EP1020699A1 - Flugkörper - Google Patents
Flugkörper Download PDFInfo
- Publication number
- EP1020699A1 EP1020699A1 EP99124091A EP99124091A EP1020699A1 EP 1020699 A1 EP1020699 A1 EP 1020699A1 EP 99124091 A EP99124091 A EP 99124091A EP 99124091 A EP99124091 A EP 99124091A EP 1020699 A1 EP1020699 A1 EP 1020699A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- missile
- missile according
- reconfiguration
- monitoring
- sensors
- 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.)
- Granted
Links
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41F—APPARATUS FOR LAUNCHING PROJECTILES OR MISSILES FROM BARRELS, e.g. CANNONS; LAUNCHERS FOR ROCKETS OR TORPEDOES; HARPOON GUNS
- F41F3/00—Rocket or torpedo launchers
- F41F3/04—Rocket or torpedo launchers for rockets
- F41F3/055—Umbilical connecting means
-
- 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
- F41G7/2246—Active homing systems, i.e. comprising both a transmitter and a receiver
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
- F42B15/01—Arrangements thereon for guidance or control
- F42B15/04—Arrangements thereon for guidance or control using wire, e.g. for guiding ground-to-ground rockets
Definitions
- the invention relates to a missile.
- a missile is part of a weapon system.
- the missile becomes a target guided. This can e.g. through a navigation unit or through a search head take place, which detects the target and generates steering signals.
- the missile is unmanned.
- the missile's flight time from launch to hit is relatively short.
- the Flight guidance system of the missile e.g. with search head or navigation unit therefore only functions for a short time.
- Manned aircraft work with a variety of sensors and safety-related ones Components. Airplanes are in use for a long time. The failure of a sensor or Safety-relevant component during use can cause the Aircraft. For this reason, it is known to have security-related elements including the software of flight controllers redundant and means for Use fault detection, fault identification and reconfiguration (FDIR). It If the failure of a sensor or a defect in a sensor is then recognized, it will determines which sensor or which element has failed or is defective and it will then the failed or defective sensor or element is turned off and it only the remaining sensors or elements are used for flight guidance.
- FDIR fault detection, fault identification and reconfiguration
- DE-39 29 404 A1 shows an example of a method and an apparatus for Detection and identification of errors in sensors.
- DE 39 23 432 C2 shows a Example of monitoring the software by means of which the redundant provided sensors provided signals by redundantly provided computers are processed.
- Missiles may very long, possibly for decades, until they finally become Come into play. The missiles must then be ready for use. Even through long Storage without use can impair the function of the missile enter. Availability is the probability of becoming a missile to be found in a functional condition at a certain point in time. This problem that To ensure operational readiness of the missile even after a long storage period by appropriate construction of the elements of the missile, by appropriate Storage of the missiles and through regular checks with test facilities solved. If elements of the missile prove defective in such a test, the missile is repaired.
- the invention is based on the object of increasing the availability of missiles increase.
- this object is achieved in that to increase the Missile availability of mission-critical elements of the missile redundant are provided and the missile means for function monitoring, error detection and localization and reconfiguration of these elements.
- Elements can be sensors, signal processing means or actuators.
- the term “elements” is also intended to include information that is necessary for the function of the Missile are essential.
- means which e.g. to increase the safety of manned personnel Airplanes themselves during their relatively long-term use are known, used for another purpose, namely to increase the above Defined "availability" of missiles during their short deployment such measures would certainly not be required.
- High reliability and Missile availability is achieved through fault tolerance.
- On fault-tolerant system has the ability to perform its specified function even when Hardware or software errors continue to occur without restriction.
- error includes: errors in the physical Faults, in hardware and software, resulting in errors in the world Information world (“errors”) and ultimately resulting failures or Malfunctions in the system (“failures”).
- error can be a defect on a sensor.
- the "fault” leads to a wrong signal (“error”).
- the “error” leads to a Missile malfunction.
- Embodiments of the invention are the subject of the dependent claims.
- 10 denotes a missile.
- the missile 10 contains a seeker head 12 in his nose.
- the nose has a tip that is permeable to radar radiation (RADOME) 14 and a window 16 that is transparent to infrared radiation.
- Behind the radar-permeable tip 14 is a passive array sensor 18 working in the X-band and a phase array sensor 20 working in the K-band.
- the one working in the X-band, Passive array sensor 18 is connected to associated tracking electronics 22.
- the phase array sensor 20 operating in the K-band has associated tracking electronics 24 connected.
- Behind the window 16 that is transparent to infrared radiation there is an infrared sensor 26 working in the middle infrared range.
- the infrared sensor 26 is associated tracking electronics 28 downstream.
- the chase electronics 22, 24 and 28 receive data from strapdown finder and navigation signal processing 30.
- the strapdown finder and navigation signal processing 30 receives data from an inertial measurement unit and satellite navigation by a Block 32 are shown.
- One is the missile's own movements in the signals of the missile fixed ("strapdown") sensors considered Zum others navigational data are obtained, i.e. data about the position and possibly Missile speed.
- the outputs of the tracking electronics 22, 24 and 28 are connected to means 34 for sensor fusion. Through the sensor fusion Receive seeker signals based on the signals from multiple sensors. This Search head signals are applied to a flight guidance signal processor 36.
- the Flight guidance signal processing 36 continues to receive data from the strapdown seeker and Navigation signal processing 30.
- Flight control signal processing 36 signals from a data transmission unit 38.
- Flight control signal processing 36 is also in data exchange with one missile-side mission unit 40.
- Flight guidance signal processing 36 effects the flight guidance in the marching phase and in the final phase.
- Flight control signal processing delivers commands to an advanced autopilot 42
- Autopilot 42 may also receive data from data transmission unit 38
- Autopilot 42 provides control commands for the actuation of control surfaces and for the thrust at outputs 44 and 46.
- a circuit 48 is provided which is based on data from the Means 34 is applied to sensor fusion and through which a seeker-based Ignition command can be generated, which is output 50 to a warhead is launched
- the missile 10 is before launch via an interface 52 and a feed cable 54 is connected to the carrier aircraft carrying the missile 10, the in Figure 1 by a block 56 in the left part of the figure.
