JP2004020039A - Small arm shooting evaluating system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a small arm shooting evaluating system in which a shooter concentrates on only a shooting, the shooter recognizes the shooting result of the shooter immediately and accurately, and a shooting instructor give an appropriate instruction to the shooter. <P>SOLUTION: A cover board for covering air conveying shock wave generated from the vicinity of an adjacent lane is set in the vicinity of an acoustic sensor detecting the air conveying shock wave and thereby only the air conveying shock wave from a bullet reaching the vicinity of the lane of the shooter is detected. A discharge sensor 5 for detecting the shooting and a detection timing measurement counter are set at the shooter's side. An impact area detection timing measurement counter and an acoustic sensor for detecting bullet speed are arranged in a prescribed area. The air conveying shock wave of the bullet of the adjacent lane is covered with the cover board and only the bullet shot by the shooter is extracted. Therefore, a lot of shooters conduct a fire training at the same time in a shooting range whose the distances between lanes are narrow. <P>COPYRIGHT: (C)2004,JPO

Description

【００２２】
また、弾丸を非接触で検出するため、隣接する他の標的に飛来した弾丸が生成した空気搬送衝撃波を検出しないようにするため、および、４つの音響センサ１１が全て同一の弾丸から発生する空気搬送衝撃波を検出するようにするため、遮蔽板１２を各音響センサ１１の近傍に設置している。
【００２３】
また、遮蔽板１２は、空気搬送衝撃波が反射して音響センサが反射波を誤検出しないように、ウレタン系のクッションを取り付けてある。また、４つの音響センサ１１うち最も早く空気搬送衝撃波を検出した時のタイミングを計測するカウンタ５８を有している。
【００２４】
標的駆動装置３は、標的１の軸を挿入固定する挿入部と、挿入部を回転することにより標的１を隠顕駆動するモータと、モータを駆動制御するモータ制御回路と、標的１の現出状態および隠滅状態を検出する近接センサと、標的現出タイミングを計測したり弾着位置計測装置２にて弾着を検出したタイミングを計測するカウンタと、弾着位置計測装置２にて計測した弾丸速度や弾着位置に関する情報を入手する通信回路と、射座用表示ユニット４や射撃監督部用表示ユニット８および射撃データ処理器９との通信を行う通信制御部から構成されている。
【００２５】
また、標的駆動装置は、屋外に設置するため、直射日光による温度上昇からモータ制御回路とカウンタと通信回路と通信制御部などの電子回路を保護するため、および電子回路をモータの駆動ノイズから保護するために、前記電子回路を収納する電子回路筺体と、モータと近接センサと電子回路筺体を収納する装置筺体と、電子回路筺体と装置筺体の間に遮温効果を持たせるための空気層と、内部発熱および直射日光の放射熱により暖められた空気層を強制的に排気するための排気ファンを設けた二重構造としている。
【００２６】
射座用表示ユニット４は、発射センサ５にて検出した射撃のタイミングを計測するカウンタと、標的駆動装置３と射撃指示部用表示ユニット６と射撃監督部分用ユニット８および射撃データ処理器９との通信を行う通信制御部と、弾着位置計測装置２にて計測した弾丸速度や弾着位置と、標的駆動装置３にて計測した標的現出タイミングや弾着検出タイミング、およびカウンタにて計測した射撃タイミングから自弾を弁別して、かつ射撃位置による撃ち込み角度による弾着位置の補正計算を行い採点を行う演算処理部と、演算処理結果を表示する液晶表示部から構成されている。
【００２７】
液晶表示部は、演算結果を実際に表示する液晶モジュールと、液晶表示部内の空気を循環して液晶表示部の低温時の結露発生を防止する空気循環ファンと、低温時に液晶モジュールを暖めるヒータと、ヒータを低温時のみ動作させるための温度スイッチと、液晶制御回路から構成されている。
【００２８】
また、液晶表示部は屋外に設置しても表示内容を視認できるよう可動式で、且つ液晶表示部の直射日光からの温度上昇を防止するため、カバーを設けた構造である。また、カバーは直射日光が液晶表示部の１部分にのみ照射することにより、日光照射部と日陰部分の照度差による視認性の低下を防止するために可動する構造としている。
【００２９】
また、直射日光による温度上昇からカウンタや通信制御部や演算処理部などの電子回路を保護するため、および電子回路自体の自家発熱による周囲温度上昇を防止するため、前記電子回路を収納して内部発生熱を放熱する電子回路部筺体と、電子回路筺体内部の空気を対流させる対流ファンと、電子回路部筺体を収納する装置筺体と、電子回路体筺体と装置筺体の間に遮温効果を持たせるための空気層と、内部発熱および直射日光の放射熱により暖められた空気層を強制的に排気するための排気ファンを設けた二重構造としている。また、射撃場の複数ある射座のどこにでも設置できるよう可搬型の構造となっている。
【００３０】
発射センサ５は、射座用表示ユニット４に接続され、射手が射撃した際に発生する射撃音を検出する音響センサ１１と、検出した音が発射センサ５の近傍で発生した射撃音であることを判定するための判定回路から構成される。
【００３１】
射撃指示部用表示ユニット６は、射座用表示ユニット４と射撃データ処理器９との通信を行う通信制御部と、モニタする射座用表示ユニット４を選択するための操作ボタンと、射座用表示ユニット４から入手した表示結果を表示する液晶表示部から構成されており、射座用表示ユニット４と同様の構造である。
【００３２】
射撃監督部用表示ユニット８は、標的駆動装置２と射座用表示ユニット４および射撃データ処理器９との通信を行う通信制御部と、遠隔操作端末７に接続して遠隔操作端末７にて設定した標的の動作を入手する設定入手部と、モニタしたい射座用表示ユニット４を選択したり、任意の射座用表示ユニット４の制御を遠隔操作するための操作ボタンと、射座用表示ユニット４から入手した表示結果や射座用表示ユニットの制御内容を表示する液晶表示部などから構成されており、射座用表示ユニット４と同様の構造である。
【００３３】
射撃データ処理器９は、標的駆動装置２と射座用表示ユニット４と射撃指示部用表示ユニット６および射撃監督部用表示ユニット８との通信を行う通信制御部と、射座用表示ユニット４の表示結果を随時保存する補助記憶部と、補助記憶部に保存したデータを管理したり、標的駆動装置２と射座用表示ユニット４と射撃指示部用表示ユニット６および射撃監督部用表示ユニット８の動作状況を管理する管制部と、射撃データ処理器９は、弾着位置計測および採点に必要な条件を入力したり補助記憶部に保存したデータを選択するための入力部と、入力部で入力した結果や補助記憶部に保存した射座用表示ユニット４の表示結果を表示する表示部と、入力部にて入力した結果や補助記憶部に保存した射座用表示ユニット４の表示結果を印字出力する印字装置と、電源瞬断から補助記憶部を保護するための無停電電源装置と、各機器間のカウンタの誤差を補正するためのカウンタなどから構成されている。
【００３４】
通信回線１０は、標的駆動装置２と射座用表示ユニット４と射撃指示部用表示ユニット６と射撃監督部用表示ユニット８および射撃データ処理器９の間の通信を行う。通信回線１０は、通信ラインと、各機器と通信ラインとを接続するための接続ボックスと、通信ラインを分岐するための分岐ボックス５５から構成される。
【００３５】
各機器間の通信形態が、多対多のため、通信回線１０はローカルエリアネットワークの一種であるイーサネットを使用している。また、可搬型の射座用表示ユニット４と射撃指示部用表示ユニット６と射撃監督部用表示ユニット８は任意の射座の接続ボックス５４に接続して使用する。
【００３６】
次に、本実施形態の射場への設置について説明する。図３は、本発明の第１の実施形態に係わる小火器射撃評価システムの各機器を設置する位置および射場の構成を示す図である。図３（ａ）は射座の鳥瞰図、図３（ｂ）は監的の鳥瞰図である。
【００３７】
射場には、射撃を実施する少なくとも１つ以上の射座があり、射撃の的を設置する監的がある。監的には、２人以上の射手が同時に射撃できるよう、２つ以上の標的１と、２つ以上の弾着位置計測装置２と、２つ以上の標的駆動装置３とが設置される。
【００３８】
各射座には、２人以上の射手が各々射撃した結果を確認できるように、２つ以上の射座用表示ユニット４と、各射手の射撃を監視するための２つ以上の発射センサ５と、各射手の射撃を指導する射撃指示部が各射手の射撃結果を確認するための１つ以上の射撃指示部用表示ユニット６と、射撃監督部が標的駆動装置３の動作を設定するための１つ以上の遠隔操作端末７と、遠隔操作端末７に接続して遠隔操作端末７にて設定した標的の動作を標的駆動装置３に指示し、かつ、射座用表示ユニット４の制御を遠隔操作する１つ以上の射撃監督部用表示ユニット８とが設置される。
【００３９】
また、射座用表示ユニット４と、射撃指示部用表示ユニット６と、射撃監督部用表示ユニット８とを接続するための接続ボックス５４および分岐ボックス５５が設置される。そして、この射座と監的の各機器間を通信ラインで結んでいる。
【００４０】
次に、本実施形態の動作について説明する。図４に本実施形態の動作フローを記す。まず射撃データ処理器９で、射撃訓練時の複数の標的動作パターンと、射撃訓練を実施する複数の射群構成と、射手の名前および射手の識別番号を補助記憶部に登録する。各射手の射撃訓練結果は全てこの識別番号により管理される。
【００４１】
