CN111637797A - Automatic target-reporting device and method for artillery live firing - Google Patents
Automatic target-reporting device and method for artillery live firing Download PDFInfo
- Publication number
- CN111637797A CN111637797A CN202010507820.5A CN202010507820A CN111637797A CN 111637797 A CN111637797 A CN 111637797A CN 202010507820 A CN202010507820 A CN 202010507820A CN 111637797 A CN111637797 A CN 111637797A
- Authority
- CN
- China
- Prior art keywords
- laser
- module
- target
- missile
- shell
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
- F41J5/00—Target indicating systems; Target-hit or score detecting systems
- F41J5/02—Photo-electric hit-detector systems
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42D—BLASTING
- F42D5/00—Safety arrangements
- F42D5/02—Locating undetonated charges
Abstract
The invention discloses an automatic target-scoring device and method for artillery live firing, which comprises a laser mechanism, a measuring mechanism, a control and data processing module, a remote communication module and a power supply. The laser mechanism emits laser beams, the laser beams are utilized to form a laser screen covering target, information such as distance, speed and angle of a missile passing through a scanning area is measured in real time, space coordinates of the missile are calculated, a ballistic equation is fitted, a ballistic trajectory is extrapolated, intersection point coordinates of the ballistic trajectory and the ground are obtained, scores are evaluated according to the position relation between the intersection point coordinates and the target center, the target reporting precision is high, the objectivity is high, meanwhile, vibration generated by explosion of a shell is detected through the vibration detection module and is compared with the shell detected by the laser, the position information of the unexploded shell can be accurately detected, manual netting searching in a shell falling area is not needed, the operation efficiency is high, and the safety risk is low.
Description
Technical Field
The invention relates to the technical field of cannonball shooting, in particular to an automatic target-reporting device and method for artillery live ammunition shooting.
Background
At present, the artillery practice shooting training and examination of troops mainly adopts a single-view or double-view intersection method to measure the shot falling points, the objectivity is not high, and particularly when the shot falling points of artillery groups are detected, the shot falling points are influenced by smoke dust, and the accuracy is greatly reduced; the detection precision of the active reconnaissance and correction radar can not meet the assessment requirement specified by the outline, and the searching and discharging of unexploded bombs is manually carried out in a bomb falling area in a net-pulling mode, so that the operation efficiency is low, the safety risk is high, and the automatic target-reporting device and the automatic target-reporting method for artillery live ammunition firing are urgently needed to solve the problems.
Disclosure of Invention
The invention provides an automatic target scoring device and method for artillery live ammunition shooting, which can solve the problems of low accuracy, low objectivity and complex guarantee of the traditional target scoring method; the problem of rely on artifical searching and arranging not explode the bullet degree of difficulty big, the risk is high is solved.
In order to achieve the purpose, the invention provides the following technical scheme: an automatic target-reporting device for artillery live firing comprises a laser mechanism, a measuring mechanism, a control and data processing module, a remote communication module and a power supply;
the laser mechanism comprises a scanning mechanism, a laser emitting module and a laser receiving module, wherein the signal input end of the laser emitting module is connected with the control and data processing module, a light beam emitted by the laser emitting module is emitted out through the scanning mechanism, the signal output end of the laser receiving module is connected with the control and data processing module, and the laser receiving module receives reflected light information through the scanning mechanism, wherein the scanning mode of the scanning mechanism is horizontal scanning;
the measuring mechanism comprises a positioning and orienting module, an angle measuring module and a vibration detecting module, the output ends of the positioning and orienting module, the angle measuring module and the vibration detecting module are connected with a control and data processing module, the positioning and orienting module is used for endowing an automatic target scoring device with position coordinates and an initial detecting direction, the angle measuring module is used for measuring a height angle and a direction angle of a central axis of a laser beam, and the vibration detecting module is used for detecting vibration information generated by shell explosion;
the control and data processing module processes and calculates the received laser information to form training result data, is connected with the remote communication module for data transmission, sends a target reporting result to a remote end through the remote communication module, and receives a control instruction of the remote end through the remote communication module;
the power supply supplies power to each power utilization module.
