EP0229864A1 - Device for stabilizing a highly dynamic body on a less dynamic carrier - Google Patents

Device for stabilizing a highly dynamic body on a less dynamic carrier Download PDF

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Publication number
EP0229864A1
EP0229864A1 EP86100960A EP86100960A EP0229864A1 EP 0229864 A1 EP0229864 A1 EP 0229864A1 EP 86100960 A EP86100960 A EP 86100960A EP 86100960 A EP86100960 A EP 86100960A EP 0229864 A1 EP0229864 A1 EP 0229864A1
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EP
European Patent Office
Prior art keywords
carrier
sensor block
central sensor
control loop
dynamic
Prior art date
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EP86100960A
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German (de)
French (fr)
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EP0229864B2 (en
EP0229864B1 (en
Inventor
Otto Dr. Rer.Nat. Beyer
Bertold Dipl.-Math. Kirst
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Northrop Grumman Litef GmbH
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Litef GmbH
Litef Litton Technische Werke Der Hellige GmbH
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Application filed by Litef GmbH, Litef Litton Technische Werke Der Hellige GmbH filed Critical Litef GmbH
Priority to AT86100960T priority Critical patent/ATE45420T1/en
Priority to EP86100960A priority patent/EP0229864B2/en
Priority to DE8686100960T priority patent/DE3664961D1/en
Priority to IL80674A priority patent/IL80674A0/en
Priority to US07/006,001 priority patent/US4924749A/en
Publication of EP0229864A1 publication Critical patent/EP0229864A1/en
Publication of EP0229864B1 publication Critical patent/EP0229864B1/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
    • F41G5/24—Elevating or traversing control systems for guns for vehicle-borne guns for guns on tanks
    • 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
    • F41G5/16—Elevating or traversing control systems for guns for vehicle-borne guns gyroscopically influenced
    • G—PHYSICS
    • G12—INSTRUMENT DETAILS
    • G12B—CONSTRUCTIONAL DETAILS OF INSTRUMENTS, OR COMPARABLE DETAILS OF OTHER APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G12B5/00—Adjusting position or attitude, e.g. level, of instruments or other apparatus, or of parts thereof; Compensating for the effects of tilting or acceleration, e.g. for optical apparatus

Definitions

  • the invention relates to a method for stabilizing a on a low dynamic carrier, e.g. a tank, ship or the like, mounted higher dynamic device, in which the movements of the low dynamic carrier are detected by a central sensor block on the carrier.
  • a low dynamic carrier e.g. a tank, ship or the like
  • the invention also relates to a device according to the preamble of claim 3 for performing the method.
  • the sensor block can contain at least such a number of gyros as inertial sensors that the three rotary motion components can be measured in space (three independent measuring axes) and, depending on the version, three uniaxial accelerometers.
  • DE-Al-33 32 795 discloses a fire control and navigation system for movable weapon carriers, in particular for battle tanks, in which a single central sensor block using strapdown technology is used for primary stabilization, for example of a target or sighting device, and for secondary stabilization of a weapon.
  • an exact fire can be achieved with this known system line and a dynamic point stabilization of the weapon.
  • the line of sight must also be stabilized with a central sensor package.
  • a relatively small deflection mirror with a much higher dynamic range than the carrier (tank) can be stabilized in the rifle target.
  • the gyroscopes and accelerometers would have to be attached to the deflecting mirror and the inertial sensors and the entire digital processing would have to be designed for the high bandwidth of this deflecting mirror. This places high demands on the overall quality of the sensor block and on the bandwidth of the digital control in particular.
  • the invention has for its object to stabilize devices mounted on a comparatively low dynamic carrier with much higher dynamics in their position in space in a technically simple manner and with flexible adaptation options to the type, number and individual dynamics of the individual device, the common inertial sensors on Carriers are attached.
  • the invention is based initially on the knowledge that the angles of interference that occur on a comparatively slow carrier (armored turret) quickly become very small with increasing frequency.
  • an approximately three times larger bandwidth is required than the measured bandwidth of the interference angles at the tank tower.
  • the line of sight stabilization places even higher technical requirements, for which there is even one fifteen times the bandwidth of the control loops and sensors is required.
  • This basic knowledge is plausible, since an armored turret weighing several tons can only move relatively slowly.
  • the lighter cannon already shows a higher dynamic and the relatively light deflection mirror of the optical aiming devices (rifle scope of the gunner, periscope of the commander) show a very high dynamic.
  • the inventive method defined in claim 1 for stabilizing a higher dynamic device mounted on a low dynamic carrier solves the task in two steps, namely by - Stabilization of the individual highly dynamic devices with respect to the carrier with the necessary wide bandwidth and - Determination and compensation of the slow carrier movement in a superimposed control loop with a correspondingly lower bandwidth.
  • a device according to the invention for carrying out the stabilization method according to the invention is the subject of patent claim 3.
  • the method according to the invention it is possible to stabilize the devices themselves using only a common inertial sensor package (for example a strapdown system) on the carrier and with angle sensors or rotary speed sensors or angle measuring devices, in particular resolvers. It is of great importance that the bandwidth of the inertial sensor package only has to be so large that the movements of the low-dynamic carrier are correctly recorded.
  • the bandwidth of the carrier is generally significantly smaller than that of the devices to be stabilized.
  • an analytical platform as an inertial sensor package, it also continuously delivers the position and location of the carrier itself and the quantities derived from it for additional tasks, for example in the context of a central fire control system. In principle, the number of devices to be stabilized and their bandwidth is not limited.
  • the process enables a modular structure in an optimal way and is suitable for different types of vehicles regardless of the number of devices to be stabilized.
  • the highest stabilization quality is required for the rifle target.
  • the control loops for this device with the corresponding angle encoders will therefore have the highest bandwidth.
  • the other devices to be stabilized for example a commander's periscope and the weapons, can then be equipped with control loops, the bandwidth of which is individually matched to the dynamics of these devices.
  • the gyros must act as sensors and the control loops to stabilize the Devices each have such a wide range that the movements of the devices in the room can be completely detected and stabilized.
  • a known main battle tank for example, six uniaxial turning gyros are currently required for this.
  • This known solution becomes particularly complex when several devices are to be stabilized on a common carrier, since one gyro package is required for each device.
  • the inertial sensor block senses the movements of the tower coordinate system.
  • the output variables of the inertial sensor block are used as reference variables for the individual stabilization control loops of the devices.
  • Each device e.g. weapon, sight device, sighting device and the like
  • Each device is each provided with its own control loop with the device-specific bandwidths.
  • the position of the devices in relation to the carrier is detected with angle sensors, the output signals of which control actuating devices on the devices via closed control loops with a high bandwidth. Changes in the position or movement of the tower are therefore taken into account as a reference variable in the control loops of the devices.
  • a main battle tank 1 with a turret 2 is provided as a low-dynamic carrier.
  • a number of devices to be stabilized are mounted in the turret 2, in particular a cannon 4 as the main weapon of the tank, a commander's periscope 5 and a gunner aiming device 6.
  • the central sensor block 3 is mounted as a complete unit in the turret and detects the relatively slow turret movements relative to one earth fixed navigation coordinate system.
  • the central sensor block 3 (e.g. strapdown package) delivers position data or changes in position of the carrier (tower 2) via a data line 12 to a connection point 13 within a closed control loop 10, which for Stabilization of one of the devices 4, 5, 6 mounted in the tower 2 is used.
  • the position data of the carrier supplied at the connection point 13 serve in the control loop 10 as a subordinate reference variable.
  • the (relative) position data of the control loop 10 (actual data) are supplied by angle encoders, in particular resolvers 14.
  • the command variable determining the position of the carrier is superimposed and fed as a manipulated variable to one or more actuators 15 for the respective device.
  • an inertial central sensor system with accelerometers
  • data about the location, the position and the movements of the wearer are available.
  • the central sensor block (the analytical platform) provides the position of the vehicle in an earth-fixed navigation system, so that orientation in unknown terrain and in poor visibility or under difficult environmental conditions is facilitated.
  • the strapdown system also provides data on the speed and angular velocity of the tower for better fire control, for example to correct the muzzle velocity of the projectile of the cannon 4. All of this data is provided via a data bus 12 (FIG. 2).
  • a data bus 12 (FIG. 2).
  • point stabilization and dynamic lead formation can be implemented exactly.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Gyroscopes (AREA)
  • Control Of Position Or Direction (AREA)
  • Machine Tool Units (AREA)
  • Crystals, And After-Treatments Of Crystals (AREA)
  • Lubricants (AREA)
  • Photoreceptors In Electrophotography (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)

