JP3427069B2 - Laser training system for shooting training, laser transmitter for shooting training, and laser receiver for shooting training - Google Patents

Description

Detailed Description of the Invention

TECHNICAL FIELD The present invention relates to a laser transmitting / receiving system for shooting training, a laser transmitter for shooting training, and a laser receiver for shooting training, and more particularly, by utilizing a position locator, as compared with a conventional shooting training system. A more realistic and combat shooting system. Firearms used in this shooting training system include aircraft, tanks, ground-to-air guided missiles, anti-tank guided missiles, anti-aircraft machine guns, and firearm toys used for amusement. BACKGROUND ART In this specification, "shooting" means outputting a shooting trigger signal from a firearm instead of a real bullet in response to a shooting action. Further, in the present specification, "representation" means that the fact of shooting was actually present, that there was a fact of being shot, and the degree of wear when the output was not a shooting laser signal but an actual bullet. Means to indicate.

1 to 3 are functional block diagrams of a shooting side device in a conventional laser training system for shooting training. As shown in FIG. 1, examples of the firearm shooting apparatus 11 include a machine gun launcher 12 and a rocket launcher 13. As shown in FIGS. 2 and 3, the conventional shooting side device 20
Has a controller 21, a shooting indicator 24 and transmitters 31 and 35. The controller 21 is a RAM for storing the identification number of the shooting side device and the firearm type information given by default.
22 and shooting trigger signals 1 and 2 output from the shooting device 11 of the firearm instead of the actual shot in response to the shooting action, R
A CPU 23 that receives information from the AM 22 and converts it into transmission trigger signals 1 and 2 and outputs a display trigger signal.
It has and. The shooting indicator 24 includes a smoke emitting device 25 for giving an indication by smoke and a speaker 26 for giving an indication by sound. The transmitters 31 and 35 respectively include driving units 32 and 36, modulators 33 and 37, a laser emitting unit 34,
And 38. From the laser emitting units 34 and 38, a shooting laser signal including the identification number of the shooting side device, shooting weapon type information, and shooting bullet type information is output. The transmitter 1 is attached to the machine gun, and the transmitter 2 is attached to the rocket gun. When shooting is performed, a shooting laser signal is output in the same direction as the direction in which the bullet flies.

4 and 5 show functional block diagrams of a target side device in a conventional laser transmitting / receiving system for shooting training. As shown in the figure, the conventional target device has a controller 41.
And a shooting indicator 44, a receiver 51, and a recording unit 56. The controller 41 is a RAM for storing the identification number of the device to be shot and the firearm type information given by default.
42 and a CPU 43 that determines the shooting effect and the degree of wear by random number processing. The shooting indicator 44 includes a smoke emitting cylinder 45 that indicates that the player has been hit by smoke and a speaker 46 that indicates that the player has received sound. Receiver 51
Is a laser light receiving unit 53, 54 and 55 for converting a shooting laser signal from the shooting side device into an electric signal, and a modulation unit for extracting an identification number, shooting fire type information and shooting bullet type information included in the received shooting laser signal. And 52. The laser light receiving part is attached to each part of the firearm equipped with the device on the side to be shot so as to receive the shooting laser signal from each direction. The record 56 includes a RAM 57 that receives and stores the identification number of the shooting side, the shooting firearm type information, the shooting bullet type information, and the result of the shooting effect determination output from the CPU 43, and an interface 58 with an external device (not shown). I have it.

In the conventional laser transmission / reception system for shooting training shown in FIGS. 1 to 5, the data included in the shooting laser signal transmitted by the shooting side device at the time of shooting is the identification number of the shooting side device 20 as described above. , Only the shooting firearm type information and the shooting bullet type information, the shooting effect determination is whether the hit or non-hit is determined only by whether or not the shooting side device 40 receives the shooting laser signal transmitted by the shooting side device 20. It was done. However, the actual arrival time of the shot ammunition is longer than the arrival time of the shooting laser signal, and usually takes several seconds.

Therefore, the conventional laser transmitting / receiving system for shooting training has the following problems. (1) Since the shooting side device was performing the shooting effect determination at the time of receiving the shooting laser signal, the arrival time of the actual shot was not simulated, and the positional relationship between the shooting side device and the shooting side device, the topography , Distance difference, shot type, and evasive behavior of the target side device were not reflected in the judgment of the shooting effect. (2) As for the degree of wear of the device to be shot by the shot side device, it was judged to be big, medium, small or close by random number processing when the shooting laser signal was received. The determination of the degree of wear did not reflect the positional relationship between the shooting side device and the shooting side device, the terrain, the distance difference, the shot type, and the avoidance behavior of the shooting side device. (3) Regarding the display of shooting, even if the shooting bullet type was different, the same display was made by sound and smoke, so there was a difference in the shooting bullet type after the driver on the shooting side confirmed the shooting. It was not possible to carry out the training of evasive behavior according to it. (4) As for the indication of wear on the side to be shot, even if the degree of wear was different, the same indication was given by sound and smoke, so the driver on the shooting side made a determination of the firing effect including the degree of wear. The result could not be confirmed. (5) Regarding the re-evaluation after the training, it is based only on the identification number of the shooting side device, the shooting firearm type information, the shooting bullet type information, and the result of the shooting effect determination recorded in the recording unit 56 of the shooting side device. It is a judgment, and it is necessary to use a separate image or the like to evaluate when and from which direction the shot was taken. DISCLOSURE OF THE INVENTION An object of the present invention is to provide a laser transmission / reception system for shooting training, a laser transmitter for shooting training, and a laser reception for shooting training which enable more realistic and efficient shooting training by providing the following functions. To provide a container. (1) A shooting effect determination including a distance difference between a shooting side device and a shooting side device, a shot type, a shooting weapon type, and an avoidance action of the shooting side device is performed. (2) The effect of the avoidance action using the terrain such as hiding in the shade of the shooting side is reflected in the shooting effect judgment. (3) Regarding the indication of shooting, the driver on the shooting side can confirm the type of firearm and the type of shooting shot by visual or sound. (4) Regarding the indication of wear, the driver on the shooting side can confirm the degree of wear visually or by sound. (5) After the training, by displaying the predetermined elapsed time after shooting, the position of the shooting machine, the trajectory of the shot machine, the trajectory of the shooting bullet, the hitting danger range, and the result of the shooting effect judgment, the evasion action on the shooting side Can be reassessed whether was appropriate.

In order to achieve the above object, according to the first aspect of the present invention, there is provided a laser transmitter for transmitting a laser signal in a shooting direction, the shooting laser signal being position information on the side of the laser transmitter. For the purpose of shooting training, the laser receiver is equipped with a modulator that modulates, and an information extractor that extracts position information from the shooting laser signal, and a determiner that determines the shooting effect of shooting using the extracted position information. It is a laser transmission / reception system.

According to the first aspect, the positional relationship between the transmitter side and the receiver side can be reflected in the shooting determination.

According to a second aspect of the present invention, in the first aspect, the laser transmitter transmits a modulated laser signal in response to a firing trigger signal from a firearm firing device.
According to the third aspect of the present invention, the position information on the laser transmitter side is the position information output from the shooting side position locator on the laser transmitter side.

According to the fourth aspect of the present invention, the position information is
It is the latest position information recorded continuously.

According to the second to fourth aspects, it is possible to reflect the positional relationship between the shooting side device and the shooting side device, the distance difference, the type of the shot ammunition, and the type of the shooting firearm in the shooting determination.

The present invention also provides a shooting training laser transmitter and a shooting training laser receiver in the above shooting training laser transmitting / receiving system.

Further, according to the present invention, in a shooting training controller for transmitting position information to a laser transmitter having a modulator for modulating a laser signal to be transmitted in the shooting direction with position information, a firearm firing device is provided. Also provided is a shooting training controller characterized in that position information from a shooting side position locator on the laser transmitter side is transmitted to the laser transmitter as position information for modulation according to the shooting trigger signal. .

The features and operations of the present invention described above will become more apparent by the following embodiments described with reference to the accompanying drawings. BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. (Outline of All Embodiments of the Present Invention) FIG. 6 is a functional block diagram of a part of a shooting side device 60 according to one embodiment of the present invention, and FIG. 7 is a shooting side device 6 according to this embodiment.
0 is another functional block diagram of part, and FIG. 8 is a functional block diagram of yet another part of the shooting side device 60 according to this embodiment.

6 to 8, the shooting side device 60
Is a position locator 65 that outputs the position information and time of the shooting side device 60, a setting device 71 that sets the identification number of the shooting side device 60 and firearm type information, a controller 73, and a shooting indicator 76. And transmitters 81 and 85.

The setting device 71 includes a switch 72 for setting information. The controller 73 receives the position information and time information output from the position locator 65, the identification number and the firearm type information from the output of the switch 72 in the setting device 71, and continuously updates the RAM 74, and the firearm. Shooting device 6
1 and a shooting trigger signal output corresponding to the shooting operation, and outputs a transmission trigger signal and a display trigger signal.

The firearm shooting device 61 includes a missile launcher 62, a machine gun launcher 63, a rocket launcher 64, and the like.

