EP1898173A2 - Determination of the adjustment to make to the alignment of a ballistic weapon - Google Patents

Determination of the adjustment to make to the alignment of a ballistic weapon Download PDF

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Publication number
EP1898173A2
EP1898173A2 EP07012336A EP07012336A EP1898173A2 EP 1898173 A2 EP1898173 A2 EP 1898173A2 EP 07012336 A EP07012336 A EP 07012336A EP 07012336 A EP07012336 A EP 07012336A EP 1898173 A2 EP1898173 A2 EP 1898173A2
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Prior art keywords
trajectories
trajectory
projectile
weapon
derivative
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German (de)
French (fr)
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EP1898173B1 (en
EP1898173A3 (en
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Reinhard Schröder
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Rheinmetall Electronics GmbH
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Rheinmetall Defence Electronics GmbH
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/14—Indirect aiming means
    • F41G3/142—Indirect aiming means based on observation of a first shoot; using a simulated shoot

Definitions

  • the present invention relates to a method for determining the alignment to be set of a tube of a ballistic weapon and a Feuerleitrechner for performing the method.
  • Ballistic weapons in which a missile without own drive describes a substantially parabolic trajectory, are found for example in tanks or other applications.
  • the lost ammunition consists of at least one bullet and one propellant.
  • the trajectory of the projectile and thus its impact point are dependent on a variety of factors, such as the initial velocity of the projectile, the wind conditions, the air pressure, the shape of the projectile and the orientation of the tube of the weapon. It is the task of the fire control computer of the weapon to adjust the lead and / or attachment of the weapon so that the projectile hits the desired target in the prevailing conditions.
  • Leaning means the azimuth orientation and attachment the elevation of the pipe, for example, based on the direct line of sight between the weapon and the target or the projection of this line of sight on the horizontal plane.
  • bulletin boards for every combination of weapon and ammunition.
  • These bulletin boards contain the lead and / or the essay for the most different specified scenarios.
  • a scenario is formed by the prevailing conditions as described above.
  • the bulletin boards can not contain all scenarios occurring in reality.
  • the calculation of derivative and / or article therefore occurs, for example, by multidimensional Interpolation of the table values or approximation of the tables by polynomials whose coefficients were calculated in advance.
  • the method according to the invention for determining the alignment of a tube of a ballistic weapon to be adjusted at least one trajectory of the projectile from predetermined parameters such as the initial velocity of the projectile and the variable parameters Vorhalt and / or attachment of the tube is calculated in the Feuerleitrechner the weapon using a mathematical model and the To be set Vorhalt and / or essay determined from at least one suitable trajectory.
  • the values to be set for lead and / or attachment are not determined in advance and deposited in a firing panel, but determined by serving as variable parameters of a mathematical model of the trajectory of the projectile, which in the fire control computer of the projectile Weapon is calculated.
  • Lead and / or attachment are then determined from at least one suitable trajectory.
  • the trajectories are calculated, for example, using at least one differential equation.
  • the advantage of calculating the trajectories in the fire control computer is a modularization in which for each type of ammunition only a mathematical model has to be deposited, which describes the trajectory of the projectile independently of the weapon.
  • This model takes into account the type of weapon, for example, by the system-dependent initial velocity of the projectile.
  • a set of trajectories is calculated in the fire control computer. Derivative and / or essay are then determined by interpolation or extrapolation of those values for derivative and / or essay whose associated trajectories come closest to the target to be hit. This means that trajectories are calculated for different sets of the variable parameters lead and / or attachment. For each trajectory, the minimum distance it has from the target to be hit is calculated. From the calculated trajectories, a number of trajectories are selected whose minimum distance to the target to be hit is lowest. The derivative and / or attachment values to be set are determined by interpolating the derivative and / or attachment values associated with the selected trajectories. This determination is made by interpolation or extrapolation. The number of trajectories selected for interpolation or extrapolation is arbitrary.
  • the values for derivative and / or attachment used for interpolation or extrapolation are preferably weighted as a function of the distance of the associated trajectory from the target to be hit.
  • the derivative and / or essay of a trajectory selected for interpolation or extrapolation are all the more weighted, the smaller the minimum distance of the trajectory to the target to be hit.
  • One possibility is, for example, a weighting of derivative and / or article inversely proportional to the distance of the trajectory from the target to be hit.
  • the preparation of the mathematical model that is used to calculate the trajectories is known in the art and therefore will not be detailed here.
  • the design and complexity of this model is the Leaving expert, for example, depending on the fire control computer used.
  • the model may take into account one or more of the initial velocity parameters of the projectile, air pressure, wind conditions, gravity, air resistance coefficient (C w value) of the projectile or other influences. Earth gravity, air pressure, wind speed and wind direction are optionally taken into account varying across the trajectory of the projectile, for example, depending on the height.
  • the mathematical model also considers whether a flat or a steep shot is to be performed.
  • a shallow shot is common for example in tank guns, a steep shot, for example, mortars.