射撃訓練は射撃を実施する１人以上の射群別に実施され、射撃監督部は射撃監督部用表示ユニット８を用いて、今から射撃訓練を実施する射群の射手識別番号を射撃データ処理器９から読み出し表示確認する。射群に変更がある場合は射撃監督部用表示ユニット８にて変更する。射撃監督部用表示ユニット８で射群の構成を変更・確認した後、各表示ユニット６に、これから使用する各射手の識別番号を転送する。
【００４２】
各射座用表示ユニット６は、射撃データ処理器９に対して自分に設定された識別番号を転送することにより、その識別番号に対応する射手名を要求する。射撃データ処理器９は、補助記憶部に記憶している現在使用中の射手識別番号を用いて、同一の識別番号が２台以上の射座用表示ユニット６に設定されているか否かを確認する。
【００４３】
同一識別番号があれば、その旨を射座用表示ユニットおよび射撃監督部用表示ユニットに通知し、各々の表示ユニットでメッセーシを表示し、同一識別番号がなければ、その番号に対応する射手名を応答すると共に、変更した結果を直ちに射撃データ処理器９の補助記憶部に反映する。各射座用表示ユニットは応答された射手名を表示し、各射手は自分の射座用表示ユニット６に表示された射手名を確認する。
【００４４】
次に、射撃監督部は、射撃訓練を実施するときの標的動作パターンを遠隔操作端末７で設定する。標的動作パターンの例を図５に示す。次いで、射撃監督部は射撃監督部用表示ユニット８の操作ボタンにより、射撃訓練の開始を射座用表示ユニット４に通知する。このとき、併せて設定入力部により遠隔操作端末７にて設定した標的動作パターンを読みだし、射座用表示ユニット４に通知する。
【００４５】
射座用表示ユニット４は、射撃監督部用表示ユニット８からの射撃訓練開始の指示により、訓練結果の画面表示処理を開始すると共に、標的駆動装置３に対して射撃訓練の開始を通知する。標的駆動装置３は、射座用表示ユニット４からの射撃訓練開始の通知により、射撃監督部用表示ユニット８からの標的駆動命令を有効とすると共に、弾着位置計測装置２に対して計測開始を通知する。
【００４６】
次に、射撃監督部は、遠隔操作端末７にて標的の動作パターンを開始する。遠隔操作端末７にて標的動作パターンの開始を指示すると、射撃監督部用表示ユニット８の設定入力部で標的動作の開始を検知し、標的動作パターンに従った標的駆動命令を標的駆動装置３に対して通知する。標的駆動装置３は、射撃監督部用表示ユニット８からの標的駆動命令に従い標的１を隠顕駆動する。
【００４７】
各射手は自分の標的１が見えたときに射撃を開始する。射手が射撃を行った際に、小火器がら発生する射撃音を射手近傍に設置した発射センサ５の音響センサ１１で検出してアナロク電気信号に変換し、判定回路で前記アナロク電気信号のレベルと信号出力の継続時間から、発射センサ５の近傍の射手が射撃を行ったと判断し射撃開始を射座用表示ユニット４に通知する。
【００４８】
射手が射撃した弾丸の空気搬送衝撃波は弾着位置計測部２で検出し、各音響センサ１１にて検出した検出時間およびカウンタにて計測した検出タイミングを標的駆動装置３に通知する。標的駆動装置３は、標的を駆動して標的現出状態にしたときのタイミング、および標的隠滅状態にしたときのタイミングを、カウンタを用いて計測し、弾着位置計測部２から通知された弾丸の検出タイミングから標的現出時に標的に到達した弾丸か否かの判定を行い、判定結果と弾着位置計測部２から通知された情報から成る弾丸情報を、射座用表示ユニット４に通知する。
【００４９】
標的現出隠滅の判定は、モータ１４が駆動した標的１が現出状態であるかを検知する近接センサと、隠滅状態であることを検知する近接センサと、標的１の動きに合わせて動く指示棒およびカウンタにて行う。指示棒を標的１が現出時に近接センサに近づくように、また、標的１が隠滅時に近接センサに近づくように配置する。
【００５０】
これにより、標的１が現出または隠滅状態の時に各センサから検知信号が出力する。カウンタは、各センサからの検知信号により、そのときの値を保持する。この値が標的現出タイミングおよび隠滅タイミングであり、これらのタイミングと、弾着位置計測部２から通知されたカウンタの弾丸検出タイミングにより、標的現出時に標的に到達した弾丸か否かの判定ができる。
【００５１】
射座用表示ユニット４は、図６に示すフローチャートに従い、弾着位置計算と採点および表示を行う。まず、発射センサ５で射撃を検知すると、着弾時間計測のタイマーが作動し（Ｓ１）、タイムアウト内のとき（Ｓ２）、弾着位置計測装置による衝撃波検知による弾丸情報を入手して（Ｓ３）、衝撃波検知時刻を算出する（Ｓ４）。タイムアウトのときは的外として直ちに着弾位置の座標選定がされる（Ｓ１４）。
【００５２】
着弾時間内か否かを判断し（Ｓ５）、時間内の場合に「的外」または「跳弾」でないことを確認し（Ｓ６）、仮着弾位置座標を算出する（Ｓ７）。時間外の場合は弾丸情報の有無を調べる（Ｓ１５）。この算出値に基づいて撃ち込み角を補正し（Ｓ８）、その他の弾丸情報がないことを確認して（Ｓ９）、着弾位置の座標を選定する（Ｓ１０）。次いで、採点が行なわれ（Ｓ１１）、表示座標上が示され（Ｓ１２）、表示される（Ｓ１３）。
【００５３】
すなわち、発射センサ５からの射撃開始通知を受け取ると直ぐにカウンタにて射撃タイミングを記憶し、標的駆動装置３からの弾丸情報を待つ。標的駆動装置３からの弾丸情報を入手すると、直ちにカウンタによる射撃タイミングと入手した弾丸情報から、その弾丸情報が発射センサ５にて検出した射撃によって発射された弾丸によって得られたものか否かを、後述する判定方法により判定する。
【００５４】
自分の弾丸であると判定した場合、後述する弾着位置計算および採点を行い、その計算結果を液晶表示部に、図７（ａ）のフォーマットで表示する。自分の弾丸でないと判定した場合、標的駆動装置３からの次の弾丸情報を待つか、または、発射センサ５からの次の射撃開始通知を待つ。採点は、射撃監督部用表示ユニット８からの射撃訓練開始指令通知時に同時に通知される射撃距離や射撃姿勢および使用銃種類等の訓練条件により得点範囲を決定して行う。
【００５５】
射撃訓練中、射撃監督部および射撃指示部は射撃監督部用表示ユニット８の操作ボタンおよび射撃指示部用表示ユニット６の操作ボタンにより、任意の射座用表示ユニット４に対して射撃訓練状況を要求することができる。
【００５６】
射撃訓練状況を要求された射座用表示ユニット４は、現在および過去の射撃訓練状況を、通信回線１０を介して通知し、射撃監督部用表示ユニット８および射撃指示部用表示ユニット６は、射座用表示ユニット４からの射撃訓練状況を、図７（ａ）の単レーンか、図７（ｂ）の複数レーンのいずれかのフォーマットで表示する。この場合、図７（ｂ）の複数レーンの中から任意のレーンを図７（ａ）のフォーマットで個別に選択表示できる。これにより、効率よく射手の射撃を１回の射撃毎に指導することが可能となる。
【００５７】
射撃訓練が終了した場合、射撃監督部は、射撃監督部用表示ユニット８の操作ボタンにより、射撃訓練の終了を通信回線１０を介して射座用表示ユニット４に通知する。
【００５８】
射座用表示ユニット４は射撃訓練の終了を受領すると直ちに１回の射撃訓練を終了し、射撃データ処理器９に対して通信回線１０を介して識別番号と共に射撃訓練結果を通知する。射撃データ処理器９は射撃訓練結果を受領すると、直ちに補助記憶部に記憶すると共に、印字装置から受領した射撃訓練結果を図８に記すフォーマットで出力する。
【００５９】
補助記憶部への記憶は参照ができるよう識別番号と日付にて管理する。これにより射手は自分の射座用表示ユニット４を操作することなしに、射撃訓練中の射撃結果の確認および射撃訓練後の射撃結果の確認を行うことができ、射撃訓練に集中することができる。
【００６０】
次に、本実施形態の、弾丸情報が発射センサ５にて検出した射撃によって発射された弾丸によって得られたものか否かの判定方法を記す。まず、標的駆動装置３から送られてくる弾丸情報の整合性を確認する。そして、送信されてきた弾丸情報が射撃直後の情報であるか否か判断する。次に、この弾丸情報が１発の弾丸から発生した衝撃波により生成されたものか否かを判断する。
【００６１】
１〜３発の処理を以下に記す。射撃時点で判明している確かな情報は射撃距離のみである。弾着した弾丸の情報として与えられるのは、弾速と弾丸飛行時間および弾着位置座標である。従って、まず弾速と弾丸飛行時間から算出した距離（弾丸飛行距離）と実際の射撃距離を比較する。
【００６２】
銃口での弾丸初速は不明であり、弾丸は銃口を出て標的１に弾着するまでに僅かに減速し、その減速量は周囲の気象状況により変化する。これより、弾丸飛行時間が正しければ、弾丸飛行距離は実際の射撃距雛よりも僅かに大きくなるはずである。
【００６３】
しかし、弾丸飛行時間は２つの機器（弾着位置計測部２と発射センサ５）で弾丸を検知した時間差から算出するので、各機器のソフトウェア処理負荷による誤差および後述する各カウンタの時間合わせ誤差を含んでいる。よって、弾丸飛行距離が実際の射撃距離の半分から２倍の範囲にあれば、自弾範囲にあると判断する。
【００６４】
次に、自弾範囲にあるものから弾着位置Ｘ座標の大きいものを除外する。隣接標的との設置間隔は約３［ｍ］あり、隣接標的に弾着した弾丸は、隣接射手が射撃した弾丸であるはずである。このことより、水平距離が自標的中心より１．５［ｍ］以上はずれた弾丸は、自弾としない。
【００６５】
４発以降の処理を以下に記す。射撃時点で判明している確かな情報は射撃距離と、過去自弾と判断した弾丸の弾速と弾丸飛行距離である。弾着した弾丸の情報とした与えられるのは弾速と弾丸飛行時間および弾着位置座標である。従って、弾速と弾丸飛行時間から算出した弾丸飛行距離と、過去自弾と判断した弾丸の平均飛行距離を比較する。
【００６６】
過去自弾と判断した弾丸の平均飛行距離に対し、同じ小火器から発射された自弾の弾丸飛行距離はほぼ同じ値となるはずである。よって、弾丸飛行距離が過去自弾と判断した弾丸の平均飛行距離から４σ以内にあれば自弾範囲にあると判断する。
【００６７】
また、自弾範囲にあるものが跳弾であるか否かを判断するために、弾速と過去自弾と判断した弾速を比較する。過去次弾と判断した弾丸の平均弾速に対し、自弾の弾速は、射撃期間中に気象条件の急激な変化がない限りほぼ同じ値となるはずである。よって、弾速が過去自弾と判断した弾丸の平均弾速から４σ以内にあれば跳弾でないと判断する。
【００６８】
次に、自弾範囲にあるものから弾着位置Ｘ座標の大きいものを除外する。隣接標的との設置間隔は約３［ｍ］あり、隣接標的に弾着した弾丸は、隣接射手が射撃した弾丸であるはずであることより、水平距離が自標的中心より１．５［ｍ］以上はずれた弾丸は、自弾としない。
【００６９】
上述の判定方法に従った処理手順を図９に記す。また、その処理内容を以下に記す。カウンタによる射撃タイミングをＴｆ、カウンタにて得られた検出タイミングをＴｈ、射撃距離をＤｆｐ、弾丸速度をＶｂとする。
【００７０】
まず、射撃タイミングＴｆと検出タイミングＴｈとの差から、弾丸飛行時間Ｔｏｆを求める。ここで各カウンタは、１６ビット、１２００Ｈｚのハードウェアカウンタとしている。
【００７１】
ＶｂとＴｏｆの関係があまりにもかけ離れている場合（風や空気による弾速の変化以上の変化がある場合）には、「次弾」または「他弾」とし、今回の射撃に対して以降の処理を行わない。判定基準を以下に記す。
【００７２】
