EP0777100A2 - Missile weapon system - Google Patents

Missile weapon system Download PDF

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Publication number
EP0777100A2
EP0777100A2 EP96119417A EP96119417A EP0777100A2 EP 0777100 A2 EP0777100 A2 EP 0777100A2 EP 96119417 A EP96119417 A EP 96119417A EP 96119417 A EP96119417 A EP 96119417A EP 0777100 A2 EP0777100 A2 EP 0777100A2
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EP
European Patent Office
Prior art keywords
target
image
seeker head
weapon system
correlation
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Granted
Application number
EP96119417A
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German (de)
French (fr)
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EP0777100B1 (en
EP0777100A3 (en
Inventor
Mafred Dipl.-Phys. Hiebl
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LFK Lenkflugkoerpersysteme GmbH
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Daimler Benz Aerospace AG
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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
    • F41G7/22—Homing guidance systems
    • F41G7/2273—Homing guidance systems characterised by the type of waves
    • F41G7/2293—Homing guidance systems characterised by the type of waves using electromagnetic waves other than radio waves
    • 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
    • F41G7/22—Homing guidance systems
    • F41G7/2206—Homing guidance systems using a remote control station
    • 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
    • F41G7/22—Homing guidance systems
    • F41G7/2213—Homing guidance systems maintaining the axis of an orientable seeking head pointed at the target, e.g. target seeking gyro
    • 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
    • F41G7/22—Homing guidance systems
    • F41G7/2226—Homing guidance systems comparing the observed data with stored target data, e.g. target configuration data
    • 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
    • F41G7/22—Homing guidance systems
    • F41G7/2253—Passive homing systems, i.e. comprising a receiver and do not requiring an active illumination of the target

Definitions

  • the invention relates to a missile weapon system with seeker head optics and an instruction processor according to claim 1.
  • Such weapon systems are known per se.
  • the missile is completely on its own after the target search.
  • he is equipped with a gimbal-mounted seeker head camera and with a tracker which, by successive image comparison using a correlation process, pursues its assigned goal until the hit, the seeker head moving completely autonomously after the launch and being uninfluenced.
  • the missile - or its "instruction processor” (alignment processor) - must be given the target to be approached prior to departure, or it must be briefed on this target.
  • a so-called image comparison is used, in which images of the rifle sight are compared and correlated with those of the seeker head.
  • the seeker head now has a considerably smaller field of view than the rifle sight, so it only sees a section of the larger sight image.
  • the alignment processor continuously matches the two images, the comparison being carried out by querying line by line and column by column in the sighting image from the top left corner of the search header image and determining the correlation coefficient or a related criterion for each position . Where the correlation coefficient is at a maximum, the probability that both images are congruent is greatest.
  • the focal length of the viewfinder optics is dimensioned so that a normal tank target at 500 m distance - this is the minimum distance - still fits fully into the picture.
  • this has the disadvantage that the target appears relatively very small in the maximum distance of approximately 4.5 km. (approx. 4 samples).
  • the optical axis of the sight has a distance from the optical axis of the seeker head caused by the carrier (helicopter), that is to say a parallax which is approximately 5 m in height and width. This means that the perspective from the seeker head to the target is different from that from the sight.
  • the alignment processor it is essential that the seeker head and sight optics see the same thing. However, this is not the case if there are foreground or background objects in the image (figure), which is to be addressed as a normal case. However, this significantly worsens the image comparison and leads to a large mistake in the introduction.
  • a missile weapon system is known from US Pat. No. 3,986,682, in which a target is continuously pursued by comparing sight and seeker head images that have been covered by means of a correlation method, the image size of the seeker head optics being chosen to be small from the start.
  • DE 33 34 729 A1 discloses a method for aligning a target seeker head of a self-guided missile, in which an image containing the target and an image generated by the target seeker head are matched to one another with the aid of an image correlation.
  • the present invention has for its object to provide a weapon system of the type mentioned, in which the instruction probability of at least 85% is achieved and guaranteed and the alignment processor is almost undisturbed by residual stabilization errors, the harmonization close to the ground and the search head image in the resolution is improved.
  • an optimal instruction probability can only be achieved if parallax-free images are available. This can be achieved by minimizing the target environment, ie the target environment is not included or is only slightly included in the image comparison.
  • the marker box must be adapted to the size of the target, that is to say reduced or enlarged to such an extent that as little background as possible is contained in the marker box.
  • the marking box is a rectangular frame from the display, which is generated by the processor, and is not fully extended with indicated corners. This is currently square and its size is preset. The shooter can now either enlarge or reduce the marker box using the operator controls, so to speak zoom.
  • the operational status - ie "enlarge” or “reduce” - is communicated to the fire control computer (FCC) on the MIL bus.
  • the FCC Firing Control Computer
  • the FCC calculates the current marking box size from the time the shooter holds the zoom button and the zoom speed, which the FCC communicates to the tracker to set the track box size.
  • the FCC is in the Able to calculate the respective focal length of the seeker head optics and to inform the ammunition on the bus or enter them.
  • the seeker head adjusts its current actual value to the setpoint commanded by the FCC and returns the currently achieved field of view to the FCC for each frame until the FCC determines that the fields of view match.
  • the control loop can be maintained as long as the shooter in turn adjusts the "Operator Controls".
  • the seeker head image is rotationally symmetrical and only the part that lies within an inscribed square can be compared with the sight image section.
  • the sensor ratio must be taken into account geometrically by a factor ⁇ 2
  • this image section must be compared with an section of the search head image of the same size.
  • FCC Fire Control Computer
  • Image filling does not mean that the target must fill the entire image at maximum distance. It is sufficient if a good image comparison is also guaranteed for long-range targets and also the increased vibration levels, to which long-range optics are exposed, in contrast to short-range optics, still permit sufficient detection.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
  • Telescopes (AREA)

Abstract

The weapon system has an optical target seeking head and a tracker for continuous tracking of the target by comparison of the target seeking head image with the field of view image, using a correlation method. The target seeking head has a zoom objective allowing its field of view to be matched to the size of the target, for eliminating parallax errors from the correlation process.

Description

Die Erfindung bezieht sich auf ein Flugkörper-Waffensystem mit einer Suchkopfoptik und einem Einweisungsprozessor nach Anspruch 1.The invention relates to a missile weapon system with seeker head optics and an instruction processor according to claim 1.

Solche Waffensysteme nach dem sogenannten "Fire and Forget-System" sind an sich bekannt. Bei solchen Systemen ist der Flugkörper nach dem Abfeuern bei der Zielsuche völlig auf sich selbst gestellt. Hierzu ist er mit einer kardanisch aufgehängten Suchkopfkamera und mit einem Tracker ausgerüstet, der durch sukzessiven Bildvergleich mittels eines Korrelationsverfahrens sein ihm zugewiesenes Ziel bis zum Treffer verfolgt, wobei der Suchkopf sich nach dem Abschuß völlig autonom bewegt und unbeeinflußbar ist. Selbstverständlich muß dem Flugkörper - beziehungsweise seinem "Einweisungsprozessor" (Alignment-Prozessor) - vor dem Abflug das anzufliegende Ziel angegeben bzw. er auf dieses Ziel eingewiesen werden. Hierzu bedient man sich eines sogenannten Bildvergleichs, bei dem Bilder des Schützenvisiers mit denen des Suchkopfes verglichen und korreliert werden. Nun hat aber der Suchkopf gegenüber dem Schützenvisier ein erheblich kleineres Sehfeld, sieht also lediglich einen Ausschnitt des größeren Visierbildes. Die Übereinstimmung beider Bilder führt kontinuierlich der Alignment-Prozessor aus, wobei der Vergleich so erfolgt, daß von der linken oberen Ecke des Suchkopfbildes Zeile für Zeile und Spalte für Spalte im Visierbild abgefragt wird und für jede Position der Korrelationskoeffizient bzw. ein verwandtes Kriterium ermittelt wird. Dort wo der Korrelationskoeffizient maximal ist, ist die Wahrscheinlichkeit, daß beide Bilder deckungsgleich sind, am größten.Such weapon systems according to the so-called "fire and forget system" are known per se. In such systems, the missile is completely on its own after the target search. For this purpose, he is equipped with a gimbal-mounted seeker head camera and with a tracker which, by successive image comparison using a correlation process, pursues its assigned goal until the hit, the seeker head moving completely autonomously after the launch and being uninfluenced. Of course, the missile - or its "instruction processor" (alignment processor) - must be given the target to be approached prior to departure, or it must be briefed on this target. To do this, a so-called image comparison is used, in which images of the rifle sight are compared and correlated with those of the seeker head. However, the seeker head now has a considerably smaller field of view than the rifle sight, so it only sees a section of the larger sight image. The alignment processor continuously matches the two images, the comparison being carried out by querying line by line and column by column in the sighting image from the top left corner of the search header image and determining the correlation coefficient or a related criterion for each position . Where the correlation coefficient is at a maximum, the probability that both images are congruent is greatest.

Da nun beim heutigen Stand der Technik der Suchkopf eine Festbrennweite besitzt, kann der Schütze den Bildausschnitt nicht selbst bestimmen, sondern der Suchkopf ist auf das angewiesen "was er zu sehen bekommt". Die Brennweite der Sucherkopfoptik ist so dimensioniert, daß ein normales Panzerziel in 500 m Entfernung - dies ist die Minimalentfernung - noch voll "ins Bild" paßt. Dies hat aber den Nachteil, daß sich das Ziel in der Maximalentfernung von ca. 4, 5 km relativ sehr klein darstellt. (ca. 4 samples). Neben dem Ziel ist hier also noch jede Menge Hintergrund im Bild enthalten. Dieser Hintergrund ist umso störender, je kleiner das Ziel ist.Since the seeker head now has a fixed focal length in the current state of the art, the shooter cannot determine the image section himself, but the seeker head is dependent on "what he can see". The focal length of the viewfinder optics is dimensioned so that a normal tank target at 500 m distance - this is the minimum distance - still fits fully into the picture. However, this has the disadvantage that the target appears relatively very small in the maximum distance of approximately 4.5 km. (approx. 4 samples). In addition to the goal, there is a lot of background in the picture. The smaller the target, the more disturbing this background is.

Nun aber hat die optische Achse des Visiers von der optischen Achse des Suchkopfes einen durch den Träger (Hubschrauber) bedingten Abstand, also eine Parallaxe, die in Höhe und Breite etwa 5 m beträgt. Damit ist auch der Blickwinkel vom Suchkopf auf das Ziel ein anderer als vom Visier aus. Für den Bildvergleich durch den Alignment-Prozessor ist es jedoch wesentlich, daß Suchkopf- und Visieroptik das gleiche sehen. Dies ist aber nicht gegeben, wenn sich Vorder- oder Hintergrundobjekte im Bild befinden (Figur), was als Normalfall anzusprechen ist. Dadurch aber wird der Bildvergleich wesentlich verschlechtert und führt zu einem großen Einweisfehler.Now, however, the optical axis of the sight has a distance from the optical axis of the seeker head caused by the carrier (helicopter), that is to say a parallax which is approximately 5 m in height and width. This means that the perspective from the seeker head to the target is different from that from the sight. For the image comparison by the alignment processor, however, it is essential that the seeker head and sight optics see the same thing. However, this is not the case if there are foreground or background objects in the image (figure), which is to be addressed as a normal case. However, this significantly worsens the image comparison and leads to a large mistake in the introduction.

Durch die US 3 986 682 ist ein Flugkörper-Waffensystem bekannt geworden, bei dem durch Vergleich von zur Deckung gebrachter Visier- und Suchkopfbilder mittels eines Korrelationsverfahrens kontinuierlich ein Ziel verfolgt, wobei die Bildgröße der Zielsuchkopfoptik von Anfang an klein gewählt wird.A missile weapon system is known from US Pat. No. 3,986,682, in which a target is continuously pursued by comparing sight and seeker head images that have been covered by means of a correlation method, the image size of the seeker head optics being chosen to be small from the start.

Durch die DE 33 34 729 A1 ist ein Verfahren zur Ausrichtung eines Zielsuchkopfes eines selbstgesteuerten Flugkörpers bekannt, bei dem ein das Ziel enthaltendes Bild und ein vom Zielsuchkopf erzeugtes Bild mit Hilfe einer Bildkorrelation einander angepaßt werden.DE 33 34 729 A1 discloses a method for aligning a target seeker head of a self-guided missile, in which an image containing the target and an image generated by the target seeker head are matched to one another with the aid of an image correlation.

