EP2839235B1 - Method for determining corrections for artillery fire - Google Patents

Method for determining corrections for artillery fire Download PDF

Info

Publication number
EP2839235B1
EP2839235B1 EP13715705.3A EP13715705A EP2839235B1 EP 2839235 B1 EP2839235 B1 EP 2839235B1 EP 13715705 A EP13715705 A EP 13715705A EP 2839235 B1 EP2839235 B1 EP 2839235B1
Authority
EP
European Patent Office
Prior art keywords
target
crosshair
impact
display screen
distance
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.)
Active
Application number
EP13715705.3A
Other languages
German (de)
French (fr)
Other versions
EP2839235A1 (en
Inventor
Patrick Seugnet
Stéphane GODIO
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.)
Thales SA
Original Assignee
Thales SA
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 Thales SA filed Critical Thales SA
Priority to PL13715705T priority Critical patent/PL2839235T3/en
Publication of EP2839235A1 publication Critical patent/EP2839235A1/en
Application granted granted Critical
Publication of EP2839235B1 publication Critical patent/EP2839235B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/06—Aiming or laying means with rangefinder
    • F41G3/065—Structural association of sighting-devices with laser telemeters
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/02—Aiming or laying means using an independent line of sight
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/06—Aiming or laying means with rangefinder
    • 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 field of the invention is that of artillery fire.
  • This observation system described in relation to the figure 4 conventionally comprises an observation channel which comprises an image sensor 2 and a so-called laser laser telemetry channel which comprises a rangefinder 4; it also comprises a display screen 1 common to both channels on which appears the image 10 from the image sensor and on which is positioned a telemetry reticle R1 materializing the line of sight of the laser rangefinder, as can be seen see figure 1 .
  • This reticle is usually shaped like a cross.
  • the laser beam of the rangefinder is emitted in a very narrow sector typically of about 1 mrad, which imposes a very precise laser pointing.
  • a harmonization that is to say an alignment of the axes between the laser path and the observation path is performed at the factory; As a result, the reticle R1 is located substantially in the center of the screen 1.
  • the operator orients the binocular so as to position the laser reticle R1 on the image of the target and then the telemetry is carried out.
  • a user interface 7 for example by action on a push button.
  • the observation system is furthermore equipped with means for measuring the orientation of the line of sight (of the observation channel or of the telemetry channel since they have the same axis), such that a magnetic compass, or a goniometer or a gyrocompass ..., or any other means, and positioning means 6 such as for example a GPS bi-antenna system.
  • This observation system is for example mounted on a tripod and therefore has a fixed geographical position, and is able to be oriented.
  • the observer directs the observation system so as to make the reticle R1 coincide with the image 10 of the target as shown on the display screen 1 figure 1 .
  • He then actuates the rangefinder to measure the distance D between the system and the target, at the same time that the positioning measurements of the system and its orientation are respectively calculated by the positioning and orientation means.
  • the coordinates of the target are extracted from these three measurements and transmitted to the pieces of artillery, by voice for example.
  • the second observer When the first impact is not on the target, the second observer has the second mission to provide the operators with artillery pieces, the parameters necessary to determine the corrections of shots to be made to make a second strike on the target. this time.
  • An example of a system for adjusting the firing direction is described in the document US 2009/123894 .
  • the distance D ' is obtained by laser telemetry with a sufficient accuracy of the order of ⁇ 5m.
  • the magnetic compass is a device sensitive to the Earth's magnetic field and makes it possible to determine the magnetic north of a place; it is then easy to deduce the geographic north of this place, by adding the magnetic declination.
  • Using a magnetic compass you can measure by pointing at a target the observation field towards this target. By pointing to the impact and making a subtraction, one is able to determine the shift in bearing between the target and the impact.
