JP2003214797A - Method and device for correcting firing error, and system computer for weapon system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method and a device for correcting an error when firing an artillery gun having a gun barrel possible to correct an error to be generated by a static geometric shape error of the gun and giving the influence to a position of the gun barrel when taking aim at an aim value. <P>SOLUTION: The gun barrel is rotated around an axis thereof to measure a position thereof. A set value showing a set position of the gun barrel and a real value showing the real position of the gun barrel are detected at each measuring position to compute a difference between the real value and the set value to be defined as an error value. The correction value is decided on the basis of the error value at a plurality of measuring positions, and considered with an aim of a rear gun barrel. In order to correct the aiming error to be generated by a static geometric shape error of the gun and giving the influence to a position of the gun barrel, this method and the device thereof is used for a weapon system having a system computer for measuring an aim value, and the system computer has a data input body, and the data considered to be used when computing the aim value is used. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a static geometry error (sta) of a gun with a barrel of a weapon system according to the preamble of claims 1 and 12, respectively.
Firing errors caused by tic gun geometry errors
method and apparatus for correcting error)
Regarding the system computer of the weapon system, which is the premise of.

In principle, the invention relates to all possible static geometrical errors of the gun and their correction.

[0003]

BACKGROUND OF THE INVENTION Guns are composed of a large number of parts, which are rigidly or movably connected to each other. The individual parts are never manufactured with precise dimensional accuracy, but rather with certain manufacturing tolerances.
ances) and / or deviation from theoretically determined dimensions
manufactured with (deviation) and intended (in
Deviations within fixed assembly tolerances from the mutual positions of the tended parts also occur during assembly. The total deviation results in every gun having a deviation from its ideal geometry, which is referred to as gun geometry error. The geometry error of such a gun is made up of numerous types of errors. For example, the gun geometry error is
Appears in. At that time, in the azimuth display of the gun, α is actually not 0 ° but deviated by a slight angle Δα.
Similarly, the elevation angle λ of the barrel at the zero position is not 0 ° in the elevation angle display of the gun, and is slightly deviated from 0 ° by Δλ. In some cases Δα and Δλ may be zero, but such a case is limited to cases where the geometry errors of the different guns compensate for each other.

If the individual parts are always made on the same machine with the same external conditions, such as temperature conditions, using wear-free or precisely adjustable tools, Manufacturing tolerances will be equal or nearly equal for each identical part in the series of guns. However, after assembly, the gun geometry error will vary from gun to gun.

The problem is exacerbated in that the geometry error of the gun, especially the angular error, is not constant, but rather varies for other reasons. In the first place, such changes are the result of wear in the case of individual moving parts,
The error increases with the passage of time. However, the change in error is also related to environmental conditions such as air temperature and gun temperature, and thus the error grows and shrinks alternately.

Since the mechanical load and the resulting deformation of the individual parts are partly position dependent, the problem of gun geometry error is also affected by the position of the individual parts.

Finally, it can be said that the geometrical error of the gun, which appears in the barrel at a specific position for a specific time, is a function of the direction of rotation that directs the barrel toward the specific position.

Gun geometry error characterizes individual guns and is therefore a parameter of the actual gun. Firing errors and / or reduced accuracy performance of the gun are a result of gun geometry errors, particularly angular errors.
Due to the long distance between the muzzle of the barrel and the target that the projectile fired from the barrel should hit, a slight angular misalignment of the barrel causes a significant shift between the target and the projectile to attack. Cause

If the geometry error of the gun and / or the parameters of the gun are known, the computer software assigned to the gun in determining the aiming value will be considered along with other data to correct the firing error caused by the error. To be done. The term computer assigned to a gun should be understood to mean the gun computer and / or the computer of the firing control. Other data to be considered by the computer include, among other things, target data relating to target position and movement, meteorological data relating to each weather condition, actual muzzle velocity and theoretically determined muzzle velocity. V regarding shift
Includes _zero data, and possibly shell data characterizing each shell fired.

The determination of the gun geometry error and / or gun parameters, the calculations for calculating the correction function, and the execution of the correction function in the computer software must be done before the gun operates. , And must be done individually for each gun.

The previously known methods of measuring gun parameters have numerous drawbacks. Not all types of gun geometry error are measured. The measurement cannot be done in an automated way and therefore takes a lot of time and as a result only a few measurements can be made at each measuring position of the barrel and as a result random measurement errors cannot be eliminated. It was Measurements are not only time consuming, but also expensive, as they require a large number of personnel.
In addition, some of the personnel involved in measurement are at relatively great risk. Because they must be in the muzzle area to make the measurements, and if they have a large elevation and a long barrel, they can be lifted to the muzzle area by a lifting device, or on a ladder. This is because it means that measurement must be done.

[0012]

SUMMARY OF THE INVENTION The object of the invention is to be able to detect perfectly the geometry error of the gun and to be precise, quick, with a small number of personnel, and preferably automatically. Providing a method of correction of a firing error of the kind described, proposing an apparatus for implementing the method, and proposing a firing control computer and / or system computer of a weapon system to be connected with the novel apparatus It is to be.

[0013]

According to the invention, the above objects are achieved, a method according to the features of claim 1, an apparatus according to the features of claim 12, and a firing control computer and / or a system computer. It is realized by the features of claim 17.

Preferred refinements of the method according to the invention and of the device according to the invention are defined by each dependent claim.

