DK1790936T3 - Device to help position an artillery system - Google Patents

Description

The technical scope of the invention, is that of devices to facilitate positioning in the field of an artillery system.

Pieces of artillery generally receive a firing order which specifies the coordinates of the target to be engaged as well as the type of firing to be carried out (number and type of shells to be used).

Based on this firing order, the artillery commander orients the artillery towards the target and a firing calculator determines the elevation and traverse angles to be transmitted to the artillery barrel to engage the target.

Orienting artillery is a complicated manoeuvre requiring the orientation of the barrel to be known precisely with respect to the terrain and with respect to the zone occupied by the target. This orientation is generally deduced from data given by an inertial unit (or gyrometers) onboard the vehicle and coupled with a GPS receiver. The GPS enables the localisation of the vehicle to be determined on the terrain and the unit enables the orientation of the vehicle to be known.

The measurement results from the inertial unit and the GPS are usually coupled with a map representing the terrain. It is relatively difficult to read such restitution and this does not facilitate the rapid set up of the artillery in the required position.

Document EP 0 359 950 describes a device for connecting anti-aircraft defence systems. Document FR 2 353 822 describes a calculation and laying device for an anti-aircraft fire. Document W093/15372 describes a method for aiming several towed pieces of artillery.

The aim of the invention is to supply means facilitating the rapid set up of artillery on a terrain of operations .

Moreover, the invention enables data to be provided on the firing order received thereby facilitating the conduction of operations by the artillery commander.

The invention is more particularly adapted to implementation on artillery that is mounted on a vehicle, for example a self-propelled howitzer or artillery carried by a truck. Indeed, the vehicle's mobility capabilities facilitate the rapid positioning of the system at a given orientation.

The device according to the invention thus provides assistance enabling rapid and accurate setting up, thereby facilitating rapid engagement of the target with the necessity to remain in a given position reduced to a minimum.

Thus, the invention relates to a positioning assistance device for an artillery system on a terrain of operations, such device being characterised in that it incorporates a positioning calculator coupled with a Man-Machine interface and at least one sensor giving the orientation of the barrel as well as means to pick up or receive a positioning order, the Man-Machine interface incorporating a fixed icon showing the orientation of the artillery barrel, and at least one positioning marker showing the required orientation for the barrel after positioning, the calculation means automatically moving the positioning marker with respect to the fixed icon along with modification made to the orientation of the artillery barrel.

According to a particular embodiment, the Man-Machine interface may incorporate an arc or portion of an arc surrounding the icon, such arc carrying the positioning marker locating the orientation reguired or the barrel after positioning.

The positioning marker carried by the arc may incorporate an indication in figures of the angular orientation required for the barrel.

The Man-Machine interface may carry an indication in figures of the actual angular orientation of the barrel, such indication being placed near to the fixed icon.

The artillery may be integral with a vehicle and possess elevation and traverse positioning capabilities of the barrel with respect to such vehicle, the positioning calculator in this case being coupled with a firing calculator which determines the orientation to be given to the barrel in elevation and in traverse in order to engage the target according to the target's coordinates and those of the artillery.

The Man-Machine interface may incorporate on either side of the fixed icon at least one coloured angular sector delimited by the extreme orientations that may be given to the barrel on either side of the nominal orientation.

The colour of the angular sector may in this case change when the positioning marker showing the required orientation lies opposite the angular sector, which would indicate that firing is possible.

According to another embodiment, the arc may incorporate at least two zones of different colours, one showing the possible firing zones and the other the forbidden firing zones, the location of these zones being able to be set using a data entry interface.

The Man-Machine interface may enable the angular location to be visualised with respect to the icon by at least one mask and/or firing impact area, the geometric characteristics of the firing mask and/or firing impact area being accessible by one or two specific screens.

The Man-Machine interface may enable an abbreviated firing order to be displayed on the same screen as the icon and the positioning marker, said abbreviation namely giving: type of fuze, projectile and load to be used.

The calculator may advantageously incorporate a tactile screen enabling the Man-Machine interface to be displayed and giving access to the different data entry or display menus.

The invention will become more apparent from the following description of a particular embodiment, such description being made with reference to the appended drawings, in which:

Figure 1 schematically shows an artillery system equipped with a device according to the invention,

Figure 2 is a drawing showing a top view of a piece of artillery in the field and specifying the different angles used to define the positioning of such a piece of artillery,

Figure 3 is a block diagram showing the functional architecture of the device according to the invention,

Figures 4a and 4b show an embodiment of a Man-Machine interface of the device according to the invention,

Figure 5 shows another embodiment of a Man-Machine interface of the device according to the invention.

