EP0727035B1 - Anti-aircraft gun with camera - Google Patents
Anti-aircraft gun with camera Download PDFInfo
- Publication number
- EP0727035B1 EP0727035B1 EP95900343A EP95900343A EP0727035B1 EP 0727035 B1 EP0727035 B1 EP 0727035B1 EP 95900343 A EP95900343 A EP 95900343A EP 95900343 A EP95900343 A EP 95900343A EP 0727035 B1 EP0727035 B1 EP 0727035B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- target
- azimuth
- elevation
- aiming
- barrel
- 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
Links
- 238000001914 filtration Methods 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims description 3
- 239000011521 glass Substances 0.000 claims description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000010304 firing Methods 0.000 description 1
- 230000035484 reaction time Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
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
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G3/00—Aiming or laying means
- F41G3/08—Aiming or laying means with means for compensating for speed, direction, temperature, pressure, or humidity of the atmosphere
Definitions
- the present invention relates to a device for aiming at a mobile target and directing an anti-aircraft gun or the like towards same, the firing direction of the barrel of the anti-aircraft gun being adjustable in azimuth and elevation, preferably by means of servo-controlled motors, with a ranging unit, comprising a sight, preferably field-glasses, for optical aiming at the target along an aiming line, and a means for ranging to the target, preferably of laser type, the ranging unit being mounted in a support, manually pivotable in azimuth and elevation, while the device shows means for direct or indirect measuring of the angular rate of the aiming line in azimuth or elevation, said means being arranged to emit signals, corresponding to their respective measured values, to a calculating unit, which is so arranged that with the aid of said received signals and information given about correction values, such as the ballistic data of the projectile fired from the anti-aircraft gun, the prevailing wind vector, it calculates the required lead and offset angles of the direction of the barrel and emits
- an anti-aircraft sight for aiming at a mobile target comprising among other things a manually operated ranging unit, an aiming unit fixed to the gun and a calculating unit.
- a first operator strives to follow the target with the ranging unit, whereby measurement data with regard to the distance to the target and the movement of the target in azimuth and elevation via the calculating unit affects the relative setting between the aiming unit, which is kept directed at the target by a second operator, and the barrel of the anti-aircraft gun, so that the setting will be such, with regard to the lead and offset angles, that a fired projectile shall hit the target.
- the object of the present invention is therefore to provide a sight, i.e. a device, of the kind mentioned in the introduction, that admits a quick, safe ranging of the target track.
- such a device is primarily characterized in that a camera means is arranged directed parallelly with said aiming line, the camera means being connected to a correlation means with which the displacement in azimuth and elevation of the camera picture of the target relative to the aiming line is determined in the form of a correction signal, by which said measured angular rate in azimuth and elevation is corrected.
- Figure 1 shows schematically in the form of a block diagram an embodiment of the device
- Figure 2 shows schematically a correlation means according to the invention.
- the barrel of an anti-aircraft gun is designated by 1. Its direction is adjustable in azimuth and elevation by means of servo-controlled motors 2.
- a ranging unit is arranged, manually operated pivotable in azimuth and elevation. It comprises an optic sight 3 for optical aiming at a target 4 along an aiming line. Furthermore it comprises a range finder of laser type 6 for ranging to the target.
- Angular-velocity-sensing gyros, so-called rate gyros 11 are arranged to measure the angular rate of the barrel in azimuth and elevation.
- Means 7 measures the angle in azimuth and elevation between the aiming line of the ranging unit and the direction of the barrel.
- This embodiment of the device for aiming according to the invention thus works with indirect measuring of the angular rates of the aiming line.
- An embodiment is also possible in which the rate gyros are attached on the ranging unit, so that a direct measurment of the angular rates of the aiming line is obtained.
- a calculating unit 8 receives signals, corresponding to measured values from the range finder, the rate gyros and the means for angular measurement and receives in addition the signals, corresponding to the correction values, such as ballistic data about the fired projectile, prevailing wind vector etc.