  • the advantage of the device lies in its compactness and lightness. It is easily integrated into more complex systems such as multifunctional binoculars for example. Its disadvantage is related to the sensitivity of this type of sensor which is extremely sensitive to disturbances and can not guarantee in the best case a measurement less than 10 mrad. But this accuracy of 10 mrad is very insufficient since the order of magnitude of the corrections of shots that one seeks to provide is 1 millradian.
  • the goniometer is a protractor. It makes it possible to measure a relative angle with great precision, less than one mrad. By successively pointing the line of sight of a binocular on the target and then on the point of impact, it makes it possible to measure the shift in bearing with the required precision.
  • the disadvantage of the goniometer is that it is heavy, cumbersome is penalizing for tactical equipment and adds a significant cost to the system.
  • correction parameters can also be calculated by using an observation system such as a binocular or a telescope, whose display screen is provided with a micrometric R1 reticle, that is to say completed by small markers. , the distance between two landmarks defining a field of view, as shown figure 1 .
  • the observer himself evaluates the shift in the field and in the field as a function of the shift observed on his display screen 1 between the micrometer reticle R1 positioned on the image 10 of the target and the image 11 of the impact on his screen; but this evaluation by the observer himself does not make it possible to reach the desired accuracy of the order of 1 billion.
  • telemetry it measures the distance by having previously oriented its observation system to the impact that is to say by positioning the reticle on the image of the impact.
  • the subject of the invention is a method for determining artillery fire corrections as described in claim 1.
  • the display of the second and third reticle are possibly simultaneous.
  • the telemetry step can be repeated, for example when no echo is obtained by the range finder.
  • the field of view of the display screen may vary, it comprises following the step of extraction of coordinates, a step of widening the field of view of the display screen.
  • the subject of the invention is also an optronic observation system capable of being oriented and equipped with a device for measuring the orientation of its line of sight, a laser range finder, means for positioning the system, and a display screen provided with a fixed reticle and harmonized with the axis of the range finder, a user interface and a processing unit, characterized in that it comprises means for displaying and moving two other reticles on the screen, and in that the processing unit comprises means for implementing the method as described.
  • the operator by means of displaying and moving a second reticle R2 on the screen places this reticle R2 on the image 11 of the point of impact on the screen without modifying the orientation of the binocular, as shown figure 3a .
  • These means of moving a reticle are for example a joystick, or push buttons or a device for analyzing the retina of the observer.
  • the microvisualizer is of the OLED or LCD type, with a bearing angle associated with each predetermined pixel; it is typically from about 0.1 to 5%.
  • the required accuracy of the order of 1 mrd is thus largely achieved by measuring ⁇ x in number of pixels. It is the same for the shift in the site obtained by measuring ⁇ y, but the main contribution is that of the offset in the field.
  • the horizontal field of a screen is typically about 3 °, about 50 mrd, which corresponds to a field of view covering about 150 m, for an observer located at 3 km.
  • the observer may possibly expand this field of view before the adjustment shot, the angle of bearing associated with each pixel being of course increased accordingly.
  • a third reticle R3 is displayed on the screen symmetrically with the reticle R2 with respect to R1 (more precisely with respect to the center of R1); this is shown figure 3b .
  • the observer modifies the orientation of the observation system so as to position the reticle R3 on the image of the target 10, which by construction brings the reticle R1 and therefore the line of sight of the range finder onto the image of the point of impact 11.
  • the point of impact becomes the physical reference common to the observer and the artillery pieces in place of the geographic north. It then activates the range finder to measure the distance D 'between the observation system and the point of impact. This telemetry step is possibly repeated as long as no echo of the point of impact is detected by the range finder.
  • the observation system then has all the data (position, shift in orientation, distances D and D ') to determine the difference between the target and the point of impact of the adjustment shot, with the accuracy of a goniometer system but without the latter.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Measurement Of Optical Distance (AREA)

