KR100928753B1 - Method and apparatus for compensating shooting error and system computer for weapon system - Google Patents

Abstract

The present invention relates to a method and apparatus (20) for compensating shooting errors of firearms with weapon barrel (10.2). The shooting error caused by the static firearm geometry error and affecting the position of the weapon barrel 10.2 during the aiming of the weapon barrel 10.2 at the aiming value is compensated for. For this purpose, the weapon barrel 10.2 is brought to the measuring position in stages by rotation around the axis. Using a suitable device of the measuring device, an intended value describing the intended position of the weapon barrel 10.2 and an actual value describing the actual position of the weapon barrel 10.2 are detected at each measurement position. Then, the difference between the actual value defined as the error value and the intended value is calculated. A calibration value is established from a number of error values of the measuring position, and the calibration value is taken into account during later aiming of the weapon barrel 10.2. The above methods and apparatus 20 are used for weapon system 10 having a system computer 10.4 for calculating aiming values for aiming weapon barrel 10.2 of firearm 10.1 of weapon system 10. The system computer 10.4 makes available data for consideration while calculating the aiming value to compensate for aiming errors caused by static firearm geometry errors and affecting the position of the weapon barrel 10.2. It includes a data interface 24.

Description

METHOD AND DEVICE FOR COMPENSATING FIRING ERRORS AND SYSTEM COMPUTER FOR WEAPON SYSTEM

The features and advantages of the present invention will be described in conjunction with the drawings with reference to the embodiments described below.
1a schematically shows a weapon system with a device according to the invention,

1b is a simplified illustration of the weapon of the weapon system of FIG. 1a with three axes in a Cartesian coordinate system;

2a is a schematic diagram for explaining an azimuth synchronization error;

2b is a diagram showing an experimental error curve of azimuth synchronization error;

3A illustrates an experimental error curve of wobble error;

3b shows an experimental error curve of a wobble error consisting solely of error components caused by the lower firearm vehicle;

3c shows an experimental error curve of a wobble error composed only of error components caused by the leg support means;

4A illustrates an experimental error curve of elevation sync error for a constant azimuth angle,

4B illustrates elevation angle synchronization error as an azimuth function having various elevation angles as parameters;

5 illustrates an experimental error curve and a mathematical error function of vertical offset errors.

The present invention relates to a method and apparatus for compensating shooting errors of firearms having weapon barrels of a weapon system, caused by static weapon geometry errors in accordance with the preambles of claims 1 and 12, respectively. A system computer for a weapon system according to the preamble of claim 17.

In principle, the present invention relates to all possible static weapon geometry errors and their compensation.

The firearm comprises a number of separate parts fixed or spaced relative to one another. Individual parts cannot be produced with dimensionally exacting accuracy, but rather can be produced during assembly, with certain manufacturing tolerances and / or deviations to the theoretically determined dimensions, and are intended to be within a certain range of assembly tolerances. Deviations from mutual positions also occur. By the sum of these deviations, it can be concluded that all firearms have deviations from their ideal geometry, which is called firearm geometry error. These firearm geometry errors consist of several types of errors. For example, the weapon geometry error appears as indicated by the azimuth indication of the weapon, where the azimuth angle α of the weapon barrel at the origin is not actually 0 ° but deviates from 0 ° by a slight angle Δα. It is represented by Similarly, the elevation (λ) of the weapon barrel at its origin does not have 0 °, which is the value indicated by the elevation mark of the firearm, and may deviate by a slight angle (Δλ) from 0 °. In some cases, Δα and Δλ may be equal to 0 only when different firearm geometry errors compensate for each other.

If the same discrete parts of a series of firearms are always produced on the same machine, using tools that can not be worn or accurately adjusted, under the same external conditions, such as temperature conditions, the manufacturing tolerances are the same individual parts of the firearms series. It may be the same or about the same for. By the way, after assembly, the firearm geometry error may vary from firearm to firearm.

The problem is exacerbated in that the fire geometry error, in particular the angular error, is not constant and changes for various reasons. For individual parts with play, these changes increase over time as they are primarily the result of wear. However, the change in the error is also related to the current environmental conditions such as air and fire temperature, and can therefore increase and decrease in turn.

There is a more complicated problem that the geometrical error of the firearm is also affected by the respective position of the individual parts, since the mechanical load and thus the deformation of the individual parts are partly dependent on the position.

Finally, the firearm geometry error that appears at a particular location of the weapon barrel, and at a particular time, may also be a function of the direction of rotation, with the weapon barrel placed at a particular location along the direction of rotation.

Firearm geometry errors represent the characteristics of individual firearms and therefore represent actual firearm parameters. The performance reduction in shooting error and / or fire accuracy is the result of fire geometry errors, in particular angle errors. Because the distance between the barrel of the weapon barrel and the target being hit by the projectile shot from the weapon barrel is far, even a slight angle deviation in the weapon barrel will cause the projectile to deviate much from the target to be hit.

If firearm geometry errors and / or firearm parameters are known, the shooting error that caused them may be compensated, where the firearm parameters may be considered along with other data by software of the computer assigned to the firearm during determination of the aim value. Can be. The concept of a computer assigned to a firearm is understood to mean a firearm computer and / or a computer of a fire control device. Other data considered by the computer include, in particular, target data describing the position and motion of the target, weather data describing each weather condition, V ₀ data relating to theoretically determined muzzle velocity and actual muzzle velocity, and If possible, include shell data indicating the characteristics of each shot fired.
Determination of fire geometry errors and / or firearm parameters, their evaluation to obtain calibration functions, and the implementation of calibration functions in computer software must be performed before the firearm operates and must be done individually for each firearm.

