EP0159392A2 - Gun fire control system for mobile weapon carriers, particularly for combat tanks - Google Patents

Abstract

The fire control and navigation system for movable weapon carriers, in particular for battle tanks, provides for the use of a single central sensor block in strapdown technology for primary stabilization of, for example, a target or sighting device and for secondary stabilization of a weapon Accelerometer includes. The acceleration values and rotation rates are output and processed in digital format, so that in addition to the usual fire control functions, additional system services are made possible, in particular perfect navigation without external visual aids, exact fire control and dynamic point stabilization of the weapon.

Description

The invention relates to a fire control and navigation system for moving weapon carriers according to the preamble of claim 1, which is particularly suitable for battle tanks but also for other vehicles that are used for targeting and location purposes via a primary stabilized system and also via a secondary stabilized system that is movable relative to the vehicle feature.

Modern weapon systems are nowadays required to be able to be used when the weapon carrier is in motion. For weapons with a ballistic effect, this means compensation for the disturbances when the projectile is released. For this purpose, the movement of the weapon must be known or the weapon must be stabilized in order to compensate for the movements and thus disturbing influences of the wearer, such as other movement and acceleration components acting on the weapon, at the time of the projectile departure.

Using the example of a modern main battle tank, the following is intended to show which assemblies are used today and which problems arise.

A battle tank with a barrel weapon that can move freely about two axes, that is to say about the vertical axis in the azimuthal direction and about an elevation axis in height, is to be considered. Among other things, the ballistic trajectory of the shot and thus its range is determined via the height directional angle. In order to be able to use the weapon even when the vehicle is moving, the movement of the weapon carrier must be compensated for, ie the weapon must be stabilized. For the fire control system of a known main battle tank, several gyro packages are used as sensors for the primary stabilization of sighting means and the weapon system. Such a gyro package usually includes two uniaxial gyros, which are mounted on the weapon and measure the rotary movements in the elevation and azimuth axes and compensate for each with a closed control loop with the help of directional drives. For the fire control, the edge angle of the weapon must also be known for determining the ballistic data, which is detected by a pilot sensor. In addition, gyroscopes are used in the turret and hull to pre-stabilize the weapon.

The main battle tank as a direct-facing weapon has visual aids for commanders and gunner with which the position of the target is visually determined. In order to use these sighting devices while driving, they must also be stabilized. If they are primary stabilized, this means that the display units also have two uniaxial gyro packages with corresponding servo drives and control loops. This means that three primary stabilized devices with a total of six turning gyros are available in such a main battle tank. However, these turning gyros work independently of one another, so that if one gyro packet fails, the other cannot perform its function. In addition, the known gyroscopes are not suitable for providing guidance information, for example in the form of navigation data.

• 1. Die Waffenbewegung ist nicht vollständig bekannt, da die Kreisel nur Drehdaten messen können. Damit ist keine Aussage über die translatorische Bewegung der Waffe möglich. Wie jedoch die Figur 1 veranschaulicht, überlagern sich die Fahrzeuggeschwindigkeit V sowie die Richtgeschwindigkeit V (Drehwinkelgeschwindigkeit W_R) der Anfangs- oder Mündungsgeschwindigkeit V_O des'Geschosses, so daß sich eine tatsächliche Geschoßgeschwindigkeit V_G ergibt.
• 2. Die Stabilisierung wird üblicherweise nur als sogenannte Richtungsstabilisierung durchgeführt. Das bedeutet, wie in Figur 2 veranschaulicht, daß der Richtungsvektor unabhängig von den auftretenden Drehdaten des Waffenträgers im Raum richtungsstabilisiert bleibt, aber zu sich selbst parallel verschoben wird. Je nach Fahrtrichtung von Waffenträger und Ziel können damit relativ große translative Verschiebungen auftreten, die durch die Stabilisierungsanlage allein nicht ausgeglichen werden können.
• 3. Die translatorischen Verschiebungen können über sogenannte Mitrichthilfen und dynamische Vorhaltbildung kompensiert werden. Dazu gibt der Richtschütze an einem Richtgriff die Richtgeschwindigkeit vor, die vom Feuerleitsystem zur Vorhaltberechnung verwendet wird. Diese Richtwinkelgeschwindigkeit W_RS enthält jedoch sowohl Komponenten der Geschwindigkeit des Waffenträgers V_W als auch der Geschwindigkeit des Ziels V_Z (siehe Figur 3). Die Zielgeschwindigkeit V_Z muß jedoch entsprechend dem Vorhaltewinkel W_v kompensiert werden, während die Geschwindigkeit des Waffenträgers V_w selbst als ballistische Störung beim Abgang des Geschosses behandelt werden muß. Durch die Vermischung beider Informationen im Richtsignal W_RS ist beides gemeinsam bei bewegtem Waffenträger heute nicht möglich, oder anders ausgedrückt, der Waffenträger muß zum Zeitpunkt des Schusses kurzzeitig anhalten, so daß nur einer der beiden Informationswerte benötigt wird und erfaßt werden kann, oder es kommt in erheblichem Maße auf die Erfahrung des Richtschützen an, wie genau das Geschoß bei fahrendem Waffenträger das bewegte Ziel trifft. In der Regel sind auch über Mitrichthilfen dynamische Vorhaltbildungen nicht korrekt zu ermitteln.
• 4. Die einachsigen Wendekreisel in den heutigen Waffenstabilisierungsanlagen geben ein Analog-Signal aus und besitzen im allgemeinen nur eine begrenzte Bandbreite und Stabilität. Damit ist es kaum möglich, die gemessenen Drehraten auch für andere Funktionen als für die Stabilisierung des dem Kreiselpaket zugeordneten Geräts zu verwenden.

