EP3265742A1 - Procédé et dispositif permettant de fournir une cible fictive pour protéger un véhicule et/ou un objet contre des têtes chercheuses dirigées par radar - Google Patents

Procédé et dispositif permettant de fournir une cible fictive pour protéger un véhicule et/ou un objet contre des têtes chercheuses dirigées par radar

Info

Publication number
EP3265742A1
EP3265742A1 EP16710112.0A EP16710112A EP3265742A1 EP 3265742 A1 EP3265742 A1 EP 3265742A1 EP 16710112 A EP16710112 A EP 16710112A EP 3265742 A1 EP3265742 A1 EP 3265742A1
Authority
EP
European Patent Office
Prior art keywords
decoy
radar
missile
detonation points
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.)
Ceased
Application number
EP16710112.0A
Other languages
German (de)
English (en)
Inventor
Lukas Grundner
Thomas Macher
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
Publication of EP3265742A1 publication Critical patent/EP3265742A1/fr
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • F41H11/00—Defence installations; Defence devices
    • F41H11/02—Anti-aircraft or anti-guided missile or anti-torpedo defence installations or systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G13/00—Other offensive or defensive arrangements on vessels; Vessels characterised thereby
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/04—Aiming or laying means for dispersing fire from a battery ; for controlling spread of shots; for coordinating fire from spaced weapons
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G7/00—Direction control systems for self-propelled missiles
    • F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
    • F41G7/22—Homing guidance systems
    • F41G7/224—Deceiving or protecting means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
    • F41J2/00—Reflecting targets, e.g. radar-reflector targets; Active targets transmitting electromagnetic or acoustic waves

