WO2016119291A1 - 数字瞄准器及使用其对目标快速跟踪、自动锁定和精确射击的方法 - Google Patents
数字瞄准器及使用其对目标快速跟踪、自动锁定和精确射击的方法 Download PDFInfo
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- WO2016119291A1 WO2016119291A1 PCT/CN2015/074730 CN2015074730W WO2016119291A1 WO 2016119291 A1 WO2016119291 A1 WO 2016119291A1 CN 2015074730 W CN2015074730 W CN 2015074730W WO 2016119291 A1 WO2016119291 A1 WO 2016119291A1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G1/00—Sighting devices
- F41G1/46—Sighting devices for particular applications
Definitions
- the invention relates to a novel outdoor hunting shooting aiming device, in particular to a shooting class designed by using high-definition image imaging, real-time processing of digital signals, large-capacity data storage, ballistic track database, cloud server and intelligent interconnection.
- Digital intelligent aiming device Digital intelligent aiming device.
- the main purpose of the scope is to allow the firearm user to hit the target quickly, accurately and conveniently.
- the development of the universal optical sight is very mature, and its advantages are mainly two: (1) convenient and flexible division settings make use Users can flexibly locate targets and ranging when using them. (2) Lower prices contribute to large-scale use in firearms equipment. But the drawbacks of traditional optical sights are also very prominent:
- Division of manual mechanical adjustment brings errors.
- the optical sight uses a manual adjustment and division device, and there are two problems: First, long-term use is likely to cause mechanical wear and thus bring errors to the division accuracy. Second, the division can not exactly coincide with the impact point in the actual use process, and can only be approximately coincident. When the potential target is closer to the firearm, the division and the impact point error are not very large, but at a relatively long distance, such as 200 yards or more. At the time, there will be considerable errors, which will not lead to accurate shooting results.
- the digital sight device is a camera plus a digital signal processor plus a display instead of a multi-stage optical magnifying lens on the optical sight, while storing a calibratable partition on the processor instead of the scoring device on the optical sight, while Replace manual control with automatic control software. Since the digital sight uses the processor to precisely control the division, and the position of the division is stored in the memory by the impact point in advance, the digital sight can completely replace the function of the optical sight in principle, and the firearm is greatly reduced. The influence of the factors is the mainstream trend of future target development. However, due to the defects in design ideas, there are still some problems in the existing digital sights:
- Ballistic trajectory data unity.
- Some existing digital sights have made the division and the impact point coincide in the division design, that is, the impact point is stored in the memory in advance, the impact point is obtained through the actual test, and then when the target is aimed, the division jumps to the impact point to let the user Aiming at shooting.
- these digital sights store only one kind of impact point data when storing the ballistic data.
- the number of impact points is relatively small, and the complete ballistic trajectory of this type of bullet cannot be accurately drawn.
- the shooting is more accurate, but at a longer distance, the ball trajectory fading is compared due to the influence of gravity acceleration on the bullet. Great, shooting accuracy will drop a lot.
- the ballistic trajectory data has a large error and cannot be corrected in real time.
- Some existing digital sights allow users to download the ballistic data matching their own guns on the Internet, store them on local storage, and then calculate the ballistic data errors by adding a computer.
- the problem is that these ballistic data are often not rigorously tested.
- verification, in the course of use, using these ballistic trajectory data as a reference division there will be a large error with the actual impact point.
- the way of external computer processing can not be processed in real time. Especially for some targets that move faster, the chances of effective hits are often lost in an instant. Therefore, for different types of bullets commonly used in the market, obtaining an accurate and complete ballistic trajectory database is very important for outdoor hunting enthusiasts.
- the sight uses its own high-speed processor to correct the ballistic parameters in real time in different environments. The impact point error at different distance points will also directly affect the result of accurate shooting.
- the invention proposes a novel digital intelligent sight device device, and the network topology core structure of the device comprises: a digital sight, an APP of a mobile terminal, a cloud server and a social network.
- the digital sight mainly consists of: high-definition camera, multi-core processor, display with touch function, laser range finder, wireless module, GPS module, memory, various sensors and so on.
- the APP of the mobile terminal is mainly an application deployed on the mobile smart phone, and its function is mainly to realize data forwarding and temporary storage in the field.
