EP1726911A1 - Method and device for time setting and for correcting the ignition time in a projectile - Google Patents
Method and device for time setting and for correcting the ignition time in a projectile Download PDFInfo
- Publication number
- EP1726911A1 EP1726911A1 EP06002014A EP06002014A EP1726911A1 EP 1726911 A1 EP1726911 A1 EP 1726911A1 EP 06002014 A EP06002014 A EP 06002014A EP 06002014 A EP06002014 A EP 06002014A EP 1726911 A1 EP1726911 A1 EP 1726911A1
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- European Patent Office
- Prior art keywords
- projectile
- weapon
- calculation
- correcting
- correction
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42C—AMMUNITION FUZES; ARMING OR SAFETY MEANS THEREFOR
- F42C17/00—Fuze-setting apparatus
- F42C17/04—Fuze-setting apparatus for electric fuzes
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42C—AMMUNITION FUZES; ARMING OR SAFETY MEANS THEREFOR
- F42C11/00—Electric fuzes
- F42C11/06—Electric fuzes with time delay by electric circuitry
- F42C11/065—Programmable electronic delay initiators in projectiles
Definitions
- the invention relates to a method and a device for programming a storable projectile or for correcting an ignition timing of a missile fired from a weapon.
- a method and a device for transmitting information to programmable projectiles are the EP 0 992 762 B1 removable.
- a method and apparatus for programming firefighters from projectiles are also used in the EP 0 769 673 B1 treated.
- a predetermined muzzle velocity of the projectile and a predetermined distance to a target object are used.
- a method for correcting the ignition timing and a circuit arrangement for carrying out the method is disclosed.
- the device measures the actual bullet velocity over time only during a certain period of time. Thereafter, the further course of the speed is extrapolated. When the flight path determined in this way has reached a target value, the ignition is triggered.
- a device for measuring the projectile velocity at the mouth of a barrel of a gun of high cadence comprises two spaced apart from each other on a support tube, responsive to change in a magnetic flux sensors that are in communication with a transmitter. Each sensor has a coil pair of two coils and a closed magnetic circuit. The measured projectile velocity or the ignition setting time that is updated with it is then generally given to the bullet as information before the projectile leaves the area of the mouth.
- the aforementioned device is characterized by high accuracy, but is subject to mechanical and thermodynamic loads, since the measuring and programming unit u. a. are exposed to the muzzle gases.
- the invention takes on the task to show a device or an improved programming system, which is no longer exposed to mechanical and thermodynamic wear.
- claim 1 claim a method and claim 5 a device.
- the invention is based on the idea of maintaining the advantages of measuring a muzzle velocity and a current compensated tempation, incorporating a microwave transmitter, preferably in the GHz range, into the system, which stores the current, for example, a Feuerleitrechner determined temping to an ammunition or a projectile sends.
- a direct measurement of the current muzzle velocity can be dispensed with, since the real muzzle velocity is determined by information of the current airspeed of the projectile, that is, calculated back from this.
- the ignition time of the projectile is then corrected with the aid of a standard muzzle velocity preset ignition time and used as the actual ignition timing.
- the measurement of the airspeed takes place, for example, by means of Doppler shift of the transmission frequencies, preferably on the storey side.
- the transmission frequency is fixed and measured the deviation. Since the time is known, which has covered the projectile each time, the current airspeed and also determines the real muzzle velocity of the projectile which possessed the projectile at the time of launch through the muzzle area. From these data, the current ignition timing is then determined and made available to the projectile.
- RFID Radio Frequency Identification
- the chip u. a. is programmable by the fire control unit with the current standard temping as well as with a correction value or a value determined only during the flight.
- the timer on the ammunition (or in the ammunition) can then be counted down to zero over the (remaining) flight distance and then accomplish the desired disassembly before a target.
- the calculated muzzle velocity can also be returned if this calculation is made on the projectile to account for any deviations in the fire pipe.
- the microwave transmitter used can be fixed locally to the gun, where it is exposed neither to vent gases nor to mechanical loads.
- the transmitter / receiver is electrically powered by the gun electrical system and supplied with data from the fire control. Any data returned from ammunition may be forwarded to and considered by the Fire Department.