Figure 1 shows an artillery system 1 comprising piece of artillery 3 mounted on a vehicle 2. The artillery is shown here very schematically. It comprises a barrel 4 integral with a cradle 5 which is itself mounted able to pivot in elevation on trunnions 6 integral with a fork 7.

The fork 7 is mounted able to pivot in traverse with respect to a base 8 carried by the vehicle 2. A rear stabiliser 9 enables the system to be anchored to the ground. It incorporates at least one blade 10 carried by an arm 11 of an adjustable length (for example, a hydraulic jack) . The arm 11 is articulated with respect to the base 8. An arm will preferably be provided on either side of the vehicle .

Such architecture is well known and does not require more detailed description.

The system according to the invention also incorporates at least one sensor to detect the orientation of the artillery barrel 4. It thus comprises an angular sensor 12 to detect the orientation of the barrel in elevation as well as an angular sensor 13 to detect the orientation of the barrel in traverse. These sensors will be, for example, incremental coders coupled with motorisations (not shown) ensuring pivoting in elevation or traverse .

They enable the orientation of the barrel 4 to be known with respect to the vehicle 2 and thus enable positioning in elevation and traverse of the barrel to be servo-controlled.

The artillery barrel's orientation sensors also incorporate means enabling the vehicle 2 to be located with respect to a land mark. These means comprise a satellite positioning system 15 (GPS or Global Positioning System) coupled with an inertial unit 14, or at least with one gyrometer enabling a pivoting of the vehicle with respect to a vertical axis to be measured.

Thus, the orientation of the vehicle is fully controlled in the field. It is thus possible, using conventional algorithms, to position in the field the vehicle itself and an object whose coordinates are known. The gyrometers of the inertial unit moreover enable the angular orientation of the vehicle with respect to its position given by GPS to be known, and thus to know the nominal orientation of the barrel 4 of the piece of artillery 3 with respect to the target. By nominal orientation of the artillery barrel, we mean the orientation adopted when the vehicle 2 is moving, that is to say, oriented in the vehicle's direction of movement in the field.

Sensors 12, 13, 14 and 15 are all connected to a calculator 18 which is shown here schematically by a microcomputer but which in practical terms is made in the form of an electronic box integral with the vehicle and connected to a keyboard 19 and a screen 20.

The calculator 18 is also connected to a radio receiver 21 which receives the artillery positioning orders emitted by a remote command post 22.

Figure 2 shows a top view of the vehicle 2 carrying the barrel 4 as it is oriented in its nominal position. Direction 16 indicates the nominal orientation of the barrel. A circle is shown around the vehicle 2, which indicates the possible angular locations for the artillery barrel 4 or for a target. Direction 17 may, for example, be an orientation required for the artillery barrel to reach a given target Z.

In the field of artillery, the angles are conventionally shown in mils. A full 360° circle corresponds to an angle of 6400 mils. One mil therefore corresponds to around 0.056 degrees. In a fixed land mark centred on the vehicle 2, the nominal position of the barrel 4 is here oriented at 1600 mils with respect to an angle origin 0 positioned to the left of the vehicle 2.

Figure 3 shows the functional organisation of the calculator 18 in greater detail. This comprises a microprocessor connected to memories or registers in which the software and algorithms are installed which enable the firing-related data to be processed.

In practical terms, the calculator 18 will comprise a positioning calculator part 23 which will use the data supplied by the satellite positioning sensor (GPS) 15 and the inertial unit (or gyrometer) 14 to position and orient the vehicle, carrying its barrel 4 in the nominal position, in a fixed land mark.

The coordinates of selected fixed land mark will have been pre-programmed before the mission or will be received by means of the receiver 21.

These positioning and orientation calculations are conventional for the person skilled in the art.

The calculator 18 also incorporates a firing calculator or ballistic calculator 24. This firing calculator determines the elevation and traverse angles to be given to the barrel 4 to engage the target.

This is determined using: the coordinates of the target (received by the receiver 21 or entered by hand using the keyboard 19), memorised firing tables 25 and the coordinates and orientation of the artillery supplied by the positioning calculator 23.

The elevation and traverse angles may be used by a firing crew to position the barrel manually but, preferably, they will be used by a control unit 27 which will automatically command the motorisations 41 ensuring the required positioning in elevation and traverse from instructions supplied by the calculator and actual values supplied by positioning sensors 12 and 13.