Known methods for measuring firearm parameters have many disadvantages. Not all types of fire geometry errors can be measured. The measurement cannot be performed in an automatic way, so much time is required; As a result, a small number of measurements are made at each measurement position of the weapon barrel, which results in that random measurement errors cannot be eliminated. Measurement is not only time consuming but also requires a relatively large number of people, which is expensive. Moreover, some measurement personnel are at considerable risk since they must be placed in the area of the weapon barrel barrel to perform the measurements; For weapon barrels with larger elevations, this means that the measurement personnel must be lifted into the area of the weapon barrel barrel using the lift device, or the measurement must be performed on a ladder.

It is an object of the present invention to provide a method for completely detecting firearm geometry errors and compensating shooting errors of the type described above, which can be carried out accurately and quickly and preferably automatically with a small number of personnel,

To present a device for performing this method,

It is proposed a fire control computer and / or system computer for a weapon system, in which this novel device can be combined.

This purpose,

A method according to the features of claim 1,

An apparatus by the features of claim 12, and

Fire control computer and / or system computer according to the features of claim 17

Achieved by the present invention.

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Preferred improvements of the method according to the invention and of the device according to the invention are defined by the respective claims.

The advantages achieved using the present invention are essentially as follows.

All angular errors caused by static firearm geometry errors can be detected and therefore compensated for.

Static firearm geometry errors that have been incorrectly determined and costly up to now can be accurately measured and thus compensated for efficiently.

By using a gyroscopic measurement system, angle measurements can be made without prior leveling of the weapon's level.

By using optoelectronic gyroscopes, especially optical fiber gyroscopes, accurate, reliable and reproducibility angle measurements can be carried out far beyond what was previously possible, and much more detailed measurement results than could be achieved in the past An angle measurement can be performed to provide; In this way, it is possible to compensate the shooting error caused by the fire geometry even more accurately.

Measurements can be made quickly and automatically, reducing the time and personnel expenses for measuring firearms, resulting in significant cost savings.

The risk of accidents for personnel participating in the measurement can be greatly reduced.

Before explaining the invention in detail, some basic concepts are explained below.

Although only azimuth synchronization error, elevation angle error, vertical offset error, wobble error, squint error and compensation for these are described in more detail below, the basic idea of the present invention is Applicable to all fire geometry errors that occur.

Weapon barrels whose position is affected by firearm geometry errors can be brought to various positions through back and forth or complete rotation, with each position corresponding to a corresponding azimuth angle, ie a corresponding transverse angle, and a corresponding elevation angle, ie It is defined by the corresponding vertical angle. Rotation around the vertical axis changes the azimuth angle, and rotation around the transverse axis changes the elevation angle. The vertical axis and the transverse axis are the two axes of the spatial coordinate system, preferably the Cartesian coordinate system, which axes are defined in Table 1. In the configuration of the present invention, the azimuth is understood as the deviation from the origin rather than the deviation from the north as in the shooting operation.

Table 1

Axis Definition

L axis transverse axis (theoretical) The horizontal axis, the weapon barrel can rotate around it, and the elevation angle [lambda] is set in this direction.

A-axis vertical axis (theoretical) The vertical axis, the weapon barrel can turn around, and the azimuth angle α is set in this direction.

R axis longitudinal axis The azimuth angle α = 0 and the horizontal axis of the (theoretical) weapon barrel at a fixed position at the elevation angle λ = 0.

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Since the actual position of the weapon barrel is not the same as the intended position, a shooting error occurs. The intended position is defined above all by the values for the azimuth and elevation angles established by the fire control computer and / or system computer, but are not presumed to be due to static firearm geometry errors. The angular error of the location of the weapon barrel, the resulting fire geometry error, and the major causes of fire geometry error will be shown in Table 2. Angle errors that appear as azimuth errors and elevation angle errors include the following five types of errors, which are not independent of each other.

(1) azimuth synchronization error Δα1,

(2) wobble error Δτ,

(3) elevation angle error Δλ,

(4) vertical offset error Δα2,

(5) Shunt error DELTA σ.

Table 2

Angular errors, weapon geometry errors, and their causes of weapon barrel position.

Angle error Fire Geometry Error cause Azimuth error (lateral error) Δα1 azimuth synchronization error 1. Eccentricity of lateral slewing bearing 2. Out of round lateral slewing bearing 3. Various tooth spacing of crown gear of lateral slewing unit 4. Coder error Δα2 vertical offset error 5. The slope of the elevation axis relative to the horizontal 6. The non-orthogonality of the barrel axis and the elevation axis △ σ Shunt error 7. Nonparallelism between the barrel and the line of sight Elevation Error (Vertical Error) △ λ elevation angle sync error 8. Eccentricity of vertical slewing bearing 9. Non-roundness of vertical slewing bearing 10. Various tooth spacing of crown gear of vertical slewing unit 11. Coder error 12. Rear skipping of firearm with increasing elevation △ τ 13. Elasticity of the structure △ σ squint error 7. Nonparallelism between the barrel and the line of sight

To determine these partial errors, a number of measurements are performed. For efficient progression it is advantageous to carry out the measurement in three proceedings, since at each position of the weapon barrel, measurements relating to one or more error types are performed. Three measurement procedures, partial error, and each measuring device used are shown in Table 3.

