EP3060872B1 - Procédé de commande d'une arme orientable d'un véhicule dans le cadre d'exercices de tir - Google Patents

Procédé de commande d'une arme orientable d'un véhicule dans le cadre d'exercices de tir Download PDF

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Publication number
EP3060872B1
EP3060872B1 EP14802303.9A EP14802303A EP3060872B1 EP 3060872 B1 EP3060872 B1 EP 3060872B1 EP 14802303 A EP14802303 A EP 14802303A EP 3060872 B1 EP3060872 B1 EP 3060872B1
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EP
European Patent Office
Prior art keywords
shooting
weapon
vehicle
sector
orientation
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EP14802303.9A
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German (de)
English (en)
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EP3060872A1 (fr
Inventor
Manfred Sperber
Gerd Henning
Eric ULLRICH
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.)
Krauss Maffei Wegmann GmbH and Co KG
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Krauss Maffei Wegmann GmbH and Co KG
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    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
    • F41A17/00—Safety arrangements, e.g. safeties
    • F41A17/08—Safety arrangements, e.g. safeties for inhibiting firing in a specified direction, e.g. at a friendly person or at a protected area
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H7/00—Armoured or armed vehicles
    • F41H7/02—Land vehicles with enclosing armour, e.g. tanks

Definitions

  • the invention relates to a method for controlling a directable weapon of a vehicle during shooting exercises, the orientation of a shooting sector in which shooting is permitted being defined.
  • the invention can be used in particular in military vehicles.
  • Military vehicles usually have a z. B. designed as a trough vehicle housing and a weapon, which can be directed relative to the vehicle housing in azimuth and elevation.
  • Such weapons can be arranged, for example, on a tower of the vehicle that can be rotated relative to the vehicle housing.
  • firing exercises are carried out on training grounds, such as military training areas, in which shots are fired with live ammunition.
  • training grounds such as military training areas
  • vehicle-related shooting sectors are defined before the actual shooting practice, into which shooting is permitted during the shooting practice. Firing can then be released via a control method when the weapon is aimed into the shooting sector and blocked when it is aimed outside of the shooting sector.
  • the U.S. 2004/005532 A1 discloses a method for ensuring safety when firing live fire in a restricted training area, the current positions of the mobile combatants being continuously determined and reported to a monitoring center.
  • current, permissible firing sectors are calculated from the reported positions and the ranges of movement of all combatants and any existing stationary objects to be protected that need to be protected, taking into account the boundary of the training area, and transmitted individually to the shooting combatant.
  • the current weapon position is compared with the firing sectors assigned to him and a shot can only be fired for a firing sector if the weapon position is within this firing sector.
  • a control method for a directional weapon of a vehicle in which the weapon is aimed at several boundary points of the firing sector before the start of the firing practice in order to define the firing sector.
  • the aiming position of the gun is continuously compared to the shooting sector. The weapon is released only when aimed in the firing sector, and blocked otherwise.
  • the aiming position of the weapon is determined via a rotary encoder and is therefore defined in relation to the vehicle housing. The result of this is that the firing range would rotate with the vehicle if the vehicle were to rotate and would no longer have the originally defined orientation. It is therefore not possible to drive the vehicle during the firing practice, which limits the opportunities for crew members to train.
  • the object of the invention is to enable movements of the vehicle during firing practice.
  • the specified orientation is retained when the vehicle moves.
  • the orientation of the firing sector in space is maintained.
  • the orientation of the firing sector is not defined in relation to the vehicle body, but in relation to the environment.
  • the orientation of the firing sector is determined by aiming the weapon at boundary points of the firing sector. This can be done before or at the beginning of the exercise.
  • the shooting sector can be specified from the vehicle. It is not necessary to determine the firing sector from a unit separate from the vehicle, for example a control center.
  • An autonomous method of controlling the weapon during target practice is provided.
  • the weapon is preferably aimed in azimuth and/or elevation to determine the shooting sector before or at the start of the shooting exercise, so that the shooting sector can be determined in azimuth and/or elevation.
  • an azimuth angle and an elevation angle can preferably be defined and stored in a control device.
  • the firing sector orientation is then maintained in azimuth and/or elevation.
