0024]

(Equation 8)

Here, the following condition is given as an example.

[0026]

(Equation 9)

[0027]

(Equation 10)

From the above relational formulas, the curve of the landing location determined from the observation system of the observation point A39 and the observation point B40 and the curve of the landing location determined from the observation system of the observation point A39 and the observation point C41. Are obtained by the following equations.

[0029]

[Equation 11]

[0030]

(Equation 12)

FIG. 4 shows a method for processing the location of a bullet. In the drawing, reference numeral 47 denotes a landing location curve which is located from the observation system of the observation points A and B, and 48 denotes an observation point A and an observation point C.
Is a landing location curve which is located from the observation system of FIG. As shown in the figure, the landing location can be determined as the intersection of the landing location curves located from each of the combined observation systems. Therefore, the observation distance, which is the product of the sound velocity and the detection time difference, which is the distance between the positions of each observation point, which is the data necessary for obtaining the landing position curve in the observation system. Measurement of the position coordinates of the observation point,
By inputting the sound velocity and detecting the explosion sound detection time difference, it is possible to realize a passive landing target device capable of positioning the landing position.

The operation of the passive impact locating device configured as shown in FIG. 1 based on the above principle will be described. The explosion sound generated from the impact point 1 is acquired by the orientation microphone 5 installed at each observation point, and the explosion sound reaching circuit is detected by the explosion sound detection circuit 13 from the acoustic signal output from the orientation microphone 5. Upon receiving the output, the reference time generator 17 determines the detection time. The position sensor 6 outputs the position coordinates of the orientation microphone 5 at each observation point as a detection position. In this way, the detection time and detection position are obtained at each observation point,
The time difference detection circuit 21 receives the detection time from each observation point as input.
, And the product of the detected time difference 22 and the sound velocity 23 from the sound velocity table 32 set in advance is calculated by the landing observation distance difference 2.
Calculate as 5. In addition, a detection position from each observation point is input, and a distance between observations 27 is obtained by a position difference detection circuit 26.
Receiving the input 25 of the impact observation distance difference and the observation distance 27,
The landing position calculating circuit 28 obtains the landing position 29 from the coordinates of the landing position curve and the intersection thereof, and the positioning result 29 as the positioning result is displayed on the display 30. In this way, a passive impact locating device that can automatically locate an impact position by detecting explosive sounds from impact points at a plurality of observation points is configured.

Embodiment 2 FIG. FIG. 2 is a configuration diagram showing a second embodiment of the present invention. 1 to 30 in FIG.
Is the same as Reference numeral 34 denotes an atmospheric temperature sensor for measuring an atmospheric temperature 35 of the atmosphere 33, and reference numeral 36 denotes a sound speed calculation circuit for obtaining the sound speed 23 from the atmospheric temperature 35.

The operation of the passive hitting and locating device configured as described above will be described. The sound propagation speed in the atmosphere changes depending on the atmospheric temperature.
(M / s) and the ambient temperature θ (° C.), the sound velocity 23 is obtained by the following equation.

[0035]

(Equation 13)

Accordingly, by obtaining the high temperature at the observation time by the high temperature sensor 34 and applying the sound velocity 23 obtained by the sound velocity calculation circuit 36 to the landing observation distance difference calculation circuit 24,
A passive impact location device capable of coping with the variability of sound speed due to the high temperature is constructed.

[0037]

According to the first aspect of the present invention, since only the explosive sound generated when a shell is hit is used, a low-cost microphone can be used as a sensor to enable a simple configuration with less directivity restrictions. Since a passive sensor can be applied and an unmanned operator can be configured at the observation point, it is possible to automatically measure the landing position with a simple configuration that is excellent in safety, low in cost and easy to handle.

Further, according to the second aspect of the present invention, since it is possible to cope with the variability of the sound velocity due to the high air temperature which causes an observation error, it is possible to automatically measure the landing position with high observation accuracy.

[Brief description of the drawings]

FIG. 1 is a diagram showing a first embodiment of a passive impact locating device according to the present invention.

FIG. 2 is a diagram showing a second embodiment of the passive landing target device according to the present invention;

FIG. 3 is a diagram showing an example of an observation system model for explaining the principle of the landing position locating of the present invention.

FIG. 4 is a diagram showing a method for processing a landing position of the present invention.

FIG. 5 is a diagram showing an example of a system to which a passive landing target device is applied.

FIG. 6 is a view showing a conventional impact locating device.

FIG. 7 is a view showing an operation method of a conventional landing target device.

[Explanation of symbols]

1 Attack point, 2 Explosion A, 3 Explosion B, 4 Explosion C, 5
Orientation microphone, 6 position sensor, 13 explosion sound detection circuit, 17 reference time generator, 21 time difference detection circuit,
24 Arrival observation distance difference operation circuit, 26 Position difference detection circuit, 28 Ammunition position locating operation circuit, 30 Display, 32
Sound velocity table, 34 high temperature sensor, 36 sound velocity calculation circuit, 49 passive lander, 50 gun,
51 shell, 54 imaging camera, 55 camera position adjustment mechanism, 57 observation status display, 59 laser telescope, 60
Laser position adjustment mechanism, 61 Mount base.

Claims (2)

[Claims] At least three orienting microphones disposed at a distance from each other for passively detecting an explosive sound generated when an ammunition is hit, a position sensor for respectively detecting the positions of the orienting microphones, and the orienting microphone. Explosive sound detection means for detecting each explosion sound from the acoustic signal output from the microphone, and outputting each detection timing, and reference time generation means for receiving each detection timing from the explosion sound detection means and generating each detection time, A time difference detecting means for detecting each detection time difference from the detection time from each of the reference time generating means, a sound velocity table recording the sound propagation velocity of the atmosphere, an output of the time difference detecting means and the sound An impact observation distance difference calculating means for calculating an impact observation distance difference from the output of the speed table; A position difference detecting means for detecting an inter-observation distance from a force; and a landing position locating calculating means for locating a landing position from an output of the landing observation distance difference calculating means and an output of the position difference detecting means. A passive hitting target locating device, characterized in that: 2. A location microphone for passively detecting an explosion sound generated when a shell is hit, at least three location microphones at a distance, a location sensor for detecting the location of each location microphone, and the location sensor. Explosive sound detection means for detecting each explosion sound from the acoustic signal output from the microphone, and outputting each detection timing, and reference time generation means for receiving each detection timing from the explosion sound detection means and generating each detection time, A time difference detection means for detecting each detection time difference from a detection time from each of the reference time generation means, an atmospheric temperature sensor for measuring an atmospheric temperature, and a sound velocity calculated from the atmospheric temperature of the output of the atmospheric temperature sensor. Sound velocity calculating means, and an output of the time difference detecting means and an output of the sound velocity calculating means are used to calculate the respective landing observation distance differences. Means for calculating the difference in the observed landing distance,
Position difference detecting means for detecting an inter-observation distance from the output of each of the position sensors; and a landing position locating method for locating a landing position based on an output of the landing observation distance difference calculating means and an output of the position difference detecting means. A passive hitting target locating device comprising a calculating means.