RU2627019C2 - Methods for determining weapon aiming point on focal point situation image in shooting simulators and device for their implementation - Google Patents

Abstract

FIELD: weapons and ammunition.

SUBSTANCE: method for determining the point of aiming a weapon on the image of a focal point situation in shooting simulators differs in that after determining the coordinates of the weapon pointing points for each recorded signal, convert the region of the two-dimensional recorded signal in the vicinity of its central element to the reduced signal in the coordinate field of the signal of the target environment, sub-region of the greatest similarity to the reduced signal in the vicinity of the found point of weapon guidance in the signal of the phonological situation and use the coordinates of the central element of the found sub-region as accurate weapon guidance coordinate point in the signal of phonological situation. The device for determining the point of aiming a weapon on the image of the fictitious situation in shooting simulators differs in that it additionally introduces weapons simulators by the number of simultaneously trained shooters, the same number of video cameras with control systems and interfaces, fixed on the appropriate weapon simulators, a set of coordinate markers and a regulator, the input of which is connected to the output of the control of the computer system, the output of the regulator is connected to the radiating elements of the set of coordinate markers, and in the outputs of additional video cameras are connected to the corresponding inputs of the video interface of the computer system.

EFFECT: ensuring the possibility of increasing the number of shooters, increasing the accuracy, independence and time stability of determining the coordinates of the points of guidance of imitators of their weapons.

11 cl, 13 dwg

Description

The group of inventions relates to the field of educational and training tools and can be used for training and training in shooting from sports, hunting and combat weapons without the use of ammunition, as well as in simulators of game systems such as paintball and others.

Methods and devices for determining the coordinates of a weapon’s pointing point are key in the construction of training and game systems with firing simulations, since the models of such systems, in general, differ from the methods and devices for determining a pointing point only with models for entering predetermined ranges to the target and ballistics of the shot.

In the group of inventions, the methods for determining the point of pointing a weapon on the image of the phono-target environment in shooting simulators are characterized by the same level of technology and common analogues.

A known method for determining the point of guidance of the weapon in the image of the phono-target environment, implemented in many laser systems, in particular in the MSET-5000 simulator Corporation LasershotInc, USA, Texas, presented on the Internet resource www.lasershot.com. The method consists in generating a two-dimensional signal of the target-oriented environment by computing means, converting the received signal into an image of the target-target situation on a flat screen, cropping and adjusting this image, laser illumination coupled to the axes of the respective trunks of several weapon simulators, weapon guidance marks on the screen, image filtering of guidance marks converting a stationary video camera obtained after filtering the image into a two-dimensional registered signal, determine ix current image coordinate pointing marks in the recorded signal, and determining the coordinates of points pointing arms on the received coordinates.

The disadvantage of this method is the large methodological error in determining the coordinates, consisting of many systematic errors in the interfacing of the axis of the weapon simulator, laser, the location of the arrow in three coordinates, the coordinate fields of the generated and recorded signals and images. Other disadvantages of the method are the limited number of simultaneously trained shooters, the permissible elevation and dump angles, as well as the difficulty of ensuring the temporary stability of the characteristics of the method implementations. The disadvantages are caused mainly by mechanical methods of pairing seven coordinate systems, the limited procedures for identifying labels by arrows, projective transformations of the geometry of the images on the screen, not taken into account in the method.

There is a method of determining the point of pointing a weapon in the image of the target-oriented environment according to the author’s certificate of the Russian Federation No. 1136582, IPC F41G 3/26, "A method for controlling the position of the aiming point in firing training and a device for its implementation (its variants)", published on 10/10/1995. The method includes forming an image of the phono-target environment in a given sector of space, irradiating the area of impact of a stream of electromagnetic radiation that varies in region and modulated in time at each point of the region, receiving electromagnetic radiation by a small arms simulator, determining characteristics of the intensity, period and time of change of the received electromagnetic radiation, determining the position of the aiming point of the simulator of small arms according to the received and specified characteristics adopted of radiation.

The disadvantages of this method are the low spatial resolution in the directories of both the irradiating flux of electromagnetic radiation and the received electromagnetic radiation, which, when implementing the method, leads to low accuracy and anomalous errors in determining the point of pointing the weapon, imposing significant restrictions on the scale, placement and number of target images per background target setting. Another disadvantage of this method is the abnormal aiming errors at weapon dump angles other than zero. The disadvantages are determined by the restrictions on the physical realizability of the dynamic fields of the fine structure and the corresponding remote meters of parameters, the lack of procedures for determining and accounting for the angle of the weapon dump in the method.

A known method for determining the point of guidance of the weapon on the image of the phono-target environment, implemented in many optoelectronic systems, in particular in the optoelectronic shooting simulator of collective combat according to the patent of the Russian Federation No. 2211433, IPC F41G, F41J, published on 08.27.2003. The method consists in generating a two-dimensional signal of a phono-target environment by computing means, converting the received signal into a sectioned image on a flat screen, cropping and adjusting sections of this image with linear coordinate sensors installed stationary in front of the screen, illuminating a laser beam conjugated to the axis of the weapon simulator at the moment of firing , gun pointing marks on the corresponding section of the screen, optical conversion of the image of such a mark into horizontal images vertical and vertical stripes and the conversion of images of these stripes by linear coordinate sensors into signals corresponding to the coordinates of the weapon pointing point.

The disadvantages of this method are the impossibility of simultaneously operating across the entire screen with several weapon simulators, a large methodological error in determining coordinates, due to systematic errors in the mutual conjugation of the spatial positions of weapon simulators, laser emitters, optical image converters, vertical and horizontal coordinate sensors. The disadvantages of the method are abnormal aiming errors at weapon dump angles other than zero, due to the lack of necessary procedures in the method, and errors in determining coordinates due to projective transformations of target images arising from observation angles other than 90 degrees.

A known method for determining the point of guidance of weapons on the image of the phono-target environment according to the international application "System and method for providing improved tracking of guidance marks of weapons in simulators" No. PCT / US 2005/025089 of 07.15.2005, IPC F41G, published 02.23.2006 No. WO 2006/019974 A2. The method includes generating, by means of computing, a continuous sequence of frames of a two-dimensional signal of the phono-target situation, frame-by-frame conversion by the video projector of the received signal into the image of the phono-target situation on a flat screen, illumination at the moments of shots by laser beams coupled to the axes of the trunks of several weapon simulators, weapon guidance marks on the screen, conversion of one or several stationary video cameras screen images into a two-dimensional recorded signal, the selection in it By means of calculating the signals of guidance marks, determining the coordinates of their centroids and tracking over time the trajectories and coordinates of guidance marks with prediction and filtering by belonging to weapon simulators.

The disadvantages of this method is the large cumulative error in determining the coordinates of the weapon guidance points, due to systematic errors in the mutual conjugation of the spatial positions of weapon simulators, laser emitters, video projectors, video cameras, the lack of built-in procedures for recording and compensating for these errors, and the difficulty in ensuring the temporal stability of the characteristics of the method implementations. Other disadvantages of the method are abnormal aiming errors at non-zero weapon dump and elevation angles, the methodological complexity of separating guidance mark signals with an increase in the number of simultaneously trained shooters.

The closest in technical essence and essential features is the method for determining the point of pointing a weapon on the image of the phono-target environment, implemented in the simulator for training shooters according to the utility model patent No. 32873, IPC F41G 3/26, published on September 27, 2003. The method includes generating, by means of a configuration mode, the frame sequence of a two-dimensional test signal containing test marker signals with specified coordinates, frame-by-frame conversion of a test signal by a projector into a test image on a flat screen, superimposition of coordinate markers on a test image, conversion of a screen image and its using a video camera neighborhoods into a two-dimensional recorded test signal, the central element of which is paired with the axis of the barrel of the weapon simulator, adjusting the coordinate fields of the test image and the recorded test signal, determining and storing the coordinates of the coordinate markers relative to the signal field of the test image as reference, the formation by computer tools in the operating mode of a continuous sequence of frames of a two-dimensional signal of the phono-target situation in the coordinate field of the test signal, frame-by-frame converting the received signal into an image of the phono-target environment on a flat screen, superimposed the resulting image of the same image fiducial markers transform images from the screen and its surroundings in a two-dimensional detection signal, determining the current coordinates of the image coordinate markers in the recorded signal and determining weapon aiming point coordinates in the image signal target environment.

The disadvantage of this method is the large methodological error in determining the coordinates, consisting of many systematic errors in the interfacing of the axis of the weapon simulator, the location of the arrow in three coordinates, the coordinate fields of the generated and recorded signals and images. Other disadvantages of the method are the limited number of simultaneously trained shooters, the permissible elevation and dump angles, as well as the difficulty of ensuring the temporary stability of the characteristics of the method implementations. The disadvantages are caused mainly by mechanical methods of conjugation of seven coordinate systems, the lack of identification procedures for marks on the trained arrows, projective transformations of the image geometry, not taken into account in the method.

The aim of the group’s first invention is to achieve a technical result, which consists in increasing the accuracy of determining the point of pointing the weapon, expanding the zone of permissible placement of shooters in front of the screen, providing training for the group of shooters in real conditions of a single phono-target environment and expanding the ranges of permissible elevation and dump angles of simulated weapons. The technical result when implementing the method is achieved as a whole by reducing from seven to four the number of coordinate systems to be conjugated, introducing actions to determine and take into account projective distortions of coordinate planes, to ensure independent processing of shots of several shooters, to achieve image processing invariance in extended ranges of elevation angles and the dump of simulated weapons.

To achieve the specified technical result in the method for determining the point of pointing a weapon on the image of the phono-target situation in shooting simulators, which includes generating by means of a computer a mode for setting the sequence of frames of a two-dimensional test signal containing signals of test markers with specified coordinates, frame-by-frame conversion by a projector of a test signal into a test image on a flat screen, overlaying on the test image images of coordinate markers, transform inputting the image from the screen and its environs by means of a video camera into a two-dimensional recorded test signal, the central element of which is interfaced with the axis of the barrel of the weapon simulator, adjusting the coordinate fields of the test image and the recorded test signal, determining and storing the coordinates of the coordinate markers relative to the signal field of the test image as reference, formation in the operating mode by computing means of a continuous sequence of frames of a two-dimensional signal of a phono-target adjustments in the coordinate field of the test signal, frame-by-frame conversion of the received signal into an image of the background target environment on a flat screen, superimposition of the images of the same coordinate markers on the received image, conversion of the image from the screen and its surroundings into a two-dimensional recorded signal, determination of the current image coordinates of coordinate markers in the recorded signal and determining the coordinates of the weapon guidance point in the image of the phono-target environment is additionally introduced into the elements of all the signal s and image components, describing the color tones of these elements in the basic colors, the number of fiducial markers selected at least four, define the characteristics of shape, size, color coordinate, and relative position of markers image signals and storing them as reference characteristics. After converting the images of the background target environment and coordinate markers from the screen and its environs into a registered signal, the signals of coordinate marker images are additionally isolated in it and, in addition to the current coordinates, their current characteristics are determined. Next, the location of coordinate markers in the recorded signal is identified by the reference and current characteristics, the elements of the matrix A of the projective transformations of the generated and recorded images of the background target environment are calculated from the current and reference coordinates of at least four identified markers, and the coordinates of the aiming point in the image signal of the background target environment are determined by multiplying the coordinate vector the central element of the recorded signal to the inverse matrix A. Conversions images from the screen and its environs into the recorded signals, as well as all subsequent actions with these signals and depending on them, perform similarly for each used weapon simulator with a separate video camera coupled with it, receiving several, generally different, projective transform matrices and guidance points corresponding to individual weapon simulators.

The number and placement of images of coordinate markers in the screen area and the size of the coordinate field of the recorded and registered test signals are chosen so that, in the specified ranges of elevation angles, lead and collapse of the weapon simulator, and for any target coordinates in the signal of the phono-target environment, ensure that no less than signals enter the recorded signals four coordinate markers, the coordinates of which make it possible to form at least one quadrangle in the coordinate field.

The characteristics of the shape, size, color and relative location of the coordinate markers are chosen so that their components, combinations and derivative parameters ensure the isolation and identification of the signals of the coordinate markers in the recorded and registered test signals.

However, the method described and disclosed above also has drawbacks in the low long-term stability of the accuracy characteristics provided by the method, the complexity and the complexity of the procedures for minimizing systematic errors in the interfacing of coordinate systems of weapon simulators, coordinate fields of generated and recorded signals and images in the setup mode. The disadvantages are caused mainly by mechanical methods of conjugation of four coordinate systems, random mechanical influences on coordinate systems arising from the operation of the method implementations, the need to frequently repeat complex setup mode procedures to maintain the required accuracy of determining the points of guidance of the weapon of several shooters.