- the calculating unit calculates, guided by provided data, the required lead and offset angles of the barrel 1 and emits corresponding signals to said servo-controlled motors 2 for a fired projectile to hit the target 4.
- a camera 9 is arranged for use in the day and/or night, for example of CCD type arranged parallelly with said sight 3 and range finder 6.
- the camera stands in connection with a correlation means 10 of known type. This works like this: a displacement in azimuth and elevation of the camera picture of the target 4 relative to the aiming line 5 gives rise to a correction signal, which is given to the calculating unit for correcting the data regarding the angular range of the aiming line in azimuth and elevation that the calculating unit received with he aid of the rate gyros and the means for angular measuring.
- FIG 2 an example is shown of correlation means 10 in connection with a camera 9 and a calculating unit 8.
- the target is filtered out in a similar manner as in a conventional simple video target tracker in a picture filtration unit 12. This occurs through suitable filtration, thresholding, and a choice of target close to the center of the picture.
- the position in the picture of the target is then calculated in a position calculating unit 13, from which goes a signal partly to a memory unit 14 which stores a first picture, and partly to a difference unit 15, in which a subsequent, i.e. second picture is compared with said first picture (correlation), differences in side and height becoming the starting values for the desired correction.
- the correction signal then goes onwards to a correction filtering unit 16, which can be formed in different ways. It can comprise a median filter for the elimination of erroneous signal values, followed by a Kalman filter adapted to the occurring, manually caused movement dynamics in the sight, with the task to eliminate noise. This latter filter works with higher sampel frequency than the video signal from the camera 9 in order to make possible that the correction can be transmitted without beats to the calculating unit 8, which is not synchronized with the video signal.
- a correction filtering unit 16 can comprise a median filter for the elimination of erroneous signal values, followed by a Kalman filter adapted to the occurring, manually caused movement dynamics in the sight, with the task to eliminate noise.
- This latter filter works with higher sampel frequency than the video signal from the camera 9 in order to make possible that the correction can be transmitted without beats to the calculating unit 8, which is not synchronized with the video signal.
- a sight mounted on the barrel of an anti-aircraft gun comprises a reticle which can be adjusted in its position relative to the direction of the barrel.
- a camera is attached to the barrel with its field of vision coaxial with the direction of the barrel.
- the movement of the target in the field of vision of the camera is measured as the angular movements of the barrel.
- the position which shall be given to the reticle is calculated from variations of the aiming direction and the movement of the target in the field of vision of the camera, and the position of the reticle is adjusted accordingly.
- the device according to the invention is also simple in its construction, because only one correlation means is needed which measures the position of the target in pairs of subsequent pictures. As described above, the obtained difference gives rise to a correction signal, which admits safe aiming also if the operator is not capable of aiming at the same point of the target during the ranging phase.
Description
The present invention relates to a device for aiming at a mobile target
and directing an anti-aircraft gun or the like towards same, the firing
direction of the barrel of the anti-aircraft gun being adjustable in
azimuth and elevation, preferably by means of servo-controlled motors,
with a ranging unit, comprising a sight, preferably field-glasses, for
optical aiming at the target along an aiming line, and a means for ranging
to the target, preferably of laser type, the ranging unit being mounted
in a support, manually pivotable in azimuth and elevation, while the
device shows means for direct or indirect measuring of the angular rate
of the aiming line in azimuth or elevation, said means being arranged
to emit signals, corresponding to their respective measured values,
to a calculating unit, which is so arranged that with the aid of said
received signals and information given about correction values, such
as the ballistic data of the projectile fired from the anti-aircraft
gun, the prevailing wind vector, it calculates the required lead and
offset angles of the direction of the barrel and emits corresponding
signals for setting the direction of the barrel, preferably to said
servo-controlled motors, so that a fired projectile shall hit the target.
Such sights are known for example from Swedish patent specification
SE 8503860-2. Therein, an anti-aircraft sight for aiming at a mobile
target is described, comprising among other things a manually operated
ranging unit, an aiming unit fixed to the gun and a calculating unit.
