CN-117308706-B - Method for acquiring end segment ballistic parameters by combining ballistic shock wave and blast wave

Abstract

The invention provides a final segment ballistic parameter acquisition method combining ballistic shock waves and blast waves, which can solve the technical problem that the performance of a projectile cannot be accurately estimated because the conventional acoustic measurement method can only acquire the position of a blast point and the moment of blasting and cannot acquire the speed and the direction of the projectile. The method comprises the steps of arranging N acoustic measuring points around a preset explosion point, wherein N is more than or equal to 2, sequentially obtaining a ballistic shock wave arrival direction, a ballistic shock wave arrival time, an explosion wave arrival direction and an explosion wave arrival time through the acoustic measuring points, obtaining explosion point positions and explosion time through the obtained explosion wave arrival direction and the explosion wave arrival time, and calculating the ballistic direction and the projectile velocity through the obtained ballistic shock wave arrival direction, the obtained ballistic shock wave arrival time and the obtained explosion point positions. The method realizes the acquisition of the final ballistic parameters such as the explosion point position, the explosion moment, the projectile velocity and the ballistic direction, and provides important data support for accurately evaluating projectile performance.

Inventors

• LIANG XUBIN
• YANG JUN
• LU QIANG
• ZHANG DEZHI
• WU ZUTANG
• SUN DIFENG
• ZHANG LIANGYONG

Assignees

• 西北核技术研究所

Dates

Publication Date

20260505

Application Date

20231008

Claims (3)

