CA3020892A1 - Boresighting device and method - Google Patents
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- CA3020892A1 CA3020892A1 CA3020892A CA3020892A CA3020892A1 CA 3020892 A1 CA3020892 A1 CA 3020892A1 CA 3020892 A CA3020892 A CA 3020892A CA 3020892 A CA3020892 A CA 3020892A CA 3020892 A1 CA3020892 A1 CA 3020892A1
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- 230000003287 optical effect Effects 0.000 claims abstract description 13
- 238000010304 firing Methods 0.000 claims description 25
- 238000000034 method Methods 0.000 claims description 24
- 238000004422 calculation algorithm Methods 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 claims description 4
- 238000004590 computer program Methods 0.000 claims description 3
- 238000013178 mathematical model Methods 0.000 claims description 3
- 238000009825 accumulation Methods 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims description 2
- 241001122767 Theaceae Species 0.000 description 5
- 238000012937 correction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000006866 deterioration Effects 0.000 description 1
- 230000001627 detrimental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G3/00—Aiming or laying means
- F41G3/32—Devices for testing or checking
- F41G3/323—Devices for testing or checking for checking the angle between the muzzle axis of the gun and a reference axis, e.g. the axis of the associated sighting device
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G3/00—Aiming or laying means
- F41G3/22—Aiming or laying means for vehicle-borne armament, e.g. on aircraft
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G1/00—Sighting devices
- F41G1/54—Devices for testing or checking ; Tools for adjustment of sights
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G3/00—Aiming or laying means
- F41G3/32—Devices for testing or checking
- F41G3/326—Devices for testing or checking for checking the angle between the axis of the gun sighting device and an auxiliary measuring device
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Telescopes (AREA)
Abstract
La présente invention se rapporte à un dispositif de simbleautage pour équiper une tourelle (1) munie d'un canon (4) et d'un ou plusieurs système(s) de visée avec une optique (10), ledit dispositif comprenant : - une cible de déflection (3) destinée à être positionnée à l'extérieur du canon (4), a u niveau du frein de bouche (6) dudit canon (4), - un boîtier (2) destiné à être positionné à l'extérieur du canon (4), au niveau du fourreau (5) dudit canon (4), ledit boîtier (2) comportant un premier système optique (7) muni d'une caméra de déflection et un second système optique (8) muni d'une caméra de simbleautage.
Description
BORESIGHTING DEVICE AND METHOD
Subject-matter of the invention The present invention relates to a method and device for aligning the line of sight with the firing line, commonly called boresighting device, for weapons systems, preferably large caliber (75 mm to 140 mm).
Technological background and state of the art On a weapons system, a misalignment between the firing line and the line of sight is detrimental to hit a target with precision. There are two main sources of misalignments. A first misalignment source is the physical deformation of the barrel, commonly called deflection, which appears naturally and inevitably, both horizontally and vertically, as a result of the relatively heavy weight of the barrel and the outside conditions (rain, wind, sun, etc.). This deformation causes a parallelism flaw between the firing line from the shaft of the barrel and the firing line from the muzzle of the barrel. A second source of misalignment lies in the impacts and vibrations experienced during driving and shot firings that cause a deviation relative to the alignment previously calibrated.
Different devices exist for aligning the firing line with the line of sight, or in other words, boresighting a weapons system.
There are traditional boresighting techniques where the device is based on the cooperation between two operators, the first being located in the turret while the second, outside the turret, stays close to the muzzle of the barrel. The principle is based on optical collimator and described in document US 1,994,177. The collimator is placed inside the tube of the barrel by the second operator and gives the first operator a view aligned with the firing line. In other words, the second operator informs the first operator how it is necessary to move the barrel so that he can see, through the observation hole, how the reference target is positioned. One major drawback of this device is that it requires two operators, including one outside the vehicle, i.e., directly exposed to an outside threat. Furthermore, it requires a ladder in order for the second operator to be able to reach the muzzle brake.
Subject-matter of the invention The present invention relates to a method and device for aligning the line of sight with the firing line, commonly called boresighting device, for weapons systems, preferably large caliber (75 mm to 140 mm).
Technological background and state of the art On a weapons system, a misalignment between the firing line and the line of sight is detrimental to hit a target with precision. There are two main sources of misalignments. A first misalignment source is the physical deformation of the barrel, commonly called deflection, which appears naturally and inevitably, both horizontally and vertically, as a result of the relatively heavy weight of the barrel and the outside conditions (rain, wind, sun, etc.). This deformation causes a parallelism flaw between the firing line from the shaft of the barrel and the firing line from the muzzle of the barrel. A second source of misalignment lies in the impacts and vibrations experienced during driving and shot firings that cause a deviation relative to the alignment previously calibrated.