  • the aiming position of the weapon is determined relative to a vehicle-independent spatial coordinate system. This brings with it the advantage that the aiming position of the weapon is defined independently of the orientation of the vehicle or the orientation of the vehicle housing. In this respect, the aiming position of the weapon is determined relative to the surroundings of the vehicle.
  • the aiming position of the weapon is determined independently of a sensor system in the weapon.
  • additional sensors can be arranged on the vehicle, via which the directional position of the weapon is detected in order to release the weapon for target practice. In this way, a weapon sensor-free determination of the aiming position of the weapon can be made possible.
  • Two independent sensors for determining the straightening position can thus be arranged in the vehicle. This also makes it possible to check the weapon's sensors using a second sensor system.
  • the additional sensors are identically to the sensors required for controlling the servomotors for aiming the weapon.
  • a preferred embodiment of the invention provides that the aiming position of the weapon is determined by inertial sensors.
  • inertial sensors are characterized by a particularly high level of availability.
  • the inertial sensors can be embodied as yaw rate sensors, acceleration sensors and/or magnetic field sensors.
  • the inertial sensors can be designed as microelectromechanical systems (MEMS).
  • the straightening position is particularly preferably determined by an inertial measuring unit which has a plurality of, in particular orthogonally arranged, yaw rate sensors and/or a plurality of, in particular orthogonally arranged, acceleration sensors and/or a plurality of, in particular orthogonally arranged, magnetic field sensors.
  • an inertial measuring unit which has a plurality of, in particular orthogonally arranged, yaw rate sensors and/or a plurality of, in particular orthogonally arranged, acceleration sensors and/or a plurality of, in particular orthogonally arranged, magnetic field sensors.
  • several inertial measurement units can be used to determine the straightening position, the measurement values of which can be combined with one another.
  • the alignment can be carried out independently of the shooting lane and independently of possible targets.
  • the inertial sensors are aimed together with the weapon, so that the orientation of the inertial sensors corresponds to the aiming position of the weapon collapses.
  • the aiming position of the weapon can be detected directly by the inertial sensors.
  • the inertial sensors are arranged on a weapon cradle or on a turret of the vehicle.
  • the inertial sensors are arranged within an adjustable tower of the vehicle.
  • an arrangement of the inertial sensors that is protected from enemy threats and weather influences can be made possible.
  • the sensors are arranged in an interference-free manner. It is not possible for an enemy to detect the inertial sensors from the outside and to jam or influence them. The interference immunity can thereby be further increased.
  • a satellite navigation receiver can be used to determine the pointing position of the weapon.
  • Such a satellite navigation receiver generally has less availability than an inertial sensor.
  • the satellite navigation receiver is preferably used in addition to determining the aiming position, since inertial sensors often show drift phenomena which reduce the accuracy of the determination of the aiming position of the weapon. The drift of the inertial sensors can be compensated by the satellite navigation receiver.
  • the satellite navigation receiver can also be used to determine the vehicle's position.
  • the aiming position of the weapon is compared to the firing sector for its release during firing practice.
  • the weapon can then be released depending on whether the weapon is aimed in the firing sector or not.
  • the weapon is preferably released when the aiming position of the weapon is within the firing sector. Alternatively, the weapon can be blocked if the aiming position of the weapon is outside the firing sector.
  • the size of the firing sector is adapted to the pointing position of the weapon and/or the pointing speed of the weapon.
  • delays caused by the inertial sensors and/or the data processing logic downstream of the inertial sensors can be taken into account.
  • the firing sector can be reduced when the aiming position of the weapon is within the firing sector and/or if the aiming speed exceeds a threshold value greater than or equal to zero, so that the weapon release is not withdrawn too late when the weapon is sighted out of the firing sector.
  • the firing sector can therefore be smaller when the weapon is aimed within the firing sector than when the weapon is aimed outside the firing sector.
  • a shooting lane is divided into sub-areas and the orientation of the shooting sector is defined and maintained in each sub-area. Due to the shape of the firing lane, it may be necessary to recalibrate the firing sector orientation during movement of the vehicle along a firing lane to ensure that the weapon is only released when the firing sector orientation changes corresponds to the orientation of the shooting lane.
