EP1329683A1 - Method and device for compensating shooting errors and system computer for weapon system - Google Patents

Abstract

The method involves moving the barrel (10.2) in steps into measurement positions by turning it about an axis and, at each measurement position, computing a desired value describing the desired barrel position, detecting an actual barrel position value and computing the difference between the desired and actual values defined as the error value. The correction value is determined from several error values and used for subsequent aiming. Independent claims are also included for the following: an arrangement for compensating weapon system firing errors and a system computer for a weapon system.

Description

The invention relates to a method and a device for compensating for shooting errors of a weapon system gun having a weapon barrel, which are caused by static gun geometry errors, according to the preamble of claims 1 and 12 , and a system computer for a weapon system according to the preamble of the claim 17th

Basically, the invention relates to all possible static gun geometry errors and their compensation.

Guns consist of numerous individual parts that are fixed or movable with each other are connected. The individual parts can never be precise, but only with certain manufacturing tolerances or deviations from the theoretically determined Masses are produced, and also arise during assembly within the specified assembly tolerances deviations from the intended mutual situations. The totality of the deviations means that each gun has deviations from its ideal geometry, which as Gun geometry errors are referred to. Such gun geometry errors Art are composed of numerous types of errors. For example gun geometry errors manifest themselves in that the azimuth α des Gun barrel in the zero position, as indicated by an azimuth display of the gun is displayed, is in reality not equal to 0 °, but a small one Angle Δα deviates from 0 °. The elevation λ of the weapon barrel can be correspondingly in their zero position not that indicated by the elevation display of the gun Have a value of 0 °, but deviate by a small angle Δλ of 0 °. In individual cases, Δα and Δλ may be zero, but only if different gun geometry errors compensate each other.

The manufacturing tolerances can be the same for individual parts of a series of guns be the same or approximately the same if such items are always on the same machine, with non-wearing or precisely adjustable Tools and under the same external conditions as e.g. temperature conditions getting produced. Nevertheless, after mounting the gun geometry errors be different from gun to gun.

The problem is compounded by the fact that the gun geometry errors, in particular the angular errors are not constant, but are different Change reasons. In the case of moving individual parts, such changes are the first Line the sequence of wear and tear; so they increase over time. The change the errors are also related to the ruling ones Environmental conditions such as air and gun temperatures; they can therefore increase and decrease alternately.

Another complication arises from the fact that the gun geometry errors can also be influenced by the position of the individual parts, as the mechanical Strains and thus the deformations of the individual parts are due to the situation.

Finally, the gun geometry errors can be found in a particular Location of the gun barrel and manifest at a certain time, too depend on the direction of rotation in which the gun barrel determined in this Situation has been brought.

The gun geometry errors characterize the individual guns and thus represent actual gun parameters. As a result of the gun geometry errors, Especially as a result of the angle errors, shooting errors occur or a reduction in the accuracy of the guns. Because of the wide Distances between the muzzle of the gun barrel and the targets, which through the projectiles that are to be hit by the gun barrel even small angular deviations of the gun barrel considerable Storage of the projectiles from the targets to be combated.

If the gun geometry errors or gun parameters are known, the shooting errors based on them can be compensated by taking the gun parameters into account in addition to other data by the software of a computer assigned to the gun when determining the target values can. The term a computer assigned to the gun should be understood to mean a gun computer and / or a computer of a fire control device. Other data that are taken into account by the computer are, in particular, target data that describe the location and movement of the target, meteorological data that describe the respective meteorological conditions, v ₀ data that describe the deviation of the actual muzzle velocity from a theoretically determined muzzle velocity relate, and if necessary, floor data, which characterize the respectively missed floors.

The determination of the gun geometry errors or gun parameters, their Utilization to obtain correction functions and implementation The correction functions in the computer software must be carried out before commissioning of guns are done individually for each gun.

The previously known methods for measuring the gun parameters point numerous disadvantages. Not all types of gun geometry errors can be measured. The measurements cannot be carried out in an automated manner become and therefore take up a lot of time; consequently, per measurement position made only a few measurements of the gun barrel, which has the consequence that random measurement errors cannot be eliminated. The measurements need not only a lot of time, but also require a relatively large amount of staff, so that they are very expensive. In addition, part of the measuring staff exposed to comparatively large dangers as it can be carried out the measurements must be in the area of the weapon barrel muzzle; larger ones Elevations and long gun barrels mean that measuring people hoisted into the area of the weapon barrel orifice by means of a lifting device Measurements on a ladder.

• ein Verfahren zum Kompensieren von Schiessfehlern der eingangs genannten Art anzugeben, welches eine vollständige Erfassung der Geschützgeometrie-Fehler erlaubt und präzis, rasch, mit wenig Personal und vorzugsweise automatisiert durchführbar ist;
• eine Einrichtung zur Durchführung dieses Verfahrens vorzuschlagen; und
• einen Feuerleitrechner bzw. Systemrechner für ein Waffensystem vorzuschlagen, mit welchem die neue Einrichtung koppelbar ist.

The object of the invention is therefore seen in

• to provide a method for compensating for shooting errors of the type mentioned at the outset, which permits complete recording of the gun geometry errors and can be carried out precisely, quickly, with little personnel and preferably automatically;
• propose a facility to carry out this procedure; and
• to propose a fire control computer or system computer for a weapon system with which the new device can be coupled.

• für das Verfahren durch die Merkmale des Anspruchs 1;
• für die Einrichtung durch die Merkmale des Anspruchs 12; und
• für den Feuerleitrechner bzw. Systemrechner durch die Merkmale des Anspruchs 17.

The solution of this object is achieved according to the invention

• for the method by the features of claim 1 ;
• for the establishment by the features of claim 12 ; and
• for the fire control computer or system computer by the features of claim 17 .

Preferred developments of the method according to the invention and of the methods according to the invention Means are defined by the respective dependent claims.

