EP3929522B1 - Pointing device for a weapon system comprising a weapon secured to a frame and method implementing such a device - Google Patents

Pointing device for a weapon system comprising a weapon secured to a frame and method implementing such a device Download PDF

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Publication number
EP3929522B1
EP3929522B1 EP21176007.9A EP21176007A EP3929522B1 EP 3929522 B1 EP3929522 B1 EP 3929522B1 EP 21176007 A EP21176007 A EP 21176007A EP 3929522 B1 EP3929522 B1 EP 3929522B1
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EP
European Patent Office
Prior art keywords
firing
chassis
aiming
weapon
reference frame
Prior art date
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Application number
EP21176007.9A
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German (de)
French (fr)
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EP3929522A1 (en
Inventor
Olivier SIBOTTIER
Julien BUSSE
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Nexter Systems SA
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Nexter Systems SA
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Priority to SI202130024T priority Critical patent/SI3929522T1/en
Publication of EP3929522A1 publication Critical patent/EP3929522A1/en
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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G5/00—Elevating or traversing control systems for guns
    • F41G5/14—Elevating or traversing control systems for guns for vehicle-borne guns
    • F41G5/16—Elevating or traversing control systems for guns for vehicle-borne guns gyroscopically influenced
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
    • F41A27/00—Gun mountings permitting traversing or elevating movement, e.g. gun carriages
    • F41A27/30—Stabilisation or compensation systems, e.g. compensating for barrel weight or wind force on the barrel
    • 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
    • F41A23/00—Gun mountings, e.g. on vehicles; Disposition of guns on vehicles
    • 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
    • F41A23/00—Gun mountings, e.g. on vehicles; Disposition of guns on vehicles
    • F41A23/56—Arrangements for adjusting the gun platform in the vertical or horizontal position
    • 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
    • F41A27/00—Gun mountings permitting traversing or elevating movement, e.g. gun carriages
    • F41A27/06—Mechanical systems
    • 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
    • F41A27/00—Gun mountings permitting traversing or elevating movement, e.g. gun carriages
    • F41A27/06—Mechanical systems
    • F41A27/22—Traversing gear
    • 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
    • F41A27/00—Gun mountings permitting traversing or elevating movement, e.g. gun carriages
    • F41A27/06—Mechanical systems
    • F41A27/24—Elevating gear
    • 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
    • F41G5/24—Elevating or traversing control systems for guns for vehicle-borne guns for guns on tanks

