EP2989409A1 - Adaptive acceleration limiting means - Google Patents

Adaptive acceleration limiting means

Info

Publication number
EP2989409A1
EP2989409A1 EP14718619.1A EP14718619A EP2989409A1 EP 2989409 A1 EP2989409 A1 EP 2989409A1 EP 14718619 A EP14718619 A EP 14718619A EP 2989409 A1 EP2989409 A1 EP 2989409A1
Authority
EP
European Patent Office
Prior art keywords
weapon
carrier
measuring system
during
gun
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.)
Granted
Application number
EP14718619.1A
Other languages
German (de)
French (fr)
Other versions
EP2989409B1 (en
Inventor
Florian Kroll
Udo Stenzel
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.)
Rheinmetall Waffe Munition GmbH
Original Assignee
Rheinmetall Waffe Munition GmbH
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 Rheinmetall Waffe Munition GmbH filed Critical Rheinmetall Waffe Munition GmbH
Priority to RS20190996A priority Critical patent/RS59097B1/en
Priority to PL14718619T priority patent/PL2989409T3/en
Publication of EP2989409A1 publication Critical patent/EP2989409A1/en
Application granted granted Critical
Publication of EP2989409B1 publication Critical patent/EP2989409B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G5/00—Elevating or traversing control systems for guns
    • F41G5/14—Elevating or traversing control systems for guns for vehicle-borne guns
    • F41G5/16—Elevating or traversing control systems for guns for vehicle-borne guns gyroscopically influenced
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G5/00—Elevating or traversing control systems for guns
    • F41G5/14—Elevating or traversing control systems for guns for vehicle-borne guns
    • F41G5/20—Elevating or traversing control systems for guns for vehicle-borne guns for guns on ships
    • F41G5/22—Elevating or traversing control systems for guns for vehicle-borne guns for guns on ships to compensate for rolling or pitching

Abstract

The invention relates to an acceleration limiting means for gun-carrier-induced movements acting on a weapon (1) which is installed on a carrier (3) moving with an object. In order to prevent the measurement data of the carrier movement which are distorted by the recoil forces of the weapon during the firing sequence from being included in the gun control of the weapon (1), the movement of the carrier (3) is measured during the time in which the weapon (1) is not fired. The continuously measured data are stored separately or in parallel with their use in the gun control system and a history of the maximum occurring accelerations of the carrier (3) is determined. During a firing sequence of the weapon (1), the maximum values of the history are used for the acceleration limitation of the measurement data distorted by the recoil forces. The measurement data limited in this way are then taken into account in the gun control.

