EP0218743B1 - Device and method for the free orientation of the tilt and side angles of weapons that can be aimed indirectly - Google Patents

Device and method for the free orientation of the tilt and side angles of weapons that can be aimed indirectly Download PDF

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Publication number
EP0218743B1
EP0218743B1 EP85113032A EP85113032A EP0218743B1 EP 0218743 B1 EP0218743 B1 EP 0218743B1 EP 85113032 A EP85113032 A EP 85113032A EP 85113032 A EP85113032 A EP 85113032A EP 0218743 B1 EP0218743 B1 EP 0218743B1
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Prior art keywords
weapon
angle
theoretical
coordinate system
actual position
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German (de)
French (fr)
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EP0218743A1 (en
Inventor
Bertold Dipl.-Math. Kirst
Otto Dr. Rer. Nat. Dipl.-Phys. Beyer
Wolfgang Dipl.-Ing. Lipp
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Northrop Grumman Litef GmbH
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Litef GmbH
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Application filed by Litef GmbH filed Critical Litef GmbH
Priority to EP85113032A priority Critical patent/EP0218743B1/en
Priority to AT85113032T priority patent/ATE36600T1/en
Priority to DE8585113032T priority patent/DE3564488D1/en
Priority to IL79688A priority patent/IL79688A0/en
Priority to US06/916,537 priority patent/US4693168A/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G5/00—Elevating or traversing control systems for guns
    • F41G5/14—Elevating or traversing control systems for guns for vehicle-borne guns
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/10—Aiming or laying means with means for compensating for canting of the trunnions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G5/00—Elevating or traversing control systems for guns
    • F41G5/14—Elevating or traversing control systems for guns for vehicle-borne guns
    • F41G5/24—Elevating or traversing control systems for guns for vehicle-borne guns for guns on tanks

Definitions

  • the invention relates to a method and a device for the tilt-free and angle-free adjustment of indirectly aimed weapons, in particular artillery means.
  • a particular problem is the adjustment of the position of the gun and the position of the barrel in three-dimensional space. If the gun is in an inclined position so that the shield pin axis is tilted, then straightening the barrel is only possible in an iterative process, since the movement around the tilted shield pin axis simultaneously causes the weapon to pivot sideways, so that a lateral adjustment is required is, which however causes a shift by a certain elevation angle.
  • the invention is directed to making it possible to aim the weapon without tilting and at an angle, regardless of the position of the weapon holder, so that a substantial acceleration during the aiming can be achieved and the previously necessary iterative process for setting the weapon is dispensed with. In addition, a much better and clearer presentation of information should be made possible.
  • the method according to the invention for representing the tilt-free and edge-angle-free aiming of indirectly aimed weapons comprises the method steps specified in claim 1.
  • a device according to the invention for tilting and tilting angle-free straightening of indirectly aimed weapons, in particular artillery means, has the features listed in claim 2.
  • the method according to the invention can be used for the indirect aiming of conventional artillery guns or rocket launchers for ballistic missiles.
  • An analytical platform in particular a strapdown system (in the following SD system) can be used as the position reference system.
  • the position reference system provides the position of the weapon to be aimed in three-dimensional space with respect to an earth-fixed coordinate system.
  • the target and actual position of the weapon are preferably displayed in a graphical representation, the target position of the weapon being shown in relation to one another by a fixed small circle on a screen and the actual position by a crosshair movable on the screen like what you would see a target (circle) through a telescopic sight (crosshair).
  • the tilting and edge angle-free straightening process takes place according to the invention in such a way that, regardless of an inclined position of the straightening mechanism, the crosshair only moves laterally when the weapon is pivoted and only moves in height when the weapon alone is raised or lowered. This considerably simplifies the straightening process and is quicker to carry out, since the lateral and vertical movement of the weapon is decoupled when it is displayed.
  • the correct position can be set in both directions of movement directly and independently of one another in the correct direction. This provides a significant advantage over the artillery resources previously customary with the usual division of tasks between two directional guns.
  • the tilt-free straightening enables z. B. the adjustment of the height angle with tilted shield pin axis in one go to the correct value, and the subsequent side straightening influence on the height is already compensated, so that a later correction is no longer necessary.
  • the gunners can concentrate more on their other tasks or the entire straightening process can be carried out by just one gunner.
  • the lower index designates the axis of rotation and the angle as argument the angle of rotation (e.g. C y ( ⁇ ) rotation about the Y axis by the angle ⁇ ).
  • the pipe direction is set in the body-fixed coordinate system e i b ib dar as:
  • ⁇ , ⁇ , ⁇ denote the position angle of the body-fixed system and ⁇ i , ⁇ i partial ring and elevation of the weapon in the navigation coordinate system.
  • ⁇ ⁇ 1 .
  • ⁇ 1 the x b axis is rotated by an angle ⁇ 1 with respect to the x n axis.
  • the quantities ( ⁇ 2 '- ⁇ 1 ') as the side angle difference and ( ⁇ 2 '- ⁇ 1 ') as the elevation angle difference in each case in the b-coordinate system are graphically displayed on the screen of the display device according to FIG. 2.
  • a logarithmic scale is used in both axes.
  • An alternative possibility for a precise visual representation can be a switchable resolution, such that a rough setting can be made at a first scale display. When a scale can be switched over by pressing a key and the grid is extended (magnifying glass), the The weapon was set up. This means that a large angular range can be displayed on the one hand, and on the other hand the resolution increases sharply with small angle differences.
  • the target and actual position are displayed numerically with respect to the earth-fixed coordinate system.
  • the required computing capacity and the interface to the analytical platform are integrated in the microprocessor-controlled display device.
  • the device is therefore advantageously constructed in digital technology.
  • the angles determining the straightening process ( ⁇ 2 '- ⁇ 1 ') and ( ⁇ 2 '- ⁇ 1 ') are shown graphically, as can be seen from the illustration in FIG. 2.
  • the small circle marked by reference note 10 shows the target position and the movable crosshair 11 shows the actual position.
  • the angle differences between the target and actual position in the b-system are shown on a logarithmic scale.
  • angles of the target and actual position can also be represented numerically in the n-system.
  • a further note is given at the bottom of the screen, for example by the word «DIRECTION», which flashes until the angle difference from the target and actual position falls below a predetermined threshold of a tolerance range.