- the single FIGURE shows a programming system 1 or a generalized device for a storable projectile 2 or a malleable ammunition (etc).
- a programmable chip 3 for example an RFID chip, which in combination preferably contains the receiver and transmitter circuit together with the memory.
- a located in the floor 2 timer 4 is powered by this chip 3 with the necessary time information on site.
- the chip 3 is connected to a calculation and / or correction unit 5, if this is provided in the projectile 2, which is then also connected to the timer 4.
- Functionally downstream of the timer 4 is an igniter 6.
- the energy supply to the assemblies of the projectile 2 can be supplied in a first way by means of the microwave radiation X or preferably solved conventionally, for example by an activatable, not shown battery.
- the programming system 1 preferably attached to the gun barrel 11, a transmitter / receiver 12 for data transmission to the projectile 2 on.
- This transmitter / receiver 12 is electrically connected to a fire control system or fire control computer 13 present in a weapons system.
- the current disassembly time calculated according to the standard speed of the projectile 2, is transmitted to the projectile 2. With the Doppler method, the deviation from the standard speed in the projectile 2 is determined. Depending on the deviation, the current disassembly time is calculated in projectile 2 or on the protected side.
- a correction of the Zündstellzeit for the igniter 6 can be made on the storey side, the timer 4 is acted upon with this information.
- the correction made or the calculated, recalculated muzzle velocity can be transmitted via microwave radiation X to the transmitter / receiver 12 on the gun 10 and made available to a fire control system (not shown).
- the target value of the detonator time (flying time) based on the actual muzzle velocity of the projectile 2 when fired via the microwave radiation X to the Projectile 2 transferred.
- This Zündstellzeit is corrected and used as a new ignition timing in the second floor.
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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)
- Radar Systems Or Details Thereof (AREA)
- Moulds For Moulding Plastics Or The Like (AREA)
- Fuses (AREA)
- Heat Treatment Of Articles (AREA)
Abstract
Description
Die Erfindung betrifft ein Verfahren und eine Vorrichtung für das Programmieren eines tempierbaren Geschosses bzw. zur Korrektur eines Zündzeitpunktes eines aus einer Waffe verschossenen Geschossses.The invention relates to a method and a device for programming a storable projectile or for correcting an ignition timing of a missile fired from a weapon.
Es sind verschiedene Zeitprogrammierungen für Munitionen bekannt. Die Tempierungen erfolgen entweder vor dem Schuss manuell außerhalb des Ladungsraums oder elektrisch im Ladungsraum über eine Anzündelektronik. Letztgenannte Tempierung ist beispielsweise in der
Ein Verfahren und eine Vorrichtung zur Übertragung von Informationen auf programmierbare Geschosse sind der
Ein Verfahren zum Korrigieren einer vorprogrammierten Auslösung eines Vorganges in einem drallstabilisierten Geschoss sowie eine Vorrichtung zur Durchführung des Verfahrens werden in der
In der
Ein Verfahren und eine Vorrichtung zum Programmieren von Zeitzündern von Geschossen werden auch in der
Aus der
Aus der
Die vorgenannte Vorrichtung zeichnet sich zwar durch eine hohe Genauigkeit aus, unterliegt jedoch mechanischen und thermodynamischen Belastungen, da die Mess- und Programmiereinheit u. a. den Mündungsgasen ausgesetzt sind.Although the aforementioned device is characterized by high accuracy, but is subject to mechanical and thermodynamic loads, since the measuring and programming unit u. a. are exposed to the muzzle gases.
Hier greift die Erfindung die Aufgabe auf, eine Vorrichtung bzw. ein verbessertes Programmiersystem aufzuzeigen, welches keinem mechanischen und thermodynamischen Verschleiß mehr ausgesetzt ist.Here, the invention takes on the task to show a device or an improved programming system, which is no longer exposed to mechanical and thermodynamic wear.
Gelöst wird die Aufgabe durch die Merkmale des Patentanspruchs 1 bzw. des Patentanspruchs 5, wobei Anspruch 1 ein Verfahren und Anspruch 5 eine Vorrichtung beanspruchen.The object is achieved by the features of claim 1 and of patent claim 5, wherein claim 1 claim a method and claim 5 a device.
