轻量化弹道解算系统火控修正和瞄准线滤波预测

doi:10.12382/bgxb.2022.0738

摘要/Abstract

摘要：

为快速提高轻武器操作人员射击精度、缩短瞄准时间, 设计一种超轻型、多种轻武器复用的弹道解算系统,并创新了火控修正方法。建立人体据枪-瞄准-击发过程模型,规划火控诸元解算、实时环境感知、多轻武器复用、交互和数据管理等基本模块,提出可快速、实时解算,基于国产化硬件平台的火控修正软件架构,通过系统综合设计,实现总重量394g情况下的有效工作。针对显示滞后、击发装置延迟和传感器噪声等问题,结合人体卧姿射击运动特征提出一种瞄准线非线性扩展卡尔曼滤波预测方法,其误差补偿效果相比于匀加速预测补偿方法要好53.1%。为验证系统整体有效性,搭建600m外场射击实验进行初学者分组对比测试。研究结果表明,该系统经短暂培训后可使新手迅速掌握白光瞄具射击要领,瞄准偏差方位方向为1.15mm、俯仰方向为0.9mm,可降低轻武器射击对个人经验依赖,提高射手的远距离射击能力。

关键词: 弹道解算系统, 轻武器, 火控修正, 扩展卡尔曼滤波, 瞄准偏差

Abstract:

A ballistic calculation system and fire control correction method for ultralight and multiple small arms are proposed to reduce the preparation time and improve the accuracy of shooting. A model of gun-aiming-firing is established. The basic modules of fire control elements, real-time perception, multiple weapons, and interaction and data management are planned. A fire control correction software architecture based on domestic calculation platform is proposed. Through the integrated system design, the total weight is only 394g. Nonlinear extended Kalman filter is proposed to solve the problems of graphic display lag, firing device delay and sensor noise. Its error compensation effect is 53.1% better than that of the standard uniform acceleration prediction and compensation method. 600-meter field shooting experimental test was set up for group comparison test for beginners. The results show that the system can make a novice quickly master the essentials of shooting through the optical sight after short training. The aiming deviation is 1.15mm in azimuth and 0.9mm in pitch. It can reduce the dependence of light weapon shooting on personal experience and improve the long-distance shooting ability of a novice.

Key words: ballistic calculation system, small arms, fire control correction, extended Kalman filter, aiming deviation

中图分类号:

TP273

申程, 张连超, 张卓, 朱文亮, 陈雨康. 轻量化弹道解算系统火控修正和瞄准线滤波预测[J]. 兵工学报, 2024, 45(2): 429-442.

SHEN Cheng, ZHANG Lianchao, ZHANG Zhuo, ZHU Wenliang, CHEN Yukang. Fire Control Correction and Line-of-sight Filtering Prediction of Lightweight Ballistic Calculation System[J]. Acta Armamentarii, 2024, 45(2): 429-442.

图/表 17

图1 系统构成

Fig.1 Composition of ultralight ballistic calculation system

图2 火控修正硬件架构

Fig.2 Fire control correction hardware architecture

图3 火控修正软件架构

Fig.3 Fire control correction software architecture

图4 人枪协同坐标系定义

Fig.4 Definition of human-gun coordinate system

图5 人体射击运动过程抽象假设图

Fig.5 Hypothesis diagram of human shooting process

图6 火控修正滤波和预测模型

Fig.6 Fire control correction and prediction model

图7 非线性扩展卡尔曼滤波预测方式逻辑图

Fig.7 Logic diagram of nonlinear extended Kalman filter prediction mode

表1 弹道解算系统质量对比

Table 1 Comparison of ballistic calculation system weights

解算系统	质量/g
以色列SMASH2000	980
比利时FN Elity	>400
美国Brashear	1600
国产某型	1300
本文设计	394

图8 轻量化弹道解算系统实验平台框架图

Fig.8 Frame diagram of lightweight ballistic calculation system experimental platform

图9 火控修正滤波和预测试验曲线

Fig.9 Fire control correction filtering and predictive test curves

表2 瞄准线抖动测试指标对比

Table 2 Comparison of line-of- sight jitter test indexes

指标	数值
抖动时间/s	60
俯仰方向抖动幅值/mm	±0.5
方位方向抖动幅值/mm	±0.65
俯仰方向抖动角速度幅值/((°)·s^-1)	0.1
方位方向抖动角速度幅值/((°)·s^-1)	0.2
抖动频率/Hz	1.5 (低频小幅值抖动)

