CN-121994076-A - High dynamic target real-time tracking and positioning method, system and medium

CN121994076ACN 121994076 ACN121994076 ACN 121994076ACN-121994076-A

Abstract

The invention relates to the technical field of shooting assistance and target tracking, and discloses a method, a system and a medium for real-time tracking and positioning of a high-dynamic target, wherein the method comprises the steps of acquiring visual characteristics of the target in a sighting telescope division, combining known physical dimensions of the target, and performing distance measurement and calculation by using a sensor and acceleration data in an assistance way; based on the measuring distance and the environmental parameters, the target track is predicted in a self-adaptive interactive mode, the ballistic compensation value is corrected through strong tracking volume Kalman filtering, and the ballistic data card and the cosine compensation method are combined to output the adjustment quantity of the sighting telescope so as to guide shooting. By constructing a directional architecture integrating sensing and classical wireless filtering, the precise track tracking and dynamic compensation of a high-speed moving target are supported in a complex electromagnetic environment. The scheme improves the shooting hit rate and navigation precision under complex terrain and dynamic countermeasure scenes, and has extremely high robustness and adaptability to shooting environments.

Inventors

MU MIN
ZHANG WEI
ZHOU CHUNYAN
Lei Lexin
LI NING
XU LI

Assignees

江苏泰达机电设备有限责任公司

Dates

Publication Date: 20260508
Application Date: 20260324

Claims (10)

