WO2015189119A1

WO2015189119A1 - System for orienting a first subscriber to at least one second subscriber, and method therefor

Info

Publication number: WO2015189119A1
Application number: PCT/EP2015/062654
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: DE102015105073A1

Abstract

The present invention relates to a system for orienting a first subscriber to at least one second subscriber, wherein a moving reference object is provided in the field of vision of the first subscriber, which object moves and is firmly positioned only during orientation. A locating system is used to determine at least the positions of the first subscriber and the reference object. The position of the second subscriber can be determined by suitable means. The positions of the first subscriber and the reference object allow determination of the orientation of the first subscriber in space. The positions of the first subscriber and the second subscriber then allow the first subscriber to be oriented to the second subscriber.

Description

SYSTEM FOR ORIENTING A FIRST PARTICIPANT IN AT LEAST ONE SECOND PARTICIPANT AND PROCESS THEREFOR

The present invention relates to a system for aligning a first participant on at least one second participant, as is common in the surveying ^¬ technique, and a method thereof. Here, it is necessary that a first participant whose position is known to a certain part of yourself or a device that performs the first party with you, must be aligned on a two ^¬ th subscriber or other participant in succession.

For this purpose, it is known that this is done with the help of light, such as a La ^¬ ser, by the first participant directed said light on the second part ^¬ takers. Here can be seen exactly when the alignment is, that if the second party sees the light beam of the first part ^¬ premises or is thrown back at him by reflector means the second party the light of the first participant ER follows.

Such a survey becomes difficult whenever the view from the first participant to the second participant is impeded, for example by

Trees and / or walls. In this case, an optical alignment can not take place without further aids, since the first participant can not recognize when the alignment has taken place. A similar problem arises with guns and / or the simulation of guns when they do not view the second party, that is the aim, ha ^¬ ben. In this case, although the position of the first part ^¬ transferee can be determined by a locator, but it is difficult to perform an alignment durchzu ^¬, since an appropriate reference direction could align from one of the missing. The DE 10 2014 212 982 AI this describes a solution to be used in the Ortungssatel ^¬ liten as a locating means and are to ge ^¬ utilizes the alignment of the first parti ^¬ mers by two antennas having relatively large distance from each other to detect a reference direction (for example, the North direction) from which the first participant can align. The location is less accurate, the closer the two antennas are together.

The two antennas for the locating system are hereby mounted so that they are retracted during transport and extended only in use. However, it means from each other be set ^¬ antennas for alignment to use a circumstance, two removed. In addition, there is the disadvantage that the alignment is virtual and you get no real reference or optical confirmation of the alignment except the calculated sizes by the tracking satellites.

Thus, it is an object of the present invention to provide a system and a method for aligning a first participant on at least one second part ^¬ participants, in which the alignment can be performed quickly and a real visible confirmation in the alignment can be used and inaccuracies in the alignment can be avoided ,

This is achieved by the claims 1 and 8, characterized in that a movable Re ^¬ reference object is provided in the field of view of the first participant, which is ^¬ movably and only firmly positioned during alignment and with the aid of this sen alignment on at least one other participants , preferably a second participant, is possible.

The fiction, contemporary system consists for this purpose of a positioning system, by means of which the position of the first participant is locatable. The position of the second party can also be locatable by the location system. Such a tracking system can be any satellite-based positioning system ^¬ for example, such as GPS, GLONASS, Galileo and / or Beidou. By the location system, the positions of the first and the other participants are determinable, so that you know exactly at which position the respective Teilneh ^¬ mer is. However, the exact alignment with each other is difficult in Sichtbehin ^¬ tion.

To overcome this difficulty, a movable Re ^¬ conference object, the invention provides in the field of view of the first subscriber. This can be ei ^¬ genbeweglich designed or manually, or controlled brought into its place, for example by a means of transport, by attachment to a building and / or by setting up off-road. Preferably, however, the reference object is capable of flying and designed as a multicopter. Thus, it can be re ^¬ tively quickly brought to his work area if it resumes its invention ^shown SSE function. The reference object is also made locatable, so that its position is known. The location is also done here preferably by the Satellitenor ^¬ system.

The system is arranged so that a first subscriber at least one subscriber weite- rer and the reference object are deployed at different positions, wherein from all participants and the reference object, the positions are ^¬ be known. The position of the second subscriber can be provided instead by the tenor Satelli ^¬ tung also by calculation, measurement or observation.

