阅读说明：本技术 一种炸点高度的测量结构及其实现方法 (Measuring structure for height of frying point and implementation method thereof ) 是由 雷鸣 魏效霞 雷志勇 于 2021-07-22 设计创作，主要内容包括：本发明涉及被动声定位技术领域,具体涉及一种炸点高度的测量结构及其实现方法。本发明技术方案包括三个声传感器和一个红外探测器,三个声传感器设置于炸点高度下方的地面上,红外传感器用于测炸点爆炸时刻；所述的三个传感器的连线组成等腰直角三角形,且三个声传感器设置于同一平面。本发明为了测量空爆弹炸点的高度,采用非接触、弹外测量方式,并在爆炸点附近地面布置三个声传感器,组成三点阵进行被动声探测,能够根据不同声传感器所测量的声音时间差以及几何算法,进而可以精确的测量出炸点的高度。(The invention relates to the technical field of passive acoustic positioning, in particular to a structure for measuring the height of a frying point and an implementation method thereof. The technical scheme of the invention comprises three acoustic sensors and an infrared detector, wherein the three acoustic sensors are arranged on the ground below the height of a explosion point, and the infrared sensor is used for measuring the explosion time of the explosion point; the connecting lines of the three sensors form an isosceles right triangle, and the three acoustic sensors are arranged on the same plane. In order to measure the height of the explosion point of the empty explosion bomb, the invention adopts a non-contact and extrabomb measuring mode, and three acoustic sensors are arranged on the ground near the explosion point to form a three-lattice for passive acoustic detection, so that the height of the explosion point can be accurately measured according to the acoustic time difference and the geometric algorithm measured by different acoustic sensors.)

1. A measurement structure of fried some height which characterized in that: the system comprises three acoustic sensors A, B, C and an infrared detector which are arranged on the ground near a frying point, wherein the infrared sensors are used for measuring the initial moment of explosion of the frying point;

the connecting lines of the three sensors form an isosceles right triangle, and the length of the two right-angle sides is 10-60 meters.

2. A fry spot height measurement structure according to claim 1 wherein: the three acoustic sensors are arranged on the same plane.

3. The method of measuring fry spot height with a measuring structure of claim 1 wherein: the method comprises the following steps:

1) measuring the distance between the point P of the explosion point and each acoustic sensor;

firstly, the explosion time of an explosion point is measured by an infrared detector and is used as the initial time t of the test₀(ii) a Second, acoustic sensor A passes through t_CAReceiving an explosion signal in seconds, wherein the distance between the explosion signal and an explosion point is PA, and C is the sound velocity;

t_GA*C＝PA (2.2-1)

acoustic sensor B passes t_GBReceiving a signal of explosion of an explosion point in seconds, wherein the distance between the signal and the explosion point is PB, and C is the sound velocity;

t_GB*C＝PB (2.2-2)

acoustic sensor C passes through t_GCReceiving an explosion signal of an explosion point in seconds, wherein the distance between the explosion point and the explosion point is PC, and C is the sound velocity;

t_GC*C＝PC (2.2-3)

2) calculating the height of a frying point;

a rectangular coordinate system is established, wherein the acoustic sensor B is taken as the origin of coordinates, BC and BA are respectively taken as an X axis and a Y axis, PD is vertical to AB, PE is vertical to BC,

acoustic sensor A (0, d)₁,0)，B(0,0,0)，C(d₂0,0), points D (0, a,0), E (B,0,0) assuming points D, E are a, B, respectively, from acoustic sensor B (origin of coordinates);

finally, the coordinates of the frying point P can be accurately measured as (a, b, z) through the sound time difference measured by different sound sensors and a geometric algorithm₁) Or (a, b, z)₂) I.e. z₁Or z₂Is the height of the fry spot.

Technical Field

The invention relates to the technical field of passive acoustic positioning, in particular to a structure for measuring the height of a frying point and an implementation method thereof.

Background

The height from the ground when the air-blast bomb explodes is accurately measured, and the height is one of important indexes for judging whether the weapon is qualified. Meanwhile, the height of the explosion point of the air bomb also influences the damage degree of the target by the weapon. If the height from the ground is too high during explosion of the air bomb, the damage degree to the ground target is reduced; on the contrary, if the height from the ground is too low during explosion of the air bomb, the damage area to the ground is increased. So that the damage to people and other objects on the ground can be achieved only when the explosion occurs at a proper height.