Table 3

Angular errors, measuring procedures, and measuring devices

Measuring process Associated with partial error Measuring device One Azimuth Sync Error Wobble Error Δα1 Δτ Gyro measuring device spirit level 2 Elevation Sync Error Vertical Offset Error Δλ Δα2 Gyro measuring device gyro measuring device 3 Squint error △ σ Optics (Target Telescope)

In order to compensate for the shooting error based on the static weapon geometry error of the firearm, the process is generally as follows. Determines the angle error that occurs while moving the weapon barrel around one of the axes of rotation. The weapon barrel is rotated in the one rotational direction around the above-mentioned rotation axis, thereby reaching the final position from the origin through the sequential measurement positions step by step, which also becomes the measurement position. This rotation is controlled by the computer. Using the appropriate measuring unit of the measuring facility, after each step, the actual angle at which the weapon barrel was rotated is measured; This angle is called the actual value. Similarly, after each step, the theoretical angle at which the weapon barrel should be rotated is determined, for example according to the scale information of the firearm or assigned fire control computer and / or system computer; This angle is called the intended value. Then, the angular difference between the intended value and the actual value is calculated for each measuring position; This difference is called an error value. The calibration value is established from the error value, which is implemented in software of the fire control computer and / or the system computer and is then taken into account in determining the aiming values, ie the values of the azimuth and elevation angles. Initially, aiming values are calculated using ballistic data while using target data, i.e., data describing the position and possible movement of the target being shot. This first order calculation is calibrated with the aid of the method according to the invention.

In particular, the actual values can be expressed as a function of the intended value to establish a calibration value, and prepared in such a way that the calibration values are determined therefrom. This preparation, in which the calibration value results from the measured angular error, can be performed numerically and / or with the aid of a table or in a mathematical or numerical / mathematical combination.

For numerical methods, value pairs are stored in a table, where the first value is the intended value and the second value is the actual value or the difference between the actual value and the intended value in each value pair. Value pairs can also be considered as experimental error curves. Then, a table and / or experimental error curve is available during the calculation of the aiming value, taking into account the corresponding values of the table and / or experimental error curve so that the calculation of each aiming value is performed in a calibrated manner. Take it.

For the mathematical method, the error values are first shown in tabular form as a function of the intended angle and / or as an experimental error curve, and approximated by at least one mathematical function, i.e. the experimental error curve is the entire process. It is approximated as a single mathematical error function over, or as a mathematical partial error function in each part, and as a result, it is approximated by multiple mathematical partial error functions for the whole.

Then, a mathematical error function is made available to the computer, which determines the correction function from which the correction function is taken into account during the calculation of the aim value of the weapon barrel, ie the azimuth and elevation.

The numerical method can be designed in such a way as to ensure the precision necessary for the compensation of the shooting error. However, as described below, the mathematical method has the advantage that the mathematical error function can be analyzed simply, in particular using known mathematical methods; Not only values for compensation of shooting errors can be obtained from this, but also insight into the effect on the error function of individual structural states; Structural improvements resulting from this are used in the final analysis to essentially eliminate shooting errors caused by the fire geometry, which results in elimination of fire geometry errors. The concept of structure relates to both conceptual states and those related to production and assembly.

In order to eliminate random measurement errors, it is desirable to repeat the measurement procedure described above once or several times and average the values obtained in tabular form. Alternatively, experimental mean error curves can be formed from all identically performed measurement procedures, mathematical error functions can be formed from each experimental error curve, and mathematical mean error functions can be formed from these functions. Or a calibration function can be formed from each experimental error curve, and an average calibration function can be formed from all calibration functions.

For the above measurement, the rotation of the weapon barrel is always in the same direction of rotation; The error value obtained in this way is an error value determined in one direction, which can be prepared numerically or mathematically. In particular, experimental error curves and / or mathematical error functions are determined in one direction and / or one-way error curves and / or error functions. By the way, the error value is generally a function of the direction of rotation in which this rotation is performed, as described above. Therefore, it is desirable to make two measurements. For this purpose, the weapon barrel is rotated about the same axis of rotation in one direction for the first measurement and in the opposite direction of rotation for the second measurement. The measurement position of the first direction rotation and the measurement position of the second direction rotation may correspond, but need not necessarily correspond. During these rotations, first and second direction error values are established. If the deviation between the first and second direction error values is small, an undirected error value can be established and prepared, and / or further analyzed. In particular, an experimental errorless average error curve can be established from an experimental first directional error curve and an experimental second directional error curve, from the experimental first and second directional error curves and without a mathematical directional mean error function. From this, an undirected average calibration function can be established, which is taken into account in the calculation of aiming values. However, since the influence of the rotational direction results in a systematic error component of the overall error value, the first direction error value and the second direction error value are preferably separately prepared and / or analyzed.

