EP1153259B1 - Procede de detection de cible et dispositif approprie - Google Patents

Procede de detection de cible et dispositif approprie Download PDF

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Publication number
EP1153259B1
EP1153259B1 EP00901566A EP00901566A EP1153259B1 EP 1153259 B1 EP1153259 B1 EP 1153259B1 EP 00901566 A EP00901566 A EP 00901566A EP 00901566 A EP00901566 A EP 00901566A EP 1153259 B1 EP1153259 B1 EP 1153259B1
Authority
EP
European Patent Office
Prior art keywords
target
sight
scanning beam
detection device
measurement
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
EP00901566A
Other languages
German (de)
English (en)
Other versions
EP1153259A1 (fr
Inventor
Rolf Menne
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.)
Dynamit Nobel AG
Dynamit Nobel GmbH Explosivstoff und Systemtechnik
Original Assignee
Dynamit Nobel AG
Dynamit Nobel GmbH Explosivstoff und Systemtechnik
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
Priority claimed from DE19922412A external-priority patent/DE19922412B4/de
Application filed by Dynamit Nobel AG, Dynamit Nobel GmbH Explosivstoff und Systemtechnik filed Critical Dynamit Nobel AG
Publication of EP1153259A1 publication Critical patent/EP1153259A1/fr
Application granted granted Critical
Publication of EP1153259B1 publication Critical patent/EP1153259B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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
    • F41G3/065—Structural association of sighting-devices with laser telemeters
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G7/00—Direction control systems for self-propelled missiles
    • F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
    • F41G7/22—Homing guidance systems
    • F41G7/2226—Homing guidance systems comparing the observed data with stored target data, e.g. target configuration data
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G7/00—Direction control systems for self-propelled missiles
    • F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
    • F41G7/22—Homing guidance systems
    • F41G7/2253—Passive homing systems, i.e. comprising a receiver and do not requiring an active illumination of the target
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G7/00—Direction control systems for self-propelled missiles
    • F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
    • F41G7/22—Homing guidance systems
    • F41G7/2273—Homing guidance systems characterised by the type of waves
    • F41G7/2293—Homing guidance systems characterised by the type of waves using electromagnetic waves other than radio waves