The calculator 18 lastly incorporates a module 26 to generate a Man-Machine interface 28 which will be dynamically displayed on the screen 20. This module uses the positioning and orientation data of the barrel supplied by the positioning calculator 23 as well as the firing data supplied by the firing calculator 24 (coordinates of the target, calculated elevation and traverse angles).

Advantageously, the screen 20 may be a tactile screen which will enable the commands to be entered directly on the screen-obviating the use of a keyboard 19.

Figures 4a and 4b show a first embodiment of a Man-Machine interface (MMI) 28 according to the invention.

The MMI 28 incorporates a fixed icon 29 indicating and materialising the orientation of the artillery barrel.

This icon 29 is surrounded (at least partially) by an arc of a circle 30 angularly mobile around the icon. This arc is made to pivot by the calculator module 26 in connection with a modification in the nominal orientation 16 of the artillery.

The modification in the nominal orientation 16 of the artillery is caused by the vehicle 2 manoeuvring in the field. It is detected by the positioning means 14 and 15 and more particularly by the inertial unit (or the gyrometer) 14.

The arc 30 and the icon 2 9 thus schematise a mark linked to the vehicle such as that shown in Figure 2.

In accordance with the invention, the firing calculator 24 coupled with module 26 will command the display of a positioning mark 31 (here a small coloured triangle) on the arc of a circle 30 which will locate the orientation required for the barrel 4 after positioning.

This positioning mark 31 thus schematises axis 17 as it is shown in Figure 2.

According to an essential characteristic of the invention the required orientation display is dynamic, that is to say that the positioning mark 31 will move as soon as the operator manoeuvres the vehicle to position it in the field.

Figure 4b thus shows that the positioning mark has pivoted anti-clockwise to bring it closer to the nominal orientation of the barrel 16.

In the invention, we have chosen to have the representation of the target 31 pivot around the MMI rather than that 2 9 of the artillery. Such a choice makes the positioning-related data easier to read. Indeed, the target data is thus systematically positioned in a mark linked to the vehicle whatever the vehicle's orientation in the field.

Such an arrangement makes it easier for the user to visualise his target with respect to his vehicle and enables him to determine intuitively which manoeuvre needs to be performed to obtain the required alignment.

Thus, when a target is located (as shown) to the right of the nominal axis 16, the vehicle in the field must be directed rightwards to align it with the target.

An indication in figures may advantageously be provided near to the positioning mark 31 which gives the angular orientation required in mils for the artillery with respect to a fixed mark (such data being transmitted by the firing command post and used for the different calculations). This indication is given here in a circle 32 positioned on the arc of a circle 30 and it pivots with the positioning mark 31 (see Figure 4b).

An indication in figures may also be provided for the actual angular orientation of the artillery. This indication is shown in a box 33 placed below the fixed icon 29.

The indications in figures will naturally be modified according to the vehicle's 2 movements in the field. We thus note that in Figures 4a, 4b the indication in the circle 32 (1485 mils) does not change since it relates to the orientation of the target in the fixed land mark, whereas that in the box 33 is modified and goes from 1200 mils in Figure 4a to 1480 mils in Figure 4b, thereby indicating that the nominal orientation of the artillery has changed and that it is now only 5 mils from that of the target.

According to another characteristic of the invention, the firing calculator 24 is programmed so as to be able to determine according to the coordinates of the target and those of the vehicle carrying the artillery what the extreme orientations of the barrel 4 are on either side of its nominal orientation from which it is possible to engage the target.

The algorithm enabling such a calculation is easy to establish given that the maximal positioning capacities in elevation and in traverse are known for the artillery 3 with respect to the vehicle 2 itself (maximum possible amplitude for the displacements of the barrel 4 in elevation and in traverse with respect to the vehicle).

In practical terms, the extreme orientations in elevation on either side of the nominal orientation 16 of the barrel merely need to be determined. Account will be taken of the positioning constraints linked to any specific location of the artillery which may limit such displacement (presence of walls or buildings, for example).

In accordance with another characteristic of the invention, at least one coloured angular sector 34 will be made to appear on either side of the fixed icon 29 which will be delimited by the extreme orientations possible for the artillery on either side of the nominal orientation 16.

This sector 34 represents therefore on the MMI 28 the zones in which firing is possible to reach the firing target 31 associated with the positioning order.

The MMI module 26 of the calculator 18 will be programmed such that the colour of the sector 34 changes when the firing target 31 lies opposite the sector 34, and thus in a zone where firing is possible (naturally after positioning the barrel in elevation and in traverse with respect to the fixed vehicle).