Definitions

  • the invention relates to a method and a device for providing a decoy target for protecting vehicles and objects against radar-steered seekers. More particularly, the invention relates to anti-fouling at sea for maritime units (ships) such as corvettes, frigates, patrol vessels, coastguard ships, supply vessels, etc. as well as air and land vehicles and other objects of protection, in particular buildings, military and / or industrial Plants etc.
  • ships such as corvettes, frigates, patrol vessels, coastguard ships, supply vessels, etc.
  • air and land vehicles and other objects of protection, in particular buildings, military and / or industrial Plants etc.
  • the missile threat with state-of-the-art homing systems mainly in the radar (RF) and infrared (IR) areas, continues to increase for ships or other objects.
  • RF radar
  • IR infrared
  • Both the radar backscatter behavior and the radiation of special infrared radiations from targets, such as ships, aircraft, tanks (vehicles), etc. are used by the missile for target determination and target tracking. This leads to the endeavor for suitable protective measures against these missiles.
  • a protective device and a protective measure for a radar system are disclosed in EP 1 845 332 A1.
  • This active protective measure is carried out using passive transmitters or decoys that work on the reflection principle.
  • a radar device preferably the ship's own radar, illuminates the decoys.
  • the radiation reflected by the decoys in the direction of the ARM shows the same Characteristic as the direct radiation of the radar itself.
  • the ARM can not distinguish whether it is decoys or the right radar.
  • the cloud itself steers the ARM away from the target or past the target, as the cloud is a larger object than the target, making it more attractive to the missile.
  • DE 103 46 001 B4 discloses the use of decoys to protect ships from end-phase guided missiles.
  • the device proposed here comprises at least one computer, sensors for detecting approaching endphasengeienkter missile, sensors for detecting the approach direction, distance and speed of the missile, further movement and / or navigation sensors for detecting the ship's intelligence, at least one Feuerleitrechner and at least one on the Ship arranged in azimuth and elevation directable decoys.
  • suitable decoy patterns are deposited.
  • a decoy formation or pattern is generated in a very short time, which is flexible both in terms of shape and size as well as deployment distance, deployment height, mission direction and staggering.
  • the determination of the optimum decoy pattern with respect to the number of decoys required for missile defense as well as their spatial and temporal desired coordinates ensues depending on the missile and ship data determined by the sensors. It spontaneously generates a Täuschmustergejecte which, taking into account the parameters:
  • the device uses decoy ammunitions whose generated apparent target diameter corresponds to approximately 10 m to 20 m in each case in order to be able to emulate the spatial signature of the ship to be protected.
  • the invention has the object to show an optimization for the formation of an optimized decoy target or an optimized decoy cloud against radar-directed missile.
  • the object is achieved by a method according to claim 1 and an apparatus for performing the method according to claim 6.
  • Advantageous embodiments are listed in the dependent claims.
  • the maximum number of decoys / decoys for an effective decoy target or effective decoy cloud is determined by the maximum retroreflective signature of the object in the individual or respective frequency bands, the aspect angle of the object to the seeker's head of the missile, ie, the inclination and / or approach angle of the object Seeker head to the object, and determines the size of the object, etc., in practice, therefore, the maximum necessary number of decoy differs for a decoywoike / a Scheinziei to protect a frigate against the required number for an effective decoy to protect a corvette, etc.
  • the invention is therefore based on the idea that when firing the decoy in so-called salvos from a Täuscha projectile (TKWA) with one and / or more launcher (s), the number of salvos as well as the number of decoys to be fired per salvo by the user can be freely defined. Free definition takes place depending on the size of the object to be protected and the type of missile.
  • the provided method operates at runtime or in real time, taking into account environmental influences, such as course and ride of the object, wind direction, wind speed, speed and approach angle of the radar-guided missile.
  • the decoy cloud or the decoy itself consists of chaff material (chaff) and flares (IR), which in turn are made of burning red phosphorus.
  • the proposed optimization is thereby subjected to at least two conditions and, in particular, concerns the optimization of the maximum number of decoys / decoys required for the formation of the decoy cloud. That is, as a result of optimization, only so many decoys and / or decoys are needed that are needed to form the decoy target.
  • One condition is that the decoys, which would be fired or expelled too far away from the target (from the point of view of the missile) or the object to be protected (from the point of view of the TKWA), will not be fired. This is to prevent decoys from being moved to areas where protection from the attacking missile is no longer effective (cut-off condition).
  • Another condition is that the decoys in the effective range, ie, in the area in which protection by the decoys is classified as effective, should not be too close to each other (minimum distance condition). This measure is intended to be known in practice Disadvantage to be avoided, which mecanicfit when the Zerlege- or detonation points of the decoys are too close together.
  • the decouples overlap, there is a coupling and concomitantly to a weakening of the effect of the individual decoys.
  • the minimum distances between the decoys to each other are in turn dependent on the ammunition or the decoys, which is / are used to form the decoy cloud. For a generated apparent target diameter of about 18 m, therefore, the Withle-distance condition will be 18 m, while at a generated Scheinziei graspmesser of about 10 m, the minimum-distance condition is only 10 m. The minimum distance thus depends on the diameter of the ammunition / decoy used.