Abstract

1. Device for the stabilization of a device (4, 5, 6) which is mounted on a support (2) and which is movable relative to the latter, having, in comparsion with the support, a high speed of response to deviations from a rest position, having - a control loop (10), which is associated with the device and which includes a control device (15), for the control of deviations of the device from the rest position, which control loop exhibits a bandwidth matched to the speed of response of the device, - a sensor unit (3) for the detection of changes of position of the support in an inertial system with respect to at least three measurement axes, characterized in that - the sonsor unit is mounted as a central sensor block (3) on the support (2) and is equipped with sensors, the bandwidth of which is matched to the relatively slow speed of response of the support, - the device (4, 5, 6) is provided with angle pickups (14), which detect the position of the device relative to the support with respect to at least two axes and the output signals of which are fed to the control device (15) as the regulating quantity, and - devices (13) for the infraposition of the control loop by means of the signals which are delivered by the sensor block and which represent the position of the support in the inertial system as guide quantity, are provided in the control loop (10).

Description

Die Erfindung betrifft ein Verfahren zur Stabilisierung eines auf einem niederdynamischen Träger, z.B. einem Panzer, Schiff oder dergleichen, montierten höherdynami­schen Geräts, bei dem die Bewegungen des niederdynami­schen Trägers durch einen zentralen Sensorblock auf dem Träger erfaßt werden.The invention relates to a method for stabilizing a on a low dynamic carrier, e.g. a tank, ship or the like, mounted higher dynamic device, in which the movements of the low dynamic carrier are detected by a central sensor block on the carrier.

Die Erfindung bezieht sich außerdem auf eine Einrichtung gemäß dem Oberbegriff des Patentanspruchs 3 zur Durchfüh­rung des Verfahrens.The invention also relates to a device according to the preamble of claim 3 for performing the method.

Der Sensorblock kann dabei als inertiale Sensoren wenig­stens eine solche Anzahl von Kreiseln enthalten, daß die drei Drehbewegungskomponenten im Raume gemessen werden können (drei unabhängige Meßachsen) und zusätzlich je nach Ausführung drei einachsige Beschleunigungsmesser.The sensor block can contain at least such a number of gyros as inertial sensors that the three rotary motion components can be measured in space (three independent measuring axes) and, depending on the version, three uniaxial accelerometers.

Aus der DE-Al-33 32 795 ist ein Feuerleit- und Naviga­tionssystem für bewegliche Waffenträger, insbesondere für Kampfpanzer bekannt, bei dem zur Primärstabilisierung beispielsweise eines Ziel- oder Sichtgeräts sowie zur Se­kundärstabilisierung einer Waffe ein einziger zentraler Sensorblock in Strapdown-Technologie verwendet wird, der zwei zweiachsige, trockene, dynamisch abgestimmte Kreisel und drei einachsige Beschleunigungsmesser unfaßt, und bei dem die Beschleunigungswerte bzw. Drehraten im Digital­format ausgegeben und verarbeitet werden. Mit diesem be­kannten System läßt sich prinzipiell eine exakte Feuer­ leitung sowie eine dynamische Punktstabilisierung der Waffe erreichen.DE-Al-33 32 795 discloses a fire control and navigation system for movable weapon carriers, in particular for battle tanks, in which a single central sensor block using strapdown technology is used for primary stabilization, for example of a target or sighting device, and for secondary stabilization of a weapon. the two biaxial, dry, dynamically tuned gyros and three uniaxial accelerometers, and in which the acceleration values or rotation rates are output and processed in digital format. In principle, an exact fire can be achieved with this known system line and a dynamic point stabilization of the weapon.