Description

BESCHREIBUNG  DESCRIPTION
Adaptive Beschleunigungsbegrenzung Adaptive acceleration limitation
Die Erfindung beschäftigt sich mit einer Beschleunigungsbegrenzung von geschützträgerin- duzierten Bewegungen, hervorgerufen durch beispielsweise Seegang, auf eine Waffe, wie beispielsweise einer Maschinenkanone. The invention relates to an acceleration limitation of gun-induced movements, caused by, for example, sea state, on a weapon, such as a machine gun.
Die Ausregelung von geschützträgerinduzierten Bewegungen im Sinne einer Stabilisierung der Maschinenkanonen-Rohrseelenachse setzt die Verwendung von zum Teil empfindlichen Messsystemen, z.B. Gyroskopen, voraus. Speziell während der Feuerstöße, insbesondere bei längeren Feuersequenzen, werden diese Messsysteme je nach Anbringungsort in starkem Ausmaß von auftretenden Rückstoßkräften der Waffe beeinflusst. Das Messsystem misst dadurch fälschlicherweise eine trägerinduzierte Bewegung, auch wenn das Geschütz bzw. die Waffe beim Feuerstoß auf einer unbewegten Plattform befestigt ist. Diese fälschlich gemessene Bewegung führt zu einer Überreaktion in der Geschützregelung, d.h., wenn diese bei der Geschützregelung berücksichtigt werden. Das wiederum bewirkt eine Verschlechterung des Trefferbildes derart, dass es bei einem Feuerstoß zu einer unerwünschten Zunahme der Streuung (sigma-Wert der Standardabweichung) führt. The control of gun-induced movements to stabilize the machine gun bore axis implies the use of partially sensitive measurement systems, e.g. Gyroscopes, advance. Especially during the bursts of fire, especially during longer fire sequences, these measuring systems are influenced to a large extent by occurring recoil forces of the weapon, depending on the location. The measuring system thus incorrectly measures a carrier-induced movement, even if the gun or the weapon is mounted on a stationary platform during the burst of fire. This erroneously measured movement leads to an overreaction in the gun control, that is, if they are taken into account in the gun control. This in turn causes a deterioration of the hit image such that it leads to an undesirable increase in scattering (sigma value of the standard deviation) in the event of a burst of fire.
Aus der DE 32 29 819 A1 ist ein integriertes Navigations- und Feuerleitsystem für Kampfpanzer bekannt. Dabei werden die für das Feuerleitsystem vorhandenen Kreisel für die Navigation mit ausgenutzt. Beschleunigungsmesser und Wendekreisel, die an der Waffe sitzen, erzeugen Signale zur Auswertung. Dabei wird auch ein Roll-Nick-Ausgleich vorgenommen. From DE 32 29 819 A1 an integrated navigation and fire control system for main battle tanks is known. In the process, the gyros for navigation available for the fire control system are utilized. Accelerometers and gyros, which are attached to the weapon, generate signals for evaluation. In this case, a roll-nick compensation is made.
Mit einen weiteren Roil-Nick-Ausgleich befasst sich die DE 103 08 308 AI Hierbei werden für eine gegenüber einem Inertialsystem verdrehbare Plattform der Azimut- und der Eievati- onswinkel bezüglich der Plattform ermittelt und berücksichtigt. Eine Schiffsbewegungs-Vorhersagevorrichtung offenbart die DE 603 18 394 T2 (EP 1 474 326 B1). Die DE 38 82 347 12 (EP 0 321 127 B1) bezieht sich auf ein elektronisches Neigungsmesssystem. Ein Stabtlisierungssystem für ein Gewehr ist der DE 698 32 339 T2 (EP 0 898 144 B1) entnehmbar. DE 103 08 308 A1 deals with another Roil-Nick compensation. For a platform which is rotatable relative to an inertial system, the azimuth and the elevation angle with respect to the platform are determined and taken into account. A ship motion prediction device is disclosed in DE 603 18 394 T2 (EP 1 474 326 B1). DE 38 82 347 12 (EP 0 321 127 B1) relates to an electronic inclination measuring system. A stablization system for a rifle can be taken from DE 698 32 339 T2 (EP 0 898 144 B1).
Die vorgenannten Lösungen weisen den Nachteil auf, dass sie sehr aufwändig sind. Zudem berücksichtigt keine der Lösungen das Treffverhalten bzw. das aus einer Feuersequenz resultierende Trefferbild. The aforementioned solutions have the disadvantage that they are very expensive. In addition, none of the solutions takes into account the hit behavior or the resulting result from a fire sequence.
Hier stellt sich die Erfindung die Aufgabe, die vorgenannten Nachteile zu vermeiden. Here, the invention has the object to avoid the aforementioned disadvantages.
Gelöst wird die Aufgabe durch die Merkmale des Anspruchs . Vorteilhafte Ausgestaltungen sind in den Unteransprüchen aufgeführt. The problem is solved by the features of the claim. Advantageous embodiments are listed in the subclaims.