Definitions

  • the invention relates to a target acquisition method and Target detection device, in particular for detecting the dimensions of moving targets.
  • Determining the distance, speed and distance can be used for target acquisition Dimensions of the target include. In military applications it is also interesting for aiming a weapon from the speed of the Target the required advance and the necessary from the distance of the target To calculate the increase so that a fired shot actually hits the target. The lead results from the target speed, the distance to the target as well as the floor flight time. The increase depends on the target distance and serves to compensate for the drop in height of the projectile along its length ballistic trajectory.
  • the targeting system can be from one Laser rangefinder and a gyro system as a stable reference for the determination of the target movement and a computer for processing the Sensor data and to display the results in the visor.
  • the laser range finder When aiming at a target, the laser range finder is activated then measures the distance to the target. At the same time the shooter leads the sight moving target after. So he always holds the crosshairs on the target.
  • the Computer determines from the swivel movement of the sighting device with the help of Rotation rate of the gyro system, the distance of the Laser distance measuring and taking into account stored Ballistic data the lateral reserve and the required increase. As The result shows a point in the sight that the shooter aims at Cover should be brought. After that, the weapon is in reserve and raised aligned and can be fired.
  • Gyro system must sense very small angular sizes caused by the Tracking of the shooter arise.
  • Video systems are in use, one of which Video camera captured the target using a calculator Image processing algorithms gain information about the target and this Displays information to the shooter via a video display.
  • Video cameras captured the target using a calculator Image processing algorithms gain information about the target and this Displays information to the shooter via a video display.
  • US Patent US-A-5,194,908 describes a targeting method for a targeting device with a visor and a tactile beam. The sight is on the target aligned and the edges of the target are captured.
  • the invention has for its object to provide a target acquisition system To capture the dimensions of the target, which is simple.
  • the target acquisition method provides with a Rangefinder, which has a deflectable scanning beam, the target scan, the result of the rangefinder to the Outer edges of the target has a jump in distance, based on which the Dimensions of the target are recognized.
  • This method has the advantage that the target acquisition device remains stationary during the target acquisition and the Scanning movement takes place by deflecting the scanning beam of the range finder. The process can be done accurately and safely without the need for a gyro system or a Video surveillance is required, the distance and the dimensions of the Target are recognized.
  • the target speed can also be determined, since the scanning beam of the rangefinder with the Scan movements is tracked to the target, so that the time change of the Location of the destination is known.
  • the the detection area sweeping scanning movement of the scanning beam of the range finder is sufficient to determine the target speed completely. This enables a lot accurate measurements because a target acquisition system or a coupled one Weapon can be held stationary much more precisely than defined become.
  • the measurement is successful, a measuring point is placed in the sight faded in, which lies in the representation of the target Measurement point, the quality of the measurement can be checked immediately. at for example, the point can be shown flashing if the measurements are not clean become. If it disappears, there is no plausible measurement result.
  • Is a valid measuring point shown in the visor i.e. that the goal distance and the dimensions of the target have been detected, that of the The necessary increase of the weapon as well as that of the Lateral lead dependent target speed can be determined and a Increase and the target-taking into account target point calculated in the visor is displayed.
  • the target point can be aligned with the target be so that the weapon in a direction above and in the direction of travel shows the target. If a shot is triggered now, it hits with high Probability the goal.
  • This method is special for a shooter advantageous because he uses the weapon with the targeting system during the measurement initially does not have to move and the measured values based on the measuring point can control. Then, for example at the touch of a button Shooters are given a corrected target point in the same visor, which he now has to swing with the weapon towards the target. Does he have the target point in If the target is covered, the shot can be released.
  • the measuring point is hidden when the target point is shown becomes. This helps the shooter to measure the measurement mode clearly from the target mode delimit and also simplifies the structure of the target acquisition system, because then it only has to be able to point a single point display.
  • the scanning movement of the scanning beam of the Distance knife broken behind the detected edges of the target, i.e. the scanning direction is reversed so that the scanning beam is again over the target to be led.
  • the range of coverage of the rangefinder is therefore from the maximum size covering the entire field of sight to a target covering size down. This has the advantage of being able to scan can be done much faster, resulting in more current and reliable measured values leads. Changes to the target, such as in speed be discovered faster.
  • the target detection device contains a Range finder with a transmitting part that emits a scanning beam and a receiving part for receiving the reflected scanning beam.
  • the broadcasting section has a transmitter and a movable scanning beam device, like a mirror for Deflect the scanning beam.