The transmitter 81 imitates shooting by a machine gun, and includes a driving section 82, a modulating section 83, and a laser emitting section 84 for outputting a shooting laser signal. Similarly, the transmitter 85 simulates shooting by a missile and a rocket gun, and includes a drive unit 86, a modulation unit 87,
And a laser emitting portion 88. The shooting laser signal includes the position of the shooting side device 60, the shooting time, the identification number of the shooting side device 60, the shooting weapon type information, and the shooting bullet type information.

FIG. 10 is a functional block diagram of a part of the fired side apparatus 100 according to one embodiment of the present invention, FIG. 11 is a functional block diagram of another part of the fired side apparatus 100 according to the above embodiment, and FIG. FIG. 7 is a functional block diagram of still another part of the apparatus 100 to be shot according to the above embodiment.

In FIGS. 10 to 12, the device 100 on the side to be shot is provided with a position locator 101 on the side to be shot and a controller 102.
It includes a wear indicator 111, a terrain recording unit 116, a receiver 121, an avoidance action recording unit 126, and an ammunition type parameter recording unit 129.

The controller 102 is the shooting side position locator 10
A RAM for receiving the position information and time information of the target side device 100 output from No. 1 and continuously updating the recorded contents.
103, the receiver 121, and the bullet type parameter recording unit 12
CPU 104 which receives the output of 9 and outputs a trigger signal and outputs data to the avoidance behavior recording unit 126.
Includes and.

The receiver 121 includes a plurality of laser light receiving portions (three laser light receiving portions 123, 124 and 125 in FIG. 12 as an example) that receive the shooting laser signal from the shooting side device 60 and convert it into an electric signal. , And a demodulation section 122 for demodulating the output of the laser light receiving section. The laser light receiving part is attached to each part of the firearm or personnel equipped with the device to be shot so as to receive the shooting laser signal from each direction.

The avoidance behavior recording unit 126 receives a shooting laser signal transmitted from the shooting side, and outputs a plurality of shots set for each of the position of the device 100 on the side to be shot, the position of the device 60 on the shot side, the actual bullet position, and the wear situation. RAM 127 that holds the range of tracking the target, the azimuth that was shot, and the result of the shooting effect determination
And an interface 128 with the avoidance behavior evaluation device.

The ammunition type parameter recording section 129 has a speed of the ammunition set for each type of firearm and a type of ammunition, a range for tracking a plurality of targets of the ammunition set for each wear state, an effective time of the ammunition or effective. Interface 131 between RAM 120 for holding the range and bullet type parameter writing device
Includes and.

First, a schematic of all embodiments of the present invention is shown in FIG.
47 to FIG. 47.

FIG. 44 is a flow chart for explaining the operations on the shooting side and the shot side before the start of training. In the figure, on the shooting side, in step 441, the setting device 72 sets the type of firearm attached to the shooting side device 60 and the identification number of the shooting side device 60. On the shot side, the terrain writing device 181 shown in FIG. 18 writes the coordinate range of the safe area by the terrain in the terrain recording unit 116 of the shot side device 100 in steps 442 to 444. Also, step 445
To 447, the bullet type parameter is set for each shooting firearm type and shooting bullet type used in the training, and is written in the bullet type parameter recording unit 129 of the apparatus 100 to be shot.

FIG. 45 is a flow chart for explaining the operations of the shooting side and the shot side during training. In the figure, during the training, the driver of each firearm performs a normal shooting action in steps 451 to 453, whereby the shooting side device shows the shooting, and when the shooting side confirms the shooting, At step 454, avoidance action is performed. Simultaneously with the display of the shooting in step 453, when the shooting side transmits the shooting laser signal in step 455, when the shooting side receives the shooting laser signal, in step 456 to 460, the shooting effect determination and the damage indication are automatically displayed. Record evasive behavior. On the shooting side, in step 461, the driver visually confirms the shooting effect.

FIG. 46 is a flow chart for explaining the operations on the shooting side and the shot side after the training. In the figure, the data recorded in the avoidance action recording unit 126 (see FIG. 12) of the shooting side device 100 is read into the avoidance action evaluation device (see FIG. 33) in steps 462 to 464, and the data of the shooting side and the shooting side are read. By displaying the trajectory on the display, the effectiveness of the shooting and the validity of the avoidance behavior on the side of the shooting side are re-evaluated.

FIG. 47 is a diagram showing an image of shooting training when the shooting training system according to the present invention is used. In the figure, as described in blocks 471 and 479, the shooting machine is provided with a shooting side device and a shooting side device in advance before starting the training, and the shooting machine also has the shooting side device and the shooting side device before starting the training. To prepare in advance. In the case where the bidirectional training is not performed, the shooting machine may include only the shooting side device, and the shot target device may include only the shooting side device. Step 47
In 2, the driver finds an enemy aircraft and carries out a shooting operation. In step 473, the shooting is indicated by the shooting indicator 76, in step 474, a shooting laser signal in the shooting direction is transmitted, and in step 475, the driver is shown. Visually confirms the shooting effect.

On the other hand, on the side to be shot, if the driver visually confirms the enemy's shot in step 476, he or she takes an evasive action,
When the shooting laser signal is received in step 477, the hit danger range is calculated in step 478.

After the shooting, the shooting effect determination is performed in step 480, the avoidance behavior is recorded by the avoidance behavior recording unit 126 in step 481, and the wear indicator 111 shows the wear in step 482.

In addition, steps 483 to 486
As shown in, it is possible to determine the range of large damage, medium damage, small damage, and the closest range t seconds after the shooting.

When actually carrying out shooting training using this system, bidirectional training is carried out by equipping each firearm with both the shooting side device and the shooting side device. First Embodiment FIG. 9 is a flow chart for explaining the operation of the shooting side device 60 according to this embodiment. In the figure, step 91
Then, the position information and time information from the position locator 65 are sent to the controller 7
Sent to 3. In step 92, the controller 73 updates the contents of the RAM 74 with the received position information and time information. The updated contents are given to the CPU 75 in the controller 75.

On the other hand, in step 93, the setting number 71 sets the identification number of the shooting side device 60 and firearm type information, and the set identification number and firearm type information are also stored in the RAM 7 in the controller 73.
4 and is given to the CPU 75.

When the shooting trigger signal is received at step 94, the CPU 75 outputs a notification trigger signal, and in response to this, at step 95, the shooting indicator 76 indicates the shooting. Further, the CPU 75 outputs a transmission trigger signal, and in response to this, the transmitter 81 or 82 transmits a shooting laser signal in the shooting direction in step 96. In the shooting laser signal, when the shooting trigger signal is received from the shooting device 61 of the firearm, the latest position information and time information of the shooting side device 60 recorded in the RAM 74 and the shooting set by the setting device 71 are set. The identification number of the side device 60, the shooting firearm type information, and the shooting bullet type information obtained from the shooting trigger signal are transmitted to the transmitter 81 or 85 attached to each shooting weapon as a transmission trigger signal according to the shooting bullet type. Send. The transmitter 81 or 85 that has received the transmission trigger signal transmits a shooting laser signal in the shooting direction.

It is also considered within the scope of the present invention that the position locator 65 outputs only the position information and does not output the time information.

Next, the operation of transmitting the shooting laser signal by the shooting side device 60 will be described in more detail.

As the position locator 65, for example, GPS
(Global Positioning System) A receiver is used. In fact, in order to obtain accurate position information of the shooting side device 60 even when it is attached to a high-speed moving firearm such as an aircraft, a GPS receiver with a short position location interval, for example, about 20 times per second positioning is possible. To use.

At any time, in order to be able to retain the position information and time information of the shooting side device 60 at the time of shooting, the necessary data is extracted from the output data of the GPS receiver and the GPS reception is performed. Controller 7 at the data output interval of the machine
The contents of the RAM 74 in 3 are updated and recorded, and the latest position information and time information of the shooting side device 60 are always held.

Table 1 below shows an example of the output data format of the GPS receiver and an example of the data format when the necessary data is extracted and recorded in the RAM 74 in the controller 73.

[0040]

[Table 1]

Of the output formats of the GPS receiver shown in Table 1, only GPSTime which is time information, UTM coordinates which is position information, and altitude are extracted.

The GPS receiver is set in advance so that the position information output data format of the GPS receiver is the UTM coordinate format which is the local plane coordinate system.

The coordinate output in the UTM coordinate format has a data amount of about 11 char in the X direction and about 10 char in the Y direction, but if the area where the training is performed using the present invention is limited to some extent, the upper digit of the output coordinate will be used. By omitting the step and recording in the RAM 74 in the controller 73, it is possible to reduce the amount of data to be included in the shooting laser signal.

As the GPS time, 0:00 of Japan time is given at 0 second, and the GPS receiver is set in advance so as to be repeated every day thereafter.

For the altitude, the reference plane of the training area is determined, and the GPS receiver is set in advance so as to output the altitude as 0 m.

Table 2 below shows an example of the data content and data amount of the shooting laser signal.

[0047]

[Table 2]

As shown in Table 2, the data contents of the shooting laser signal are the shooting time, the position information of the own machine (the shooting side device 60), the identification number, the shooting weapon type information, and the shot type information.
The total data amount is 44 bytes or less.

The shooting time is the GPS time recorded in the RAM 74 in the controller 73 of the shooting side apparatus 60, and the position information of the shooting side apparatus 60 is the shooting side apparatus based on the UTM coordinates recorded in the RAM 74 of the controller 73. The latest position information is 60.