- the interface 52 stands with the missile-side mission unit 40, the signal processing 30, the Flight guidance signal processing 36 and the autopilot 42 in data exchange.
- the carrier aircraft 56 also has sensors, which are formed by blocks 58, 60, 62, 64, 66 and 68, e.g. a radar 58, a forward-facing infrared sensor FLIR 62 or sensors for satellite or inertial navigation GPS / INS 68.
- the sensors are switched to a mission avionics 70 of the carrier aircraft 56. Based on A sensor signal is used to identify, identify and track a target.
- Mission avionics provides data to mission planning means 72, namely fire control solution and the tactical dynamics.
- Mission avionics 70 provides data about location, type and Movement of the target.
- Mission planning means 72 provide data about how this is done Target to be fought.
- the interface 52 in the starter device receives the Mission avionics 70 information from the missile 10 with its sensors already provides information while it is still in the launcher of the carrier aircraft hangs.
- the mission avionics 70 and the Mission planning means 72 continue wirelessly with the data transmission 38 Missiles stay in two directions in data exchange.
- Block 74 symbolizes other contributors, e.g. a command center or others friendly aircraft that can be used to set a target.
- the "target by Third” is symbolized in FIG. 1 by block 76.
- the target can be set via Data transmission 38 transmitted to the missile 10 or to the carrier aircraft 56 become.
- the missile sensors can be divided into sensors for measuring the Own motion state of the missile and sensors for target detection and Tracking.
- Satellite navigation systems such as GPS (“Global Positioning System”) for accurate Position determination used. This is element 32 in Fig. 1.
- Finders are used for target discovery and target tracking, preferably image-resolving ones Finders whose signals are subjected to image processing. These are e.g. image processing radar finder like element 18 in Fig.1 or infrared finder like element 26 in Fig.1. The seekers can work passively or actively. With an infrared finder a distance measurement is also carried out in the final phase by means of a laser.
- Fault tolerance is achieved through redundancy of sensors.
- Sensor errors that are recognized and identified as a result of redundancy the sensors are reconfigured: The signals from defective sensors are disregarded, the required information is derived from the signals other sensors and possibly combinations of such signals.
- the inertial sensors are multiplied.
- the degradation behavior "fail-operational", i.e. functionality even after the failure of any Sensors, each with a minimum of five (instead of three) rotation rate and acceleration sensors achieved, which is arranged in a special geometry to the missile axes are.
- the rotation rate sensors can be optical rotation rate sensors. It is also possible, micro-mechanical sensors (EP 0 686 830 B1) for rotation rates and To use accelerations. The extra overhead for redundancy will thereby relatively low, so that it can also be used for loss objects such as missiles Increased availability and lower maintenance costs are weighed.
- Satellite navigation systems can be used as multi-channel systems (multi-channel GPS) be designed so that redundant position information from the satellite navigation system is available to monitor and select the currently cheapest channels can be used.
- movement information can also be obtained from the signals of the infrared and Radar sensors can be obtained.
- the own movement of the missile, flight attitude and position is also determined by Multiplication of sensors or by using sensors that are actually one serve another purpose, recorded redundantly.
- Fig.2 shows schematically the monitoring of the functionally important elements of the Missile 10.
- At 80 is generally the device for recognizing and identifying Errors and to reconfigure the elements of the missile 10 (FDIR).
- Sensors represented by a block 82, are monitored, the information and the Data processing represented by block 84 and the actuators by a block 86.
- a block 88 symbolizes a built-in test procedure (BIT), through which the physical function of the individual components is checked. It will For example, checked whether a motor winding of a gyro receives power. Subsequently the FDIR checks for errors.
- BIT built-in test procedure
- inference and Status means 90 processed: "If the signal from sensor A is recognized as faulty, then discard the signal from sensor A and only process the signals from sensor B and C ". Status: failure of sensor A.
- the built-in test procedure can additionally result that sensor X receives no current. This also gives a status signal: "Failure of Sensor X, working with Sensor Y, which ran similar information. "The status signals are connected to the missile mission unit 40.
- FIG. 3 schematically shows the structure of the FDIR device 80 for error detection, Identification and reconfiguration.
- block 98 Another way of checking hardware and subsystems is through block 98 shown.
- the signals by means of knowledge, model, pattern or parity-based processing checked for errors. The mistakes will be recognized and identified. This is represented in FIG. 3 by block 100 (FDI).
- FDI block 100
- effectors and actuators 108 controlled.
- information is transmitted in two directions, what is indicated by a double arrow.
- the function of the effectors and Actuators are monitored by the FDIR device in the manner described.
- a block 110 provides the communication of the FDIR device 80 e.g. with the missile mission unit 40 represents, this communication also in two directions he follows.
- Block 112 symbolizes the human / machine interface.
- the sensors of the missile are generally designated by 90 in FIG. These sensors include redundant inertial sensors 114, a multi-channel receiver for satellite navigation (Multi-channel GPS with 6 -10 channels) 116 and infrared and radar sensors 118.
- the multiplication of the inertial sensors, i.e. rotation rate and acceleration sensors, so that a degradation behavior "fail-operational" can be achieved consist of the fact that a minimum of five sensors are used, each in special Geometry to the missile axes are arranged.
- the infrared and Radar sensors 118 also provide motion information.
- Block 120 represents the formation of location and speed data, which together the GPS data and the data of the inertial sensors are obtained. It can happen a Kalman filter or an SDRE filter (State Dependent Riccati Equation), with the help of which the GPS and inertial data are optimally integrated. As The output variable of this block is the measured (not the calculated) covariance signals of the Kalman filter or SDRE filter.
- the output signals of the sensors 114, 116 and 118 are applied in a measurement vector m to an arrangement 122 of neural networks 124 and 126.
- the measurement vector m comprises the output signals of the sensors 114, 116, 118.
- the error vector ⁇ can contain step-like or ramp-shaped and stochastic errors and can also represent total failures such as zero measurement signal or constant full deflection.
- the measurement vector m is connected to the first neural network 124.
- the useful signal m ( x ) and the error m ( ⁇ ) are separated by projecting the measurement vector m into the error space (parity space) orthogonal to the measurement space. This creates a feature or validation vector v . Errors map to the validation vector v . This is used to detect errors.
