EP0347968B1 - Verfahren und Vorrichtung zur Steuerung eines Waffensystems - Google Patents

Verfahren und Vorrichtung zur Steuerung eines Waffensystems Download PDF

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Publication number
EP0347968B1
EP0347968B1 EP89201478A EP89201478A EP0347968B1 EP 0347968 B1 EP0347968 B1 EP 0347968B1 EP 89201478 A EP89201478 A EP 89201478A EP 89201478 A EP89201478 A EP 89201478A EP 0347968 B1 EP0347968 B1 EP 0347968B1
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EP
European Patent Office
Prior art keywords
signals
platform
target
control device
projectile
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
EP89201478A
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English (en)
French (fr)
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EP0347968A1 (de
Inventor
Bertil Jan Hijink
Johannes Martinus Keller
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Thales Nederland BV
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Thales Nederland BV
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G7/00—Direction control systems for self-propelled missiles
    • F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
    • F41G7/30—Command link guidance systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G5/00—Elevating or traversing control systems for guns
    • F41G5/08—Ground-based tracking-systems for aerial targets
    • 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

Definitions

  • the invention relates to an assessment device for assessment of the hitting probability of a gun system
  • a control device suitable for application with the gun system, for generating control signals with which at least one projectile can be manoeuvred towards a target by aiming the gun in a certain direction and where, for the purpose of generating the said control signals, the control device is provided with present target position signals obtained with a first sensor.
  • the invention also relates to a method for assessment of the hitting probability of a gun system wherein control signals are generated with which at least one projectile can be manoeuvred towards a target by aiming the gun in a certain direction and where the said control signals are generated on the basis of present target position signals obtained with a first sensor.
  • the control device computes an optimal gun aiming point for the gun to achieve that the projectile, in this case a missile, fired by the gun is directed towards the vicinity of the moving target.
  • a measure for the operational quality of the system may be the hitting probability with respect to the projectile hitting the target.
  • the hitting probability is not only determined by the operation of a target tracking sensor, the control device and the weapon system, but also by the target.
  • the effectiveness of the control device is strongly determined by the quality of target measurements by the target tracking sensor and by the behaviour of the target.
  • a well-known test procedure to specify the hitting probability of a weapon control system is to fire projectiles at a towed target. Although in this procedure all factors determining the hitting probability are included in the assessment, the procedure remains limited to a non-realistic target and target trajectory. Another disadvantage of this test procedure is that real ammunition is used, leading to high costs.
  • Another well-known test procedure for a weapon system provided with a gun, in which no firing takes place, is to aim the gun, which is provided with well-known video registration equipment including a barrel camera, at a hitting point of projectile with target calculated by the control device, while a zero projectile time of flight is assumed.
  • a disadvantage of this test procedure is that it does not include the influence of unexpected target manoeuvres occurring during the projectile time of flight.
  • the present invention has for its object to provide a device and method for assessment of the hitting probability of a control system, suitable for application with a weapon system, for generating control signals such as described in the opening paragraph, offering a possibility for a test procedure under operational conditions against realistic targets, while the above-mentioned objections are obviated.
  • the assessment device is characterised in that an electro-optic sensor is mounted on the gun, that signals representing a predicted hitting point between the at least one projectile and the target, presently valid and calculated in the past from present target position signals, are used for calculating the said control signals such that the electro-optic sensor is substantially pointed onto the said predicted hitting point, and that actual target position signals provided by the electro-optic sensor are made available for indicating the actual target position relative to the predicted hitting point at each time the target should arrive at the said predicted hitting point.