  • the type of shot is for example fixed depending on the type of weapon in the model or selected as a parameter by the operator.
  • trajectories are iteratively calculated by varying the parameters lead and / or attachment until one of the trajectories hits the target with a predetermined maximum deviation.
  • the derivative and / or attachment belonging to this trajectory is selected as the lead and / or attachment to be set.
  • the strategy for varying the parameter derivative and / or attachment is left to the person skilled in the art.
  • interpolation or extrapolation with the iterative approach.
  • the starting point for the iteration is determined by the above-described interpolation or extrapolation.
  • initial values for derivative and / or article are advantageously used which are based on a prior knowledge of the location of the target and the basic properties of the ammunition.
  • these initial values are used in the calculation of the first trajectory, in the interpolation or extrapolation for the calculation of the trajectory around which the others Flock trajectories.
  • the initial values are estimated by a function, for example, based on the line of sight and / or the distance of the weapon from the target and the properties of the ammunition.
  • the initial values are given by the operator of the weapon or selected at random.
  • the choice of the initial values determines whether a flat shot or a steep shot is to be carried out.
  • information such as the type and / or the drag coefficient of the ammunition, stored in the ammunition.
  • This information is read out by the weapon to calculate the trajectories. This has the advantage that the information stored in the ammunition is automatically used as a parameter for the calculation of the trajectory and a manual input is not necessary.
  • a Feuerleitrechner for a ballistic weapon for performing the method described above, a computing unit for calculating trajectories of a projectile from predetermined parameters, such as the initial velocity of the projectile and the variable parameters Vorhalt and / or attachment of the tube, based on a mathematical model and for determination of the setting to be set and / or essay from at least one suitable trajectory.
  • the Feuerleitrechner aligns the pipe according to the determined values for Vorhalt and / or attachment.
  • the fire control computer has a reading device for reading out information stored in the ammunition.
  • the reading device is, for example, an RFID reader.
  • Figures 1 and 2 show a projection of trajectories in the horizontal plane.
  • W denotes the ballistic weapon whose tube is to be oriented so that a fired projectile hits the target T.
  • V w denotes the prevailing wind direction, LOS the line of sight between the weapon W and the target T.
  • the line of sight LOS is a horizontal line.
  • the points on the trajectories T1 to T8 indicate that point on the respective trajectory which has the smallest distance to the target T. For reasons of clarity, trajectories beyond this point have been omitted. In the present embodiments, by far the length of the direct spatial connection line between two points is meant.
  • An example spherical area around the target T is assigned to the target. If a trajectory runs through this area, then the goal is taken as hit.
  • the fire control computer of the weapon W calculates the trajectories T1 to T4 of the projectile from predefined parameters and the variable parameters lead and attachment of the pipe on the basis of a mathematical model.
  • Predefined parameters are, for example, the distance and / or the height difference between the weapon W and the target T, the initial velocity of the projectile, wind direction and wind speed, the gravity, the drag coefficient of the projectile Projectile or air pressure. It is up to the implementing expert to decide which of the above or other parameters takes the model into account.
  • initial values from the LOS line of sight are estimated using a function.
  • the trajectories T2 and T3 are selected since they come closest to the target T to be hit.
  • the values to be set for lead and essay are determined by interpolation from the values for lead and essay, which have led to the trajectories T2 and T3.
  • the lead was chosen to V2 and the tip to A2.
  • the lead V3 and the tip A3 were used.
  • the minimum distance of the trajectory T2 from the target T is in the present example twice as large as the minimum distance of the trajectory T3 from the target T.
  • the lead to be set thus results in 1/3 * V2 + 2/3 * V3, the essay to be set to 1/3 * A2 + 2/3 * A3. Any other weighting is possible.
  • the fire control calculator of the weapon W calculates the trajectory T5 from predetermined parameters already explained above in the calculation by interpolation and the value V5 for the derivative and the value A5 for the article from the mathematical model already described for the iterative calculation ,
  • the initial values V5 and A5 are randomly selected, given by the operator of the weapon W, estimated by a function from the LOS line of sight, or determined by interpolation or extrapolation as described above.
  • the trajectory T5 does not hit the target T with a predetermined maximum deviation represented by the circle around the target T. Therefore, in a trajectory T6 calculated from the lead V6 and the essay A6 a next iteration step.
  • the strategy in the variation of the parameters essay and Vorhalt is left to the implementing expert.
  • the trajectory T6 does not hit the target T with the required accuracy.
  • the trajectory T7 is calculated from the derivative V7 and the article A7. These too missed the goal T scarce.
  • the trajectory T8 is calculated from the derivative V8 and the attachment A8. The trajectory T8 hits the target T with the predetermined maximum deviation. For the alignment of the tube of the weapon W thus the lead V8 and the attachment A8 are used.
  • Deviations from the embodiments described above are possible in many ways.
  • the number of trajectories used in the embodiments of the method may differ from those in the exemplary embodiments.
  • the weighting of the values for derivative and article in the interpolation may differ from the weighting shown.
  • the present invention also includes the separate determination of the parameters or the determination of only one of the parameters.

