基于线阵相机的水下射弹动态参数及超空泡演化过程测量方法

doi:10.12382/bgxb.2023.0408

摘要/Abstract

摘要：

针对水下环境恶劣、光线条件差、难以拍摄并复原高速射弹运动姿态及其超空泡演化过程等问题,采用线阵相机的交汇测量原理,设计基于线阵相机的水下射弹图像采集系统、搭建基于双线阵相机的图像采集靶面,提出一种针对水下高速超空泡目标识别与弹形复原算法。利用超空泡射弹几何关系与相机标定数据推导出射弹过靶坐标、姿态角与过靶速度公式,搭建12.7mm滑膛枪垂直发射入水实验,对系统的可行性进行验证分析。实验结果表明:该系统能够有效地进行水下射弹图像的快速采集,较完整的对弹形及空泡形态进行分离与复原,解算出射弹水下运动速度、姿态角及超空泡形态参数;系统解算出的速度与同时部署的高速摄像所处理的速度误差在1%以内,证明该系统具有较高的可靠性与实用性。

关键词: 水下射弹, 高速摄像, 线阵相机, 弹形复原, 超空泡, 图像处理

Abstract:

To address the challenging underwater conditions, poor lighting, and difficulties in capturing and reconstructing the high-speed motion and supercavitation evolution of projectiles, a line array camera-based underwater projectile image acquisition system is designed. The system utilizes the principle of intersection measurement and incorporates a dual line array camera for image acquisition. An algorithm is proposed for underwater high-speed supercavitating target recognition and projectile shape reconstruction. The formulas for calculating the coordinates, attitude angles, and velocity of projectilepassing though a target are derived by using the geometric relationship of supercavitating projectile and the camera calibration data. A water entry experiment of projectiles vertically launched from a 12.7mm smoothbore gun is conducted to validate and analyze the feasibility of the system. Experimental results demonstrate that the system can effectively and rapidly acquire the underwater projectile images, accurately separate and reconstruct the projectile shapes and cavity morphology, and calculate the underwater projectile's motion velocity, attitude angles, and supercavitation parameters. The velocity calculated by the system exhibits an error of less than 1% compared to the velocity obtained from concurrently deployed high-speed cameras, indicating the high reliability and practicality of the system.

Key words: underwater projectile, high-speed camera, line array camera, projectileshape reconstruction, supercavitation, image processing

中图分类号:

TP391.4

孙嘉伟, 弯港, 顾金良, 徐明杰, 孔筱芳. 基于线阵相机的水下射弹动态参数及超空泡演化过程测量方法[J]. 兵工学报, 2024, 45(8): 2564-2572.

SUN Jiawei, WAN Gang, GU Jinliang, XU Mingjie, KONG Xiaofang. A Line Array Camera-based Measurement Method for Dynamic Parameters of Underwater Projectiles and Supercavitation Evolution Process[J]. Acta Armamentarii, 2024, 45(8): 2564-2572.

图/表 23

图1 水下射弹图像采集系统

Fig.1 Underwater projectile image acquisition system

图2 双线阵相机正交交汇测量靶面

Fig.2 Orthogonal intersection measurement target surfaceof dual line array camera

图3 射弹及超空泡原始图像

Fig.3 Original image of projectile and supercavitation

图4 射弹原始图像

Fig.4 Original image of projectile

图5 弹形复原算法

Fig.5 Shape reconstruction algorithm of projectiles

图6 射弹及超空泡真实图像

Fig.6 Real images of projectile and supercavitation

图7 射弹弹形复原图

Fig.7 Projectile shape reconstruction diagram

图8 射弹着靶坐标公式原理图

Fig.8 Principle diagram of coordinate calculation formula of projectile impact

表1 相机参数

Table 1 Camera parameters

参数	取值
最高数据传输速率/(Mbit·s^-1)	1000
最高行频/kHz	80
最短曝光时间/μs	5
图像传感器	CMOS
分辨率	4096

表2 镜头参数

Table 2 Lens parameters

参数	取值
焦距/mm	20
镜头结构	11组14片
最大光圈	f/1.8
视角/(°)	94
接口	尼康z卡口
尺寸/mm	84.5×108.5

图9 线阵相机与镜头

Fig.9 Line array cameras and lens

图10 测量实验布置

Fig.10 Test layout

图11 射弹与超空泡原始图像

Fig.11 Original images of projectile and supercavitation

图12 弹形与超空泡复原图

Fig.12 Reconstructed images of projectile and supercavitation

图13 高速摄像拍摄射弹图像

Fig.13 Projectile image captured by the high-speed camera

图14 弹形恢复图

Fig.14 Reconstructed images of projectile shape

图15 超空泡高速射弹模型几何尺寸示意图

Fig. 15 Schematic diagram of the sizes of supercavitation high-speed projectile model