• Alle Winkelfehler, die durch statische Geschützgeometrie-Fehler bedingt sind, können erfasst und in der Folge kompensiert werden.
• Statische Geschützgeometrie-Fehler, die bisher nur ungenau und mit grossem Aufwand bestimmt werden konnten, können nun genau gemessen und entsprechend effizient kompensiert werden.
• Der Einsatz eines Kreisel-Messystems erlaubt es, Winkelmessungen durchzuführen, ohne die Waffe vorgängig zu horizontieren.
• Der Einsatz eines opto-elektronischen Kreisels, insbesondere eines Faserkreisels, erlaubt es, Winkelmessungen durchzuführen, die bezüglich Genauigkeit, Zuverlässigkeit und Reproduzierbarkeit die bisher durchführbaren Messungen weit übersteigen und die bedeutend detailliertere Messergebnisse liefern als bisher erzielbar; dadurch werden weit genauere Kompensationen der geschützgeometrie-bedingten Schiessfehler ermöglicht.
• Die Messungen können schnell und automatisiert durchgeführt werden; der zeitliche und personelle Aufwand für die Vermessung eines Geschützes ist gering, was beträchtliche kostenmässige Einsparungen zur Folge hat.
• Die Unfallgefahr für die an den Messungen beteiligten Personen kann stark reduziert werden.

The advantages achieved with the invention are essentially the following:

• All angular errors caused by static gun geometry errors can be recorded and subsequently compensated for.
• Static gun geometry errors that could previously only be determined inaccurately and with great effort can now be measured precisely and efficiently compensated accordingly.
• The use of a gyro measurement system allows angle measurements to be carried out without first leveling the weapon.
• The use of an opto-electronic gyroscope, in particular a fiber gyroscope, makes it possible to carry out angle measurements which far exceed the measurements which have been possible so far in terms of accuracy, reliability and reproducibility and which provide significantly more detailed measurement results than previously achievable; This enables far more precise compensation of the shooting geometry-related shooting errors.
• The measurements can be carried out quickly and automatically; the time and manpower required to measure a gun is low, which results in considerable cost savings.
• The risk of accidents for the people involved in the measurements can be greatly reduced.

Before the invention is discussed in more detail below, some basic terms are explained.

Although only for azimuth tracking errors, elevation tracking errors, Solder runout errors, wobble errors and Schiel errors as well as their compensation The basic idea of the invention is discussed in more detail at all occurring gun geometry error applicable.

The weapon barrel, the position of which is influenced by the gun geometry errors, can be brought into different positions by swiveling back and forth or by complete rotation, each position being determined by the corresponding azimuth, i.e. the corresponding side angle and by the corresponding elevation means the corresponding elevation angle. Rotation around the vertical axis changes the azimuth and rotation around the transverse axis changes the elevation. The vertical axis and the transverse axis are two axes of a spatial, preferably orthogonal axis system, the axes of which are defined in Table 1 . In the context of the present description, the azimuth is not to be understood as the deviation from the north direction, as in shooting operation, but from a zero position. Definition of the axes L-axis transverse axis (Theoretical) horizontal axis around which the weapon barrel can be pivoted; this sets the elevation λ; A axis vertical axis (Theoretically) vertical axis around which the weapon barrel can be pivoted; the azimuth α is set here. R-axis longitudinal axis (Theoretical) horizontal axis of the weapon barrel in the lashing position, with azimuth α = 0 and elevation λ = 0;

Shooting errors occur because the actual position or actual position of the gun barrel is not the same as its target position. The target position is defined, among other things, by the values for azimuth and elevation determined by the fire control computer or system computer, but is not adopted due to static gun geometry errors. The angular errors that occur in the position of the weapon barrel, the gun geometry errors that caused them and the primary causes of the gun geometry errors are shown in Table 2 . The angular errors, which manifest themselves as azimuth errors and as elevation errors, consist of the following five types of errors, which are, however, not independent of one another: (1) Azimuth tracking error Δα1 (2) Tumbling error Δτ (3) Elevation tracking error Δλ (4) Lotablauf error Δα2 (5) Schiel error Δσ Angle errors in the position of the gun barrel, gun geometry errors and their causes angle error Gun geometry error root cause Azimuth errors (page errors) Δα1 azimuth synchronism error 1 .Eccentricity of the side pivot bearing 2. Out-of-roundness of the side pivot bearing 3. Variable tooth spacing in the ring gear of the side rotation 4. Code error Δα2.Lotablauf error 5. Canting of the elevation axis to the horizon 6. Non-orthogonality of pipe axis and elevation axis Δσ Schiel error 7. Non-parallelism of tube axis and line of sight Elevation errors Δλ elevation tracking error 8. Eccentricity of the rotating bearing 9. Out-of-roundness of the pivoting bearing 10. Variable tooth spacing in the ring gear of the height rotation 11. Code error 12. Tipping the gun backwards with increasing elevation Δτ wobble error 13. Elasticity of the structure Δσ Schiel error 7. Non-parallelism of tube axis and line of sight

To determine these partial errors, several measurements are carried out. For a rational procedure, it is advantageous to carry out the measurements in the course of three measurement procedures, since measurements are carried out in one position of the weapon barrel, which relate to more than one type of error. Table 3 shows the three measurement procedures, the partial errors and the measuring devices used in each case. Angular errors, measurement procedures and measuring devices Measuring procedure concerns the partial errors gauge 1 Azimuth tracking error
Tumbling error Δα1
Δτ gyro measuring Device
spirit level 2 Elevation tracking error
Lotablauf error Δλ
Δα2 gyro measuring Device
gyro measuring Device 2 Schiel error Δσ optical
contraption
[Scope]

