EP2244049B1 - Dispositif et procédé de détermination du point cible d'une unité d'observation, notamment d'un simulateur d'armes à feu - Google Patents

Dispositif et procédé de détermination du point cible d'une unité d'observation, notamment d'un simulateur d'armes à feu Download PDF

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Publication number
EP2244049B1
EP2244049B1 EP09158664.4A EP09158664A EP2244049B1 EP 2244049 B1 EP2244049 B1 EP 2244049B1 EP 09158664 A EP09158664 A EP 09158664A EP 2244049 B1 EP2244049 B1 EP 2244049B1
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EP
European Patent Office
Prior art keywords
target
scan lines
time
detector
scan
Prior art date
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Not-in-force
Application number
EP09158664.4A
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German (de)
English (en)
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EP2244049A2 (fr
EP2244049A3 (fr
Inventor
Josef MÜLLNER
Volker Thier
Martin Markert
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Esigma Technology GmbH
Original Assignee
SIGMA TECHNOLOGY AG E
E SIGMA Tech AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by SIGMA TECHNOLOGY AG E, E SIGMA Tech AG filed Critical SIGMA TECHNOLOGY AG E
Priority to EP09158664.4A priority Critical patent/EP2244049B1/fr
Priority to US13/265,939 priority patent/US20120040313A1/en
Priority to CN2010800182527A priority patent/CN102428340A/zh
Priority to PCT/EP2010/055113 priority patent/WO2010121988A2/fr
Publication of EP2244049A2 publication Critical patent/EP2244049A2/fr
Publication of EP2244049A3 publication Critical patent/EP2244049A3/fr
Application granted granted Critical
Publication of EP2244049B1 publication Critical patent/EP2244049B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/26—Teaching or practice apparatus for gun-aiming or gun-laying
    • F41G3/2616—Teaching or practice apparatus for gun-aiming or gun-laying using a light emitting device
    • F41G3/2622—Teaching or practice apparatus for gun-aiming or gun-laying using a light emitting device for simulating the firing of a gun or the trajectory of a projectile
    • F41G3/2661—Teaching or practice apparatus for gun-aiming or gun-laying using a light emitting device for simulating the firing of a gun or the trajectory of a projectile in which the light beam is sent from the target to the weapon

