JP3873188B2 - Small firearm shooting evaluation system - Google Patents

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（登録商標）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×Ｔｏｆ）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、弾丸の発射時間と着弾時間に基づいて弾丸速度と弾丸飛行時間を求めて弾丸飛行距離を求め、その弾丸飛行距離を既知の射撃距離と比較して、その弾丸が自己の射座から発射されたものか否かを判別するようにしているから、自己の射撃レーンの弾丸のみを抽出することが可能となる。その結果、十分なレーン間距離を確保できない狭い射撃場でも、隣接レーンの弾丸の空気搬送衝撃波による誤った着弾位置の評価を回避でき、多数の射座で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]
BACKGROUND OF THE INVENTION
  The present invention,It is related to a small firearm shooting evaluation system, especially,SuperThe present invention relates to a shooting training device suitable for a small firearm using a sonic bullet.
[0002]
[Prior art]
As a conventional apparatus, as disclosed in Japanese Patent Publication No. 62-17193, there is an apparatus that determines information related to the trajectory of an ultrasonic projectile passing through a predetermined region.
[0003]
This apparatus detects air-carrying shock waves generated from a supersonic flying vehicle passing through a predetermined region at a supersonic speed with at least three converters arranged in a straight line, and outputs an output signal in response to the air-carrying shock waves. The time delay between each output signal is measured, information on the trajectory of the flying object, that is, the passing position is measured from the time delay and displayed on the display.
[0004]
[Problems to be solved by the invention]
The above-mentioned conventional device is originally a device used in a single lane, and when used in multiple lanes, it is assumed that the lane spacing is separated to a distance that the air transport shock wave of the bullet in the adjacent lane does not reach. It is said. However, in the case of a narrow shooting range, a sufficient distance between lanes cannot be ensured, so that an air transport 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 an adjacent lane is accidentally passed near the target in his lane, it is erroneously determined as a result of his own shooting. Therefore, it is not a device that can be installed in a narrow shooting range and can be used by many shooters at the same time.
[0006]
In addition, the indicator at the position of each shooter must be operated by each shooter himself, and if used by a shooter who is not familiar with how to use the device, an erroneous operation may occur and it is impossible to concentrate on shooting. There were drawbacks.
[0007]
In addition, it is necessary for the shooting instruction section and the shooting supervision section to instruct the shooting to move and check the shooting status of each shooter to the vicinity of each shooting position, and at the same time, it is not possible to efficiently teach multiple shooting targets at the same time was there.
[0008]
  Main departureTomorrow,The aim is to allow many shooters to practice small firearms at the same time in a narrow shooting range, and to avoid evaluation of the wrong landing position due to the air-borne shock wave of the bullet in the adjacent lane..
[0009]
[Means for Solving the Problems]
  In order to solve the above problems, a small weapon shooting training system according to the present invention includes a plurality of shooting ranges for firing bullets from small weapons, a display unit for shooting each installed in the vicinity of each shooting seat, and a display for the shooting. A launch sensor that is connected to the unit and is installed in the vicinity of each of the projectiles to detect the launch of the bullet, a plurality of targets that are provided facing the positions away from each of the projectiles, and a concealment operation for each target A plurality of target driving devices to be connected to each target driving device and installed in the vicinity of each target, and a bullet air-carrying shock wave is detected by a plurality of acoustic sensors to determine a landing time, a bullet velocity, and a landing position. Multiple landing position measurement devices to measure, shooting data processor that centrally manages the conditions necessary for measurement and scoring of landing positions, movement of the target, shooting distance, shooting posture, type of firearm used A remote operation terminal for setting shooting training conditions; a display unit for shooting supervisory section for inputting the shooting training conditions and commands for starting and stopping shooting; a display unit for shooting position; a display unit for shooting supervisory section; A communication line connecting the target driving device and the shooting data processor, the shooting data processor transmits conditions necessary for measuring and scoring the impact position to the shooting display unit, and The display unit for the shooting supervisor is configured to collect and store the shooting results transmitted from the display unit for the shooting, and the display unit for the shooting supervision unit transmits the target action set by the remote operation terminal to the target driving device. The shooting display unit is configured to have a function to display the shooting training conditions and shooting start and stop commands on the shooting display unit. , The firing time is measured based on the firing of the bullet detected by the firing sensor, the bullet speed and the bullet flight time are obtained based on the landing time measured by the landing position measuring device corresponding to the firing time, A bullet flight distance is obtained based on the bullet speed and the bullet flight time, and the bullet flight distance is compared with the shooting distance transmitted from the display unit for the shooting supervisor, and the bullet is fired from the shooting position. In the case of a bullet fired from the shooting position, the landing position measured by the landing position measuring device is scored and displayed as a shooting result, and the shooting result is displayed for the shooting supervisor A display unit for the shooting supervision unit that selects and displays a shooting result of any unit of the display unit for the shooting position. Shall be configured to be displayable.
[0010]
  According to the present invention, a shooter that fires a bullet of a small firearm is installed near a shooting seat that is a place where the small firearm is set.(Display unit for shooting)Can eliminate the need for operations by each shooter, allowing the shooter to concentrate on shooting, and the shooting direction and the shooting supervisor supporting the start and stop of shooting are immediately in hand with the shooting status of each shooter. Therefore, it is possible to improve the shooting skill of the shooter by appropriate shooting instruction. Also,The display unit for the shooting position determines the bullet flight distance by calculating the bullet speed and the bullet flight time based on the bullet firing time and the landing time, compares the bullet flight distance with the known shooting distance, and the bullet Since it is determined whether or not it was fired from the shooting range,It becomes possible to extract only bullets. as a result,Even in a narrow shooting range where there is not enough distance between lanes,Can avoid evaluation of the wrong landing position due to the air carrier shock wave of the bullet in the adjacent lane,It is possible to conduct shooting training at a number of positions simultaneously.
