A Measurement Method and Calculation Mathematical Model of Projectile Fuze Explosion Position Using Binocular Vision of AAVs

To improve the shortcomings of the traditional testing method of the uncertainty projectile fuze explosion dispersal, this article introduces two autonomous aerial vehicles (AAVs) with high-speed cameras as test platform to form a new measurement system of projectile fuze explosion position. In the new measurement system, we set up the calculation mathematical model of projectile fuze explosion position using the triangle method based on the binocular vision of two AAVs and derive the coordinate calculation function of the projectile fuze explosion position relative to the simulated missile target. In addition, we propose an image recognition method of projectile explosion firelight image and simulated missile target image using the SR algorithm and EdgeBox algorithm fusion and study the calculation method of the average position of all particle mass distribution in the projectile explosion firelight area image to determine the pixel coordinates of the centroid of the projectile explosion area. Based on the determined centroid pixel coordinates of the projectile explosion area and the reference coordinate origin of the simulated missile target, the actual projectile fuze explosion position can be obtained according to the established calculation model. Through the comparative test, the results show that the proposed test method has higher flexibility and can realize the measurement of uncertain projectile fuze explosion position dispersion, and the correct capture rate is much higher than traditional testing methods.