- the feature vector v is connected to the second neural network 126.
- This second neural network 126 causes the fault to be located.
- the defective sensor or channel is thus identified by the second neural network 126.
- This neural network 126 thus has the function of a classifier in relation to the error space in which the feature vectors point to specific error clusters.
- the networks 124 and 126 are created with prior knowledge from an analytical solution of the Problem of error detection and identification equipped and then in one Training phase either by simulation of the sensor arrangement and typical errors or trained with the real sensor arrangement 90 with simulated errors. It has shown that the networks 124 and 126 not only individual errors but also Recognize and localize simultaneous errors and errors in quick succession. Furthermore, they record and localize the disappearance of temporary ones Errors that e.g. occur as a result of strong maneuvers, so that the sensor arrangement 90 can work self-regenerating.
- the output of the second network 126 is a location, identification and classification vector. This vector is fed to a decision network 128, possibly together with the feature vector v . This is represented by connections 130 and 132, respectively.
- the decision network 128 is still the output of the Kalman filter or SDRE filter 120 switched on. Form in the covariances of the measurement difference measurement errors as well as sensor failures. The courses of these signals can therefore useful when deciding whether and where errors have occurred be included.
- the Kalman filter 130 is a Kalman filter that is used for the initialization and calibration of the Missile inertial system (MLS-IRS) is provided.
- the Kalman filter processed Information from the aircraft inertial system as well as the missile inertial system.
- the covariance signals provided by the Kalman filter 130 are a measure of that Function and the instantaneous quality of the MLS-IRS missile inertial system. This Covariance signals are also on connection 132 to the decision network 128 activated.
- Block 134 symbolizes rule-based heuristic knowledge about the sensors 114, 116, 118 and their interaction in the system. That too is on the decision network 128 activated.
- the decision network 128 contains a fuzzification layer 136 on the input side. This is followed by a control layer 138 and an inference layer 140 a defuzzification layer 142 is provided. Decision network 128 delivers a sensor status vector.
- the task of the decision-making network is, from the analytical sympftom signals, e.g. the identification vector and rule-based heuristic knowledge of the relevant sensors and their interaction in the system possible "faults" by type, Identify the place and time of occurrence. This is a uniform one Presentation of symptoms important. This is made possible by the fuzzy logic by both analytical and heuristic symptoms through membership functions too Fuzzy sets for decision making are represented consistently.
- the signals fed to decision network 128 are stochastic variables with mean and variance.
- An example of the time profile of such a variable S is shown in the left part of FIG. 5 by curve 144. "Faults” change these values.
- the variable S normally fluctuates around line 146 with the variance ⁇ . If a "fault" occurs, the signal curve shifts by ⁇ S on line 148. Usually, these symptoms are used when a predetermined threshold value S max is exceeded for the binary decision for the occurrence of a "fault". This is shown in the middle part of Fig.5.
- Function 154 shows a ramp 156 which starts from the S value of line 148 and from S max upward constant "1" remains.
- the functions intersect at a function value of 0.5.
- the function 150 is assigned to the linguistic quantity "normal”, the function 152 to the linguistic quantity "low” (fault) and the function 154 to the linguistic quantity "increased”.
- a certain value S of the variable balls can then be assigned to a certain percentage, for example the linguistic variable "normal” and to another percentage the linguistic variable "small”.
- Fig. 6 shows an example in which the increase or decrease in a symptom or Characteristic forms a criterion for the occurrence of a "fault" and by introduction linguistic value ranges (fuzzy sets) is described, each of these A “membership function” is assigned to value ranges.
- 6 are the Membership functions as degree ⁇ (S) of a value S belonging to a Value range shown.
- ⁇ (S) is again a maximum of one.
- Triangular function membership function 158 of the value range "normal” the trapezoidal membership functions 160 and 162 of the positive and negative, respectively Value ranges "less” and the membership functions 164 and 166 of the positive or negative value ranges "a lot”.
- the value ranges overlap, so that a certain value S in different, through the membership functions certain degrees can belong to different neighboring value ranges.
- the Kalman filters 120 and 130 and 134 inputs comparable to heuristic knowledge, namely Degrees of membership between zero and one to linguistic value ranges.
- FIG. 7 shows the decision network 128 and the one therein in another representation signal processing.
- a database 170 contains the for the various input variables Decision network 128 the linguistic range of values (fuzzy sets) and the Membership functions are saved for these value ranges.
- Block 172 symbolizes an input interface for the fuzzification of the input variables based on Inputs 174 are connected. These are operations as they are related to Fig. 5 and 9 are described. The fuzzification is at the bottom of Figure 7 by block 176 indicated. The linguistic variables thus obtained are applied to block 178.
- Block 178 contains a rules database 180.
- the rules database contains rules of Form "If ..., then ", after which the linguistic quantities in one Inference level 182 can be linked. This is indicated by block 184 in FIG. 7 below.
- Block 188 provides an output interface for the Defuzzification. This output interface also receives the in the database 170 stored linguistic value ranges and membership functions via Link 190. Defuzzification is shown in Figure 7 below by block 192 indicated. The output interface delivers at an output 194 as "hard" Output a sensor status vector, with the help of which the signals of the intact Sensors can be reconfigured for further processing in the system.
- the sensor FDIR concept described here is a parity vector based, feature-based, knowledge-based method. It comes without any more or less elaborate sensor or subsystem modeling. Furthermore she draws the Ability to detect and localize simultaneously or in quick succession occurring errors, with the possibility of self-regeneration.
- the three networks necessary for the realization are in hardware as ASICS realizable, so problems with software reliability at this point can be avoided.
- the networks are fast thanks to the hardware implementation and - because of the parallel structures - fault-tolerant and inexpensive to produce. They are adaptable to change through learning and not through reprogramming.
- the FDIR concept described uses similar or dissimilar sensor redundancy ahead. In its basic structure, it can also be used for multi-sensor technology Time recording and for non-redundant sensor configurations can be used. The latter, however, requires analytical redundancy with model-based approaches, whereby again knowledge-based representations can be used.
