EP3377840B1 - Tourelle téléopérée et procédé de fonctionnement d'une tourelle téléopérée - Google Patents

Tourelle téléopérée et procédé de fonctionnement d'une tourelle téléopérée Download PDF

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Publication number
EP3377840B1
EP3377840B1 EP16778410.7A EP16778410A EP3377840B1 EP 3377840 B1 EP3377840 B1 EP 3377840B1 EP 16778410 A EP16778410 A EP 16778410A EP 3377840 B1 EP3377840 B1 EP 3377840B1
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EP
European Patent Office
Prior art keywords
weapon
point
impact
display system
deviation
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EP16778410.7A
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German (de)
English (en)
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EP3377840A1 (fr
EP3377840B9 (fr
Inventor
Günter KROGMANN
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Rheinmetall Electronics GmbH
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Rheinmetall Defence Electronics GmbH
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Publication of EP3377840B9 publication Critical patent/EP3377840B9/fr
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    • 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
    • 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
    • F41G3/16—Sighting devices adapted for indirect laying of fire
    • F41G3/165—Sighting devices adapted for indirect laying of fire using a TV-monitor
    • 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

Definitions

  • the present invention relates to a remote-controlled weapon station with a weapon, which is mounted in a carriage so that it can be adjusted in azimuth and elevation, for combating a target object. Furthermore, the present invention relates to a military vehicle with such a remote-controlled weapon station and a method for operating a remote-controlled weapon station.
  • Military vehicles such as ships or land vehicles, are often equipped with a weapon arranged on the outer shell of the vehicle, which is mounted in a mount so that it can be adjusted in azimuth and elevation.
  • Such carriages are often designed as remote-controlled weapon stations, which can be actuated from the ballistic-protected interior of the vehicle.
  • Such remote-controlled weapon stations are, for example, from DE 10 2011 050 277 A1 and from the DE 10 2006 034 689 A1 known. Individual shots or volleys can be fired from the remote-controlled weapon station.
  • a remote-controlled weapon station which comprises a control device with a display device and a memory device.
  • the display device shows a stored view of a target device and the storage device stores the information about the offset between the line of fire (LOF) and the line of sight (LOS).
  • LEF line of fire
  • LOS line of sight
  • a disadvantage of the conventional solutions is that the offset has to be determined and corrected manually by the operator or user of the remote-controlled weapon station.
  • the disadvantage of this is that there is a certain inaccuracy in determining the offset. Furthermore, this is time-consuming and error-prone and offset cannot be determined and corrected in real time.
  • a conventional remotely controllable weapon station with a weapon which is mounted so that it can be directed in azimuth and elevation is known from the document WO 2013/153306 A1 known.
  • a remotely controllable weapon station with a weapon for attacking a target object, which is mounted in a carriage so that it can be adjusted in azimuth and elevation.
  • the remote-controlled weapon station comprises a display system for optically displaying a target area of the weapon, a first unit for determining a pixel displayed on the display system of a target point of impact of a projectile of the weapon, a second unit for determining a pixel displayed on the display system of an actual point of impact in Depending on image data recorded by a recording device of the actual point of impact of the projectile, and a third unit for determining a deflection of the weapon depending on the specific pixel of the target point of impact and the specific pixel of the actual point of impact on the display system.
  • the current location of the weapon can be determined automatically and taken over by the fire control computer for controlling the weapon of the remote-controlled weapon station.
  • the first unit, the second unit and the third unit can together calculate or determine the offset in real time.
  • the parameters set for firing and the data transmitted by the ship via the data interface for firing the shot are used to calculate at which point on the display system or screen the projectile should hit the water surface (target point of impact of the projectile).
  • This theoretical point of impact or target point of impact for example determined by the pixel coordinates on the display system screen, is compared to the actual point of impact of the projectile (actual point of impact) according to the pixel coordinates on the display system screen.
  • the deviation can now preferably be determined by means of a delta calculation of the two pixel coordinates and their conversion into millirads.
  • the resulting result indicates, in particular, which specific repository is present at the present weapon station.
  • the remote-controlled weapon station is arranged in particular on a military vehicle.
  • the military vehicle is, for example, a warship.
  • the command center of the warship includes a fire control computer, by means of which the weapon station can be operated remotely.
  • the target object is, for example, an enemy military vehicle, for example an enemy warship.
  • the weapon is a naval gun.
  • the respective unit for example the first unit, can be implemented in terms of hardware and/or software.
  • the respective unit can be designed as a device or as part of a device, for example as a computer or as a microprocessor or as a fire control computer.
  • the respective unit can be designed as a computer program product, as a function, as a routine, as part of a program code or as an executable object.
  • the display system includes a screen, for example a touchscreen, and a user interface with input means for entering commands for the display system.