Vorteilhafte Ausführungen sind in den Unteransprüchen enthalten.Advantageous embodiments are contained in the subclaims.
Der Erfindung liegt die Idee zugrunde, die Vorteile der Messung einer Mündungsgeschwindigkeit und einer aktuellen kompensierten Tempierung beibehaltend, einen Mikrowellensender, vorzugsweise im GHz -Bereich, ins System einzubinden, der die aktuelle, beispielsweise von einem Feuerleitrechner bestimmte Tempierung an eine Munition bzw. ein Geschoss sendet. Auf eine direkte Messung der aktuellen Mündungsgeschwindigkeit kann verzichtet werden, da die reale Mündungsgeschwindigkeit durch Information der aktuellen Fluggeschwindigkeit des Geschosses bestimmt, d.h., aus dieser zurückgerechnet wird. Anhand dieser aktuellen Geschossgeschwindigkeit wird dann die Zündzeit des Geschosses mit Hilfe einer Norm-Mündungsgeschwindigkeit voreingestellte Zündzeit korrigiert und als aktuelle Zünderstellzeit verwendet.The invention is based on the idea of maintaining the advantages of measuring a muzzle velocity and a current compensated tempation, incorporating a microwave transmitter, preferably in the GHz range, into the system, which stores the current, for example, a Feuerleitrechner determined temping to an ammunition or a projectile sends. A direct measurement of the current muzzle velocity can be dispensed with, since the real muzzle velocity is determined by information of the current airspeed of the projectile, that is, calculated back from this. On the basis of this current projectile velocity, the ignition time of the projectile is then corrected with the aid of a standard muzzle velocity preset ignition time and used as the actual ignition timing.
Die Messung der Fluggeschwindigkeit erfolgt beispielsweise mittels Dopplerverschiebung der Sendefrequenzen vorzugsweise geschossseitig. Dazu wird die Sendefrequenz fest eingestellt und die Abweichung gemessen. Da die Zeit bekannt ist, die das Geschoss jeweils zurückgelegt hat, kann die aktuelle Fluggeschwindigkeit bestimmt und zudem die reale Mündungsgeschwindigkeit des Geschosses, die das Geschoss zum Zeitpunkt der Abschusses durch den Mündungsbereich besessen hat, errechnet werden. Aus diesen Daten wird dann die aktuelle Zünderstellzeit ermittelt und dem Geschoss zur Verfügung gestellt.The measurement of the airspeed takes place, for example, by means of Doppler shift of the transmission frequencies, preferably on the storey side. For this purpose, the transmission frequency is fixed and measured the deviation. Since the time is known, which has covered the projectile each time, the current airspeed and also determines the real muzzle velocity of the projectile which possessed the projectile at the time of launch through the muzzle area. From these data, the current ignition timing is then determined and made available to the projectile.
Bei einer Abweichung von einer vorprogrammierten Norm-Tempierung wird in der Munition oder durch die Feuerleitanlage eine Korrektur vorgenommen, die dann die aktuelle Zünderstellzeit widerspiegelt.In the event of a deviation from a pre-programmed standard temping, a correction is made in the ammunition or by the fire control system, which then reflects the actual fuze setting time.
In der Munition bzw. im Geschoss befindet sich für die Programmierung ein Chip, beispielsweise ein RFID (Radio Frequenz Identifikation) - Chip (siehe http:/lde.wikipedia.org/wiki/RFID). Dieser weist die bevorzugte Eigenschaft auf, dass er über die Mikrowellenstrahlung mit Energie versorgt werden kann.There is a chip in the ammunition or bullet for programming, for example an RFID (Radio Frequency Identification) chip (see http://lde.wikipedia.org/wiki/RFID). This has the preferred property that it can be powered by the microwave radiation with energy.
Des Weiteren ergibt sich ein Vorteil daraus, dass der Chip u. a. mit der aktuellen Norm-Tempierung als auch mit einem Korrekturwert oder einem erst während des Fluges ermittelten Wert vom Feuerleitgerät programmierbar ist.Furthermore, there is an advantage that the chip u. a. is programmable by the fire control unit with the current standard temping as well as with a correction value or a value determined only during the flight.
