EP0090713B1 - Feuerleitsystem mit einem durch ein automatisches Verfolgungsgerät gesteuerten Fernrohr - Google Patents

Feuerleitsystem mit einem durch ein automatisches Verfolgungsgerät gesteuerten Fernrohr Download PDF

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Publication number
EP0090713B1
EP0090713B1 EP19830400570 EP83400570A EP0090713B1 EP 0090713 B1 EP0090713 B1 EP 0090713B1 EP 19830400570 EP19830400570 EP 19830400570 EP 83400570 A EP83400570 A EP 83400570A EP 0090713 B1 EP0090713 B1 EP 0090713B1
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EP
European Patent Office
Prior art keywords
telescope
tracking
orientation
tracking device
phase
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.)
Expired
Application number
EP19830400570
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English (en)
French (fr)
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EP0090713A1 (de
Inventor
Jean Dansac
Robert Pressiat
Bernard Grancoin
Jean-Paul Lepeytre
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Thales SA
Original Assignee
Thomson CSF SA
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Publication date
Application filed by Thomson CSF SA filed Critical Thomson CSF SA
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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
    • F41G3/326—Devices for testing or checking for checking the angle between the axis of the gun sighting device and an auxiliary measuring device
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/06—Aiming or laying means with rangefinder
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/14—Indirect aiming means
    • F41G3/145—Indirect aiming means using a target illuminator