Preferably, the reference object with a communication unit is permitted from ^¬, which allows to receive data and to send. This Kom ^¬ munikationseinheit is preferably implemented as a wireless connection, and may, for example, a WLAN connection or GSM connection be. The first participant and optionally at least one further subscriber besit ^¬ also zen communication units to exchange with each other and / or with the Refe ^¬ ence object data. By this possibility one can the georteten positions of the participants, the reference object as well as commands, audio signals and / or image signals transmitted.

The reference object is arranged in the field of view of the first participant, whereby an optical alignment can take place on the reference object.

For this purpose, the first participant or the device to be aligned of the first participant is aligned with the line of sight to the reference object. This posi ^¬ tion in the line of sight to the reference object is called the zero position, since each additional alignment happens from here.

In a preferred embodiment, the reference object has a setting ^¬ cash reflector can be received with which a laser beam and reflected. This serves for optical alignment by means of a laser beam. The La ^¬ serstrahl can also be used for optical communication of a participant with the reference object.

The orientation of the first participant or the device of the first Teilneh ^¬ mers done by horizontal rotation without changing the own position. After aligned to the zero point, can be determined using the difference ^¬ union positions of the first subscriber and the reference object, which amount is the angle between the north direction and the zero ^¬ dot alignment. For this purpose, in determining the positions of the first participant and the reference object, the coordinates of the positions are determined and compared with each other. There arise between the first subscriber and the REFERENCED ^¬ zobjekt a distance in north / south direction and a distance in east / west direction. These distances can be either positive or negative depending on the direction.

The north-south and east-west distances form the catheters of a right-angled triangle, with the line of sight from the first participant to the reference the hypotenuse of the right-angled triangle. Since by the Or ^¬ processing and position determination of the first subscriber and the reference object are fixed, the sizes of the short sides, the angle can be calculated from the north direction of the line of sight. This determination of the angle is just one example of the calculation method. Depending on the coordinate system and / or calculation model, other known methods of calculation can be ver ^¬ spent.

Due to this alignment with the zero point, ie the line of sight from the first participant to the reference object, an exact alignment in the plane is possible, since the angle to the north direction is fixed.

Due to the known position of one of the second subscriber, since the Reg ^¬ tung is fixed in the plane of the first subscriber, advertising calculates the angle to, by which the first subscriber has to turn in order to be aligned to said second subscriber.

This can for example take place in that a second triangle between the first subscriber and said second subscriber is mounted, again form the north / south and east / west directions, which may be ^¬ gativ ne again, the two other sides of the triangle. The angle to the hypotenuse is then also be calculated in advance and the first subscriber or the device of the f ^¬ th subscriber can now aligned with said second subscriber who ^¬.

Due to the location located in the plane of the said second participant, it can be determined in comparison with the position in the plane of the reference object and / or the first participant in which direction the rotation has to be made from the zero point and by what number of degrees or in which Direction must be rotated from zero point in order to align itself ^¬ on the second participant. In the case of guns or the simulation of guns, the ballistic properties of the used, or simulated projectile so that the projectile hits the second participant as best as possible.

By this system or this method, it is possible to align the first participant to the second participant, even if no line of sight exists between the two participants.

To carry out the inventive method, it is necessary that ei ^¬ ne line of sight between the first subscriber and the reference object exists. To ensure this, the reference object may comprise means for visibility ^¬ improvement. These may be optical devices such as headlamps or laser devices, but may also be electronically detectable means such as infrared or UV emitters. The ERS ^¬ te participant must have corresponding receiver for this non-visible signals.

In the case where the reference object is equipped with a laser, it can also be used for optical signal transmission. In this case, the laser beam is used as a communication path and can thus transmit data between the first participant and the reference object. Refe rence is the ^¬ object in the viewing area of the second subscriber, the Referenzob ^¬ ject can be designed such that it also comprises a laser connection to said two ^¬ th subscriber. This makes it possible that data from the first participant via the reference ^¬ object can get to the second participant and vice versa. It is also possible to select the reference object ei ^¬ nen point in space due to variable positioning of the laser beam. This is advantageous, for example, when the system according to the invention is used for a simulated combat exercise. The first subscriber can then be a launching device which can be extended to one of the other subscribers. must be judged. After successful orientation can then be calculated with knowledge of the ballistic characteristics of the projectile or missile to the corresponding ^¬ de hit point and marked by the laser. The laser of the reference object can be designed so that it can send two Laserstrah ^¬ len, namely to the first device and toward one of the other participants. However, it is also possible to the reference object to ge ^¬ Stalten so that the laser beam from the first subscriber is transmitted from and reflected from the reference object. The output angle of the reflected laser beam in the direction of one of the other participants is then designed variable.