Depending on the error to be detected, as already described, various measuring devices are used. In particular, a spirit level, preferably an electronic level, and a gyro measuring system, preferably an optoelectronic gyro measuring system, are used, which are understood to include, for example, ring laser gyroscopes and optical fiber gyroscopes. . In general, the measuring device should be calibrated before the start of the measuring process after being mounted on the firearm and / or weapon barrel. For the use of a gyro measurement system, continuously changing gyro drift should also generally be detected and the measured values corrected for gyro drift. Examples of detection and consideration of gyro drift are described in European Patent Application No. 00126917.4.

The description relates to establishing a calibration function based on the detection of error values occurring during the rotation of the weapon barrel around one of several axes. However, the weapon barrel is not rotated around only one axis, but around two non-matching generally orthogonal axes. The first axis is preferably the vertical axis A, the second axis is preferably the transverse axis L, the azimuth angle α is set by rotation about the vertical axis A, and the elevation angle λ is horizontal It is set by the rotation about the direction axis L.

During the first measurement process, an azimuth synchronization error Δα1 and a wobble error Δτ may be established.

In order to detect the azimuth synchronization error DELTA α1, the azimuth angle α of the weapon barrel is changed stepwise at an elevation angle of 0 °. For the mathematical method, the azimuth error established in this way provides an azimuth error curve that is generally constructed so that it can be approximated by a sine function, where the 360 ° rotation of the weapon barrel corresponds to one or more periods of the sine function. The first measuring unit of the gyro measuring system is used as the measuring device.

The wobble error Δτ is also detected in the first measurement process. For this purpose, the rotation of the weapon barrel carried out to detect the azimuth synchronization error DELTA α1 can be repeated. However, the actual azimuth and intended azimuth and / or their differences are not detected and / or established. The actual tilt angle of the weapon barrel relative to the horizontal is detected, which is called the actual wobble angle and / or the actual value. The theoretical angle of inclination, also called the intended wobble angle and / or the intended value, is always zero in this case because the measurement process is carried out at an elevation of 0 °. Therefore, the wobble motion is detected while rotating about the vertical axis A. FIG. However, the measurement process may be performed at a constant elevation angle other than 0 °, in which case the intended wobble angle corresponds to this constant theoretical elevation angle, and the actual wobble angle is the actual elevation angle from the theoretical angle of the elevation angle. Corresponds to the deviation of the angle. A level, preferably an electronic level, is used as the measurement system.

The elevation angle error Δλ and the vertical offset error Δα2 may be determined in the second measurement process.

The elevation angle error Δλ includes two components, which can only be determined in combination.

The first component of the elevation angle error Δλ is based on the fact that each actual angle of the weapon barrel does not correspond to the intended angle, similar to the azimuth synchronization error. The partial error curve and / or partial error function describing this component of the elevation angle error [Delta] [lambda] has the nature of a sine function possibly with multiple angular frequencies.

Another component of the elevation angle error [Delta] [lambda] is based on the fact that the torque applied to the firearm vehicle by the weight of the weapon barrel decreases as the elevation angle increases; This torque tends to rotate the weapon barrel down; For example, in a fixed position with azimuth 0 ° and low elevation, the firearm will tend to tilt forward. Due to the decrease in torque with increasing elevation, the weapon barrel is pulled less downward as a result of the firearm inclining forward and / or backward compared to the fixed position. The partial error curve and / or partial error function describing this component of elevation angle error has the nature of a cosine curve subtracted from 1 with a single angular frequency.

The measurement of the second measurement procedure in which the elevation sync error is determined using the measurement proceeds similarly to the measurement procedure in which the azimuth synchronization error is detected using the measurement. For the mathematical method, they provide an error function, such as a sine function corresponding to the first component of the elevation sync error, which does not oscillate around the horizontal but from 1 corresponding to the second component of the elevation sync error. It oscillates around the continuously increasing curve of the subtracted cosine curve. The two partial error functions can be mathematically separated. This separation does not need to be performed to calculate the corresponding correction function, since only the results, especially the correction of the overall elevation sync error, are important. However, partial error functions may be of interest because they more clearly indicate errors in fire construction, temperature dependence of individual assemblies, wear and the like. The second measuring unit of the gyro measuring system is used for the measurement.

The vertical offset error [Delta] [alpha] 2 that may also be established in the second measurement process is such that the elevation axis L and the azimuth axis A are not orthogonal to each other as desired, and the weapon barrel axis is desired as the weapon barrel axis is desired. Based on the fact that it is not orthogonal to L). Even in a horizontally leveled firearm, a change in the elevation angle [lambda] results in an error in the azimuth angle [alpha]. The vertical offset error DELTA α2 is described using a function that is in principle proportional to the sum of the tangent function of λ and the inverse cosine function of λ, in particular Δα2 = α tgα + b / cosλ−b and And / or may be properly calibrated. At an elevation angle of 90 ° or nearly 90 °, the correction based on this function may not be performed explicitly because cosλ is infinite. The vertical offset error [Delta] [alpha] 2 is measured using the first measuring unit of the gyro measuring system.

Finally, the squint error Δσ is detected in the third measurement process. This error indicates nonparallelism between the weapon barrel and the sight line. The squint error Δσ is established and prepared in a typical manner in the method according to the invention, and thus will not be described in further detail.

 (Example)

Since the detectable error is known to be small compared to absolute values such as azimuth and elevation, the figures showing the error curve and the error function are not scaled, and as a result the trend of the function is clearly shown.

