EP0314721B1 - Ausrichtverfahren für eine feuerleiteinrichtung und feuerleiteinrichtung zur durchführung des verfahrens - Google Patents

Ausrichtverfahren für eine feuerleiteinrichtung und feuerleiteinrichtung zur durchführung des verfahrens Download PDF

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Publication number
EP0314721B1
EP0314721B1 EP88903826A EP88903826A EP0314721B1 EP 0314721 B1 EP0314721 B1 EP 0314721B1 EP 88903826 A EP88903826 A EP 88903826A EP 88903826 A EP88903826 A EP 88903826A EP 0314721 B1 EP0314721 B1 EP 0314721B1
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EP
European Patent Office
Prior art keywords
target
measuring
gun
alignment
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.)
Expired - Lifetime
Application number
EP88903826A
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German (de)
English (en)
French (fr)
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EP0314721A1 (de
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
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Oerlikon Contraves AG
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Application filed by Oerlikon Contraves AG filed Critical Oerlikon Contraves AG
Publication of EP0314721A1 publication Critical patent/EP0314721A1/de
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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 correcting alignment errors. It should also be possible with the method according to the invention to also detect and correct time-dependent errors (slow 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, as self-parameters, which are something like "personal” error sizes, are directly linked to control and / or regulation data and in real-time processing by means of compensating control corrected.
  • 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.
  • This type of procedure is known and is used in conjunction with the "strapdown inertial navigation" technique, which means "tied inertial navigation technology".
  • US-A-3955292 shows an application to practice shooting without ammunition.
  • the guns of an anti-aircraft battery are tracked by a target tracking device without reserve.
  • the target is provided with a special reflector for the laser beams.
  • a laser transmitter / receiver mounted on the gun and aligned with the shooting axis emits pulses and receives reflected pulses.
  • the device makes it possible to determine theoretical hits. However, an angle measurement is not provided and therefore no quantitative information about the orientation of the devices is possible.
  • 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, e.g. assembly errors.
  • the zero test thus determines an observable overall 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.
  • Fire control devices and guns are manufactured with economically viable, normal tolerances and precisely measured before installation on the bedding surfaces, if possible at the place of manufacture. Mechanical adjustment devices are not to be provided. The normal mechanical tolerances (specifications) result in deviations from the desired geometry that are too great with regard to the required precision. However, from now on, the precisely measured deviations should be able to be taken into account electronically (using a computer), both in measuring and in shooting.
  • the alignment measurements i.e. the determination of the positions of the bedding in relation to each other with the usual measuring accuracy (i.e. alignment measurements that measure the original rough position of approx. one angular degree with a measuring accuracy of approx. 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 subsequent fine measurement in measurement mode is independent of the ship's position and can be carried out at sea. All 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 positional 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 minute in a kind of regression or error compensation calculation and from then on are also taken into account in measuring and shooting operation.
  • part 3 Repeated execution of part 3, among other things, enables slow changes in the ship's geometry, which also lead to alignment errors, to be determined and corrected. These changes arise, for example, from loading and unloading the ship and are usually reversible. Permanent changes due to external influences such as accruing, bumping, strong shocks, but also normal aging can be determined and taken into account. With the method according to the invention, it is possible to maintain a high level of precision in the fire control throughout the entire life of the ship. The particular advantage of this measurement mode is that it can be carried out on the high seas without, as is usually the case in Part 2, decommissioning the ship.
  • 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 the parameters are 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 the parameters which indicate the relationship between the individual bodywork devices and that of the bodybuilding devices to the ship, for example orientations, inclinations or inclinations etc. They are monitored with the aid of the method according to the invention and the deviations which occur over time are compensated accordingly .
  • a common measurement target is measured by all sensors of the bodywork device, independent of the ship coordinates. These measurements result in e.g. Deviations from the common target observable on the gun, which are the result of the remaining alignment errors, taking into account the parameters measured so far.