It is assumed that the identification number and the shooting weapon type information are the contents set by the setting device 71 shown in FIG. 7 and recorded in the RAM 74 in the controller 73 when the power of the shooting side device 60 is turned on.

The identification number and the type of shooting firearm set by the setter 71 are set by the dip switch in the switch 72.

The types of shooting firearms include helicopters, tanks, surface-to-air guided artillery, anti-tank guided artillery, and high-firing machine guns. Second Embodiment FIG. 13 is a flow chart for explaining the operation of the fired side apparatus 100 according to this embodiment. In the figure, in step 131, the target position locator 101 sends position information and time information to the controller 102. In step 132, the controller 102 stores the received position information and time information in the RAM.
The contents of 103 are updated. The updated content is the controller 102
It is given to the CPU 104 inside.

On the other hand, in step 133, the receiver 121 receives the shooting laser signal from the shooting side device 60. Then, in step 134, the CPU 104 in the controller 102, the position information and time information from the position locator 101, and the receiver 1
The hit danger range is calculated based on the position of the shooting side device 60, the shooting time, the identification number of the shooting side device 60, the shooting firearm type information and the shooting bullet type information from 21. Then, in step 135, the controller 102 determines the shooting effect based on the calculated hit risk range and the position information output from the shooting side position locator 101, and in step 13
At 6, the avoidance behavior recording unit 127 records the avoidance behavior based on the position information and the time information. Further, in step 137, the wear trigger indicator 111 which is output based on the shooting effect determination in step 135 is given to the wear indicator 111, thereby indicating wear.

As described above, in this embodiment, the shooting side device 100 is continuously provided with position information and time information of the shooting side position locator 101 and the shooting side device 100 obtained from the position locator 101. The RAM 103 is provided for updating the recorded contents by recording the bullet type information, and the bullet type parameter recording unit 129 for recording the bullet type parameter necessary for calculating the hit risk range for each shot bullet type.

Then, when the shooting side device 100 receives the shooting laser signal transmitted by the shooting side device 60, calculation and recording of the hitting danger range for each predetermined elapsed time from shooting, and the recorded hitting danger Range and shooting side position locator 101
The shooting effect determination is performed by comparing the obtained position of the device 100 on the shooting side at each predetermined elapsed time from the shooting.

As shown in FIG. 12, the receiver side device 100 is provided with a plurality of (three in the figure as an example) laser light receiving portions so as to be able to receive the shot laser signals from all directions. Attach to each part of.

In the bullet type parameter recording section 129, as parameters required for calculation of the hit danger range, the shooting weapon type information created by the bullet type parameter writing device and the speed of the shooting bullet for each shooting bullet type information, The range in which a plurality of shooting bullet targets are set for each wear state, the effective time of the shooting bullets, or the effective range is recorded in advance.

The position information and time information of the shooting side device 100 obtained from the position locator 101 are continuously RAM10 in the controller 102 at the data output intervals of the position locator 101.
The contents are updated by recording in 3.

The controller 102 of the shooting side apparatus 100 receives the shooting laser signal transmitted by the shooting side apparatus 60, and the latest position of the shooting side apparatus 100 recorded in the RAM 103 in the controller 102. Information and shooting side device 60
Position information of the shooting side device obtained from the shooting laser signal transmitted by the player and the bullet type parameter recording unit 129,
The speed of the shooting bullet recorded for each shooting fire type information and shooting bullet type information put on the shooting laser signal transmitted by the shooting side device 60, the range for tracking a plurality of shooting bullet targets set for each wear situation, The hit danger range is calculated in the coordinate range of the three-dimensional coordinate system at each predetermined elapsed time from the shooting from the bullet type parameter of the effective time or the effective range of the shooting bullet, and is recorded in the RAM 103 of the controller 102. RAM 103 of controller 102
The shooting effect determination is performed by comparing the hit danger range recorded in 1) with the position of the shooting side device 100 obtained from the position locator 101 at every predetermined elapsed time after shooting.

It should be noted that, in this embodiment as well, it is considered within the scope of the present invention that the shooting side position locator 101 outputs only the position information and does not output the time information.

Next, the shooting effect determination operation performed by the shooting side apparatus 100 will be described in more detail.

As the shooting side position locator 101, the same GPS receiver as the shooting side position locator 65 is used.

The output data format of the GPS receiver in the shooting side device 100 and the data format in which the necessary data is extracted are as shown in Table 1 below.
It is substantially the same as the output data format of the GPS receiver and the data format in which necessary data is extracted.

FIG. 14 is a diagram showing the relationship among the shooting side, the shot side, and the position of the shot ammunition T seconds after the shooting in the shooting training according to the embodiment of the present invention. In the figure, the shooting side position S (Xs, Ys,
Zs) is position information of the shooting side device 60 based on UTM coordinates obtained from the shooting laser signal. The UTM coordinate origin is O (0,0,0). Assuming that the velocity of the shot is V and the moving time of the shot from the shooting position S to the shot position R (Xr, Yr, Zr) is T seconds, the shot position P (Xp, Yp, Zp) is V (t−T) from the shooting side position R on the straight line connecting the shooting side position S and the shooting side position R.
In the position.

Table 3 below shows the parameters for calculating the hit risk range and their reading destinations.

[0066]

[Table 3]

As shown in Table 3, the position S (Xs, Ys, Zs) of the shooting side device 60 is position information of the shooting side device 60 based on UTM coordinates obtained from the shooting laser signal. The target position R (Xr, Yr, Zr) is position information of the target device 100 based on the UTM coordinates recorded in the RAM 103 in the controller 102 of the target device 100. Further, the speed V of the shooting round, the ranges r1, r2, r3 and r4 for tracking the target of the shooting round, and the effective time Te of the shooting round are determined according to the shooting firearm information and the shooting bullet type information of the shooting laser signal. Type parameter recording unit 12 of the side device 100
Read from 9.

Table 4 below shows a data table of ammunition type parameters.

[0069]

[Table 4]

As shown in Table 4, in the bullet type parameter recording unit 129, the bullet type parameter writing device 151 shown in FIG. 15 is shown as a bullet type parameter necessary for calculating the hit risk range.
Created by, for each shooting firearm type information and shooting bullet type information, the speed V of the shooting bullet, the range r1, r2, r3 and r4 for tracking the targets of the shooting bullet set in plural for each wear situation, The effective time Te or the effective range is recorded in advance.

The range in which the target of the shot ammunition is tracked is the degree of wear, and in order to distinguish four kinds of wear situations of near, small, medium and large, the above four parameters r1, r2, r
Set 3 and r4. Four parameters r1, r2, r3 and r set as a range for tracking the target of the shot
4 has a relationship of r1>r2>r3> r4 to change the size of the hit danger range for each degree of wear.

FIG. 16 is a flow chart for explaining the calculation for calculating the hit risk range. First, step 16
At the time when the device 100 to be shot receives the shooting laser signal at 1, the distance D in the three-dimensional coordinate system between the shooting side and the shot side (FIG. 1).
4) is calculated by the formula shown in the figure.

Next, at step 162, the expected position of the shot ammunition is shown for each elapsed time from the time when the device 100 to be shot receives the shooting laser signal from the calculated distance D to the effective time Te of the shot ammunition. Calculate by formula. Then, the position P (Xp, Yp, Zp) of the shooting bullet t seconds after the shooting is calculated.

Next, in step 163, the hit danger range for each predetermined time period is calculated based on the predicted position of the shot bullet for each predetermined time period calculated in step 162. The hit risk range is as shown in the table for each wear situation. That is, a range of radius r1 or less and r2 or more centered on the position P of the shooting ammunition after t seconds is a close range, and a range of radius r2 or less r3 or more centered on the position P of the shooting ammunition is a range of small damage. Bullet position P
A range of radius r3 or less and r4 or more centered at is the range of medium damage, and a range of radius r4 or less centered on the position P of the shot is the range of major damage.

Next, the shooting effect determination for comparing the calculated hitting danger range with the position of the shooting side device 100 will be described.

FIG. 17 is a flow chart for explaining the operation for determining the shooting effect according to the embodiment of the present invention. In the figure, the device 100 to be shot determines whether or not a shooting laser signal is received in step 171. When the shooting-side apparatus 100 does not receive the shooting laser signal, it is determined that the shooting-side apparatus 60 has missed the shooting and is non-hit.

When the apparatus 100 to be shot receives the shooting laser signal, it is determined in step 172 whether the type of shooting firearm modulated into the shooting laser signal is a small firearm such as a rifle or a pistol. If it is a small firearm, the process proceeds to the shooting effect determination shown in FIG. If it is not a small firearm, the hit danger range is calculated for each predetermined elapsed time after step 173.

That is, in step S174, it is determined whether the position of the own device (the device 100 on the shooting side) is included in the safe area based on the terrain. If not included, in step 175, the position of the own device (the device 100 on the shooting side) is compared with the hit danger range. Then, after t seconds, the position (X
m, Ym, Zm) and the actual bullet position P (Xp, Yp, Zp)
The distance between the distances is compared with r1, r2, r3, and r4, and as shown in step 176, it is determined whether the distance is near, small, medium, or severe. If the judgment in step 175 does not correspond to any of the above-mentioned close-up, small-breakage, medium-breakage, and large-breakage from the time of shooting to the effective time Te of the shot ammunition, then step 174 and step 175 (in the GPS receiver Repeat at data output intervals).