Ｔｆ≧Ｔｈ　ならば　Ｔｏｆ＝Ｔｆ−Ｔｈ［Ｓ］
Ｔｆ＜Ｔｈ　ならば　Ｔｏｆ＝Ｔｆ−Ｔｈ＋５４．６１３３
Ｔｏｆ＝０　または　Ｔｏｆ≧１２［ｓ］の場合「他弾」する。
０＜Ｔｏｆ＜１２　かつ　Ｔｏｆ≧（Ｄｆｐ×５）／Ｖｂの場合「次弾」とする。
【００７３】
次に、自弾として検知することのできる弾速の範囲（弾丸の平均弾速Ｖｂｍとの許容差Ｖｂｍｉｎ）を求める。ただし、飛行時間のばらつきが大きい場合と小さい場合では、求め方を変える。飛行時間のばらつきσは、射撃距離が一定であることにより、弾速のばらつきＶｖａｒから求める。
【００７４】
σ＝Ｖｖａｒ／Ｄｆｐ＞１０　の場合
Ｖｄｍｉｎ＝０．０５×（０．１×Ｖｂｍ×Ｖｂｍ／Ｄｆｐ）
ＶＴｏｆｄｍｉｎ＝０．０５×（０．１×ＶＴｏｆｍ×Ｖｂｍ／Ｄｆｐ）
ただし、ＶＴｏｆｍ＝弾速と飛行時間から求めた飛行距離の平均値
ＶＴｏｆｄｍｉｎ＝飛行距離の許容差
σ＝Ｖｖａｒ／Ｄｆｐ≦０．１　の場合
Ｖｄｍｉｎ＝０．０５×Ｖｂｍ
ＶＴｏｆｄｍｉｎ＝０．０５×ＶＴｏｆｍ
となる。
【００７５】
最初の３発目までは、下記範囲内に弾速がある場合、自弾弾着として前述の計算式を用いて仮弾着位置座標Ｐ（Ｘｐ，Ｙｐ）を計算すると、
０．５×（Ｄｆｐ／Ｔｏｆ）＜Ｖｂ＜２×（Ｄｆｐ／Ｔｏｆ）
ＶＴｏｆｄ＝０
となる。ここで、計算した弾着位置Ｘ座標が±１．５［ｍ］以上の場合、「他弾」とする。
【００７６】
４発目以降の処理は下記による。まず、実際に検知した弾速と、平均弾速との速度差Ｖｄを次式から求めると、
Ｖｄ＝Ｖｂ−Ｖｂｍ
となる。
【００７７】
もし、Ｖｄが前記で求めた許容範囲外であれば「跳弾」の候補とする。また、弾速と飛行時間から飛行距離を求め、許容範囲内であれば、弾着検知時間内だと判断する。
【００７８】
Ｖｄ２＜１６×Ｖｖａｒ　または　｜Ｖｄ｜≦Ｖｄｍｉｎのどちらでもない場合「跳弾」のフラグを立て、
ＶＴｏｆｄ＝Ｔｏｆ×Ｖｂ−ＶＴｏｆｍ
ＶＴｏｆｄ２＜１６×ＶＴｏｆｖａｒまたは、｜ＶＴｏｆｄ｜２≦ＶＴｏｆｄｍｉｎの場合「弾着」のフラグを立てる。
【００７９】
この結果、「弾着」フラグが立ち、「跳弾」フラグが立っていない場合のみ、自弾弾着として前述の計算式を用いて、仮弾着位置座標Ｐ（Ｘｐ，Ｙｐ）を計算する。ここで計算した仮弾着位置Ｘ座標が±１．５［ｍ］以上の場合、「他弾」とする処理を行う。また、「弾着」フラグが立たないで、ＶＴｏｆｄ＞０のとき、自弾弾着範囲より後にずれたとして、以降の処理は今回の発射に対しては行わない。ここで、発射弾数をＢｅとする。ただし、Ｂｅは「弾着」フラグが立ち、「跳弾」フラグが立っていないときのみカウントした値とする。
【００８０】
上記に用いるＶｂｍ、ＶＴｏｆｍ、Ｖｖａｒ、ＶＴｏｆｖａｒは、以下により計算する。
【００８１】
Ｂｅ＜１０のときＮＳ＝Ｂｅ、Ｂｅ≧１０のときＮＳ＝１０とすると、
平均弾速（Ｖｂｍ）
Ｖｂｍ＝Ｖｂｍ−（Ｖｂｍ／ＮＳ）＋（Ｖｂ／ＮＳ）
平均弾速の２乗（Ｖｂｓｑ）
Ｖｂｓｑ＝Ｖｂｓｑ−（Ｖｂｓｑ／ＮＳ）＋（Ｖｂ２／ＮＳ）
弾速と飛行時間から求めた飛行機距離の平均（ＶＴｏｆｍ）
ＶＴｏｆｍ＝ＶＴｏｆｍ−（ＶＴｏｆｍ／ＮＳ）＋｛（Ｖｂ×Ｔｏｆ）／ＮＳ｝　　　弾速と飛行時間から求めた飛行機距離の２乗（ＶＴｏｆｓｑ）
ＶＴｏｆｓｑ＝ＶＴｏｆｓｑ−（ＶＴｏｆｓｑ／ＮＳ）＋｛（Ｖｂ×Ｔｏ
ｆ）２／ＮＳ｝
Ｂｅ≧２の場合、
弾速のばらつき（Ｖｖａｒ）
Ｖｖａｒ＝（Ｖｂｓｑ−Ｖｂｍ２）×｛ＮＳ／（ＮＳ−１）｝
飛行時間のばらつき（ＶＴｏｆｖａｒ）
ＶＴｏｆｖａｒ＝（ＶＴｏｆｓｑ−ＶＴｏｆｍ２）×｛ＮＳ／（ＮＳ−１）｝
となる。
【００８２】
次に、本実施形態の弾着位置計算方法を記す。射座用表示ユニット４は前述の計算式を用いて仮弾着位置座標Ｐ（Ｘｐ，Ｙｐ）を計算し、射撃位置と標的位置の関係から発生する撃ち込み角の補正値を計算する。計算手順を以下に記す。
【００８３】
まず、射座と標的中心と衝撃波センサの位置関係を認識しておく。標的中心から垂線を降ろし、中央センサを含む水平面との交点を原点とする座標系にて、各センサの座標などを入力しておく。座標関係を図１０に示す。また、予め記憶しておく項目を以下に示す。
【００８４】
・１００ｍ、２００ｍ、３００ｍ　射座座標（発射センサ５の音響センサ１１の座標）
・弾着位置計測装置２の各音響センサ１１の座標
【００８５】
次に、仮弾着位置座標（Ｘｐ，Ｙｐ，０）と射座座標（Ｘｓｈ，Ｙｓｈ，Ｚｓｈ）とから、弾丸の入射角を求め、射撃線の方向余弦を求めると、
θｘ＝−ｔａｎ−１｛（Ｘｐ−Ｘｓｈ）／Ｚｓｈ｝、
θｙ＝ｔａｎ−１｛（Ｙｐ−Ｙｓｈ）／（Ｚｓｈ／ｃｏｓθｘ）｝
ＬＴ＝ｃｏｓθｙ×ｓｉｎθｘ、ＭＴ＝−ｓｌｎθｙ、ＮＴ＝ｃｏｓθｙ×ｃｏｓθｘ
となる。
【００８６】
次に、仮弾着点と各センサとの方向余弦を求めると、
仮弾着点と音響センサ１１ｄ（ｘｆ，Ｙｆ，Ｚｆ）の距離
Ｓｆｐ＝√｛（Ｘｆ−Ｘｐ）２＋（Ｙｆ−Ｙｐ）２＋Ｚｆ２｝
仮弾着点と音響センサ１１ｂ（Ｘｃ，Ｙｃ，Ｚｃ）の距離
Ｓｃｐ＝√｛（ｘｃ−ｘｐ）２＋（Ｙｃ−Ｙｐ）２＋Ｚｃ２｝
仮弾着点と音響センサ１１ａ（Ｘｌ，Ｙｌ，Ｚｌ）の距離
Ｓｌｐ＝√｛（Ｘｌ−ｘｐ）２＋（Ｙｌ−Ｙｐ）２＋Ｚｌ２）
仮弾着点と音響センサ１１ｃ（Ｘｒ，Ｙｒ，Ｚｒ）の距離
Ｓｒｐ＝√｛（Ｘｒ−Ｘｐ）２＋（Ｙｒ−Ｙｐ）２＋Ｚｒ２｝
となる。
【００８７】
従って、各音響センサ１１との方向余弦は、
音響センサ１１ｄ：ＬＳｆ＝（Ｘｆ−Ｘｐ）／Ｓｆｐ、ＭＳｆ＝（Ｙｆ−Ｙｐ）／Ｓｆｐ、ＮＳｆ＝ＺＦ／Ｓｆｐ
音響センサ１１ｂ：ＬＳｃ＝（Ｘｃ−Ｘｐ）／Ｓｃｐ、ＭＳｃ＝Ｙｃ−Ｙｐ）／Ｓｃｐ、ＮＳｃ＝Ｚｃ／Ｓｃｐ
音響センサ１１ａ：ＬＳｌ＝（Ｘｌ−Ｘｐ）／Ｓｌｐ、ＭＳｌ＝（Ｙｌ−Ｙｐ）／Ｓｌｐ、ＮＳｌ＝Ｚｌ／Ｓｌｐ
音響センサ１１ｃ：ＬＳｒ＝（Ｘｒ−Ｘｐ）／Ｓｒｐ、ＭＳｒ＝（Ｙｒ−Ｙｐ）／Ｓｒｐ、ＮＳｒ＝Ｚｒ／Ｓｒｐ
となる。
【００８８】
仮弾着点と各センサとを結ぶ線と、射撃線の成す角度を求めると、
音響センサ１１ｄ：θｆ＝ｃｏｓ−１（ＬＴ×ＬＳｆ＋ＭＴ×ＭＳｆ＋ＮＴ×ＮＳｆ）
音響センサ１１ｂ：θｃ＝ｃｏｓ−１（ＬＴ×ＬＳｃ＋ＭＴ×ＭＳｃ＋ＮＴ×ＮＳｃ）
音響センサ１１ａ：θｌ＝ｃｏｓ−１（ＬＴ×ＬＳｌ＋ＭＴ×ＭＳｌ＋ＮＴ×ＮＳｌ）
音響センサ１１ｃ：θｒ＝ｃｏｓ−１（ＬＴ×ＬＳｒ＋ＭＴ×ＭＳｒ＋ＮＴ×ＮＳｒ）
となる。
【００８９】
各音響センサ１１から射撃線へ垂線を降ろし、射撃線との交点をそれぞれＰｆ、Ｐｃ、Ｐｌ、Ｐｒとすると、各音響センサ１１からそれぞれの交点までの距離は、
ＳｆＰｆ＝｜Ｓｆｐ×ｓｉｎθｆ｜
ＳｃＰｃ＝｜Ｓｃｐ×ｓｉｎθｃ｜
ＳｌＰｌ＝｜Ｓｌｐ×ｓｉｎθｌ｜
ＳｒＰｒ＝｜Ｓｒｐ×ｓｉｎθｒ｜
となる。
【００９０】
仮弾着点からそれぞれの交点までの距離は、
ＰＰｆ＝｜Ｓｆｐ×ｃｏｓθｆ｜
ＰＰｃ＝｜Ｓｃｐ×ｃｏｓθｃ｜
ＰＰｌ＝｜Ｓｌｐ×ｃｏｓθｌ｜
ＰＰｒ＝｜Ｓｒｐ×ｃｏｓθｒ｜
となる。
【００９１】
従って、Ｐｆから、Ｐｃ、Ｐｌ、Ｐｒまでの距離は、
ＰｆＰｃ＝｜ＰＰｆ−ＰＰｃ｜
ＰｆＰｌ＝｜ＰＰｆ−ＰＰｌ｜
ＰｆＰｒ＝｜ＰＰｆ−ＰＰｒ｜
となる。
【００９２】
射撃線上のＰｆを通過した時を基準として、各音響センサ１１に衝撃波が到達するまでの時間（ＴＭｆ，ＴＭｃ，ＴＭｌ，ＴＭｒ）は、
ＴＭｆ＝ＳｆＰｆ／Ｖｓ
ＴＭｃ＝ＰｆＰｃ／Ｖｂ＋ＳｃＰｃ／Ｖｓ
ＴＭｌ＝ＰｆＰｌ／Ｖｂ＋ＳｌＰｌ／Ｖｓ
ＴＭｒ＝ＰｆＰｒ／Ｖｂ＋ＳｒＰｒ／Ｖｓ
となる。
【００９３】
従って、到達時間差は、
△ＴＭｃｆ＝ＴＭＣ−ＴＭＦ
△ＴＭｌｃ＝ＴＭｌ−ＴＭｃ
△ＴＭｒｃ＝ＴＭｒ−ＴＭｃ
となる。
【００９４】
ここまでで求めた到達時間差から補正値（Ｄｘ，Ｄｙ）を算出すると、
補正弾速（Ｖｂｔ）
Ｖｂｔ＝ＦＣ／△ＴＭｃｆ
補正伝達速度の２乗（Ｖｓｔ２）
Ｖｓｔ２＝（Ｖｃ２×Ｖｂｔ２）／Ｖｂｔ２−Ｖｃ２）
となる。
【００９５】
従って、
Ｘｐｔ＝（ＴＭｌ−ＴＭｒ）×（Ｖｓｔ２×△ＴＭｌｃ×△ＴＭｒｃ）×Ｗ２／｛２×Ｗ×（△ＴＭｌｃ＋△ＴＭｒｃ）｝
Ｎｐｔ＝｛２×Ｗ２−Ｖｓｔ２×（△ＴＭｌｃ２＋△ＴＭｒｃ２）｝
Ｍｐｔ＝Ｎｐｔ２／｛４×Ｖｓｔ２×（△ＴＭＬｃ＋△ＴＭｒｃ）２｝
Ｙｐｔ２＝Ｍｐｔ−Ｘｐｔ２
となる。
【００９６】
Ｙｐｔ２＜０のとき、エラー（跳弾）とすると、
Ｙｐｔ＝√（Ｙｐｔ２）
従って、補正値は
Ｄｘ＝Ｘｐ−Ｘｐｔ、Ｄｙ＝Ｙｐ−Ｙｐｔ
補正済みの弾着位置座標（Ｘｄ，Ｙｄ）は、
Ｘｄ＝Ｘｐ＋Ｄｘ、Ｙｄ＝Ｙｐ÷＋Ｄｙ
となる。
【００９７】
次に、本実施形態の各カウンタの時間合わせについて記す。標的駆動装置３のカウンタと射座用表示ユニット４のカウンタ、および弾着位置計測装置２のカウンタは、１６ビット、１２００Ｈｚのハードウェアカウンタであり、各々独立した水晶発振器からのクロック信号により動作している。
【００９８】
水晶発振器は数１００ｐｐｍの誤差を持っているため、各々のカウンタは全く同期していない。また、電源投入のタイミングも機器により異なるため、各機器のカウンタは定期的に時間あわせを行う必要がある。
【００９９】
射撃データ処理器９は他の機器と同じカウンタを内蔵しており、カウンタの値を基準時間として、通信回線１０を介して定期的に全接続機器に一斉に時刻の通知をするようになっている。
【０１００】
射座用表示ユニット４および標的駆動装置３は、カウンタの値を受領すると、直ちに各々のカウンタおよびカウンタの値を読み出し、その差から基準時間差を算出記憶する。射座用表示ユニット４および標的駆動装置３は、ある事象が発生して各々のカウンタを読み出した場合、必ずこの基準時間差を加えることにより、射座用表示ユニット４と標的駆動装置３のカウンタがほぼ同期して動作した値として得ることができる。
【０１０１】
弾着位置計測装置２のカウンタは標的駆動装置３から定期的に読み出し、カウンタの値との差を補正値として記憶することにより、空気搬送衝撃波を検出したときのタイミングを補正値により補正できる。
【０１０２】
次に基準時間差の計算方法を記す。射撃データ処理器９が定期的に送出する通信回線１０上の基準時間（カウンタの値）を各機器が受信したときに、射座用表示ユニット４はカウンタを読み出し、標的駆動装置３はカウンタを読み出す。
【０１０３】
次に基準時間と自分のカウンタ値との差を記憶する。この記憶した時間差のうち最新の７回の移動平均を算出して、その値を基準時間差とする。射座用表示ユニット４で時刻を知りたい場合（例えば射撃検知時刻）、射座用表示ユニット４のカウンタの値に、この基準時刻差を加えることにより、通信回線１０上の基準時間に合わせた時間を知ることができる。
【０１０４】
各カウンタは、１６ビット、１２００Ｈｚであるため、基準時間差の算出は下記のように行う。まず、過去７回までの時間差の合計、時間差の最大値およひ時間差の最小値を算出する。
【０１０５】
次に、最小値と最大値の差を算出し、その値が１６ビットのカウンタの半分（０ｘ８０００）を超えているか調べる。超えていれば、時間差データに大きなばらつきがあると判断し、最小値と最大値の差がカウンタの半分以上であるデータの数と半分より小さいデータの数を比較し、多い方のデータのみから平均値を算出する。また、超えていなけれは、時間差データはばらつきのないデータだと判断し、すべてのデータから平均値を算出する。
【０１０６】
時間差（△Ｔ（ｎ））の計算方法
ＬＡＮ回線上の基準時間：Ｔｓ（ｎ）