  • the scanning beam device directs the scanning beam stationary visor within the detection range of the visor.
  • a Control unit recognizes from those occurring at the edges of the target Jumps in distance of the reflected scanning beam the dimensions of the target. Of course, the target distance is also recorded. Based on temporal change in the location of the target, which by the edges exactly is determined, the control unit can also determine the target speed.
  • the control unit can also determine the target speed.
  • the target detection device preferably also has a visor, which has a transparent display plate in the beam path and a Light source, the light signal on the moving mirror on the Display plate is deflectable.
  • Has the control unit the dimensions of the It controls the target, the target distance and / or the speed Light source and / or the movable mirror to measure and / or To project target information onto the transparent display plate so that this information is displayed on the visor. This enables the Operator of the target acquisition device an immediate control of the measured values as well as a direct overview of the target information.
  • a so-called video visor can also be used become.
  • a camera takes the distance-adapted is, i.e. can enlarge or reduce the recorded image area, a Representation of the goal.
  • the image is displayed on a monitor shown. In this monitor, additional measurement and target data or information relating to the target detection device is displayed.
  • the measurement information can be shown in the sight display of the target Measuring point be what an immediate detection of the correctness of the measurement allows.
  • the target information can be a target point that is around the one from the target distance calculated increase and the lead dependent on the target speed is corrected. If this point is now brought to the target by a shooter, hits a shot to be triggered with high probability the target.
  • the control unit preferably changes after each detected Distance jump caused by the edges of the target, the Scanning direction of the scanning beam of the range finder, so that the target is always in the detection area of the Rangefinder. This eliminates the time consuming scanning of the area of no interest for this target between the edges of the target and the visor rim prevented.
  • FIGS The target acquisition according to the invention is first described with reference to FIGS explained.
  • the visor representation 1 of a target 2 is shown.
  • the Visor display 1 is a crosshair consisting of a Crosshair horizontal line 3 and a crosshair vertical line 4 are shown.
  • the targeting device In front Activation of the targeting device directs the shooter to the zero point of the Crosshair on target 2. It is important that the Crosshair horizontal line 3 in a middle one as clearly as possible Area of the target 2 is because the target detection device along the Crosshair horizontal line 3 scans the sighting area.
  • the target detection device is in the so-called Measuring mode, which is activated as soon as the shooter presses a measuring key.
  • the Measuring mode the target distance is first determined.
  • the Rangefinder which for example as a laser rangefinder is initially operated in a conventional manner, i.e. his tactile beam is led and reflected on target 2 without distraction, taking from the runtime and / or phase shifts of the scanning beam calculate the target distance becomes.
  • the scanning beam of the Rangefinder the sighting area along the crosshair horizontal line 3 to scan in scanning movements. This is indicated by the dashed line Line indicated on target 2. This dashed line is actual Visor display not visible.
  • the scanning beam of the range finder moves to Example to the right until it is the rear edge 2a of this illustration target 2 moving to the left.
  • the target detection device sets Distance jump of the probe beam fixed, since the probe beam is no longer from the target 2, but is reflected by objects behind it and thus has a longer term.
  • the scanning beam is now directed in the left direction, i.e. on target 2 pivoted back. As soon as a jump in distance can be seen in the scanning beam is and the distance approximately corresponds to the target distance, it is determined that again target 2 is captured.
  • the probe beam continues to the left until it Arrived at the front edge 2b of the target 2 and also there Range jump occurs, causing the targeting device to also Front edge 2b of target 2 knows.
  • the length of target 2 is determined by forming the difference between the two edge positions. To When the front edge 2b is reached, the scanning direction is reversed again, so that the scanning beam in turn runs towards the rear edge 2a. This the goal 2 in both Scanning across directions will then continue.
  • a measuring point 5 will be in the center of the target 2 in the sight display 1 appears.
  • This measuring point 5 shows the shooter that the target 2 with a stable measurement has been detected. He can also by the location of the Check measuring point 5 for plausibility, as measuring point 5 should always be in the middle of goal 2.
  • the shooter does not have to use the aiming device track goal 2.
  • the tracking is done by shifting the Range of coverage of the rangefinder during the scanning process.
  • the Amount of the distance jump from which the target detection device detects that an edge of the target is reached is adjustable and should be in the Order of magnitude of the width of the target, for example in the case of a tank 2 up to 3 m. This prevents a map from appearing on targets with a jagged structure is recognized as a border in the middle of the target.
  • the Visor representation 1 of the target mode is shown in FIG. 3.
  • the shooter still has the targeting device and weapon in target mode not moved, so that the target 2 in the visor display 1 continues to move left has moved.
  • the measuring point is no longer shown on target 2. Instead, a target point 6 is shown in the visor display 1.
  • the Target point 6 is below the target and to the right of it, i.e. against the Direction of travel of the target 2.