Different devices exist for aligning the firing line with the line of sight, or in other words, boresighting a weapons system.
There are traditional boresighting techniques where the device is based on the cooperation between two operators, the first being located in the turret while the second, outside the turret, stays close to the muzzle of the barrel. The principle is based on optical collimator and described in document US 1,994,177. The collimator is placed inside the tube of the barrel by the second operator and gives the first operator a view aligned with the firing line. In other words, the second operator informs the first operator how it is necessary to move the barrel so that he can see, through the observation hole, how the reference target is positioned. One major drawback of this device is that it requires two operators, including one outside the vehicle, i.e., directly exposed to an outside threat. Furthermore, it requires a ladder in order for the second operator to be able to reach the muzzle brake.
2 There are also devices of the "Muzzle Reference System" (MRS) type. These devices, described inter alla in document US 4,665,795, are generally made up of a laser transceiver situated at the base of the barrel and a mirror placed at the muzzle of the barrel. The transmitter sends an infrared laser ray toward the mirror, which is next reflected toward the receiver. Based on the position of the laser received by the receiver, a piece of electronic equipment allows the automatic calculation of the azimuth and elevation corrections, which are next added to the ballistic corrections at the shot firing control system. One drawback of these devices is that the mechanical stability of the mirror is very complex to provide. Furthermore, detecting the arc lines of the barrel via laser measurements can make the system detectable by the enemy.
Next, although devices of the MRS type make it possible to correct the variations in the arc lines of the barrel, an initial alignment remains necessary.
Similarly, the document FR 2 505 477 discloses a boresighting device which comprises on the barrel a deflection target formed by a mirror on which a crosshairs is projected, a housing comprising optics systems and an image sensor, the images are, on the one hand, the reflected image of the crosshairs and, on the other hand, in the presence of a filter, the reflected image of a distant object. It is again a precarious system wearing out with low stability and with the risk of deterioration of the precision of the optics systems in the long run.
Other, less widespread devices may also be cited.
Document EP 1,510,775 describes a device with a camera having two focusing levels. This camera is inserted in the chamber of the barrel during the boresighting operations. A first focusing at the muzzle of the barrel makes it possible to estimate its angular deviation (X,Y). A second infinity focusing makes it possible to observe an object situated at a far distance, and therefore to bring the view of the optical system back onto the same reference. The boresighting is done by combining these two ope rations.
Document EP 1,616,145 discloses a boresighting device done by a single operator located inside the turret. A camera is pushed to the muzzle of the barrel from the inside of the latter. Since this camera is situated at the muzzle of the barrel, it implicitly takes the arc line of the barrel into account.
Next, although devices of the MRS type make it possible to correct the variations in the arc lines of the barrel, an initial alignment remains necessary.
Similarly, the document FR 2 505 477 discloses a boresighting device which comprises on the barrel a deflection target formed by a mirror on which a crosshairs is projected, a housing comprising optics systems and an image sensor, the images are, on the one hand, the reflected image of the crosshairs and, on the other hand, in the presence of a filter, the reflected image of a distant object. It is again a precarious system wearing out with low stability and with the risk of deterioration of the precision of the optics systems in the long run.
Other, less widespread devices may also be cited.
Document EP 1,510,775 describes a device with a camera having two focusing levels. This camera is inserted in the chamber of the barrel during the boresighting operations. A first focusing at the muzzle of the barrel makes it possible to estimate its angular deviation (X,Y). A second infinity focusing makes it possible to observe an object situated at a far distance, and therefore to bring the view of the optical system back onto the same reference. The boresighting is done by combining these two ope rations.
Document EP 1,616,145 discloses a boresighting device done by a single operator located inside the turret. A camera is pushed to the muzzle of the barrel from the inside of the latter. Since this camera is situated at the muzzle of the barrel, it implicitly takes the arc line of the barrel into account.
3 These two devices have the drawback of having to position a camera inside the barrel. In the case of document EP 1,616,145, deploying the camera is a time-consuming and tedious operation, especially if it must be done by a single operator situated in the turret. Furthermore, it is not possible to guarantee that the orientation of the camera pushed to the muzzle will systematically be the same upon each boresighting operation.
Aims of the invention The present invention aims to provide a boresighting device and method that require only one operator located inside the turret.
It further aims to develop a device not requiring an optics system inside the barrel. It thus aims to develop a device which is stable and precise.
It also aims to develop a boresighting method that is quick, while also being repeatable.
Brief description of the figures The present invention will be better understood in light of the following description, referring, as an example, the Figures 1 to 3.
Figure 1 schematically shows a turret provided with the boresighting device according to the invention, in the presence of the shaft, the barrel and the sighting optics, as well as the optical axes of the two cameras of the boresighting device.