Abstract

A method and apparatus for aiming indirectly aimable weapons free from tipping and tilting angle and independent of the oblique position of the weapon. The position of the weapon is supplied with respect to an earth coordinate system by a position reference system. These values, along with theoretical angular values derived through ballistics computations, are separately converted to a coordinate system that is fixed with respect to a weapon platform. The weapon is aimed in accordance with differences formed between the theoretical and actual positions of the weapon. A cross-hair that indicates actual position is displaced laterally on a screen when the weapon is pivoted and vertically when the weapon is raised or lowered. The lateral and elevation movements of the weapon are decoupled allowing the correct position to be directly and independently set with respect to both axes.

Description

Die Erfindung betrifft ein Verfahren und eine Einrichtung zum kipp- und kantwinkelfreien Richten von indirekt richtbaren Waffen, insbesondere von Artillerieeinsatzmitteln.The invention relates to a method and a device for the tilt-free and angle-free adjustment of indirectly aimed weapons, in particular artillery means.

Bei der Einstellung von Artillerieeinsatzmitteln auf ein bestimmtes Ziel ist eine Vielzahl von Informationen zu verarbeiten und für die Geschützmannschaft zu beachten. Ein besonderes Problem ist dabei die Einstellung der Position des Geschützes und der Lage des Rohres im dreidimensionalen Raum. Befindet sich nämlich das Geschütz in einer Schrägstellung, so daß die Schildzapfenachse verkantet ist, so ist ein Richten des Rohres nur in einem iterativen Prozeß möglich, da die Bewegung um die verkantete Schildzapfenachse gleichzeitig ein seitliches Schwenken der Waffe bewirkt, so daß eine seitliche Nachrichtung erforderlich ist, die jedoch wieder eine Verschiebung um einen gewissen Höhenwinkel bewirkt.When setting artillery resources to a specific target, a large amount of information has to be processed and observed for the gun crew. A particular problem is the adjustment of the position of the gun and the position of the barrel in three-dimensional space. If the gun is in an inclined position so that the shield pin axis is tilted, then straightening the barrel is only possible in an iterative process, since the movement around the tilted shield pin axis simultaneously causes the weapon to pivot sideways, so that a lateral adjustment is required is, which however causes a shift by a certain elevation angle.

Die Erfindung ist darauf gerichtet, unabhängig von der Stellung des Trägers einer Waffe ein kipp- und kantwinkelfreies Richten der Waffe zu ermöglichen, so daß eine wesentliche Beschleunigung beim Richten erreicht werden kann und der bisher erforderliche iterative Prozeß bei der Einstellung der Waffe entfällt. Außerdem soll eine wesentlich bessere und übersichtlichere Informationsdarstellung ermöglicht werden.The invention is directed to making it possible to aim the weapon without tilting and at an angle, regardless of the position of the weapon holder, so that a substantial acceleration during the aiming can be achieved and the previously necessary iterative process for setting the weapon is dispensed with. In addition, a much better and clearer presentation of information should be made possible.

Das erfindungsgemäße Verfahren zur Darstellung des kipp- und kantwinkelfreien Richtens von indirekt richtbaren Waffen umfaßt die in Anspruch 1 angegebenen Verfahrensschritte.The method according to the invention for representing the tilt-free and edge-angle-free aiming of indirectly aimed weapons comprises the method steps specified in claim 1.

Eine erfindungsgemäße Vorrichtung zum Kipp- und kantwinkelfreien Richten von indirekt richtbaren Waffen, insbesondere von Artillerieeinsatzmitteln weist die im Patentanspruch 2 aufgeführten Merkmale auf.A device according to the invention for tilting and tilting angle-free straightening of indirectly aimed weapons, in particular artillery means, has the features listed in claim 2.