Description

Le domaine de l'invention est celui des tirs d'artillerie.The field of the invention is that of artillery fire.

Lors de tirs d'artillerie, un observateur avancé est placé entre les pièces d'artillerie et une cible fixe, typiquement à environ 1 ou 2 km de la cible, les pièces d'artillerie étant elles placées en arrière à une distance typiquement comprise entre 5 et 50 km pour des tirs terrestres. Cet observateur qui a une vue directe sur la cible est chargé dans un premier temps de déterminer la position de cette cible. On parle d'extraction de coordonnées de la cible.During artillery fire, an advanced observer is placed between the artillery pieces and a fixed target, typically about 1 to 2 km from the target, with the artillery being placed back at a distance typically between 5 and 50 km for ground fire. This observer who has a direct view of the target is initially responsible for determining the position of this target. We are talking about the extraction of coordinates from the target.

Celles-ci sont obtenues de la manière suivante au moyen d'un système d'observation optronique fixe mais orientable tel qu'une jumelle ou une lunette multifonctions fixée sur un trépied.These are obtained in the following manner by means of a fixed but adjustable optronic observation system such as a binocular or a multifunctional telescope fixed on a tripod.

Ce système d'observation décrit en relation avec la figure 4 comprend de manière classique, une voie d'observation qui comprend un capteur d'images 2 et une voie de télémétrie laser dite voie laser qui comprend un télémètre 4 ; il comprend également un écran d'affichage 1 commun aux deux voies sur lequel apparaît l'image 10 issue du capteur d'image et sur lequel est positionné un réticule de télémétrie R1 matérialisant l'axe de visée du télémètre laser, comme on peut le voir figure 1. Ce réticule a généralement la forme d'une croix. Le faisceau laser du télémètre est émis dans un secteur très étroit typiquement d'environ 1 mrad, ce qui impose un pointage très précis du laser. Une harmonisation c'est-à-dire un alignement des axes entre la voie laser et la voie d'observation est effectuée en usine ; il en résulte que le réticule R1 est situé sensiblement au centre de l'écran 1. Pour télémétrer la cible, l'opérateur oriente la jumelle de manière à positionner le réticule laser R1 sur l'image de la cible puis la télémétrie est effectuée au moyen d'une interface utilisateur 7, par exemple par action sur un bouton poussoir. Le système d'observation est en outre équipé de moyens 5 de mesure de l'orientation de l'axe de visée (de la voie d'observation ou de la voie de télémétrie puisqu'elles ont le même axe), tels qu'un compas magnétique, ou un goniomètre ou un gyrocompas..., ou tout autre moyen, et de moyens de positionnement 6 tels que par exemple un système GPS bi-antennes.This observation system described in relation to the figure 4 conventionally comprises an observation channel which comprises an image sensor 2 and a so-called laser laser telemetry channel which comprises a rangefinder 4; it also comprises a display screen 1 common to both channels on which appears the image 10 from the image sensor and on which is positioned a telemetry reticle R1 materializing the line of sight of the laser rangefinder, as can be seen see figure 1 . This reticle is usually shaped like a cross. The laser beam of the rangefinder is emitted in a very narrow sector typically of about 1 mrad, which imposes a very precise laser pointing. A harmonization, that is to say an alignment of the axes between the laser path and the observation path is performed at the factory; As a result, the reticle R1 is located substantially in the center of the screen 1. To telemetry the target, the operator orients the binocular so as to position the laser reticle R1 on the image of the target and then the telemetry is carried out. means of a user interface 7, for example by action on a push button. The observation system is furthermore equipped with means for measuring the orientation of the line of sight (of the observation channel or of the telemetry channel since they have the same axis), such that a magnetic compass, or a goniometer or a gyrocompass ..., or any other means, and positioning means 6 such as for example a GPS bi-antenna system.

Ce système d'observation est par exemple monté sur trépied et a donc une position géographique fixe, et est apte à être orienté. Comme indiqué, l'observateur oriente le système d'observation de manière à faire coïncider sur l'écran de visualisation 1, le réticule R1 avec l'image 10 de la cible comme illustré figure 1. Il actionne alors le télémètre pour mesurer la distance D entre le système et la cible, en même temps que les mesures de positionnement du système et son orientation sont respectivement calculées par les moyens de positionnement et d'orientation. Les coordonnées de la cible sont extraites de ces trois mesures et transmises aux pièces d'artillerie, par phonie par exemple.This observation system is for example mounted on a tripod and therefore has a fixed geographical position, and is able to be oriented. As indicated, the observer directs the observation system so as to make the reticle R1 coincide with the image 10 of the target as shown on the display screen 1 figure 1 . He then actuates the rangefinder to measure the distance D between the system and the target, at the same time that the positioning measurements of the system and its orientation are respectively calculated by the positioning and orientation means. The coordinates of the target are extracted from these three measurements and transmitted to the pieces of artillery, by voice for example.

Un certain nombre de facteurs peuvent conduire à ce que le premier impact ne soit pas sur la cible :

  • Imprécision de l'extraction de coordonnées,
  • Réglage de la pièce d'artillerie défaillant
  • Température de la poudre et du canon
  • Vents,
  • Etc...
A number of factors can lead to the first impact not being on the target:
  • Imprecision of the extraction of coordinates,
  • Adjustment of the failed artillery piece
  • Temperature of the powder and the barrel
  • winds
  • Etc ...

Lorsque le premier impact n'est pas sur la cible, l'observateur avancé a pour seconde mission de fournir aux opérateurs des pièces d'artillerie, les paramètres nécessaires à la détermination des corrections de tirs à apporter pour réaliser une seconde frappe sur la cible cette fois. Un exemple de système pour ajuster la direction de tir est décrit dans le document US 2009/123894 .When the first impact is not on the target, the second observer has the second mission to provide the operators with artillery pieces, the parameters necessary to determine the corrections of shots to be made to make a second strike on the target. this time. An example of a system for adjusting the firing direction is described in the document US 2009/123894 .

Les paramètres que fournit l'observateur avancé sont au nombre de 3 comme indiqué sur la figure 2 :

  • gisement d'observation de la cible,
  • distance à droite ou gauche entre l'impact et la cible qui est de 10 m plus à gauche sur l'exemple de la figure,
  • distance devant ou derrière entre l'impact et la cible, qui est de 15 m plus près sur l'exemple de la figure.
The parameters provided by the advanced observer are 3 as indicated on the figure 2 :
  • sighting deposit of the target,
  • distance to the right or left between the impact and the target which is 10 m further left in the example of the figure,
  • distance in front or behind between the impact and the target, which is 15 m closer in the example of the figure.

Le calcul de ces paramètres est effectué à partir de la mesure des éléments suivants, sachant que la mesure de la distance D issue de l'étape d'extraction de coordonnées, est considérée suffisamment précise :

  • Distance D' entre l'observateur et l'impact,
  • Décalage de l'orientation entre l'impact et la cible : dans la pratique il s'agit d'un décalage en gisement.
The calculation of these parameters is made from the measurement of the following elements, knowing that the measurement of the distance D resulting from the step of extracting coordinates, is considered sufficiently precise:
  • Distance D between the observer and the impact,
  • Offset of the orientation between the impact and the target: in practice it is a shift in the field.

