GB2530612A

GB2530612A - Aiming and control device, and method for assisting a gunner of a weapon system

Info

Publication number: GB2530612A
Application number: GB1512113.0A
Authority: GB
Inventors: Peter Behmuller
Original assignee: Airbus DS Optronics GmbH
Current assignee: Hensoldt Optronics GmbH
Priority date: 2014-09-26
Filing date: 2015-07-10
Publication date: 2016-03-30
Also published as: GB201512113D0; DE102014114036A1

Abstract

The invention relates to an aiming and control device 1 for guiding a weapon system having at least one weapon. The device comprises: an aiming apparatus 5 for acquiring a target, an optronic vision system 7, 8, 9 including a camera 8, the observation axis of which extends parallel to the weapon, an image display unit 9 for displaying the image signals recorded by the camera 8, drive means for automatically aligning the weapon and the optronic vision system 7, 8, 9, and a video tracker apparatus 7. The video tracker 7 receives the image signals recorded by the camera 8 and is configured to track an acquired target 2 by means of the image signals by actuating the drive in such a way that the weapon and the camera 8 automatically track the target.

Description

Aiming and control device, and method for assisting a gunner of a weapon system The invention relates to an aiming and control device for guiding a weapon system in accordance with the preamble of Claim 1 and to a method for assisting a gunner of a weapon system.

Optical targeting apparatuses with a weapon, which are movable about the azimuth and nadir axes and the alignment of which on each one of the two axes is implemented by means of a speed control, are already known. This is performed by a motor drive element of the weapon and a sensing element for the angular velocity.

Here, the targeting apparatus comprises a video camera, which is securely attached to the weapon and the sight axis of which extends parallel to the axis of the weapon. The sight axis is marked by a reticle, which is superposed into the video image. The user uses the video image of the camera to sight a target. For this purpose, said user operates a control handle, which feeds the set values for the speed along the azimuth and the nadir, which are required to hit the target, to the control of the weapon.

As a development, document DE 102 08 102 B4 has disclosed a firing aim or firing control device for aiming a weapon by an operating person.

The device comprises a motor operating apparatus for driving the weapon and units for controlling the motor operating apparatuses in order to displace the weapon. Aiming apparatuses are likewise provided for the operating person. Observation and sight apparatuses, which contain a camera, the observation axis of which extends parallel to the weapon, are also included, with the image coming from the camera being transmitted to a vision apparatus for the operating person. Moreover, there are apparatuses which stabilize the image fed to an operating person at the vision apparatus. The stabilization apparatuses determine an error which describes the deviation between the intended position, which corresponds to a command value, and the actual position of the weapon. A correction variable which correspondingly displaces the image of the camera is determined by this deviation. In this device there is, as a result of the displacement, an automated shot correction of the sight reticle by the calculated angle from the position deviations.

It is an object of the invention to develop an aiming and control device and, connected therewith, an associated method in order to further increase the first hit probability.

According to the invention, this object is achieved in respect of an aiming and control device by means of the features specified in Claim 1.

Moreover, a method for assisting a gunner of a weapon system is specified in Claim 6. The further dependent claims relate to advantageous embodiments and developments of the invention.

The invention includes an aiming and control device for guiding a weapon system, having at least one weapon, comprising: -an aiming apparatus for acquiring a target, -an optronic vision system including a camera, the observation axis of which extends at least substantially parallel to the at least one weapon, -an image display unit for displaying the image signals recorded by the camera of the optronic vision system, -drive means for automatically aligning the at least one weapon and the optronic vision system.

According to the invention, what is also comprised is a video tracker apparatus which receives the image signals recorded by the camera of the optronic vision system and which is configured to track a target acquired by the aiming apparatus by means of the image signals by virtue of the drive means being actuated in such a way that the at least one weapon and the camera of the optronic vision system and/or the optronic vision system automatically track the target.

Here, the invention proceeds from the thought that at the moment at which the gunner has sighted a target, he transfers further target tracking to an automated apparatus. In other words: the gunner marks the target and thereupon starts automated target tracking by video tracking.

Depending on the number of images that are generated, it is accordingly possible to evaluate possible position deviations and calculate a target correction directly therefrom. Here, a central function is assigned to an adjustable video camera, which is able to generate a sufficient number of images. Update information for controlling a weapon, which is generally mounted on a platform or in a turret, is generated from the established object movement. Here, the gunner need not undertake any manual updating by means of the aiming apparatus and is significantly relieved.