  • a peculiarity of the method can also be seen in the fact that, in addition to determining 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 fire control 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 determined by the factory measurements, fixed position 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 position between the target and the sight line is immediately visible.
  • the gun can also be equipped with directional means and independently pursue the common measurement target and determine its position; 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 measurement 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, for example so-called charge coupled devices (CCD array).
  • CCD array charge coupled devices
  • Such a camera has the advantage of high dimensional accuracy without using a control device.
  • the image captured in this way can be scaled and calibrated.
  • a front lens can be used to focus on targets in the close range (less than 100 m).
  • the storage measurement is advantageously carried out by measuring a calibrated television image from a camera of the type mentioned above.
  • the camera's line of sight which is in a fixed, known direction to the firing line or sensor line - for example parallel to it - is marked by a Crosshair marked.
  • a mark is also shown, which can be positioned with the aid of a joystick or similar means for moving a pointer onto a screen (mouse, trackball, pointer deflection keys).
  • the target now generally appears on the monitor image with a certain amount of crosshairs to be registered. Registration is done by positioning the marker on the target and then pressing a key switch; the current file, which is known from the brand generator, is saved.
  • 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. Just like that When using IR sensors, the aim should be that the IR focus is defined. Suitable targets include Lüneburglinsen, radar angle mirrors with heating and lighting, etc.
  • 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 constantly 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 placed in different positions relative to the ship. This can be done, for example, by means of a helicopter, which carries the target body Z on an approximately 80 m long suspension 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.
  • a suspected, time-independent error for example, can also be checked for its actual time independence, since the all-round target measurements can be repeated at any time intervals.
  • Figure 1 shows a setup of three sensor groups G, T and R. These are a search radar R, two aiming devices (tracking radar) T1, T2 and three computer-controlled guns G1, 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 around the axes x or y or z, as shown in a schematic representation for different devices in FIG. 2, on the other hand the small twists of the coordinate system of the upper mount compared to the ideal coordinate system, originating from eg Residual errors from the measurements according to part 1 of the procedure.
  • one or more alignment error vectors B11 (gun 1 to aiming device 1), B12 (gun 1 to aiming device 2), B21, B22, B31, B32, A1 (aiming device 1 to circular 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 elevation of the sensor sight line.
  • FIG. 3 This is shown schematically in an example in FIG. 3, in which a gun G3 with a TV sensor B, a straightening device T2 that controls the gun by means of control data and a helicopter 10 with a measurement target Z attached to the suspension cable 12, for example, are shown.
  • the two attachments, the aiming device and the gun are on deck S in their beddings and, as I said, are roughly aligned mechanically. 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.
  • the sensor sight line 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 is generally be visible with a certain offset d from the cross point of the crosshair, in Fig. 4A in a schematic representation e.g. in the upper left quadrant of the picture.
  • This immediately visible position error is the result of all kinds 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 measurement target are recorded at intervals of a few seconds and together with the target data of the Stored target continuously moved in space by aligning a measuring mark with the measuring target image using the joystick and initiating storage of the data by pressing a trigger button.
  • the data set of measurements recorded in this way can be e.g. as illustrated 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, when the alignment error vector has been 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 TV sensor and a data processing system (fire control computer) DV are connected as shown. From a hierarchical perspective, 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.
  • the same procedure is used to determine the alignment error vector A2 between the search radar R and the directional device T2, only the search radar only evaluates the side angle here.
  • the measured value can be recorded automatically, since both devices track the measurement target independently of one another and deliver target data.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
EP88903826A 1987-05-15 1988-05-02 Ausrichtverfahren für eine feuerleiteinrichtung und feuerleiteinrichtung zur durchführung des verfahrens Expired - Lifetime EP0314721B1 (de)

