EP1325281B1 - Method and device for simulating firing - Google Patents

Abstract

A first laser beam is transmitted through the actuation of the gun trigger, the trajectory of the virtual projectile is calculated, and the deviations of the trajectory from the target direction at the firing time are determined. The first laser beam is pivoted corresponding to the trajectory deviations, and the transit time of the laser pulses of the first laser beam reflected by the target is measured, and used to determine the target range. For this target range, the trajectory of the fired virtual projectile is calculated, and compared to the time that has passed between the firing time and the reception of the reflected laser pulses. If the two match within a tolerance range, a second laser beam comprising encoded laser pulses is transmitted in the transmission direction of the first laser beam, which is received at the target, where the impact damage is calculated.

Description

Technical field

The invention relates to a method and a device for simulating one of Ballistic projectile firing gun at a target, preferably at a target grounded, moving or standing target, fired shot in the Preamble of claim 1 and claim 10 defined genus.

State of the art

In a known device for a so-called two-way simulator SchuFsimulation (DE 22 62 605 A1), there as working with laser pulses Practice shooting device is known, is on the barrel or gun barrel of the gun Fixed laser pulse transmitter, the emitted laser pulse train through a target by a gunner performed manual aiming of the weapon on the target. If the gunner sees the aiming process as correct, he pulls the trigger Barreled weapon. This initiates an automatic process in which a Transmission control switches the laser transmitter on for a few milliseconds. The laser pulses hit reflectors arranged at the target, from where they hit one position sensitive detector to be reflected on the barrel weapon. From the term of the reflected laser pulses, a distance calculator calculates the target distance. On Angular position calculator also determines the angular deviation between the Tube core axis of the shot tube and the center of gravity of the reflected laser radiation. A flight time calculator determines the theoretical floor flight time and when the Floor flight time, another laser pulse sequence is emitted by the laser transmitter, and the angular position calculator again calculates the angular deviation between the Tube core axis and the focus of the laser radiation. A range calculator calculates the correct setting of the from the target distance and the type of ammunition Gunshot. After this correct setting, the target's elevation offset at the beginning and at the end of the projectile flight time, the leveling angle of the gun to the Time of shot and range from a detonator position calculator Altitude of the explosive point or hit point and in an analogous manner with the Lateral filing of the target at the beginning and end of the missile flight time, the Side pivot angle of the gun at the time of the shot and the Firing range calculated the lateral position of the explosive point. The explosive point position calculator is connected to an encoder programmed for weapon and ammunition type, the communicates with the distance calculator. The encoder controls the laser transmitter so that it encoded a second, different from the first laser pulse sequence Laser pulse train sends out the information about the distance to the target related lateral and height deviations of the explosive point and over Includes ammunition and weapon type. This laser pulse sequence hits one at the target Arranged detector on which a hit receiver, a decoder and a Hit data computers are connected. The hit data calculator determines from the transmitted information whether the weapon is effective in relation to the type of ammunition used was and calculated the effect of the detonation by comparing the extent the target in the direction of the shot and the deviation of the explosive point in the side and Height direction.

Presentation of the invention

The invention has for its object a method for simulating the shot of the beginning Specify the type mentioned, which if the regulations on eye safety of the used laser allows larger firing distances and also when shooting at a Group of closely spaced targets did not fail. In addition, one is said to this method working device for weft simulation inexpensive to produce his.

The object is achieved by the features in claim 1 and in claim 10 solved.

The method according to the invention has the same as the device according to the invention Advantage that in addition to measuring the target with spatial resolution Distance measurement is dispensed with and therefore no complex, spatially resolving detector or a laser scanner on the barrel weapon is required. The goal is exclusive in terms of its distance from the barrel weapon - and with moderate accuracy - and not additionally measured with regard to the exact target position. The location information is there directly at the point of impact of the second laser beam corrected for the attachment and lead. This does not apply to a target cluster, i.e. a large number of closely adjacent targets problem of target separation occurring with a spatial resolution of the target and with the pure Distance measurement only creates a small measurement uncertainty, which is only too small Second order errors. The second laser beam from encoded laser pulses always hits where the virtual floor hits, so that the target resolution from the target field is done naturally. By eliminating the need for Measuring the location of the target simplifies the device for the shot simulation and is to manufacture significantly cheaper.

