EP1329683A1 - Procédé et dispositif pour la compensation d'erreurs de tir et calculateur de système pour système d'arme - Google Patents

Procédé et dispositif pour la compensation d'erreurs de tir et calculateur de système pour système d'arme Download PDF

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Publication number
EP1329683A1
EP1329683A1 EP02024376A EP02024376A EP1329683A1 EP 1329683 A1 EP1329683 A1 EP 1329683A1 EP 02024376 A EP02024376 A EP 02024376A EP 02024376 A EP02024376 A EP 02024376A EP 1329683 A1 EP1329683 A1 EP 1329683A1
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EP
European Patent Office
Prior art keywords
values
error
errors
gun
barrel
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Granted
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EP02024376A
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German (de)
English (en)
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EP1329683B1 (fr
Inventor
Gabriel Schneider
Michael Gerber
Urs Meyer
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Rheinmetall Air Defence AG
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Oerlikon Contraves AG
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/32—Devices for testing or checking
    • F41G3/323—Devices for testing or checking for checking the angle between the muzzle axis of the gun and a reference axis, e.g. the axis of the associated sighting device
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
    • F41A27/00—Gun mountings permitting traversing or elevating movement, e.g. gun carriages
    • F41A27/30—Stabilisation or compensation systems, e.g. compensating for barrel weight or wind force on the barrel
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G5/00—Elevating or traversing control systems for guns
    • F41G5/26—Apparatus for testing or checking