图16 射弹复原后的几何尺寸

Fig.16 Sizes of recovered projectile

表3 两台线阵相机速度数据处理结果

Table 3 The results of speed data processing of two line array cameras

发射次数	左侧线阵相机测速/(m·s^-1)	正面线阵相机测速/(m·s^-1)
1	277.55	283.33
2	283.33	289.36
3	295.65	302.22
4	277.55	285.43

表4 线阵相机与高速相机速度处理结果

Table 4 Speed processing results of line array camera and high-speed camera

发射次数	弹重/ g	装药量/g	线阵相机测速/ (m·s^-1)	高速相机测速/ (m·s^-1)	误差
1	106.1	7.2	277.55	275.13	0.0088
2	104.6	7.2	283.33	285.63	0.0081
3	105.3	7.2	295.65	297.71	0.0069
4	104.1	6.5	277.55	277.01	0.0019

表5 姿态角数据处理结果

Table 5 Attitude angle data processing results

发射次数	俯仰角/(°)	偏航角/(°)
1	34.51
2	14.65
3	2.44
4	19.65	41.10
5	36.10	39.19
6	39.19	3.18
7	1.17	34.91

表6 不同速度下超空泡的过靶时间

Table 6 Time for supercavitation crossinga target at different speeds

发射次数	射弹速度/(m·s^-1)	空泡过靶时间/ms
1	283.33	13.42
2	309.09	11.67
3	289.36	12.12
4	277.55	13.07
5	283.33	11.16
6	295.65	12.34
7	277.55	10.64