  • the display system is connected to a number of cameras which record the surroundings of the weapon.
  • the third unit is set up to determine the placement of the weapon based on a difference between the pixel of the target point of impact and the pixel of the actual point of impact on the display system.
  • the weapon station is mounted on a military vehicle, with the first unit being set up to determine the pixel of the target point of impact on the display system as a function of weapon-specific parameters, vehicle-specific parameters and/or environmental parameters.
  • the weapon-specific parameters include a target distance of the target object, a physical target extension of the target object, a type and/or a dispersion of ammunition used in the weapon, a variance in a mechanism of the weapon and/or at least one maintenance parameter of the weapon.
  • the environment parameters and ship parameters mentioned above are used.
  • the theoretically determined impact distance of the projectiles is preferably used as a base variable.
  • the sea state is preferably not greater than 2, since otherwise the automated, error-free localization of the impact position of calibration shots, ie the resulting water fountains, is not optimal.
  • templates or reference templates of typical water fountains when projectiles hit the water can also be stored in a database and used.
  • the weapon is warmed up with a number of shots. For example, this number is 5.
  • the system is preferably placed in a manual mode and the weapon placed in a predetermined elevation/azimuth position.
  • no stabilization is selected and no target is tracked. Consequently, preferably no dynamic derivative action is calculated either.
  • a spin offset is preferably taken into account.
  • the system is set to fire mode HP (HP; High Precision).
  • the weapon station also includes a laser range finder for determining the target range of the target object.
  • the vehicle-specific parameters include a course of the vehicle, a speed of the vehicle, a parameter relating to heaving, a parameter relating to heaving, a parameter relating to diving, a parameter relating to rolling, a parameter relating to pitching and/or a parameter related to yaw.
  • the recording device comprises a camera, a thermal imaging camera, a radar device and/or a sonar device.
  • the pixel of the target meeting point on the display system comprises a pixel or an area of a plurality of pixels and/or the pixel of the actual meeting point on the display system comprises a pixel or an area of a plurality of pixels.
  • the second unit is set up to determine the pixel of the actual point of impact on the display system based on pattern recognition using the image data recorded by the recording device and reference templates for projectile impacts stored in a database.
  • the water fountains caused by the impact of the bullets on the water have a typical character and can be stored as templates or reference templates in the database for automatic recognition and position determination.
  • the third unit is set up to determine an azimuth offset and an elevation offset based on the determined pixel of the target point of impact and the determined pixel of the actual point of impact on the display system.
  • the third unit for determining the azimuth offset is set up to set the elevation angle to 0° in each case for a plurality M of successive shots by the weapon and to change the azimuth angle in each case by a predetermined number of degrees. determine a respective value for the azimuth offset for each of the successive shots based on the determined target point of impact pixel and on the determined actual point of impact pixel on the display system, and determine the azimuth offset using a referenced to the M To determine values for the azimuth offset applied probabilistic method.
  • the third unit for determining the elevation offset is set up to set the azimuth angle to 270° and increase the elevation angle by a predetermined number of degrees for a plurality M of successive shots by the weapon vary, respectively determine a value for the elevation offset for each of the successive shots based on the determined pixel of the target point of impact and on the determined pixel of the actual point of impact on the display system, and the elevation offset using a on to determine the M values for the elevation offset probabilistic method used.
  • a military vehicle which has a number N of remotely controllable weapon stations according to the first aspect, with N ⁇ 1.
  • the military vehicle is, for example, a warship.
  • the military vehicle can also be a land vehicle, such as a tank, in particular a remote-controlled tank.
  • a computer program product which causes the execution of the method as explained above according to the third aspect on a program-controlled device.
  • a computer program product such as a computer program means
  • FIG. 1 is a schematic block diagram of a first embodiment of a remote-controlled weapon station 1 is shown.
  • the remote-controlled weapon station 1 includes a weapon 2 for combating a target object, which is mounted in a carriage 3 so that it can be adjusted in azimuth and elevation.
  • the remote-controlled weapon station 1 is installed in particular on a military vehicle.
  • the military vehicle can include a plurality of remotely controllable weapon stations 1 .
  • the military vehicle is, for example, a warship.
  • the remote-controlled weapon station 1 includes a display system 4 for the visual display of a target area of the weapon 2.
  • the display system 4 is shown as a screen on which the horizon, a target Z and a bullet impact G are shown.
  • the bullet-impact G is illustrated as a water-fountain by way of example.
  • T1 a pixel of a target point of impact of a projectile of weapon 2
  • T2 a pixel of an actual point of impact of the projectile of weapon 2.
  • the remote-controlled weapon station 1 comprises a first unit 5, a second unit 6, which can be coupled to a receiving device 7, and a third unit 8.
  • the first unit 5, the second unit 6 and the third unit 8 are in particular in a fire control computer 9 integrated into weapon station 1.