表3 误差补偿效果对比

Table 3 Comparison of error compensation effects

指标	参数	指标	参数
瞄准时间/s	15	β/mm	0.138
采样频率/Hz	25	δ/%	53.1
α/mm	0.26

图10 实弹测试

Fig.10 Shooting test

图11 俯仰方向偏差值

Fig.11 Pitch deviation value

图12 方位方向偏差值

Fig.12 Azimuth deviation value

表4 测试结果对比

Table 4 Comparison of test results

组别	参数	数值
专业组	Δx_p/mm	0.7
	Δy_p/mm	1.5
业余组	射击精度	逐渐提升,最后达到与专业组稳定射击时将近相同的水平
初学者组	Δx_b/mm	1.15
	Δy_b/mm	0.9

表5 指标归纳

Table 5 Indexes

参数	数值
总质量/g	394
最长连续工作时间/h	25℃工作5h
极端温度最少工作时间/min	50℃工作30min,20℃工作30min
可测试最长距离/m	1200
弹道解算精度/mil	0.1
供电情况	3.7V,一节军工级电池
防摔、抗冲击情况	15cm高度、地面为瓷砖或木制地板自由落体,落下后完好可正常工作运行
短暂培训后初学者掌握情况	俯仰偏差>0.9mm,方位偏差>1.15mm