Shooting with a rapidly moving weapon is only possible with reduced accuracy for the following reasons:

• 1. The weapon movement is not fully known because the gyroscopes can only measure rotation data. It is therefore not possible to make a statement about the translational movement of the weapon. However, as FIG. 1 illustrates, the vehicle speed V and the directional speed V (angular velocity W _R ) overlap. the initial or muzzle velocity V _{O of the} projectile, so that an actual projectile speed V _G results.
• 2. The stabilization is usually only carried out as a so-called directional stabilization. As illustrated in FIG. 2, this means that the direction vector remains directionally stabilized in space, regardless of the rotation data of the weapon carrier, but is shifted parallel to itself. Depending on the direction of travel of the weapon carrier and target, relatively large translational shifts can occur, which cannot be compensated for by the stabilization system alone.
• 3. The translational shifts can be compensated for using so-called alignment aids and dynamic lead formation. For this purpose, the gunner specifies the aiming speed on a directional lever, which is used by the fire control system for the lead calculation. However, this directional angular velocity W _RS contains components of the velocity of the weapon carrier V _W as well as the velocity of the target V _Z (see FIG. 3). The target speed V _Z must, however, be compensated in accordance with the lead angle W _v , while the speed of the weapon carrier V _w itself must be treated as a ballistic disturbance when the projectile leaves. By mixing both pieces of information in the directional signal W _RS , both are not possible today when the weapon carrier is moving, or in other words, the weapon carrier must stop briefly at the time of the shot, so that only one of the two information values is needed and can be detected, or it comes to a large extent on the experience of the gunner on how exactly the projectile hits the moving target when the weapon carrier is moving. As a rule, dynamic lead formation cannot be determined correctly with the help of training aids.
• 4. The uniaxial gyros in today's weapon stabilization systems issue an analog signal and generally have only a limited bandwidth and stability. It is therefore hardly possible to use the measured yaw rates for functions other than for stabilizing the device assigned to the gyro package.

The invention has for its object to provide a fire control and navigation system for moving weapon carriers, which measures all the information necessary for fire control and stabilization of the weapon under all conceivable driving conditions of the weapon carrier and target and additionally provides guidance information for tactical tasks. In addition, the accuracy of the overall system is to be improved and new tactical applications are to be developed.

The solution according to the invention is specified in claim 1.

Advantageous further developments of the inventive concept are characterized in the subclaims.