Der an der Munition (bzw. in der Munition) befindliche Timer kann dann über die (verbleibende) Flugstrecke bis Null heruntergezählt und dann die gewollte Zerlegung vor einem Ziel bewerkstelligen.The timer on the ammunition (or in the ammunition) can then be counted down to zero over the (remaining) flight distance and then accomplish the desired disassembly before a target.
Zusätzlich kann die berechnete Mündungsgeschwindigkeit auch zurückgesendet werden, wenn diese Berechnung im Geschoss erfolgt, um eventuelle Abweichungen in der Feuerleitung berücksichtigen zu können.In addition, the calculated muzzle velocity can also be returned if this calculation is made on the projectile to account for any deviations in the fire pipe.
Durch dieses System fällt in der Kanone bzw. im Waffenrohr die bisher bekannte aufwändige Mess- und Programmiereinheit weg. Der verwendete Mikrowellensender ist örtlich am Geschütz befestigbar, wo er weder Mündungsgasen noch mechanischen Belastungen ausgesetzt ist. Der Sender / Empfänger wird elektrisch von der Geschützelektrik versorgt und mit Daten der Feuerleitung versorgt. Eventuell von der Munition zurückgesendete Daten können an die Feuerleitung weitergeleitet und von dieser berücksichtigt werden.Through this system, the previously known elaborate measuring and programming unit is eliminated in the cannon or in the weapon barrel. The microwave transmitter used can be fixed locally to the gun, where it is exposed neither to vent gases nor to mechanical loads. The transmitter / receiver is electrically powered by the gun electrical system and supplied with data from the fire control. Any data returned from ammunition may be forwarded to and considered by the Fire Department.
Anhand eines Ausführungsbeispiels mit Zeichnung soll die Erfindung näher erläutert werden.Reference to an embodiment with drawing, the invention will be explained in more detail.
Es zeigt die einzige Figur ein Programmiersystem 1 bzw. eine verallgemeinert dargestellte Vorrichtung für ein tempierbares Geschoss 2 bzw. eine tempierbare Munition (etc).The single FIGURE shows a programming system 1 or a generalized device for a storable projectile 2 or a malleable ammunition (etc).
An Bord des Geschosses 2 befindet sich ein programmierbarer Chip 3, beispielsweise ein RFID -Chip, der bevorzugt in Kombination, die Empfänger - und Sendeschaltung nebst Speicher beinhaltet. Ein im Geschoss 2 befindlicher Timer 4 wird durch diesen Chip 3 mit der notwendigen Zeitinformation auch vor Ort versorgt. Parallel dazu ist der Chip 3 mit einer Berechnungs- und / oder Korrektureinheit 5 verschaltet, wenn diese im Geschoss 2 vorgesehen ist, die dann ebenfalls mit dem Timer 4 verbunden ist. Dem Timer 4 funktional nachgeschaltet ist ein Zünder 6.On board the projectile 2 is a programmable chip 3, for example an RFID chip, which in combination preferably contains the receiver and transmitter circuit together with the memory. A located in the floor 2 timer 4 is powered by this chip 3 with the necessary time information on site. In parallel, the chip 3 is connected to a calculation and / or correction unit 5, if this is provided in the projectile 2, which is then also connected to the timer 4. Functionally downstream of the timer 4 is an igniter 6.
Die Energieversorgung zu den Baugruppen des Geschosses 2 kann in einer ersten Möglichkeit mittels der Mikrowellenstrahlung X zugeführt werden oder bevorzugt herkömmlich gelöst werden, beispielsweise durch eine aktivierbare, nicht näher dargestellte Batterie.The energy supply to the assemblies of the projectile 2 can be supplied in a first way by means of the microwave radiation X or preferably solved conventionally, for example by an activatable, not shown battery.
Geschütz- bzw. waffenseitig 10 weist das Programmiersystem 1, vorzugsweise am Waffenrohr 11 befestigt, einen Sender / Empfänger 12 zur Datenübertragung an das Geschoss 2 auf. Dieser Sender / Empfänger 12 ist mit einer in einer Waffenanlage vorhandene Feuerleitanlage bzw. Feuerleitrechner 13 elektrisch verbunden.Gun or weapon side 10, the programming system 1, preferably attached to the gun barrel 11, a transmitter / receiver 12 for data transmission to the projectile 2 on. This transmitter / receiver 12 is electrically connected to a fire control system or fire control computer 13 present in a weapons system.
