EP1329683B1 - Verfahren und Vorrichtung zum Kompensieren von Schiessfehlern und Systemrechner für Waffensystem - Google Patents

Verfahren und Vorrichtung zum Kompensieren von Schiessfehlern und Systemrechner für Waffensystem Download PDF

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Publication number
EP1329683B1
EP1329683B1 EP02024376A EP02024376A EP1329683B1 EP 1329683 B1 EP1329683 B1 EP 1329683B1 EP 02024376 A EP02024376 A EP 02024376A EP 02024376 A EP02024376 A EP 02024376A EP 1329683 B1 EP1329683 B1 EP 1329683B1
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EP
European Patent Office
Prior art keywords
values
error
errors
weapon barrel
measurement
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EP02024376A
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German (de)
English (en)
French (fr)
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EP1329683A1 (de
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 shooting defects of a weapon system having a gun barrel, which are caused by static gun geometry errors, according to the preamble of claims 1 and 12, respectively .
  • 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 items can never be precise massively, but only with certain manufacturing tolerances or deviations from the theoretically determined Mass produced, and also in the assembly arise within the specified assembly tolerances deviations from the intended mutual situations.
  • the totality of the deviations has the consequence that every gun has deviations from its ideal geometry, which as Gun geometry errors are called.
  • gun geometry error are composed of numerous types of errors. For example Gun geometry errors manifest themselves in that the azimuth ⁇ of the Gun barrel in the zero position, as indicated by an azimuth indicator of the gun is displayed, in reality not equal to 0 °, but by a small one Angle ⁇ deviates from 0 °.
  • the elevation ⁇ of the gun barrel in its zero position not the one indicated by the elevation display of the gun Value 0 °, but differ by a small angle ⁇ from 0 °.
  • ⁇ and ⁇ may be equal to zero, but only if Compensate for different gun geometry errors.
  • the manufacturing tolerances can indeed for the same items in a series of guns equal 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 installation, the gun geometry errors be different from gun to gun.
  • 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 mouth of the weapon barrel and the targets, which through cause the projectiles fired by the gun barrel to be hit also slight angular deviations of the weapon barrel considerable Deposits of projectiles from the targets to be tackled.
  • the shooting errors based on them can be compensated by taking into account the gun parameters, in addition to other data, by the software of a computer assigned to the gun when determining the aiming values can.
  • the term of a computer associated with the gun means a gun computer and / or a computer of a fire control device.
  • Other data taken into account by the computer are, in particular, target data describing the location and movement of the target, meteorological data describing the respective meteorological conditions, v 0 data representing the deviation of the actual muzzle velocity from a theoretically determined muzzle velocity and, if necessary, bullet data characterizing each missile fired.
  • FR-2 505 477 nor DE-0 179 387 describe a complete method and a complete device with which a compensation of shooting errors can be made in a satisfactory manner.
  • the weapon barrel whose position is affected by the gun geometry errors, can be brought into different positions by swinging back and forth or complete rotation, each position being determined by the corresponding azimuth, ie the corresponding azimuth and elevation means the corresponding elevation angle, is defined.
  • a rotation about the vertical axis changes the azimuth and a rotation about the transverse axis changes the elevation.
  • the vertical axis and the transverse axis are two axes of a spatial, preferably orthogonal axis system whose axes are defined in Table 1 .
  • the azimuth does not mean the deviation from the north direction but from a zero position, as in the shooting mode.
  • Shooting errors occur because the actual position or actual position of the barrel is not the same as its desired position.
  • the desired position is defined, inter alia, by the values for azimuth and elevation determined by the fire control computer or system computer, but is not assumed due to static gun geometry errors.
  • the occurring angular error of the position of the weapon barrel, the gun geometry error causing it, and the primary causes of the gun geometry error are shown in Table 2 .
  • the angle errors that manifest themselves as azimuth errors and as elevation errors consist of the following five types of errors, but which are not independent of each other: (1) Azimuth tracking error ⁇ 1 (2) Tumbling error ⁇ (3) Elevation tracking error ⁇ (4) Lotablauf error ⁇ 2 (5) Schiel error ⁇ Angle error of weapon barrel position, gun geometry errors and their causes angle error Gun geometry errors reason Azimuth error (page fault) ⁇ 1 azimuth-tracking error 1. eccentricity of the side rotary bearing 2. Out-of-roundness of side rotary bearing 3. Variable tooth distances in the ring gear of the side rotation 4. Coder error ⁇ 2.Lotablauf error 5. canting of the elevation axis to the horizon 6.