基準時間受信時の内部時計値：Ｔｉ（ｎ）
Ｔｓ（ｎ）≧Ｔｉ（ｎ）の場合
△Ｔ（ｎ）＝Ｔｓ（ｎ）−Ｔｉ（ｎ）
Ｔｓ（ｎ）＜Ｔｉ（ｎ）の場合
△Ｔ（ｎ）＝Ｔｓ（ｎ）＋６５５３６−Ｔｉ（ｎ）
となる。
【０１０７】
平均値の算出は、対象となるデータ群からそのデータ群中の最大値と最小値を除いて算出する。
【０１０８】
平均値（ＡＴｓ（ｎ））の計算方法では、
時間差の最大値：△Ｔｍａｘ
時間差の最小値：△Ｔｍｉｎ
データ数：Ｎ
最小値に３２７６８を加えた値よりも小さいデータの数：Ｍ
選択データ：△Ｔｄ
選択データ群の中の時間差の最大値：△Ｔｄｍａｘ
選択データ群の中の時間差の最小値：△Ｔｄｍｉｎ　とする。
【０１０９】
△Ｔｍａｘ−△Ｔｍｉｎ＜３２７６８の場合
ＡＴｓ（ｎ）＝｛Σ△Ｔ（ｎ）−△Ｔｍａｘ−△Ｔｍｉｎ｝／（Ｎ−２）
△Ｔｍａｘ−△Ｔｍｉｎ≧３２７６８の場合
Ｎ−Ｍ≧Ｍの場合
ＡＴｓ（ｎ）＝（Σ△Ｔｄ−△Ｔｄｍａｘ−△Ｔｄｍｉｎ）／（Ｎ−Ｍ−２）
Ｎ−Ｍ＜Ｍの場合
ＡＴｓ（ｎ）＝（Σ△Ｔｄ−△Ｔｄｍａｘ−△Ｔｄｍｉｎ）／（Ｍ−２）
となる。
【０１１０】
算出した基準時間差と１回前の基準時間差との差が３０カウント（カウンタの周波数は１２００Ｈｚであることより時間は２５ｍｓ）以上ずれていれば、１回前の基準時刻差に対し、ずれた方向に３０カウントずらした値を今回の基準時間差とする。
【０１１１】
基準時間差（△Ｔｓ（ｎ））の算出方法は、
｜△Ｔｓ（ｎ−ｌ）−ＡＴｓ（ｎ）｜＜３０の場合
△Ｔｓ（ｎ）＝ＡＴｓ（ｎ）
｜△Ｔｓ（ｎ−１）−ＡＴｓ（ｎ）｜≧３０の場合
△Ｔｓ（ｎ）＝△Ｔｓ（ｎ−１）±３０
となる。
【０１１２】
ここで、参考例を図１１に示す。本例の装置は、所定の領域を超音速で通過する超音速飛行体７０から発生する空気搬送衝撃波７１を、１直線上に並べた少なくとも３つの転換器７２で検出し、前記空気搬送衝撃波７１に応答して出力信号を発生し、この各々の出力信号間の時間遅延を計測し、時間遅延から飛行体の軌道に関する情報すなわち通過位置を計測して表示器７３に表示する装置である。
【０１１３】
本例の装置は、本来、単独レーンにて使用される装置であり、狭い射撃場の場合は十分なレーン間距離を確保できないため、隣接レーンの弾丸からの空気搬送衝撃波を誤って検出する場合がある。さらに、各射手の手元にある表示器は各射手が自分で操作する必要があり、装置の使用方法に熟知していない場合、誤操作により射撃に集中できないという欠点がある。
【０１１４】
【発明の効果】
以上説明したように本発明によれば、遮蔽板で隣接レーンの弾丸からの空気搬送衝撃波を遮蔽し、かつ、自分の射撃した弾丸のみを抽出することが可能となるため、十分なレーン間距離を確保できない狭い射撃場でも、自分の標的に撃ち込まれた自分以外の弾着を誤表示することが無くなり、多くの射手が同時に射撃訓練を行うことが可能となる。
【０１１５】
また、射撃監督部のボタン操作のみで射手の手元に射撃訓練状況が瞬時に表示されるため、射手は射撃訓練中に射撃姿勢を崩すことなく手元で射撃結果を確認することが可能となり、射手は射撃に集中することが可能となる。また、射撃指示部および射撃監督部が射手の訓練状況を容易に確認することが可能となるので即座に適切な射撃指導を行うことが可能となる。さらに、射撃訓練後の射撃結果の確認が自動的に出力されることにより監的部での弾着表示および弾着の転記を行う必要が無くなりより多くの射手の訓練を効率よく実施することが可能となる。
【図面の簡単な説明】
【図１】本発明の実施形態に係る小火器射撃評価システム構成図。
【図２】本発明の実施形態に係る小火器射撃評価システム処理系統図。
【図３】本発明の実施形態に係る装置射場配置図。
【図４】本発明の実施形態に係る動作手順詳細説明図。
【図５】本発明の実施形態に係る標的動作パターン例を示す図。
【図６】本発明の実施形態に係る射座用表示ユニット処理手順図。
【図７】本発明の実施形態に係る射撃訓練結果表示図で、図（ａ）は単レーン分、図（ｂ）は複数レーン分である。
【図８】本発明の実施形態に係る射撃訓練結果印字出力図。
【図９】本発明の実施形態に係る弾丸判別手順説明図。
【図１０】本発明の実施形態に係る座標関係説明図。
【図１１】参考例の説明図。
【符号の説明】
１　標的
２　弾着位置計測装置
３　標的駆動装置
４　射座用表示ユニット
５　発射センサ
６　射撃指示部用表示ユニット
７　遠隔操作端末
８　射撃監督部用表示ユニット
９　射撃データ処理器
１０　通信回線
１１　音響センサ
１２　遮蔽板
５４　接続ボックス
５５　分岐ボックス
７０　超音速飛行体
７１　空気搬送衝撃波
７３　表示器[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a small arms shooting evaluation system, and more particularly to a shooting training device suitable for small arms using supersonic bullets, which determines information about the trajectory of a flying object passing at a supersonic speed through a predetermined area.
[0002]
[Prior art]
As a conventional apparatus, there is an apparatus that determines information on the trajectory of an ultrasonic projectile passing through a predetermined area as disclosed in Japanese Patent Publication No. 62-17193.
[0003]
This device detects an air carrier shock wave generated from a supersonic vehicle passing through a predetermined area at a supersonic speed with at least three converters arranged in a straight line, and outputs an output signal in response to the air carrier shock wave. This device measures the time delay between the output signals, measures information about the trajectory of the flying object, that is, the passing position from the time delay, and displays the measured information on a display.
[0004]
[Problems to be solved by the invention]
The above-mentioned conventional device is originally used in a single lane, and when used in a plurality of lanes, it is assumed that the lane interval is set so that the air carrier shock waves of bullets in adjacent lanes do not reach. And However, in the case of a narrow shooting range, a sufficient inter-lane distance cannot be secured, so that an air carrier shock wave from a bullet in an adjacent lane may be erroneously detected.
[0005]
In addition, even if a bullet fired by a shooter shooting at the firing point of an adjacent lane erroneously passes near the target of his own lane, he / she will erroneously judge that he is the result of his own shooting. Therefore, it is not a device that can be installed in a narrow shooting range and allows many shooters to perform shooting training at the same time.
[0006]
In addition, the indicator at each firing point must be operated by each shooting person himself, and if used by a shooting person who is not familiar with how to use the device, erroneous operation may occur and it is not possible to concentrate on shooting There were drawbacks.
[0007]
In addition, it is necessary for the shooting instruction unit and shooting supervision unit that instructs shooting to check the shooting situation of the shooter at each firing position by moving to the vicinity of each shooting position, and it is not possible to efficiently guide multiple shooters at the same time. was there.
[0008]
SUMMARY OF THE INVENTION An object of the present invention is to provide a small arms shooting evaluation system in which a shooter performing small arms shooting can concentrate on only shooting, can immediately recognize the result of his or her own shooting accurately, and can provide appropriate shooting guidance. That is.