  • the target point 6 is already about the increase and the corrected lateral lead. The increase depends on the target distance and necessary to compensate for the ballistic drop of the projectile.
  • the Lateral lead depends on the target distance, the target speed and the Flight speed of the projectile.
  • the airspeed is in the Target acquisition device is stored and the target distance becomes as above described, constantly measured.
  • the target speed is derived from the time Change in location of target 2 calculated.
  • Goal 2 can either be defined by its rear edge 2a or its front edge 2b, better it is, however, the center of the target calculated from these two values 2 to be used, which is identical to measuring point 5, since then smaller Compensate for inaccuracies in edge determination.
  • the visor display 1 As soon as the target point 6 is shown in the visor display 1, the moves Protect the targeting device with the weapon to the left and upwards until target point 6 is aligned with target 2.
  • the Sagittarius now aims at a position above and in the direction of travel in front of the Target 2. If he now fires a shot, it is very likely to be unless the target 2 abruptly changes its speed or Direction.
  • the crosshair is in those shown in Figures 3 and 4 Visor representations 1 of the target mode of the target detection device without Importance. In this mode, only target point 6 is important, that with target 2 Coverage must be brought.
  • the Target distance and target speed in the sight display 1 be displayed.
  • the visor representations 1 in FIGS. 1 to 4 show one optical visor. It is also possible to use a so-called video visor use, in which a video camera records the target image, which on a Video monitor is output. Between the recording and the output image processing steps can also be carried out.
  • a bazooka 7 is shown schematically in FIG. This consists of a tube 8 in which a projectile 9 with an external warhead is arranged. At the top of the tube 8 is the target detection device 10 attached. At the bottom of the tube 8 is a shoulder rest 11, a Handle 12 with trigger 13 for one hand and a handle 14 for the other Hand of the shooter arranged. On the handle 14 is the Measuring switch with which the target detection device 10 in the measuring mode and the target switch 16 with which the target detection device 10 is brought into the target mode.
  • the target detection device On the side facing away from floor 9, the target detection device has 10 an eyepiece 17 through which the shooter can see through.
  • Figure 6 is the front of the target detection device opposite the eyepiece 17 10 shown.
  • the distance measuring part 22 is shown in more detail in FIG.
  • a transmitter 24 e.g. in Shape of a laser diode.
  • the transmitter 24 is on the front of the Target detection device 10 and arranged above the transmitter opening 20.
  • On The rear of the distance measuring part 22 is a scanning beam mirror 25 arranged, the transmitter 24 is oriented such that the of him radiated scanning beam 26 hits the scanning beam mirror 25, is deflected there and through the transmission opening 20, in which a lens arrangement is present can be, the target detection device 10 in the direction of the target 2 leaves.
  • the Scanning beam 26 then strikes target 2 and runs from it as a reflected one Scanning beam 27 returns to the target detection device 10 and passes through the Receiving opening 21, in which a lens combination can be arranged, into the receiving part 28 of the distance measuring part 22. In the receiving part 28 the distance of the target 2 certainly.
  • the target distance is a from the receiving part 28 Control unit 29 issued.
  • the control unit 29 can use the distance jumps in the distance signal, which occur at the end edges of the target 2, both the dimensions and also calculate the speed of target 2. This was already in Connection in connection with Figures 2 and 3 explained.
  • the control unit 29 controls the according to these results Scanning beam mirror 25, which is movable, so that the scanning beam 26 along makes a scanning movement on a line.
  • the details of this Scanning movements have been explained in connection with FIG. 2.
  • Such a mirror 25 is shown in FIG.
  • This mirror is a Semiconductor mirror and has a reflective surface 30 the size of some Square millimeter.
  • the mirror surface 30 is in a frame 31 with four Connections 32 gimbaled. Below the mirror surface 30 5 there is a free space so that the mirror surface 30 can be moved.
  • This mirror is made from a semiconductor piece, for example as Silicon, into which the free areas, i.e. those areas between the Mirror surface 30 and the gimbals 32 and the area removed below the mirror surface 30, for example by etching processes have been.
  • On the surface 33 located under the mirror surface 30 there are four electrically polarizable surfaces 34, to which a voltage can be created.
  • the mirror surface 30 moves after Capacitor principle, since it is also electrically conductive. Thus through Varying the voltages applied to the individual surfaces 34 Mirror surface 30 are moved so that the scanning beam 26 Scanning area covered in a scanning movement.
  • the eyepiece 17 is shown with a dashed line Beam path 35 connected to the output opening 18.
  • in the Exit opening 18 can be arranged a lens combination, as well in the eyepiece 17.
  • Fixed in the beam path 35 is a transparent one Display plate 36 arranged, which consists for example of glass.
  • the Optical part 19 also has a light source 37, which, for example, as Laser diode is executed.
  • the light source 37 is on a light signal mirror 38 aligned.
  • the light signal mirror 38 corresponds to that shown in FIG. 9 movable mirror 25.
  • the deflected from the light signal mirror 38 Light signal 39 is directed to the display plate 36 and from it reflected so that it serves as a point of light for the person looking through the eyepiece 17 Protect is visible. In this way, as explained with reference to FIGS. 2 to 4, Show the measuring point 5 and the target point 6 in the visor display 1.
  • the Light signal mirror 38 is controlled by the control unit 29.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Radar Systems Or Details Thereof (AREA)