1. The high dynamic target real-time tracking and positioning method is characterized by comprising the following steps of: The method comprises the steps of obtaining a plurality of target observation data and shooting environment data, wherein the target observation data comprises a secret bit value or an angular value measured by a sighting telescope and a known physical size of a target, and the shooting environment data comprises at least one of wind speed, wind direction, temperature, air pressure and shooting angle; Directly reading the measuring distance by aligning the known physical size of the target with the secret bit value measured by the sighting telescope, and calculating after scaling by equal proportion if the numerical value exceeds the scale range to obtain the measuring distance of the target; Calculating a ballistic trajectory falling compensation value through a ballistic trajectory compensation algorithm based on the measuring distance and the shooting environment data, predicting a target state by the ballistic trajectory compensation algorithm to obtain a target state prediction result of real-time coordinates of the target, the speed vector magnitude and direction of the target, the acceleration change condition of the target and the target movement type, and correcting the target state prediction result; Based on the trajectory falling compensation value, a corresponding sighting telescope adjustment amount is generated, and a correction instruction of the sighting telescope adjustment amount, the target motion track, the predicted aiming point, the trajectory falling compensation value and the windage correction amount is output so as to guide a shooter to complete the next shooting task.
2. The method of claim 1, wherein the alignment by operating a distance calculation scale on a slide rule comprises: acquiring a multisource observation data set, and performing data preprocessing, time stamp alignment and coordinate system one operation to obtain a unified observation data set; Based on the unified observation data set, reading a close-position value or an angular value of the target in the sighting telescope division; When the physical size of the target and the measured close position value or angular value exceed the scale range of the calculating rule, a scaling method is adopted to obtain the final target measuring and calculating distance; the scaling method divides the target physical size and the secret bit value or the angle value by a unified integer multiple simultaneously to obtain a middle size and a middle secret bit value or a middle angle value; Calculating the intermediate distance according to the intermediate size and the intermediate close position value or the intermediate angle value by using a prefabricated calculating rule, and multiplying the intermediate distance by the same integer multiple to obtain the final target measuring and calculating distance.
3. The method for real-time tracking and positioning of a high dynamic target according to claim 1, characterized in that the ballistic compensation algorithm comprises: Correcting the target measuring distance into a horizontal distance by a cosine compensation method based on the shooting angle, wherein the horizontal distance=measuring distance×cos shooting angle; The horizontal distance, the shooting environment data and a target state prediction result obtained through adaptive interaction multi-model prediction are input into a strong tracking volume Kalman filtering algorithm together as an input parameter set, and the ballistic drop compensation value is obtained through calculation; The target state comprises real-time coordinates of the target in a three-dimensional space, the size and direction of a motion speed vector of the target and the acceleration change condition of the target, and is used for judging whether the vehicle is maneuvering or not and dynamically identifying the motion type of the target through uniform speed, coordinated turning and current statistics in a multi-model mode.
4. The method of claim 3, wherein the adaptive interaction multi-model target state prediction comprises: establishing a model set comprising a constant speed model, a coordinated turning model and a current statistical model; dynamically calculating the matching probability of each model in the model set through a fuzzy logic controller, wherein the input of the fuzzy logic controller comprises a target acceleration change rate and a filtering information sequence; Based on the matching probability, carrying out interaction and mixing on the prediction states and covariance of the models in the model set, and then carrying out weighted fusion to output the target state prediction result; In each filtering period, calculating likelihood functions and posterior probabilities of the models, and fusing influence weights of shooting angles and shooting environment data on target motion prediction; when the target motion mode changes, the influence weight of each model is adjusted, so that the rapid adaptation to different modes is realized.
5. The method according to claim 4, wherein the strong tracking volume kalman filter algorithm is used to dynamically adjust the filter gain by introducing a time-varying fading factor to force the filtered residual sequence to be orthogonal, thereby ensuring stable output of the ballistic fall-off compensation value.
6. The method for real-time tracking and positioning of a highly dynamic target according to claim 1, further comprising the steps of creating and calling a ballistic data card: presetting a ballistic data card on a calculating rule, wherein the ballistic data card records reference ballistic drop amounts at different distances; based on the shooting environment data and the target state prediction result, correcting the reference falling quantity in the ballistic data card in real time; establishing a corresponding relation table of the distance and the ballistic drop through a ball firing test; the relation table is combined with a target state prediction result after the fuzzy logic adjustment and is used for dynamic compensation of ballistic data; When the firing equipment, ammunition or accessories are replaced, ball firing verification is performed again and the ballistic data card is updated while the parameters of the fuzzy logic controller are calibrated.
7. The method for real-time tracking and positioning of a high dynamic target according to claim 1, wherein the method is continuously executed in a cyclic manner to continuously acquire the visual size data and the environmental data of the target; dynamically updating the ballistic drop compensation value and the sighting telescope adjustment amount based on continuously acquired target observation data and shooting environment data; reflecting correction guidance based on dynamically updating the trajectory drop compensation value and the sighting telescope adjustment amount in real time through scale change of the slide rule or numerical value change of a display unit; performing a trajectory compensation algorithm based on the correction guidance to obtain a trajectory compensation value, and combining target state information of self-adaptive interaction multi-model prediction to obtain an offset of an aiming point relative to a target center, wherein the offset is calculated by fusing a target position corrected by strong tracking volume Kalman filtering and a wind deflection correction amount obtained by wind speed and wind direction calculation to obtain a fusion result; And based on the fusion result, comprehensively outputting and calculating the final aiming point three-dimensional coordinate to obtain the target position of the ballistic trajectory and the adaptive interaction multi-model prediction.
8. The method of claim 1, wherein outputting a correction instruction for directing a shooter to complete a next shooting task comprises: outputting a target state estimated value subjected to self-adaptive interaction multi-model and strong tracking volume Kalman filtering processing to generate a target motion track containing position, speed and acceleration information; providing a real-time track display function, supporting two-dimensional and three-dimensional visual display, wherein the display content comprises a target position historical track and aiming reference information after division unit conversion; Predicting the target motion trail, and predicting the predicted position of the target in a period of time in the future based on the target state estimation value so as to guide a shooter to finish the next shooting task; The correction instruction comprises a sighting telescope adjustment quantity, an elevation or wind deflection correction value taking a close position value or an angle value as a unit, a target motion track, a predicted aiming point, a trajectory falling compensation value, a vertical correction value taking gravity, environment and angle into consideration, and a wind deflection correction value, wherein the target motion track is a two-dimensional or three-dimensional track display of a historical position and a predicted future position, the predicted aiming point is an advance aiming point calculated based on the future position of the target, and the trajectory falling compensation value is a transverse correction value calculated based on wind speed and wind direction.
9. A high dynamic target real-time tracking and positioning system for executing a high dynamic target real-time tracking and positioning method according to any one of claims 1-8, comprising: the data acquisition module is used for acquiring a plurality of target observation data and shooting environment data, wherein the target observation data comprises a secret bit value or an angular value measured by a sighting telescope and a known physical size of a target, and the shooting environment data comprises at least one of wind speed, wind direction, temperature, air pressure and shooting angle; the distance measuring and calculating module is used for obtaining the measuring and calculating distance of the target by operating the distance calculating scale on the prefabricated calculating ruler to align based on the close position value or the angle value and the known physical size; The aiming correction module is used for calculating a ballistic drop compensation value through a ballistic compensation algorithm based on the measuring and calculating distance and the shooting environment data, wherein the ballistic compensation algorithm adopts a self-adaptive interaction multi-model to predict a target state, and adopts a strong tracking volume Kalman filter to correct a prediction result; and the instruction output module is used for generating a corresponding sighting telescope adjustment quantity by operating the trajectory compensation scale on the prefabricated slide rule based on the trajectory falling compensation value, and outputting a correction instruction for guiding shooting so as to guide a shooter to finish the next shooting task.
10. A computer readable storage medium storing computer readable instructions which when read by a computer are capable of running a high dynamic object real time tracking positioning method according to any of claims 1-8.

