轻量化弹道解算系统火控修正和瞄准线滤波预测  

Fire Control Correction and Line-of-sight Filtering Prediction of Lightweight Ballistic Calculation System

作　　者：申程 张连超[1] 张卓 朱文亮 陈雨康 SHEN Cheng;ZHANG Lianchao;ZHANG Zhuo;ZHU Wenliang;CHEN Yukang(College of Intelligence Science and Technology,National University of Defense Technology,Changsha 410073,Hunan,China;Beijing Institute of Precision Mechatronics and Controls,Beijing 100076,China)

机构地区：[1]国防科技大学智能科学学院,湖南长沙410073 [2]北京精密机电控制设备研究所,北京100076

出　　处：《兵工学报》2024年第2期429-442,共14页Acta Armamentarii

基　　金：湖南省研究生科研创新重点项目(QL20210007);国家部委级研究生资助课题重大项目(JY2021A007)。

摘　　要：为快速提高轻武器操作人员射击精度、缩短瞄准时间,设计一种超轻型、多种轻武器复用的弹道解算系统,并创新了火控修正方法。建立人体据枪-瞄准-击发过程模型,规划火控诸元解算、实时环境感知、多轻武器复用、交互和数据管理等基本模块,提出可快速、实时解算,基于国产化硬件平台的火控修正软件架构,通过系统综合设计,实现总重量394 g情况下的有效工作。针对显示滞后、击发装置延迟和传感器噪声等问题,结合人体卧姿射击运动特征提出一种瞄准线非线性扩展卡尔曼滤波预测方法,其误差补偿效果相比于匀加速预测补偿方法要好53.1%。为验证系统整体有效性,搭建600 m外场射击实验进行初学者分组对比测试。研究结果表明,该系统经短暂培训后可使新手迅速掌握白光瞄具射击要领,瞄准偏差方位方向为1.15 mm、俯仰方向为0.9 mm,可降低轻武器射击对个人经验依赖,提高射手的远距离射击能力。A ballistic calculation system and fire control correction method for ultralight and multiple small arms are proposed to reduce the preparation time and improve the accuracy of shooting.A model of gun-aiming-firing is established.The basic modules of fire control elements,real-time perception,multiple weapons,and interaction and data management are planned.A fire control correction software architecture based on domestic calculation platform is proposed.Through the integrated system design,the total weight is only 394 g.Nonlinear extended Kalman filter is proposed to solve the problems of graphic display lag,firing device delay and sensor noise.Its error compensation effect is 53.1%better than that of the standard uniform acceleration prediction and compensation method.600-meter field shooting experimental test was set up for group comparison test for beginners.The results show that the system can make a novice quickly master the essentials of shooting through the optical sight after short training.The aiming deviation is 1.15 mm in azimuth and 0.9 mm in pitch.It can reduce the dependence of light weapon shooting on personal experience and improve the long-distance shooting ability of a novice.

关 键 词：弹道解算系统 轻武器 火控修正 扩展卡尔曼滤波 瞄准偏差 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]