FI107295B - A device for aiming at a moving target and for directing an anti-aircraft gun or the like - Google Patents

Description

1 107295

A device for aiming at a moving target and for directing an anti-aircraft gun or the like. - Anordning för att reset the object to be returned to the inrikta en luftvärnskanon eller motsvarande.

The invention relates to a device for aiming at a moving target and for directing the anti-aircraft gun or the like thereto / wherein the barrel of the anti-aircraft gun is adjustable laterally and vertically by servomotors using a sighting unit having an optical target , with the support unit supported on the support and being rotatable by manual operation laterally and vertically, with the support attached to said barrel, the aiming unit further comprising means for measuring laterally and vertically between the aiming line and the barrel direction, and the device including elements , said bodies are arranged to transmit signals as to what corresponding values to a calculator arranged to calculate the received! . • · · · · ♦ "V values such as information on anti-aircraft gun firing • · · · · *. · ballistics of the projectile, prevailing wind vectors, required lead angle of the ♦ · · barrel, and offset • · · i '. · angle) and send corresponding signals to said servo motors to hit the projectile.

Several embodiments of such devices are already known. It is common to them that they use advanced technology combined with high cost. Target range measurement is usually done by a radar or laser rangefinder with high frequency measurement combined with a television camera;;;; equipped with an automatic target tracking device.

• o · «··» <·· • · 2 107295

It is an object of the present invention to provide such a device that allows shorter response periods between object detection and combat, high hit probability repeated use, passive point tracking, easy handling, training, and worries, and low capital, maintenance, and operating costs.

According to the invention, a device of the above type is characterized primarily by being adapted to operate in three stages, wherein

Vaihfe I

comprising the first actuation of the aiming unit and the calculator unit, said servomotors are arranged to be activated such that the barrel velocity laterally wa «and the elevation ua · have a definite correlation between : _ and during the second initialization of the calculator unit: periodically a series of distance measurements, whereby the calculator unit · · · IV registers the corresponding values of the sighting, the lateral angle • · t Ψ and the angle elevation es, in space relative to fixed reference values distance and measurement time, • · · • · 1 the calculator calculates, based on said corresponding values, * the path and velocity of the first initial object and predicts the initial directions, i.e. the angle s in the direction of ψ · and: the angle in height θ «and the barrel velocity in lateral and height ωΕ · for the projectile fired at [t] to hit the target; «· ^ * O · • · · • · · 107295 3

Step II

comprises that during the third initialization of the aiming unit and the calculating unit, the distance measurement stops and said servo motors are activated to direct the barrel direction according to said angles and 6e and simultaneously to produce barrel angles ω & · and te te · corresponding to the calculated angles and target track and target speed;

Step III

encompasses that during the fourth initialization of the aiming unit and the calculating unit, a series of distance measurements are performed, the calculating unit registers the corresponding values of the aiming line, then the calculator unit activates the servomotors to adjust these angles and angles.

With the aid of an embodiment of the device according to the present invention, what information is collected during step I over a relatively short period of time ··· ····. . During Phase II, the coarse aiming phase of the target • · · • · *, barrel alignment is performed to the initial offset angle • ·· * (offset) and the control angle (lead). During this step, no measurement points are observed. Phase III,; ***: During the fine metering and fine tuning phase, additional metering data is collected. During Intermediate II, and thus during a certain period of time during which the subject has moved further, the calculator unit may calculate the relevant average velocity of the object.

The barrel is precisely aligned according to the latest measured data t ·::: and shooting can be performed.

«« «« A «· 4 107 ^ 95

As described above, by dividing into three phases, the distance measurement can be performed by a laser that only needs to generate a limited number of laser pulses for precise distance measurement of the target, thereby enabling laser operation without any special cooling and high reliability and low maintenance costs while operating at approximately inactive.

According to a preferred embodiment of the invention, the arrangement is such that the velocity gyros are arranged to measure the angular velocities of the barrel sideways and in the height direction Se. The output signals obtained therein are integrated as corresponding angles: .. Simultaneously, the angles between the sighting line and the barrel orientation are measured laterally in Δ korke and elevation in ΔΘ, whereby the calculator unit correlates the distance measurements with the corresponding angles in the sighting system with references to the object.

The velocity gyres are really space-specific references for all the measurement values that are the basis for the barrel orientation. Using the same velocity gyro to control barrel orientation and angular velocities gives a high ratio:. line accuracy for the actual position of the target on the runway.

• · · j V The use of space-specific references allows for stable stability in repeated use, such as repeated use of an · · · "• j '. Sinking of the anti-aircraft cannon against the ground will not affect • hit results. • · · due to similar circumstances, the clearances and roughness of the anti-aircraft gun machine are eliminated with a speed gyro, which directly measures the barrel speeds.