  • the method according to the invention is characterised in that an electro-optic sensor is mounted on the gun, that signals representing a predicted hitting point between the at least one projectile and the target, presently valid and calculated in the past present target position signals, are used for calculating the said control signals such that the electro-optic sensor is substantially pointed onto the said predicted hitting point, and that actual target position signals provided by the electro-optic sensor are made available for indicating the actual target position relative to the said predicted hitting point at each time the target should arrive at the said predicted hitting point.
  • the advantage of the present invention is that the influence of target manoeuvres occurring during the said time span on the control device is taken into account in the test procedure.
  • control device is suitable for mounting on a moving platform and where the control device is provided with platform signals containing information on the orientation, velocity and position of the platform with respect to a reference coordinate system
  • platform signals containing information on the orientation, velocity and position of the platform with respect to a reference coordinate system
  • the device and method for control according to the invention may be applied in various weapon systems.
  • an embodiment is obtained by the control device calculating a future maximum interception area of the projectile with the target and the control device is provided with signals representing the present interception area calculated a certain time span ago and relating to the present.
  • Fig. 1 represents a first embodiment of a control device according to the invention applied in a weapon control system which is provided with a target sensor 1, the control device 2 and a weapon system 3.
  • This figure shows a platform sensor unit 4 which is provided with suitable sensors for measuring the orientation S p and position P p of the platform on which the weapon control system is fitted.
  • Target sensor 1 is fitted with a pulse radar apparatus 5 supplying bearing and range information of a target with respect to a line of sight of an antenna of the pulse radar apparatus.
  • Target sensor 1 can also be an electro-optic sensor such as an IR or a TV camera, possibly provided with a laser range finder.
  • the antenna is provided with aiming means 6, placing the antenna in the desired orientation by means of orientation readers recording the orientation S s of the antenna with respect to the platform.
  • aiming means 6 are provided with servos and so-called synchros.
  • the bearing and range information of the target, the information relating to the orientation S s of the antenna, the information with respect to the orientation S p of the platform and the data relating to the position P p of the platform are supplied to control device 2.
  • the measured target data are, by means of data relating to the orientation S s of the antenna, the orientation S p and position P p of the platform, preferably converted (block 7) to a first reference coordinate system, which is preferably earth-orientated. Moreover, the measured target data are filtered ("target track filtering", block 7) for the purpose of control signals for aiming means 6.
  • the converted target data P d (t 1 ) indicated at regular intervals at a first point in time with t 1 (block 8), are used to calculate a gun aiming point SP R (t 1 ) for weapon system 3 (block 9).
  • a future target position after this time of flight is calculated (block 10).
  • This future hitting point TP(t 1 ) calculated at a first point in time t 1 is converted by means of data concerning the position P p of the platform to a relative future hitting point TP R (t 1 ) with respect for the platform (block 11).
  • a model of the projectile trajectory is used to make a new calculation (block 12) of the projectile time of flight TS(t 1 ), which calculation is used as an improved estimation of the projectile time of flight in the new calculation of the future hitting point TP(t 1 ).
  • a relative gun aiming point SP R (t 1 ) for weapon system 3 is calculated (block 12) by means of the projectile trajectory model.
  • the projectile trajectory model uses stored ballistic and meteorological data B and M (blocks 12a and 12b).
  • control signal S ⁇ 1 When using the control device in a normal weapon control mode, indicated by control signal S ⁇ 1 , the calculated relative gun aiming point SP R (t 1 ) is converted to platform coordinates by means of data concerning the orientation S p of the platform (block 13). On the basis of the converted gun aiming point, control signals are generated (block 13) for aiming means 14a which aim a launching system 14b.
  • control signal S 1 Use of the control device in a mode suitable for assessment of the aiming of the weapon system at the target according to the invention is indicated with control signal S 1 .
  • weapon system 3 is not controlled on the basis of gun aiming point SP R (t 1 ), but on the basis of a previously calculated and stored (block 19) hitting point TP R (t 2 ), which is valid at the present time t 1 .
  • Time t 2 relates to the point in time at which this hitting point was calculated.