[0012]
In addition, by providing a display for the shooting supervision unit and a display for the shooting instruction unit that can monitor the shooting results displayed on the display at the hand of each shooting site, it is possible to check the shooting status of any shooter and immediately provide appropriate guidance. Can be done. Further, by attaching an operation button for operating the display of each shooting position to the display for the shooting supervisor, it is not necessary for the shooter to directly operate the display at hand.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
The outline of the embodiment of the present invention is that, in a shooting lane, a shooting sensor that is a place where a shooter holds a small firearm and fires a bullet, a shooting sensor for shooting detection, a measurement counter for detection timing, and an impact detection timing And an acoustic sensor for detecting the bullet velocity, and a shielding plate for shielding the air carrier shock wave generated from the vicinity of the adjacent lane is installed in the vicinity of the acoustic sensor for detecting the air carrier shock wave. It was made possible to detect only air-carrying shock waves from bullets that reached the vicinity.
[0014]
As a result, the air transport shock waves of the bullets in the adjacent lanes can be shielded by the shielding plate, and only the bullets that have been fired can be extracted, so that many shooters can simultaneously conduct shooting training even at shooting ranges with a short lane distance. In addition, since the display at each shooter's hand does not require any operation, it is possible to concentrate on shooting, and the result of shooting can be recognized immediately and accurately, and the shooting instruction unit can provide appropriate guidance.
[0015]
Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a configuration diagram showing a firearm shooting evaluation system according to a first embodiment of the present invention. FIG. 2 is a processing system diagram of the firearm 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 measurement devices 2 installed in the vicinity of the target 1 so that a plurality of shooters can simultaneously train. Two or more target driving devices 3 that perform the covert operation of the target 1 and communicate with the impact position measurement device 2, and the vicinity of the shooter of the shooter that displays the impact positions measured by the impact position measurement device 2 Two or more seating display units 4 installed at the same position, and the number of firing sensors 5 corresponding to the seating display units 4 connected to each seating display unit 4 and installed near the muzzle of the seating to monitor the presence or absence of shooting. And two or more shooting instruction unit display units 6 that are installed in the vicinity of the shooting instruction unit and monitor the display result of the shooting display unit 4.
[0017]
Then, two or more remote operation terminals 7 for setting the shooting training conditions such as the operation of the target driving device 3, the shooting distance, the shooting posture, and the type of firearm used, and the remote operation terminal 7 are connected to the remote operation terminal 7. One or more shooting supervision unit display units 8 for instructing the target driving device 3 to operate the target set in 7 and remotely controlling the shooting display unit 4, and the display of the shooting display unit 4 Shooting data processor 9 that collects results and centrally manages conditions necessary for impact position measurement and scoring, target drive unit 3, display unit 4 for shooting, display unit 6 for shooting instruction unit, and shooting supervision unit A communication line 10 for performing communication between the display unit 8 and the shooting data processor 9 is provided.
[0018]
The target 1 is the aiming point of the shooting, the size differs depending on the shooting distance, and damage is caused by the shooting. Therefore, the target 1 can be attached to and detached from the target driving device 3, and the hole generated by the bullet passing is slightly contracted. Thus, an olefin resin is used in order to provide durability.
[0019]
As shown in Japanese Examined Patent Publication No. Sho 62-17193 as an example, the impact position measuring device 2 uses four acoustic sensors 11 to generate air transport shock waves generated immediately before a bullet flying at supersonic speed passes through the target 1. Some of them detect and obtain the bullet speed and the landing position from the detection time difference. In each acoustic sensor 11, three acoustic sensors 11a, 11b, and 11c are arranged in 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 sensor 11a (-L, 0), sensor 11b (0, 0), sensor 11c (L, 0), sensor 11d (0, D), and the propagation velocity of the air carrier shock wave is S. Then, P (Xp, Yp) of the impact position coordinates can be expressed by the following formula 1. However, this calculation formula is known.
[0021]
[Expression 1]

[0022]
In addition, in order to detect bullets in a non-contact manner, in order not to detect air-carrying shock waves generated by bullets flying to other adjacent targets, and air generated by all four acoustic sensors 11 from the same bullet In order to detect the conveyance shock wave, the shielding plate 12 is installed in the vicinity of each acoustic sensor 11.
[0023]
The shielding plate 12 is provided with a urethane cushion so that the air carrier shock wave is reflected and the acoustic sensor does not erroneously detect the reflected wave. Moreover, it has the counter 58 which measures the timing when the air conveyance shock wave is detected earliest among the four acoustic sensors 11.
[0024]
The target driving device 3 includes an insertion part for inserting and fixing the axis of the target 1, a motor for concealing the target 1 by rotating the insertion part, a motor control circuit for driving and controlling the motor, and the appearance of the target 1 A proximity sensor that detects the state and the obscuration state, a counter that measures the target appearance timing or the timing at which the impact position measurement device 2 detects the impact, and the bullet that is measured by the impact position measurement device 2 A communication circuit that obtains information on the speed and the landing position, and a communication control unit that performs communication with the shooting display unit 4, the shooting supervisor display unit 8, and the shooting data processor 9.