The above calculation is repeated from the time when the shooting side device 100 receives the shooting laser signal until the effective time Te of the shooting round, and as a result of the judgment, the distance between the shooting side device 100 and the shooting round is once less than r1. If not, the avoidance is successful,
Not hit. If the above relationship is established, at that time, the result of the shooting effect judgment is to show the wear of any one of the major damage, the medium damage, the small damage, and the close damage.

(Third Embodiment) FIG. 15 is a block diagram for explaining the function of the bullet type parameter writing device. As illustrated, the bullet type parameter writing device 151 creates and records the bullet type parameter for each shooting fire type information and shooting bullet type information, and the bullet type parameter recording unit of the shot side device 100 of the created bullet type parameter. Write to 129.

As the bullet type parameters necessary for calculating the hit risk range, the speed of the shooting round, the range for tracking a plurality of targets of the shooting round set for each wear situation, the effective time of the shooting round or the effective range is created. .

A plurality of ranges for tracking the target of the shot ammunition can be set in order to distinguish the degree of wear into close damage, small damage, medium damage, and large damage.

A table of ammunition type parameters is created for each piece of firearm type information and shot ammunition type information used in the training, and is written in the ammunition type parameter recording section of the shooting side device 60 via the RS232C interface.

Next, a bullet type parameter writing device for creating and recording a bullet type parameter necessary for calculating the hit risk range and writing to the bullet type parameter recording section of the shooting side device 60 will be described.

As shown in Table 4, the ammunition type parameters necessary for the calculation of the hit risk range are the speed V of the shot ammunition and the range r1 for tracking a plurality of targets of the ammunition set for each wear state.
To r4, the effective time Te of the shooting bullet or the effective range.

The bullet type parameter is created by inputting each numerical value into the personal computer with a keyboard.

The speed V of the shooting round is input as the speed of the shooting round for each shooting round type.

The range r for tracking the target of the shooting bullet is a parameter that determines the width of the hit danger range from the expected position of the shooting bullet after t seconds.

In the range for tracking the target of the shooting bullet, for example, four parameters r1, r2, r3, r4 are set in order to distinguish the degree of wear into close damage, small damage, medium damage and large damage.
R1, r set as the range to track the target of the shot
2, r3, r4 have a relationship of r1>r2>r3> r4.

The hit danger range in the device 100 to be shot is a radius r1 centered on the position P of the shot after t seconds and a radius r2 centered on the position P of the shot and a radius r2 centered on the position P of the shot. Hereafter, a range of r3 or more is a small range of damage, a radius r3 or less centered on the position P of the shooting ammunition is a range of r4 or more is a medium range, and a range of radius r4 or less centered on the position P of the projectile is a major damage Range.

Therefore, if the shot type is a straight line such as a machine gun, the range r for tracking the target of the shot is set to be small, and the range of the hit danger range from the position of the shot after t seconds is wide. Set narrow. If the projectile is a guided missile such as a missile, the range r for tracking the target of the projectile is set large according to its performance, and the range of the hit danger range from the position of the projectile after t seconds is set wide. To do.

In addition, r depending on the type of shooting firearm and the type of shooting bullet
By changing the difference between 1, r2, r3, and r4, the range of close damage, small damage, medium damage, and large damage indicating the degree of wear is changed to simulate the performance of the shot ammunition.

If the shot type is a machine type with a small destructive force such as a machine gun, by setting a large value of r1 and r2 that determine the range of the close range and the small break, the hit danger range of the close range and the small break is set. By setting the values of r3 and r4, which are widened and which determine the range of medium damage and large damage, to be smaller than r1 and r2, the hit danger range of medium damage and large damage is set narrow.

The shooting bullet type has a large destructive force such as a missile,
If it is a type of bullet that causes severe damage, set a small value for r1, r2, and r3 that determines the range of close, small, and medium damage. The value of r4 that narrows the range and determines the range of wreck is r
By setting the values close to 1, r2, r3, the hit danger range of the wreck is set wide.

The effective time Te of the shooting bullet is a set value that determines how many seconds after the shooting is repeated the shooting effect determination is repeated.

From the effective range and speed of the shot ammunition, Te =
Calculate and enter with the formula of (effective range) / (speed of shot). (Fourth Embodiment) In this embodiment, the terrain recording unit 1 is provided in the shooting side device 100.
16 (see FIG. 11) are provided. And the shooting side device 60
3D coordinate system coordinate range of the safe area according to the terrain recorded by the terrain recording unit 116 for each azimuth at which the shooting-side apparatus 100 was shot, every time a predetermined time elapsed after receiving the shooting laser signal transmitted by And the position of the fired side device 100 obtained from the non-fired side position locator 101 are compared to determine the firing effect.

That is, the device 1 on the side to be shot shown in FIG.
In the controller 102 of 00, every time a predetermined time elapses after receiving the shooting laser signal transmitted by the shooting side device 60,
Target side device 1 obtained from target side position locator 101
00 is calculated and recorded based on the position information of 00 and the position information of the shooting machine obtained from the shooting laser signal transmitted by the shooting side device 60. The shooting direction is XY plane and XZ
Calculate by dividing into planes. Based on the calculated shooting azimuth, the terrain recording unit 116 records each azimuth of the shooting side for each shooting direction, and the three-dimensional coordinate system coordinate range of the safe area depending on the terrain and the shooting side position locator 101. The obtained position of the device 100 on the side to be shot is compared at every predetermined elapsed time from shooting, and shooting effect determination is performed.

In the flowchart of the shooting effect determination shown in FIG. 17, in the determination of step S174, the position of the fired side device 100 is compared with the safe area based on the terrain. It is performed before the comparison with the dangerous area, and when the position of the fired side device 100 is included in the safe area due to the terrain, it is not hit, and the subsequent comparison of the position of the fired side device 100 and the hit danger range is performed. Not performed. For this reason, when the position of the shooting side device 100 is included in the safe area due to the terrain, the non-hit is given priority over the hit danger range.

This embodiment will be described in more detail. In advance, the terrain recording unit 11 of the apparatus 100 to be shot as shown in FIG.
At 6, the safe area based on the terrain calculated by the terrain writing device 181 shown in FIG.
It is recorded in the coordinate range based on the same UTM coordinate system as the position information output data format of 01.

First, a procedure for calculating the shooting direction of the device 60 on the shooting side will be described.

Topographical recording unit 116 of the apparatus 100 to be shot.
In addition, the coordinate range of the UTM coordinate system of the safe area according to the terrain recorded by the shooting side for each shooting side and the shooting side device 1
For comparison with the position 00, the shooting side device 100 calculates the azimuth at which the shooting side device 100 has received the shooting laser signal transmitted by the shooting side device 60, and at each predetermined time.

19, 20 and 21 are diagrams showing the formulas for calculating the shooting direction α and the shooting angle β.

The shot azimuth is calculated separately for the XY plane shown in FIG. 19 and the XZ plane shown in FIGS. 20 and 21.

The shooting direction is α on the XY plane, and the north direction is 0.
From ゜ to 359 ° clockwise.

The shooting angle β is set on the XZ plane, and when the shooting side altitude is higher than the shooting side altitude, it is 0 ° to 90 ° as shown in FIG. 20, and when the shooting side altitude is lower than the shooting side altitude, the figure is shown. As shown in No. 21, it is from -90 ° to 0 °.

The shooting side position, which is a parameter required for calculating the shooting direction α and the shooting angle β, is the latest position information of the shooting side device 100 based on the UTM coordinates obtained from the shooting laser signal.

Similarly, the shooting side position is the shooting side device 1
00 is the latest position information recorded in the RAM 103 in the controller 102.

Table 5 below shows the parameters for calculating the shooting direction and the reading destination.

[0109]

[Table 5]

FIG. 22 is a flow chart for explaining the operation of calculating the shooting azimuth α on the XY plane. In the figure,
At step 221, the distance Dx between the shooting side and the shooting side on the XY plane at the time when the shooting side receives the shooting laser signal.
Calculate y.

Next, at step 222, the XY of the shooting side is set.
With the position on the plane being the origin O, the quadrant of the shooting side position on the XY plane is calculated.

Next, at step 223, the shooting direction α on the XY plane is calculated using the distance Dxy on the XY plane between the shooting side and the shot side by the calculation formula limited to each applicable quadrant.

As described above, the shooting azimuth α on the XY plane is given by the azimuth based on the position on the XY plane on the side to be shot.

FIG. 23 is a flow chart for explaining the operation of calculating the shooting angle β on the XZ plane. The shooting angle β is an angle formed by a plane parallel to the Z plane at the altitude of the shooting side and a straight line connecting the shooting side and the shooting side.

When the shooting side altitude is higher than the shooting side altitude, 0 ° to 90 ° is set. When the shooting side altitude is lower than the shooting side altitude, −90 ° to 0 ° is set. Calculate the firing angle β on the plane.