Um die mit dem bekannten Feuerleit- und Navigationssystem durch Verwendung eines Strapdown-Systems verbundenen Vor­teile nutzen zu können, muß jedoch außer der Waffe auch beispielsweise die Sichtlinie mit einem zentralen Sensor­paket stabilisiert werden. Dies bedeutet, daß beispiels­weise im Richtschützenzielgerät ein relativ kleiner Um­lenkspiegel mit einer im Vergleich zum Träger (Panzer) wesentlich höheren Dynamik zu stabilisieren ist. Nach diesem bekannten Verfahren müßten die Kreisel- und Be­schleunigungsmesser also an dem Umlenkspiegel angebracht werden und die inertialen Sensoren sowie die gesamte digi­tale Verarbeitung müßten für die hohe Bandbreite dieses Umlenkspiegels ausgelegt sein. Dies stellt hohe Anforde­rungen an die Dunamik des Sensorblocks insgesamt und an die Bandbreite der digitalen Regelung im besonderen.In order to be able to use the advantages associated with the known fire control and navigation system through the use of a strapdown system, however, in addition to the weapon, for example, the line of sight must also be stabilized with a central sensor package. This means that, for example, a relatively small deflection mirror with a much higher dynamic range than the carrier (tank) can be stabilized in the rifle target. According to this known method, the gyroscopes and accelerometers would have to be attached to the deflecting mirror and the inertial sensors and the entire digital processing would have to be designed for the high bandwidth of this deflecting mirror. This places high demands on the overall quality of the sensor block and on the bandwidth of the digital control in particular.

Der Erfindung liegt die Aufgabe zugrunde, auf einem ver­gleichsweise niederdynamischen Träger montierte Geräte mit wesentlich höherer Dynamik in ihrer Lage im Raum auf technisch einfache Weise und mit flexibler Anpassungsmög­lichkeit an Art, Anzahl und individuelle Dynamik des ein­zelnen Geräts zu stabilisieren, wobei die gemeinsamen inertialen Sensoren am Träger angebracht sind.The invention has for its object to stabilize devices mounted on a comparatively low dynamic carrier with much higher dynamics in their position in space in a technically simple manner and with flexible adaptation options to the type, number and individual dynamics of the individual device, the common inertial sensors on Carriers are attached.

Die Erfindung geht zunächst von der Erkenntnis aus, daß die auftretenden Störwinkel an einem vergleichsweise trä­gen Träger (Panzerturm) mit wachsender Frequenz schnell sehr klein werden. Für die nach der genannten DE-Al-Druck­schrift realisierte Stabilisierung der Panzerkanone ist dagegen immerhin eine etwa dreimal größere Bandbreite er­forderlich als die gemessene Bandbreite der Störwinkel am Panzerturm. Noch höhere technische Anforderungen stellt die Sichtlinienstabilisierung, für die sogar eine etwa fünfzehnmal größere Bandbreite der Regelkreise und Senso­ren erforderlich ist. Diese Grunderkenntnisse sind plau­sibel, da sich ein mehrere Tonnen schwerer Panzerturm nur relativ träge bewegen kann. Die leichtere Kanone zeigt schon eine höhere Dynamik und die relativ leichten Um­lenkspiegel der optischen Zieleinrichtungen (Zielfern­rohr des Richtschützen, Periskop des Kommandanten) weisen eine sehr hohe Dynamik auf.The invention is based initially on the knowledge that the angles of interference that occur on a comparatively slow carrier (armored turret) quickly become very small with increasing frequency. For the stabilization of the tank cannon realized according to the aforementioned DE-Al publication, on the other hand, an approximately three times larger bandwidth is required than the measured bandwidth of the interference angles at the tank tower. The line of sight stabilization places even higher technical requirements, for which there is even one fifteen times the bandwidth of the control loops and sensors is required. This basic knowledge is plausible, since an armored turret weighing several tons can only move relatively slowly. The lighter cannon already shows a higher dynamic and the relatively light deflection mirror of the optical aiming devices (rifle scope of the gunner, periscope of the commander) show a very high dynamic.

Das im Patentanspruch 1 definierte erfindungsgemäße Ver­fahren zur Stabilisierung eines auf einem niederdynami­schen Träger montierten höherdynamischen Geräts löst die gestellte Aufgabe in zwei Schritten, nämlich durch
- Stabilisierung der einzelnen hochdynamischen Geräte bezüglich des Trägers mit der dazu notwendigen großen Bandbreite und
- Ermittlung und Kompensation der langsamen Trägerbewe­gung in einer überlagerten Regelschleife mit entspre­chend niedrigerer Bandbreite.The inventive method defined in claim 1 for stabilizing a higher dynamic device mounted on a low dynamic carrier solves the task in two steps, namely by
- Stabilization of the individual highly dynamic devices with respect to the carrier with the necessary wide bandwidth and
- Determination and compensation of the slow carrier movement in a superimposed control loop with a correspondingly lower bandwidth.

Eine erfindungsgemäße Einrichtung zur Durchführung des erfindungsgemäßen Stabilisierungsverfahrens ist Gegen­stand des Patentanspruchs 3.A device according to the invention for carrying out the stabilization method according to the invention is the subject of patent claim 3.