Definitions

  • the technical field of the invention is that of automatic aiming methods for weapon systems and in particular for artillery pieces.
  • Mobile artillery pieces have a pointing range which is limited by a physical or software gauge. This template is fixed by mechanical aiming limits but also by software limits which make it possible to guarantee the stability of the part during the impulse caused by firing at maximum load.
  • the nominal pointing template is suitable for pointing and firing under nominal conditions, ie on a substantially horizontal ground.
  • the weapon system the artillery piece
  • firing at pointing angles located at the terminals of the nominal template can lead to the destabilization of the weapon system. due to the modification of the support polygon of the latter due to the cant, or else the physical impossibility of pointing to a desired coordinate due to mechanical interference.
  • the allowable pointing gauge under cant or slope conditions is therefore smaller than the nominal pointing gauge.
  • the invention proposes a pointing method making it possible to predict the compatibility of an operational position with the pointing gauge of a weapon system and in particular of an artillery piece.
  • the conversion of the nominal firing template into a transformed firing template can be carried out by applying the transfer matrix to it.
  • the conversion of the nominal firing gauge into a transformed firing gauge can be carried out by implementing charts associated with different pitch and roll angle ranges of the chassis with respect to the fixed reference.
  • the contour of the operational firing template and possibly the pointing instruction can be displayed on an interface.
  • the conversion algorithms may implement the calculation of a transfer matrix making it possible to pass from the setpoints expressed in the fixed frame to setpoints expressed in the frame frame.
  • the conversion algorithms may implement charts giving different transformed firing templates associated with different pitch and roll angle ranges of the chassis relative to the fixed reference.
  • the device may incorporate an interface making it possible to visualize the outline of the operational firing template and possibly a pointing instruction.
  • a weapon system 100 which here is an artillery piece 100 comprises a rolling frame 1 on which a weapon 2 is fixed and can be aimed in elevation and in bearing.
  • the weapon system thus comprises a pointing device 3 comprising a navigation means 3a, such as an inertial unit 3a, which is here integral with the weapon 2.
  • This inertial unit can measure the position and the orientations of the weapon 2 in a terrestrial reference R T .
  • the pointing device 3 also comprises motor means comprising here a cylinder 3b able to point the weapon 2 in elevation and a motorization (not shown) allowing the pointing in bearing relative to the frame 1.
  • the pointing in bearing can be ensured by a motorization pivoting the mounting 6 of the weapon around an axis perpendicular to the frame 1.
  • the pointing device 3 finally comprises a central computer 3d which is connected to the navigation means 3a and to the angular measuring means 3c.
  • the weapon system 100 is placed in a mobility configuration, that is to say not deployed and parked in a position on the ground.
  • a fixed frame R F is defined which is centered on the point O and whose axes Ox, Oy, Oz are parallel to the axes of the terrestrial frame R T .
  • a chassis reference R C which also has the point O for center, reference R C whose axis OX is parallel to the longitudinal axis of the chassis, the axis OZ is perpendicular to the chassis and the axis OY (not visible in the figure) is perpendicular to the axes OX and OZ.
  • the frame 1 is positioned in the fixed frame R F by pitch, roll and heading (or yaw) angles.
  • the weapon 2 is pointable in elevation and in bearing with respect to the frame 1.
  • the axis ⁇ of the tube of the weapon 2 is angularly positioned in the frame frame R C by elevation and bearing angles which are measured by the measuring means 3c.
  • the 3d central computer has in memory a nominal gauge G N which is defined in the frame reference R C by the pointing instructions in extreme elevation and bearing possible for the weapon system, i.e. the firing directions possible extremes in the reference R C linked to the chassis, when the latter is in the firing position on horizontal ground as at the figure 1 .
  • the frame 1 When the frame 1 is in the firing position, and when it is a large caliber 100 weapon system, it is generally connected to the ground by rear support means, such as spades 7.
  • the placement of the spades causes a lifting of a rear part of the frame, leading to an inclination of the axis OX of the frame reference R C with respect to the fixed reference R F . This inclination is fixed data associated with the weapon system 100 considered.
  • the frame 1 is positioned on a slope (angle ⁇ relative to the horizontal) and the spades 7 are deployed.
  • the tube of the weapon 2 has been shown, the direction ⁇ of which is pointed in elevation with a pointing angle which is denoted C TF in the fixed frame and C TC in the chassis frame.
  • the sector G N represents the firing template following the aiming in elevation in the fixed frame R F .
  • the sector G T (transformed template) represents the transformation of this template by the matrix allowing passage from the fixed frame R F to the chassis frame R C .
  • G OP the sector which is the intersection of the sectors G N and G T .
  • Block A corresponds to the supply to the 3d computer of firing instructions C T .
  • Block B corresponds to the supply to the 3d computer of information on the angular positions of the chassis reference R C with respect to the fixed reference R F .
  • This information is supplied by the inertial unit 3a when the tube of the weapon 2 is effectively oriented at zero elevation and bearing, therefore with the axis ⁇ of the tube 2 aligned parallel to the axis OX of the chassis reference R C .
  • Block C corresponds to the calculation of the coefficients of a transfer matrix M making it possible to pass from the setpoints expressed in the fixed frame R F to setpoints expressed in the frame frame R C .
  • Block E uses the firing instructions supplied by block A to determine a nominal firing template G N .
  • the determination of the nominal firing gauge G N uses the reading of abacuses which are in memory in the 3d computer. Indeed the type of charge and projectile determine the impulse received by the weapon and will influence the stability of the weapon system 100.
  • Step F corresponds to the conversion operation by the transfer matrix M of the limits of the nominal firing template G N so as to determine a transformed firing template G T which is delimited by the extreme firing directions possible in the frame of the R C chassis when it is in the firing position on the ground.
  • step G the definition of a transformed firing template G T .
  • Step H conducted by the 3d computer is the determination of an operational firing template G OP for pointing, operational firing template which is defined as the geometric intersection of the nominal firing template G N and the transformed firing template GT .
  • the pointing coordinates which are part of the firing instructions provided in step A, and which are provided in the fixed frame R F (firing instructions denoted C TF ) are converted using the transfer matrix M (step J) to be read in the frame reference R C (firing instructions noted C TC ).
  • Step K is the temporary storage of this firing instruction in the chassis marker C TC .
  • Step I is an optional step which depends on the operational context and on the type of weapon system to which the method according to the invention is applied.
  • a second matrix will be applied to the received firing instruction C TF M′, the coefficients of which make it possible to switch from the setpoints expressed in the fixed frame R F to setpoints expressed in a frame frame anchored on a horizontal ground (therefore with a raised frame).
  • This step I can be positioned between step A and step J or between step J and step K.
  • Step L is a test during which it is checked whether the firing instruction in the chassis reference C TC is or is not in the operational firing gauge G OP .
  • step P corresponds to a display at the level of the Man Machine interface 5 to inform an operator located on board the weapon system 100 of the possibility of reaching the score requested from the position occupied by the weapon system 100.
  • This display may be materialized by the lighting of an indicator light, green for example.
  • step Q corresponds to a display at the level of the Man Machine interface 5 of the impossibility of reaching the requested score from the position occupied by the system of weapon 100.
  • the Man Machine interface 5 will be able to make it possible to visualize on a screen the outline of the operational template G OP and the positioning of the firing instruction C TC relative to this operational template G OP .
  • step F of calculating the transformed firing template (G T ) can be replaced by a step of reading abacuses stored in the computer 3d .
  • the transfer matrix M will be implemented for positioning the firing instruction in the chassis reference C TC .

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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)

Description

Le domaine technique de l'invention est celui des procédés de pointage automatique pour systèmes d'armes et en particulier pour les pièces d'artillerie.The technical field of the invention is that of automatic aiming methods for weapon systems and in particular for artillery pieces.

Les pièces d'artillerie mobiles ont une amplitude de pointage qui est limitée par un gabarit physique ou logiciel. Ce gabarit est fixé par des limites mécaniques du pointage mais aussi par des limites logicielles qui permettent de garantir la stabilité de la pièce lors de l'impulsion provoquée par un tir à charge maximale.Mobile artillery pieces have a pointing range which is limited by a physical or software gauge. This template is fixed by mechanical aiming limits but also by software limits which make it possible to guarantee the stability of the part during the impulse caused by firing at maximum load.

Le gabarit de pointage nominal est adapté pour des pointages et des tirs dans des conditions nominales, c'est à dire sur un sol sensiblement horizontal. Lorsque le système d'arme (la pièce d'artillerie) est mis en batterie sur un sol en pente, par exemple en dévers, le tir selon des angles de pointage situés aux bornes du gabarit nominal peut entraîner la déstabilisation du système d'arme du fait de la modification du polygone de sustentation de celui-ci dû au dévers, ou bien l'impossibilité physique de pointer sur une coordonnée souhaitée du fait d'interférences mécaniques.The nominal pointing template is suitable for pointing and firing under nominal conditions, ie on a substantially horizontal ground. When the weapon system (the artillery piece) is placed in battery on a sloping ground, for example on a slope, firing at pointing angles located at the terminals of the nominal template can lead to the destabilization of the weapon system. due to the modification of the support polygon of the latter due to the cant, or else the physical impossibility of pointing to a desired coordinate due to mechanical interference.

Le gabarit de pointage admissible dans des conditions de dévers ou de pente est de ce fait plus réduit que le gabarit de pointage nominal. Ces limitations obligent alors à replier le système d'arme pour le déplacer sur une autre position géographique plus propice, prolongeant encore le délai de mise en action du système d'arme.The allowable pointing gauge under cant or slope conditions is therefore smaller than the nominal pointing gauge. These limitations then make it necessary to fold up the weapon system in order to move it to another more favorable geographical position, further prolonging the time for bringing the weapon system into action.