In principle, another suitable embodiment of the invention is also possible1. arrange the velocity curves directly to measure • · ** · *. angular velocities of full ice in lateral direction ωΑβ and in vertical direction “e ··” This is to arrange means for measuring angular velocities between the full line of the star and the barrel in the lateral direction and height ^ - «going · 107295 in 5 directions, i.e. Δψ and ΔΘ. Since the angles between the sight line and the barrel direction have already been measured, this means that the signal for value and ΔΘ is derivative. However, this arrangement is less effective from a technical point of view compared to the speed gyro which measures the angular velocities of the barrel.

According to a preferred embodiment of the device according to the invention, the barrel angles are directed during said phase II by servomotors which are activated in lateral Ψe and in vertical direction Θ. During barrel alignment in step II, the user is in danger of dropping the target from sight. This can of course be compensated by his directing the sighting line in the opposite direction to which the barrel is directed, but in the preferred embodiment of the device according to the invention, said acceleration is limited to correspond to the difference between the barrel direction and sighting line angles Δψ and height ΔΘ.

To achieve the best possible accuracy in barrel alignment, servomotors should aim it! ^ laterally and vertically with feedback, ie.

1 "V in closed control loops.

The device of the invention may also be provided in a variety of ways within the scope of the appended claims.

• ·· • i «• · ·

In a preferred embodiment in which the unit can be rotated • · ·: 1: with respect to the support mounted laterally and vertically to the barrel.

two handgrips, which are gripped with the right and left hand, respectively, the three steps I to III

«« ** ··] initializes a series of switches which are activated and kept active in the series.

• · ♦ ♦ • · »» · «t 10 10 6 107295

It is particularly important that the initialization of the Phase II can be accomplished by activating the second switch only after the initialization has taken place by activating and holding the first switch.

The invention will now be described in detail with reference to the accompanying drawings, in which:

Figure 1 is a perspective view of an embodiment of a sighting unit mounted on a support provided with a control device.

Figure 2 is a perspective view of the handle for the control device shown in Figure 1j.

The aiming unit is supported so that it can be pivoted laterally and vertically on a support which is supported by a beam 1 on a barrel not shown in the drawings. The support includes a base plate 2 supported by a beam 1 through rubber insulators 3 which insulate the aiming unit against high impact acceleration. The parts are · * · .. dimensioned and adjusted so that they do not affect the angle · of the aiming unit: relative to the barrel. On top of the base plate 2! e * * ·:. ·. is a pivotally mounted vertical shaft 4 which, at its upper end, • · · **]; * supports a bracket 5, whose upwardly extending arms ΙΙΊ 'were mounted by a stand 6 with an axially pivotal axis 7! «♦ *« · * .. I help. The stand 6 supports a laser rangefinder 8, which • · · acts as a binocular. The latter is equipped with hairlines which form both the visual target ♦ · ♦

: V that the optical axes of the rangefinder. Laser rangefinder S

• · · V: additionally equipped with a coarse sight 9 and a headrest for wind protection · ♦ · during protection. The chassis plate 2 has a gyro unit # # mounted with two speed rollers,. which measure the angular velocity, one measures the barrel's movements • · | .j * sideways and the other measures the barrel's movements in the height 7 107295. Further, an angle detector 12 is mounted on the base plate 2 for measuring the height of the barrel. To measure the angle between the sighting line of the aiming unit and the barrel direction, an angle detector 13 is provided for measuring the lateral direction Δψ, whose fixed portion of the detector is mounted beneath the base plate 2 and whose vertical axis is connected to the shaft 4 supporting the bracket 5. The angle ΔΘ in the lateral direction between the sight line and the barrel orientation is measured by means of an angle detector 14 connected to the shaft 7.

The control of the aiming unit is accomplished by means of a control device 15 having a plurality of joints and axes. The vertical shaft 16 is pivotally mounted on the underside of the base plate 2. A shaft 18 is provided with a horizontal shaft 17. A shaft 18 is hingedly mounted around the shaft 17, one end of which supports a vertical bar 19 on its underside, which in turn supports a coupling unit 20 provided with handles 21 and 22 for both hands. At one end of the bracket 18 there is a horizontal shaft 23 which is pivotally mounted and has a vertical bar 24 with a base 6 connected to it by a ball joint 25 at its upper end. movements by moving and rotating rod 19 back and forth * »· · ·; are converted analogously to the movements of the base 6 and thus through the laser * · · * [; * rangefinder to the binocular 8. Thus the object e '.Y *. manual tracking is greatly facilitated. Switches *: * .. * the shape of the unit 20 can be clearly seen in Figure 2. Handles ♦ · * * · * 21, 22 are provided with switches 26, 27 on the upper surface. When the user grasps the handles with switches, the device • · ·; is activated to influence the barrel orientation of the servo motors::: by moving the bar 19 by the operator forward, ···, back and forth. In addition, the switch unit has four switches. · · 28 to 31, the form and function of which are explained below.