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

Mit dem erfindungsgemäßen Verfahren ist es möglich, al­lein mit Hilfe eines gemeinsamen inertialen Sensorpakets (z.B. Strapdown-System) auf dem Träger und mit Winkelge­bern oder Drehgeschwindigkeitsgebern bzw. Winkelmeßgerä­ten, insbesondere Resolvern, an den Geräten eine Stabili­sierung der Geräte selbst durchzuführen. Von großer Be­deutung ist dabei, daß die Bandbreite des inertialen Sen­sorpakets nur so groß sein muß, daß die Bewegungen des niederdynamischen Trägers richtig erfaßt werden. Die Bandbreite des Trägers ist im allgemeinen deutlich klei­ner als die der zu stabilisierenden Geräte. Im Fall ei­ner analytischen Plattform als inertialem Sensorpaket liefert diese darüber hinaus ständig auch die Position und Lage des Trägers selbst und daraus abgeleitete Größen für zusätzliche Aufgaben, beispielsweise im Rahmen einer zentralen Feuerleitung. Die Anzahl der zu stabilisieren­den Geräte und deren Bandbreite ist im Prinzip nicht be­schränkt. Das Verfahren ermöglicht einen modularen Auf­bau in optimaler Weise und eignet sich für untershiedli­che Fahrzeugtypen unabhängig von der Anzahl der zu stabi­lisierenden Geräte. In einem Kampfpanzer beispielsweise wird für das Richtschützenzielgerät die höchste Stabili­sierungsgüte gefordert. Die Regelkreise für dieses Gerät mit den entsprechenden Winkelgebern werden also die höch­ste Bandbreite aufweisen. Die anderen zu stabilisierenden Geräte, beispielsweise ein Kommandantenperiskop und die Waffen, können dann mit Regelkreisen bestückt werden, de­ren Bandbreite individuell auf die Dynamik dieser Geräte abgestimmt ist.With the method according to the invention, it is possible to stabilize the devices themselves using only a common inertial sensor package (for example a strapdown system) on the carrier and with angle sensors or rotary speed sensors or angle measuring devices, in particular resolvers. It is of great importance that the bandwidth of the inertial sensor package only has to be so large that the movements of the low-dynamic carrier are correctly recorded. The The bandwidth of the carrier is generally significantly smaller than that of the devices to be stabilized. In the case of an analytical platform as an inertial sensor package, it also continuously delivers the position and location of the carrier itself and the quantities derived from it for additional tasks, for example in the context of a central fire control system. In principle, the number of devices to be stabilized and their bandwidth is not limited. The process enables a modular structure in an optimal way and is suitable for different types of vehicles regardless of the number of devices to be stabilized. In a battle tank, for example, the highest stabilization quality is required for the rifle target. The control loops for this device with the corresponding angle encoders will therefore have the highest bandwidth. The other devices to be stabilized, for example a commander's periscope and the weapons, can then be equipped with control loops, the bandwidth of which is individually matched to the dynamics of these devices.

Die Arbeitsweise des erfindungsgemäßen Verfahrens soll an einem Beispiel erläutert werden, bei dem die obige Vor­aussetzung hinsichtlich eines mechanisch steifen Trä­gers erfüllt ist. Als Träger wird ein gepanzertes Kampf­fahrzeug (Kampfpanzer) angenommen. Beweglich angebrachte Geräte sind also z.B. das Hauptzielfernrohr des Richt­schützen, das Periskop des Kommandanten und die Hauptwaf­fe des Panzers. Stabilisiert werden sollen in diesem Fall die Visierlinien der Richtschützen- und Kommandanten-Ziel­geräte sowie die Lage der Waffe. Nach der bisher üblichen Technik werden je zu stabilisierendem Gerät zwei einach­sige Wendekreisel mit entsprechenden Regelkreisen verwen­det. Die Stabilisierung erfolgt damit bezüglich Seite und Höhe für jedes Gerät einzeln. Dabei müssen die Kreisel als Sensoren und die Regelkreise zur Stabilisierung der Geräte jeweils eine so große Bandbreite aufweisen, daß die Bewegungen der Geräte im Raum vollständig erfaßt und stabilisiert werden können. Bei einem bekannten Kampfpan­zer sind dafür zur Zeit beispielsweise sechs einachsige Wendekreisel erforderlich. Diese bekannte Lösung wird al­so dann besonders aufwendig, wenn mehrere Geräte auf ei­nem gemeinsamen Träger zustabilisieren sind, da pro Ge­rät ein Kreiselpaket benötigt wird.The method of operation of the method according to the invention will be explained using an example in which the above requirement with regard to a mechanically rigid support is fulfilled. An armored combat vehicle (main battle tank) is assumed to be the carrier. Movable devices are, for example, the main rifle scope of the gunner, the periscope of the commander and the main weapon of the tank. In this case, the aiming lines of the gunner and commander target devices and the position of the weapon should be stabilized. According to the technology used to date, two uniaxial gyroscopes with corresponding control loops are used for each device to be stabilized. The stabilization takes place individually for each device in terms of side and height. The gyros must act as sensors and the control loops to stabilize the Devices each have such a wide range that the movements of the devices in the room can be completely detected and stabilized. In a known main battle tank, for example, six uniaxial turning gyros are currently required for this. This known solution becomes particularly complex when several devices are to be stabilized on a common carrier, since one gyro package is required for each device.

Im Gegensatz zu dieser weit verbreiteten Technik, aber auch in Verbesserung gegenüber dem in der genannten DE-Al-­Druckschrift genannten System wird mit der Erfindung ein Verfahren realisiert, das die fahrzeugfeste Montage eines zentralen Sensorblocks an geschützter Stelle zuläßt und gleichzeitig die Stabilisierung der höherdynamischen Ge­räte auf einfache Weise ermöglicht. Technisch sind zwei Fälle zu unterscheiden.