1A schematically illustrates a weapon system 10. The weapon system 10 has a firearm 10.1 having a weapon barrel 10.2, a fire control device 10.3, and a fire control computer and / or a system computer 10.4. The weapon system 10 also has an intended value sensor 10.5, with which the intended position of the weapon barrel 10.2 is detected.

Moreover, FIG. 1A shows an apparatus 20 for performing the method according to the invention. The device 20 has a measuring unit 20.1 and a computer unit 20.2 for detecting the actual value describing the actual position of the weapon barrel 10.2 after aiming. The intended value sensor 10.5 is typically a component of the weapons system 10, although its functionality may be included in the device 20.

FIG. 1B shows the firearm 10.1 of the weapon system 10 with the lower firearm transporter 12, the upper firearm transporter 14, and the weapon barrel 10.2. The lower firearm carrier 12 is supported via three legs 12. 1, 12. 2, 12.3 on a horizontal support surface 1. In Fig. 1, a rectangular coordinate system having three axes is also shown, where the vertical axis is indicated by reference A, the horizontal axis is indicated by reference L and the longitudinal axis is indicated by reference R. In FIG. The weapon barrel 10.2 can be rotated around the vertical axis A to change the transverse angle and / or the azimuth angle α and rotated around the transverse axis L to produce a vertical angle and / or elevation angle lambda. ) Can be changed.

The optoelectronic gyro measurement system 22 forming the components of the measurement facility 20.1 is located on the weapon barrel 10.2 within the muzzle region. The gyro measuring system 22 comprises a first measuring unit and / or an α-measuring unit and a second measuring unit and / or a λ-measuring unit, using which the changed azimuth angle α and / or of the weapon barrel 10.2 is used. Alternatively, an angle change generated by the changed elevation angle λ may be detected.

Hereinafter, a process for compensating the azimuth synchronization error Δα1 and wobble error Δτ that can be detected in the first measurement process but in separate partial processes will be described.

2A-2C are associated with the partial process regarding azimuth synchronization error Δα1. In FIG. 2A, the firearm 10.1 is shown in a significantly simplified plan view. The weapon barrel 10.2, shown in simple form as the weapon barrel, is indicated by a solid line at its origin and indicated by a dotted line at one of the measuring positions, which forms an angle with the origin, for example 20 °. Starting from the origin, the weapon barrel 10.2 rotates a total of 180 ° in the direction of the arrow D1, for example in steps of 5 ° to the final position. The rotation of the weapon barrel 10.2 is controlled by the fire control computer 10.4. Each measurement position is determined by an associated transverse angle and / or an associated azimuth angle α. After each step, the weapon barrel 10.2 will be at the theoretically intended position, the intended position being defined by the relevant intended value and / or the relevant intended azimuth angle α1 (theory), for example a firearm. Is displayed on (10.1). In practice, however, the weapon barrel 10.2 is in the actual position, and the actual position is the actual value and / or the actual azimuth angle α1 ( Valid)). The computer unit 20.2 calculates the error value and / or error angle in each case, ie the deviation from the intended value α1 (theoretical) from the actual value α1 (effective). The error value is then shown as an experimental first directional azimuth error curve fα1 (D1) ₁ as a function of α1 (theory). The steps of the method described heretofore are repeated as many times as possible to eliminate as much of the random error in the detection of the actual azimuth and the intended azimuth as possible. In this way, another experimental first direction azimuth error curves fα1 (D1) ₂ , fα1 (D1) ₃ , fα1 (D1) _i are established. As shown in Fig. 2B, the first direction azimuth error curve fα1 (D1) is finally obtained from all the first direction azimuth error curves. Subsequently, the steps of the method described above are performed again, in which the weapon barrel 10.2 is rotated in the opposite direction, that is, in the direction of the arrow D2. A plurality of second direction azimuth error curves fα1 (D2) ₁ , fα1 (D2) ₂ , fα1 (D2) ₃ and an experimental second direction average azimuth error curve fα1 (D2) are obtained therefrom, which is also shown in FIG. It is shown in 2b. Next, the experimental azimuth mean azimuth error curve fα 1 (D 0), which is also shown in FIG. 2B, is an experimental first direction average azimuth error curve f α 1 (D 1) and an experimental second direction average azimuth error. It is calculated from the curve fα1 (D2). As shown in Fig. 2B, the undirected average azimuth error curve fα1 (D0) describing the azimuth synchronization error DELTA α1 is approximated in the shape of a sinusoidal curve having a double angular frequency. This indicates that there is some ovality in the lateral slewing bearing.

In the numerical method, the experimental mean azimuth azimuth error curve fα1 (D0) and / or the value pairs defining this curve, such that it is available during further calculation of the aiming value, is a fire control computer and / or a system computer. It is made available for. Numerical methods can be performed similarly for all measurement procedures.

In the mathematical method, the average azimuth error curve fα1 (D0) without the experimental orientation is approximated by the mathematical azimuth error function Fα1. The approximation is performed by the mathematical partial error function for each section, which is the sum of the partial error functions indicating the mathematical error function, or by one single mathematical error function as a whole. The mathematical error function Fα1 is used to create the calibration function, which is taken into account during the calculation of the aiming value along with other available data. For checking, after the implementation of the calibration function in the software of the system computer 10.4, the steps of the method described so far can be performed again; Proceeds more flat than the method of calibration establishes the azimuth error curve (fα1 (D0)) _korr) the error curve (fα1 (D0) that is not corrected), and; Therefore, the azimuth synchronization error that was initially observed can be reduced to very small residual error and / or can be almost completely compensated for.