At present, the common acoustic positioning structures include a quaternary array, a circular array and the like, and the adopted methods include a beam forming method, a high-resolution spectrum estimation method and a time difference of arrival (TDOA) method. There are problems that: the 1 quaternary array has the defects that the orientation distance is related to the azimuth angle, and the positioning precision is poor; 2. the circular array needs a large number of sensors, so that the operation is complex, and the later maintenance is difficult; 3. the beam forming method and the high-resolution spectrum estimation method have the defects of large calculation amount, inconvenience for real-time calculation and the like, and the time difference of arrival (TDOA) method has large errors in estimating the time delay from an explosion point to each sensor, so that the measurement accuracy is not high.

Therefore, the method for measuring the height from the ground during explosion of the air-burst bomb by adopting the acoustic positioning has important significance.

Disclosure of Invention

In view of this, the present invention provides a structure for measuring a height of a burst point and a method for implementing the same, in order to solve the problems of complex operation and low measurement accuracy of multi-element array measurement of burst height.

In order to solve the problems in the prior art, the technical scheme of the invention is as follows: a measurement structure of fried some height which characterized in that: the system comprises three acoustic sensors A, B, C and an infrared detector which are arranged on the ground near a frying point, wherein the infrared sensors are used for measuring the initial moment of explosion of the frying point;

the connecting lines of the three sensors form an isosceles right triangle, and the length of the two right-angle sides is 10-60 meters.

Further, three acoustic sensors are placed on the same plane.

The method for measuring the height of the frying point by the measuring structure comprises the following steps:

1) measuring the distance between the point P of the explosion point and each acoustic sensor;

firstly, the explosion time of an explosion point is measured by an infrared detector and is used as the initial time t of the test₀(ii) a Secondly, the acoustic sensor A passest_CAReceiving an explosion signal in seconds, wherein the distance between the explosion signal and an explosion point is PA, and C is the sound velocity;

t_GA*C＝PA (2.2-1)

acoustic sensor B passes t_GBReceiving a signal of explosion of an explosion point in seconds, wherein the distance between the signal and the explosion point is PB, and C is the sound velocity;

t_GB*C＝PB (2.2-2)

acoustic sensor C passes through t_GCReceiving an explosion signal of an explosion point in seconds, wherein the distance between the explosion point and the explosion point is PC, and C is the sound velocity;

t_GC*C＝PC (2.2-3)

2) calculating the height of a frying point;

a rectangular coordinate system is established, wherein the acoustic sensor B is taken as the origin of coordinates, BC and BA are respectively taken as an X axis and a Y axis, PD is vertical to AB, PE is vertical to BC,

acoustic sensor A (0, d)₁,0)，B(0,0,0)，C(d₂0,0), points D (0, a,0), E (B,0,0) assuming points D, E are a, B, respectively, from acoustic sensor B (origin of coordinates);

finally, the coordinates of the frying point P can be accurately measured as (a, b, z) through the sound time difference measured by different sound sensors and a geometric algorithm₁) Or (a, b, z)₂) I.e. z₁Or z₂Is the height of the fry spot.

Compared with the prior art, the invention has the following advantages:

1. the invention uses three acoustic sensors and one infrared detector to measure the height of the frying point, and has simple structure, small volume, simple operation and low cost;

2. according to the method for realizing the explosion height measurement model, the initial moment of explosion of the explosion point is obtained through the measurement of the infrared detector, and the time delay does not need to be estimated, so that the measurement precision can be improved;

3. the invention only adopts three acoustic sensors, so the calculation amount is small, the measurement precision is higher, and the implementation and the processing are easy.

4. The three sound sensors are positioned on the same plane, and the sound source can be positioned on the whole plane due to the planar array, the required algorithm is not difficult to calculate, and meanwhile, the later maintenance is also very convenient.

5. The invention utilizes three-point array passive detection to complete the positioning of the frying point by passively receiving the signal of the frying point. The method has the advantages of good concealment, high safety, convenience in installation and the like.

Description of the drawings:

FIG. 1 is a schematic illustration of the detonation of the blank charge of the present invention at different elevations;

FIG. 2 is a plan view of the sensors of the present invention;

FIG. 3 is a time difference between an infrared sensor and an acoustic sensor of the present invention;

FIG. 4 is a fry height measurement layout (mathematical model) of the present invention.