La demande de brevet US 2015/0174979 A1 décrit un exemple d'une telle pièce d'artillerie mobile souffrant du problème ci-dessus.The patent application US 2015/0174979 A1 describes an example of such a mobile artillery piece suffering from the above problem.

La demande de brevet KR 2011 0100959 A aborde le problème que posent des conditions de dévers ou de pente, mais propose comme solution un dispositif de compensation essentiellement mécanique de ces conditions de dévers ou de pente.The patent application KR 2011 0100959 A addresses the problem posed by cant or slope conditions, but proposes as a solution an essentially mechanical compensation device for these cant or slope conditions.

L'invention propose un procédé de pointage permettant de prédire la compatibilité d'une position opérationnelle avec le gabarit de pointage d'un système d'arme et en particulier d'une pièce d'artillerie.The invention proposes a pointing method making it possible to predict the compatibility of an operational position with the pointing gauge of a weapon system and in particular of an artillery piece.

Ainsi, l'invention a pour objet un procédé de pointage pour un système d'arme comprenant une arme solidaire d'un châssis, le système d'arme comportant un dispositif de pointage de l'arme comprenant un moyen de navigation permettant de déterminer la position et l'orientation d'un repère lié au châssis par rapport à un repère fixe, ainsi que des moyens moteurs permettant le pointage en site et en gisement de l'arme et des moyens de mesure angulaire permettant de connaître les angles de pointage de l'arme par rapport au châssis, le dispositif de pointage comportant un calculateur relié aux moyens de mesure angulaire et au moyen de navigation, le calculateur ayant en mémoire interne un gabarit de tir nominal défini par les consignes de pointages en site et gisement extrêmes possibles pour l'arme, donc les directions de tir extrêmes possibles correspondant à un tir à charge maximale, dans le repère lié au châssis, lorsque celui-ci se trouve en position de tir sur un sol horizontal, procédé caractérisé en ce que, lorsque le châssis se trouve en position de tir sur le terrain :

  • on détermine une matrice de transfert permettant de faire passer des consignes exprimées dans le repère fixe à des consignes exprimées dans le repère du châssis ;
  • on convertit les limites du gabarit de tir nominal de façon à déterminer un gabarit de tir transformé qui est délimité par les directions de tir extrêmes possibles dans le repère du châssis lorsque celui-ci est en position de tir sur le terrain ;
  • on détermine le gabarit de tir opérationnel pour le pointage qui est défini comme l'intersection géométrique du gabarit de tir nominal et du gabarit de tir transformé.
Thus, the subject of the invention is a pointing method for a weapon system comprising a weapon secured to a chassis, the weapon system comprising a weapon pointing device comprising navigation means making it possible to determine the position and orientation of a reference linked to the chassis with respect to a fixed reference, as well as motor means allowing the pointing in elevation and bearing of the weapon and angular measurement means allowing the pointing angles of the weapon with respect to the chassis, the aiming device comprising a computer connected to the angular measurement means and to the navigation means, the computer having in internal memory a nominal firing template defined by the possible extreme elevation and bearing pointing instructions for the weapon, therefore the possible extreme firing directions corresponding to firing at maximum load, in the reference frame linked to the chassis, when the latter is in the firing position on horizontal ground, method characterized in that, when the chassis is in the firing position on the ground:
  • a transfer matrix is determined making it possible to pass from the instructions expressed in the fixed reference to instructions expressed in the chassis reference;
  • the limits of the nominal firing gauge are converted so as to determine a transformed firing gauge which is delimited by the extreme firing directions possible in the reference frame of the frame when the latter is in the firing position on the ground ;
  • determining the operational firing template for the pointing which is defined as the geometric intersection of the nominal firing template and the transformed firing template.

Selon un mode de réalisation, la conversion du gabarit de tir nominal en gabarit de tir transformé pourra être effectuée en lui appliquant la matrice de transfert.According to one embodiment, the conversion of the nominal firing template into a transformed firing template can be carried out by applying the transfer matrix to it.

Selon un autre mode de réalisation, la conversion du gabarit de tir nominal en gabarit de tir transformé pourra être effectuée en mettant en oeuvre des abaques associés à différentes plages d'angles de tangage et de roulis du châssis par rapport au repère fixe.According to another embodiment, the conversion of the nominal firing gauge into a transformed firing gauge can be carried out by implementing charts associated with different pitch and roll angle ranges of the chassis with respect to the fixed reference.

Selon une autre caractéristique de l'invention, après réception d'une consigne de pointage exprimée dans le repère fixe, on pourra la convertir dans le repère du châssis et on vérifiera que la consigne ainsi convertie se positionne dans le gabarit de tir opérationnel, on autorisera le tir si cette condition est vérifiée et on l'interdira si cette condition n'est pas vérifiée.According to another characteristic of the invention, after reception of a pointing instruction expressed in the fixed frame, it can be converted into the chassis frame and it will be verified that the set point thus converted is positioned in the operational firing template, will authorize the shot if this condition is verified and it will be prohibited if this condition is not verified.

Avantageusement, on pourra faire apparaître sur une interface le contour du gabarit de tir opérationnel et éventuellement la consigne de pointage.Advantageously, the contour of the operational firing template and possibly the pointing instruction can be displayed on an interface.