An automatic target-reporting method of an automatic target-reporting device for artillery live firing comprises the following specific steps;
s1, arranging a laser curtain: the laser emission module emits laser beams through the scanning mechanism to form a laser curtain;
s2, measurement: measuring the position information and the distance of the projectile entering a laser area;
s3, calculating: calculating the coordinates, the speed and the flying direction of the missile through the measured data;
s4, estimation: and fitting a ballistic equation through the calculated data and extrapolating the ballistic to obtain an intersection point M of the ballistic and the ground.
S5, judgment: analyzing and evaluating the score by comparing the positions of the falling bullet point and the target center point;
s6, detecting the position of the unexploded bomb: the method comprises the steps that vibration information generated by explosion of the cannonball is detected through the vibration detection module and is compared with the cannonball detected by laser, if the cannonball is detected by laser beams, but the vibration device does not detect corresponding information, the cannonball can be judged to be an unexploded cannonball, and coordinates of the unexploded cannonball are marked.
Preferably, in step S1, the laser emission module emits a laser beam through the scanning mechanism to form a laser curtain, where the laser curtain may be composed of multiple laser curtains emitted by different laser emission modules, and a scanning area of the laser curtain is larger than the target area.
Preferably, in step S2, the positional information of the missile is measured by the positioning and orienting module to measure the initial horizontal direction angle θ of the laser emission optical axish0Obtaining the initial vertical direction angle theta of the emission optical axis by an angle measuring modulev0And the real-time horizontal angle theta of the operation of the scanning mechanismh1Acquiring the vertical direction angle theta of the cannonball reflected light relative to the central line of the laser beam through the photoelectric sensor arrayv1Angle theta to the horizontalh2The position of the missile: horizontal direction thetah＝θh0+θh1+θh2Perpendicular direction thetav＝θv0+θv1The distance of the missile is the distance from the missile to the target reporting device through the intersection point of the laser screen, and the distance is equal to the light speed multiplied by the time difference between the emission of the laser emission module and the reception of the laser receiving module.
Preferably, in step S3, the geographic coordinates (x) of the automatic target scoring device are obtained by the positioning and orientation module0、y0、z0) And using the coordinates as relative coordinates to measure the coordinates A (x) of the missileA、yA、zA)，xA＝x0+dAcosθvcosθh，yA＝y0+dAcosθvsinθh，zA＝z0+dAsinθvAnd continuously measuring the specific position information of the missile at a plurality of moments, and calculating the specific coordinate of the missile at the corresponding moment, so as to calculate the speed and the flying direction of the missile through the time and the corresponding specific coordinate.
Preferably, in step S4, if it takes time t for the projectile to fall from point a to the same height as point P of the target surface, the method further includes:
obtaining:
the missile falls on P (x)P，yP，zP) Point on the same height plane M (x)M，yM，zM) And substituting the numerical values into the following formula to obtain the specific coordinate of the M point:
preferably, in step S5, the distance between the missile landing point M and the target plane P is calculated by comparing the positions of the missile landing point and the target center point and analyzing and evaluating the results
Measuring the included angle between the line PM between the center P of the ground target and the bounce point M and the longitudinal center line as α
And when the conditions are met, judging to hit, wherein a and b are the length and the width of the ground target respectively.
Preferably, the a and the b are fixed values determined by factors of gun types, bullet types and shooting modes.
