Research On Underwater Projectile Attitude Test Technology

With the development of underwater weapons,there are more and more requirements for underwater ballistic testing system.The density of water medium is much higher than that of air.The projectile goes through many complicated processes such as roll,yaw,pitch and speed change in water.It is of great significance to accurately measure the attitude of the projectile in the process of motion for the test of underwater projectile motion characteristics.On water medium of the projectile test of imaging environment,by using pulse laser and high resolution digital imaging technology,filming the real image of underwater projectile,according to the imaging camera coordinate system transformation and camera calibration approach,taken according to the field of view and select the resolution of the camera,as well as by the projectile velocity and laser flash imaging quantity of fuzzy factors such as pulse width of the projectile,completed the imaging device to the selection of key parameters and related equipment selection.An underwater real image shooting system based on binocular vision imaging composed of pulse laser and two high resolution cameras is designed and the controller of the system is developed.The timing controller mainly realizes the timing control relationship between pulse laser and camera in the imaging system.The timing controller is composed of multi-CPU structure.Timing and timing values are sent or read by the master computer through 232 interface.In order to achieve the timing of the timing circuit is stable and reliable work,from timing peripherals and local plastic trigger device of the signal filtering and disturbance rejection,using light coupling components to the isolation between input and output multiplexed signal crosstalk,pulsed laser power driver circuit was introduced to provide meet the output signal of driving ability;Through the internal 485,external 232 communication mode to achieve the PC to MCU host,MCU host to MCU slave between the communication,to complete the system control and data transmission functions.The timing control program was designed based on multiple microprocessors.The host microcontroller program mainly realized the RS232 communication between the timing controller and the industrial computer,completed the setting of the flash time of the pulse laser and the opening time of the camera shutter,and designed the multi-computer communication module to transmit the data to a specific slave computer.From machine microcontroller program to accept the host send specific pulse laser or camera shutter timing parameters,when after receiving target trigger signal,based on industrial computer distributed sequence of instructions,produce camera signal,control signal pulse laser and pulse laser tuning Q signal this three kinds of output signal,extensible number of signaling pathways,as well as the projectile the muzzle trigger signal and the laser feedback signal timing,realize the projectile target timing function and validated the timing controller to achieve timing accuracy requirement.Put forward a method of wavelet threshold optimization method to realize the image noise reduction,and aiming at the shortcomings of the traditional algorithm,the method of wavelet packet decomposition is proposed for underwater projectile edge detection,using the hough transform to realize linear transformation,for the projectile edge characteristic line direction vector intersection measurement,calculation of projectile pitching Angle and yaw Angle.Complete static experiment and validation.The imaging device was built,the real Angle of the projectile was obtained through the fine-tuning displacement platform,and the projectile with different angles in the water tank was filmed.The image of the projectile was extracted to calculate the attitude of the projectile,and the real values of pitch Angle and roll Angle were compared with the test results.The results show that the designed underwater projectile attitude testing system can accurately complete the projectile attitude testing system,and the designed timing controller is verified by the experiment,and the underwater projectile attitude testing system is feasible.