L'invention a également pour objet un dispositif de pointage d'un système d'arme comprenant une arme solidaire d'un châssis mettant en oeuvre le procédé de pointage selon une des caractéristiques précédente, dispositif de pointage comportant un moyen de navigation permettant de déterminer la position et l'orientation d'un repère lié au châssis par rapport à un repère fixe, ainsi que des moyens moteurs permettant le pointage en site et en gisement de l'arme et des moyens de mesure angulaire permettant de connaître les angles de pointage de l'arme par rapport au châssis, le dispositif de pointage comportant un calculateur relié aux moyens de mesure angulaire et au moyen de navigation, le calculateur ayant en mémoire interne un gabarit de tir nominal défini par les consignes de pointages en site et gisement extrêmes possibles pour le système d'arme, donc les directions de tir extrêmes possibles correspondant à un tir à charge maximale, dans le repère lié au châssis, lorsque celui-ci se trouve en position de tir sur un sol horizontal, dispositif caractérisé en ce que le calculateur incorpore des algorithmes permettant de convertir, lorsque le châssis se trouve en position de tir sur le terrain, les limites du gabarit de tir nominal de façon à déterminer un gabarit de tir transformé qui est délimité par les directions de tir extrêmes possibles dans le repère du châssis lorsque celui-ci est en position de tir sur le terrain et également de déterminer le gabarit de tir opérationnel pour le pointage qui est défini comme l'intersection géométrique du gabarit de tir nominal et du gabarit de tir transformé.The invention also relates to a pointing device of a weapon system comprising a weapon integral with a chassis implementing the pointing method according to one of the preceding characteristics, pointing device comprising navigation means making it possible to determine the position and orientation of a reference linked to the chassis with respect to a fixed reference, as well as motor means allowing the pointing in elevation and bearing of the weapon and angular measurement means allowing the pointing angles to be known of the weapon with respect to the chassis, the pointing device comprising a computer connected to the angular measurement means and to the navigation means, the computer having in internal memory a nominal firing template defined by the pointing instructions in extreme elevation and bearing possible for the weapon system, therefore the possible extreme firing directions corresponding to firing at maximum load, in the reference frame linked to the chassis , when the latter is in the firing position on horizontal ground, device characterized in that the computer incorporates algorithms making it possible to convert, when the chassis is in the firing position on the ground, the limits of the nominal firing gauge so as to determine a transformed firing template which is delimited by the extreme firing directions possible in the reference frame of the chassis when the latter is in firing position on the ground and also to determine the operational firing template for the aiming which is defined as the geometric intersection of the nominal firing gauge and the transformed firing gauge.

Selon un mode de réalisation, les algorithmes de conversion pourront mettre en oeuvre le calcul d'une matrice de transfert permettant de faire passer des consignes exprimées dans le repère fixe à des consignes exprimées dans le repère du châssis.According to one embodiment, the conversion algorithms may implement the calculation of a transfer matrix making it possible to pass from the setpoints expressed in the fixed frame to setpoints expressed in the frame frame.

Selon un autre mode de réalisation, les algorithmes de conversion pourront mettre en oeuvre des abaques donnant différents gabarits de tir transformés associés à différentes plages d'angles de tangage et de roulis du châssis par rapport au repère fixe.According to another embodiment, the conversion algorithms may implement charts giving different transformed firing templates associated with different pitch and roll angle ranges of the chassis relative to the fixed reference.

Avantageusement, le dispositif pourra incorporer une interface permettant de visualiser le contour du gabarit de tir opérationnel et éventuellement une consigne de pointage.Advantageously, the device may incorporate an interface making it possible to visualize the outline of the operational firing template and possibly a pointing instruction.

L'invention sera mieux comprise à la lumière de la description suivante, description faite à la lumière des dessins en annexe, dessins dans lesquels :

  • [Fig 1] représente une vue schématique d'un système d'arme qui est une pièce d'artillerie en configuration de mobilité sur un sol horizontal.
  • [Fig 2] représente une vue schématique de ce système d'arme en batterie sur un sol incliné.
  • [Fig 3] représente est un logigramme schématisant les différentes étapes du procédé de pointage selon l'invention.
The invention will be better understood in the light of the following description, description given in the light of the appended drawings, drawings in which:
  • [ Fig 1 ] represents a schematic view of a weapon system which is an artillery piece in a mobility configuration on horizontal ground.
  • [ Fig 2 ] represents a schematic view of this weapon system in battery on an inclined ground.
  • [ Fig.3 ] represents is a flowchart diagramming the different steps of the pointing method according to the invention.

Selon la figure 1, un système d'arme 100 qui est ici une pièce d'artillerie 100 comporte un châssis roulant 1 sur lequel une arme 2 est fixée et peut être pointée en site et en gisement.According to figure 1 , a weapon system 100 which here is an artillery piece 100 comprises a rolling frame 1 on which a weapon 2 is fixed and can be aimed in elevation and in bearing.

Le système d'arme comporte ainsi un dispositif de pointage 3 comportant un moyen de navigation 3a, tel qu'une centrale inertielle 3a, qui est ici solidaire de l'arme 2. Cette centrale inertielle peut mesurer la position et les orientations de l'arme 2 dans un repère terrestre RT. Le dispositif de pointage 3 comporte aussi des moyens moteurs comportant ici un vérin 3b apte à pointer l'arme 2 en site et une motorisation (non représentée) permettant le pointage en gisement relativement au châssis 1. Le pointage en gisement pourra être assuré par une motorisation faisant pivoter l'affût 6 de l'arme autour d'un axe perpendiculaire au châssis 1.The weapon system thus comprises a pointing device 3 comprising a navigation means 3a, such as an inertial unit 3a, which is here integral with the weapon 2. This inertial unit can measure the position and the orientations of the weapon 2 in a terrestrial reference R T . The pointing device 3 also comprises motor means comprising here a cylinder 3b able to point the weapon 2 in elevation and a motorization (not shown) allowing the pointing in bearing relative to the frame 1. The pointing in bearing can be ensured by a motorization pivoting the mounting 6 of the weapon around an axis perpendicular to the frame 1.

Des moyens de mesure angulaire 3c entre le châssis 1 et l'arme 2, tels que des gyromètres ou d'autres capteurs 3c, équipent également le dispositif de pointage 3 pour mesurer les angles de pointage en site et en gisement de l'arme 2 par rapport au châssis 1.Means of angular measurement 3c between the frame 1 and the weapon 2, such as gyrometers or other sensors 3c, also equip the pointing device 3 to measure the pointing angles in elevation and bearing of the weapon 2 relative to frame 1.