- the processor and memory hardware is made using standard, proven BIT means supervised. Fault tolerance is due to multiplication with mechanical and electrical Basically segregation in connection with voting / monitoring techniques implementable. Because of the reliability of the hardware modules in question in the case of long storage, this measure can ensure availability to be dispensed with.
- bathtub curve Because of the known history of the number of failures over the useful life of hardware Components (so-called “bathtub curve”) occur statistically after a hardware faults exponential probability distribution. So you're statistical predictable so that the availability of the system in question at this point preventive maintenance measures can be guaranteed.
- the software structure for the main control, steering and control functions of the The missile is shown in simplified form in FIG. 8.
- Block 196 symbolizes the mission control software 40 (Fig. 1), i.e. certainly, what the missile should do, e.g. Detect, identify and track a certain goal.
- Block 198 symbolizes the software of the viewfinder sensor subsystem. This is a signal processing of the seeker and possibly inertial signals through which the Seeker pursued the specific goal.
- Block 200 represents the software of the mid-course and Final phase flight guidance 36 (Fig.1) through which the missile according to the Finder signals to the destination.
- block 202 provides the software of the Autopilot 42, which directs the missile according to the flight guidance 36.
- FIG. 9 shows a circuit which is tolerable with the effort that can be borne by missiles against software errors and thus the availability of the missile improved.
- the sensor data of the missile are symbolized in FIG. Block 206 symbolizes other input data.
- the data records are connected in parallel to at least two computer channels 208 and 210.
- the computer channels 208 and 210 deliver output data p n and p n-1 in a computing cycle.
- Each computer channel works with a nominal software N and a monitor version M of the nominal software.
- the two computers work with a time offset of one computing cycle.
- the computer 208 processes the data generated in this time cycle n.
- the computer 210 processes the data that had arisen in the previous clock cycle n-1.
- this data has already been processed by the computer 208 in the preceding time cycle, namely once by the nominal software N and on the other hand by the monitor software M.
- the computer 208 came to the same result in the two channels with different software N and M , which is referred to here as p n , is the software for this set of input variables If this set of input variables is applied to the computer 210 one more time cycle, then this computer with nominal software and monitor software must also deliver the same output. This allows the function of the computers 208 and 210 to be checked. that the software is working properly. Deviations are then due to an error in one of the computers.
- FIG. 10 This is shown in Fig. 10 as a flow chart.
- the input data for the nth computing cycle are identified by an oval 212.
- the vector p at the time nT, ⁇ p N / n is calculated with the nominal software N. This is represented by rectangle 214.
- the vector p at the time nT ⁇ p M / n is calculated with these input data using the monitor software M. This is represented by rectangle 216.
- the difference is formed from the vectors of the output variables thus calculated with the two programs N and M.
- ⁇ p n p N n - p M n .
- An output vector p ⁇ n is formed from the calculated vectors p N / n, p M / n, the predicted vectors and the software status vector. This is represented by a rectangle 228.
- This output vector p ⁇ n is the vector which, taking software monitoring into account, is applied to an output 230 and used further.
- the monitor or monitoring software M should be simple algorithmic and logical Use elements (standard modules) in generally validable structures arranged to represent a variety of (software) problem solutions. It simple algorithmic and logical elements are provided. These elements become a specific solution to the problem in structures adapted to the problem be combined. These requirements are ideally met by neural ones Networks and fuzzy neural networks. These networks define a given one Standard structure with uniform, simple processor units.
- the free parameters of the structure are set in a training phase.
- structure and / or parameters using genetic / evolutionary algorithms optimize the specified criteria.
- Block 232 symbolizes a neural network that can be used in the manner described above.
- Block 234 symbolizes a fuzzy-neural network that can be used accordingly.
- block 236 symbolizes a genetic algorithm.
- the neural network 232 and the fuzzy neural network 234 provide a standard representation. This results from training with input and output data ( data-driven "), which are represented by a memory 238, a setting of structural parameters. This type of structuring also has a potential for a genetic / evolutionary optimization of the structure and / or parameters. This is represented in FIG. 11 by a block 240.
- the monitor software is generated automatically, as shown by block 242 in Fig. 11.
- the input and output vectors of the input and output spaces which are different from the training vectors and are also stored in memory 238, are used to test the monitor software thus obtained .
- the monitor software is based on a neural or fuzzy-neuronal Network structure created.
- the monitor software M can preferably be used as a hardware module, for example in the form of an ASIC. That has different Advantages:
- the reliability of the module can vary according to the laws of failure Hardware to be assessed. It does not become software for monitoring software used.
- the parallel information processing in the hardware provides - in certain Limits - an inherent fault tolerance of the module.
- the nominal software can also be used with regard to of the input and output identical hardware modules are replaced.
- This Hardware modules can be used where the inherent fault tolerance to achieve the required reliability and thus availability is not sufficient, multiplied become. This would eliminate the need for monitor modules.
- the software is up Hardware modules of high reliability mapped, the adaptation to different tasks are done through learning.
- a missile can have a plurality of actuators. That is in Fig. 12 shown.
- the missile 10 may have a transverse thruster 244, which on the Missile 10, as shown, exerts a transverse thrust. That does one Lateral acceleration of the missile 10.
- Additional actuators can control surfaces or Rudder 246.
- a rudder deflection as shown, causes an angle of attack that also leads to lateral acceleration.
- the thrust vector of the Engine by adjusting the engine nozzle or by in the engine jet protruding deflection surfaces (Jet Vanes) can be changed as shown.
- a missile can have all three types of actuators. But it is then when one fails Actuator not able to move the missile through the remaining To influence actuators in the desired manner.
- the missile's positioning system is therefore one Simplex configuration ". There is no possibility of a reconfiguration, as is possible in the manner described above, for example if redundant sensors fail. Therefore, in a further embodiment of the invention, measures for intelligent "detection and identification of errors. This is to increase the probability of detecting and localizing errors (faults) in the pre-flight phase and, if possible, until immediately before departure.
- External faults are, for example, damage due to collision or errors in the power supply.
- Internal faults are, for example, faults in the gearbox, bearings, insufficient lubrication or component faults.