To compensate for shooting errors based on static gun geometry errors of a gun based on a weapon system will basically like Proceeds as follows: An angle error that occurs when the gun barrel moves one of the axes of rotation is created is determined. The gun barrel is through Rotation in a direction of rotation about the rotation axis from a zero position in steps via successive measurement positions to an end position, which is also a Measuring position is brought. The rotation is controlled by a computer. through A suitable measuring unit of a measuring system is used after every step the actual angle determines by which the weapon barrel was rotated; this angle is called the actual value. At the same time, the theoretical angle determines what the weapon barrel, for example according to information on a scale on the gun or on the assigned fire control computer or system computer, should have turned; this angle is called the target value designated. The angle difference between the target value and the actual value are calculated; this difference is called the error value designated. A correction value is determined from the error value Software of the fire control computer or system computer implemented and henceforth when determining the standard values, i.e. the values for azimuth and elevation, is taken into account. The guide values are primarily calculated under Use of target data, i.e. data, which locations and any Describe movements of a target to be combated and baselistics data. This primary calculation is corrected with the aid of the method according to the invention.

In particular, the actual values can be dependent on each other in order to determine the correction values represented by the target values and prepared in such a way that let them determine the correction values. Such preparation, at which can result in correction values from the measured angle errors numerically or with tabular aids or mathematically or combined be carried out numerically / mathematically.

With the numerical method, pairs of values are stored in a table, whereby a first value of each pair of values is the target value and a second value is the actual value or the difference between the actual value and the target value. The pairs of values can also be viewed as an empirical error curve. The table or the empirical error curve is then used when calculating guide values available in such a way that the calculation of each guide value in corrected Way taking into account the corresponding values of the table or the empirical error curve takes place.

With the mathematical method, the error values are first tabulated in Dependence of the target angle or as an empirical error curve and then be approximated by at least one mathematical function; the That is, the empirical error curve is either over its entire course by a single mathematical error function or in sections by each a mathematical part-error function, that is, a total of several mathematical ones Part error functions approximated. The mathematical error function is then made available to the computer, which results in a correction function determines which he uses when calculating the guideline values for the weapon barrel, that means the azimuth and the elevation.

The numerical method can be designed so that the necessary accuracy for the compensation of the shooting errors is guaranteed. How to continue detailed below, but the mathematical method has the advantage that math error functions easily, namely with known math Procedures that can be analyzed; it’s not just that Values for the compensation of the shooting errors but also insights about the Gain influence of individual constructive conditions on the error functions; The resulting structural improvements ultimately serve to: to combat gun geometry-related root defects by the gun geometry errors are eliminated. The term is meant to be constructive on conceptual as well as manufacturing and assembly Refer to circumstances.

To eliminate random measurement errors, it is advantageous to use the one described above Repeat the measurement process one or more times and the received To average values in tabular form. Alternatively, all measurements can be the same from the measurements carried out a mean empirical error curve or from every empirical error curve and a mathematical error function this a mean mathematical error function or from any empirical Error curve is a correction function and one of all correction functions middle correction function can be formed.

The weapon barrel is rotated for the measurements described above always in the same direction; the error values obtained in this way are monodirectional certain error values that are prepared numerically or mathematically. In particular, the empirical error curve or mathematical error function a mono-directional or mono-directional error curve or error function. However, as explained above, the error values are in the Generally, among other things, depending on the direction in which this rotation is carried out. It is therefore advantageous to take two measurements. The Gun barrel is used for the first measurement in a first direction of rotation and for the second measurement in the opposite direction of rotation about the same axis of rotation turned. The measuring positions of the first directional rotation and the measuring positions of the two-directional measurement locations can, but do not have to, agree. at These rotations become first-directional and second-directional error values determined. Are the deviations between the first-directional and the second-directional Error values small, so a direction-free error value can be determined and further processed or recycled. In particular, from the first-directional empirical error curve and the second-directional empirical Error curve is a middle direction-free empirical error curve the latter a medium direction-free mathematical error function and a mean direction-free correction function can be determined from this, the correction function being taken into account when calculating the guide values becomes. However, since the influence of the direction of rotation is a systematic part of the error entire error values result, preferably both the first directional Error values as well as the second directional error values separately processed or recycled.

Depending on the errors to be recorded, various measuring devices are used, as already mentioned. In particular, water vehicles, preferably electronic water vehicles, and gyro measurement systems, preferably optoelectronic gyro measurement systems, are used, which are understood to mean, for example, ring laser gyroscopes and fiber gyroscopes. The measuring devices must generally be calibrated after they have been mounted on the gun or on the weapon barrel before starting a measuring procedure. When using gyro measurement systems, the constantly changing gyro drift generally has to be recorded and the measured values corrected according to the gyro drift. An example of the detection and consideration of the gyro drift is described in the European patent application EP-00126917.4 .

The above description relates to the determination of a correction function based on the detection of error values is based on the rotation of the barrel around one of the axes. The gun barrel is not only used for judging about an axis but about two non-coincident, generally orthogonal Axes rotated. The first axis is preferably the vertical axis A and the second axis is the transverse axis L, the azimuth α being rotated about the Vertical axis A and the elevation λ are set by rotation about the transverse axis L. become.

In the course of a first measurement procedure, the azimuth synchronism error Δα 1 and the wobble error Δτ can be determined.

To detect the azimuth synchronism error Δα 1 , the weapon barrel is changed in steps at an elevation of 0 ° in the azimuth α. In the mathematical method, the azimuth errors determined in this way result in an azimuth error curve, which is generally designed in such a way that it can be approximated by a sine function, with one or more periods of the sine being caused by a rotation of the weapon barrel by 360 ° Function. A first measuring unit of the gyro measuring system is used as the measuring device.