The steps of the method may be performed in partly different order, which does not affect the results in any way or at all. In particular, time is saved by performing measurements such that the first and second directional error functions are established alternately.

In order to obtain a more accurate result, it may be omitted to establish an azimuth azimuth error curve fα1 (D0); Instead, mathematical azimuth error functions Fα1 (D1) and Fα1 (D2) are applied to each of the experimental first direction azimuth error curve fα1 (D1) and the experimental second direction azimuth error curve fα1 (D2). Is determined, and the corresponding calibration function is determined therefrom.

3A to 3C are related to the wobble error Δτ. The weapon barrel 10.2 is theoretically aimed horizontally at an elevation of 0 °, ie the intended elevation will be 0 °. Indeed, the weapon barrel 10.2 will always have a slight inclination with respect to the horizontal, with the actual elevation not being 0 ° but deviating from 0 ° by Δτ. The angle Δτ is a function of the azimuth angle α. During a 360 ° rotation about the vertical axis A, the weapon barrel 10.2 causes a wobble movement, which is described by the wobble error function. In order to detect the wobble error Δτ, the weapon barrel 10.2 moves without elevation (λ) following the same steps as for establishing the azimuth synchronization error Δα1. By the way, the effective tilt and / or wobble angle of the weapon barrel 10.2 is detected after each measurement step, which is referred to as the weapon barrel wobble angle τ (effective). The theoretical tilt and / or wobble angle is called the intended value and / or the intended wobble angle τ (theoretical), which is zero. The actual value and / or the actual wobble angle τ (effective) can be expressed as a function of the azimuth angle α (theory). Now, the experimental first direction average and second direction average wobble error curves f _τ (D 1) and f _τ (D 2) are similar to establishing the experimental mean azimuth error curves f α (D 1) and f α (D 2), respectively. Is determined. Finally, an experimental directional wobble error curve f _τ (D 0) is obtained, which is approximated by a mathematical wobble error function F _τ . 3A, two extreme wobble error curves are shown among a number of established experimental wobble error curves, with all other wobble error curves between them; The measurement results are shown with great precision because the curves only slightly deviate from each other; The wobble movement becomes a sinusoidal movement. Analysis of the measurement data for the wobble motion provides the results shown in FIGS. 3B and 3C. As a result, the wobble error has two causes, the first being the rigidity depending on the azimuth angle of the lower firearm vehicle, and the component of the wobble error resulting therefrom is shown in FIG. 3B; Secondly, as a reinforcing effect due to the azimuth-dependent legs, this component of the wobble error is shown in Fig. 3c. In Figs. 3B and 3C, the positive value of the wobble error is shown using a solid line, and the negative value of the wobble error is shown using a dotted line.

Next, the compensation of the elevation angle error Δλ is described, which is detected in the second measurement process. Elevation angle synchronization error DELTA lambda includes two error components. Both error components can be detected only by their sum using the second and / or lambda -measuring units of the gyro measurement system 22 of the measurement facility 20.1. Therefore, [lambda] refers to and / or indicates data and / or functions associated with the overall elevation sync error [Delta] [lambda]. In this case, the elevation angle [lambda] is understood as the inclination angle of the weapon barrel 10.2 with respect to the horizontal which is used as the reference by the weapon barrel 10.2 in a state where the azimuth angle? Is constant. The elevation angle [lambda] starting from the horizontal position, i.e., the elevation angle of 0 [deg.] And the vertical deviation of 0 [deg.], Varies stepwise, for example, by 5 ° to the final position of 85 °. The movement of the weapon barrel 10.2 is controlled by the computer. After each step, the weapon barrel 10.2 is in the measuring position. In this case, the elevation angle is theoretically called the intended value and / or the intended elevation angle (λ (theory)) and is the value indicated by the intended value sensor 10.5. By the way, the weapon barrel 10.2 is in a different position, which is described by the actual value and / or the actual elevation (λ (effective)). As described above for the azimuth synchronization error, the difference between λ (theory) and λ (valid) is expressed as a function of λ (theory). The movement of the weapon barrel 10.2 is repeated many times in both directions of rotation. An experimental first direction average elevation angle curve fλ (D1) and an experimental second direction average elevation angle curve fλ (D2) are obtained from the measurement results recorded in this case. An undirected elevation error curve fλ (D0) is obtained from this, which is shown by the solid line in FIG. 4A. In Fig. 4A, as the elevation angle lambda is increased, that is, as the inclination of the weapon barrel 10.2 is continuously placed rapidly, the elevation angle error curve f lambda (D0) increases. Then, the experimental elevation angle error curve fλ (D0) is approximated by the mathematical elevation angle error function Fλ, and the correction function considered in the calculation of the aiming value is determined. If the measurement is repeated taking account of the calibration function, the calibrated elevation error function will run flatter than the uncalibrated one.

An error component of the elevation synchronizing error Δλ, which cannot be detected individually during the measurement, can be established using a mathematical analysis of the mathematical elevation error function Fλ.

The first error component of the elevation angle error will itself result in an error function that basically corresponds to a sine function having multiple angular frequencies.