- An initial monitoring can be carried out on the actuator 250 by measuring certain signals, for example the input current or the deflection, and comparing these signals with fuzzy predetermined tolerance thresholds in the manner of Fig.5 is a general statement about the function of the actuator is made.
- a neural network that represents such a model.
- 254 denotes a fuzzy-neural network, which also represents such a model.
- the models from networks 252 and 254 are connected to a knowledge-based, non-linear estimator 256, which receives data from actuator 250 for comparison. If necessary, further inputs from the flight guidance and control system of the missile 10 are also connected to the estimator 256, as indicated by input 258.
- the estimator 256 provides real-time estimates of the state variables x and the parameter p of the actuator. If errors occur, these estimates contain the error components ⁇ x and ⁇ p . If the relevant nominal values are known, a statement about the status of the actuators can be made continuously by a fuzzy decision and inference unit 160.
- an inference and status unit 90 is provided, which the results of sensor, information, data processing and Actuator monitoring and the results of the built-in test (BIT) become.
- the unit 90 also generates from it through inference and inference processes Fuzzy logic Information regarding the operational status of the missile and its essential functional parts and thus their availability.
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Aviation & Aerospace Engineering (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
- Feedback Control In General (AREA)
Abstract
Description
- Fig.1
- zeigt schematisch einen Flugkörper und ein Flugzeug mit den verschiedenen Elementen und Schnittstellen.
- Fig.2
- veranschaulicht die Überwachung der Elemente des Flugkörpers durch "BIT" und "FDIR".
- Fig.3
- ist eine schematische Darstellung eines Gerätes zu Fehler-Erkennung, Fehler-Identifikation und Sensor-Rekonfiguration (FDIR).
- Fig.4
- zeigt eine Ausführung der Mittel zur Fehler-Erkennung und Fehler-Identifikation.
- Fig.5
- veranschaulicht die Umsetzung eines ein Symptom für einen Sensorausfall oder -fehler liefernden stochastischen Signals in Zugehörigkeiten zu linguistischen Wertebereichen.
- Fig.6
- veranschaulicht die Umsetzung von Signaländerungen, die ein Symptom für einen Sensorausfall oder -fehler liefern, in Zugehörigkeiten zu linguistischen Wertebereichen.
- Fig.7
- ist ein Blockdiagramm und veranschaulicht das mit Fuzzy-Logik aufgebaute Entscheidungsnetzwerk zur Erzeugung eines Sensor-Statusvektors.
- Fig.8
- veranschaulicht die Struktur der Flugkörper-Software
- Fig.9
- zeigt den Aufbau einer Anordnung zur Überwachung der Flugkörper-Software.
- Fig.10
- zeigt die Überwachungsanordnung der Software bei einer Anordnung von Fig.9.
- Fig.11
- veranschaulicht die automatische Erstellung des Überwachungsprogramms.
- Fig.12
- veranschaulicht die Stellglieder des Flugkörpers.
- Fig.13
- zeigt die Erzeugung eines StellgliedStatusvektors.
Claims (23)
- Flugkörper, dadurch gekennzeichnet, daß zur Erhöhung der Verfügbarkeit des Flugkörpers (10) funktionswichtige Elemente des Flugkörpers (10) redundandant vorgesehen sind und der Flugkörper (10) Mittel (80) zur Fehlerdetektion und - lokalisierung und Rekonfiguration dieser Elemente aufweist.
- Flugkörper nach Anspruch 1, dadurch gekennzeichnet, daß die Mittel zur Fehlerdetektion und -lokalisierung und Rekonfiguration wissensbasierte Mittel (98) enthalten.
- Flugkörper nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß die Mittel zur Fehlerdetektion und -lokalisierung und Rekonfiguration modellbasierte Mittel (98) enthalten.
- Flugkörper nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß die Mittel zur Fehlerdetektion und -lokalisierung und Rekonfiguration musterbasierte Mittel (98) enthalten.
- Flugkörper nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß die Mittel zur Fehlerdetektion und -lokalisierung und Rekonfiguration paritätsbasierte Mittel (98) enthalten.
- Flugkörper nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, daß die Mittel zur Fehlerdetektion und -lokalisierung und Rekonfiguration Mittel (94) zur Überwachung von redundanter Hardware durch Mehrheitsbetrachtung enthalten.
- Flugkörper nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, daß die Mittel zur Fehlerdetektion und -lokalisierung und Rekonfiguration Mittel (88) zur Überwachung von redundanter Hardware durch unmittelbare Funktionsprüfung enthalten.
- Flugkörper nach einem der Ansprüche 1 bis 7, dadurch gekennzeichnet, daß die Mittel zur Fehlerdetektion und -lokalisierung und Rekonfiguration Mittel (94) zur Überwachung von der Hardware durch Plausibilitätsbetrachtung enthalten.
- Flugkörper nach einem der Ansprüche 1 bis 8, dadurch gekennzeichnet, daß die Mittel zur Fehlerdetektion und -lokalisierung und Rekonfiguration Mittel (102) zur Überwachung der operationellen Software enthalten.
- Flugkörper nach einem der Ansprüche 1 bis 9, dadurch gekennzeichnet, daß(a) Sensoren (114;116) zur Messung des Eigenbewegungszustandes des Flugkörpers (10) selbst und Sensoren (118) zur Zielerfassung und - verfolgung derart vorgesehen sind, daß Informationen über den Eigenbewegungszustand des Flugkörpers (10) redundant erhalten werden,(b) die Mittel zur Funktionsüberwachung Mittel (106) zur Rekonfiguration derart enthalten, daß bei Unbrauchbarwerden einer Information eines Sensors diese Information aus den Informationen der anderen Sensoren gewonnen wird.
- Flugkörper nach Anspruch 10, dadurch gekennzeichnet, daß Inertialsensoren (114) vermehrfacht vorgesehen sind.
- Flugkörper nach Anspruch 10 oder 11, dadurch gekennzeichnet, daß der Flugkörper einen Mehrkanal-Satellitennavigations-Empfänger (116) enthält.
- Flugkörper nach einem der Ansprüche 10 bis 12, dadurch gekennzeichnet, daß Mittel (36) zur Erzeugung von Bewegungsinformationen aus den Daten von zielerfassenden Infrarot- und Radarsensoren vorgesehen sind.