  • Eccentricity of the height-pivot bearing 9.
  • Out of roundness of the height turnbuckle 10.
  • Variable tooth distances in the ring gear of the height rotation 11.
  • Coder error 12.
  • Backward tilting of the gun with increasing elevation ⁇ wobble error 13.
  • the actual values can be determined as a function of the correction values represented by the target values and processed so that let them determine the correction values.
  • Such treatment at which can estimate correction values from the measured angle errors numerically or with tabular aids or mathematically or in combination be made numerically / mathematically.
  • the numeric method stores pairs of values in a table wherein, of each pair of values, a first value is the target value and a second value is the actual value or the difference between the actual value and the target value.
  • the value pairs can also be considered as an empirical error curve.
  • the table or the empirical error curve is then used in the calculation of guide values available, such that the calculation of each guideline value in corrected Manner taking into account the corresponding values of the table or the empirical error curve is done.
  • the error values are first tabulated in Dependence of the desired angle or as an empirical error curve and then approximated by at least one mathematical function; the means that the empirical error curve is either over its entire course by a single mathematical error function or sections by each a mathematical part-error function, in total therefore by several mathematical ones Approximated partial error functions.
  • the mathematical error function is then made available to the computer, which provides a correction function which he determines when calculating the aiming values for the barrel, that is, the azimuth and the elevation, considered.
  • the numerical method can be designed so that the necessary accuracy is guaranteed for the compensation of shooting errors.
  • the mathematical method has the advantage that mathematical error functions simply, namely with known mathematical Method, can be analyzed; it is not only the Values for the compensation of shooting errors but also insights about the Gain influence of individual constructional conditions on the error functions; thereupon induced constructive improvements serve in the end, the combat shotgun-related shooting error at the root by the gun geometry errors are eradicated.
  • constructive should on conceptional as well as production and assembly Refer to circumstances.
  • a mean empirical error curve or off every empirical error curve is a mathematical error function and off this one mean mathematical error function or from any empirical Error curve a correction function and off all correction functions one mean correction function are formed.
  • the rotation of the gun barrel takes place always in the same direction; the error values thus obtained are monodirectional certain error values, which are processed numerically or mathematically.
  • the empirical error curve or mathematical error function a mono-directionally determined or mono-directional error curve or error function.
  • the error values are, as explained above, in Generally among other things depending on the sense of rotation in which this rotation is carried out. It is therefore advantageous to carry out two measurements.
  • the Gun barrel is here for the first measurement in a first sense of rotation and for the second measurement in the opposite direction of rotation about the same axis of rotation turned.
  • the measurement positions of the first - directional rotation and the measurement positions of the second-directional measurement positions may or may not be the same. 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.
  • a mean direction-free empirical error curve off the latter has a mean directional-free mathematical error function and be determined from this one mean directional free correction function the correction function being taken into account in the calculation of the guide values becomes.
  • a systematic error share of resulting in total error values are preferably both the first-directional Error values as well as the second-directional error values separately processed or recycled.
  • measuring devices are used.
  • watercrafts preferably electronic watercrafts
  • gyro measuring systems preferably optoelectronic gyro measuring systems, which are understood as ring laser gyros and fiber gyros
  • the measuring instruments generally have to be calibrated after they have been mounted on the gun or on the weapon barrel before the start of a measuring procedure.
  • gyroscope gauging systems it is generally necessary to record the constantly changing rotary drift and to correct the measured values according to the gyro drift.
  • An example of the detection and consideration of rotary 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 arising during the rotation of the weapon barrel about one of the axes.
  • the gun barrel is turned not only one axis but also two non-coincident, generally orthogonal axes.
  • the first axis is the vertical axis A and the second axis is the transverse axis L , the azimuth ⁇ being adjusted by rotation about the vertical axis A and the elevation ⁇ by rotation about the transverse axis L.
  • the azimuth synchronous error ⁇ 1 and the wobble error ⁇ can be determined.
  • the position of the weapon barrel is changed in steps at an elevation of 0 ° in the azimuth ⁇ .
  • the azimuth errors thus obtained give an azimuth-error curve, which is generally such that it can be approximated by a sine function, with a rotation of the gun barrel through 360 ° one or more periods of the sine Function correspond.
