EP0314721A1 - Procede d'alignement d'agencement de conduite de tir et agencement de conduite de tir de mise en oeuvre du procede. - Google Patents

Procede d'alignement d'agencement de conduite de tir et agencement de conduite de tir de mise en oeuvre du procede.

Info

Publication number
EP0314721A1
EP0314721A1 EP88903826A EP88903826A EP0314721A1 EP 0314721 A1 EP0314721 A1 EP 0314721A1 EP 88903826 A EP88903826 A EP 88903826A EP 88903826 A EP88903826 A EP 88903826A EP 0314721 A1 EP0314721 A1 EP 0314721A1
Authority
EP
European Patent Office
Prior art keywords
target
measurement
gun
devices
guns
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP88903826A
Other languages
German (de)
English (en)
Other versions
EP0314721B1 (fr
Inventor
Peter Toth
Peter Schueepp
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Rheinmetall Air Defence AG
Original Assignee
Oerlikon Contraves AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=4220767&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP0314721(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Oerlikon Contraves AG filed Critical Oerlikon Contraves AG
Publication of EP0314721A1 publication Critical patent/EP0314721A1/fr
Application granted granted Critical
Publication of EP0314721B1 publication Critical patent/EP0314721B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/32—Devices for testing or checking
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/32—Devices for testing or checking
    • F41G3/323—Devices for testing or checking for checking the angle between the muzzle axis of the gun and a reference axis, e.g. the axis of the associated sighting device
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G5/00—Elevating or traversing control systems for guns
    • F41G5/26—Apparatus for testing or checking