The purpose of the second invention of the group is to achieve a technical result, which consists in increasing the temporal stability of the results of determining the point of guidance of weapons and automation of actions for interfacing coordinate systems. Moreover, the first invention of the group is used in the second, and together they form a single inventive concept. The technical result in the implementation of the second method is achieved by introducing a set of actions that provide operational accounting of the total errors of the pairing of the coordinate fields of the generated and recorded signals and images.

To achieve this technical result, in the method for determining the point of pointing a weapon on the image of the phono-target situation in shooting simulators, which includes, in the setup mode, the formation of a sequence of frames of a two-dimensional test signal with color components by computer, containing the signals of test markers with specified coordinates, frame-by-frame conversion by a video projector of a test signal into a test color image on a flat screen, overlay on a test image of at least four x color images of coordinate markers, conversion of a screen image and its surroundings by means of a video camera into a two-dimensional recorded test signal with color components, the central element of which is interfaced with the axis of the weapon simulator barrel, adjustment of the coordinate fields of the test image and the recorded test signal, determination of coordinates and shape characteristics, the size, color and relative position of the image signals of the coordinate markers relative to the signal field of the test image and storing them as reference coordinates and characteristics, in the operating mode, the formation of a continuous sequence of frames of a two-dimensional phono-target environment signal with color components in the coordinate field of the test signal by computing means, frame-by-frame conversion of the received signal into a color image of the phono-target environment on a flat screen, overlaying the images on the resulting image the same coordinate markers, converting the image from the screen and its surroundings into a two-dimensional register the signal with color components, the allocation in the recorded signal of the image signals of coordinate markers and the determination of their current coordinates and characteristics, the identification of the location of the coordinate markers in the recorded signal by their reference and current characteristics, the calculation of the elements of the matrix A of projective transformations of the generated and recorded images of the phono-target environment according to the current and reference coordinates of at least four identified markers, determining the coordinates of the weapon pointing point in the image signal of the phono-target environment by multiplying the coordinate vector of the central element of the detected signal by the inverse matrix A and similarly converting the images from the screen and its environs into the recorded signals, as well as all subsequent actions with these signals and depending on these signals, for each weapon simulator used with a separate video camera coupled with it additionally selects the generated two-dimensional test signal in the form of a single-color field, selects the built-in number s in this test signal with marker definable coordinates of at least four, define the characteristics of shape, size, color and relative location of the test marker coordinates are coordinate markers and characteristics that differ from the coordinates of markers and test characteristics. After superimposing on the test image with test markers, the images of the coordinate markers orient any of the weapon simulators and the coordinate field of the recorded test signal associated with them so as to ensure that images of all test and coordinate markers get into this recorded test signal. After converting the image from the screen and its environs into a two-dimensional recorded test signal, the signals of test and coordinate markers are extracted in it, the observed coordinates and characteristics of these markers are determined, the placement of test markers in the recorded test signal is identified by their observed and specified characteristics. Then, the elements of the matrix F of projective transformations of the generated and recorded test images are calculated by the given and observed coordinates of the signals of at least four identified test markers, the coordinates of each coordinate marker relative to the signal field of the test image are determined by multiplying the vector of the observed coordinates of the corresponding coordinate marker by the inverse matrix F and store them in as reference coordinates of coordinate markers, adjust the characteristics of the relative location of the image signals of the coordinate markers according to the corresponding reference coordinates and together with the specified characteristics of the shape, size, color, remember them as the reference characteristics of the coordinate markers.

All of the considered analogues, as well as the methods described and disclosed above, have a significant methodological drawback, due to the very principles of solving the problem of determining the point of pointing a weapon. In these methods, the aiming is carried out directly from the image on the screen, and the coordinates of the pointing point are determined indirectly by the signals of the sensors, marks, markers in systems interfaced with real images and their coordinate fields. The distortion of the image or even its disappearance does not affect the performance of the methods and their implementations. The distortions introduced when converting signals to images and images to signals (video projectors and video cameras with lenses) can reach several linear sizes of targets displayed on the screen.

The aim of the third invention of the group is to achieve a technical result, which consists in increasing the accuracy of determining the point of pointing the weapon in the image of the phono-target environment. Moreover, the second invention of the group is used in the third and together with the first they form a single inventive concept. The technical result in the implementation of the third method is achieved by introducing a set of actions that determine the exact values of the coordinates of the point of guidance of the weapon according to the results of processing directly the image signals.

To achieve this technical result, in the method for determining the point of pointing a weapon on the image of the phono-target situation in shooting simulators, which includes, in the tuning mode, the formation of a sequence of frames of a two-dimensional test signal with color components in the form of a monophonic field containing signals of at least four test markers with preset coordinates and characteristics of shape, size, color and relative positioning, frame-by-frame conversion by video projector of dough signal into the test color image on a flat screen, overlaying on the test image with at least four color images of coordinate markers with specified coordinates and characteristics that differ from the coordinates and characteristics of the test markers, the orientation of any of the used weapon simulators and a separate video camera paired with it, ensuring hit in its coordinate field the images of all test and coordinate markers, the conversion by means of video cameras of the used weapon simulators moving from the screen and its environs into two-dimensional recorded test signals with color components, the central elements of which are interfaced with the axes of the trunks of the respective weapon simulators, adjusting the coordinate fields of the test image and the recorded test signals, extracting test and test signals from the selected and oriented weapon simulator coordinate markers, determination of the observed coordinates and characteristics of test and coordinate markers in this signal, identification of placing test markers in this recorded test signal according to their observed and specified characteristics, calculating the matrix elements F of the projective transformations of the generated and recorded test images by specified and observed signal coordinates of at least four identified test markers, determining the coordinates of each coordinate marker relative to the field of the test image signal by multiplication vectors of observed coordinates of the corresponding coordinate marker on the inverse matrix F storing them as reference coordinates of coordinate markers, adjusting the characteristics of the relative location of the image signals of coordinate markers according to the corresponding reference coordinates, and storing them together with the specified characteristics of shape, size and color as reference characteristics of coordinate markers, in the operating mode, by computing means, creating a continuous sequence of two-dimensional frames signal of the background target environment with color components in the coordinate field the output signal, frame-by-frame conversion of the received signal into a color image of the phono-target environment on a flat screen, superimposition of the images of the same coordinate markers on the resulting image, conversion of the image of the screen and its surroundings using video cameras into the corresponding two-dimensional recorded signals with color components, highlighting in each the recorded signal of the image signals of coordinate markers and the determination of their current coordinates and characteristics, ident the identification of the position of the coordinate markers in each recorded signal according to their reference and current characteristics, the calculation of the elements of the matrix A of the projective transformations of the generated and each recorded image of the phono-target environment using the current and reference coordinates of at least four identified markers and the determination of the coordinates of the weapon guidance points in the image signal of the phono-target environment by multiplication the coordinate vector of the central element for each registered signal to the corresponding inverse matrix A, after determining the coordinates of the weapon guidance points and for each recorded signal, additionally transform the region of the two-dimensional recorded signal in the vicinity of its central element into a reduced signal in the coordinate field of the signal of the phono-target environment, determine the coordinates of the subdomain of the greatest similarity to the given signal in the vicinity of the found weapon pointing point in signal of the background target environment, and the coordinates of the central element of the found subdomain are used as exact coordinates INAT weapon aiming point in the image signal target environment.

The coordinate vectors of the elements of the reduced signal are obtained by multiplying the coordinate vector of each corresponding element of the recorded signal by the inverse matrix A, and the values of each color component of each element of the reduced signal in the nodes of the coordinate field of the signal of the phono-target environment are obtained by interpolating the values of the corresponding components of the neighboring elements of the recorded signal.

The dimensions of the converted region of the recorded signal are set so as to provide wider ranges of permissible errors of signal transformations and distortions of the image coordinate fields for stable determination of the subregion of the greatest similarity in the signal of the target environment, and the size of the search region of the subregion of the greatest similarity on each coordinate axis is limited to ensure that such subregions.

The method described and disclosed above is also not free from disadvantages. In some cases of its use, situations may arise when due to the large elevation angles and lead of the weapon simulator at the point of its guidance there is no image of the phono-target situation. In other particular cases, the image of the phono-target environment at the weapon guidance points may include extended isotropic regions along with small-sized images of targets. As a result of such situations, anomalous errors in determining the exact coordinates can occur, to eliminate which it is necessary to impose additional conditions on the characteristics of the generated images and the application of the method.

The aim of the fourth invention of the group is to achieve a technical result, which consists in expanding the conditions of application of the method. At the same time, the four inventions of the group are united by a single inventive concept. The technical result in the implementation of the fourth method is achieved by introducing a set of actions with signals and images, providing the exact values of the coordinates of the point of guidance of the weapon in the extended ranges of elevation angles and lead simulators of weapons, as well as the characteristics of the generated signals and images.

To achieve this technical result, in the method for determining the point of pointing a weapon on the image of the phono-target situation in shooting simulators, which includes, in the tuning mode, the formation of a sequence of frames of a two-dimensional test signal with color components in the form of a monophonic field containing signals of at least four test markers with specified coordinates characteristics of shape, size, color and relative positioning, frame-by-frame video projector conversion of tests signal into the test color image on a flat screen, overlaying on the test image with at least four color images of coordinate markers with specified coordinates and characteristics different from the coordinates and characteristics of the test markers, the orientation of any of the used weapon simulators and a separate video camera paired with it in its coordinate field the images of all test and coordinate markers, the conversion by means of video cameras of the used weapon simulators from the screen and its environs into two-dimensional recorded test signals with color components, the central elements of which are interfaced with the axes of the trunks of the respective weapon simulators, adjustment of the coordinate fields of the test image and the recorded test signals, isolation of the test and test signals in the recorded test signal from the selected and oriented weapon simulator coordinate markers, determination of the observed coordinates and characteristics of test and coordinate markers in this signal, identification of times the distribution of test markers in this recorded test signal according to their observed and specified characteristics, calculation of matrix elements F of projective transformations of the generated and recorded test images according to specified and observed signal coordinates of at least four identified test markers, determining the coordinates of each coordinate marker relative to the field of the test image signal by multiplication the vector of the observed coordinates of the corresponding coordinate marker on the inverse matrix F and storing them as reference coordinates of coordinate markers, adjusting the characteristics of the relative location of the image signals of coordinate markers according to the corresponding reference coordinates, and storing them together with the specified characteristics of shape, size and color as reference characteristics of coordinate markers, in the operating mode, by computing means, creating a continuous sequence of two-dimensional frames signal of the background target environment with color components in the coordinate field a new signal, frame-by-frame conversion of the received signal into a color image of the phono-target environment on a flat screen, superimposition of the images of the same coordinate markers on the received image, conversion of the image of the screen and its surroundings using video cameras to the corresponding two-dimensional recorded signals with color components, highlighting in each the recorded signal of the image signals of coordinate markers and the determination of their current coordinates and characteristics, ident the position of the coordinate markers in each recorded signal according to their reference and current characteristics, the calculation of the matrix elements A of the projective transformations of the generated and each recorded phonon target image from the current and reference coordinates of at least four identified markers, the determination of the coordinates of weapon pointing points in the image signal of the background target situation by multiplication the coordinate vector of the central element for each registered signal to the corresponding inverted matrix A, converting the region of each two-dimensional recorded signal in the vicinity of its central element to the corresponding reduced signal in the coordinate field of the phono target signal and determining the coordinates of the subregion of the greatest similarity to the given signal in the vicinity of the found pointing point of the corresponding weapon in the phono target signal, in each frame after the formation two-dimensional signal of the phono-target environment additionally set indicators and similarity criteria for image signals, conduct a search and determine the coordinates of several reference points with the best similarity indices of the subregions of the signal of the phono-target situation in the surrounding areas of the same signal. Further, for each weapon simulator, when determining the subdomain of the greatest similarity to a given signal in the vicinity of the found weapon pointing point, the similarity indices of this subregion are also determined. For the found reference points, by multiplying the vectors of their coordinates by matrices A, the coordinate vectors of these reference points in the recorded signal are calculated, and those points whose calculated coordinate vectors fall into the coordinate field of the recorded signal are selected from the number of reference points. Then, in a similar way, transform the regions of the recorded signal in the vicinity of the selected reference points to the reduced signals, determine the coordinates and similarity indicators of the subdomains of the greatest similarity to the signals in the vicinity of the selected reference points in the signal of the phono-target environment, determine the best reference subregion of the greatest similarity according to the similarity and the minimum difference this subregion and the coordinates of the found weapon pointing point. If the subregion of the greatest similarity in the vicinity of the found weapon pointing point has higher similarity indicators and its coordinates belong to the coordinate field of the phono target signal, then the coordinates of the central element of this subregion are used as the exact coordinates of the weapon pointing point in the image signal of the phono target environment. If these conditions are not met, the coordinates of the central element of the subregion of the greatest similarity to the best reference point, adjusted for the difference in the coordinates of this reference point and the coordinates of the found point of pointing the weapon, are used as the exact coordinates of the weapon guidance point in the image signal of the phono-target environment.

