WO2015189111A1

WO2015189111A1 - System for orienting an object in space and method therefor

Info

Publication number: WO2015189111A1
Application number: PCT/EP2015/062643
Authority: WO
Inventors: Wolfgang Pietz
Original assignee: Rheinmetall Defence Electronics Gmbh
Priority date: 2014-06-11
Filing date: 2015-06-08
Publication date: 2015-12-17
Also published as: DE102015105074A1

Abstract

The invention relates to a system for orienting an object in space and to a method therefor. For this purpose, a transmitter is mounted on a device, which transmitter is rotatably supported and repeatedly emits a signal when rotated. By using a reflector on a first participant, which is located at a distance from the device, the transmitter can be oriented toward the first participant. By means of position determination of the first participant and of the device, the orientation of the device in space can be determined. By means of position determination of the second participant, the orientation of the object with respect to the second participant can then be performed.

Description

SYSTEM FOR ORIENTING AN OBJECT IN THE ROOM AS WELL AS

PROCESS FOR THIS

The invention relates to a system for aligning an object in space and a method for this. Such systems are needed, for example, in the surveying ^¬ technology to align an object which is rotatably mounted on a spaced apart in space other participants. Likewise, such systems are needed in military technology and / or rescue services. Difficult, such alignment is always when the visibility is on the part ^¬ participants should be aligned with the, barred and therefore no visual examination ^¬ tact from the aligned object on the other party is possible.

To thus be able to align to another subscriber without inspection, a means must be provided by means of which it is possible for the object to assume a reference position in the space through which a focus on the other party he is ^¬ enables after the angle calculation. DE 10 2014 212 982 A1 describes for this purpose a solution in which Ortungssatel ^¬ liten are used as a locating system and the alignment of the first part ^¬ takers are used by two antennas with distance from each other to detect a reference direction (for example, the north direction) of which can be the first participant from within. In this case, however, the two antennas must have a relatively large distance from one another, since the location becomes less accurate the closer the two antennas are positioned together.

A second possibility describes the DE 10 2012 012 898 AI, although the object whose alignment is to be determined, this must be in motion. Object of the present invention is therefore to provide a system for aligning an object in which the alignment of the object to a participant is possible as accurately as possible, even if the participant from the object is not visible.

This object is achieved by a system of claim 1 and by a method of claim 9.

Accordingly, a transmitter mounted on a device which can align itself to a first subscriber in the room and this alignment and positioning possible, the position of the device in space to the first part ^¬ participants is determined and angle calculation then an object of the device to a second Attendees can be targeted. According to the invention, the system consists of a rotatable and / or tiltable gela ^¬ siege object, which is mounted according to a device. Furthermore, a first participant remote from the device and at least one second participant, which is likewise positioned at a distance from the device and on which the object according to the invention is to be directed, are provided.

The inventive system is further comprised of a positioning system, by which at least the first participant and the device can be located, and emits a rotatably mounted at the device station, wel ^¬ cher a signal.

This signal contains an identifier of the transmitter according to the invention for Unambiguous identification ^¬ gene and optionally the position data by the Ortungssys ^¬ tem. The transmitter sends this in constant repetition or in periodic Ab ^¬ stand. The transmitter can be a direction finder, a radar transmitter, a radio transmitter or a laser transmitter. It is important that the sender can send out the aforementioned ^{information in a} targeted manner. The location system is preferably a satellite-protected location ^¬ system, such as GPS, Glonass, Galileo and / or Beidou. At least the first participant and apparatus of this case have with ^¬ tel on to receive positioning signals in order to clearly define their position in space.

The rotatably mounted transmitter has fiction, according to means for stepwise rotation and the first participant has a reflector. The stepwise rotation means may be, for example, a stepping motor or a servomotor. It is important that the motor has means for determining the angle of rotation and can approach defined different angles of rotation.

According to the invention, the transmitter is then transferred via the means for gradual Dre ^¬ hung in a defined zero position. This zero position is the position in which the transmitter is oriented in the same direction in which the object to be aligned is also located at this moment. This transfer of the transmitter into the zero position may take place in that the object as well as the transmitter is a ^¬ be agreed position has specified as zero position, are ver ^¬ pivots in the transmitter as well as the object. In one embodiment, a further reflector is provided on the object, which reflects the transmitted signal from the transmitter back to the transmitter back. The transmitter is in any case equipped with means to receive a reflected signal, and detects a reflected, returning to ^¬ signal. Thereby, the Uber guide can also be performed in the zero ^¬ location of the transmitter. In a preferred embodiment, the axis of rotation of the transmitter is arranged coaxially to the axis of rotation of the object. In some applications, this embodiment can not be realized so that the axis of rotation of Transmitter spaced from the axis of rotation of the subject is mounted. In this Fal ^¬ le must at the zero position positioning as well as in all subsequent Po ^¬ sitionierungen the distance between the two axes of rotation included in the calculation ^¬ to.