[0025]
Also, because the target drive device is installed outdoors, it protects the electronic circuits such as the motor control circuit, counter, communication circuit, and communication control unit from temperature rise due to direct sunlight, and protects the electronic circuit from motor drive noise. An electronic circuit housing that houses the electronic circuit, a motor housing that houses a motor, a 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. In addition, the double structure is provided with an exhaust fan for forcibly exhausting the air layer heated by internal heat generation and radiant heat of direct sunlight.
[0026]
The shooting display unit 4 includes a counter that measures the timing of shooting detected by the shooting sensor 5, a target driving device 3, a shooting instruction display unit 6, a shooting supervision unit 8, and a shooting data processor 9. Measured with a communication control unit that performs communication, a bullet speed and a landing position measured by the landing position measuring device 2, a target appearance timing and a landing detection timing measured by the target driving device 3, and a counter It is composed of an arithmetic processing unit that discriminates bullets from the shooting timing and performs scoring by performing correction calculation of the landing position according to the shooting angle based on the shooting position, and a liquid crystal display unit that displays the calculation processing result.
[0027]
The liquid crystal display unit includes a liquid crystal module that actually displays a calculation result, an air circulation fan that circulates air in the liquid crystal display unit to prevent condensation at a low temperature of the liquid crystal display unit, and a heater that warms the liquid crystal module at a low temperature. A temperature switch for operating the heater only at a low temperature and a liquid crystal control circuit are included.
[0028]
In addition, the liquid crystal display unit is movable so that display contents can be visually recognized even when installed outdoors, and has a structure provided with a cover in order to prevent a temperature rise from direct sunlight of the liquid crystal display unit. Further, the cover is configured to be movable in order to prevent a decrease in visibility due to a difference in illuminance between the sunlight irradiating part and the shaded part by direct sunlight irradiating only one part of the liquid crystal display part.
[0029]
In order to protect electronic circuits such as counters, communication control units and arithmetic processing units from temperature rise due to direct sunlight, and to prevent ambient temperature rise due to self-heating of the electronic circuit itself, the electronic circuit is housed inside. An electronic circuit housing that dissipates the generated heat, a convection fan that convects the air inside the electronic circuit housing, a device housing that houses the electronic circuit housing, and a thermal insulation effect between the electronic circuit housing and the device housing And a double structure provided with an exhaust fan for forcibly exhausting the 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 the multiple shooting ranges.
[0030]
The firing sensor 5 is connected to the display unit 4 for seating, and the acoustic sensor 11 detects the shooting sound generated when the shooter shoots, and the detected sound is a shooting sound generated in the vicinity of the launch sensor 5. It consists of a determination circuit for determination.
[0031]
The shooting instruction unit display unit 6 includes a communication control unit that performs communication between the shooting display unit 4 and the shooting data processor 9, operation buttons for selecting the shooting display unit 4 to be monitored, and a shooting display unit. 4 is composed of a liquid crystal display unit for displaying the display result obtained from 4, and has the same structure as the display unit 4 for seating.
[0032]
The display unit 8 for the shooting supervision unit is connected to the communication control unit for communicating with the target driving device 2, the display unit 4 for shooting and the shooting data processor 9, and is set by the remote operation terminal 7 by connecting to the remote operation terminal 7. The setting acquisition unit for acquiring the movement of the target selected, the display unit 4 for the position to be monitored, the operation buttons for remotely controlling the control of the display unit 4 for any position, and the display unit for the position 4 The liquid crystal display unit displays the display results and the control contents of the seating display unit, and has the same structure as the seating display unit 4.
[0033]
The shooting data processor 9 includes a communication control unit that performs communication with the target driving device 2, the shooting display unit 4, the shooting instruction unit display unit 6, and the shooting supervision unit display unit 8, and the display of the shooting display unit 4. Auxiliary storage unit that saves results as needed, managing data stored in the auxiliary storage unit, and operations of target drive unit 2, display unit for shooting 4, display unit 6 for shooting instruction unit, and display unit 8 for shooting supervision unit The control unit that manages the situation, and the shooting data processor 9 are input at the input unit for inputting the conditions necessary for the impact position measurement and 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 results of the display unit for seat 4 stored in the auxiliary storage unit, and a result of input by the input unit and a display result of the display unit for seating 4 stored in the auxiliary storage unit are printed out. 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 among the target drive device 2, the shooting display unit 4, the shooting instruction unit display unit 6, the shooting supervisor unit 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 communication form between each device is many-to-many, the communication line 10 is an Ethernet which is a kind of local area network.(Registered trademark)Is used. The portable shooting display unit 4, the shooting instruction unit display unit 6, and the shooting supervision unit display unit 8 are used by connecting to a connection box 54 of an arbitrary shooting point.
[0036]
Next, the installation to the launch range of this embodiment is demonstrated. FIG. 3 is a diagram showing a configuration of a location and a shooting range for installing each device of the firearm shooting evaluation system according to the first embodiment of the present invention. FIG. 3A is a bird's-eye view of the shoot, and FIG. 3B is a supervisory bird's-eye view.
[0037]
The shooting range has at least one shooting position for performing shooting, and a monitoring target for setting a shooting target. Supervisedly, 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 at the same time.
[0038]
In each shooting position, two or more shooting display units 4 and two or more shooting sensors 5 for monitoring the shooting of each shooting person, so that the results of two or more shootings 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 confirm the shooting result of each shooter, and 1 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 set by the remote operation terminal 7 connected to the remote operation terminal 7 are instructed to the target driving device 3, and the control of the display unit 4 is remotely operated. One or more shooting director display units 8 are installed.