[0009]
[Means for Solving the Problems]
In order to achieve the above object, the present invention provides a firing point, which is a place for firing bullets from small arms, and a plurality of firing lanes with movable targets, and is installed near each of the firing points and fired. A firing range display unit for scoring and displaying a bullet impact position, a firing sensor connected to the firing range display unit, installed near the muzzle of a small firearm at the firing position, and detecting the firing of the bullet; and At least two or more shooting indication unit display units installed near the shooting indication unit for instructing start and stop, and selecting and monitoring the display of an arbitrary unit from among the firing display units; and A shooting data processor that collects the display results of the display unit and centrally manages the conditions required for measurement and scoring of the impact position, and the operation of the target, shooting distance, shooting attitude, and usage. At least two or more remote control terminals for setting shooting training conditions including the type of small arms, and at least one or more remote control terminals for instructing a drive device that drives the target, the operation of the target set by the remote control terminal And a display unit for a shooting supervision section.
[0010]
According to the present invention, a shooter that fires a bullet of a small weapon has a display installed near the firing point, which is a place where the small firearm is held, so that operation by each shooter can be unnecessary, so that the shooter concentrates on shooting. In addition, since the shooting instruction unit and the shooting supervision unit that support the start and stop of shooting can check the shooting situation of each shooter at hand, the shooting skill of the shooter can be determined by appropriate shooting instructions. It can be improved. In addition, the shield plate shields airborne shock waves from bullets in adjacent lanes, and it is possible to extract only bullets shot by the player. It is possible to perform shooting training at the same firing point.
[0011]
In addition, a shield plate is installed near the acoustic sensor to detect air-carrying shock waves, which detects air-carrying shock waves generated from the vicinity of the adjacent lane, and detects only air-carrying shock waves from bullets that arrive near their own lane. In addition, a firing sensor for detecting shooting near each firing point, a counter for measuring the timing at which shooting is detected, a counter for measuring the timing at which the shooting position measuring device detects shooting, and a bullet velocity By providing an acoustic sensor for detecting a bullet, it is possible to distinguish between a bullet fired from an adjacent firing point and one's own bullet.
[0012]
In addition, by providing a display for the shooting supervision section and a display for the shooting instruction section that can monitor the shooting result displayed on the display at hand at each firing point, it is possible to check the shooting situation of any shooter and immediately give appropriate guidance Can be done. In addition, since the operation buttons for operating the indicators at each firing point are attached to the display for the shooting supervisor, it is not necessary for the shooter to directly operate the indicators at hand.
[0013]
BEST MODE FOR CARRYING OUT THE INVENTION
The outline of the embodiment of the present invention is as follows.In a shooting lane, a shooting sensor for shooting detection, a measurement counter for detection timing, and an impact detection timing are provided near a firing point where a shooter holds a small weapon and fires a bullet. A measurement counter and an acoustic sensor for detecting bullet velocity are provided, and a shielding plate for shielding the air carrier shock wave generated from the vicinity of the adjacent lane is installed near the acoustic sensor for detecting the air carrier shock wave. Only the airborne shock wave from the bullet that has reached the vicinity can be detected.
[0014]
This allows the shield plate to shield the air-carrying shock waves of the bullets in the adjacent lanes and extract only the bullets shot by one's own, so that many shooters can simultaneously carry out shooting training even at a shooting range where the distance between lanes is small. In addition, since the indicator at each shooter's hand is unnecessary, the player can concentrate on shooting, can immediately and accurately recognize the result of his own shot, and the shooting instruction unit can give appropriate guidance.
[0015]
Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a configuration diagram showing a small arms shooting evaluation system according to a first embodiment of the present invention. FIG. 2 is a processing system diagram of the small arms shooting evaluation system according to the first embodiment of the present invention.
[0016]
The system includes two or more targets 1 serving as aiming points for shooting such as small arms, and two or more impact position measuring devices 2 installed near the target 1 so that a plurality of shooters can simultaneously train. Two or more target driving devices 3 that perform concealing operation of the target 1 and communicate with the impact position measuring device 2, and the vicinity of the shooter at the firing point for scoring and displaying the impact position measured by the impact position measuring device 2 And two or more firing display units 4 connected to the firing range display units 4 and the number of firing sensors 5 corresponding to the firing range display units 4 installed near the muzzle of the firing range and monitoring the presence or absence of shooting And two or more shooting instruction unit display units 6 installed near the shooting instruction unit to monitor the display result of the firing display unit 4.
[0017]
Then, two or more remote control terminals 7 for setting the shooting training conditions such as the operation of the target driving device 3, the shooting distance, the shooting attitude, and the type of small arms used, and the remote control terminal connected to the remote control terminal 7. 7. At least one shooting supervisory display unit 8 for instructing the target driving device 3 on the target operation set in 7 and remotely controlling the firing display unit 4, and displaying the firing display unit 4 A shooting data processor 9, which collects results and centrally manages conditions necessary for measuring a shot position and scoring, a target driving device 3, a firing unit display unit 4, a shooting instruction unit display unit 6, and a shooting supervisory unit. It has a communication line 10 for performing communication between the display unit 8 and the shooting data processor 9.
[0018]
The target 1 is an aiming point for shooting, and differs in size according to the shooting distance, and is damaged by shooting. Therefore, the target 1 can be attached to and detached from the target driving device 3, and the hole created by bullet passage slightly shrinks. Thus, an olefin-based resin is used to impart durability.
[0019]
As shown in Japanese Patent Publication No. Sho 62-17193 as an example, the impact position measuring device 2 uses four acoustic sensors 11 to measure the air carrier shock wave generated immediately before a bullet flying at a supersonic speed passes through the target 1. There is a method of detecting a bullet speed and a bullet impact position from the detected time difference. In each acoustic sensor 11, three acoustic sensors 11a, 11b, and 11c are arranged on a straight line, and one acoustic sensor 11d is arranged in front of the central acoustic sensor 11b (see FIG. 10).
[0020]
The coordinates of each acoustic sensor 11 are referred to as a sensor 11a (-L, 0), a sensor 11b (0, 0), a sensor 11c (L, 0), and a sensor 11d (0, D). Then, the impact position coordinates P (Xp, Yp) can be expressed by the following equation 1. However, this calculation formula is publicly known.
[0021]
(Equation 1)

[0022]
Further, in order to detect the bullets in a non-contact manner, not to detect the air-carrying shock wave generated by the bullet arriving at another adjacent target, and to detect the air generated by the four acoustic sensors 11 from the same bullet. In order to detect a carrier shock wave, a shielding plate 12 is installed near each acoustic sensor 11.
[0023]
Further, the shielding plate 12 is provided with a urethane-based cushion so that the airborne shock wave is reflected and the acoustic sensor does not erroneously detect the reflected wave. Further, a counter 58 is provided for measuring the timing when the air carrier shock wave is detected earliest among the four acoustic sensors 11.
[0024]
The target driving device 3 includes an insertion portion for inserting and fixing the axis of the target 1, a motor for concealingly driving the target 1 by rotating the insertion portion, a motor control circuit for driving and controlling the motor, and an appearance of the target 1. Proximity sensor that detects the state and the extinction state, a counter that measures the timing of target appearance and the timing at which the impact is detected by the impact position measuring device 2, and the bullet that is measured by the impact position measuring device 2 The communication circuit includes a communication circuit that obtains information on the speed and the impact position, and a communication control unit that communicates with the firing unit display unit 4, the shooting supervisory display unit 8, and the shooting data processor 9.
[0025]
In addition, since the target drive device is installed outdoors, it protects electronic circuits such as the motor control circuit, counter, communication circuit, and communication control unit from temperature rise due to direct sunlight, and protects electronic circuits from motor drive noise. An electronic circuit housing for housing the electronic circuit, a device housing for housing the motor, the proximity sensor, and the electronic circuit housing, and an air layer for providing a thermal insulation effect between the electronic circuit housing and the device housing. It has a double structure provided with an exhaust fan for forcibly exhausting an air layer heated by internal heat generation and radiant heat of direct sunlight.
[0026]
The firing position display unit 4 includes a counter that measures the timing of shooting detected by the firing sensor 5, a target driving device 3, a shooting instruction unit display unit 6, a shooting supervisory unit 8, and a shooting data processor 9. The communication control unit that performs communication, the bullet speed and the impact position measured by the impact position measuring device 2, the target appearance timing and the impact detection timing measured by the target driving device 3, and the counter measurement. It comprises an arithmetic processing unit that discriminates own bullets from the shooting timing, performs a correction calculation of the impact position based on the shooting angle based on the shooting position, and performs scoring, and a liquid crystal display unit that displays the result of the arithmetic processing.
[0027]
The liquid crystal display unit has a liquid crystal module that actually displays the calculation results, an air circulation fan that circulates air in the liquid crystal display unit to prevent dew condensation on the liquid crystal display unit at low temperatures, and a heater that warms the liquid crystal module at low temperatures. , A temperature switch for operating the heater only when the temperature is low, and a liquid crystal control circuit.
[0028]
Further, the liquid crystal display unit has a movable structure so that the display contents can be visually recognized even when the liquid crystal display unit is installed outdoors, and has a structure provided with a cover in order to prevent a temperature rise of the liquid crystal display unit from direct sunlight. In addition, the cover has a structure in which direct sunlight irradiates only one part of the liquid crystal display part, thereby preventing visibility from being reduced due to a difference in illuminance between the sunlight irradiating part and the shade part.
[0029]
Further, in order to protect electronic circuits such as a counter, a communication control unit and an arithmetic processing unit from a temperature increase due to direct sunlight, and to prevent an ambient temperature increase due to self-heating of the electronic circuit itself, the electronic circuit is housed inside. An electronic circuit housing that dissipates the heat generated, a convection fan that convects the air inside the electronic circuit housing, a device housing that houses the electronic circuit housing, and a thermal barrier between the electronic circuit housing and the device housing The air conditioner has a double structure including an air layer for exhausting air and an exhaust fan for forcibly exhausting an air layer heated by internal heat generation and radiant heat of direct sunlight. In addition, it has a portable structure so that it can be installed anywhere on a plurality of firing ranges in the shooting range.
[0030]
The firing sensor 5 is connected to the firing point display unit 4 and detects an acoustic sensor 11 that detects a shooting sound generated when the shooter shoots, and that the detected sound is a shooting sound generated near the firing sensor 5. It is composed of a judgment circuit for making a judgment.
[0031]
The shooting instruction unit display unit 6 includes a communication control unit that performs communication between the firing range display unit 4 and the shooting data processor 9, an operation button for selecting the firing range display unit 4 to be monitored, and a firing range display unit. The display unit 4 includes a liquid crystal display unit that displays a display result obtained from the display unit 4 and has a structure similar to that of the firing unit 4.
[0032]
The shooting supervisory display unit 8 is connected to the target driving device 2, the firing point display unit 4, and the shooting data processor 9, and is connected to the remote control terminal 7 and set by the remote control terminal 7. A setting obtaining unit for obtaining the target operation, an operation button for selecting a firing range display unit 4 to be monitored, and an operation button for remotely controlling the control of an arbitrary firing range display unit 4, and obtaining from the firing range display unit 4 It has a liquid crystal display unit for displaying the display result and the control content of the firing range display unit, and has the same structure as the firing range display unit 4.
[0033]
The shooting data processor 9 communicates with the target driving device 2, the firing range display unit 4, the shooting instruction unit display unit 6, and the shooting supervisory display unit 8, and displays the firing range display unit 4. The operation of the auxiliary storage unit for storing the result as needed, the data stored in the auxiliary storage unit, the operation of the target driving device 2, the display unit 4 for the firing range, the display unit 6 for the shooting instruction unit, and the display unit 8 for the shooting supervision unit The control unit for managing the situation and the shooting data processor 9 are input by the input unit for inputting the conditions necessary for the measurement of the impact position and the scoring, and for selecting the data stored in the auxiliary storage unit, and the input unit. A display unit for displaying the results and the display result of the firing range display unit 4 stored in the auxiliary storage unit, and a printout of the result input by the input unit and the display result of the firing range display unit 4 stored in the auxiliary storage unit That the printing device, and an uninterruptible power supply for protecting the auxiliary storage unit from the momentary power interruption, and a like counters counter for correcting an error of between the devices.