Vorteilhafte Ausgestaltungen und Weiterbildungen des Erfindungsgedankens sind in abhängigen Patentansprüchen gekennzeichnet.Advantageous refinements and developments of the inventive concept are characterized in the dependent claims.

Das erfindungsgemäße Verfahren kann Anwendung finden für das indirekte Richten von herkömmlichen Artilleriegeschützen oder Raketenwerfern für ballistische Raketen. Als Lagereferenzsystem kann eine analytische Plattform, insbesondere ein Strapdown-System (im folgenden SD-System) verwendet werden. Das Lagereferenzsystem liefert dabei die Lage der zu richtenden Waffe im dreidimensionalen Raum bezüglich eines erdfesten Koordinatensystems.The method according to the invention can be used for the indirect aiming of conventional artillery guns or rocket launchers for ballistic missiles. An analytical platform, in particular a strapdown system (in the following SD system) can be used as the position reference system. The position reference system provides the position of the weapon to be aimed in three-dimensional space with respect to an earth-fixed coordinate system.

Die Darstellung von Soll- und Ist-Lage der Waffe erfolgt vorzugsweise in einer graphischen Darstellung, wobei die Soll-Lage der Waffe durch einen feststehenden kleinen Kreis auf einem Bildschirm und die Ist-Lage durch ein auf dem Bildschirm bewegliches Fadenkreuz in ihrer Lage zueinander dargestellt werden, etwa so, wie man ein Ziel (Kreis) durch ein Zielfernrohr (Fadenkreuz) sehen würde. Der kipp- und kantwinkelfreie Richtvorgang erfolgt erfindungsgemäß so, daß unabhängig von einer Schrägstellung des Richtmechanismus das Fadenkreuz sich nur seitlich verschiebt, wenn die Waffe geschwenkt wird und sich nur in der Höhe bewegt, wenn allein die Waffe erhöht oder gesenkt wird. Dadurch wird der Richtvorgang erheblich vereinfacht und ist schneller durchzuführen, da die Seiten- und Höhenbewegung der Waffe bei der Anzeige entkoppelt sind. Die korrekte Position ist so in beiden Bewegungsachsen direkt und unabhängig voneinander seitenrichtig einstellbar. Dies erbringt gegenüber den bisher üblichen Artillerieeinsatzmitteln mit der üblichen Aufgabenteilung zwischen zwei Richtkanonieren einen wesentlichen Vorteil. Das verkantungsfreie Richten ermöglicht so z. B. das Anrichten des Höhenwinkels bei verkanteter Schildzapfenachse in einem Zug auf den korrekten Wert, und der durch das nachträgliche Seitenrichten bedingte Einfluß auf die Höhe ist bereits kompensiert, so daß eine spätere Korrektur nicht mehr notwendig ist.The target and actual position of the weapon are preferably displayed in a graphical representation, the target position of the weapon being shown in relation to one another by a fixed small circle on a screen and the actual position by a crosshair movable on the screen like what you would see a target (circle) through a telescopic sight (crosshair). The tilting and edge angle-free straightening process takes place according to the invention in such a way that, regardless of an inclined position of the straightening mechanism, the crosshair only moves laterally when the weapon is pivoted and only moves in height when the weapon alone is raised or lowered. This considerably simplifies the straightening process and is quicker to carry out, since the lateral and vertical movement of the weapon is decoupled when it is displayed. The correct position can be set in both directions of movement directly and independently of one another in the correct direction. This provides a significant advantage over the artillery resources previously customary with the usual division of tasks between two directional guns. The tilt-free straightening enables z. B. the adjustment of the height angle with tilted shield pin axis in one go to the correct value, and the subsequent side straightening influence on the height is already compensated, so that a later correction is no longer necessary.

Aufgrund der wesentlichen Vereinfachung des Richtvorgangs können sich die Richtkanoniere stärker auf ihre anderen Aufgaben konzentrieren oder der gesamte Richtvorgang kann von nur einem Kanonier durchgeführt werden.Due to the significant simplification of the straightening process, the gunners can concentrate more on their other tasks or the entire straightening process can be carried out by just one gunner.

Das erfindungsgemäße Verfahren und die zu seiner Durchführung bestimmte Vorrichtung und Baugruppenanordnung wird nachfolgend unter Bezug auf die Zeichnung in beispielsweiser Ausführungsform näher erläutert. Es zeigen :

  • Fig.1 1 den Systemaufbau gemäß der Erfindung, mit dem sich das erwünschte kipp- und kantwinkelfreie Richten einer Waffe durchführen läßt ;
  • Fig. 2 ein Beispiel für eine Sichtdarstellung des Richtvorgangs auf einem Bildschirm und
  • Fig. 3 verschiedene Zeigerdiagramme zur Erläuterung der Transformationen bei der laufenden Berechnung der Seiten- und Elevationswinkel der Waffe im Verlauf eines Richtvorgangs.
The method according to the invention and the device and assembly arrangement intended for its implementation are explained in more detail below with reference to the drawing in an exemplary embodiment. Show it :
  • Fig.1 1 shows the system structure according to the invention, with which the desired tilt and angle-free aiming of a weapon can be carried out;
  • Fig. 2 shows an example of a visual representation of the straightening process on a screen and
  • 3 shows various pointer diagrams for explaining the transformations in the course of the current calculation of the side and elevation angles of the weapon in the course of a straightening process.

