EP3495762A1 - System and method for coordinated target identification of a guided missile - Google Patents

Abstract

A person-coordinated targeting system (1) of a guided missile (2) comprises a portable mobile aiming device (3) adapted to mark a target object (4); a guided missile (2) comprising a first antenna (5), a control unit (6) and a seeker head (7), the seeker head (7) being adapted to detect and track the marked target object (4); and a portable mobile coordination terminal (8) formed with a second antenna (9), wherein the first antenna (5) and the second antenna (9) are adapted to acquire targeting data between the control unit (6) of the guided missile (2). and the coordination terminal (8), wherein the coordination terminal (8) is adapted to display the targeting data and to control the targeting of the missile (2) via the control unit (6) during the tracking of the marked target object (4).

Description

The present invention relates to a system and a method for person-coordinated target finding of a guided missile.

A conventional course of flight during the destination determination of a target-seeking missile emitted by a platform often consists of two phases, a so-called induction phase and a steering phase. In the induction phase, a target object is trained, that is, the target object is defined in a sensor image of a missile seeker head, and the associated data is transmitted to a seeker of the seeker. In the subsequent steering phase, the target tracking device tracks the target object in the sensor image.

Conventional seekers are often limited to tracking a single signature of a target, whereas more recently seekers have been developed which have multiple modes, ie, the seekers can capture and track different signatures depending on the scenario. Thus, for example, a signature can be generated by reflection or scattering of an illumination of the target by means of laser radiation (semi-active laser-based target illumination or target search guidance, English: "semi-active laser", SAL) or a signature infrared radiation of the target can be used (passive target search) , Search heads are already known from the prior art, which have optics which are dual-mode or multi-mode functionality. Such seekers are for example in the publications DE 10 2007 006 710 B3 . DE 10 2007 002 336 A1 . EP 2 957 854 A1 or DE 10 2012 017 452 A1 discloses and can detect both infrared radiation and laser radiation.

The induction phase can take place before or during a target approach. This can be done in the so-called Man-In-The-Loop (MITL) method by so-called Foward Air Controllers (FAC) using radio communication through user intervention to provide high precision targeting with simultaneous responsiveness in the case to allow for rapidly changing situation conditions, eg in a confusing destination area with difficult friend-enemy separation. In addition, the FAC may request a change of destination and / or a mission termination at any time by communication with a command post and / or a firing position.

However, previous technical solutions for person-based targeting provide a cumbersome and slow chain of command between the FAC, command post, launching platform and guided missile, requiring only a time-consuming and inflexible indirect action of the FAC on the missile and its targeting via the detour of the command post and / or the launching platform provides. In particular, manual and correspondingly error-prone target coordinate transmission and mission planning are still frequently followed by radio. This communication is not only tedious, but also easily disturbed or audible, which ultimately leads to an exposure of the FAC. More recent technical solutions, such as Remotely Operated Video Enhanced Receiver (ROVER) or Persistent Close Air Support (PCAS), aim to improve the FAC's deployment by providing a digital data link to the automated one Information transmission between the launching platform and a terminal of the FAC is provided. The publication DE 10 2010 011 256 A1 moreover proposes imparting, in addition to the steering information, further information to a laser beam of a laser target illumination device, which information is important for the optimal effect of the laser steering ammunition in the target.

Against this background, the present invention has the object to find solutions for person-coordinated target finding of a missile, which allow increased responsiveness in case of situation changes and a reduced susceptibility to errors.

According to the invention, this object is achieved by a system having the features of patent claim 1 and by a method having the features of patent claim 12.

Accordingly, a system for person-coordinated target determination of a missile is provided. The system includes a portable mobile destination instruction device configured to mark a destination object; a guided missile comprising a first antenna, a control unit and a seeker head, the seeker head configured to detect and track the marked target object; and a portable mobile co-ordination terminal formed with a second antenna, wherein the first antenna and the second antenna are adapted to transmit targeting data between the control unit of the guided missile and the co-ordination terminal, the co-ordination terminal for displaying the targeting data and controlling the targeting of the missile is formed via the control unit during the tracking of the marked target object.