  • the method is based on a particular Abfoige or sequence in the launcher system, which determines the Verschuss the decoy of the directable launcher, such as a 2-axis Täusch stressesstrom, with user-definable parameters or calculated.
  • the calculation of the corresponding shot solution takes place at runtime and is as a result to a programmable logic controller (PLC) of the Täuschaut schemestrom (TKWA) at Richtange throw for launcher alignment (eg: in azimuth and / or Eievation) and initiation of the decoy within the magazines of the TKWA , as well as not directable throwers only for the initiation of the decoy within the magazines of the TKWA passed.
  • PLC programmable logic controller
  • the radar-guided missile is identified.
  • an ESM system Electronic Support Measures
  • the radar signal frequency, waveform, etc.
  • each radar seeker has its own special signature.
  • the search head type the information obtained is compared with values stored in a database of the ESM system.
  • the information gained is forwarded to TWKA either directly or via a combat Management System (CMS).
  • CMS Combat Management System
  • the TKWA also has a database with relevant information of the missiles and compares them with the transmitted information.
  • TKWA in response to knowledge of the type of missile, gives a decoy pattern with the decomposition or detonation score the existing in the TKWA decoy in a decoy pattern according to the Schussausiösung according to calculation.
  • This representation of the decomposition or detonation points takes place in a polar coordinate system.
  • a radius a so-called protective or effective radius, is determined or defined around the object / target to be protected. This radius is calculated or defined and is determined from the maximum search radius of the radar lobe of the attacking flying or search body.
  • the decoys are now determined in a second step, which would lie within the radius when forming the decoy cloud. It is also checked, which would overlap the decoys when deployed in their effect.
  • the distances of the decomposition or detonation points must not fall below a certain value. This distance is, as already stated, depending on the diameter of the developing decoy. Therefore, in order to avoid a too short distance of the Zerlege- or detonation points, a freely defined for the user distance as a minimum distance of the points taken into account. If this distance is undershot during the determination of the decomposition or detonation points, these corresponding decomposition or detonation points are discarded.
  • the thus optimized decoy cloud provides for the targeted use of part of the TKWA decoys, while the discarded decoys are not deployed. This result is fed to the PLC of TKWA and ignited accordingly the decoys that are needed to form the decoy cloud against the radar-directed missile.
  • the calculation of a tactically meaningful solution is thus taking into account relative wind drift, seeker information, missile speed, distance and approach angle (aspect angle).
  • the result is a list of X / Y coordinates for which, as a consequence of the computation, a suitable position for the decoy cloud at a given Z coordinate is found.
  • the calculation under the given conditions is repeated until a physically realizable condition for the decoy target results and the TCA can generate this decoy target.
  • a method is proposed in which, after identification of the radar-guided missile and calculation of a decoy pattern corresponding to the firing, the representation of the decoy pattern as a point cloud of the decomposition or detonation points of the decoy target takes place in the form of polar coordinates.
  • a cut-off distance is then determined to determine a defense radius or set and a minimum distance between the Zerlege- or detonation points within the defense radius set freely selectable.
  • the optimization of the decoy target then takes place on the basis of the "cut-off" distance and the minimum distance between the decomposition or detonation points.
  • Figure 1 is a block diagram of the main components of a protective device against radar-directed missile.
  • Fig. 2a, b is an illustration of the discharged in salvos decoys
  • Fig. 3a, b, 4a, b is a representation of the optimization process for the deployment of the decoys
  • Fig. 6 view from the view of the decoy body in accordance with the illustration in FIG.
  • Fig. 1 Shown in Fig. 1 are the essential components of a protective device 100 for protecting an object 1 (Figure 5), here a ship, against radar-guided missile 2.
  • the protective device 100 includes at least one sensor 3 for detecting or identifying the missile 2 and various Sensors 4, 5, etc., provide the environment data, etc. Not shown in detail are means that detect an object 1 attacking missile 2, since such means or sensors are known.
  • the sensor 3 is preferably an ESM system, which can receive the radar signal (frequency, signal shape) of the seeker head 2.1 of the missile 2. Based on a database stored in the ESM system, the type of missile of the missile 2 is determined in an evaluation.
  • the sensor or sensors 4 provide the environmental data, such as wind direction, wind speed, etc. About the sensor 5, the navigation data of the ship are contributed.
  • the integration and consideration of such information to provide a Decoy cloud is known as such, reference being explicitly made to DE 103 46 001 B4, to which reference is hereby made.
  • the protective device 100 further comprises at least one TäuschAschstrom (TKWA) 7, which in turn has at least one launcher 8.
  • the TKWA 7 may also have two or more launcher 8, which are also in azimuth and / or elevation directionable or not directable. Preference is given to four launcher 8 (FIG. 6) with eight magazines 12 attached to the object 1.
  • the TWKA 7 includes a fire control system (not shown) with which the ship systems (eg: CMS, ESM, various sensors) and the control unit of the TKWA 7 or the pitcher 8 are electronically connected.
  • a database 7.1 is implemented, in which information about a plurality of known radar search heads are stored.
  • the TKWA 7 is electronically linked directly or via a CMS (Combat Management Systems) 6 with the ESM system 3.
  • CMS Compbat Management Systems