Für eine klare Darstellung des Verfahrens sind die folgenden Begriffe von Bedeutung :

  • Ein üblicherweise verwendetes erdfestes Navigations-Koordinatensystem (n-System) zeigt mit der xn-Achse nach Norden (Gitter-Nord), mit der Yn-Achse nach Osten und demgemäß mit der zn-Achse nach unten. Die Lage des körperfesten Koordinatensystems (b-System, « body-system ·) ist so gewählt, daß die xbyb-Ebene dieses Koordinatensystems senkrecht zur Drehachse für den Seitenrichtantrieb verläuft. Die Lage der xb-Achse in dieser Ebene ist im Prinzip frei wählbar, muß aber im Einklang mit dem Lagereferenzsystem getroffen werden. Ist die xb-Achse festgelegt, dann zeigt die yb-Achse in der XbYb-Ebene bezüglich der xb-Achse nach rechts, und die zb-Achse fällt mit der Drehachse des Seitenrichtantriebs zusammen, so daß ein Rechtssystem entsteht (zb-Achse nach « unten •).
The following terms are important for a clear representation of the process:
  • A commonly used earth-fixed navigation coordinate system (n system) points with the x n axis to the north (grid north), with the Yn axis to the east and accordingly with the z n axis downwards. The position of the body-fixed coordinate system (b-system, "body-system") is chosen so that the xbyb plane of this coordinate system is perpendicular to the axis of rotation for the lateral directional drive. In principle, the position of the x b axis in this plane can be freely selected, but must be made in accordance with the position reference system. If the x b axis is fixed, the y b axis in the XbYb plane points to the right with respect to the x b axis, and the z b axis coincides with the axis of rotation of the lateral directional drive , so that a legal system is created (e.g. b -axis down «).

Für das kipp- und kantwinkelfreie Richten stehen die folgenden Größen zur Verfügung :

  • a) Durch Vorgabe aus der Feuerleitrechnung sind bekannt
    • β2 Teilring (Seitenwinkel der Soll-Position im n-System)
    • α2 Erhöhung (Elevationswinkel der Soll-Position im n-System)
  • b) Das SD-System liefert :
    • β1 Teilring (Seitenwinkel Ist-Position im n-System)
    • α1 Erhöhung (Elevationswinkel Ist-Position im n-System)
    • Φ Kantwinkel der Waffe (körperfestes Koordinatensystem, b-System gegenüber dem n-System)
    • 0 Kippwinkel des b-Systems gegenüber dem n-System
    • Ψ Seitenwinkel des b-Systems gegenüber dem n-System
The following sizes are available for tilt-free and edge-angle straightening:
  • a) By default from the fire control calculation are known
    • β 2 partial ring (side angle of the target position in the n system)
    • α 2 increase (elevation angle of the target position in the n system)
  • b) The SD system delivers:
    • β 1 partial ring (side angle actual position in the n system)
    • α 1 increase (elevation angle actual position in the n system)
    • Φ angle of the weapon (fixed coordinate system, b-system compared to the n-system)
    • 0 tilt angle of the b-system compared to the n-system
    • Ψ Angle of the b-system compared to the n-system

Für kipp- und kantwinkelfreies Richten werden die folgenden Größen benötigt :

  • β1', β2' Seitenwinkel der Waffe jeweils für Ist- und Soll-Position im b-System
  • α1', α2' Erhöhung der Waffe jeweils für Ist- und Soll-Position im b-System.
The following sizes are required for tilt-free and edge-angle straightening:
  • β 1 ', β 2 ' side angle of the weapon for the actual and target position in the b system
  • α 1 ', α 2 ' increase of the weapon for actual and target position in the b-system.

Eine Transformation vom Navigations- in das körperfeste Koordinatensystem läßt sich mit Hilfe einer Matrix beschreiben:

Figure imgb0001

  • b = körperfestes System
  • n = Navigationssystem mit
    Figure imgb0002
A transformation from the navigation to the body-fixed coordinate system can be described using a matrix:
Figure imgb0001
  • b = rigid system
  • n = navigation system with
    Figure imgb0002

Dabei bezeichnet der untere Index die Drehachse und der Winkel als Argument den Drehwinkel (z. B. Cy(Θ) Drehung um die Y-Achse um den Winkel θ).The lower index designates the axis of rotation and the angle as argument the angle of rotation (e.g. C y (Θ) rotation about the Y axis by the angle θ).