The wobble error Δτ is also recorded within the first measurement procedure. For this purpose, the rotations of the weapon barrel carried out to detect the azimuth synchronism error Δα 1 can be repeated. However, the actual azimuth and the target azimuth or their difference are not recorded or ascertained. The actual angle of inclination of the weapon barrel axis to the horizontal is recorded; this angle of inclination is referred to as the actual wobble angle or actual value. The theoretical angle of inclination, which is referred to as the target wobble angle or target value, is always zero here, since the measurement procedure is carried out at an elevation of 0 °. The wobble movement during a rotation about the vertical axis A is thus recorded. However, it would also be possible to carry out the measurement procedure at a constant elevation angle that is not 0 °; In such a case, the desired wobble angle would correspond to this constant, theoretical elevation angle, and the actual wobble angle would correspond to the deviation of the actual elevation angle from the theoretical elevation angle. A spirit level, preferably an electronic spirit level, is used as the measuring system.

During a second measurement procedure, the elevation synchronism error Δλ and the solder run error Δα2 can be determined.

The elevation synchronism error Δλ is composed of two parts, the can only be determined together.

A first part of the elevation synchronism error Δλ is based - analogous to the azimuth synchronism error - Make sure that the respective actual angle of the gun barrel do not match the target angles. This part of the elevation synchronism error Δλ describing part-error curve or part-error function has the nature of a sine function, possibly with multiple angular frequencies.

Another part of the elevation synchronism error Δλ is based on the fact that with increasing elevation, the force exerted by the weight of the barrel on the carriage Torque becomes lower; this torque tends to the gun barrel to turn down; in a lashing position, for example with azimuth 0 ° and low elevation, the gun will tend to tip forward. Through the The gun barrel will decrease the torque with increasing elevation pulled less down, with the result that the gun was less down tilts at the front or, in comparison to the lashing position, tilts to the rear. The partial error curve or partial error function that this portion of the elevation synchronism error nature has a subtracted cosine curve with 1 simple angular frequency.

The measurements of the second measurement procedure with which the elevation synchronism error is determined, proceed analogously to the measurement procedure with which the azimuth synchronism error is recorded. They result in the mathematical method an error function like a sine function corresponding to the first one Share of the elevation synchronism error, but this sinusoidal function not about a horizontal but about the steadily increasing curve of 1 subtracted cosine curve corresponding to the second portion of the elevation tracking error swings. The two partial error functions can be mathematically described separate. For the calculation of the corresponding correction function such a separation does not have to be carried out, since only the result, namely the correction of the total elevation tracking error is of concern. The partial error functions may be interesting because they are errors of the Gun construction, the temperature dependence of individual assemblies, the Make wear and other things more visible. A second is used for the measurement Measuring unit of the gyro measuring system used.

The Lotablauf error Δα2, which can be determined also in the second measurement procedure is based on that the elevation axis L and the azimuth axis A orthogonal not as desirable to one another, and that the weapon barrel axis is not as intended orthogonal to the elevation axis L stands. Even when the gun is leveled, a change in the elevation λ results in an error in the azimuth α. In principle, the solder run error Δα 2 can be described or corrected accordingly with a function which is essentially proportional to the sum of a tangent function of λ and an inverse cosine function of λ, namely Δα2 = a tg α + b / cos λ - b. At an elevation of 90 ° or almost 90 °, a correction obviously cannot be made on the basis of this function, since cos λ becomes infinite there. The solder run error Δα2 is measured with the first measuring unit of the gyro measuring system.

Finally, the Schiel error Δσ is recorded in a third measurement procedure. This represents the non-parallelism of the weapon barrel axis and line of sight. The Schiel error Δσ is in the method according to the invention in conventional and therefore determined and processed in a manner not further described.

Fig. 1A

ein Waffensystem mit einer Einrichtung nach der Erfindung, in schematischer Darstellung;

Fig. 1B

ein Geschütz des Waffensystems der Fig. 1A, in vereinfachter Darstellung, mit drei Achsen eines orthogonalen Achsensystems;

Fig. 2A

eine schematische Darstellung zur Erläuterung des des Azimutgleichlauf-Fehlers;

Fig. 2B

empirische Fehler-Kurven des AzimutgleichlaufFehlers;

Fig. 3A

empirische Fehler-Kurven des Taumel-Fehlers,

Fig. 3B

eine empirische Fehler-Kurve des Taumel-Fehlers; dargestellt ist nur der durch die Unterlafette bedingte Fehleranteil;

Fig. 3C

eine empirische Fehler-Kurve des Taumel-Fehlers; dargestellt ist nur der durch die Bein-Abstützung bedingte Fehleranteil;

Fig. 4A

eine empirische Fehler-Kurven des Elevationsonsgleichlauf-Fehlers für ein konstantes Azimut;

Fig. 4B

Elevationsgleichlauf-Fehler in Abhängigkeit vom Azimut mit verschiedenen Elevationen als Parameter; und

Fig. 5

ein empirische Fehler-Kurve und eine mathematische Fehler-Funktion des Lotablauf-Fehlers.

Further details and advantages of the invention are described below using examples and with reference to the drawing; show it:

Fig. 1A

a weapon system with a device according to the invention, in a schematic representation;

Figure 1B

a gun of the weapon system of Figure 1A, in a simplified representation, with three axes of an orthogonal axis system.

Figure 2A

a schematic representation for explaining the azimuth synchronism error;

Figure 2B

empirical error curves of the azimuth synchronism error;

Figure 3A

empirical error curves of the wobble error,

Figure 3B

an empirical error curve of the wobble error; only the proportion of errors caused by the lower mount is shown;

Figure 3C

an empirical error curve of the wobble error; only the proportion of errors caused by the leg support is shown;

Figure 4A

an empirical error curve of the elevation synchronism error for a constant azimuth;

Figure 4B

Elevation synchronism error depending on the azimuth with different elevations as parameters; and

Fig. 5

an empirical error curve and a mathematical error function of the solder run error.