  • the adjustment of the orientation of the shooting sector can preferably take place automatically. In this way it can also be ensured, for example on large shooting ranges, that the weapon is only released if it is within the specified shooting sector. In this way, changes in the direction of the shooting lane can be included when the shot is released.
  • the orientation of the firing sector is determined when the vehicle crosses a position line arranged in a partial area.
  • the position of the vehicle determined by means of the satellite navigation receiver is compared with georeferenced boundary points and position lines stored in the control device. In this way it can be determined whether the vehicle is located in a new sub-area and whether the orientation of the shooting sector must therefore be redefined.
  • limit points can be arranged along the course of the shooting lane, which define the respective partial areas of the shooting lane.
  • Position lines can be defined at a distance from the boundary points, which are preferably in front of the boundary points at which the orientation is to be redefined.
  • the shooting sector has an orientation that corresponds to the orientation of the shooting lane.
  • the firing sector includes an azimuth angle that is maintained when the vehicle is moving.
  • the azimuth angle can be enclosed by the boundary lines spanning the firing sector.
  • a centerline running through the azimuth angle can determine the orientation of the shooting sector. This orientation is also maintained in a partial area while the vehicle is moving.
  • the firing sector can include an azimuth angle which is changed as the vehicle moves, but the orientation is also maintained.
  • the orientation of the shooting sector can be defined by the boundary points. This is maintained in a partial area while the vehicle is moving. Since the border points serve as landmarks, in order to maintain orientation it is necessary that the azimuth angle of the firing sector changes during the movement of the vehicle.
  • the determination of the orientation can be determined when entering a new sub-area and maintained in this. It can thus be ensured in a simple manner that the weapon is released only when the orientation of the firing sector corresponds to the orientation of the firing lane.
  • the shooting sector is defined via limit points and the limit points are retained when the vehicle moves.
  • the orientation of the shooting sector is retained, as this is also determined by the boundary points. In this respect, only the azimuth angle of the firing sector is changed. This can ensure that the shooting sector covers the entire shooting lane between the boundary points.
  • the boundary points can preferably be configured as shooting lane boundary points.
  • Training area 15 is in the manner of a military training area designed and has a control center 18, with which vehicles 1 located on the training ground 15 are in radio contact.
  • a shooting range 16 is set up on the training ground 15, on which shots can be fired.
  • target objects 17 are arranged on the shooting lane 16, which form practice targets for shooting practice. In order to train different shooting distances, the vehicle should be able to drive on the shooting range.
  • a military vehicle 1 designed as a battle tank which has a chassis designed as an armored hull 2 with a tracked chassis 5 and a turret 3 rotatably mounted relative to the chassis 2 .
  • a weapon 4 is arranged on the turret 3 and can be directed in azimuth by rotating the turret 3 .
  • the weapon 4 is designed such that it can be raised in relation to the turret 3, so that the weapon 4 can also be aimed in elevation.
  • the weapon 4 is actuated via a fire control system which has a sensor system for determining the aiming position of the weapon 4 .
  • This sensor system determines the aiming position R of the weapon in azimuth and elevation.
  • the measured values determined by the weapon sensors form the basis for controlling servomotors for aiming the weapon 4 in azimuth and elevation.
  • a control device independent of the fire control system is provided on the vehicle 1, with which the method according to the invention for controlling the directional weapon 4 of the vehicle 1 is carried out.
  • the control device is used in target practice to train crew members in handling the vehicle 1 and/or the weapon 4 .
  • a shooting sector S is defined before the start of the shooting practice, in which shooting is allowed.
  • the orientation of the shooting sector S is defined in such a way that it corresponds to the orientation of a shooting lane 16 .
  • the shooting sector S is designed essentially in the manner of an inclined pyramid. As shown in Figure 2a can be seen, the shooting sector S is delimited in azimuth by two boundary lines, which each emanate from a vehicle-fixed boundary point D and predetermined boundary points A and B intersect.
  • the boundary point D fixed to the vehicle forms the vertex and the boundary lines form the legs of an azimuth angle ⁇ .
  • the shooting sector S is bounded on the one hand by a horizontal line which runs through the boundary point D fixed on the vehicle, and on the other hand by a straight line which proceeds from the boundary point D fixed on the vehicle and which intersects a third predefined boundary point C.