• a) Es wird nur ein einziger zentraler Sensorblock in Strapdown-Technologie auf dem primär zu stabilisierenden Gerät montiert. Dieser zentrale Sensorblock mit digitaler Datenausgabe umfaßt zwei zweiachsige trockene und dynamisch abgestimmte Kreisel sowie drei einachsige Beschleunigungsmesser.
• b) Die gemessenen Drehraten werden zur Primärstabilisierung des Geräts sowie außerdem zur Sekundär- stabilisierung der Waffe verwendet.
• c) Die gemessenen Lagewinkel aus dem insgesamt digital ausgelegten System und die ermittelte Fahrzeuggeschwindigkeit können unmittelbar zur ballistischen Berechnung bei der Feuerleitung herangezogen werden.
• d) Weiterhin ist eine laufende Berechnung der aktuellen Position des Fahrzeugs und damit eine Fahrzeugnavigation möglich.
• e) Schließlich ist im Gegensatz zu bisherigen Systemen (s. obige Punkte 2 und 3) eine Punktstabilisierung und eine korrekte dynamische Vorhaltbildung möglich.

The object explained above is achieved according to the invention by combining the following features:

• a) Only a single central sensor block using strapdown technology is mounted on the device to be stabilized. This central sensor block with digital data output comprises two biaxial dry and dynamically tuned gyros and three uniaxial accelerometers.
• b) The measured rotation rates are used for primary stabilization of the device and also for secondary stabilization of the weapon.
• c) The measured position angles from the overall digitally designed system and the determined vehicle speed can be used directly for the ballistic calculation in the fire control system.
• d) Furthermore, an ongoing calculation of the current position of the vehicle and thus vehicle navigation is possible.
• e) Finally, in contrast to previous systems (see points 2 and 3 above), point stabilization and correct dynamic lead formation are possible.

In addition to the advantages of the invention which have already been mentioned, the low technical complexity in comparison to the turning gyro packs which have been available in triplicate is also worth mentioning. The digital navigation system according to the invention using strapdown technology does not require any complicated, complex mechanical parts apart from the inertial sensors. It includes only two biaxial dry, dynamically tuned gyros and three uniaxial accelerometers, which are combined with the gyros in a single sensor block. This means that all functions according to the task are completely autonomous and can be carried out from the outside without the possibility of interference.

• Fig. 1 eine bereits erläuterte Skizze zur Verdeutlichung, welche zusätzlichen Geschwindigkeitskomponenten zum Zeitpunkt des Abgangs auf ein Geschoß additiv überlagernd wirken;
• Fig. 2 eine ebenfalls bereits erläuterte Darstellung zur Verdeutlichung der Richtungsstabilisierung der Waffe eines im Gelände bewegten Waffenträgers;
• Fig. 3 die für dynamische Vorhaltbildung bei bewegtem Ziel und bewegtem Waffenträger zu berücksichtigenden Geschwindigkeiten;
• Fig. 4 ein konkretes erprobtes Ausführungsbeispiel eines Strapdown-Sensorblocks, wie er erfindungsgemäß zur Primär- und Sekundärstabilisierung vorgeschlagen wird;
• Fig. 5 den Blockschaltbildaufbau eines Feuerleitsystems im Zusammenhang mit der Erfindung; und
• Fig. 6 eine der Figur 2 entsprechende Darstellung zur Verdeutlichung des Unterschieds einer Punktstabilisierung im Vergleich zu einer Richtungsstabilisierung.

An embodiment of the invention is explained in more detail below with reference to the drawings. Show it:

• 1 shows a sketch which has already been explained to clarify which additional speed components act additively superimposed on a floor at the time of departure;
• FIG. 2 shows an illustration which has also already been explained to clarify the directional stabilization of the weapon of a weapon carrier moving in the field; FIG.
• 3 shows the speeds to be taken into account for dynamic lead formation with a moving target and moving weapon carrier;
• 4 shows a concrete, tried and tested embodiment of a strapdown sensor block, as proposed according to the invention for primary and secondary stabilization;
• 5 shows the block diagram structure of a fire control system in connection with the invention; and
• 6 shows a representation corresponding to FIG. 2 to illustrate the difference between point stabilization and directional stabilization.

According to FIG. 4, the strapdown sensor block comprises two dry, dynamically tuned two-axis gyros 1 and 2 arranged perpendicular to one another and three uniaxial accelerometers 3, 4, 5 aligned in the three spatial axes. The accelerometers 3, 4, 5 determine the vehicle accelerations in three orthogonal ones Axes and the gyros 1, 2 also measure the rotation rates in three orthogonal axes. The vehicle speed can thus be determined by integrating the accelerations taking into account the direction. The distance traveled is obtained by integrating the vehicle speed. If the starting position and the initial speed of the vehicle are known, then navigation is possible, that is, the current vehicle position can be calculated continuously in three-dimensional space.