Since detectable errors compared to the absolute values, for example for azimuth or elevation, known to be small, are diagrams showing error curves and represent error functions, not to scale, so the history the functions are clearly visible.

1A schematically shows a weapon system 10 . The weapon system 10 has a gun 10.1 with a weapon barrel 10.2 , a fire control device 10.3 and a fire control computer or system computer 10.4 . The weapon system 10 also has a target value transmitter 10.5 with which the target position of the weapon barrel 10.2 is detected.

1A shows a device 20 for carrying out the method according to the invention. The device 20 has a measuring system 20.1 for recording the actual values which describe the actual position of the weapon barrel 10.2 after the aiming, and a computer unit 20.2. The setpoint generator 10.5 is usually part of the weapon system 10, but is also functionally assigned to the device 20 .

1B shows the gun 10.1 of the weapon system 10, with a lower mount 12, an upper mount 14 and with the gun barrel 10.2. The lower mount 12 is supported on a horizontal base 1 by three legs 12.1, 12.2, 12.3 . 1 also shows the orthogonal axis system of the three axes, the vertical axis being designated A, the transverse axis L and the longitudinal axis R. The weapon barrel 10.2 is rotatable about the vertical axis A for changing the side angle or the azimuth α and about the transverse axis L for changing the height angle or the elevation λ.

An optoelectronic gyro measuring system 22 , which forms a component of the measuring system 20.1, is arranged on the weapon barrel 10.2 in the muzzle region. The gyro measuring system 22 comprises a first measuring unit or .alpha. Measuring unit and a second measuring unit or .lambda. Measuring unit with which angular changes as a result of changed azimuths .alpha. Or changed elevation .lambda. Of the weapon barrel 10.2 are detected.

The following describes how to compensate for an azimuth synchronism error Δα 1 and for compensating a wobble error Δτ, which can be recorded within a first measurement procedure, but in separate sub-procedures.

2A to 2C relate to the sub-procedure regarding the azimuth synchronism error Δα 1 . 2A the gun 10.1 is shown in a highly simplified manner in a top view. The weapon barrel 10.2, shown in simplified form as the weapon barrel axis, is indicated with solid lines in its zero position and with dashed lines in one of the measuring positions, which includes an angle of, for example, 20 ° with the zero position. Starting from the zero position, the weapon barrel 10.2 is rotated in steps of, for example, 5 ° in the direction of arrow D1 by a total of 180 ° into an end position. The rotation of the weapon barrel 10.2 is controlled by the fire control computer 10.4 . Each measuring position is determined by the associated side angle or the associated azimuth α. After each step, the weapon barrel 10.2 is theoretically in a target position, which is defined by an associated target value or an associated target azimuth α1 (theor) , which is displayed, for example, on the gun 10.1 . In reality, however, the weapon barrel 10.2 is in an actual position, which is indicated by an actual value or an actual azimuth α 1 (eff) recorded by the α measuring unit of the gyro measuring system 22 of the measuring system 20.1 . The computer unit 20.2 calculates the error value or error angle, that is, the deviation of the actual value α1 (eff) from the target value α1 (theor). The error values are then shown as a first-directional empirical azimuth error curve fα 1 (D1) ₁ depending on α 1 (theor) . The previously described method steps are repeated several times in order to eliminate random errors in the detection of the actual azimuth and target azimuth as far as possible. Here, further first-directional empirical azimuth error curves fα 1 (D1) ₂ , fα 1 (D1) ₃ , fα 1 (D1) _{i are} determined. According to FIG. 2B , all first-directional azimuth error curves finally result in a middle first-directional azimuth error curve f α1 (D1) . The method steps described above are then carried out again, but the weapon barrel 10.2 is rotated in opposite directions, that is to say in the direction of the arrow D2 . 2B, this results in a plurality of second-directional azimuth error curves fα 1 (D2) ₁ , fα 1 (D2) ₂ , fα 1 (D2) ₃ and a mean second-directional empirical azimuth error curve. Curve fα 1 (D2). Next, the middle first-directional empirical azimuth error curve fα 1 (D1) and the middle second-directional empirical azimuth error curve fα 1 (D2) becomes a mean direction-free empirical azimuth error curve fα 1 (D0) calculated, which is also shown in Fig. 2B . According to FIG. 2B , the middle direction-free azimuth error curve fα 1 (D0), which describes the azimuth synchronism error Δα1, runs approximately in the form of a sine curve with double angular frequency. This suggests that there is a slight ovality in the side pivot bearing.

In the numerical method, the mean direction-free empirical azimuth error curve fα 1 (D0) or the value pairs that define this curve are made available to the fire control computer or system computer in order to be available for further calculations of guide values , The numerical method can be carried out analogously for all measurement procedures.

In the mathematical method, the mean direction-free empirical azimuth error curve fα 1 (D0) is approximated by a mathematical azimuth error function F α1. The approximation is carried out either in sections by a mathematical partial error function, the entirety of the partial error functions being referred to as a mathematical error function, or overall by a single mathematical error function. The mathematical error function Fα 1 serves to create a correction function, which is taken into account when calculating the guide values together with other available data. After the implementation of the correction function in the software of the system computer 10.4, the method steps described up to here can be carried out again for checking purposes; the corrected azimuth error curve fα 1 (D0) _{corr determined here} is substantially flatter than the uncorrected error curve fα 1 (D0); the originally considerable azimuth synchronism error can thus be reduced to a very small residual error or almost completely compensated for.

The method steps described above can sometimes also be in a different order be carried out, but what the results are not or not significantly affected. In particular, it is time-saving to determine the measurements the first-directional and the second-directional error functions alternately perform.

In order to achieve more precise results, the determination of the direction-free azimuth error curve fα 1 (D0) can be dispensed with; instead, a mathematical azimuth error function Fα 1 (D1) and Fα 1 ( for the first-directional empirical azimuth error curve fα 1 (D1) and for the second-directional empirical azimuth error curve fα 1 (D2) D2) and from this the corresponding correction functions are determined.