Pour éviter que l'impact de cette seconde frappe ne soit en dehors de la cible et donc pour limiter au maximum les dommages collatéraux, le calcul de ces paramètres doit être le plus précis possible, notamment avec une précision angulaire d'un mrad, la précision sur D' étant suffisante.To avoid that the impact of this second strike is outside the target and therefore to minimize the collateral damage, the calculation of these parameters must be as accurate as possible, especially with an angular accuracy of one mrad, the accuracy on D 'being sufficient.

En effet, la distance D' est obtenue par télémétrie laser avec une précision suffisante de l'ordre de ± 5m.Indeed, the distance D 'is obtained by laser telemetry with a sufficient accuracy of the order of ± 5m.

A l'heure actuelle il existe deux appareils pour déterminer le décalage en gisement entre la cible et l'impact :

  • Le compas magnétique,
  • Le goniomètre.
At the moment there are two devices to determine the shift in the bearing between the target and the impact:
  • The magnetic compass,
  • The goniometer.

Le compas magnétique est un appareil sensible au champ magnétique terrestre et permet de déterminer le nord magnétique d'un lieu ; il est alors facile de déduire le nord géographique de ce lieu, en ajoutant la déclinaison magnétique. A l'aide d'un compas magnétique on peut mesurer en pointant sur une cible le gisement d'observation vers cette cible. En pointant vers l'impact et en faisant une soustraction, on est en mesure de déterminer le décalage en gisement entre la cible et l'impact. L'avantage de l'appareil réside dans sa compacité et sa légèreté. Il est facilement intégrable dans des systèmes plus complexes comme les jumelles multifonctions par exemple. Son inconvénient est lié à la sensibilité de ce type de capteur qui est extrêmement sensible aux perturbations et ne peut garantir dans le meilleur des cas une mesure à moins de 10 mrad. Or cette précision de 10 mrad est très insuffisante puisque l'ordre de grandeur des corrections de tirs que l'on cherche à fournir est de 1 millradian.The magnetic compass is a device sensitive to the Earth's magnetic field and makes it possible to determine the magnetic north of a place; it is then easy to deduce the geographic north of this place, by adding the magnetic declination. Using a magnetic compass you can measure by pointing at a target the observation field towards this target. By pointing to the impact and making a subtraction, one is able to determine the shift in bearing between the target and the impact. The advantage of the device lies in its compactness and lightness. It is easily integrated into more complex systems such as multifunctional binoculars for example. Its disadvantage is related to the sensitivity of this type of sensor which is extremely sensitive to disturbances and can not guarantee in the best case a measurement less than 10 mrad. But this accuracy of 10 mrad is very insufficient since the order of magnitude of the corrections of shots that one seeks to provide is 1 millradian.

Le goniomètre est un rapporteur d'angle. Il permet de mesurer un angle relatif avec une grande précision, inférieure à un mrad. En pointant successivement la ligne de mire d'une jumelle sur la cible puis sur le point d'impact, il permet de mesurer le décalage en gisement avec la précision requise. L'inconvénient du goniomètre est qu'il est lourd, encombrant ce qui est pénalisant pour un matériel tactique et qu'il ajoute un coût non négligeable au système.The goniometer is a protractor. It makes it possible to measure a relative angle with great precision, less than one mrad. By successively pointing the line of sight of a binocular on the target and then on the point of impact, it makes it possible to measure the shift in bearing with the required precision. The disadvantage of the goniometer is that it is heavy, cumbersome is penalizing for tactical equipment and adds a significant cost to the system.

On peut également calculer ces paramètres de correction en utilisant un système d'observation tel qu'une jumelle ou une lunette, dont l'écran de visualisation est muni d'un réticule R1 micrométrique c'est-à-dire complété par des petits repères, la distance entre deux repères définissant un champ de vue, comme représenté figure 1. L'observateur évalue lui-même le décalage en gisement et en site en fonction du décalage qu'il observe sur son écran de visualisation 1 entre le réticule R1 micrométrique positionné sur l'image 10 de la cible et l'image 11 de l'impact sur son écran ; mais cette évaluation par l'observateur lui-même ne permet pas d'atteindre la précision souhaitée de l'ordre d'1 mrd. Puis par télémétrie, il mesure la distance en ayant préalablement orienté son système d'observation vers l'impact c'est-à-dire en positionnant le réticule sur l'image de l'impact.These correction parameters can also be calculated by using an observation system such as a binocular or a telescope, whose display screen is provided with a micrometric R1 reticle, that is to say completed by small markers. , the distance between two landmarks defining a field of view, as shown figure 1 . The observer himself evaluates the shift in the field and in the field as a function of the shift observed on his display screen 1 between the micrometer reticle R1 positioned on the image 10 of the target and the image 11 of the impact on his screen; but this evaluation by the observer himself does not make it possible to reach the desired accuracy of the order of 1 billion. Then by telemetry, it measures the distance by having previously oriented its observation system to the impact that is to say by positioning the reticle on the image of the impact.

En conséquence, il demeure à ce jour un besoin pour un système donnant simultanément satisfaction à l'ensemble des exigences précitées, en termes de précision des corrections à apporter, de compacité, de légèreté et de coût.As a result, it remains to this day a need for a system simultaneously satisfying all of the above requirements, in terms of the accuracy of corrections to be made, compactness, lightness and cost.