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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)
  • Electrophonic Musical Instruments (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

The method involves measuring trajectories (T1-T4) of a projectile from preset parameters such as initial speed of projectile, and variable parameters of rate action and/or composition of a conduit of a ballistic weapon (W) based on mathematical models. The discontinued rate action and/or composition of the conduit is determined from adequate trajectories. Values for rate action and/or composition of the conduit are weighted depending on distance of associated trajectories from a target (T) to be hit. An independent claim is also included for a fire line supervisor comprising a processing unit.

Description

Die vorliegende Erfindung betrifft ein Verfahren zur Bestimmung der einzustellenden Ausrichtung eines Rohres einer ballistischen Waffe sowie einen Feuerleitrechner zur Durchführung des Verfahrens.The present invention relates to a method for determining the alignment to be set of a tube of a ballistic weapon and a Feuerleitrechner for performing the method.

Ballistische Waffen, bei denen ein Geschoss ohne eigenen Antrieb eine im Wesentlichen parabelförmige Flugbahn beschreibt, sind beispielsweise bei Panzern oder sonstigen Anwendungen anzutreffen. Die verschossene Munition besteht zumindest aus einem Geschoss und einem Treibsatz. Die Flugbahn des Geschosses und damit dessen Auftreffpunkt sind abhängig von einer Vielzahl von Faktoren, wie beispielsweise der Anfangsgeschwindigkeit des Geschosses, den Windverhältnissen, dem Luftdruck, der Form des Geschosses und der Ausrichtung des Rohres der Waffe. Es ist die Aufgabe des Feuerleitrechners der Waffe, Vorhalt und/oder Aufsatz der Waffe so einzustellen, dass das Geschoss bei den vorherrschenden Bedingungen das gewünschte Ziel trifft. Dabei bedeutet Vorhalt die Azimut-Ausrichtung und Aufsatz die Elevation des Rohres, beispielsweise bezogen auf die direkte Sichtlinie zwischen der Waffe und dem Ziel oder der Projektion dieser Sichtlinie auf die horizontale Ebene.Ballistic weapons, in which a missile without own drive describes a substantially parabolic trajectory, are found for example in tanks or other applications. The lost ammunition consists of at least one bullet and one propellant. The trajectory of the projectile and thus its impact point are dependent on a variety of factors, such as the initial velocity of the projectile, the wind conditions, the air pressure, the shape of the projectile and the orientation of the tube of the weapon. It is the task of the fire control computer of the weapon to adjust the lead and / or attachment of the weapon so that the projectile hits the desired target in the prevailing conditions. Leaning means the azimuth orientation and attachment the elevation of the pipe, for example, based on the direct line of sight between the weapon and the target or the projection of this line of sight on the horizontal plane.

Bislang ist es üblich, für jede Kombination aus Waffe und Munition sogenannte Schusstafeln bereitzustellen. Diese Schusstafeln enthalten den Vorhalt und/oder den Aufsatz für die verschiedensten festgelegten Szenarien. Ein Szenario wird gebildet durch die vorherrschenden Bedingungen, wie sie vorstehend beschrieben wurden. Naturgemäß können die Schusstafeln nicht alle in der Realität auftretenden Szenarien enthalten. In der Praxis geschieht im Feuerleitrechner die Berechnung von Vorhalt und/oder Aufsatz daher zum Beispiel durch mehrdimensionale Interpolation der Tabellenwerte oder Approximation der Tabellen durch Polynome, deren Koeffizienten im Vorhinein berechnet wurden.So far, it is common to provide so-called bulletin boards for every combination of weapon and ammunition. These bulletin boards contain the lead and / or the essay for the most different specified scenarios. A scenario is formed by the prevailing conditions as described above. Of course, the bulletin boards can not contain all scenarios occurring in reality. In practice, in the fire control computer, the calculation of derivative and / or article therefore occurs, for example, by multidimensional Interpolation of the table values or approximation of the tables by polynomials whose coefficients were calculated in advance.

Dieses Vorgehen weist den Nachteil auf, dass der teilweise hochgradig nichtlineare Einfluss der einzelnen Parameter auf die Flugbahn des Geschosses, die auch als Trajektorie bezeichnet wird, nicht berücksichtigt wird. Dies führt zu einer verminderten Trefferwahrscheinlichkeit. Darüber hinaus müssen bei einer Veränderung der Waffe, beispielsweise der Verwendung eines Rohrs mit anderer Länge, die Schusstafeln ausgetauscht werden.This approach has the disadvantage that the sometimes highly nonlinear influence of the individual parameters on the trajectory of the projectile, which is also referred to as a trajectory, is not taken into account. This leads to a reduced hit probability. In addition, when changing the weapon, for example, using a tube of a different length, the bulletin boards must be replaced.

Es ist die Aufgabe der vorliegenden Erfindung, ein Verfahren sowie einen Feuerleitrechner bereitzustellen, bei denen die vorgenannten Nachteile nicht auftreten.It is the object of the present invention to provide a method and a Feuerleitrechner where the aforementioned disadvantages do not occur.

Gelöst wird diese Aufgabe durch ein Verfahren gemäß Patentanspruch 1 und einen Feuerleitrechner gemäß Patentanspruch 7. Weitere vorteilhafte Ausgestaltungsformen der Erfindung sind in den abhängigen Patentansprüchen angegeben.This object is achieved by a method according to claim 1 and a Feuerleitrechner according to claim 7. Further advantageous embodiments of the invention are specified in the dependent claims.

Bei dem erfindungsgemäßen Verfahren zur Bestimmung der einzustellenden Ausrichtung eines Rohres einer ballistischen Waffe wird im Feuerleitrechner der Waffe mindestens eine Trajektorie des Geschosses aus vorgegebenen Parametern wie der Anfangsgeschwindigkeit des Geschosses und den variablen Parametern Vorhalt und/oder Aufsatz des Rohres anhand eines mathematischen Modells berechnet und der einzustellende Vorhalt und/oder Aufsatz aus mindestens einer geeigneten Trajektorie bestimmt. Im Gegensatz zu den bisherigen Lösungen werden die einzustellenden Werte für Vorhalt und/oder Aufsatz nicht im Vorhinein bestimmt und in einer Schusstafel hinterlegt, sondern dadurch ermittelt, dass sie als variable Parameter eines mathematischen Modells der Trajektorie des Geschosses dienen, die bei Bedarf im Feuerleitrechner der Waffe berechnet wird. Vorhalt und/oder Aufsatz werden dann aus mindestens einer geeigneten Trajektorie bestimmt. Die Trajektorien werden beispielsweise anhand mindestens einer Differentialgleichung berechnet.In the method according to the invention for determining the alignment of a tube of a ballistic weapon to be adjusted at least one trajectory of the projectile from predetermined parameters such as the initial velocity of the projectile and the variable parameters Vorhalt and / or attachment of the tube is calculated in the Feuerleitrechner the weapon using a mathematical model and the To be set Vorhalt and / or essay determined from at least one suitable trajectory. In contrast to the previous solutions, the values to be set for lead and / or attachment are not determined in advance and deposited in a firing panel, but determined by serving as variable parameters of a mathematical model of the trajectory of the projectile, which in the fire control computer of the projectile Weapon is calculated. Lead and / or attachment are then determined from at least one suitable trajectory. The trajectories are calculated, for example, using at least one differential equation.

