EP0356303B1 - Firing control system with compensation of aiming errors - Google Patents
Firing control system with compensation of aiming errors Download PDFInfo
- Publication number
- EP0356303B1 EP0356303B1 EP89402251A EP89402251A EP0356303B1 EP 0356303 B1 EP0356303 B1 EP 0356303B1 EP 89402251 A EP89402251 A EP 89402251A EP 89402251 A EP89402251 A EP 89402251A EP 0356303 B1 EP0356303 B1 EP 0356303B1
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- European Patent Office
- Prior art keywords
- target
- weapon
- camera
- reticle
- axis
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G3/00—Aiming or laying means
- F41G3/06—Aiming or laying means with rangefinder
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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
- F41G5/08—Ground-based tracking-systems for aerial targets
Definitions
- the present invention relates to fire control installations for a barrel which can be oriented and pointed by a servant. It is particularly applicable to installations comprising a weapon or several twin weapons, of small or medium caliber.
- the offset angle i.e. the distance between the direction of the crosshair and the axis of the weapon, is determined so that, if the direction of the crosshair is oriented towards the current target, the weapon is aimed at the "future goal".
- the offset angle is determined by taking into account the angular speed of movement of the target, the speed of the ammunition and the appreciated distance between the target and the weapon. The distance between the target and the weapon is generally estimated or measured, while the speed of the ammunition is memorized.
- the angular speed of movement of the target with respect to a fixed mark is assimilated to the angular speed of the weapon controlled by the servant who keeps it pointed at the target. Because of this assimilation, the measurement of the angular speed of the target is marred by noise due to pointing errors by the servant and possibly to the instabilities of the support.
- GB-A-1605027 describes a rifle whose sight is equipped with a wide field camera.
- the invention aims in particular to provide a firing control installation allowing a better determination of the offset angle to be given to the reticle.
- the invention provides a firing pipe installation for a barrel with an adjustable barrel which can be pointed by a serving, comprising a sight carried by the barrel of the weapon, with reticle movable relative to the axis of the weapon, and a wide field camera, linked to the weapon, characterized in that it also comprises means for calculating an offset angle between an aiming axis materialized by the reticle and the axis of the weapon, to control the position of the reticle in the viewfinder so that when the aiming axis is aligned with the target, the axis of the weapon is aligned with an estimated position that the target will have at the moment when the ammunition fired by the weapon will pass close to the target, the angle of offset ( ⁇ ) being calculated from variations in the aiming angle of the weapon, measured by sensors, and a correction signal supplied by means for measuring the apparent movement of the target in the field of the camera.
- the invention also aims to give a shooting installation a stadimetry capacity by using only simple means.
- the invention uses a wide field camera (which can be the camera used for measuring pointing errors) and means for measuring the apparent diameter of the target in the image supplied by this camera.
- a simple treatment makes it possible to determine, from the apparent diameter of the target, the value of the focal length of the camera and the actual pre-displayed dimensions of the target, the distance from the latter.
- the invention implements a camera using a matrix of load-coupled sensors (less expensive than a "Vidicon" camera).
- This camera can be, for night use, coupled to a light intensifier tube. The installation can then be used both day and night.
- the stadimetric measurement can be maintained continuously, on the only condition that the target remains in the field of the camera.
- the camera does not have to be pointed exactly at the target, whereas this is necessary in the case of a laser rangefinder with low field for example.
- the invention also aims to provide a movable reticle for fire control installations, making it possible to define the line of sight at the weapon pointer precisely, using only simple means.
- the invention provides a sighting shooting installation whose reticle is constituted by a liquid crystal matrix and a matrix display, making it possible to give at least one pixel a particular brightness.
- the matrix can also be used to present to the pointer the image seen by a wide field camera, such as that necessary for the functions mentioned above. This use is particularly advantageous when the camera is intended to operate with a low level of light, for example when it uses a light intensifier or a matrix of sensitive elements "NOCTICON”: night shooting then becomes possible.
- the pointing installation shown diagrammatically in FIGS. 1 and 2 is intended for a small caliber weapon 10, such as a 20 mm twin-barrel cannon, with manual aiming by rotation about a bearing axis 12 and an axis of site 14.
- the axis Xa of the weapon must be directed not towards the instantaneous position of the target at the instant of the shooting, which one will call thereafter "real goal”, but towards the position which will have the target at the moment when the ammunition passes nearby, that is to say towards the "future goal", indicated in dashes in Figure 1.