A device is known for determining the point of pointing a weapon in an image of a phono-target environment, implemented in the MSET-5000 simulator of LasershotInc Corporation, USA, Texas, presented on the Internet resource www.lasershot.com. The device comprises a computer with a built-in wireless interface unit, a monitor and a video player connected to the computer, a video camera and a video projector connected respectively to the video input and video output of the computer, an optical filter mounted on the video camera, a projection screen and N weapon simulators with lasers installed on them and connected to him power supplies and interface. The signal of the phono-target environment is generated by a computer using special software and a video player and is converted by a video projector and a screen image. Ultraviolet or infrared weapon simulator lasers form marks on the screen at the moment of shots. Images of tags through an optical filter that cuts off the image of the phono-target environment are fed to a stationary video camera and converted into the corresponding video signal, which is processed in the computer along with the signals of the shots that enter the computer via a wireless interface from each weapon simulator. Based on the processing results, the coordinates of the weapon guidance points on the image of the background target situation at the moments of simulated shots are determined.

The disadvantages of this device are the low accuracy of determining the coordinates, the limited number of N simultaneously trained shooters, the allowable angles of elevation and dump weapons. The disadvantages are due to the inability to perform accurate and long-term adjustment of the weapon simulator, laser, video projector, the location of the shooter in three coordinates, the image on the screen and the field of view of the video camera, the inability to take into account the angle of the gunshot and projective distortions in the geometry of the observed image.

A device is known for determining the point of pointing a weapon in the image of the phono-target situation according to the author’s certificate of the Russian Federation No. 1136582, IPC F41G 3/26, "A method for controlling the position of the aiming point in firing training and a device for its implementation (its variants)", published on 10/10/1995. The device includes a visual phono-target environment simulation unit with a light filter installed in front of the screen and a coding radiation field exposure block with a light filter, a weapon simulator with a remote sensing unit with a threshold element, a hit point coordinate calculation unit, a switch, two memory units, an irradiation intensity modulator hit areas. The input of the switch is connected to the output of the brightness measurement unit, the outputs of the switch are connected to the control inputs of the first and second memory blocks. The information inputs of each of the memory blocks are connected to the outputs of the modulator of the irradiation intensity of the points of the hit region, and the outputs of the memory blocks are connected to the inputs of the block for calculating the coordinates of the hit point. In this case, the passband of the optical filters of the visual phono-target environment simulation unit and the radiation block of the coding radiation hit area are different from each other, the exposure intensity modulator of the hit area points is made in the form of a disk with opaque sections and radial risks and also includes optocoupler pairs, a pulse counter, installation and counting whose inputs are connected to the optocoupler pairs, and the output is connected to the information inputs of the memory blocks.

The disadvantages of the device are the low accuracy of determining the aiming point, the limited acceptable images of the phono-target environment, inoperability on dynamic images, anomalous aiming errors at non-zero angle of dump and elevation of the weapon. The disadvantages are determined by the restrictions on the physical realizability of the dynamic fields of the fine structure and the unit for measuring brightness at a remote point with high spatial resolution, as well as the lack of blocks and components that allow the device to work with several students, according to the dynamic phono-target environment.

A device is known for determining the point of pointing a weapon in the image of a phono-target situation, implemented in an optical-electronic shooting simulator of a collective battle according to the RF patent No. 2211433, IPC F41G, F41J, published on 08.27.2003. The device includes a partitioned screen, projectors according to the number of screen sections, training weapons according to the number of shooters with electrical contacts associated with the triggers of the corresponding weapons, vertical and horizontal optical-electronic sensors according to the number of screen sections, electronic blocks according to the number of optical-electronic sensors and a computer with a display device. Lasers with radiators are mounted permanently and are connected by optical fibers with lenses on the appropriate training weapons. Each of the optoelectronic sensors contains a cylindrical lens, a line of photodetectors, and an electronic unit, the input of which is connected to the output of the line of photodetectors, and the output is connected to a computer.

The disadvantages of this device are the impossibility of arbitrary operation of shooters around the screen, low accuracy of determining coordinates. The disadvantages are caused by errors in the spatial position matching of weapon simulators, laser emitters, optical image converters, vertical and horizontal coordinate sensors, a significant influence on the errors in determining the coordinates of the dump angle and elevation of training weapons, projective image transformations of targets when they are observed from different angles.

A device is known for determining the point of pointing a weapon in the image of the background target situation according to the international application "System and method for providing improved tracking of weapon guidance marks in simulators" No. PCT / US 2005/025089 of July 15, 2005, IPC F41G, published February 23, 2006 No. WO 2006/019974 A2. The device includes a video projector, a screen, a video camera as a device for capturing a sequence of video frames, a tracking computer, a display computer, at least one weapon simulator with a laser and an interface unit installed on it. Interface blocks, a video camera and a video projector are connected by corresponding data exchange lines to a tracking computer. A display computer is connected to a tracking computer and a video projector by separate data exchange lines. Lasers of the visible or invisible optical range can be used, with which the sensitivity range of the camcorder must be matched. Optical aiming marks on the screen from different weapon simulators are identified by detecting new marks, tracking and predicting their positions in sequences of adjacent frames of the image tracking input into the computer.

The disadvantage of this device is the low accuracy of determining the coordinates of the weapon guidance points. The disadvantage is due to errors in the interfacing of the spatial positions of weapon simulators, laser emitters, a video projector and a video camera, a significant effect of the dump and elevation angles of the weapon, as well as the image observation angle.

The closest in technical essence and essential features is the device for determining the point of pointing the weapon on the image of the phono-target environment, used in the simulator to train shooters according to the utility model patent No. 32873, IPC F41G 3/26, published on September 27, 2003. The device includes a screen, a computer system connected to its first video output monitor, control devices connected to the control output of the computer system, a video projector with a control system connected to the second video output of the computer system, a weapon simulator and a video camera mounted on it with a control system and interface, output which is connected to the input of the video interface of the computing system. Behind a translucent screen, a pair of emitters of the visible wavelength range and a pair of emitters of the invisible wavelength range are installed, according to which the coordinate fields of the video projector, screen and video camera are adjusted in the setup mode, and in the operating mode, the coordinates of the weapon pointing point relative to the coordinates of the images of the pair of emitters are determined.

The disadvantages of this device are the low accuracy of determining the coordinates, the limited number of simultaneously trained shooters and the low operational characteristics of the device. The disadvantages are due to methodological errors in pairing the spatial positions of input devices, the use of predominantly mechanical adjustments to the pairing, projective transformations of the image geometry, the absence of subsystems for automatic accounting and compensation of methodological errors, and, in general, the shortcomings in the method for determining coordinates implemented by the device.

The aim of the fifth invention of the group is to achieve a technical result, which consists in increasing the accuracy of determining the coordinates of the point of guidance of the weapon, expanding the number of simultaneously trained shooters and improving the operational characteristics of the device. Moreover, the fifth invention of the group is closely related to the first four and together they form a single inventive concept. The technical result in the implementation of the invention is achieved by introducing into the known device additional blocks, connections and features of their structural and hardware-software execution.

To achieve this technical result, in the device for determining the point of pointing the weapon on the image of the phono-target situation in shooting simulators, including a screen, a computer system, a monitor connected to its first video output, control devices connected to the control input of the computer system, a video projector with a control system connected to the second video output of the computing system, a weapon simulator and a video camera mounted on it with control and interface systems, the output of which is inen with the input of the video interface of the computing system, additionally simulated weapons in the number of simultaneously trained shooters, the same number of cameras with control systems and interfaces mounted on the respective simulators of weapons, a set of coordinate markers and a regulator, the input of which is connected to the control output of the computing system, the output of the controller connected to the radiating elements of the coordinate markers, and the outputs of additional cameras are connected to the corresponding inputs of the video interface but a computing system.

The computing system, monitor, video projector and video cameras are designed in such a way that they form, display and register color signals and images in a single color coordinate system, coordinate markers are located in the same plane as the screen, near the outer borders of the images projected onto it, the number of coordinate markers in set and their placement are selected so that in the given ranges of elevation angles, lead and collapse of weapon simulators and for any positions of target images on the screen to ensure hits e in the field of view of any video camera, at least four coordinate markers, the images of which allow to form at least one quadrangle.

Each coordinate marker from the set is made in the form of a monochrome emitter of visible or invisible light waves with adjustable intensity and set so that its radiation pattern covers the locations of shooters with weapon simulators in front of the screen. The range of light sensitivity of the cameras is selected so that it covers the wavelengths of the emitters of the coordinate markers, and the shape, size, color and asymmetry of the location of the coordinate markers are selected so that they are identified in the set when observing at least four such markers.

The claimed technical solutions have a combination of essential features not known from the prior art for this purpose, which allows us to conclude that the criterion of "novelty" for the invention.

The proposed technical solutions, according to the applicant and the authors, meet the criterion of "inventive step", because for specialists, it does not explicitly follow from the prior art, i.e. not known from available sources of scientific, technical and patent information at the filing date.

The essence of the claimed technical solutions is illustrated using the drawings, which show:

- in FIG. 1 is an example of a test image with superimposed coordinate fields;

- in FIG. 2 - range of spectral sensitivity of video cameras;

- in FIG. 3 - an example of the placement of coordinate markers in the screen area;

- in FIG. 4 - the recorded image when hovering weapons with elevation angles, dump and foreshortening;

FIG. 5 is an example of images of test markers on the screen;

- in FIG. 6 - location of the converted region of the recorded image (signal) in operation mode;

- in FIG. 7 - the relative position of the processed areas of the image signal of the phono-target environment;

- in FIG. 8 is an example of the superposition of the coordinate fields of the reduced signal and the signal of the phono-target environment;

- in FIG. 9 - determination of the values of the reduced signal by the interpolation cubic spline;

- in FIG. 10 is an example of a recorded image in the implementation of the method;

- in FIG. 11 is a cross section of a two-dimensional cross-correlation function;

- in FIG. 12 - areas of signal processing of the image of the phono-target environment;

- in FIG. 13 is a diagram of an apparatus for implementing methods.

The figures indicate the coordinate field of the test image 1, the image of the test markers 2, the area (field) 3 of the placement of coordinate markers, the image of the coordinate markers 4, the coordinate field of the recorded image 5, the projection of the coordinate system 6 of the weapon simulator, the distance of the linear elevation 7 of the correct point of pointing the weapon relative to aiming points, target image 8, image (signal) of the phono-target environment 9 in the coordinate field xOy, the converted region of the recorded image (signal) 10, region 11 a given signal in the coordinate field of a signal of a phono-target environment, a search area 12 most similar to a given signal, a border of 13 reference point search areas, a sub-area 14 of a phono-target situation signal in a reference point search area, found and selected reference points 15, guidance points 16 found from coordinate markers weapons, coordinate difference 17 for adjusting the exact coordinates of the weapon guidance, screen 18, computer system 19, monitor 20, control device 21, video projector 22, weapon simulators 23, view okamery 24, a set 25 of coordinate markers regulator 26.

The initial operation of the first method in the group of inventions is the formation by means of a sequence of frames of a two-dimensional test signal B _t (x, y), x∈ [0, X-1], y∈ [0, Y-1] in tuning mode, for example, in the form is equal to the brightness field containing the signals of the test markers with the given coordinates. All actions with signals and images in the group of inventions are carried out in one way or another for each frame, and therefore the designations of frames in the description are omitted. Each element of the test signal and test markers includes the components B _tr (x, y), B _tg (x, y), B _tb (x, y) of the red, green, and blue colors, respectively, in the selected RGB color basis. The signals of the test markers are formed, for example, in the form of monochromatic lines of the coordinate grid with specified intervals and rectangles along the edges of the coordinate field.