[0039]
In addition, a connection box 54 and a branch box 55 for connecting the shooting display unit 4, the shooting instruction unit display unit 6, and the shooting supervisor unit display unit 8 are installed. And this shooter and supervisory equipment are connected by a communication line.
[0040]
Next, the operation of this embodiment will be described. FIG. 4 shows an operation flow of this embodiment. First, the shooting data processor 9 registers a plurality of target motion patterns during 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 the shooting training results of each shooter are managed by this identification number.
[0041]
Shooting training is carried out for each group of one or more persons who perform the shooting, and the shooting director uses the display unit 8 for the shooting director to display the shooter identification number of the group to be shooting from now on the shooting data processor 9 is read and confirmed. If there is a change in the firing group, it is changed at the display unit 8 for the shooting director. After changing / confirming the configuration of the firing group on the display unit 8 for the shooting supervisor, the identification number of each shooter to be used is transferred to each display unit 6.
[0042]
Each display unit for shooting position 6 requests the shooter name corresponding to the identification number by transferring the identification number set to itself to the shooting data processor 9. The shooting data processor 9 uses the shooter identification number currently in use stored in the auxiliary storage unit to check whether or not the same identification number is set for two or more shooting display units 6. .
[0043]
If there is the same identification number, it will notify the display unit for shooting and the display unit for the shooting supervisor, and display a message on each display unit. If there is no same identification number, the name of the archer corresponding to that number will be displayed. In addition to responding, the changed result is immediately reflected in the auxiliary storage unit of the shooting data processor 9. Each shooter display unit displays the responded shooter name, and each shooter confirms the shooter name displayed on its own shooter display unit 6.
[0044]
Next, the shooting supervisor sets a target action pattern when the shooting training is performed on the remote control terminal 7. An example of the target movement pattern is shown in FIG. Next, the shooting director notifies the shooting display unit 4 of the start of shooting training using the operation buttons of the shooting director display unit 8. At this time, the target operation pattern set by the remote operation terminal 7 is also read by the setting input unit and notified to the display unit 4 for shooting.
[0045]
The display unit for shooting position 4 starts a screen display process of the training result in response to an instruction for starting the shooting training from the display unit for shooting supervision unit 8, and notifies the target driving device 3 of the start of the shooting training. The target driving device 3 validates the target driving command from the shooting supervisor display unit 8 and notifies the impact position measuring device 2 to start measurement upon notification of the shooting training start from the shooting display unit 4. Notice.
[0046]
Next, the shooting supervisor starts a target motion pattern at the remote control terminal 7. When the remote operation terminal 7 instructs the start of the target action pattern, the setting input unit of the display unit 8 for shooting supervision part detects the start of the target action and sends a target drive command according to the target action pattern to the target drive device 3. Notify them. The target driving device 3 performs the hidden driving of the target 1 in accordance with the target driving command from the display unit 8 for shooting supervisor.
[0047]
Each shooter starts shooting when his target 1 is visible. When the shooter fires, the shooting sound generated by the small firearm is detected by the acoustic sensor 11 of the launch sensor 5 installed in the vicinity of the shooter and converted into an analog electric signal, and the level of the analog electric signal is determined by a determination circuit. From the duration of the signal output, it is determined that the shooter near the firing sensor 5 has fired, and the shooting start unit 4 is notified of the start of shooting.
[0048]
Bullet air-carrying shock waves shot by the shooter are detected by the landing position measurement unit 2, and the detection time measured 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 the timing when the target is driven and brought into the target appearing state and the timing when the target is made into the target disappearing state using a counter, and the bullet notified from the impact position measurement unit 2 From the detection timing, it is determined whether or not the bullet has reached the target when the target appears, and bullet information consisting of the determination result and information notified from the landing position measurement unit 2 is notified to the shooting display unit 4.
[0049]
The target appearance / disappearance determination is performed by determining whether the target 1 driven by the motor 14 is in an appearance state, a proximity sensor for detecting that the target 1 is in an extinction state, and an instruction to move in accordance with the movement of the target 1. Use a bar and counter. The indicator bar is arranged so that the target 1 approaches the proximity sensor when the target 1 appears, and the target 1 approaches the proximity sensor when the target 1 is hidden.
[0050]
Thereby, a detection signal is output from each sensor when the target 1 appears or disappears. 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 the bullet has reached the target when the target appears. it can.
[0051]
The display unit for shooting position 4 performs impact position calculation, scoring and display according to the flowchart shown in FIG. First, when shooting is detected by the launch sensor 5, a landing time measurement timer is activated (S1), and when it is within a timeout (S2), bullet information is obtained by shock wave detection by the landing position measuring device (S3), The shock wave detection time is calculated (S4). When the time is out, the coordinates of the landing position are selected immediately (S14).
[0052]
It is determined whether or not 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 “bounce” (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 shot angle is corrected based on this calculated value (S8), 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 from the firing sensor 5 is received, the shooting timing is stored in the counter, and the bullet information from the target driving device 3 is awaited. 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 the bullet information is obtained by the bullet fired by the firing detected by the firing sensor 5. The determination is made by a determination method described later.
[0054]
If it is determined that the bullet is its own bullet, the impact position calculation and scoring described below 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 according to the training conditions such as the shooting distance, shooting posture, and type of gun used, which are notified at the same time when the shooting training start command is notified from the shooting supervisor display unit 8.
[0055]
During the shooting training, the shooting director and the shooting instruction unit request the shooting training status from any shooting display unit 4 by using the operation button of the shooting director display unit 8 and the operation button of the shooting instruction unit display unit 6. can do.