- the telescopic sight fixed to the weapon is provided with a reticle shift system in a direction and an amplitude such that, when the line of sight Xr is aligned with the real goal, the axis Xa of the weapon is aligned with the future goal .
- the use of an offset system involves estimating or calculating the angle of offset ⁇ between Xr and Xa, and of course that of the direction of the offset.
- the means shown in FIGS. 1 and 2 for defining the amplitude and the direction of ⁇ comprise a block for measuring the angle (or the angular speed) of pointing and a camera equipped with a deviation measurement device.
- the measuring block 16 can have a conventional constitution. In the case shown in FIG. 2, it is carried by the weapon and comprises for example two gyrometers which permanently supply the angles or the speeds to the calculation member 18. When the mount of the weapon is perfectly stationary, instead of gyros, tachometric or angular sensors can be used.
- the pursuit of a target whose angular position varies over time as indicated by a straight line in Figure 3 can be represented by an irregular line, such as line 20.
- the influence of the pointing difference e is reduced by low-pass filtering of the signal, which is not without drawbacks.
- the installation according to the invention eliminates this need.
- it includes a camera 22 carried by the weapon and whose field ⁇ is coaxial with the direction of the weapon. The field of view of this camera must be sufficient so that the real goal does not come out even when the difference between real goal and future goal is maximum.
- the video signal supplied by the camera 22 is applied to an image processing circuit 24 whose function is to provide, on an output 26, the characteristics (module and orientation) of the position and the speed of the goal in the field , i.e. optical deviation data.
- the calculating member 18 determines the angle ⁇ ( Figure 1).
- the distance can be supplied manually to the calculation unit on an output 28 of a desk 30. It can also be given by the image processing circuit 24, as will be seen further: the desk 30 can then include an output 32 for selecting the operating mode, allowing the calculation unit 18 to take into account either a distance pre-displayed on the desk, or a distance provided by the processing circuit picture.
- the calculating member 18 can provide the image processing circuit 24, on a channel 34, with an approximate indication of the location where the target must be in the field, which allows discrimination.
- the image processing circuit 24 can be provided for analyzing the image of the target, extracting its geometrical dimensions (apparent diameter) and supplying them to the calculating member 18 on an output 36. It then suffices to store in the calculation unit the dimensions of standard targets, for the various orientations where they may occur, so that the calculation unit has the elements necessary for stadimetry. A few standard dimensions are sufficient. It therefore suffices to provide a manual selector on the console 30.
- the reticle comprises a matrix, in particular with liquid crystals.
- the arrangement shown schematically in FIG. 1 can be used.
- a semi-reflecting plate 42 makes it possible to superimpose the real target and the graphics provided by the matrix 44.
- the calculating member 18 then excites at least one line and a column of the matrix, so as to reveal two brilliant perpendicular lines, or a pixel.
- This arrangement can be reversed, so that the reticle appears in black on an illuminated background, a switching of contrast inversion can be provided by modification. control of the matrix or reversing the direction of the polarizer involved in the implementation of the liquid crystal matrix.
- the calculation unit determines the position of the column and of the row to be excited. It is in particular advantageous to excite two rows 48 and two columns 50 to constitute a rectangular reticle usable for a stadimetric evaluation by the servant.
- the invention is susceptible of numerous modes of implementation.
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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)
Description
La présente invention concerne les installations de conduite de tir pour arme à fût orientable et pointable par un servant. Elle est notamment applicable aux installations comportant une arme ou plusieurs armes jumelées, de petit ou moyen calibre.The present invention relates to fire control installations for a barrel which can be oriented and pointed by a servant. It is particularly applicable to installations comprising a weapon or several twin weapons, of small or medium caliber.