Definitions

  • the present invention relates to a device and a method for determining the target point of an observation unit.
  • a generic observation unit can be combined with different devices, such as cameras, vision devices or firearm simulators.
  • the observation unit according to the invention is suitable e.g. for the determination of the target point or the viewing direction of a camera, which is of particular importance for image recording and processing in virtual studios.
  • the observation device according to the invention permits the precise determination of the image area recorded by a camera.
  • the observation device can also be attached to viewing devices in order to determine a section of a projected image taken by the user in the field of view.
  • the knowledge of the targeted image section allows, for example, the situational or action-dependent recording of different images on a viewing screen or a projection screen.
  • Another field of application opens up for the observation device according to the invention in the control or monitoring of robots, in particular industrial robots.
  • fitting issues which depend on the ability of the robot, play a particular spatial position to be able to drive very accurately.
  • a promising way to do this is to monitor the robot externally and to precisely determine its position in space.
  • the well-known measuring system uses several high-resolution and calibrated measuring cameras, which monitor the working space of the industrial robot.
  • On the end effector of the industrial robot appropriate target marks are attached, with which it is possible to determine the position and orientation of the end effector.
  • the technical effort is high.
  • the present invention can also be used to advantage for such positional determinations of end effectors on robots.
  • a variety of simulation devices are used, which can simulate the handling of the weapon and the delivery of a shot more or less realistic. So that the user of such a simulator also receives feedback as to whether a simulated shot would have actually hit the targeted target or where a projectile would have hit in the event of a genuine firing, appropriate devices and evaluation methods are required which determine the target point at the moment The shooter was targeted by the shooter and then in the case of a real firing the Projectile would have taken, always provided that the sighting device attached to the simulation weapon is largely congruent with the impact point at error-free sighting of the target point. The differences between visor point and hit point resulting from the ballistics are not decisive for the following considerations, so that it is not discussed in detail.
  • the WO 02/06758 A1 includes a method for determining the position of a virtual target point, such as a firearm simulator.
  • a virtual target point such as a firearm simulator.
  • time-shifted laser beams of an infrared laser in the x and y directions are projected onto a screen.
  • An infrared sensor is attached to a firearm simulator.
  • a computer system processes the data collected by the infrared sensors and determines the position of the virtual destination.
  • the laser beams are always projected in the x and y directions, ie parallel to the side edges of the target area.
  • a firearm laser training system and method which allows visual feedback of simulated bullet impact locations.
  • a laser transmitter module is mounted on a firearm simulator, which directs a laser beam on actuation of the trigger on a target.
  • a scanning device is provided, which captures an image of the target and the laser beam projected thereon and transmitted to a computer system. The points of impact of the laser beam can be displayed to the user and subjected to further automated processing.
  • a method and apparatus for shot-simulating direct-aimed weapons using laser light is known.
  • a laser beam source is provided on the firearm simulator, which directs a laser beam to the targeted target.
  • Part of the laser light is reflected off reflectors attached to the target and thrown back to the firearm simulator.
  • the transit time of the reflected laser beam can be used inter alia for determining the distance between the firearm simulator and the target.
  • the DE 698 28 412 T2 describes a laser-working practice weapon that works with a computer system to determine the destination point.
  • a mounted on the weapon laser module sends at the time of firing a laser beam on a target, the point of impact of the laser beam is determined at the target via detectors and forwarded to a computer system.
  • a laser beam module must be arranged on the firearm, which emits a highly focused laser beam, as far as the projection point of the laser beam is drawn on the target for the evaluation of the accuracy of accuracy.
  • the laser beam has too little parallelism, the target point can not be determined with high accuracy because the projection surface of the laser beam is larger than the incident cross section of a real projectile.
  • laser beams with high parallelism are used instead, the required laser beam modules are technically complex, which not only leads to high costs but also to large dimensions that stand in the way of a realistic simulation of a firearms simulator.
  • special precautions must be taken to prevent damage to the eyes of the user or bystanders, if they are accidentally struck by the laser beam.
  • the object of the present invention is therefore to provide a device and a method for determining the target point of an observation unit, in particular a firearm simulator, which avoids the aforementioned disadvantages.
  • the aim is the resolution accuracy increase the target point detection, without thereby the cost of a corresponding target or to observe an image area unreasonably high.
  • the device according to the invention for determining the target point of an observation unit comprises a target screen on which at least one target area is defined.
  • the target screen is designed for example as a projection screen or can be part of a building or the like.
  • the target screen and thus also the target area need not be planar but can be arranged, for example, on a single or multiple spherical surface. Curved projection surfaces open up the realistic depiction of the target images or other objects, so that, for example, for a shooter even distant targets can be simulated on a target screen only a few meters away.
  • the target area can extend over the entire target screen or capture only a part of the target screen.
  • the apparatus further comprises a scan line projector that projects at least two non-parallel scan lines onto the target screen at the same time or with a time delay and shifts them over this or the target area. It is expedient, no orthogonal and at most one parallel to the axis of rotation a scan mirror of the projector.