[0034]
The communication line 10 performs communication between the target driving device 2, the firing display unit 4, the shooting instruction unit display unit 6, the shooting supervisory display unit 8, and the shooting data processor 9. The communication line 10 includes a communication line, a connection box for connecting each device to the communication line, and a branch box 55 for branching the communication line.
[0035]
Since the form of communication between the devices is many-to-many, the communication line 10 uses Ethernet, which is a type of local area network. In addition, the portable firing unit display unit 4, the shooting instruction unit display unit 6, and the shooting supervision unit display unit 8 are used by being connected to a connection box 54 of an arbitrary firing range.
[0036]
Next, installation of the present embodiment on the launch site will be described. FIG. 3 is a diagram illustrating a position where each device of the small arms shooting evaluation system according to the first embodiment of the present invention is installed and a configuration of a shooting range. FIG. 3A is a bird's-eye view of the firing point, and FIG. 3B is a bird's-eye view of the supervisor.
[0037]
The firing range has at least one or more firing points for firing and a supervisor to set the shooting target. Supervisingly, two or more targets 1, two or more landing position measuring devices 2, and two or more target driving devices 3 are installed so that two or more shooters can shoot simultaneously.
[0038]
For each firing position, two or more firing position display units 4 and two or more firing sensors 5 for monitoring the firing of each firing position so that the results of two or more shooting operations can be confirmed. One or more shooting instruction unit display units 6 for the shooting instruction unit for instructing the shooting of each shooter to check the shooting result of each shooter, and one for the shooting supervision unit to set the operation of the target driving device 3. One or more remote operation terminals 7 and the target operation device 3 connected to the remote operation terminal 7 to instruct the target driving device 3 to operate the target set by the remote operation terminal 7 and remotely control the firing unit display unit 4. One or more shooting supervision display units 8 are provided.
[0039]
Further, a connection box 54 and a branch box 55 for connecting the firing unit display unit 4, the shooting instruction unit display unit 6, and the shooting supervisory display unit 8 are provided. The firing line is connected to the supervisory devices by a communication line.
[0040]
Next, the operation of the present embodiment will be described. FIG. 4 shows an operation flow of this embodiment. First, the shooting data processor 9 registers a plurality of target operation patterns at the time of shooting training, a plurality of shooting group configurations for performing shooting training, a shooter name and a shooter identification number in the auxiliary storage unit. All shooting training results of each shooter are managed by this identification number.
[0041]
The shooting training is performed for each of one or more shooting groups that perform shooting, and the shooting supervisor uses the shooting supervisory display unit 8 to determine the shooter identification number of the shooting group from which the shooting training is to be performed. 9 and read and confirm the display. If there is a change in the shooting group, it is changed on the shooting supervisory display unit 8. After changing and confirming the configuration of the shooting group on the shooting supervisory display unit 8, the identification number of each shooter to be used is transferred to each display unit 6.
[0042]
Each firing point display unit 6 requests the shooter name corresponding to the identification number by transferring the identification number set for itself to the shooting data processor 9. The shooting data processor 9 uses the currently used shooter identification number stored in the auxiliary storage unit to check whether or not the same identification number is set in two or more firing display units 6. .
[0043]
If there is the same identification number, this is notified to the firing range display unit and the shooting supervisory display unit, and a message is displayed on each display unit.If there is no same identification number, the shooter name corresponding to the number is displayed. While responding, the changed result is immediately reflected in the auxiliary storage unit of the shooting data processor 9. Each firing range display unit displays the responded shooter name, and each shooter confirms the shooter name displayed on his own firing range display unit 6.
[0044]
Next, the shooting supervision unit sets the target operation pattern for performing the shooting training with the remote control terminal 7. FIG. 5 shows an example of the target operation pattern. Next, the shooting supervisory unit notifies the firing range display unit 4 of the start of shooting training by using the operation button of the shooting supervisory display unit 8. At this time, the target operation pattern set by the remote operation terminal 7 is read out by the setting input unit, and is notified to the firing point display unit 4.
[0045]
The firing position display unit 4 starts the training result screen display process and notifies the target driving device 3 of the start of the firing training in accordance with the shooting training start instruction from the shooting supervisory display unit 8. The target driving device 3 makes the target driving command from the shooting supervisory display unit 8 effective by the notification of the start of the shooting training from the firing unit display unit 4, and starts the measurement to the shot position measuring device 2. Notice.
[0046]
Next, the shooting supervision unit starts a target operation pattern using the remote control terminal 7. When the start of the target operation pattern is instructed by the remote operation terminal 7, the start of the target operation is detected by the setting input unit of the display unit 8 for the shooting supervisory unit, and the target driving command according to the target operation pattern is sent to the target driving device 3. Notify to. The target driving device 3 drives the target 1 in concealment according to a target driving command from the display unit 8 for the shooting supervisory unit.
[0047]
Each shooter starts firing when his target 1 is seen. When the shooter shoots, the sound of the firearm is detected by the acoustic sensor 11 of the firing sensor 5 installed near the shooter and converted into an analog electric signal, and the level of the analog electric signal is determined by a determination circuit. Based on the duration of the signal output, it is determined that the shooter in the vicinity of the firing sensor 5 has fired, and the start of shooting is notified to the firing range display unit 4.
[0048]
The airborne shock wave of the bullet shot by the shooter is detected by the impact position measuring unit 2, and the detection time detected by each acoustic sensor 11 and the detection timing measured by the counter are notified to the target driving device 3. The target driving device 3 measures, using a counter, the timing when the target is driven to the target appearance state and the timing when the target is set to the target disappearance state, and the bullet notified from the impact position measurement unit 2. From the detection timing, it is determined whether or not the bullet reaches the target when the target appears, and bullet information including the determination result and the information notified from the bullet position measuring unit 2 is notified to the firing point display unit 4.
[0049]
The target appearance disappearance is determined by a proximity sensor that detects whether the target 1 driven by the motor 14 is in the appearance state, a proximity sensor that detects that the target 1 is in the disappearance state, and an instruction to move according to the movement of the target 1. Perform with a stick and counter. The pointing rod is arranged so that the target 1 approaches the proximity sensor when appearing, and so that the target 1 approaches the proximity sensor when the target 1 disappears.
[0050]
Accordingly, when the target 1 is in the appearing or hidden state, a detection signal is output from each sensor. The counter holds the value at that time according to the detection signal from each sensor. These values are the target appearance timing and the disappearance timing. Based on these timings and the bullet detection timing of the counter notified from the impact position measurement unit 2, it is determined whether or not the bullet reaches the target at the time of the target appearance. it can.
[0051]
The firing point display unit 4 performs the calculation of the impact position, the scoring, and the display according to the flowchart shown in FIG. First, when shooting is detected by the firing sensor 5, a timer for measuring a landing time is activated (S1). When the time is out (S2), bullet information is obtained by shock wave detection by the impact position measuring device (S3). A shock wave detection time is calculated (S4). In the case of a timeout, the coordinates of the landing position are immediately selected as out of target (S14).
[0052]
It is determined whether it is within the landing time (S5), and if it is within the time, it is confirmed that it is not "out of target" or "jumping" (S6), and the temporary landing position coordinates are calculated (S7). If it is out of time, the presence or absence of bullet information is checked (S15). The firing angle is corrected based on this calculated value (S8), and it is confirmed that there is no other bullet information (S9), and the coordinates of the landing position are selected (S10). Next, scoring is performed (S11), the display coordinates are shown (S12), and displayed (S13).
[0053]
That is, as soon as the shooting start notification is received from the firing sensor 5, the shooting timing is stored in the counter and the bullet information from the target driving device 3 is waited. When the bullet information from the target driving device 3 is obtained, it is immediately determined from the shooting timing by the counter and the obtained bullet information whether or not the bullet information is obtained by the bullet fired by the shooting detected by the firing sensor 5. Is determined by a determination method described later.
[0054]
When it is determined that the bullet is its own bullet, a bullet landing position calculation and scoring described later are performed, and the calculation result is displayed on the liquid crystal display unit in the format of FIG. If it is determined that it is not its own bullet, it waits for the next bullet information from the target driving device 3 or waits for the next shooting start notification from the firing sensor 5. The scoring is performed by determining the scoring range based on the training conditions such as the shooting distance, the shooting attitude, and the type of the gun used, which are notified at the same time when the shooting training start command is notified from the shooting supervisory display unit 8.
[0055]
During the shooting training, the shooting supervisory unit and the shooting instruction unit request the shooting training status to an arbitrary firing point display unit 4 by using the operation button of the display unit 8 for the shooting supervisory unit and the operation button of the display unit 6 for the shooting instruction unit. can do.
[0056]
The firing display unit 4 requested for the shooting training status notifies the current and past shooting training status via the communication line 10, and the firing supervisory display unit 8 and the firing instruction display unit 6 display the firing training status. The shooting training status from the display unit 4 is displayed in either a single lane of FIG. 7A or a plurality of lanes of FIG. 7B. In this case, an arbitrary lane can be individually selected and displayed from the plurality of lanes of FIG. 7B in the format of FIG. 7A. Thereby, it is possible to efficiently guide the shooting of the shooter for each shot.
[0057]
When the shooting training is completed, the shooting supervisory unit notifies the firing display unit 4 via the communication line 10 of the end of the shooting training by using the operation button of the shooting supervisory display unit 8.
[0058]
Upon receiving the end of the shooting training, the firing display unit 4 ends the shooting training once, and notifies the shooting data processor 9 of the shooting training result via the communication line 10 together with the identification number. Upon receiving the shooting training result, the shooting data processor 9 immediately stores the result in the auxiliary storage unit and outputs the shooting training result received from the printing device in a format shown in FIG.
[0059]
The storage in the auxiliary storage unit is managed by the identification number and the date so that the reference can be made. Thus, the shooter can check the shooting result during the shooting training and the shooting result after the shooting training without operating the display unit 4 for his own firing range, and can concentrate on the shooting training.
[0060]
Next, a method of judging whether or not the bullet information is obtained by a bullet fired by the shooting detected by the firing sensor 5 according to the present embodiment will be described. First, the consistency of the bullet information sent from the target driving device 3 is confirmed. Then, it is determined whether or not the transmitted bullet information is information immediately after shooting. Next, it is determined whether or not this bullet information is generated by a shock wave generated from one bullet.
[0061]
The processing of 1 to 3 shots is described below. The only known information at the time of the firing is the firing distance. The bullet velocity, the bullet flight time, and the bullet position coordinates are given as information on the bullet that has landed. Therefore, first, the distance calculated from the bullet speed and the bullet flight time (bullet flight distance) is compared with the actual shooting distance.
[0062]
The initial velocity of the bullet at the muzzle is unknown, and the bullet decelerates slightly before exiting the muzzle and hitting the target 1, the amount of which varies depending on the surrounding weather conditions. Thus, if the bullet flight time is correct, the bullet flight distance should be slightly greater than the actual firing distance.
[0063]
However, the bullet flight time is calculated from the time difference between the detection of the bullet by the two devices (the impact position measurement unit 2 and the firing sensor 5). Contains. Therefore, if the bullet flight distance is in the range of half to twice the actual shooting distance, it is determined that the bullet is within its own range.
[0064]
Next, those having a large impact position X coordinate are excluded from those within the own bullet range. The interval between the target and the adjacent target is about 3 [m], and the bullet hitting the adjacent target should be a bullet fired by the adjacent shooter. For this reason, a bullet whose horizontal distance deviates from the center of its own target by 1.5 [m] or more is not regarded as its own bullet.
[0065]
The processing after four shots is described below. The exact information known at the time of the firing is the firing distance, the bullet speed and the flight distance of the bullets that were determined to be past bullets. The information of the bullet that has been landed is given by the bullet speed, the bullet flight time, and the bullet position coordinates. Therefore, the bullet flight distance calculated from the bullet speed and the bullet flight time is compared with the average flight distance of the bullet judged as the past bullet.