Plus précisément l'invention a pour objet un procédé de détermination de corrections de tir d'artillerie tel que décrit en revendication 1.More specifically, the subject of the invention is a method for determining artillery fire corrections as described in claim 1.

Cela permet notamment de mesurer la distance entre le système d'observation et le point d'impact même lorsque celui-ci vu par l'observateur et/ou son image sur l'écran ont bougé, ou disparu.This allows in particular to measure the distance between the observation system and the point of impact even when it seen by the observer and / or its image on the screen have moved, or disappeared.

L'affichage du deuxième et du troisième réticule sont éventuellement simultanés.The display of the second and third reticle are possibly simultaneous.

L'étape de télémétrie peut être réitérée, par exemple lorsqu'aucun écho n'est obtenu par le télémètre.The telemetry step can be repeated, for example when no echo is obtained by the range finder.

Selon une caractéristique de l'invention, le champ de vue de l'écran de visualisation pouvant varier, il comprend suite à l'étape d'extraction des coordonnées, une étape d'élargissement du champ de vue de l'écran de visualisation.According to a characteristic of the invention, the field of view of the display screen may vary, it comprises following the step of extraction of coordinates, a step of widening the field of view of the display screen.

L'invention a aussi pour objet un système d'observation optronique apte à être orienté et équipé d'un dispositif de mesure de l'orientation de sa ligne de visée, d'un télémètre laser, de moyens de positionnement du système, d'un écran de visualisation muni d'un réticule fixe et harmonisé avec l'axe du télémètre, d'une interface utilisateur et d'une unité de traitement, caractérisé en ce qu'il comprend des moyens d'affichage et de déplacement de deux autres réticules sur l'écran, et en ce que l'unité de traitement comporte des moyens de mise en oeuvre du procédé tel que décrit.The subject of the invention is also an optronic observation system capable of being oriented and equipped with a device for measuring the orientation of its line of sight, a laser range finder, means for positioning the system, and a display screen provided with a fixed reticle and harmonized with the axis of the range finder, a user interface and a processing unit, characterized in that it comprises means for displaying and moving two other reticles on the screen, and in that the processing unit comprises means for implementing the method as described.

D'autres caractéristiques et avantages de l'invention apparaîtront à la lecture de la description détaillée qui suit, faite à titre d'exemple non limitatif et en référence aux dessins annexés dans lesquels :

  • la figure 1 déjà décrite représente schématiquement un exemple d'image de cible sur un écran de visualisation,
  • la figure 2 déjà décrite illustre les corrections de tir à apporter,
  • les figures 3 illustrent les différentes étapes d'affichage des réticules R2 et R3 selon l'invention,
  • la figure 4 représente schématiquement un exemple de système d'observation.
Other features and advantages of the invention will appear on reading the detailed description which follows, given by way of non-limiting example and with reference to the appended drawings in which:
  • the figure 1 already described schematically represents an example of a target image on a display screen,
  • the figure 2 already described illustrates the firing corrections,
  • the figures 3 illustrate the different stages of display of the reticles R2 and R3 according to the invention,
  • the figure 4 schematically represents an example of an observation system.

D'une figure à l'autre, les mêmes éléments sont repérés par les mêmes références.From one figure to another, the same elements are identified by the same references.

On considère qu'un premier tir souvent appelé tir de réglage, a eu lieu, suite à la transmission des coordonnées de la cible aux pièces d'artillerie. L'observateur attend l'impact de ce tir de réglage en conservant le réticule R1 sur l'image de la cible, sans modifier l'orientation du système d'observation. R1 est généralement au centre de l'écran de visualisation 1.It is considered that a first shot, often called tuning fire, took place, following the transmission of the coordinates of the target to the artillery pieces. The observer waits for the impact of this adjustment shot by keeping the reticle R1 on the image of the target, without modifying the orientation of the observation system. R1 is usually in the center of the viewing screen 1.