3A to 3C relate to the wobble error Δτ. The weapon barrel 10.2 should theoretically be oriented horizontally at an elevation of 0 °, which means that the desired elevation should be 0 °. In reality, the weapon barrel 10.2 will always have a slight inclination to the horizontal, that is, the actual elevation is not 0 ° but differs by Δτ from 0 °. The angle Δτ depends on the azimuth α. With a rotation along 360 ° around the vertical axis A , the weapon barrel 10.2 therefore executes a so-called wobble movement, which is described by a wobble error function. To detect the wobble error Δτ, the weapon barrel 10.2 is moved without elevation λ in the same steps as to determine the azimuth synchronism error Δα1. However, the effective inclination or wobble angle of the weapon barrel 10.2, which is referred to as the weapon barrel wobble angle τ (eff) , is recorded after each measurement step. The theoretical inclination or wobble angle which is referred to as the target value or wobble angle τ (theor) is zero. The actual value or actual wobble angle τ (eff) can be represented as a function of the azimuth α (theor) . Analogous to the determination of the mean empirical azimuth error curve fα (D1) and fα (D2) , a mean first-directional and a mean second-directional empirical wobble error curve fτ (D1) and fτ (D2) are determined , This ultimately results in a direction-free empirical wobble error curve fτ (D0), which is approximated by a mathematical wobble error function F τ. In FIG. 3A , the two extremal wobble error curves, from which a large number of empirical wobble error curves have been determined, are shown, between which all the other wobble error curves lie; the measurements appear to be quite accurate since the curves differ only slightly; the wobble movement is a sinusoidal movement. Analysis of the measurement data for the wobble movement gives results which are shown in FIGS. 3B and 3C . The wobble error therefore has two causes: first, the azimuth-dependent rigidity of the lower mount; the resulting portion of the wobble error is shown in Figure 3B ; secondly, the likewise azimuth-dependent stiffening effect by the legs, the resulting proportion of the wobble error being shown in FIG. 3C . 3B and 3C show the positive values of the wobble error with solid lines and the negative values of the wobble error with dashed lines.

The compensation of the elevation synchronism error Δλ, which is recorded in a second measurement procedure, is described next. The elevation synchronism error Δλ is composed of two error components. Both error components can be detected by means of a second measuring unit or λ measuring unit of the gyro measuring system 22 of the measuring system 20.1 and only in their sum. Λ is therefore used to denote or index data or functions which relate to the overall elevation synchronism error Δλ. Elevation λ is understood here to mean the angle of inclination of the gun barrel 10.2 to the horizontal taken by the gun barrel 10.2 while keeping the azimuth α constant. Starting from a horizontal position, that is to say from an elevation of 0 ° and a perpendicularity deviation of likewise 0 °, the elevation λ is changed in steps of, for example, 5 ° to an end position of, for example, 85 °. The movement of the weapon barrel 10.2 is controlled by a computer. After each step, the weapon barrel 10.2 is in a measuring position. Here, its elevation is theoretically a value that is referred to as the target value or target elevation λ (theor) and that is specified by the target value transmitter 10.5 . In reality, however, the weapon barrel 10.2 is in a different position, which is described by the actual value or the actual elevation λ (eff) . As described above with reference to the azimuth tracking error, the difference between λ (theor) and λ (eff) is represented as a function of λ (theor) . The movement of the weapon barrel 10.2 is repeated several times in both directions of rotation. A mean first-directional empirical elevation error curve fλ (D1) and a mean second-directional empirical elevation curve fλ (D2) are obtained from the measurement results recorded . This results in a direction-free, elevation error curve fλ (D0), which is shown in FIG. 4A with a solid line. It can be seen from FIG. 4A that the elevation error curve fλ (D0) increases as the elevation λ increases, that is to say when the weapon barrel 10.2 is always steeper. The empirical elevation ― error curve fλ (D0) is then approximated by a mathematical elevation error function F λ, and a correction function is determined which is taken into account in the calculation of the guide values. If the measurements are repeated, but taking into account the correction function, the corrected elevation error function is much flatter than the uncorrected one.

A mathematical analysis of the mathematical elevation error function F λ can be used to determine the error components of the elevation synchronism error Δλ that cannot be detected individually during the measurement.

The first error portion of the elevation synchronism error by itself would be one Error function result, which is essentially a sine function with multiple Angular frequency corresponds.

The second error component of the elevation synchronization error by itself would result in an error function fλ2 (D0) which essentially follows a cosine function subtracted from 1, which is shown in FIG. 4A with a broken line. This corresponds to the fact that the torque exerted by the weight of the weapon barrel 10.2 on the mount decreases with increasing elevation because the distance of the line of action of the weight of the weapon barrel 10.2 from the transverse axis L decreases; this torque has the tendency to tip the gun 10.1 and thus the weapon barrel 10.2 downwards; A reduction in this torque consequently has the effect that the gun 10.1 tilts less downwards with the weapon barrel 10.2 or tilts relatively backwards.

The sum of the error components corresponds to the elevation error curve fλ (D0) resulting from the measurements carried out . This is represented as an oscillation corresponding to the first error component around an increasing curve according to the second error component.

The above-described measurements of the elevation synchronism error Δλ of the second measurement procedure are carried out with constant azimuth α. A large number of further measurement series then take place for further azimuths, each with a constant azimuth per measurement series, the angular distances between the constant azimuths being able to be, for example, 5 °. Here, too, the procedure is preferably such that two measurement series are carried out per azimuth, rotation for the first measurement series in a first direction of rotation and for the second measurement series in the opposite direction of rotation. 4B shows in a spatial parameter representation the elevation synchronism error Δλ as a function of the azimuth α, with different elevations λ as parameters, the lowest curve corresponding to the smallest elevation.