[0056]
The shooting display unit 4 requested for the shooting training status notifies the current and past shooting training statuses via the communication line 10, and the shooting supervision unit display unit 8 and the shooting instruction unit display unit 6 The shooting training status from the display unit 4 is displayed in either a single lane in FIG. 7A or a plurality of lanes in FIG. 7B. In this case, arbitrary lanes can be individually selected and displayed from the plurality of lanes of FIG. 7B in the format of FIG. Thereby, it becomes possible to instruct the shooting of the shooter efficiently for each shooting.
[0057]
When the shooting training is completed, the shooting director notifies the shooting display unit 4 via the communication line 10 of the end of the shooting training by the operation button of the shooting manager display unit 8.
[0058]
As soon as the end of the shooting training is received, the shooting display unit 4 ends one shooting training, and notifies the shooting data processor 9 together with the identification number via the communication line 10. Upon receiving the shooting training result, the shooting data processor 9 immediately stores it in the auxiliary storage unit and outputs the shooting training result received from the printing apparatus in the format shown in FIG.
[0059]
The storage in the auxiliary storage unit is managed by the identification number and date so that it can be referred to. Thus, the shooter can check the shooting result during the shooting training and the shooting result after the shooting training without operating his / her seating display unit 4, and can concentrate on the shooting training.
[0060]
Next, a method for determining whether or not the bullet information of the present embodiment is obtained by a bullet fired by the shooting detected by the firing sensor 5 will be described. First, the consistency of bullet information sent from the target driving device 3 is confirmed. Then, it is determined whether the transmitted bullet information is information immediately after shooting. Next, it is determined whether or not the bullet information is generated by a shock wave generated from one bullet.
[0061]
The process of 1-3 shots is described below. The only reliable information known at the time of shooting is the shooting distance. The bullet velocity, bullet flight time, and bullet position coordinates are given as the bullet information. Therefore, first, the distance calculated from the bullet velocity and the bullet flight time (bullet flight distance) is compared with the actual shooting distance.
[0062]
The initial bullet velocity at the muzzle is unknown, and the bullet decelerates slightly before leaving the muzzle and landing on the target 1, and the amount of deceleration changes depending on the surrounding weather conditions. Thus, if the bullet flight time is correct, the bullet flight distance should be slightly larger than the actual shooting range.
[0063]
However, because the bullet flight time is calculated from the time difference between the bullets detected by the two devices (the landing position measurement unit 2 and the firing sensor 5), the error due to the software processing load of each device and the time alignment error of each counter described later are calculated. Contains. Therefore, if the bullet flight distance is in the range of half to twice the actual shooting distance, it is determined that it is in the bullet range.
[0064]
Next, those having a large impact position X coordinate are excluded from those within the bullet range. The installation interval with the adjacent target is about 3 [m], and the bullet that has landed on the adjacent target should be a bullet fired by the adjacent shooter. For this reason, bullets whose horizontal distance deviates by more than 1.5 [m] from their own target center are not considered as bullets.
[0065]
The process after 4 shots is described below. The certain information that is known at the time of shooting is the shooting distance, the bullet speed and the bullet flight distance of the bullets that have been determined to be past bullets. The bullet velocity, bullet flight time, and bullet position coordinates are given as bullet bullet information. Therefore, the bullet flight distance calculated from the bullet velocity and the bullet flight time is compared with the average flight distance of the bullets determined to be past bullets.
[0066]
The bullet flight distance of bullets fired from the same firearm should be almost the same value as the average flight distance of bullets judged to be past bullets. Therefore, if the bullet flight distance is within 4σ from the average flight distance of the bullets determined to be past bullets, it is determined to be within the bullet range.
[0067]
Further, in order to determine whether or not a thing in the bullet range is a bullet, the bullet velocity and the bullet velocity determined to be a past bullet are compared. The bullet speed of bullets should be approximately the same as long as there is no sudden change in weather conditions during the shooting period, compared to the average bullet speed of bullets that have been judged as past bullets. Therefore, if the bullet velocity is within 4σ from the average bullet velocity of the bullets determined to be past bullets, it is determined that the bullet is not a bullet.
[0068]
Next, those having a large impact position X coordinate are excluded from those within the bullet range. The installation distance to the adjacent target is about 3 [m], and the bullet that landed on the adjacent target should be a bullet shot by the adjacent shooter, so the horizontal distance is 1.5 [m] from the center of the target. Bullets that deviate from the above will not be bullets.
[0069]
A processing procedure according to the above-described determination method is shown in FIG. 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 velocity is Vb.
[0070]
First, the 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]
If the relationship between Vb and Tof is too far away (if there is a change beyond the change in bullet speed due to wind or air), set it as “next bullet” or “other bullet”. Do not process. Judgment criteria are described below.
[0072]
If Tf ≧ Th, then Tof = Tf−Th [S]
If Tf <Th, then Tof = Tf−Th + 54.6133
When Tof = 0 or Tof ≧ 12 [s], “other bullet” is selected.
When 0 <Tof <12 and Tof ≧ (Dfp × 5) / Vb, “next bullet” is set.
[0073]
Next, a range of bullet speed that can be detected as a bullet (tolerance difference Vbmin with the average bullet speed Vbm of the bullet) is obtained. However, the calculation method is changed depending on whether the flight time variation is large or small. The flight time variation σ is obtained from the bullet velocity variation Vvar because 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)
However, VTofm = average value of flight distance calculated from bullet speed and flight time
VTofdmin = flight distance tolerance
When σ = Vvar / Dfp ≦ 0.1
Vdmin = 0.05 × Vbm
VTofdmin = 0.05 × VTofm
It becomes.