Compared with the prior art, the invention has the beneficial effects that: the invention has scientific and reasonable structure and safe and convenient use, emits laser beams through the laser mechanism, forms a laser screen covering target by utilizing the laser beams, measures information such as distance, speed, angle and the like of a missile passing through a scanning area in real time, calculates the space coordinate of the missile, fits a ballistic equation, extrapolates a ballistic trajectory, obtains the intersection point coordinate of the ballistic trajectory and the ground, evaluates the score according to the position relation between the intersection point coordinate and the target center, has high target reporting precision and strong objectivity, detects the vibration information generated by the explosion of the cannonball through the vibration detection module, compares the vibration information with the cannonball detected by the laser, can accurately detect the position information of the unexploded cannonball, does not need to manually pull the net for searching in a missile falling area, has high operation efficiency and low safety risk.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
In the drawings:
FIG. 1 is a block diagram of the components of the automatic target scoring device of the present invention;
FIG. 2 is a flow chart of an automatic target scoring method of the present invention;
FIG. 3 is a schematic view of the projectile through the laser zone of the present invention;
FIG. 4 is a schematic representation of the coordinates of the projectile of the present invention;
FIG. 5 is a schematic view of an array-type photosensor angle measurement of the present invention;
FIG. 6 is a diagram showing the relationship between the landing point and the target position according to the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
Example (b): as shown in fig. 1, an automatic target-scoring device for artillery live-action shooting comprises a laser mechanism, a measuring mechanism, a control and data processing module, a remote communication module and a power supply;
the control and data processing module is connected with the remote communication module for data transmission, the remote communication module is used for sending the target reporting result to a remote end, and the remote communication module is used for receiving a remote control instruction;
the laser mechanism comprises a scanning mechanism, a laser emitting module and a laser receiving module, wherein the signal input end of the laser emitting module is connected with the control and data processing module and receives instructions transmitted by the control and data processing module;
the measuring mechanism comprises a positioning and orienting module, an angle measuring module and a vibration detecting module, the positioning and orienting module, the angle measuring module and the vibration detecting module are connected with a control and data processing module at output ends, the positioning and orienting module gives a position coordinate and an initial detecting direction to the automatic target reporting device, the angle measuring module is used for measuring a height angle and a direction angle of a central axis of a laser beam, the vibration detecting module detects vibration information generated by explosion of a shell, and the positioning and orienting module, the angle measuring module and the vibration detecting module respectively transmit the information detected by the angle measuring module to the control and data processing module for processing.
The control and data processing module processes and calculates the received laser information to form training result data, and sends the target report result to a remote end for a user through the remote communication module, wherein the power supply supplies power for each power utilization module.
As shown in fig. 2, an automatic target-scoring method of an automatic target-scoring device for artillery live ammunition shooting comprises the following specific steps;
s1, arranging a laser curtain: the laser emission module emits laser beams through the scanning mechanism to form a laser curtain;
s2, measurement: measuring the angle and distance information of the projectile entering the laser area;
s3, calculating: calculating the coordinate A, the speed and the flying direction of the missile through the measured data;
s4, estimation: and fitting a ballistic equation through the calculated data and extrapolating the ballistic to obtain an intersection point M of the ballistic and the ground.
S5, judgment: analyzing and evaluating the score by comparing the positions of the falling bullet point and the target center point;
s6, detecting the position of the unexploded bomb: the laser detection module is used for detecting vibration information generated by explosion of the shell and comparing the vibration information with the shell detected by laser, if the laser beam detects the shell, but the vibration device does not detect corresponding information, the shell can be judged as a non-explosive shell, coordinates of the non-explosive shell are marked, the coordinate point is transmitted to the control and data processing module, a target reporting result is sent to a far end through the remote communication module, and a user can conveniently confirm the position of the non-explosive shell.
As shown in fig. 3, the laser emission module emits a laser beam through the scanning mechanism to form a laser curtain, wherein the laser curtain may be composed of a plurality of laser curtains emitted by different laser emission modules, a scanning area of the laser curtain is larger than a target, and a flying track of a missile is captured by the laser curtain. In order to simplify the calculation and improve the detection precision, the angle between the laser screens is not too large and is close to the ground.
As shown in FIGS. 4-5, the initial horizontal direction angle theta of the laser emission optical axis is measured by the positioning and orientation moduleh0Obtaining the initial vertical direction angle theta of the emission optical axis by an angle measuring modulev0And the real-time horizontal angle theta of the operation of the scanning mechanismh1Acquiring the vertical direction angle theta of the cannonball reflected light relative to the central line of the laser beam through the photoelectric sensor arrayv1Angle theta to the horizontalh2The position of the missile: horizontal direction thetah＝θh0+θh1+θh2Perpendicular direction thetav＝θv0+θv1The distance of the missile is the distance from the missile to the target reporting device through the intersection point of the laser screen, and the distance is equal to the light speed multiplied by the time difference between the emission of the laser emission module and the reception of the laser receiving module.