The device for the shot simulation according to the invention is compatible with 1-way codes and 1-way passive systems with a corresponding detector arrangement, as different from the well-known 2-way simulator does not drop targets from the explosive point to the target must be transferred. The device according to the invention is the only one to date Multi-way simulator for long shot ranges for the internationally widespread MILES code.

Because only the first laser beam has to travel twice the target distance the achievable range only from the power of the second laser beam coded laser pulses used limited laser, for reasons of compatibility existing systems, e.g. MILES, preferably for a wavelength of 905 nm is designed and its performance is limited by the limit for eye safety. The laser generating the first laser beam, however, can be independent of the laser of the second laser beam and are particularly eye-safe Wavelength, e.g. can be selected in a range between 1500 and 1800 nm. The limit for eye safety is about 15,000 times higher than the wavelength around The aforementioned 905 nm, and the power of the laser can be correspondingly high interpret. When using such a powerful, eye-safe laser can on the attachment of the multitude of otherwise usual reflectors at the target can be dispensed with has a positive effect on the production costs of the shot simulation device.

Appropriate embodiments of the method according to the invention with advantageous Further developments and refinements of the invention result from claims 2 - 9, advantageous embodiments of the device according to the invention with advantageous Developments and refinements of the invention from claims 11-20.

According to an advantageous embodiment of the invention, the determination of the Deviations of the trajectory from the current line of sight, the so-called Target direction, at the time of shooting and the derived swivel angle values for the performed first laser beam in the vertical direction. Only if with a more refined Flight path calculation also has a spin of the selected ballistic projectile should also be taken into account, the determination of the deviations of the Trajectory carried out from the target direction at the time of the shot in azimuth and out of it Swing angle values for swiveling the first laser beam also in Horizontal direction determined.

According to an advantageous embodiment of the invention, when using a Laser transmitter with two separate lasers to generate the two laser beams Beam cross section of the laser designed so that the target from the first laser beam illuminated area is significantly larger than that illuminated by the second laser beam Area. So you only need one retroreflector unit with four, for example Retroreflectors arranged diametrically to each other in pairs, their receiving sectors cover an all-round angle of 360 °. The divergence of the first laser beam for the Distance measurement is minimized to high radiation density at the target To enable ranges.

According to a further embodiment of the invention, a multiplicity of Retroreflectors arranged belt-like all around, the divergence is chosen so that at a predetermined minimum distance, the first illuminating the target at any point Laser beam hits at least one retroreflector. The need to use Retroreflectors depend on the type of laser used to generate the first laser beam. The power is not with the currently available 1550 nm diode lasers sufficient to enable ranges of 4000 m and more without retroreflectors. In contrast, with powerful Er: glass lasers or Raman shifted Nd: YAG lasers the retroreflectors can be omitted because the diffuse reflection of the target is sufficient, so that high savings potential is achieved by eliminating the expensive retroreflectors becomes. In this case, the divergence of the first laser beam is made very small to to get high intensities at the target. Its divergence can be smaller than that of the second laser beam. The low divergence has the advantage that only a few Interfering reflections from objects in the immediate vicinity of the target, such as trees, Shrubs and the like.

According to an advantageous embodiment of the invention, the one with the launch tube firmly connected, gun side detector on a receiving optics, the Receive divergence is at least as large as that by the deflection device induced deflection area of the laser beams. Alternatively, the detector can be a have adjustable receiving optics, the receiving divergence of the effective Beam cross section of the first laser beam, i.e. the cross section of the illuminated area at the destination, and the receiving optics are coupled to the deflection device, that it is swiveled by the same swivel angle as the first laser beam. The advantage this alternative embodiment is a better S / N ratio because the Receive divergence can be chosen smaller. The bigger one is a disadvantage optomechanical effort.

A highly sensitive avalanche photadiode can be used as the detection element in the detector or a PIN diode with bandpass filter can be used. Because of the narrow Reception angle and the large wavelength of the laser can measure distance run very sensitive.