  • the first unit 5 is set up to determine the image point T1 of the target point of impact of the projectile of the weapon 2 shown on the display system 4 .
  • the second unit 6 can be coupled to the recording device 7 and is also set up to receive image data BD recorded by the recording device 7 of the actual point of impact of the projectile.
  • the actual meeting point of the projectile corresponds in particular to the projectile impact G of the 1 .
  • the second unit 6 is set up to determine the pixel T2 of the actual meeting point shown on the display system 4 as a function of the image data BD recorded by the recording device 7 .
  • the third unit 8 is set up to display a location, in particular an azimuth location and an elevation location, of the weapon 2 depending on the specific pixel T1 of the target point of impact on the display system 4 and on the specific pixel T2 of the actual point of impact on the display system 4 to be determined.
  • the third unit 8 is set up in particular to determine the placement of the weapon 2 based on a difference between the pixel T1 of the target point of impact and the pixel T2 of the actual point of impact on the display system 4 .
  • the difference can be a difference vector, for example, in particular a two-dimensional or a three-dimensional difference vector.
  • the first unit 5 is set up to to determine the pixel T1 of the target meeting point on the display system 4 as a function of weapon-specific parameters, vehicle-specific parameters and/or environmental parameters.
  • the environmental parameters are meteorological data such as ambient temperature, wind direction and wind speed.
  • weapon-specific parameters are the target distance of the target Z or target object, a physical target extension of the target object, a type and/or a spread of ammunition used in the weapon 2, a variance in a mechanism of the weapon 2 and/or maintenance parameters of the weapon, such as such as maintenance intervals.
  • vehicle-specific parameters examples include a course of the vehicle, e.g /or a parameter related to yaw.
  • the recording device 7, which is coupled to the second unit 6, includes, for example, a camera, a thermal imaging camera, a radar device and/or a sonar device.
  • the pixel T1 of the target meeting point on the display device 4 is, for example, a pixel or an area made up of a plurality of pixels.
  • the image point T2 of the actual meeting point on the display system 4 is also a pixel or an area made up of a plurality of pixels.
  • FIG. 2 shows a schematic block diagram of a second exemplary embodiment of a remote-controlled weapon station 1.
  • the second embodiment of the 2 the remote-controlled weapon station 1 includes all the features of the first embodiment 1 .
  • the weapon station includes 1 of the 2 a database 10 for storing reference templates RT for projectile impacts G.
  • the second unit 6 of 2 is set up to determine the pixel T2 of the actual meeting point on the display system 4 based on pattern recognition using the image data BD recorded by the recording device 7 and the reference templates RT stored in the database 10 for the projectile impacts G.
  • the third unit 8 is set up to determine an azimuth deviation ⁇ A and an elevation deviation ⁇ E based on the determined pixel T1 of the target meeting point and from the determined pixel T2 of the actual meeting point on the display system 4 .
  • the third unit 8 for determining the azimuth offset ⁇ A is set up to set the elevation angle to 0° and to change the azimuth angle to a predetermined number in each case for a plurality M of successive shots by the weapon 2. to determine a value for the azimuth offset ⁇ A for each of the successive shots based on the determined pixel T1 of the target hit point and on the determined pixel T2 of the actual hit point on the display system 4 and the azimuth offset ⁇ A using a probabilistic method applied to the M values for the azimuth offset.
  • the elevation angle is set to 0° and the azimuth angle is set to five different shot angles.
  • the azimuth angles 285°, 275°, 270°, 265° and 255°.
  • a shot is fired at each angular setting of the azimuth angle and the actual hit point according to pixel T2 of the actual hit point is compared with the theoretical hit point according to pixel T1 of the target hit point using the pixel positions present in the display system 4 .
  • the azimuth offset ⁇ A that is statistically most likely to be assumed is taken over by the fire control computer 9 as an offset value from the five available values, in particular converted into millirads.
  • the ship's course for the example of a ship as a military vehicle should preferably be chosen in such a way that the meteorological wind blows either in the direction of the shot or from the direction of the shot (no cross wind).
  • the ship's speed and course should preferably be kept constant throughout the determination of the five values for the azimuth deviation ⁇ A.
  • a speed between 10 and 20 knots is preferably selected as the ship speed.
  • the elevation angle for five consecutive shots is set to the following shot angles: -1°; -0.5°; 0°; +0.5°; and +1°.
  • the azimuth angle is set to 270°, for example.
  • a shot is fired and the actual meeting point according to the pixel T1 is compared with the theoretical meeting point according to the pixel T2 on the display system 4 based on the existing pixel positions. An example of this is shown in the schematic views of the display system 4 according to FIG Figures 8 to 12 .
  • the elevation deviation ⁇ E that is statistically most likely to be assumed is taken over by the fire control computer 9 as an offset value from the five available values, in particular those converted into millirads.
  • the ship's course is to be selected in such a way that the meteorological wind blows transversely to the firing direction (no tailwind or headwind).
  • the ship's speed and course are to be kept constant throughout the determination of the five elevation deviations.
  • a speed of between 10 and 15 knots should preferably be selected as the ship speed.
  • FIGS 1 and 2 show a schematic flow chart of an exemplary embodiment of a method for operating a remotely controllable weapon station 1. Examples of the remotely controllable weapon station 1 are in FIGS 1 and 2 shown.