Der Erfindung liegt die Idee zugrunde, das Treffverhalten bzw. das Treffbild auf die trägerinduzierten Bewegungen zu optimieren bzw. zu adaptieren. Es wird en optimierter Kompro- miss zwischen der Stabilisierungsperformance und dem Treffverhalten von Maschinenkanonen auf Geschützen (Träger) während der Feuersequenzen angestrebt. Dazu wird von einer historienbasierten, adaptiven Beschleunigungsbegrenzung der vom Messsystem(en) gemessenen Daten ausgegangen. The invention is based on the idea of optimizing or adapting the meeting behavior or the meeting pattern to the carrier-induced movements. The aim is to achieve an optimized compromise between the stabilization performance and the impact of machine guns on guns during firing sequences. For this purpose, the data measured by the measuring system (s) is based on a history-based, adaptive acceleration limitation.
Während der Zeit, in der kein Waffeneinsatz erfolgt, also auch keine Feuersequenz gestartet wird, werden kontinuierlich die Messdaten des/der Messsystems/(e) gespeichert. Sind diese älter als einige Sekunden, können diese Daten gelöscht und nicht weiter verwendet werden, so dass stets eine aktualisierte Historie an Daten des Messsystems vorhanden und gespeichert ist, die für die Beschleunigungsbegrenzung verwendet werden. During the time in which no weapons use, so no fire sequence is started, the measurement data of / the measuring system / (e) are continuously stored. If these are older than a few seconds, this data can be deleted and no longer used so that there is always an updated history of data from the measuring system used for the acceleration limitation.
Aus den Messdaten werden die während der Historie maximal auftretenden Beschleunigungen ermittelt. Der somit auf die jeweilige Trägerbewegung kontinuierlich adaptierte Maximalwert der Beschleunigung wird während jeder Feuersequenz verwendet, um die Messdaten des/der Messsystem s(e) in Form einer Beschleunigungsbegrenzung zu limitieren und damit indirekt auch die Reaktion der Geschützregelung, d.h., die Stabilisierung der Rohrseelenachse. Bei der Feuersequenz der Waffe bzw. Maschinenkanone von einem unbeweglichen Geschütz-Träger werden die durch die Rückstoßkräfte induzierten Störungen des Messsystems komplett unterdrückt, da in diesem Fall der Maximalwert der adaptiven Beschleunigungsbegrenzung bei Null liegt. Damit kann keine falsche Reaktion der Geschützregelung erfolgen. From the measured data, the maximum occurring during the history accelerations are determined. The maximum value of the acceleration thus continuously adapted to the respective carrier movement is used during each fire sequence in order to limit the measurement data of the measuring system s (e) in the form of an acceleration limitation and thus indirectly also the response of the gun control, ie the stabilization of the tube axis. In the case of the firing sequence of the weapon or automatic cannon by a stationary gun-carrier, the disturbances of the measuring system induced by the recoil forces are completely suppressed, since in this case the maximum value of the adaptive acceleration limiting lies at zero. This can not be a wrong reaction of the gun control.
Bei der Feuersequenz der Waffe bzw. Maschinenkanone von einem beispielsweise durch Seegang bewegten Geschütz-Träger werden alle Störungen des Messsystems unterdrückt, die über der zuletzt gemessenen Anregung (Seegang) liegen. In the case of the fire sequence of the weapon or machine gun from a gun carrier moved, for example, by sea, all disturbances of the measuring system which are above the last measured excitation (sea state) are suppressed.
Dadurch wird insgesamt der Zugewinn an Stabilisierungsperformance durch den Einsatz einfacher Messsysteme an die jeweiligen Randbedingungen in optimaler Weise adaptiert, ein hinsichtlich dieser Einflüsse bestmögliches Treffbild (kleinstmöglicher sigma-Wert der Standardabweichung) bei Feuerstößen erzielt. As a result, the overall gain in stabilization performance is optimally adapted to the respective boundary conditions by the use of simple measuring systems, achieving the best possible meeting point (lowest possible sigma value of the standard deviation) for bursts in terms of these influences.
Vorgeschlagen wird eine Beschleunigungsbegrenzung von geschützträgerinduzierten Bewegungen auf eine Waffe, die auf einem sich bewegenden Träger (z.B. Schiff, Fahrzeug, Hubschrauber etc.) installiert ist. Um zu verhindern, dass derartige Bewegungen in eine Ge- schützregeiung der Waffe eingehen, ist vorgesehen, dass die Bewegung des Trägers während der Zeit, in der kein Einsatz der Waffe erfolgt, gemessen wird. Diese kontinuierlich gemessenen Daten werden gespeichert und daraus einer Historie der maximal auftretenden Beschleunigungen des Trägers ermittelt. Während einer Feuersequenz der Waffe werden dann diese Messdaten für die Geschützregelung berücksichtigt. Proposed is an acceleration limit of gun induced movements on a weapon installed on a moving carrier (e.g., ship, vehicle, helicopter, etc.). In order to prevent such movements from entering into a protective action of the weapon, it is provided that the movement of the carrier is measured during the time in which no use of the weapon takes place. These continuously measured data are stored and used to determine a history of the maximum occurring accelerations of the carrier. During a fire sequence of the weapon then these measured data are taken into account for the gun control.
