EP0527715B1 - Method and arrangement for a weapon system - Google Patents

Method and arrangement for a weapon system Download PDF

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Publication number
EP0527715B1
EP0527715B1 EP19920850149 EP92850149A EP0527715B1 EP 0527715 B1 EP0527715 B1 EP 0527715B1 EP 19920850149 EP19920850149 EP 19920850149 EP 92850149 A EP92850149 A EP 92850149A EP 0527715 B1 EP0527715 B1 EP 0527715B1
Authority
EP
European Patent Office
Prior art keywords
target
movement
moving target
lead
lead point
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
EP19920850149
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German (de)
English (en)
French (fr)
Other versions
EP0527715A1 (en
Inventor
David Segerros
Ulf Andersson
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.)
CelsiusTech Electronics AB
Original Assignee
CelsiusTech Electronics AB
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Publication date
Application filed by CelsiusTech Electronics AB filed Critical CelsiusTech Electronics AB
Publication of EP0527715A1 publication Critical patent/EP0527715A1/en
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Publication of EP0527715B1 publication Critical patent/EP0527715B1/en
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Classifications

    • 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 invention relates to a method and an apparatus for determining in a weapon system of the non-guided ammunition firing type the position of one or more lead points of a moving target which is carrying out manoeuvres in three-dimensional space with the aim of arriving at such a position that dropping of its ordnance against an attack object becomes possible.
  • the lead point is characterised in that the time for the target to get there, that is to say the firing time, is equal to the flying time of the projectile to this point.
  • the method presupposes that there is some type of sensor which can continuously provide the system with information on the current position of the target.
  • a computing unit is presupposed which can calculate the state of the target position and movement, calculate the predicted position of the target and convert the position of the lead point to angle adjustments of the weapon system for aiming said system at the lead point, the movement of the moving target being predicted by movement models.
  • the last-mentioned also comprises compensation for ballistic influences such as wind, temperature, air pressure, and so forth.
  • a method and an apparatus according to the preamble is previously known from US-A-4 794 235. Use is made of non-guided ammunition and the gun of the system is aimed at a predicted lead point in front of the moving target by angle adjustments of the gun.
  • the moving target tracked is supposed to traverse an arc of a circle. It is also known from prior art cited in said patent that the moving target may be supposed to follow a straight line.
  • Another type of defence system operating with guided projectiles is known from GB-A-2 212 252.
  • the projectile during its flight towards the target is controlled by radar acquired track information about the target.
  • a predicted track of the target is determined and the guided projectile is guided onto a near reciprocal track of the target.
  • this type of system there is no correspondence to a lead point of a non-guided system as defined in the introduction paragraph of the description.
  • the model can be either deterministic or stochastic. Examples of possible target models are:
  • the measured position of the target has noise.
  • This noise entails that the state of the target position and movement must be filtered before it can be utilised for predicting the future state of the target.
  • a filter always involves delay and this results in a system which cannot instantaneously respond to fast changes in the actual state of movement of the target.
  • the fire control system will be able to predict the future position of the target up to 10 seconds in advance. To this time, the filter delay will then be added which can be a number of seconds. Naturally, the pilot will always attempt by manoeuvring to minimise the time for which the target is in a constant state of movement and, in consequence, the predicted position will be correct only for a firing distance with very little firing time.
  • the disadvantage with the first four target models referred to above is that they presuppose a constant state of movement for the entire firing time which cannot be considered to be probable.
  • any model utilize the fact that the aim of the manoeuvres of the target is in most cases to arrive at such a position that fighting the attack object becomes possible. This position consists in a short straight-path phase in which the pilot can aim and fire his ordnance.
  • Figure 1 shows the disadvantages. The figure shows the target position with a number of times and positions for the lead points which are the result with traditional prediction where the state of movement of the target is assumed to be constant over the whole firing time. Action against the attacking target is only possible at a late stage at short distance. It is also likely that the target has been able to drop its ordnance before it can be fought.
  • the invention builds on a deterministic target model in which the state of movement (speed and acceleration) of the target is changed over the firing time, that is to say the time from firing of a projectile until it hits the target.
  • the invention is thereby characterised in that the positions of probable attack objects relative to the weapon system are arranged to be supplied to the system, that these positions are utilised in calculating the lead point or lead points and that a number of movement models are combined for building up in this manner a hypothetical path shape (target model) for the moving target to a respective probable attack object which the moving target is assumed to be following, the changes between the movement models being made continuously depending on the action of the moving target.
  • the target models that is to say hypotheses of how the target will move, are built up of circular peripheries, spherical surfaces and/or straight lines in the calculation of the lead point.
  • the target models utilised in the lead point calculation are built up of a number of components such as circular peripheries, spherical surfaces and straight lines and are combined in such a manner that they correspond to the aim of the manoeuvres of the target, namely to attack a predefined protected object.