Le dispositif de pointage 3 comporte enfin un calculateur central 3d qui est relié au moyen de navigation 3a et aux moyens de mesure angulaires 3c.The pointing device 3 finally comprises a central computer 3d which is connected to the navigation means 3a and to the angular measuring means 3c.

Les informations angulaires collectées en temps réel par le calculateur central 3d sont exploitées et leur résultat est affiché sur une interface utilisateur 5 (écran par exemple).The angular information collected in real time by the 3d central computer is used and their result is displayed on a user interface 5 (screen for example).

Le système d'arme 100 est mis en configuration de mobilité c'est à dire non déployé et stationné sur une position sur le terrain.The weapon system 100 is placed in a mobility configuration, that is to say not deployed and parked in a position on the ground.

On considèrera le point O positionné au niveau du centre des tourillons de l'arme 2 (tourillons non représentés) et qui correspond à la position géographique du système d'arme 100.We will consider the point O positioned at the level of the center of the trunnions of the weapon 2 (trunnions not shown) and which corresponds to the geographical position of the weapon system 100.

On définit un repère fixe RF qui est centré sur le point O et dont les axes Ox,Oy,Oz sont parallèles aux axes du repère terrestre RT. On définit par ailleurs un repère châssis RC qui a également le point O pour centre, repère RC dont l'axe OX est parallèle à l'axe longitudinal du châssis, l'axe OZ est perpendiculaire au châssis et l'axe OY (non visible sur la figure) est perpendiculaire aux axes OX et OZ.A fixed frame R F is defined which is centered on the point O and whose axes Ox, Oy, Oz are parallel to the axes of the terrestrial frame R T . We also define a chassis reference R C which also has the point O for center, reference R C whose axis OX is parallel to the longitudinal axis of the chassis, the axis OZ is perpendicular to the chassis and the axis OY ( not visible in the figure) is perpendicular to the axes OX and OZ.

Le châssis 1 est positionné dans le repère fixe RF par des angles de tangage, roulis et cap (ou lacet). L'arme 2 est pointable en site et en gisement par rapport au châssis 1. L'axe ○δ du tube de l'arme 2 est positionné angulairement dans le repère châssis RC par des angles de site et de gisement qui sont mesurés par les moyens de mesure 3c.The frame 1 is positioned in the fixed frame R F by pitch, roll and heading (or yaw) angles. The weapon 2 is pointable in elevation and in bearing with respect to the frame 1. The axis ○δ of the tube of the weapon 2 is angularly positioned in the frame frame R C by elevation and bearing angles which are measured by the measuring means 3c.

Le calculateur central 3d dispose en mémoire d'un gabarit nominal GN qui est défini dans le repère châssis RC par les consignes de pointage en site et gisement extrêmes possibles pour le système d'arme, c'est à dire les directions de tir extrêmes possibles dans le repère RC lié au châssis, lorsque celui-ci se trouve en position de tir sur un sol horizontal comme à la figure 1.The 3d central computer has in memory a nominal gauge G N which is defined in the frame reference R C by the pointing instructions in extreme elevation and bearing possible for the weapon system, i.e. the firing directions possible extremes in the reference R C linked to the chassis, when the latter is in the firing position on horizontal ground as at the figure 1 .

Lorsque le châssis 1 est en position de tir, et lorsqu'il s'agit d'un système d'arme 100 de gros calibre, il se trouve généralement relié au sol par des moyens d'appui arrière, tels que des bêches 7. La mise en place des bêches provoque un soulèvement d'une partie arrière du châssis, conduisant à une inclinaison de l'axe OX du repère châssis RC par rapport au repère fixe RF. Cette inclinaison est une donnée fixe associée au système d'arme 100 considéré.When the frame 1 is in the firing position, and when it is a large caliber 100 weapon system, it is generally connected to the ground by rear support means, such as spades 7. The placement of the spades causes a lifting of a rear part of the frame, leading to an inclination of the axis OX of the frame reference R C with respect to the fixed reference R F . This inclination is fixed data associated with the weapon system 100 considered.

Pour simplifier, l'invention sera expliquée en référence à la figure 2 qui ne montre que les angles de pointage et les gabarits compris dans un même plan vertical P passant par l'axe 0X du repère châssis RC. Il est bien entendu que les mêmes raisonnements pourront être conduits pour des angles de pointages quelconques et pour les gabarits de pointage suivant d'autres directions du repère châssis RC. Le procédé qui va être décrit reste inchangé.For simplicity, the invention will be explained with reference to the figure 2 which only shows the pointing angles and the gauges included in the same vertical plane P passing through the axis 0X of the frame reference R C . It is understood that the same reasoning can be carried out for any pointing angles and for the pointing templates in other directions of the frame reference R C . The process which will be described remains unchanged.

On a représenté à la figure 2 les axes Ox et Oz du repère fixe RF ainsi que les axes OX et OZ du repère châssis RC.We represented at the picture 2 the axes Ox and Oz of the fixed reference R F as well as the axes OX and OZ of the chassis reference R C .

Le châssis 1 est positionné sur une pente (angle Δ par rapport à l'horizontale) et les bêches 7 sont déployées.The frame 1 is positioned on a slope (angle Δ relative to the horizontal) and the spades 7 are deployed.

On a représenté le tube de l'arme 2 dont la direction ○δ est pointée en site avec un angle de pointage qui est noté CTF dans le repère fixe et CTC dans le repère châssis.The tube of the weapon 2 has been shown, the direction ○δ of which is pointed in elevation with a pointing angle which is denoted C TF in the fixed frame and C TC in the chassis frame.

On notera que l'écart entre ces deux angles est égal à l'angle entre l'axe 0X du repère châssis RC et l'axe Ox du repère fixe RF.It will be noted that the difference between these two angles is equal to the angle between the axis 0X of the frame reference R C and the axis Ox of the fixed reference R F .