1. 1. The method for acquiring the final-stage ballistic parameters by combining the ballistic shock wave and the blast wave is characterized by comprising the following steps of: Step 1, arranging N acoustic measuring points around a preset explosion point, wherein N is more than or equal to 2, the acoustic measuring points are positioned at known positions s i =[x i , y i , z i ] T ,i∈{1,2,…,N},[·] T to represent transposition operation, the explosion point position is s, the distance from the explosion point s to an acoustic measuring point s i is d i , the shock wave separation point corresponding to the acoustic measuring point s i is p i , the distance from the shock wave separation point p i to the acoustic measuring point s i is r i , the distance from the shock wave separation point p i to the explosion point s is l i , and the acoustic measuring points sequentially receive ballistic shock waves emitted by the shock wave separation point p i on the ballistic trajectory of a supersonic flight projectile body and blast waves generated by explosion, and sequentially acquire the arrival direction of the ballistic shock waves, the arrival direction of the blast waves and the arrival time of the blast waves; Step 2, obtaining the explosion point position and the explosion moment according to the obtained direction of arrival of the explosion wave and the arrival time of the explosion wave; Step 3, calculating the ballistic direction and the projectile velocity according to the acquired ballistic shock arrival direction, the ballistic shock arrival time and the explosion point position, wherein the method specifically comprises the following substeps: Step 3.1, obtaining a unit vector b i of the shock wave separation point p i relative to the acoustic measuring point s i according to the ballistic shock wave arrival direction obtained in step 1: b i =[cosφ i cosθ i , cosφ i sinθ i , sinφ i ] T ; Phi i is the ballistic shock wave pitch angle measured by the ith acoustic measuring point; θ i is the ballistic shock azimuth measured at the ith acoustic station; step 3.2, calculating to obtain the estimation of the shock wave separation point position p 1 by using a weighted least square method according to the following formula : ; Wherein: a is a matrix which fuses the direction of arrival information of the ballistic shock wave, ; V i is a matrix constructed by ballistic shock arrival direction: ; W 1 is a weight matrix integrating the ballistic shock wave arrival direction, the shock wave separation point-to-burst point distance, the shock wave separation point-to-acoustic measurement point distance, the positions of the shock wave separation point and the acoustic measurement point and ballistic direction information, ; Q 1 is the measurement error vector Is used for the co-variance matrix of (a), , J is {2, & gt, N }, t s,j and t s,1 are respectively the arrival time of ballistic shock waves acquired by the j-th acoustic measuring point s j and the 1-st acoustic measuring point s 1 ; To fuse the ballistic shock arrival direction, the location of the blast point and the acoustic measurement point, and the vectors of the distance differences between the acoustic measurement points s j and s 1 to the respective corresponding shock separation points, , , R 21 is the difference between the distance from the 2 nd acoustic measurement point s 2 to the corresponding shock separation point p 2 and the distance from the 1 st acoustic measurement point s 1 to the corresponding shock separation point p 1 , and r N1 is the difference between the distance from the nth acoustic measurement point s N to the corresponding shock separation point p N and the distance from the 1 st acoustic measurement point s 1 to the corresponding shock separation point p 1 ; Based on the estimation of the shock separation point position p 1 Sequentially calculating the estimation of the positions of the rest shock wave separation points to obtain the estimation of the position p i of each shock wave separation point ; Step 3.3, estimating the location s of the frying point according to the method obtained in the step 2 Estimation of the position p i of each shock separation point obtained in step 3.2 Calculating to obtain estimation of corresponding trajectory direction And for all Averaging to obtain an estimate of the ballistic direction u : ; Wherein: Symbol, symbol Representing the 2 norms of the vectors; Step 3.4, weighting matrix Repeating the steps 3.2-3.3 to obtain the updated estimation of the ballistic direction u ; Wherein, the ; , 0 1×3 Is a row vector of 3 elements of 0, 0 1×(N-1) is a row vector of N-1 elements of 0, 0 2×3 is a matrix of 2 rows of 3 columns of elements of all 0, 0 2×(N-1) is a matrix of 2 rows of N-1 columns of elements of all 0, I (N-1)×(N-1) is an N-1 dimensional identity matrix, For the estimation of the ballistic direction u obtained in step 3.3 ; Step 3.5, estimating the ballistic direction u from the updated trajectory obtained in step 3.4 And the unit vector b i obtained in the step 3.1 is calculated to obtain the estimation of the projectile velocity at the position p i of the corresponding shock wave separation point And for all Averaging to obtain an estimate of the projectile velocity v : ; Wherein: 。
2. 2. The method for acquiring the final segment ballistic parameters of the combination of ballistic shock waves and blast waves according to claim 1, wherein the step 2 specifically comprises the following substeps: Step 2.1, obtaining a unit vector k i of the explosion point s relative to the acoustic measuring point s i according to the direction of arrival of the explosion wave obtained in the step 1: Wherein phi is a frying point pitch angle measured by an ith acoustic measuring point; A frying point azimuth measured for the ith acoustic measurement point; Step 2.2, calculating to obtain an estimate of the location s of the frying point by using a weighted least square method according to the following formula : ; Wherein: g is a matrix fusing the direction of arrival information of the explosion wave, ; U i is a matrix constructed by the direction of arrival of the detonation wave: ; w is a weight matrix fusing the direction of arrival of the explosion wave and the distance information from the explosion point to the measuring point, ; ; , 0 1×2 Is a row vector with 2 elements of 0,0 2×2 is a matrix with 2 rows and 2 columns of elements of all 0, and 0 2 is a zero vector; q is the measurement error vector Is used for the co-variance matrix of (a), D n1 =c(t b,n -t b,1 ),n∈{2,…,N},d n1 is the difference between the distance from the nth acoustic measuring point s n to the frying point s and the distance from the 1 st acoustic measuring point s 1 to the frying point s, and t b,n and t b,1 are the arrival times of the explosion waves acquired by the nth acoustic measuring point s n and the 1 st acoustic measuring point s 1 respectively; h is a vector fusing the direction of arrival of the explosion wave, the position of the acoustic measuring point and the distance difference from the acoustic measuring point to the explosion point, ; Step 2.3, estimation of the unit vector k i obtained in step 2.1 and the location s of the explosion point obtained in step 2.2 based on the acoustic measurement point s i and the arrival time of the acquired explosion wave in step 1 Calculating to obtain the estimate of explosion time And is opposite to Averaging to obtain an estimate of the explosion time t : ; Wherein: , for the estimation of d i , t b,i is the arrival time of the explosion wave acquired by the ith acoustic measurement point s i .
3. 3. The method for acquiring the final segment ballistic parameters of the combination of ballistic shock waves and blast waves according to claim 2, wherein the method comprises the following steps of: In the step 1, the N=2, and the acoustic measuring points sequentially acquire the arrival direction and arrival time of the ballistic shock wave, the arrival direction and arrival time of the explosion wave by adopting microphone array signals.