The further steps for compensating the elevation synchronism error take place analogous to the compensation of the azimuth synchronism error described above.

It should also be mentioned that, as described above with regard to the compensation of the Azimuth synchronism error described, the individual measurement and evaluation processes can be carried out at least partially in the reverse order, without affecting the results.

The solder run error Δα2 is also determined within the second measurement procedure. For this purpose, in each of the measuring positions in which the elevation synchronism error Δλ is determined with the aid of the λ measuring unit, the soldering error Δα2 is determined with the aid of the α measuring unit. 5 shows the solder run error as a function of the elevation λ. The empirical plumb line error curve f α 2, shown in dashed lines, can be approximated by a mathematical plumb line error function Fα2, represented by a solid line, for example by a second-order polynomial.

The detection and compensation of the solder run error Δα2 is carried out analogously for the compensation of the azimuth synchronism error Δα1 described above.

Finally, there is a third measurement procedure, with the aid of which compensation is carried out of the Schiel error Δσ is carried out. The Schiel error Δσ arises because the The directions of the gun barrel axis and the line of sight of the gun do not coincide, but include a squint angle. To determine the Squinting errors are the extension of the barrel axis on the one hand and the On the other hand, line of sight at a certain distance from the muzzle of the barrel shown, for example by means of a projection, with the barrel tube axis and line of sight appear as a point. The storage of the two points is a measure for the Schiel bug, to determine the distance between the barrel of the gun barrel and projection surface must be taken into account. That kind of Determination of the Schiel error is not new and is only mentioned here in addition, because a complete compensation of shooting errors caused by static gun geometry errors are also included have to.

While the above description mainly relates to the method according to the Invention relates, is closer to the implementation of this Process used facility received.

It should be mentioned here again that the new method is carried out by means of the new device on a weapon system 10 according to FIG. 1A . The weapon system 10 has the gun 10.1 with at least one gun barrel 10.2 , the movements of which are controlled in a conventional manner by gun servos. The weapon system 10 also has the fire control device 10.3 . The weapon system 10 also has the system computer or fire control computer 10.4, which is arranged on the fire control device 10.3 or, at least partially, on the gun 10.1 . The weapon system 10 conventionally also has a target value transmitter 10.5 which specifies target values, in particular of azimuth α and elevation λ, which describe the intended position of the directed weapon barrel 10.2 or determined by the system computer 10.4 .

Several components are required to carry out the new process, which are described in more detail below:

A first component is formed by the target value transmitter 10.5 , which serves to specify the target values which describe the intended or alleged position of the weapon barrel 10.2 . The setpoint value transmitter which is already present on the weapon system 10 is used as the setpoint value transmitter.

A second component of the new device is formed by the measuring system 20.1 for recording the actual values, which describes the actual position of the weapon barrel 10.2 . The measuring system 20.1 comprises at least the optoelectronic gyro measuring system 22.1, for example a fiber gyro measuring system. The gyro measuring system 22.1 has at least one first or α measuring unit for detecting changes in the angle, preferably the azimuth α, of the weapon barrel 10.2 . The gyro measurement system 22.1 preferably also has a second or λ measurement unit for detecting changes in the elevation λ of the weapon barrel 10.2 .

Under an opto-electronic gyro measurement system, the scope of the present Invention not only fiber gyro measuring systems but also others Measuring systems, for example ring laser gyro measuring systems, can be understood.

Gyro measuring systems generally have the advantage that they work autonomously; it No external reference points need to be used. guns do not need to be brought to a special survey station. Because none external reference exists, but generally drifts the system with time. The gyro drift manifested here must be determined and at the utilization of the measurement results are taken into account. In connection this means that a laser positioning system can be used.

In order to record the static gun geometry errors more fully and subsequently carry out a more precise compensation of shooting errors caused thereby, the second component of the new device, that is to say the measuring system 20.1, preferably also has measuring systems for recording further errors, in particular the wobble Error Δτ and the Schiel error Δσ.

In order to detect the wobble error Δτ, a further measuring system 21.2 in the form of a conventional, preferably electronic, spirit level is used in addition to the gyro measuring system 22.1 . This measures the angle relative to the horizontal, in the present application example the respective angle of the barrel axis to the horizontal. An electronic spirit level is understood to mean a sensor which measures the so-called horizon angle, that is to say the angle to a horizontal, and emits an electrical signal correlated with this angle. The measurement uses effects of gravitation, which defines the vertical and thus also the horizontal. It is irrelevant in which way the sensor uses gravitation.

It should also be noted that the tilt or tilt of the gun 10.1 can also be determined with the aid of an electronic spirit level. Canting or tilting means the following: If the weapon barrel 10.2 is only moved in azimuth, the movement of the muzzle of the weapon barrel can be regarded approximately as a circular line which defines a plane. The angular deviation of this plane from the horizontal plane is referred to as tilt or tilt; in other words, without tilt, this plane would be a horizontal plane. The tilt or tilt are generally automatically compensated for new guns or the gun is leveled automatically. The leveling of the gun is not necessary for the implementation of the new method.

In order to detect the Schiel error Δτ, in addition to the gyro measuring system 22.1 and the electronic spirit level 22.2 , another measuring system 22.3 is used in the form of a conventional, preferably optical, device. This measures the angular difference between the weapon barrel axis and the line of sight of the 10.1 gun.

A computer is required as the third component for implementing the new method. 1A, the computer is designed as a separate computer unit 20.2 , which is used exclusively or, inter alia, to carry out the new method and is only coupled to the weapon system 10 for this purpose. If necessary, the fire control computer or system computer 10.4 of the weapon system 10 can also be used as the computer.