With low requirements for the range or with increased use of Retroreflectors at the target can, according to an advantageous embodiment of the invention the two laser beams are generated with a single laser, its eye-safe Wavelength preferably at 905 nm for reasons of compatibility with other systems lies. Because of the small required for performance and accuracy reasons However, a large number of retroreflectors are required for larger targets. As an alternative to retroreflectors, the laser beam can be scanned in azimuth become.

Brief description of the invention

Fig. 1

ein Lagebild eines Geländeausschnitts mit einer taktischen Situation während einer Gefechtsübung,

Fig. 2

eine ausschnittweise, schematische, perspektivische Darstellung eines Abschußrohrs einer Rohrwaffe mit Visier sowie Lasersender und Detektor einer Vorrichtung zur Schußsimulation,

Fig. 3

ein Biockschaltbild des rohrwaffenseitigen Teils der Schußsimulationsvorrichtung,

Fig. 4

eine Seitenansicht eines als Ziel dienenden Kampfpanzers mit dem als Blockschaltbild dargestellten zielseitigen Teil der Schußsimulationsvorrichtung,

Fig. 5

eine beispielhafte Darstellung einer Schußbahn eines von der Schußsimulationsvorrichtung auf ein Ziel abgefeuerten virtuellen Geschosses.

The invention is described below with reference to an embodiment of a device for shooting simulation shown in the drawing. Show it:

Fig. 1

a situation picture of a terrain section with a tactical situation during a combat exercise,

Fig. 2

1 shows a detail, schematic, perspective representation of a launch tube of a barrel weapon with a sight, as well as a laser transmitter and detector of a device for firing simulation,

Fig. 3

2 shows a block diagram of the part of the gun simulation device on the gun side,

Fig. 4

2 shows a side view of a battle tank serving as the target with the target-side part of the shot simulation device shown as a block diagram,

Fig. 5

an exemplary representation of a shot trajectory of a virtual projectile fired by the shot simulation device at a target.

Ways of Carrying Out the Invention

In Fig. 1 is a terrain section with a tactical situation during a Combat exercise shown, in which the aiming and shooting of a gun 10 on a Goal 11 should be practiced. A battle tank 12 serves as a movable target 11 and as Gun 10 the cannon 13 of a second main battle tank 14 or one Anti-tank weapon 15, which is operated by a shooter 16 lying in cover. To aim the barrel weapon 10 at the target 11, a sight 17 (Fig. 2) is used with the Gun barrel 18 of the barrel weapon 10 is rigidly coupled, in such a way that the line of sight 171st of the visor 17 is aligned parallel to the tube core axis 181 of the shot tube 18. In Fig. 2 is a schematic section of the shot tube 18 of the anti-tank weapon 15 shown, on which the visor 17 is arranged directly. Line of sight 171 and Tube core axis 181 are indicated by dash-dotted lines.

The firing with the barrel weapon 10 is simulated by emitting a laser radiation to the target 11, what with actuating a trigger 19 (Fig. 3) or other Shot trigger member by the gunner in the main battle tank 14 or the gunner 16 is initiated. With correct alignment of the barrel weapon 10, the laser radiation strikes the Goal 11. A shot simulation device is used to generate the simulated shots 20, one component 201 (FIG. 3) attached to the barrel weapon 10 and one at the target 11 attached component 202 (Fig. 4). Since a main battle tank 12 or 14 in Exercise battle both actively shoots and is shot at, it forms simultaneously Gun 10 and target 11, so that he usually with both components 201, 202 of Shot simulation device 20 is equipped. A purely passive target 11, however, becomes only with the target component 202 and an exclusively active barrel weapon 10 only equipped with the gun component 201.