- Flugkörper nach einem der Ansprüche 1 bis 13, dadurch gekennzeichnet, daß zur Überwachung der Sensorfehler ein Neuro-Fuzzy-Netzwerk (128) vorgesehen ist.
- Flugkörper nach einem der Ansprüche 1 bis 14, dadurch gekennzeichnet, daß(a) ein von den redundanten Sensorsignalen gebildeter Meßvektor (m) auf ein neuronales Projektions- und Detektions-Netzwerk (124) geschaltet ist, durch welches durch Projektion des Meßvektors (m) in den zum Meßraum orthogonalen Fehlerraum (Paritätsraum) eine Trennung von Nutzsignal und Fehler durchgeführt und damit ein Merkmalsvektor (v) erzeugt wird, auf den sich Fehler abbilden,(b) der Merkmalsvektor (v) als Eingangsgröße auf ein neuronales Identifizierungs-Netzwerk (126) aufgeschaltet ist, durch welches eine Lokalisierung des aufgetretenen Fehlers erfolgt.
- Flugkörper nach den Ansprüchen 14 und 15, dadurch gekennzeichnet, daß(a) der Merkmalsvektor (v) auf ein Entscheidungs-Netzwerk (128) aufgeschaltet ist,(b) das Entscheidungs-Netzwerk (128) ein Neuro-Fuzzy-Netzwerk mit einer Fuzzyfizierungs-Schicht (136), einer Regelschicht (138), einer Inferenz-Schicht (140) und einer Defuzzyfizierungs-Schicht (142) ist und(c) das Entscheidungs-Netzwerk (128) einen Sensor-Statusvektor liefert.
- Flugkörper nach Anspruch 16, dadurch gekennzeichnet, daß auf das Entscheidungs-Netzwerk (128) auch der Merkmalsvektor (m) aufgeschaltet ist.
- Flugkörper nach einem der Ansprüche 1 bis 17, dadurch gekennzeichnet, daß zur Überwachung der Software(a) zu berechnende Daten einmal mit einem mit einem Hauptprogramm (N) und einmal mit einem Überwachungsprogramm (M) berechnet werden,(b) aus den schon berechneten Daten durch Extrapolation prädizierte Daten berechnet werden.(c) die Differenzen zwischen prädizierten Daten und den durch die Programme tatsächlich gelieferten Daten bestimmt werden und(d) diese Differenzen auf eine Fuzzy-Entscheidungslogik (224) geschaltet sind, welche einen Software-Statusvektor liefert.
- Flugkörper nach Anspruch 1, dadurch gekennzeichnet, daß(a) Eingangsdaten parallel durch zwei Rechnerkanäle jeweils mittels eines Hauptprogramms und eines Überwachungsprogramms verarbeitet werden,(b) die beiden Rechnerkanäle mit Zeitversatz von wenigstens einem Rechentakt arbeiten und(c) Mittel zum Vergleichen der in den beiden Rechnerkanälen erhaltenen berechneten Ausgangswerte vorgesehen sind, wobei bei Übereinstimmung der mit Haupt- und Überwachungsprogramm in dem vorlaufenden Rechnerkanal und Abweichung in den mit gleichen Eingangswerten in den beiden Rechnerkanälen erhaltenen Ausgangswerte ein Defekt der Hardware in einem der Rechnerkanäle angenommen wird.
- Flugkörper nach Anspruch 18 oder 19, dadurch gekennzeichnet, daß das Überwachungsprogramm (M) als Fuzzy-Entscheidungslogik ausgebildet ist, deren Struktur und/oder Parameter durch genetische oder evolutionäre Algorithmen erzeugt ist.
- Flugkörper nach Anspruch 20, dadurch gekennzeichnet, daß die Fuzzy-Entscheidungslogik als Hardware-Modul hergestellt ist.
- Flugkörper nach einem der Ansprüche 1 bis 21, dadurch gekennzeichnet, daß fehlerdetektierende Mittel (86) für die Stellglieder vorgesehen sind.
- Flugkörper nach einem der Ansprüche 1 bis 22, gekennzeichnet durch Mittel (90) zur Erzeugung eines Flugkörper-Statussignals.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19857894 | 1998-12-15 | ||
DE1998157894 DE19857894A1 (de) | 1998-12-15 | 1998-12-15 | Flugkörper |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1020699A1 true EP1020699A1 (de) | 2000-07-19 |
EP1020699B1 EP1020699B1 (de) | 2006-08-02 |
Family
ID=7891186
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP99124091A Expired - Lifetime EP1020699B1 (de) | 1998-12-15 | 1999-12-13 | Flugkörper |
Country Status (2)
Country | Link |
---|---|
EP (1) | EP1020699B1 (de) |
DE (2) | DE19857894A1 (de) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102007022672C5 (de) * | 2007-05-15 | 2010-09-09 | Lfk-Lenkflugkörpersysteme Gmbh | Verfahren zur Zustandsüberwachung einer intelligenten Waffe und intelligente Waffe |
DE102008041571B4 (de) | 2008-08-26 | 2019-12-05 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Fehlerbehandlung beim Betrieb eines Verbrennungsmotors |
IT202100013952A1 (it) * | 2021-05-28 | 2022-11-28 | Mbda italia spa | Metodo e sistema per controllare elettronicamente il movimento di un dispositivo servoassistito di ricezione e/o trasmissione e/o riflessione di radiazioni elettromagnetiche |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB9827358D0 (en) * | 1998-12-12 | 2000-01-19 | British Aerospace | Combat aid system |
DE10132184B4 (de) * | 2001-07-03 | 2004-07-08 | Peter Zahner | Vorrichtungen und Verfahren für den autarken und damit sichereren Abgang von lenkbaren Außenlasten von Trägerflugzeugen |
DE10158666A1 (de) * | 2001-11-28 | 2003-06-18 | Lfk Gmbh | Vorrichtung und Verfahren zur autarken Zielführung eines Flugkörpers mit Hilfe außerhalb des Zielpunktes liegender Orientierungsmerkmale |
DE102004042990B4 (de) * | 2004-09-06 | 2008-11-20 | Michael Grabmeier | Verfahren und Vorrichtung zum Test eines operationellen Marschflugkörpers in verschiedenen Prüfzenarien mittels Betriebsart Wartung |
WO2014012776A1 (de) * | 2012-07-17 | 2014-01-23 | Siemens Aktiengesellschaft | Automatisierte rekonfiguration eines ereignisdiskreten regelkreises |