Figure 2 schematically shows the optics systems inside the housing according to the invention.
Figure 3 illustrates the movement of the geometric figure over the deflection target following deflection of the barrel.
Legend (1) Turret (2) Housing (3) Deflection target
Aims of the invention The present invention aims to provide a boresighting device and method that require only one operator located inside the turret.
It further aims to develop a device not requiring an optics system inside the barrel. It thus aims to develop a device which is stable and precise.
It also aims to develop a boresighting method that is quick, while also being repeatable.
Brief description of the figures The present invention will be better understood in light of the following description, referring, as an example, the Figures 1 to 3.
Figure 1 schematically shows a turret provided with the boresighting device according to the invention, in the presence of the shaft, the barrel and the sighting optics, as well as the optical axes of the two cameras of the boresighting device.
Figure 2 schematically shows the optics systems inside the housing according to the invention.
Figure 3 illustrates the movement of the geometric figure over the deflection target following deflection of the barrel.
Legend (1) Turret (2) Housing (3) Deflection target
(4) Barre!
(5) Shaft
(6) Muzzle brake of the barrel
(7) Optics system provided with the deflection camera
(8) Optics system provided with the boresighting camera
(9) Geometric figure on the deflection target
(10) Optics of a sight system of the turret Main features of the invention The present invention relates to a boresighting device to equip a turret provided with a barrel and one or several sight system(s) each with an optical system, said device comprising:
- a deflection target intended to be positioned outside the barrel, at the muzzle brake of said barrel, - a housing intended to be positioned outside the barrel, at the shaft of said barrel, said housing including:
- a first optics system provided with a deflection camera, said first system being used to determine a parallelism error between a firing line from the shaft and that from the muzzle brake, - a second optics system provided with a boresighting camera, said second system being used to determine a parallelism error between the firing line from the shaft and an optics line from the sight system(s).
According to specific embodiments of the invention, the device includes at least one or a suitable combination of the following features:
- each camera has fixed focusing, the boresighting camera having infinity focusing and the deflection camera being configured to have focusing adjusted on the deflection target;
- the deflection target includes any geometric material figure serving as a reference point for the first optics system, said geometric figure preferably being a circle.
The present invention also relates to a weapons system comprising the boresighting device as described above, wherein the housing is positioned on the shaft of the barrel and said deflection target is positioned near or on the perimeter of the muzzle brake of the barrel. Furthermore, in this weapons system, the deflection target can be attached or integrated with respect to the muzzle brake.
The present invention also relates to an armored vehicle provided with this weapons system.
5 The present invention also relates to a boresighting method using the device described above, said method comprising the following steps:
- Calculating the displacement AX and AY of the geometric figure relative to a reference position of said figure, said calculation being done based on image processing from the deflection camera, the parallelism error between the firing line from the shaft and that from the muzzle brake next being determined via a mathematical model based on calculated AX and AY values, - Comparing an image taken by the boresighting camera with an image taken by an optical system of the sight system(s) in order to determine the parallelism error between the firing line from the shaft and the optics line from the sight system(s), - Accumulation of two parallelism errors and displacement of said optics line accordingly.
According to specific embodiments of the invention, the method includes at least one or a suitable combination of the following features:
- the calculation of AX and AY is done using an algorithm based on a contour detection according to the Canny method and using a Hough transform;
- the reference position of the geometric figure is calculated during a calibration following an installation of the boresighting device on a weapons system;
- the calibration is done using a muzzle bezel, said calibration comprising a step for aligning a position of a crosshairs of the boresighting camera with a point observed .. through the muzzle bezel;
- after the step for calculating the parallelism error between the firing line from the shaft and that from the muzzle brake, the crosshairs of the boresighting camera is moved by a same angle along the X and Y coordinates;
- the method can be implemented during a mission.
Lastly, the present invention relates to a computer program suitable for implementing the method described above and by recording data readable by a computer comprising this program.
Detailed description of the invention The present invention relates to a boresighting device and the method implemented using said device. The device according to the invention is preferably intended for large caliber weapons systems (75 mm to 140 mm). It could nevertheless be used for small and/or medium caliber weapons systems subject to certain developments related to the steric bulk in the riggings associated with said calibers.
The boresighting device according to the invention is shown in Figure 1 on a turret 1. The device is made in two parts positioned in separate locations.