The shooting direction α and the shooting angle β are as follows:
The position information of the shooting machine 60 obtained from the shooting laser signal and the position locator 101 are obtained at a data output interval of the position locator 101 every time a predetermined time elapses after receiving the shooting laser signal of 0 transmitted. It is calculated from the position information of the own machine and used to refer to the safe area based on the terrain recorded in the terrain recorder 116.

FIG. 24 shows step 174 in FIG.
3 is a flowchart illustrating in detail. In the figure,
After the calculation of the hit risk range for each predetermined elapsed time in step 173 of FIG. 17, in step 241, the shooting direction α
And the shooting angle β are calculated based on the position information of the shooting machine and the position information of the own machine as described above.

Next, at step 242, the safe area based on the terrain recorded in the terrain recording unit 116 (FIG. 11) is read for each azimuth shot by the obtained shooting azimuth α and shooting angle β. In step 243, the position information M (Xm, Ym, Zm) of the own device is read from the GPS receiver.

Next, at step 243, the coordinate range of the UTM coordinate system of the safe area according to the terrain is compared with the position of the device 100 to be shot based on the calculated shooting direction α and shooting angle β.

That is, in step 243, the shooting direction α,
From the shooting angle β, the terrain recording unit 11 for each shooting direction
It is compared whether or not the position of the shooting side device 100 is included in the coordinate range of the UTM coordinate system of the safe area based on the terrain recorded in 6.

When the device 100 on the side to be shot is included in the safe area due to the terrain, the above comparison is repeated at the data output interval of the position locator.

If the position of the device 100 on the shooting side is not included in the safe area due to the terrain, the shooting effect judgment is made by comparing the position of the device 100 on the shooting side with the hit risk range shown in steps 175 and 176 of FIG. To do. (Fifth Embodiment) FIG. 18 is a block diagram for explaining the function of the terrain writing apparatus according to this embodiment. The terrain writing device 181 is
A safe area based on the terrain of convex and concave terrain is calculated and recorded as a blind spot from the shooting side for each azimuth of the shooting side, and placed on the map of the training area according to the terrain of the training area. By doing so, a means for calculating and recording the safe area according to the terrain in the coordinate range of the three-dimensional coordinate system and a means for writing the calculated safe area according to the terrain into the terrain recorder 116 (FIG. 11) of the shooting side apparatus 100. I have it. As a result, the safe area is calculated based on the terrain of the training area, and the calculated coordinate range is used as the terrain recorder 11 of the shooting-side apparatus 100.
Write to 6.

FIG. 25 is a flow chart for explaining the operation of the safe area calculation by the terrain writing device 181. In the figure, in step 251, the coordinate range and reference altitude of the training area are input to the terrain writing device 181.

Next, at step 252, the terrain writing device 181 creates a map of the training area based on the input coordinate range and reference altitude.

Next, in step 253, topographical sample data is created. That is, in step 254, the parameters necessary for calculating the safe area based on the terrain of the convex terrain and the concave terrain in the training area are input. Next, at step 255, the three-dimensional coordinate system coordinate ranges of the safe area based on the convex terrain and the concave terrain are calculated and recorded as terrain sample data.

Next, at step 256, each sample data is arranged on the map of the training area in accordance with the topography of the actual training area.

Next, at step 257, the three-dimensional coordinate system coordinate range of the training area of the safe area is calculated and recorded by arranging the terrain sample data.

Next, at step 258, the calculated three-dimensional coordinate system coordinate range of the safe area based on the terrain in the training area is written in the terrain recording unit 116 (FIG. 11) of the apparatus to be shot.

The coordinate system of the position locator of the shooting side device 60 and the shooting side device 100 and the three-dimensional coordinate system based on the terrain are the same, and the three-dimensional coordinate system of the safe region according to the terrain of the training region calculated by the terrain writing device 181. The coordinate range and output coordinates of the position locator can be compared as they are.

This embodiment will be described in more detail below.

First, a detailed description will be given of a method of calculating a safe area based on the terrain of a convex terrain, which is a peculiar terrain that can be used for avoiding action by shooting in an actual training area.

FIG. 26 is a vertical sectional view for explaining one safety area according to the convex terrain according to the embodiment of the present invention, and FIG. 27 is a plan view for explaining one safety area due to the convex terrain according to the embodiment of the present invention. is there.

FIG. 28 is a vertical sectional view for explaining another safety area based on the convex terrain according to the embodiment of the present invention,
FIG. 29 is a plan view illustrating another safety area according to the convex terrain according to the embodiment of the present invention.

The parameters necessary for calculating the safe area based on the terrain of the convex terrain are the coordinates (x, y, h) of the peak of the convex terrain.
As a result, a safe area based on the terrain for each shooting direction α and shooting angle β is calculated.

The following Table 6 is an example of creating topographic sample data of convex land according to the embodiment of the present invention.

[0136]

[Table 6]

In Table 6, the safe area due to the terrain of the convex terrain is 8 from A to H depending on the shooting direction α and the shooting angle β.
Calculate separately for each street.

That is, when the shooting azimuth α is 0 ° to 90 ° and the shooting angle β is shot from −90 ° to 30 °, the safe area due to the terrain of the convex terrain 261 shown by the diagonal lines in FIG. 26 is shown in FIG. And area A shown in FIG.

When the shooting direction α is 0 ° to 90 °, the shooting angle β
Fig. 28 shows a safe area due to the terrain of the convex terrain 281 shown by the diagonal lines in Fig. 28 when the target is shot from 30 ° to 60 °.
And a region B shown in FIG.

When the shooting direction α is 90 ° to 180 ° and the shooting angle β is shot from −90 ° to 30 °, the safe area due to the terrain of the convex terrain is C (not shown).

When the shooting azimuth α is 90 ° to 180 ° and the shooting angle β is 30 ° to 60 °, the safe area due to the terrain of the convex terrain is D (not shown).

When the shooting direction α is 180 ° to 270 ° and the shooting angle β is shot from -90 ° to 30 °, the safety area E (not shown) is formed by the terrain of the convex terrain.

When the shooting azimuth α is 180 ° to 270 ° and the shooting angle β is 30 ° to 60 °, a safe area due to the convex terrain is F (not shown).

When the shooting direction α is 270 ° to 360 ° and the shooting angle β is shot from −90 ° to 30 °, the safe area due to the terrain of the convex terrain is G (not shown).

When the shooting azimuth α is 270 ° to 360 ° and the shooting angle β is 30 ° to 60 °, the safe area due to the terrain of the convex terrain is H (not shown).

In this example, the shooting angle β is 60 ° to 90 °.
It is said that there is no blind spot from the target side when shooting from a high angle of ゜, and there is no safe area due to the convex terrain.

When shooting from a medium angle of 30 ° to 60 °, the area which is the blind spot due to the convex terrain at the shooting angle of 60 ° is defined as the safe area according to the terrain.

[0148] For the shooting from a low angle of -90 ° to 30 °, the area which is the blind spot due to the convex terrain at the shooting angle of 30 ° is defined as the terrain safe area.

Shooting from a medium angle of 30 ° to 60 ° has a narrower safe area due to the convex terrain than shooting from a low angle of 90 ° to 30 °.

Regarding the shooting azimuth α, the shooting azimuth is 0 ° to 90 °, 90 ° to 180 °, 180 ° to 2
Calculations are made in four different ways from 70 °, 270 ° to 360 °.

When the shooting azimuth is 0 ° to 90 °, the diagonal azimuth range of 180 ° to 270 ° is defined as a safe area depending on the terrain of the convex terrain.

When the shooting azimuth is 90 ° to 180 °, the diagonal azimuth range of 270 ° to 360 ° is defined as the safe area according to the terrain of the convex terrain.

When the shooting azimuth is 180 ° to 270 °, the diagonal azimuth range of 0 ° to 90 ° is defined as a safe area according to the terrain of the convex terrain.

In the case of the shooting azimuth 270 ° to 360 °, the diagonal azimuth 90 ° to 180 ° is defined as a safe area according to the terrain of the convex terrain.

Table 7 below shows the safe coordinate ranges of the safe areas A, B, C, E and G depending on the terrain of the convex terrain.

[0156]

[Table 7]

In Table 7, the coordinate range of the safe area A is described as a rectangular parallelepiped a to p in FIGS. 26 and 27 from 100 where the X coordinate is a to 1600 where p is a. , The Y coordinate is also 100 to 160
This means that a rectangular parallelepiped having a bottom surface up to 0 is a safe area.

The following Table 8 shows more concretely the calculation method of the safe area A based on the terrain of the convex terrain.

[0159]

[Table 8]

In Table 8, the coordinates of the top of the convex terrain are (x, y, h). In addition, the safe area A due to the terrain of the convex terrain is in the coordinate range of the rectangular parallelepipeds a to p (see FIG. 31 and FIG.
Reference). Further, each rectangular parallelepiped is given by ANDing the range of X coordinate, the range of Y coordinate, and the range of Z coordinate. That is, a range having a height of (1.7h-100) /1.7 in the Z direction and an X coordinate of x-100 <X <x,
A rectangular parallelepiped formed within a range where the Y coordinate is y-100 <Y <y is a safe area.

As can be seen from Table 8 and Tables 9 to 12 below, the coordinate range of each rectangular parallelepiped becomes smaller in the Z direction as it moves away from the coordinates of the peak of the convex terrain.

The following Table 9 shows a method of calculating the safe area B based on the terrain of the convex terrain.

[0163]

[Table 9]

In Table 9, the coordinates of the top of the convex terrain are (x, y, h). Further, the safe area B due to the terrain of the convex terrain is in the coordinate range of the rectangular parallelepiped q to u (see FIGS. 33 and 34).
Reference). Further, each rectangular parallelepiped is given by ANDing the range of X coordinate, the range of Y coordinate, and the range of Z coordinate.

Table 10 below shows a method of calculating the safe area C based on the terrain of the convex terrain.

[0166]

[Table 10]

In Table 10, the coordinates of the peak of the convex terrain are (x, y, h). Further, the safe area C due to the terrain of the convex terrain is O in the coordinate range of the rectangular parallelepiped v to ak (not shown).
Given by R. Further, each rectangular parallelepiped is in the range of X coordinate, Y
It is given by ANDing the range of coordinates and the range of Z coordinates.

The following Table 11 shows a method of calculating the safe area E based on the terrain of convex terrain.

[0169]

[Table 11]

In Table 11, the coordinates of the top of the convex terrain are (x, y, h). Further, the safe area E based on the terrain of the convex terrain is given by OR of the coordinate range of the rectangular parallelepipeds al to bb (not shown). Furthermore, each rectangular parallelepiped has a range of X coordinates,
It is given by ANDing the range of the Y coordinate and the range of the Z coordinate.

The following Table 12 shows a method of calculating the safe area G based on the terrain of the convex terrain.

[0172]

[Table 12]

In Table 12, the coordinates of the top of the convex terrain are (x, y, h). Further, the safe area G based on the terrain of the convex terrain is given by OR of the coordinate range (not shown) of the rectangular parallelepipeds bc to br. Furthermore, each rectangular parallelepiped has a range of X coordinates,
It is given by ANDing the range of the Y coordinate and the range of the Z coordinate.

Next, a detailed description will be given of a method of calculating the safe area based on the terrain of concave terrain, which is a peculiar terrain that can be used for the avoidance action by shooting in the actual training area.

FIG. 30 is a vertical sectional view for explaining one safety area due to the concave terrain according to the embodiment of the present invention, and FIG. 31 is a plan view for explaining one safety area due to the concave terrain.

Table 13 below shows an example of creating terrain sample data of a concave terrain according to an embodiment of the present invention.

[0177]

[Table 13]

In Table 13, the convex terrain defines the coordinate points at the four corners and calculates the safe area according to the terrain. Also. The safety area due to the terrain of the concave terrain is determined as shown in the table according to the shooting angle β.

That is, the parameters necessary for calculating the safe area based on the terrain of the concave terrain are set to the coordinates (x) of the four corners of the concave terrain.
1, y1, z1), (x1, y2, z1), (x2, y
1, z1) and (x2, y2, z1).

As shown in Table 13 and FIGS. 30 and 31,
The safe area due to the terrain of the concave terrain is calculated according to the above-mentioned shooting angle β.

The safe area due to the terrain of the concave terrain is not divided for each shooting azimuth α and has the same coordinate range with respect to all the shooting azimuths.

When shooting from a high angle of 30 ° to 90 °, there is no blind spot from the side to be shot, and there is no safe area due to the terrain of the concave terrain.

When the shooting angle β is -90 ° to 30 °, the safety area is a rectangular parallelepiped coordinate range consisting of coordinate points at four corners and Z <z1.

Next, a calculation method for arranging each calculated terrain sample data on the map of the training area and calculating the safe area by the terrain in the coordinate range of the three-dimensional coordinate system of the training area will be described.

32 and 33 are diagrams showing an example of arrangement of the topographical sample data on the map of the training area.

Within the coordinate range of the training area, terrain sample data of convex terrain and concave terrain are arranged along with the actual terrain on the map.

FIG. 32 is a diagram showing a terrain-based safe area when the shooting angle is from −90 ° to 30 °.

FIG. 33 is a diagram showing a safe area depending on the terrain when the shooting angle is 30 ° to 60 °.

The following Table 14 to Table 23 show FIG. 32 or FIG.
The calculation result of the coordinate range of the UTM coordinate system of the safe area according to the terrain when the terrain sample data is arranged as shown in 3 is shown.

The following Table 14 shows the terrain sample data in FIG.
Alternatively, as shown in FIG. 33, a safe area based on the terrain when arranged on the virtual map of the training area is shown.

[0191]

[Table 14]

The safe area according to the terrain is divided into eight areas A to H according to the shooting direction α and the shooting angle β, as shown in Table 14.

The following Table 15 shows the coordinate range of the safe area according to each terrain.

[0194]

[Table 15]

[0195]

[Table 16]

[0196]

[Table 17]

[0197]

[Table 18]

[0198]

[Table 19]

[0199]

[Table 20]

[0200]

[Table 21]

[0201]

[Table 22]

[0202]

[Table 23]

As shown in Table 15, the terrain-based safe area A is the OR range of cuboids j, j, k, l, q, the terrain-based safe terrain B is the cuboid t range, and the terrain-based safe area C is a cuboid m. , N, o, p, q, and the like.

The coordinate range of the rectangular parallelepiped of the safe areas A to F according to the terrain is shown in Tables 16 to 23, respectively.

The calculated coordinate range of the UTM coordinate system of the safe area based on the terrain of the training area is written in the terrain recording section 116 (FIG. 11) of the apparatus 100 to be shot by the RS232C interface. (Sixth Embodiment) Next, an embodiment of showing the shooting by the shooting side device 60 will be described.

In this embodiment, in order to indicate the firing when the firing trigger signal of the firearm is received, the firing indicator 76 (FIG. 7) consisting of several smoke tubes and speakers with different smoke colors is used.
Is provided, and the shooting side device 60 indicates the shooting.

In FIG. 7, the controller 7 of the shooting side device 60
At 3, in accordance with the shooting bullet type information obtained from the shooting trigger signal from the shooting device 61 of the firearm, smoke support is transmitted to the smoke tubes of respective colors determined according to the shooting bullet type, as a display trigger signal. At the same time, a display trigger signal is also transmitted to the speaker to display the shooting due to the smoke and the different colors depending on the sound and the shot type.

When the type of missile is a missile, for example, smoke is emitted by a yellow smoke tube, when the shot type is a machine gun, smoke is emitted by a blue smoke tube, and when the shot type is a rocket, a red smoke tube is used. The smoke is emitted by the smoke tube.

When the color of the smoke producing tubes is not enough for three colors, the blue smoke producing tube and the red smoke producing tube are made to emit smoke at the same time.
It is also possible to deal with three or more types of shooting bullets. (Seventh Embodiment) Next, an embodiment will be described in which wear is indicated when the result of the shooting effect determination is obtained.

In this embodiment, the device 10 on the side to be shot is
At 0, a wear indicator 111 (see FIG. 11) including several smoke tubes and speakers having the same amount of smoke is provided, and the fire-side apparatus 100 indicates wear. When the result of the shooting effect reflection is calculated by the controller 102 of the apparatus 100 to be shot as shown in FIG. 10, a smoke instruction is transmitted as an instruction trigger signal to the number of smoke tubes determined in accordance with the result. . At the same time, a display trigger signal is transmitted to the speaker, and the wear due to smoke generation with different smoke generation amounts is displayed according to the sound and the result of the shooting effect determination.

As the degree of wear increases with small, medium, and large damage, the amount of smoke is increased to indicate wear.

For example, when the result of the shooting effect judgment is small, smoke is emitted from one smoke tube, and when the result is medium, smoke tube 2 is used.
Use a book to smoke, and in the case of a wreck, use three smoke tubes to smoke.

When the result of the shooting effect determination is the closest, for example, the display is made only by the sound of the speaker.

The smoke generation amount may be controlled by providing a plurality of smoke generation cylinders having different smoke generation amounts, and selecting the smoke generation cylinder to emit the smoke according to the result of the shooting effect determination. (Eighth Embodiment) In this embodiment, when the shooting side device 60 receives the shooting laser signal, the avoidance action recording unit 126 for recording the avoidance action of the shooting side device 100 is provided in the shooting side device 100. To be installed. Then, in the shooting side apparatus 100, the position of the shooting side apparatus 100, the shooting side apparatus 60, and the position of the shooting side apparatus 100 at every predetermined elapsed time after receiving the shooting laser signal transmitted by the shooting side apparatus 60.
The position, the position of the shooting bullet, the range in which a plurality of targets of the shooting bullet set for each wear situation are tracked, the azimuth at which the apparatus 100 to be shot is shot, and the result of the shooting effect determination are recorded.

Table 24 below shows a data table of the avoidance action recording section according to this embodiment.

[0216]

[Table 24]

Further, Table 25 shows the reading destination of the data recorded in the avoidance action recording section.

[0218]

[Table 25]

In Table 24, the first time recorded in the avoidance behavior recording section 126 is the shooting time, and the device 10 on the shooting side is set.
The shooting time obtained from the shooting laser signal when 0 is the shooting laser signal transmitted by the shooting side apparatus 60, or the shooting target when the shooting side apparatus 100 receives the shooting laser signal transmitted by the shooting side apparatus 60 Controller 102 of side device 100
The time information is recorded in the internal RAM 103 (see FIG. 10).