Lors de l'impact, l'opérateur grâce à des moyens d'affichage et de déplacement d'un deuxième réticule R2 sur l'écran, place ce réticule R2 sur l'image 11 du point d'impact sur l'écran sans modifier l'orientation de la jumelle, comme illustré figure 3a. Ces moyens de déplacement d'un réticule sont par exemple un joystick, ou des boutons poussoirs ou encore un dispositif d'analyse de la rétine de l'observateur. Le positionnement du réticule R2 sur l'image 11 du point d'impact permet la mesure de Δx (= décalage horizontal de R2 par rapport à R1) qui permet de déterminer le décalage en gisement avec la très bonne précision angulaire de l'écran de visualisation. Il s'agit typiquement d'un écran de type microvisualisateur avec une optique oculaire ou d'un écran plat déporté. Le microvisualisateur est de type OLED ou à cristaux liquides LCD, avec un angle de gisement associé à chaque pixel prédéterminé ; il est typiquement d'environ 0,1 mrd à 5% près. La précision requise de l'ordre d'1 mrd est donc largement atteinte en mesurant Δx en nombre de pixels. Il en est de même pour le décalage en site obtenu en mesurant Δy, mais la principale contribution est celle du décalage en gisement.During the impact, the operator by means of displaying and moving a second reticle R2 on the screen places this reticle R2 on the image 11 of the point of impact on the screen without modifying the orientation of the binocular, as shown figure 3a . These means of moving a reticle are for example a joystick, or push buttons or a device for analyzing the retina of the observer. The positioning of the reticle R2 on the image 11 of the impact point allows the measurement of Δx (= horizontal shift of R2 with respect to R1) which makes it possible to determine the shift in bearing with the very good angular precision of the display screen. It is typically a microvisualizer type screen with an ocular optics or a remote flat screen. The microvisualizer is of the OLED or LCD type, with a bearing angle associated with each predetermined pixel; it is typically from about 0.1 to 5%. The required accuracy of the order of 1 mrd is thus largely achieved by measuring Δx in number of pixels. It is the same for the shift in the site obtained by measuring Δy, but the main contribution is that of the offset in the field.

Le champ horizontal d'un écran est typiquement d'environ 3°, soit environ 50 mrd, ce qui correspond à un champ de vue couvrant environ 150 m, pour un observateur situé à 3 km.The horizontal field of a screen is typically about 3 °, about 50 mrd, which corresponds to a field of view covering about 150 m, for an observer located at 3 km.

Si le point d'impact peut être en dehors de ce champ de vue, l'observateur peut éventuellement élargir ce champ de vue avant le tir de réglage, l'angle de gisement associé à chaque pixel étant bien sûr augmenté en conséquence.If the point of impact may be outside this field of view, the observer may possibly expand this field of view before the adjustment shot, the angle of bearing associated with each pixel being of course increased accordingly.

Reste alors à mesurer la distance D' entre le système d'observation et le point d'impact au moyen du télémètre sachant que l'axe de celui-ci est harmonisé avec l'axe matérialisé par le réticule R1. Or à ce stade, R1 est sur l'image 10 de la cible.It remains to measure the distance D 'between the observation system and the point of impact by means of the range finder knowing that the axis thereof is harmonized with the axis materialized by the reticle R1. But at this point, R1 is on the image 10 of the target.

Il faut donc modifier l'orientation du système d'observation de manière à positionner le réticule R1 sur l'image du point d'impact. Mais le point d'impact vu par l'observateur ainsi que son image sur l'écran peuvent avoir bougé, voire même avoir disparu ; la fumée au point d'impact peut s'être dissipée par exemple.It is therefore necessary to modify the orientation of the observation system so as to position the reticle R1 on the image of the point of impact. But the point of impact seen by the observer and his image on the screen may have moved or even disappeared; smoke at the point of impact may have dissipated for example.

Un troisième réticule R3 est affiché sur l'écran de manière symétrique au réticule R2 par rapport à R1 (plus précisément par rapport au centre de R1) ; ceci est montré figure 3b. Cet affichage peut être simultané de celui de R2 ou lui succéder. Il peut être réalisé par l'observateur mais il est de préférence assuré automatiquement par l'unité de traitement 3 du système d'observation qui compte les pixels entre R1 et R2, soit Δx et Δy (= décalage vertical de R2 par rapport à R1 correspondant à un décalage en site).A third reticle R3 is displayed on the screen symmetrically with the reticle R2 with respect to R1 (more precisely with respect to the center of R1); this is shown figure 3b . This display can be simultaneous with that of R2 or succeed him. It can be realized by the observer but it is preferably automatically provided by the processing unit 3 of the observation system which counts the pixels between R1 and R2, ie Δx and Δy (= vertical shift of R2 with respect to R1 corresponding to a shift in location).

Comme montré figure 3c, l'observateur modifie alors l'orientation du système d'observation de manière à positionner le réticule R3 sur l'image de la cible 10, ce qui par construction amène le réticule R1 et donc l'axe de visée du télémètre sur l'image du point d'impact 11. Ce faisant, le point d'impact devient la référence physique commune à l'observateur et aux pièces d'artillerie à la place du nord géographique. Il actionne ensuite le télémètre pour permettre la mesure de la distance D' entre le système d'observation et le point d'impact. Cette étape de télémétrie est éventuellement réitérée tant qu'aucun écho du point d'impact n'est détecté par le télémètre.As shown figure 3c the observer then modifies the orientation of the observation system so as to position the reticle R3 on the image of the target 10, which by construction brings the reticle R1 and therefore the line of sight of the range finder onto the image of the point of impact 11. In doing so, the point of impact becomes the physical reference common to the observer and the artillery pieces in place of the geographic north. It then activates the range finder to measure the distance D 'between the observation system and the point of impact. This telemetry step is possibly repeated as long as no echo of the point of impact is detected by the range finder.