[0066]
The average flight distance of bullets judged to be past bullets should be approximately the same as that of bullets fired from the same small arms. Therefore, if the bullet flight distance is within 4σ from the average flight distance of the bullet determined as the past bullet, it is determined that the bullet is within the range of the bullet.
[0067]
Further, in order to determine whether or not the object in the range of the own bullet is a bouncing bullet, the bullet speed is compared with the bullet speed determined as the past bullet. The bullet speed of its own bullet should be approximately the same as the average bullet speed of the bullet judged as the next bullet, unless there is a sudden change in weather conditions during the shooting period. Therefore, if the bullet speed is within 4σ from the average bullet speed of the bullet judged as the past bullet, it is determined that the bullet is not a rebound.
[0068]
Next, those having a large impact position X coordinate are excluded from those within the own bullet range. The distance between the target and the adjacent target is about 3 [m], and the bullet landed on the adjacent target should be the bullet fired by the adjacent shooter, so that the horizontal distance is 1.5 [m] from the center of the own target. Any missed bullets are not self-propelled.
[0069]
FIG. 9 shows a processing procedure according to the above-described determination method. The processing contents are described below. The shooting timing by the counter is Tf, the detection timing obtained by the counter is Th, the shooting distance is Dfp, and the bullet speed is Vb.
[0070]
First, a bullet flight time Tof is obtained from the difference between the shooting timing Tf and the detection timing Th. Here, each counter is a 16-bit, 1200 Hz hardware counter.
[0071]
When the relationship between Vb and Tof is too far apart (when there is a change equal to or greater than the change in bullet velocity due to wind or air), it is determined to be the “next bullet” or “other bullet”, and Do not process. The criteria are described below.
[0072]
If Tf ≧ Th, Tof = Tf−Th [S]
If Tf <Th, Tof = Tf−Th + 54.6133
If Tof = 0 or Tof ≧ 12 [s], “other hit” is performed.
If 0 <Tof <12 and Tof ≧ (Dfp × 5) / Vb, the next bullet is set.
[0073]
Next, the range of the bullet speed that can be detected as the own bullet (allowable difference Vbmin from the average bullet speed Vbm of the bullet) is obtained. However, the method is different depending on whether the flight time varies widely or not. The flight time variation σ is determined from the bullet speed variation Vvar when the shooting distance is constant.
[0074]
When σ = Vvar / Dfp> 10
Vdmin = 0.05 × (0.1 × Vbm × Vbm / Dfp)
VTofdmin = 0.05 × (0.1 × VTofm × Vbm / Dfp)
Here, VTofm = average value of flight distance obtained from bullet velocity and flight time
VTofdmin = tolerance of flight distance
When σ = Vvar / Dfp ≦ 0.1
Vdmin = 0.05 × Vbm
VTofdmin = 0.05 × VTofm
It becomes.
[0075]
Until the first third shot, if the bullet velocity is within the following range, the temporary landing position coordinates P (Xp, Yp) are calculated using the above formula as self-launching,
0.5 × (Dfp / Tof) <Vb <2 × (Dfp / Tof)
VTofd = 0
It becomes. Here, when the calculated impact position X coordinate is ± 1.5 [m] or more, it is determined as “other bullet”.
[0076]
The processing from the fourth shot is as follows. First, the velocity difference Vd between the actually detected bullet velocity and the average bullet velocity is calculated from the following equation.
Vd = Vb−Vbm
It becomes.
[0077]
If Vd is out of the allowable range obtained above, it is determined to be a “bounce” candidate. In addition, the flight distance is obtained from the bullet speed and the flight time, and if it is within the allowable range, it is determined that it is within the impact detection time.
[0078]
If neither Vd2 <16 × Vvar or | Vd | ≦ Vdmin, set a “bounce” flag,
VTofd = Tof × Vb−VTofm
In the case of VTofd2 <16 × VTofvar or | VTofd | 2 ≦ VTofdmin, a flag of “bombardment” is set.
[0079]
As a result, only when the “bombing” flag is set and the “jumping” flag is not set, the temporary bombing position coordinates P (Xp, Yp) are calculated using the above-described formula as self-bombing. If the calculated temporary landing position X coordinate is equal to or more than ± 1.5 [m], a process of “other bullets” is performed. Further, when the “bombing” flag is not set, and when VTofd> 0, it is determined that the vehicle has deviated from the self-bombing range, and the subsequent processing is not performed for the current firing. Here, the number of shots is Be. However, Be is a value counted only when the “bombing” flag is set and the “jumping” flag is not set.
[0080]
Vbm, VTofm, Vvar, and VTofvar used above are calculated as follows.
[0081]
Assuming that NS = Be when Be <10 and NS = 10 when Be ≧ 10,
Average bullet velocity (Vbm)
Vbm = Vbm- (Vbm / NS) + (Vb / NS)
Square of average bullet velocity (Vbsq)
Vbsq = Vbsq- (Vbsq / NS) + (Vb2 / NS)
Average of airplane distance calculated from bullet speed and flight time (VTofm)
VTofm = VTofm− (VTofm / NS) + {(Vb × Tof) / NS} The square of the airplane distance obtained from the bullet speed and the flight time (VTofsq)
VTofsq = VTofsq− (VTofsq / NS) + ｛(Vb × To
f) 2 / NS｝
If Be ≧ 2,
Variation of bullet speed (Vvar)
Vvar = (Vbsq−Vbm2) × {NS / (NS-1)}
Flight time variation (VTofvar)
VTofvar = (VTofsq−VTofm2) × {NS / (NS-1)}
It becomes.
[0082]
Next, an impact position calculation method according to the present embodiment will be described. The firing point display unit 4 calculates the temporary impact position coordinates P (Xp, Yp) using the above-described calculation formula, and calculates a correction value of the shooting angle generated from the relationship between the shooting position and the target position. The calculation procedure is described below.
[0083]
First, the positional relationship between the firing point, the center of the target, and the shock wave sensor is recognized. A perpendicular is lowered from the target center, and the coordinates of each sensor and the like are input in a coordinate system having the origin at the intersection with the horizontal plane including the central sensor. FIG. 10 shows the coordinate relationship. The items stored in advance are shown below.
[0084]
100m, 200m, 300m firing point coordinates (coordinates of acoustic sensor 11 of firing sensor 5)
・ Coordinates of each acoustic sensor 11 of the impact position measuring device 2
[0085]
Next, from the provisional impact position coordinates (Xp, Yp, 0) and the firing coordinates (Xsh, Ysh, Zsh), the incident angle of the bullet is obtained, and the direction cosine of the shooting line is obtained.
θx = −tan−1 {(Xp−Xsh) / Zsh},
θy = tan-1 {(Yp-Ysh) / (Zsh / cos θx)}
LT = cos θy × sin θx, MT = −slnθy, NT = cos θy × cos θx
It becomes.
[0086]
Next, when the direction cosine between the temporary landing point and each sensor is obtained,
Distance between the temporary landing point and the acoustic sensor 11d (xf, Yf, Zf)
Sfp = {(Xf-Xp) 2+ (Yf-Yp) 2 + Zf2}
Distance between the temporary landing point and the acoustic sensor 11b (Xc, Yc, Zc)
Scp = {(xc-xp) 2+ (Yc-Yp) 2 + Zc2}
Distance between the temporary landing point and the acoustic sensor 11a (Xl, Yl, Zl)
Slp = {(Xl-xp) 2+ (Yl-Yp) 2 + Z12)
Distance between the temporary landing point and the acoustic sensor 11c (Xr, Yr, Zr)
Srp = {(Xr-Xp) 2+ (Yr-Yp) 2 + Zr2}
It becomes.
[0087]
Therefore, the direction cosine with each acoustic sensor 11 is
Acoustic sensor 11d: LSf = (Xf-Xp) / Sfp, MSf = (Yf-Yp) / Sfp, NSf = ZF / Sfp
Acoustic sensor 11b: LSc = (Xc-Xp) / Scp, MSc = Yc-Yp) / Scp, NSc = Zc / Scp
Acoustic sensor 11a: LSl = (Xl-Xp) / Slp, MSl = (Yl-Yp) / Slp, NSl = Zl / Slp
Acoustic sensor 11c: LSr = (Xr-Xp) / Srp, MSr = (Yr-Yp) / Srp, NSr = Zr / Srp
It becomes.
[0088]
When the angle between the line connecting the temporary landing point and each sensor and the shooting line is obtained,
Acoustic sensor 11d: θf = cos-1 (LT × LSf + MT × MSf + NT × NSf)
Acoustic sensor 11b: θc = cos-1 (LT × LSc + MT × MSc + NT × NSc)
Acoustic sensor 11a: θl = cos-1 (LT × LS1 + MT × MS1 + NT × NS1)
Acoustic sensor 11c: θr = cos-1 (LT × LSr + MT × MSr + NT × NSr)
It becomes.
[0089]
Assuming that a perpendicular is dropped from each acoustic sensor 11 to the shooting line, and the intersections with the shooting lines are Pf, Pc, Pl, and Pr, respectively, the distance from each acoustic sensor 11 to each intersection is
SfPf = | Sfp × sin θf |
ScPc = | Scp × sin θc |
SlPl = | Slp × sin θl |
SrPr = | Srp × sin θr |
It becomes.
[0090]
The distance from the provisional impact point to each intersection is
PPf = | Sfp × cos θf |
PPc = | Scp × cos θc |
PPl = | Slp × cos θl |
PPr = | Srp × cos θr |
It becomes.
[0091]
Therefore, the distance from Pf to Pc, Pl, Pr is
PfPc = | PPf-PPc |
PfPl = | PPf-PPl |
PfPr = | PPf-PPr |
It becomes.
[0092]
The time (TMf, TMc, TMl, TMr) until the shock wave arrives at each acoustic sensor 11 with reference to the time when Pf on the shooting line passes is given by:
TMf = SfPf / Vs
TMc = PfPc / Vb + ScPc / Vs
TMl = PfPl / Vb + SlPl / Vs
TMr = PfPr / Vb + SrPr / Vs
It becomes.
[0093]
Therefore, the arrival time difference is
ΔTMcf = TMC-TMF
ΔTMlc = TMl-TMc
ΔTMrc = TMr-TMc
It becomes.
[0094]
When the correction values (Dx, Dy) are calculated from the arrival time differences obtained so far,
Corrected bullet velocity (Vbt)
Vbt = FC / △ TMcf
Square of corrected transmission speed (Vst2)
Vst2 = (Vc2 × Vbt2) / Vbt2-Vc2)
It becomes.
[0095]
Therefore,
Xpt = (TMl-TMr) × (Vst2 × {TMlc × △ TMrc) × W2 / {2 × W × ({TMlc + {TMrc)}}
Npt = {2 × W2-Vst2 × ({TMlc2 + {TMrc2)}}
Mpt = Npt2 / {4 × Vst2 × ({TMLc + {TMrc) 2}}
Ypt2 = Mpt-Xpt2
It becomes.
[0096]
When Ypt2 <0, if an error (jump) occurs,
Ypt = √ (Ypt2)
Therefore, the correction value is
Dx = Xp-Xpt, Dy = Yp-Ypt
The corrected landing position coordinates (Xd, Yd) are
Xd = Xp + Dx, Yd = Yp ÷ + Dy
It becomes.
[0097]
Next, the time adjustment of each counter of the present embodiment will be described. The counter of the target drive device 3, the counter of the firing point display unit 4, and the counter of the impact position measuring device 2 are 16-bit, 1200 Hz hardware counters, each of which is operated by a clock signal from an independent crystal oscillator. .
[0098]
Since the crystal oscillator has an error of several hundred ppm, the respective counters are not synchronized at all. In addition, since the power-on timing varies depending on the device, the counter of each device needs to periodically adjust the time.
[0099]
The shooting data processor 9 has the same built-in counter as other devices, and uses the value of the counter as a reference time to periodically notify all connected devices of the time via the communication line 10 at once. I have.