It includes a housing 2 on the one hand, and a deflection target 3 on the other hand. The housing 2 is positioned outside the barre! 4, and preferably mounted on the shaft 5 of the barrel 4. The housing 2, visible in more detail in Figure 2, includes two optics systems 7, 8 each provided with a camera. A first camera 7, called deflection camera, is intended to correct the misalignment resulting from the deflection of the barrel, i.e., the misalignment between the firing line from the shaft and that from the muzzle of the barrel. A second camera 8, called boresighting camera, is intended to correct the misalignment between the firing line from the shaft of the barrel and the optical axis of the sight system. In the housing, the two cameras are mounted in a single block. The boresighting and deflection cameras have the feature of having fixed focusing, respectively infinity focusing and focusing at the muzzle brake, as illustrated in Figure 1. Mounting in a single block with fixed focusing for each camera has the advantage that no moving part is required in the housing, which makes it possible to ensure mechanical stability thereof relative to the impacts and vibrations related to shot firings. Furthermore, the housing is designed athermally so that the position of the optics axis of the cameras is not sensitive to temperature variations. In addition to the housing, the device includes the deflection target 3, which is located at the muzzle brake 6, i.e., at the end of the barrel where the ammunition exits. This deflection target 3 can be either an additional part that is placed at the fastening of the muzzle brake, or it can be integrated directly on the perimeter thereof. The latter alternative is favored to guarantee the mechanical stability of the device. The deflection target is provided with any geometric figure serving as a reference point for the optics system 7. This figure is physical, or tangible in other words, on the target which means that it is integrated on the target. It is thus not a projected figure on a mirror acting as a deflection target.
The boresighting method according to the invention takes into account both of the aforementioned misalignment causes, i.e., the deflection of the barrel and the deviation between the firing line and the sight line following impacts caused by the use of the vehicle and its weapons system.
To that end, the method is based on three steps.
In a first step, the optics system provided with the deflection camera is used to determine the parallelism error between the firing line from the shaft and that from the muzzle brake. More specifically, the first optical system 7 of the housing detects the position of the deflection target via image processing such that the system can deduce, vertically and horizontally, the deflection of the barrel relative to a reference position obtained during calibration of the device. The movement along X
and Y, i.e., the delta X (AX) and delta Y (AY), is calculated relative to a reference ennbodied by the geometric figure that is preferably a circle 9 on the deflection target 3 (see Figure 3). It is possible to consider other geometric forms, having previously made several specific modifications to the algorithms used. A AX and AY are thus calculated relative to the starting position of the center of the circle.
Through a mathematical model, the system produces the parallelism error therefrom between the firing line at the shaft and the firing line at the muzzle brake. The algorithm used to detect a geometric figure is based on a contour detection according to the Canny method. A Hough transform makes it possible to obtain a first estimate of the position of the reference circle. Next, an algorithm makes it possible to refine the obtained results at the sub-pixel level.
In a second step, the optics system provided with the boresighting camera is used to determine the parallelism error between the firing line at the shaft and the sight line. The camera whose axis is parallel to the firing line at the shaft and which uses infinity focusing provides an image of a distant object that is directly compared to the image provided by the optics system(s) 10 of the sight system(s) of the turret (Figure 1). It is thus possible to deduce the parallelism error between the firing line at the shaft and the optics line of the sight system(s).
In a third step, the two parallelism errors are accumulated and sent directly to the sight system(s) of the turret.
Prior to these steps, the device must be calibrated. This calibration is done when the housing and the target are mounted on the turret. Subsequently, no new calibration is required as long as the housing and the deflection target are not moved.
The calibration is done from a conventional muzzle bezel. This calibration consists of aligning the position of the crosshairs in the boresighting camera with the point observed by the muzzle bezel. This operation is done by one of the occupants of the turret via his control monitors. When this alignment is achieved, the reference position of the geometric figure is calculated and stored by the device. During subsequent boresighting operations, in the first step, the device measures the displacement of the geometric figure relative to that obtained during the calibration. This difference is next reflected in the boresighting camera by moving the position of its crosshairs thereto.
Advantages of the invention The precision of the boresighting in the presence of the device according to the invention is equivalent to that encountered with the prior art devices, but without the drawbacks.
Thus, the boresighting is done by a single operator located inside the turret, without deploying any tools. There is therefore no heavy, and therefore slow, manipulation. This absence of manipulation also guarantees better repeatability of the measurements. Furthermore, this allows the boresighting to be done mid-mission.
According to the invention, the deflection target and its geometrical figure are physical. It is not a mirror on which a crosshairs is projected. Thus, the device according to the invention does not require layers of mirrors causing desynchronization risks and requiring systematic calibrations.
- a deflection target intended to be positioned outside the barrel, at the muzzle brake of said barrel, - a housing intended to be positioned outside the barrel, at the shaft of said barrel, said housing including:
- a first optics system provided with a deflection camera, said first system being used to determine a parallelism error between a firing line from the shaft and that from the muzzle brake, - a second optics system provided with a boresighting camera, said second system being used to determine a parallelism error between the firing line from the shaft and an optics line from the sight system(s).