- the role of the cloud server is to achieve data backup, program updates, and so on.
- the core idea of the present invention is to allow outdoor hunting users to use the digital sight to achieve fast tracking, automatic locking and precise shooting of hunting targets.
- the present invention proposes a novel digital sight that can be used for fast tracking, automatic locking and precise shooting of targets, so that shooting is no longer dependent on the human factor of the shooter.
- a digital sight including a sight glass, a high-definition camera, a multi-core processor, a large-capacity memory, a high-definition touch screen display, a laser range finder, a sensor, a GPS module, a wireless communication module, and a large-capacity lithium battery;
- the camera is a zoom lens with low sensitivity and night vision function.
- the zoom, night vision and sensitivity functions are automatically controlled by software, and the camera captures a high-definition target image in real time.
- the target image pixel resolution is greater than that displayed on the display.
- Image pixel resolution, through digital signal processing technology, the target image magnification of the digital sight is equal to the optical of the high-definition camera lens Multiplying the magnification by the digital image magnification, the target image is converted by the analog signal and transmitted to the multi-core processor for processing;
- the sensors are a photosensitive sensor, a temperature sensor, a humidity sensor, a pressure sensor, a wind speed and a wind direction sensor, a three-axis gyroscope, a gravity acceleration sensor, and an electronic compass;
- the wireless communication module is a Wi-Fi module with a Bluetooth function.
- the image is similar to the distant effect due to the refraction, and the effect is used to enlarge the near object to the distant view to achieve the high-definition holographic vision.
- the digital sight comprises a ballistic trajectory database obtained by a live-shot target test and matched with a firearm and ammunition type.
- the ballistic trajectory database can be obtained in two ways: one is adopted by the owner of the sight.
- the live-fire shooting test is obtained, and the other is downloaded from the cloud server.
- the ballistic trajectory database on the cloud server is all kinds of firearms uploaded by the other digital target owners or the digital sight manufacturers in the world after the live-fire shooting test.
- the ballistic trajectory data of ammunition includes the types of common firearms for civilian or police use and the matching flight trajectories of different ammunition bullets in different environments and at different distances; the single ballistic trajectory database consists of several impact points at different distances.
- the vector is constructed.
- the impact point vector is a set of parameters with distance as the scalar index number.
- the elements of the parameter set are: the distance of the impact point from the firearm, the pixel coordinates of the impact point on the display screen when the image is captured, The focal length of the lens when the image is captured, the bullet Point shooting firearms when the angle of elevation angle and the number of levels, crosses the point of impact at the time of shooting firearms, the point of impact at the time of the shooting firearms External temperature and atmospheric pressure.
- the distance between the digital sight and the target is measured by a laser range finder, and the processor uses the target distance as an index number to retrieve the impact point vector from the ballistic trajectory database.
- the elements of the vector include: the actual after the error correction The point of the point is captured, the focal length of the camera matching the impact point, the angle of view of the firearm that matches the impact point, and the horizontal angle.
- the digital sight establishes an Internet of Things for outdoor shooting and hunting, the topology of which includes cloud servers, digital sights, mobile terminal applications, and social networking sites.
- the cloud server is responsible for the backup and update of various data and programs;
- the mobile terminal application is responsible for the router function of exchanging data between the outdoor digital sight and the cloud server or the social website; through the cooperation of the above four elements, a complete outdoor shooting and hunting is formed.
- a method for fast tracking, automatic locking, and precise shooting of a target using the digital sight described above comprising the steps of:
- the laser range finder quickly measures the target distance, and the processor uses the target distance as the index number to retrieve the impact point vector from the ballistic trajectory database;
- the processor collects relevant sensors in real time, and obtains the current environmental data, especially the wind drift parameter and the target moving speed. Based on the impact point vector in step (2), the real-time correction and compensation algorithm of the ballistic parameter error is used to correct and compensate.
- the actual impact point of the current shooting environment is at the pixel coordinate position on the display screen;
- the processor instantly updates the position, color, brightness, and camera focal length.
- the actual impact point is displayed on the display screen as the center point of the screen.
- the processor-driven camera focal length will automatically adjust the focus to match the parameters of the actual impact point. Adjust the camera so that the split is aimed at the area where the target is to be fired;
- the real-time error correction and compensation algorithm of the ballistic parameters is a real-time multi-variable input and a single-variable output numerical filter.