Figure 4a shows, for example, that the sector 34 has a hatched background (which corresponds, for example, to a red colour) which means that firing is not possible.

In Figure 4b the sector 34 has changed colour and has a grey background (which corresponds, for example, to a green colour) and which means that firing is possible.

Indeed, the new orientation of the system is such that the gap between the actual nominal position of the barrel 4 (1480 mils) and the required orientation (1485 mils) is small enough for the elevation and traverse laying motorisat ions of the artillery to be able to displace the barrel 4 with respect to the vehicle 2 to align the barrel 4 with the objective and ensure its engagement.

Naturally, a specific data entry screen may be provided which enables the dimensions of sector 34 to be manually programmed according to any constraints in the field.

Advantageously, the change in colour will be associated with the removal of a firing authorisation by the calculator 18. It is thus possible to have the firing process suspended until such time as the positioning mark 31 lies opposite the sector 34.

The invention thereby further facilitates the rapid set up of the artillery in the field. Indeed, it is no longer necessary to obtain an exact match between the actual nominal direction and the required direction. The MMI enables the change in colour to be detected very quickly meaning that firing is possible (after motorised positioning of the barrel alone).

According to another characteristic of the invention, other data may be made to appear on the MMI related to firing constraints.

We note therefore that in Figures 4a, 4b the pivoting arc 30 incorporates two zones 30a and 30b of different colours .

Zone 30a represents the zone in which firing is possible. Zone 30b represents the zone in which firing is not possible.

Thus, it will only be possible to engage targets which lie opposite zone 30a.

The geometric location of these zones is introduced in the firing calculator 24 using an appropriate data entry interface. The zones are defined by the angles in mils of their extreme limits.

The data entry screen for these zone settings is not shown in the Figures. Advantageously, this screen will be accessible by pressing the "Safety Limits" key 35 which can be seen on the MMI 28. Pressing on the screen is facilitated by employing a tactile screen 20 (thereby avoiding the need for a mouse).

According to another characteristic of the invention, a display of the angular location of at least one firing mask 36 may be provided on the MMI 28.

Classically, in the field of artillery, a firing mask is a geometric constraint of the terrain whose characteristics are entered by the firing commander before the manoeuvre. A mask may be a building, a hill or any other landscape element which will impose, for example, a minimum traverse angle for it to be possible to reach a target positioned behind the mask.

To avoid over-cluttering the MMI 28, only the angular limits of the mask 36 will be displayed which will appear as a simple coloured segment of arc, parallel to arc 30.

All the other characteristics of the mask which lead to a specific, setting for the firing will be introduced by a specific data file memorised in the calculator 18 and entered or consulted using a special interface not shown. Access may be gained to the consultation or data entry screen for the mask characteristics by pressing on the "Mask" key 37.

It is lastly possible for several possible impact areas to be defined for firing, that is to say, several potential targets to be engaged.

The characteristics of each target or firing impact area will be entered and memorised in the form of firing orders like those of target 31.

Thus, several firing impact areas 31a, 31b can be displayed on the MMI 28. However, to improve readability, only the target subject of the firing order being processed will appear with the circle 32 specifying its location in mils .

The other memorised impact areas will only appear on the MMI 28 in the form of small triangles 31a, 31b, possibly of different colours.

Pressing on the "Impact area" key 38 will give access to another screen (not shown) giving the list of the different impact areas memorised in the firing calculator 18 with their geometric characteristics.

This screen will also enable an impact area to be created or modified and the processing order for the different firings to be set.

By comparing Figures 4a and 4b, we see that the displacement of the vehicle 2 in the field causes not only the displacement of the positioning mark 31 of the target but also the angular displacement of the masks 36, the limits between zones 30a and 30b and the impact areas 31a, 31b.

Indeed, the MM I still gives a dynamic representation of the data in the mark linked to the vehicle. The calculator 18 thus ensures the instant updating of the relative positions of the elements in the field whose absolute coordinates are known.

Figure 5 shows another embodiment of the invention which in an enhancement of the previous one.

According to this embodiment, the MMI 28 still incorporates the icon 29 with the circle 30 and the locations 31 of the target to be engaged. Keys 35, 37 and 38 to access the characteristics of the mask, the impact area and the safety limits are still present.

This embodiment differs from the first one in that the MMI also has, at the right side of the screen, an abstract or summary 39 of the firing order received and being processed.

This firing order has been received, for example, by means of the radio receiver 21 and is naturally memorised in the calculator 18.