The test signal is converted by the video projector 22 into a test color image E _t (x, y) 1 on a flat screen 18 including the image of the test markers 2. The coordinate system associated with B _t (x, y) and _Et (x, y) is indicated in FIG. . 1 like xow. In the plane of the screen 18 and region 3 immediately adjacent to the coordinate field of the test image 1, images of at least four coordinate markers E _mk (x _mk , y _mk ) 4 are superimposed on this image. These images can be formed, for example, using light emitters. Next, the image from the screen 18 and its environs in region 5, corresponding to the coordinate field x _p O _{r p of the} recorded test image E _tp (x _p , y _p ), is converted into recorded test signals B _tp (x _p , y _p ), x _p ∈ [0, X _p -1], y _p ∈ [0, Y _p -1] with the corresponding color components using the video cameras 24. Then, the coordinate fields of the test image 1 and the recorded test signal are adjusted using spatial adjustments that implement the method devices, adjusting their parameters, using auxiliary lnyh devices. When this is combined axis O _uo coordinate system 6 trunk simulator arms and axis O _p of the recorded image coordinate system 5, are entered the picture 1 in the display area 18, the balancing image coordinate system _{E mk (x mk, y mk} ) and E _tp (x _p, y _p ). Since there can be several registered signals, 23 weapons are used in the number of simulators used, similarly, they adjust their coordinate fields, combine the axes O _io , O _p and symmetry E _tp (x _p , y _p ). The test signal and image, their coordinate fields, screen and coordinate markers are the same for all recorded images and do not require re-adjustment.

The final operations of the first method in the setup mode are to determine the coordinates and characteristics of the shape, size, color and relative location of the image signals of the coordinate markers relative to the signal field of the test image and storing them as reference. As the coordinates of the coordinate markers (x _mk , y _mk ) of FIG. 1, for example, the coordinates of the central elements of their images are selected. They are determined in the xOy coordinate system by measurements and interpolation by test markers 2 in the form of a coordinate grid with known coordinates. The colors of the coordinate markers are set by choosing the wavelengths of the emitters within the spectral sensitivity range of the video cameras of FIG. 2, converting the recorded image into the recorded signals. As a characteristic of colors, for example, vectors of normalized relative brightnesses of the blue and green components are used:

where T is the sign of transposition. So for the k-th emitter (marker) with a wavelength of 625 nanometers according to FIG. 2 the vector of characteristics of its color will be E _mk = (0,042, 0,142) ^T. The color characteristics of the coordinate markers in the setup mode can be refined from the measured values of their color components in the recorded signal B _pm (x _pk , y _pk ). As a characteristic of the shape of the coordinate markers, for example, the compactness characteristic c _{mk of} their images as geometric figures is used, which is equal to the ratio of the square of the perimeter of the figure h _mk to its area s _mk :

This characteristic is invariant to shifts, scales, and rotations of coordinate marker images and is 4π = 12.57 for a circle, 16 for a square figure. Compactness and its components are expressed in the number of elements of the recorded signal (pixels) belonging to the images of the coordinate markers, and they are determined from the analysis of the areas of the recorded signal by known methods and algorithms. As characteristics of the location of K coordinate markers, for example, (K-1) -dimensional distance vectors in the right Cartesian coordinate system xOy between the current marker and each subsequent one during their successive round-trip (counterclockwise), normalized by the smallest distance for each current coordinate marker:

- нормированный модуль расстояния от изображения (сигнала) координатного маркера k до изображения (сигнала) координатного маркера (k+i);Where

- the normalized module of the distance from the image (signal) of the coordinate marker k to the image (signal) of the coordinate marker (k + i);

- угол между вектором расстояния и осью абсцисс.

- the angle between the distance vector and the abscissa axis.

Thus, the image (registered signal) of each coordinate marker is mapped and stored as a reference vector of characteristics of coordinate markers or a vector of signs, the components of which are the color, shape and placement characteristics vectors:

The vector of characteristics П _mk is single for all recorded signals and has a sufficient number of degrees of freedom for choosing variable components and providing the task of identifying coordinate markers in the required ranges of changes in elevation angles, lead and collapse of weapon simulators, angles and observation distances of images by trained arrows. In the example of FIG. 3 use 12 coordinate markers of the same size and color, but with an asymmetric arrangement, which allows identifying markers by four or more adjacent ones with image rotation angles from 0 to 360 degrees, viewing angles plus minus 60 degrees, and 3 times zoom changes. In relation to the dimensions of the coordinate field of the X × Y test image, the markers from the origin in the lower left corner of the field have the following coordinates:

,

,

;- bottom row in X:

,

,

;

,

,

;- top row in X:

,

,

;

,

,

;- left row in Y:

,

,

;

,

,

- right row in Y:

,

,

In the implementations of the method, other combinations of characteristics of coordinate markers can be used, for example, different colors with symmetrical placement and fewer markers, non-coplanar arrangement of rows of markers, rectangular shapes of markers, composite markers from several spatially separated markers, and others.

In order to ensure that the recorded signals 5 get into the coordinate fields of FIG. 1 images of at least four coordinate markers 4, the coordinates of which allow you to form at least one quadrangle under conditions of changing elevation angles, lead and collapse of the used weapon simulators in the given ranges when aiming at any point in the coordinate field of the test image and the background image, as well as the corresponding signals, the size of the coordinate field 5 for each video camera of the corresponding weapon simulator choose obviously more than the size of the coordinate field 1. Linear oversizing horizontally can reach 20% of X for realistic shooting scenarios depending on speed, range, types of simulated weapons and targets. Linear vertical oversizing depending on ranges, types of simulated weapons and targets can range from 20% to 100% of Y. Thus, the selected sizes of fields 5, along with the previously selected number and placement of coordinate markers, will also provide identification of markers in a given range of angles the fall of weapons. Due to the selection of large sizes, in fact, the field of view of the cameras 24, their vertical resolution is usually selected 2 times higher than the clarity of the generated images.

In the operating mode, the first operation of the first method in the group of inventions is the formation by computational means of a sequence of frames of a two-dimensional signal of the phono-target situation in the same coordinate field of the test signal B (x, y), x ∈ [0, X-1], y ∈ [0, Y -one]. This signal includes color components in the same basis. The signal B (x, y) is converted by the video projector 22 into a color image of the background target environment E (x, y) in the same coordinate field xOy1 of FIG. 1. Images of the same coordinate markers E _mk (x _mk , y _mk ) 4, whose characteristic vectors P _mk were stored as reference ones in the setup mode, are superimposed on this image. Then, the image from the screen 18 and its environs in region 5 corresponding to the coordinate field x _p O _p y _{p of the} recorded image E _p (x _p , y _p ) is converted into two-dimensional recorded signals of the phono-target environment B _p (x _p , y _p ), x _p ∈ [0, X _p -1], y _p ∈ [0, Y _p -1] with the corresponding color components using video cameras 24 of each weapon simulator 23.

Further, in each of these signals, the image signals of the coordinate markers 4 are extracted, their coordinates, characteristics are determined, and the markers are identified by their reference and current characteristics.

, запомненным в качестве эталонных векторам нормированных относительных яркостей голубой и зеленой компонент E_mk. Для рассматриваемого примера с одинаковыми цветами всех k координатных маркеров условия будут следующими:The selection of the image signals of the coordinate markers 4 in the recorded signals of the phono-target environment is carried out for each ith element B _pi (x _pi , y _pi ) by coincidence of the vector of its color components (b _{ib / r} , b _{ig / r} ) ^T , in general, with accuracy

, memorized as reference vectors of normalized relative brightnesses of the blue and green components E _mk . For the considered example with the same colors for all k coordinate markers, the conditions will be as follows:

The accuracy of the correspondence, or tolerances, ε _{bg is} set algorithmically in specific implementations of the method, in absolute or percentage values, the same or different for the color components. Compact sets of selected image elements of coordinate markers in each recorded image are combined in the signals of their images by the connectivity operator of each kth set:

The connection operators are well known and described, for example, in Gruzman I.S., Kirichuk V.S., Kosykh V.P., Peretyagin G.I., Spektor A.A. Digital image processing in information systems: a manual. - Novosibirsk: Publishing House of NSTU, 2002. - 352 p. For each and all selected in each recorded signal B _pmk , the compactness characteristics c _{mk are} calculated using expression (2) and the placement characteristics d _{mk are} calculated using expression (3), thereby forming, in accordance with (4), the characteristic marker vectors П _pmk for each selected marker signal in the corresponding recorded signal. The coordinates (x _pmk , y _pmk ) of these markers in expression (6) are the coordinates of the geometric, median center or center of gravity of the elements of the selected sets B _pi (x _pi , y _pi ) = b _pi , the definitions and expressions for which are known and described, for example, in T. Pavlidis. Computer graphics and image processing algorithms. - M .: Radio and communications, 1986. - 400 p. The identification of the signals of the selected coordinate markers in the recorded signals B _{pmk to} their images in the background target environment E _m , i.e.

- знак геометрической эквивалентности (координат),Where

- sign of geometric equivalence (coordinates),

Δ is the vector of accuracy of compliance, or tolerances, including a subvector ε _bg ,

they are performed by comparing the memorized reference P _mk and the obtained P _pmk characteristics of coordinate markers using known methods for identifying and recognizing geometric patterns, taking into account a priori information about the geometry of the marker placement lines when they are traversed in a selected direction. In the simplest case, the technique consists in iteratively sorting the possible locations of feature vectors from K coordinate markers according to K _p markers selected in the recorded signal taking into account geometric conditions. In the example of the recorded image in FIG. 4 with one of the simulators arms, and hence in the corresponding recorded signal showing K _p = 6, fiducial markers, caught in the coordinate field of the detected signal (image) x _p O _p y _p and identifiable markers in the left upper corner coordinate field images of the phono-target environment xOy, also shown in FIG. 3. This image corresponds to the orientation of the aiming point in the upper left corner of the field 1, with the elevation angle of the weapon simulator 23 corresponding to the linear distance 7 from the target image 8 to the correct pointing point of the weapon simulator 23 O _p , pointing angles of minus 45 degrees in the zOx plane of FIG. 1 (the z axis is perpendicular to the xOy plane), minus 10 degrees in the zOy plane and the dump angle of the weapon simulator 23 is 45 degrees in the xOy plane. FIG. 4 also demonstrates projective distortions of the initial characteristics of images of coordinate markers 4, which are taken into account in the implementations of the method by the correct choice of tolerances Δ.

Further, the coordinates (x _pmk , y _pmk ) of the coordinate markers obtained by processing each recorded signal and the corresponding reference coordinates (x _mk , y _mk ) are used to calculate the matrix A of the projective transformations of the generated and recorded phono-target images in homogeneous coordinates (in the expanded coordinate space) the setting. Projective transformations of image signals are known and widely used in computer graphics for various purposes, in the production of films and television programs, in video broadcasts and reports. Methods and algorithms for calculating the elements of matrix A are also known, for example, the method of pair points, Nikulin EA Computer geometry and computer graphics algorithms. - SPb .: BHV-Petersburg, 2003 .-- 560 p.:

- обратная матрица вектора группы векторов эталонных координат координатных маркеров;Where

- the inverse matrix of the vector of the group of vectors of reference coordinates of coordinate markers;

X _pm is the matrix of the vector of the group of vectors of registered coordinates of coordinate markers;

H is the projective projection plane in the extended coordinate space. The disclosure of expression (8) gives k systems of equations of the form:

The system is simplified when we consider that the elements z _m1 = 0 in (9) due to the placement of all coordinate markers in one, zero plane of FIG. 1, and the elements of the third column of matrix A are equal to zero when projecting onto the zero z-plane of the recorded image. Then we get k systems of simplified equations with ten unknowns, a total of twelve equations using the coordinates of four coordinate markers, k = 4. Features of the overdetermination of systems of equations for k≥4 and the coplanarity of pairs of coordinate points are allowed by simplifying the system (equating H = 1) or by calculating the root-mean-square estimates of the elements of the matrix A from the equation (D. Rogers, J. Adams. Mathematical foundations of computer graphics: Transl. From English / Per. Yu.P. Kulyabichev, V.G. Ivakhnenko; ed. Yu.I. Topchiev. - M.: Mechanical Engineering, 1980. - 240 p.):

Other known methods and combinations of methods, for example, D.O. Chekhlov, S.V. Ablameiko. Normalization of images with respect to perspective transformations based on geometric parameters. - Informatics, 2004, No. 3, p. 67-76.

The final operation of the group’s first invention is the determination of the coordinates of the weapon guidance point in the image signal of the phono-target environment by multiplying the coordinate vector of the central element of the recorded signal in the expanded coordinate space by the inverse matrix A, taking into account the coincidence of the origin of the registered signal and the image with its central element:

As a result of calculations by expression (9), for each weapon simulator 23 and the corresponding recorded signal and the calculated matrix of projective transformations, the coordinates of the weapon’s guidance points in a single image signal of the phono-target environment are obtained independent of other coordinates. The introduction into a well-known closest analogue of the method of a set of actions for determining and accounting for perspective coordinate distortions made it possible to increase the accuracy of determining the weapon pointing point directly, as well as due to the emerging and realized possibility to reduce it from seven to four, FIG. 1, the number of mating coordinate systems in comparison with the prototype. This also ensured the technical effect of expanding the zone of permissible placement of shooters in front of the screen, which, in turn, together with the introduced operations of recording and processing several image signals of a single phono-target situation, allowed to increase the number of simultaneously trained shooters. The technical effect of expanding the permissible ranges of elevation angles and the dump of simulated weapons was achieved through a combination of actions to expand the number of reference markers used, their parametric selection, including color characteristics. These actions, among others, also provide operations for identifying and accounting for perspective distortions, which indicates the close interconnections of new actions, about the inextricable unity and integrity of the inventive concept.