On connaît déjà des installations de conduite de tir du type ayant un viseur porté par le fût de l'arme, à réticule déplaçable par rapport à l'axe de l'arme et des moyens d'évaluation de l'angle de décalage commandant la position du réticule. L'angle de décalage, c'est-à-dire l'écart entre la direction du réticule et l'axe de l'arme, est déterminé de façon que, si la direction du réticule est orientée vers la cible actuelle, l'arme soit pointée vers le "but futur". L'angle de décalage est déterminé en tenant compte de la vitesse angulaire de déplacement de la cible, de la vitesse de la munition et de la distance appréciée entre la cible et l'arme. La distance entre la cible et l'arme est généralement estimée ou mesurée, tandis que la vitesse de la munition est mémorisée. La vitesse angulaire de défilement de la cible par rapport à un repère fixe est assimilée à la vitesse angulaire de l'arme commandée par le servant qui la maintient pointée sur la cible. Du fait de cette assimilation, la mesure de la vitesse angulaire de la cible est entachée d'un bruit dû aux erreurs de pointage par le servant et éventuellement aux instabilités du support.There are already known fire control installations of the type having a sight carried by the barrel of the weapon, with a reticle movable relative to the axis of the weapon and means for evaluating the angle of offset controlling the position of the reticle. The offset angle, i.e. the distance between the direction of the crosshair and the axis of the weapon, is determined so that, if the direction of the crosshair is oriented towards the current target, the weapon is aimed at the "future goal". The offset angle is determined by taking into account the angular speed of movement of the target, the speed of the ammunition and the appreciated distance between the target and the weapon. The distance between the target and the weapon is generally estimated or measured, while the speed of the ammunition is memorized. The angular speed of movement of the target with respect to a fixed mark is assimilated to the angular speed of the weapon controlled by the servant who keeps it pointed at the target. Because of this assimilation, the measurement of the angular speed of the target is marred by noise due to pointing errors by the servant and possibly to the instabilities of the support.
Le GB-A-1605027 décrit un fusil dont le viseur est équipé d'une caméra à grand champ.GB-A-1605027 describes a rifle whose sight is equipped with a wide field camera.
L'invention vise notamment à fournir une installation de conduite de tir permettant une meilleure détermination de l'angle de décalage à donner au réticule.The invention aims in particular to provide a firing control installation allowing a better determination of the offset angle to be given to the reticle.
Dans ce but, l'invention propose une installation de conduite de tir pour arme à fût orientable pointable par un servant, comprenant un viseur porté par le fût de l'arme, à réticule déplaçable par rapport à l'axe de l'arme, et une caméra à grand champ, liée à l'arme, caractérisée en ce qu'elle comprend également des moyens de calcul d'un angle de décalage entre un axe de visée matérialisé par le réticule et l'axe de l'arme, pour commander la posi-tion du réticule dans le viseur de façon telle que lorsque l'axe de visée est aligné avec la cible, l'axe de l'arme soit aligné sur une position estimée qu'aura la cible à l'instant où la munition tirée par l'arme passera à proximité de la cible, l'angle de décalage (α) étant calculé à partir des variations de l'angle de pointage de l'arme, mesurées par des capteurs, et d'un signal de correction fourni par des moyens de mesure du mouvement apparent de la cible dans le champ de la caméra.To this end, the invention provides a firing pipe installation for a barrel with an adjustable barrel which can be pointed by a serving, comprising a sight carried by the barrel of the weapon, with reticle movable relative to the axis of the weapon, and a wide field camera, linked to the weapon, characterized in that it also comprises means for calculating an offset angle between an aiming axis materialized by the reticle and the axis of the weapon, to control the position of the reticle in the viewfinder so that when the aiming axis is aligned with the target, the axis of the weapon is aligned with an estimated position that the target will have at the moment when the ammunition fired by the weapon will pass close to the target, the angle of offset (α) being calculated from variations in the aiming angle of the weapon, measured by sensors, and a correction signal supplied by means for measuring the apparent movement of the target in the field of the camera.
On réalise ainsi une fonction équivalente à celle d'un télépointeur stabilisé servant de poste directeur à un système d'arme, mais de façon beaucoup plus simple. La mesure du mouvement apparent dans le champ de la caméra fournit simplement un terme de correction du pointage, écartant le bruit provoqué par l'incapacité du servant à suivre en permanence et de façon rigoureuse le déplacement de la cible. En d'autres termes, la trajectographie de la cible devient indépendante de la qualité de poursuite de la cible. Le filtrage visant à minimiser l'influence des erreurs de pointage peut être simplifié.This achieves a function equivalent to that of a stabilized remote pager serving as a control station for a weapon system, but in a much simpler manner. Measuring the apparent movement in the field of the camera simply provides a pointing correction term, eliminating the noise caused by the servant's inability to continuously and rigorously follow the movement of the target. In other words, the trajectory of the target becomes independent of the quality of pursuit of the target. Filtering to minimize the influence of pointing errors can be simplified.