The component 201 of the tubular weapon shown in the block diagram in FIG. 3 Shot simulation device 20 has a shot tube 18 (FIG. 2) connected laser transmitter 21 with two separate lasers 22, 23, of which the first Laser 22, hereinafter referred to as measuring laser 22, has a wavelength in the range between 1500 - 1800 nm and the second laser 23, hereinafter called code laser 23, one Has a wavelength of 905 nm. With the measuring laser 22 is a laser pulse composed first laser beam 24 and with the code laser 23 from coded Existing second laser beam 25 is generated by laser pulses. On the representation of the Details of the laser pulse generation and its coding in the laser transmitter 21 is been waived. The measuring laser 22 is e.g. a powerful Er.Glas laser or a Raman shifted Nd: YAG laser used. The divergence of the first laser 24 is then chosen very low, which has the advantage that the goal is little or no Interfering reflections are generated and retroreflectors can be dispensed with on the target side. The The divergence of the measuring laser 22 can be even smaller than that of the code laser 23 second laser beam 25 of the code laser 23 has an approximately circular beam profile, wherein the diameter of the effective beam cross section of the second laser beam 25, that is Diameter of the area illuminated at target 11, approximately 1.5 times the mutual Distance from detectors arranged at the target 11, which will be described in more detail later be, corresponds.

The two laser beams 24, 25 always have the same at the time of their emission Direction of transmission, which by means of a deflection device 26 from a basic position in which it runs parallel to the line of sight 171, is pivoted, as dotted in FIG. 3 is indicated. The swiveling of the first laser beam 24 can Direction of transmission of the second laser beam 25 emitted with a delay, synchronously are also pivoted as well as the transmission direction of the second laser beam 25 Transmitting the second laser beam 25 abruptly to the last transmission direction of the first Laser beam 24 are switched on. The deflection device 26 can, for example by means of two swivel mirrors 261, 262 which are coupled to one another and each adjustable in azimuth and elevation by an actuator. One each Laser beam 24 or 25 is guided over a swivel mirror 261, 262. Alternatively, you can also used electro-optical or acousto-optical deflectors for beam deflection become.

The gun component 20 of the gun simulation device 20 belongs to the gun furthermore a detector 27 for receiving the first reflected at the target 11 Laser beam 24 of the measuring laser 22. In that to distinguish from the target Detectors hereinafter referred to as measuring detector 27 can e.g. a highly sensitive avelanche photodiode or a PIN diode with bandpass filter used become. The measuring detector 27 is firmly connected to the barrel 18 of the barrel weapon 10, so that its optical axis 271 is aligned parallel to the tube core axis 181 (Fig. 2). The receiving divergence of its receiving optics is as large as that by Deflection device 26 maximum deflection of the laser beams 24, 25 in elevation and if necessary in azimuth from its basic position. Alternatively, the receiving optics of the measuring detector 27 are coupled to the deflection device 26 so that their optical axis is pivoted synchronously with the first laser beam 24. In this case the receiving optics have a receiving divergence on the effective beam cross section the first laser beam 24, i.e. the one illuminated by the first laser beam 24 at the target 11 Area.

The measuring detector 27 is a transit time meter 28 and a distance calculator 29 downstream, which are usually summarized a Entfemungemeßelektronik. The transit time of the reflected laser pulses of the first is in the transit time meter 28 Laser beam 24 determines what the time from sending a laser pulse to measured and halved to receive the same reflected laser pulse. The Transmission frequency of the laser pulses of the measuring laser 22 is chosen so that the time The distance between successively emitted laser pulses is much larger than that Running time of the laser pulses from transmission to reception with maximum range. The distance calculator 29 calculates the time from the reflected laser pulses Target distance r.

