脱壳弹弹托分离的双目视觉测量  

Binocular vision measurement of sabot discard of shell piercing projectile

作　　者：李湘平[1] 鲁军勇[1] 张晓[1] 程龙 李松乘 LI Xiangping;LU Junyong;ZHANG Xiao;CHENG Long;LI Songcheng(National Key Laboratory of Science and Technology on Vessel Integrated Power System,Naval University of Engineering,Wuhan 430033,China)

机构地区：[1]海军工程大学舰船综合电力技术国防科技重点实验室,湖北武汉430033

出　　处：《国防科技大学学报》2023年第1期150-156,共7页Journal of National University of Defense Technology

基　　金：国家自然科学基金资助项目(92266106,52107065,51925704,51907203,51877214)。

摘　　要：脱壳弹的弹托分离过程对弹体的飞行稳定性和打击效能具有显著的影响。针对脱壳弹出膛后弹托相对弹体的六自由度运动过程,提出采用基于双目视觉原理的弹托分离角测量方法。通过在弹体表面和弹托表面设置标记点,采用图像处理和跟踪算法实现对标记点的识别和跟踪。结合双目空间标定参数解算出标记点的空间位置,进而获得弹托相对弹体的分离角度,同时采用实验验证了上述测量方法的精度,其精度达到2%。以实验室进行的初速度1550 m/s和1750 m/s的脱壳弹射击试验为例,测量并分析了不同初速度下的弹托分离轨迹。结果表明:脱壳弹分离初速度越快,弹托分离轨迹越靠近弹体。The sabot discard process of shell piercing projectile has significance on the flight stability and strike efficiency of it.Aiming at the six degrees of freedom movement process of shell piercing projectile after leaving the chamber,a measurement method of sabot discard angle based on the principle of binocular vision was proposed.By setting some markers on the surface of projectile and sabot,the recognition and tracking of the markers were realized with the image processing and tracking algorithms.The spatial locations of these marker were calculated by combining with the binocular calibrated space parameters,and the discard angle of sabot relative to the projectile was obtained.Meanwhile,the accuracy of the method above was validated by experiment which was proved to be 2%.Taking the shell piercing projectile launching at initial velocities of 1550 m/s and 1750 m/s conducted in the laboratory as an example,the discard trajectories under different muzzle velocity were measured and analyzed.The results show that the faster the discard initial velocity is,the closer the discard trajectory is to the projectile.

关 键 词：脱壳弹 弹托分离 双目视觉 空间解算 

分 类 号：TP394.1[自动化与计算机技术—计算机应用技术] TH691.9[自动化与计算机技术—计算机科学与技术]