The initial operation of the second method in the group of inventions is the formation by computing means of a sequence of frames of a two-dimensional test signal B _t (x, y), x∈ [0, X-1], y∈ [0, Y-1] in the setup mode in the form of a single-color field containing signals of at least four test markers with specified coordinates, shape, size, color and relative position characteristics. All actions with signals and images in this, as in other inventions of the group, are carried out for each frame, and therefore the designations of frames in the description are also omitted. Each element of the test signal and test markers includes the components B _tr (x, y), B _tg (x, y), B _tb (x, y) of red, green, and blue colors, respectively, in the selected RGB color basis. The signals of the test markers are formed, for example, in the form of four areas of a square shape with a zero signal, that is, black, and coordinates (x _ml , y _ml ), as shown in FIG. 5. The test signal is converted by the video projector 22 into a test color image E _t (x, y) 1 on a flat screen 18 including the image of the test markers 2. As with the first invention of the group, images of at least four coordinate markers E _mk are superimposed on this image (x _mk , y _mk ) 4 with coordinates and characteristics different from the coordinates and characteristics of the test markers, FIG. 5. Next, the image from the screen 18 and its environs in region 5 corresponding to the coordinate field x _p O _p y _{p of the} recorded test image E _tp (x _p , y _p ) is converted using video cameras 24 into two-dimensional recorded test signals B _tp (x _p , y _p ), x _p ∈ [0, X _p -1], y _p ∈ [0, Y _p -1] with color components, the central elements of which are associated with the axis of the trunks of the respective weapon simulators 23. Then, the coordinate fields of the test image and the recorded test signal are adjusted in the same manner as in the implementation of the first invention of the group. The adjustment is performed for all recorded test signals according to the number of used weapons simulators 23. After that, select any of the weapon simulators and orient the coordinate field of the recorded test signal B _tp (x _p , y _p ) associated with them so that images of all test and coordinate markers get into this signal, as shown in the example of FIG. 5. In this recorded test signal, the signals of all l test and k coordinate markers are distinguished by the given characteristics of the markers (1, 2) and expressions (5, 6) by the above procedures. _{Using the} marked signals of the markers, their observed coordinates (x _нmk , y _нmk ) and (х _нml , у _нml ) are _determined , and the characteristics of П _нmk and П _нml, respectively, of coordinate and test markers are _determined by expressions (1-4), after which the location is identified test markers in the recorded test signal according to their observed and set characteristics in accordance with expression (7). The next step of the method is to calculate the elements of the matrix F of projective transformations of the generated and recorded test images from the given and observed coordinates of the signals of at least four identified test markers. The calculation and the technique of its implementation are similar to the calculation of the elements of matrix A and are performed in accordance with the expressions (8, 9). The obtained calculation results are used to determine the coordinates of each coordinate marker relative to the signal field of the test image by multiplying the vector of the observed coordinates of the corresponding coordinate marker by the inverse matrix F. The obtained coordinates are stored as reference coordinates of the coordinate markers (x _mk , y _mk ), the characteristics of the relative coordinate location marker image signals, and d _mk together with specified characteristics of shape, size and color and E _mk c _mk zap Mina them as reference characteristics fiducial markers P _mk, expression (4). On this, the actions with the signals and images of the method in the setup mode are completed, and the obtained and stored reference coordinates and characteristics of the coordinate markers are used later in the operation mode to determine the guidance points of all weapon simulators 23.

In the operating mode, the content and sequence of operations of the second method do not differ from the operations carried out in the first method of the group of inventions and described in detail above. The totality of operations is the formation by computing means of a sequence of frames of a two-dimensional signal of the phono-target environment with color components B (x, y) in the same coordinate field of the test signal xOy 1 of FIG. 1, its conversion by the video projector 22 into a color image of the background target environment E (x, y), superimposition of the same coordinate markers E _mk (x _mk , y _mk ) 4 onto this image, image conversion E _p (x _p , у _р ) с screen 18 and its environs in region 5 of FIG. 1 into two-dimensional recorded signals of the phono-target environment B _p (x _p , y _p ) with the corresponding color components using video cameras 24 of each weapon simulator 23. These operations are followed by the allocation in each of the signals B _p (x _p , y _p ) of the image signals of the coordinate markers B _pmk (x _pmk , y _pmk ), the determination of their coordinates and characteristics, the identification of the markers by their reference and current characteristics in accordance, for example , with expressions (5, 6, 7) using (1-4), calculating the elements of the projection transformation matrices A for the generated and each recorded image of the phono-target environment using expressions (8, 9) and determining the coordinate of the weapon pointing point in the image signal of the phono-target environment SETTING for each weapon simulator according to the expression (10). As a result of performing actions with signals and images in the operating mode, independent coordinates of the guidance points of each weapon simulator in a single image signal of the phono-target environment are obtained.

The introduction to the method of determining the point of pointing a weapon on the image of the phono-target situation in shooting simulators according to the first invention of a group of actions to automate the procedures for accurately determining the coordinates of coordinate markers using exact coordinates of special test markers programmatically set with a discrete of one element (pixel) allowed by simple actions, quickly take into account the displacement of the coordinate fields of the images on the screen 18 while taking into account various positions, we teach shooters and significantly reduce the requirements for the accuracy of the initial placement of coordinate markers. In turn, this made it possible to repeat the automated operations of adjusting the relative position of coordinate fields and markers arbitrarily often, thereby increasing the temporal stability of the results of determining the point of pointing the weapon as the target technical result of using the invention.

The initial operation of the third method for determining the point of pointing a weapon on the image of the phono-target situation in shooting simulators in the group of inventions is the formation by computing means in the mode of setting the sequence of frames of a two-dimensional test signal B _t (x, y) in the form of a single-color field containing signals of at least four test markers given coordinates, shape, size, color and relative position characteristics, FIG. 5. This, as well as all subsequent actions with signals and images in the setup mode, perform identically to the actions for the implementation of the second invention of the group described above. These actions, in particular, include the conversion of the test signal by the video projector 22 into a test color image E _t (x, y) 1 with test markers 2, overlapping images of at least four coordinate markers E _mk (x _mk , y _mk ) 4, FIG. 5, the conversion by video cameras 24 of the image from the screen 18 and its environs in region 5 into two-dimensional recorded test signals B _tp (x _p , y _p ) with color components, adjustment of the coordinate fields of the test image and the recorded test signal for all recorded test signals by the number of weapon simulators 23 used, the choice of weapon simulator 23 and the orientation of the coordinate field of the recorded test signal B _tp (x _p , y _p ) associated with them, Fig. 5, highlighting in this recorded test signal all signals l test and k coordinate markers, determining the observed coordinates (x _нmk , y _нmk ), (x _нml , y _нml ) and refinement of the characteristics П _нmk and П _нml respectively of coordinate and test markers, identification of the location of test markers in the recorded test signal, calculation of elements matrix F projective transformations generated and recorded test images, the determination of the coordinates of each marker relative to the coordinate field test pattern signal (x _mk, y _mk) and storing them as reference, adjusting the Features acteristics P _mk fiducial markers image signals and storing them as reference.

In the operating mode, the content and sequence of the main operations of the third method from the group of inventions also do not differ from the operations for implementing the second method of the group of inventions. The set of actions with signals and images constitutes the formation by computational means of a sequence of frames of a two-dimensional signal of a phono-target environment with color components B (x, y) in the coordinate field xOy 1, FIG. 1, its conversion by the video projector 22 into the image of the background target environment E (x, y), the overlay on this image of the images of the same coordinate markers E _mk (x _mk , y _mk ) 4, the conversion of the image E _p (x _p , y _p ) from the screen 18 and its environs in region 5 of FIG. 1 into two-dimensional recorded signals of the phono-target environment B _p (x _p , y _p ) using video cameras 24 of each weapon simulator 23, extracting image signals of coordinate markers B _pmk (x _pmk , y _pmk ) in each of these signals, determining their coordinates and characteristics , the identification of coordinate markers, the calculation of the elements of the matrix A of projective transformations and the determination of the coordinates of the point of guidance of the weapon in the signal image of the background target environment for each simulator 23 weapons.

As a result of the performance of the described actions with signals and images in the setup mode and in the operating mode, coordinates of the guidance points independent for each weapon simulator 23 are obtained in a single image signal of the phono-target environment.

The subsequent operation of the method in the operating mode is the conversion of the region of the two-dimensional recorded signal in the vicinity of its central element into a reduced signal in the coordinate field of the signal of the background target environment. Bring the recorded signal B _p (x _p , у _р ) in the coordinate field x _p O _p y _p 5 Fig. 6 to the coordinate field xOy of the signal of the phono-target environment B (x, y) for their comparison is necessary due to projective transformations of the image of the phono-target environment 9 when it is observed by a trained shooter. The converted region 10 of the recorded signal (image) includes the signal (image) 8 of the target and can be, for example, a rectangular shape. Its dimensions are set so as to provide wider ranges of permissible errors of signal transformations and distortions of the coordinate fields of images for stable determination of the subregion of greatest similarity in the signal of the phono-target environment. With a decrease in the size of the region, the probability of anomalous identification of signals increases, and with an increase in the likelihood of losing small targets. Experimental refinement of the parameters of the algorithms shows that with the background image format of the target environment 1920 × 1080 elements, the dimensions of the square area with sides from 48 to 80 elements ensure the invariance of the method to real errors and distortions of 95% of the practically used dynamic scenes. The coordinate vector of each element of the reduced signal is obtained by multiplying the coordinate vector of each corresponding i-th element of the recorded signal by the inverse matrix A. For the group of vectors of the region, the expression for calculation will be similar to expression (10), and the color components of the reduced signal for each i-th element can be converted areas will be saved:

where i is the numbered signal element belonging to the transformed region of the recorded signal. As a result of transformation (11), the projective distortions of the signals are compensated, but the region of the reduced signal in the coordinate field of the signal of the phono-target environment will take the form 11 of FIG. 7. Moreover, in the general case, the scales and position of the coordinate fields xOy and x _p O _p y _p do not coincide, FIG. 8. It is required to bring the signal values to the coordinate grid of the signal of the phono-target environment, performed by well-known interpolation methods, for example, according to the book Gruzman IS, Kirichuk VS, Kosykh VP, Peretyagin GI, Spektor A.A. Digital image processing in information systems: a manual. - Novosibirsk: Publishing House of NSTU, 2002. - 352 p. When using, for example, a separable one-dimensional interpolation function in the form of a cubic spline of FIG. 9

where q∈ [-1, -0,5] is the shape coefficient,

the values of each color component of each element of the given signal at points (x, y) of the coordinate field of the signal of the phono-target environment are obtained from the values of the signals of nearby elements of the recorded signal in accordance with the expression:

In FIG. 9 vertical columns also show four counts of the recorded signal, two of which with arguments u = 0.5, u = -1.5 will be included in the sum in expression (12) with weights equal to the ordinates of the interpolation function at these points. Then, in the vicinity of the coordinate of the found point markers weapon guidance target environment in the signal from the expression (10) is isolated region 12 the signal B _e (x, y) of FIG. 7. This area should include the generated, initial image signal of the target, the calculated coordinates of which may differ from the true ones due to hardware non-linearities and calculation errors. The dimensions of this region should exceed the possible error values, but at the same time, be limited for unambiguous comparison of two-dimensional signals. The coordinates of the central element (x _O , y _O ) of the subdomain of the greatest similarity to the given signal B _P (x, y) in the signal B _e (x, y) are determined, for example, by well-known extreme correlation methods: E.V. Goshin, A.P. Kotov, V.A. Fursov. Two-stage formation of spatial transformation for combining images. - Computer Optics, 2014, Volume 38, No. 4, p. 886-891. The calculation algorithm is based on the search for the extremum of the mutual correlation function of two-dimensional image signals K {В _П , В _е } and is described by the expression:

where I × J are the dimensions of the region of the reduced signal.

As signals in expression (13), both luminance, representing the sum of the signals of color components, and individual signals B _r (i, j), B _g (i, j), B _b (i, j) red, green, can be used and the blue component, as well as pre-processed signals to improve the properties of the correlation function. In this case, the algorithm for implementing the method can be supplemented by procedures for selecting components, their correlation functions, selecting or averaging such functions, selecting or averaging componentwise arguments of the extrema of functions, and others. The dimensions 12 of the search area for the largest signal similarity of FIG. 7, when using algorithms of the form (13), one sets, as a rule, in the range from one and a half to two correlation radii of the signal of region (11). For the considered example, the optimized preset sizes ranged from 64 to 96 elements, which is confirmed on 95% of typical scenes. The coordinates found by expression (13) are used as the exact coordinates of the weapon guidance point in the image signal of the phono-target environment.