  • the advantages produced with the invention are a longer effective range of fire for the weapon system with manoeuvring targets, higher hit probability and possibility to fight a target before it has been able to deposit its ordnance.
  • FIG. 1 A typical situation is shown in Figure 1 where a target (aeroplane) 1 manoeuvres to a short straight-path phase in which the pilot can aim and fire his ordnance against a protected object 2.
  • the figure shows the position of the target at a number of times and for the lead points which are the result with traditional prediction where the state of movement of the target is assumed to be constant over the entire firing time. Action against the attacking target 1 is then only possible at a late stage at short distance. It is also probable that the target has been able to deposit its ordnance before it can be fought in such a case.
  • the state of position and movement of the target can be expressed in, for example, right-angled coordinates.
  • These states are here made up of the vectors r, v and a according to Figure 2, These vectors can then be utilised for defining a movement plane and a circular periphery along which the target is assumed to be moving ( Figure 3, reference 1). It can also be seen that a movement plane and a circular periphery only become defined if the acceleration vector (a) ⁇ zero vector and the speed vector (v) is not parallel to the acceleration vector (a). If these conditions are not met, one is forced to assume a movement along v.
  • the system 3, 4 will offer the possibility of defining the position, relative to the fire control system, of actual protected objects.
  • These protected objects are objects which are considered to be important objects to be knocked out by an attacker.
  • the vehicle itself is certainly an important object to be protected.
  • the position can be specified, for example, in right-angled coordinates and be supplied to the system via a thumb wheel, menu or the like.
  • An example of the process is shown in Figure 4. This parameter input is only carried out after grouping of the system but can be changed when required.
  • the figure shows three more protected objects as example: an aircraft hanger 2', a radar station 2" and a bridge 2"'.
  • the above-mentioned plane of movement is continuously calculated with target tracking.
  • the position of the protected object is projected in this plane and the point then obtained in the plane is then utilised by the predictor for calculating a probable target movement.
  • the reason why the absolute coordinates of the protected object are not utilised for this purpose is of course that it is not probable that this point will be located in the calculated plane of movement.
  • Figure 5 shows a type of bombing raid. In this case it is probable that the target aligns itself in the horizontal plane but not towards the height coordinate of the target.
  • a number of movement models is defined and changes between them are made continuously depending on the action of the target. These models are described below with illustrating figures. Abrupt changes in position of the lead point are avoided by two movement models, between which changes can occur, producing the same lead point at the boundary transitions.
  • the acceleration is 0, or alternatively there is only acceleration in the direction of propagation. Since there is no acceleration across the direction of propagation, no plane of movement is defined either. This is equivalent to having an infinite radius of curvature of the circular movement. In this case, it is assumed that the state of movement is constant over the firing time.
  • the target acceleration and speed define a plane of movement in which the target is assumed to be being propagated. If it is not assumed that the state of movement of the target is changed over the firing time, this leads to the direction of the vector of propagation of the target being assumed to pass past the projected object under protection. This is assumed to be less probable and therefore the assumption is made that the target (pilot) is selecting to level out towards the projected object under protection and to attack it. This is certainly a coarse approximation since a progressive levelling out would be more realistic, that is to say the radius of curvature increases more and more. However, the approximation is good enough since the state of movement of the target can still not be calculated accurately due to the measurement noise.
  • the acceleration in the direction of propagation is assumed to be constant also after levelling-out.
  • the absolute coordinates of the protected object are not used. Instead, the position of the protected object is continuously projected in the plane of movement which is defined by the speed and acceleration vectors of the target. This implies that all movement models, even those which assume a change in the state of movement of the target over the firing time, work with the hypothesis that the target will come to move in this plane over the whole of the firing time.
  • To further utilise the position of the probable attack target in determination of the lead point one can additionally make the assumption that the target will manoeuvre outside the plane of movement to come into line with the protected object. However, this correction is only allowed in the horizontal plane since it is not certain that the target will align itself with respect to the height coordinate of the protected object.
  • Figure 12 shows a simple example which specifies which movement model is utilised in different parts of the approach towards a protected object.
  • the approach is shown seen from above and is only diagrammatic.
  • a movement model can be conceived which is built up with components other than circular peripheries, spherical surfaces and straight lines.
  • the unique feature of the solution is that a number of movement models are combined for building up in this manner a track-bound path shape in which the fact that the position of the attack object is known is utilised.
  • the computing unit can also be made to calculate different lead points.
  • the fire control system can then direct the connected weapon systems (assuming that several are connected) against the different lead points and when certain lead points can be predicted, the fire is concentrated against the most probable one.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
EP19920850149 1991-07-08 1992-06-17 Method and arrangement for a weapon system Expired - Lifetime EP0527715B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE9102117 1991-07-08
SE9102117A SE468725B (sv) 1991-07-08 1991-07-08 Saett och anordning foer att vid ett vapensystem bestaemma framfoerpunkter foer ett roerligt maal