After this transfer to the zero position, the transmitter can now be rotated stepwise about the axis of rotation by means of the stepwise rotation means, wherein it is clear at each step which angle the transmitter currently has to the zero position.

After each of these steps, data are sent using the above-mentioned signal and checked whether the data sent back to the transmitter zurückre ^¬ flexed. This happens at the latest after a full turn at Be ^¬ use of a reflector on the object.

Further, the first subscriber in the system be equipped ^¬ with a reflector and as soon as the transmitter is turned so that the transmitted signal from the reflector at the first subscriber is reflected back to the transmitter, the stepwise rotation of the transmitter is stopped as it enters Direction of the first subscriber.

The reflector of the first subscriber is in turn designed such that it can also receive and evaluate the transmitted signal from the transmitter, so that by the transmitted recognition the first subscriber determines that the signal originates from the device according to the invention. The first participant adds as ^¬ raufhin the data contained in the signal, in turn, add a detection of the first party and other possible data. These may include the time of the signal acquisition, the position of the first participant, which was located by the location system and / or include further specific data of the first participant. This added data can be Retired ^¬ transmits through the reflector to the transmitter so that the transmitter of the device may then recognize that a reflected signal coming back from whom the reflected signal comes back ^¬ and what duration it for transmission from the first subscriber to the Device needed. By this duration, the distance of the device to the first participant can be calculated. Likewise, the distance can be calculated by the known position data from the first participant and the device be ^¬ . In order to better reach possible participants with the transmitted signal of the transmitter, the transmitter can be designed to tilt this. The inclination of the axis of rotation higher or lower preferred first party can thus better he goes ^¬. According to the invention, a center is provided which can be integrated into the device according to the invention itself, but can also be designed as an external center. This center is equipped with communication means, as well as the first participant and the device. Thus, the first subscriber, the device as well as the central office can exchange data via the communication means. The communication means can be wired signal paths ^¬. However, it can also be means for wireless data transmission, such as WLAN or GSM. In a preferred embodiment, the communication means may also comprise receiving devices for optical lasing ^¬ transmission. This makes it possible for the control center to receive data sent, for example, by the reflector of the first party.

The data received by the first participant of the signal from the transmitter and the data received from the transmitter from the reflector of the first participant are sent to the control center, so that they can make an evaluation of the data.

Thus, the center of the located positions of the device and of the f ^¬ th subscriber may be the angle between the transmitter and the north direction Ventilation expected. Since the steps of the means for stepwise rotation of the transmitter ^¬ be withdrawn are also the angle between the transmitter and the zero position be calculated ^¬ can be. If these two values are known, the orientation in space with respect to the north direction is known by the transmitter as well as by the object to be aligned. This makes it possible object of the invention to the second party auszurich ^¬ th at a known position of a second part ^¬ supplier.

The position of the second party can also be determined by the location system, as well as by radar location or surveying or observation in space.

If the position of the second subscriber is fixed, the central unit can calculate the angle between the north direction and the second subscriber as well as the angle between the zero position and the second subscriber. After the angle between the zero position and the second participant is established, the object can be pivoted by the specific angle between the zero position and the second participant, so that the object according to the invention is aligned with the second part ^¬ participants.

In a particular embodiment, additional sensors are provided on the Vorrich ^¬ tung, to measure the rotation angle of the transmitter and / or the rotation angle of the object ^¬. Likewise, sensors may be provided to measure the inclination angle of the transmitter or the inclination angle of the object. These measurements by sensors provide added control is to determine the angle of rotation of the object or the transmitter. This Kings ^¬ nen be the angle of rotation safer and more accurately determined.

Another possibility for checking the orientation of the object is DA rin that is rotated with the use of a reflector on the object, the transmitter according to Reg ^¬ processing by the means for stepwise rotation until the signal emitted by the reflector is reflected back at the object to the transmitter becomes. The transmitter now needs to by the calculated angle between North Richland ^¬ processing and the second subscriber as well as the north direction and the first part ^¬ participants have rotated. If this is not the case, a readjustment must be ^¬ leads.

Since the present system and method is also in combat situations Applic ^¬ bar, the panel in a further embodiment can calculate by the physical data of the object and the usage ^¬ purpose of the object, the inclination of the object after the orientation to which inclines the object overall must be so that the second subscriber will ge ^¬ dripped in a combat situation. This is also helpful when used by rescue workers, as for example the inclination of water cannons can be determined.

Further features will become apparent from the drawing to the present invention. FIG. 1 shows a schematic representation of the system according to the invention.