  • 1. Fall: Der zentrale Sensorblock besteht allein aus einem Kreiselpaket. Dieses Kreisepaket enthält dabei we­nigstens eine solche Anzahl von Kreiseln, daß in drei un­abhängigen Meßachsen Meßgrößen zur Verfügung stehen. Das bedeutet, daß bei z.B. zweiachsigen Kreiseln mindestens zwei Kreisel erforderlich und bei z.B. einachsigen Krei­seln mindestens drei Kreisel erforderlich sind. In diesem ersten Fall kann nur eine Stabilisierung der Geräte bezüg­lich des Inertialraums durchgeführt werden, ähnlich den zur Zeit in Kapmpfpanzern realisierten Systemen, aller­dings jetzt unter Verwendung nur eines einzigen Kreisel­pakets für alle Geräte.
  • 2. Fall: Der inertiale Sensorblock enthält nicht nur ein Kreiselpaket wie im Fall 1, sondern zusätzlich eine solche Anzahl von Beschleunigungsmessern, daß Meßwerte in drei unabhängigen Achsen zur Verfügung stehen. Ein sol­ches Sensorpaket steht beispielsweise mit einem Strapdown-­System (analytische Plattform) zur Verfügung. Ein solches Strapdown-System liefert z. B. Informationen über Posi­tion, Geschwindigkeit, Geschwindigkeitsänderung, Lage und Lageänderung des Trägers gegenüber einem erdbezogenen Na­vigationskoordinatensystem. Das bedeutet, daß hier vor­teilhaft eine Stabilisierung der Geräte gegen ein erdbe­zogenes Navigationskoordinatensystem realisiert werden kann.
In contrast to this widespread technology, but also in an improvement over the system mentioned in the above-mentioned DE-Al publication, the invention realizes a method which allows a central sensor block to be mounted on the vehicle at a protected location and at the same time stabilizes the more dynamic devices enables in a simple manner. Technically, two cases can be distinguished.
  • Case 1 : The central sensor block consists solely of a gyro pack. This circle packet contains at least such a number of gyros that measurement variables are available in three independent measuring axes. This means that at least two gyros are required for two-axis gyros and at least three gyros are required for single-axis gyros. In this first case, the devices can only be stabilized with respect to the inertial space, similar to the systems currently implemented in anti-tank armor, but now using only a single gyro pack for all devices.
  • 2nd case: The inertial sensor block contains not only a gyro package as in case 1, but also such a number of accelerometers that measured values are available in three independent axes. Such a sensor package is available, for example, with a strapdown system (analytical platform). Such one Strapdown system delivers z. B. Information about position, speed, speed change, position and change of position of the wearer compared to an earth-related navigation coordinate system. This means that the devices can advantageously be stabilized against an earth-related navigation coordinate system.

In beiden Fällen sensiert der inertiale Sensorblock die Bewegungen des Turmkoordinatensystems. Erfindungsgemäß werden die Ausgangsgrößen des inertialen Sensorblocks als Führungsgrößen für die einzelnen Stabilisierungsregelkrei­se der Geräte verwendet. Jedes Gerät (z.B.Waffe, Sicht­gerät, Visiereinrichtung und dergleichen) ist jeweils mit einem eigenen Regelkreis mit den gerätespezifischen Band­breiten versehen. Die Lage der Geräte gegenüber dem Trä­ger (Turm des Kampfpanzers) wird mit Winkelgebern erfaßt, deren Ausgangssignale über geschlossene Regelschleifen hoher Bandbreite Stelleinrichtungen an den Geräten steu­ern. Lage- bzw. Bewegungsänderungen des Turms werden also als Führungsgröße in den Regelschleifen der Geräte be­rücksichtigt.In both cases, the inertial sensor block senses the movements of the tower coordinate system. According to the invention, the output variables of the inertial sensor block are used as reference variables for the individual stabilization control loops of the devices. Each device (e.g. weapon, sight device, sighting device and the like) is each provided with its own control loop with the device-specific bandwidths. The position of the devices in relation to the carrier (turret of the main battle tank) is detected with angle sensors, the output signals of which control actuating devices on the devices via closed control loops with a high bandwidth. Changes in the position or movement of the tower are therefore taken into account as a reference variable in the control loops of the devices.

Vorteilhafte Einzelheiten der Erfindung werden nachfol­gend unter Bezug auf die Zeichnung durch ein Ausführungs­beispiel veranschaulicht. Es zeigen:

  • Fig. 1. einen mit verschiedenen zu stabilisierenden Geräten bestückten Kampfpanzer als Geräteträ­ger, und
  • Fig. 2 eine Regelschleife hoher Dynamik zur Stabilisie­rung der Geräte, welcher Daten aus einem zen­tralen Sensorblock als Führungsgrößen unterla­gert werden.
Advantageous details of the invention are illustrated below with reference to the drawing using an exemplary embodiment. Show it:
  • Fig. 1. a battle tank equipped with various devices to be stabilized as a device carrier, and
  • 2 shows a control loop of high dynamics for stabilizing the devices, to which data from a central sensor block are subordinated as reference variables.

Im Anschauungsbeispiel der Fig. 1 ist ein Kampfpanzer 1 mit Turm 2 als niederdynamischer Träger vorgesehen. Im Turm 2 ist eine Reihe von zu stabilisierenden Geräten montiert, insbesondere eine Kanone 4 als Hauptwaffe des Panzers, ein Kommandantenperiskop 5 sowie ein Richtschüt­zen-Zielgerät 6. Der zentrale Sensorblock 3 ist als kom­plette Einheit im Turm montiert und erfaßt die relativ langsamen Turmbewegungen gegenüber einem erdfesten Navi­gationskoordinatensystem.In the illustrative example of FIG. 1, a main battle tank 1 with a turret 2 is provided as a low-dynamic carrier. A number of devices to be stabilized are mounted in the turret 2, in particular a cannon 4 as the main weapon of the tank, a commander's periscope 5 and a gunner aiming device 6. The central sensor block 3 is mounted as a complete unit in the turret and detects the relatively slow turret movements relative to one earth fixed navigation coordinate system.

Wie die Baugruppenanordnung der Fig. 2 erkennen läßt, liefert der zentrale Sensorblock 3 (z. B. Strapdown-Paket) über eine Datenleitung 12 Lagedaten bzw. Lageänderungen des Trägers (Turm 2) an einen Verknüpfungspunkt 13 inner­halb einer geschlossenen Regelschleife 10, die zur Stabi­lisierung eines der im Turm 2 montierten Geräte 4, 5, 6 dient. Die am Verknüpfungspunkt 13 zugeführten Lagedaten des Trägers dienen in der Regelschleife 10 als unterlager­te Führungsgröße. Die (relativen) Lagedaten der Regel­schleife 10 (Ist-Daten) werden durch Winkelgeber, insbe­sondere Resolver 14 geliefert. Am Verknüpfungspunkt 13 wird die die Lage des Trägers bestimmende Führungsgröße überlagert und als Stellgröße einem oder mehreren Stell­gliedern 15 für das jeweilige Gerät zugeführt.As can be seen from the assembly arrangement of FIG. 2, the central sensor block 3 (e.g. strapdown package) delivers position data or changes in position of the carrier (tower 2) via a data line 12 to a connection point 13 within a closed control loop 10, which for Stabilization of one of the devices 4, 5, 6 mounted in the tower 2 is used. The position data of the carrier supplied at the connection point 13 serve in the control loop 10 as a subordinate reference variable. The (relative) position data of the control loop 10 (actual data) are supplied by angle encoders, in particular resolvers 14. At link point 13, the command variable determining the position of the carrier is superimposed and fed as a manipulated variable to one or more actuators 15 for the respective device.