Definitions

  • the present invention relates to a fire control system, and more precisely to an automatic target targeting and tracking system, particularly suitable for use on aircraft (combat helicopter in particular).
  • the operator sends to an automatic tracking device, during this search phase or at the end of this phase, an order of forced orientation of the tracking device along the axis of the telescope; then he decides to go into the automatic tracking phase and sends the tracking device an automatic orientation order on a spotted target.
  • the tracking device comprises, in order to ensure the execution of this last point, on the one hand an aiming optic providing an image (video for example) of the target, and on the other hand ecartometry circuits operating for example by contrast or by correlation, which locate the displacements of the image of the target in the field of the optical sight and which ensure the adequate orientation of the tracking device to bring back this image of target in the axis of aimed.
  • Information on the direction taken by the tracking device is continuously transmitted, with appropriate fire corrections, to a destruction weapon which therefore targets the target as long as it remains centered in the line of sight of the tracking device. pursuit, and the operator can send a firing order at any time.
  • the magnifying telescope follow the movements of the tracking device when the latter is performing an automatic tracking phase, so that the operator can use the telescope as a means of visual control of the proper execution of the tracking.
  • the operator in case of loss of the target by the tracking device (passage behind a curtain of trees etc 7), the operator must be able to regain control immediately or verify that the tracking device catches the target by itself lost (at the exit of the curtain of trees for example).
  • the optics of the telescope and the optics of the tracking device must aim at the same point. otherwise the operator must perform an additional phase of checking or resetting the image given by the tracking device before entering the tracking phase.
  • the object of the invention is to remedy these drawbacks.
  • a combined sighting and tracking device for a missile guidance system is known from French patent 2,230,247. It includes a pivotally mounted telescopic sight and a pivotally mounted tracking device rigidly coupled to the telescope for pivoting with the latter, the optical axes of the telescope and of the tracking device being approximately collimated.
  • the tracking device has a photoelectric screen and a projection system capable of projecting onto said screen a real image of a light source to which the tracking device is directed.
  • the screen produces electrical signals of coordinates dependent on the offset coordinates of the projected image relative to the electrical center of the screen.
  • it further comprises a point light source, optical means for injecting a light brush from this point source into the optical systems of the telescope and of the tracking device, so that an image of the point source appears in the center of the field in the lens of the telescope and that a real image of the point source is projected on the tracking screen.
  • electrical cancellation means which generate electrical control voltages which suppress the electrical output signals from the screen produced by the projected image of the point source so as to compensate for any shift of said image with respect to the electrical center of the screen.
  • This registration makes it possible to effectively overcome parallax errors and errors due to deformations of the structure of the aircraft. It has the advantage of being able to be done by using as a means of laser illumination the laser rangefinder which is often provided in a fire control system (to work out ballistic corrections of shooting according to the distance from the target), provided that this laser rangefinder effectively emits parallel to the axis of the sighting device or even precisely along the axis thereof.
  • the fire control system mounted for example on a helicopter, comprises a certain number of elements of which only those which are necessary for the understanding of the invention will be described. For example, we will not describe all the display systems with which the fire control system can be provided to assist the operator or the pilot.
  • FIG. 1 there is a magnifying observation telescope 10, adjustable in elevation and in bearing by motors which are preferably couple-motors with electromagnetic drive to avoid the presence of gears in the transmission of the movement.
  • the telescope 10 can moreover be gyrostabilized, that is to say that orientation control signals are applied to these motors not directly but by means of gyrometers (simple or integrating gyrometers or two-axis gyroscopes with suspension granted) fixed on the telescope, these gyrometers having for axes the axes of rotation in elevation and in bearing.
  • FIG. 1 To simplify the description of the invention, there has been shown in FIG. 1 only a bearing orientation motor 12 for the telescope; the whole description will moreover be made only with reference to the axes of rotation in the deposit, it being understood that two similar independent circuit paths are necessary respectively for the orientation in elevation and the orientation in the deposit.
  • the axis of rotation in bearing of the telescope 10 is designated by the reference 14.
  • the axis of rotation in elevation would be perpendicular to the plane of the figure.
  • An amplifier 16 supplies control signals to the motor 12 (directly or via a gyro-stabilization system). We will see below where these signals come from.
  • An angular sensor 18 makes it possible to locate the orientation in bearing of the telescope; of course, another sensor is provided for the orientation in elevation.
  • an automatic tracking device 20 constitutes another important element of the fire control system. It is also orientable in elevation and in bearing (orientation motor in bearing 22) around an axis of rotation in bearing 24 and it is preferably gyrostabilized, that is to say that it receives control signals from an amplifier 26 not directly but by means of a gyro-stabilization system (not shown here) comprising gyrometers or integrating gyrometers or a gyroscope with tuned suspension whose sensitive axes are the axis of rotation in bearing 24 and a axis of rotation in elevation perpendicular to the plane of Figure 1.
  • the drive motors of the automatic tracking device are preferably electromagnetic drive.
  • Angular orientation sensors in bearing (28) and in elevation are provided on the tracking device 20 to identify its orientation at any time.
  • the tracking device comprises an objective for forming on an image detector 30 the image of a target situated in the field of view of this objective; the optical axis of this objective is called the line of sight of the device 20 and is designated by the reference 32.
  • the image detector 30 which can be a vidicon tube supplying a video signal or a matrix of photosensitive detectors, supplies electrical signals representing the image of the field of view (and in particular of the target being tracked) to a deviation circuit 34 and possibly to display screens (television monitor, etc.).
  • the deviation circuit 34 which provides tracking, generates elevation and bearing deviation signals representing the difference between the position of the target in the image and a reference position (for example the center of the picture); these signals are intended for the amplifier 26 which controls the orientation motors of the aiming device so as to bring the image of the target back to the reference position when it tends to deviate from it.