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

Claims (12)

  1. Poste de tir pouvant être commandé à distance (1) comprenant une arme (2), qui est monté de manière réglable en azimut et en élévation dans un chariot (3), destiné à combattre un objet cible, comprenant :
    un système d'affichage (4) permettant une représentation optique d'une zone cible de l'arme (2),
    une première unité (5) destinée à déterminer un point d'image (T1), représenté sur le système d'affichage (4), d'un point d'impact cible d'un projectile de l'arme (2),
    une deuxième unité (6) destinée à déterminer un point d'image (T2), représenté sur le système d'affichage (4), d'un point d'impact réel conformément à des données d'image (BD) du point d'impact réel du projectile, les données d'image étant enregistrées au moyen d'un dispositif d'enregistrement (7), et
    une troisième unité (8) destinée à déterminer un écart de l'arme (2) en fonction du point d'image (T1) déterminé du point d'impact cible et du point d'image (T2) déterminé du point d'impact réel sur le système d'affichage (4),
    dans lequel la troisième unité (8) est configurée pour déterminer un écart d'azimut (ΔA) et un écart d'élévation (ΔE) sur la base du point d'image déterminé (T1) du point d'impact cible et du point d'image déterminé (T2) du point d'impact réel sur le dispositif d'affichage (4),
    caractérisé en ce que
    la troisième unité (8) destinée à déterminer l'écart d'azimut (ΔA) est configurée, pour une pluralité M de tirs successifs par l'arme (2), pour fixer l'angle d'élévation à 0° dans chaque cas, et pour modifier l'angle d'azimut d'un nombre de degrés prédéterminé dans chaque cas, pour déterminer respectivement une valeur de l'écart d'azimut (ΔA) de chacun des tirs successifs sur la base du point d'image déterminé (T1) du point d'impact cible et du point d'image déterminé (T2) du point d'impact réel sur le système d'affichage (4), et pour déterminer l'écart d'azimut (ΔA) en utilisant une méthode probabiliste appliquée aux M valeurs de l'écart d'azimut, et
    la troisième unité (8) destinée à déterminer l'écart d'élévation (ΔE) est configurée, pour une pluralité M de tirs successifs par l'arme (2), pour fixer l'angle d'azimut à 270° dans chaque cas et pour modifier l'angle d'élévation d'un nombre de degrés prédéterminé dans chaque cas, pour déterminer respectivement une valeur de l'écart d'élévation (ΔE) lors de chacun des tirs successifs sur la base du point d'image déterminé (T1) du point d'impact cible et du point d'image déterminé (T2) du point d'impact réel sur le système d'affichage (4), et pour déterminer l'écart d'élévation (ΔE) en utilisant une méthode probabiliste appliquée aux M valeurs de l'écart d'élévation, et
    un ordinateur de commande de tir (9) destiné à commander l'arme (2) au moyen de l'écart d'azimut déterminé (ΔA) et de l'écart d'élévation déterminé (ΔE) est prévu.
  2. Poste de tir selon la revendication 1,
    caractérisé en ce que
    la troisième unité (8) est configurée pour déterminer l'écart de l'arme (2) sur la base d'une différence entre le point d'image (T1) du point d'impact cible et le point d'image (T2) du point d'impact réel sur le système d'affichage (4).
  3. Poste de tir selon la revendication 1 ou la revendication 2,
    caractérisé en ce que
    le poste de tir (1) est monté sur un véhicule militaire, en particulier sur un bâtiment, dans lequel la première unité (5) est configurée pour déterminer le point d'image (T1) du point d'impact cible sur le système d'affichage (4) en fonction de paramètres spécifiques à l'arme, de paramètres spécifiques au véhicule et/ou de paramètres environnementaux.
  4. Poste de tir selon la revendication 3,
    caractérisé en ce que
    les paramètres spécifiques à l'arme comprennent une distance de cible de l'objet cible, une étendue physique de cible de l'objet cible, un type et/ou une dispersion d'une munition utilisée dans l'arme (2), une variance d'une mécanique de l'arme (2) et/ou au moins un paramètre d'entretien de l'arme (2).
  5. Poste de tir selon la revendication 3 ou la revendication 4,
    caractérisé en ce que
    les paramètres spécifiques au véhicule comprennent un cap du véhicule, une vitesse du véhicule, un paramètre associé à une houle, un paramètre associé à une embardée, un paramètre associé à un pilonnement, un paramètre associé à un roulis, un paramètre associé à un tangage, et/ou un paramètre associé à un lacet.