The gun component 20 of the firing simulation device 20 also includes a trajectory computer 30, which is connected on the input side to the removal computer 29, a self-motion sensor system 31, an ammunition selector 32 and a control unit 33 and on the output side to the deflection device 26 and the control unit 33. The control unit 33 is still connected on the input side to the trigger 19 of the barrel weapon 10 and controls the laser transmitter 21 and the trajectory computer 30 on the output side. The trajectory computer 30 is used to calculate the trajectory of a projectile selected by means of the ammunition selector 32, taking into account the alignment of the shot tube 18 in azimuth and Elevation, ie the position of the shot tube 18 at the moment of the fictitious firing of the ballistic projectile. Such a trajectory 34 is shown by way of example in FIG. 5 in a three-dimensional coordinate system x, y, z, in the coordinate origin of which the barrel weapon 10 is arranged. Furthermore, the trajectory computer 30 calculates the deviations Δz of the trajectory 34 from the current orientation of the line of sight 171 of the sight 17 by the shooter, hereinafter referred to as the target direction, at the time of the triggering of the simulated shot by the shooter in elevation, namely as a pivot angle α _z an imaginary straight line drawn through the respective trajectory point from the coordinate origin relative to the target direction at the time of firing, and forms control signals for the deflection device 26 therefrom. If a twist inherent in the real ballistic projectile is also to be taken into account, the trajectory computer 30 additionally calculates the deviations Δx Trajectory 34 from the target direction at the time of the shot in azimuth, namely as the swivel angle α _{x of} the imaginary straight line drawn through the second trajectory point from the origin of the coordinator with respect to the target direction at the time of the shot, and likewise forms control signals for the deflection orrichtung.

To compensate for an inherent movement of the barrel weapon 10, more precisely the Shot tube 18, in the time between triggering the simulated shot to the hit of the target 11 with the first laser beam 24, which e.g. by pursuing the moving target 11 'with the visor 17 can be caused by the shooter the self-motion components of the shot tube from a self-motion sensor system 31 18 in elevation and azimuth as deviations of the line of sight 171 from the target direction to Time of shot, e.g. by one or two-axis gyroscope, and in the trajectory computer 30, the control signals generated by this for the deflection device 26 with the Corrected data supplied by the own motion sensor system 31 so that the target direction is kept constant.

The target-side component 202 of the simulation device 20 shown in FIG. 4 comprises a plurality of detectors 35 arranged on the surface of the target 11 and for receiving the coded laser pulses from the code laser 23 second laser beam 25 are formed. The detectors 35 surround in the case of Training the target 11 as a battle tank 12, the battle tank 12 belt-like in horizontal Direction, with the detectors 35 being approximately the same distance apart. The Detectors 35 are equipped with evaluation electronics 36 for decoding the code laser 23 transmitted information and for the calculation of hit damage connected in a display unit 37 are displayed. In certain applications, the goal is 11 a retroreflector unit 38 is arranged, which consists of several, here four by 90 ° Circumferential angle offset from each other, there are retroreflectors, their receiving sectors cover an all-round angle of 360 °.

The firing simulation device 20 described above with its gun side Component 201 and its target component 202 operates as follows Method:

After aligning the sight 17 of the barrel weapon 10 to the target 11, the line of sight 171 one estimated by the gunner of the main battle tank 14 or the gunner 16 Lead and attachment (horizontal and vertical placement of line of sight 171 from goal 11) is moved relative to the target point, the trigger 19 is operated by the shooter. This is registered by the control unit 33, which on the one hand the laser transmitter 21, and here the measuring laser 22, and on the other hand the flight path computer 30 activated. The measuring laser 22 transmits the first laser beam 24 composed of laser pulses.

