Research and application on modeling and landing point prediction technology for water jet trajectory of fire trucks under large-scale scenarios.

To let water jets land at the fire, pitch angle of the fire monitor has to be adjusted manually with successive rounds, which seriously affects the efficiency of fire extinguishing. To improve the efficiency, this paper proposes a technology for water jet trajectory modeling and landing point prediction to help with extinguishing automatically. Considering fragmentation and atomization of water jets, trajectories are analyzed and the predicted trajectory is closer to the real situation. Secondly, a compensation method for the prediction is proposed to further reduce the deviation between the predicted and the actual landing point, taking into account the combined effects of high altitude, initial jet velocity, and wind. On this basis, considering the difficulty of directly solving the analytical solution to the target initial pitch angle of the jets, a searching method is also proposed, which greatly improves the solving efficiency. Finally, through practical experiments and verification, the proposed model takes an average time of 0.00292 s, which is far less compared with other methods. The prediction error is improved by at least 45.3%, and the average deviation is less than 2 m.