- the basic principle is: the processor collects the three-axis gyroscope and the gravity acceleration sensor in real time to determine the firearm in three-dimensional space. Rotating attitude and looking up angle; the processor collects the smart compass sensor in real time to determine the moving direction of the firearm in three-dimensional space; the processor collects the acceleration sensor in real time to determine the moving acceleration of the firearm in three-dimensional space, and determines the possible moving track by comparing with the initial speed.
- the processor collects the laser ranging sensor to measure the relative distance between the target and the firearm in real time.
- the relative moving speed and the moving angle between the firearm and the target are determined by the three-sided positioning method, thereby determining the moving displacement coordinate of the target in three-dimensional space.
- the processor of the digital sight collects the wind speed and the wind direction sensor in real time, that is, the wind drifts, and calculates the offset error of the bullet in different space coordinates according to the theoretical formula of the airborne flying distance and the flying angle of the bullet.
- the digital aiming The processor adjusts the ballistic trajectory database according to the plane distance of the target and the firearm in space, and actually obtains the pixel coordinates of the impact point on the display screen at the plane distance, and corrects the offset error by combining the offset error generated by the wind drift.
- the bullet coordinates of the bullet at the target distance are accurately captured on the display.
- the ballistic trajectory database is acquired in two ways: one is obtained by a live-fire test, and the other is downloaded from a cloud server.
- the method of obtaining a ballistic trajectory database by a live-shot test includes the following steps:
- the processor records the current camera focal length and stores it in the database
- the processor collects the data of the three-axis gyro sensor, the gravity acceleration sensor and the electronic compass sensor, and calculates the elevation angle of the firearm into the database;
- the processor collects the wind speed and the wind direction sensor, and calculates the current wind drift data into the database
- the processor will automatically lock the target image after the shot, and use the image processing technology to find the bullet through the bullet hole of the target, ie, the impact point and the coordinate zero point. Pixel difference, save it as the coordinate value of the current impact point and store it in the database;
- the method of downloading the ballistic track database from the cloud server includes the following steps:
- the accurate real-time correction and compensation algorithm of the ballistic parameter error is used to accurately correct and compensate the measured point coordinates in the current shooting environment, and then the corrected impact point coordinates are used.
- the division is displayed at the center of the display screen.
- Existing optical sights or digital sights can only guarantee the approximate coincidence of the division and the actual impact point, especially at larger optical magnifications, the error between the two will be larger.
- the present invention details how to test the steps and methods of acquiring the ballistic track database.
- Another is to have a shooter with rich shooting experience and accurate shooting ability to test in the field. Through the field test of different firearms and different bullets in different environments, complete test data can be obtained to establish a complete "ballistic track".
- the database is placed in the cloud server for users to download.
- the invention Realize the real-time rendering of the shooting environment data, reflecting the realism of a person in the shooting scene.
- the invention displays all the important data at the time of actual shooting on the display screen in real time, such as: time, geographical location, firearm angle, sight lens magnification, image magnification, target distance, target moving speed, ambient temperature, The wind speed, etc., these data are observed and adjusted by the user.
- This kind of missile-like guidance and locking target makes the user very intuitive, user-friendly and easy to control when using the firearms.
- the biggest advantage is that the shooting will be more accurate.
- This is also an improvement made by the present invention which is very user-friendly and has a very good effect on the user.
- the digital sight provided by the invention comprises a high-definition display screen integrated with a high-precision touch screen, and the user's interface operation is provided by the touch screen in addition to the manual focus, power on and target lock buttons. Iconic menus or instructions to complete the operation.
- the icon operation interface like a smartphone makes the user very convenient in the actual use process, and also very user-friendly.
- the digital sight proposed by the present invention is not simply a terminal device, but a complete “outdoor shooting and hunting Internet of Things" based on intelligent mobile internet technology.
- the user uses the APP, cloud of the mobile terminal equipped by the user himself.
- Servers and even third-party social networking sites can create accounts and upload various types of data on backup digital sights, such as various types of videos or photos at the time of shooting, device configuration of the sights, and ballistic trajectory data obtained by users in the field test.