Der Vorteil der Berechnung der Trajektorien im Feuerleitrechner ist eine Modularisierung, bei der für jeden Munitionstyp nur ein mathematisches Modell hinterlegt werden muss, das die Flugbahn des Geschosses unabhängig von der Waffe beschreibt. Dieses Modell berücksichtigt die Art der Waffe beispielsweise durch die systemabhängige Anfangsgeschwindigkeit des Geschosses.The advantage of calculating the trajectories in the fire control computer is a modularization in which for each type of ammunition only a mathematical model has to be deposited, which describes the trajectory of the projectile independently of the weapon. This model takes into account the type of weapon, for example, by the system-dependent initial velocity of the projectile.

In einer Ausgestaltungsform der Erfindung wird im Feuerleitrechner eine Schar von Trajektorien berechnet. Vorhalt und/oder Aufsatz werden dann durch Interpolation oder Extrapolation derjenigen Werte für Vorhalt und/oder Aufsatz bestimmt, deren zugehörigen Trajektorien dem zu treffenden Ziel am nächsten kommen. Dies bedeutet, dass für verschiedene Sätze der variablen Parameter Vorhalt und/oder Aufsatz Trajektorien berechnet werden. Für jede Trajektorie wird der minimale Abstand berechnet, den sie von dem zu treffenden Ziel aufweist. Aus den berechneten Trajektorien wird eine Anzahl Trajektorien ausgewählt, deren minimaler Abstand zu dem zu treffenden Ziel am geringsten ist. Die einzustellenden Werte für Vorhalt und/oder Aufsatz werden durch Interpolation der Werte für Vorhalt und/oder Aufsatz bestimmt, die zu den ausgewählten Trajektorien gehören. Diese Bestimmung erfolgt durch Interpolation oder Extrapolation. Die Anzahl der zur Interpolation oder Extrapolation ausgewählten Trajektorien ist beliebig.In one embodiment of the invention, a set of trajectories is calculated in the fire control computer. Derivative and / or essay are then determined by interpolation or extrapolation of those values for derivative and / or essay whose associated trajectories come closest to the target to be hit. This means that trajectories are calculated for different sets of the variable parameters lead and / or attachment. For each trajectory, the minimum distance it has from the target to be hit is calculated. From the calculated trajectories, a number of trajectories are selected whose minimum distance to the target to be hit is lowest. The derivative and / or attachment values to be set are determined by interpolating the derivative and / or attachment values associated with the selected trajectories. This determination is made by interpolation or extrapolation. The number of trajectories selected for interpolation or extrapolation is arbitrary.

Bevorzugt werden die zur Interpolation oder Extrapolation verwendeten Werte für Vorhalt und/oder Aufsatz in Abhängigkeit des Abstandes der zugehörigen Trajektorie vom zu treffenden Ziel gewichtet. So werden beispielsweise Vorhalt und/oder Aufsatz einer zur Interpolation oder Extrapolation ausgewählten Trajektorie umso stärker gewichtet, je geringer der minimale Abstand der Trajektorie zum zu treffenden Ziel ist. Eine Möglichkeit ist zum Beispiel eine Gewichtung von Vorhalt und/oder Aufsatz umgekehrt proportional zum Abstand der Trajektorie vom zu treffenden Ziel.The values for derivative and / or attachment used for interpolation or extrapolation are preferably weighted as a function of the distance of the associated trajectory from the target to be hit. Thus, for example, the derivative and / or essay of a trajectory selected for interpolation or extrapolation are all the more weighted, the smaller the minimum distance of the trajectory to the target to be hit. One possibility is, for example, a weighting of derivative and / or article inversely proportional to the distance of the trajectory from the target to be hit.

Die Aufstellung des mathematischen Modells, das zur Berechnung der Trajektorien dient, ist im Stand der Technik bekannt und wird daher an dieser Stelle nicht näher ausgeführt. Die Ausgestaltung und Komplexität dieses Modells ist dem ausführenden Fachmann überlassen, beispielsweise in Abhängigkeit vom eingesetzten Feuerleitrechner. Das Modell kann insbesondere einen oder mehrere der Parameter Anfangsgeschwindigkeit des Geschosses, Luftdruck, Windverhältnisse, Erdanziehung, Luftwiderstandsbeiwert (Cw-Wert) des Geschosses oder sonstige Einflüsse berücksichtigen. Erdanziehung, Luftdruck, Windgeschwindigkeit und Windrichtung werden optional über die Flugbahn des Geschosses variierend berücksichtigt, beispielsweise abhängig von der Höhe.The preparation of the mathematical model that is used to calculate the trajectories is known in the art and therefore will not be detailed here. The design and complexity of this model is the Leaving expert, for example, depending on the fire control computer used. In particular, the model may take into account one or more of the initial velocity parameters of the projectile, air pressure, wind conditions, gravity, air resistance coefficient (C w value) of the projectile or other influences. Earth gravity, air pressure, wind speed and wind direction are optionally taken into account varying across the trajectory of the projectile, for example, depending on the height.