To confirm the implementation and evaluate the technical effect of the implementation of the method, a series of experiments was carried out in which the format of the generated images was 1920 × 1080 elements at a frame frequency of 60 Hz, the format of the recorded image was 3840 × 2748 elements × 60 Hz, and the number of gradations of brightness / color of image signals ranged from 16 to 256, the number of coordinate markers - 14, the wavelength of the emitters of the markers - 625 nm, the sizes of the converted regions of the recorded signal from 32 to 128 elements for each of the coordinates in various combinations, the sizes are areas of search for the greatest similarity of signals - from 64 to 150 elements in various combinations, the number of variants of generated images of the phono-target environment - 6, the number of variants of simulated weather conditions and time of day - 5, the number of types of targets in each image - 5, the minimum size of targets - 12 × 9 elements, the number of weapon simulators with a video camera - 1. FIG. 10 shows an example of a processed image in one of the experiments. The results of experimental studies showed the following. For the coordinates determined by coordinate markers: the maximum error was 11 elements, the allowable range of changes in the angle of the weapon simulator’s pile was from 0 to 360 degrees, the allowable range of observation angles (angle) of the targets was from 0 to 50 degrees, the range of changes in the scale of images of the phono-target environment is 250% For the exact coordinates of the weapon guidance point determined by the image signals, the mathematical expectation of the error in determining the coordinates is plus or minus one element, the standard deviation of the error is 1.6 elements for a probability of 0.95 (maximum error of 5 elements), the admissible non-linearity of the image along the raster is not less than 4% without optimization of algorithm parameters and up to 9% with optimization. In this case, the permissible ranges for changing the conditions for observing images remained unchanged. Additionally, experiments were conducted to assess the stability of the implementation algorithms of the method to the influence of compensation errors of projective transformations and hardware non-linearities of the images of the background target environment. It was found that the residual errors and non-linearities can be on a scale of at least plus or minus 10%, in the angles of the angle — at least plus or minus 20%, in the corners of the weapon dump — at least plus or minus 5%, which is mainly due to the properties robustness of the correlation-extreme method of image matching and confirms a sufficient engineering margin of accuracy in the selection of parameters in the hardware-software implementation of the method.

The set of actions introduced into the third method of the group of inventions to determine the exact values of the coordinates of the weapon guidance point directly from the image of the phono-target situation made it possible to further reduce the resulting coordinate errors. The obtained technical effect also includes a decrease in the requirements for the parameters of the algorithms and the characteristics of the devices when implementing the method and operation of training systems based on it.

In the fourth method for determining the point of pointing a weapon on the image of the phono-target environment in shooting simulators according to the fourth invention of the group, the essence and sequence of basic actions with signals and images carried out in the third invention of the group and described in detail above are preserved. These operations in the tuning mode include the formation by computing means of a sequence of frames of a two-dimensional test signal, including the signals of at least four test markers with preset coordinates, shape, size, color, and relative position characteristics, FIG. 5, the video projector 22 converts the test signal into a test color image 1 with test markers 2, overlaying at least four coordinate markers 4 on this image, FIG. 5, the conversion using video cameras 24 of the image from the screen 18 and its environs in region 5 into two-dimensional recorded test signals with color components, adjustment of the coordinate fields of the test image and the recorded test signal for all recorded test signals according to the number of used weapon simulators 23, the choice of simulator 23 weapons and the orientation of the associated coordinate field of the recorded test signal, as shown in FIG. 5, highlighting in this recorded test signal the signals of all l test and k coordinate markers, determining the observed coordinates (x _нmk , y _нmk ), (х _нml , y _нml ) and clarifying the characteristics of П _нmk and П _нml, respectively, coordinate and test markers, identification of the location of test markers in the recorded test signal, calculation of matrix elements F of projective transformations of the generated and recorded test images, determination of the coordinates of each coordinate marker relative to the signal field of the test image (x _mk , y _mk ) and storing them as a reference, adjusting the characteristics P _{mk of the} image signals of the coordinate markers and storing them as a reference. In the operation mode, the operations include forming, by computing means, a sequence of frames of a two-dimensional signal of the phono-target environment with color components B (x, y) in the coordinate field xOy 1, FIG. 1, it is converted by a video projector into a color image of the background target environment E (x, y), the image of the same coordinate markers 4 is superimposed on this image, the image is converted by E _p (x _p , y _p ) from the screen 18 and its environs in region 5 of FIG. 1 into two-dimensional recorded signals of the phono-target environment B _p (x _p , у _p ) using video cameras 24 of each weapon simulator 23, extracting image signals of coordinate markers B _pmk (x _pmk , y _pmk ) in each of these signals, determining their coordinates and characteristics , identification of fiducial markers, the calculation of elements of the matrices a projective transformation, determination of coordinates weapon aiming point in the image signal for each target environment simulator 23 arms, converting a two-dimensional area 10 of the recorded signal B _p (x _{p, p)} in the vicinity of its central element of FIG. 6 to the reduced signal B _P (x, y) in the coordinate field of the background signal xOy by multiplying the coordinate vector of each i-th element of the recorded signal by the inverse matrix A and interpolating the values of each color component of each element of the reduced signal in region 11 of FIG. 7 according to the corresponding signals of nearby elements of the recorded signal of FIG. 8 and 9, determining the coordinates of the central element (x _O , y _O ) of the subdomain of the greatest similarity to the given signal in region 12 of FIG. 7 of the signal of the phono-target environment and the use of these coordinates as the exact coordinates of the weapon pointing point in the image signal of the phono-target environment.

, фиг. 11, и другие показатели. Для таких показателей критерии подобия задают в виде:In the operating mode, in parallel with the described actions, an indicator and similarity criteria for image signals are set. When using correlation functions to establish similarities of image signals, expression (13), as indicators, for example, use the values of functions at the points of extrema K _max (x, y), FIG. 11, the values of the functions at the points spaced from the extrema by a small amount of several elements δ - max {K _max (x ± δ, y ± δ)}, and the values of the functions at the points of the largest local extrema K _l.max (x _i , y _j ), separated from the main extremum by more than an amount

FIG. 11, and other indicators. For such indicators, similarity criteria are set in the form:

where K _th is the threshold value of the extremum of the correlation function;

Δ is an indicator of the shape of the global extremum;

- показатель интенсивности локальных экстремумов.

- an indicator of the intensity of local extremes.

, что при форматах приведенных (искомых) сигналов 32×32 и 64×64 элементов составили соответственно ±2 и ±4 элемента. Показатели и критерии задаются алгоритмически и, как правило, не изменяются для используемого ряда изображений фоноцелевой обстановки. Далее, область сигнала изображения фоноцелевой обстановки 9 фиг. 12 разбивают на области 13 поиска опорных точек, в каждой такой области выделяют центральную подобласть 14, рассчитывают по соотношению в скобках правой части выражения (13) значения, по сути, автокорреляционной функции, определяют показатели подобия, применяют критерии (14) и ранжируют области по наилучшим показателям подобия центральных подобластей по критерию:For the conditions under consideration and strongly noisy image signals, the threshold value was set equal to 0.9, the coordinate offsets from the global maximum

that with the formats of the reduced (desired) signals 32 × 32 and 64 × 64 elements amounted to ± 2 and ± 4 elements, respectively. Indicators and criteria are set algorithmically and, as a rule, are not changed for the used series of images of the phono-target environment. Further, the region of the image signal of the background target environment 9 of FIG. 12 are divided into reference point search regions 13, the central subregion 14 is distinguished in each such region, the values, in fact, of the autocorrelation function, are calculated in parentheses on the right side of expression (13), similarity indicators are determined, criteria (14) are applied, and the regions are ranked by the best indicators of similarity of the central subregions by the criterion:

The coordinates of the subdomains that meet the criteria (14) will coincide with the coordinates of the central elements of the search areas and will be the coordinates of the found reference points 15 of FIG. 12 in the image signal of the background target environment. The found reference points are common for the recorded signals of all used weapon simulators, and their determination should be completed before converting the areas of 10 two-dimensional recorded signals B _p (x _p , y _p ) in the vicinity of their central elements of FIG. 6 to the reduced signals V _P (x, y). It is also possible to use reference points found in the previous frame in operations with signals of the current frame without significant restrictions on the dynamics of simulated scenes.

Then, for each weapon simulator 23 and reference points found, by multiplying their coordinate vectors by the corresponding matrix A, the coordinate vectors of these reference points in the corresponding recorded signal are calculated, and the reference points are selected whose calculated coordinate vectors fall into the coordinate field of the recorded signal. The recorded signal in the vicinity of its central element and selected reference points is converted into the corresponding regions of the reduced signals 11 of FIG. 12 according to the expressions (10, 11, 12), determine the coordinates and similarity indicators of the subdomains of the greatest similarity of the received signals to the signals of the areas of the phono-target environment using expressions (13) and (14), determine the best reference subdomain of the greatest similarity according to similarity indicators according to the expression (15) and the minimum difference in the coordinates of this subregion and the coordinates found on the coordinate markers of the weapon guidance point. The final steps of the method include checking that the coordinates of the weapon guidance point 16 of FIG. 12 to the coordinate field of the background signal 9, a comparison of the similarity indices (15) of the reduced signal in the region of the found guidance point and the reduced signal in the region of the best reference point. As the exact coordinates of the weapon guidance point in the image signal of the phono-target environment, either the coordinates of the central element of the subregion of the greatest similarity in the vicinity of the found weapon guidance point are used, if this subregion has higher similarity indicators and its coordinates belong to the coordinate field of the signal of the phono-target environment 9 of FIG. 12, or the coordinates of the central element of the subdomain of the greatest similarity to the best reference point, adjusted for the difference in the coordinates of this reference point and the coordinates of the found weapon pointing point, in other cases. The example of FIG. 12 shows that the found pointing point of the weapon 16 lies outside the coordinate field of the signal of the phono-target environment 9, whereby the coordinate vector of the central element sub-area element of the greatest similarity 11 of the best reference point 15 should be used as the exact coordinates of the point of pointing the weapon in the image signal of the phono-target environment (in FIG. 12 is shown as being closest to point 16) after its addition to vector 17. FIG. 12 also shows that the coordinates of the central element of the subdomain of the greatest similarity do not always coincide with the coordinates of the central element of the search area due to calculation errors and hardware nonlinearities of devices implementing the method. As a result of carrying out the operations of the method, exact guidance coordinates independent of each other are obtained for each used weapon simulator 23, which are less dependent on the characteristics of the image signal of the phono-target environment and the positions of the weapon guidance points.

The technical result in the implementation of the fourth invention of the group, which consists in expanding the conditions of application of the method, is expressed in the reduction of anomalous errors in determining the coordinates of pointing the weapon in the conditions of extended ranges of elevation angles and lead simulators of weapons, as well as the smoothness and low detail of the generated images of the phono-target environment. The result is achieved through the introduction and use in the method of indicators and similarity criteria for two-dimensional signals, the formation of additional reference points associated with points of guidance of the weapon, and the realized opportunity to choose the best of several solutions.

In the fifth invention of the group, a device for determining a point of pointing a weapon in the image of a phono-target situation in shooting simulators, a structural diagram of which is shown in FIG. 13, comprises a screen 18, a computer system 19, a monitor 20 connected to the first video output of the computer system 19, to the control input of which control devices 21 are connected, a video projector 22 with a control system connected to the second video output of the computer system 19, weapon simulators 23 in number at the same time trained shooters, mounted on simulators 23 weapons of a video camera 24 with control systems and an interface, a set of 25 coordinate markers and a regulator 26, the input of which is connected to the control output system 19, and the output to the radiating elements of the coordinate markers. The outputs of the video cameras 24 are connected to the inputs of the video interface of the computing system by wired or wireless data lines. In the latter case, camcorders 24 must include built-in power supplies. The control devices 21 are, for example, a keyboard and a mouse. As a regulator 26, a controlled power source of radiating elements of coordinate markers can be used. Computing system 19 is built on the basis of one or more personal computers or servers with high total computing performance. Weapon simulators 23 are made in the form of a full-scale copy of real weapons samples with video camera mounts 24. In this case, the electrical contacts of the triggers of the simulators 23 are connected to the “snapshot” circuits of the interface systems of the respective cameras 24.