[0100]
Upon receiving the values of the counters, the firing range display unit 4 and the target driving device 3 immediately read out the respective counters and the counter values, and calculate and store the reference time difference from the difference. When a certain event occurs and each counter is read out, the firing display unit 4 and the target driving device 3 always add the reference time difference so that the counters of the firing display unit 4 and the target driving device 3 are almost synchronized. Can be obtained as a value operated.
[0101]
The counter of the impact position measuring device 2 is periodically read from the target driving device 3 and the difference from the value of the counter is stored as a correction value, so that the timing when the air carrier shock wave is detected can be corrected by the correction value.
[0102]
Next, a method of calculating the reference time difference will be described. When each device receives a reference time (counter value) on the communication line 10 periodically transmitted by the shooting data processor 9, the firing point display unit 4 reads the counter, and the target driving device 3 reads the counter. .
[0103]
Next, the difference between the reference time and the own counter value is stored. The latest seven moving averages among the stored time differences are calculated, and the calculated value is used as a reference time difference. When it is desired to know the time on the firing point display unit 4 (for example, the shooting detection time), the time adjusted to the reference time on the communication line 10 is added to the value of the counter of the firing point display unit 4 by adding this reference time difference. You can know.
[0104]
Since each counter has 16 bits and 1200 Hz, the reference time difference is calculated as follows. First, the total of the time differences up to the past seven times, the maximum value of the time differences and the minimum value of the time differences are calculated.
[0105]
Next, the difference between the minimum value and the maximum value is calculated, and it is checked whether the value exceeds half of the 16-bit counter (0x8000). If it exceeds, it is determined that there is a large variation in the time difference data, and the number of data whose difference between the minimum value and the maximum value is more than half of the counter is compared with the number of data smaller than half. Calculate the average value. If not, the time difference data is determined to be non-variable data, and an average value is calculated from all the data.
[0106]
How to calculate the time difference (） T (n))
Reference time on LAN line: Ts (n)
Internal clock value when receiving reference time: Ti (n)
When Ts (n) ≧ Ti (n)
ΔT (n) = Ts (n) −Ti (n)
When Ts (n) <Ti (n)
ΔT (n) = Ts (n) + 65536-Ti (n)
It becomes.
[0107]
The average value is calculated by excluding the maximum value and the minimum value in the target data group from the target data group.
[0108]
In the calculation method of the average value (ATs (n)),
Maximum value of time difference: ΔTmax
Minimum time difference: $ Tmin
Number of data: N
Number of data smaller than the value obtained by adding 32768 to the minimum value: M
Selection data: $ Td
Maximum value of time difference in selected data group: △ Tdmax
The minimum value of the time difference in the selected data group: ΔTdmin.
[0109]
In the case of ΔTmax−ΔTmin <32768
ATs (n) = {T (n)-{Tmax- {Tmin} / (N-2) "
ΔTmax-ΔTmin ≧ 32768
When NM ≧ M
ATs (n) = (Σ △ Td- △ Tdmax- △ Tdmin) / (NM-2)
When NM <M
ATs (n) = (Σ △ Td- △ Tdmax- △ Tdmin) / (M-2)
It becomes.
[0110]
If the difference between the calculated reference time difference and the reference time difference immediately before is shifted by 30 counts or more (the time is 25 ms because the frequency of the counter is 1200 Hz), the direction deviated from the reference time difference immediately before. The value shifted by 30 counts is set as the current reference time difference.
[0111]
The calculation method of the reference time difference (△ Ts (n)) is as follows.
When | △ Ts (n−1) −ATs (n) | <30
ΔTs (n) = ATs (n)
| △ Ts (n-1) -ATs (n) | ≧ 30
ΔTs (n) = ΔTs (n−1) ± 30
It becomes.
[0112]
Here, a reference example is shown in FIG. The apparatus according to the present embodiment detects an air carrier shock wave 71 generated from a supersonic vehicle 70 passing through a predetermined area at a supersonic speed with at least three converters 72 arranged in a straight line, and detects the air carrier shock wave 71. In response to this, an output signal is generated, a time delay between the output signals is measured, and information about the trajectory of the flying object, that is, a passing position is measured from the time delay and displayed on the display 73.
[0113]
The device of this example is originally a device used in a single lane, and it is not possible to secure a sufficient inter-lane distance in a narrow shooting range, so when erroneous detection of air carrying shock waves from bullets in adjacent lanes There is. In addition, the indicator at hand of each shooter must be operated by each shooter, and if he is not familiar with how to use the device, there is a drawback that he cannot concentrate on shooting due to erroneous operation.
[0114]
【The invention's effect】
As described above, according to the present invention, it is possible to shield the air carrier shock wave from the bullets in the adjacent lane with the shielding plate, and to extract only the bullets shot by the player, so that a sufficient inter-lane distance Even in a narrow shooting range where it is not possible to secure a shot, an erroneous indication of a shot other than the one shot at one's own target is eliminated, and many shooters can perform shooting training at the same time.
[0115]
In addition, since the shooting training status is instantly displayed at the shooter's hand only by operating the button of the shooting supervision department, the shooter can check the shooting result at hand without breaking the shooting posture during shooting training, Will be able to concentrate on shooting. Further, since the shooting instruction unit and the shooting supervision unit can easily confirm the training status of the shooter, it is possible to immediately give appropriate shooting guidance. Furthermore, since the confirmation of the shooting result after the shooting training is automatically output, it is not necessary to perform the display of the shot and the transcription of the shot in the supervisory unit, and the training of more shooters can be efficiently performed. It becomes possible.
[Brief description of the drawings]
FIG. 1 is a configuration diagram of a small arms shooting evaluation system according to an embodiment of the present invention.
FIG. 2 is a processing system diagram of a small arms shooting evaluation system according to the embodiment of the present invention.
FIG. 3 is an arrangement view of a device launching field according to the embodiment of the present invention.
FIG. 4 is a detailed explanatory diagram of an operation procedure according to the embodiment of the present invention.
FIG. 5 is a view showing an example of a target operation pattern according to the embodiment of the present invention.
FIG. 6 is a view showing a processing procedure of a firing unit display unit according to the embodiment of the present invention.
FIGS. 7A and 7B are shooting training result display diagrams according to the embodiment of the present invention, in which FIG. 7A shows a single lane, and FIG.
FIG. 8 is a shot training result printout diagram according to the embodiment of the present invention.
FIG. 9 is an explanatory view of a bullet discriminating procedure according to the embodiment of the present invention.
FIG. 10 is an explanatory diagram of a coordinate relationship according to the embodiment of the present invention.
FIG. 11 is an explanatory diagram of a reference example.
[Explanation of symbols]
1 Target
2 Shot position measuring device
3 Target drive
4 Display unit for firing point
5 Launch sensor
6 Display unit for shooting indicator
7 Remote control terminal
8 Shooting Supervision Display Unit
9 Shooting data processor
10 Communication line
11 Acoustic sensor
12 Shield plate
54 Connection Box
55 branch box
70 Supersonic Aircraft
71 Air transport shock wave
73 Display

Claims (13)

A firing range that is a place for firing bullets from small arms, and a plurality of firing lanes with movable targets, and a firing range installed near each of the firing ranges, for scoring and displaying the impact position of the shot bullet. A display unit, a firing sensor connected to the firing unit display unit, installed near the muzzle of a small weapon in the firing position, and detecting a firing of a bullet, and near a firing instruction unit for instructing start and stop of the firing. At least two or more shooting instruction unit display units that are installed and select and monitor the display of an arbitrary unit from among the firing display units, and collect the display results of the firing display unit, A shooting data processor that centrally manages the conditions necessary for measurement and scoring of fire, and shooting training conditions including the operation of the target, shooting distance, shooting attitude, and the type of small arms used. At least two or more remote control terminals, and at least one or more shooting supervision display units for instructing a drive device that drives the target to operate the target set by the remote control terminal. Characteristic firearms evaluation system. A system for determining information about a trajectory of a bullet passing at a supersonic speed through a predetermined region of a shooting lane, wherein the firing position is a place where each of the plurality of firing lanes fires a bullet from a small weapon and a shot by the small weapon. Two or more targets serving as aiming points of the target, an impact position measuring device that measures a passing position of a bullet passing through the two or more predetermined regions installed in the vicinity of the target; and And two or more target driving devices that communicate with the impact position measuring device, and two or more firing positions that are arranged near the firing position and that display the scores of the impact positions measured by the impact position measuring device. Display unit, a firing sensor connected to each of the firing range display units and installed near the muzzle of a small weapon at the firing position to detect the presence or absence of firing by firing a bullet; Two or more shooting instruction unit display units installed near the firing instruction unit for instructing start and stop, selecting a display of any of the firing range display units, and monitoring the display result, and the target Two or more remote control terminals for setting the operation of the driving device, the shooting distance, the shooting attitude, and shooting training conditions including the type of small arms used, and the target operation performed by the target operation set by the remote control terminal. One or more shooting supervision display units for instructing the apparatus, and a shooting data processor for centrally managing conditions necessary for collecting display results of the firing range display unit, measuring and scoring a shot position, and so on. A firearms evaluation system for small arms. The firearms evaluation system according to any one of claims 1 to 2, wherein between the plurality of adjacent shooting lanes, transmission of air carrier shock waves of bullets passing through a predetermined area of the shooting lane is performed. A small arms fire evaluation system characterized by installing a limiting shield plate. 3. The small arms shooting evaluation system according to claim 1, wherein each of a shooting sound detected by the firing sensor and an air carrier shock wave from a bullet passing through a predetermined area of the shooting lane. 4. A counter for measuring time; and a means for determining whether or not the bullet is fired from the firing point based on the time measured by each counter, the shooting distance, and the bullet velocity. Small arms fire evaluation system. The firearms evaluation system according to any one of claims 1 to 2, wherein the display unit for the fire supervision unit can remotely control the display of the display unit for the firing point. Shooting evaluation system. The small arms shooting evaluation system according to any one of claims 1 to 2, wherein the firing unit display unit is a portable type that can be commonly used for a plurality of firing positions. system. The small arms shooting evaluation system according to any one of claims 1 to 2, wherein the target is made of an olefin resin capable of shrinking a bullet through hole. system. The firearms evaluation system according to any one of claims 1 to 2, wherein the firing unit display unit, the firing instruction unit display unit, the shooting supervision unit display unit, and the target driving device, A firearm evaluation system for small arms, wherein the housing has a double structure to protect the inside of the device from a temperature rise due to direct sunlight, and an air layer and an exhaust fan are provided between the housings having the double structure. The small arms shooting evaluation system according to any one of claims 1 to 2, wherein the shooting data processor includes an auxiliary storage unit that manages a result of the shooting training by an identification number unique to a firing point. Small arms fire evaluation system. 3. The small arms shooting evaluation system according to claim 1, wherein the shooting data processor has an auxiliary storage unit that manages a group of shootings simultaneously performed at a plurality of firing positions. 4. Small arms fire evaluation system. 3. The small arms shooting evaluation system according to claim 1, wherein the display unit for the firing range, the display unit for the firing instruction unit, and the display unit for the shooting supervisory unit are of a reflective or semi-transmissive type. 4. The liquid crystal display unit is used, and has a movable cover for preventing a decrease in visibility due to a difference in illuminance between the sunlight irradiation unit and the shade by irradiating only one part of the display unit with direct sunlight. A firearms evaluation system for small arms. The firearms evaluation system according to any one of claims 1 to 2, wherein the display unit for the firing range, the display unit for the firing instruction unit, and the liquid crystal display unit used for the display unit for the shooting supervision unit are: An air circulation fan that circulates air therein to prevent dew condensation on the liquid crystal display at low temperatures, a heater that heats the inside of the liquid crystal display at low temperatures, and a temperature switch that operates the heaters only at low temperatures. A firearms evaluation system for small arms. 3. The small arms shooting evaluation system according to claim 1, wherein the firing unit display unit, the target driving device, and the landing position measurement device that measures the landing position are located between the firing unit display unit, the target driving device, and the landing position measurement device. Is connected by a communication line, and is provided with a counter for synchronizing respective operations.

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