Definitions

  • 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
  • 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 ⁇ 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 ⁇ deviates from 0 °.
  • the elevation ⁇ 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 ⁇ of 0 °.
  • ⁇ and ⁇ 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 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.
  • 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.
  • 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.
  • 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 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 .
  • the azimuth is not to be understood as the deviation from the north direction, as in shooting operation, but from a zero position.
  • 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 ⁇ 1 (2) Tumbling error ⁇ (3) Elevation tracking error ⁇ (4) Lotablauf error ⁇ 2 (5) Schiel error ⁇ 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) ⁇ 1 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 ⁇ 2.Lotablauf error 5. Canting of the elevation axis to the horizon 6.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the empirical error curve or mathematical error function a mono-directional or mono-directional error curve or error function.
  • 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.
  • a direction-free error value can be determined and further processed or recycled.
  • 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.
  • 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.
  • water vehicles preferably electronic water vehicles
  • gyro measurement systems preferably optoelectronic gyro measurement systems
  • 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.
  • 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 ⁇ being rotated about the Vertical axis A and the elevation ⁇ are set by rotation about the transverse axis L. become.
  • the azimuth synchronism error ⁇ 1 and the wobble error ⁇ can be determined.
  • the weapon barrel is changed in steps at an elevation of 0 ° in the azimuth ⁇ .
  • 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 ⁇ is also recorded within the first measurement procedure.
  • the rotations of the weapon barrel carried out to detect the azimuth synchronism error ⁇ 1 can be repeated.
  • 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.
  • a spirit level preferably an electronic spirit level, is used as the measuring system.
  • the elevation synchronism error ⁇ and the solder run error ⁇ 2 can be determined.
  • the elevation synchronism error ⁇ is composed of two parts, the can only be determined together.
  • a first part of the elevation synchronism error ⁇ 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 ⁇ 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 ⁇ 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 ⁇ 2 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 ⁇ results in an error in the azimuth ⁇ .
  • the solder run error ⁇ 2 is measured with the first measuring unit of the gyro measuring system.
  • the Schiel error ⁇ is recorded in a third measurement procedure. This represents the non-parallelism of the weapon barrel axis and line of sight.
  • the Schiel error ⁇ is in the method according to the invention in conventional and therefore determined and processed in a manner not further described.
  • FIG. 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.
  • the 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 .
  • FIG. 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 ⁇ and about the transverse axis L for changing the height angle or the elevation ⁇ .
  • 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 ⁇ 1 and for compensating a wobble error ⁇ , which can be recorded within a first measurement procedure, but in separate sub-procedures.
  • 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 ⁇ .
  • the weapon barrel 10.2 is theoretically in a target position, which is defined by an associated target value or an associated target azimuth ⁇ 1 (theor) , which is displayed, for example, on the gun 10.1 .
  • the weapon barrel 10.2 is in an actual position, which is indicated by an actual value or an actual azimuth ⁇ 1 (eff) recorded by the ⁇ 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 ⁇ 1 (eff) from the target value ⁇ 1 (theor).
  • the error values are then shown as a first-directional empirical azimuth error curve f ⁇ 1 (D1) 1 depending on ⁇ 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.
  • further first-directional empirical azimuth error curves f ⁇ 1 (D1) 2 , f ⁇ 1 (D1) 3 , f ⁇ 1 (D1) i are determined.
  • all first-directional azimuth error curves finally result in a middle first-directional azimuth error curve f ⁇ 1 (D1) .
  • the middle direction-free azimuth error curve f ⁇ 1 (D0), which describes the azimuth synchronism error ⁇ 1 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.
  • the mean direction-free empirical azimuth error curve f ⁇ 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.
  • the mean direction-free empirical azimuth error curve f ⁇ 1 (D0) is approximated by a mathematical azimuth error function F ⁇ 1.
  • 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 F ⁇ 1 serves to create a correction function, which is taken into account when calculating the guide values together with other available data.
  • the method steps described up to here can be carried out again for checking purposes; the corrected azimuth error curve f ⁇ 1 (D0) corr determined here is substantially flatter than the uncorrected error curve f ⁇ 1 (D0); the originally considerable azimuth synchronism error can thus be reduced to a very small residual error or almost completely compensated for.
  • the determination of the direction-free azimuth error curve f ⁇ 1 (D0) can be dispensed with; instead, a mathematical azimuth error function F ⁇ 1 (D1) and F ⁇ 1 (for the first-directional empirical azimuth error curve f ⁇ 1 (D1) and for the second-directional empirical azimuth error curve f ⁇ 1 (D2) D2) and from this the corresponding correction functions are determined.
  • 3A to 3C relate to the wobble error ⁇ .
  • 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 ⁇ from 0 °. The angle ⁇ depends on the azimuth ⁇ . 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 ⁇ , the weapon barrel 10.2 is moved without elevation ⁇ in the same steps as to determine the azimuth synchronism error ⁇ 1.
  • the effective inclination or wobble angle of the weapon barrel 10.2 which is referred to as the weapon barrel wobble angle ⁇ (eff)
  • the theoretical inclination or wobble angle which is referred to as the target value or wobble angle ⁇ (theor) is zero.
  • the actual value or actual wobble angle ⁇ (eff) can be represented as a function of the azimuth ⁇ (theor) .
  • a mean first-directional and a mean second-directional empirical wobble error curve f ⁇ (D1) and f ⁇ (D2) are determined , This ultimately results in a direction-free empirical wobble error curve f ⁇ (D0), which is approximated by a mathematical wobble error function F ⁇ .
  • 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.
  • FIGS. 3B and 3C 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 ⁇ which is recorded in a second measurement procedure, is described next.
  • the elevation synchronism error ⁇ is composed of two error components. Both error components can be detected by means of a second measuring unit or ⁇ measuring unit of the gyro measuring system 22 of the measuring system 20.1 and only in their sum. ⁇ is therefore used to denote or index data or functions which relate to the overall elevation synchronism error ⁇ .
  • Elevation ⁇ 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 ⁇ constant.
  • the elevation ⁇ 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.
  • its elevation is theoretically a value that is referred to as the target value or target elevation ⁇ (theor) and that is specified by the target value transmitter 10.5 .
  • the weapon barrel 10.2 is in a different position, which is described by the actual value or the actual elevation ⁇ (eff) .
  • the difference between ⁇ (theor) and ⁇ (eff) is represented as a function of ⁇ (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 f ⁇ (D1) and a mean second-directional empirical elevation curve f ⁇ (D2) are obtained from the measurement results recorded .
  • the empirical elevation ⁇ error curve f ⁇ (D0) is then approximated by a mathematical elevation error function F ⁇ , 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 ⁇ can be used to determine the error components of the elevation synchronism error ⁇ 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 sum of the error components corresponds to the elevation error curve f ⁇ (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 ⁇ of the second measurement procedure are carried out with constant azimuth ⁇ .
  • 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 °.
  • 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 ⁇ as a function of the azimuth ⁇ , with different elevations ⁇ as parameters, the lowest curve corresponding to the smallest elevation.
  • the solder run error ⁇ 2 is also determined within the second measurement procedure. For this purpose, in each of the measuring positions in which the elevation synchronism error ⁇ is determined with the aid of the ⁇ measuring unit, the soldering error ⁇ 2 is determined with the aid of the ⁇ measuring unit. 5 shows the solder run error as a function of the elevation ⁇ .
  • the empirical plumb line error curve f ⁇ 2 shown in dashed lines, can be approximated by a mathematical plumb line error function F ⁇ 2, represented by a solid line, for example by a second-order polynomial.
  • the detection and compensation of the solder run error ⁇ 2 is carried out analogously for the compensation of the azimuth synchronism error ⁇ 1 described above.
  • the Schiel error ⁇ 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.
  • 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 ⁇ and elevation ⁇ , which describe the intended position of the directed weapon barrel 10.2 or determined by the system computer 10.4 .
  • 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 ⁇ measuring unit for detecting changes in the angle, preferably the azimuth ⁇ , of the weapon barrel 10.2 .
  • the gyro measurement system 22.1 preferably also has a second or ⁇ measurement unit for detecting changes in the elevation ⁇ of the weapon barrel 10.2 .
  • 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.
  • 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 ⁇ and the Schiel error ⁇ .
  • 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 .
  • 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.
  • 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.
  • 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.
  • 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.
  • the determined correction values can be implemented directly in the fire control software.
  • 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
  • Gyroscopes (AREA)
  • Organic Low-Molecular-Weight Compounds And Preparation Thereof (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Fire Alarms (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)
  • Radar Systems Or Details Thereof (AREA)
EP02024376A 2002-01-16 2002-11-02 Procédé et dispositif pour la compensation d'erreurs de tir et calculateur de système pour système d'arme Expired - Lifetime EP1329683B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH642002 2002-01-16
CH642002 2002-01-16