In order to make the system work fully autonomously, self-alignment is also a prerequisite, i.e. finding the direction from geographically north independently. The measured rotation rates can be used for primary stabilization of the vehicle carrying the gyroscope and can also be used for secondary stabilization of another device.

• Angenommen werden soll ein Kampfpanzer mit stabilisierter Waffe und stabilisiertem Sichtgerät. Der in Figur 4 dargestellte Strapdown-Sensorblock mit zwei Kreiseln 1, 2 und drei Beschleunigungsmessern 3, 4, 5 ist zur Primärstabilisierung der Sichtlinie in das Sichtgerät integriert und wird gleichzeitig zur Sekundärstabilisierung der Waffe verwendet.

The mode of operation of the overall system is explained in detail using an exemplary embodiment:

• A battle tank with a stabilized weapon and stabilized sight is supposed to be accepted. The strapdown sensor block shown in FIG. 4 with two gyros 1, 2 and three accelerometers 3, 4, 5 is integrated in the sighting device for primary stabilization of the line of sight and is also used for secondary stabilization of the weapon.

The block diagram of FIG. 5 gives an overview of the fire control system. A strapdown sensor block 8 is integrated in a target device 6, which is primary stabilized with the aid of controllers and servo drives 7. The rotation rates determined for stabilization are also used by control electronics 16 of a weapon 15 for secondary stabilization of the weapon. To improve the quality of stabilization, the weapon can be post-stabilized using a fire control computer 10. In addition, the fire control computer 10 calculates the ballistic values as well as lead and attachment depending on the type of projectile. Using a directional handle 9, the command variable can be given as a target speed on the target device and weapon.

A navigation computer 11 determines speed and position based on the carrier vehicle from rotation rates and accelerations, measured by the strapdown sensor block 8. A display and operating device 13 is used to display the determined values, for example the position in UTM coordinates, and for input, for example the start position. Additional sensors 14, such as thermal imaging night vision devices, can be integrated into the system as a supplement. Due to the multiple use of the sensors, the position data of the carrier vehicle are determined beyond the actual stabilization task from the measured translational accelerations and the rotation rates.

As an intermediate result of the navigation calculation, the system also determines the position angles of the weapon, which are required to compensate for tilting and to calculate the ballistic angles. In addition, the movement of the weapon when fired is fully known, so that ballistic disturbances can be compensated for.

An improvement possible with the invention is given in that the weapon can be point-stabilized if the target distance is known, as FIG. 6 illustrates. Furthermore, the actual target movement can be determined via the directional movement, since the vehicle movement is known. This enables correct dynamic lead formation with simultaneous correct ballistic compensation.

As a particular advantage of the navigation capability given by the invention together with a direction reference, the weapon can also be used in an indirect shot, that is, without a direct line of sight to the target. This allows the weapon to be used for new tactical tasks such as helicopter defense and to support artillery in the event of a fire. In addition, the navigational ability offers the commander additional guidance, in particular the display of his own position and the display of the position of other vehicles of his squad, so that the visual connection of the friendly vehicles to each other for tactical guidance is no longer an essential requirement. This means that it can be used without degrading the system performance even under difficult visibility conditions, for example under ABC conditions or at night. The same applies to the fight in monotonous or foreign terrain, in which no landmarks can be found.

The system according to the invention operates with little wear and is maintenance-free. Due to the digital system design, the measured values can be used several times and intermediate results can be used. This results in a significant improvement in the performance of the overall system and new application possibilities are opened up.

Claims (1)

Fire control system for moving weapon carriers, in particular for battle tanks with primary stabilization of a target or sighting device and primary or secondary stabilization of the weapon,
marked by - A single central sensor block (8) in strapdown technology with two biaxial, dry, dynamically tuned gyros (1, 2) and three uniaxial accelerometers (3, 4, 5) and with digital output of the measured values and through - A digital arithmetic unit (10, 11), from the measured values fed - The control and control variables required for primary stabilization of the sighting and sighting device (6, 7) and simultaneously or approximately simultaneously are calculated and provided, the navigation calculation required to determine the position of the weapon carrier and - Carries out the fire control calculation to determine the ballistic values including the compensation of the ballistic disturbances during firing and the dynamic lead formation.

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