En outre, les couplages entre pointage et introduction de la correction de tir sont sans effet sur le calcul de cette dernière.In addition, the couplings between pointing and introduction of the shot correction have no effect on the calculation of the latter.
L'invention vise également à donner à une installation de tir une capacité de stadimétrie en ne mettant en oeuvre que des moyens simples. Pour cela, l'invention utilise une caméra à grand champ (qui peut être la caméra utilisée pour la mesure des erreurs de pointage) et des moyens de mesure du diamètre apparent de la cible dans l'image fournie par cette caméra. Un traitement simple permet de déterminer, à partir du diamètre apparent de la cible, de la valeur de la focale de la caméra et des dimensions réelles préaffichées de la cible, l'éloignement de cette dernière.The invention also aims to give a shooting installation a stadimetry capacity by using only simple means. For this, the invention uses a wide field camera (which can be the camera used for measuring pointing errors) and means for measuring the apparent diameter of the target in the image supplied by this camera. A simple treatment makes it possible to determine, from the apparent diameter of the target, the value of the focal length of the camera and the actual pre-displayed dimensions of the target, the distance from the latter.
On peut notamment utiliser, pour mettre en oeuvre l'invention, une caméra utilisant une matrice de capteurs à couplage de charge (moins coûteuse qu'une caméra "Vidicon"). Cette caméra peut être, pour l'utilisation de nuit, couplée à un tube intensificateur de lumière. L'installation est alors utilisable aussi bien de jour que de nuit.We can especially use, to highlight The invention implements a camera using a matrix of load-coupled sensors (less expensive than a "Vidicon" camera). This camera can be, for night use, coupled to a light intensifier tube. The installation can then be used both day and night.
Il est important de noter que la mesure stadimétrique peut être entretenue en permanence, à la seule condition que la cible reste dans le champ de la caméra. La caméra n'a pas à être pointée exactement sur la cible, alors que cela est nécessaire dans le cas d'un télémètre laser à faible champ par exemple.It is important to note that the stadimetric measurement can be maintained continuously, on the only condition that the target remains in the field of the camera. The camera does not have to be pointed exactly at the target, whereas this is necessary in the case of a laser rangefinder with low field for example.
L'invention vise encore à fournir un réticule déplaçable pour installations de conduite de tir, permettant de définir l'axe de visée au pointeur de l'arme de façon précise, en ne mettant en oeuvre que des moyens simples.The invention also aims to provide a movable reticle for fire control installations, making it possible to define the line of sight at the weapon pointer precisely, using only simple means.
Pour cela, l'invention propose une installation de conduite de tir à viseur dont le réticule est constitué par une matrice à cristaux liquides et à affichage matriciel, permettant de donner à au moins un pixel une brillance particulière.For this, the invention provides a sighting shooting installation whose reticle is constituted by a liquid crystal matrix and a matrix display, making it possible to give at least one pixel a particular brightness.
La matrice peut également être utilisée pour présenter au pointeur l'image vue par une caméra à grand champ, telle que celle nécessaire pour les fonctions mentionnées plus haut. Cette utilisation est particulièrement intéressante lorsque la caméra est prévue pour fonctionner avec un faible niveau de lumière, par exemple lorsqu'elle utilise un intensificateur de lumière ou une matrice d'éléments sensibles "NOCTICON" : le tir de nuit devient alors possible.The matrix can also be used to present to the pointer the image seen by a wide field camera, such as that necessary for the functions mentioned above. This use is particularly advantageous when the camera is intended to operate with a low level of light, for example when it uses a light intensifier or a matrix of sensitive elements "NOCTICON": night shooting then becomes possible.
L'invention sera mieux comprise à la lecture de la description qui suit d'un mode particulier de réalisation donné à titre d'exemple non limitatif. La description se réfère aux dessins qui l'accompagnent, dans lesquels :
- la Figure 1 est un schéma de principe destiné à faire apparaître les paramètres qui interviennent pour la mise en oeuvre de l'invention ;
- la Figure 2 est un synoptique montrant les composants d'une installation suivant l'invention ;
- la Figure 3 montre un exemple de variation de la direction d'une arme pointée sur la cible, dans un repère fixe, en fonction du temps, faisant apparaître l'écart de pointage calculée par analyse de l'image fournie par une caméra liée au fût de l'arme ;
- la Figure 4 est un schéma montrant l'image fournie par un moniteur associé à la caméra de télévision portée par le fût de l'arme.