Es entfallen zusätzliche Messsysteme zur Verbesserung der Stabilisierung bei trägerinduzierten Bewegungen, die dazu dienen, derartige Bewegungen herausfiltern etc. oder Maßnahmen zur Reduktion der Einflüsse von den RückStoßkräften der Waffe auf das Messsystem während einer Feuersequenz. Der Anteil der durch diese Kräfte verfälschten Messdaten wird schlicht und einfach während dieser Phase„ignoriert". There is no need for additional gauging systems to improve stabilization in girder-induced motions that serve to filter out such motions, etc., or measures to reduce the impact of the weapon's recoil forces on the gauging system during a fire sequence. The proportion of measurement data corrupted by these forces is simply "ignored" during this phase.
Anhand eines in Blockbild vereinfacht dargestellten Ausführungsbeispiels soll die Erfindung näher erläutert werden. Dargestellt ist eine Waffe bzw. Waffenstation oder ein Geschütz 1 mit wenigstens einem Waffenrohr 2, die / das auf einem Träger 3 befestigt ist. Auf dem Träger oder der Plattform 3 ist zudem wenigstens ein Messsystem 4 integriert. Der Träger 3 ist seinerseits auf einem Deck 5 eines Schiffes (oder einem Fahrzeug oder dergleichen) fest angebracht. Bedingt durch die Bewegung des Schiffes, hervorgerufen durch Seegang, umfasst das System eine nicht näher dargestellte, jedoch bekannte Geschützregelung, um die Waffe auf ein Ziel während des Seeganges konstant bzw. zielgerichtet ausrichten zu können. Das Messsystem 4 kann ein Gyroskop sein. Dieses wird in der Praxis bereits zur Geschützregeiung selbst genutzt. With reference to an embodiment shown in simplified block diagram, the invention will be explained in more detail. Shown is a weapon or weapon station or a gun 1 with at least one gun barrel 2, which is mounted on a support 3. On the support or the platform 3 at least one measuring system 4 is also integrated. The carrier 3 is in turn fixedly mounted on a deck 5 of a ship (or a vehicle or the like). Due to the movement of the ship, caused by swell, the system includes a non-illustrated, but well-known gun control in order to align the weapon to a target during the sea constant or targeted. The measuring system 4 may be a gyroscope. This is already used in practice for gun control itself.
Die Funktion ist wie folgt: The function is as follows:
Während der Zeit, in der kein Einsatz der Waffe 1 erfolgt, werden kontinuierlich Messdaten des Messsystems 4 ermittelt. Diese werden in einen Rechner 6 geschrieben und gespeichert. Aus den Messdaten werden die während der aufgezeichneten Historie maximal auftretenden Beschleunigungen (Beschleunigungswerte) ermittelt. During the time in which no use of the weapon 1 takes place, measurement data of the measuring system 4 are continuously determined. These are written to a computer 6 and stored. The maximum acceleration occurring during the recorded history (acceleration values) is determined from the measured data.
Wird nun eine Feuersequenz gestartet, werden diese Messdaten als kontinuierlich adaptierter Maximalwert aus dem Rechner 6 herangezogen, die dann für die Begrenzung der Messdaten des Messsystems 4 verwendet werden. Damit werden, die während der Feuersequenz im Messsystem 4 auftretenden Rückstoßkräfte, die wesentlich größer sind als die trägerinduzierten Bewegungen, in der Geschützregelung nicht berücksichtigt. Diese durch die RückStoßkräfte verfälschten Daten werden erfindungsgemäß während der Feuersequenz mit dem Maximalwert der gespeicherten Messdaten begrenzt. If a fire sequence is now started, these measurement data are used as a continuously adapted maximum value from the computer 6, which are then used for limiting the measurement data of the measurement system 4. Thus, the recoil forces occurring during the fire sequence in the measuring system 4, which are substantially larger than the carrier-induced movements, are not taken into account in the gun control. These data distorted by the recoil forces are limited according to the invention during the fire sequence with the maximum value of the stored measurement data.
Wie bereits angedeutet, ist die Lösung nicht nur auf den Einsatz auf Schiffen begrenzt, sondern kann auch bei Fahrzeugen in Bewegung, insbesondere im Gelände, etc. Anwendung finden. As already indicated, the solution is not limited to use on ships, but can also be used in vehicles in motion, especially in the field, etc. application.