The firing order will comprise, for example: a reference number, an indication of the planned firing time (39a), the type of fuze to be used (39b), the type of shell to be used (39c) and the type of load to be used (39d) (namely the number of increments required).

The advantage of this variant lies in that it enables the gun commander to give his firing preparation orders directly from the position control screen. It is thus no longer necessary for him to navigate his way through multiple screens to know what must be done and the operations are therefore carried out more quickly.

The MM I may advantageously be provided with a tab 4 0 giving the elevation angle (40a) and traverse angle (40b) values calculated by the firing calculator 24 according to the actual position 4 of the artillery barrel and the target's coordinates.

This tab will be a simple reminder of the laying coordinates automatically performed by the system. For a simpler artillery system, the tab 40 will enable the gun commander to give his laying orders directly to the crew.

By way of a variant, it is possible for the shapes of the icons and mobile elements of the MM I to be modified. The essential thing is to have at least two marks available: a fixed mark representing the artillery in the field, and a mobile positioning mark showing the target with its angular location given in a mark linked to the vehicle, the mobile positioning mark being displaced depending on the movements made by the vehicle when being positioned in the field.

Claims (9)

Device for assisting in positioning an artillery system (1) comprises an artillery with its barrel (4) on an operational terrain, said artillery system being firmly connected to a maneuverable vehicle (2), said device being characterized in that it comprises a positioning calculator (23) coupled to a human-machine interface (28) and at least one sensor (14, 15) to indicate the nominal orientation of the race (4), as well as means (19) for collecting or means (21) ) to receive a positioning order, the human-machine interface (28) comprises a fixed image (29) of the orientation of the artillery barrel (4), and at least one positioning marker (31, 32) locating the desired orientation of the barrel after the positioning, the calculating means the positioning cursor (31) automatically moves relative to the fixed image (29), in connection with the nominal orientation of the artillery race (4), during a maneuver performed by the vehicle (2), the artillery is otherwise capable of positioning the aiming and bearing direction of the barrel (4) relative to the vehicle (2), the artillery thus comprising a control unit (27) capable of automatically controlling the motorized aiming (41). , the positioning calculator (23) is coupled to a firing calculator (24) which determines the orientation that the barrel (4) must have in the aiming and arrow direction to process the target as a function of the target and artillery coordinates, on each side of the fixed image (29) the human-machine interface (28) has at least one colored angular sector (34), which is defined by the extreme orientations possible to give the race (4) on both sides of the nominal orientation, the sector changing color as the positioning marker is facing the opposite angle sector. Device for assisting in positioning a species in the Heri system according to claim 1, characterized in that the human-machine interface (28) comprises an arc (30) or part of an arc (29) surrounding the image (29). ), said arc comprises the positioning marker (31, 32) which locates the desired orientation of the barrel (4) after positioning. Device for assisting in positioning an artillery system according to claim 2, characterized in that the positioning marker (32) comprised by the arc contains a numerical indication of the desired angle for the orientation of the barrel (4). Device for assisting in positioning an artillery system according to claim 3, characterized in that said human-machine interface (28) contains a numerical indication of the current angle of the orientation of the barrel (4), the indication being located close to the fixed image ( 29). Device for assisting in positioning an artillery system according to claim 1, characterized in that the angular sector (34) changes color when the positioning marker (31) indicating the required orientation is opposite the angular sector (34), indicating: that shooting can be done. Device for assisting in positioning an artillery system according to one of claims 2 to 5, characterized in that the arc (30) comprises at least two areas (30a, 30b) of different color, one of which (30a) indicates the possible shooting ranges, and the second area (30b) indicates the prohibited shooting ranges, the location parameters of these ranges are set using an input interface. Device for assisting in positioning an artillery system according to one of claims 1 to 6, characterized in that the human-machine interface (28) enables visualization of the angular localization of at least one mask (36) and / or the impact area of the shot (31a, 31b). ) relative to the image (29), the geometric characteristics of the shooting mask (36) and / or of the shot's impact area (31a, 31b) are available on one or more specific screens. Device for assisting in positioning an artillery system according to any one of claims 1 to 7, characterized in that said human-machine interface (28) enables to visualize a summary of the firing order (39) during execution on the same screen as the image (29) and the positioning marker (31, 32), the summary (39) indicating in particular: the type of filler, projectile and charge to be used. Device for assisting in positioning an artillery system 1 to 8, characterized in that the calculator (23) comprises a touch screen (20) which allows the human-machine interface (28) to be visualized and which provides access to various input or visualization menus.