  • a control unit which controls and measures the displacement of the scan lines to determine when the scan lines enter and exit the target area and where within the target area the scan lines are at a particular point in time.
  • an optical aiming point detector is provided which is attached, for example, to a firearm simulator, a camera or a viewing device and is aligned with the viewing direction of the corresponding device (for example with the sighting device of a firearm simulator).
  • the target point detector can permanently observe the target area or, e.g. be activated by a simulated firing so that it can provide a target point signal to the control unit each time it detects a scan line. If the target point detector permanently observes the occurrence of the scan lines, the generated target point signal may be supplied continuously or only at predetermined moments, for example, when the trigger is operated. In the latter case, for example, the signal stored in a temporary memory within a predetermined range around the withdrawal instant can be supplied to the control unit when the shooter actuates the trigger of the weapon simulator.
  • the observation unit is designed as part of a firearm simulator.
  • the observation unit is used to detect a target point of a Camera or another viewing device.
  • vision devices can be stereoscopically constructed in a conventional manner, wherein the Zielticianer charged can be performed separately for the fields of view of the two eyes.
  • a destination point can also be understood as meaning a specific, areal section of a destination area, which is detected by the camera or the viewing device.
  • the target area is preferably delimited by at least two position-determined reference detectors, which are hit during the moving projection of the at least two non-parallel scan lines and thereby generate corresponding reference signals.
  • the reference detectors are also used for autocalibration, as they allow the verification of the position of the scanning lines.
  • the reference detectors can also be arranged outside the target area in modified embodiments as long as they are reached by the scanning lines during a deflection movement.
  • the control unit calculates the position of the scanning lines in the target area from the reference signals and the target signal supplied by the target point detector, for example at the time of the firing. Subsequently, from the determination of a virtual intersection of the at least two scanning lines, the exact position of the target point at the moment of the simulated firing or at a given observation time is determined. In fact, although there is a minimal time lag between the observation time (eg the timing of firing) and the detection of the two scan lines by the target point detector, but this moves due to high repetition rates and low processing times at most in the millisecond range, so that he neglected for the determination of the target point can be or at high Accuracy requirements can be considered mathematically.
  • the time between the occurrence of the reference signals and the time of detection of the respective scan line is determined by the target point detector.
  • the respective position of the scan lines can be calculated over the time difference.
  • the emission angle for the respective scan line can be determined, preferably by detection within the projector. From the width angle and elevation angle, it is then possible to determine the position of the scan line on a target plane or else in a three-dimensional space. This offers the advantage that a target point can be precisely determined not only in one plane but in space. The virtual intersection of the scan lines at the observation time (firing) is then on the optical axis between the target point detector and the targeted target point.
  • the firearm simulator does not require a module emitting a laser beam, but rather that this is replaced by a simple optical detector.
  • this target point detector has the smallest possible viewing angle, so that its detection range is limited to a very small area with, for example, a few square millimeters of expansion.
  • the target screen or the Target area defined on it can be dimensioned almost arbitrarily large, without thereby significantly increasing the effort of the target point detection.
  • a high resolution accuracy of the target point detection can also be achieved without the need for elaborate position determinations in space, as they have been performed so far, for example by projection of a grid pattern.
  • the scanline projector is preferably positioned between the targeting screen and the firearm simulator. By this positioning of the scan line projector is avoided in any case that the user of the firearm simulator is struck directly by the projected laser light.
  • the scanning line projector has at least one light source (eg laser or LED), the beam of which is fanned out linearly and, for example, is displaced over the target area as a scanning line via a rotating deflection mirror or tilting mirror.
  • the construction and mode of operation of such laser scanners are generally known to the person skilled in the art, so that a detailed description of the scanning line projector can be dispensed with. It should be noted, however, that more than two scanning lines can be guided over the target area for increasing the scanning rate, wherein different wavelengths, polarizations or modulations of the laser light can be used in order to avoid mutual interference of the scanning lines.
  • four reference detectors are provided, which are each arranged at the corners of a rectangular target area.
  • the scan lines hit all four reference detectors in a staggered manner so that four times are available for determining the reference positions of the scan lines in the target area ,
  • the intervening positions of the scan lines in the target area can be easily calculated knowing the shift speed.
  • a modified embodiment uses the detected radiation angle of the scanning lines for position determination.
  • the scan lines are preferably passed over the target area at a high repetition rate.
  • repetition rates 100 Hz and more can be readily achieved. This means that more than 50 pairs of scan lines per second can sweep the target area and be detected by the target point detector. By multiplying the mirror surfaces, higher repetition rates can be easily achieved.
  • the device comprises a target screen 01, which can be configured, for example, as a projection surface with a dimension of several square meters.
  • the target screen may have an arbitrarily modified, calculable surface shape, eg be spherically curved.
  • a conventional target can be recorded or projected. It is also possible to project complex image scenarios on the target screen 01, including moving image sequences.
  • At least one target area 02 is defined on the target screen 01, in which the user targets a target point 03.
  • a total of four reference detectors 04 are provided, which are each arranged here at the corners of the target area 02.