DE102014213171A1 (de) * | 2014-04-09 | 2015-10-15 | Continental Automotive Gmbh | System zur autonomen Fahrzeugführung und Kraftfahrzeug |
DE102017210151A1 (de) * | 2017-06-19 | 2018-12-20 | Zf Friedrichshafen Ag | Vorrichtung und Verfahren zur Ansteuerung eines Fahrzeugmoduls in Abhängigkeit eines Zustandssignals |
DE102017006612A1 (de) * | 2017-07-12 | 2019-01-17 | Mbda Deutschland Gmbh | Inertialsensorsystem für Flugkörper |
CN113360841B (zh) * | 2021-05-19 | 2022-05-03 | 电子科技大学 | 一种基于监督学习的分布式mimo雷达目标定位性能计算方法 |
Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4260942A (en) * | 1978-04-17 | 1981-04-07 | Trw Inc. | Failure detection and correction system for redundant control elements |
US4413327A (en) * | 1970-06-09 | 1983-11-01 | The United States Of America As Represented By The Secretary Of The Navy | Radiation circumvention technique |
DE3432165A1 (de) * | 1984-08-31 | 1986-03-06 | Messerschmitt-Bölkow-Blohm GmbH, 8012 Ottobrunn | Einrichtung zur automatischen rekonfiguration einer intakten geraetekombination |
EP0263777A2 (de) * | 1986-10-07 | 1988-04-13 | Bodenseewerk Gerätetechnik GmbH | Integriertes, redundantes Referenzsystem für die Flugregelung und zur Erzeugung von Kurs- und Lageinformationen |
DE3929404A1 (de) | 1989-09-05 | 1991-03-07 | Bodenseewerk Geraetetech | Verfahren und vorrichtung zum erkennen und identifizieren von fehlern an sensoren |
EP0476160A1 (de) * | 1989-07-15 | 1992-03-25 | Bodenseewerk Gerätetechnik GmbH | Einrichtung zur Erzeugung von Messsignalen mit einer Mehrzahl von redundant vorgesehenen Sensoren |
DE19645556A1 (de) * | 1996-04-02 | 1997-10-30 | Bodenseewerk Geraetetech | Vorrichtung zur Erzeugung von Lenksignalen für zielverfolgende Flugkörper |
US5719764A (en) * | 1995-07-19 | 1998-02-17 | Honeywell Inc. | Fault tolerant inertial reference system |
US5742609A (en) * | 1993-06-29 | 1998-04-21 | Kondrak; Mark R. | Smart canister systems |
EP0686830B1 (de) | 1994-06-08 | 1998-08-05 | Bodenseewerk Gerätetechnik GmbH | Inertialsensor-Einheit |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5721680A (en) * | 1995-06-07 | 1998-02-24 | Hughes Missile Systems Company | Missile test method for testing the operability of a missile from a launch site |
-
1998
- 1998-12-15 DE DE1998157894 patent/DE19857894A1/de not_active Withdrawn
-
1999
- 1999-12-13 EP EP99124091A patent/EP1020699B1/de not_active Expired - Lifetime
- 1999-12-13 DE DE59913732T patent/DE59913732D1/de not_active Expired - Lifetime
Patent Citations (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4413327A (en) * | 1970-06-09 | 1983-11-01 | The United States Of America As Represented By The Secretary Of The Navy | Radiation circumvention technique |
US4260942A (en) * | 1978-04-17 | 1981-04-07 | Trw Inc. | Failure detection and correction system for redundant control elements |
DE3432165A1 (de) * | 1984-08-31 | 1986-03-06 | Messerschmitt-Bölkow-Blohm GmbH, 8012 Ottobrunn | Einrichtung zur automatischen rekonfiguration einer intakten geraetekombination |
EP0263777A2 (de) * | 1986-10-07 | 1988-04-13 | Bodenseewerk Gerätetechnik GmbH | Integriertes, redundantes Referenzsystem für die Flugregelung und zur Erzeugung von Kurs- und Lageinformationen |
EP0476160A1 (de) * | 1989-07-15 | 1992-03-25 | Bodenseewerk Gerätetechnik GmbH | Einrichtung zur Erzeugung von Messsignalen mit einer Mehrzahl von redundant vorgesehenen Sensoren |
DE3923432C2 (de) | 1989-07-15 | 1997-07-17 | Bodenseewerk Geraetetech | Einrichtung zur Erzeugung von Meßsignalen mit einer Mehrzahl von Sensoren |
DE3929404A1 (de) | 1989-09-05 | 1991-03-07 | Bodenseewerk Geraetetech | Verfahren und vorrichtung zum erkennen und identifizieren von fehlern an sensoren |
EP0416370A2 (de) * | 1989-09-05 | 1991-03-13 | Bodenseewerk Gerätetechnik GmbH | Verfahren und Vorrichtung zum Erkennen und Identifizieren von Fehlern an Sensoren |
US5742609A (en) * | 1993-06-29 | 1998-04-21 | Kondrak; Mark R. | Smart canister systems |
EP0686830B1 (de) | 1994-06-08 | 1998-08-05 | Bodenseewerk Gerätetechnik GmbH | Inertialsensor-Einheit |
US5719764A (en) * | 1995-07-19 | 1998-02-17 | Honeywell Inc. | Fault tolerant inertial reference system |
DE19645556A1 (de) * | 1996-04-02 | 1997-10-30 | Bodenseewerk Geraetetech | Vorrichtung zur Erzeugung von Lenksignalen für zielverfolgende Flugkörper |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102007022672C5 (de) * | 2007-05-15 | 2010-09-09 | Lfk-Lenkflugkörpersysteme Gmbh | Verfahren zur Zustandsüberwachung einer intelligenten Waffe und intelligente Waffe |
DE102008041571B4 (de) | 2008-08-26 | 2019-12-05 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Fehlerbehandlung beim Betrieb eines Verbrennungsmotors |
IT202100013952A1 (it) * | 2021-05-28 | 2022-11-28 | Mbda italia spa | Metodo e sistema per controllare elettronicamente il movimento di un dispositivo servoassistito di ricezione e/o trasmissione e/o riflessione di radiazioni elettromagnetiche |
EP4095480A1 (de) * | 2021-05-28 | 2022-11-30 | MBDA ITALIA S.p.A. | Verfahren und system zur elektronischen steuerung der bewegung einer servounterstützten vorrichtung zur aufnahme und/oder übertragung und/oder reflexion elektromagnetischer strahlungen |
Also Published As
Publication number | Publication date |
---|---|
DE59913732D1 (de) | 2006-09-14 |
DE19857894A1 (de) | 2000-06-21 |