At the same time, the trajectory 34 of the fired virtual projectile is calculated in the trajectory computer 30 in accordance with the orientation of the sight 17 and thus of the shoe tube 18 at the time of the firing for the selected type of projectile, and the ballistic deviation Δz and possibly the lateral deviation αx (FIG. 5) of the trajectory are continuously calculated 34 determined from the target direction at the time of shooting. The flight path computer 30 determines - as explained above - these deviations as the swivel angle α _z in elevation and possibly α _x in azimuth and forms control signals therefrom which are applied to the deflection device 26. In accordance with these control signals, the first laser beam 24 of the measuring laser 22 is continuously pivoted downwards by the deflection device 26, as is shown in FIG. 5 for different times during the flight time of the virtual projectile. If the laser beam 24 hits the target 11 during the flight time of the virtual projectile, the laser pulses are reflected at the target 11 and received by the measurement detector 27. The transit time of the reflected laser pulses is measured (transit time meter 28) and the target distance r is determined therefrom (distance calculator 29). In the trajectory computer 30, the theoretical swivel angle values of the first laser beam 24 resulting from the flight path data for the measured target distance r are calculated with respect to the target direction at the time of the shot and are calculated with the actual swivel angle values α _z belonging to the target distance r and possibly α _{x of} the first laser beam 24 compared to the target direction at the time of the shot, which the laser beam 24 has in real time at the time it strikes the target 11. Alternatively, the flight time of the virtual projectile required for the measured target distance r is calculated in the flight path computer 30 and with the time elapsed since the shot was fired, i.e. the time from the time of the shot, i.e. the first transmission of the laser signals of the first laser beam 24, until the first time at the target was received 11 reflected laser pulses of the first laser beam 24 by the measuring detector 27, compared. If these values match within a tolerance range, the control unit 33 activates the code laser 23, which emits the second laser beam 25, in the same transmission direction as the measurement laser 22 shows last. The coding of the second laser beam 25 contains information about the type of projectile and weapon and the identity of the shooter. If the gunner has aimed the gun 10 largely correctly with reference and attachment at the target 11, one of the detectors 35 of the target 11 will be hit by the laser pulses of the second laser beam 25. The evaluation electronics 36 determines the damage caused at the destination 11 from the position of the hit detector 35 on the target 11 and the information transmitted with the laser pulses and decoded in the evaluation electronics 36. When the second laser beam 25 is emitted by the code laser 23, the thrust simulation is ended, and the control unit 33 switches off the flight path computer 30, the control signals at the deflection device 26 being eliminated and the deflection device 26 returning to its starting position, so that the transmission directions of the lasers 22, 23 are again aligned parallel to the line of sight 171.

The invention is not based on the described embodiment of the Shot simulation device limited. So at goal 11 you can additionally Retroreflektoreinheit 38 (Fig. 4) mentioned above can be provided to the To increase the range of the measuring laser 22 or the power of the same range Measuring laser 22 to reduce. In this case, the beam cross sections of the two Laser beams 24, 25 designed so that the target 10 at a predetermined Minimum distance from the first laser beam 24 illuminated area is significantly greater than the area illuminated by the second laser beam. The dimensions of the first Laser beam 24 illuminated area then becomes little larger than the horizontal dimension of the largest target 11 and slightly larger than twice the vertical dimension of the target 11 designed at the still permitted minimum distance. Become available today If a diode laser is used, such a retroreflector unit 38 is absolutely necessary you want to reach ranges of 4000 m and more.

If the range requirements are low, the two can be delayed emitted laser beams 24, 25 with a single laser which is made up of Compatibility reasons with other systems of a battlefield training center with an eye-safe wavelength of 905 nm works. Here is the Optoelectrical effort on the transmitter side is lower, but due to the Regulations on eye safety without additional optical effort at the target only relatively short ranges for distance measurement can be realized. For greater range In addition to the retroreflector unit 38, a plurality of retroreflectors is also Goal 11 essential. The divergence of the laser beam is then chosen so that at a permitted minimum target distance that illuminates target 11 at any point Laser beam hits at least one retroreflector.

For a more accurate calculation of the trajectory 34 at large target elevation angles, i.e. a large elevation of the tube core axis 181 with respect to the horizontal, e.g. from a target height angle of approx. 20 °, the set target height angle using a suitable sensor measured and included in the trajectory calculation. In in the same way, a tilting of the barrel weapon 10 can be detected and in the trajectory calculation be taken into account.

Claims (20)