In a first step, e.g. the commander of an armoured vehicle sets the target to be fought during target reconnaissance. For the purposes of assigning the target, the commander passes the target to the gunner. The gunner acquires the target using the vision system and, as a result thereof, guides the weapon system to the target. In the process, he introduces the target tracking and, whilst doing so, establishes the firing control parameters. The distance to the target can be determined continuously using a laser rangefinder. A thermal imaging instrument or a daylight camera can be used as a video source. Depending on the video image data rate and the active tracking algorithm, a video tracker may require 2 to 5 video images as full images in order to be able to generate aiming signals for the updating of the vision system. In the case of analogue image data (PAL), it is possible, for example, for the video tracker apparatus to compensate bore sight deviations approximately every 40 milliseconds by the vision system update and thus precisely follow a target.

In this context, the weapon system supplies information for the ballistic calculations. In relation to the automated system, a gunner may have the option of being able to intervene and correct manually in an assisting manner. The ideal ballistic values can always be established until the shot is triggered. As a result of a brief manual intervention, it is also possible to react to a possible target coverage in order to provide the video tracker with reliable additional information for target tracking. In order to simplify the target tracking for the gunner, a video tracker consequently assumes the guidance of the vision system and hence the aiming of the weapon.

A particular advantage of the invention is that the optronic vision system provides highly accurate position data to the outside and that it is suitable for allowing a weapon system to precisely trigger on a target. As soon as the reticle is positioned on the target, the weapon is tracked as a result of this position data. Compared to a system controlled by a person, the stable video tracking obtains significantly more accurate and faster updating of the weapon system during the target tracking. Consequently, an automated target tracking also enables less skilled gunners to exploit the capability of a weapon system to the full. As a result of this, the first hit probability can advantageously be substantially increased.

In a preferred embodiment of the invention, the optronic vision system can have an image stabilization unit. This function can usually be covered by a video tracker. The latter is capable of compensating deviations about one or more axes by way of electronic image stabilization.

Advantageously, the video tracker apparatus can have an evaluation unit for tracking a plurality of targets. Such video tracker apparatuses can track 5-10 objects simultaneously in the video image and perform so-called multi-target tracking. In weapon systems with automated loading systems, a plurality of targets can immediately be fought in direct temporal succession.

In a preferred embodiment, the evaluation unit can undertake target prioritization. If a plurality of targets are observed simultaneously, a risk assessment can be implemented on the basis of available data material and hence the gunner can be provided with a suggested sequence or a target suggestion for a target to be fought first.

Moreover, the aiming apparatus can be advantageously included as correction apparatus for updating a command value, in particular for actuating the drive means in order to displace or align the weapon and/or the optronic vision system. During reconnaissance, the video tracker system can detect changes in the video image with the aid of movement identification (moving target indication) and assist and relieve the gunner during the observation. The gunner implements an update with the aid of the control handle. It is also part of the operating concept that the gunner need not necessarily target the centre of an object but may possibly stop on a target point situated further towards the back or front. In this case, the correction triggered by the control handle is superimposed on the automated tracking. This allows a point to be chosen on the target, at which the latter should be fought effectively. This may be necessary to an increased extent, particularly in the case of sudden directional changes of the target or the own vehicle.

A further aspect of the invention includes a method for assisting a gunner of a weapon system having at least one weapon, wherein the method comprises the following: -acquiring a target by means of an aiming apparatus, -acquiring and providing data by means of a video tracker apparatus of an optronic vision system, which obtains the image signals recorded by a camera, for tracking the target, -marking the target using a target mark, -taking over the target by means of the optronic vision system, -automated target alignment and target tracking by the weapon and/or the optronic vision system by way of drive means.

Here, this aspect of the invention proceeds from the thought of providing a corresponding method for the aiming and control device according to the invention. Ultimately, correspondingly utilizable image material is fed to an assembly with video tracking functionality. Here, a distinction is to be made between the reticle, as seen by the gunner, and the image centre, the so-called video tracker bore sight, established by the video tracker. During the "acquisition" phase, the target is set in the marked frame. The video tracker takes over the target and starts the updating.

Here, deviations from the target are established by a computer system and corrected by virtue of the weapon system being moved.