  • more or fewer reference detectors can be used, which are also positionable at other locations of the target area.
  • the function of the reference detectors is to determine one or more reference positions on the projection surface relative to the projector. This can be done for example by evaluating a common time base and the reference signals supplied by the reference detectors.
  • the reference detectors allow one or more time slots to be defined, which are opened by entry of a scan line 05 into the target area 02 and closed again when leaving the target area.
  • the target area can be subdivided into several subareas.
  • the respective current radiation angles are instead determined. From the knowledge of the radiation characteristic of the scan line projector and the start time of a deflection, this angle can be determined.
  • the scanning lines 05 are generated by a scanning line projector 06, projected onto the target screen and moved over the target area 02.
  • the scan line projector 06 is configured as a laser scanner which linearly fills a laser beam using known optical elements to first move a first scan line 05a over the target area 02 and subsequently a second scan line 05b with a changed orientation and 180 ° out of phase also to move over the target area 02.
  • the scan line projector 06 may include a plurality of laser light sources and / or deflection units.
  • the two scanning lines 05a, 05b can be moved over the target area 02 at the same time or with a time delay. They do not run parallel to each other, preferably at an angle of 90 °. It is particularly expedient not to project the scan lines parallel to the side edges and the diagonals of the target area 02, since in this way two reference detectors 04 are never hit simultaneously by one scan line.
  • a central control unit 07 evaluates the reference signals of the reference detectors 04 and determines the respective times at which the first and second scanning line hits the respective reference detector. At the same time, the control unit 07 is coupled to the scanline projector 06 to cause the projection of the scanlines. Using the sweep rate at which the scan lines pass over the target area 02, the control unit may calculate, at the same time as the reference signals provided by the reference detectors 04, at which point of the target area the scan line is at a particular point in time. This is done in a time-based calculation, starting from the determined time of entry into the target area (opening of the time window) or the impact on another reference detector, which is hit after the opening of the time window of the scan line. In modified embodiments, the length and width angles of the scan lines within a scanned target space are determined to determine a spatially defined location of the scan lines.
  • the time window is opened when the scanning line 05 meets the first reference detector lying on its displacement path and closed when the scanning line arrives at the fourth reference detector lying in the direction of movement.
  • the scan line affects the two further reference detectors, whereby the accuracy of the position calculation can be increased, which can also be understood as opening and closing time partial windows.
  • the device according to the invention further comprises a target point detector 08, which is attached to a firearm simulator 09.
  • the target point detector 08 has at least one optical sensor, with which the target area 02 is observed when the firearm simulator 09 is directed to the target screen 01 and a firing is simulated.
  • the target point detector 08 is equipped with the smallest possible viewing angle, so that it captures only a small section of the target area 02 even at a greater distance from the target area.
  • the target point detector 08 may include a corresponding optics.
  • the area observed by the target point detector 08 corresponds, for example, to the size of an impact opening of a projectile, which would strike at the target point 03.
  • the target point 03 can also be determined more accurately in the case of a larger observation area by taking into account the signal strength.
  • the target point 03 is considered to be the point at which the two scanning lines 05a, 05b virtually cross each other at the time the shot is fired, possibly neglecting the time interval of the projection in the case of scanning lines projected at a later time.
  • the target point detector 08 is interrogated and the time interval is determined by the control unit 07 in the case of the time-based determination of the positions of the scanning lines. which elapses until the detection of the first scanning line 05a and the detection of the second scanning line 05b.
  • the respective position of the two scanning lines at the time of firing can be calculated from these values.
  • the targeted target point 03 then corresponds to the virtual intersection of the two scanning lines in the determined position.
  • the scan lines and the target point targeted by the shooter may well lie in different planes.
  • the optical axis between target point and target point detector is crossed by the scan lines. The projection of the intersection of these crossing points is then congruent with the target point.
  • Fig. 2 In the form of a flowchart, again the most important steps of the method according to the invention are shown, in each case assigned to the corresponding unit of the previously described device, which is responsible for carrying out these steps.
  • a laser beam is first directed in step 20, for example, onto a rotating mirror or a similar element in order to generate the scanning lines.
  • the scanning lines are moved over the target screen and thereby encounter the reference detectors 04, which then transmit the reference signal to the control unit 07.
  • an autocalibration of the entire device may be performed, evaluating the reference signals provided by the reference detectors and using a common time base generated, for example, in the control unit 07 and distributed to the other units.
  • the firearm simulator 09 receives the common time base in step 23 and detects the projected scan lines when triggering a shot by means of the target point detector 08.
  • the times of detection of the scanning lines are transmitted to the control unit 07, for example in the form of a time stamp. This then calculates the target point in step 24 in the manner already explained above using the determined time information.
  • the device for determining the target point in the application described cooperates with a firearm simulator, a data coupling between the control unit 07 and a simulation central unit 10 expediently exists.
  • the simulation central unit 10 assumes further control functions for the firearm simulator.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • General Engineering & Computer Science (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)