Publications (2)

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EP1329683A1 true EP1329683A1 (fr) 2003-07-23
EP1329683B1 EP1329683B1 (fr) 2005-08-31

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EP02024376A Expired - Lifetime EP1329683B1 (fr) 2002-01-16 2002-11-02 Procédé et dispositif pour la compensation d'erreurs de tir et calculateur de système pour système d'arme

Country Status (13)

Country Link
US (1) US20030183070A1 (fr)
EP (1) EP1329683B1 (fr)
JP (1) JP4248856B2 (fr)
KR (1) KR100928753B1 (fr)
CN (1) CN100480614C (fr)
AT (1) ATE303576T1 (fr)
CA (1) CA2416166C (fr)
DE (1) DE50204077D1 (fr)
DK (1) DK1329683T3 (fr)
IL (1) IL153223A (fr)
NO (1) NO327584B1 (fr)
PL (1) PL206455B1 (fr)
ZA (1) ZA200300259B (fr)

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EP1460370A1 (fr) 2003-03-20 2004-09-22 Saab Ab Dispositif pour une arme à tube de canon avec système servo
WO2009036858A1 (fr) * 2007-09-18 2009-03-26 Rheinmetall Air Defence Ag Procédé et dispositif pour augmenter la précision de tir d'une munition à dispersion, notamment à commande temporisée