As shown in FIG. 6, the geographic coordinates (x) of the automatic target scoring device are obtained by the positioning and orientation module0、y0、z0) And using the coordinates as relative coordinates to measure the coordinates A (x) of the missileA、yA、zA)，xA＝x0+dAcosθvcosθh，yA＝y0+dAcosθvsinθh，zA＝z0+dAsinθvThe method comprises the steps of continuously measuring the specific position information of the bombs at a plurality of moments, and calculating the specific coordinates of the bombs at corresponding moments, so as to calculate the speed and the flight direction of the bombs through time and the corresponding specific coordinates, wherein the laser for detecting the bombs and the ground target are controlled in a small area, and the bombs in the small area do uniform acceleration motion.
In this embodiment, in order to improve the accuracy of target scoring and reduce the difficulty of solving, the laser for detecting the cannonball and the ground target are controlled to be inIn a smaller area, it is advantageous that the projectile flight acceleration in this area can be considered constant. At three moments t1、t2And t3The position coordinates of the cannonball obtained by detection are respectively A (x)A，yA，zA)、B(xB，yB，zB)、C(xC，yC，zC) In the case of the above area convention, which is a somewhat approximate solution to the formula, the components of the instantaneous velocity at point B, C in the x, y, and z axes are:
and there are three systems of equations:
where Δ t1＝t2-t1，Δt2＝t3-t2，ax，ay，axThe acceleration components in the x direction, the y direction and the z direction are respectively. The speed and the flying direction of the missile are as follows:
as shown in fig. 6, the time t required for the cannonball to fall from the point a to the point P at the same height is further as follows:
obtaining:
the missile falls on P (x)P，yP，zP) Point on the same height plane M (x)M，yM，zM) And substituting the numerical values into the following formula to obtain the specific coordinate of the M point:
the distance between the missile landing point M and the target surface P is calculated by comparing the positions of the missile landing point and the target central point and analyzing and evaluating the score
Measuring the included angle between the line PM between the center P of the ground target and the shot point M and the longitudinal central line α, wherein the line between the shot position of the artillery and the center point of the target is the central line of the target, when
And when the conditions are met, judging to hit, wherein a and b are the length and the width of the ground target respectively.
Preferably, the a and the b are definite values determined by the factors of the cannon species, the bullet species and the shooting mode, the training outline is clear, the specific values of the a and the b are adjusted according to the actual situation, and then the specific values are substituted into the formula to be correspondingly judged according to the actual cannon species, the bullet species and the shooting mode, the application range of the device is widened, the operation is simple, and the use is convenient and reliable.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The utility model provides an automatic device of reporting a target of artillery firing in live ammunition which characterized in that: the device comprises a laser mechanism, a measuring mechanism, a control and data processing module, a remote communication module and a power supply;
the laser mechanism comprises a scanning mechanism, a laser emitting module and a laser receiving module, wherein the signal input end of the laser emitting module is connected with the control and data processing module, a light beam emitted by the laser emitting module is emitted out through the scanning mechanism, the signal output end of the laser receiving module is connected with the control and data processing module, and the laser receiving module receives reflected light information through the scanning mechanism, wherein the scanning mode of the scanning mechanism is horizontal scanning;
the measuring mechanism comprises a positioning and orienting module, an angle measuring module and a vibration detecting module, the output ends of the positioning and orienting module, the angle measuring module and the vibration detecting module are connected with a control and data processing module, the positioning and orienting module is used for endowing an automatic target scoring device with position coordinates and an initial detecting direction, the angle measuring module is used for measuring a height angle and a direction angle of a central axis of a laser beam, and the vibration detecting module is used for detecting vibration information generated by shell explosion;
the control and data processing module processes and calculates the received laser information to form training result data, is connected with the remote communication module for data transmission, sends a target reporting result to a remote end through the remote communication module, and receives a control instruction of the remote end through the remote communication module;
the power supply supplies power to each power utilization module.