EP1020699B1 (de) | 2006-08-02 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP0675420B1 (de) | Überwachungs-Einrichtung zur Überwachung der Flugsicherheit von Flugzeugen | |
EP1020699B1 (de) | Flugkörper | |
EP3605256B1 (de) | System und verfahren zum überwachen des zustands eines unbemannten luftfahrzeugs | |
EP2293008B1 (de) | Vorrichtung zur Steuerung von Funktionstests und/oder Serviceprozeduren für von Luftfahrzeugen absetzbare unbemannte Flugkörper | |
AT519165A2 (de) | Fehlertolerantes Verfahren und Vorrichtung zur Steuerung einer autonomen technischen Anlage mittels diversitärer Trajektorenplanung | |
DE102020122748B3 (de) | Verfahren, Vorrichtung und Computerprogrammprodukt zur Lagebestimmung eines Raumflugkörpers im Weltraum | |
DE102016218232B4 (de) | Positionsbestimmungssystem für eine mobile Einheit, Fahrzeug und Verfahren zum Betreiben eines Positionsbestimmungssystems | |
EP3376390A1 (de) | Fehlertolerantes verfahren zur steuerung eines autonomen kontrollierten objektes | |
DE102011016521A1 (de) | Verfahren zur Flugführung eines Flugzeugs zu einem vorgegebenen Zielobjekt und Flugführungssystem | |
DE19919504A1 (de) | Triebwerksregler, Triebwerk und Verfahren zum Regeln eines Triebwerks | |
EP0416370B1 (de) | Verfahren und Vorrichtung zum Erkennen und Identifizieren von Fehlern an Sensoren | |
DE102017220788A1 (de) | Verfahren zum Trainieren eines zentralen Künstlichen-Intelligenz-Moduls | |
DE102017218438A1 (de) | Verfahren und System zum Betreiben eines Fahrzeugs | |
US11360476B1 (en) | Systems and methods for monitoring aircraft control systems using artificial intelligence | |
EP0383043A1 (de) | Modulares, vernetztes Marine-Feuerleitsystem mit einer Vorrichtung zur Kompensation der Ausrichtfehler | |
DE2912587C1 (de) | Feuerleiteinrichtung,insbesondere fuer ein mobiles Flugabwehrsystem | |
DE19645556A1 (de) | Vorrichtung zur Erzeugung von Lenksignalen für zielverfolgende Flugkörper | |
EP0974806B1 (de) | Verfahren zum Trainieren eines neuronalen Netzes für die Lenkung eines Flugkörpers zu einem Ziel | |
WO2009003451A1 (de) | Regelung von master/slave-satelliten-konstellationen | |
EP1014028B1 (de) | Lenk,- Navigations- und Regelsystem für Flugkörper | |
DE19716025B4 (de) | Plattform mit abschießbaren, zielverfolgenden Flugkörpern, insbesondere Kampfflugzeug | |
DE102020202305A1 (de) | Verfahren zum Erkennen einer Umgebung eines Fahrzeugs und Verfahren zum Trainieren eines Fusionsalgorithmus für ein Fahrzeugsystem | |
DE19510371C1 (de) | Verfahren zur Sonnensuche für einen dreiachsenstabilisierten Satelliten und dreiachsenstabilisierter Satellit | |
DE19543048A1 (de) | Vorrichtung zur Erzeugung von Lenksignalen für zielverfolgenden Flugkörper | |
EP1087200A1 (de) | Flugkörper-Missionseinheit |
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: 20000415 |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): DE FR GB IT SE |
|
AX | Request for extension of the european patent |
Free format text: AL;LT;LV;MK;RO;SI |
|
AKX | Designation fees paid |
Free format text: DE FR GB IT SE |
|
17Q | First examination report despatched |
Effective date: 20030311 |
|
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 |
|
RAP1 | Party data changed (applicant data changed or rights of an application transferred) |
Owner name: DIEHL BGT DEFENCE GMBH & CO.KG |
|
GRAA | (expected) grant |
Free format text: ORIGINAL CODE: 0009210 |
|
AK | Designated contracting states |
Kind code of ref document: B1 Designated state(s): DE FR GB IT SE |
|
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: 59913732 Country of ref document: DE Date of ref document: 20060914 Kind code of ref document: P |
|
REG | Reference to a national code |
Ref country code: SE Ref legal event code: TRGR |
|
GBT | Gb: translation of ep patent filed (gb section 77(6)(a)/1977) |
Effective date: 20061018 |
|
ET | Fr: translation filed | ||
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: 20070503 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: SE Payment date: 20091214 Year of fee payment: 11 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: IT Payment date: 20091222 Year of fee payment: 11 Ref country code: GB Payment date: 20091218 Year of fee payment: 11 Ref country code: FR Payment date: 20100108 Year of fee payment: 11 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: DE Payment date: 20100224 Year of fee payment: 11 |
|
GBPC | Gb: european patent ceased through non-payment of renewal fee |
Effective date: 20101213 |
|
REG | Reference to a national code |
Ref country code: FR Ref legal event code: ST Effective date: 20110831 |
|
REG | Reference to a national code |
Ref country code: SE Ref legal event code: EUG |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: SE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20101214 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: FR Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20110103 |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R119 Ref document number: 59913732 Country of ref document: DE Effective date: 20110701 |
|
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 NON-PAYMENT OF DUE FEES Effective date: 20101213 Ref country code: DE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20110701 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: IT Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20101213 |