  • the measuring device used is a first measuring unit of the gyro measuring system.
  • the wobble error ⁇ is also detected.
  • the rotations of the weapon barrel performed to detect the azimuth-tracking error ⁇ 1 can be repeated.
  • the actual azimuth and the desired azimuth or their difference are not detected or determined.
  • the actual angle of inclination of the weapon barrel axis to the horizontal is recorded; this inclination angle is referred to as the actual wobble angle or actual value.
  • the theoretical inclination angle, which is referred to as the desired wobble angle or desired value is always zero here, since the measurement procedure is carried out at an elevation of 0 °.
  • the tumbling movement is detected during a rotation about the vertical axis A.
  • the measuring system used is a spirit level, preferably an electronic spirit level.
  • the elevation tracking error ⁇ and the Lotablauf error ⁇ 2 be determined.
  • the elevation tracking error ⁇ is composed of two parts, the only collectively determinable.
  • a first portion of the elevation tracking error ⁇ is based - analogous to the azimuth-tracking error - that the respective actual angle of the gun barrel do not match the target angles.
  • a portion of the elevation tracking error ⁇ descriptive partial-error curve or partial-error function has the nature of a sine function, possibly with multiple angular frequency.
  • Another part of the elevation tracking error ⁇ is based on that with increasing elevation exerted by the weight of the gun barrel on the mount Torque is lower; This torque has the tendency of the gun barrel to turn down; in a lashing position, for example with azimuth 0 ° and low elevation, the gun will tend to tilt forward.
  • the part-error curve or partial error function which is this portion of the elevation tracking error describes the nature of having a cosine curve subtracted from 1 simple angular frequency.
  • the measurements of the second measurement procedure, with which the elevation tracking error is determined run analogous to the measurement procedure, with which the azimuth synchronization error is detected. They result in the mathematical method an error function in the manner of a sine function corresponding to the first Proportion of the elevation tracking error, but this sinusoidal function not around a horizontal but around the steadily rising curve of 1 subtracted cosine curve corresponding to the second portion of the elevation tracking error swings.
  • the two partial error functions can be used separate. For the calculation of the corresponding correction function If such a separation does not have to be carried out, since only the result namely, the correction of the entire elevation tracking error is of concern.
  • the part-error-functions can be interesting, because they are errors of the Gun construction, the temperature dependence of individual assemblies, the Wear and other things more visible.
  • a second Measuring unit of the gyro measuring system used for measurement.
  • the Lotablauf error ⁇ 2 which can also be determined within the second measurement procedure, based on the fact that the elevation axis L and the azimuth axis A are not as intended orthogonal to each other, and that the weapon barrel axis is not as intended orthogonal to the elevation axis L. Even with a horizontal gun then a change in the elevation ⁇ has an error of the azimuth ⁇ result.
  • the Lotablauf error ⁇ 2 is measured with the first measuring unit of the gyro measuring system.
  • 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 Feuerleitrechner or system computer 10.4 .
  • the weapon system 10 also has a desired-value encoder 10.5 , with which the target position of the gun barrel 10.2 is detected.
  • FIG. 1A shows a device 20 for carrying out the method according to the invention.
  • the device 20 has a measuring system 20.1 for detecting the actual values, which describe the actual position of the weapon tube 10.2 after straightening, and a computer unit 20.2.
  • the setpoint value transmitter 10.5 is usually a component of the weapon system 10, it 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, a upper mount 14 and with the weapon barrel 10.2.
  • the lower carriage 12 is supported on three legs 12.1, 12.2, 12.3 on a horizontal base 1 .
  • the orthogonal axis system of the three axes is drawn, wherein the vertical axis with A, the transverse axis with L and the longitudinal axis with R is designated.
  • 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 elevation angle or the elevation ⁇ .
  • an opto-electronic gyroscope measuring system 22 is arranged in the mouth region, which forms a component of the measuring system 20.1 .
  • the gyro measuring system 22 comprises a first measuring unit or ⁇ -measuring unit and a second measuring unit or ⁇ -measuring unit, with which angle changes as a result of changed azimuth ⁇ or modified elevation ⁇ of the weapon barrel 10.2 are detected.
  • the following describes how to proceed to compensate for an azimuth synchronous error ⁇ 1 and to compensate for a wobble error ⁇ that can be detected within a first measuring procedure, but in separate sub-procedures.