Weiterhin optional berücksichtigt das mathematische Modell, ob ein flacher oder ein Steilschuss durchgeführt werden soll. Ein flacher Schuss ist beispielsweise bei Panzergeschützen üblich, ein Steilschuss beispielsweise bei Mörsern. Die Art des Schusses ist beispielsweise in Abhängigkeit der Art der Waffe im Modell fest hinterlegt oder als Parameter durch den Bediener wählbar.Optionally, the mathematical model also considers whether a flat or a steep shot is to be performed. A shallow shot is common for example in tank guns, a steep shot, for example, mortars. The type of shot is for example fixed depending on the type of weapon in the model or selected as a parameter by the operator.

In einer anderen Ausgestaltungsform der Erfindung werden unter Variation der Parameter Vorhalt und/oder Aufsatz iterativ Trajektorien berechnet, bis eine der Trajektorien das Ziel mit einer vorgegebenen maximalen Abweichung trifft. Als einzustellender Vorhalt und/oder Aufsatz wird der zu dieser Trajektorie gehörende Vorhalt und/oder Aufsatz gewählt. Die Strategie bei der Variation der Parameter Vorhalt und/oder Aufsatz ist dabei dem implementierenden Fachmann überlassen.In another embodiment of the invention trajectories are iteratively calculated by varying the parameters lead and / or attachment until one of the trajectories hits the target with a predetermined maximum deviation. The derivative and / or attachment belonging to this trajectory is selected as the lead and / or attachment to be set. The strategy for varying the parameter derivative and / or attachment is left to the person skilled in the art.

Weiterhin möglich ist die Kombination von Interpolation oder Extrapolation mit dem iterativen Ansatz. So wird beispielsweise der Startpunkt für die Iteration durch die vorstehend beschriebene Interpolation oder Extrapolation bestimmt.Further possible is the combination of interpolation or extrapolation with the iterative approach. For example, the starting point for the iteration is determined by the above-described interpolation or extrapolation.

Sowohl bei der iterativen Berechnung als auch bei der Interpolation oder Extrapolation der Werte für Vorhalt und/oder Aufsatz werden in vorteilhafter Weise Anfangswerte für Vorhalt und/oder Aufsatz verwendet, die auf einem Vorwissen über den Ort des Ziels und die grundlegenden Eigenschaften der Munition beruhen. Bei der iterativen Berechnung werden diese Anfangswerte bei der Berechnung der ersten Trajektorie verwendet, bei der Interpolation oder Extrapolation für die Berechnung der Trajektorie, um die sich die anderen Trajektorien scharen. Bevorzugt werden die Anfangswerte anhand einer Funktion geschätzt, beispielsweise auf Basis der Sichtlinie und/oder der Entfernung der Waffe vom Ziel sowie den Eigenschaften der Munition. Alternativ werden die Anfangswerte von Bediener der Waffe vorgegeben oder zufällig gewählt. Optional wird durch die Wahl der Anfangswerte vorgegeben, ob ein flacher oder ein Steilschuss durchgeführt werden soll.Both in the iterative calculation and in the interpolation or extrapolation of the values for derivative and / or article, initial values for derivative and / or article are advantageously used which are based on a prior knowledge of the location of the target and the basic properties of the ammunition. In the iterative calculation, these initial values are used in the calculation of the first trajectory, in the interpolation or extrapolation for the calculation of the trajectory around which the others Flock trajectories. Preferably, the initial values are estimated by a function, for example, based on the line of sight and / or the distance of the weapon from the target and the properties of the ammunition. Alternatively, the initial values are given by the operator of the weapon or selected at random. Optionally, the choice of the initial values determines whether a flat shot or a steep shot is to be carried out.

In einer Ausgestaltungsform der Erfindung sind Informationen, wie die Art und/oder der Luftwiderstandsbeiwert der Munition, in der Munition hinterlegt. Diese Informationen werden von der Waffe zur Berechnung der Trajektorien ausgelesen. Dies hat den Vorteil, dass die in der Munition gespeicherten Informationen automatisch als Parameter für die Berechnung der Trajektorie verwendet werden und eine manuelle Eingabe nicht notwendig ist.In one embodiment of the invention, information such as the type and / or the drag coefficient of the ammunition, stored in the ammunition. This information is read out by the weapon to calculate the trajectories. This has the advantage that the information stored in the ammunition is automatically used as a parameter for the calculation of the trajectory and a manual input is not necessary.

Erfindungsgemäß weist ein Feuerleitrechner für eine ballistische Waffe zur Durchführung des vorstehend beschriebenen Verfahrens eine Recheneinheit zur Berechnung von Trajektorien eines Geschosses aus vorgegebenen Parametern, wie der Anfangsgeschwindigkeit des Geschosses und den variablen Parametern Vorhalt und/oder Aufsatz des Rohres, anhand eines mathematischen Modells und zur Bestimmung des einzustellenden Vorhaltes und/oder Aufsatzes aus mindestens einer geeigneten Trajektorie auf. Bevorzugt richtet der Feuerleitrechner das Rohr entsprechend der ermittelten Werte für Vorhalt und/oder Aufsatz aus.According to the invention, a Feuerleitrechner for a ballistic weapon for performing the method described above, a computing unit for calculating trajectories of a projectile from predetermined parameters, such as the initial velocity of the projectile and the variable parameters Vorhalt and / or attachment of the tube, based on a mathematical model and for determination of the setting to be set and / or essay from at least one suitable trajectory. Preferably, the Feuerleitrechner aligns the pipe according to the determined values for Vorhalt and / or attachment.