Furthermore, a method for person-coordinated target determination of a guided missile is provided. The method includes tagging a target object with a portable mobile targeting device; Instructing a seeker head of a missile to detect and track the marked target object; Exchanging targeting data between a portable mobile coordination terminal and a control unit of the guided missile via a first antenna of the missile and a second antenna of the coordination terminal; Displaying the goal finding data on the coordination terminal; and controlling the targeting of the missile via the control unit by means of the co-ordination terminal during the tracking of the tagged target object by the missile.

One idea underlying the present invention is to provide a bidirectional direct data link between a missile and a FAC via a terminal carried by it, which enables an active, direct influence of the FAC on the destination of the missile. This not only improves the precision of the target instruction by avoiding or correcting false toggling of targets. In addition, depending on the situation, in particular the slow and cumbersome communication channel can be bypassed via the command post or the fireplace. On the contrary, the coordinating person, in particular a FAC, can access the guided missile at all times and responsively. The response times for a change of destination or a mission termination can thus be significantly minimized. For this purpose, the invention provides antennas with a corresponding emission characteristic, which enables a data connection between the terminal and the guided missile. For example, the second antenna may be coupled to a transceiver as a corresponding tactical data link (directional) antenna, wherein the overall system may be dimensioned to be accommodated in, for example, a backpack or the like can be transported. The coordination terminal itself, for example, a robustified laptop or the like may be designed as an input and control device, which includes appropriate software for coordinating the Zieleinweisung and goal setting and the general mission planning. The targeting of the targeting device can hereby be transmitted, as usual, via a tactical data link of the coordinator or the coordination terminal to a command post, a fire pit and / or a launching platform or the like, which then instructs detection and tracking of the marked target object by the guided missile. In principle, however, the target instruction can also be conveyed directly between the coordination terminal and the guided missile, for example in the event that the guided missile is already in flight.

In contrast to known systems such as ROVER or PCAS, the problem of the long reaction times of the command chain FAC command post platform missile is thus solved in this case. Reversals of wrong targets can also be avoided or corrected, as the FAC or equivalent knows the situation conditions in the target area better than a potentially militarily distant shooter on a launching platform. Another consequence of the solution according to the invention is that a corresponding launching platform of the guided missile can be made simpler with less technical effort (in the case of unmanned platforms) or at least the operator of the platform can be relieved (in the case of manned platforms). Furthermore, the risk of possible exposure of the coordinating person is minimized as it can act very quickly, independently and flexibly without the need for lengthy consultation via the chain of command, ie the duration of the operation can be kept as low as possible. Advantageous embodiments and further developments will become apparent from the other dependent claims and from the description with reference to the figures.

According to a further development, the coordination terminal can be designed to correct and / or change the target determination data. In a corresponding development of the method, the control may include correcting and / or changing the target determination data. Accordingly, when the situation at the destination changes, the FAC can intervene quickly and efficiently and communicate necessary changes directly and immediately with the missile. For example, the trajectory or configuration of the missile can also be changed in a Endanflugphase (English: "Cruise Phase" or "Terminal Phase"), which would no longer be possible in known system due to the Zeitdringlichkeit and the lengthy coordination with a command post or platform ,

According to a further development, the coordination terminal can be designed to stop the tracking of the marked target object. In a corresponding development of the method, the control may include canceling the tracking of the marked target object. In contrast to conventional systems, the guided missile can, for example, be redirected, defused and / or destroyed shortly before the impact.

According to a development, the coordination terminal can be designed to replace the marked target object with another marked target object. In a corresponding development of the method, the control can include replacing the marked target object with another marked target object. For example, a wrongly activated target can still be corrected until shortly before the arrival of the guided missile and replaced by the actual target.

For this purpose, the system may be configured to transmit a marking of a target object through the targeting device directly via the coordination terminal to the guided missile and to instruct the latter to record the tracking.

According to a development, the destination determination data may include at least one of current navigation data, steering signals and environment data of the seeker. In a particular example, the destination finding data may include a current seeker image of the destination approach. In another example, the targeting data may include current target and environmental coordinates, such as data from local and / or global positioning systems, e.g. of navigation satellite systems or the like. In another example, the targeting data may include targeting data, such as laser spot and / or IR information from a targeting system and / or from a sensor within the seeker.

According to a development, at least one of the first antenna and the second antenna can be designed with a communication range of less than 10 km, in particular less than 6 km. In particular, the system may provide a short-range communication and control connection between the co-ordination terminal and the serving FAC and the missile, which will provide the FAC with direct interaction with the missile, particularly in a final propulsion phase of the missile.