2. An automatic target-scoring method based on the artillery live firing automatic target-scoring device of claim 1, which is characterized in that: comprises the following specific steps;
s1, arranging a laser curtain: the laser emission module emits laser beams through the scanning mechanism to form a laser curtain;
s2, measurement: measuring the angle and the distance of the missile entering a laser area;
s3, calculating: calculating the coordinates, the speed and the flying direction of the missile through the measured data;
s4, estimation: and fitting a ballistic equation through the calculated data and extrapolating the ballistic to obtain an intersection point M of the ballistic and the ground.
S5, judgment: analyzing and evaluating the score by comparing the positions of the falling bullet point and the target center point;
s6, detecting the position of the unexploded bomb: the laser detection module is used for detecting the shell explosion and the vibration generated by the shell explosion and comparing the detected shell with the laser detected shell, if the laser beam detects the shell but the vibration device does not detect corresponding information, the shell is judged to be an unexploded shell, and the coordinate of the unexploded shell is marked.
3. The automatic target scoring method of claim 2, wherein: in step S1, the laser emission module emits a laser beam through the scanning mechanism to form a laser curtain, where the laser curtain may be composed of multiple laser curtains emitted by multiple laser emission modules, and a scanning area of the laser curtain is larger than the target.
4. The automatic target scoring method of claim 2, wherein: in the step S2, the positional information of the missile is measured by the positioning and orienting module to measure the initial horizontal direction angle θ of the laser emission optical axish0Obtaining the initial vertical direction angle theta of the emission optical axis by an angle measuring modulev0And the real-time horizontal angle theta of the operation of the scanning mechanismh1Acquiring the vertical direction angle theta of the cannonball reflected light relative to the central line of the laser beam through the photoelectric sensor arrayv1Angle theta to the horizontalh2Flying projectileThe position of (2): horizontal direction thetah＝θh0+θh1+θh2Perpendicular direction thetav＝θv0+θv1The distance of the missile is the distance from the missile to the target reporting device through the intersection point of the laser screen, and the distance is equal to the light speed multiplied by the time difference between the emission of the laser emission module and the reception of the laser receiving module.
5. The automatic target scoring method of claim 2, wherein: in step S3, the geographic coordinates (x) of the automatic target scoring device are obtained by the positioning and orientation module0、y0、z0) And using the coordinates as relative coordinates to measure the coordinates A (x) of the missileA、yA、zA)，xA＝x0+dAcosθvcosθh，yA＝y0+dAcosθvsinθh，zA＝z0+dAsinθvAnd continuously measuring the specific position information of the missile at a plurality of moments, and calculating the specific coordinate of the missile at the corresponding moment, so as to calculate the speed and the flying direction of the missile through the time and the corresponding specific coordinate.
6. The automatic target scoring method of claim 2, wherein: in step S4, if it takes time t for the cannonball to fall from point a to the target surface point P at the same height, the method further includes:
obtaining:
the missile falls on P (x)P，yP，zP) Point on the same height plane M (x)M，yM，zM) And substituting the numerical values into the following formula to obtain the specific coordinate of the M point:
7. the automatic target scoring method of claim 2, wherein: in step S5, the distance between the missile landing point M and the target surface P is calculated by comparing the positions of the missile landing point and the target center point and analyzing the evaluation result
Measuring the included angle between the line PM between the center P of the ground target and the bounce point M and the longitudinal center line as α
And when the conditions are met, judging to hit, wherein a and b are the length and the width of the ground target respectively.