In Figure 1, the device 10 according to the Invention is shown as a gun. On the device 10 rotatably and tiltably mounted is an object 11, shown here as a pipe of the gun. Also belonging to the device 10 is a transmitter 20, which is rotatably and tiltably mounted and on the device 10 so positio ^¬ ned that the axis of rotation of the transmitter 20 is positioned coaxially to the axis of rotation of the object 11.

A first subscriber 1 with a reflector 3 and a second subscriber 2, also with a reflector 4, the device 10 around po sitioned ^¬ in space, as well as a central 30th

The inventive system is used to align the object 11 on the two ^¬ th subscriber 2, so that the object 11 extends in alignment with an imaginary line from the device 10 to the second subscriber. 2 First, the transmitter 20 is transferred to a zero position, which coincides with the La ^¬ ge of the object 11. For this purpose, the transmitter 20 is stepwise ge ^¬ rotates, the transmitter 20 sends data after each step and checks the reception of ^incoming data.

The rotation of the transmitter 20 is done by means for stepwise rotation. On the object 11, a reflector 21 is mounted, which can reflect a transmitted signal of the transmitter 20 back. When the transmitter 20 now receives a return light reflected from the Re ^¬ Flektor 21 signal, the transmitter 20 is aligned with the object. 11 This is defined according to the invention as a zero position.

The zero position can be detected not only by the reflected signal, but also by a predefined zero position, in which then at the beginning of the inventive method ^¬ the object 11 and the transmitter 20 must be transferred.

After transfer of the transmitter 20 in this zero position of the transmitter 20 is stepwise ^¬ rotated, the transmitter 20 sends data after each step and checks the reception of returned data.

The reflector 3 of the first subscriber 1 has not only the ability to reflect ^¬ Sig nal of the transmitter 20 but also to receive the signals of the transmitter 20, and optionally to add data before they are reflected back. Since according to the invention is a localization system for locating the first subscriber 1 and the apparatus 10, optional but also the second subscriber 2, provided the located position of the first parti ^¬ mers 1 can for example be added to the signal as well as the current time. This data can be sent through the reflector 3 again, for example, to the first party 1 and / or to the center 30th

Once aligned by the stepwise rotation of the transmitter 20 to the first party 1, the transmitter 20 receives the back-reflected Signal of the reflector 3 of the first subscriber 1. Identifications of the first subscriber 1 and the device 10 can be recognized, from each of which the received signals originate. By means of communication of the center 30 and the first subscriber 1 and the device 10, the received signals or the data of the received signals of the center 30 can be communicated. These include at ^¬ game as the timing of the received signal, the transmitted identifier and / or the position of the transmitter 20 of the device 10 and the reflector 3 of the first subscriber. 1

Since the number of degrees of the transmitter 20 to the current position, from the zero position, be ^¬ tunable, the center 30 can determine the angle between the object 11 and the first participant 1. This may optionally determine the device 10 itself, depending on which drive or which additional measuring means were used.

By the fixed position of the device 10 and the first participant

I can be calculated by the location system, the distance of the device 10 to the first participant 1, as well as the angle 7 between the first

Participant 1 and the north direction. These calculations are also carried out by the control center 30. Alternatively, these calculations may also take place in the device 10. If the position of the second subscriber 2 is fixed, the angle 13 between the second subscriber 2 and the north direction and the angle 12 between the object 11 and the north direction can also be determined thereafter. As a result, the central office 30 ultimately the angle 14 between the object

II and the second participant 2, around which the object 11 must be pivoted in order to be aligned with the second participant 2. To check whether the alignment has been carried out correctly, the second participant 2 can also be provided with a reflector 4, which can reflect back a signal emitted by the transmitter 20 signal. The transmitter 20 is then rotated so many steps as 7 and 13 speaks the angles between the alignment ^¬ ent to the first subscriber 1 and the alignment with the second subscriber. 2 Thereafter, the signal must be detectable at the alignment is carried out correctly Re ^¬ Flektor 4 of the second subscriber 2 by the transmitter 20th Alternatively, the reflector 21 can be used on the object 11 in order to check the correct Reg ^¬ processing.

With known physical property of the gun and the missile, which is to be fired by the gun, then the inclination of the object 11 can also be calculated by the center 30. The invention is not limited to the above-mentioned features, but further embodiments are conceivable. Thus, for example, sensors can be provided which detect a wind direction and wind force, which are also included in the calculation of the orientation. Likewise, different coordinate systems can be used, in particular non-Cartesian systems, for example, to include the earth curvature in the calculation.

The invention is applicable to measurements when a first participant must be aligned for measurement or determination of distance to a second parti ^¬ mer. By means of the system and the method according to the invention, such an orientation can be largely automatic.

The invention is applicable in the military and / or the simulation of Gefechtssi ^¬ situations when a combat vehicle has to align his weapon at a target, as the second participant as the first subscriber.