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KR100522205B1 (ko) * 2004-03-30 2005-10-18 삼성탈레스 주식회사 선박에 장착되는 조준 장치의 시차 보정 방법
DE102005059225B4 (de) * 2005-12-12 2013-09-12 Moog Gmbh Waffe mit einem Waffenrohr, das außerhalb des Schwerpunkts auf einer bewegbaren Unterlage drehbar gelagert ist
GB0619014D0 (en) * 2006-09-27 2006-11-08 Lindsay Norman M Identifying golf shots
US8006427B2 (en) 2008-07-29 2011-08-30 Honeywell International Inc. Boresighting and pointing accuracy determination of gun systems
DE102011106199B3 (de) * 2011-06-07 2012-08-30 Rheinmetall Air Defence Ag Vorrichtung und Verfahren zur Thermalkompensation eines Waffenrohres
KR101364637B1 (ko) 2011-12-09 2014-02-20 국방과학연구소 능동파괴체계의 체계 정렬 방법 및 장치
CN104154818B (zh) * 2014-07-25 2016-01-20 北京机械设备研究所 一种无控弹射击角度确定方法
CN109556459B (zh) * 2019-01-22 2024-02-27 中国人民解放军陆军工程大学 一种火箭炮惯导寻北精度检测系统和方法
CN112696981B (zh) * 2020-12-21 2023-02-21 西北机电工程研究所 一种大地坐标系下全闭环干扰速率补偿自稳定控制方法
DE102022106062A1 (de) 2022-03-16 2023-09-21 Vincorion Advanced Systems Gmbh Verfahren und Notrichtsteuereinheit zum Betreiben eines Notrichtsystems für eine Geschützvorrichtung, Geschützvorrichtung und Fahrzeug

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US4142799A (en) * 1976-03-16 1979-03-06 The Secretary Of State For Defence In Her Britannic Majesty's Government Of The United Kingdom Of Great Britain And Northern Ireland Correction of gun sighting errors
DE2951108A1 (de) * 1979-12-19 1981-07-02 Krauss-Maffei AG, 8000 München Verfahren und vorrichtung zur ueberpruefung des gleichlaufs der visierlinie einer periskops mit auf zielpunkte
FR2505477A1 (fr) * 1981-05-08 1982-11-12 France Etat Procede et dispositif d'harmonisation des axes d'une arme et d'un viseur
EP0095577A2 (fr) * 1982-05-27 1983-12-07 Wegmann & Co. GmbH Procédé et dispositif de contrôle de l'harmonisation des axes d'un dispositif de visée optique et d'un dispositif orientable vers une cible, en particulier une arme
EP0179387A2 (fr) * 1984-10-25 1986-04-30 Wegmann & Co. GmbH Dispositif pour effectuer des mesures comparatives dynamiques dans un système de conduite de tir pour arme orientable

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1460370A1 (fr) 2003-03-20 2004-09-22 Saab Ab Dispositif pour une arme à tube de canon avec système servo
WO2009036858A1 (fr) * 2007-09-18 2009-03-26 Rheinmetall Air Defence Ag Procédé et dispositif pour augmenter la précision de tir d'une munition à dispersion, notamment à commande temporisée

Also Published As

Publication number Publication date
NO20030094D0 (no) 2003-01-09
KR100928753B1 (ko) 2009-11-25
ATE303576T1 (de) 2005-09-15
PL358315A1 (en) 2003-07-28
US20030183070A1 (en) 2003-10-02
CA2416166A1 (fr) 2003-07-16
PL206455B1 (pl) 2010-08-31
DK1329683T3 (da) 2005-12-12
IL153223A0 (en) 2003-07-06
CN100480614C (zh) 2009-04-22
JP2003214797A (ja) 2003-07-30
IL153223A (en) 2007-10-31
EP1329683B1 (fr) 2005-08-31
KR20030062225A (ko) 2003-07-23
JP4248856B2 (ja) 2009-04-02
CN1432786A (zh) 2003-07-30
ZA200300259B (en) 2003-07-31
NO327584B1 (no) 2009-08-24
CA2416166C (fr) 2010-04-13
NO20030094L (no) 2003-07-17
DE50204077D1 (de) 2005-10-06

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