Computing system 19, monitor 20, video projector 22 and video cameras 24 are selected and pre-configured to, respectively, generate, display and register color signals and images in a single color coordinate system, such as RGB. A set of 25 coordinate markers is located in the same plane with the screen 18, near the outer borders of the images projected onto it. Each coordinate marker from the set is made in the form of a monochrome emitter of visible or invisible light waves with adjustable intensity and is set so that its radiation pattern covers the locations of shooters with weapon simulators 23 in front of the screen 18. In this case, the light sensitivity range of video cameras 24, FIG. 2, is selected so that it covers the wavelengths of emitters of coordinate markers.

Since the device in question is included in the described group of inventions, it implements methods for determining the point of pointing a weapon on the image of the phono-target situation in shooting simulators, is closely connected with the methods and forms a single inventive meaning, then the characteristics of the elements selected for use in the device are preliminarily calculated and determined when developing device samples using parameters and conditions for the implementation of the methods of the group of inventions.

The number of coordinate markers in the set 25 and their distribution around the screen 18 is chosen so that in the given ranges of elevation angles, lead and collapse of weapon simulators 23 and for any position of the target images on the screen to ensure that at least four coordinate markers get into the field of view of any video camera 24, images of which allow to form at least one quadrangle. Examples of such observation conditions are shown in FIG. 4 and 6, in which six and eleven coordinate markers 4, respectively, fall into the coordinate field 5 of the image (signal) recorded by the video camera 4. Additionally, for these conditions, the shape, size, color and asymmetry of the location of the coordinate markers are chosen so as to ensure their identification in the set 25. The selectable number of coordinate markers in the set 25 depends on the requirements for possible weapon dump angles (rotation angles of recorded images) when aiming at the worst positions of targets at the screen angles 18 and can always be ensured correct for this camera focal length lens 24. Features asymmetry placing fiducial markers, shape, size and colors described expressions (3), (2) and (1) to form a single image for all detected signal vector P _m components P _mk (4) which has a sufficient number of degrees of freedom for identifying fiducial markers in the desired ranges the elevation angle change, feedforward and stall weapon simulators, distances and angles of observation and siderations trained hands. The choice of combinations of characteristics (1-3) of coordinate markers can always ensure their identification in set 25. For example, the choice of twelve markers 4 in the set, with the asymmetry of placement in FIG. 3, round in shape and with the same colors, provides identification of images (signals) of four or more adjacent markers at image rotation angles from 0 to 360 degrees, viewing angles plus or minus 60 degrees, and zoom changes of 3 times. In this case, the dimensions of the coordinate field of the recorded images (signals) 5 of FIG. 6, determined by the focal length of the lenses of the video cameras 24 of FIG. 13, more image sizes of the phono target environment 9 of FIG. 6 (or screen 18 of Fig. 13) up to 20% horizontally and up to 100% vertically for realistic shooting scenarios, driving speeds, ranges and types of simulated targets. The resolution of the video cameras 24 under such conditions should be selected, as a rule, 2 times higher than the clarity of the generated images.

In the set of 25 coordinate markers of FIG. 13, for example, Kingbright DLA / 61D LED arrays with an emission wavelength of 625 nm, a beam pattern of 120 degrees and a current consumption of 180 mA can be used. As a regulator 26 - a controlled 3 A current source with a computer remote control interface, for example, in the RS-232 or RS422 / 485 standard. Video cameras 24 used in the device can be IDSGmbH types UI-5490SE-C-HQ with a maximum resolution of 3840 × 2748 pixels, GigE and 6WI / O interfaces, and a spectral sensitivity range of up to 900 nm. The video projector 22 of FIG. 13 - Sharp XG-P10XE with a resolution of 1024 × 768 pixels and a projection screen 18 of 285 × 210 cm. Computing system 19 can be configured based on typical architectures, known and available components. For example, in the form of one Forsite NVIDEA TESLA HPC-8080 hybrid server with a central processor platform of up to four Intel XeonE5-2699v3 with eighteen cores each, RAM up to 1.5 terabytes, high-speed SSD disks with long-term memory up to 2.4 terabytes and SAS drives up to 6.0 terabytes. The server is equipped with NVIDEA TESLA K80M (Kepler) graphics accelerators with CUDA parallel computing architecture and performance up to 8.7 teraflops in an amount of up to 8 units and DeckLinc 4K Extreme 12G video capture cards for two video streams with a format of 4096 × 2160 p60 in an amount of up to 8 units. The estimated performance of such a computing system is several times higher than that required for real-time processing of the total data stream of 360 gigabits per second in a device with sixteen weapon simulators using the algorithms of the implemented methods for determining weapon guidance points.

The device operates as follows.

After placement at the installation site and switching on, the device for determining the point of pointing the weapon on the image of the phono-target situation in the shooting simulators of FIG. 13 enters setup mode. The computing system 19 generates a sequence of frames of the test signal with color components containing the signals of the test markers with the specified program coordinates. Video projector 22 converts each frame of this signal into a test image on a flat screen 18, which, together with the emitters from the set of 25 coordinate markers, has the form, an example of which is shown in FIG. 1. Video cameras 24 of weapon simulators 23 convert images from the screen 18 and its environs, the coordinate field 5 of FIG. 1, into two-dimensional recorded test signals, the central element of each of which coincides with the axis of the coordinate system x _p O _p y _p and is coupled to the axis of the barrel of the corresponding weapon simulator 23. Then, the coordinate fields of the test image and the recorded test signal are adjusted by aligning the axis of the coordinate system 6 of FIG. 1 of the sight of each weapon simulator 23 of FIG. 13 with the axis of the coordinate system x _p O _p y _{p of the} corresponding recorded signal by electronic adjustments of the camera 24 and adjustment of its mechanical fastening to the simulator 23, adjustment of the position of the test image 1, coordinate field xOy and the relative location of the field 3 coordinate markers of FIG. 1 by electrical adjustments of the video projector 22 and mechanical adjustments of the video projector 22, the screen 18 and the set 25 of coordinate markers of FIG. 13.

To eliminate hardware color distortion of the coordinate markers 25 of FIG. 13 due to limitations of the dynamic range of illumination in video cameras 24, the regulator 26 adjusts the supply current of the emitters. For this, the field of view of any video camera 24 is oriented in space so as to observe the images of coordinate markers on the monitor 20. From the computing system 19, the maximum current is set programmatically or by the control devices 21 and it is reduced step by step until the specified hue of the images of the coordinate markers appears, in the considered example, red (due to saturation in the amplifiers of camcorders, the color of the markers will initially be white). Finally, the current of the regulator 26 is set so that the span of the red component of the marker image signal is from 50 to 80% of the maximum, and the components of the normalized relative brightness vectors of the blue and green components (1) are close to the calculated values of E _mk = (0,042, 0,142) ^T .

Then, from the image of the test signal on the screen 18 of FIG. 1, measurements and interpolation of the test markers 2 with precisely specified program coordinates in the xOy system determine the exact coordinates of the coordinate markers 4, the control device 21 of FIG. 13 introduce them into the computer system 19 and store them as reference ones.

The described operation of the device in the setting mode corresponds to its implementation of the first method for determining the point of pointing the weapon in the image of the phono-target environment in accordance with the first invention of the group. When the device implements the second, third and fourth methods, its operation in the setup mode is as follows.

Computing system 19 forms a sequence of frames of the test signal with color components in the form of a monophonic field with built-in signals of at least four test markers with programmed coordinates, shape, size and color characteristics. Video projector 22 converts each frame of this signal into a test image on a flat screen 18, which, together with similarly set coordinate markers with images different from the test markers 2, has the form, an example of which is shown in FIG. 5. Video cameras 24 of weapon simulators 23 similarly convert images from the screen 18 and its environs, the coordinate field 5 of FIG. 5, into two-dimensional recorded test signals B _tp (x _p , y _p ). Similarly, the coordinate fields of the test image and the recorded test signal are adjusted for all weapon simulators 23 and video cameras 24 of FIG. 13, adjusting the supply current of the emitters of the coordinate markers with the regulator 26. Next, any of the weapon simulators 23 and the associated coordinate field of the recorded test signal 5 of FIG. 5 so as to ensure that images of all test markers 2 and coordinate markers 4 are included in this recorded test signal. This signal from the selected video camera 24 of FIG. 13 enters the computer system 19, is recorded in its buffer memory and is monitored by the monitor 20. In the computer system 19, in this recorded test signal, the signals of all l test and k coordinate markers are extracted according to the given characteristics of the markers (1, 2) and expressions (5, 6), their observed coordinates (x _нmk , y _нmk ) and (x _нml , y _нml ) are _determined , the characteristics of П _нmk and П _нml, respectively, of coordinate and test markers are _determined by expressions (1-4) and the location of test markers in the recorded test signal by their obs measurable and set characteristics in accordance with expression (7). Based on the given and observed coordinates of the signals of at least four identified test markers, the computing system 19 calculates the elements of the matrix F of projective transformations of the generated and recorded test images in accordance with expressions (8, 9) similarly to calculating the elements of the matrix A. By multiplying the vector of the observed coordinates of each coordinate marker by the inverse matrix F get their coordinates in the field xOy of the signal of the test image of FIG. 5 are stored as reference coordinates of coordinate markers (x _mk , y _mk ), the characteristics of the relative location of the image signals of coordinate markers d _{mk are} corrected according to them, and together with the given characteristics of the shape, size and color, E _mk and c _{mk are} stored as reference characteristics coordinate markers П _mk , expression (4).

A device for determining the point of pointing a weapon on the image of the phono-target environment in shooting simulators in the operating mode when implementing the methods of the first and second inventions of the group works as follows.

The computing system 19 of FIG. 13 forms a continuous sequence of frames of a two-dimensional signal of the phono-target environment with color components B (x, y) in the coordinate field of the test signal xOy. Video projector 22 converts this signal into a color image E (x, y) on screen 18, which, together with images of the same coordinate markers E _mk (x _mk , y _mk ), are converted into the corresponding recorded signals of the phono-target environment B _p (x _p , у _p ) video cameras 24. Examples of the converted image are shown in FIG. 6 and 10. Then, in each of these signals, the image signals of the coordinate marker B _pmk (x _pmk , y _pmk ) are _extracted , their coordinates and characteristics are determined, the markers are identified by their reference and current characteristics in accordance with the expressions (5, 6, 7) using (1-4), the elements of the projective transformation matrices A are calculated for the generated and each recorded image of the phono-target environment using expressions (8, 9) and the coordinates of the weapon pointing point in the image signal of the phono-target environment for each simulator are determined and 23 weapons in the expression (10). These coordinates with the required, programmed frame intervals are displayed on the monitor 20 and can be highlighted with special marks on the background image on the monitor 20 and screen 18 of FIG. 13. When simulating shots by the signals of the electrical contacts of the triggers of the weapon simulators 23, the display of the coordinates of the weapon guidance points is “frozen” for a predetermined software interval, and the guidance points in the images are highlighted with distinctive marks. In this case, a separate subroutine of computing means may provide for the processing and storage of coordinates obtained in each frame before simulating shots for each weapon simulator 23.

In the implementation of the third method of determining the point of guidance of the weapon in the image of the background target situation in shooting simulators, the device determines the coordinates in the operating mode in the same way. To determine the exact coordinates of the guidance points, region 10 of FIG. 6 of each two-dimensional recorded signal coming from the corresponding video camera 24 is converted in the computing system 19 into the corresponding reduced signal B _P (x, y) of region 11 of FIG. 7 of the xOy coordinate field of the background target signal 9 according to the expressions (10, 11, 12). In the vicinity of each such region, a region 12 of the signal B _e (x, y) is distinguished, in which the coordinates of the central element (x _O , y _O ) of the corresponding subdomain of the greatest similarity to the given signal B _P (x, y) in the signal are found B _e (x, y). The coordinates found are used as the exact coordinates of the guidance points of each weapon simulator used in the image signal of the phono-target environment, stored and processed in a computer system, highlighted and displayed on screen 18 and monitor 20 of FIG. 13.

In the implementation of the fourth invention of the group, the elements of the device in the operating mode perform the basic actions of generating, displaying, registering, converting and processing signals in the same way as described. Namely: the computing system 19 generates a sequence of frames of a two-dimensional signal of the background target environment with color components B (x, y) in the coordinate field xOy 1, FIG. 1, a video projector 22 converts this signal into a color image of the phono-target environment E (x, y), video cameras 24 of weapon simulators 23 convert this image and images of coordinate markers into two-dimensional recorded signals of the phono-target environment B _p (x _p , у _p ) and through interface systems video cameras 24 transmit the received signals to the corresponding inputs of the computing system. The video capture modules of the computing system 19 introduce recorded signals frame by frame into the RAM of the modules of the central and graphic processors, in which they are further processed. In each of the introduced recorded signals, the image signals of coordinate markers B _pmk (x _pmk , y _pmk ) are _extracted , their coordinates and characteristics are determined, their positions in the set are identified, the elements of the projective transformation matrices A are calculated, the coordinates of the guidance points of each weapon simulator 23 are determined, converted region 10 signals B _p (x _p, y _p) in the respective signals shown in _p (x, y) in the coordinate field target environment xOy signal, determine the coordinates (x _O, y _O) of the central elements of the subdomains under most bii given signals in regions 12 of FIG. 7 of the background target signal and use these coordinates as the exact coordinates of the guidance points of each weapon simulator 23 in the background target image signal.