- users can also download various types of data from the cloud server, such as the ballistic track database of various bullets, and also update the system program of the entire digital sight.
- Figure 1 is a schematic side view of the side of the digital sight
- Figure 2 is a schematic view showing the appearance of another side of the digital sight
- Figure 3 is a view of the digital sight viewed from a sight glass
- Figure 5 is a view of the digital sight viewed from the direction of the camera lens
- Figure 6 is a schematic block diagram showing the connection of various components inside the digital sight
- Figure 7 is a diagram showing the relationship between the complete image captured by the camera and the image actually displayed on the display screen
- Figure 8 is a logic flow diagram of a method for creating a "ballistic trajectory database" by a live fire test
- FIG. 13 are schematic diagrams for implementing FIG. 8;
- Figure 14 is a flow chart of a method for implementing "fast tracking, automatic locking, and precision strike target"
- the digital sight 1 includes a metal casing 2, a sight glass 3, a manual focus knob 4, a touch display 5, and an HD camera 6.
- a laser range finder 7, an external interface cover 8 (the interface includes a power interface 9, a mini-USB interface 10 and an SD card interface 11), a mechanical device 12 fixed to the firearm (through the card slot and the firearm 50) Fixed together), an external wireless antenna device 13, and a lithium battery pack 30.
- the metal casing 2 includes a multi-core processor 14; a wind speed and direction sensor 15; a three-axis gyro sensor 16; a gravity acceleration sensor 17; a pressure sensor 18; a temperature sensor 19; a GPS module 20; and a wireless communication module 21: dual frequency 2.4G /5G Wireless Wi-Fi Module 22 And a BTE Bluetooth Bluetooth module 23; a lithium battery pack 24; a charge and discharge management circuit 25; a lost large-capacity memory 26; a large-capacity non-lost internal memory 27; an external memory 28; a touch display driving circuit 29 and a lithium battery pack 30.
- the side of the digital sight 1 has an upwardly-disconnected interface cover 8; there is a power input interface 9 for charging the lithium battery 30; a mini-USB interface 10 for An external computer connection for the user to copy various internal data or input data; an SD card interface 11 disposed in the external large-capacity non-lost memory 28 for storing video, photo data or geographic information, etc., the user can pass the SD
- the card copies data and in general, the data is transmitted through a Wi-Fi wireless signal.
- the high-definition camera 6 includes a set of lenses with a night vision zoom function and an image sensor, and the images are collected and transmitted to the multi-core processor 14 through an analog-to-digital conversion circuit, and multi-core processing.
- the device 14 sends an instruction to control the focusing of the high-definition camera 6, and the user can also manually adjust the focal length of the camera 6 through the manual focus button 4.
- the clockwise rotation of the manual focus knob 4 indicates that the focal length is adjusted, and the counterclockwise rotation indicates the small focal length.
- the touch display screen 5 is a display screen with a high-precision touch screen.
- the multi-core processor 14 directly drives the display screen 5 through the display driving circuit, and outputs an image display signal while receiving a command signal from the touch screen.
- the laser range finder 7 includes a laser transmitting and receiving module and a signal conversion module. The distance between the target and the light source is tested by transmitting the light source to the target and then reflecting back. The calculated signal is directly connected to the multi-core processor. 14.
- the wind speed and direction sensor 15 mainly collects wind speed and wind direction data at the time of shooting, and directly transmits it to the multi-core processor 14 through the data line, through the processor. After the relevant procedures are processed, the “wind drift” data is obtained.
- the three-axis gyroscope 16, the gravity acceleration sensor 17 and the electronic compass 18 constitute a sensor group for measuring the target displacement coordinate of the space, and the multi-core processor 14 calculates these sensors in real time, and then obtains the moving trend and movement of the target through the "trilateral positioning algorithm".
- the velocity and space possible displacement coordinate values are stored in the internal non-lost memory 27.
- the GPS module 20 is directly connected to the multi-core processor 14 and transmits the latitude and longitude coordinate information to the 14th. After the multi-core processor 14 performs a certain data calculation process, it is stored in the internal non-lost memory 27.
- the lost memory 26, the internal non-volatile memory 27, and the external non-volatile memory 28 are directly connected to the multi-core processor 14, and are mainly used for data storage, backup, and program operation.