A first operator strives to follow the target with the ranging unit,
whereby measurement data with regard to the distance to the target and
the movement of the target in azimuth and elevation via the calculating
unit affects the relative setting between the aiming unit, which is
kept directed at the target by a second operator, and the barrel of
the anti-aircraft gun, so that the setting will be such, with regard
to the lead and offset angles, that a fired projectile shall hit the target.
In Swedish patent specification SE 9101148-6 an anti-aircraft sight
is described, in which the ranging unit is pivotally mounted in a support,
attached in the barrel, in which arrangement only one operator is needed
for the aiming operation at the anti-aircraft gun. The ranging unit
is here manouevered through direct, manual action, but devices of the
kind mentioned in the introduction are also known at which the ranging
unit is acted upon manually, via a stick, which via servo-motors sets
the ranging unit in azimuth and elevation. See for example US 4,266,463.
The device according to the invention comprises such embodiments too.
In both types of sights for anti-aircraft guns there is the problem
during aiming, that the operator by the ranging unit has difficulties
in directing the aiming line at the identical point on the target, which
takes up a certain space angle in azimuth as well as in elevation. In
practice one must take into account that the aiming line swings over
the target at a frequency of about one Hz and an amplitude corresponding
to about one mradian. This fact gives a contribution of error in the
measuring of the angular rates in azimuth and elevation, i.e. the target
track. Thereby, one is forced to effect the ranging of the target during
rather a long time, in the order 2-4 seconds so that sights of this
kind shall function in the way intended. It would, however, be desirable
that the ranging could be effected in a shorter time.
The object of the present invention is therefore to provide a sight,
i.e. a device, of the kind mentioned in the introduction, that admits
a quick, safe ranging of the target track.
According to the invention, such a device is primarily characterized
in that a camera means is arranged directed parallelly with said aiming
line, the camera means being connected to a correlation means with which
the displacement in azimuth and elevation of the camera picture of the
target relative to the aiming line is determined in the form of a
correction signal, by which said measured angular rate in azimuth and
elevation is corrected.
With a picture angle on the camera used in the order 5°-10°, an accuracy
is obtained of the ranging to the target of about 0.1 to 0.3 mradians,
i.e. a factor of about 5-10 times better than whan can be obtained with
sights of the kind mentioned in the introduction. This means that already
after two rangings the barrel of the anti-aircraft gun can be set so
that a projectile can be fired after a short time with a correct aiming
in azimuth and elevation for it to hit the target.
The invention is described in more detail in the following with reference
to the accompanying figures, of which Figure 1 shows schematically in
the form of a block diagram an embodiment of the device, whereas Figure
2 shows schematically a correlation means according to the invention.
In the Figure the barrel of an anti-aircraft gun is designated by 1.
Its direction is adjustable in azimuth and elevation by means of servo-controlled
motors 2. In a support, a ranging unit is arranged, manually
operated pivotable in azimuth and elevation. It comprises an optic sight
3 for optical aiming at a target 4 along an aiming line. Furthermore
it comprises a range finder of laser type 6 for ranging to the target.
Angular-velocity-sensing gyros, so-called rate gyros 11 are arranged
to measure the angular rate of the barrel in azimuth and elevation.