8. The automatic target scoring method of claim 7, wherein: the a and the b are fixed values determined by the factors of gun types, bullet types and shooting modes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010507820.5A CN111637797A (en) | 2020-06-05 | 2020-06-05 | Automatic target-reporting device and method for artillery live firing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010507820.5A CN111637797A (en) | 2020-06-05 | 2020-06-05 | Automatic target-reporting device and method for artillery live firing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111637797A true CN111637797A (en) | 2020-09-08 |
Family
ID=72328833
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010507820.5A Pending CN111637797A (en) | 2020-06-05 | 2020-06-05 | Automatic target-reporting device and method for artillery live firing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111637797A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112444157A (en) * | 2020-12-03 | 2021-03-05 | 南京钧和瑞至电子科技有限公司 | Shooting simulation method for direct-aiming-face killer weapon ammunition |
| CN114909956A (en) * | 2022-04-15 | 2022-08-16 | 河北汉光重工有限责任公司 | Intelligent mobile automatic target scoring system |
| CN114909956B (en) * | 2022-04-15 | 2024-04-16 | 河北汉光重工有限责任公司 | Intelligent mobile automatic target reporting system |
-
2020
- 2020-06-05 CN CN202010507820.5A patent/CN111637797A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112444157A (en) * | 2020-12-03 | 2021-03-05 | 南京钧和瑞至电子科技有限公司 | Shooting simulation method for direct-aiming-face killer weapon ammunition |
| CN114909956A (en) * | 2022-04-15 | 2022-08-16 | 河北汉光重工有限责任公司 | Intelligent mobile automatic target scoring system |
| CN114909956B (en) * | 2022-04-15 | 2024-04-16 | 河北汉光重工有限责任公司 | Intelligent mobile automatic target reporting system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8074555B1 (en) | Methodology for bore sight alignment and correcting ballistic aiming points using an optical (strobe) tracer | |
| US10648775B2 (en) | Apparatus for correcting ballistic aim errors using special tracers | |
| KR101211100B1 (en) | Fire simulation system using leading fire and LASER shooting device | |
| US3955292A (en) | Apparatus for antiaircraft gunnery practice with laser emissions | |
| US8196828B2 (en) | Assisted sighting system for snipers | |
| CN102183183B (en) | Method and device for measuring flying speed and landing coordinate of projectile of double-tube volley weapon | |
| CN109443097A (en) | A kind of acquisition equipment and catching method for rotor wing unmanned aerial vehicle | |
| JPS6049840B2 (en) | Scoring method and equipment for mock shooting results | |
| US20200166310A1 (en) | Apparatus and methodology for tracking projectiles and improving the fidelity of aiming solutions in weapon systems | |
| US6973865B1 (en) | Dynamic pointing accuracy evaluation system and method used with a gun that fires a projectile under control of an automated fire control system | |
| US9600900B2 (en) | Systems to measure yaw, spin and muzzle velocity of projectiles, improve fire control fidelity, and reduce shot-to-shot dispersion in both conventional and air-bursting programmable projectiles | |
| US20170138710A1 (en) | Optically tracked projectile | |
| CN110044209A (en) | A kind of digitalized artificial takes aim at target training system and training method | |
| CN104634186B (en) | Air-to-ground attack training bullet point of impact laser acquisition hit telling system | |
| CN109813177A (en) | Regulation system and confrontation appraisal procedure and system are led in a kind of indirect weapon simulated training | |
| CN109931818B (en) | Direct-aiming artillery target-scoring system and method | |
| RU2572924C2 (en) | Method of striking miniature unmanned aerial vehicles | |
| RU2005127700A (en) | METHOD FOR CONTROLLED CONTROLLED SHOT WITH LASER SEMIACTIVE Homing head | |
| US11199387B2 (en) | Accurate range-to-go for command detonation | |
| CN111637797A (en) | Automatic target-reporting device and method for artillery live firing | |
| CN110579138B (en) | Antiaircraft gun firing practice target reporting method, system and device | |
| RU2578524C2 (en) | System for controlling integrated methods for combating small-sized unmanned aerial vehicles | |
| EP3752786B1 (en) | Method and system for measuring airburst munition burst point | |
| KR101977307B1 (en) | Aerial fire scoring system and method | |
| KR101241283B1 (en) | Fire simulation system using Sensing device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |