EP0953140B1 - Vorrichtung zum bestimmen der richtung eines zieles in einer vorbestimmten indexmarkierung - Google Patents

Vorrichtung zum bestimmen der richtung eines zieles in einer vorbestimmten indexmarkierung Download PDF

Info

Publication number
EP0953140B1
EP0953140B1 EP98903080A EP98903080A EP0953140B1 EP 0953140 B1 EP0953140 B1 EP 0953140B1 EP 98903080 A EP98903080 A EP 98903080A EP 98903080 A EP98903080 A EP 98903080A EP 0953140 B1 EP0953140 B1 EP 0953140B1
Authority
EP
European Patent Office
Prior art keywords
sighting
target
consist
gyrometers
elements
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
EP98903080A
Other languages
English (en)
French (fr)
Other versions
EP0953140A1 (de
Inventor
Bernard Alhadef
Guy Philibert
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.)
Sofresud
Original Assignee
Direction General pour lArmement DGA
Sofresud
Etat Francais
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=9502726&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP0953140(B1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Direction General pour lArmement DGA, Sofresud, Etat Francais filed Critical Direction General pour lArmement DGA
Publication of EP0953140A1 publication Critical patent/EP0953140A1/de
Application granted granted Critical
Publication of EP0953140B1 publication Critical patent/EP0953140B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

Classifications

    • 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
    • F41G3/02—Aiming or laying means using an independent line of sight

Definitions

  • the present invention relates to the field of sighting or score. It relates more particularly to a device capable of determining the direction of a target in a predefined coordinate system, device of the type comprising sighting means and means for processing signals from the sighting means, these processing means being able to determine the direction between the means of aim and target and to transmit them to visualization means or to means exteriors.
  • patent EP5575591 describes a device capable of determine the orientation of a body with respect to a reference orientation, and includes a mobile orientation unit and a reference sensor unit, each of them comprising a gyroscopic unit with three axes, a unit of calculation receiving the measurement values of the aforementioned units, and an output unit.
  • Such devices exist and use field sensors magnetic.
  • binoculars sold under the brand LEICA, are suitable for determine the site and azimuth of a target and give complete satisfaction when they are used in free space.
  • their use is not possible in a environment with magnetic disturbances.
  • Other devices consist in analyzing electrostatic fields or even electromagnetic and, by reading their cartography, to determine the position and direction of a target.
  • the devices give satisfaction in perfectly environments known and of small dimensions. They are however heavy to implement and do not do not support changes in the electrical environment.
  • the device for determining the direction of a target comprises a mobile sighting device provided with two integrated inertial gyroscopes, means for registration in solidarity with the helicopter equipped with two gyroscopes and means enslavement of the direction of the weapon according to the information provided by the gyroscopes.
  • the registration means are used to block the four gyroscopes in a first reference position to define a reference. When the means of aiming are released from the registration means, the four gyroscopes are released. The pair of gyroscopes integrated into the registration means then rotates according to the helicopter movements.
  • the pair of gyroscopes integrated into the sighting device rotates according to the movements of the helicopter and the movements of the shooter wielding the sighting device.
  • the weapon is directed in real time towards the target in function of the difference in rotation between the two pairs of gyroscopes.
  • This device has many drawbacks.
  • the shooter is obliged to maintain the aiming means permanently in the direction of the target, and this until weapon system firing which limits firing capabilities and leaves the helicopter vulnerable in the presence of several targets.
  • the two gyros of the sighting means transmit to the processing means successions of signal variations resulting in an accumulation of measurement errors which affects the accuracy of the determining the direction of the target.
  • One of the aims of the invention is to propose a light and handy device, suitable to determine, precisely and quickly, the site and the azimuth of a target and usable what whatever the type of environment.
  • the proposed solution is a device capable of determining the direction of a target in a predefined reference frame and of the type comprising sighting means comprising a sighting device and control means, means for resetting these sighting means and means for processing signals from the sighting means, these processing means being able to determine the direction between the means of aim and target and to transmit them to visualization means or to means exterior, device characterized in that the sighting means further comprise along three axes substantially perpendicular to each other, three gyrometers, and in that the control means control the transmission to display means or external means, values representative of the direction between the sighting means and the target.
  • the device comprises three optical gyrometers, for example fiber optic.
  • the sighting means include elements capable of cooperating with elements of the registration means.
  • the first elements are constituted by three plates, one hollowed out by a cone, the second comprising a plane, while that the other elements are constituted by spikes of conical shape.
  • the processing means include a source power supply and means of calculation and information management putting implement software performing several functions.
  • the software also performs a function for viewing the operational state of the elements of the invention.
  • Patents EP717264 and EP496172 describe methods for correcting gyrometric biases as well as the means of their implementation.
  • the first concerns the correction of gyrometric biases on an aircraft and the second, on a vehicle. In both cases, the gyroscopic calibration is carried out when the aircraft or vehicle is in the stationary position.
  • One of the aims of the invention is to propose a method for processing signals from gyroscopes giving good results and not requiring powerful signal processing means.
  • the solution consists in proposing a data integration process gyroscopic consisting of performing successively, from the values gyroscopic obtained between a time to and a time t1, first calculations with complex modeling that cannot, given the processing capacity of processing means, operating in real time but giving precise results, then from the gyroscopic values obtained between time t1 and time t2, second calculations with simplified modeling and capable of being implemented in real time.
  • the software also performs a function of correction of the gyrometer drift between two successive readjustments.
  • the sighting means comprise at minus a temperature sensor.
  • the means of the invention presented in Figure 1 include means of aiming 10, registration means 20, signal processing means 30, display means 40, external means 50.60.
  • the sighting means 10 comprise means 11 having the shape of a pistol.
  • the core 12 of the latter is a precision support of light material, for example machined aluminum, on which are positioned on the one hand a sighting member 13, and on the other hand along three axes substantially perpendicular to each other compared to the others, three optical gyroscopes 14 1 , 14 2 , 14 3 .
  • these gyros are fiber optic gyros. They make it possible to obtain high accuracy of measurements, their drift is low, they support rapid movements and can be used in any environment.
  • the sighting member 13 is constituted by a viewfinder of the C-More brand which projects a crosshair to infinity, allowing aiming without parallax error.
  • the first 15 1 located at the end of the barrel, is hollowed out with a cone; the second 15 2 is located above the butt and has a groove; The third 15 3 placed at the bottom of the stick has a plane.
  • Ports are machined in the gun to house electrical systems and the three measurement gyros.
  • the plans on which they are based, and which determine their axis of rotation are machined to ensure their perfect perpendicularity.
  • These sighting means further comprise means of transmission control constituted by a switch 16 appearing under the form of a pistol trigger.
  • the registration means 20, shown in Figure 3, are fixed to the ship and are composed of a support in the form of a rectangular box 21 having a cover 22 pivoting about an axis 23.
  • This box contains a sheath 24 which matches the shape of the sighting means 10.
  • the internal surface of the face 22 has three fixed conical spikes 25 1 , 25 2 , 25 3 arranged so that each of them cooperates with one of the three removable plates fixed on the sighting means in order to ensure a very precise positioning of the latter in the registration means, the precision possibly being of the order of a hundredth of a degree or even higher.
  • These registration means further comprise a switch 26 indicating or not the presence of the sighting means 10.
  • the processing means 30 are portable and include a source stabilized power supply and computing and management resources information implementing software performing several functions.
  • the external means comprise on the one hand means 50 for measuring the attitude (heading, roll, pitch) of the ship, in this case a navigation center, and the latitude of the latter on the surface of the earth.
  • these information is transmitted to the means of the invention by the navigation means of the ship, in the form of data directly usable by the calculation means, by means of a transfer function to take account of the positioning of the navigation center in relation to the registration means.
  • a weapon system 60 which aim is controlled from site and azimuth values determined by means of invention and values specific to the weapon system and its location on the ship.
  • This attitude can be expressed in different benchmarks, depending on the needs of the system that will use the sighting information.
  • It can in particular be an absolute benchmark, whose axes are east geographic, geographic north and vertical of the location, or a landmark related to the ship.
  • the sighting means 10 When the sighting means 10 are positioned in the registration support 20, their position is perfectly known in an absolute benchmark knowing on the one hand the position of the registration support on the ship (6 degrees of freedom) and on the other position of the vessel in the geographical reference linked to its quiet point (course, roll, pitch and latitude). This information is transmitted to the processing means 30 by the ship's navigation center.
  • the command to release the sighting means from its registration support 20 triggers the integration of the three incremental angles along each of the three axes linked to sighting means 10.
  • This integration is done in a Galilean reference linked to the registration support 20, in the position where it was at the time of the extraction of the sighting means 10.
  • the attitude of the device is therefore known at all times with respect to this benchmark Galilean.
  • attitude of the aiming means must be in conformity with the needs of external resources 60.
  • this compliance requires two steps.
  • the first consists in calculating the attitude of the sighting means in a benchmark geographic centered on the registration support 20, at the time of use of information. This calculation takes into account the Earth's rotation and the time since the last registration.
  • the second consists in expressing the attitude in the operating benchmark, in the occurrence the weapon system benchmark.
  • This mark can be located several tens of meters from the support of registration, and therefore the parallax error may not be negligible, especially if the objects concerned are close, these objects being able to be swimmers or light boats.
  • This filtering can be of the low pass type or a KALMANN type filter in order to take into account target changes in a given template without having a train.
  • the initial attitude is determined mechanically. Before any objective designation, the aiming instrument is at rest in the registration means, so that its position is known and reproducible. The precision of this position is acquired by three fixed positioning pins 25 1 , 25 2 , 25 3 in this support and which are inserted successively in one of the plates placed on the sighting means. The six degrees of freedom being thus determined with great precision, the initial attitude of the sighting instrument is perfectly known.
  • the positioning of the sighting means in the registration means is carried out in two stages.
  • the first consists in positioning the sighting means in the sheath 24: it constitutes a positioning which can be described as coarse while the second consists in positioning the sighting means by successively plugging in one of the three pins in the one of the three plates: positioning is thus obtained to the nearest hundredth of a degree.
  • the precise positioning of the sighting means takes place automatically when the cover 22 of the box 21 is closed.
  • the software implemented by the processing means 30 has the mission of process the raw data provided by the sighting instrument, a device that allows the operator of the means according to the invention, by targeting a target, of determining its site and its azimuth.
  • the objective designation function takes place continuously when the instrument sighting is in operational mode, that is to say outside of the registration support. It is required that the minimum gyroscopic data processing time, for example of the order of a few milliseconds, in order to be able to process the maximum of data coming out of the gyrometers, and thus better follow the evolution of the increments angles and angles which are deduced therefrom, in order to limit the error during processing. Depending on the size of the angle increments from the gyros, a modeling is implemented to overcome as much as possible the limits of commutativity of rotations in space.
  • the integration of the gyrometric data is done in the absolute reference of the registration support in to.
  • we ends the treatment taking into account the Earth's rotation which has been measured in known by the gyros since the beginning of the treatment. For that we place our in the absolute benchmark of the registration support at t, instant of aiming, then we deduce the site and the absolute azimuth of the sighting instrument relative to the building.
  • the transmission function is very simple, since it consists in sending the calculated values of site and the azimuth in the absolute coordinate system of the building at time t, to a memory and to the weapon system and / or to the display means for display.
  • This function is triggered by the passage of switch 16 from the position open to the closed position. It is accompanied by the emission of an audible signal and / or a light signal and the display of positive information on the means of viewing.
  • the output values are: to, uo, vo, wo the position vectors of the aiming instrument to to, as well as Du.
  • the processing of the input data is carried out as follows:
  • the calculations during processing are done in the absolute benchmark of the building (and registration support) to, instant of the last registration.
  • the purpose of registration is therefore to determine the new starting vectors of the integral in the absolute coordinate system of the registration support in to.
  • the site and the azimuth are calculated using the aiming vector determined by the gyrometric measurements and integration during operational mode.
  • switch 16 closes, and the variable trigger changes from 0 to 1 on the screen.
  • the implementation of the means of the invention is carried out by an operator.
  • the latter sees a target, it removes the sighting means 10 from the means of registration 20 then it points, using the sighting member 13, the means 10 in the direction of the target and presses the switch 16 when it considers that they are correctly positioned relative to the target. Therefore the means 30 calculate the site and the azimuth of the target and transmit these values to the weapon system which controls the orientation of the weapon according to these values and the variations in attitude of the ship from said transmission of values, these variations being, as previously mentioned, determined by means 50.
  • the shooter can target another target and press the switch 16.
  • the means 30 then calculate the site and the azimuth of the new target and transmit these values to the weapon system which stores in memory said values and can direct the weapon towards this new target immediately after firing in the direction of the first target.
  • the shooter can successively target several targets in a minimum of time, without having to wait for the end of the firing sequence which optimizes the total time required for the corresponding shots and thus reduces the vulnerability of the boat.
  • the shooter can, after acquiring the target (s), achieve additional tasks or moving around without the weapon system reacting to his movements.
  • the acquisition of gyros is done with a step Dt between 5 ms and 100 ms. These values are integrated and it is known to model this integration in order to get accurate results. However, with portable computing means, it is not not possible to perform calculations in real time.
  • One of the objects of the invention is to remedy this problem by proposing an integration process consisting of performing successively, from the gyroscopic values obtained between time to and time t1, first calculations with complex modeling that cannot operate in real time but giving precise results, then from the values gyroscopic obtained between time t1 and time t2, second calculations with simplified modeling capable of being implemented in real time.
  • box 21 can be replaced by a device comprising actuators, for example of the electromechanical or pneumatic type.
  • the sighting means 10 are placed in a holder of the case type. Therefore they are roughly positioned within a few degrees.
  • the sighting means can be applied to a helmet, such as that described in US Pat. No. 4,722,601, to a headband or to binoculars and the software may include a self-adaptive algorithm for calculating the drift of gyros.
  • the three plates may each include a slot, or the means may also comprise four plates, two of which having a slit, the third has a stop and the fourth forms a plane.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Gyroscopes (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)

Claims (22)

  1. Vorrichtung, die die Richtung eines Ziels in einem im Voraus definierten Bezugssystem bestimmen kann und von dem Typ ist, der Zielmittel (10), die ein Zielorgan (13) und Steuermittel (16) aufweisen, Mittel (20) für die Nachstellung dieser Zielmittel (10) sowie Mittel (30) für die Verarbeitung von von den Zielmitteln (10) ausgegebenen Signalen umfasst, wobei diese Verarbeitungsmittel (30) die Richtung zwischen den Zielmitteln (10) und dem Ziel bestimmen können und sie an Anzeigemittel (40) oder an externe Mittel (50, 60) übertragen können, wobei die Vorrichtung dadurch gekennzeichnet ist, dass die Zielmittel (10) längs dreier Achsen, die im Wesentlichen zueinander senkrecht sind, drei Gyrometer (141, 142, 143) sowie Mittel (16) zum Steuern der Übertragung von Werten, die die Richtung zwischen den Zielmitteln und dem Ziel repräsentieren, an die Anzeigemittel (40) oder an die externen Mittel (50, 60) umfassen.
  2. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass die Vorrichtung drei optische Gyrometer (141, 142, 143) umfasst.
  3. Vorrichtung nach Anspruch 2, dadurch gekennzeichnet, dass die Vorrichtung drei Lichtleitfaser-Gyrometer (141, 142, 143) umfasst.
  4. Vorrichtung nach Anspruch 3, dadurch gekennzeichnet, dass nur die Spule jedes der Lichtleitfaser-Gyrometer auf den Zielmitteln (10) positioniert ist.
  5. Vorrichtung nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass die Zielmittel (10) Elemente (15) umfassen, die mit Elementen (25) der Nachstellmittel zusammenarbeiten.
  6. Vorrichtung nach Anspruch 5, dadurch gekennzeichnet, dass die Elemente (15) durch drei Plättchen gebildet sind, wovon eines von einem Loch durchbrochen ist, das zweite einen Schlitz aufweist und das dritte eine Ebene bildet.
  7. Vorrichtung nach Anspruch 5, dadurch gekennzeichnet, dass die Elemente (15) durch drei Plättchen gebildet sind, die jeweils einen Schlitz aufweisen.
  8. Vorrichtung nach Anspruch 5, dadurch gekennzeichnet, dass die Elemente (15) durch vier Plättchen gebildet sind, wovon zwei einen Schlitz aufweisen, das dritte eine Kante aufweist und das vierte eine Ebene bildet.
  9. Vorrichtung nach einem der Ansprüche 5 bis 8, dadurch gekennzeichnet, dass die Elemente (25) durch konische Keile gebildet sind.
  10. Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Nachstellmittel (20) Mittel (24) für die ungefähre Positionierung der Zielmittel sowie Mittel (22) für die genaue Positionierung dieser Mittel umfassen.
  11. Vorrichtung nach Anspruch 10, dadurch gekennzeichnet, dass die Mittel (24) durch einen Mantel gebildet sind.
  12. Vorrichtung nach einem der Ansprüche 10 und 11, dadurch gekennzeichnet, dass die Mittel (22) durch einen Deckel gebildet sind.
  13. Vorrichtung nach einem der Ansprüche 10 und 11, dadurch gekennzeichnet, dass die Mittel (22) durch wenigstens eine Betätigungseinrichtung gebildet sind.
  14. Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Zielmittel einen Temperatursensor umfassen.
  15. Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Verarbeitungsmittel (30) eine Stromversorgungsquelle sowie Mittel umfassen, die Informationen berechnen und steuern und Software ausführen, die mehrere Funktionen verwirklicht.
  16. Vorrichtung nach Anspruch 15, dadurch gekennzeichnet, dass die Software insbesondere verwirklicht:
    eine Funktion für die Angabe von Zielen, die die Erfassung von Daten des Zielinstruments vornimmt und sie verarbeitet, um den gewünschten Höhenwinkel und den gewünschten Azimut zu erhalten,
    eine Übertragungsfunktion, die die Azimut/Höhenwinkel-Daten für die Anzeige an Anzeigemittel und/oder an ein Waffensystem schickt,
    eine Nachstellfunktion, die die regelmäßige Korrektur der durch die Verwendung von Gyrometem bedingte Drift des Zielinstruments ermöglicht.
  17. Vorrichtung nach Anspruch 16, dadurch gekennzeichnet, dass die Software außerdem eine Funktion der Anzeige des Betriebszustandes der Elemente der Erfindung verwirklicht.
  18. Vorrichtung nach einem der Ansprüche 16 und 17, dadurch gekennzeichnet, dass die Software außerdem eine Funktion für die Korrektur der Drift der Gyrometer zwischen zwei aufeinander folgenden Nachstellungen verwirklicht.
  19. Vorrichtung nach Anspruch 18, dadurch gekennzeichnet, dass die Software für die Korrektur der Drift vom selbstanpassenden Typ ist.
  20. Vorrichtung nach einem der Ansprüche 16 bis 19, dadurch gekennzeichnet, dass die Software außerdem eine Rauschfilterungsfunktion verwirklicht.
  21. Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Zielmittel (10) ein Zielorgan (13) aufweisen, das durch eine Visiervorrichtung gebildet ist, die ein Fadenkreuz ins Unendliche projiziert.
  22. Verfahren für die Integration gyroskopischer Daten, die von den Zielmitteln der Vorrichtungen nach einem der Ansprüche 1 bis 21 ausgegeben werden, dadurch gekennzeichnet, dass es darin besteht, nacheinander anhand der zwischen einer Zeit to und einer Zeit t1 erhaltenen gyroskopischen Werte erste Berechnungen mit einer komplexen Modellierung auszuführen, die wegen der Verarbeitungskapazität der Verarbeitungsmittel nicht in Echtzeit arbeiten kann, aber genaue Ergebnisse liefern, und dann anhand der zwischen dem Zeitpunkt t1 und einem Zeitpunkt t2 erhaltenen gyroskopischen Werte zweite Berechnungen mit einer vereinfachten Modellierung auszuführen, die in Echtzeit ausgeführt werden kann.
EP98903080A 1997-01-17 1998-01-19 Vorrichtung zum bestimmen der richtung eines zieles in einer vorbestimmten indexmarkierung Expired - Lifetime EP0953140B1 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR9700497 1997-01-17
FR9700497A FR2758625B1 (fr) 1997-01-17 1997-01-17 Dispositif apte a determiner la direction d'une cible dans un repere predefini
PCT/FR1998/000086 WO1998031985A1 (fr) 1997-01-17 1998-01-19 Dispositif apte a determiner la direction d'une cible dans un repere predefini