According to a development, the coordination terminal may be a portable computer such as a laptop, notebook and / or subnotebook or another mobile device, such as a tablet computer, a pocket computer, a personal digital assistant, a mobile phone, an interface device for the satellite communications etc. In a concrete example, the co-ordination terminal can be a robust laptop.

According to a further development, the destination instruction device can be a target illumination system, in particular a laser-based target illumination system. In principle, the Zielbeleuchtungssytem but also be radar-based or use a combination of laser and radar. In a specific example, the target lighting system may be an SAL system.

According to a development, the seeker head can be designed as a dual-mode viewfinder with a semi-active target search steering mode and a passive target search steering mode. According to a further development, the seeker head can also be designed as a multi-mode viewfinder with a plurality of semi-active and / or passive target search steering modes. Such a search head with multiple modes is particularly advantageous in combination with the direct communication between missile and coordination terminal or FAC, since the used mode of the seeker head on the specific, current situation is quickly adaptable and each optimal for the current conditions control variants are selectable.

According to a development, the semi-active Zielsuchlenkmodus at least one of laser-based and radar-based and the passive Zielsuchlenkmodus be at least one of optical and infrared based formed. For example, the semi-active Zielsuchlenkmodus based on the SAL technology and the passive Zielsuchlenkmodus TV or video-based formed with an optical camera (English: "Television guidance"). In principle, a combination of different technologies is conceivable, eg a SAL & TV / IR seeker. Such a seeker head would make it possible to utilize the most advantageous technology for the current situation. For example, a laser mode can serve align the seeker with the sighting line to the target, ie instruct the guided missile. A TV and / or IR sensor can take over the final destination tracking. The discovery and identification of the target can thus be assigned to the laser mode, while the IR mode is used only for the final approach.

According to a development, the guided missile may have a weight of less than 100 kg.

The above embodiments and developments can, if appropriate, combine with each other as desired. Further possible refinements, developments and implementations of the invention also include combinations, not explicitly mentioned, of features of the invention described above or below with regard to the exemplary embodiments. In particular, the person skilled in the art will also add individual aspects as improvements or additions to the respective basic form of the present invention.

Fig. 1

schematische Illustration eines Systems zur personenkoordinierten Zielfindung eines Lenkflugkörpers gemäß einer Ausführungsform der Erfindung;

Fig. 2

schematische Ansicht eines Bildschirms eines Koordinationsterminals aus dem System aus Fig. 1; und

Fig. 3

schematisches Ablaufdiagramm eines Verfahrens für die Verwendung des Systems aus Fig. 1.

The present invention will be explained in more detail with reference to the exemplary embodiments given in the schematic figures. It shows:

Fig. 1

schematic illustration of a system for person-coordinated target determination of a missile according to an embodiment of the invention;

Fig. 2

schematic view of a screen of a coordination terminal from the system Fig. 1 ; and

Fig. 3

schematic flow diagram of a method for using the system Fig. 1 ,

The accompanying figures are intended to convey a further understanding of the embodiments of the invention. They illustrate embodiments and, together with the description, serve to explain principles and concepts of the invention. Other embodiments and many of the stated advantages will become apparent with reference to the drawings. The elements of the drawings are not necessarily shown to scale to each other.

In the figures of the drawing are the same, functionally identical and same-acting elements, features and components - unless otherwise stated - each provided with the same reference numerals.

For the purposes of the present invention, guided missiles include all guided missiles that can move on determinable trajectories in and outside of the airspace. Missiles according to the present invention include in particular light drones, guided missiles, steering grenades, cruise missiles, ground target missiles, air-to-surface missiles, antitank missiles, anti-ship missiles, air target missiles such as air-to-air missiles or anti-aircraft missiles, anti-missile missiles and anti-satellite rockets.

FIG. 1 shows a schematic illustration of a system 1 for person-coordinated target finding of a homing missile 2 according to an embodiment of the invention.

The system 1 comprises a guided missile 2, which is emitted by a launching platform 10 and with it via a tactical data connection 22 communicated. The launching platform 10 may be movable or immobile. For example, the launching platform 10 may be a flying, floating or moving vehicle, eg a helicopter. Alternatively, the launching platform 10 may also be permanently installed. The guided missile 2 may be, for example, a steering rocket in a weight class of less than 100 kg. The guided missile 2 comprises a first antenna 5, a control unit 6 and a seeker head 7. The seeker head 7 is for detecting and tracking a marked target object 4 as a dual-mode viewfinder with a laser-based semi-active Zielsuchlenkmodus 12 (SAL) and a TV and / or IR-based passive homing control mode 13 is formed.