Mit Φ Kantwinkel

  • 0 Kippwinkel des b-Systems gegenüber dem n-System
  • Ψ Richtungswinkel gilt
    Figure imgb0003
    Figure imgb0004
With Φ square angle
  • 0 tilt angle of the b-system compared to the n-system
  • Ψ Direction angle applies
    Figure imgb0003
    Figure imgb0004

Die Rohrrichtung wird im folgenden durch einen Einheitsvektor e1 (I = 1,2) dargestellt mit

  • e1 1: aktuelle Rohrrichtung (Ist)
  • e2 : gewünschte Rohrrichtung (Soll)
The pipe direction is shown below with a unit vector e 1 (I = 1,2)
  • e 1 1: current pipe direction (actual)
  • e 2 : desired pipe direction (target)

Ein Index oben rechts bezeichnet das jeweilige Koordinatensystem. Man erhält also :

Figure imgb0005
mit
Figure imgb0006

  • αi Erhöhung, βi Teilring, x-Achse nach Gitter-Nord, z-Achse nach unten (siehe Fig. 3a).
An index at the top right denotes the respective coordinate system. So you get:
Figure imgb0005
 With
Figure imgb0006
  • α i increase, β i partial ring, x-axis to the north of the grating, z-axis to the bottom (see Fig. 3a).

Im körperfesten Koordinatensystem stellt sich die Rohrrichtung ei b ib dar als :

Figure imgb0007
The pipe direction is set in the body-fixed coordinate system e i b ib dar as:
Figure imgb0007

Dabei wurde die Bezeichnungsweise

Figure imgb0008
Figure imgb0009
verwendet.The designation was
Figure imgb0008
Figure imgb0009
 used.

Damit ergibt sich einerseits für die Erhöhung im körperfesten System und mit Bezug auf Fig. 3b sowie mit der Länge I des Einheitsvektors eb e b

Figure imgb0010
die Beziehung :
Figure imgb0011
 This results on the one hand for the increase in the body-fixed system and with reference to FIG. 3b and with the length I of the unit vector e b e b
Figure imgb0010
 the relationship :
Figure imgb0011

Benutzt man die Darstellung von ei b nach Gleichung (3), erhält man so :

Figure imgb0012
If you use the representation of e i b according to equation (3), we get:
Figure imgb0012

Dabei bezeichnen Φ, Θ, Ψ die Lagewinkel des körperfesten Systems und βi, αi Teilring und Erhöhung der Waffe im Navigationskoordinatensystem.Here Φ, Θ, Ψ denote the position angle of the body-fixed system and β i , α i partial ring and elevation of the weapon in the navigation coordinate system.

Für den Teilring im körperfesten Koordinatensystem andererseits gilt nach Fig. 3c :

Figure imgb0013
mit
Figure imgb0014
Figure imgb0015
 The following applies to the partial ring in the body-fixed coordinate system according to FIG. 3c:
Figure imgb0013
 With
Figure imgb0014
Figure imgb0015

Die Berechnung von βi' sollte dabei in einem Rechnerprogramm zweckmäßigerweise mit Hilfe der Funktion Arcustangens in der Weise erfolgen, daß Doppeldeutigkeiten der Arcustangensfunktion ausgeschlossen werden.The calculation of β i 'should expediently be carried out in a computer program with the aid of the function arctangent in such a way that ambiguities of the arctangent function are excluded.

Bei dem für das Ausführungsbeispiel eingesetzten SD-System wird das körperfeste Koordinatensystem definiert durch Ψ = β1. Das bedeutet, daß die xb-Achse gegen die xn-Achse um den Winkel β1 verdreht ist. Mit dieser Festlegung des Referenzkoordinatensystems erhält man nach einfachem Umformen aus den Gleichungen (4) und (5) :

Figure imgb0016
Figure imgb0017
 In the SD system used for the exemplary embodiment, the body-fixed coordinate system is defined by Ψ = β 1 . This means that the x b axis is rotated by an angle β 1 with respect to the x n axis. With this definition of the reference coordinate system one obtains from equations (4) and (5) after simple transformation:
Figure imgb0016
Figure imgb0017

Durch die Beziehung Ψ = β1 lassen sich die obigen Gleichungen für β2' und α2' nicht weiter vereinfachen und bleiben daher in ihrer Form ungeändert erhalten. Ist für einzelne Anwendungen nur ein eingeschränkter Winkelbereich für Lage und Schwenkwinkel zu berücksichtigen, lassen sich in Abhängigkeit von der gewünschten Genauigkeit auch Näherungsformein für die Berechnung von β1', β2' und α1', α2' verwenden.The relationship Ψ = β 1 means that the above equations for β 2 'and α 2 ' cannot be further simplified and therefore their form remains unchanged. If only a restricted angular range for position and swivel angle has to be taken into account for individual applications, depending on the desired accuracy, approximate forms can also be used for the calculation of β 1 ', β 2 ' and α 1 ', α 2 '.