Claims

Patentansprüche claims
1. Beschleunigungsbegrenzung von geschützträgerinduzierten Bewegungen auf eine Waffe (1), die auf einem sich mit einem Objekt bewegenden Träger (3) installiert ist, gekennzeichnet durch folgende Schritte: a) messen der Bewegung des Trägers (3) während der Zeit, in der kein Einsatz der Waffe (1) erfolgt, Acceleration limitation of gun-induced movements on a weapon (1) mounted on a carrier (3) moving with an object, characterized by the steps of: a) measuring the movement of the carrier (3) during the time when no Use of the weapon (1),
b) speichern der kontinuierlich gemessenen Daten des Messsystems,  b) storing the continuously measured data of the measuring system,
c) ermitteln einer Historie der maximal auftretenden Beschleunigungen des Trägers (3), d) verwenden dieser maximal auftretenden Beschleunigungen für die Begrenzung der in der Geschützregelung verwendeten aktuellen Messdaten des Messsystems während einer Feuersequenz der Waffe (1).  c) determining a history of the maximum occurring accelerations of the carrier (3), d) using these maximum occurring accelerations for limiting the current measured data used in the gun control of the measuring system during a fire sequence of the weapon (1).
2. Beschieunigungsbegrenzung nach Anspruch 1 , dadurch gekennzeichnet, dass die während der Feuersequenz aufgenommenen Messsignale des Messsystems (4) nicht unterdrückt oder gefiltert, sondern basierend auf der Historie begrenzt werden. 2. Beschieunigungsbegrenzung according to claim 1, characterized in that the recorded during the fire sequence measurement signals of the measuring system (4) are not suppressed or filtered, but limited based on the history.
3. Beschieunigungsbegrenzung nach Anspruch 2, dadurch gekennzeichnet, dass während der Feuersequenz alle Störungen des Messsystems (4) unterdrückt werden, die über der zuletzt gemessenen Anregung liegen. 3. Beschieunigungsbegrenzung according to claim 2, characterized in that during the fire sequence all disturbances of the measuring system (4) are suppressed, which are above the last measured excitation.
4. Beschleunigungsbegrenzung nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass Messdaten des Messsystems (4), die älter als einige Sekunden sind, gelöscht und nicht weiter verwendet werden. 4. acceleration limitation according to one of claims 1 to 3, characterized in that measurement data of the measuring system (4), which are older than a few seconds, deleted and not used further.
5. Vorrichtung zur Durchführung der Beschleunigungsbegrenzung nach einem der Ansprüche 1 bis 4, gekennzeichnet durch ein Messsystem (4), einen damit verbundenen Rechner (6), in dem kontinuierlich gemessene Daten des Messsystems (4) gespeichert werden. 5. A device for carrying out the acceleration limitation according to one of claims 1 to 4, characterized by a measuring system (4), an associated computer (6), are stored in the continuously measured data of the measuring system (4).
EP14718619.1A 2013-04-23 2014-04-22 Adaptive acceleration limiting means Active EP2989409B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
RS20190996A RS59097B1 (en) 2013-04-23 2014-04-22 Adaptive acceleration limiting means
PL14718619T PL2989409T3 (en) 2013-04-23 2014-04-22 Adaptive acceleration limiting means

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013006939.4A DE102013006939A1 (en) 2013-04-23 2013-04-23 Adaptive acceleration limitation
PCT/EP2014/058132 WO2014173892A1 (en) 2013-04-23 2014-04-22 Adaptive acceleration limiting means

Publications (2)

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EP2989409A1 true EP2989409A1 (en) 2016-03-02
EP2989409B1 EP2989409B1 (en) 2019-06-05

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EP (1) EP2989409B1 (en)
DE (1) DE102013006939A1 (en)
ES (1) ES2741735T3 (en)
PL (1) PL2989409T3 (en)
RS (1) RS59097B1 (en)
TR (1) TR201909423T4 (en)
WO (1) WO2014173892A1 (en)

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Publication number Priority date Publication date Assignee Title
FR3038377B1 (en) * 2015-07-03 2018-06-15 Safran Electronics & Defense MOTORIZED METHOD AND DEVICE FOR SCORING

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SE434190B (en) * 1979-10-02 1984-07-09 Bofors Ab DEVICE FOR HIGHLY FOLLOWING ACCURACY OF A GUIDANCE SYSTEM FOR A GIRL
DE3229819C2 (en) 1982-08-11 1985-02-14 Bodenseewerk Gerätetechnik GmbH, 7770 Überlingen Integrated navigation and fire control system for battle tanks
NL8203445A (en) * 1982-09-03 1984-04-02 Hollandse Signaalapparaten Bv WEAPON FIRE LINE SYSTEM FOR A VEHICLE OR VESSEL.
GB2232773B (en) 1987-12-16 1991-10-09 Secr Defence Electronic tilt measuring system
US5974940A (en) 1997-08-20 1999-11-02 Bei Sensors & Systems Company, Inc. Rifle stabilization system for erratic hand and mobile platform motion
CH695248A5 (en) * 2000-12-19 2006-02-15 Contraves Ag Method and apparatus for correcting errors shooting.
GB0203688D0 (en) 2002-02-16 2002-11-13 Bae Systems Combat And Radar S Ship motion predictor
DE10308308A1 (en) 2003-02-26 2004-09-16 Buck Neue Technologien Gmbh Defensive decoy launcher pitch and roll compensation procedure for ships, aircraft and vehicles calculates target direction in platform coordinate system

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Title
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Also Published As

Publication number Publication date
TR201909423T4 (en) 2019-07-22
DE102013006939A1 (en) 2014-10-23
ES2741735T3 (en) 2020-02-12
EP2989409B1 (en) 2019-06-05
PL2989409T3 (en) 2019-11-29
RS59097B1 (en) 2019-09-30
WO2014173892A1 (en) 2014-10-30

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