• · * i.i i The machine operates as follows: a · ______________I ____ 107295 8

As already mentioned, the user activates the device by grasping the handles 21, 22 and thereby pressing the switches 26, 27.

Step I thus named begins. When the user, by means of the handles 21, 12, rotates the binoculars and thus the target line of sight, the barrel is automatically directed in the same direction at a certain angular velocity laterally and vertically proportional to the lateral and altitude neutral rotation of the manually actuated target line. The device performs a slave function during the object tracking phase. The user achieves tracking of the target j after he has detected the target's eye through the coarse sight 9, guiding the binoculars so that the sight line approximates the target's direction. The user then transfers his eyes to the binocular eyelet 32 and magnifies the binocular so that its hairlines form the optical axes of the binocular, i.e., the sight line is aligned with the target. The laser rangefinder 8 of the aiming unit begins to operate by lifting the switch 28 with its right thumb, and the laser rangefinder then performs the rangefinding by transmitting for a short period of time a light pulse reflected from the object on the line of sight. The reflected energy is detected by a rangefinder which, r, registers the light pulse output of the time pulse and; ·. between the reflection and convert it to a corresponding distance value * * iV, which is then transferred to 1 · unit calculator circuits. This value coordinates with the angular position • · · ••• j of the sighting line for fixed reference objects in space, f® and θ s.

S The angles Ψ »and θ® are obtained by subtracting the angles Δψ and ΔΘ between the sighting line and the barrel of the barrel # ·« e V, respectively, from the existing ones! from the angles Ψ «and θ * of the barrel.

* · · »· T« • ·

In the initial position, when the first distance value is obtained, the angle .1, laterally, is set to ΨΒΟ = 0, whereby the angle output. · * "·] Is the height value obtained from the output signal from the angle detector 12, Θmo - ΔΘ. Ψ8 is then calculated as an integral value of ωΑ · - ΔΨ, and 0 ® is an integrated value of expression qk * j * * * • · 9 107295 ωπ · - Δθ The laser rangefinder 8 then automatically measures the distance in rapid cycles, aiming continuously at the target and performing a series of rangefindings, during which the corresponding ranges and correlated time periods and angles of ψ1 and Θ are entered into the calculator unit. After two registrations, the object velocity is also calculated, and thereafter the actual position of the object. After at least three registrations, the average of the object velocity and calculated object position is obtained. Each additional measurement value provides a better background to calculate the true position of the object. However, the dispersal of rigia as well as the erasure of the sighting line at the target result in dispersion errors between the measurement points. For cost reasons, the laser rangefinder has an embodiment in which it has a limited number of transmitted energy pulses per unit of time and thus the target tracking time must be extended.

After Stage I is completed, Stage II, the coarse target of the target, begins as follows: Operator still holds switch 28 still raised; ·. and press down switch 29 to the right. This can be <»» | provided only by the switch 28 in the raised position.

* · ·

Laser distance measurement ends and the barrel orientation changes from J »<* · ', 1 from the angular velocity proportional ·· · ... 1 - to the orientation value obtained in step I, to the automatic orientation ***** ί of the calculated values Ψ», 8 «and with angular velocities ω Ae, r ·» V 'ωΒ · such that the barrel has the right angle and the offset angle to hit the target. When changing to automatic orientation, · · creates an accelerating movement of the barrel that slows down as the barrel moves in the direction and at the specified angular velocity.

• «1 4 1 4

i «'f I

While the barrel is moving relatively quickly in the new j direction, the user should try to keep the binocular pointing at the target • I 1 ·> · I • · 10 107 ^ 95 in order to proceed to the next step as quickly as possible to collect new readings. The user compensates for movement by turning the binoculars in the opposite direction so that he does not drop the subject out of sight. In order to also allow non-trained users who have a longer reaction time with respect to handling the device, a function is provided which limits the barrel orientation velocity during Phase II, being limited to the prevailing angle difference aiming! between in-jan and the barrel, Δψ and ΔΘ. As a result of this operation, the trend is slower when the user responds slower and it occurs faster if the user responds faster. After Stage II is completed, Stage 3, Fine Aim Stage, begins as follows:

The switches 28, 29 are held raised or pressed down respectively. The operator raises the switch 30 with his left thumb. The new measured values for the target distance correlate time periods and angular values for Ψβ and 9S register in the same way as during phase I. The calculation of the required offset angle and steering angle is thus updated, whereupon the barrel is immediately aligned in the same manner. Due to the phase II time used between Phase I and Phase III, the accuracy of calculating the position of the target and the speed of the target is high. Phase II

· The time is approximately 1-3 seconds.