  6. Poste de tir selon l'une quelconque des revendications 1 à 5,
    caractérisé en ce que
    le dispositif d'enregistrement (7) comprend une caméra, une caméra d'imagerie thermique, un dispositif radar et/ou un dispositif sonar.
  7. Poste de tir selon l'une quelconque des revendications 1 à 6,
    caractérisé en ce que
    le point d'image (T1) du point d'impact cible sur le système d'affichage (4) comprend un pixel ou une zone d'une pluralité de pixels et/ou en ce que le point d'image (T2) du point d'impact réel sur le système d'affichage (4) comprend un pixel ou une zone d'une pluralité de pixels.
  8. Poste de tir selon l'une quelconque des revendications 1 à 7,
    caractérisé en ce que
    la deuxième unité (6) est configurée pour déterminer le point d'image (T2) du point d'impact réel sur le système d'affichage (4) sur la base d'une reconnaissance de motif faisant intervenir les données d'image (BD) enregistrées au moyen du dispositif d'enregistrement (7) et des modèles de référence (RT) d'impacts de projectiles (G) mémorisés dans une base de données (10).
  9. Véhicule militaire comprenant un nombre N de postes de tir pouvant être commandés à distance (1) selon l'une quelconque des revendications 1 à 8, N ≥ 1.
  10. Véhicule militaire selon la revendication 9,
    caractérisé en ce que
    le véhicule militaire est un bâtiment de guerre.
  11. Procédé de mise en œuvre d'un poste de tir pouvant être commandé à distance (1) comprenant une arme (2), qui est monté de manière réglable en azimut et en élévation sur un chariot (3), destiné à combattre un objet cible et comprenant un système d'affichage (4) destiné à afficher optiquement une zone cible de l'arme (2), comprenant les étapes consistant à :
    déterminer (1301) un point d'image (T1), représenté sur le système d'affichage (4), d'un point d'impact cible d'un projectile de l'arme (2),
    déterminer (1302) un point d'image (T2) d'un point d'impact réel représenté sur le système d'affichage (4) en fonction de données d'image (BD) du point d'impact réel du projectile enregistrées au moyen d'un dispositif d'enregistrement (7), et
    déterminer (1303) un écart de l'arme (2) en fonction du point d'image déterminé (T1) du point d'impact cible et du point d'image déterminé (T2) du point d'impact réel sur le système d'affichage (4),
    dans lequel un écart d'azimut (ΔA) et un écart d'élévation (ΔE) sont déterminés sur la base du point d'image déterminé (T1) du point d'impact cible et du point d'image déterminé (T2) du point d'impact réel sur le système d'affichage (4),
    caractérisé en ce que
    pour déterminer respectivement l'écart d'azimut (ΔA) d'une pluralité M de tirs successifs par l'arme (2), l'angle d'élévation est fixé à 0° dans chaque cas et l'angle d'azimut est modifié d'un nombre de degrés prédéterminé dans chaque cas, une valeur de l'écart d'azimut (ΔA) est respectivement déterminée pour chacun des tirs successifs sur la base respectivement du point d'image déterminé (T1) du point d'impact cible et du point d'image déterminé (T2) du point d'impact réel sur le système d'affichage (4), et l'écart d'azimut (ΔA) est déterminé en utilisant une méthode probabiliste appliquée aux M valeurs de l'écart d'azimut, et
    pour déterminer respectivement l'écart d'élévation (ΔE) d'une pluralité M de tirs successifs par l'arme (2), l'angle d'azimut est fixé à 270° dans chaque cas et l'angle d'élévation est modifié d'un nombre de degrés prédéterminé dans chaque cas, une valeur de l'écart d'élévation (ΔE) est respectivement déterminée pour chacun des tirs successifs sur la base du point d'image déterminé (T1) du point d'impact cible et du point d'image déterminé (T2) du point d'impact réel sur le système d'affichage (4), et l'écart d'élévation (ΔE) est déterminé en utilisant une méthode probabiliste appliquée aux M valeurs de l'écart d'élévation (ΔE), et l'arme (2) est commandée au moyen d'un ordinateur de commande de tir (9) à l'aide de l'écart d'azimut déterminé (ΔA) et de l'écart d'élévation déterminé (ΔE).
  12. Produit-programme informatique qui initie la mise en œuvre du procédé sur un dispositif commandé par programme selon la revendication 11.
EP16778410.7A 2015-11-19 2016-10-10 Tourelle téléopérée et procédé de fonctionnement d'une tourelle téléopérée Active EP3377840B9 (fr)