Gegenüber den bisher üblichen Stabilisierungsverfahren ergeben sich insbesondere für Kampfpanzersysteme folgende erhebliche Vorteile:Compared to the stabilization methods that have been customary up to now, the following significant advantages result in particular for battle tank systems:

Für den ersten Fall:

  • (a) Die inertialen Sensoren des zentralen Sensorblocks (der analytischen Plattform) können an geschützter Stelle angebracht sein, müssen also nicht mehr expo­niert werden.
  • (b) Größen- und Gewichtsbeschränkungen für den zentralen Sensorblock sind nicht mehr gegeben.
  • (c) Der zentrale Sensorblock in standardisierter Bauform ist leicht zugänglich und kann einfach gewartet wer­den.
  • (d) Mit einem inertialen Sensorblock lassen sich belie­big viele Geräte gleichzeitig stabilisieren.
  • (e) Der zentrale Sensorblock in Digitaltechnik muß nur mit so hoher Verarbeitungsgeschwindigkeit ausgestat­tet werden, daß die Bewegungen des Trägers richtig beschrieben werden. Gleichzeitig können die Regel - kreise an den Geräten selbst weiterhin als schnelle Analogregelkreise ausgeführt werden. Dies ermöglicht kostengünstige Lösungen und den Einsatz von Stan­darsystemen beim zentralen Sensorblock.
  • (f) Im inertialen Sensorblock wird ein Satz hochwertiger Kreisel verwendet. Da z. B. Strapdown-Kreisel gegen­über den üblicherweise bei Panzerwaffen zur Stabili­sierung verwendeten Wendekreiseln eine deutlich höhe­re Lebensdauer aufweisen, erreicht man eine höhere Systemzuverlässigkeit und Verfügbarkeit.
  • (g) Strapdown-Kreisel in Navigationsqualität sind um Grö­ßenordnungen driftärmer als übliche Wendekreisel. Da­her ist die Naviationsinformation zusätzlich mit gu­ter Genauigkeit zu gewinnen.
For the first case:
  • (a) The inertial sensors of the central sensor block (the analytical platform) can be attached at a protected location, so they no longer need to be exposed.
  • (b) Size and weight restrictions for the central Sensor block are no longer available.
  • (c) The central sensor block in a standardized design is easily accessible and easy to maintain.
  • (d) With an inertial sensor block, any number of devices can be stabilized at the same time.
  • (e) The central sensor block in digital technology only has to be equipped with such a high processing speed that the movements of the wearer are correctly described. At the same time, the control loops on the devices themselves can continue to be designed as fast analog control loops. This enables cost-effective solutions and the use of standard systems for the central sensor block.
  • (f) A set of high quality gyros is used in the inertial sensor block. Because e.g. B. Strapdown gyros have a significantly longer service life than the gyroscopes usually used for stabilizing armored weapons, one achieves a higher system reliability and availability.
  • (g) Strapdown gyros in navigation quality are orders of magnitude less drift than conventional turning gyros. The navigation information can therefore also be obtained with good accuracy.

Zusätzlich für den zweiten Fall:
Verwendet man einen inertialen Sensorblock mit Beschleuni­gungsmesser (z. B. Strapdown-System), so bieten sich die folgenden weiteren Vorteile:

  • (h) Die Erddrehrate (maximal 4, 5 Strich/min) wird bei der Stabilisierung mitberücksichtigt und kompensiert, da bezüglich eines erdfesten Koordinatensystem stabili­siert wird. Dies bringt Vorteile bei der Beobachtung und Überwachung von Geländeteilen mit Hilfe einer Zieloptik.
  • (i) Die Transportrate des Trägers kann kompensiert wer­den. Dadurch ergibt sich auch beim Fahren ein drift­freies Bild, wenn es sich beispielsweise bei den zu stabilisierenden Geräten um ein Beobachtungs- oder Zielgerät handelt.
  • (j) Eine dreiachsige Stabilisierung ist ohne zusätzliche inertiale Sensoren möglich. Dadurch werden Drehbewe­gungen des Bildes um die Kantachse des Trägers ver­hindert und eine ruhige Bilddarstellung auf Sichtge­räten ermöglicht.
  • (k) Zur Berücksichtigung des Kantwinkels ist bisher ein Lotsensor erforderlich, der jedoch aufgrund der Er­findung entfallen kann, da seine Aufgabe vom zentra­len Sensorblock mit wahrgenommen wird.
Additionally for the second case:
Using an inertial sensor block with an accelerometer (e.g. strapdown system) offers the following additional advantages:
  • (h) The earth rotation rate (maximum 4.5 lines / min) is at Stabilization also taken into account and compensated, since stabilization is carried out with respect to an earth-fixed coordinate system. This brings advantages when observing and monitoring terrain parts with the help of target optics.
  • (i) The transport rate of the carrier can be compensated. This results in a drift-free image even when driving, for example if the devices to be stabilized are observation or target devices.
  • (j) Three-axis stabilization is possible without additional inertial sensors. This prevents rotation of the image around the edge axis of the wearer and enables a smooth image display on viewing devices.
  • (k) A plumb sensor has hitherto been required to take into account the edge angle, which, however, can be dispensed with on the basis of the invention, since its task is also performed by the central sensor block.