  • This CMS 6 has the ability to view and analyze in real time all the information from on-board sensors 3, 4, 5 and assemblies and to share those evaluations. In the absence of the CMS 6 this task takes over the fire control system of the TKWA 7.
  • the TKWA 7 is equipped in the present embodiment with eight magazines 12 (12.1 -12.4). However, this number of eight magazines 12 is not to be considered as limiting
  • the TKWA 7 offers a decoy pattern (point cloud) 20 (FIGS. 2a, 2b).
  • the optimization of the output of the decoys 9 is done, which is determined at run time, how long a salvo must be and how many decoys 9 per salvo to be deployed or detonated.
  • the number of salvos, as well as the number of decoy 9 per salvo, are freely definable by the user and result from the object to be protected.
  • This calculation of the required decoys 9 for the optimized decoy cloud 10 takes place both in an XY coordinate system (for the minimum-distance condition) and in the form of polar coordinates ("cut-off condition) in order to generate a point cloud 20 and thus more effectively Optimization to make.
  • the optimized point cloud 20 is in turn then within a radar lobe defined in dependence of the missile 2 (dashed line).
  • the point cloud is optimized by means of a cluster analysis of the point cloud 20.
  • a well-known analysis here is DBSCAN (Source: Ester, Martin; Kriegel, Hans-Peter; Sander, Jörg; Xu, Xiaowei (1996) Simoudis, Evangelos, Han, Jiawei, Fayyad, Usama M., eds. "A density-based algorithm for discovering clusters in large spatial databases with noise.” Proceedings of the Second International Conference on Knowledge Discovery and Data Mining (KDD-96 ) AAAI Press, pp. 226-231). With the result of the cluster analysis, the point cloud 20 is optimized.
  • Fig. 2a, 2b show the firing of the decoy 9 in number of four salvos [1] to [4], with eight decoys 9 can be fired per salvo.
  • 2 a, 2 b represent the view of a pattern (decoy pattern 20) from the approaching radar-guided missile 2 without optimization.
  • the margin for optimization is between 20 and 32 deco targets.
  • a vertical distance between two consecutive salvos is defined by the user fei according to FIG. 3a.
  • the vertical distance is measured in the middle of the salvo.
  • the center of the salvo is determined by half the distance of the outer right and left left 12 magazines.
  • the height of the center of the point cloud 20 (decoy pattern) is freely defined (FIG. 3b).
  • the height H is determined as the mean of the heights of the highest [1] and lowest salvo [4].
  • the height of a salvo is defined as the horizontal center of a salvo, which is measured from the middle of the salvo.
  • the center of the salvo is determined by the half angle of the extreme right 12,1 and the outermost sink 12.4 magazine 12.
  • a poiarcoordinate radius (defense radius ) P.sub.r ie the "cut-off" distance, ie the distance from the center of the pointwoike 20 within which a threat by the ascertained missile 2 is to be expected, is subsequently determined.
  • Detonation points of the individual decoys 9, which lie outside this fixed radius P r are not taken into account in the calculation, rather they are discarded.
  • the representation of this distance in polar coordinates (also circular coordinates) has a serious advantage over a representation in Cartesian coordinates Namely, the so-called radar lobe of a radar-guided missile 2 corresponds in cross-section to the dashed line shown in Fig. 4a If the disintegration or detonation points of the individual decoys 9 are within this radar lobe, a corresponding effect of the decoy target or decoy cloud 10 is guaranteed.
  • the effect of the decoy is further affected by the respective distance of the individual Zerlege- or detonation points.
  • the distances of the Zerlege- or detonation points may not fall below a certain value.
  • the Zerlege- or detonation points are according to the shot release after calculation with a certain distance from each other. This distance may vary according to the approach angle of the radar-guided missile 2.
  • a freely defined for the user distance as the minimum distance of the points is taken into account.
  • the distance to be defined is to be measured from the point of view of the radar-guided missile 2. If this distance is undershot during the determination of the decomposition or detonation points, these corresponding decomposition or detonation points are discarded by the calculation algorithm (FIG. 4b).
  • a cluster algorithm As a calculation algorithm for detecting the undershooting of the minimum distance between the Zerlege- or detonation points DBSCAN, a cluster algorithm is used. With the help of the DBSCAN a cluster recognition should be made.
  • the results of the DBSCAN serve to thinning out clusters of the decoy target and the decoy body 10 from the outside in, in combination with the definition of the cut-off distance. As little as possible but as many as necessary Zerlege- or detonation points are discarded and decoys 9 can be saved.
  • environmental influences such as course and travel of the object 1, as well as wind direction, wind speed, speed and approach angle! of the radar-guided missile 2 taken into account.
  • the resulting apparent target or the resulting resulting and optimized decoy cloud 10 is always calculated as perpendicular as possible to the threat (approach angle of the radar-winged missile 2 relative to the object 1).
  • the result of the calculation is forwarded to the PLC of the TKWA 7, which then undertakes the firing of the individual decoys 9 as well as the straightening of the TCWA 7 or its thrower in the axles (FIG. 5).
  • TKWA 7 all throwers 8 of the TKWA 7 shun their achievable disassembly or detonation points for the corresponding salvo. All decomposition or detonation points are used for the cut-off as well as the minimum distance condition. This results in a reduction in the number of necessary and possible Zerlege- or detonation points.
  • a check of the minimum ammunition condition for the total number of defined decomposition or detonation points is also carried out here. If the number of remaining disassembly or detonation points is higher than the required number, the cut-off condition and the minimum distance become condition (up to a maximum of 18 m). Accordingly alternately reduced until the required number of Zerlege- or detonation points (predetermined number of decoys) is reached.
  • predetermined number of decoys predetermined number of decoys

