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CN-122015592-A - Array type high-speed shooting track parameter measurement method, device and system

CN122015592ACN 122015592 ACN122015592 ACN 122015592ACN-122015592-A

Abstract

The invention discloses an array type high-speed shooting trajectory parameter measurement method, device and system, and aims to solve the problem that measurement means of the initial and final stage of launching of a high-altitude flight body are limited. The method comprises the steps of carrying out intelligent processing on a high-speed image sequence by adopting a multi-stage track detection algorithm combining a reverse dynamic threshold value and trajectory constraint guiding, calculating trajectory parameters of a high-rotation flying body, combining a high-speed image array deployed in a launching zone and a landing zone, a muzzle initial-speed radar and a communication unmanned plane network, realizing multi-angle and high-frame-rate synchronous observation and reliable data transmission of a trajectory key zone, and carrying out fusion on initial-stage high-precision position, gesture and speed information acquired by high-speed image capturing under a unified time reference on a system by deploying the multi-stage track detection algorithm in a data center of a ground workstation, so that measurement bottlenecks are broken through, data gaps are filled, and key data support is provided for researching launching disturbance, flight stability and control system response.

Inventors

  • DENG ZHIHONG
  • XU MENGZHUO
  • QI WENHAO
  • SHEN KAI
  • LIU NING
  • ZHAO WENJIANG
  • Peng Haocheng

Assignees

  • 北京理工大学

Dates

Publication Date
20260512
Application Date
20251107

Claims (9)