Definitions

  • the invention is in the field of error measurement and error compensation and relates to a method for determining and correcting errors from mechanical tolerance deviations or changes in the mountings of fire control and weapon systems and their beddings, with the purpose of achieving a precise mutual alignment of fire control - and weapon systems.
  • Alignment errors are errors that contain a deviation from a defined (common) geometry, regardless of whether these errors occur during installation or after installation due to changes in the base, as can be the case with ships, for example.
  • Alignment errors caused by mechanical inaccuracies must first be measured to correct them, then corrected and possibly subsequently measured again and possibly corrected to detect time-dependent errors.
  • the aim of the invention is to provide an alignment method with a simple method that can be used as often as required to determine the deviations and to correct them for the purpose of eliminating alignment errors. It should also be possible with the method according to the invention to also detect and correct time-dependent errors (changes (changes)).
  • the aim of the invention is to be able to measure system deviations from a defined (ideal) geometry and to provide the values obtained for the calculation of the control variables for the carriage servos and to use them in shooting operation.
  • the invention is derived from the following idea: It is known that mechanically caused alignment errors of the components of inertial navigation devices can not only be corrected mechanically (adjusted, adjusted), but also in a computationally compensatory procedure.
  • the mechanical errors determined by measurement for example the deviation from the ideal orthogonality of the main axes, are used as eigen parameters. These are something like "personal" error quantities, directly linked to control and / or regulation data and corrected in real time by means of compensating control / regulation.
  • the fault data inherent in a mechanical device are given to it, for example in the form of a protocol, and can be used directly in terms of calculation.
  • a zero test is now carried out on the same measurement target with two devices provided with measuring devices, a deviation is observed for each measurement which contains device and system errors, for example assembly errors.
  • the zero test thus determines an observable total error composed of different error components.
  • a zero test is understood to be a number of measurements in different spatial directions.
  • the alignment error vector, the scalar components of which are the various device and system errors taken into account, can then be calculated from the deviations determined in the process.
  • the shooting operation is also used for tracking the gun carriages by taking them into account in the normal ballistic and geometric calculations.
  • the measuring mode ignores It deals with all ballistic aspects and deals only with the geometry of the measuring axes in space, ie their mutual reference and their deviations from the desired geometry. Deviations are thus determined in the measuring mode, and the sought alignment error vector is calculated from this and made available for final use in controlling the guns during the shooting mode.
  • Fire control devices and guns are manufactured with economically acceptable, normal tolerances and before
  • the alignment measurements i.e. the determination of the positions of the bedding in relation to one another is carried out with the usual measuring accuracy (ie alignment measurements which measure the original rough position of approximately one angular degree with a measuring accuracy of approximately 2 angular minutes). From now on, the results of these alignment measurements will also be taken into account in the measuring and shooting operation.
  • the in Messbet 'now rubbed the following fine measurement is ship- 1 ageuncol and can be performed at sea. All the devices involved have target measurement sensors which, taking into account the results of parts 1 and 2, measure a common measurement target in different positions relative to the devices. From a sufficient number of position deviations determined in different directions, the remaining inaccuracies not recorded in the measurement from part 2 are determined with a measuring accuracy of a few tenths of an angular minutes in a kind of regression or error compensation calculation and from then on in the measurement and Shooting operation also taken into account. Repeated execution of part 3, among other things, enables slow changes in the ship's geometry, which also lead to alignment errors, to be ascertained and corrected.
  • the assembly devices for example the mount of a fire control device (sensor) or a weapon system (effector), are also manufactured with the usual tolerances and then measured (still in the factory) and the own parameters determined.
  • highly precise measuring equipment is used so that the results obtained and therefore also the parameters lie within the required overall tolerances.
  • a gain in precision is easier to achieve by measuring the dimensions and taking them into account than by narrow manufacturing tolerances and assembly instructions.
  • the evaluation of the zero test measurements should be limited to as few parameters as possible. It follows that as many own parameters as possible are determined beforehand with sufficient accuracy - still in the factory. In this way, the time-invariant system parameters can be treated.
  • the geometry of the superstructures on the ship i.e. the alignment of the assembly devices with each other changes over time or only occasionally. It contains two parameters which indicate the relationship between the individual bodywork devices and that of the bodywork devices with the ship, for example alignments, inclinations or inclinations etc. They are monitored with the aid of the method according to the invention and the deviations which occur over time accordingly compensated.
  • a special feature of the method can also be seen in the fact that, in addition to the determination of the parameters, an assessment of the system quality is possible.
  • the residual errors resulting from e.g. deviations observed on the gun after application of the results from part 3 still remain, calculated and statistically evaluated.
  • the residual errors are a consequence of the fact that on the one hand only the most important, but not all, parameters are estimated and taken into account, and on the other hand that the measuring equipment is not ideal.
  • Statistical criteria for the system quality are derived from the remaining errors.
  • the tracking sensors of the Feuerle devices and TV cameras arranged on the guns are used as measuring equipment.
  • the guns can of course also be provided with other sensors (for example lasers); however, it is important that the line of sight of the selected sensor is in a precisely known, preferably fixed position, determined by the factory measurements, to the line of fire of the associated gun, for example in parallel.
  • the common measurement target is now measured with these sensors, ie the deviations in the position of the measurement target as measured by the various sensors in relation to one another are determined.
  • the target measurement sensor of the target tracking device can determine the position of the common measurement target and readjust the associated gun. In the target measuring sensor of the gun, the deposit between the target and the line of sight is immediately visible.
  • the gun can also be equipped with directional means and independently pursue the common measurement target and determine its position 5; that is, it is a target tracking device itself. The storage between independent target tracking devices results from the difference between the measured locations of the measurement target.
  • a preferred embodiment of a target measuring sensor for a gun is a TV camera with a fixed focal length and depth of field to infinity (fixed focus TV camera) and with a two-dimensional arrangement of light-sensitive recording cells in the image plane, e.g. so-called Charge 5 coupled devices ( Such a camera has the advantage of high dimensionality without the use of a control device. The image captured in this way can be scaled and calibrated. An attachment lens 0 can be used for the sensitive focusing on targets in the close range (less than 100 m) .
  • the storage measurement is advantageously carried out by measuring a calibrated television picture from a camera of the type mentioned above. For this purpose, the sight line of the camera, which is in a fixed, known direction to the firing line or.