Claims (14)

  1. Dispositif pour la détermination du point de mire (03) d'une unité d'observation (09), comprenant :
    - un projecteur de lignes de balayage (06), lequel projette au moins deux lignes de balayage (05a, 05b) non parallèles et les déplace sur une zone cible (02) ;
    - une unité de commande (07), laquelle commande le déplacement des lignes de balayage (05a, 05b) ;
    - un détecteur optique de point de mire(08), lequel fournit respectivement un signal de point de mire à l'unité de commande (07) lorsqu'une ligne de balayage (05a, 05b) est reconnue ;
    caractérisé en ce que quatre détecteurs de référence (04) sont disposés aux angles d'une zone cible (02) rectangulaire, les deux lignes de balayage (05a, 05b) étant déplacées de manière non parallèle aux bords latéraux et aux diagonales de la zone cible (02) de manière à ce qu'elles touchent successivement dans le temps l'ensemble des quatre détecteurs de référence (04), et l'unité de commande (07) déterminant la position de chaque ligne de balayage (05a, 05b) dans la zone cible (02) au moment de la reconnaissance par le détecteur de point de mire (08) et délivrant le point d'intersection virtuel des deux lignes de balayage (05a, 05b) à ce moment précis en tant que point de mire (03).
  2. Dispositif selon la revendication 1 pour la détermination du point de mire (03) d'un simulateur d'arme à feu (09), caractérisé en ce que le détecteur optique du point de mire (08) est monté sur le simulateur d'arme à feu (09) et est orienté avec le dispositif de visée de celui-ci ; et en ce que le signal de point de mire est délivré à l'unité de commande (07) au moins lors d'un coup de feu simulé lorsqu'une ligne de balayage (05a, 05b) est reconnue.
  3. Dispositif selon la revendication 1, caractérisé en ce que l'unité de commande (07) détermine, à partir des signaux de référence délivrés par les détecteurs de référence (04) et des temps écoulés entre l'apparition de ceux-ci, la position de chaque ligne de balayage (05a, 05b) dans la zone cible (02) au moment de la reconnaissance par le détecteur de point de mire (08).
  4. Dispositif selon les revendications 1 ou 2, caractérisé en ce que les lignes de balayage (05a, 05b) non parallèles sont projetées de manière isochrone ou décalée dans le temps et sont déplacées sur la zone cible (02).
  5. Dispositif selon l'une des revendications 1 ou 2 ou 4, caractérisé en ce que le projecteur de lignes de balayage (06) détermine les angles de balayage selon lesquels les lignes de balayage (05a, 05b) sont projetées vers la zone cible, et en ce que l'unité de commande (07) détermine, à partir des angles de balayage déterminés, la position de chaque ligne de balayage (05a, 05b) dans la zone cible (02) au moment de la reconnaissance par le détecteur de point de mire (08).
  6. Dispositif selon l'une des revendications 1 à 5, caractérisé en ce que le projecteur de lignes de balayage (06) comprend au moins une source de lumière laser et une unité de balayage qui génère un faisceau laser déployé en éventail en forme de lignes et le déplace sur la zone cible (02) pour la génération et le déplacement des lignes de balayage (05a, 05b).
  7. Dispositif selon la revendication 6, caractérisé en ce que le projecteur de lignes de balayage (06) utilise deux sources de lumière laser avec différentes longueurs d'onde, polarisations ou modulations pour la génération des lignes de balayage (05a, 05b).
  8. Dispositif selon l'une des revendications 1 à 7, caractérisé en ce que les lignes de balayage (05a, 05b) sont guidées sur la zone cible (02) avec un taux de répétition de plus de 100 Hz.
  9. Procédé pour la détermination du point de mire (03) d'une unité d'observation (09), comprenant les étapes suivantes :
    - projection d'au moins deux lignes de balayage (05a, 05b) non parallèles sur un écran cible (01) ;
    - déplacement des lignes de balayage dans une zone cible (02) rectangulaire prédéterminée, contenant quatre détecteurs de référence (04), de l'écran cible (01) avec une vitesse de déplacement prédéterminée, les deux lignes de balayage (05a, 05b) étant déplacées de manière non parallèle aux bords latéraux et aux diagonales de la zone cible (02) de manière à ce qu'elles touchent successivement dans le temps l'ensemble des quatre détecteurs de référence (04) ;
    - détection des deux lignes de balayage avec un détecteur optique de point de mire (08) ;
    - détermination de la position de la ligne de balayage respective dans la zone cible (02) au moment de la détection par le détecteur de point de mire (08) ;
    - détermination du point de mire (03) en tant que point d'intersection des deux lignes de balayage (05a, 05b) au moment de la détection par le détecteur de point de mire (08).
  10. Procédé selon la revendication 9 pour la détermination du point de mire (03) d'un simulateur d'arme à feu (09), caractérisé en ce que la détection des deux lignes de balayage s'effectue avec un détecteur optique de point de mire monté sur le simulateur d'arme à feu et orienté avec le dispositif de visée de celui-ci au moment d'un coup de feu simulé.
  11. Procédé selon les revendications 9 ou 10, caractérisé en ce que l'on détermine les moments où les lignes de balayage entrent dans la zone cible ou sortent de celle-ci, et en ce que le laps de temps entre ces moments ainsi que la vitesse de balayage sont pris en compte pour la détermination de la position de la ligne de balayage respective dans la zone cible au moment de la détection par le détecteur de point de mire.
  12. Procédé selon les revendications 9 ou 10, caractérisé en ce que la position de la ligne de balayage respective dans la zone cible est déterminée sur la base des angles solides de la ligne de balayage au moment de la détection par le détecteur de point de mire.
  13. Procédé selon l'une des revendications 9 à 12, caractérisé en ce que les deux lignes de balayage sont projetées en angle droit l'une par rapport à l'autre sur l'écran cible.
  14. Procédé selon l'une des revendications 10 à 13, caractérisé en ce que les deux lignes de balayage sont projetées de manière isochrone ou de manière alternée l'une après l'autre dans le temps sur l'écran cible.
EP09158664.4A 2009-04-23 2009-04-23 Dispositif et procédé de détermination du point cible d'une unité d'observation, notamment d'un simulateur d'armes à feu Not-in-force EP2244049B1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP09158664.4A EP2244049B1 (fr) 2009-04-23 2009-04-23 Dispositif et procédé de détermination du point cible d'une unité d'observation, notamment d'un simulateur d'armes à feu
US13/265,939 US20120040313A1 (en) 2009-04-23 2010-04-19 Device and method for determining the target point of an observation unit, in particular on a firearm simulator
CN2010800182527A CN102428340A (zh) 2009-04-23 2010-04-19 用于确定特别是射击武器模拟器上的观察单元目标点的设备和方法
PCT/EP2010/055113 WO2010121988A2 (fr) 2009-04-23 2010-04-19 Dispositif et procédé permettant de déterminer le point de cible d'une unité d'observation, en particulier sur un simulateur d'arme à feu