Publications (2)

Publication Number Publication Date
EP0527715A1 EP0527715A1 (en) 1993-02-17
EP0527715B1 true EP0527715B1 (en) 1996-09-11

Family

ID=20383281

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19920850149 Expired - Lifetime EP0527715B1 (en) 1991-07-08 1992-06-17 Method and arrangement for a weapon system

Country Status (3)

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EP (1) EP0527715B1 (sv)
DE (1) DE69213615T2 (sv)
SE (1) SE468725B (sv)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB0503212D0 (en) 2005-02-15 2005-11-23 Ultra Electronics Ltd Improvements relating to target direction indication and acoustic pulse analysis
CN102706217B (zh) * 2012-04-17 2014-07-02 北京理工大学 一种控制多枚导弹攻击角度和攻击时间的方法
CN102980449B (zh) * 2012-12-25 2014-10-15 北京理工大学 一种多枚导弹协同作战的控制方法
SE538155C2 (sv) 2013-05-28 2016-03-22 Bae Systems Bofors Ab Metod för eldledning av eldrörsluftvärn
US10859346B2 (en) * 2018-10-31 2020-12-08 Fortem Technologies, Inc. System and method of managing a projectile module on a flying device
SE2000032A1 (sv) * 2020-02-17 2021-07-06 Bae Systems Bofors Ab Metod för eldledning av eldrörsluftvän samt ett eldledningssystem
CN115823951B (zh) * 2023-01-09 2023-04-18 中国兵器装备集团自动化研究所有限公司 一种搜索与跟踪航迹融合方法、装置、设备及存储介质

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4320287A (en) * 1980-01-25 1982-03-16 Lockheed Electronics Co., Inc. Target vehicle tracking apparatus
DE3665930D1 (en) * 1985-07-04 1989-11-02 Contraves Ag Target measurement system
US4925129A (en) * 1986-04-26 1990-05-15 British Aerospace Public Limited Company Missile defence system
US4794235A (en) * 1986-05-19 1988-12-27 The United States Of America As Represented By The Secretary Of The Army Non-linear prediction for gun fire control systems
FI87871C (sv) * 1990-06-26 1995-05-16 Nokia Mobile Phones Ltd Anordning för sökning av menyer i en telefonanordning

Also Published As

Publication number Publication date
DE69213615D1 (de) 1996-10-17
SE9102117D0 (sv) 1991-07-08
SE468725B (sv) 1993-03-08
EP0527715A1 (en) 1993-02-17
DE69213615T2 (de) 1997-02-20
SE9102117L (sv) 1993-01-09

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