Description

Method for acquiring end segment ballistic parameters by combining ballistic shock wave and blast wave Technical Field The invention relates to a method for acquiring a terminal ballistic parameter of a supersonic projectile body, in particular to a method for acquiring a terminal ballistic parameter by combining a ballistic shock wave and a blast wave. Background When a supersonic flying projectile body is about to arrive at the ground, due to the low flying height, the supersonic flying projectile body is shielded by complex terrains such as mountains, hills and the like, so that the radar has small scattering cross section and large ground clutter interference, and therefore, the radar is difficult to acquire ballistic parameters of the projectile body end section. In addition, the optical measurement field of view is small, and when the projectile body deviates greatly beyond the field of view, the measurement is invalid, so that the ballistic parameters of the projectile body end segment cannot be obtained. The distributed acoustic measurement method is commonly used for measuring the target position in a large area because the method has the characteristics of all weather, no interference of smoke and dust, large measurement range and the like. The current acoustic measurement method is to receive acoustic signals generated by target explosion or high-speed impact on the ground through a plurality of microphones, and realize target positioning by utilizing arrival time differences among the microphones. However, this method can only obtain the location of the blast point and the moment of the blast, and cannot obtain the velocity and the direction of the ballistic trajectory, resulting in failure to accurately evaluate the performance of the projectile. Disclosure of Invention The invention aims to solve the technical problem that the projectile velocity and the projectile direction cannot be obtained only by the position of a blast point and the moment of blasting, so that the projectile performance cannot be accurately estimated, and provides a final segment ballistic parameter acquisition method combining ballistic shock waves and blast waves. In order to achieve the above purpose, the present invention adopts the following technical scheme: The method for acquiring the final-stage ballistic parameters by combining the ballistic shock wave and the blast wave is characterized by comprising the following steps of: step 1, arranging N acoustic measuring points around a preset explosion point, wherein N is more than or equal to 2, and the acoustic measuring points sequentially acquire the arrival direction of ballistic shock waves and the arrival time of the ballistic shock waves, and the arrival direction of explosion waves and the arrival time of the explosion waves; Step 2, obtaining the explosion point position and the explosion moment according to the obtained direction of arrival of the explosion wave and the arrival time of the explosion wave; And step 3, calculating the ballistic direction and the projectile velocity according to the acquired ballistic shock arrival direction, the ballistic shock arrival time and the explosion point position. Further, the step 1 specifically comprises the following steps: N acoustic measuring points are distributed around a preset explosion point, N is more than or equal to 2, the acoustic measuring points are located at known positions s i＝[xi,yi,zi]T,i∈{1,2,…,N},[·]T to represent transposition operation, the explosion point position is s, the distance from the explosion point s to the acoustic measuring point s i is d i, the shock wave separation point corresponding to the acoustic measuring point s i is p i, the distance from the shock wave separation point p i to the acoustic measuring point s i is r i, the distance from the shock wave separation point p i to the explosion point s is l i, the acoustic measuring points sequentially receive ballistic shock waves emitted by the shock wave separation point p i on the trajectory of a supersonic projectile body, and blast waves generated by explosion, and the arrival direction of the ballistic shock waves, arrival direction of the blast waves and arrival time of the blast waves are sequentially obtained. Further, the step 2 specifically includes the following sub-steps: Step 2.1, obtaining a unit vector k i of the explosion point s relative to the acoustic measuring point s i according to the direction of arrival of the explosion wave obtained in the step 1: Wherein: A frying point pitch angle measured for an ith acoustic measurement point; A frying point azimuth measured for the ith acoustic measurement point; Step 2.2, calculating to obtain an estimate of the location s of the frying point by using a weighted least square method according to the following formula Wherein: g is a matrix fusing the direction of arrival information of the explosion wave, G=[2(k2-k1),…,2(kN-k1),U1,…,UN]; U i is a matrix constructe