[0075]
Up to the first three shots, when the bullet velocity is within the following range, the temporary impact position coordinate P (Xp, Yp) is calculated using the above-described calculation formula as the impact of the bullet.
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 after the fourth shot is as follows. First, when the velocity difference Vd between the actually detected bullet velocity and the average bullet velocity is obtained from the following equation,
Vd = Vb−Vbm
It becomes.
[0077]
If Vd is out of the allowable range determined above, it is determined as a candidate for “recoil”. Further, the flight distance is obtained from the bullet velocity 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 the flag “Bounce”,
VTofd = Tof × Vb−VTofm
If VTofd2 <16 × VTofvar or | VTofd | 2 ≦ VTofdmin, the flag “impact” is set.
[0079]
As a result, the temporary landing position coordinates P (Xp, Yp) are calculated using the above-described calculation formula as the self-ballistic landing only when the “ballistic” flag is raised and the “bounce” flag is not raised. When the provisional landing position X coordinate calculated here is ± 1.5 [m] or more, a process of “other bullets” is performed. In addition, when the “ballistic” flag is not raised and VTofd> 0, it is assumed that the current ballistics has shifted beyond the ballistic landing range, and the subsequent processing is not performed for the current launch. Here, the number of shots is assumed to be Be. However, Be is a value counted only when the “Attack” flag is set and the “Bouncing” flag is not set.
[0080]
Vbm, VTofm, Vvar, and VTofvar used for the above are calculated as follows.
[0081]
NS = Be when Be <10, NS = 10 when Be ≧ 10,
Average bullet velocity (Vbm)
Vbm = Vbm- (Vbm / NS) + (Vb / NS)
Average bullet speed squared (Vbsq)
Vbsq = Vbsq− (Vbsq / NS) + (Vb2 / NS)
Average airplane distance calculated from bullet velocity and flight time (VTofm)
VTofm = VTofm− (VTofm / NS) + {(Vb × Tof) / NS} The square of the airplane distance obtained from the bullet velocity and flight time (VTofsq)
VTofsq = VTofsq− (VTofsq / NS) + {(Vb × Tof) 2 / NS}
If Be ≧ 2,
Variation in bullet speed (Vvar)
Vvar = (Vbsq−Vbm2) × {NS / (NS-1)}
Variation in flight time (VTofvar)
VTofvar = (VTofsq−VTofm2) × {NS / (NS-1)}
It becomes.
[0082]
Next, the impact position calculation method of this embodiment will be described. The display unit for shooting position 4 calculates the provisional landing position coordinates P (Xp, Yp) using the above-described calculation formula, and calculates the 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 among the launch position, the target center, and the shock wave sensor is recognized. A perpendicular line is dropped from the target center, and coordinates of each sensor are input in a coordinate system having an origin at an intersection with a horizontal plane including the central sensor. The coordinate relationship is shown in FIG. The items stored in advance are shown below.
[0084]
・ 100m, 200m, 300m Projection coordinates (coordinates of acoustic sensor 11 of launch sensor 5)
The 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 projective 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 = −sln θy, NT = cos θy × cos θx
It becomes.
[0086]
Next, when calculating the cosine of the temporary landing point and each sensor,
Distance between temporary landing point and acoustic sensor 11d (xf, Yf, Zf)
Sfp = √ {(Xf−Xp) 2+ (Yf−Yp) 2 + Zf2}
Distance between temporary landing point and acoustic sensor 11b (Xc, Yc, Zc)
Scp = √ {(xc−xp) 2+ (Yc−Yp) 2 + Zc2}
Distance between temporary landing point and acoustic sensor 11a (Xl, Yl, Zl)
Slp = √ {(X1-xp) 2+ (Y1-Yp) 2 + Zl2)
Distance between temporary landing point and 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 = (X1-Xp) / Slp, MSl = (Y1-Yp) / Slp, NSl = Zl / Slp
Acoustic sensor 11c: LSr = (Xr−Xp) / Srp, MSr = (Yr−Yp) / Srp, NSr = Zr / Srp
It becomes.
[0088]
Finding the angle between the line that connects the temporary landing point and each sensor and the shooting line,
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 × LSl + MT × MSl + NT × NSl)
Acoustic sensor 11c: θr = cos−1 (LT × LSr + MT × MSr + NT × NSr)
It becomes.
[0089]
When the perpendicular line is dropped from each acoustic sensor 11 to the shooting line, and the intersections with the shooting line 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 temporary landing 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 reaches each acoustic sensor 11 on the basis of passing through Pf on the shooting line is
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 value (Dx, Dy) is calculated from the arrival time difference obtained so far,
Corrected bullet velocity (Vbt)
Vbt = FC / ΔTMcf
Correction transmission speed squared (Vst2)
Vst2 = (Vc2 × Vbt2) / Vbt2−Vc2)
It becomes.
[0095]
Therefore,
Xpt = (TMl−TMr) × (Vst2 × ΔTMlc × ΔTMrc) × W2 / {2 × W × (ΔTMlc + ΔTMrc)}
Npt = {2 × W2−Vst2 × (ΔTMlc2 + ΔTMrc2)}
Mpt = Npt2 / {4 × Vst2 × (ΔTMLc + ΔTMrc) 2}
Ypt2 = Mpt−Xpt2
It becomes.