The trigger is triggered by the operator holding the remaining switches 28, 29, 30 in their elevated or lowered positions by pressing down the switch 31 to the left ······ ·: *. · Thumb. The firing continues as long as the switch 31 is pressed down. During the firing cycle, the barrel is oriented in the same way as before, i.e. with servo motors with automatically closed control circuits containing speed gyros.

• • • • • • • • • • • • *

Claims (8)

107295 1. Apparatus for aiming at a moving target and for directing the anti-aircraft gun or the like thereto, wherein the anti-aircraft gun barrel is adjustable laterally and vertically by servomotors using a sighting unit having an optical sighting target along the sight line, preferably a binocular (8) ) for measuring the distance to the object, preferably a laser type, with the aiming unit supported on the support (2, 5) and rotatable by manual operation laterally and vertically with the support attached (1) to said barrel, the aiming unit further comprising means for measuring the angle in the height direction (14) between the line of sight and the direction of the barrel, and the device includes means (11) for measuring the angular velocity of the line of sight directly or indirectly laterally and vertically, said means being arranged to transmit a sig corresponding to their measured values, into a calculator configured to calculate according to the received signals as well as input information about correction values, such as information on anti-aircraft projectile ballistics, prevailing wind vectors, required barrel control angle, and offset angle. corresponding signals to bring the projectile fired into said servo motors, characterized in that the device is • 1 ·: arranged to operate in three phases, wherein the phase I • · · comprises that the aiming unit and in connection with the first initialization (26, 27) of the calculator unit, the said servomotors are arranged to be activated such that, at an angular velocity of the barrel, • · ·: V in the direction (ωΑ ·) and height (“e ·) . : Plot for the lateral and vertical deviation of the angle of sight of the sighting line from the neutral position obtained by manual operation of 12 1072i? 5 following the object on the sighting line, and the second initialization of the aiming unit and calculator (28). periodically performing a series of distance measurements, wherein the calculator unit registers the corresponding values of the sighting line, lateral angle (Ψ *) and angle height (θβ), in space relative to fixed reference values as well as distance and measurement time, based on said corresponding values the prefix calculates the initial directions, i.e., the lateral angle (Ψβ) and the height (Θ ·) of the angle and the angular velocities of the barrel (ωΑβ) and the height (we «); a projectile to hit it; step II comprises that with the third initialization (29) of the aiming unit and the counter unit, the distance measurement stops and said servomotors are activated to direct the barrel direction according to said angles (Ψ «) and (θ«) and simultaneously to produce barrel direction angular velocities (ωΑβ) and (ωε during phase I, the angles being calculated, and the angular velocities corresponding to said calculated object path and object velocity; j, stage III comprising: during the fourth initialization of the aiming unit and the calculating unit (30), a series of distance L:: - autumn measurements; the computing unit registers the corresponding sightings; line values, lateral angle (ψβ) and elevation ··· · ··· (θβ), as well as distance, the calculator unit is based on these correlative values to calculate the final target speed and siter. • · Correct barrel directions and angular velocities for lateral and vertical • projectile firing to hit the target, ... then the calculator unit activates the servomotors to adjust • · · these angles and angles. »· · Device according to Claim 1, characterized in that the velocity gyros are arranged to measure the angular velocities of the barrel sideways (<* >) and in height (102 «). Device according to Claim 1, characterized in that the velocity gauges are arranged to measure the angular velocities of the sighting line in the lateral direction (ωΑβ) and in the vertical direction (tilt ·) and that means are provided for measuring the angular velocities between the sighting line and the barrel direction ). Device according to one of Claims 1 to 3, characterized in that said servomotors are activated in said step II and correct the angles (Ψ «) and (9«) by accelerating movement. Device according to Claim 4, characterized in that the acceleration of the movement is limited to the difference between the lateral and vertical directions of the barrel directions and the angles of the line of sight, (Δψ) and (ΔΘ). Device according to one of Claims 1 to 5, characterized in that the servomotors actuate the barrel laterally and vertically for feedback, i.e. in closed control circuits. A device according to any one of claims 1 to 6, comprising: two arms for gripping the targeting unit (8) laterally and in relation to said support (2, 5) in relation to said support (2, 5). · · Stable with right hand and left hand, respectively, characterized by the fact that the initialization of said three stages I to III is intended to be accomplished by activating a series of switches (28, 29, 30, 31) to be held in series. • · · • «• · •» «« · V Device according to claim 7, characterized in that the initialization of the stage II can be achieved by activating the second switch (29) 14 10 ^ 295 only after the initialization of the stage I has been achieved. delayed activation of the switch (28). • ♦ • «· • · ·« «« i. · * * * · · · · E e e e e e e e e * * * · · »* • ·» t · ♦ · • · · 107295 15