- Figure 1 is a block diagram for showing the parameters involved in the implementation of the invention;
- Figure 2 is a block diagram showing the components of an installation according to the invention;
- Figure 3 shows an example of variation of the direction of a weapon aimed at the target, in a fixed reference, as a function of time, showing the aiming deviation calculated by analysis of the image provided by a camera linked to the was of the weapon;
- Figure 4 is a diagram showing the image provided by a monitor associated with the television camera carried by the barrel of the weapon.
L'installation de pointage schématisée en Figures 1 et 2 est destinée à une arme 10 de petit calibre, telle qu'un canon bitube de 20 mm, à pointage manuel par rotation autour d'un axe de gisement 12 et d'un axe de site 14. L'axe Xa de l'arme doit être dirigé non pas vers la position instantanée de la cible à l'instant du tir, qu'on appellera par la suite "but réel", mais vers la position qu'aura la cible à l'instant où la munition passera à proximité, c'est-à-dire vers le "but futur", indiqué en tirets sur la Figure 1. Pour faciliter le pointage par le servant, la lunette de visée solidaire de l'arme est munie d'un système de décalage du réticule dans une direction et d'une amplitude telles que, lorsque l'axe de visée Xr est aligné avec le but réel, l'axe Xa de l'arme est aligné avec le but futur. L'utilisation d'un système de décalage implique l'estimation ou le calcul de l'angle de décalage α entre Xr et Xa, et naturellement celui de la direction du décalage.The pointing installation shown diagrammatically in FIGS. 1 and 2 is intended for a
Les moyens montrés en Figures 1 et 2 pour définir l'amplitude et la direction de α comprennent un bloc de mesure de l'angle (ou de la vitesse angulaire) de pointage et une caméra équipée d'un dispositif d'écartométrie. Le bloc de mesure 16 peut avoir une constitution classique. Dans le cas montré en Figure 2, il est porté par l'arme et comporte par exemple deux gyromètres qui fournissent en permanence les angles ou les vitesses à l'organe de calcul 18. Lorsque l'affût de l'arme est parfaitement immobile, on peut utiliser, au lieu de gyromètres, des capteurs tachymétriques ou angulaires.The means shown in FIGS. 1 and 2 for defining the amplitude and the direction of α comprise a block for measuring the angle (or the angular speed) of pointing and a camera equipped with a deviation measurement device. The
Du fait des imperfections et des constantes de temps du système de motorisation de l'affût et des limitations inhérentes au pointage manuel, la poursuite d'une cible dont la position angulaire varie dans le temps comme indiqué par une ligne droite sur la Figure 3, peut être représentée par une ligne irrégulière, telle que la ligne 20. Dans une installation classique, l'influence de l'écart de pointage e est réduite par filtrage passe-bas du signal, ce qui n'est pas sans inconvénient. L'installation suivant l'invention écarte cette nécessité. Pour cela, elle comprend une caméra 22 portée par l'arme et dont le champ ϑ est coaxial à la direction de l'arme. Le champ de cette caméra doit être suffisant pour que le but réel n'en sorte pas même lorsque l'écart entre but réel et but futur est maximum.Due to the imperfections and time constants of the lookout motorization system and the inherent limitations of manual aiming, the pursuit of a target whose angular position varies over time as indicated by a straight line in Figure 3, can be represented by an irregular line, such as
Le signal vidéo fourni par la caméra 22 est appliqué à un circuit 24 de traitement d'image dont une fonction est de fournir, sur une sortie 26, les caractéristiques (module et orientation) de la position et de la vitesse du but dans le champ, c'est-à-dire des données d'écartométrie optique.The video signal supplied by the
En combinant les mesures de vitesse ou de position fournies par le bloc 16 et par le circuit 24, ainsi qu'une indication de distance du but, l'organe de calcul 18 détermine l'angle α (Figure 1). La distance peut être fournie manuellement à l'organe de calcul sur une sortie 28 d'un pupitre 30. Elle peut également être donnée par le circuit de traitement d'image 24, comme on le verra plus loin : le pupitre 30 peut alors comporter une sortie 32 de sélection de mode de fonctionnement, permettant à l'organe de calcul 18 de prendre en compte soit une distance préaffichée sur le pupitre, soit une distance fournie par le circuit de traitement d'image.By combining the speed or position measurements provided by the
Il sera souvent inutile d'aider le circuit de traitement d'image en lui désignant la cible dans le champ de façon manuelle. En effet, l'organe de calcul 18 peut fournir au circuit 24 de traitement d'image, sur une voie 34, l'indication approximative de l'emplacement où doit se trouver la cible dans le champ, ce qui autorise une discrimination.It will often be unnecessary to assist the image processing circuit by manually designating the target in the field. In fact, the calculating