  • the horizontal and the boundary line through the boundary point C enclose an elevation angle ⁇ .
  • the specified orientation of the shooting sector S is retained when the vehicle 1 is moving.
  • the shooting sector S is moved along with the vehicle 1 in such a way that the orientation of the shooting sector S in relation to the shooting lane 16 is maintained.
  • the specified orientation of the shooting sector S is retained when the vehicle 1 rotates.
  • the vehicle 1 can be moved as described in Figure 2c is shown with the orientation of the shooting sector S remaining unchanged. Also with the procedure of the vehicle 1, it is therefore not necessary to redefine the shooting sector S.
  • the vehicle 1 can thus also drive closer to the target 17 on a curved path in order to change the distance to the target 17 for training purposes.
  • the Figures 2b and 2c 12 show various examples of movements of the vehicle 1 in which the orientation of the vehicle 1 is changed in azimuth, the orientation of the shooting sector S in azimuth and elevation not changing.
  • the orientation of the firing sector S is maintained even when the orientation of the vehicle 1 in elevation changes, as shown in FIG 3 can be seen.
  • Such changes in orientation of the vehicle 1 can occur, for example, when driving on uneven terrain and can be expressed in the vehicle tilting relative to the horizontal.
  • the shooting sector S is also moved in such a way that the fixed orientation of the shooting sector S in azimuth and elevation is maintained.
  • the weapon 4 is always released when the aiming position R of the weapon 4 is within the firing sector S.
  • the aiming position R of the weapon 4 is compared with the firing sector S continuously during the firing exercise or before a shot is fired.
  • the weapon 4 is released in a straightening position R as shown in FIG Figures 2a, 3a or 4 is shown.
  • the weapon 4 is not released if the aiming position R of the weapon is outside the firing sector S, such as in 2b, 3b or 3c shown.
  • the weapon 4 can be blocked when the weapon 4 is aimed outside the firing sector S and the blocking can be released when the weapon 4 is aimed in the firing sector S.
  • the determination of the shooting sector S and in particular its orientation takes place exclusively by means of devices 6, 7, 8 fixed to the vehicle. Control by the control center 18, which is separate from the vehicle 1, is not required. In this respect, it is a self-sufficient control method for target practice.
  • the weapon 4 is aimed at different boundary points A, B, C of the shooting sector S in order to define the boundaries and thus also the angles ⁇ , ⁇ of the shooting sector S.
  • an operating device 8 of the control device is used, which figure 5 is shown.
  • the operating device 8 has several operating elements 9, 10, 11, 12 designed as buttons, via which limit points A, B, C of the shooting sector S can be defined.
  • the weapon 4 is aimed at a boundary point A on the left boundary area of the firing range 16 via the fire control system of the vehicle 1 .
  • the alignment R of the weapon 4 is checked using a target optics.
  • the operating element 10 is then actuated, as a result of which the current aiming position R of the weapon 4 is temporarily stored as the left limit of the firing sector S.
  • the weapon 4 is aimed at a boundary point B in the right boundary area of the firing range 16 via the fire control system.
  • the operating element 11 is now actuated, as a result of which the current aiming position R of the weapon 4 is temporarily stored as the right limit of the firing sector S.
  • the weapon 4 is aimed at a maximum permissible elevation ⁇ for the respective firing lane 16 .
  • the weapon 4 is aimed at an elevation limit point C.
  • the operating element 9 is actuated, whereby the current alignment position R of the weapon 4 is temporarily stored as the upper limit of the firing sector S.
  • the definition of the shooting sector S is completed by pressing the button 12.
  • the temporarily stored values for the right, left and upper limit of the shooting sector S are thereby adopted as the new limits of the shooting sector S.
  • the azimuth angle ⁇ and the elevation angle ⁇ are also stored in the control device.
  • the aiming position R of the weapon 4 is determined relative to a vehicle-independent spatial coordinate system with the spatial directions x, y and z, both for establishing the firing sector S and for comparison with the fixed firing sector S, cf. Figure 2a and 4 .