In einer Ausgestaltungsform der Erfindung weist der Feuerleitrechner eine Leseeinrichtung zum Auslesen von in der Munition gespeicherten Informationen auf. Der Vorteil einer derartigen Ausgestaltung des Feuerleitrechners wurde bereits vorstehend anhand des Verfahrens erläutert. Bei der Leseeinrichtung handelt es sich beispielsweise um einen RFID-Leser.In one embodiment of the invention, the fire control computer has a reading device for reading out information stored in the ammunition. The advantage of such an embodiment of the fire control computer has already been explained above with reference to the method. The reading device is, for example, an RFID reader.

Die vorliegende Erfindung soll anhand zweier Ausführungsbeispiele näher erläutert werden. Dabei zeigt:

Figur 1
Trajektorien bei Bestimmung von Vorhalt und/oder Aufsatz durch Interpolation und
Figur 2
Trajektorien bei Bestimmung von Vorhalt und/oder Aufsatz durch Iteration.
The present invention will be explained in more detail with reference to two embodiments. Showing:
FIG. 1
Trajectories for determination of derivative and / or essay by interpolation and
FIG. 2
Trajectories for determination of lead and / or essay by iteration.

Die Figuren 1 und 2 zeigen eine Projektion von Trajektorien in die horizontale Ebene. W bezeichnet die ballistische Waffe, deren Rohr derart auszurichten ist, dass ein abgefeuertes Geschoss das Ziel T trifft. Vw bezeichnet die herrschende Windrichtung, LOS die Sichtlinie zwischen der Waffe W und dem Ziel T. In den vorliegenden Ausführungsbeispielen wird ohne Beschränkung der Allgemeinheit angenommen, dass sich die Waffe W und das Ziel T auf gleicher Höhe befinden. Dementsprechend handelt es sich hier bei der Sichtlinie LOS um eine horizontale Linie.Figures 1 and 2 show a projection of trajectories in the horizontal plane. W denotes the ballistic weapon whose tube is to be oriented so that a fired projectile hits the target T. V w denotes the prevailing wind direction, LOS the line of sight between the weapon W and the target T. In the present embodiments, it is assumed without loss of generality that the weapon W and the target T are at the same height. Accordingly, the line of sight LOS is a horizontal line.

Die Punkte auf den Trajektorien T1 bis T8 kennzeichnen denjenigen Punkt auf der jeweiligen Trajektorie, der den geringsten Abstand zum Ziel T aufweist. Aus Gründen der Übersichtlichkeit wurde auf eine Fortführung der Trajektorien über diesen Punkt hinaus verzichtet. In den vorliegenden Ausführungsbeispielen ist mit Abstand die Länge der direkten räumlichen Verbindungslinie zwischen zwei Punkten gemeint.The points on the trajectories T1 to T8 indicate that point on the respective trajectory which has the smallest distance to the target T. For reasons of clarity, trajectories beyond this point have been omitted. In the present embodiments, by far the length of the direct spatial connection line between two points is meant.

Ein beispielsweise kugelförmiger Bereich um das Ziel T herum, in den Projektionen in den Figuren 1 und 2 als Kreis dargestellt, wird dem Ziel zugeordnet. Verläuft eine Trajektorie durch diesen Bereich, so gilt das Ziel als getroffen.An example spherical area around the target T, shown as a circle in the projections in Figures 1 and 2, is assigned to the target. If a trajectory runs through this area, then the goal is taken as hit.

In dem anhand von Figur 1 dargestellten Ausführungsbeispiel berechnet der Feuerleitrechner der Waffe W die Trajektorien T1 bis T4 des Geschosses aus vorgegebenen Parametern und den variablen Parametern Vorhalt und Aufsatz des Rohres anhand eines mathematischen Modells. Vorgegebene Parameter sind beispielsweise die Entfernung und/oder der Höhenunterschied zwischen der Waffe W und dem Ziel T, die Anfangsgeschwindigkeit des Geschosses, Windrichtung und Windgeschwindigkeit, die Erdanziehung, der Luftwiderstandsbeiwert des Geschosses oder der Luftdruck. Es ist dem implementierenden Fachmann überlassen, welche der vorstehend genannten oder weiteren Parameter das Modell berücksichtigt. Für die variablen Parameter werden anhand einer Funktion Anfangswerte aus der Sichtlinie LOS geschätzt.In the exemplary embodiment illustrated with reference to FIG. 1, the fire control computer of the weapon W calculates the trajectories T1 to T4 of the projectile from predefined parameters and the variable parameters lead and attachment of the pipe on the basis of a mathematical model. Predefined parameters are, for example, the distance and / or the height difference between the weapon W and the target T, the initial velocity of the projectile, wind direction and wind speed, the gravity, the drag coefficient of the projectile Projectile or air pressure. It is up to the implementing expert to decide which of the above or other parameters takes the model into account. For the variable parameters, initial values from the LOS line of sight are estimated using a function.

Aus der Schar der Trajektorien T1 bis T4 werden die Trajektorien T2 und T3 ausgewählt, da sie dem zu treffenden Ziel T am nächsten kommen. Die einzustellenden Werte für Vorhalt und Aufsatz werden durch Interpolation aus den Werten für Vorhalt und Aufsatz bestimmt, die zu den Trajektorien T2 und T3 geführt haben.From the group of trajectories T1 to T4, the trajectories T2 and T3 are selected since they come closest to the target T to be hit. The values to be set for lead and essay are determined by interpolation from the values for lead and essay, which have led to the trajectories T2 and T3.