- the wireless communication module 21 includes a wireless Wi-Fi module 22 and a Bluetooth module 23.
- the Wi-Fi module 22 is directly connected to the multi-core processor 14 through the SDIO interface, and exchanges data with the external router through the external antenna 13.
- the lithium battery charge and discharge management module 25 is directly connected to the lithium battery 30, charges the lithium battery 30, and simultaneously receives the discharge of the lithium battery 30, and the above components supply power to the entire digital sight 1 through the power management module.
- the external interface device 8 includes a power interface 9 for charging the lithium battery 30, a mini-USB interface 10 for communicating with an external computer, and copying internal large-capacity non-volatile memory 27 data to the computer, an SD card interface 11 Mainly inserted into the external large-capacity non-lost memory 28.
- the digital sight 1 is equipped with a sight glass 3, and the sight glass 3 is stuck on the front panel 32 through the bayonet 31.
- the user observes the image on the HD display 5 inside through the sight glass 3, visually
- the mirror 3 has a certain zooming function, and can display the image on the display screen to the user's eyes after being enlarged. If the user wants to configure or operate the function of the digital sight 1, the eyeglasses eject button 35 is pressed, and the sight glass 3 is ejected from the bayonet 31 to expose the high-definition display 5 therein, as shown in FIG.
- the user views the target 36 through the display screen 5 after the visual mirror 3 is ejected.
- the target 36 is displayed on the display screen 5 in real time through the camera 6. It can be seen that a division 37 appears at the center point of the display screen 5, and the user can move the camera 6 so that the division 37 is aligned with the target 36 while adjusting the focal length of the camera 6.
- the target 36 is made clear on the display screen 5.
- the digital sight 1 includes a high definition camera 6, a laser range finder 7, and an external wireless antenna 13.
- the target image 36 captured by the camera 6 is a high-definition video image 38 having a resolution of at least 720 P pixels, the center point of the image is the center point 39 of the optical axis, and the image 40 is displayed on the display screen 5.
- the image 38 taken by the camera 6 is smaller than the image 38, so that the image 40 displayed on the display screen 5 can be displayed on the display 38 as needed, so that the image center point of the display screen 5 is divided 37 and the center point 39 of the actual image. Many times it is not coincident.
- FIG. 8 is a logic flow diagram of a method for the digital sight 1 to implement a live shot test to obtain a “ballistic trajectory database”. Its graphical illustration is shown in Figures 9 through 13. The steps to achieve are as follows:
- FIG. 14 is a logic flow diagram of a method for the digital sight 1 to achieve "fast tracking, automatic locking of the target and precise shooting" of the target, and FIGS. 15 to 18 are detailed implementation diagrams of FIG. The steps to achieve are:
- the laser ranging sensor 7 quickly measures the target distance 45, and then refreshes on the display screen 5 at a certain frequency, and the user observes the display screen 5. If it is confirmed that the target distance 45 has been measured accurately, press the front panel.
- the LOCK button 34 on the 32 the processor 14 will immediately lock the target distance 45, and at the same time, retrieve the bounce point vector matching the target distance 45 from the ballistic trajectory database, the vector element including the bounce point pixel coordinates 42 of the distance, the focal length, the firearm Upward viewing angle parameter;
- test projectile position 42 of the distance that the processor 14 calls from the ballistic track database temporarily appears on the display screen 5 in the form of a dot 46, and immediately starts the "ballistic parameter real-time error correction". And compensating the algorithm program, collecting relevant sensor data, and correcting the actual impact point coordinate position 48 in the current shooting environment after data processing;
- the processor 14 immediately updates the current position 37, color, brightness, camera 6 focal length, etc., through the image real-time processing technology, with the actual impact point 48 coordinates as the screen center point is presented on the display screen 5.
- the processor 14 drives the camera 6 focal length to automatically adjust the focus to match the parameters of the actual impact point 48.
- the user needs to re-adjust the camera 6 according to the position of the partition 47 on the screen, so that the division 47 aims at the target. 36 areas to be hit; and
- the digital sight 1 is limited to within 3 seconds from tracking the target, aiming to locking the target time, and basically does not require too much manual participation, realizing the "fast tracking, automatic locking of the target". , the purpose of precision strikes.