Le circuit 24 de traitement d'image peut être prévu pour analyser l'image de la cible, en extraire ses dimensions géométriques (diamètre apparent) et les fournir à l'organe de calcul 18 sur une sortie 36. Il suffit alors de mémoriser dans l'organe de calcul les dimensions de cibles-type, pour les diverses orientations où elles peuvent se présenter, pour que l'organe de calcul dispose des éléments nécessaires à une stadimétrie. Quelques dimensions type suffisent. Il suffit en conséquence de prévoir un sélecteur manuel sur le pupitre 30.The
Il est possible d'utiliser des réticules de nature très variée ; cependant, dans un mode avantageux de mise en oeuvre de l'invention, le réticule comprend une matrice, notamment à cristaux liquides. Pour faire apparaître le réticule, on peut utiliser la disposition montrée schématiquement en figure 1. Une lame semi-réfléchissante 42 permet de superposer la cible réelle et le graphisme fourni par la matrice 44. L'organe de calcul 18 excite alors au moins une ligne et une colonne de la matrice, de façon à faire apparaître deux lignes perpendiculaires brillantes, ou un pixel. Cette disposition peut être inversée, de façon que le réticule apparaisse en noir sur un fond éclairé, une commutation d'inversion de contraste pouvant être prévue par modfication de la commande de la matrice ou inversion du sens du polariseur intervenant dans la mise en oeuvre de la matrice à cristaux liquides. L'organe de calcul détermine alors la position de la colonne et de la ligne à exciter. Il est notamment avantageux d'exciter deux lignes 48 et deux colonnes 50 pour constituer un réticule rectangulaire utilisable pour une évaluation stadimétrique par le servant.It is possible to use reticles of a very varied nature; however, in an advantageous embodiment of the invention, the reticle comprises a matrix, in particular with liquid crystals. To display the reticle, the arrangement shown schematically in FIG. 1 can be used. A
Il est également possible, notamment pour le tir de nuit, avec une caméra à intensificateur de lumière, d'utiliser la matrice pour faire apparaître le réticule et l'image fournie par la caméra (Figure 4). Le tir de nuit est ainsi rendu possible.It is also possible, especially for night shooting, with a light intensifier camera, to use the matrix to reveal the reticle and the image provided by the camera (Figure 4). Night shooting is thus made possible.
L'invention est susceptible de nombreux modes de mise en oeuvre. On peut par exemple utiliser, au lieu d'une matrice adressable par ligne et par colonne, deux barrettes orthogonales ; pour permettre un multiplexage temporel du circuit de commande sans perte de contraste, la matrice peut comporter des transistors de mémorisation de l'excitation entre deux rafraîchissements.The invention is susceptible of numerous modes of implementation. One can for example use, instead of a matrix addressable by line and by column, two orthogonal bars; to allow time multiplexing of the control circuit without loss of contrast, the matrix may include transistors for storing the excitation between two refreshes.
Claims (6)
- A fire control system for a weapon having an operator-aimed barrel, comprising a sighting piece carried by the barrel of the weapon (10), having a reticle movable with respect to the axis of the weapon, and a large field camera (22) fast with the weapon (10), characterized in that it further comprises means for computing and offset angle (α) between a sighting axis (Xr) materialized by the reticle and the axis (Xa) of the weapon, for controlling the position of the reticle in the sighting piece so that, when the sighting axis (Xr) is aligned with the target, the axis (Xa) of the weapon is aligned with an estimated position which the target will have when the ammunition fired by the weapon is close to the target, the offset angle (α) being computed from the variations of the aiming angle of the weapon, measured by sensors, and from a correction signal delivered by means (18,24) for measuring the apparent movement of the target in the field of the camera.
- A system according to claim 1, characterized by comprising a large field camera, means for measuring the apparent diameter of the target in the image delivered by the camera, and computing means (18) for determining the distance of the target from the apparent diameter of the target, the focal length of the camera and actual preset dimensions of the target.
- A system according to claim 2, characterized in that it comprises a common large field camera (22) for both measuring the distance of the target and measuring the apparent movement of the target.