  • the calculated future hitting points TP(t 1 ), a time validity TTP(t 1 ) corresponding with this hitting point and the point in time t 1 at which these data were calculated, are stored in a memory (block 15) during a certain period of time.
  • the time validity TTP(t 1 ) is obtained by adding to t 1 the corresponding projectile time of flight TS(t 1 ).
  • This memory consists of a cyclic buffer whose cycle time is longer than the longest expected projectile time of flight.
  • two hitting points TP(t′) and TP(t ⁇ ) are taken from the memory in which the future hitting points are stored, together with the corresponding time validity TTP(t′) and TTP(t ⁇ ) for which t′ ⁇ t 1 ⁇ t ⁇ (blocks 15 and 16).
  • the present hitting point TP(t 2 ), together with the time validity of t 1 is calculated by means of a linear interpolation between hitting points TP(t′) and TP(t ⁇ ) (block 16).
  • an embodiment may also store, during a particular time, the target trajectory data P d (t 1 ) or data derived thereof. The present hitting point calculation will then have to be carried out at a time t 1 , on the basis of the stored target trajectory data which were valid at an earlier time t 2 .
  • the present hitting points TP(t 2 ) are converted by means of data P p , relating to the position of the platform (block 16a), to present hitting points TF R (t 2 ) relative to the position of the platform. These relative present hitting points TP R (t 2 ) are subsequently converted (block 13) by means of data S p , relating to the orientation of the platform, to a coordinate system connected to the platform for the purpose of generating control signals for continuous aiming of weapon system 3 at these present hitting points.
  • a launching system 14b in the form of a gun has, for the purpose of the use of the control device in mode S 1 , been provided with a well-known barrel camera 17 for aligning the gun.
  • a difference between the present hitting point and the present target position as visible on video 18 from barrel camera 17 may subsequently be further processed in various ways.
  • the video information is continuously supplied to a user for assessment, which user is able to obtain an impression of the operation of the weapon control system.
  • Another embodiment is obtained when assessment is automated by the calculation of quality values, such as hitting probability, by means of data concerning dispersion relating to the trajectory, effectiveness of the projectile and target dimensions.
  • An embodiment including a barrel camera 17 is, strictly speaking, not required if the orientation of the gun has been calculated accurately enough. This orientation can be measured by the said readers, such as synchros, and compared by the control device with the stale hitting points.
  • Fig. 2 shows an embodiment of a control device in an application in a similar weapon control system which, for the purpose of aiming at the present hitting points, has been fitted with a second target sensor 22 provided with its own aiming means 20.
  • the control device 2 is executed in such a way that, besides conversion of gun aiming points (block 13), simultaneous conversion of present hitting points is executed (block 21).
  • the second target sensor is coupled in mode S 1 to the control device and continuously aimed at the present hitting points. In mode S ⁇ 1 , the second target sensor is available for another weapon control channel 23.
  • platform sensors 4 consist of means for once-only determination of the platform data relating to orientation S p and position P p .
  • a distinction between earth-oriented coordinates and coordinates determined by the platform is not required. Conversion from and to relative coordinates is therefore no longer necessary.
  • Fig. 3 shows an embodiment of a control device applied in a weapon control system suitable for mounting on a moving platform.
  • Platform sensors 4 continuously supply data relating to orientation S p , data relating to position P p , but also data relating to the own velocity V p of the platform.
  • the platform sensors 4 may consist of well-known gyro's, acceleration and velocity meters.
  • the control device by means of data relating to position P p and velocity V p of the platform, calculates the displacement of the platform at certain intervals at points in time indicated with t 1 (block 24). Position P p (t 1 ) at this time, velocity V p (t 1 ) at this time and the time t 1 are stored in a memory (block 25) during a certain period of time.
  • This memory is executed as cyclic memory of which the cycle time exceeds the maximum expected projectile time of flight. Subsequently, the present hitting point TP(t 2 ) (block 19) corresponding with a time t 1 is corrected (block 16a) for own displacement ⁇ P p (t 2 ) of the platform from time t 2 till time t 1 . To determine this own displacement, two stored platform positions P p (t′) and P p (t ⁇ ) are retrieved from memory 25, with t′ ⁇ t 2 ⁇ t ⁇ (block 26). Subsequently, the platform displacement ⁇ P p (t 2 ) as from time t 2 is found by linear interpolation between these platform positions (block 26).