Claims (8)

  1. Procédé d'acquisition de cible pour un dispositif de d'acquisition de cible (10) comportant un viseur (19) ainsi qu'un télémètre (22) qui produit un rayon de palpage (26) déplaçable, comprenant les étapes suivantes:
    pointage du viseur (19) sur la cible (2)
    déplacement du rayon de palpage (26), le viseur (19) restant fixe, de telle sorte que ledit rayon balaie la cible (2),
    détermination des arêtes (2a, 2b) de la cible (2) balayées par le rayon de palpage (26) à partir des sauts de distance constatés,
    calcul d'un point de mesure (5) à l'aide des arêtes (2a, 2b) déterminées de la cible (2),
    affichage du point de mesure (5) dans l'image de viseur (1),
    calcul de l'élévation en fonction de la distance de la cible,
    calcul de la distance de tir en avant de la cible en fonction de la vitesse de la cible, la vitesse de la cible étant déterminée à partir des modifications du point de mesure (5),
    affichage d'un point de mire (6) dans l'image du viseur (1), tenant compte de l'élévation et de la distance de tir en avant de la cible pour le tir à effectuer et alignement du point de mire (6) sur la cible (2), le point de mesure (5) étant effacé lorsque le point de mire (6) est affiché.
  2. Procédé d'acquisition de cible selon la revendication 1, caractérisé en ce que le mouvement de balayage est interrompu après les arêtes (2a, 2b) détectées de la cible (2).
  3. Dispositif d'acquisition de cible pour la mise en oeuvre du procédé d'acquisition de cible selon la revendication 1 ou 2, comportant un viseur (19), un télémètre à laser (22), un élément émetteur (23) pour émettre un rayon de palpage (26) et un élément récepteur (28) pour recevoir le rayon de palpage réfléchi (27), l'élément émetteur (23) comprenant un émetteur (24) et un dispositif de déviation (25) mobile pour dévier, à des fins de balayage, le rayon de palpage (26) dans la zone de détection du viseur, le viseur (19) restant fixe, ainsi qu'une unité de contrôle (29) qui, à partir des sauts de distance du signal de palpage réfléchi (27) au niveau des arêtes (2a, 2b) de la cible, détecte les arêtes de la cible (2) balayée par le rayon de palpage (26).
  4. Dispositif d'acquisition de cible selon la revendication 3, caractérisé en ce que le viseur (19) comprend une plaque de reproduction (36) transparente disposée sur le trajet (35) du rayon et une source de lumière (37), dont le signal lumineux (39) peut être dévié sur la plaque de reproduction (36) à l'aide d'un miroir (38) mobile, l'unité de contrôle déterminant la distance et la vitesse de la cible et commandant la source de lumière (37) et/ou le miroir (38) mobile, aux fins d'afficher des informations de mesure et de cible (5,6).
  5. Dispositif d'acquisition de cible selon la revendication 3, caractérisé en ce que le viseur comprend une caméra pour observer la cible et un moniteur pour l'affichage de ladite cible, des informations de mesure et/ou de cible pouvant être affichées sur le moniteur.
  6. Dispositif d'acquisition de cible selon la revendication 4 ou 5, caractérisé en ce que l'information de mesure est un point de mesure (5) affiché dans l'image de viseur (1) de la cible(2).
  7. Dispositif d'acquisition de cible selon une des revendications 4 à 6, caractérisé en ce que l'information de cible est un point de mire (6), qui est corrigé en fonction de l'élévation déterminée à partir de la distance de la cible et en fonction de la distance de tir en avant de la cible calculée à partir de la vitesse de la cible.
  8. Dispositif d'acquisition de cible selon une des revendications 3 à 7, caractérisé en ce que l'unité de contrôle (29) modifie la direction de balayage après chaque saut de distance généré par les arêtes (2a, 2b) de la cible (2).
EP00901566A 1999-02-13 2000-01-15 Procede de detection de cible et dispositif approprie Expired - Lifetime EP1153259B1 (fr)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
DE19906144 1999-02-13
DE19906144 1999-02-13
DE19922412A DE19922412B4 (de) 1999-02-13 1999-05-14 Zielerfassungsverfahren und Vorrichtung
DE19922412 1999-05-14
PCT/EP2000/000276 WO2000047943A1 (fr) 1999-02-13 2000-01-15 Procede de detection de cible et dispositif approprie