On a représenté par le secteur GN le gabarit de tir suivant le pointage en site dans le repère fixe RF. On a représenté par le secteur GT (gabarit transformé) la transformation de ce gabarit par la matrice permettant le passage du repère fixe RF au repère châssis RC. Et enfin on a noté GOP le secteur qui est l'intersection des secteurs GN et GT.The sector G N represents the firing template following the aiming in elevation in the fixed frame R F . The sector G T (transformed template) represents the transformation of this template by the matrix allowing passage from the fixed frame R F to the chassis frame R C . And finally we noted G OP the sector which is the intersection of the sectors G N and G T .

Le procédé de pointage selon l'invention va maintenant être décrit en référence au logigramme de la figure 3.The pointing method according to the invention will now be described with reference to the flowchart of the picture 3 .

Le bloc A correspond à la fourniture au calculateur 3d de consignes de tir CT.Block A corresponds to the supply to the 3d computer of firing instructions C T .

Le bloc B correspond à la fourniture au calculateur 3d des informations des positions angulaires du repère châssis RC par rapport au repère fixe RF. Ces informations sont fournies par la centrale inertielle 3a lorsque le tube de l'arme 2 est effectivement orienté à site et gisement nul, donc avec l'axe ○δ du tube 2 aligné parallèlement à l'axe OX du repère châssis RC.Block B corresponds to the supply to the 3d computer of information on the angular positions of the chassis reference R C with respect to the fixed reference R F . This information is supplied by the inertial unit 3a when the tube of the weapon 2 is effectively oriented at zero elevation and bearing, therefore with the axis ○δ of the tube 2 aligned parallel to the axis OX of the chassis reference R C .

Le bloc C correspond au calcul des coefficients d'une matrice de transfert M permettant de faire passer des consignes exprimées dans le repère fixe RF à des consignes exprimées dans le repère du châssis RC.Block C corresponds to the calculation of the coefficients of a transfer matrix M making it possible to pass from the setpoints expressed in the fixed frame R F to setpoints expressed in the frame frame R C .

Les coefficients de cette matrice dépendent des positions angulaires des axes du repère châssis RC par rapport au repère fixe RF qui sont données par la centrale inertielle.The coefficients of this matrix depend on the angular positions of the axes of the chassis frame R C with respect to the fixed frame R F which are given by the inertial unit.

Le bloc D correspond à une mise en mémoire temporaire de cette matrice de transfert M qui doit être utilisée ultérieurement à différents niveaux.Block D corresponds to a temporary storage of this transfer matrix M which must be used subsequently at different levels.

Le bloc E utilise les consignes de tir fournies par le bloc A pour déterminer un gabarit de tir nominal GN.Block E uses the firing instructions supplied by block A to determine a nominal firing template G N .

Les consignes de tir incorporent comme c'est classique :

  • les coordonnées de pointage c'est-à-dire la direction dans le repère fixe RF de l'axe ○δ du tube 2 pour le tir souhaité ainsi que ;
  • les caractéristiques du tir : type d'obus et charge propulsive à utiliser.
The firing instructions incorporate as is classic:
  • the pointing coordinates, that is to say the direction in the fixed frame R F of the axis ○δ of the tube 2 for the desired shot as well as;
  • the characteristics of the shot: type of shell and propellant charge to be used.

La détermination du gabarit de tir nominal GN utilise la lecture d'abaques qui sont en mémoire dans le calculateur 3d. En effet le type de charge et de projectile déterminent l'impulsion reçue par l'arme et vont influer sur la stabilité du système d'arme 100.The determination of the nominal firing gauge G N uses the reading of abacuses which are in memory in the 3d computer. Indeed the type of charge and projectile determine the impulse received by the weapon and will influence the stability of the weapon system 100.

L'étape F correspond à l'opération de conversion par la matrice de transfert M des limites du gabarit de tir nominal GN de façon à déterminer un gabarit de tir transformé GT qui est délimité par les directions de tir extrêmes possibles dans le repère du châssis RC lorsque celui-ci se trouve en position de tir sur le terrain.Step F corresponds to the conversion operation by the transfer matrix M of the limits of the nominal firing template G N so as to determine a transformed firing template G T which is delimited by the extreme firing directions possible in the frame of the R C chassis when it is in the firing position on the ground.

Il en résulte (étape G) la définition d'un gabarit de tir transformé GT.This results in (step G) the definition of a transformed firing template G T .

L'étape H conduite par le calculateur 3d est la détermination d'un gabarit de tir opérationnel GOP pour le pointage, gabarit de tir opérationnel qui est défini comme l'intersection géométrique du gabarit de tir nominal GN et du gabarit de tir transformé GT.Step H conducted by the 3d computer is the determination of an operational firing template G OP for pointing, operational firing template which is defined as the geometric intersection of the nominal firing template G N and the transformed firing template GT .

Parallèlement, les coordonnées de pointage, qui font partie des consignes de tir fournies à l'étape A, et qui sont fournies dans le repère fixe RF (consignes de tir notées CTF) sont converties à l'aide de la matrice de transfert M (étape J) pour être lues dans le repère châssis RC (consignes de tir notées CTC).At the same time, the pointing coordinates, which are part of the firing instructions provided in step A, and which are provided in the fixed frame R F (firing instructions denoted C TF ) are converted using the transfer matrix M (step J) to be read in the frame reference R C (firing instructions noted C TC ).

L'étape K est la mise en mémoire temporaire de cette consigne de tir dans le repère châssis CTC.Step K is the temporary storage of this firing instruction in the chassis marker C TC .

L'étape I est une étape optionnelle qui dépend du contexte opérationnel et du type de système d'arme auquel on applique le procédé selon l'invention.Step I is an optional step which depends on the operational context and on the type of weapon system to which the method according to the invention is applied.

On a précisé précédemment que, pour certains systèmes d'arme tels que les pièces d'artillerie, lorsque le châssis 1 est en position de tir il est soulevé et l'axe OX du repère châssis RC est alors incliné par rapport au repère fixe RF. Cette inclinaison est une donnée fixe associée au système d'arme 100 considéré.It was previously specified that, for certain weapon systems such as artillery pieces, when the chassis 1 is in the firing position, it is raised and the axis OX of the chassis reference R C is then inclined with respect to the fixed reference. R F . This inclination is fixed data associated with the weapon system 100 considered.