The advantages realized with the invention are essentially as follows. Any angular error caused by the static geometry error of the gun is detected and corrected. The static geometry errors of the gun, which until now have been expensively and inaccurately determined, are now accurately measured and correspondingly effectively corrected. By using a gyroscope measurement system, it is now possible to measure angles without leveling the weapon prior to measurement. By using opto-electronic gyroscopes, especially fiber-optic gyroscopes, you can make angle measurements that are far more accurate, reliable, and reproducible than previously possible. It is now possible, with more detailed results than previously possible with measurement, and thus more accurate correction of firing errors caused by gun geometry errors. Measurements are now quick and automatic, the cost and manpower required to measure the gun is low, resulting in significant cost savings. The risk of accidents affecting people participating in the measurement has been greatly reduced.

Before developing a detailed description of the present invention below, some basic concepts will be explained.

Azimuth synchronization error, elevation angle synchronization error, vertical offset error (perpendicular offset error), swing error (wob
Only ble errors, and squint errors and their corrections are described in more detail below, but the principles of the invention are applicable to any possible gun geometry error. .

The position of the barrel, which is subject to gun geometry errors, reaches various positions through a reciprocating swivel or a complete rotation, each position corresponding to a corresponding orientation, ie corresponding lateral angle and corresponding It is defined by the elevation angle, and hence the corresponding vertical angle. Rotation about the vertical axis changes azimuth, and rotation about the lateral axis changes elevation. The vertical axis and the lateral axis are preferably two axes of a spatial coordinate system that are orthogonal to each other, and those axes are defined in Table 1. In the framework of the present invention, the azimuth does not indicate the deviation from the north, but is understood as the deviation from the zero position in the firing operation.

[Table 1]

Since the actual position of the barrel differs from the set value, a firing error occurs. The setpoints, among other things, are specified by the azimuth and elevation values determined by the firing control computer and / or the system computer, but do not assume static geometry error of the gun. Table 2 shows the angular error of the position of the barrel that occurs, the geometrical error of the gun that causes the error, and the main causes of the geometrical error of the gun. Angle errors, expressed as azimuth error and elevation error, have five types of errors, but they are not independent of each other: (1) Azimuth synchronization error Δα1 (2) Swing error Δτ (3) Elevation angle synchronization error Δλ (4) Vertical offset error Δα2 (5) Perspective error Δσ

[Table 2]

A number of measurements are made to determine these partial errors. In order to make the procedure efficient, it is advantageous to perform the measurement in three measurement procedures, since more than one type of measurement is performed at each position of the barrel. Table 3 shows three measuring procedures, partial errors, and measuring devices used for each.

[Table 3] To correct the firing error caused by the static geometry error of the gun, the procedure is basically as follows. It determines the angular error that occurs during movement of the barrel about one axis of rotation. The barrel barrel gradually rotates from the zero position around the above-described rotation axis in one rotation direction, passes through continuously existing measurement positions, and reaches the final position, which is also the measurement position. The rotation is controlled by a computer. Using the appropriate measuring unit from the measuring equipment, after each step, determine the actual angle at which the barrel has rotated, and call this angle the actual value. At the same time, information after each stage, eg on the scale of the gun or the firing control computer and / or
Alternatively, a theoretical angle at which the barrel should rotate is determined based on information instructed to the system computer, and this angle is called a set value. For each measurement position, the difference between the set value and the actual value is calculated, and the difference is called an error value. The correction value is obtained from the error value, which is implemented in the software of the firing control computer and / or the system computer and is taken into account in determining the aiming values, ie the azimuth and elevation values. Aiming values are calculated primarily using target data, that is, data describing the position of the target to be attacked and possible movements, as well as ballistics data.
This main calculation is corrected by the method according to the invention.

In particular, for determining the correction value, the actual value may be represented as a function of the set value, or the correction value may be created from it. With respect to correction values that are due to errors in the measured angles, such production processes may be numerically and / or tabular aids, or mathematically or numerically / mathematically cooperative. Is done.

Regarding the numerical method, two pairs of values are recorded in tabular form, the first value of which is the set value and the second value of which is the actual value or of the actual value and the set value of each value pair. Is the difference. This pair of values is also considered as an experimental error curve. The tabular and / or experimental error curve then makes it possible to calculate the aiming value in such a way that the tabular and / or experimental error curve is taken into account to correct the aiming value calculation.

With respect to the mathematical method, the error values are first presented in tabular form as a function of the set angle and / or as an experimental error curve, and the approximation by at least one mathematical function, ie the entire experimental error curve, It is approximated with a single mathematical error function, or partially with a mathematical error curve in each section, and overall with a plurality of partial mathematical error functions. Then the mathematical error function was made computer-handleable, and then the correction function was determined,
It is taken into account when calculating the aiming value of the barrel, that is, the azimuth and elevation.

Numerical techniques are designed to ensure the accuracy needed to correct firing errors. However, as will be described below, the mathematical method has an advantage in that the mathematical error function may be simply analyzed. However, particularly when the well-known mathematical method is used, the value for correcting the firing error is simply calculated. In addition to being obtained, we gain insight into the effects of individual constructive conditions on the error function so that improvements in assembly can eliminate firing errors caused by gun geometry in the final analysis. And the geometry error of the gun is eliminated. The concept of constructive relates to ideological and production and assembly conditions.

In order to eliminate random errors, it is effective to repeat the above measurement procedure once or a plurality of times and average the values obtained in tabular form. Alternatively, the mean empirical error curve may be formed from all the measurement procedures performed individually, or the mathematical error function may be formed from the individual empirical error curves, the mean mathematical error function May be formed from these functions, or the correction function may be formed from individual empirical error curves and the average correction function may be formed from all correction functions.