To which the mark possibility of the laser beam may be sent from the reference object to make more realistic, it is provided in a special embodiment that the laser beam, which marks the target at the second subscriber, is transmitted with a delay, namely, when in at ^¬ play a combat exercise by the time of flight of the projectile and / or the missile of the hit is to be expected delayed.

Further features of the invention will become apparent from the drawings.

Show it:

Figure l is a schematic starting position with a first subscriber, egg ^¬ nem second subscriber and a reference object.

FIG. 2 ^'is a schematic representation of the zero point alignment with the arrangement from FIG. 1.

Figure 3: a schematic representation of the alignment with the second

Participant with the arrangement of Figure 1. 1 shows a starting position for applying the method according to the invention, 30, having a first station 20 and a second part ^¬ receiver of the first station 20 can be the second subscriber 30 is not se ^¬ hen as a barrier 50 between the first subscriber 20 and the second participant 30 exists. A line of sight between the two participants 20, 30 thus can not be established.

The position of the first subscriber 20 and that of the second subscriber 30 are known since a navigation system 40 is provided which can determine the positions of the first subscriber 20 and of the second subscriber 30 by locating the first subscriber 41 and locating the second subscriber 42 ,

The first participant 20 thus knows its position through the location 41, but not which orientation it occupies in space, for example, with respect to the Nordrich ^¬ tion, straight. Since the obstruction 50 prevents the visibility between the first part ^¬ contractor 20 and the second subscriber 30, the first station 20 thus has no possibility to align itself to the second party 30th In order to allow the alignment nevertheless, a Refe rence ^¬ object 10 is positioned in the viewing area of the first subscriber 20 according to the invention, which is also localized on the positioning system 40 and the locating 43rd In the example shown, there is likewise a line of sight from the reference object 10 to the second participant 30.

Both stations 20, 30 and the reference object 10 may be equipped with data ^¬ transmission means to transmit the respective positions, at which they were located, and / or receive. These data transmission ^¬ medium can also be used to transmit signals, data and / or commands each other. FIG. 2 shows the orientation of the first participant 20 to the reference object 10. In order to be able to assume a defined position in the space from which an alignment can be made, the first participant 20 is aligned with the line of sight to the reference object 10. Since the positions of the first participant 20 and the reference object 10 are known, the angle between the current orientation of the first participant 20 and the north ^¬ direction 21 can now be calculated. This determines how many degrees the rotation 23 of the current orientation of the first participant 20 is to the north ^¬ direction. The angle of this rotation is calculated by the triangle, which has as one of the catheters the distance in north / south direction of the first part ^¬ takers 20 of the reference object 10 and the second of the catheters the distance in east / west direction of the first participant 20 of the reference object 10. Depending on the position in the space of the first participant 20 and the reference object 10, these distances may be positive or negative and thus the catheters also extend in both directions. In order to calculate said angle, this method of calculation only requires that a right-angled triangle be constructed which includes the north / south direction as one of the two catheters and the east / west direction as the second of the two catheters.

From the values of the two catheters can now be calculated the angle by which the zero point 22 is rotated relative to the north direction. In FIG. 3, a defined position in the space of the first subscriber 20 is given by the abovementioned calculation. By the known positions of the first participant 20 and the second participant 30, an alignment of the first participant 20 can be made from the zero point. For this purpose, for example, also a triangle between the first participant and the second participant are raised. Here too the north-south direction is a catheter and the east-west direction is the second catheter. Taking into ^account the directions (north / south, east / west) of the triangle between the Participants 20, 30, the angle of rotation can be calculated then 25 by which the first party has to be rotated 20 so that the first part ^¬ contractor 20 is aligned with the second subscriber 30th In the figures, the rotation 25 is not shown to the second user 30 from the zero ^¬ point 22, but 20 of a specific starting position of the first party in some cases it is not possible for the first subscriber 20 to align in all directions, since the Freedom of movement does not allow more than a certain number of degrees. In this case, it is necessary to determine the angle from the current starting position to the zero point 22, that is, the degree of rotation to the zero point 24. This can be done for example by an accessory such as a protractor. Taking into account the rotation to the north direction 23, ie the angle between the zero point 22 and the north direction and the rotation to the zero point 24, so the degree between the instantaneous starting position and the zero point 22, can then be calculated to wel ^¬ che rotation 25 of first party 20 must be rotated to align with the second party 30.