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Abstract
Description
Claims (9)
- 一种数字瞄准器,其特征在于:其包括目视镜、高清摄像头、多核处理器、大容量存储器、高清带有触摸功能的显示屏、激光测距仪、各类传感器、GPS模块、无线通信模块、大容量锂电池;所述摄像头带有高感光度和夜视功能的变焦镜头,变焦、夜视和感光度功能由软件自动控制完成,摄像头实时拍摄高清的目标图像,图像像素实际分辨率大于在显示屏上显示的图像像素分辨率,通过数字信号处理技术,使得所述数字瞄准器的目标图像放大倍数等于高清摄像头镜头的光学放大倍数乘上数字图像放大倍数,目标图像经过模数信号转换后传输至所述多核处理器处理;所述传感器为光敏传感器、温度传感器、湿度传感器、压力传感器、风速和风向传感器、三轴陀螺仪、重力加速度传感器和电子罗盘;所述无线通信模块为带有蓝牙功能的Wi-Fi模块。
- 根据权利要求1所述的数字瞄准器,其特征在于:所述数字瞄准器的偏光小型高清显示器所发射的光线经过所述目视镜后,影像因折射产生类似远方效果,利用此效果将近处物体放大至远处观赏而达到高清全像视觉。
- 根据权利要求1所述数字瞄准器,其特征在于:所述数字瞄准器包含通过实弹射击标靶测试得到、吻合所属枪械和弹药类型的弹道轨迹数 据库,所述弹道轨迹数据库有两种方式可以获取:一种是由瞄准器拥有者自行通过实弹射击测试得到,还有一种是从云服务器下载得到,云服务器上的弹道轨迹数据库是全球其他所述数字瞄准器拥有者或所述数字瞄准器厂家经过实弹射击测试后上传的各类枪械或弹药的弹道轨迹数据,包含了民用或警用常用枪械的种类及其匹配的多种弹药在不同环境下、不同距离处的飞行下落轨迹;单个弹道轨迹数据库由若干个不同距离处的弹着点向量构建而成,弹着点向量是一个以距离作为标量索引号的参数集合,这个参数集合的元素是:弹着点离枪械的距离、弹着点在图像抓取时候在显示屏上呈现的像素坐标、弹着点在图像抓取时候的镜头焦距、弹着点在枪械射击时候的仰视角和水平角度数、弹着点在枪械射击时候的风飘、弹着点在枪械射击时候的外界温度及大气压力。
- 根据权利要求3所述的数字瞄准器,其特征在于:所述数字瞄准器和目标的距离由所述激光测距仪实测得到,所述多核处理器以目标距离作为索引号从弹道轨迹数据库中调出弹着点向量。
- 根据权利要求1所述的数字瞄准器,其特征在于:所述数字瞄准器建立了一种户外射击和狩猎的物联网,该网络的拓扑结构由云服务器、数字瞄准器、移动终端应用程序和社交网站四要素构成。云服务器负责各类数据和程序的备份和更新;移动终端应用程序负责户外数字瞄准器与云服务器或社交网站交换数据的路由器功能;通过上述四要素的相互配合,构成一个完整的户外射击和狩猎物联网。
- 一种使用权利要求1所述数字瞄准器对目标快速跟踪、自动锁定和精确射击的方法,其特征在于:(1)让显示屏分划对准要射击的目标,程序驱动摄像头焦距自动调焦使目标清晰映射在显示屏上;(2)激光测距仪测出目标距离,处理器以目标距离作为索引号从弹道轨迹数据库中调出弹着点向量;(3)处理器实时采集相关传感器数据,获取当前的环境数据,特别是风飘参数和目标移动速度,以步骤(2)中的弹着点向量为基础,用弹道参数误差实时修正和补偿算法修正和补偿当前射击环境下的实际弹着点在显示屏上的像素坐标位置;(4)处理器即时更新分划位置、颜色、亮度、摄像头焦距,以实际弹着点为屏幕中心点呈现在显示屏上,处理器驱动摄像头焦距实现自动调焦,以匹配该实际弹着点的参数,重新调整摄像头,使分划瞄准目标要射击的区域;以及(5)开枪射击,此时子弹会精确的击中目标,同时处理器驱动摄像头拍下射击后的照片存入存储器中,由此,实现了所述数字瞄准器对目标快速跟踪、自动锁定和精确射击的目的。