Applications Claiming Priority (2)

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

Publications (2)

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

Family

ID=4220767

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EP88903826A Expired - Lifetime EP0314721B1 (de) 1987-05-15 1988-05-02 Ausrichtverfahren für eine feuerleiteinrichtung und feuerleiteinrichtung zur durchführung des verfahrens

Country Status (6)

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

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0577017B1 (de) * 1992-06-27 2001-03-07 Hollandse Signaalapparaten B.V. Gerät und Verfahren zum Testen des dynamischen Verhaltens von Rohrwaffen
EP1152206A1 (de) 2000-04-26 2001-11-07 Oerlikon Contraves Ag Verfahren und Vorrichtung zur Korrektur von Ausrichtfehlern zwischen Geräten

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US5456157A (en) * 1992-12-02 1995-10-10 Computing Devices Canada Ltd. Weapon aiming system
DE19716199A1 (de) * 1997-04-18 1998-10-22 Rheinmetall Ind Ag Verfahren zum Richten der Waffe einer Waffenanlage und Waffenanlage zur Durchführung des Verfahrens
CH694382A5 (de) * 1998-07-31 2004-12-15 Contraves Ag Verfahren zur Bekämpfung mindestens eines Flugzieles mittels einer Feuergruppe, Feuergruppe aus mindestens zwei Feuereinheiten und Verwendung der Feuergruppe.
CH695248A5 (de) * 2000-12-19 2006-02-15 Contraves Ag Verfahren und Vorrichtung zum Korrigieren von Schiessfehlern.
EP1402224A2 (en) * 2001-06-08 2004-03-31 Beamhit, LLC Firearm laser training system and method facilitating firearm training for extended range targets with feedback of firearm control
DE50201716D1 (de) 2001-11-23 2005-01-13 Contraves Ag Verfahren und Vorrichtung zum Beurteilen von Richtfehlern eines Waffensystems und Verwendung der Vorrichtung
ATE310225T1 (de) * 2001-11-23 2005-12-15 Contraves Ag Verfahren und vorrichtung zum beurteilen der richtfehler eines waffensystems und verwendung der vorrichtung
DE50204077D1 (de) * 2002-01-16 2005-10-06 Contraves Ag Verfahren und Vorrichtung zum Kompensieren von Schiessfehlern und Systemrechner für Waffensystem
IL148452A (en) * 2002-02-28 2007-08-19 Rafael Advanced Defense Sys Gimbal locking method and device
EP1371931B1 (de) * 2002-06-14 2006-08-23 Oerlikon Contraves Ag Verfahren und Vorrichtung zur Bestimmung eines Winkelfehlers und Verwendung der Vorrichtung
US20050153262A1 (en) * 2003-11-26 2005-07-14 Kendir O. T. Firearm laser training system and method employing various targets to simulate training scenarios
IL161082A (en) * 2004-03-25 2008-08-07 Rafael Advanced Defense Sys System and method for automatically acquiring a target with a narrow field-of-view gimbaled imaging sensor
JP2006112910A (ja) * 2004-10-14 2006-04-27 Optex Co Ltd 赤外線検知装置およびその設置方法
US8074394B2 (en) * 2005-03-08 2011-12-13 Lowrey Iii John William Riflescope with image stabilization
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IL172905A0 (en) * 2005-12-29 2007-03-08 Men At Work Boresighting system and method
US20100275491A1 (en) * 2007-03-06 2010-11-04 Edward J Leiter Blank firing barrels for semiautomatic pistols and method of repetitive blank fire
EP2536995B1 (en) * 2010-02-16 2017-10-04 TrackingPoint, Inc. Method and system of controlling a firearm
IL204455A (en) * 2010-03-14 2015-03-31 Shlomo Cohen Artillery firing system and method
KR101485991B1 (ko) * 2010-11-10 2015-01-27 삼성테크윈 주식회사 타격체계 위치 파악 방법 및 이를 이용한 타격체계 제어 방법
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CN104089529B (zh) * 2014-05-22 2016-03-02 陈远春 使用光纤陀螺仪对战斗机武器系统进行校准的方法及设备

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0577017B1 (de) * 1992-06-27 2001-03-07 Hollandse Signaalapparaten B.V. Gerät und Verfahren zum Testen des dynamischen Verhaltens von Rohrwaffen
EP1152206A1 (de) 2000-04-26 2001-11-07 Oerlikon Contraves Ag Verfahren und Vorrichtung zur Korrektur von Ausrichtfehlern zwischen Geräten

Also Published As

Publication number Publication date
KR960014641B1 (ko) 1996-10-19
EP0314721A1 (de) 1989-05-10
KR890701975A (ko) 1989-12-22
US5208418A (en) 1993-05-04
AU605591B2 (en) 1991-01-17
AU1688388A (en) 1988-12-06
WO1988008952A1 (en) 1988-11-17
DE3883916D1 (de) 1993-10-14
TR27014A (tr) 1994-09-15

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