In parallel with the described actions, the indicators and similarity criteria for image signals similar to expression (14) prepared at the device development stage are loaded into the RAM of the computing system 19. By the computing system 19, the signal region of the image of the phono target environment 9 of FIG. 12 are divided into reference point search regions 13, the central subregion 14 is distinguished in each such region, the values of the autocorrelation function are calculated in brackets on the right side of the expression (13), similarity indicators are calculated from them, criteria (14) are applied, and the regions are ranked according to the best indicators similarity of the central subregions according to expression (15), the coordinates of the central elements of which are taken as the coordinates of the found reference points 15 of FIG. 12 in the image signal of the background target environment. As a rule, in operations with signals of the current frame, reference points found in the previous frame are used.

Then, for each simulator of 23 weapons and reference points found, the coordinate vectors of these reference points are recalculated from the xOy field to the coordinate systems x _p O _p y _{p by} multiplying their coordinate vectors by the matrix A corresponding to each recorded signal, those reference points are selected whose converted coordinate vectors fall into the coordinate field of the recorded signal, the recorded signal in the vicinity of its central element and selected reference points is converted into the corresponding region 11 of the given signals of FIG. 12 according to the expressions (10, 11, 12), determine the coordinates and similarity indicators of the subdomains of the greatest similarity of the received signals to the signals of the areas of the phono-target environment using expressions (13) and (14), determine the best reference subdomain of the greatest similarity according to similarity indicators according to the expression (15) and the minimum difference in the coordinates of this subregion and the coordinates found on the coordinate markers of the weapon guidance point. After that, the coordinates of the weapon pointing point 16 of FIG. 12 to the coordinate field of the background signal 9, compare the similarity indices (15) of the reduced signal in the region of the found guidance point and the reduced signal in the region of the best reference point and use as the exact coordinates of the weapon guidance point in the image signal of the phono-target environment or the coordinates of the central element of the subdomain of the greatest similarity in the vicinity of the found weapon pointing point, if this subdomain has higher similarity indices and its coordinates belong to the coordinate field the phono target environment 9 of FIG. 12, or the coordinates of the central element of the subdomain of the greatest similarity to the best reference point, adjusted for the difference in the coordinates of this reference point and the coordinates of the found weapon pointing point, in other cases. The coordinates found for each weapon simulator 23 used are used as the exact coordinates of the guidance points in the image signal of the phono-target environment, stored and processed in the computer system 19, highlighted and displayed on the screen 18 and monitor 20 of FIG. 13.

Thus, the operation of the device for determining the point of pointing the weapon on the image of the phono-target environment in shooting simulators according to the fifth invention of the group in the setting and operating modes provides the implementation of the methods of the first four inventions of the group and obtaining independent coordinates of the pointing points of all weapon simulators 23.

The technical result achieved during the fifth invention of the group in comparison with the closest analogue is to provide the possibility of increasing the number of simultaneously trained shooters, increasing the accuracy, independence and temporal stability of determining the coordinates of their weapon pointing points, increasing the operational characteristics of the device in terms of simplifying the requirements for the placement of the device, training procedures, reducing restrictions on individual and group work scenarios prepared by Christmas trees.

The inventive methods and device can be implemented and applied when creating qualitatively new training systems for training and maintaining the skills of personnel of law enforcement agencies and athletes, mastering new types of weapons, training hunters, as well as creating simulators for game systems in the entertainment industry. Such capabilities are confirmed by the manufacture of an experimental model of a shooting simulator, the parameters and test results of which are given above in the description of the invention. The performed works form the basis of the feasibility study and the preliminary design development work to create a new 9F700 series simulator, which together with the stated capabilities, according to the applicant and the authors, can serve as evidence of the conformity of the inventions with the criterion of "industrial applicability".

Claims (11)

1. A method for determining the point of pointing a weapon on the image of the phono-target situation in shooting simulators, including generating, by means of the setup mode, a sequence of frames of a two-dimensional test signal containing test marker signals with preset coordinates, frame-by-frame conversion of the test signal by the projector into a test image on a flat screen, overlaying test image of coordinate marker images, screen image conversion by means of a video camera of its environs into a two-dimensional recorded test signal, the central element of which is interfaced with the axis of the barrel of the weapon simulator, adjusting the coordinate fields of the test image and the recorded test signal, determining and storing the coordinates of the coordinate markers relative to the field of the signal of the test image as reference, the formation in the operating mode by continuous sequence of frames of a two-dimensional signal of the phono-target environment in the coordinate field of the test signal, frame Converting the received signal into an image of the background target environment on a flat screen, superimposing images of the same coordinate markers on the received image, converting the image from the screen and its environs into a two-dimensional recorded signal, determining the current coordinates of the coordinate marker images in the recorded signal, and determining the coordinates of the weapon pointing point on the image of the phono-target environment, characterized in that the components are additionally introduced into the elements of all signals and images, o writing the color shades of these elements in basic colors, select the number of coordinate markers of at least four, determine the shape, size, color and relative position of the image signals of the coordinate markers and store them as reference characteristics, select the signals of the coordinate markers in the recorded signal and determine their current characteristics, identify the location of coordinate markers in their recorded signal according to their reference and current characteristics, calculate the element The matrix A of the projective transformations of the generated and recorded images of the phono-target environment according to the current and reference coordinates of at least four identified markers, and the coordinates of the weapon guidance point in the image signal of the phono-target environment are determined by multiplying the coordinate vector of the central element of the detected signal by the inverse matrix A, and the conversion of images from the screen and its environs in the recorded signals, as well as all subsequent actions with these signals and depending on tons of them, perform similarly for each used weapon simulator with a separate video camera coupled to it. 2. The method for determining the guidance point according to claim 1, characterized in that the number and placement of images of coordinate markers in the screen area and the size of the coordinate field of the recorded and recorded test signals are chosen so that in the specified ranges of elevation, lead and collapse of the weapon simulator and for any coordinates of the targets in the signal of the phono-target environment, to ensure that at least four coordinate markers whose coordinates allow forming in the coordinate field n e less than one quadrangle. 3. The method for determining the guidance point according to claim 1, characterized in that the characteristics of the shape, size, color and relative location of the coordinate markers are chosen so that their components, combinations and derivative parameters ensure the isolation and identification of the signals of the coordinate markers in the recorded and registered test signals . 4. A method for determining the point of pointing a weapon on the image of the phono-target situation in shooting simulators, including a set of features according to claim 1, characterized in that the generated two-dimensional test signal is selected in the form of a monophonic field, the number of test markers embedded in this signal with specified coordinates of at least four, specify the characteristics of the shape, size, color and relative location of the test markers, specify the coordinates and characteristics of coordinate markers that differ from the coordinates and character test marker markers, orient any of the weapon simulators and the coordinate field of the recorded test signal associated with it so that images of all test and coordinate markers get into this recorded test signal, extract test and coordinate marker signals in the recorded test signal, determine the observed coordinates and characteristics of these markers, identify the placement of test markers in the recorded test signal according to their observed and specified characteristics m, the elements of the matrix F of projective transformations of the generated and recorded test images are calculated by the given and observed coordinates of the signals of at least four identified test markers, the coordinates of each coordinate marker relative to the signal field of the test image are determined by multiplying the vector of the observed coordinates of the corresponding coordinate marker by the inverse matrix F and remember them as reference coordinates of coordinate markers, adjust characteristics include The integral location of the image signals of coordinate markers according to the corresponding reference coordinates and together with the specified characteristics of the shape, size and color, remember them as reference characteristics of the coordinate markers. 5. A method for determining the point of guidance of a weapon in the image of the phono-target situation in shooting simulators, comprising a set of features according to claim 4, characterized in that after determining the coordinates of the point of guidance of the weapon for each recorded signal, the region of the two-dimensional recorded signal in the vicinity of its central element is converted into a reduced signal in the coordinate field of the signal of the phono-target environment, determine the coordinates of the subregion of the greatest similarity to the given signal in the vicinity of the found point weapons in the signal of the phono-target environment and use the coordinates of the central element of the found subregion as the exact coordinates of the weapon guidance point in the image signal of the phono-target environment. 6. The method for determining the guidance point according to claim 5, characterized in that the coordinate vectors of the elements of the reduced signal are obtained by multiplying the coordinate vector of each corresponding element of the recorded signal by the inverse matrix A, and the values of each color component of each element of the reduced signal in the nodes of the coordinate field of the background signal obtained by interpolating the values of the corresponding components of the neighboring elements of the recorded signal. 7. The method for determining the guidance point according to claim 5, characterized in that the dimensions of the transformed region of the recorded signal are set so as to provide wider ranges of permissible errors of signal transformations and distortions of the image coordinate fields for stable determination of the subregion of the greatest similarity in the signal of the background target environment, and the dimensions the search regions of the subdomain of the greatest similarity on each coordinate axis are limited to ensure the uniqueness of the determination of such a subdomain. 8. A method for determining the point of pointing a weapon on the image of the phono-target environment in shooting simulators, including a set of features according to claim 5, characterized in that in each frame, after the formation of a two-dimensional signal of the phono-target environment, indicators and similarity criteria for image signals are additionally set, a search is made, and coordinates are determined several reference points with the best similarity indices of the sub-areas of the signal of the phono-target situation in the surrounding areas of the same signal, for each weapon simulator at To determine the subdomain of the greatest similarity to the given signal in the vicinity of the found weapon guidance point, the similarity indices of this subregion are also determined, for the found reference points, by multiplying their coordinate vectors by matrix A, the coordinate vectors of these reference points in the recorded signal are calculated, and those calculated coordinate vectors are selected from the number of reference points which fall into the coordinate field of the recorded signal, are converted in a similar way into the reduced signals of the regions of the recorded signal in ok the characteristics of the selected reference points, determine the coordinates and similarity indicators of the subdomains of the greatest similarity to the given signals in the vicinity of the selected reference points in the signal of the phono-target environment, determine the best reference subdomain of the greatest similarity by the similarity indicators and the minimum difference of the coordinates of this subregion and the coordinates of the found weapon pointing point, and as the exact coordinates of the weapon guidance point in the image signal of the phono-target environment use either the coordinates of the central element under areas of greatest similarity in the vicinity of the found weapon pointing point, if this subdomain has higher similarity indicators and its coordinates belong to the coordinate field of the phono target signal, or the coordinates of the central element of the largest similarity subregion of the best reference point, adjusted for the difference in the coordinates of this reference point and the coordinates of the found point pointing weapons, in other cases. 9. A device for determining the point of pointing a weapon on the image of the target-oriented situation in shooting simulators, including a screen, a computer system, a monitor connected to its first video output, control devices connected to a control input of the computer system, a video projector with a control system connected to the second video output of the computer system, a weapon simulator and a video camera mounted on it with control systems and an interface, the output of which is connected to the input of the computing video interface system, characterized in that it additionally implements weapons simulators by the number of simultaneously trained shooters, the same number of cameras with control systems and an interface mounted on the respective weapon simulators, a set of coordinate markers and a regulator whose input is connected to the control output of the computer system, output the controller is connected to the radiating elements of the set of coordinate markers, and the outputs of the additional video cameras are connected to the corresponding inputs of the video interface th system. 10. The device for determining the point of guidance of a weapon according to claim 9, characterized in that the computing system, monitor, video projector and video cameras are made in such a way that they form, display and register color signals and images in a single color coordinate system, the coordinate markers are located in one planes with a screen, near the outer borders of the images projected onto it, the number of coordinate markers in the set and their placement are selected so that in the given ranges of elevation angles, lead-in and dump simulators about uzhiya and for the purposes of any provisions of the images on the screen allow entering the field of view of any camcorder at least four fiducial markers, which allow images to form at least one of the quadrangle. 11. The device for determining the point of guidance of a weapon according to claim 9, characterized in that each coordinate marker from the set is made in the form of a monochrome emitter of visible or invisible light waves with adjustable intensity and is set so that its radiation pattern covers the locations of shooters with weapon simulators in front of screen, the range of light sensitivity of the cameras is selected so that it covers the wavelengths of the emitters of the coordinate markers, and the selected shape, size, color and asymmetry of the coordinate adjusted to room tokens provide their identification in the set under the supervision of at least four of these markers.

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