- 根据权利要求6所述的使用数字瞄准器对目标快速跟踪、自动锁定和精确射击的方法,其特征在于:所述弹道参数实时误差修正和补偿的 算法是一个实时多变量输入和单变量输出的数值滤波器,基本原理是:处理器实时采集三轴陀螺仪和重力加速度传感器确定枪械在三维空间的旋转姿态和仰视角度;处理器实时采集智能罗盘传感器确定枪械在三维空间的移动方向;处理器实时采集加速度传感器确定枪械在三维空间的移动加速度,通过和初速度的对比,判定可能的移动轨迹;处理器实时采集激光测距传感器测算目标和枪械的相对距离;通过上述数据,通过三边定位法确定枪械和目标之间的相对移动速度和移动角度,从而确定目标在三维空间的移动位移坐标;所述数字瞄准器的处理器实时采集风速和风向传感器的数值即风飘,根据风飘对子弹在空间飞行距离和飞行角度的理论公式,计算出子弹在不同空间坐标所产生的偏移误差;所述数字瞄准器处理器根据目标和枪械在空间的平面距离,调出弹道轨迹数据库实际测试得到在平面距离处的弹着点在显示屏上的像素坐标,结合风飘产生的偏移误差,修正该偏移误差,就得到该目标距离处子弹精确的弹着点在显示屏上的像素坐标。
- 根据权利要求6所述的使用数字瞄准器对目标的快速跟踪、自动锁定和精确射击的方法,其特征在于:所述弹道轨迹数据库的获取是通过实弹射击测试得到,实弹射击测试获取弹道轨迹数据库的方法包括以下步骤:(1)用户输入数据库名称、枪械名称和弹药名称;(2)将标靶放置到预先测量好的固定距离,然后输入标靶距离作为 后续参数的数据库索引号存入数据库中;(3)判断是否是第一次射击,如果是,将分划对准标靶中心点,调节摄像头焦距使得屏幕中心的分划和标靶中心点重合,这个中心点作为光轴点和坐标零点;如果否,调整摄像头使得分划去对准前面最近一次射击得到的弹着点(在显示屏上会用红十字显示),然后让分划和红十字重合;(4)处理器记录当前的摄像头焦距,存入数据库中;(5)处理器采集三轴陀螺仪传感器、重力加速度传感器和电子罗盘传感器数据,计算得到枪械仰角存入数据库中;(6)处理器采集风速和风向传感器,计算得到当前的风飘数据存入数据库中;(7)分划对准标靶中心开枪,处理器锁定开枪后的标靶图像,通过缩放及拖动方式,在图像上找到子弹穿过标靶的弹孔即弹着点,当前弹着点和坐标零点在图像上的像素差作为坐标值存储到数据库中;(8)双击屏幕解除屏幕锁定,分划自动跳转到图像弹着点位置作为屏幕中心点;以及(9)移动标靶距离,到新的测试点,重复上述(2)~(8)步,完整得到所属枪械子弹弹道轨迹数据,全部保存到弹道轨迹数据库中,数据库以所述数字瞄准器到标靶的距离作为索引。
- 据权利要求6所述的使用数字瞄准器对目标的快速跟踪、自动锁定和精确射击的方法,其特征在于:所述弹道轨迹数据库的获取通过从云 服务器下载得到,从云服务器下载弹道轨迹数据库方法包括以下步骤:(1)登录云服务器,查阅服务器列出数据库里面所有弹道轨迹数据库列表;(2)根据枪械和弹药类型选择合适的弹道轨迹数据库,下载保存到存储器中,可以根据需要下载多个弹道轨迹数据库到本地存储器中,以不同的数据库命名即可,每一个子弹弹道轨迹数据库表示不同的子弹类型、不同的枪械;以及(3)在本地弹道轨迹数据库中选择匹配枪械的弹道数据库作为缺省的数据库作为实际射击使用。
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EP3420299A4 (en) * | 2017-03-30 | 2019-10-16 | Double Shoot Ltd. | FIREARM AND / OR FIREARM CALIBRATION AND / OR ZEROING |
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