  • the aiming position R of the weapon 4 relative to the surroundings of the vehicle 1 is always known, which has the advantage that the firing sector S is determined relative to a vehicle-independent spatial coordinate system x, y, z.
  • the shooting sector S is defined independently of the orientation of the vehicle 1 .
  • inertial measuring units 6 that are independent of the fire control system are provided for determining the alignment position R.
  • the inertial measuring units 6 each include a plurality of inertial sensors 13 which are designed as yaw rate sensors, acceleration sensors and magnetic field sensors.
  • the inertial sensors 13 are part of an inertial navigation system (INS), via which the alignment position R is determined in a vehicle-independent coordinate system.
  • INS inertial navigation system
  • the straightening position R is determined by three orthogonally arranged yaw rate sensors and three orthogonally arranged acceleration sensors and three orthogonally arranged magnetic field sensors.
  • the inertial sensors 13 are arranged inside the turret 3 on the weapon cradle, so that they are aimed together with the weapon 4 in azimuth and elevation, cf. 6 and 7 . In this way it can be ensured that the orientation of the inertial sensors 13 corresponds to the aiming position R of the weapon 4 .
  • the arrangement inside the tower 3 protects the inertial sensors 13 from external influences and in particular from interference. It is not directly apparent to an opponent at which position the inertial sensors 13 are arranged, so that interference or interference can be prevented.
  • the use of inertial sensors 13 also makes it possible to minimize sources of error, such as those that can occur, for example, due to occlusions, deflections or the like.
  • two identical inertial measuring units 6 are arranged on the vehicle 1 so that if one of the two units 6 fails, the alignment position R can be determined via the other unit 6 in each case. If both inertial measuring units 6 are functional, the measured values of both units 6 can be interpolated in order to increase the accuracy of the measurement.
  • a satellite navigation receiver 7 is also arranged on the tower 3, which can be designed, for example, as a GPS receiver or another satellite navigation system. Additional position data of the weapon 4 can be determined via the satellite navigation receiver 7, which is used to compensate for drift phenomena of the inertial sensors.
  • the inertial sensors 13 and also the data processing logic downstream of the inertial sensors 13 each have signal delays that must be taken into account in the control method.
  • the size of the firing sector S is adapted to the aiming position R of the weapon 4 and/or to the current aiming movement of the weapon 4, which can be seen from the illustrations in Figure 2a and 4 should be explained.
  • the shooting sector S is reduced, which is in the Figure 2a and 4 is represented by the boundary points A", B" and C". This counteracts the risk that, without adjustment, the weapon 4 will only be released for firing in the event of a rapid directional movement from the firing sector S at points A', B' and C' and This circumstance must be taken into account in advance, when planning the safety of shooting sector S.
  • Large shooting ranges 16 are often divided into several areas in which a vehicle 1 can be located during a shooting practice. These areas are defined by different boundary points A 1 , B 1 , A 2 , B 2 , A 3 , B 3 which are staggered in depth.
  • the representation in the 8 a first area, which extends from the beginning of the shooting range 16 to the first boundary points A 1 , B 1 .
  • a second area then lies between the first boundary points A 1 , B 1 and the second boundary points A 2 , B 2 .
  • Other areas can be defined in a similar way.
  • position lines 20, 20', 20" can be defined in the individual partial areas of the shooting range 16, on which the orientation of the shooting sector S, S', S" is determined should. If such a position line 20, 20′, 20′′ is crossed by the vehicle 1, the shooting sector S, S′, S′′ is redefined and initialized so that the orientation is then adapted to the respective partial area of the shooting lane 16. The orientation is then maintained in a partial area during the movement of the vehicle 1 .
  • the position and driving movement of the vehicle 1 can be determined continuously using the satellite navigation receiver 7 and stored in the control device.
  • the position data determined by the satellite navigation receiver 7 of the Vehicle 1 with in the control device stored georeferenced boundary points A 1 , B 1 , A 2 , B 2 , A 3 , B 3 and the position lines 20, 20 ', 20' are compared.
  • the comparison establishes that the vehicle 1 is leaving a sub-area and entering a new sub-area, it is necessary to redefine the orientation of the shooting sector S, S', S", which in turn is then retained in this sub-area.
  • the orientation can be determined in different ways.