Die Funktionsweise ist wie folgt:The operation is as follows:
Die aktuelle Zerlegungszeit, berechnet nach der Normgeschwindigkeit des Geschosses 2, wird dem Geschoss 2 übermittelt. Mit dem Dopplerverfahren wird die Abweichung von der Normgeschwindigkeit im Geschoss 2 ermittelt. Entsprechend der Abweichung wird im Geschoss 2 oder geschützseitig die aktuelle Zerlegungszeit berechnet.The current disassembly time, calculated according to the standard speed of the projectile 2, is transmitted to the projectile 2. With the Doppler method, the deviation from the standard speed in the projectile 2 is determined. Depending on the deviation, the current disassembly time is calculated in projectile 2 or on the protected side.
Erfolgt dies im Geschoss 2 durch die Berechnungs- und / oder Korrektureinheit 5, so kann eine Korrektur der Zündstellzeit für den Zünder 6 geschossseitig vorgenommen werden, wobei der Timer 4 mit dieser Information beaufschlagt wird. Die erfolgte Korrektur bzw. die ermittelte, zurückgerechnete Mündungsgeschwindigkeit können via Mikrowellenstrahlung X an den Sender / Empfänger 12 am Geschütz 10 übertragen und einer nicht näher dargestellten Feuerleitanlage zur Verfügung gestellt werden.If this is done in the projectile 2 by the calculation and / or correction unit 5, a correction of the Zündstellzeit for the igniter 6 can be made on the storey side, the timer 4 is acted upon with this information. The correction made or the calculated, recalculated muzzle velocity can be transmitted via microwave radiation X to the transmitter / receiver 12 on the gun 10 and made available to a fire control system (not shown).
Wird hingegen die aktuelle Geschossgeschwindigkeit an den Sender / Empfänger 12 des Geschützes 10 gesendet und findet die Korrektur geschützseitig in der Feuerleitanlage 13 statt, wird der Sollwert der Zünderzeit (Flugzeit) bezogen auf die wirkliche Mündungsgeschwindigkeit des Geschosses 2 beim Verschuss über die Mikrowellenstrahlung X an das Geschoss 2 übertragen. Diese Zündstellzeit wird korrigiert und als neue Zünderstellzeit im Geschoss 2 verwendet.If, however, the current projectile speed is sent to the transmitter / receiver 12 of the gun 10 and the correction takes place protected in the fire control system 13, the target value of the detonator time (flying time) based on the actual muzzle velocity of the projectile 2 when fired via the microwave radiation X to the Projectile 2 transferred. This Zündstellzeit is corrected and used as a new ignition timing in the second floor.