Means 7 measures the angle in azimuth and elevation between the aiming
line of the ranging unit and the direction of the barrel. This embodiment
of the device for aiming according to the invention thus works with
indirect measuring of the angular rates of the aiming line. An embodiment
is also possible in which the rate gyros are attached on the ranging
unit, so that a direct measurment of the angular rates of the aiming
line is obtained. A calculating unit 8 receives signals, corresponding
to measured values from the range finder, the rate gyros and the means
for angular measurement and receives in addition the signals, corresponding
to the correction values, such as ballistic data about the fired projectile,
prevailing wind vector etc. The calculating unit calculates,
guided by provided data, the required lead and offset angles of the
barrel 1 and emits corresponding signals to said servo-controlled motors
2 for a fired projectile to hit the target 4. In order to improve accuracy
in this calculation and compensate for the difficulty for the operator
who manually controls the ranging unit to aim at the identical point
on the target, a camera 9 is arranged for use in the day and/or night,
for example of CCD type arranged parallelly with said sight 3 and range
finder 6. The camera stands in connection with a correlation means 10
of known type. This works like this: a displacement in azimuth and elevation
of the camera picture of the target 4 relative to the aiming
line 5 gives rise to a correction signal, which is given to the calculating
unit for correcting the data regarding the angular range of the aiming
line in azimuth and elevation that the calculating unit received with
he aid of the rate gyros and the means for angular measuring.
In Figure 2 an example is shown of correlation means 10 in connection
with a camera 9 and a calculating unit 8. From the signal received from
the camera 9 the target is filtered out in a similar manner as in a
conventional simple video target tracker in a picture filtration unit
12. This occurs through suitable filtration, thresholding, and a choice
of target close to the center of the picture. The position in the picture
of the target is then calculated in a position calculating unit 13,
from which goes a signal partly to a memory unit 14 which stores a first
picture, and partly to a difference unit 15, in which a subsequent,
i.e. second picture is compared with said first picture (correlation),
differences in side and height becoming the starting values for the
desired correction. The correction signal then goes onwards to a correction
filtering unit 16, which can be formed in different ways. It can comprise
a median filter for the elimination of erroneous signal values, followed
by a Kalman filter adapted to the occurring, manually caused movement
dynamics in the sight, with the task to eliminate noise. This latter
filter works with higher sampel frequency than the video signal from
the camera 9 in order to make possible that the correction can be transmitted
without beats to the calculating unit 8, which is not synchronized
with the video signal.
It should be mentioned that another type of anti-aircraft gun has been
suggested by the company Sagem in US 4,922,801. Here is suggested a
sight mounted on the barrel of an anti-aircraft gun. The sight comprises
a reticle which can be adjusted in its position relative to the direction
of the barrel. A camera is attached to the barrel with its field of
vision coaxial with the direction of the barrel. The movement of the
target in the field of vision of the camera is measured as the angular
movements of the barrel. The position which shall be given to the reticle
is calculated from variations of the aiming direction and the movement
of the target in the field of vision of the camera, and the position
of the reticle is adjusted accordingly.
The principle of Sagem's anti-aircraft sight is thus entirely different
from the here described device for aiming. According to it, the sight
is not mechanically locked to the barrel, which admits aiming at the
target simultaneously with the barrel following the lead point. Furhermore,
with the device, better accuracy is obtained, because sight and camera
can be used with greater angular resolution when the camera is arranged
parallelly with the aiming line and not parallelly with the barrel.
Furthermore with the device according to the invention, shorter reaction
time is obtained when the gun is guided automatically towards the lead
point when sufficient data have been measured. According to Sagem the
barrel is controlled in that after calculation of the target track,
the operator again puts the target over the reticle that the system
has calculated.
The device according to the invention is also simple in its construction,
because only one correlation means is needed which measures the position
of the target in pairs of subsequent pictures. As described above, the
obtained difference gives rise to a correction signal, which admits
safe aiming also if the operator is not capable of aiming at the same
point of the target during the ranging phase.
Claims (3)
- A device for aiming at a mobile target (4) and directing an anti-aircraft gun (1) or the like at same, the direction of the barrel of the anti-aircraft gun being settable in azimuth and elevation, preferably by means of servo-controlled motors (2), with a ranging unit, comprising a sight (3), preferably field-glasses, for optical aiming at the target along an aiming line (5) and a means (6) for ranging to the target, preferably of laser-type, the ranging unit being mounted in a support manually operated pivotable in azimuth and elevation, while the device shows means (7, 11) for direct or indirect measuring of the angular rate of the aiming line in azimuth or elevation, said means being arranged to emit signals corresponding to their respective measured values, to a calculating unit (8) which is arranged guided by said received signals and information given about correction values, such as the ballistic data of the projectile fired from the anti-aircraft gun, prevailing wind vector, to calculate the required lead and offset angles of the direction of the barrel, and to emit corresponding signals for setting the direction of the barrel, preferably to said servo-controlled motors, so that a fired projectile shall hit the target, characterized in that a camera means (9) is arranged directed parallelly with said aiming line (5), the camera means being connected to a correlation means (10) with which the displacement in azimuth and elevation of the camera picture of the target relative to the aiming line is determined in the form of a correction signal, with which said measured angular rate of the aiming line in azimuth and elevation is corrected.