Der vorliegenden Erfindung liegt die Aufgabe zugrunde, ein Waffensystem der eingangs genannten Art zu schaffen, bei dem die Einweiswahrscheinlichkeit von mindestens 85 % erreicht und gewährleistet wird und der Alignment-Prozessor durch Stabilisierungsrestfehler nahezu unstörbar ist, die Harmonisierung in Bodennähe und das Suchkopfbild in der Auflösung verbessert wird.The present invention has for its object to provide a weapon system of the type mentioned, in which the instruction probability of at least 85% is achieved and guaranteed and the alignment processor is almost undisturbed by residual stabilization errors, the harmonization close to the ground and the search head image in the resolution is improved.

Diese Aufgabe wird durch die im Anspruch 1 aufgezeigten Maßnahmen gelöst. In der nachfolgenden Beschreibung ist ein Ausführungsbeispiel beschrieben und in der Figur der Zeichnung ein Szenenbildvergleich in Ansicht und Draufsicht dargestellt.This object is achieved by the measures indicated in claim 1. An exemplary embodiment is described in the following description and a scene image comparison in view and plan view is shown in the figure of the drawing.

Wie aus vorstehenden Ausführungen hervorgeht, ist eine optimale Einweisungswahrscheinlichkeit nur zu erzielen, wenn parallaxenfreie Bilder vorhanden sind. Dies ist durch Minimierung der Zielumgebung erreichbar, d.h. die Zielumgebung geht nicht, oder nur geringfügig in den Bildvergleich ein. Zu diesem Zweck muß die Markierungsbox an die Größe des Zieles angepaßt, also soweit verkleinert oder vergrößert werden, daß so wenig wie möglich an Hintergrund in der Markierungsbox enthalten ist. Die Markierungsbox ist ein vom Display prozessorgenerierter rechteckiger, nicht voll ausgezogener weißer Rahmen mit angedeuteten Ecken. Diese ist derzeit quadratisch ausgelegt und ihre Größe wird voreingestellt. Der Schütze kann nun die Markierungsbox über die Bedienelemente (Operator Controls) entweder vergrößern oder verkleinern, sozusagen zoomen. Der operationelle Zustand - also "Vergrößern" oder "Verkleinern" - wird auf dem MIL-Bus dem Feuerleitrechner (FCC) mitgeteilt. Aus der Zeit, wie lange der Schütze die Zoomtaste gedrückt hält und der Zoomgeschwindigkeit berechnet der FCC (Firing Control Computer) die aktuelle Markierungsboxgröße, die dem Tracker zum Setzen der Trackboxgröße vom FCC mitgeteilt wird. Mit Hilfe der reduzierten Sehfeldgröße, die der Größe der Markierungsbox entspricht, und der bekannten Sensorabmessung des Suchkopfes ist der FCC in der Lage, die jeweilige Brennweite der Suchkopfoptik zu berechnen und diese der Munition auf dem Bus mitzuteilen bzw. einzugeben. Der Suchkopfregelt seinen aktuellen Istwert auf den vom FCC kommandierten Sollwert nach und gibt jedem Rahmen (Frame) die aktuell erreichte Sehfeldgröße an den FCC zurück, bis dieser die Übereinstimmung der Sehfelder feststellt. Der Regelkreis kann so lange aufrechterhalten werden, wie der Schütze seinerseits an den "Operator Controls" nachregelt.As can be seen from the above, an optimal instruction probability can only be achieved if parallax-free images are available. This can be achieved by minimizing the target environment, ie the target environment is not included or is only slightly included in the image comparison. For this purpose, the marker box must be adapted to the size of the target, that is to say reduced or enlarged to such an extent that as little background as possible is contained in the marker box. The marking box is a rectangular frame from the display, which is generated by the processor, and is not fully extended with indicated corners. This is currently square and its size is preset. The shooter can now either enlarge or reduce the marker box using the operator controls, so to speak zoom. The operational status - ie "enlarge" or "reduce" - is communicated to the fire control computer (FCC) on the MIL bus. The FCC (Firing Control Computer) calculates the current marking box size from the time the shooter holds the zoom button and the zoom speed, which the FCC communicates to the tracker to set the track box size. With the help of the reduced field of view, which corresponds to the size of the marking box, and the known sensor size of the seeker head, the FCC is in the Able to calculate the respective focal length of the seeker head optics and to inform the ammunition on the bus or enter them. The seeker head adjusts its current actual value to the setpoint commanded by the FCC and returns the currently achieved field of view to the FCC for each frame until the FCC determines that the fields of view match. The control loop can be maintained as long as the shooter in turn adjusts the "Operator Controls".