The system 1 further comprises a portable mobile destination instruction device 3, which is formed with a laser illumination functionality for marking the target object 4. Here, a person, eg a FAC, can direct a laser beam 19 (pulsed or continuous) to the desired target object 4 with the aid of the aiming device 3. Laser scattered light 20 is reflected and / or scattered by the targeted target point X, whereby the seeker head 7 of the guided missile 2 can detect and track the marked target object 4 via the laser-based semi-active target search steering mode 12. Alternatively or additionally, the passive Zielsuchlenkmodus 13 of the guided missile 2 can be used for target finding. For example, the targeting semi-active steering mode 12 may be used only for targeting and for a first phase of the target approaches. Such a laser-based target search steering mode 12 has the disadvantage that the reflected or scattered laser light 20 may under certain circumstances be registered, as a result of which it is possible to infer both an imminent attack and the presence and possibly even the position of a FAC. In order to avoid this, the semi-active target search steering mode 12 may be switched off in a final approach phase and instead switched to a passive target search steering mode 13 be, which does not use active radiation, but only exploits existing visual and / or infrared information of the target object 4 anyway.

The aiming device 3 is coupled to a portable mobile coordination terminal 8, which is formed with an input device 18 and a screen 14. For example, the co-ordination terminal 8 may be a laptop or other portable computer that is transportable by a FAC in a backpack or the like along with the targeting device 3. The coordination terminal is further formed with a second antenna 9. The first and second antennas 5, 9 are within a range of a few kilometers, e.g. less than 6 km, adapted to transmit destination finding data between the control unit 6 of the guided missile 2 and the coordination terminal 8 via a direct tactical data link 21. The coordination terminal 8 is hereby designed to display the target determination data and to control the target determination of the guided missile 2 via the control unit 6 during the tracking of the marked target object 4. The destination finding data include, for example, current navigation data, steering signals, environment data of the seeker head 7, etc. The coordination terminal 8 can be used by the FAC for controlling and / or monitoring the guided missile 2. For example, via the coordination terminal 8, the FAC may correct and / or change the targeting data, abort the tracking of the tagged target 4, or replace, for example, the tagged target 4 with another tagged target 4 ', e.g. in case the target object 4 is wrongly targeted.

Fig. 2 shows an exemplary representation of the screen 14 of the coordination terminal 8, which is divided into two sections. An upper section is used for Representation of a trajectory 16 of the guided missile 2 on an environment map 15, in particular, the current position and speed of the missile 2 is displayed. A search header 17 is displayed on the lower section, which summarizes the information relevant to the FAC regarding the targeting and destination finding of the guided missile 2.

Referring again to Fig. 1 In addition to this direct data connection 21, an indirect tactical data connection 22 is provided, via which the launching platform 10, the guided missile 2 and the coordination terminal 8 are connected. The overall mission planning and mission coordination is regulated by a command post 11 or the like, which also communicates via the indirect tactical data link 22 with the individual components.

Fig. 3 shows a schematic flow diagram of a method M for the use of the system 1 from Fig. 1 , In the following, an exemplary sequence of a target approach of the guided missile 2 will be explained with reference to the figures.

The guided missile 2 is launched from the launching platform 10 and then guided on its trajectory by an inertial navigation system or the like. Once under M1, a target object 4 is marked with the portable mobile Zieleinweisungsvorrichtung 3 via the laser beam 19 and the reflected laser scattered light 20 is registered by the semi-active Zielsuchlenkmodus 12 of the seeker 7 (see. Fig. 1 ), the guided missile 2 under M2 is instructed to detect and track the marked target object 4. In this phase of flight, the guided missile 2, for example, operate on the principle of proportional navigation. A corresponding laser sensor of the seeker head 7 (not shown) detects and identifies the target object 4 and centers it in a field of view by controlling a sighting line which is aligned approximately with the aid of a gimbal or the like. The flight trajectory 16 is in this phase of flight in Fig. 2 marked with a dash-dotted line.