- A system according to claim 1, 2 or 3, characterized in that the reticle consists of a liquid cristal matrix display having means for energizing at least one pixel or at least one line and one column of the matrix.
- A system according to claim 4, characterized in that it comprises means for displaying the image of the field of the camera by means of the matrix.
- A system according to any one of the preceding claims, characterized in that the large field camera has a light intensifier tube permitting night firing.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR8810862 | 1988-08-12 | ||
| FR8810862A FR2635379B1 (en) | 1988-08-12 | 1988-08-12 | SHOOTING COMPENSATION SYSTEM FOR POINT ERROR COMPENSATION |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP0356303A1 EP0356303A1 (en) | 1990-02-28 |
| EP0356303B1 true EP0356303B1 (en) | 1994-02-16 |
Family
ID=9369310
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP89402251A Expired - Lifetime EP0356303B1 (en) | 1988-08-12 | 1989-08-09 | Firing control system with compensation of aiming errors |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US4922801A (en) |
| EP (1) | EP0356303B1 (en) |
| DE (1) | DE68913101T2 (en) |
| ES (1) | ES2051378T3 (en) |
| FI (1) | FI94671C (en) |
| FR (1) | FR2635379B1 (en) |
Families Citing this family (31)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5180881A (en) * | 1991-06-12 | 1993-01-19 | Electronics & Space Corp. | Beam steered laser for fire control |
| DE4122623C2 (en) * | 1991-07-09 | 2003-05-22 | Diehl Stiftung & Co | Control device for beam tracking |
| US5456157A (en) * | 1992-12-02 | 1995-10-10 | Computing Devices Canada Ltd. | Weapon aiming system |
| US5379676A (en) * | 1993-04-05 | 1995-01-10 | Contraves Usa | Fire control system |
| US5822713A (en) * | 1993-04-05 | 1998-10-13 | Contraves Usa | Guided fire control system |
| SE501905C2 (en) * | 1993-11-03 | 1995-06-19 | Saab Instr Ab | Anti-aircraft gun sight with camera |
| US5834676A (en) * | 1996-08-12 | 1998-11-10 | Sight Unseen | Weapon-mounted location-monitoring apparatus |
| US6069692A (en) * | 1997-04-21 | 2000-05-30 | Ist Dynamics (Proprietary) Limited | Upgrading a missile launcher system |
| DE19719977C1 (en) * | 1997-05-13 | 1998-10-08 | Industrieanlagen Betriebsges | Video viewing-sight with integrated weapon control system for gun |
| US7856750B2 (en) | 1997-12-08 | 2010-12-28 | Horus Vision Llc | Apparatus and method for calculating aiming point information |
| US6070355A (en) * | 1998-05-07 | 2000-06-06 | Day; Frederick A. | Video scope |
| US6237462B1 (en) * | 1998-05-21 | 2001-05-29 | Tactical Telepresent Technolgies, Inc. | Portable telepresent aiming system |
| US6269730B1 (en) * | 1999-10-22 | 2001-08-07 | Precision Remotes, Inc. | Rapid aiming telepresent system |
| US6530782B2 (en) | 2001-03-01 | 2003-03-11 | The United States Of America As Represented By The Secretary Of The Navy | Launcher training system |
| DE102004001899A1 (en) | 2004-01-14 | 2005-08-11 | Md Elektronik Gmbh | Trap arrangement |
| US20050179799A1 (en) * | 2004-02-14 | 2005-08-18 | Umanskiy Yuriy K. | Firearm mounted video camera |
| 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 |
| WO2010132831A1 (en) | 2009-05-15 | 2010-11-18 | Dennis Sammut | Apparatus and method for calculating aiming point information |
| CN101982720B (en) * | 2010-09-29 | 2012-11-14 | 北京机械设备研究所 | Interception method of low-altitude low-velocity small targets |
| US8520895B2 (en) * | 2010-12-29 | 2013-08-27 | Honeywell International Inc. | System and method for range and velocity estimation in video data as a function of anthropometric measures |
| IL211966A (en) * | 2011-03-28 | 2016-12-29 | Smart Shooter Ltd | Firearm, aiming system therefor, method of operating the firearm and method of reducing the probability of missing a target |