Bei der Berechnung der Brennweite ist jedoch zu beachten, daß das Suchkopfbild rotationssymmetrisch ist und nur derjenige Teil mit dem Visierbildausschnitt verglichen werden kann, der innerhalb eines einbeschriebenen Quadrates liegt. Dem Sensorverhältnis ist geometrisch durch einen Faktor √2 Rechnung zu tragenWhen calculating the focal length, however, it should be noted that the seeker head image is rotationally symmetrical and only the part that lies within an inscribed square can be compared with the sight image section. The sensor ratio must be taken into account geometrically by a factor √2

Eine angemessene Markierungsboxgröße einzustellen, ist bei bewegten Zielen unter Einschluß der Trägerbewegungen schwieriger als bei stehenden Zielen und unbewegtem Träger. Die Trägerbewegungen sind durch Einschaltung des Hintergrundtrackers zu minimieren, so daß nur noch die Relativbewegung des Zieles in Rechnung zu stellen ist.Setting an appropriate marker box size is more difficult with moving targets, including carrier movements, than when the target is stationary and the carrier is still. The carrier movements are to be minimized by switching on the background tracker so that only the relative movement of the target has to be taken into account.

Ist die richtige Markierungsboxgröße gefunden, muß dieser Bildausschnitt mit einem gleich großen Ausschnitt des Suchkopfbildes verglichen werden. Hierzu wird nun vorgeschlagen, den Suchkopf mit einem Zoomobjektiv auszurüsten, das in der Lage ist, das Sehfeld soweit zu verkleinern, bis das Ziel auch in maximaler Zielentfernung noch "bildfüllend" ist. Die entsprechende Sehfeldgröße wird durch den FCC (Fire Control Computer) über den Waffensystem-Bus durchgeführt.If the correct marker box size has been found, this image section must be compared with an section of the search head image of the same size. For this purpose, it is now proposed to equip the search head with a zoom lens that is able to reduce the field of view until the target is still "full-frame" even at the maximum target distance. The corresponding field of view is carried out by the FCC (Fire Control Computer) via the weapon system bus.

Bildfüllend heißt nun nicht, daß das Ziel in maximaler Entfernung das ganze Bild ausfüllen muß. Es ist ausreichend, wenn ein guter Bildvergleich auch für Fernziele gewährleistet ist und auch den erhöhten Vibrationspegeln, denen eine Fernbereichsoptik im Gegensatz zu den Nahbereichsoptiken ausgesetzt ist, noch ein ausreichendes Detektieren zuläßt.Image filling does not mean that the target must fill the entire image at maximum distance. It is sufficient if a good image comparison is also guaranteed for long-range targets and also the increased vibration levels, to which long-range optics are exposed, in contrast to short-range optics, still permit sufficient detection.

Dadurch ist nun ein Waffensystem geschaffen, das die gewünscht optimal hohe Einweiswahrscheinlichkeit gewährleistet und den bisherigen Einfluß der Parallaxe aufdie Korrelation ausschaltet, ferner eine wesentliche Harmonisierung in Bodennähe und eine verbesserte Auflösung des Suchkopfbildes erbringt. Die "Bildexplosion", die besonders im Endflug der Munition schnell veränderliche Verhältnisse herbeiführt und die Algorithmen ungünstig beeinflußt, wird bis nahe an die "Endzeit" verlegt. Aufgrund der höheren Auflösung der Zoom-Optik wird auch das "Target-Handover-Kriterium" entscheidend verbessert.As a result, a weapon system has now been created which guarantees the desired, optimally high probability of being directed and eliminates the previous influence of parallax on the correlation, furthermore brings about substantial harmonization near the ground and an improved resolution of the seeker head image. The "image explosion", which causes rapidly changing conditions, particularly in the final flight of the ammunition, and adversely affects the algorithms, is moved close to the "end time". Due to the higher resolution of the zoom optics, the "target handover criterion" is also significantly improved.