Bei der Berechnung der Trajektorie T2 wurden der Vorhalt zu V2 und der Aufsatz zu A2 gewählt. Analog wurden bei der Berechnung der Trajektorie T3 der Vorhalt V3 und der Aufsatz A3 verwendet. Der minimale Abstand der Trajektorie T2 vom Ziel T ist im vorliegenden Beispiel doppelt so groß wie der minimale Abstand der Trajektorie T3 vom Ziel T. Bei der Interpolation werden daher die Werte V2 und A2 mit 1/3 und die Werte V3 und A3 mit 2/3 gewichtet. Der einzustellende Vorhalt ergibt sich damit zu 1/3 * V2 + 2/3 * V3, der einzustellende Aufsatz zu 1/3 * A2 + 2/3 * A3. Eine beliebige andere Gewichtung ist möglich.In the calculation of the trajectory T2, the lead was chosen to V2 and the tip to A2. Analogously, in the calculation of the trajectory T3, the lead V3 and the tip A3 were used. The minimum distance of the trajectory T2 from the target T is in the present example twice as large as the minimum distance of the trajectory T3 from the target T. In the interpolation therefore the values V2 and A2 with 1/3 and the values V3 and A3 with 2 / 3 weighted. The lead to be set thus results in 1/3 * V2 + 2/3 * V3, the essay to be set to 1/3 * A2 + 2/3 * A3. Any other weighting is possible.

Anhand von Figur 2 wird im Folgenden die iterative Bestimmung der einzustellenden Werte für Vorhalt und Aufsatz erläutert. Zuerst berechnet der Feuerleitrechner der Waffe W die Trajektorie T5 aus vorgegebenen Parametern, wie sie vorstehend bei der Berechnung durch Interpolation bereits erläutert wurden, und dem Wert V5 für den Vorhalt und dem Wert A5 für den Aufsatz anhand des für die iterative Berechnung bereits beschriebenen mathematischen Modells. Die Anfangswerte V5 und A5 werden beispielsweise zufällig gewählt, von dem Bediener der Waffe W vorgegeben, mittels einer Funktion aus der Sichtlinie LOS geschätzt oder wie vorstehend beschrieben durch Interpolation oder Extrapolation ermittelt.The iterative determination of the values to be set for lead and attachment is explained below with reference to FIG. First, the fire control calculator of the weapon W calculates the trajectory T5 from predetermined parameters already explained above in the calculation by interpolation and the value V5 for the derivative and the value A5 for the article from the mathematical model already described for the iterative calculation , For example, the initial values V5 and A5 are randomly selected, given by the operator of the weapon W, estimated by a function from the LOS line of sight, or determined by interpolation or extrapolation as described above.

Die Trajektorie T5 trifft das Ziel T nicht mit einer vorgegebenen maximalen Abweichung, die durch den Kreis um das Ziel T dargestellt ist. Daher wird in einem nächsten Iterationsschritt eine Trajektorie T6 aus dem Vorhalt V6 und dem Aufsatz A6 berechnet. Die Strategie bei der Variation der Parameter Aufsatz und Vorhalt ist dabei dem implementierenden Fachmann überlassen. Auch die Trajektorie T6 trifft das Ziel T nicht mit der geforderten Genauigkeit. In einem dritten Iterationsschritt wird daher die Trajektorie T7 aus dem Vorhalt V7 und dem Aufsatz A7 berechnet. Auch diese verfehlt das Ziel T knapp. In einem vierten Iterationsschritt wird die Trajektorie T8 aus dem Vorhalt V8 und dem Aufsatz A8 berechnet. Die Trajektorie T8 trifft das Ziel T mit der vorgegebenen maximalen Abweichung. Für die Ausrichtung des Rohrs der Waffe W werden somit der Vorhalt V8 und der Aufsatz A8 verwendet.The trajectory T5 does not hit the target T with a predetermined maximum deviation represented by the circle around the target T. Therefore, in a trajectory T6 calculated from the lead V6 and the essay A6 a next iteration step. The strategy in the variation of the parameters essay and Vorhalt is left to the implementing expert. Also, the trajectory T6 does not hit the target T with the required accuracy. In a third iteration step, therefore, the trajectory T7 is calculated from the derivative V7 and the article A7. These too missed the goal T scarce. In a fourth iteration step, the trajectory T8 is calculated from the derivative V8 and the attachment A8. The trajectory T8 hits the target T with the predetermined maximum deviation. For the alignment of the tube of the weapon W thus the lead V8 and the attachment A8 are used.

Abweichungen von den vorstehend beschriebenen Ausführungsbeispielen sind in vielerlei Hinsicht möglich. Insbesondere kann die Anzahl der bei den Ausprägungen des Verfahrens verwendeten Trajektorien von denen in den Ausführungsbeispielen abweichen. Die Gewichtung der Werte für Vorhalt und Aufsatz bei der Interpolation kann von der dargestellten Gewichtung abweichen. Auch wenn in den Ausführungsbeispielen Vorhalt und Aufsatz gleichzeitig bestimmt wurden, umfasst die vorliegende Erfindung auch die getrennte Bestimmung der Parameter oder die Bestimmung nur eines der Parameter.Deviations from the embodiments described above are possible in many ways. In particular, the number of trajectories used in the embodiments of the method may differ from those in the exemplary embodiments. The weighting of the values for derivative and article in the interpolation may differ from the weighting shown. Although in the exemplary embodiments the lead and attachment were determined simultaneously, the present invention also includes the separate determination of the parameters or the determination of only one of the parameters.