Die Anwendung des Verfahrens sei an einem Beispiel dargestellt:

  • Die Ist-Position des Rohres, dargestellt durch Richtungswinkel β1 und Erhöhung α1 im erdfesten Koordinatensystem (n-System) und die Lagewinkel Φ, Θ, Ψ = β1 des körperfesten Koordinatensystems (b-System) werden von einer analytischen Plattform geliefert. Die Soll-Position des Rohres wird nun zum Beispiel in einem Feuerkommando durch Teilring β2 und Erhöhung a2 vorgegeben. Die entsprechenden Seitenwinkel β1' und β2' und die Erhöhungswinkel α1' und a2' im b-Koordinatensystem sind jetzt gemäß Gleichung (4), (5) und (6) laufend zu berechnen, da sich beim Schwenken des Turmes oder eines anderen relativ zum Chassis des Trägersystems bewegbaren Waffenhalters das b-Koordinatensystem gegen das erdfeste Koordinatensystem (n-System) bewegt. Nur die Winkel ß2 und a2 bleiben während des gesamten Schwenkvorgangs ungeändert.
The application of the method is illustrated using an example:
  • The actual position of the pipe, represented by the direction angle β 1 and elevation α 1 in the earth-fixed coordinate system (n system) and the position angles Φ, Θ, Ψ = β 1 of the body-fixed coordinate system (b system) are supplied by an analytical platform. The target position of the pipe is now specified, for example, in a fire command by partial ring β 2 and increase a 2 . The corresponding side angles β 1 'and β 2 ' and the elevation angles α 1 'and a 2 ' in the b-coordinate system are now to be calculated continuously according to equations (4), (5) and (6), because when the tower is pivoted or Another weapon holder movable relative to the chassis of the carrier system moves the b-coordinate system against the earth-fixed coordinate system (n-system). Only the angles ß 2 and a 2 remain unchanged during the entire pivoting process.

Die Größen (β2'-β1') als Seitenwinkeldifferenz und (α2'-α1') als Erhöhungswinkeldifferenz jeweils im b-Koordinatensystem werden graphisch auf dem Bildschirm des Anzeigegerätes nach Fig. 2 zur Anzeige gebracht. Um gleichzeitig eine übersichtliche und genaue Darstellung zu erhalten, wird dabei ein logarithmischer Maßstab in beiden Achsen verwendet. Eine alternative Möglichkeit zur genauen Sichtdarstellung kann in einer umschaltbaren Auflösung bestehen, derart, daß bei einer ersten Skaleneinblendung eine Grobeinstellung vorgenommen werden kann. Bei einer durch Druck auf eine Taste umschaltbaren Einblendung einer Skala mit gedehnter Rasterteilung (Lupe) wird dann die Feinrichtung der Waffe vorgenommen. Dadurch kann zum einen ein großer Winkelbereich angezeigt werden und zum anderen nimmt die Auflösung bei kleinen Winkeldifferenzen stark zu. Zur zusätzlichen Kontrolle werden Soll- und Ist-Position bezüglich des erdfesten Koordinatensystems numerisch angezeigt.The quantities (β 2 '-β 1 ') as the side angle difference and (α 2 '-α 1 ') as the elevation angle difference in each case in the b-coordinate system are graphically displayed on the screen of the display device according to FIG. 2. In order to obtain a clear and precise representation at the same time, a logarithmic scale is used in both axes. An alternative possibility for a precise visual representation can be a switchable resolution, such that a rough setting can be made at a first scale display. When a scale can be switched over by pressing a key and the grid is extended (magnifying glass), the The weapon was set up. This means that a large angular range can be displayed on the one hand, and on the other hand the resolution increases sharply with small angle differences. For additional control, the target and actual position are displayed numerically with respect to the earth-fixed coordinate system.

Die erforderliche Rechenkapazität und die Schnittstelle zur analytischen Plattform sind im mikroprozessorgesteuerten Anzeigegerät integriert. Das Gerät wird daher vorteilhaft in Digitaltechnik aufgebaut. Die den Richtvorgang bestimmenden Winkel (β2'-β1') und (α2'-α1') werden graphisch dargestellt, wie sich aus der Abbildung der Fig. 2 ersehen läßt.The required computing capacity and the interface to the analytical platform are integrated in the microprocessor-controlled display device. The device is therefore advantageously constructed in digital technology. The angles determining the straightening process (β 2 '-β 1 ') and (α 2 '-α 1 ') are shown graphically, as can be seen from the illustration in FIG. 2.

Der durch Bezugshinweis 10 markierte kleine Kreis zeigt dabei die Soll-Position and und das bewegliche Fadenkreuz 11 die Ist-Position. Zur besseren Übersichtlichkeit werden die Winkeldifferenzen von Soll- und Ist-Position im b-System auf einer logarithmischen Skala dargestellt.The small circle marked by reference note 10 shows the target position and the movable crosshair 11 shows the actual position. For better clarity, the angle differences between the target and actual position in the b-system are shown on a logarithmic scale.