Publications (2)

Publication Number Publication Date
EP1153259A1 EP1153259A1 (fr) 2001-11-14
EP1153259B1 true EP1153259B1 (fr) 2002-12-04

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EP00901566A Expired - Lifetime EP1153259B1 (fr) 1999-02-13 2000-01-15 Procede de detection de cible et dispositif approprie

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Country Link
EP (1) EP1153259B1 (fr)
AT (1) ATE229167T1 (fr)
ES (1) ES2183780T3 (fr)
WO (1) WO2000047943A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9127909B2 (en) 2013-02-17 2015-09-08 Smart Shooter Ltd. Firearm aiming system with range finder, and method of acquiring a target
CN111353979B (zh) * 2020-02-27 2023-10-17 成都恒创新星科技有限公司 一种移动式计算机视觉光斑探测定位方法

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3213235A1 (de) * 1982-04-08 1983-10-13 Diehl GmbH & Co, 8500 Nürnberg Visiereinrichtung
US4695256A (en) * 1984-12-31 1987-09-22 Precitronic Gesellschaft Method for practicing aiming with the use of a laser firing simulator and of a retroreflector on the target side, as well as firing simulator for carrying out this method
FR2654218B1 (fr) * 1987-02-06 1992-05-15 Thomson Csf Systeme optronique de poursuite tridimensionnelle avec alignement automatique d'un telemetre optique sur la cible.
DE3837922A1 (de) * 1988-11-09 1990-05-10 Rheinmetall Gmbh Verfahren und vorrichtung zum anvisieren beweglicher ziele sowie verwendung der vorrichtung fuer eine panzerfaust
DE3919573A1 (de) * 1989-06-15 1990-12-20 Diehl Gmbh & Co Verfahren und einrichtung zur akquisition eines zielpunktes
US5194908A (en) * 1991-11-29 1993-03-16 Computing Devices Canada Ltd. Detecting target movement

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Publication number Publication date
EP1153259A1 (fr) 2001-11-14
ATE229167T1 (de) 2002-12-15
ES2183780T3 (es) 2003-04-01
WO2000047943A1 (fr) 2000-08-17

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