Si les étapes précédentes ont été conduites sur un système d'arme 100 qui se trouve déjà ainsi ancré au sol, le calcul de la matrice de transfert M donne des coefficients de passage du repère fixe RF au repère châssis RC qui sont directement applicables à la conversion de la consigne de tir (CTF → CTC) et l'étape I est inutile.If the preceding steps were carried out on a weapon system 100 which is already thus anchored to the ground, the calculation of the transfer matrix M gives coefficients of passage from the fixed reference R F to the chassis reference R C which are directly applicable to the conversion of the firing instruction (C TF → C TC ) and stage I is useless.

Si par contre, pour gagner du temps, on cherche à déterminer la possibilité de réaliser une consigne de tir avant de réaliser un ancrage du système d'arme au sol, on appliquera à la consigne de tir reçue CTF une seconde matrice M' dont les coefficients permettent de faire passer des consignes exprimées dans le repère fixe RF à des consignes exprimées dans un repère du châssis ancré sur un sol horizontal (donc avec un châssis soulevé).If, on the other hand, to save time, one seeks to determine the possibility of carrying out a firing instruction before carrying out an anchoring of the weapon system on the ground, a second matrix will be applied to the received firing instruction C TF M′, the coefficients of which make it possible to switch from the setpoints expressed in the fixed frame R F to setpoints expressed in a frame frame anchored on a horizontal ground (therefore with a raised frame).

Cette étape I pourra indifféremment être positionnée entre l'étape A et l'étape J ou entre l'étape J et l'étape K.This step I can be positioned between step A and step J or between step J and step K.

L'étape L est un test au cours duquel on vérifie si la consigne de tir dans le repère châssis CTC se trouve ou non dans le gabarit de tir opérationnel GOP.Step L is a test during which it is checked whether the firing instruction in the chassis reference C TC is or is not in the operational firing gauge G OP .

Si le résultat du test est positif (réponse o), l'étape P correspond à un affichage au niveau de l'interface Homme Machine 5 pour informer un opérateur situé à bord du système d'arme 100 de la possibilité d'atteindre le pointage demandé à partir de la position occupée par le système d'arme 100.If the result of the test is positive (response o), step P corresponds to a display at the level of the Man Machine interface 5 to inform an operator located on board the weapon system 100 of the possibility of reaching the score requested from the position occupied by the weapon system 100.

Cet affichage pourra être matérialisé par l'allumage d'un voyant, vert par exemple.This display may be materialized by the lighting of an indicator light, green for example.

Si le résultat du test est négatif (réponse N), l'étape Q correspond à un affichage au niveau de l'interface Homme Machine 5 de l'impossibilité d'atteindre le pointage demandé à partir de la position occupée par le système d'arme 100.If the result of the test is negative (response N), step Q corresponds to a display at the level of the Man Machine interface 5 of the impossibility of reaching the requested score from the position occupied by the system of weapon 100.

Cet affichage pourra être matérialisé par l'allumage d'un voyant, rouge par exemple.This display may be materialized by the lighting of an indicator light, red for example.

Dans un cas comme dans l'autre, l'interface Homme Machine 5 pourra permettre de visualiser sur un écran le contour du gabarit opérationnel GOP et le positionnement de la consigne de tir CTC relativement à ce gabarit opérationnel GOP.In one case as in the other, the Man Machine interface 5 will be able to make it possible to visualize on a screen the outline of the operational template G OP and the positioning of the firing instruction C TC relative to this operational template G OP .

On notera que, ce calcul pouvant être réalisé avant mise en place de l'ancrage au sol, le procédé selon l'invention permet donc d'éviter une mise en batterie inutile, longue et potentiellement dangereuse.It will be noted that, this calculation being able to be carried out before installation of the anchoring on the ground, the method according to the invention therefore makes it possible to avoid a useless, long and potentially dangerous setting in battery.

Selon une variante de l'invention et afin d'économiser des ressources de calcul, on pourra remplacer l'étape F de calcul du gabarit de tir transformé (GT) par une étape de lecture d'abaques mises en mémoire dans le calculateur 3d.According to a variant of the invention and in order to save calculation resources, step F of calculating the transformed firing template (G T ) can be replaced by a step of reading abacuses stored in the computer 3d .

On pourra en effet associer à différentes plages de valeur des angles de tangage et de roulis du châssis par rapport au repère fixe RF un nombre fini de gabarits de tir transformés GT précalculés et assurant la sécurité de tir pour différentes orientations possibles du châssis par rapport à l'horizontale.It will indeed be possible to associate with different value ranges of the pitch and roll angles of the chassis with respect to the fixed reference R F a finite number of transformed shooting templates G T precalculated and ensuring shooting safety for different possible orientations of the chassis by relative to the horizontal.

Il sera possible de découper les plages de valeurs possibles pour les angles de tangage et de roulis du châssis pour leur associer un gabarit de tir transformé GT. Le caractère discret de ce choix limité sera sécurisé en optant pour les gabarits les plus restrictifs pour une plage d'angles donnée, donc pour les gabarits les plus réduits pour une plage donnée.It will be possible to cut out the ranges of possible values for the pitch and roll angles of the chassis to associate them with a transformed firing template G T . The discreet nature of this limited choice will be secured by opting for the most restrictive templates for a given range of angles, therefore for the smallest templates for a given range.

Les autres étapes du procédé seront conduites comme décrit précédemment. En particulier la matrice de transfert M sera mise en oeuvre pour le positionnement de la consigne de tir dans le repère châssis CTC.The other stages of the method will be carried out as described previously. In particular, the transfer matrix M will be implemented for positioning the firing instruction in the chassis reference C TC .