For the above measurements, the rotation of the barrel is always in the same direction of rotation, and the error value obtained by this method is the error value determined mono-directionally,
These may be prepared numerically or mathematically. In particular, the experimental error curve and / or the mathematical error function is
Unidirectionally determined and / or unidirectional error curve and / or error function. However, the error value, as mentioned above, is generally a function of the direction of rotation made, among other things. Therefore, it is desirable to perform the measurement twice. For this purpose, the barrel rotates about the same axis of rotation in one direction of rotation in the first measurement and in the opposite direction in the second measurement. The measurement position in the first rotation and the measurement position in the second rotation may match, but they do not have to match. During these rotations, an error value in the first direction and an error value in the second direction are obtained. If the deviation between the error values in the first direction and the second direction is small, then a direction-free error value is obtained and generated and / or further analyzed. In particular, the mean free-direction experimental error curve is established from the first-direction experimental error curve and the second-direction experimental error curve, from which the mean free-direction mathematical error function is obtained, from which the mean free-direction correction is obtained. A function is established and the correction function is taken into account in the calculation of the aiming value. However, since the influence of the rotation direction appears as a systematic error component over the entire error value, it is desirable that the error value in the first direction and the error value in the second direction be created and / or analyzed separately.

As already mentioned, various measuring devices are used depending on the error to be detected. In particular, it is understood that a level, preferably an electronic level and a gyroscope measuring system, preferably an opto-electronic gyroscope measuring system, is used, in particular a ring laser gyroscope and a fiber-optical gyroscope. Should be. The measuring device is generally
After being installed on the gun and / or barrel, the scale must be adjusted before starting the measurement procedure. With the use of gyroscope metrology systems, continuously changing gyroscope drifts must also generally be detected and the measurements corrected based on the gyroscope drifts. An example of gyroscope drift detection and consideration is described in European Patent Application No. 0016917.4.

The above description relates to establishing a correction function and is based on detecting the error value that occurs during rotation of the barrel about one axis. However, the barrel does not rotate only about one axis, but non-simultaneously about two axes that are generally orthogonal. The first axis is preferably the vertical axis A and the second axis is preferably the lateral axis L. The azimuth α is defined as rotation about the vertical axis A, and the elevation angle λ is defined as rotation about the lateral axis L.

In the first measurement procedure, the azimuth synchronization error Δ
Obtain α1 and swing error Δτ.

In order to detect the azimuth synchronization error Δα1, the barrel is stepwise changed at an elevation angle of 0 °. With respect to mathematical techniques, the established heading error generally results in a heading error curve as approximated by a sine function, where the 360 ° rotation of the barrel corresponds to one or more periods of the sine function. is doing. The first measuring unit of the gyroscope measuring system is used as a measuring device.

The swing error Δτ is also detected in the first measurement procedure. For this purpose, the rotation of the barrel for detecting the bearing synchronization error Δα1 is repeated. However, the actual bearing and the set bearing and / or their difference have not been detected and / or established. The actual inclination of the barrel axis with respect to the horizontal is detected, and this inclination angle is referred to as an actual swing angle and / or an actual value. In this case, since the measurement procedure is performed at an elevation angle of 0 °, the set tilt angle and / or the theoretical tilt angle referred to as a set value is always zero. Therefore, the swinging motion during rotation around the vertical axis A is detected. However, it is also possible to take the measurement procedure at a constant elevation angle other than 0 °, and in such a case, the set swing angle corresponds to a constant value and the set elevation angle, and the actual swing angle is theoretically It corresponds to the deviation of the actual elevation angle from the elevation angle of. A level, preferably an electronic level, is used as the measuring system.

The elevation angle synchronization error Δλ and the vertical offset error Δα2 are determined by the second measurement procedure.

The elevation synchronization error Δλ consists of two components, which are only detected together.

The first component of the elevation synchronization error Δλ—as well as the azimuth synchronization error—is based on the fact that the actual angle of the barrel does not match the set angle. The partial error curve and / or the partial error function describing this component of the elevation synchronization error Δλ have the property of a sine function, which in some cases has multiple angular frequencies.

Another component of the elevation synchronization error Δλ is based on the fact that the weight of the barrel causes the torque on the turret to decrease with increasing elevation angle, which torque tends to rotate the barrel downwards. , Restraint position (tied down posit
The gun has a tendency to lean forward when it is in "ion", for example at 0 ° azimuth and low elevation. Due to the decrease in torque with increasing elevation angle, the gun is less likely to tip forward, resulting in less pulling of the barrel barrel and / or the gun leaning backward as compared to when in the restrained position. The partial error curve and / or the partial error function that describes this component of the elevation synchronization error have the property of 1 minus a sinusoid with a single angular frequency.

The measurement by the second measurement procedure using the determined elevation angle synchronization error is performed in the same manner as the measurement procedure performed by using the detected azimuth synchronization error. Because of the mathematical method, this measurement gives an error function such as a sine function corresponding to the first component of the elevation synchronization error, but this sine function does not oscillate in the horizontal direction, and the second component of the elevation synchronization error is not oscillated. It oscillates around a monotonically increasing curve, which corresponds to 1 minus the cosine curve. The two partial error functions may be mathematically separated. It is not necessary to perform such a separation for the calculation of the correction function, since only the result is important, especially the correction for the overall elevation synchronization error. However, the partial error function may be interesting because it shows more clearly about gun configuration, temperature dependence of individual assemblies, wear, and other errors. The second measuring unit of the gyroscope measuring system is used for the measurement.