The shooting time obtained from the shooting laser signal,
The time information recorded in the RAM 103 in the controller 102 of the shooting-side apparatus 100 is the same as GPS Time because both are GPS Time.

After that, the time is recorded as GPSTime obtained from the GPS receiver of the shooting side apparatus 100.

For the predetermined elapsed time after shooting, the difference from the shooting time is obtained from the GPS receiver of the device 100 to be shot.
Calculate from PSTime and record.

The position of the shooting side device 100 records the position information obtained from the GPS receiver of the shooting side device 100.

The position of the shooting side device 60 is a record of only the position at the time of shooting.

The position of the shooting bullet is the RAM1 in the controller 102 in the device 100 to be shot, which is calculated in the above embodiment.
Record the position of the shot ammunition written in 03 at each lapse of time.

The hit risk range for each degree of wear is the range for tracking the target of the shooting bullet set for each wear situation, and the bullet type parameter recording of the shooting side device 100 according to the shooting bullet place of the shooting laser signal. It is read from the section 129 and recorded.

The shooting azimuth is divided into shooting azimuth α and shooting angle β, and the result calculated from the shooting machine position information contained in the shooting laser signal and the position information of the shooting side device 100 after shooting is recorded.

Whether the area is included in the safe area according to the terrain is compared with the coordinate range of the UTM coordinate system of the safe area according to the terrain written in the terrain recording section 116 and the position of the shooting side device 100, and the shooting side is examined. If the position of the device 100 is in the safe area due to the terrain, it is recorded as ○, and if not, it is recorded as ×.

For the shooting effect determination, the result of the shooting effect determination in the above-described embodiment is recorded as either close, small, medium, large, or non-hit. (Ninth Embodiment) FIG. 34 is a block diagram for explaining the function of the avoidance behavior evaluation apparatus according to this embodiment of the present invention. In the figure, the avoidance behavior evaluation device 341 shows the position of the fired side device 100, the position of the fire side device 60, the position of the shot ammunition, and the wear state recorded in the avoidance action recording unit 126 in the fired side device 100. R is the range in which the target of the shot ammunition set in plural is tracked, the direction in which the device 100 on the shot side is shot, and the result of the shooting effect determination.
Read by S232C interface, the predetermined elapsed time after shooting, the position of the shooting machine, the trajectory of the target side device 100,
Display and record the trajectory of the shot, the danger area of the shot, and the result of the shooting effect judgment on the display.

FIG. 35 shows an example of a display format for displaying data on the display. As shown in the figure, the UTM coordinates of the position of the target side device 100 are displayed on the table displayed on the display every predetermined elapsed time after shooting. Also, on the graph displayed on the display, divide into the XY plane and the XZ plane, the predetermined elapsed time after shooting, the position of the shooting side, the trajectory of the shot side and the trajectory of the shooting side bullet, the result of the shooting side effect judgment indicate. (Tenth Embodiment) FIG. 36 is a flowchart for determining the degree of wear according to the difference in distance between the shooting side and the shot side. In the figure, step 36
At 1, when the shooting side device 100 receives the shooting laser signal transmitted by the shooting side device 60, at step 362,
It is determined whether the shooting firearm is a large firearm or a small firearm based on the shooting firearm type information modulated into the shooting laser signal. Small arms, rifles,
Firearms carried by personnel such as pistols.

If the shooting firearm is a large firearm, then FIG.
To step 173 of.

If the shooting firearm is a small firearm, in step 363, the shooting side device 100 obtains the position R (Xr, Yr, Zr) of the shooting side position locator 101 and the shooting side laser signal. Side position S (Xs, Ys, Z
From s), the distance difference D on the three-dimensional coordinate between the shooting side and the shooting side at the time of shooting is calculated.

Next, at step 364, the calculated distance difference D is compared with the wear distances D1 to D4 recorded in the bullet type parameter recording section 129 (see FIG. 12) to judge the degree of wear.

The wear distances D1 to D4 are D1>D2> D
Set 3> D4, D4 is the distance difference between the shooting side and the shooting side that causes severe damage or death, D3 is the distance difference between the shooting side and the shooting side that is moderate damage or severe damage, and D2 is the small damage. Alternatively, the distance difference between the shooting side and the fired side, which are minor injuries, and D1 are the distance difference between the firing side and the fired side, which are close to each other.

For example, if D4> D, a wreck or death,
Moderate or severe in the case of D3>D> D4, D2>D> D3
In the case of, small damage or minor injury, in the case of D1>D> D2, it is very close,
If D> D1, it is a non-hit.

Since the effective range of a small firearm is usually shorter than the effective range of a laser, by setting D1
It is possible to specify the effective range of the shot, which does not depend on the effective range of the laser.

Further, D4 is set to about 10 m, and D4> D
In the case of No, if the shooting side and the non-shooting side are too close to each other, the training can be controlled to ensure safety.

At this time, for example, in the case of D4> D, no hit,
If D3>D> D4, wreck or death, D2>D> D3
In the case of, the damage is moderate or serious, and in the case of D1>D> D2, the damage is small or minor.

In the indoor shooting side training, from D1 to D
By finely setting 4, it is possible to more strictly determine the degree of wear according to the distance difference D between the shooting side and the non-shooting side. (Eleventh Embodiment) FIGS. 37 to 39 show functional block diagrams of the non-shooting side apparatus at the time of determining a worn portion according to this embodiment. The difference from the fired side apparatus 100 shown in FIGS. 10 to 12 is that in FIGS. 37 to 39, the apparatus of FIGS.
Azimuth detector 3 for detecting the direction the non-shooting side device is facing
71 and a plurality of wear indicators 38-1, 38-2, ... 38-
n is provided.

The azimuth detector 361 uses a gyro, a fall switch or the like to mount a device on the side to be shot,
Detects the direction in which firearms such as aircraft or personnel are facing.

The detected azimuth is sent to the control unit 102, and the content is updated by recording it in the RAM 103 therein.

The control unit 102 determines the worn portion based on the azimuth facing the side to be shot and the shot azimuth.

FIG. 40 is a flow chart for explaining the operation of determining the worn portion according to this embodiment. In the figure, subsequent to the shooting effect determination described in FIG. 17 in step 401, in step 402, the position M (Xm, Xm,
Ym, Zm) and the position S (Xs, Ys, of the shooting side device 60)
The shooting direction α is calculated from Zs). The calculation method of the shooting method α has been described with reference to FIG.

Next, at step 403, ω = α based on the shooting azimuth α and the azimuth γ that the device 100 on the shooting side is facing.
The wear direction ω is calculated from the equation −γ.

Next, at step 404, the worn portion is calculated according to the value of ω. For example, as shown in the drawing, 0 ° <ω <90 ° or −360 ° <ω <−1 for each wear direction ω
In the case of 80 °, the wear site is to the right front. 90 ° <ω <
In the case of 180 ° or -270 ° <ω <-180 °, the wear site is to the right rear. 180 ° <ω <270 ° or -1
In the case of 80 ° <ω <-90 °, the damaged area is left rear. In the case of 270 ° <ω <360 ° or -90 ° <ω <0 °, the wear site is left front. (Twelfth Embodiment) In the twelfth embodiment, each wear-side device 100 is equipped with a wear indicator including a smoke tube, a vibrator, a speaker, and the like that indicates wear when a result of the shooting effect determination is obtained. Several units are provided in the site, and the wear is indicated by an indicator near the wear site according to the determination of the wear site.

FIG. 41 is a diagram showing an example in which the wear-side device 100 is a tank and wear indicators are provided at a plurality of portions of the tank. As shown in the figure, wear indicators 411 to 414 were installed at the four corners of the tank 410, which is the device to be shot. Each of these wear indicators is equipped with a speaker and several smoke tubes. When a display trigger signal is received from the controller 102 on the side to be shot, the smoke amount is changed according to the degree of wear to perform the display.

The indication of the worn portion is performed as follows.

When it is determined that the worn portion is the right front, the wear trigger is sent to the wear indicator 413 attached to the right front of the tank to show the wear.

When it is determined that the worn portion is the right rear, a wear trigger is sent to the wear indicator 414 attached to the right rear of the tank to show the wear.

When it is determined that the worn part is left rear, a wear trigger is sent to the wear indicator 411 attached to the left rear of the tank to show the wear.

When it is determined that the worn part is left front, the wear trigger is sent to the wear indicator 412 attached to the left front of the tank to show the wear.

FIG. 42 is a diagram showing an example in which, when the person to be shot is a person, wear indicators are provided at a plurality of parts of the person. As shown, wear indicators 421 and 422 are attached to the back and chest of the person 420 to be shot. Each of these wear indicators includes a speaker and a vibrator. When a display trigger signal is received from the controller 102 on the side to be shot, the vibration amount of the vibrator is changed according to the degree of wear to perform the display.

The indication of the worn portion is performed as follows.

When it is determined that the worn portion is the front right or the front left, a wear trigger signal is sent to the wear indicator 421 attached to the chest to indicate the wear.