  • the deviation circuit can operate by contrast (the edge of the target image defines a line of contrast whose position can easily be detected and compared to a reference position to generate deviation signals), or even by image correlation: when the operator decides to enter the automatic tracking phase after having manually centered the target in the field of view, the image of this field obtained on the detector 30 is saved in memory as a reference image and the subsequent images are correlated with the image in memory, with a correlation function involving lateral and vertical shifts of the image, in order to define correlation peaks which make it possible to know the offset in elevation and bearing of the subsequent images compared to the original recorded image.
  • a bearing deviation signal is transmitted by the circuit 34 to the amplifier 26 and an elevation deviation signal is provided in the analog path not shown in elevation orientation.
  • the angular sensors (28 for orientation in range) send signals to a computer 36 which also receives other information, and the latter processes orientation control signals of a firing weapon, to give to this weapon the same orientation as the aiming device (in the pursuit phase) possibly corrected according to ballistic data such as wind speed, distance from target, type of shell, etc.
  • the angular bearing sensor 18 of the telescope 10 and the angular bearing sensor 28 of the tracking device 20 are connected to the two inputs of a subtractor 38 which generates an error signal used to align the orientations of the telescope and the device of pursuit.
  • This error signal is applied to an input of another subtractor 40 which receives on another input a signal called "harmonization error" coming from a memory 42.
  • the output signal from subtractor 40 which corresponds to the difference between the orientations of the sighting axes of the telescope and of the tracking device, affected by a harmonization correction, is directed either to the input of the amplifier. 26, in target acquisition phase, ie towards the input of amplifier 16, in automatic tracking phase.
  • a switch 44 having a position "A" (for acquisition phase) and "P" (for tracking phase) is provided for this purpose to connect to the input of amplifier 26, ie the output of subtractor 40 ( acquisition position A), or the output of the deviation circuit 34 (tracking position P).
  • a switch 46 makes it possible to direct to the input of the amplifier 16, either the signals from a remote control stick 48 in the acquisition phase (position “A"), or the signals from the subtractor 40 in tracking phase (position “P").
  • the tracking device automatically follows the orientation of the telescope which is manually controlled, while in the tracking phase the telescope automatically follows the orientation of the tracking device which is controlled by its distance measurement circuit.
  • a third switch 50 is inserted between the input of the amplifier 16 and the switch 46, this switch having a normal position "N” and a so-called setting position "C"; in the normal position N, the signals from the remote control stick 48 or the subtractor 40 are transmitted to the input of the amplifier 16; but, in setting position C, these signals are interrupted and other signals are applied to the input of the amplifier 16 which are output signals from a deviation circuit 52 whose input comes from a detector of the laser beam 54 carried by the telescope 10.
  • the detector 54 is advantageously of the four quadrant type. It is placed on the telescope behind a focusing and possibly selective filtering optics of a particular laser wavelength, so that if a laser beam arrives in the axis or parallel to the line of sight of the telescope, this beam falls in the center of the detector 54, while if the laser beam does not arrive completely parallel to the axis, it falls on a non-central portion of the detector, which then provides signals corresponding to the deviation in elevation and in bearing from the center of the detector; these signals are processed by the deviation circuit 52 and applied to the input of the amplifier 16 but only in the so-called stall position (switch 50 in position C).
  • the laser beam received comes from the reflection on an obstacle of a beam emitted by a laser illuminator 56 arranged to emit parallel to the line of sight 32 (or along this line) of the tracking device; thus, the differential measurement signals of the circuit 52 are an indication of the offset of the points targeted by the telescope and the tracking device.
  • the deviation signals of the circuit 52 are also applied to an input of a subtractor 58 which also receives the output of the subtractor 38; the output of the subtractor 58 is applied, optionally through a switch 60 having a setting position C in which it is closed (and a normal open position), to the input of the memory 42 for recording there, in the setting phase, the signal supplied by the subtractor 58 and which represents the harmonization difference between the telescope and the tracking device.
  • a switch 62 can be provided for connect the output of memory 42 to the input of subtractor 40 (normal position N: switch closed, setting position C: switch open).
  • the circuit which has just been described with reference to FIG. 1 makes it possible to execute a target acquisition phase and an automatic tracking phase.
  • the operator can carry out an action of resetting the orientation of the telescope as follows: he chooses an obstacle situated at a distance corresponding to a normal target distance and he points the tracking device 20 at this obstacle, preferably using the remote control handle 49 (switch 44 in position M).
  • the telescope is then oriented so as to center, if possible, on the detector 54 the laser beam received after reflection on the target obstacle, and a so-called harmonization error value corresponding to the angular difference is recorded in the memory. which must exist between the angular sensors 18 and 28 so that the tracking device and the telescope aim at the same point (which in this case is the obstacle targeted during the setting phase).
  • This harmonization error takes into account the parallax and other positioning or adjustment errors of the sensors, as well as the deformation of the structure of the carrier helicopter.
  • this harmonization error is restored by the memory 42 and transmitted as a correction signal to the amplifier 26 in the acquisition phase or to the amplifier 16 in the phase of pursuit.
  • FIG. 2 shows by way of indication how the optical path of a laser beam can be arranged so that it leaves the tracking device 20 parallel to the line of sight 32 thereof: the tracking device carries, as a means of 'laser illumination, several deflection mirrors, the actual laser illuminator, 66, being fixed and able to be deported.
  • a first mirror M1 secured to a mobile support rotating around the axis of rotation in elevation (68), returns the laser beam to a second mirror M2, then a third mirror M3, secured to the same support.
  • the beam received by M3 is directed towards a fourth mirror M4 mounted on the optical sighting assembly (movable in elevation and in bearing) of the tracking device 20.
  • the optical elements of the tracking device 20 have not been shown to simplify the figure.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Telescopes (AREA)