Preferably, the data acquisition and provision can be generated from 2 to video images. From this, integrated strategies for setting the primary target can be developed by means of the video tracker apparatus and an automated sequential target acquisition and target tracking of the objects can be implemented. This image number is also sufficient for being able to generate aiming signals for updating the optronic vision system.

Moreover, an electronic image stabilization can preferably be performed by means of the optronic vision system. By way of example, the electronic image stabilization can compensate a tilted image along the sight line.

In a preferred embodiment of the invention, the target alignment of the weapon can be performed with an angle offset to the sight line during the automated target tracking. As a result, the tracker obtains the necessary information in order to appropriately realign the weapon by an offset. In the case of moving targets, the gunner can consequently always update the target alignment of the weapon anew.

Advantageously, further information for a visual field change and/or for focusing purposes and/or for changing the contrast and/or for changing the brightness can be provided to the video tracker apparatus for data acquisition and data provision purposes. This information serves to interpret the real conditions in order to obtain more reliable target guidance.

In a preferred embodiment, automated target tracking of a plurality of targets can be performed by the video tracker apparatus. Strategies for setting the primary target integrated into the video tracker apparatus enable an automated sequential target acquisition and tracking of the objects.

Furthermore, a target prioritization can advantageously be proposed by the video tracker apparatus during the automated target tracking of a plurality of targets. Here, a hierarchic ranking for fighting can be produced on the basis of the risk potential emanating from a target.

Further advantageous developments and embodiments of the invention emerge from the exemplary embodiments described in principle below on the basis of the drawings.

In detail: Figure 1 shows a schematic drawing for acquiring a target by means of an aiming apparatus; Figure 2 shows a schematic drawing for data acquisition and data provision by means of a video tracker apparatus; Figure 3 shows a schematic drawing for marking the target in a target mark and taking over the target by means of the optronic vision system; Figure 4 is a schematic drawing for automated target alignment and target tracking of the weapon by drive means; Figure 5 is a schematic illustration of the target monitoring by the gunner; and Figure 6 schematically shows the system concept with the video tracker apparatus.

Figure 1 shows a schematic drawing for acquiring a target 10 by means of an aiming apparatus 5 of an aiming and control device 1. The acquisition of the target 10 to be tracked is implemented in this operating step.

Initially, the gunner is assigned the target 10 for target acquisition. In this case, he operates a joystick as an aiming apparatus 5 and moves the camera 8 of the optronic vision system 7, 8, 9. The weapon system is usually in a turret which is able to rotate and align the weapon (not depicted here). The gunner controls the camera 8 of the optical vision system 7, 8, 9 and the weapon, with the turret following the camera 8.

From this, it is possible to generate position data. So that the subsequent ballistic calculation of the weapon can function correctly, the gunner must initially track the target 10 with the aid of the aiming apparatus 5. In the process, he moves the image frame of the target mark 2 over the target in the image display unit 9 with the aid of the control handle 5. The displacement path emerges from information about pixel deviation Ax 0, Ay!= 0, which is transmitted to the video tracker apparatus by way of a control apparatus or a control computer or a control adapter 6.

Figure 2 shows a schematic drawing for data acquisition and data provision by means of a video tracker apparatus 7. The gunner follows the target 10 with the aid of the optics, with the platform rotating in such a way that the reticle visible to him is held on a point selected at the target.

The video tracker apparatus 7 identifies the target 10 from the video image information, as a result of which the target acquisition is initially complete. What emerges from this is position data which is followed by the weapon.

Figure 3 shows a schematic drawing for marking the target 10 in a target mark 2 and for taking over the target 10 by means of the optronic vision system 7, 8, 9. After the video tracker apparatus 7 has acquired a target ("object locked"), the image processing follows the object (tracking") on the basis of learnt object features, such as e.g. outline contours, centre of gravity and statistics, in the video image data stream after the tracking is started.

For the continuous aiming signal generation, it is advantageous if the object to be tracked firstly is always completely identifiable in the video image and secondly experiences no abrupt significant changes in the size and form thereof, for example as a result of visual field change, focusing, contrast or brightness changes.

Figure 4 shows a schematic drawing for automated target alignment and target tracking of the weapon by drive means. Here, video image information is transmitted to the video tracker apparatus 7 by way of the video camera 8 and the pixel deviation Ax, Ay is established. A deviation of the object from a parameterizable pixel position (video tracker bore sight) thus enables the generation of an aiming signal and the automated updating of the vision system.