According to specific embodiments of the invention, the device includes at least one or a suitable combination of the following features:
- each camera has fixed focusing, the boresighting camera having infinity focusing and the deflection camera being configured to have focusing adjusted on the deflection target;
- the deflection target includes any geometric material figure serving as a reference point for the first optics system, said geometric figure preferably being a circle.
The present invention also relates to a weapons system comprising the boresighting device as described above, wherein the housing is positioned on the shaft of the barrel and said deflection target is positioned near or on the perimeter of the muzzle brake of the barrel. Furthermore, in this weapons system, the deflection target can be attached or integrated with respect to the muzzle brake.
The present invention also relates to an armored vehicle provided with this weapons system.
5 The present invention also relates to a boresighting method using the device described above, said method comprising the following steps:
- Calculating the displacement AX and AY of the geometric figure relative to a reference position of said figure, said calculation being done based on image processing from the deflection camera, the parallelism error between the firing line from the shaft and that from the muzzle brake next being determined via a mathematical model based on calculated AX and AY values, - Comparing an image taken by the boresighting camera with an image taken by an optical system of the sight system(s) in order to determine the parallelism error between the firing line from the shaft and the optics line from the sight system(s), - Accumulation of two parallelism errors and displacement of said optics line accordingly.
According to specific embodiments of the invention, the method includes at least one or a suitable combination of the following features:
- the calculation of AX and AY is done using an algorithm based on a contour detection according to the Canny method and using a Hough transform;
- the reference position of the geometric figure is calculated during a calibration following an installation of the boresighting device on a weapons system;
- the calibration is done using a muzzle bezel, said calibration comprising a step for aligning a position of a crosshairs of the boresighting camera with a point observed .. through the muzzle bezel;
- after the step for calculating the parallelism error between the firing line from the shaft and that from the muzzle brake, the crosshairs of the boresighting camera is moved by a same angle along the X and Y coordinates;
- the method can be implemented during a mission.
Lastly, the present invention relates to a computer program suitable for implementing the method described above and by recording data readable by a computer comprising this program.
Detailed description of the invention The present invention relates to a boresighting device and the method implemented using said device. The device according to the invention is preferably intended for large caliber weapons systems (75 mm to 140 mm). It could nevertheless be used for small and/or medium caliber weapons systems subject to certain developments related to the steric bulk in the riggings associated with said calibers.
The boresighting device according to the invention is shown in Figure 1 on a turret 1. The device is made in two parts positioned in separate locations.
It includes a housing 2 on the one hand, and a deflection target 3 on the other hand. The housing 2 is positioned outside the barre! 4, and preferably mounted on the shaft 5 of the barrel 4. The housing 2, visible in more detail in Figure 2, includes two optics systems 7, 8 each provided with a camera. A first camera 7, called deflection camera, is intended to correct the misalignment resulting from the deflection of the barrel, i.e., the misalignment between the firing line from the shaft and that from the muzzle of the barrel. A second camera 8, called boresighting camera, is intended to correct the misalignment between the firing line from the shaft of the barrel and the optical axis of the sight system. In the housing, the two cameras are mounted in a single block. The boresighting and deflection cameras have the feature of having fixed focusing, respectively infinity focusing and focusing at the muzzle brake, as illustrated in Figure 1. Mounting in a single block with fixed focusing for each camera has the advantage that no moving part is required in the housing, which makes it possible to ensure mechanical stability thereof relative to the impacts and vibrations related to shot firings. Furthermore, the housing is designed athermally so that the position of the optics axis of the cameras is not sensitive to temperature variations. In addition to the housing, the device includes the deflection target 3, which is located at the muzzle brake 6, i.e., at the end of the barrel where the ammunition exits. This deflection target 3 can be either an additional part that is placed at the fastening of the muzzle brake, or it can be integrated directly on the perimeter thereof. The latter alternative is favored to guarantee the mechanical stability of the device. The deflection target is provided with any geometric figure serving as a reference point for the optics system 7. This figure is physical, or tangible in other words, on the target which means that it is integrated on the target. It is thus not a projected figure on a mirror acting as a deflection target.
The boresighting method according to the invention takes into account both of the aforementioned misalignment causes, i.e., the deflection of the barrel and the deviation between the firing line and the sight line following impacts caused by the use of the vehicle and its weapons system.
To that end, the method is based on three steps.
In a first step, the optics system provided with the deflection camera is used to determine the parallelism error between the firing line from the shaft and that from the muzzle brake. More specifically, the first optical system 7 of the housing detects the position of the deflection target via image processing such that the system can deduce, vertically and horizontally, the deflection of the barrel relative to a reference position obtained during calibration of the device. The movement along X
and Y, i.e., the delta X (AX) and delta Y (AY), is calculated relative to a reference ennbodied by the geometric figure that is preferably a circle 9 on the deflection target 3 (see Figure 3). It is possible to consider other geometric forms, having previously made several specific modifications to the algorithms used. A AX and AY are thus calculated relative to the starting position of the center of the circle.