参考文献 22

[1]	刘华, 范大鹏, 李胜鹏, 等. 狙击步枪新型电动击发装置设计与分析[J]. 兵工学报, 2016, 37(6):1111-1116. doi: 10.3969/j.issn.1000-1093.2016.06.020
	LIU H, FAN D P, LI S P, et al. Design and analysis of a novel electric firing mechanism for sniper rifles[J]. Acta Armamentarii, 2016, 37(6):1111-1116. (in Chinese) doi: 10.3969/j.issn.1000-1093.2016.06.020
[2]	MUHAMMAD A, SUMAIR K, IHSANULLAH, et al. A split target detection and tracking algorithm for ballistic missile tracking during the re-entry phase[J]. Defence Technology, 2020, 16(6):1142-1150. doi: 10.1016/j.dt.2019.12.008
[3]	耿强, 刘华, 范大鹏. 狙击步枪瞄准线偏差测量与电击发控制研究[J]. 应用光学, 2017, 38(4):606-612. doi: 10.5768/JAO201738.0103001
	GENG Q, LIU H, FAN D P. Deviation measurement of sniper’s line of sight and electric firing control[J]. Journal of Applied Optics, 2017, 38(4):606-612. (in Chinese)
[4]	路伟志. 一种狙击手弹道解算系统: CN105095661A[P]. 2015-08-07.
	LU W Z. A sniper ballistic calculation system: CN105095661A[P]. 2015-08-07. (in Chinese)
[5]	丁天宝, 何朝, 王良明, 等. 高速旋转炮弹宽海拔弹道解算方法[J]. 兵工学报, 2021, 42(1):209-213.
	DING T B, HE C, WANG L M, et al. Calculation method of firing trajectory of high spinning projectile adapted to wide altitude[J]. Acta Armamentarii, 2021, 42(1):209-213. (in Chinese) doi: 10.3969/j.issn.1000-1093.2021.01.024
[6]	曹树新, 李岩, 李帅孝, 等. 弹道解算用数值天气预报风修正系数辨识[J]. 弹道学报, 2020, 32(4):34-38. doi: 10.12115/j.issn.1004-499X(2020)04-006
	CAO S X, LI Y, LI S X, et al. Identification of wind modified coefficient in numerical weather prediction for trajectory calculation[J]. Journal of Ballistics, 2020, 32(4):34-38. (in Chinese)
[7]	王明明, 钱林方, 陈光宋, 等. 基于概率密度演化方法的火炮输弹过程不确定性分析[J]. 兵工学报, 2022, 43(6):1215-1224. doi: 10.12382/bgxb.2021.0298
	WANG M M, QIAN L F, CHEN G S, et al. Uncertainty analysis of ammunition ramming process based on probability density evolution method[J]. Acta Armamentarii, 2022, 43(6):1215-1224. (in Chinese) doi: 10.12382/bgxb.2021.0298
[8]	陈小明. 红外热瞄具成像系统研究[D]. 北京: 北京理工大学, 2015.
	CHEN X M. The research on imaging system for infrared thermal weapon sight[D]. Beijing: Beijing Institute of Technology, 2015. (in Chinese)
[9]	HAN S L, XIAO Q Z, HUI G. Multi-area detection sensitivity calculation model and detection blind areas influence analysis of photoelectric detection target[J]. Defence Technology, 2022, 18:547-556. doi: 10.1016/j.dt.2021.03.015
[10]	YOO S, KIM T, SEO M, et al. et al., Position tracking control of dual-rope winch robot with rope slip compensation[J]. IEEE/ASME Transactions on Mechatronics, 2021, 26(4):1754-1762. doi: 10.1109/TMECH.2021.3075999 URL
[11]	LORIS R, ANDREA B, FRANCESCO B, et al. 6D virtual sensor for wrench estimation in robotized interaction tasks exploiting extend Kalman filter[J]. Machines, 2020, 8(4):67-85. doi: 10.3390/machines8040067 URL
[12]	SHEN C, CHEN N, TAN R Y, et al. Modeling and stability analysis of coarse-fine composite mechatronic system in UAV multi-gimbal electro-optical pod[J]. Electronics, 2020, 9(5):769-791. doi: 10.3390/electronics9050769 URL
[13]	祁超, 范世珣, 谢馨, 等. 光电稳定平台伺服机构低速及稳定性能控制方法研究[J]. 兵工学报, 2018, 39(10):1873-1882. doi: 10.3969/j.issn.1000-1093.2018.10.001
	QI C, FAN S X, XIE X, et al. Research on control method for improving low speed performance and stable precision of electro-optic servo system[J]. Acta Armamentarii, 2018, 39(10):1873-1882. (in Chinese) doi: 10.3969/j.issn.1000-1093.2018.10.001
[14]	CZECHOWICZ B, BUCZKOWSKA M T. Research methodology of the sleeve-target system with miss distance indicator of the unmanned aerial target imitator[J]. Journal of KONBiN, 2021, 51(1):125-147. doi: 10.2478/jok-2021-0009 URL
[15]	XIANG S W, FAN H Q, FU Q. Error distribution of zero-effort miss distance under mode mismatch[J]. International Journal of Control, 2021, 94(3):643-652. doi: 10.1080/00207179.2019.1610579 URL
[16]	陈松, 李磊磊. 一种基于弹道曲线模型的脱靶量测试方法[J]. 测控技术, 2022, 41(4):48-53.
	CHEN S, LI L L. A ballistic curve model-based testing method for missing distance[J]. Measurement & Control Technology, 2022, 41(4):48-53. (in Chinese)
[17]	WU J, GUO K Y, WU B Y, et al. Estimation of vector miss distance for complex objects based on scattering center model[J]. Science China Information Sciences, 2020, 64(4):79-91.
[18]	XIANG S W, FAN H Q, FU Q. Error distribution of zero-effort miss distance under mode mismatch[J]. International Journal of Control, 2021, 94(3):643-652. doi: 10.1080/00207179.2019.1610579 URL
[19]	BRIAN T, PAUL S, NATASSIA G. Applying accimap to test the common cause hypothesis using aviation near misses[J]. Applied Ergonomics, 2020, 87(C):103110
[20]	李政, 刘又文, 朱江. 弹道解算仪[J]. 轻兵器, 2017(9):18-19.
	LI Z, LIU Y W, ZHU J. Ballistic calculator[J]. Small Arms, 2017(9):18-19. (in Chinese)
[21]	柳鸣. 单兵武器火控多参数检测系统及关键技术研究[D]. 长春: 长春理工大学, 2018.
	LIU M. Study on key technology of multi-parameters testing system for individual soldier weapon and fire-control system[D]. Changchun: Changchun University of Science and Technology, 2018. (in Chinese)
[22]	何山, 吴盘龙, 李星秀, 等. 基于刚体弹道模型的防空火控解算方法[J]. 兵工学报, 2020, 41(8):1494-1501. doi: 10.3969/j.issn.1000-1093.2020.08.003
	HE S, WU P L, LI X X, et al. The antiaircraft fire control calculation method based on rigid body trajectory model[J]. Acta Armamentarii, 2020, 41(8):1494-1501. (in Chinese) doi: 10.3969/j.issn.1000-1093.2020.08.003