Independently, the second error component of the elevation angle error will result in an error function fλ (D0) ₂ which basically follows the cosine function subtracted from 1 shown in FIG. 4A using a dashed line. This corresponds to the fact that with increasing elevation, the weight of the weapon barrel 10.2 decreases the torque exerted on the firearm vehicle, which is the line of action of the weight of the weapon barrel 10.2 from the transverse axis L. Because the length is reduced; This torque tends to tilt the firearm 10.1 so that the weapon barrel 10.2 faces forward; This reduction in torque results in the effect that the firearm 10.1 with the weapon barrel 10.2 tilts forward less and / or relatively backwards.

The sum of the error components corresponds to the elevation error curve fλ (D0), which is obtained from the measurement result performed. This is represented by the vibration corresponding to the first error component around the rising curve corresponding to the second component.

The above-described measurement of the elevation angle synchronization error Δλ of the second measurement is performed while keeping the azimuth angle α constant. A number of further series of measurements are then performed for the additional azimuth while keeping the azimuth constant constant in each series of measurements, where the angular spacing between the fixed azimuths can be, for example, 5 °. In this case too, two series of measurements are preferably carried out with respect to the azimuth angle, which is rotated in the first direction of rotation for the first series of measurements and in the opposite direction of rotation for the second series of measurements. FIG. 4B shows a description of the spatial parameters of elevation angle sync error Δλ as a function of azimuth angle α, using various elevation angles λ as a parameter and the bottom curve corresponding to the smallest elevation angle.

An additional step for compensating elevation angle error is performed similar to the compensation of the azimuth synchronization error described above.

It should also be noted that, as discussed above with respect to compensation for azimuth synchronization error, individual measurement and analysis procedures can be performed at least partially in a different order without affecting the results.

The vertical offset error Δα 2 is also established in the second measurement process. For this purpose, at each of the measurement positions where the elevation synchronizing error DELTA lambda is determined using the lambda measuring unit, the vertical offset error DELTA α2 is determined using the α-measuring unit. 5 shows the vertical offset error as a function of elevation angle [lambda]. The experimental vertical offset error curve fα2 indicated by the dotted line can be approximated by the mathematical vertical offset error function Fα2 represented by the solid line by, for example, a quadratic polynomial.

The detection and compensation of the vertical offset error DELTA α2 is performed similarly to the compensation of the azimuth synchronization error DELTA α1 described above.

Finally, a third measurement process is performed, by which the compensation of the shunt error DELTA σ is performed. The shunt error (Δσ) occurs because the direction of the weapon barrel and the aiming line of the firearm do not coincide, but rather include the shunt angle. In order to establish the squint error, the extension of the weapon barrel and the line of sight is displayed at a distance relative to the barrel of the weapon barrel, for example using a projection, in which the weapon barrel and the line of sight are shown as dots. The deviation of the two points is a measure of the squint error, and the distance between the weapon barrel and the projection surface must also be taken into account to establish this error. The method of establishing the shunt error is not novel and is described herein for supplementary purposes only, since the full compensation of the shooting error caused by the static firearm geometry error must also take into account the shunt error.

While the above description is mainly related to the method according to the invention, the following describes the apparatus used to carry out the method in more detail.

It is again emphasized that the novel method is performed using the novel apparatus on the weapon system 10 as shown in FIG. 1A. The weapon system 10 has a firearm 10.1 having at least one weapon barrel 10.2, the movement of the weapon barrel being controlled in a conventional manner using a firearm servomotor. Moreover, the weapon system 10 has a fire control device 10.3. The weapon system 10 also has a system computer and / or fire control computer 10.4, which is located on the fire control device 10.3 or at least partially on the firearm 10.1. Typically, weapon system 10 also has an intended value sensor 10.5, which describes the intended value, in particular the azimuth angle describing the intended position of the aimed weapon barrel 10.2 determined by the system computer 10.4. α) and intended angles of elevation (λ).

Many components are required to perform the novel method, which is described in more detail below.

The first component is formed by the intended value sensor 10.5, which is used for the purpose of indicating the intended value describing the intended or assumed position of the weapon barrel 10.2. In either case, the intended value sensor present on the weapon system 10 is used as the intended value sensor.

The second component of the novel device is formed by the measuring facility 20.1 to detect the actual value, which describes the actual position of the weapon barrel 10.2. The measuring facility 20.1 comprises at least an optoelectronic gyro measuring system 22.1, for example an optical fiber measuring system. The gyro measurement system 22.1 has at least a first and / or α-measuring unit for detecting a change in the angle of the weapon barrel 10.2, preferably the azimuth angle α. Preferably, the gyro measurement system 22.1 also has a second and / or λ-measuring unit for detecting a change in the elevation angle λ of the weapon barrel 10.2.

In the configuration of the present invention, it can be understood that the optoelectronic gyro measurement system includes not only an optical fiber measurement system but also other measurement systems such as a ring laser gyro measurement system. In general, gyro measurement systems have the advantage of operating autonomously; Therefore, no reference point outside the system needs to be used. The firearm does not need to be moved into a separate measuring station. However, since there are no criteria outside of the system, the system generally drifts over time. Gyro drift in this case should be determined and considered during the analysis of the measurement results. Laser positioning systems can be used in this regard.