  • Sensor line - for example parallel to it - lies, marked by a crosshair. Furthermore, a mark is displayed which can be positioned on a screen (mouse, trackball, pointer deflection keys) with the aid of a joystick or similar means for moving a pointer.
  • these marks are generated in the image evaluation from a CCD and are not only faded in on the monitor during playback, so that the accuracy is guaranteed.
  • the target now generally appears in the monitor image with a certain amount of crosshairs to be registered.
  • the registration is done by positioning the marker on the target and then pressing a key switch; the current filing known from the brand generator is stored.
  • the quality of the measurement depends on the "visibility" of the measurement target for the various sensors used in the system. If, for example, the target is tracked with radar means and measured in a TV image from a gun camera, it is important that the center of gravity of the target is known and visible in the TV image. - Likewise, when using IR sensors, it is desirable that the IR focus is defined. Suitable measurement targets include Lüneburglinsen, radar angle mirrors with heating and lighting, etc.
  • FIG. 5 shows a schematic illustration of process detail s.
  • a radar reflecting or for the sensors (FLIR, laser) "visible" target body is guided as a common measuring target, for example by means of a helicopter at different heights around the ship at sea and continuously measured by the target tracking sensor.
  • the distance is preferably chosen to be approximately 1.5 km, the elevation preferably varies between 5 and 70 degrees.
  • the measurement target must be moved to different positions relative to the ship. This can be done, for example, by a helicopter, which carries the target body Z on an approximately 80 m long support cable 12. Starting at a height of approx. 150 m, the helicopter circles the ship, with one or more target tracking sensors tracking and measuring the target.
  • the computer determines the alignment errors, for example between radar sensor axes and gun sensor axes.
  • the alignment error vector can be determined more and more precisely and continuously taken into account by means of a recursion calculation that is constantly running or a repeated regression calculation. The errors remaining from the rough alignment according to part 2 are eliminated. The deviations can be shown in a diagram.
  • FIG. 1 shows a set-up device of three sensor groups G, T and R. These are a round search radar R, two aiming devices (tracking radar) T1, T2 and three computer-controlled guns Gl, G2 and G3. All of these construction devices are in their beddings and are roughly aligned mechanically. Possible alignment errors are, on the one hand, the tilt angles Tx, Ty, Tz, small inclination angles of the bedding with respect to the ship coordinate system about the axes x or y or z, as shown schematically for various devices in FIG. 2, on the other hand the small twists of the coordinate system of the upper mount relative to the ideal coordinate system, resulting from eg Residual errors from the measurements according to part 1 of the procedure.
  • individual or multiple alignment error vectors B1 (gun 1 to aiming device 1), B12 (gun 1 to aiming device 2), B21, B22, B31, B32, AI (aiming device 1 to search radar), A2 (aiming device 2 to search radar).
  • the measurements of the data sets from which the alignment error vectors are calculated can be nested in time.
  • a specific alignment error vector, for example B12 results for the gun 1, for example, in the tilt with respect to T2 and the zero offset in height of the sensor crossing line.
  • FIG. 3 This is shown schematically in an example in FIG. 3, in which a gun G3 with a TV sensor B, a aiming device T2 controlling the gun by means of control data and a helicopter 10 with, for example, a measurement target Z attached to the suspension cable 12 are shown.
  • the two assembly devices, the aiming device and the gun are on deck S in their bedding and, as stated, are roughly mechanically aligned. This rough location was measured with the usual accuracy according to part 2 of the procedure and has been taken into account since then.
  • the own parameters of the mountings which are measured as precisely as possible (part 1 of the procedure), are known and also included. •
  • the straightening device T2 controls the gun G3 via data or signal lines 11. With this arrangement, the alignment error vector B32 according to FIG. 1 is determined. Based on the target data determined by the aiming device and taking into account all previously known parameters, the sensor sight of the gun (not the firing line) is automatically aimed as best as possible at the target.
  • the cross point of the crosshair points in the direction in which the measurement target is expected.
  • the measurement target in its actual position will generally be visible with a certain offset d from the cross point of the crosshair, in FIG. 4A in a schematic representation, for example in the upper left quadrant of the image.
  • This immediately visible position error is the result of all types of system errors, such as mechanical tolerances, residual errors in the rough position measurement, target tracking errors, etc.
  • the deviations between the gun line of sight, represented by the crosshairs, and the measuring cell . are recorded at intervals of a few seconds and stored together with the directional data of the target which is constantly moving in space, in that a measurement mark is made to coincide with the measurement target image by means of a joystick and the data is saved by actuating a release button.
  • the data set of measurements recorded in this way can be illustrated, for example as drawn in FIG. 4B with 8 measuring points.
  • Each new measurement value is immediately included in the calculation of the alignment error vector.
  • Measured values from different directions of the measurement target relative to the aiming device and the gun converge the components of the alignment error vector.
  • a statistical evaluation of the data set enables an indication of the quality of the result.
  • the alignment error vector After completing a series of measurements, if the alignment error vector is determined with sufficient accuracy, it is added to the previous value and the new value is used from then on, both in measuring and in shooting operation.
  • FIG. A directional device T2 a gun G3 with a TV sensor and a data processing system (fire control computer) DV are connected to one another as shown.
  • the computer is the data manager and data converter for the straightening device T2.
  • the aiming device itself supplies target data for one or more guns.
  • A- is the target data preparation of the straightener. From there, the target position is reported;
  • B- is essentially gun control. It takes into account, among other things, the different parallaxes between the sensor of the aiming device, the gun sensor (TV) and the measurement target, and the alignment error vector obtained from I (below) between the mountings of the aiming device T2 and the gun G3;
  • C- determines the gun record, i.e. the side ⁇ and height angles
  • D- contains the measurements of the target deviation (target / crosshair, Fig. 4);
  • F- calculates the residual errors, their standard deviations and mean values as well as the convergence of the series of measurements
  • G- represents the various results and enables the improvement achievable by the correction to be estimated
  • H- represents the corrections applied in the form of a chronological list, the new results supplementing the old ones.
  • the illustration serves as a user! means and can be logged for further analysis;
  • I- stores the effective alignment error vector.
  • the existing old data are used (constantly) during the measuring process (old means previously determined alignment error vector).
  • the calculated new alignment error vector which e.g. due to ship deformation since the last determination is not zero, accumulated to the alignment error vector used previously.
  • the accumulated, new alignment error vector B32 is returned to B for future use in measuring and shooting operations.
  • the same procedure is used to determine the alignment error vector A2 between the search radar R and the aiming device T2, but only the side angle is evaluated by the search radar here.
  • the measurement can be recorded automatically, since both devices track the measurement target independently of one another and deliver target data 1.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)