Description

High dynamic target real-time tracking and positioning method, system and medium Technical Field The invention relates to the technical field of shooting assistance and target tracking, in particular to a method, a system and a medium for real-time tracking and positioning of a high-dynamic target. Background In modern tactical shooting and remote sniping tasks, a shooter often needs to strike a target moving at a high speed or moving at a non-uniform speed accurately under complex environmental conditions. Traditional range finding mode mainly relies on active optical range finding equipment such as laser range finder, and to sniper, use active optical equipment can produce the light spot, and the target can be alert to some extent, can expose the risk of self position in advance even for task completion rate greatly reduced. In addition, in the field environment, most sniper shooting angles are prone or elevation shooting, and the measurement of the shooting angles is difficult to achieve through devices such as a trajectory solver and a laser range finder carried by the sniper, so that hit accuracy is affected. Optical ranging based on the compact-positioning method or the angular Method (MOA) is widely applied to field combat scenes without electronic equipment support. The multifunctional slide rule is used as a simulation calculation tool without a power supply, can quickly estimate the distance through the ratio of the physical size of a target to the density reading, and provides aiming correction reference by combining a preset ballistic data card. However, such tools are generally only suitable for static targets and fixed environmental parameters, lack of prediction capability for the motion state of high-dynamic targets, and cannot be used for comprehensive compensation by fusing multi-source environmental data such as wind speed, temperature, air pressure, shooting angle and the like in real time. In addition, the existing method is difficult to realize accurate trajectory calculation and continuous tracking when facing the conditions of shooting on sloping fields, abrupt speed change or direction change of targets and the like. With the development of intelligent algorithms, part of high-end aiming systems start to introduce Kalman filtering, interactive multi-model (IMM) and other algorithms to improve the target track prediction accuracy. However, these systems rely on electric driving and complex sensor integration, and have problems of high cost, poor reliability, weak anti-interference capability, and the like, so that the systems are difficult to stably operate in extreme environments. Particularly, in a battlefield environment without a network, low power consumption or serious electromagnetic interference, the electronic equipment is easy to fail, and the purely mechanical computing tool cannot meet the real-time correction requirement of a dynamic target. Therefore, how to combine the robustness of the mechanical calculation tool with the predictive capability of the modern intelligent filtering algorithm to construct a comprehensive tracking and positioning scheme which can not only operate in a non-electric environment, but also cope with the influence of a high dynamic target and complex terrain becomes a technical problem to be solved currently. Disclosure of Invention The invention provides a method, a system and a medium for real-time tracking and positioning of a high-dynamic target, which solve the technical problems that the traditional sniping auxiliary means are difficult to measure a high-speed moving target in a complex environment, have inaccurate ranging and delayed trajectory compensation, and cannot adapt to terrain change and target maneuverability in the prior art. The invention provides a method, a system and a medium for real-time tracking and positioning of a high dynamic target, which comprise the following steps: in a first aspect, a method for real-time tracking and positioning of a high dynamic target includes: The method comprises the steps of obtaining a plurality of target observation data and shooting environment data, wherein the target observation data comprises a secret bit value or an angular value measured by a sighting telescope and a known physical size of a target, and the shooting environment data comprises at least one of wind speed, wind direction, temperature, air pressure and shooting angle; The method comprises the steps of reading a secret value or an angular value occupied by a target through a sighting telescope reticle based on the secret value or the angular value and a known physical size, aligning a calculating rule scale according to the known or estimated physical size of the target, aligning a target size scale on the left side of the calculating rule with a secret or angular scale on the right side of the calculating rule, directly reading a measuring distance of the target in a distance scale window of the calculating rule after