The third component of the new device, in the present case the computer unit 20.2 , has a data input or a data interface, via which at least data are supplied to it, which represent the detected target values and actual values. The data can be made available to the computer unit 20.2 in any suitable manner, for example with the aid of a data carrier such as a floppy disk, or via a data line, which can be material or immaterial.

If the fire control computer or system computer 10.4 is used as the computer, it already knows the target values, and the actual values are made available to it via a data input or a data interface 24 .

The third component of the new device, in this case the computer unit 20.2 , also has implemented software to determine the correction values from the target values and the actual values. The steps to be carried out here are described in detail above with reference to the method according to the invention.

If the fire control computer or system computer 10.4 is used as the computer, the determined correction values can be implemented directly in the fire control software.

If the computer used is not the fire control computer or system computer but the separate computer unit 20.2 , the determined correction values must be made available to the fire control computer or system computer 10.4 via the data input or the data interface 24 and then implemented in the fire control software.

The third component, that is to say the computer, in particular if it is formed by the separate computer unit 20.2 , preferably has an input unit 20.3, for example a keyboard, via which further data are made available. This can, for example, be data that control the course of the new method, in that, among other things, they control the step-by-step turning of the weapon barrel into the measuring positions by the servos and the coupling of the measuring systems or measuring units to be used in each case.

Claims (17)

Method for compensating for shooting errors of a gun with a gun barrel (10.2) , which are caused by static gun geometry errors which influence the position of the gun barrel (10.2) when aiming the gun barrel (10.2) at target values, whereby the weapon barrel (10.2) is brought into measuring positions by turning around an axis (A, L) , for every measurement position a target value that describes the target position of the weapon barrel (10.2) , and an actual value describing the actual position of the weapon barrel (10.2) is recorded, a difference defined as an error value is calculated between the actual value and the target value, correction values can be determined from several of the error values of the measurement positions and the correction values are taken into account when straightening the weapon barrel (10.2) . Method according to claim 1,
characterized in that to determine the correction values the error values are presented empirically, the empirically represented error values are approximated by a mathematical error function, and the correction values are determined from the mathematical error function, which are taken into account in a later calculation of the guide values for the weapon barrel (10.2) . Method according to claim 2,
characterized in that the correction values are determined in the form of a correction function. Method according to one of the preceding claims,
characterized in that a measuring system (20.1) is used to record the actual values, which has an optoelectronic gyro measuring system (22.1) with a first measuring unit with which azimuth synchronism errors (Δα1) and / or solder sequence Errors (Δα2) are recorded. Method according to one of the preceding claims,
characterized in that a measuring system (20.1) is used to record the actual values, which has an opto-electronic gyro measuring system (22.1) ] with a second measuring unit, with which elevation synchronism errors (Δλ) are recorded. Method according to one of the preceding claims,
characterized in that a measuring system (20.1) is used to record the actual values, which has a measuring system (22.2) with a, preferably electronic, spirit level, with which wobble errors ( Δτ ) are recorded. Method according to one of the preceding claims,
characterized in that a measuring system (20.1) is used to record the actual values, which has a measuring system (22.3) with a device with which Schiel errors ( Δσ ) are recorded. Method according to one of the preceding claims,
characterized in that the target values and the actual values are made available to a computer (20.2, 10.4) which determines the correction values or the correction function. Method according to one of the preceding claims,
characterized in that the correction values are stored in a system computer (10.4 ) assigned to the gun (10.1) in order to be used in the calculation of the standard values for the aiming of the weapon barrel (10.2) . Method according to one of the preceding claims,
characterized in that the gun barrel (10.2) is rotated in the measuring positions about the vertical axis (A) of the gun (10.1) and preferably also about the transverse axis (L) of the gun (10.1) . Method according to one of claims 4 or 5,
characterized in that when the actual values are detected with the aid of an optoelectronic gyro measuring system (22), a gyro drift of the gyro measuring system (22) is determined at regular intervals or continuously and is taken into account in the recorded actual values. Device for compensating for shooting errors of a gun with a weapon barrel (10.2) , which shooting errors are caused by static gun geometry errors that influence the position of the gun barrel (10.2) when aiming the gun barrel (10.2) at calculated guide values, which facility a measurement System (20.1) for determining actual values which describe the position of the weapon barrel, the measuring system (20.1) having an opto-electronic gyro measuring system (22.1) on the weapon barrel (10.2) with a first measuring unit, in order to detect azimuth synchronism errors ( Δα1 ) and, if applicable, solder run errors ( Δα2 ) . Device according to claim 12,
characterized in that the optoelectronic gyro measuring system (22.1) has a second measuring unit in order to detect elevation synchronism errors ( Δλ ) . Device according to one of claims 12 to 13 ,
characterized in that the measuring system (20.1) has a measuring system (22.2) with a, preferably electronic, spirit level in order to detect wobble errors (Δτ) , and / or has a measuring system (22.3) with a, preferably optical, device in order to detect Schiel errors ( Δσ ) . Device according to one of claims 12 to 14 ,
characterized in that it has a computer unit (20.2) , on the input side with a target value transmitter (10.5), which provides target values that describe the target position of the weapon barrel (10.2) , and with the measuring system (20.1) , which provides the actual values represents, connected, which is designed to calculate correction values on the basis of the target values and the actual values, which are intended to be taken into account in the calculation of the guide values for the weapon barrel (10.2) in order to compensate for the shot errors, and which can be connected on the output side to a system computer (10.4) in order to provide it with data which represent the correction values. Device according to claim 15,
characterized in that the computer unit (20.2) has an input unit (20.3) for the input of data. System computer (10.4) of a weapon system (10) for calculating guide values for aiming a weapon barrel (10.2) of a gun (10.1) of the weapon system (10) ,
characterized in that the system computer (10.4) has a data input (24) for the data made available, which data are intended to be taken into account in the calculation of the target values in order to compensate for target errors caused by static gun geometry errors and affect the position of the weapon barrel (10.2) .

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