Through a mathematical model, the system produces the parallelism error therefrom between the firing line at the shaft and the firing line at the muzzle brake. The algorithm used to detect a geometric figure is based on a contour detection according to the Canny method. A Hough transform makes it possible to obtain a first estimate of the position of the reference circle. Next, an algorithm makes it possible to refine the obtained results at the sub-pixel level.
In a second step, the optics system provided with the boresighting camera is used to determine the parallelism error between the firing line at the shaft and the sight line. The camera whose axis is parallel to the firing line at the shaft and which uses infinity focusing provides an image of a distant object that is directly compared to the image provided by the optics system(s) 10 of the sight system(s) of the turret (Figure 1). It is thus possible to deduce the parallelism error between the firing line at the shaft and the optics line of the sight system(s).
In a third step, the two parallelism errors are accumulated and sent directly to the sight system(s) of the turret.
Prior to these steps, the device must be calibrated. This calibration is done when the housing and the target are mounted on the turret. Subsequently, no new calibration is required as long as the housing and the deflection target are not moved.
The calibration is done from a conventional muzzle bezel. This calibration consists of aligning the position of the crosshairs in the boresighting camera with the point observed by the muzzle bezel. This operation is done by one of the occupants of the turret via his control monitors. When this alignment is achieved, the reference position of the geometric figure is calculated and stored by the device. During subsequent boresighting operations, in the first step, the device measures the displacement of the geometric figure relative to that obtained during the calibration. This difference is next reflected in the boresighting camera by moving the position of its crosshairs thereto.
Advantages of the invention The precision of the boresighting in the presence of the device according to the invention is equivalent to that encountered with the prior art devices, but without the drawbacks.
Thus, the boresighting is done by a single operator located inside the turret, without deploying any tools. There is therefore no heavy, and therefore slow, manipulation. This absence of manipulation also guarantees better repeatability of the measurements. Furthermore, this allows the boresighting to be done mid-mission.
According to the invention, the deflection target and its geometrical figure are physical. It is not a mirror on which a crosshairs is projected. Thus, the device according to the invention does not require layers of mirrors causing desynchronization risks and requiring systematic calibrations.
Claims (14)
1. A boresighting device to equip a turret (1) provided with a barrel (4) and one or several sight system(s) each with an optical system (10), said device comprising:
- a deflection target (3) intended to be positioned outside the barrel (4), at the muzzle brake (6) of said barrel (4), - a housing (2) intended to be positioned outside the barrel (4), at the shaft (5) of said barrel (4), said housing (2) including:
- a first optics system (7) provided with a deflection camera, said first system (7) being used to determine a parallelism error between a firing line from the shaft (5) and that from the muzzle brake (6), - a second optics system (8) provided with a boresighting camera, said second system (8) being used to determine a parallelism error between the firing line from the shaft (5) and an optics line from the sight system(s), the device being characterized in that the deflection target (3) is devoid of mirror and integrates a geometric figure (9) serving as a reference point for the first optics system (7).
- a deflection target (3) intended to be positioned outside the barrel (4), at the muzzle brake (6) of said barrel (4), - a housing (2) intended to be positioned outside the barrel (4), at the shaft (5) of said barrel (4), said housing (2) including:
- a first optics system (7) provided with a deflection camera, said first system (7) being used to determine a parallelism error between a firing line from the shaft (5) and that from the muzzle brake (6), - a second optics system (8) provided with a boresighting camera, said second system (8) being used to determine a parallelism error between the firing line from the shaft (5) and an optics line from the sight system(s), the device being characterized in that the deflection target (3) is devoid of mirror and integrates a geometric figure (9) serving as a reference point for the first optics system (7).
2. The device according to claim 1, wherein each camera has fixed focusing, the boresighting camera having infinity focusing and the deflection camera being configured to have focusing adjusted on the deflection target (3).
3. The device according to claim 1 or 2, wherein the geometric figure (9) is a circle.
4. A weapons system comprising the boresighting device according to any one of claims 1 to 3, wherein said housing (2) is positioned on the shaft (5) of the barrel (4) and said deflection target (3) is positioned near or on the perimeter of the muzzle brake (6) of the barrel (4).
5. The weapons system according to claim 4, wherein the deflection target (3) is attached or integrated with respect to the muzzle brake (6).