  1. 1. The array type high-speed shooting trajectory parameter measurement system is characterized by comprising a transmitting area high-speed shooting array (100), a falling point area high-speed shooting array (200), a communication unmanned aerial vehicle array (300), an initial-speed radar (400) and a data center (500) arranged on a ground workstation; the high-speed shooting array (100) of the launching zone comprises at least 3 high-speed cameras which are respectively arranged at two sides of the launching point and behind the launching point, wherein one high-speed camera is positioned right behind the launching point and used for monitoring the gesture, the speed and the position of the yaw direction of the high-speed flying body after being launched, and the two high-speed cameras are positioned right in front of the launching point and symmetrically distributed along the launching surface and used for monitoring the gesture, the speed and the position of the shooting direction of the high-speed flying body after being launched; The landing point region high-speed camera array (200) comprises at least 3 high-speed cameras which are respectively arranged at two sides of a preset landing point and in front of the preset landing point, wherein one high-speed camera is positioned right in front of the preset landing point and used for monitoring the gesture, the speed and the position of the high-speed flying body in the yaw direction before landing; the communication unmanned aerial vehicle array (300) is used for providing a relay node for a communication link, can be communicated with an in-situ measurement device of a high-rotation flying body and the measurement unmanned aerial vehicle array in the whole course, and transmits measurement information to a ground workstation in real time to form an air-ground communication link for real-time networking communication; The muzzle initial speed radar (400) is arranged in front of the muzzle, the beam axes of the muzzle initial speed radar are strictly parallel and aligned with the axis of the bore, and the Doppler effect is utilized to measure the initial speed of the high-rotation flying body when the high-rotation flying body exits the muzzle; The data center (500) receives the measurement data of the high-speed camera array (100) of the measurement transmitting area and the high-speed camera array (200) of the landing area in real time through the communication unmanned aerial vehicle, and fuses the measurement data under the same time reference.
  2. 2. An array type high-speed shooting trajectory parameter measurement system according to claim 1, wherein a plurality of optical image acquisition units are arranged on the high-speed shooting array (100) of the emission area and the high-speed shooting array (200) of the landing area, each unit is provided with a high-frame rate camera and an optical lens, and the high-frame rate camera and the optical lenses are arranged on two sides of the trajectory and are used for synchronously acquiring image sequences of the discharge and flight processes of a high-rotation flying body.
  3. 3. An array type high-speed shooting trajectory parameter measurement system according to claim 1, wherein the high-speed shooting array (100) of the emitting area and the high-speed shooting array (200) of the falling point area are further integrated with a communication module for transmitting image data to the data center (500) through the communication unmanned aerial vehicle array (300).
  4. 4. An array type high-speed shooting trajectory parameter measurement system as claimed in claim 1, wherein a doppler measurement unit is built in the muzzle initial speed radar (400) and is used for measuring the initial speed of the high-rotation flying body at the moment of the exit of the muzzle and transmitting the initial speed data to the data center (500) through the communication module.
  5. 5. The array type high-speed shooting trajectory parameter measurement system according to claim 1, wherein the communication unmanned aerial vehicle array (300) is deployed above a measurement area and is provided with a communication module.
  6. 6. The array type high-speed shooting trajectory parameter measurement system according to claim 1, wherein the data center (500) is a core processing unit of the system, and comprises a system initialization and parameter configuration module, an image frame reading and preprocessing module, an inverse dynamic threshold trajectory detection module, a trajectory modeling module, a trajectory constraint-based target detection module, a target trajectory optimization and coordinate conversion module and a speed calculation and result output module.
  7. 7. A method of measuring ballistic parameters based on the measurement system according to any one of claims 1 to 7, comprising: s21, extracting video data transmitted back by each high-speed camera in the high-speed camera array (100) of the transmitting area and the high-speed camera array (200) of the falling point, and carrying out system initialization and parameter configuration; S22, image frame reading and preprocessing; Step S23, reverse dynamic threshold trajectory detection: Setting a group of decreasing gray threshold sequences according to the shooting environment and image quality, dividing the frames in the video into a front part and a rear part, extracting the frames in the rear half part of the video, and detecting by adopting the following method: Reading a first threshold value in the gray threshold value sequence, carrying out binarization segmentation on a preprocessed image based on a current threshold value, adopting a disc structural element to execute closed operation to connect adjacent areas, marking connected areas, extracting morphological characteristics, sequentially judging whether the extracted target area, the aspect ratio and the solidity exceed the corresponding threshold value ranges, judging whether the displacement exceeds the speed threshold value ranges in unit time or not, if the conditions are met, detecting successfully, storing the extracted target coordinates, if the displacement does not pass, carrying out binarization segmentation by using a next threshold value, and if the traversing of all the threshold values in the gray threshold value sequence is still not detected successfully, marking the frame as an abnormal frame, and switching the next frame for detection; step S24, modeling the high-rotation flying body track; Step S25, target detection based on track constraint: first, the track is translated up and down by a track model Two trajectory restraining strips are formed: (6) In the formula, For the upper boundary of the track-bound band, A lower boundary of the track restraining band; For a set amount of y-axis translation, in 1080p images, A pixel; next, the target position detected from the previous frame Sum speed of Establishing a speed-based constraint band: (7) In the formula, Is the frame rate of the video; For a set x-axis translation amount, in 1080p images, A pixel. For the region where the track restraining band and the speed-based restraining band enclose, the target detection is carried out on the frame of the first half part in the region far away from the emitting point side: firstly, selecting the mass center of a connected domain with the largest area as a target position When the target detection fails, adopting the track model to extrapolate the position of the target to set as To take the following steps Establishing a secondary detection area with a set size for the center, re-detecting the target, recording the frame as an abnormal frame when the secondary detection fails, and adopting an extrapolation position Updating the speed-based constraint band using equation (7); Step S26, optimizing a target track, and converting coordinates into a physical space coordinate system; And step S27, calculating the actual movement speed of the target based on the target track and outputting the actual movement speed.
  8. 8. The ballistic parameter measurement method according to claim 7, wherein the image frame reading and preprocessing in step S22 comprises: firstly, converting an RGB image into a YUV color space, and extracting a brightness component; Secondly, suppressing Gaussian noise and enhancing local contrast; thirdly, performing sharpening operation, and enhancing high-frequency components through differences between the original image and the Gaussian blur image; And finally, judging whether to perform pixel value inversion processing according to the target reflection characteristics, namely calculating the median value of all pixels of the image, and performing the pixel value inversion processing if the median value is smaller than a set threshold value.
  9. 9. The method of measuring ballistic parameters of claim 7 wherein, in a 1080p image, A pixel; A pixel.