Claims (9)

  1. - An aiming method for a weapon system (100) comprising a weapon (2) secured to a chassis (1), the weapon system comprising a device (3) for aiming the weapon (2), which comprises a navigation means (3a) for determining, relative to a fixed reference frame (RF), the position and orientation of a reference frame (RC) associated with the chassis (1), as well as motor means (3b) enabling the weapon (2) to be aimed in elevation and relative bearing and angular measurement means (3c) for determining the aiming angles of the weapon (2) relative to the chassis, the aiming device comprising a computer (3d) connected to the angular measurement means (3c) and to the navigation means (3a), the computer (3d) having in an internal memory a nominal firing profile (GN) defined by extreme elevation and relative bearing aiming instructions that are possible for the weapon, therefore extreme possible directions of fire that correspond to a maximum load fire, in the reference frame (RC) associated with the chassis (1), when the latter is in a firing position on a horizontal ground, the method being characterized in that, when the chassis (1) is in a firing position on a field :
    - a transfer matrix (M) is determined, which makes it possible to transition from instructions expressed in the fixed reference frame (RF) to instructions expressed in the reference frame (RC) of the chassis;
    - boundaries of the nominal firing profile (GN) are converted so as to determine a transformed firing profile (GT) which is delimited by the extreme directions of fire that are possible in the reference frame (RC) of the chassis when it is in the firing position on the field;
    - an operating firing profile (GOP) is determined for the aiming, which is defined as the geometric intersection of the nominal firing profile (GN) and the transformed firing profile (GT).
  2. - The aiming method for a weapon system according to claim 1, characterized in that the conversion of the nominal firing profile (GN) into a transformed firing profile (GT) is carried out by applying the transfer matrix (M) thereto.
  3. - The aiming method for a weapon system according to claim 1, characterized in that the conversion of the nominal firing profile (GN) into a transformed firing profile (GT) is carried out by using abacuses associated with different ranges of pitch and roll angles of the chassis (1) relative to the fixed reference frame (RF).
  4. - The aiming method for a weapon system according to any one of claims 1 to 3, characterized in that, after receiving an aiming instruction expressed in the fixed reference frame (RF), it is converted into the reference frame (RC) of the chassis and it is checked that the thus-converted instruction is within the operating firing profile (GOP), wherein firing is authorized if this condition is verified and firing is prohibited if this condition is not verified.
  5. - The aiming method for a weapon system according to claim 4, characterized in that an outline of the operating firing profile (GOP) and optionally the aiming instruction are displayed on an interface (5).
  6. - A device (3) for aiming a weapon system (100) that comprises a weapon (2) secured to a chassis (1), implementing the aiming method according to any one of claims 1 to 5, the aiming device comprising a navigation means (3a) for determining, relative to a fixed reference frame (RF), the position and orientation of a reference frame (RC) associated with the chassis (1), as well as motor means (3b) enabling the weapon (2) to be aimed in elevation and relative bearing and angular measurement means (3c) for determining the aiming angles of the weapon (2) relative to the chassis (1), the aiming device comprising a computer (3d) connected to the angular measurement means (3c) and to the navigation means (3a), the computer (3d) having in an internal memory a nominal firing profile (GN) defined by extreme elevation and relative bearing aiming instructions that are possible for the weapon (2), therefore extreme possible directions of fire that correspond to a maximum load fire, in the reference frame (RC) associated with the chassis, when it is in a firing position on a horizontal ground, the device being characterized in that the computer (3d) incorporates algorithms for converting, when the chassis (1) is in the firing position on the field, boundaries of the nominal firing profile (GN) so as to determine a transformed firing profile (GT) which is delimited by the extreme directions of fire that are possible in the reference frame (RC) of the chassis (1) when it is in the firing position on the field and also to determine an operating firing profile (GOP) for aiming, which is defined as the geometric intersection of the nominal firing profile (GN) and the transformed firing profile (GT).
  7. - The aiming device according to claim 6, implementing the method according to claim 2, characterized in that the conversion algorithms implement computing of a transfer matrix (M) making it possible to transition from instructions expressed in the fixed reference frame (RF) to instructions expressed in the reference frame (RC) of the chassis.
  8. - The aiming device according to claim 6 implementing the method according to claim 3, characterized in that the conversion algorithms implement abacuses giving different transformed firing profiles (GT) associated with different ranges of pitch and roll angles of the chassis (1) relative to the fixed reference frame (RF).
  9. - The aiming device according to any one of claims 6 to 8, characterized in that it incorporates an interface (5) for displaying an outline of the operating firing profile (GOP) and optionally an aiming instruction.
EP21176007.9A 2020-06-26 2021-05-26 Pointing device for a weapon system comprising a weapon secured to a frame and method implementing such a device Active EP3929522B1 (en)

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FR2006650A FR3111978B1 (en) 2020-06-26 2020-06-26 POINTING DEVICE FOR A WEAPON SYSTEM COMPRISING A WEAPON SOLID WITH A CHASSIS AND METHOD FOR IMPLEMENTING SUCH A DEVICE

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US4302666A (en) * 1979-11-13 1981-11-24 The Boeing Company Position control system of the discontinuous feedback type
DE3332795C2 (en) * 1983-09-09 1986-05-15 LITEF Litton Technische Werke der Hellige GmbH, 7800 Freiburg Fire control system for moving weapon carriers, in particular for battle tanks
US6769347B1 (en) * 2002-11-26 2004-08-03 Recon/Optical, Inc. Dual elevation weapon station and method of use
KR20110100959A (en) * 2010-03-05 2011-09-15 삼성테크윈 주식회사 Apparatus of controlling posture of machine mounted on vehicle and method of controlling posture of the same machine
US8646374B2 (en) * 2010-07-27 2014-02-11 Raytheon Company Weapon station and associated method
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US9074847B1 (en) * 2014-08-28 2015-07-07 Flex Force Enterprises LLC Stabilized weapon platform with active sense and adaptive motion control
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FR3111978A1 (en) 2021-12-31
US11493300B2 (en) 2022-11-08
IL284297A (en) 2022-01-01
US20220074698A1 (en) 2022-03-10
SI3929522T1 (en) 2023-06-30
DK3929522T3 (en) 2023-05-08
EP3929522A1 (en) 2021-12-29
PL3929522T3 (en) 2023-03-13
IL284297B1 (en) 2024-09-01

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