Disposant par ailleurs de sa position, le système d'observation a alors toutes les données (position, décalage en orientation, distances D et D') pour déterminer l'écart entre la cible et le point d'impact du tir de réglage, avec la précision d'un système à goniomètre mais sans ce dernier.Also having its position, the observation system then has all the data (position, shift in orientation, distances D and D ') to determine the difference between the target and the point of impact of the adjustment shot, with the accuracy of a goniometer system but without the latter.

Claims (5)

  1. A method for determining corrections for artillery fire toward a fixed target using a fixed optronic geographical positioning observation system which can be oriented, and is equipped with a device (5) for measuring the orientation of the line of sight thereof, a laser rangefinder (4), system positioning means (6), a display screen (1) provided with a fixed central crosshair (R1) and harmonized with the axis of the rangefinder, means for displaying and moving a second crosshair (R2) on the screen, which method includes the following steps:
    - orienting the observation system so as to display the central crosshair (R1) on the image of the target (10) on the display screen (1),
    - actuating the rangefinder (4) to obtain the distance between the optronic system and the target, and
    - calculating geographical coordinates of the target as a function of the distance between the optronic system and the target provided by the rangefinder (4), the orientation provided by device for measuring the line of sight (5), and the position of the optronic system provided by the positioning means (6),
    characterized in that, in the event that, after firing, the impact of this firing and the target do not coincide, it includes the following steps:
    - the orientation of the system being fixed:
    ∘ displaying on the display screen (1) the second crosshair (R2) on the image of the point of impact of the firing (11) and measuring on the display screen (1) the offset between the first and the second crosshairs (R1, R2),
    ∘ displaying a third crosshair (R3) on the display screen (1) at a position that is symmetrical to that of the second crosshair (R2) relative to the first crosshair (R1),
    - orienting the optronic system in order to position the third crosshair (R3) on the image of the target (10), the first crosshair (R1) then coinciding with the image of the impact point of the firing,
    - actuating the rangefinder (4) in order to obtain the distance between the optronic system and the point of impact of the firing,
    - determining the distance between the target and the point of impact of the firing from the position of the optronic system provided by the positioning means (6), the offset between the first and the second crosshair (R1, R2) measured on the display screen (1), the distance between the optronic system and the target and the distance between the optronic system and the target and the distance between the optronic system and the point of impact of the firing.
  2. The method for determining corrections for artillery fire according to the preceding claim, characterized in that the second crosshair and the third crosshair (R2, R3) are displayed simultaneously.
  3. The method for determining corrections for artillery fire according to any of the preceding claims, characterized in that the rangefinding step is repeated.
  4. The method for determining corrections for artillery fire according to any of the preceding claims, characterized in that since the field of view of the display screen (1) can vary, it includes after the coordinate extraction step a step of widening the field of view of the display screen.
  5. An optronic observation system that can be oriented and is equipped with a device (5) for measuring the orientation of its line of sight, a laser rangefinder (4), means (6) for positioning the system, a display screen (1) provided with a fixed crosshair (R1) and harmonized with the axis of the rangefinder, a user interface (7) and a processor unit (3), characterized in that it includes means for displaying and moving two other crosshairs (R2, R3) on the screen, and in that the processor unit (3) includes means for implementing the method according to any of the preceding claims.
EP13715705.3A 2012-04-20 2013-04-15 Method for determining corrections for artillery fire Active EP2839235B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL13715705T PL2839235T3 (en) 2012-04-20 2013-04-15 Method for determining corrections for artillery fire

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1201168A FR2989775B1 (en) 2012-04-20 2012-04-20 METHOD FOR DETERMINING ARTILLERY FIRE CORRECTIONS
PCT/EP2013/057786 WO2013156434A1 (en) 2012-04-20 2013-04-15 Method for determining corrections for artillery fire

Publications (2)

Publication Number Publication Date
EP2839235A1 EP2839235A1 (en) 2015-02-25
EP2839235B1 true EP2839235B1 (en) 2017-11-15

Family

ID=46754484

Family Applications (1)

Application Number Title Priority Date Filing Date
EP13715705.3A Active EP2839235B1 (en) 2012-04-20 2013-04-15 Method for determining corrections for artillery fire

Country Status (7)

Country Link
US (1) US9250037B2 (en)
EP (1) EP2839235B1 (en)
ES (1) ES2656263T3 (en)
FR (1) FR2989775B1 (en)
IL (1) IL235106B (en)
PL (1) PL2839235T3 (en)
WO (1) WO2013156434A1 (en)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101975530B (en) * 2010-10-19 2013-06-12 李丹韵 Electronic sighting device and method for regulating and determining graduation thereof
US10054397B1 (en) * 2015-04-19 2018-08-21 Paul Reimer Self-correcting scope
DE102015120205A1 (en) * 2015-09-18 2017-03-23 Rheinmetall Defence Electronics Gmbh Remote weapon station and method of operating a remote weapon station
FR3052858B1 (en) * 2016-06-21 2020-04-03 Thales METHOD FOR ESTIMATING AN ABSOLUTE ORIENTATION DIRECTION OF AN OPTRONIC SYSTEM
CN106767548B (en) * 2017-03-08 2023-07-25 长春理工大学 Device and method for detecting directivity of gun barrel in shooting state by using space three-coordinate method
CN110530205A (en) * 2019-09-18 2019-12-03 中国科学院合肥物质科学研究院 A kind of multiterminal synchronize real-time school star device and method
DE102020127430A1 (en) 2020-10-19 2022-04-21 Krauss-Maffei Wegmann Gmbh & Co. Kg Determination of a fire control solution of an artillery weapon
CN113959251B (en) * 2021-10-20 2023-07-14 中国人民解放军63853部队 Horizontal distance measuring method for projection point and rotary shaft on gun
CN114383468A (en) * 2022-02-18 2022-04-22 无锡市星迪仪器有限公司 Tank gun calibration method, processing device and tank gun calibration system
CN114877748A (en) * 2022-04-26 2022-08-09 无锡市星迪仪器有限公司 All-weather close-range artillery zero correction device based on digital image