Als vorteilhafter Teilaspekt der Erfindung aufgrund der Verwendung eines inertialen zentralen Sensorsystems mit Beschleunigungsmessern stehen Daten über den Ort, die La­ge und die Bewegungen des Trägers zur Verfügung. Daraus lassen sich im Falle eines gepanzerten Fahrzeugs weitere vorteilhafte Funktionen realisieren. So liefert der zen­trale Sensorblock (die analytische Plattform) die Posi­tion des Fahrzeugs in einem erdfesten Navigationssystem, so daß die Orientierung im unbekannten Gelände und bei schlechten Sichtverhältnissen oder unter schwierigen Um­gebungsbedingungen erleichtert ist. Das Strapdown-System liefert außerdem Daten über Geschwindigkeit und Winkelge­schwindigkeit des Turms für eine bessere Feuerleitung, beispielsweise zur Korrektur der Mündungsgeschwindigkeit des Geschosses der Kanone 4. Alle diese Daten werden über einen Datenbus 12 (Fig. 2) bereitgestellt. Weiterhin las­sen sich unter Zuhilfenahme von Entgernungsmessungen vom gepanzerten Fahrzeug zum Ziel eine Punktstabilisierung und eine dynamische Vorhaltbildung exakt realisieren.As an advantageous partial aspect of the invention due to the use of an inertial central sensor system with accelerometers, data about the location, the position and the movements of the wearer are available. In the case of an armored vehicle, this can be used to implement further advantageous functions. The central sensor block (the analytical platform) provides the position of the vehicle in an earth-fixed navigation system, so that orientation in unknown terrain and in poor visibility or under difficult environmental conditions is facilitated. The strapdown system also provides data on the speed and angular velocity of the tower for better fire control, for example to correct the muzzle velocity of the projectile of the cannon 4. All of this data is provided via a data bus 12 (FIG. 2). Furthermore, with the aid of distance measurements from the armored vehicle to the target, point stabilization and dynamic lead formation can be implemented exactly.

Claims (11)

1. Verfahren zur Stabilisierung eines auf einem nie­derdynamischen Träger (2) montierten höherdynamischen Ge­räts (4, 5, 6), bei dem die Bewegungen des niederdynami­schen Trägers durch ein zentrales inertiales Sensorpa­ket (3) auf dem Träger (2) erfaßt werden,dadurch gekennzeichnet, daß
- das inertiale Sensorpaket (3) ein Kreiselpaket mit we­nigstens drei unabhängigen Meßachsen ist,
- die Bandbreite der Sensoren des zentralen Sensorblocks (3) nur für die Dynamik des Trägers (2) ausgelegt ist,
- die Lage des Geräts (4, 5, 6) relativ zum Träger (1, 2) durch mit diesem verbundene Winkelgeber (14) in wenig­stens zwei Achsen erfaßt wird,
- die Ausgangssignale der Winkelgeber (14) über eine ge­schlossene Regelschleife (10) mit einer an die höhere Dynamik des Geräts (4, 5, 6) angepaßten Bandbreite eine Stelleinrichtung (15) für das Gerät (4, 5, 6) beauf­schlagen, und daß
- der dem Gerät (4, 5, 6) zugeordneten Regelschleife (10) die mittels des zentralen Sensorblocks (3) ermittelte Lageänderung des Trägers (2) als Führungsgröße überla­gert wird.1. A process for the stabilization of a mounted on a low-dynamic support (2) higher dynamic device (4, 5, 6), in which the movements are detected the low dynamic carrier by a central inertial sensor package (3) on the carrier (2), characterized that
the inertial sensor package (3) is a gyro package with at least three independent measuring axes,
- The bandwidth of the sensors of the central sensor block (3) is designed only for the dynamics of the carrier (2),
- The position of the device (4, 5, 6) relative to the carrier (1, 2) is detected in at least two axes by angle encoders (14) connected to the latter,
- The output signals of the angle encoder (14) act on a control device (15) for the device (4, 5, 6) via a closed control loop (10) with a bandwidth adapted to the higher dynamics of the device (4, 5, 6), and that
- The control loop (10) assigned to the device (4, 5, 6) is superimposed on the change in position of the carrier (2) determined by means of the central sensor block (3) as a reference variable. 2. Verfahren nach Anspruch 1, dadurch ge­kennzeichnet, daß
- das inertiale Sensorpaket (3) eine analytische Plattform (Strapdown-System) ist und daß
- der dem Gerät (4, 5, 6) zugeordneten Regelschleife (10) die mittels des zentralen Sensorblocks (3) ermittelte Lage und/oder Lageänderung des Trägers (2) als Führungs­größe überlagert wird.2. The method according to claim 1, characterized in that
- The inertial sensor package (3) is an analytical platform (strapdown system) and that
- The control loop (10) assigned to the device (4, 5, 6) is superimposed on the position and / or change in position of the carrier (2) determined by means of the central sensor block (3) as a reference variable. 3. Einrichtung zur Stabilisierung eines auf einem niederdynamischen Träger (2) montierten höherdynamischen Geräts (4, 5, 6),mit einem zentralen Sensorblock (3) am Träger (2) zur Bestimmung der Lageänderung des Trägers (2) gegenüber einem Inertialsystem, dadurch gekennzeichnet, daß
- der zentrale Sensorblock (3) ein Kreiselpaket mit we­nigstens drei unabhängigen Meßachsen ist,
- die Bandbreite der Sensoren des zentralen Sensorblocks (3) nur auf die Dynamik des Trägers (2) abgestimmt ist,
- das Gerät (4, 5, 6) mit Winkelgebern (14) versehen ist, die seine Lage relativ zum Träger (1, 2) in wenigstens zwei Achsen erfassen,
- die Ausgangssignale der Winkelgeber (14) eine Regel­schleife (10) mit einer an die höhere Dynamik des Ge­räts (4, 5, 6) angepaßten Bandbreite als Stellgröße für eine dem Gerät (4, 5, 6) zugeordnete Stelleinrichtung (15) beaufschlagen, und daß
- die durch den zentralen Sensorblock (3) ermittelten Si­gnale für den Träger (2) der Regelschleife (10) des zu stabilisierenden Geräts (4, 5, 6) als Führungsgröße überlagert sind.3. Device for stabilizing one on one Low dynamic carrier (2) mounted higher dynamic device (4, 5, 6), with a central sensor block (3) on the carrier (2) for determining the change in position of the carrier (2) compared to an inertial system, characterized in that
- The central sensor block (3) is a gyroscope package with at least three independent measuring axes,
- The bandwidth of the sensors of the central sensor block (3) is only matched to the dynamics of the carrier (2),
- The device (4, 5, 6) is provided with angle sensors (14) which detect its position relative to the carrier (1, 2) in at least two axes,
- The output signals of the angle sensors (14) act on a control loop (10) with a bandwidth adapted to the higher dynamics of the device (4, 5, 6) as a manipulated variable for an actuating device (15) assigned to the device (4, 5, 6), and that
- The signals determined by the central sensor block (3) for the carrier (2) of the control loop (10) of the device (4, 5, 6) to be stabilized are superimposed as a reference variable. 4. Einrichtung nach Anspruch 3, dadurch ge­kennzeichnet, daß der zentrale Sensorblock (3) eine analytische Plattform (Strapdown-System) ist.4. Device according to claim 3, characterized in that the central sensor block (3) is an analytical platform (strapdown system). 5. Einrichtung nach Anspruch 3 oder 4, da­durch gekennzeichnet, daß das Gerät (4, 5, 6) mit drei Winkelgebern (14) zur Bestimmung sei­ner Lage relativ zum Träger (1, 2) in drei zueinander or­thogonalen Achsen bestückt ist.5. Device according to claim 3 or 4, characterized in that the device (4, 5, 6) with three angle sensors (14) for determining its position relative to the carrier (1, 2) is equipped in three mutually orthogonal axes. 6. Einrichtung nach Anspruch 3 oder 4, da­durch gekennzeichnet, daß Resolver als Winkelgeber (14) eingesetzt sind.6. Device according to claim 3 or 4, characterized in that resolvers are used as angle encoders (14). 7. Einrichtung nach Anspruch 3 oder 4, da­durch gekennzeichnet, daß Tachoge­neratoren zur Messung von Drehgeschwindigkeiten verwen­det sind.7. Device according to claim 3 or 4, characterized in that tachogenerators are used for measuring rotational speeds. 8. Einrichtung nach Anspruch 3 oder 4, da­durch gekennzeichnet, daß den Gerä­ten (4, 5, 6) analoge Regelschleifen zugeordnet sind und daß die dem inertialen Sensorblock (3) zugeordnete Elektronik in Digitaltechnik ausgeführt ist.8. Device according to claim 3 or 4, characterized in that the devices (4, 5, 6) are assigned analog control loops and that the inertial sensor block (3) associated electronics is designed in digital technology. 9. Einrichtung nach einem der vorstehenden Ansprü­che 3 bis 8, dadurch gekennzeich­net, daß der Träger (1, 2) ein Panzer und das Gerät eine Kanone (4) oder eine Zieleinrichtung (6) oder ein Periskop (5) ist.9. Device according to one of the preceding claims 3 to 8, characterized in that the carrier (1, 2) is a tank and the device is a cannon (4) or a target device (6) or a periscope (5). 10. Einrichtung nach einem der vorstehenden Ansprüche 3 bis 9,dadurch gekennzeichnet, daß die erforderlichen Navigationsrechnungen zur Ermitt­lung der Position des Trägers (1, 2) mit der digitalen Elektronik des zentralen Sensorpakets erfolgt.10. Device according to one of the preceding claims 3 to 9, characterized in that the necessary navigation calculations for determining the position of the carrier (1, 2) with the digital electronics of the central sensor package. 11. Einrichtung nach Anspruch 9, dadurch gekennzeichnet, daß die zur Kompensation der ballistischen Störungen beim Abschuß und/oder die zur dynamischen Vorhaltbildung benötigten Meßwerte vom inertialen Sensorblock (3) ermittelt und für die Feuer­leitrechnung zur Verfügung gestellt werden.11. The device according to claim 9, characterized in that the compensation for the ballistic disturbances during firing and / or the measured values required for dynamic lead formation by the inertial sensor block (3) are determined and made available for the fire control calculation.
EP86100960A 1986-01-24 1986-01-24 Device for stabilizing a highly dynamic body on a less dynamic carrier Expired - Lifetime EP0229864B2 (en)