Abstract

Un procédé et un dispositif de détection et de correction d'erreurs d'alignement entre des appareils de conduite de tir et des installations d'armes ont les caractéristiques suivantes: des capteurs de mesure (B) de la cible sont agencés sur des canons (G3) à affûts servocommandés et on aligne la ligne de visée du capteur de mesure de la cible avec la ligne de tir du canon; on aligne les canons, avec leur capteur de mesure de la cible, sur une cible commune de mesure (Z) au moyen d'un appareil de poursuite (T2); on saisit l'écart entre la position de la cible de mesure et la position de la ligne de visée du capteur de mesure de la cible dans le capteur de mesure de la cible du canon commandé par l'appareil de poursuite, on évalue cet écart et on calcule un vecteur d'erreur d'alignement pris en compte par la servocommande du canon et lors de la correction de signaux de commande émis pendant le tir.
EP88903826A 1987-05-15 1988-05-02 Procede d'alignement d'agencement de conduite de tir et agencement de conduite de tir de mise en oeuvre du procede Expired - Lifetime EP0314721B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH1881/87 1987-05-15
CH188187 1987-05-15

Publications (2)

Publication Number Publication Date
EP0314721A1 true EP0314721A1 (fr) 1989-05-10
EP0314721B1 EP0314721B1 (fr) 1993-09-08

Family

ID=4220767

Family Applications (1)

Application Number Title Priority Date Filing Date
EP88903826A Expired - Lifetime EP0314721B1 (fr) 1987-05-15 1988-05-02 Procede d'alignement d'agencement de conduite de tir et agencement de conduite de tir de mise en oeuvre du procede

Country Status (6)

Country Link
US (1) US5208418A (fr)
EP (1) EP0314721B1 (fr)
KR (1) KR960014641B1 (fr)
DE (1) DE3883916D1 (fr)
TR (1) TR27014A (fr)
WO (1) WO1988008952A1 (fr)

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Also Published As

Publication number Publication date
EP0314721B1 (fr) 1993-09-08
AU1688388A (en) 1988-12-06
TR27014A (tr) 1994-09-15
KR960014641B1 (ko) 1996-10-19
KR890701975A (ko) 1989-12-22
US5208418A (en) 1993-05-04
DE3883916D1 (de) 1993-10-14
AU605591B2 (en) 1991-01-17
WO1988008952A1 (fr) 1988-11-17

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