[0096]
If Ypt2 <0, and an error (a bullet),
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 this embodiment will be described. The counter of the target driving device 3, the counter of the display unit 4 for shooting, and the counter of the impact position measuring device 2 are 16-bit and 1200 Hz hardware counters, and are operated by clock signals from independent crystal oscillators. .
[0098]
Since the crystal oscillator has an error of several hundred ppm, each counter is not synchronized at all. In addition, since the power-on timing differs depending on the device, it is necessary to periodically adjust the counter of each device.
[0099]
The shooting data processor 9 has the same counter as other devices, and periodically notifies all the connected devices of the time via the communication line 10 using the counter value as a reference time. Yes.
[0100]
Upon receiving the counter values, the shooting display unit 4 and the target driving device 3 immediately read the counters and the counter values, and calculate and store a reference time difference from the difference. When a certain event occurs and each counter is read out, the display unit for shooting 4 and the target driving device 3 always add the reference time difference so that the counters of the shooting display unit 4 and the target driving device 3 are substantially synchronized. And can be obtained as an operating value.
[0101]
The counter of the impact position measuring device 2 periodically reads out from the target driving device 3 and stores the difference from the counter value 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, the calculation method of the reference time difference is described. When each device receives the reference time (counter value) on the communication line 10 periodically sent out by the shooting data processor 9, the shooting 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. Of the stored time differences, the latest seven moving averages are calculated, and the value is set as a reference time difference. If you want to know the time in the shooting display unit 4 (for example, shooting detection time), add the reference time difference to the counter value of the shooting display unit 4 to obtain the time that matches the reference time on the communication line 10. I can know.
[0104]
Since each counter is 16 bits and 1200 Hz, the calculation of the reference time difference is performed as follows. First, the total of the time difference up to the past seven times, the maximum value of the time difference, and the minimum value of the time difference 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 judged that there is a large variation in the time difference data, the number of data whose difference between the minimum value and the maximum value is more than half of the counter and the number of data less than half are compared, The average value is calculated. If not, it is determined that the time difference data has no variation, and an average value is calculated from all the data.
[0106]
Calculation method of time difference (△ T (n))
Reference time on LAN line: Ts (n)
Internal clock value when receiving the 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 removing the maximum value and the minimum value in the data group from the target data group.
[0108]
In the average value (ATs (n)) calculation method,
Maximum time difference: ΔTmax
Minimum time difference: △ Tmin
Number of data: N
Number of data smaller than the minimum value plus 32768: M
Selection data: ΔTd
Maximum time difference in selected data group: ΔTdmax
The minimum value of the time difference in the selected data group: ΔTdmin.
[0109]
When ΔTmax-ΔTmin <32768
ATs (n)
= {ΣΔT (n) −ΔTmax−ΔTmin} / (N−2)
When ΔTmax-ΔTmin ≧ 32768
When NM ≧ M
ATs (n)
= (ΣΔTd−ΔTdmax−ΔTdmin) / (N−M−2)
When N−M <M
ATs (n)
= (ΣΔTd−ΔTdmax−ΔTdmin) / (M−2)
It becomes.
[0110]
If the difference between the calculated reference time difference and the previous reference time difference is more than 30 counts (the time of the counter is 1200 Hz, the time is 25 ms), the direction of deviation from the previous reference time difference A value shifted by 30 counts to the current reference time difference.
[0111]
The calculation method of the reference time difference (ΔTs (n)) is
| ΔTs (n−1) −ATs (n) | <30
ΔTs (n) = ATs (n)
| ΔTs (n−1) −ATs (n) | ≧ 30
ΔTs (n) = ΔTs (n−1) ± 30
It becomes.
[0112]
Here, a reference example is shown in FIG. The apparatus of this example detects an air carrying shock wave 71 generated from a supersonic flying body 70 passing through a predetermined region at supersonic speed by at least three converters 72 arranged in a straight line, and the air carrying shock wave 71 is detected. Is a device that generates an output signal in response to the signal, measures a time delay between the output signals, measures information on the trajectory of the flying object, that is, a passing position from the time delay, and displays the information on the display 73.
[0113]
The device in this example is originally a device used in a single lane, and in the case of a narrow shooting range, a sufficient distance between lanes cannot be secured, so the case of erroneously detecting an air transport shock wave from a bullet in an adjacent lane There is. Furthermore, the display at the hand of each shooter must be operated by each shooter, and there is a drawback that if the user does not know how to use the apparatus, the display cannot be concentrated on shooting due to an erroneous operation.
[0114]
【The invention's effect】
  As explained above, according to the present invention,Based on the bullet's firing time and landing time, the bullet speed and bullet flight time are obtained to determine the bullet flight distance, the bullet flight distance is compared with the known firing distance, and the bullet is fired from its own position. Therefore, it is possible to extract only the bullets of its own shooting lane. As a result, even in a narrow shooting range where a sufficient distance between lanes cannot be secured, it is possible to avoid an erroneous landing position evaluation due to the air-carrying shock wave of the bullets in the adjacent lanes, and it is possible to perform shooting training simultaneously at a number of positions.
[0115]
In addition, since the shooting training status is instantly displayed at the shooter's hand with only the button operation of the shooting director, it is possible for the shooter to check the shooting result at hand without losing the shooting posture during shooting training. Can concentrate on shooting. In addition, since the shooting instruction unit and the shooting supervision unit can easily check the training status of the shooter, it is possible to immediately provide appropriate shooting instruction. Furthermore, the confirmation of the shooting results after shooting training is automatically output, so that it is not necessary to perform bulletin display and transfer of bullets in the supervisory section, and more shooters can be efficiently trained. It becomes possible.