Applications Claiming Priority (2)

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DE102015120036.8A DE102015120036A1 (de) 2015-11-19 2015-11-19 Fernbedienbare Waffenstation und Verfahren zum Betreiben einer fernbedienbaren Waffenstation
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US6125308A (en) * 1997-06-11 2000-09-26 The United States Of America As Represented By The Secretary Of The Army Method of passive determination of projectile miss distance
US20080022575A1 (en) * 2006-05-08 2008-01-31 Honeywell International Inc. Spotter scope
DE102006034689A1 (de) 2006-07-24 2008-01-31 Rheinmetall Landsysteme Gmbh Schutzeinrichtung für ein militärisches Fahrzeug, welches als Unterstützungsfahrzeug fungiert und alle pionier- und bergtechnischen Arbeiten ausführen kann
US8074555B1 (en) * 2008-09-24 2011-12-13 Kevin Michael Sullivan Methodology for bore sight alignment and correcting ballistic aiming points using an optical (strobe) tracer
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DE102011050277B4 (de) 2011-05-11 2012-11-29 Krauss-Maffei Wegmann Gmbh & Co. Kg Adapter zur Befestigung einer Lafette an einem Objekt, Lafette und militärisches Fahrzeug
FR2989456B1 (fr) * 2012-04-12 2018-05-04 Philippe Levilly Systeme teleopere de traitement de cibles
DE102014019200A1 (de) * 2014-12-19 2016-06-23 Diehl Bgt Defence Gmbh & Co. Kg Maschinenwaffe

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EP3377840A1 (fr) 2018-09-26
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WO2017084806A1 (fr) 2017-05-26
EP3377840B9 (fr) 2022-04-20

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