Claims (5)

1. Feuerleitsystem
- mit einer optischen Vorrichtung (20) zur automatischen Zielverfolung, die Ausrichtmotoren (22) für die Azimut- und die Elevationsrichtung sowie Winkelgeber (28) aufweist, mit denen die Orientierung ihrer Visierachse (32) in Azimut- und Elevationsrichtung erfaßt wird;
- mit einem vergrößernden Beobachtungsfernrohr (10), das ebenfalls Ausrichtmotoren (12) für die Azimut- und die Elevations richtung und Winkelgeber (18) aufweist, mit denen die Orientierung seiner Visierachse in Azimut-und Elevationsrichtung erfaßtwird, dadurch gekennzeichnet, daß
a) die Verfolgungsvorrichtung (20) ein Laserbeleuchtungsmittel (56) trägt, das eine Laserstrahlung parallel zur Visierachse (32) der Vorrichtung aussendet;
b) das Fernrohr einen Laserstrahlungsdetektor (54) trägt, der an einen zugeordneten Abstandsmeßkreis (52) gekoppelt ist, welcher ein Paar von Fehlersignalen liefern kann, die dem Abstand in Azimut- und Elevationsrichtung zwischen dem Zentrum des Detektors (54) entsprechend der Visierachse des Fernrohrs und dem Brennpunkt der nach Reflektion an einem Hindernis empfangenen Laserstrahlung entspricht;
c) ein Speicher (42) zum Empfang und zur Speicherung dieser Fehlersignale in einer einleitenden Ausrichtphase vorgesehen ist, während der das Laserbeleuchtungsmittel (56) eine Laserstrahlung aussendet;
d) ein elektrischer Schaltkreis (38, 40, 16) zum Empfang der von den Winkelgebern (28, 18) der Verfolgungsvorrichtung (20) und des Fernrohrs (10) und zur Lieferung von Steuersignalen an die Ausrichtmotoren (12) des Fernrohrs in einer Phase der automatischen Zielverfolgung vorgesehen ist, um das Fernrohr den Bewegungen der Verfolgungsvorrichtung in Azimut- und Elevationsrichtung nachzuführen, wobei der elektrische Kreis (38, 40, 16) während der Verfolgungsphase mit dem Speicher (42) verbunden ist, um die während der Ausrichtphase gespeicherten Fehlersignale zu empfangen, und wobei der elektrische Kreis Mittel (40) aufweist, um die Steuersignale gemäß den Fehlersignalen zu korrigieren.
2. System nach Anspruch 1, dadurch gekennzeichnet, daß der Detektor (54) ein Vierquadrantendetektor ist, der hinter einem Fokalisierobjektiv und einem Selektivfilter angeordnet ist, das die Wellenlänge der Laserstrahlung durchläßt.
3. System nach einem beliebigen der Ansprüche 1 und 2, dadurch gekennzeichnet, daß die Fehlersignale, die vom Abweichungsmeßkreis (52) stammen, den Ausrichtmotoren (12) des Fernrohrs während der Ausrichtphase zugeführt werden, so daß das Fernrohr in eine solche Richtung gebracht wird, daß der reflektierte Laserstrahl auf die Mitte des Detektors (54) fällt.
4. System nach einem beliebigen der Ansprüche 1 bis 3, dadurch gekennzeichnet, daß der elektrische Schaltkreis einen ersten Subtraktionskreis (38) aufweist, dessen Eingänge an die Winkelgeber (18, 28) des Fernrohrs (10) und der Verfolgungsvorrichtung (20) angeschlossen sind, und daß die genannten Mittel einen zweiten Subtraktionskreis (40) aufweisen, dessen Eingänge an den Ausgang des ersten Subtraktionskreises (38) bzw. an den Ausgang des Speichers (42) angeschlossen sind.
5. System nach Anspruch 4, dadurch gekennzeichnet, daß der elektrische Schaltkreis einen dritten Subtraktionskreis (58) aufweist, der während der Ausrichtphase verwendet wird und über einen ersten Eingang an den Ausgang des ersten Subtraktionskreises (38), über einen zweiten Eingang an den Ausgang des Abweichungsmeßkreises (52) und über einen Ausgang an den Eingang des Speichers (42) angeschlossen ist.
EP19830400570 1982-03-26 1983-03-18 Feuerleitsystem mit einem durch ein automatisches Verfolgungsgerät gesteuerten Fernrohr Expired EP0090713B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8205247 1982-03-26
FR8205247A FR2524137B1 (fr) 1982-03-26 1982-03-26 Systeme de conduite de tir a lunette d'observation asservie par un dispositif de poursuite automatique