  • FIGS. 2A to 2C relate to the partial procedure relating to the azimuth-tracking error ⁇ 1.
  • the gun 10.1 is shown greatly simplified in plan view.
  • the weapon barrel 10.2 shown in simplified form as the weapon barrel axis, is indicated by solid lines in its zero position and by dashed lines in one of the measuring positions, which encloses an angle of, for example, 20 ° with the zero position.
  • the weapon barrel 10.2 is rotated in steps of, for example, 5 ° in the direction of the arrow D1 in total by 180 ° in an end position.
  • the rotation of the 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 tube 10.2 is theoretically in a desired position, which is defined by an associated desired value or an associated target azimuth ⁇ 1 (theor) , which is displayed, for example, on the gun 10.1 .
  • the weapon tube 10.2 is in an actual position, which is indicated by an actual value or an actual azimuth ⁇ 1 (eff) detected by the ⁇ -measuring unit of the gyro measuring system 22 of the measuring system 20.1 .
  • the computer unit 20.2 in each case calculates the error value or error angle, that is to say the deviation of the actual value ⁇ 1 (eff) from the setpoint value ⁇ 1 (theor).
  • the error values are then represented as a first-directional empirical azimuth error curve f ⁇ 1 (D1) 1 as a function of ⁇ 1 (theor) .
  • the method steps described so far are repeated several times to eliminate random errors in the detection of actual azimuth and target azimuth as possible.
  • further first-directional empirical azimuth error curves f ⁇ 1 (D1) 2 , f ⁇ 1 (D1) 3 , f ⁇ 1 (D1) 1 are determined.
  • all first-directional azimuth error curves finally result in a mean first-directional azimuth-error curve f ⁇ 1 (D1).
  • the mean direction-free azimuth error curve f ⁇ 1 (D0), which describes the azimuth synchronous error ⁇ 1, for example in the form of a sinusoidal curve with twice the angular frequency. This suggests that there is a slight ovality in the side pivot.
  • the mean direction-free empirical azimuth error curve f ⁇ 1 (D0) or the value pairs which 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 measuring procedures.
  • the mean direction-free empirical azimuth error curve f ⁇ 1 (D0) is approximated by a mathematical azimuth error function ⁇ 1.
  • the approximation is performed 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 altogether by a single mathematical error function.
  • the mathematical error function F ⁇ 1 is used to create a correction function, which is taken into account when calculating the guide values together with other available data.
  • the method steps described here can be carried out again; the corrected azimuth error curve f ⁇ 1 (D0) korr determined here is substantially flatter than the non-corrected error curve f ⁇ 1 (D0); The originally considerable azimuth-tracking error can thus be reduced to a very small residual error or almost completely compensated.
  • the method steps described above can also be partially different but the results are not or not material affected. In particular, it saves time, the measurements for the determination the first-directional and the second-directional error functions alternately perform.
  • FIGS. 3A to 3C relate to the wobble error ⁇ .
  • the weapon barrel 10.2 should be directed horizontally at an elevation of 0 °, that is, the target elevation should be 0 °.
  • the barrel 10.2 will always have a slight inclination to the horizontal, that is, the actual elevation is not 0 ° but differs by ⁇ of 0 °.
  • the angle ⁇ is dependent on the azimuth ⁇ .
  • the weapon barrel 10.2 therefore performs a so-called wobble motion, which is described by a wobble error function.
  • the weapon barrel 10.2 is moved without elevation ⁇ in equal steps as for determining the azimuth synchronous error ⁇ 1.
  • the effective inclination or tumble angle of the weapon barrel 10.2 is detected , which is referred to as weapon barrel wobble angle ⁇ (eff) .
  • the theoretical inclination or wobble angle which is referred to as the desired value or desired wobble angle ⁇ (theor) , is zero.
  • the actual value or actual wobble angle ⁇ (eff) can be represented as a function of the azimuth ⁇ (theor) .
  • the wobble error therefore has two causes: First, the azimuth-dependent stiffness of the lower mount; the resulting fraction of the wobble error is shown in Fig. 3B ; secondly, the likewise azimuth-dependent stiffening effect through the legs, the resulting proportion of the wobble error being illustrated in FIG. 3C .
  • the positive values of the wobble error are shown by solid lines and the negative values of the wobble error by dashed lines.