Claims (9)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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DE102005024179A DE102005024179A1 (en) | 2005-05-23 | 2005-05-23 | Method and device for temping and / or correction of the ignition timing of a projectile |
Publications (2)
Publication Number | Publication Date |
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EP1726911A1 true EP1726911A1 (en) | 2006-11-29 |
EP1726911B1 EP1726911B1 (en) | 2011-04-20 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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EP06002014A Not-in-force EP1726911B1 (en) | 2005-05-23 | 2006-02-01 | Method and device for time setting and for correcting the ignition time in a projectile |
Country Status (9)
Country | Link |
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US (1) | US20070074625A1 (en) |
EP (1) | EP1726911B1 (en) |
JP (1) | JP5005954B2 (en) |
AT (1) | ATE506594T1 (en) |
CA (1) | CA2545300A1 (en) |
DE (2) | DE102005024179A1 (en) |
DK (1) | DK1726911T3 (en) |
ES (1) | ES2365039T3 (en) |
ZA (1) | ZA200604101B (en) |
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-
2005
- 2005-05-23 DE DE102005024179A patent/DE102005024179A1/en not_active Withdrawn
-
2006
- 2006-02-01 ES ES06002014T patent/ES2365039T3/en active Active
- 2006-02-01 AT AT06002014T patent/ATE506594T1/en active
- 2006-02-01 DK DK06002014.6T patent/DK1726911T3/en active
- 2006-02-01 EP EP06002014A patent/EP1726911B1/en not_active Not-in-force
- 2006-02-01 DE DE502006009327T patent/DE502006009327D1/en active Active
- 2006-04-28 CA CA002545300A patent/CA2545300A1/en not_active Abandoned
- 2006-05-18 US US11/436,327 patent/US20070074625A1/en not_active Abandoned
- 2006-05-19 JP JP2006140346A patent/JP5005954B2/en not_active Expired - Fee Related
- 2006-05-22 ZA ZA200604101A patent/ZA200604101B/en unknown
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Cited By (16)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2008098562A1 (en) * | 2007-02-12 | 2008-08-21 | Krauss-Maffei Wegmann Gmbh & Co. Kg | Method and device for defence against airborne assault ammunition |
DE102009011447B9 (en) * | 2009-03-03 | 2012-08-16 | Diehl Bgt Defence Gmbh & Co. Kg | Method for igniting a warhead of a grenade and vehicle |
EP2261591A1 (en) * | 2009-06-08 | 2010-12-15 | Rheinmetall Air Defence AG | Method for correcting the flight path of ammunition steered during the end phase |
DE102009024508A1 (en) | 2009-06-08 | 2011-07-28 | Rheinmetall Air Defence Ag | Method for correcting the trajectory of an end-phase guided munition |
US8288698B2 (en) | 2009-06-08 | 2012-10-16 | Rheinmetall Air Defence Ag | Method for correcting the trajectory of terminally guided ammunition |
WO2011085758A1 (en) | 2010-01-15 | 2011-07-21 | Rheinmetall Air Defence Ag | Method for correcting the trajectory of a projectile, in particular of an end-phase-guided projectile, and projectile for carrying out the process |
DE102010004820A1 (en) | 2010-01-15 | 2011-07-21 | Rheinmetall Air Defence Ag | Method for trajectory correction of a particular endphase steered projectile and projectile for performing the method |
US8558151B2 (en) | 2010-01-15 | 2013-10-15 | Rheinmetall Air Defence Ag | Method for correcting the trajectory of a projectile, in particular of a terminal phase-guided projectile, and projectile for carrying out the method |
WO2011092022A1 (en) | 2010-02-01 | 2011-08-04 | Rheinmetall Air Defence Ag | Method and device for programming a projectile |
WO2011092023A1 (en) | 2010-02-01 | 2011-08-04 | Rheinmetall Air Defence Ag | Programmable ammunition |
DE102010006530A1 (en) | 2010-02-01 | 2011-08-04 | Rheinmetall Air Defence Ag | Programmable ammunition |
DE102010006528A1 (en) | 2010-02-01 | 2011-08-04 | Rheinmetall Air Defence Ag | Method and device for programming a projectile |
DE102010006528B4 (en) * | 2010-02-01 | 2013-12-12 | Rheinmetall Air Defence Ag | Method and device for programming a projectile |
DE102010006530B4 (en) * | 2010-02-01 | 2013-12-19 | Rheinmetall Air Defence Ag | Programmable ammunition |
US8746119B2 (en) | 2010-02-01 | 2014-06-10 | Rheinmetall Air Defence Ag | Method and device for programming a projectile |
US8984999B2 (en) | 2010-02-01 | 2015-03-24 | Rheinmetall Air Defence Ag | Programmable ammunition |
Also Published As
Publication number | Publication date |
---|---|
DE502006009327D1 (en) | 2011-06-01 |
CA2545300A1 (en) | 2006-11-23 |
ZA200604101B (en) | 2007-02-28 |
DK1726911T3 (en) | 2011-08-01 |
ES2365039T3 (en) | 2011-09-21 |
EP1726911B1 (en) | 2011-04-20 |
JP2006329616A (en) | 2006-12-07 |
DE102005024179A1 (en) | 2006-11-30 |
ATE506594T1 (en) | 2011-05-15 |
US20070074625A1 (en) | 2007-04-05 |
JP5005954B2 (en) | 2012-08-22 |
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