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)

Abstract

L'invention concerne un procédé et un dispositif (100) permettant de fournir une cible fictive par l'intermédiaire de leurres (9) pour protéger un véhicule et/ou un objet (1) de missiles dirigées par radar (2). Selon ce procédé, après l'identification des têtes chercheuses dirigées par radar (2) et le calcul d'un modèle de leurre (20) correspondant à la position de tir, la représentation du modèle de leurre (20) en tant que nuage de points des points de destruction ou de détonation de la cible fictive sous la forme de coordonnées polaires est effectué, une distance «Cut-Off» étant ensuite déterminée afin de déterminer un rayon de protection (Pr), et un écart minimal entre les points de destruction ou de détonation à l'intérieur du rayon de protection (Pr) étant fixé dans ces coordonnées polaires. L'optimisation de la cible fictive (10) a ensuite lieu sur la base de la distance «Cut-Off» et de l'écart minimal entre les points de destruction ou de détonation. En résultat de ce calcul, ne sont lancés que les leurres (9) qui remplissent les conditions, c'est-à-dire qui respectent l'écart minimal entre les points de destruction ou de détonation à l'intérieur du rayon de protection (Pr) dans la cible fictive optimisée (10).
EP16710112.0A 2015-03-05 2016-03-03 Procédé et dispositif permettant de fournir une cible fictive pour protéger un véhicule et/ou un objet contre des têtes chercheuses dirigées par radar Ceased EP3265742A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015002737.9A DE102015002737B4 (de) 2015-03-05 2015-03-05 Verfahren und Vorrichtung zum Bereitstellen eines Scheinzieles zum Schutz eines Fahrzeuges und/oder Objektes vor radargelenkten Suchköpfen
PCT/EP2016/054521 WO2016139295A1 (fr) 2015-03-05 2016-03-03 Procédé et dispositif permettant de fournir une cible fictive pour protéger un véhicule et/ou un objet contre des têtes chercheuses dirigées par radar