The vertical offset error Δα2 is also obtained in the second measurement procedure, in which the elevation axis L and the azimuth axis A are not orthogonal as desired and the barrel axis and elevation angle The axes L are not orthogonal as desired. With the gun horizontal, a change in elevation angle λ causes an error in orientation α. The vertical offset error Δα2 is in principle described and / or appropriately corrected, where a function essentially proportional to the sum of the tangent function of λ and the inverse cosine function of λ, in particular Δα2 = a × tan (α ) + (B / cos
It is corrected using λ) -b. 90 ° elevation or 90
In the vicinity of °, (1 / cos λ) becomes infinite, so the correction based on this function obviously fails.
The vertical offset error Δα2 is measured using the first measurement unit of the gyroscope measurement system.

Finally, the squint error Δσ is detected by the third measurement procedure. This error represents non-parallelism between the axis of the barrel and the line of sight. The squint error Δσ is established and created in a standard way in the method according to the invention and is therefore not described in further detail here.

Further features and advantages of the invention are described below with reference to the figures and examples.

For example, it is known that the azimuth or elevation detectable error is small in light of its absolute value, so that the shape of the function is clearly visible, the error curve and the diagram showing the error function are shown. Is not scaled.

[0041]

DETAILED DESCRIPTION OF THE INVENTION FIG. 1A schematically illustrates a weapon system 10. The weapon system 10 has a barrel 10.2,
It has a firing control 10.3 and a gun 10.1 with a firing control computer and / or system computer 10.4. The weapon system 10 also includes a setpoint sensor 10.5 used to detect the position of the barrel 10.2 being set.

Furthermore, FIG. 1A shows an apparatus 20 for carrying out the method according to the invention. The device 20 is
It has a measuring facility 20.1 and a computer unit 20.2 for detecting the actual value, which represents the actual position of the barrel 10.2 after aiming. Set value sensor 1
0.5 is generally a component of weapon system 10, although its functionality may also be included in device 20.

FIG. 1B shows a gun 10.1 of the weapon system 10.
Shows a lower gun carriage
12 includes an upper gun carriage 14 and a barrel 10.2. The lower battery 12 is supported on the horizontal support surface 1 via three legs 12.1, 12.2 and 12.3. In FIG. 1B, an orthogonal system composed of three axes is also shown, and a vertical axis indicated by A, a horizontal axis indicated by L, and a vertical axis indicated by R are shown. The barrel 10.2 rotates about the vertical axis to change each lateral direction and / or the direction α, and changes about the horizontal axis L to change the vertical angle and / or
Alternatively, the elevation angle λ is changed.

The optical equipment, which is a component of the measuring equipment 20.1.
The electronic gyroscope measurement system 22 has a barrel 10.2
Located in the muzzle area of the. The gyroscope measuring system 22 includes a first measuring unit and / or an α-measuring unit, and a second measuring unit and / or a λ-measuring unit, and changes the azimuth α and / or the elevation angle λ of the barrel 10.2. Used to detect changes in angle.

In the following sentence, a procedure for correcting the azimuth synchronization error Δα1 and the swing error Δτ that can be detected by the individual procedures in the first measurement procedure will be described.

2A to 2C show the azimuth synchronization error Δα.
Partial procedure for 1. In FIG. 2A, the gun
10.1 is highly simplified and shown in plan.
Barrel 10.2 simplified to the shape of the barrel shaft
Is shown as a solid line at its zero position and
One is shown as a dashed line, which is the zero position
And, for example, forms an angle of 20 °. Gun barrel 10.2
From the zero position, gradually, for example, by 5 ° in the direction of arrow D1
Then, rotate a total of 180 ° to the final position. Barrel 10.2
The rotation of the is controlled by the firing control computer
It Each measuring position has a corresponding lateral angle and / or
Or the corresponding orientation α. Of individual stages
Later, theoretically, the barrel 10.2 is set to the set position (intended posi
option), which corresponds to the corresponding setpoint and / or setting.
It is defined by a fixed orientation α1 (theor), for example a gun
Shown above 10.1. But actually the barrel is real
It is in the actual position, which is the measuring equipment 20.1
Gyroscope measurement system 22 α-measurement unit
The actual value and / or detected by
Is indicated by the actual azimuth α1 (eff)
It In each case, the computer unit 20.
2 calculates an error value and / or an error angle. That is,
Deviation between set value α1 (theor) and actual value α1 (eff)
Calculate the deviation. The error value is α1 (theo
The first direction experimental orientation error curve fα1 as a function of r)
(D1)₁As shown. This method up to this point
The stage of the
Multiple times as much as possible to eliminate
Repeatedly repeated. In this way, the further first
Directional experimental orientation error curve, fα1 (D1)_Two, Fα1 (D
1)_Three, Fα1 (D1)_iTo get Shown in Figure 2B
So that finally all first-direction experimental orientation error curves
From the mean first direction experimental orientation error curve fα1 (D1)
obtain. Then, the above-mentioned method is repeatedly performed, and the barrel 1
0.2 is rotated in the opposite direction, ie in the direction of arrow D2
It Thereby, a plurality of second-direction experimental bearing error curves f
α1 (D2) ₁, Fα1 (D2)_Two, Fα1 (D2)_Three
And the mean second direction experimental orientation error curve f shown in FIG. 2B.
α1 (D2) is obtained. Next, as shown in FIG. 2B
The mean free direction experimental azimuth error curve fα1 (D0) is
Average first direction experimental orientation error curve fα1 (D1) and
The average second direction is calculated from the experimental bearing error curve fα1 (D2).
Calculated. As shown in FIG. 2B, the mean free directional real
The experimental azimuth error curve fα1 (D0) is the azimuth synchronization error (azimu
th synchronization error) Δα1 and its shape
Draws a sinusoid with twice the angular frequency. This is the side
There is a slight ellipticity in the directional pivot bearing.
Shows. In numerical methods, the mean free direction
Orientation error curve fα1 (D0) and / or this curve
The value pairs that determine the
a firing control computer and / or in the calculation of lue)
It can be used on system computers. Numerical
In the method, all measurement procedures are performed in the same way.
Good.