Claims (6)

  1. Bemessungsvorrichtung zur Bemessung der Treffwahrscheinlichkeit eines Geschützsystems (14b), bestehend aus einer Steuervorrichtung (2), geeignet für Anwendung mit dem Geschützsystem (14b), zur Generierung von Steuersignalen, mit denen zumindest ein Projektil zu einem Ziel manövriert werden kann, indem das Geschütz (14b) in eine bestimmte Zielrichtung gebracht wird, wobei die Steuervorrichtung (2) mit von einem ersten Sensor (1) erhaltenen, gegenwärtigen Zielpositionssignalen versehen wird, mit dem Zweck, die erwähnten Steuersignale zu generieren, dadurch gekennzeichnet, daß die Bemessungsvorrichtung einen auf dem Geschütz (14b) montierten, elektro-optischen Sensor (17) umfaßt, daß einen zwischen zumindest einem Projektil und dem Ziel vorausberechneten Aufftreffpunkt repräsentierende, jetzt gültige und zu einem früheren Zeitpunkt aus den erwähnten, gegenwärtigen Positionssignalen berechnete Signale von der Steuervorrichtung (2) dazu benutzt werden, das Geschütz mit Hilfe der erwähnten Steuersignale ununterbrochen zu richten, und zwar so, daß der elektro-optische Sensor (17) im wesentlichen auf den erwähnten, vorausberechneten Auftreffpunkt gerichtet ist, und daß wirkliche, von dem elektro-optischen Sensor (17) stammende Zielpositionssignale verfügbar gemacht werden, für die Anzeige der wirklichen Zielposition hinsichtlich des erwähnten vorausberechneten Auftreffpunkts zum Zeitpunkt, an dem das Ziel den erwähnten vorausberechneten Auftreffpunkt erreichen würde.
  2. Bemessungsvorrichtung gemäß Anspruch 1, wobei die Steuervorrichtung (2) für die Montage auf eine bewegende Plattform (4) geeignet ist, und wobei die Steuervorrichtung mit Information über Orientierung, Geschwindigkeit und Position der Plattform mit Bezug auf ein Bezugskoordinatensystem enthaltende Plattformsignalen versehen wird, dadurch gekennzeichnet, daß die Steuervorrichtung (2) mit Hilfe der Plattformsignale ununterbrochen die Verlagerung der Plattform berechnet und diese Verlagerungswerte während zumindest einer bestimmten Zeitspanne in einem Speicher (25) speichert.
  3. Bemessungsvorrichtung gemäß Anspruch 2, dadurch gekennzeichnet, daß die Steuervorrichtung ununterbrochen die vorausberechneten Positionssignale für was betrifft die gegenwärtige Orientierung und Verlagerung der Plattform während einer bestimmten Zeitspanne in bezug auf das Bezugskoordinatensystem korrigiert.
  4. Bemessungsvorrichtung gemäß einem der vorhergehenden Ansprüche, wobei das Projektil als ein von der Steuervorrichtung korrigierbares Projektil ausgeführt ist, dadurch gekennzeichnet, daß die Steuervorrichtung ein zukünftiges, maximales Abfanggebiet des Projektils berechnet, wobei das Ziel und die Steuervorichtung mit das gegenwärtige Abfanggebiet repräsentierenden, eine bestimmte Zeitspanne vorher berechneten Signalen versehen wird.
  5. Methode zur Bemessung der Treffwahrscheinlichkeit eines Geschützsystems (14b), wobei Steuersignale generiert werden, mit denen zumindest ein Projektil zu einem Ziel manövriert werden kann, indem das Geschütz (14b) in eine bestimmte Zielrichtung gebracht wird, und wobei die erwähnten Steuersignale auf der Basis von gegenwärtigen, von einem ersten Sensor (1) stammenden Positionssignalen generiert werden, dadurch gekennzeichnet, daß eine elektrooptischer Sensor (17) auf dem Geschütz (14b) montiert ist, daß einen zwischen zumindest einem Projektil und dem Ziel vorausberechneten Auftreffpunkt repräsentierende, jetzt gültige und vorher aus den erwähnten, gegenwärtigen Signalen berechneten Signalen repräsentierende Signale für die Berechnung der erwähnten Steuersingale benutzt werden, und zwar so, daß der elektro-optische Sensor (17) im wesentlichen auf den erwähnten vorausberechneten Auftreffpunkt gerichtet wird, und daß wirkliche, von dem elektro-optischen Sensor (17) stammende Zielpositionssignale verfügbar gemacht werden, für die Anzeige der wirklichen Zielposition hinsichtlich des erwähnten vorausberechneten Auftreffpunkts zum Zeitpunkt, an dem das Ziel den erwähnten vorausberechneten Auftreffpunkt erreichen würde.
  6. Methode gemäß Anspruch 5 für die Anwendung auf einer bewegenden Plattform, wobei von Information über Orientierung, Geschwindigkeit und Position der Plattform mit Bezug auf ein Bezugskoordinatensystem enthaltenden Plattformsignalen Gebrauch gemacht wird, dadurch gekennzeichnet, daß die Verlagerung der Plattform ununterbrochen auf der Basis von Plattformsignalen berechnet wird, und die Verlagerungswerte zumindest während einer bestimmten Zeitspanne gespeichert werden, die das Projektil zum Erreichen des vorausberechneten Auftreffpunkts benötigt.
EP89201478A 1988-06-21 1989-06-08 Verfahren und Vorrichtung zur Steuerung eines Waffensystems Expired - Lifetime EP0347968B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL8801576 1988-06-21
NL8801576A NL8801576A (nl) 1988-06-21 1988-06-21 Inrichting en werkwijze voor sturing van een wapensysteem.