| WO2013106280A1 (en) | 2012-01-10 | 2013-07-18 | Horus Vision Llc | Apparatus and method for calculating aiming point information |
| US10054852B2 (en) | 2012-01-27 | 2018-08-21 | Trackingpoint, Inc. | Rifle scope, portable telescope, and binocular display device including a network transceiver |
| US8910559B1 (en) * | 2012-05-21 | 2014-12-16 | Granite Tactical Vehicles Inc. | System and method for modular turret extension |
| US9500444B2 (en) | 2013-01-11 | 2016-11-22 | Hvrt. Corp. | Apparatus and method for calculating aiming point information |
| US9127909B2 (en) * | 2013-02-17 | 2015-09-08 | Smart Shooter Ltd. | Firearm aiming system with range finder, and method of acquiring a target |
| US20150211828A1 (en) * | 2014-01-28 | 2015-07-30 | Trackingpoint, Inc. | Automatic Target Acquisition for a Firearm |
| DE102015119847A1 (en) | 2015-09-18 | 2017-03-23 | Rheinmetall Defence Electronics Gmbh | Remote weapon station and method of operating a remote weapon station |
| CN107941093B (en) * | 2017-11-20 | 2019-09-27 | 河北汉光重工有限责任公司 | A kind of photoelectricity cannon sea chart and video are collected evidence integration apparatus |
| WO2020112197A2 (en) | 2018-09-04 | 2020-06-04 | Hvrt Corp. | Reticles, methods of use and manufacture |
| US11060819B2 (en) * | 2019-05-23 | 2021-07-13 | General Dynamics Mission Systems—Canada | Armored vehicle, method, and weapon measurement system for determining barrel elevation |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4015258A (en) * | 1971-04-07 | 1977-03-29 | Northrop Corporation | Weapon aiming system |
| US4020324A (en) * | 1974-08-26 | 1977-04-26 | Lear Siegler, Inc. | Weapon delivery system |
| US4038521A (en) * | 1974-12-11 | 1977-07-26 | Sperry Rand Corporation | Aiming device for firing on movable targets |
| NL174985C (en) * | 1975-02-20 | 1984-09-03 | Hollandse Signaalapparaten Bv | FIRE CONTROLLER. |
| GB1605027A (en) * | 1977-04-07 | 1981-12-16 | Emi Ltd | Aiming arrangements |
| US4606256A (en) * | 1977-11-01 | 1986-08-19 | The Marconi Company Limited | Sight system for a stabilized gun |
| US4312262A (en) * | 1979-02-22 | 1982-01-26 | General Electric Company | Relative velocity gunsight system and method |
| US4318361A (en) * | 1979-08-06 | 1982-03-09 | Builders Concrete, Inc. | Lightweight concrete marine float and method of constructing same |
| FR2480424B1 (en) * | 1980-04-11 | 1987-07-10 | Sfim | AUTOMATIC AIR-TO-AIR OR AIR-TO-GROUND CONDUCTOR |
| FR2505477B1 (en) * | 1981-05-08 | 1985-06-14 | France Etat | METHOD AND DEVICE FOR HARMONIZING THE AXES OF A WEAPON AND A SIGHT |
| US4570530A (en) * | 1983-12-14 | 1986-02-18 | Rca Corporation | Workpiece alignment system |
-
1988
- 1988-08-12 FR FR8810862A patent/FR2635379B1/en not_active Expired - Fee Related
-
1989
- 1989-08-01 US US07/387,771 patent/US4922801A/en not_active Expired - Lifetime
- 1989-08-09 ES ES89402251T patent/ES2051378T3/en not_active Expired - Lifetime
- 1989-08-09 DE DE68913101T patent/DE68913101T2/en not_active Expired - Fee Related
- 1989-08-09 EP EP89402251A patent/EP0356303B1/en not_active Expired - Lifetime
- 1989-08-10 FI FI893773A patent/FI94671C/en not_active IP Right Cessation
Also Published As
| Publication number | Publication date |
|---|---|
| FR2635379A1 (en) | 1990-02-16 |
| FI893773A (en) | 1990-02-13 |
| EP0356303A1 (en) | 1990-02-28 |
| DE68913101D1 (en) | 1994-03-24 |
| FR2635379B1 (en) | 1993-11-12 |
| FI94671B (en) | 1995-06-30 |
| US4922801A (en) | 1990-05-08 |
| FI893773A0 (en) | 1989-08-10 |
| FI94671C (en) | 1995-10-10 |
| DE68913101T2 (en) | 1994-05-26 |
| ES2051378T3 (en) | 1994-06-16 |
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