• drastische Reduzierung der Zeitdauer zwischen der Anforderung der Luftunterstützung und der Zielbekämpfung bei gleichzeitigem allzeitigen Zugriff auf den Lenkflugkörper durch den FAC (MITL-Konzept),
• effektive und reaktionsschnelle Lenkung von indirektem Feuer bzw. indirekter Feuerunterstützung zur Vermeidung von Kollateralschäden durch direkten Zugriff des FAC auf den Lenkflugkörper,
• kürzere Operationsdauer und dadurch verkleinerte Exposition des FAC in potenziell feindlichem Gebiet,
• verbesserte Einbindung des FAC in die technisch unterstützen Abläufe von Luftunterstützungsoperationen (englisch: "Close Air Support", CAS) und dadurch bedingte verbesserte Fähigkeit der Luft-Boden oder Boden-Boden Zieleinweisung,
• Entlastung der Plattformoperatoren (bei bemannten Plattformen) und Vermeidung von möglichen menschlichen oder technischen Fehlern bei Zielkoordinatenermittlung, -übertragung und -eingabe,
• erhöhte Präzision bei der Zieleinweisung, Vermeidung der Falschziel-Aufschaltung durch Ziel-Verifikation im Suchkopfbild, erhöhte Reaktionszeiten bei Zielwechsel oder Missionsabbruch,
• allgemein gesteigerte Unabhängigkeit des FAC,
• erhöhte Plattform-Überlebensfähigkeit aufgrund der Möglichkeit eines vergrößerten Abstands zum Zielobjekt durch Einweisung und Überwachung des FAC im Endanflug,
• Einsatz geringerer Anzahl von zudem leichteren Lenkflugkörpern aufgrund der verbesserten Präzision.

Under M3, target finding data between the coordination terminal 8 and the control unit 6 of the guided missile 2 is continuously exchanged via the first antenna 5 of the guided missile 2 and the second antenna 9 of the coordination terminal 8 via the direct tactical data link 21. The target finding data are displayed here correspondingly under M4 on the screen 15 of the coordination terminal 8, so that the FAC can make an image of the situation at any time and if necessary make corrections and / or changes to the trajectory or configuration of the guided missile 2. For this purpose, M5 can intervene in the destination finding of the guided missile 2 via the control unit 5 by means of the coordination terminal 8, ie during the tracking of the marked target object 4 by the guided missile 2. As soon as the missile 2 has reached a predetermined distance to the marked target object 4 and / or as soon as a manual input of the FAC via the coordination terminal 8, can be switched from the laser-based semi-active Zielsuchlenkung 12 to a passive Zielsuchlenkung 13 based on IR or TV (dashed line in Fig. 2 ) in order to approach the target object as inconspicuously as possible during the final approach. Also during this phase of flight, the FAC can access the target determination data of the guided missile 2 at any time via the coordination terminal 8 and, if necessary, intervene in its control, for example by correcting and / or changing the target finding data, by stopping the tracking of the marked target object 4, by replacing the marked target Target object 4 by a further marked target object 4 ', etc. The FAC can thus intervene in principle until shortly before the impact of the guided missile 2 on the target object 4 in the flight of the missile 2. This has significant advantages over conventional systems, which merely provide an indirect tactile Provide data link 22 across the entire command chain from FAC via Command Station 11, Launch Pad 10 and Missile 2:

• drastically reducing the time between the request for air support and the target combat with simultaneous access to the guided missile by the FAC (MITL concept),
• effective and responsive steering of indirect fire or indirect fire support to prevent collateral damage by direct access of the FAC to the missile,
• shorter duration of operation and thus reduced exposure of the FAC in potentially hostile territory,
• Improved integration of the FAC into the technically supported operations of Close Air Support (CAS) and the resulting enhanced ability of the air-ground or ground-to-ground targeting,
• Relieving platform operators (in manned platforms) and avoiding possible human or technical errors in target coordinate detection, transmission and input,
• increased precision in targeting, avoidance of false target activation by target verification in the search head image, increased reaction times in the event of a change of goal or mission termination,
• generally increased independence of the FAC,
• increased platform survivability due to the possibility of increased distance to the target by training and monitoring the FAC on final approach,
• Use of smaller number of lighter missiles due to the improved precision.

In the foregoing detailed description, various features have been summarized to improve the stringency of the illustration in one or more examples. It should be understood, however, that the above description is merely illustrative and not restrictive in nature. It serves to cover all alternatives, modifications and equivalents of the various features and embodiments. Many other examples will be immediately and immediately apparent to one of ordinary skill in the art, given the skill of the art in light of the above description.