  • a first possibility is in the 8 shown and has already been explained to the figures described above.
  • a first shooting sector S is fixed in its orientation when crossing the first position line 20 . This means that the azimuth angle ⁇ remains the same over the entire sub-area and the shooting sector S defines the orientation along the center line between the two boundary lines that enclose the angle ⁇ . If the vehicle 1 now moves along any curve, this orientation of the shooting sector S is maintained until the vehicle 1 crosses the next position line 20', thus indicating that the vehicle 1 is in a new sub-area of the shooting range 16.
  • the position lines 20, 20', 20" are each arranged at a sufficient distance in front of the associated boundary points A 1 , B 1 , A 2 , B 2 , A 3 , B 3 , so that it can be ensured that a redefinition of the orientation of Shooting sector S, S', S" takes place in good time and shooting out of the shooting lane 16 is not possible.
  • the position line 20' By crossing the position line 20', by comparing the vehicle position determined by the satellite navigation receiver 7 and the stored georeferenced boundary points A1 , B1 , A2 , B2 , A3 , B3 and the position lines 20, 20', 20" in the control device that the vehicle 1 is now in a new sub-area of the shooting lane 16 and that the shooting sector S must therefore be redefined.
  • the orientation of the shooting sector S is recalculated accordingly, so that the orientation then corresponds to the shooting sector S Consequently, the firing sector S' is also adjusted when crossing further position lines 20", so that it can be ensured that the weapon 4 is released only when there is no danger.
  • a second, alternative way of defining the orientation of the shooting sector S, S', S" is in 9 shown.
  • the orientation of the shooting sector S, S', S" is not defined by a center line between the boundary lines, but rather by the boundary points A 1 , B 1 , A 2 , B 2 , A 3 , B 3 themselves.
  • the orientation of a first shooting sector S is defined in a known manner while the vehicle 1 is on the position line 20. If the vehicle 1 now moves along a driving curve on the shooting lane 16, the angle ⁇ of the shooting sector S changes, the orientation, which over the Boundary points A 1 , B 1 is fixed, however, is retained.
  • the orientation of the shooting sector S redefined and then maintained when the vehicle 1 moves in the new sub-area.
  • the now spanned shooting sector S ' uses the boundary points A 2 , B 2 as Orientation boundary points such that the orientation of the shooting sector S' is determined via them.
  • the shooting sector S, S', S" is defined via the boundary points A 1 , B 1 , A 2 , B 2 , A 3 , B 3 , with the boundary points A 1 , B 1 , A 2 , B 2 , A 3 , B 3 are retained as fixing points when the vehicle 1 moves.

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

Claims (13)

  1. Procédé de commande d'une arme orientable (4) d'un véhicule (1) lors d'exercices de tir, l'orientation d'un secteur de tir (S, S', S") dans lequel il est permis de tirer étant fixée,
    caractérisé
    en ce que l'orientation fixée est maintenue lors d'un déplacement du véhicule (1),
    en ce qu'une voie de tir (16) est divisée en zones partielles et l'orientation du secteur de tir (S, S', S") est fixée et maintenue dans chaque zone partielle, l'orientation du secteur de tir (S, S', S") étant fixée lors du franchissement par le véhicule (1) d'une ligne de position (20, 20', 20") agencée dans une zone partielle,
    une position du véhicule (1) déterminée au moyen d'un récepteur de navigation par satellite (7) étant comparée, pour la nouvelle fixation de l'orientation du secteur de tir (S, S', S") sur la voie de tir (16), à des points limites géoréférencés (A1, B1, A2, B2, A3, B3) enregistrés dans un dispositif de commande, ainsi qu'à des lignes de position (20, 20', 20"), et en ce que la position d'orientation (R) de l'arme (4) est déterminée par rapport à un système de coordonnées spatiales indépendant du véhicule.
  2. Procédé selon la revendication 1, caractérisé en ce que la position d'orientation (R) de l'arme (4) est déterminée indépendamment d'un système de détection de l'arme (4).
  3. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce que la position d'orientation (R) de l'arme (4) est déterminée par des capteurs inertiels (13).
  4. Procédé selon la revendication 3, caractérisé en ce que les capteurs inertiels (13) sont orientés conjointement avec l'arme (4).