The present invention is not limited to the features in the specification and the drawings. Rather, further Ausführungsmöglichkei ^¬ th conceivable. So the reference object a way can produce acoustically ^¬ tables signals be provided when the focus on the zero point having taken place ^¬ has. Likewise, it is conceivable to carry out the location instead of a satellite-based location system by Radarortung.

As described, the present invention can be used in surveying technology, but also in the military field, for example in the alignment of a combat vehicle with a target in the field. The civilian use, for example of security forces, such as the police, border guards, water protection, the technical relief organization and / or the fire department, is conceivable. For example, this could be the case when targeting water cannons to a target. 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.

Thus, the invention may find application in the military and / or civilian field, in particular in alignment of stationary objects on land, but also of mobile objects on land vehicles, ships and / or flying objects.

LIST OF REFERENCE NUMBERS

10 reference object

20 first participant

21 north direction

22 zero point

23 turn to the north direction

24 rotation to the zero point

25 turn to the second participant

30 second participant

40 location system

41 Location of the first participant

42 Location of the second participant

43 Location of the reference object

50 obstacle

Claims

A system for aligning (25) a first party (20) with at least one second party (30),

with a locating system (40), by means of which the positions of the first and the second participants (20, 30) are locatable (41, 42),

characterized in that a movable reference object (10) in Sichtbe ^¬ ranging from the first subscriber (20) is provided, which is also locatable (43)

in that with the aid of the position of the reference object (10) an alignment (25) of the first participant (20) can be undertaken

and that during this orientation (25) the reference object (10) is fixed positio ^¬ ned.

2. System according to claim 1, characterized in that there is at least one obstacle (50) between the first participant (20) and at least one second participant (30), so that at least one of the second participants (30) not in the field of view of first participant (20) is located.

3. System according to claim 1 or 2, characterized in that the reference ^¬ zobjekt (10) is a multicopter.

4. System according to one of claims 1 to 3, characterized in that the reference object (10) comprises means for improving visibility.

5. System according to one of claims 1 to 4, characterized in that the reference object (10) has an adjustable reflector, which is used for optical communication of a subscriber (20, 30) with the reference object (10).

6. System according to one of claims 1 to 4, characterized in that the reference object (10) comprises means for the reflection of laser beams, wherein the outgoing laser beam is adjustable in its direction.

7. System according to one of claims 1 to 6, characterized in that the reference object (10) has a communication unit which can receive data and send out again.

8. A method for aligning a first subscriber (10) on at least one second subscriber (30) by means of the system of one of claims 1 to 7,

characterized in that first the positions of the first subscriber (10) and of the reference object (10) by the positioning system (40) determines the ^¬,

then the first participant (30) is aligned by horizontal rotation on the Referenzob ^¬ jekt (10) by sight,

then the degree of rotation (21) with respect to the Nordrich ^¬ tion is calculated based on the different positions of the first participant (20) and the reference object (10) and is set as the zero point,

then, based on the different positions of the first participant (20) and a second participant (30), the degree of rotation with respect to the north direction is calculated

and the offsetting of the two rotations from zero as

Alignment (25) of the first participant (20) is used.

9. The method according to claim 8, characterized in that a satellite system ^¬ for locating (40, 41, 42) is used, such. GPS, GLONASS, ^Galileo and / or Beidou.

10. The method according to claim 8 or 9, characterized in that the first participant (20) and / or the reference object (10) and / or at least one second ter subscriber (30) use wired and / or wireless data transmission ^¬ possibilities for communication with each other.

11. The method according to claim 10, characterized in that the referencing zobjekt (10) receives data via the data transmission opportunity proces ^¬ tet and sent again.

12. The method according to any one of claims 8 to 11, characterized in that the reference object (10) uses visibility enhancement means to be better seen by the first participant (20).

13. The method according to any one of claims 1 to 12, characterized in that via optical laser communication at least one signal from the first participant (20) to the reference object (10) is sent and this then forwards the signal to at least one second participant (30) ,

14. The method according to claim 13, characterized in that the Weiterlei ^¬ processing of the signal takes place delayed in time.

15. The method according to any one of claims 8 to 14, characterized in that by means of laser beam, which is emitted from the reference object (10), the target of the orientation of the first participant (20) is marked.