Publications (1)

Publication Number Publication Date
EP3265742A1 true EP3265742A1 (fr) 2018-01-10

Family

ID=55538183

Family Applications (1)

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EP16710112.0A Ceased EP3265742A1 (fr) 2015-03-05 2016-03-03 Procédé et dispositif permettant de fournir une cible fictive pour protéger un véhicule et/ou un objet contre des têtes chercheuses dirigées par radar

Country Status (6)

Country Link
US (1) US10670376B2 (fr)
EP (1) EP3265742A1 (fr)
KR (1) KR102376867B1 (fr)
CA (1) CA2974076C (fr)
DE (1) DE102015002737B4 (fr)
WO (1) WO2016139295A1 (fr)

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Publication number Priority date Publication date Assignee Title
DE102018131524A1 (de) 2018-12-10 2020-06-10 Rheinmetall Waffe Munition Gmbh Verfahren zum Schutz von beweglichen oder unbeweglichen Objekten vor sich nähernden lasergelenkten Bedrohungen
CN109613578B (zh) * 2018-12-29 2020-11-06 上海大学 一种用于探寻水下目标的船舶定位方法
DE102019117801A1 (de) 2019-07-02 2021-01-07 Rheinmetall Waffe Munition Gmbh Scheinziel, System und Verfahren zum Schützen eines Objekts
CN112319710B (zh) * 2020-10-28 2022-09-06 厦门华厦学院 一种雷达假目标无人艇及其形成舰船雷达假目标的方法
DE102021117084A1 (de) * 2021-07-02 2023-01-05 Rheinmetall Waffe Munition Gmbh Verfahren zum Schutz eines Objekts vor einem radargelenkten Flugkörper

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US6980152B2 (en) * 2003-07-03 2005-12-27 Textron Systems Corporation Externally cued aircraft warning and defense
DE10346001B4 (de) 2003-10-02 2006-01-26 Buck Neue Technologien Gmbh Vorrichtung zum Schützen von Schiffen vor endphasengelenkten Flugkörpern
DE102006017107A1 (de) 2006-04-10 2007-10-11 Oerlikon Contraves Ag Schutzeinrichtung und Schutzmaßnahme für eine Radaranlage
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EP2150836B1 (fr) 2007-05-14 2015-11-04 Raytheon Company Procédés et dispositif de sélection d'une cible à partir de données de poursuite radar
US20120210855A1 (en) * 2010-02-22 2012-08-23 Bae Systems Information And Electronic Systems Integration Inc. System and method for launching countermeasures to missile attack
EP2612101B1 (fr) 2010-08-31 2017-01-11 Rheinmetall Waffe Munition GmbH Dispositif et procédé pour générer un mur ou un nuage de brouillard actif
DE102011052616A1 (de) * 2011-03-28 2012-10-04 Peter Huber Vorrichtung und Verfahren zur Verteidigung eines Zielobjekts gegen mindestens einen angreifenden Flugkörper
US9372052B2 (en) * 2014-07-09 2016-06-21 The United States Of America, As Represented By The Secretary Of The Navy System and method for decoy management

Also Published As

Publication number Publication date
KR20170129116A (ko) 2017-11-24
US10670376B2 (en) 2020-06-02
DE102015002737A1 (de) 2016-09-08
CA2974076C (fr) 2023-08-01
US20180023928A1 (en) 2018-01-25
DE102015002737B4 (de) 2023-05-25
WO2016139295A1 (fr) 2016-09-09
KR102376867B1 (ko) 2022-03-18
CA2974076A1 (fr) 2016-09-09

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