图17 射弹在不同速度下超空泡直径变化

Fig.17 Variation of supercavitation diameter of projectile at different speeds

参考文献 20

[1]	侯宇, 黄振贵, 郭则庆, 等. 超空泡射弹小入水角高速斜入水实验研究[J]. 兵工学报, 2020, 41(2): 332-341. doi: 10.3969/j.issn.1000-1093.2020.02.015
	HOU Y, HUANG Z G, GUO Z Q, et al. Experimental investigation on shallow-angle oblique water-entry of a high-speed supercavitating projectile[J]. Acta Armamentarii, 2020, 41(2): 332-341. (in Chinese) doi: 10.3969/j.issn.1000-1093.2020.02.015
[2]	MAHDIAN A, MOONESUM M, KEBRIT S H, et al. Design of super-cavitation bullet for underwater handgun[J]. Journal of Marine Engineering, 2021, 17(34):25-35.
[3]	JIANG Y H, BAI T, GAO Y, et al. Water entry of a constraint posture body under different entry angles and ventilation rates[J]. Ocean Engineering, 2018, 153: 53-59.
[4]	张伟, 郭子涛, 肖新科, 等. 弹体高速入水特性实验研究[J]. 爆炸与冲击, 2011, 31(6):579-584.
	ZHANG W, GUO Z T, XIAO X K, et al. Experimental investigations on behaviors of projectile high-speed water entry[J]. Explosion and Shock Waves, 2011, 31(6): 579-584. (in Chinese)
[5]	TRUSCOTT T T, TECHET A H. Water entry of spinning spheres[J]. Journal of Fluid Mechanics, 2009, 625:135-165.
[6]	孟炳全, 蔡荣立, 谭林秋. 线阵CCD精度靶图像触发算法设计[J]. 计算机测量与控制, 2019, 27(1): 245-249.
	MENG B Q, CAI R L, TAN L Q. Design of image triggering algorithm for linear array CCD precision target[J]. Computer Measurement & Control, 2019, 27(1):245-249. (in Chinese)
[7]	XU W, WANG M. The research of attack angle measurement of projectile with CCD vertical target system[J]. Procedia Engineering, 2011, 15: 4733-4739.
[8]	萧云峰, 杨丹蕾, 王劲松, 等. 光幕靶弹着点坐标测量方法[J]. 长春理工大学学报(自然科学版), 2018, 41(2): 72-75.
	XIAO Y F, YANG D L, WANG J S, et al. Light curtain target point coordinate measuring method[J]. Journal of Changchun University of Science and Technology (Natural Science Edition), 2018, 41(2): 72-75. (in Chinese)
[9]	CHEN C, YUAN X L, LIU X Y, et al. Experimental and numerical study on the oblique water-entry impact of a cavitating vehicle with a disk cavitator[J]. International Journal of Naval Architecture and Ocean Engineering, 2019, 11(1): 482-494.
[10]	陈诚, 袁绪龙, 党建军, 等. 超空泡航行器20°角倾斜入水冲击载荷特性实验研究[J]. 兵工学报, 2018, 39(6): 1159-1164. doi: 10.3969/j.issn.1000-1093.2018.06.016
	CHEN C, YUAN X L, DANG J J, et al. Experimental investigation into impact load during oblique water-entry of a supercavitating vehicle at 20°[J]. Acta Armamentarii, 2018, 39(6): 1159-1164. (in Chinese) doi: 10.3969/j.issn.1000-1093.2018.06.016
[11]	黄振贵, 罗驭川, 陈志华, 等. 凹头射弹垂直入水仿真研究[J]. 兵工学报, 2020, 41(增刊1): 128-134.
	HUANG Z G, LUO Y C, CHEN C H, et al. Simulation on vertical water-entry of concave-nosed projectile[J]. Acta Armamentarii, 2020, 41(S1): 128-134. (in Chinese)
[12]	刘嵘侃, 邢德智, 唐昭焕, 等. 低噪声CMOS图像传感器技术研究综述[J]. 半导体光电, 2020, 41(6): 768-773.
	LIU R K, XING D Z, TANG Z H, et al. An overview of low noise CMOS image sensor technique[J]. Semiconductor Optoelectronics, 2020, 41(6): 768-773. (in Chinese)
[13]	罗红娥, 陈平, 顾金良, 等. 线阵CCD立靶系统全视场测量误差分析[J]. 光学技术, 2009, 35(3): 391-393,398.
	LUO H E, CHEN P, GU J L, et al. Error analysis on the linear CCD crossing measurement system[J]. Optical Technology, 2009, 35(3): 391-393,398. (in Chinese)
[14]	王云, 袁绪龙, 吕策. 弹体高速入水弯曲弹道实验研究[J]. 兵工学报, 2014, 35(12): 1998-2002. doi: 10.3969/j.issn.1000-1093.2014.12.010
	WANG Y, YUAN X L, LÜ C. Experimental research on curved trajectory of high-speed water-entry missile[J]. Acta Armamentarii, 2014, 35(12): 1998-2002. (in Chinese) doi: 10.3969/j.issn.1000-1093.2014.12.010
[15]	施红辉, 胡青青, 陈波, 等. 钝体倾斜和垂直冲击入水时引起的超空泡流动特性实验研究[J]. 爆炸与冲击, 2015, 35(5): 617-624.
	SHI H H, HU Q Q, CHEN B, et al. Experimental study of supercavitating flows induced by oblique and vertical water entry of blunt bodies[J]. Explosion and Shock Waves, 2015, 35(5): 617-624. (in Chinese)
[16]	ZHOU R G, LIU D Q. Quantum image edge extraction based on improved operator[J]. International Journal of Theoretical Physics, 2019, 58(9):2969-2985.
[17]	王泽民, 高俊钗, 雷志勇, 等. CCD交汇测量系统布站方式的精度分析[J]. 山西电子技术, 2006(5): 38-40.
	WANG Z M, GAO J C, LEI Z Y, et al. The target calculate principle of linear CCD intersection measurement[J]. Shanxi Electronic Technology, 2006(5): 38-40. (in Chinese)
[18]	雷志勇, 李翰山. 线阵CCD测量高速射弹图像信息处理研究[J]. 半导体光电, 2009, 30(5): 751-754.
	LEI Z Y, LI H S. Study on high speed projectile image processing in linear CCD measure system[J]. Semiconductor Optoelectronics, 2009, 30(5):751-754. (in Chinese)
[19]	高俊钗, 雷志勇, 王泽民. 高精度测量的相机标定[J]. 电光与控制, 2011, 18(2): 93-96.
	GAO J C, LEI Z Y, WANG Z M. Camera calibration for high-precision measurement[J]. Electro Optics & Control, 2011, 18(2):93-96. (in Chinese)
[20]	张迎. 基于CMOS线阵相机的立靶密集度测试技术研究[D]. 南京: 南京理工大学, 2020.
	ZHANG Y. Research on vertical target density testing technology based on CMOS line array camera[D]. Nanjing: Nanjing University of Science and Technology, 2020. (in Chinese)