Likewise, the invention is applicable by rescue workers when water cannons, and / or other objects that throw material under pressure in one direction and / or shoot. Rescuers within the meaning of this invention also include security forces, such as the police.

Exemplary military and / or civilian applications are Ausrichtun ^¬ gen of stationary objects on land, but also of mobile objects on land vehicles, ships and / or flying objects.

LIST OF REFERENCE NUMBERS

1 first participant

2 second participant

3 reflector of the first participant

4 reflector of the second participant

5 horizontal distance

6 vertical distance

7 angle between first participant and north direction 10 device

11 object

12 angles between object and north direction

13 Angle between second participant and north direction

14 Angle between object and second participant 15 Angle between object and first participant

20 stations

21 reflector on the object

30 headquarters

Claims

1. A system for aligning an object (II) in space, wherein the object (11) is rotatably and / or tiltably mounted on a device (10), having a first participant (1) which is at a distance from the device (10). is positioned, with at least one second subscriber (2), which is also spaced from the device (10) is positioned and on which the object (II) to be aligned with a locating system, which comprises at least the first parti ^¬ mer (l) and the Device (10) can locate, characterized in that the device (10) includes a rotatably mounted transmitter (20), wherein the rotatably mounted transmitter (20) comprises means for stepwise rotation that the first participant (l) a reflector (3 ), which can reflect the signals emitted by the transmitter (20) and that a central unit (30) with communication means to the first subscriber (l) and the device (10) is provided, which due to the location of the first subscriber (l ) and the device (10) calculates the alignment of the object (11) with the second participant (2).

2. System according to claim 1, characterized in that the transmitter (20) is designed as a laser scanner, which emit data through the laser beam and can also receive again.

3. System according to claim 1 or 2, characterized in that the transmitter (20) is designed tiltable in its axis of rotation.

4. System according to one of claims 1 to 3, characterized in that the positioning system is a satellite-based positioning system, such as beispielswei ^¬ se GPS, GLONASS, Galileo and / or Beidou.

5. System according to one of claims 1 to 4, characterized in that the means for gradual rotation of the transmitter (20) are designed as stepper motor, which may be equipped with a transmission.

6. System according to one of claims 1 to 5, characterized in that the object (ll) has a reflector (21) in order to be able to reflect the ^¬ th signals emitted by the transmitter (20).

7. System according to one of claims 1 to 6, characterized in that the device (10) has at least one sensor to measure the angle of rotation of the transmitter (20) and / or to measure the angle of rotation of the object (ll).

8. System according to one of claims 3 to 7, characterized in that the device (10) has at least one sensor to measure the inclination angle of the transmitter (20) and / or to measure the inclination angle of the object (ll).

9. A method for aligning an object (II) in space using the system of one of claims 1 to 8, characterized in that for ^¬ next the transmitter (20) is transferred to a zero position, which with the position of the object (ll ) matches, then the transmitter (20) is rotated stepwise in that the transmitter (20) sends data after each step and the reception to ^¬ rear transmitted data verified that the center (30) in the case of data received from the rotated steps of the zero position from and the located positions of the device (10) and the first participant (l) calculates the angle (7) between the transmitter (20) and the north direction and the angle (15) between the transmitter (20) and the zero position that after the control center is calculated based on the position of a ^two-¬ th subscriber the angle (14) between the zero position and the second subscriber (2) and the object (II) then versc by this angle (14) between the zero position and the second subscriber (2) is pivoted to align the object (ll) on the second participant (2).

10. The method according to claim 9, characterized in that the transfer to the zero position by a reflector (21) on the object (ll) is done, which the reflected signal emitted by the transmitter (20) and detectable by the transmitter (20).

11. The method according to claim 9 or 10, characterized in that the inclination of the object (ll) by the central office (30) due to the physical Da ^¬ th of the object (ll) and the intended use of the object (ll) is calculated.

12. The method according to any one of claims 9 to 11, characterized in that after the alignment of the object (ll) on the second participant (2) the correct orientation is checked by the fact that the transmitter (20) also on the calculated angle (12 , 14, 15) is aligned stepwise on the second participant (2) and by emitting a signal via the transmitter (20) this from the now with the transmitter (20) aligned object (ll) via the reflector (21) to Transmitter (20) is reflected.

13. The method according to any one of claims 9 to 12, characterized in that the axis of rotation of the transmitter (20) and the object (ll) not coaxial duri ^¬ fen, so that a correction value in the calculation of the control center (30) for pivoting Ver of the object (11) flows in.

14. The method according to any one of claims 9 to 13, characterized in that the time for the returned by the first participant (l) signal ge ^¬ measured and to increase the precision of the location of the first subscriber (l) is used.