6. An armored vehicle provided with the weapons system according to claim 4 or 5.
7. A boresighting method using the device according to any one of claims 1 to 3, said method including the following steps:
- Calculating the displacement .DELTA.X and .DELTA.Y of the geometric figure (9) relative to a reference position of said figure (9), said calculation being done based on image processing from the deflection camera, the parallelism error between the firing line from the shaft (5) and that from the muzzle brake (6) next being determined via a mathematical model based on calculated .DELTA.X and .DELTA.Y values, - Comparing an image taken by the boresighting camera with an image taken by an optical system (10) of the sight system(s) in order to determine the parallelism error between the firing line from the shaft (5) and the optics line from the sight system(s), - Accumulation of two parallelism errors and displacement of said optics line accordingly.
- Calculating the displacement .DELTA.X and .DELTA.Y of the geometric figure (9) relative to a reference position of said figure (9), said calculation being done based on image processing from the deflection camera, the parallelism error between the firing line from the shaft (5) and that from the muzzle brake (6) next being determined via a mathematical model based on calculated .DELTA.X and .DELTA.Y values, - Comparing an image taken by the boresighting camera with an image taken by an optical system (10) of the sight system(s) in order to determine the parallelism error between the firing line from the shaft (5) and the optics line from the sight system(s), - Accumulation of two parallelism errors and displacement of said optics line accordingly.
8. The method according to claim 7, wherein the calculation of .DELTA.X and .DELTA.Y
is done using an algorithm based on a contour detection according to the Canny method and using a Hough transform.
is done using an algorithm based on a contour detection according to the Canny method and using a Hough transform.
9. The method according to claim 7 or 8, wherein the reference position of the geometric figure (9) is calculated during a calibration following an installation of the boresighting device on a weapons system.
10. The method according to claim 9, wherein the calibration is done using a muzzle bezel, said calibration comprising a step for aligning a position of a crosshairs of the boresighting camera with a point observed through the muzzle bezel.
11. The method according to any one of claims 7 to 10, wherein, after the step for calculating the parallelism error between the firing line from the shaft and that from the muzzle brake, the crosshairs of the boresighting camera is moved by a same angle along the X and Y coordinates.
12. The method according to any one of claims 7 to 11, able to be implemented mid-mission.
13. A computer program suitable for implementing the method according to any one of claims 7 to 12.
14. A means for recording data readable by a computer comprising the program according to claim 13.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| BE2016/5399A BE1023708B1 (fr) | 2016-05-31 | 2016-05-31 | Dispositif et méthode de simbleautage |
| BE2016/5399 | 2016-05-31 | ||
| PCT/EP2017/062890 WO2017207487A1 (fr) | 2016-05-31 | 2017-05-29 | Dispositif et méthode de simbleautage |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA3020892A1 true CA3020892A1 (fr) | 2017-12-07 |
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ID=56609612
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA3020892A Pending CA3020892A1 (fr) | 2016-05-31 | 2017-05-29 | Boresighting device and method |
Country Status (11)
| Country | Link |
|---|---|
| US (1) | US11435164B2 (fr) |
| EP (1) | EP3465069B1 (fr) |
| KR (1) | KR102323309B1 (fr) |
| CN (1) | CN109154486B (fr) |
| BE (1) | BE1023708B1 (fr) |
| CA (1) | CA3020892A1 (fr) |
| ES (1) | ES2925194T3 (fr) |
| IL (1) | IL263330B (fr) |
| PL (1) | PL3465069T3 (fr) |
| SG (1) | SG11201809069SA (fr) |
| WO (1) | WO2017207487A1 (fr) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11060819B2 (en) | 2019-05-23 | 2021-07-13 | General Dynamics Mission Systems—Canada | Armored vehicle, method, and weapon measurement system for determining barrel elevation |