In the mathematical method, the mean free-direction experimental orientation error curve fα1 (D0) is approximated as the mathematical orientation error function Fα1. The approximation is performed by a mathematical piecewise error function in each section, with the whole being a mathematical error function, or by a single mathematical error function. The mathematical error function Fα1 is used to create the correction function, which along with other useful data is taken into account in the process of aim value calculation. After the correction function has been created in the software of the system computer 10.4, the previous steps of the method described for checking may be carried out again, the correction orientation error thus defined. The curve fα1 (D0) _korr is the uncorrected error curve fα1
It is much flatter than (D0), so the originally observable azimuth synchronization error is reduced to a very small residual error,
And / or is almost completely corrected.

The steps of the method described above may be carried out in a separate sequence and have no significant or no effect on the result. In particular, alternating measurements of the first-direction experimental azimuth error curve and the second-direction experimental azimuth error curve save time.

In order to obtain a more accurate result, the creation of the free directional bearing error curve fα1 (D0) may be omitted, and instead the mathematical bearing error functions Fα1 (D1) and Fα.
α1 (D2) is the first direction experimental bearing error curve fα1
(D1) and the second direction experimental orientation error curve fα1 (D
2), and the corresponding correction function is determined from them.

3A to 3C relate to the swing error Δτ. The barrel 10.2 theoretically faces the horizontal direction at an elevation angle of 0 °, that is, the set elevation angle is 0.
Must be °. In practice, the barrel 10.2 is always slightly tilted with respect to the horizontal, that is, the actual elevation angle is not 0 °, but is offset from 0 ° by Δτ. Angle Δτ
Is a function of the orientation α. During a 360 ° rotation about the vertical axis A, the barrel therefore undergoes a rocking movement described by the rocking error function. To detect the swing error, the barrel 10.2 moves without elevation in the same step size used to establish the azimuth synchronization error Δα1. However,
The effective tilt and / or swing angle of the barrel 10.2 is detected after each measurement step and is determined by the swing angle τ (ef of the barrel.
f). The theoretical tilt and / or rocking angle, which is regarded as the set value and / or the rocking angle, is zero. Actual value and / or actual swing angle τ (eff)
May be represented as a function of the orientation α (theor). Then, similarly to the determination of the average experimental heading error curves fα (D1) and fα (D2), the average first direction and average second direction experimental wobble error error curves fτ (D1) and fτ (D2). To determine each. Finally, the free-direction experimental orientation error curve fτ (D0) is determined from these and approximated by the mathematical fluctuation error function Fτ. Figure 3A
Shows two extreme wobble error curves of the experimental wobble error curves that have been determined, in which all wobble error curves are included, and the curves deviate only slightly from each other. Therefore, the measurement is quite accurate. The swinging motion performs a sine motion. From the analysis of the data measuring the rocking motion, the results shown in FIGS. 3B and 3C are obtained. Therefore, there are two causes for the rocking error. The first is the azimuth-dependent turret-dependent rigidity of the azimuth. The rocking error component resulting from this is shown in FIG. 3B. Due to the effect of hardening, it also has an azimuthal dependence, and this component of the rocking error is shown in FIG. 3C. Figure 3B
And in FIG. 3C, the positive value of the swing error is represented by the solid line,
The negative value of the swing error is shown by the broken line.

Next, detected by the second measurement procedure,
The compensation of the elevation angle synchronization error Δλ will be described. The elevation angle synchronization error Δλ includes two error components. Both error components can be detected only as the sum of both errors by using the second measurement unit and / or the λ-measurement unit of the gyroscope measurement system 22 of the measurement equipment 20.1. Thus, λ references and / or indexes data and / or functions relating to the total elevation synchronization error Δλ. In this case, the elevation angle λ is understood as the inclination angle of the barrel 10.2 from the horizontal, assuming the barrel 10.2 with the azimuth α fixed. The elevation angle λ starts from a horizontal position, that is, an elevation angle of 0 ° and a vertical deviation of 0 °.
For example, the final position in steps of 5 °, for example 85 °,
Change. The movement of the barrel 10.2 is controlled by a computer. After each step, barrel 10.
2 is at the measurement position. In this case, the elevation angle is theoretically the value called the setpoint and / or the set elevation angle λ (theor), which is indicated by the setpoint sensor 10.5. However, the barrel 10.2 is in another position, which is noted by the actual value and / or the actual elevation angle λ (eff). As described above regarding the azimuth synchronization error, the difference between λ (theor) and λ (eff) is represented by a function of λ (theor). Barrel 1
The rotation of 0.2 is performed multiple times in both rotation directions.
The mean first-direction experimental elevation error curve fλ (D1) and the mean second-direction experimental elevation error curve fλ (D2) are in this case obtained from the recorded data. The free-directional elevation error curves fλ (D0) are obtained from them, which are shown by the solid lines in FIG. 4A. As the elevation angle λ increases, that is, as the position of the barrel 10.2 continuously becomes steeper, the elevation angle error curve fλ (D0) rises. Then, the experimental elevation error curve fλ (D0) is approximated by the mathematical elevation error curve Fλ, the correction function is determined, and
It is taken into account when calculating the aiming value. If the measurement is repeated without considering the correction function, the corrected elevation error function will be flatter than the uncorrected elevation error function.