1. Method for simulation of a shot which is fired from a tube weapon (10), which fires ballistic projectiles, at a target (11), preferably at a ground, moving or stationary target, in which, after a sight (17) has been aimed, its line of sight (171) runs parallel to the barrel centre axis (181) of the tube weapon (10), with a trigger (19) being operated manually in order to initiate firing at the target (11) with adjustment of a horizontal offset (lead) and a vertical offset (elevation) of the line of sight (171) from the target (11), a first laser beam (24), which is composed of laser pulses is transmitted by operation of the trigger (19) on the tube weapon (10) the trajectory (34) of the virtual projectile which is fired being computed, and the discrepancies between the trajectory (34) and the instantaneous line of sight alignment being continuously determined at the time of firing, the first laser beam (24) being swivelled through swivel angle values which correspond to the trajectory discrepancies, the delay time of the laser pulses which are reflected from the target (11) being measured and used to determine the target range (r), either the time which is passed from the firing time to reception of the reflected laser pulses being compared with the time of flight of the virtual projectile that has been fired as computed for the target range (r) or the actual swivel angle values of the first laser beam (24) as set for the target range (r) being compared with the instantaneous line of sight alignment at the time of firing with the theoretical swivel angle values, as computed from the trajectory data for the target range (r) for the first laser beam (24) with respect to the instantaneous line of sight alignment at the time of firing and, if they match within a tolerance band, a second laser beam (25) which comprises coded laser pulses is transmitted in the most recently assumed transmission direction of the first laser beam (24), whose coding contains information relating to the firing data for the tube weapon (10), such as the type of munition and weapon, and the identity of the gunner (16), and, at the target end, hit damage is computed from the position of the receiving detector (35) on the target (11) and from the decoded information when one of the two or more detectors (35) which are arranged distributed on the surface of the target (11) receives the second laser beam (25).
2. Method according to Claim 1, characterized in that the discrepancies (Δz) between the trajectory (34) and the instantaneous line of sight alignment at the time of firing and the swivel angle values (αz) derived from them for the first laser beam (24) are determined in elevation.
3. Method according to Claim 2, characterized in that the discrepancies (Δx) between the trajectory (34) and the instantaneous line of sight alignment at the time of firing and the swivel angle values (x) derived from them for the first laser beam (24) are also determined in azimuth.
4. Method according to one of Claims 1-3, characterized in that discrepancies between the line of sight and the instantaneous line of sight alignment at the time of firing are measured continuously and are used to correct the swivel angle values (α_z, α_x) of the first laser beam (24).
5. Method according to one of Claims 1-4, characterized in that a single laser which uses an eye-safe wavelength, preferably of 905 nanometres, is used to transmit the two laser beams (24, 25) at different times, and a large number of retroreflectors (38) are provided at the target end.
6. Method according to Claims 1-4, characterized in that two separate lasers (22, 23), preferably at different wavelengths, are used for transmission of the two laser beams (24, 25) at different times.
7. Method according to Claim 6, characterized in that the two laser beams (24, 25) are focused such that the first laser beam (24) illuminates a significantly larger area on the target (11) than the second laser beam (25), and in that a reflector unit (38) which is designed for omnidirectional reception is provided at the target end.
8. Method according to Claim 6, characterized in that the first laser beam (24) is produced by a high-power laser, and in that the divergence of the first laser beam (24) is chosen to be very small.
9. Method according to one of Claims 6-8, characterized in that the radiation profile of the second laser beam (25) is designed such that the dimensions of the area which is illuminated on the target (11) by the second laser beam (25) correspond approximately to 1.5 times the distance between each of the detectors (35) on the target (11).
10. Apparatus for simulation of a shot which is fired at a target (11), preferably at a ground, moving or stationary target (11), from a tube weapon (10) which fires ballistic projectiles and has a sight (17), which is permanently aligned with its line of sight (171) parallel to the barrel centre axis (181), and has a trigger (19) to initiate firing, which, at the tube weapon end, has a laser transmitter (21) which is permanently coupled to the tube weapon (10) for transmission in the same direction but at a different time of a first laser beam (24), which is composed of laser pulses, and of a second laser beam (25), which is composed of coded laser pulses, a control unit (33) which can be activated by the trigger (19) and which, on activation, causes the laser transmitter (21) to transmit the first laser beam, a detector (27) which is permanently coupled to the tube weapon (10) for reception of the laser pulses of the first laser beam (24) which are reflected on the target (11), a delay time measuring device (28), which is connected downstream from the detector (27), for measurement of the