The exemplary embodiments have been selected and described in order to represent the principles underlying the invention and their possible applications in practice in the best possible way. As a result, those skilled in the art can optimally modify and utilize the invention and its various embodiments with respect to the intended use. In the claims as well as the description, the terms "including" and "having" are used as neutral language terms for the corresponding terms "comprising". Furthermore, a use of the terms "a", "an" and "an" a plurality of features and components described in such a way should not be excluded in principle.

LIST OF REFERENCE NUMBERS

1

system

2

Missile

3

Target designation device

4, 4 '

target

5

first antenna

6

control unit

7

seeker

8th

coordination terminal

9

second antenna

10

launching platform

11

command post

12

Semiactive target search steering mode

13

passive homing control mode

14

screen

15

map

16

flight trajectory

17

Search Headshot

18

input device

19

laser beam

20

Laser light scattering

21

direct tactical data connection

22

indirect tactical data connection

M

method

M1

step

M2

step

M3

step

M4

step

M5

step

Claims (15)

System (1) for person-coordinated destination finding of a guided missile (2), comprising: a portable mobile aiming device (3) adapted to mark a target object (4); a guided missile (2) comprising a first antenna (5), a control unit (6) and a seeker head (7), the seeker head (7) being designed to detect and track the marked target object (4); and a portable mobile coordination terminal (8) formed with a second antenna (9), wherein the first antenna (5) and the second antenna (9) are adapted to acquire targeting data between the control unit (6) of the guided missile (2) and the coordination terminal (8), wherein the coordination terminal (8) for displaying the Zielfindungsdaten and for controlling the target determination of the missile (2) via the control unit (6) during the tracking of the marked target object (4) is formed. The system (1) of claim 1, wherein the coordination terminal (8) is adapted to correct and / or change the targeting data. A system (1) according to claim 1 or 2, wherein the coordination terminal (8) is adapted to terminate the tracking of the marked target object (4). System (1) according to one of claims 1 to 3, wherein the coordination terminal (8) is adapted to replace the marked target object (4) with another marked target object (4 '). A system (1) according to any one of claims 1 to 4, wherein the destination finding data comprises at least one of current navigation data, steering signals and environment data of the seeker head (7). System (1) according to one of claims 1 to 5, wherein at least one of the first antenna (5) and the second antenna (9) is formed with a communication range of less than 10 km, in particular less than 6 km. A system (1) according to any one of claims 1 to 6, wherein the coordination terminal (8) is a laptop. System (1) according to one of claims 1 to 7, wherein the Zieleinweisungsvorrichtung (3) is a Zielbeleuchtungssytem, in particular a laser-based Zielbeleuchtungssytem. System (1) according to one of claims 1 to 8, wherein the seeker head (7) as a dual-mode viewfinder with a semi-active Zielsuchlenkmodus (12) and a passive Zielsuchlenkmodus (13) is formed. The system (1) of claim 9, wherein the semi-active target search steering mode (13) is at least laser-based and radar-based and the passive target search steering mode (14) is at least one of optical and infrared based. A system (1) according to any one of claims 1 to 10, wherein the guided missile (2) has a weight of less than 100 kg. Method (M) for person-coordinated destination finding of a guided missile (2), comprising: Marking (M1) a target object (4) with a portable mobile targeting device (3); Instructing (M2) a seeker head (7) of a guided missile (2) to detect and track the marked target object (4); Exchanging (M3) destination finding data between a portable mobile coordination terminal (8) and a control unit (6) of the missile (2) via a first antenna (5) of the missile (2) and a second antenna (9) of the coordination terminal (8); Displaying (M4) the target finding data on the coordination terminal (8); and Controlling (M5) the destination finding of the guided missile (2) via the control unit (5) by means of the coordination terminal (8) during the tracking of the marked target object (4) by the guided missile (2). The method (M) of claim 12, wherein said controlling (M5) comprises correcting and / or changing the targeting data. The method (M) according to claim 12 or 13, wherein the controlling (M5) comprises canceling the tracking of the marked target object (4). The method (M) according to any one of claims 12 to 14, wherein the controlling (M5) replacement comprises the marked target object (4) by another marked target object (4 ').

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