  • the elevation synchronization 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 entirety. With ⁇ therefore data or functions are designated or indexed, which relate to the entire elevation tracking error ⁇ .
  • elevation ⁇ is understood as meaning the inclination angle of the weapon barrel 10.2 relative to the horizontal assumed by the weapon barrel 10.2 while keeping the azimuth constant.
  • the elevation ⁇ is changed, starting from a horizontal position, that is to say from an elevation of 0 ° and a perpendicular deviation of likewise 0 °, in steps of, for example, 5 ° to an end position of, for example, 85 °.
  • the movement of the barrel 10.2 is controlled by a computer.
  • the weapon barrel is 10.2 in a measurement position.
  • its elevation is theoretically a value which is referred to as the desired value or setpoint elevation ⁇ (theor) and which is specified by the setpoint 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 barrel 10.2 is repeated several times in both directions.
  • a mean first-directional empirical elevation-error curve f ⁇ (D1) and a mean second-directional empirical elevation curve f ⁇ (D2) are obtained.
  • the empirical elevation-error curve f ⁇ (D0) is then approximated by a mathematical elevation error function F ⁇ , and a correction function is considered which is taken into account in the calculation of the directive values. Repeating the measurements, but taking into account the correction function, the corrected elevation error function is far flatter than the uncorrected.
  • the first error component of the elevation tracking error on its own would be a Error function, which is essentially a sine function with multiple Circular frequency corresponds.
  • the second error component of the elevation tracking error on its own would result in an error function f ⁇ 2 (D0) which essentially follows a cosine function subtracted from 1, which is shown in dashed line in FIG. 4A .
  • the sum of the error components corresponds to the elevation-error curve f ⁇ (D0) resulting from the measurements made . This is represented as a vibration corresponding to the first error component by an increasing curve according to the second error component.
  • the elevation tracking error ⁇ measurements of the second measurement procedure described above are performed at constant azimuth ⁇ . Then, for further azimuths, a multiplicity of further measurement series are carried out, each with a constant azimuth per measurement series, wherein the angular distances between the constant azimuths can be, for example, 5 °.
  • the procedure is preferably such that two measurement series are carried out per azimuth, with the first measurement series being rotated in a first direction of rotation and the second measurement series being rotated in the opposite direction of rotation.
  • 4B shows, in a spatial parameter representation, the elevation tracking error ⁇ as a function of the azimuth ⁇ , with different elevations ⁇ as a parameter, the lowest curve corresponding to the smallest elevation.
  • the Lotablauf error ⁇ 2 is determined.
  • the solder-run error ⁇ 2 is determined with the aid of the ⁇ -measuring unit.
  • Fig. 5 shows the Lotablauf error in function of the elevation ⁇ .
  • the empirical Lotablauf-error curve f ⁇ 2, shown in phantom can be approximated by a mathematical Lotablauf-error function F ⁇ 2, shown by a solid line, for example by a polynomial second order.
  • a third measuring procedure takes place, with the help of which a compensation of the squint error ⁇ .
  • the squint error ⁇ arises because the Directions of the gun barrel axis and the sight line of the gun do not coincide, but include a squint angle.
  • To impart the Schiel errors are the extension of the Dunrohrachse one hand, and the Sighting line on the other hand at a certain distance from the mouth of the gun barrel represented, for example by means of a projection, wherein Kumaryakachse and sight line appear as a dot.
  • the weapon system 10 comprises the gun 10.1 with at least one barrel 10.2 , the movements of which are controlled by gun servos in a conventional manner. Furthermore, the weapon system 10, the fire control device 10.3 . The weapon system 10 furthermore 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 desired-value encoder 10.5, the target values, in particular of azimuth ⁇ and elevation ⁇ indicates, which describe the intended or determined by the system computer 10.4 position of the directional gun barrel 10.2 .
  • a first component is formed by the desired value transmitter 10.5 , which serves to indicate the desired values which describe the intended or alleged position of the weapon barrel 10.2 .
  • desired-value encoder of the weapon system 10 already existing setpoint value encoder is used.
  • a second component of the new device is formed by the measuring system 20.1 for detecting 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 measuring system 22.1 also has a second or ⁇ measuring unit for detecting changes in the elevation ⁇ of the weapon barrel 10.2 .