Claims (1)

Flugkörper-Waffensystem mit einem kardanisch aufgehängten Zielsuchkopf und einem Einweisungsprozessor (Tracker), der durch Vergleich von zur Deckung gebrachter Visier- und Suchkopfbilder mittels eines Korrelationsverfahrens kontinuierlich sein Ziel ermittelt, dadurch gekennzeichnet, daß a) der Zielmarkierungsrahmen im Visierbild zur Reduzierung des Einflusses der Parallaxe auf die Korrelation durch Verkleinerung oder Vergrößerung an die Größe des Zieles anpaßbar ist und in der gewählten Größe der Zielsuchkopfoptik eingegeben wird, b) der Zielsuchkopfmit einem an die Waffensystemreichweite angepaßten Zoomobjektiv versehen ist, welches das Sehfeld soweit verkleinert, bis das Ziel im Deckungsbild in allen Zielentfernungen immer mindestens nahezu "bildfüllend" dargestellt wird, c) die auf den Zielsuchkopf bzw. dessen Zoomoptik einwirkenden Vibrationspegel durch Einschalten des bordeigenen Hintergrundtrackers weitgehend eliminiert werden und d) durch Anpassung der Auflösung beider Sensoren für die Zielübergabe ein Wert für die Korrrelationsgröße vorgegeben wird. Missile weapon system with a gimbal-mounted target seeker head and an instruction processor (tracker), which continuously determines its target by comparing sighted and seeker head images covered by means of a correlation method, characterized in that a) the target marking frame in the sighting image can be adapted to the size of the target by reducing or enlarging the influence of the parallax on the correlation and is entered in the selected size of the target seeker optics, b) the target seeker is provided with a zoom lens adapted to the range of the weapon system, which reduces the field of view until the target is always shown at least almost "full-frame" in all target distances in the cover image, c) the vibration levels acting on the target seeker head or its zoom optics are largely eliminated by switching on the on-board background tracker and d) a value for the correlation variable is specified by adapting the resolution of both sensors for the target transfer.
EP96119417A 1995-12-09 1996-12-04 Missile weapon system Expired - Lifetime EP0777100B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19546017 1995-12-09
DE19546017A DE19546017C1 (en) 1995-12-09 1995-12-09 Missile weapon system

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EP0777100A2 true EP0777100A2 (en) 1997-06-04
EP0777100A3 EP0777100A3 (en) 1999-09-01
EP0777100B1 EP0777100B1 (en) 2002-07-24

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US (1) US5785275A (en)
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DE (2) DE19546017C1 (en)
ES (1) ES2179146T3 (en)

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WO1999051931A1 (en) * 1998-04-07 1999-10-14 Raytheon Company Guidance system having a body fixed seeker with an adjustable look angle
FR2830078A1 (en) * 2001-09-25 2003-03-28 Sagem Method of guiding a rocket, e.g. a helicopter launched anti-tank missile, involves using camera based autoguidance system with viewer and camera images harmonized to produce correction values
US11965714B2 (en) 2007-02-28 2024-04-23 Science Applications International Corporation System and method for video image registration and/or providing supplemental data in a heads up display

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DE19828644C2 (en) * 1998-06-26 2001-12-06 Lfk Gmbh Process for remote control of ground-based and / or ground-based targets
DE10158666A1 (en) * 2001-11-28 2003-06-18 Lfk Gmbh Missile independent guide device and method for guiding a missile independently uses orientation features lying outside a target point by means an optical homing head and an image processor
US8406464B2 (en) 2005-06-23 2013-03-26 Israel Aerospace Industries Ltd. System and method for tracking moving objects
IL219639A (en) 2012-05-08 2016-04-21 Israel Aerospace Ind Ltd Remote tracking of objects
WO2014111923A1 (en) 2013-01-15 2014-07-24 Israel Aerospace Industries Ltd Remote tracking of objects
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EP0777100B1 (en) 2002-07-24
EP0777100A3 (en) 1999-09-01
DE59609477D1 (en) 2002-08-29
ES2179146T3 (en) 2003-01-16
US5785275A (en) 1998-07-28
DE19546017C1 (en) 1997-04-24

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