Publications (2)

Publication Number Publication Date
EP0090713A1 EP0090713A1 (de) 1983-10-05
EP0090713B1 true EP0090713B1 (de) 1987-01-07

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EP19830400570 Expired EP0090713B1 (de) 1982-03-26 1983-03-18 Feuerleitsystem mit einem durch ein automatisches Verfolgungsgerät gesteuerten Fernrohr

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EP (1) EP0090713B1 (de)
DE (1) DE3368979D1 (de)
FR (1) FR2524137B1 (de)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3514743C2 (de) * 1985-04-24 1987-02-19 Eltro GmbH, Gesellschaft für Strahlungstechnik, 6900 Heidelberg Verfahren und Schaltungsanordnung zum Harmonisieren opto-elektronischer Achsen eines Wärmebildgerätes
FR2700840B1 (fr) * 1992-12-21 1996-04-26 Thomson Csf Arme à visée stabilisée.
WO1995017640A1 (fr) * 1993-12-21 1995-06-29 Thomson-Csf Arme a visee stabilisee
CN103616673B (zh) * 2013-12-03 2016-01-20 中国船舶重工集团公司第七一七研究所 一种用于激光定向干扰的跟瞄装置
CN113701561B (zh) * 2021-08-25 2023-01-13 西安应用光学研究所 用于机载多光谱多光轴光电系统空中动态校轴装置及方法

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1372348A (en) * 1969-11-04 1974-10-30 British Aircraft Corp Ltd Automatic sight and tracker harmonisation
US3845276A (en) * 1971-12-17 1974-10-29 Hughes Aircraft Co Laser-sight and computer for anti-aircraft gun fire control system
FR2334934A1 (fr) * 1975-12-09 1977-07-08 Telecommunications Sa Dispositif de guidage nocturne d'engins autopropulses
DE2722796C3 (de) * 1977-05-20 1981-12-03 Messerschmitt-Bölkow-Blohm GmbH, 8000 München Vorrichtung zum Ausrichten der optischen Achsen mehrerer optischer Geräte parallel zueinander
DE2941627C2 (de) * 1979-10-13 1987-01-22 Eltro GmbH, Gesellschaft für Strahlungstechnik, 6900 Heidelberg Aus zwei optischen Geräten bestehende Visiereinrichtung

Also Published As

Publication number Publication date
FR2524137A1 (fr) 1983-09-30
EP0090713A1 (de) 1983-10-05
DE3368979D1 (en) 1987-02-12
FR2524137B1 (fr) 1986-10-10

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