The error component of the elevation angle synchronization error Δλ, which cannot be individually detected by measurement, is obtained by using the mathematical analysis of the mathematical elevation angle error function Fλ.

The first error component of the elevation synchronization error, by itself, is essentially a multiple angular freq.
sine function with

The second error component of the elevation synchronization error, alone, is fλ (D0) ₂ , which essentially follows a cosine function subtracted from 1 and is shown in dashed lines in FIG. 4A. This is in agreement with the following facts. As the elevation angle increases, the distance between the line of action of the weight of the barrel 10.2 and the lateral axis L decreases, so the torque produced by the weight of the barrel 10.2 on the turret decreases. This torque tends to tilt the gun 10.1 and thus forwards the barrel 10.2, this reduction in torque reduces the gun 10.1 tilting the barrel 10.2 forward, and And / or generally has the effect of tilting backwards.

The total sum of the error components matches the elevation error curve fλ (D0) which is the measurement result. This means that the increase curve corresponds to the second error component and the vibration above it corresponds to the first error component.

The above measurement of the elevation angle synchronization error Δλ in the second measurement is performed with the azimuth α fixed. Further multiple measurement systems (measurement series) in yet another direction,
The azimuth is fixed in each case, and the possible fixed azimuth angle interval is, for example, 5 °. In this case as well,
It is desirable to use two measurement systems for the azimuth direction, the first rotation direction for the first measurement system and the opposite rotation direction for the second measurement system. FIG. 4B shows the elevation angle synchronization error Δ.
FIG. 3 is a diagram showing parameters spatially by adopting various elevation angles λ as a function of azimuth α, and the curve of the bottom surface corresponds to the minimum elevation angle.

The further steps for correcting the elevation angle synchronization error are performed in the same way as the correction of the azimuth synchronization error.

As described above regarding the correction of the azimuth synchronization error, the individual measurement and analysis procedures may be performed by at least partially different procedures that do not affect the results.

The vertical offset error Δα2 is determined by the procedure of the second measurement. For this purpose, at each measuring position, the elevation angle synchronization error Δλ is determined with the help of the λ-measuring unit and the vertical offset error Δα2 is determined with the help of the α-measuring unit. FIG. 5 shows the vertical offset error as a function of elevation angle λ. The experimental vertical offset error curve fα2 shown by the dashed line may be approximated by a mathematical vertical offset error function Fα2 shown by the solid line, for example with a polynomial of the second order.

The vertical offset error Δα2 is detected and corrected in the same manner as the correction of the azimuth synchronization error Δα1.

Finally, the third measurement procedure is the perspective error Δσ.
Is performed using a procedure for correcting Squint error Δσ
Occurs because of the disagreement between the direction of the barrel axis and the line of vision of the gun, and rather constitutes the squint angle by both. To determine the squint error, extend the barrel axis and line of sight,
It is displayed at some distance from the muzzle of the barrel. For example, the axis and line of sight of the barrel are displayed as points by projection.
The deviation between the two points is measured as a perspective error, and the barrel-projection plane distance must also be considered in determining this error. This method of determining squint error is not new, and squint error must also be taken into account in order to completely correct the firing error caused by the static geometry error of the gun, so only to assist it. , It has been described.

The above description is mainly concerned with the method according to the invention and in the following the apparatus used for carrying out the method will be described in more detail.

It is again noted here that this novel method is implemented using a novel apparatus for weapon system 10, as shown in FIG. 1A. Weapon system 1
The 0 has at least one barrel 10.2, the movement of which is controlled in a standard manner using the gun's servomotors. Furthermore, the weapon system 10 includes the firing control device 1
Has 0.3. The weapons system also includes a system computer and / or firing control computer 10.4, which is above the firing controller 10.3 and at least partially above the gun 10.1. The weapon system 10 has a setpoint sensor 10.5 as a standard, which indicates the setpoint, and in particular, the azimuth α and the elevation angle λ representing the setpoint of the aiming point of the barrel 10.2 determined by the system computer 10.4. Show.

In practicing this new method, a number of components are required, which are described below.

The first component comprises a setpoint sensor 10.5, which is used for indicating setpoints and indicates the setpoints and / or the expected barrel position. The setpoint sensor on weapon system 10 is used as the setpoint sensor in any case.

The second component of this novel device is constituted by the measuring equipment 20.1 and is used for detecting the actual value indicating the actual position of the barrel 10.2. Measuring equipment 2
0.1 has at least an opto-electronic gyroscope metrology system 22.1, which is for example a fiber-optic metrology system. Gyroscope measurement system 22.
1 has at least a first and / or α-measuring unit, which detects a change in the angle of the barrel 10.2, preferably the orientation α. Desirably, the gyroscope measurement system 22.1 also comprises a second and / or λ-measurement system unit for detecting changes in the elevation angle λ of the barrel 10.2.