When it is determined that the wear portion is the right rear or the left rear, a wear trigger signal is sent to the wear indicator 422 attached to the back to show the wear. (Thirteenth Embodiment) FIG. 43 is a flow chart for explaining an operation of performing self-recognition by using position information modulated into a shooting laser signal according to this embodiment. In the figure, when the shooting-side device 100 receives the shooting laser signal transmitted from the shooting-side device 60 in step 431, the position information modulated into the shooting laser signal and the position of the shooting-side device 100 are received in step 432. It is determined whether the position information obtained from the locator matches. If they match, it is determined that the shooting laser signal transmitted by the own device is erroneously received by the own device, and the process returns to the shooting laser signal waiting state before step 431. If the position information does not match, the shooting effect determination shown in FIG. 17 is performed in step 433. INDUSTRIAL APPLICABILITY As is clear from the above description, the shooting training system according to the present invention has a difference in distance between the shooting side and the fired side, the shooting side ammunition type,
It is possible to carry out practical and efficient training because it determines the shooting effect including the type of firearm on the shooting side, the evasion behavior of the fired side, and the effect of evasion behavior using the terrain such as hiding in the shadow of the fired side. . [Brief description of drawings]

FIG. 1 is a block diagram showing a firearm shooting apparatus used in a conventional shooting side apparatus.

FIG. 2 is a functional block diagram of a part of the conventional shooting side device.

FIG. 3 is a functional block diagram of another part of the conventional shooting side device.

FIG. 4 is a functional block diagram of a part of a conventional apparatus to be shot.

FIG. 5 is a functional block diagram of another part of the conventional apparatus on the side to be shot.

FIG. 6 is a functional block diagram of a part of a shooting side apparatus according to an exemplary embodiment of the present invention.

FIG. 7 is a functional block diagram of another part of the shooting side apparatus according to the above-described embodiment.

FIG. 8 is a functional block diagram of still another part of the shooting side apparatus according to the embodiment.

FIG. 9 is a flowchart illustrating the operation of the shooting side apparatus according to the above-described embodiment.

FIG. 10 is a functional block diagram of a part of a device to be shot according to an embodiment of the present invention.

FIG. 11 is a functional block diagram of another part of the device to be shot according to the above embodiment.

FIG. 12 is a functional block diagram of still another part of the device to be shot according to the above embodiment.

FIG. 13 is a flowchart for explaining the operation on the side to be shot according to the above embodiment.

FIG. 14 is a diagram showing a relationship among a shooting side, a shot side, and a position of a shot ammunition t seconds after the shooting in the shooting training according to the embodiment of the present invention.

FIG. 15 is a block diagram illustrating a function of a bullet type parameter writing device according to another embodiment of the present invention.

FIG. 16 is a flowchart showing a procedure from when the apparatus to be shot receives the shooting laser signal to when the hit risk area is calculated according to the embodiment of the present invention.

FIG. 17 is a flowchart illustrating an operation of a shooting effect determination according to the embodiment of the present invention.

FIG. 18 is a block diagram illustrating functions of the terrain writing apparatus according to the embodiment of the present invention.

FIG. 19 is a diagram showing a positional relationship between a shooting side device and a shooting side device on the XY plane according to the embodiment of the present invention.

FIG. 20 is a diagram showing a positional relationship between a shooting side device and a shooting side device on an XZ plane according to an embodiment of the present invention.

FIG. 21 is a diagram showing a relationship between a shooting machine side position, a shot machine side position, and a shooting angle according to the embodiment of the present invention.

FIG. 22 is a flowchart illustrating calculation of a shooting direction according to the embodiment of the present invention.

FIG. 23 is a flowchart illustrating calculation of a shooting angle according to the embodiment of the present invention.

FIG. 24 is a flowchart for comparing the position of the device to be shot and the safe terrain according to the embodiment of the present invention.

FIG. 25 is a flowchart illustrating an operation of safe area calculation according to the embodiment of the present invention.

FIG. 26 is a vertical cross-sectional view illustrating one safety area according to the convex terrain according to the embodiment of the present invention.

FIG. 27 is a plan view illustrating one safety area based on a convex terrain according to an embodiment of the present invention.

FIG. 28 is a vertical cross-sectional view illustrating another safety area according to the convex terrain according to the embodiment of the present invention.

FIG. 29 is a plan view illustrating another safety area according to the convex terrain according to the embodiment of the present invention.

FIG. 30 is a vertical cross-sectional view illustrating one safety area according to a concave terrain according to an embodiment of the present invention.

FIG. 31 is a plan view illustrating one safety area based on a concave terrain according to an embodiment of the present invention.

FIG. 32 is a diagram showing an example of arrangement of terrain sample data on a map of a training area according to the embodiment of the present invention.

FIG. 33 is a diagram showing another example of arrangement of topographical sample data on a map of a training area according to the embodiment of the present invention.

FIG. 34 is a flowchart illustrating a function of the avoidance behavior evaluation device according to the embodiment of the present invention.

FIG. 35 is a diagram showing an example of a display format of data displayed on the display of the avoidance behavior evaluation device according to the example of the present invention.

FIG. 36 is a flowchart for determining the degree of wear according to the distance difference between the shooting side and the shot side according to the embodiment of the present invention.

FIG. 37 is a functional block diagram of a part of the apparatus to be shot at the time of determining a worn-out portion according to the embodiment of the present invention.

FIG. 38 is a functional block diagram of another part of the apparatus to be shot at the time of determining the worn-out portion according to the embodiment of the present invention.

[Fig. 39] Fig. 39 is a functional block diagram of still another part of the apparatus to be shot at the time of determining the worn-out portion according to the embodiment of the present invention.

FIG. 40 is a flowchart illustrating an operation of determining a worn-out portion according to the embodiment of the present invention.

FIG. 41 is a diagram showing how a worn portion of a tank is determined according to an embodiment of the present invention.

FIG. 42 is a diagram showing a state when determining a worn-out portion of a personnel according to the embodiment of the present invention.

FIG. 43 is a flowchart illustrating an operation of performing self-recognition using position information modulated into a shooting laser signal according to an embodiment of the present invention.

FIG. 44 is a flowchart illustrating the flow of shooting training before the start of training according to the embodiment of the present invention.

FIG. 45 is a flowchart illustrating the flow of shooting training during training according to the embodiment of the present invention.

FIG. 46 is a flowchart illustrating the flow of shooting training after the training according to the embodiment of the present invention.

FIG. 47 is a diagram showing the appearance of each unit during shooting training according to the embodiment of the present invention.

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ Identification code FI G09B 29/10 G01S 5/14 // G01S 5/14 G08C 23/00 A (58) Fields investigated (Int.Cl. ⁷ , DB name) F14J 5/08 F41G 3/26 F41J 5/02 G08C 23/04 G09B 29/00 G09B 29/10 G01S 5/14

Claims (13)

(57) [Claims] 1. A laser training system for shooting training, comprising: a laser transmitter for transmitting a laser signal in a shooting direction; and a laser receiver for receiving a laser signal, wherein the laser transmitter transmits a laser signal to the laser transmitter side. A modulation unit that modulates with position information, the laser receiver includes an information extraction unit that extracts the position information from the laser signal, and a determination unit that determines the shooting effect using the extracted position information. A laser transmission / reception system for shooting training, which is characterized in that 2. The laser transmission / reception system for shooting training, wherein the laser transmitter transmits the modulated laser signal in response to a shooting trigger signal from a shooting device of a firearm. 3. The laser transmission / reception for shooting training according to claim 1, wherein the position information on the laser transmitter side is position information output from a shooting side position locator on the laser transmitter side. system. 4. The laser transmission / reception system for shooting training according to claim 1, wherein the position information is the latest position information recorded continuously. 5. A laser transmitter for shooting training, comprising a modulator for modulating a laser signal transmitted in the shooting direction with position information on the side of the laser transmitter. 6. The laser transmitter for shooting training according to claim 5, wherein the position information on the laser transmitter side is position information output from a shooting side position locator. 7. The laser transmitter for shooting training according to claim 5, wherein the modulator further modulates shooting bullet type information. 8. The laser transmitter for shooting training according to claim 5, wherein the position information is the latest position information recorded continuously. 9. A shooting direction comprising a modulator for modulating a laser signal with position information, and modulating a laser signal with position information of a shooting side device as the position information in response to a shooting trigger signal from a shooting device of a firearm. A laser transmitter for shooting training, which is characterized by transmitting to a laser. 10. An information extraction unit that receives position information by receiving a laser signal transmitted in the shooting direction, and a determination unit that determines the shooting effect using the extracted position information. A laser receiver for shooting training. 11. An information extraction unit for receiving laser signals transmitted in the shooting direction and extracting position information, and shooting according to the distance obtained from the extracted position information and the position information on the own receiver side. A laser receiver for shooting training, comprising: a determination unit for determining an effect. 12. A bullet type parameter recording section for recording a bullet type parameter for each bullet type, and position information by receiving a laser signal transmitted in a shooting direction,
An information extraction unit that extracts shooting bullet type information, a determination unit that determines the shooting effect using the extracted position information, the bullet type parameter according to the extracted bullet type information, and the position information on the receiver side, A laser receiver for shooting training, comprising: 13. A shooting training controller for sending position information to a laser transmitter having a modulator for modulating a laser signal to be sent in the shooting direction with position information, wherein a shooting trigger signal from a shooting device of a firearm is provided. According to, the position information from the shooting side position locator on the laser transmitter side is transmitted to the laser transmitter as the position information for modulation.