Priority Applications (5)

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AT86100960T ATE45420T1 (en) 1986-01-24 1986-01-24 DEVICE FOR STABILIZING HIGHLY DYNAMIC EQUIPMENT ON A LOW DYNAMIC CARRIER.
EP86100960A EP0229864B2 (en) 1986-01-24 1986-01-24 Device for stabilizing a highly dynamic body on a less dynamic carrier
DE8686100960T DE3664961D1 (en) 1986-01-24 1986-01-24 Device for stabilizing a highly dynamic body on a less dynamic carrier
IL80674A IL80674A0 (en) 1986-01-24 1986-11-17 Method and device for the stabilization of high-dynamics devices on a low-dynamics support
US07/006,001 US4924749A (en) 1986-01-24 1987-01-21 Method and apparatus for stabilizing high-dynamics devices

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EP0229864B1 EP0229864B1 (en) 1989-08-09
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Cited By (5)

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EP0598278A1 (en) * 1992-11-14 1994-05-25 Daimler-Benz Aerospace Aktiengesellschaft Inertial stabilization system
FR2718857A1 (en) * 1994-04-15 1995-10-20 Giat Ind Sa Stabilisation of controlled movement of object on non-rigid chassis, e.g. turret on tank
FR2824132A1 (en) * 2001-04-27 2002-10-31 France Etat DEVICE, AND ASSOCIATED METHOD, CAPABLE OF DETERMINING THE DIRECTION OF A TARGET
WO2002088616A2 (en) * 2001-04-27 2002-11-07 Etat Francais représenté par le Délégué Général pour l'Armement Device, and related method, for determining the direction of a target
WO2002088616A3 (en) * 2001-04-27 2003-11-06 France Etat Device, and related method, for determining the direction of a target

Also Published As

Publication number Publication date
EP0229864B2 (en) 1993-06-23
EP0229864B1 (en) 1989-08-09
IL80674A0 (en) 1987-02-27
US4924749A (en) 1990-05-15
DE3664961D1 (en) 1989-09-14
ATE45420T1 (en) 1989-08-15

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