Description

Array type high-speed shooting track parameter measurement method, device and system Technical Field The invention relates to the technical field of measurement of flight parameters of a high-rotation flying body, in particular to an array type high-speed shooting track parameter measurement method, device and system. Background The acquisition of the motion parameters of the high-rotation flying body such as guided projectile and the like in the flying process has important significance for the analysis and the optimization of the dynamics characteristics and the control system. From the practical measurement perspective, the whole track can be divided into 5 key stages according to the flight state and the applicability of the measurement means, namely a transmitting transient stage, a fusion transition stage, a combined navigation stage, a control identification stage and a falling point constraint stage. Among other things, the transmit transient and drop point constrained segments face particularly severe measurement challenges. In the transient emission period (less than or equal to 600 ms), the flying body bears extremely high overload, severe impact vibration and high-speed rotation, so that the internal in-situ measurement system is saturated or disabled instantaneously, the electronic element is overrun due to high-temperature jet flow and high-speed pneumatic heat of the engine, and the data acquisition difficulty is further aggravated due to strong electromagnetic interference and satellite signal lock losing. In the landing point constraint section (about 2s before landing), the flying body is in a high-speed diving state, and the measurement complexity is obviously increased by severe attitude change and environmental interference. The available measurement means in the two stages are severely limited, and an external measurement technology is needed to fill the data loss. The high-speed camera shooting measurement technology is not influenced by extreme mechanics, heat and electromagnetic environment in the flying body, can visually capture the transient space position and posture change of the high-speed rotating body at the frame rate of tens of thousands of seconds, and can effectively fill the data blank of the transmitting transient section and the falling point constraint section. However, the measurement accuracy of pure high-speed photography is easily affected by illumination, image quality, calibration accuracy and background interference, and is difficult to adapt to complex and changeable environments during the launching of a high-rotation flying body. Therefore, there is a need to develop an innovative method to provide high-precision track parameter measurement results when the measurement means of the transient transmission section and the landing point constraint section are limited, and finally realize comprehensive acquisition of the whole-course high-precision and complete flight parameters of the high-rotation flight body. Disclosure of Invention In view of the above, the invention aims to provide an array type high-speed shooting track parameter measuring method, device and system, which realize comprehensive acquisition of the whole-course high-precision and complete flight parameters of a high-rotation flight body. An array type high-speed shooting trajectory parameter measurement system comprises a high-speed shooting array 100 of a transmitting area, a high-speed shooting array 200 of a falling point area, a communication unmanned aerial vehicle array 300, an initial-speed radar 400 and a data center 500 arranged on a ground workstation; The high-speed shooting array 100 of the launching zone comprises at least 3 high-speed cameras which are respectively arranged at two sides of the launching point and behind the launching point, wherein one high-speed camera is positioned right behind the launching point and used for monitoring the gesture, the speed and the position of the yaw direction of the high-speed flying body after being launched; The landing point zone high-speed camera array 200 comprises at least 3 high-speed cameras which are respectively arranged at two sides of a preset landing point and in front of the preset landing point, wherein one high-speed camera is positioned right in front of the preset landing point and used for monitoring the gesture, the speed and the position of the high-speed flying body in the yaw direction before landing; The communication unmanned aerial vehicle array 300 is used for providing a relay node for a communication link, can be in communication with an in-situ measurement device of a high-rotation flying body and the measurement unmanned aerial vehicle array in the whole course, and transmits measurement information to a ground workstation in real time to form an air-ground communication link for real-time networking communication; The muzzle initial speed radar 400 is arranged in front of the muzzle, the beam axes of the m