  5. Procédé selon l'une quelconque des revendications 3 ou 4, caractérisé en ce que les capteurs inertiels (13) sont agencés sur une tourelle orientable (3) du véhicule (1).
  6. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce que la position d'orientation (R) de l'arme (4) est comparée au secteur de tir (S, S', S") pour sa libération pendant l'exercice de tir.
  7. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce que l'arme (4) est libérée lorsque la position d'orientation (R) de l'arme (4) se trouve à l'intérieur du secteur de tir (S, S', S").
  8. Procédé selon la revendication 7, caractérisé en ce que la taille du secteur de tir (S, S', S") est adaptée à la position d'orientation (R) de l'arme (4) et/ou à la vitesse d'orientation de l'arme (4).
  9. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce que la fixation de l'orientation et la libération de l'arme (4) sont effectuées par un dispositif (14) solidaire du véhicule.
  10. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce que le secteur de tir (S, S', S") comprend un angle d'azimut (σ) qui est maintenu lors d'un déplacement du véhicule (1).
  11. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce que le secteur de tir (S, S', S") comprend un angle d'azimut (σ) qui est modifié lors d'un déplacement du véhicule (1).
  12. Procédé selon la revendication 11, caractérisé en ce que le secteur de tir (S, S', S") est fixé par l'intermédiaire de points limites (A1, B1, A2, B2, A3, B3) et les points limites (A1, B1, A2, B2, A3, B3) sont maintenus lors d'un déplacement du véhicule (1).
  13. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce que l'orientation fixée est maintenue lors d'un déplacement du véhicule (1) sur une trajectoire courbe.
EP14802303.9A 2013-10-22 2014-10-22 Procédé de commande d'une arme orientable d'un véhicule dans le cadre d'exercices de tir Active EP3060872B1 (fr)

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US11010674B2 (en) * 2015-08-28 2021-05-18 James D. Harlow Axiomatic control of automorphic dynamical systems
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DE3024247A1 (de) * 1980-06-27 1982-01-21 Fried. Krupp Gmbh, 4300 Essen Einrichtung zur begrenzung des schussfeldes einer rohrwaffe, insbesondere einer panzerkanone, beim uebungsschiessen
US5456157A (en) * 1992-12-02 1995-10-10 Computing Devices Canada Ltd. Weapon aiming system
FR2712675B1 (fr) * 1993-11-18 1996-02-02 Giat Ind Sa Méthode et système pour interdire le tir d'une arme de petit, moyen ou gros calibre, notamment à trajectoire tendue, en dehors d'au moins une zone de surveillance terrestre ou aérienne.
DE19606685C2 (de) * 1996-01-26 1999-09-30 Industrieanlagen Betriebsges System zur Gefechtssimulation mit einem frei operierenden Kampffahrzeug und einem quasi ortsfesten Objektsimulator
DE10160946A1 (de) * 2001-12-12 2003-07-03 Stn Atlas Elektronik Gmbh Verfahren zur Gewährleistung der Sicherheit beim Schießbetrieb mit scharfem Schuß
DE102005001558B4 (de) * 2005-01-13 2018-12-27 Krauss-Maffei Wegmann Gmbh & Co. Kg Verfahren zur Überwachung und Steuerung von Abschussvorgängen eines Kampffahrzeugs
DE102005059225B4 (de) * 2005-12-12 2013-09-12 Moog Gmbh Waffe mit einem Waffenrohr, das außerhalb des Schwerpunkts auf einer bewegbaren Unterlage drehbar gelagert ist
US7962243B2 (en) * 2007-12-19 2011-06-14 Foster-Miller, Inc. Weapon robot with situational awareness
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FI122890B (fi) * 2011-06-16 2012-08-31 Sako Ltd Ampuma-aseen varolaite ja menetelmä varolaitteen käyttämiseksi

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BR112016008798B1 (pt) 2022-04-05
WO2015058743A1 (fr) 2015-04-30
BR112016008798A2 (fr) 2017-08-01
DE102013111644A1 (de) 2015-04-23
EP3060872A1 (fr) 2016-08-31
US20160265881A1 (en) 2016-09-15

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