delay time of the reflected laser pulses of the first laser beam (24), a range calculator (29) for calculation of the target range (r) from the delay time, and a trajectory computer (30), which is connected to the range calculator (29) for calculation of trajectory data for the virtual projectile which is fired, and, at the target end, has two or more detectors (35), which are arranged distributed over the target surface and are designed for reception of the second laser beam (25), and evaluation electronics (35) which are connected to the detectors (35), for calculation of hit damage, characterized in that the trajectory calculator (30) is connected to a deflection apparatus (26) for swivelling the transmission direction of the laser beams (24, 25), in that the trajectory computer (30) uses the transmission of the first laser beam (24) to continuously calculate the discrepancy between the trajectory (34) and the instantaneous line of sight alignment at the firing time and applies this as control signals to the deflection apparatus (26), which swivels the first laser beam (24) through swivel angles (α_z, α_x) which correspond to the control signals with respect to the instantaneous line of sight alignment at the firing time, in that the trajectory computer (30) either calculates the time of flight of the fired virtual projectile for the target range (r) as calculated by the range computer (29) and compares this with the time which has passed from the firing time to reception of the reflected laser pulses of the first laser beam (24), or uses the target range (r) as calculated by the range computer (29) to calculate the theoretical swivel angle of the first laser beam (24) with respect to the instantaneous line of sight alignment at the firing time from the trajectory data and compares this with the actual swivel angles (α_z, α_x) of the first laser beam (24) with respect to the instantaneous line of sight alignment at the firing time and, if they meet within a tolerance band, produces an activation signal for transmission of the second laser beam (25) in the most recently assumed transmission direction for the first laser beam (24).
11. Apparatus according to Claim 10, characterized in that the calculation of the trajectory discrepancy (Δz, Δx) between the instantaneous line of sight alignment at the firing time and the swivel angles (α_z, α_x), derived from them, for the first laser beam (24) is carried out in elevation and, if the selected projectile is a spinning projectile, the calculation is carried out in azimuth as well.
12. Apparatus according to Claim 10 or 11, characterized in that the laser transmitter (21) has a single laser which uses an eye-safe wavelength, preferably of 905 nanometres, for production of the first and second laser beams (24, 25), and a large number of retroreflectors are arranged distributed over the target surface on the target (11).
13. Apparatus according to Claim 10 or 11, characterized in that the laser transmitter (21) has a laser (22) whose wavelength is between 1500 and 1800 nanometres for production of the first laser beam (24), and has a laser (23) whose wavelength is 905 nanometres for production of the second laser beam.
14. Apparatus according to Claim 13, characterized in that the area which is illuminated on the target (11) by the first laser beam (24) is considerably larger than the area which is illuminated by the second laser beam (25), and in that a retroreflector unit (38) which is designed for omnidirectional reception is arranged approximately centrally on the target (11).
15. Apparatus according to Claim 13, characterized in that a large number of retroreflectors are arranged on the target (11), and in that the divergence of the first laser beam (24) is chosen such that, at the minimum permissible target range (r), the first laser beam (24) which illuminates the target at any given point strikes at least one retroreflector.
16. Apparatus according to Claim 13, characterized in that the laser (22) which is used to produce the first laser beam (24) is a high-power laser, and the first laser beam (24) has a very narrow divergence.
17. Apparatus according to one of Claims 13-16, characterized in that the second laser beam (25) has a beam profile such that the dimensions of the area which is illuminated on the target (11) by the laser beam (25) correspond approximately to 1.5 times the distance between the detectors (35) on the target (11).
18. Apparatus according to one of Claims 1-17, characterized in that the detector (27) which is firmly connected to the firing barrel (18) of the tube weapon (10) has receiving optics, whose reception divergence is at least as great as the deflection range of the laser beams (24, 25) called by the deflection apparatus (26).
19. Apparatus according to one of Claims 1-17, characterized in that the detector (27) which is firmly connected to the firing barrel (18) of the tube weapon (10) has adjustable receiving optics, whose reception divergence corresponds to the effective beam cross section of the first laser beam (24), and in that the receiving optics are coupled to the deflection apparatus (26) such that they are swivelled through the same swivel angles (α_x, α_z) as the first laser beam (24).
20. Apparatus according to one of Claims 1-19, characterized in that the trajectory computer (30) is connected to a self-movement sensor system (31) which senses the tube weapon's (10) own movement, and uses the data supplied from the self-movement sensor system (31) to correct the control signals for the deflection apparatus (26) in the sense of compensation for the tube weapon's (10) own movement for target alignment.

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