| CN110595282A (zh) * | 2019-09-10 | 2019-12-20 | 中国科学院上海技术物理研究所 | 一种基于激光指示的火炮瞄准镜校准装置 |
| ES2961614T3 (es) * | 2019-12-17 | 2024-03-12 | John Cockerill Defense SA | Sistema inteligente para el control de funciones en una torreta de un vehículo de combate |
| EP4100690A4 (fr) * | 2020-02-03 | 2024-05-29 | Bae Systems Hägglunds Aktiebolag | Apprentissage de suivi de cible intégré |
| RU2725677C2 (ru) * | 2020-02-27 | 2020-07-03 | Алексей Владимирович Зубарь | Способ текущей цифровой выверки прицелов с компенсацией положения прицельной марки на величину изгиба канала ствола |
| CN113310352B (zh) * | 2021-06-17 | 2022-04-15 | 中国人民解放军68302部队参谋部 | 一种坦克炮瞄准射击方法及装置 |
| CN113485460B (zh) * | 2021-06-25 | 2024-07-16 | 航天科工仿真技术有限责任公司 | 一种发射筒的校准方法、装置及飞行设备 |
| DE102022122842A1 (de) | 2022-09-08 | 2024-03-14 | Rheinmetall Electronics Gmbh | Vorrichtung zum Bestimmen einer Winkelabweichung, Fahrzeug und Verfahren zur Bestimmung einer Winkelabweichung |
| CN116105541A (zh) * | 2023-02-15 | 2023-05-12 | 北京机械设备研究所 | 一种火炮光电瞄射轴线及倾角标校方法 |
Family Cites Families (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US1994177A (en) * | 1932-04-28 | 1935-03-12 | James B Nolan | Bore sighting apparatus for large caliber guns |
| FR2504668A1 (fr) * | 1981-04-24 | 1982-10-29 | France Etat | Procede et dispositif d'asservissement d'une arme a une lunette de visee |
| FR2505477B1 (fr) * | 1981-05-08 | 1985-06-14 | France Etat | Procede et dispositif d'harmonisation des axes d'une arme et d'un viseur |
| DE3246805C2 (de) * | 1982-12-17 | 1986-08-28 | Krauss-Maffei AG, 8000 München | Justiervorrichtung für die Feuerleitanlage eines Kampffahrzeugs |
| CA1223652A (fr) * | 1983-04-29 | 1987-06-30 | Raymond Carbonneau | Systeme de reference du pointage d'une bouche de canon |
| DE3942922A1 (de) * | 1989-12-23 | 1991-06-27 | Rheinmetall Gmbh | Vorrichtung zur optischen messung von winkeln zwischen zwei annaehernd parallel verlaufenden optischen achsen |
| CN2175397Y (zh) * | 1993-11-25 | 1994-08-24 | 湖北长江光电仪器厂 | 快速校准瞄准镜 |
| AU2001293081A1 (en) * | 2000-09-29 | 2002-04-08 | C.I. System Ltd. | Method and apparatus for the precise alignment of a weapon relative to a sight |
| SE524435C2 (sv) * | 2002-12-17 | 2004-08-10 | Saab Ab | Sätt och anordning för ensning av sikte och eldrör |
| SE0302302L (sv) * | 2003-08-28 | 2004-10-19 | Saab Ab | Sätt och anordning för ensning av eldrör |
| US7124676B1 (en) * | 2005-06-07 | 2006-10-24 | Princeton Scientific Instruments | Muzzle reference system |
| CN102057246A (zh) * | 2006-02-09 | 2011-05-11 | 路波史蒂芬公司 | 用于弹道瞄准的多重色彩十字标线 |
| CN201983701U (zh) * | 2011-01-25 | 2011-09-21 | 朱光宇 | 射击武器瞄准装置 |
| US8807430B2 (en) * | 2012-03-05 | 2014-08-19 | James Allen Millett | Dscope aiming device |
-
2016
- 2016-05-31 BE BE2016/5399A patent/BE1023708B1/fr active IP Right Grant
-
2017
- 2017-05-29 US US16/305,065 patent/US11435164B2/en active Active
- 2017-05-29 PL PL17729418.8T patent/PL3465069T3/pl unknown
- 2017-05-29 CN CN201780031186.9A patent/CN109154486B/zh active Active
- 2017-05-29 ES ES17729418T patent/ES2925194T3/es active Active
- 2017-05-29 CA CA3020892A patent/CA3020892A1/fr active Pending
- 2017-05-29 WO PCT/EP2017/062890 patent/WO2017207487A1/fr active Search and Examination
- 2017-05-29 KR KR1020187035205A patent/KR102323309B1/ko active IP Right Grant
- 2017-05-29 EP EP17729418.8A patent/EP3465069B1/fr active Active
- 2017-05-29 SG SG11201809069SA patent/SG11201809069SA/en unknown
-
2018
- 2018-11-27 IL IL263330A patent/IL263330B/en active IP Right Grant
Also Published As
| Publication number | Publication date |
|---|---|
| PL3465069T3 (pl) | 2022-08-22 |
| IL263330A (en) | 2018-12-31 |
| IL263330B (en) | 2020-09-30 |
| ES2925194T3 (es) | 2022-10-14 |
| US20200370869A1 (en) | 2020-11-26 |
| EP3465069A1 (fr) | 2019-04-10 |
| KR102323309B1 (ko) | 2021-11-08 |
| CN109154486A (zh) | 2019-01-04 |
| EP3465069B1 (fr) | 2022-06-29 |
| SG11201809069SA (en) | 2018-11-29 |
| CN109154486B (zh) | 2022-03-18 |
| US11435164B2 (en) | 2022-09-06 |
| WO2017207487A1 (fr) | 2017-12-07 |
| KR20190022508A (ko) | 2019-03-06 |
| BE1023708B1 (fr) | 2017-06-22 |
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