Zur Kontrolle können die Winkel von Soll- und Ist-Position im n-System auch zusätzlich numerisch dargestellt werden. Ein weiterer Hinweis wird am unteren Bildschirmrand gegeben, beispielsweise durch das Wort « RICHTEN », das solange blinkt, bis die Winkeldifferenz aus Soll- und Ist-Position eine vorgegebene Schwelle eines Toleranzbereichs unterschreitet.For checking purposes, the angles of the target and actual position can also be represented numerically in the n-system. A further note is given at the bottom of the screen, for example by the word «DIRECTION», which flashes until the angle difference from the target and actual position falls below a predetermined threshold of a tolerance range.

Das Blockschaltbild der Fig. 1 verdeutlicht den prinzipiellen Anordnungsaufbau der erfindungsgemäßen Vorrichtung :

  • Das Lagereferenz system 1 (Strapdown-System) liefert die Ist-Werte für das erdfeste Koordinatensystem (n-System), nämlich die Winkelwerte β1, α1, Φ, 0 und Ψ. Die Sollwerte für den Richtvorgang werden durch die Feuerleitrechnung (Ballistikrechnung) 2 vorgegeben als Seitenwinkel ß2 im n-System und Elevationswinkel a2 im n-System. In zwei getrennten Transformationen 3, 4 werden für die Seitenwinkel β1', β2' der Waffe jeweils für die Ist- bzw. Soll-Position im b-System und der Elevationswinkel α1', a2' der Waffe ebenfalls jeweils für Ist- und Soll-Position im b-System gemäß den oben angegebenen Gleichungen errechnet. Aus der Differenzbilding 5 erhält man dann die gewünschten Differenzwinkel (β2'-β1') und (α2'- a1′), die einerseits auf dem Bildschirm 6 in der oben unter Bezug auf die Fig. 2 erläuterten Weise angezeigt werden bzw. an Schnittstellen 7 für die Richtantriebe der Waffe gegeben werden.
The block diagram of FIG. 1 illustrates the basic arrangement structure of the device according to the invention:
  • The position reference system 1 (strapdown system) provides the actual values for the earth-fixed coordinate system (n system), namely the angle values β 1 , α 1 , Φ, 0 and Ψ. The target values for the straightening process are specified by the fire control calculation (ballistic calculation) 2 as the side angle β 2 in the n system and the elevation angle a 2 in the n system. In two separate transformations 3, 4, for the side angles β 1 ', β 2 ' of the weapon, each for the actual or target position in the b-system and the elevation angle α 1 ', a 2 ' of the weapon are also each for actual - and target position in the b-system calculated according to the equations given above. From the difference forming 5 one then obtains the desired difference angles (β 2 '-β 1 ') and (α 2 '- a 1 '), which are displayed on the one hand on the screen 6 in the manner explained above with reference to FIG. 2 or be given at interfaces 7 for the directional drives of the weapon.

Claims (6)