Publications (2)

Publication Number Publication Date
EP0953140A1 EP0953140A1 (de) 1999-11-03
EP0953140B1 true EP0953140B1 (de) 2004-04-14

Family

ID=9502726

Family Applications (1)

Application Number Title Priority Date Filing Date
EP98903080A Expired - Lifetime EP0953140B1 (de) 1997-01-17 1998-01-19 Vorrichtung zum bestimmen der richtung eines zieles in einer vorbestimmten indexmarkierung

Country Status (5)

Country Link
US (1) US6202535B1 (de)
EP (1) EP0953140B1 (de)
DE (1) DE69823167T2 (de)
FR (1) FR2758625B1 (de)
WO (1) WO1998031985A1 (de)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2824132B1 (fr) * 2001-04-27 2007-07-13 France Etat Dispositif, et procede associe, apte a determiner la direction d'une cible
DK1329683T3 (da) * 2002-01-16 2005-12-12 Contraves Ag Fremgangsmåde og apparat til kompensering af skydefejl og system-computer til våbensystem
FR2852405B3 (fr) * 2003-03-14 2005-06-03 Dispositif et procede associe apte a determiner la direction d'une cible
US7225548B2 (en) * 2004-05-17 2007-06-05 Sr2 Group, Llc System and method for aligning multiple sighting devices
US8718937B2 (en) 2005-09-28 2014-05-06 Honeywell International Inc. Methods and apparatus for real time position surveying using inertial navigation
FR2929700B1 (fr) * 2006-10-23 2016-02-05 Sofresud Dispositif decentralise d'autodefense comprenant un pointeur portable et mobile apte a assurer en urgence la defense rapprochee d'un navire ou d'une plate-forme en mer contre une menace de surface.
CA2649279C (en) * 2008-01-11 2015-12-29 Timothy D.F. Ford Splatter indicator sight for firearms
FR2974196B1 (fr) 2011-04-12 2014-03-07 Ixmotion Systeme de stabilisation d'un positionneur a axes motorises d'un equipement
ITFI20110266A1 (it) * 2011-12-09 2013-06-10 Selex Galileo Spa "sistema di mira"
CN103676131A (zh) * 2013-12-20 2014-03-26 河北汉光重工有限责任公司 高清晰昼夜瞄准镜
DE102015012206A1 (de) * 2015-09-19 2017-03-23 Mbda Deutschland Gmbh Feuerleitvorrichtung für eine Handfeuerwaffe sowie Handfeuerwaffe
FR3057656B1 (fr) 2016-10-14 2019-04-05 Sofresud Dispositif visuel pour la designation d’objectifs et procede de designation d’objectif utilisant ledit dispositif
GB2574375B (en) * 2018-05-23 2023-02-01 The Corp Of Trinity House Of Deptford A positioning system and method
FR3089283B1 (fr) 2018-11-29 2021-03-12 Ixblue Module autonome optronique de pointage de cible géolocalisé pour système portable et système correspondant

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4012989A (en) * 1975-04-21 1977-03-22 Summa Corporation Inertial free-sight system
JPS5923216A (ja) * 1982-07-29 1984-02-06 Nec Corp ３軸回転角速度検出装置
JP2874348B2 (ja) 1991-01-10 1999-03-24 住友電気工業株式会社 ジャイロのバイアス補正装置
DE4205869A1 (de) 1992-02-26 1993-09-02 Teldix Gmbh Einrichtung zur bestimmung der relativen orientierung eines koerpers
FR2691792A1 (fr) * 1992-06-02 1993-12-03 Giat Ind Sa Dispositif de déclenchement du tir d'une arme à feu.
US5440492A (en) * 1992-12-23 1995-08-08 Kozah; Ghassan F. Kinematically positioned data acquisition apparatus and method
US5822713A (en) * 1993-04-05 1998-10-13 Contraves Usa Guided fire control system
US5568152A (en) * 1994-02-04 1996-10-22 Trimble Navigation Limited Integrated image transfer for remote target location
FR2728339B1 (fr) 1994-12-14 1997-04-04 Aerospatiale Procede et dispositif pour estimer des biais gyrometriques
FR2737001B1 (fr) * 1995-07-20 1997-08-29 Giat Ind Sa Dispositif de stabilisation pour arme a feu individuelle
IL120840A (en) * 1997-05-16 2000-09-28 Planop Planar Optics Ltd Distant aiming apparatus particularly for a firearm

Also Published As

Publication number Publication date
FR2758625A1 (fr) 1998-07-24
FR2758625B1 (fr) 1999-03-19
WO1998031985A1 (fr) 1998-07-23
DE69823167D1 (de) 2004-05-19
US6202535B1 (en) 2001-03-20
EP0953140A1 (de) 1999-11-03
DE69823167T2 (de) 2005-06-30