From this, the positioning speed: VAzimuth 0, VElevation!= 0, which is implemented by means of the control adapter 6 for updating the weapon, is set. In this manner, the deviations from the target 10 are established by the computer system and corrected by moving along the weapon system.

For improved understanding, Figure 5 shows a schematic illustration of the target monitoring by the gunner. During the automated target tracking, the gunner monitors the tracker status and assumes control by way of the vision system in the case of impending loss of the object or he performs a so-called "reacquire" by way of a manual correction.

Consequently, the offset between the so-called "video tracker bore sight" and the "line of fire" can be modified during the automated target tracking so as to be able to direct the weapon onto the target. In the case of stable tracking, the gunner triggers the calculation of the fire control values and activates the weapon.

Figure 6 schematically shows the system concept with the video tracker apparatus. This system concept enables low latency and virtually jitter-free updating of the weapon with the aid of a control adapter and a deterministic bus system CAN. The video tracker is fed with image data from a daylight or night vision camera. Here, an automated video tracker optimization may also occur in relation to the daylight or night vision conditions by way of the respective video source. A visual field change, focusing, changes in contrast, changes in brightness can be signalled to the video tracker unit, as a result of which the risk of losing an object is reduced.

List of reference signs: 1 Aiming and control device 2 Target mark Aiming apparatus 6 Control computer, Control adapter 7 Video tracker apparatus (optronic vision system) 8 Camera (optronic vision system) 9 Image display unit (optronic vision system) Target

Claims

Patent claims Aiming and control device (1) for guiding a weapon system, having at least one weapon, comprising: -an aiming apparatus (5) for acquiring a target, -an optronic vision system (7, 8, 9) including a camera (8), the observation axis of which extends parallel to the at least one weapon, -an image display unit (9) for displaying the image signals recorded by the camera (8) of the optronic vision system (7, 8, 9), -drive means for automatically aligning the at least one weapon and the optronic vision system (7, 8, 9), characterized by a video tracker apparatus (7) which receives the image signals recorded by the camera (8) of the optronic vision system (7, 8, 9) and which is configured to track a target acquired by the aiming apparatus (5) by means of the image signals by virtue of the drive means being actuated in such a way that the at least one weapon and the camera (8) of the optronic vision system (7, 8, 9) automatically track the target.
2. Aiming and control device (1) according to Claim 1, c h a r a c t e r i z e d in that the optronic vision system (7, 8, 9) has an image stabilization unit.
3. Aiming and control device (1) according to Claim 1 or2, c h a r a c t e r i z e d in that the video tracker apparatus (7) has an evaluation unit for tracking a plurality of targets.
4. Aiming and control device (1) according to Claim 3, c h a r a c t e r i z e d in that the evaluation unit is configured to undertake target prioritization.
5. Aiming and control device (1)according to Claim 1, characterized inthattheaimingapparatus(5),asa correction apparatus for updating a command value, is included for actuating the drive means.
6. Method for assisting a gunner of a weapon system having at least one weapon, wherein the method comprises the following: -acquiring atarget(1O) by means of an aiming apparatus (5), -acquiring and providing data by means of a video tracker apparatus (7) of an optronic vision system (7, 8, 9), which obtains the image signals recorded by a camera (8), for tracking the target (10), -marking the target (10) using a target mark (2), -taking over the target (10) by means of the optronic vision system (7, 8, 9), -automated target alignment and target tracking by the weapon and the optronic vision system by way of drive means.
7. Method according to Claim 6, characterized inthat the data acquisition and provision is generated from 2 to 5 video images.
8. Method according to Claim 6 or 7, characterized inthat an electronic image stabilization is performed by means of the optronic vision system (7, 8, 9).
9. Method according to one of Claims 6 to 8, characterized inthat the target alignment of the weapon is performed with an angle offset to the sight line during the automated target tracking.
10. Method according to one of Claims 6 to 9, characterized inthat further information for a visual field change and/or for focusing purposes and/or for changing the contrast and/or for changing the brightness are provided to the video tracker apparatus (7) for data acquisition and data provision purposes.
11. Method according to one of Claims 6 to 10, characterized inthat automated target tracking of a plurality of targets is performed by the video tracker apparatus (7).
12. Method according to Claim 11, characterized inthat a target prioritization is proposed by the video tracker apparatus (7) during the automated target tracking of a plurality of targets.