Within the framework of the present invention, it is understood that the opto-electronic gyroscope metrology system includes not only the fiber-optic metrology system, but also other metrology systems, such as ring laser gyroscope metrology systems. Should be. Gyroscope metrology systems generally have the advantage of operating autonomously, and therefore have no utility relationship with the outside of the system. Measuring station with a separate gun (mesurement
station) need not be installed. However, since it has no reference to the outside of the system, the system generally becomes floating over time. The floating property of the gyroscope that appears in this case must be measured and taken into account in the analysis of the measurement results. In this connection, laser positioning systems are used.

In order to more completely detect the static geometry errors of the gun and therefore to more accurately correct the firing errors resulting from them, the second component of the novel apparatus, namely the measuring equipment 20. .1 is a further error, especially fluctuation error Δτ
And it is desirable to have a metrology system for detecting the squint error Δσ.

In order to detect the swing error Δτ, in addition to the gyroscopic measuring system 22.1, a further measuring system 22.2 with a standard, preferably electronic level configuration is used. Measure the angle between this level and the horizontal. In the present exemplary embodiment, the respective angles of the barrel axis and the horizontal are determined. The electronic level measure a horizontal angle or an angle formed with the horizontal and outputs an electric signal related to the angle. In this measurement, the effect of gravity is used, which also defines vertical and horizontal.

It should be noted here that the tilt of the gun 10.1 is also determined by the electronic level. The slope should be understood as follows. If the barrel 10.2 moves only in azimuth, the movement of the barrel muzzle can be approximately regarded as a circle defining a plane. The angle formed by this plane and the horizontal plane is called tilt. In other words, if there is no tilt, this plane is a horizontal plane. Generally, in new guns, tilt is automatically corrected and / or the gun is automatically leveled. However, leveling the gun is not necessary for practicing the method.

In order to detect the squint error Δσ, in addition to the gyroscopic measuring system 22.1 and the electronic level 22.2, a standard, preferably optical,
A further measuring system 22.3 consisting of devices is used. The device measures the angular deviation between the barrel axis and the line of sight of the gun 10.1.

A computer is required as a third component to carry out the method. As shown in FIG. 1A, the computer is implemented as a separate computer unit 20.2 and is used solely for the purposes of this method or other purpose and is connected to the weapon system 10 for that purpose only. There is. However, it is also possible to use the firing control computer of the weapon system 10 and / or the system computer 10.4 as the computer.

The third component of this device, the computer unit 20.2 in this case, has a data input body and / or a data interface, through which at least the detected set value and actual value data are input. It The data may be available in any suitable and suitable manner on the computer unit 20.2, by a data carrier such as a diskette, or via a data circuit, in its tangible form. It does not matter intangible.

If the firing control computer and / or the system computer 10.4 is used as the computer, it already knows the set values and the actual values are the data input and / or the data interface 24. Is available through.

Software is also introduced into the third component of the apparatus, the computer unit 20.2 in this case, in order to determine the correction value from the set value and the actual value. The steps carried out in this case are described in more detail above in connection with the method according to the invention.

If the firing control computer and / or system computer 10.4 is used as the computer, the calculated correction values are immediately implemented in the firing control software.

If the firing control computer and / or the system computer is not used as the computer, but a separate computer unit 20.2 is used, the calculated correction value is the data input and / or the data interface 24. Launch control computer and / or system computer via
4 and implemented in computer launch control software.

The third component, the computer,
In particular, when configured with a separate computer unit 20.2, it preferably has an input unit 20.3, such as a keyboard, through which further data is available. This includes, for example, the data that control the progress of the method, i.e. the step-by-step rotation of the barrel to the measuring position, especially by the servomotor.
rotaion) to control and use each measuring system and / or
Or control the connection of the measuring unit.

[0079]

The advantages realized using the present invention are essentially as follows. Any angular error caused by the static geometry error of the gun is detected and corrected. The static geometry errors of the gun, which until now have been expensively and inaccurately determined, are now accurately measured and correspondingly effectively corrected. By using a gyroscope measurement system, it is now possible to measure angles without leveling the weapon prior to measurement. By using opto-electronic gyroscopes, especially fiber-optic gyroscopes, you can make angle measurements that are far more accurate, reliable, and reproducible than previously possible. It's possible, and you get more detailed results than you could with previously available measurements.
More accurate correction of firing errors caused by gun geometry errors. Measurements are now quick and automatic, the cost and manpower required to measure the gun is low, resulting in significant cost savings. The risk of accidents affecting people participating in the measurement has been greatly reduced.

[Brief description of drawings]

1A is a schematic view of a weapon system having a device according to the present invention. FIG.

1B is a simplified diagram of the triaxial view of the orthogonal system and the weapon system shown in FIG. 1A.

FIG. 2A is a schematic diagram for explaining an azimuth synchronization error.

FIG. 2B is a diagram of an error curve of an azimuth synchronization error by an experiment.

FIG. 3A is a diagram of an error curve of a swing error obtained by an experiment.

FIG. 3B is a diagram showing only the error component generated from the lower turret of the error curve of the swing error according to the experiment.

FIG. 3C is a diagram showing only an error component generated from a leg portion of a swing error error curve by an experiment.

FIG. 4A is a diagram of an error curve of an elevation angle synchronization error from a fixed azimuth obtained by an experiment.