  • an opto-electronic gyro measuring system are in the context of the present Invention not only fiber gyro measuring systems but also others Measuring systems, such as ring laser gyroscopes, understood.
  • Centrifugal measuring systems generally have the advantage that they work autonomously; it So no system-external reference points must be used. guns do not need to be taken to a special surveying station. Because no system external reference, but generally drifts the system with time. The thereby manifesting rotary drift must be determined and at the utilization of the measurement results. In connection this allows a laser positioning system to be used.
  • the second component of the new device that is to say the measuring system 20.1, preferably also has measuring systems for detecting further errors, in particular the wobble. Error ⁇ and the squint error ⁇ .
  • another measuring system 21.2 in the form of a conventional, preferably electronic, spirit level is used.
  • 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 gravity, which defines the vertical and thus the horizontal. It does not matter how the sensor uses gravity.
  • tilting or the tilt of the gun 10.1 can be determined. Tilting is understood as follows: When the weapon barrel 10.2 is moved only in azimuth, the movement of the mouth of the weapon barrel may be approximated as a circle defining a plane. The angular deviation of this plane with respect to the horizontal plane is referred to as tilting or tilting; in other words, without tilt, this plane would be a horizontal plane. The canting or the tilt are compensated automatically for new guns in general or the gun automatically leveled. The leveling of the gun is not required for the implementation of the new method.
  • a further measuring system 22.3 in the form of a conventional, preferably optical device is used in addition to the gyro measuring system 22.1 and the electronic spirit level 22.2 . This measures the angular difference between the weapon barrel axis and the sight line of the gun 10.1 .
  • the third component to carry out the new method requires a computer.
  • the computer is designed as a separate computer unit 20.2 , which is used exclusively or inter alia for carrying out the new method and is only coupled to the weapon system 10 for this purpose.
  • the computer is designed as a separate computer unit 20.2 , which is used exclusively or inter alia for carrying out the new method and is only coupled to the weapon system 10 for this purpose.
  • the weapon system 10 As a computer but if necessary.
  • the Feuerleitrechner or system computer 10.4 of the weapon system 10 can be used.
  • 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 desired values and actual values.
  • the data may be provided to the computer unit 20.2 in any suitable manner, for example by means of a data carrier such as a floppy disk, or via a data line which may be tangible or intangible.
  • fire control computer or system computer 10.4 is used as the computer, it already knows the setpoint 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 the present case the computer unit 20.2 , also has implemented software in order to determine the correction values from the desired values and the actual values.
  • the steps to be performed in this case 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, the computer, in particular if it is formed by the separate computer unit 20.2 , an input unit 20.3 such as a keyboard, via which further data is provided.
  • This may be, for example, data that control the flow of the new process by controlling, inter alia, the gradual rotation of the gun barrel in the measurement layers by the servos and the coupling of each measuring systems or measuring units to be used.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
  • Gyroscopes (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Organic Low-Molecular-Weight Compounds And Preparation Thereof (AREA)
  • Fire Alarms (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)
EP02024376A 2002-01-16 2002-11-02 Verfahren und Vorrichtung zum Kompensieren von Schiessfehlern und Systemrechner für Waffensystem Expired - Lifetime EP1329683B1 (de)

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CN119292181B (zh) * 2024-09-20 2025-09-09 成都飞机工业（集团）有限责任公司 一种数控机床独立双驱同步精度检测与补偿方法

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PL358315A1 (en) 2003-07-28
IL153223A0 (en) 2003-07-06
PL206455B1 (pl) 2010-08-31
DK1329683T3 (da) 2005-12-12
DE50204077D1 (de) 2005-10-06
JP2003214797A (ja) 2003-07-30
NO327584B1 (no) 2009-08-24
EP1329683A1 (de) 2003-07-23
ZA200300259B (en) 2003-07-31
CA2416166A1 (en) 2003-07-16
IL153223A (en) 2007-10-31
NO20030094D0 (no) 2003-01-09
JP4248856B2 (ja) 2009-04-02
KR100928753B1 (ko) 2009-11-25
NO20030094L (no) 2003-07-17
KR20030062225A (ko) 2003-07-23
CN1432786A (zh) 2003-07-30
CA2416166C (en) 2010-04-13
US20030183070A1 (en) 2003-10-02
CN100480614C (zh) 2009-04-22
ATE303576T1 (de) 2005-09-15

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