Claims (8)

Verfahren zur Bestimmung der einzustellenden Ausrichtung eines Rohres einer ballistischen Waffe (W), wobei im Feuerleitrechner der Waffe (W) mindestens eine Trajektorie (T1 - T8) des Geschosses aus vorgegebenen Parametern wie der Anfangsgeschwindigkeit des Geschosses und den variablen Parametern Vorhalt und/oder Aufsatz des Rohres anhand eines mathematischen Modells berechnet wird und der einzustellende Vorhalt und/oder Aufsatz aus mindestens einer geeigneten Trajektorie (T1 - T8) bestimmt wird.Method for determining the alignment of a tube of a ballistic weapon (W), wherein in the fire control computer of the weapon (W) at least one trajectory (T1 - T8) of the projectile from predetermined parameters such as the initial velocity of the projectile and the variable parameters Vorhalt and / or essay of the tube is calculated on the basis of a mathematical model, and the derivative to be set and / or attachment is determined from at least one suitable trajectory (T1 - T8). Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass im Feuerleitrechner eine Schar von Trajektorien (T1 - T4) berechnet wird und Vorhalt und/oder Aufsatz durch Interpolation oder Extrapolation derjenigen Werte für Vorhalt und/oder Aufsatz bestimmt werden, deren zugehörige Trajektorien (T2, T3) dem zu treffenden Ziel (T) am nächsten kommen.A method according to claim 1, characterized in that in the Feuerleitrechner a bevy of trajectories (T1 - T4) is calculated and Vorhalt and / or essay by interpolation or extrapolation of those values for Vorhalt and / or essay are determined whose associated trajectories (T2, T3 ) come closest to the target (T) to be hit. Verfahren nach Anspruch 2, dadurch gekennzeichnet, dass die zur Interpolation oder Extrapolation verwendeten Werte für Vorhalt und/oder Aufsatz in Abhängigkeit des Abstandes der zugehörigen Trajektorie (T2, T3) vom zu treffenden Ziel gewichtet werden.A method according to claim 2, characterized in that the values used for the interpolation or extrapolation for derivative and / or essay depending on the distance of the associated trajectory (T2, T3) are weighted by the target to be hit. Verfahren nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass unter Variation der Parameter Vorhalt und/oder Aufsatz iterativ Trajektorien (T5 - T8) berechnet werden, bis eine der Trajektorien (T8) das Ziel (T) mit einer vorgegebenen maximalen Abweichung trifft, und dass der zu dieser Trajektorie (T8) gehörende Vorhalt und/oder Aufsatz gewählt wird.Method according to one of Claims 1 to 3, characterized in that trajectories (T5 - T8) are iteratively calculated by varying the parameters derivative and / or attachment until one of the trajectories (T8) hits the target (T) with a predetermined maximum deviation , and that the derivative and / or article belonging to this trajectory (T8) is chosen. Verfahren nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass die Trajektorien (T1 - T8) anhand mindestens einer Differentialgleichung berechnet werden.Method according to one of claims 1 to 4, characterized in that the trajectories (T1 - T8) are calculated using at least one differential equation. Verfahren nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass Informationen wie die Art und/oder der Luftwiderstandsbeiwert der Munition in der Munition hinterlegt sind und von der Waffe (W) zur Berechnung der Trajektorien (T1 - T8) ausgelesen werden.Method according to one of claims 1 to 5, characterized in that information such as the type and / or the drag coefficient of the ammunition are stored in the ammunition and are read by the weapon (W) for calculating the trajectories (T1 - T8). Feuerleitrechner für eine ballistische Waffe zur Durchführung des Verfahrens nach einem der Ansprüche 1 bis 6, aufweisend eine Recheneinheit zur Berechnung von Trajektorien (T1 - T8) eines Geschosses aus vorgegebenen Parametern wie der Anfangsgeschwindigkeit des Geschosses und den variablen Parametern Vorhalt und/oder Aufsatz des Rohres anhand eines mathematischen Modells und zur Bestimmung des einzustellenden Vorhaltes und/oder Aufsatzes aus mindestens einer geeigneten Trajektorie (T1 - T8).Fire control computer for a ballistic weapon for performing the method according to one of claims 1 to 6, comprising a computing unit for calculating trajectories (T1 - T8) of a projectile from predetermined parameters such as the initial velocity of the projectile and the variable parameters Vorhalt and / or attachment of the tube on the basis of a mathematical model and for determining the derivative to be set and / or attachment from at least one suitable trajectory (T1 - T8). Feuerleitrechner nach Anspruch 7, gekennzeichnet durch eine Leseeinrichtung zum Auslesen von in der Munition gespeicherten Informationen.Fire control computer according to claim 7, characterized by a reading device for reading information stored in the ammunition.
EP20070012336 2006-08-03 2007-06-23 Determination of the adjustment to make to the alignment of a ballistic weapon Revoked EP1898173B1 (en)

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DE102009058566A1 (en) * 2009-12-17 2011-06-22 Krauss-Maffei Wegmann GmbH & Co. KG, 80997 Propellant charge and device and method for determining a Feuerleitlösung
DE102009058565A1 (en) * 2009-12-17 2011-06-22 Krauss-Maffei Wegmann GmbH & Co. KG, 80997 Device and method for identifying projectiles and / or propellant charges for a particularly heavy weapon
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