[Brief description of the drawings]
FIG. 1 is a configuration diagram of a firearm shooting evaluation system according to an embodiment of the present invention.
FIG. 2 is a processing system diagram of a firearm shooting evaluation system according to an embodiment of the present invention.
FIG. 3 is a layout view of an apparatus launch site according to an embodiment of the present invention.
FIG. 4 is a detailed explanatory view of an operation procedure according to the embodiment of the present invention.
FIG. 5 is a view showing an example of a target action pattern according to the embodiment of the present invention.
FIG. 6 is a processing procedure diagram for a seating display unit according to the embodiment of the present invention.
FIG. 7 is a shooting training result display diagram according to the embodiment of the present invention, in which FIG. (A) is for a single lane and FIG. (B) is for a plurality of lanes.
FIG. 8 is a shooting training result printout diagram according to the embodiment of the present invention.
FIG. 9 is an explanatory diagram of a bullet discrimination procedure according to the embodiment of the present invention.
FIG. 10 is an explanatory diagram of coordinate relationships according to the embodiment of the present invention.
FIG. 11 is an explanatory diagram of a reference example.
[Explanation of symbols]
1 Target
2 Impact position measuring device
3 Target drive device
4 Display unit for seating
5 Launch sensor
6 Display unit for shooting instructions
7 Remote operation terminal
8 Display unit for shooting director
9 Shooting data processor
10 Communication line
11 Acoustic sensor
12 Shield plate
54 Connection box
55 branch box
70 Supersonic Aircraft
71 Pneumatic transport shock wave
73 Display

Claims (6)

A plurality of projectiles that fire bullets from a small firearm , a display unit for each of the projectiles installed in the vicinity of each of the projectiles, and a projectile that is installed in the vicinity of each of the projectiles connected to the display unit for the projectiles. A firing sensor to detect,
A plurality of targets provided to face each position away from each projectile, a plurality of target driving devices for concealing each target, and each target driving device connected to each target driving device in the vicinity of each target A plurality of landing position measuring devices that are installed and that measure the impact time, bullet velocity, and landing position by detecting the air carrier shock wave of the bullet with a plurality of acoustic sensors;
A shooting data processor that centrally manages the conditions necessary for measuring and scoring the impact position;
Remote operation terminal for setting shooting training conditions including the movement of the target, shooting distance, shooting posture, type of firearm to be used, and display for the shooting supervisor to input the shooting training conditions and commands for starting and stopping the shooting Unit,
A communication line connecting the display unit for shooting position, the display unit for shooting supervision unit, the target driving device, and the shooting data processor;
The shooting data processor has a function of collecting and storing the shooting results transmitted from the shooting display unit, as well as transmitting conditions necessary for measuring and scoring the landing position to the shooting display unit. Configured,
The display unit for shooting supervision unit instructs the target drive device to operate the target set by the remote operation terminal, and displays the shooting training conditions and the start and stop commands for shooting on the display unit for shooting. It has a function to make
The display unit for seating measures the firing time based on the bullet firing detected by the firing sensor, and the bullet velocity based on the landing time measured by the landing position measuring device corresponding to the firing time. Determine the bullet flight time, determine the bullet flight distance based on the bullet speed and the bullet flight time, compare the bullet flight distance with the shooting distance transmitted from the display unit for the shooting director, and the bullet It is determined whether or not the bullet is fired from the shooting position, and in the case of a bullet fired from the shooting position, the landing position measured by the landing position measuring device is scored and displayed as a shooting result, and the shooting result is displayed. It has a function to transmit to the display unit for the shooting supervisor and the shooting data processor ,
The display unit for the shooting supervisor unit is a small firearm shooting evaluation system configured to be able to select and display a shooting result of an arbitrary unit of the shooting display unit . In the firearm shooting evaluation system according to claim 1,
For the bullets after the 4th shot , the display unit for the shooting position indicates whether or not the bullet has been fired from the shooting position by comparing the average bullet velocity of the shooting results before the 3rd shot and the average bullet flight time. A small firearm shooting evaluation system characterized by distinguishing . In the firearm shooting evaluation system according to claim 1 or 2 ,
Furthermore, the display unit for the shooting position determines a horizontal distance between the target center and the landing position, and determines whether or not the bullet has been fired from the shooting position based on the horizontal distance. . In the firearm shooting evaluation system according to any one of claims 1 to 3 ,
The display unit for seating and the landing position measurement device each have a counter for measuring the firing time and the landing time, and these counters are synchronized via the communication line. Firearm shooting evaluation system. In the firearm shooting evaluation system according to any one of claims 1 to 4 ,
The shooting data processor transmits an identification number of a shooting group composed of a plurality of shooters and a shooting position of each shooter to the shooting display unit and the shooting supervisor display unit,
The display unit for the shooting supervision unit commands the target driving device for the target for each of the shooting groups, and displays the shooting training conditions and commands for starting and stopping the shooting on the shooting display unit,
The firearm evaluation system according to claim 1, wherein the shooting data processor centrally manages the shooting results for each of the shooting groups . In the firearm shooting evaluation system according to any one of claims 1 to 5 ,
The shooting display unit obtains a shooting line connecting the landing position and the shooting position, a geometric relationship between the shooting line, the landing position, and coordinate positions of the plurality of acoustic sensors, and each acoustic sensor. A firearm shooting evaluation system , wherein a correction value of the landing position is obtained based on a detected landing time difference to correct the landing position .

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