Detailed Description

The technical solution of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. It is to be understood that the described embodiments are only a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In order to measure the height of the explosion point of the empty explosion bomb, the invention adopts a non-contact and extrabomb measuring mode, and three acoustic sensors are arranged on the ground near the explosion point to form a three-lattice for passive acoustic detection, so that the height of the explosion point can be accurately measured according to the acoustic time difference and the geometric algorithm measured by different acoustic sensors.

The adopted measuring structure for the height of the explosion point comprises three sound sensors and an infrared detector, wherein the three sound sensors are arranged on the ground below the height of the explosion point, and the infrared sensor is used for measuring the explosion time of the explosion point;

the connecting lines of the three sensors form an isosceles right triangle, and the three acoustic sensors are arranged on the same plane.

Referring to fig. 1 and 2, 3 acoustic sensors, designated a, B, C, respectively, and an infrared detector G are disposed on the ground near the point of detonation of the empty bomb projectile.

Three acoustic sensors are placed according to FIG. 4 with sensor B as the origin and sensor A, C at a distance d from sensor B₁、d₂. There are several requirements for arranging these acoustic sensors:

(1) AB and BC are vertical;

(2) AB and BC are equal;

(3)d₁、d₂the range of (A) is 10-60 m;

(4) the three ABC acoustic sensors are positioned on the same plane;

(5) the infrared sensor is placed according to the field condition;

the invention provides a method for realizing a structure for measuring the height of a frying point, which comprises the following steps:

step 1: measuring the distance (meter) between the explosion point P and each acoustic sensor

As shown in FIG. 3, the horizontal axis is time t, the vertical axis is voltage function v (t), and the explosion time of the explosion point is firstly measured by an infrared detector as the initial time t of the test₀(ii) a Second, acoustic sensor A passes through t_CAThe second receives an explosion signal at a distance from the explosion point (C is the speed of sound, assumed to be a constant, equal to 340 m/s)

t_GA*C＝PA (2.2-1)

Acoustic sensor B passes t_GBSecond receives a signal of explosion of the explosion point, at a distance from the explosion point (C is the speed of sound, assumed to be a constant, equal to 340 m/s)

t_GB*C＝PB (2.2-2)

Acoustic sensor C passes through t_GCThe second receives the explosion signal of the explosion point, and the distance from the explosion point is (C is the sound velocity, and is assumed to be a constant value and is equal to 340 m/s)

t_GC*C＝PC (2.2-3)

Step 2: calculating the height of the explosion point

Establishing a rectangular coordinate system with the acoustic sensor B as the origin of coordinates, BC and BA as the X axis and the Y axis respectively, and assuming PD to be perpendicular to AB and PE to be perpendicular to BC as shown in FIG. 4:

acoustic sensor A (0, d)₁,0),B(0,0,0),C(d₂0,0), the setpoint D, E are respectively setDistances to acoustic sensor B (origin of coordinates) are a, B, points D (0, a,0), E (B,0,0).

When the cross point D, P and the cross point E, P are respectively defined as a plane DP and a plane EP, the normal vectors of the two planes are respectively defined as

From the point equation of the plane to the equation (concise mathematics handbook p 2-45):

the equation for plane DP is:

d₁(y-a)＝0 (2.2-4)

the equation for the plane EP is:

d₂(x-b)＝0 (2.2-5)

simultaneous equations (2.2-4) and (2.2-5) to yield

In the triangular PAB, the distances of PA and PB and the distance of AB are known from (2.2-1) and (2.2-2) respectively₁According to the cosine theorem, the following results are obtained:

in the case of the right-angled triangle PDB,

then, the pythagorean theorem yields:

PD²＝PB²-DB² (2.2-9)

similarly, in the triangular PBC, the distance between PB and PC is known from (2.2-2) and (2.2-3), and the distance between BC is d₂According to the cosine theorem, the following results are obtained:

in the case of the right-angled triangle PDE,

then, the pythagorean theorem yields:

PE²＝PB²-BE² (2.2-12)

the values of a and b are obtained by simultaneous (2.2-7), (2.2-8), (2.2-10) and (2.2-11) resolution respectively.

It is clear that in the right triangle PFD and PFE, respectively, z is given by the law of collusion₁，z₂A value of (d).

So that the coordinates of the frying point P are (a, b, z)₁) Or (a, b, z)₂) I.e., fry spot height, is obtained.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and it should be noted that those skilled in the art should make modifications and variations without departing from the principle of the present invention.