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2921149B1 (en) 2007-09-14 2009-11-06 Thales Sa STABILIZED IMAGE TELEMETRY METHOD
US8152064B2 (en) * 2007-11-14 2012-04-10 Raytheon Company System and method for adjusting a direction of fire
US8408460B2 (en) * 2010-06-03 2013-04-02 United States Of America As Represented By The Secretary Of The Navy Auto adjusting ranging device
US20110315767A1 (en) * 2010-06-28 2011-12-29 Lowrance John L Automatically adjustable gun sight

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None *

Also Published As

Publication number Publication date
EP2839235A1 (en) 2015-02-25
ES2656263T3 (en) 2018-02-26
IL235106B (en) 2018-02-28
FR2989775A1 (en) 2013-10-25
PL2839235T3 (en) 2018-02-28
US20150075359A1 (en) 2015-03-19
WO2013156434A1 (en) 2013-10-24
US9250037B2 (en) 2016-02-02
FR2989775B1 (en) 2014-06-06

Similar Documents

Publication Publication Date Title
EP2839235B1 (en) Method for determining corrections for artillery fire
US9568279B2 (en) Laser bore sighting
EP2188590B1 (en) Stabilized-image telemetry method and device
FR2869104A1 (en) METHOD OF ESTIMATING THE PRECISION OF AZIMUTAL ORIENTATIONS AND PORTABLE REFERENCE APPARATUS
US9618340B2 (en) Surveying instrument
EP2932182B1 (en) Method for accurately geolocating an image sensor installed on board an aircraft
KR20130028963A (en) Method for verifying a surveying instrument's external orientation
US9784842B2 (en) Surveying instrument
EP3502842B1 (en) Method and system for dual harmonisation of a worn head-up display system to ensure compliance of the display of information for piloting an aircraft with the real world outside
WO2004083767A2 (en) Method for sighting or aiming
EP4435372A1 (en) Orientation device for mounting on mortar
FR3120938A1 (en) METHOD FOR AIDING SHOOTING ON A MOVING TARGET, DEVICE AND ASSOCIATED ASSEMBLY

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20141014

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

DAX Request for extension of the european patent (deleted)
17Q First examination report despatched

Effective date: 20151028

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

INTG Intention to grant announced

Effective date: 20170620

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: THALES

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

Ref country code: AT

Ref legal event code: REF

Ref document number: 946713

Country of ref document: AT

Kind code of ref document: T

Effective date: 20171115

REG Reference to a national code

Ref country code: CH

Ref legal event code: NV

Representative=s name: SERVOPATENT GMBH, CH

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: FRENCH

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602013029443

Country of ref document: DE

REG Reference to a national code

Ref country code: SE

Ref legal event code: TRGR

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2656263

Country of ref document: ES

Kind code of ref document: T3

Effective date: 20180226

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20171115

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 6

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 946713

Country of ref document: AT

Kind code of ref document: T

Effective date: 20171115

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180215

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171115

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171115

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180216

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180215

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171115

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171115

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171115

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171115

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171115

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171115

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171115

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171115

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171115

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602013029443

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171115

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171115

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171115

26N No opposition filed

Effective date: 20180817

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171115

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171115

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180415

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180415

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171115

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20130415

REG Reference to a national code

Ref country code: CH

Ref legal event code: PCAR

Free format text: NEW ADDRESS: WANNERSTRASSE 9/1, 8045 ZUERICH (CH)

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20171115

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20171115

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180315

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230529

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20240314

Year of fee payment: 12

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: TR

Payment date: 20240320

Year of fee payment: 12

Ref country code: SE

Payment date: 20240326

Year of fee payment: 12

Ref country code: PL

Payment date: 20240319

Year of fee payment: 12

Ref country code: IT

Payment date: 20240326

Year of fee payment: 12

Ref country code: FR

Payment date: 20240321

Year of fee payment: 12

Ref country code: BE

Payment date: 20240319

Year of fee payment: 12

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20240319

Year of fee payment: 12

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: CH

Payment date: 20240501

Year of fee payment: 12

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: ES

Payment date: 20240509

Year of fee payment: 12

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FI

Payment date: 20240412

Year of fee payment: 12