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EP0347968A1 EP0347968A1 (de) 1989-12-27
EP0347968B1 true EP0347968B1 (de) 1996-10-30

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EP89201478A Expired - Lifetime EP0347968B1 (de) 1988-06-21 1989-06-08 Verfahren und Vorrichtung zur Steuerung eines Waffensystems

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EP (1) EP0347968B1 (de)
JP (1) JPH0244197A (de)
DE (1) DE68927395T2 (de)
ES (1) ES2094727T3 (de)
NL (1) NL8801576A (de)
NO (1) NO892538L (de)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL9500285A (nl) * 1995-02-16 1996-10-01 Hollandse Signaalapparaten Bv Vuurleidingssysteem.

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3848509A (en) * 1972-10-31 1974-11-19 Us Navy Closed-loop gun control system
FR2378318A1 (fr) * 1977-01-21 1978-08-18 Thomson Csf Systeme de poursuite d'une cible mobile
NL7905061A (nl) * 1979-06-29 1980-12-31 Hollandse Signaalapparaten Bv Werkwijze en inrichting voor het automatisch meten van richtfouten en het verbeteren van richtwaarden bij het schieten en richten van ballistische wapens tegen bewegende doelen.
US4320287A (en) * 1980-01-25 1982-03-16 Lockheed Electronics Co., Inc. Target vehicle tracking apparatus
GB2095799A (en) * 1981-03-27 1982-10-06 Baasch Hans An aiming device for use in firing at moving targets
DE3128761C2 (de) * 1981-07-21 1986-01-02 Siemens AG, 1000 Berlin und 8000 München Feuerleiteinrichtung für ein Flugabwehrsystem
US4647759A (en) * 1983-07-07 1987-03-03 The United States Of America As Represented By The Secretary Of The Air Force Fire control apparatus for a laser weapon
DE3665930D1 (en) * 1985-07-04 1989-11-02 Contraves Ag Target measurement system

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Publication number Publication date
EP0347968A1 (de) 1989-12-27
JPH0244197A (ja) 1990-02-14
NO892538L (no) 1989-12-22
NL8801576A (nl) 1990-01-16
DE68927395D1 (de) 1996-12-05
ES2094727T3 (es) 1997-02-01
NO892538D0 (no) 1989-06-19
DE68927395T2 (de) 1997-05-15

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