- A device according to claim 1, characterized in that a correction filtering unit (16) Comprising a median filter for eliminating erroneous signal values is arranged to filter the correction signal from the correlation means (10).
- A device according to Claim 1 or 2, characterized in that a correction filtering unit (16) comprising a Kalman filter for eliminating noise caused by the manual operation, that is the movement, of the aiming line (5) is arranged to filter the correction signal from the correlation means (10).
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE9303624 | 1993-11-03 | ||
| SE9303624A SE501905C2 (en) | 1993-11-03 | 1993-11-03 | Anti-aircraft gun sight with camera |
| PCT/SE1994/001025 WO1995012800A1 (en) | 1993-11-03 | 1994-11-01 | Anti-aircraft gun with camera |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP0727035A1 EP0727035A1 (en) | 1996-08-21 |
| EP0727035B1 true EP0727035B1 (en) | 1999-06-16 |
Family
ID=20391625
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP95900343A Expired - Lifetime EP0727035B1 (en) | 1993-11-03 | 1994-11-01 | Anti-aircraft gun with camera |
Country Status (6)
| Country | Link |
|---|---|
| EP (1) | EP0727035B1 (en) |
| DE (1) | DE69419170T2 (en) |
| FI (1) | FI961860A (en) |
| NO (1) | NO307802B1 (en) |
| SE (1) | SE501905C2 (en) |
| WO (1) | WO1995012800A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117146739B (en) * | 2023-10-31 | 2024-01-23 | 南通蓬盛机械有限公司 | Angle measurement verification method and system for optical sighting telescope |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2635379B1 (en) * | 1988-08-12 | 1993-11-12 | Sagem | SHOOTING COMPENSATION SYSTEM FOR POINT ERROR COMPENSATION |
| SE468330B (en) * | 1991-04-17 | 1992-12-14 | Saab Instr Ab | DEVICE FOR AIM OF A MOBILE OBJECTIVE AND ORIENTATION OF AN AIRFIRE SPEED OR SIMILAR TO THE SAME |
-
1993
- 1993-11-03 SE SE9303624A patent/SE501905C2/en not_active IP Right Cessation
-
1994
- 1994-11-01 WO PCT/SE1994/001025 patent/WO1995012800A1/en active IP Right Grant
- 1994-11-01 DE DE69419170T patent/DE69419170T2/en not_active Expired - Fee Related
- 1994-11-01 EP EP95900343A patent/EP0727035B1/en not_active Expired - Lifetime
-
1996
- 1996-05-02 NO NO961784A patent/NO307802B1/en not_active IP Right Cessation
- 1996-05-02 FI FI961860A patent/FI961860A/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| NO961784L (en) | 1996-05-02 |
| EP0727035A1 (en) | 1996-08-21 |
| FI961860A0 (en) | 1996-05-02 |
| SE9303624D0 (en) | 1993-11-03 |
| SE9303624L (en) | 1995-05-04 |
| NO307802B1 (en) | 2000-05-29 |
| FI961860A (en) | 1996-05-02 |
| WO1995012800A1 (en) | 1995-05-11 |
| DE69419170T2 (en) | 2000-01-20 |
| SE501905C2 (en) | 1995-06-19 |
| NO961784D0 (en) | 1996-05-02 |
| DE69419170D1 (en) | 1999-07-22 |
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