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP09158664.4A EP2244049B1 (fr) 2009-04-23 2009-04-23 Dispositif et procédé de détermination du point cible d'une unité d'observation, notamment d'un simulateur d'armes à feu

Publications (3)

Publication Number Publication Date
EP2244049A2 EP2244049A2 (fr) 2010-10-27
EP2244049A3 EP2244049A3 (fr) 2013-02-13
EP2244049B1 true EP2244049B1 (fr) 2014-08-27

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EP09158664.4A Not-in-force EP2244049B1 (fr) 2009-04-23 2009-04-23 Dispositif et procédé de détermination du point cible d'une unité d'observation, notamment d'un simulateur d'armes à feu

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US (1) US20120040313A1 (fr)
EP (1) EP2244049B1 (fr)
CN (1) CN102428340A (fr)
WO (1) WO2010121988A2 (fr)

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DE102021131563A1 (de) * 2021-12-01 2023-06-01 Thales Management & Services Deutschland Gmbh Verfahren zur Ermittlung einer mittels einer Simulationswaffe anvisierten Stelle, sowie Schießsimulator
DE102022113999A1 (de) 2022-06-02 2023-12-07 Thales Management & Services Deutschland Gmbh Verfahren zum Betreiben eines Waffensimulators, sowie Waffensimulator

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CN102428340A (zh) 2012-04-25
WO2010121988A3 (fr) 2012-02-02
EP2244049A2 (fr) 2010-10-27
WO2010121988A2 (fr) 2010-10-28
EP2244049A3 (fr) 2013-02-13

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