1. Method for the aiming - free from tipping and tilting angle - of an indirectly aimable weapon mounted on a support, in particular of artillery equipment, characterized by the following method steps :
- specification and storage of the bearing and of the angle of elevation (β2, α2) of the theoretical position of the weapon, related to a navigation coordinate system fixed in relation to the earth ;
- determination and storage of the bearing and of the angle of elevation (β1, a,) of the actual position of the weapon in the navigation coordinate system fixed in relation to the earth ;
- determination and storage of the tilting angle, the tipping angle and the bearing (Φ, 0, Ψ) of a coordinate system fixed in relation to the support, relative to the navigation coordinate system fixed in relation to the earth ;
- continuous computation of the bearing and of the angle of elevation (β1′, β2′ and a,', a2' respectively) of the weapon in each instance for the actual and the theoretical position in the coordinate system fixed in relation to the support, based on the tilting angle, the tipping angle and the bearing determined ; and
- continuous separate determination of the differences between the theoretical and actual position, of the bearings (β2′-β1′) on the one hand and of the angles of elevation (α2′-α1′) on the other hand, in each instance in the coordinate system fixed in relation to the support ;
- visual presentation of the theoretical and the actual position of the weapon on a screen (6), and
- output of the angle difference values for the control of the drives for aiming the weapon.
2. Device for the aiming - free from tipping and tilting angle - of an indirectly aimable weapon which is mounted on a supporting system and connected to a fire control computer, in particular of artillery equipment, characterized by
- a position reference system (1) secured when in use at a mass - the elevation of which can be set - of the weapon ;
- a signal processing device, which is provided with screen (6) and a computing unit (3, 4, 5) and which is connected to the position reference system (1) and which stores the values, supplied by the fire control computer (2), of the theoretical positions of the bearing and angle of elevation (β2, α2) of the weapon in a coordinate system, called n system, fixed in relation to the earth and, with the aid of five quantities supplied by the position-reference system and indicating the actual position of the weapon, namely
- the bearing (β1) of the actual position of the weapon in the n system,
- the angle of elevation (a,) of the actual position of the weapon in the n system,
- the tilting angle (Φ) in a coordinate system, called b system, fixed in relation to the support system, relative to the n system,
- the tipping angle (0) of the b system relative to the n system, and
- the bearing (Ψ) of the b system relative to the n system
supplies two angle difference values, which determine the aiming procedure and which are decoupled from one another, for the momentary bearing difference (β2′-β1′) and the momentary difference in angle of elevation (α2′-α1′) between the theoretical and the actual position in the coordinate system fixed in relation to the support, and by
- means for the separate visual presentation of the actual position and of the theoretical position of the weapon on the screen (6) which are supplied with the angle difference values and with
- interfaces (7) for the control of the aiming drives of the weapon using the angle difference values.
3. Device according to Claim 2, characterized in that the signal processing device exhibits means for the setting of a two-axis scale with logarithmic scale graduation on the screen (6), and in that the theoretical and the actual position of the weapon can be represented by differing visual elements such as a circle (10) and a cross-hair (11).
4. Device according to Claim 2, characterized in that the signal processing device exhibits means for the setting of a two-axis scale with selectable resolution for coarse and fine aiming (magnifier), and in that the theoretical and the actual position of the weapon can be represented by differing visual elements such as a circle (10) and a cross-hair (11).
5. Device according to Claim 2, characterized in that the theoretical and the actual position of the weapon, split into lateral position and elevation, can be represented on the screen (6) in such a manner as to be clearly distinguishable by differing marking elements.
6. Device according to Claim 2, characterized by means for the setting of an instruction display (AIM) on the screen (6), during such time as the theoretical and the actual position of the weapon in relation to at least one axis are still separated by more than a specified tolerance range.
EP85113032A 1985-10-14 1985-10-14 Device and method for the free orientation of the tilt and side angles of weapons that can be aimed indirectly Expired EP0218743B1 (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
EP85113032A EP0218743B1 (en) 1985-10-14 1985-10-14 Device and method for the free orientation of the tilt and side angles of weapons that can be aimed indirectly
AT85113032T ATE36600T1 (en) 1985-10-14 1985-10-14 METHOD AND DEVICE FOR AIMING INDIRECTLY DIRECT WEAPONS WITHOUT TILT AND ANGLE-FREE.
DE8585113032T DE3564488D1 (en) 1985-10-14 1985-10-14 Device and method for the free orientation of the tilt and side angles of weapons that can be aimed indirectly
IL79688A IL79688A0 (en) 1985-10-14 1986-08-12 Method and device for the aiming of indirectly aimable weapons
US06/916,537 US4693168A (en) 1985-10-14 1986-10-08 Method and apparatus for aiming indirectly aimable weapons

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP85113032A EP0218743B1 (en) 1985-10-14 1985-10-14 Device and method for the free orientation of the tilt and side angles of weapons that can be aimed indirectly

Publications (2)

Publication Number Publication Date
EP0218743A1 EP0218743A1 (en) 1987-04-22
EP0218743B1 true EP0218743B1 (en) 1988-08-17

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Application Number Title Priority Date Filing Date
EP85113032A Expired EP0218743B1 (en) 1985-10-14 1985-10-14 Device and method for the free orientation of the tilt and side angles of weapons that can be aimed indirectly

Country Status (5)

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US (1) US4693168A (en)
EP (1) EP0218743B1 (en)
AT (1) ATE36600T1 (en)
DE (1) DE3564488D1 (en)
IL (1) IL79688A0 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19716198C2 (en) * 1997-04-18 1999-11-04 Rheinmetall W & M Gmbh Weapon system
US7658031B2 (en) * 2005-12-21 2010-02-09 Bushnell, Inc. Handheld rangefinder operable to determine hold over ballistic information

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2902212A (en) * 1954-04-13 1959-09-01 Sperry Rand Corp Trunnion tilt corrector
US4166406A (en) * 1977-09-06 1979-09-04 Litton Systems, Inc. Self-aligning pitch and azimuth reference unit
FR2507305B1 (en) * 1981-06-05 1986-02-21 France Etat SHOOTING DEVICE FOR ARTILLERY GUNS
DE3125678C2 (en) * 1981-06-30 1983-10-06 Bodenseewerk Geraetetechnik Gmbh, 7770 Ueberlingen Straightening device
NL8203445A (en) * 1982-09-03 1984-04-02 Hollandse Signaalapparaten Bv WEAPON FIRE LINE SYSTEM FOR A VEHICLE OR VESSEL.
DE3332795C2 (en) * 1983-09-09 1986-05-15 LITEF Litton Technische Werke der Hellige GmbH, 7800 Freiburg Fire control system for moving weapon carriers, in particular for battle tanks

Also Published As

Publication number Publication date
EP0218743A1 (en) 1987-04-22
DE3564488D1 (en) 1988-09-22
ATE36600T1 (en) 1988-09-15
IL79688A0 (en) 1986-11-30
US4693168A (en) 1987-09-15

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