Similar Documents

Publication Publication Date Title
EP1407214B1 (de) Vorrichtung und dazugehöriges verfahren zum bestimmen der richtung eines zieles
EP0953140B1 (de) Vorrichtung zum bestimmen der richtung eines zieles in einer vorbestimmten indexmarkierung
US8955749B2 (en) Aiming system
EP2495531B1 (de) Verfahren zum Messen der Stabilität einer Sichtlinie und entsprechender Sternsensor
EP2048475B1 (de) Verfahren zur Bestimmung der Lage, Position und Geschwindigkeit eines beweglichen Geräts
EP2188590B1 (de) Verfahren und Vorrichtung zur Abstandsmessung gestützt auf ein stabilisiertes Bild
WO2017093166A1 (fr) Systeme de navigation inertielle a precision amelioree
EP3324147A1 (de) Visuelle vorrichtung zur zielbestimmung, und bestimmungsverfahren von zielen, bei dem diese vorrichtung zum einsatz kommt
EP0077273A1 (de) Feuerleitgerät für eine Waffe mit gestreckter Flugbahn angebracht auf einem Luftfahrzeug mit rotierenden Tragflächen
CA2249474C (fr) Dispositif apte a determiner la direction d'une cible dans un repere predefini
FR2859782A1 (fr) Systemes d'armes
WO2011047822A1 (fr) Procede et dispositif de navigation longue duree
WO2021014294A1 (fr) Procede et dispositif de recalage d'une centrale inertielle
EP0089273B1 (de) Feuerkontrollsystem mit doppelter Bestimmung der Winkelabweichungen
WO2004083767A2 (fr) Dispositif de visee ou de pointage
EP2689211B1 (de) Verfahren zur aktualisierung eines orientierungswertes bezüglich nord oder zur verbesserung der initialisierung eines solchen wertes in einer vorrichtung mit einem bildsensor
FR2929700A1 (fr) Dispositif decentralise d'autodefense comprenant un pointeur portable et mobile apte a assurer en urgence la defense rapprochee d'un navire ou d'une plate-forme en mer contre une menace de surface.
FR2513373A1 (fr) Perfectionnements apportes aux installations gyroscopiques de navigation assurant des fonctions de pilotage ou de stabilisation
EP1840692B1 (de) Verfahren zur Steuerung und/oder Lenkung eines Projektils und Vorrichtung zum Steuern und/oder Lenken mit Hilfe dieses Verfahrens
FR3112873A1 (fr) Procédé et dispositif de prédiction de l’état d’une cible mobile
FR2700840A1 (fr) Arme à visée stabilisée.
EP2515066A1 (de) Vorrichtung zur differenziellen Führung mit Hilfe von aktiver Laserbildgebung
FR3097045A1 (fr) Procédé et dispositif de recalage d’une centrale inertielle d’un moyen de transport à partir d’informations délivrées par un viseur du moyen de transport
EP0285463A1 (de) Vorrichtung zur Führung eines aerodynamischen Luftfahrzeuges mit Hilfe eines Merkmales der äusseren Umgebung, das der Pilot bestimmt

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 19990507

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): BE DE FR GB IT NL

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): BE DE FR GB IT NL

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REF Corresponds to:

Ref document number: 69823167

Country of ref document: DE

Date of ref document: 20040519

Kind code of ref document: P

GBT Gb: translation of ep patent filed (gb section 77(6)(a)/1977)

Effective date: 20040709

REG Reference to a national code

Ref country code: GB

Ref legal event code: 732E

NLS Nl: assignments of ep-patents

Owner name: SOFRESUD

BECA Be: change of holder's address

Owner name: *SOFRESUD777, AVENUE DE BRUXELLES, F-83500 LA-SEYN

Effective date: 20050120

REG Reference to a national code

Ref country code: FR

Ref legal event code: TP

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed

Effective date: 20050117

BECA Be: change of holder's address

Owner name: *SOFRESUD777, AVENUE DE BRUXELLES, F-83500 LA-SEYN

Effective date: 20050120

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: BE

Payment date: 20140114

Year of fee payment: 17

Ref country code: DE

Payment date: 20140115

Year of fee payment: 17

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20150131

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 69823167

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20150801

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 19

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 20

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20161125

Year of fee payment: 20

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: NL

Payment date: 20170125

Year of fee payment: 20

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20170125

Year of fee payment: 20

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20170124

Year of fee payment: 20

REG Reference to a national code

Ref country code: NL

Ref legal event code: MK

Effective date: 20180118

REG Reference to a national code

Ref country code: GB

Ref legal event code: PE20

Expiry date: 20180118

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF EXPIRATION OF PROTECTION

Effective date: 20180118