FIG. 4B is a diagram showing elevation synchronization error as a function of azimuth with various elevations as parameters.

FIG. 5 is a diagram of an experimental error curve and a mathematical error function of vertical offset error.

[Explanation of symbols]

10-Weapon system 10.1 ... gun 10.2 ... barrel 10.3 Launch control device 10.4 Computer 10.5 ・ ・ ・ Set value sensor 20.1 ・ ・ ・ Measuring equipment 20.2 Computer 20.3 ・ ・ ・ Input unit

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Michael Gerber             Switzerland, Zeher-8050 Zurich,             Atua Strasse No. 7 (72) Inventor Urs Meyer             Switzerland, Zeha-8172 Lower Grad             No. 1, Hoofuri Strasse No. 1 F term (reference) 2F105 AA05 BB07

Claims (17)

[Claims] 1. A step of causing a barrel (10.2) to gradually reach a measurement position by rotating about an axis (A, L), and at each measurement position, a setting position of the barrel (10.2) is shown. The step of detecting the set value and the actual value indicating the actual position of the barrel (10.2) and calculating the difference between the actual value defined as the error value and the set value, and the correction value based on the multiple error values. Having a stage of establishing, and a stage of taking into account the correction value when aiming the barrel (10.2) afterwards, caused by the static geometry error of the gun,
A method of correcting a firing error of a gun having a barrel (10.2), which affects the position of the barrel (10.2) when aiming at (0.2). 2. The correction value is experimentally determined in order to obtain the correction value, and the error value experimentally shown is approximated by a mathematical error function, and the latter barrel (10.
Method according to claim 1, characterized in that the correction value taken into account in the calculation of the aiming value of 2) is determined by a mathematical error function. 3. Method according to claim 2, characterized in that the correction value is determined in the form of a correction function. 4. A detected azimuth synchronization error (Δα1) in a measuring equipment (20.1) having an opto-electronic gyroscope measuring system (22.1) including a first measuring unit.
Method according to any of the claims 1 to 3, characterized in that it is used for the detection of real values using and / or the vertical offset error (?? 2). 5. A measuring device (20.1) having an opto-electronic gyroscope measuring system (22.1) including a second measuring unit, and using the detected elevation angle synchronization error (Δλ) as an actual value. The method according to any one of claims 1 to 4, which is used for the detection of 6. Measuring facility (20.1) having a measuring system (22.2), preferably electronic, with a level.
The method according to claim 1, wherein is used for detecting an actual value by using the detected swing error (Δτ). 7. Measuring system with a device (22.3)
7. A method according to any of the preceding claims, characterized in that the measuring equipment (20.1) with is used for the detection of real values using the detected squint error (Δσ). 8. The set value and the actual value are stored in a computer (2
0.2, 10.4), by which the correction value and / or the correction function are determined. 9. The correction value used in calculating the aiming value for determining the aiming of the barrel (10.2) is a gun (10.
System computer (10.4) located in 1)
It is recorded in the above.
The method described in any one of. 10. The barrel (10.2) rotates about the vertical axis (A) of the gun (10.1) during rotation towards the measuring position, preferably the lateral axis of the gun (10.1). 10. A method according to any of claims 1 to 9, characterized in that it also rotates around (L). 11. When detecting an actual value using an opto-electronic gyroscope measurement system (22), the drift of the gyroscope of the gyroscope measurement system (22) is continuously or at timed intervals. Method according to either of claims 4 or 5, characterized in that the indexed and detected real values are taken into account. 12. A measuring equipment (20.1) for obtaining an actual value, which indicates the position of the barrel, is provided, and the measuring equipment (20.1) is provided.
Has an opto-electronic gyroscope measurement system (22.1) in the barrel (10.2), which detects azimuth synchronization error (Δα1) and possibly vertical offset error (Δα2). Of the barrel (10.2) when aiming the barrel (10.2) with the calculated aiming value caused by the static geometry error of the gun
A device for correcting the firing error of a gun with a barrel (10.2) that affects the position of (0.2). 13. The opto-electronic calimatic measuring system (22.1) comprises a second measuring unit for detecting an elevation angle synchronization error (Δλ).
The device according to claim 12. 14. Measuring system (22.2), and / or squint error (Δσ), in which a measuring facility (20.1) is equipped with a preferably electronic level for detecting the rocking error (Δτ). Device according to either of claims 12 or 13, characterized in that it comprises a measuring system (22.3), preferably with an optical device, for detecting (1). 15. A set value sensor (10. 10) for obtaining a set value indicating the position of the barrel (10.2) being set.
5), and measuring equipment (20.
1) is connected to the input side and introduced for the purpose of calculating the correction value based on the set value and the actual value, which is taken into consideration when calculating the aiming value of the barrel (10.2) in order to correct the firing error. And having a computer unit (20.2) connected on the output side to the system computer (10.4) in order to make available data indicating the correction values on the system computer (10.4). Characteristic,
15. The device according to any of claims 12-14. 16. A computer unit (20.2)
Device according to claim 15, characterized in that it has an input unit (20.3) for data input. 17. System computer (10.4)
Due to the static geometry error of the gun, the barrel (10.2)
Weapon, characterized in that it has a data input (24) making available the data intended to be taken into account in the calculation of the aiming value for the purpose of correcting aiming errors affecting the position of the A system computer (10.4) of the weapon system (10) for calculating aiming values for aiming the barrel (10.2) of the gun (10.1) of the system (10).