In order to more fully detect static firearm geometry errors and therefore to perform more accurate compensation for shooting errors caused by firearm geometry errors, the second component of the novel apparatus, namely the measuring facility 20.1, It also has a measurement system for detecting additional errors, in particular wobble error Δτ and sequential error Δσ.

In order to detect the wobble error Δτ, in addition to the gyro measurement system 22.1, an additional measurement system 21.2, typically in the form of an electronic level, is used. This level measures an angle with respect to the horizontal. In an embodiment of the invention, each angle of the inorganic barrel axis with respect to the horizontal is measured. An electronic spirit level is understood as a sensor that measures a horizontal angle, ie an angle with respect to the horizontal, and outputs an electronic signal correlated with this angle. This measurement uses the effect of gravity, which defines the vertical, and therefore the horizontal. In this case, how the sensor uses gravity is not important.

It is also important here that the slope of the firearm 10.1 can be determined with the aid of the electronic spirit level. The slope is understood as follows; If the weapon barrel 10.2 moves only at an azimuth angle, the movement of the barrel of the weapon barrel can be considered approximately as a circular line defining the plane. The angle deviation of this plane relative to the horizontal plane is called the slope; In other words, if there is no slope, this plane will be horizontal. In general, for a new firearm, the slope is automatically compensated and / or the firearm is automatically leveled horizontally. By the way, horizontal leveling of the firearm is not essential for performing the novel method.

In addition to the gyro measurement system 22.1 and the electronic level 22.2, in order to detect the shunt error Δτ, an additional measurement system 22.3, which is typically in the form of an optical device, is used. This device measures the angle difference between the weapon barrel and the aiming line of the firearm (10.1).

The computer is required as the third component to perform the novel method. The computer is implemented as a separate computer unit, as shown in FIG. 1A, which is used exclusively for performing new methods or for other purposes and is only coupled to the weapon system 10 for the purposes of the present invention. By the way, it is also possible for the fire control computer and / or system computer 10.4 of the weapon system 10 to be used as this computer.

The third component of the novel device, in the case of the present invention, computer unit 20.2 has a data input and / or a data interface, via which data is presented which represents at least the detected intended and actual values. This data can be used by the computer unit 20.2 in any desired suitable manner, for example by using a data carrier such as a diskette or via a data circuit which can be material or non-material.

If the fire control computer and / or system computer 10.4 is used as a computer, the computer knows the intended value and the actual value is available to this computer via the data input and / or data interface 24. Will be.

The third component of the novel device, in the case of the present invention, computer unit 20.2 further has software executed to determine the calibration value from the intended and actual values. In this case, the steps to be performed are described above in more detail in connection with the method according to the invention.

If the fire control computer and / or system computer 10.4 are used as a computer, the established calibration values can be implemented directly in the fire control software.

If the fire control computer and / or system computer 10.4 are not used as a computer and a separate computer unit 20.2 is used, the established calibration values are fired via the data input and / or data interface 24. It should be available to the control computer and / or system computer 10.4 and be implemented in the fire control software on the computer.

The third component, ie the computer, preferably has an input unit 20.3, such as a keyboard, through which additional data can be made available, which data is formed by a separate computer unit 20.2. Especially in that. This may include, for example, data controlling the progress of the new method, which, among other things, rotates the weapon barrel stepwise to the measuring position by the combination of the submotor and the respective measuring system and / or measuring unit to be used. To control.

The advantages achieved using the present invention are essentially as follows.
All angular errors caused by static firearm geometry errors can be detected and therefore compensated for.
Static firearm geometry errors that have been incorrectly determined and costly up to now can be accurately measured and thus compensated for efficiently.
By using a gyroscopic measurement system, angle measurements can be made without prior leveling of the weapon's level.
By using optoelectronic gyroscopes, especially optical fiber gyroscopes, accurate, reliable and reproducibility angle measurements can be carried out far beyond what was previously possible, and much more detailed measurement results than could be achieved in the past An angle measurement can be performed to provide; In this way, it is possible to compensate the shooting error caused by the fire geometry even more accurately.
Measurements can be made quickly and automatically, reducing the time and personnel expenses for measuring firearms, resulting in significant cost savings.
The risk of accidents for personnel participating in the measurement can be greatly reduced.

Claims (25)

Method for compensating shooting errors of firearms with weapons barrel (10.2), caused by static weapon geometry errors and affecting the position of weapons barrel (10.2) while aiming weapons barrel (10.2) to aim value As Rotating the weapon barrel 10.2 around the axes A, L to reach the measurement position step by step; At each measurement position,      Detect an intended value indicating the intended location of the weapon barrel 10.2,      Measure the actual value indicating the actual position of the weapon barrel (10.2),      Calculating a difference between the actual value and the intended value, which is defined as an error value; Establishing a correction value based on the plurality of error values; And And subsequently taking into account the calibration value while aiming at the weapon barrel (10.2). The method of claim 1, in order to establish a calibration value, The calibration value is expressed experimentally, The experimentally expressed error value is approximated by a mathematical error function, And a correction value taken into account during the calculation of the aim value for the weapon barrel (10.2) in the future is determined from a mathematical error function. 3. A method according to claim 2, characterized in that the calibration value is determined in the form of a calibration function. 2. The measuring apparatus 20.1 according to claim 1, wherein the measuring apparatus 20.1 comprises an optoelectronic gyro measuring system 22.1 having a first measuring unit which is used for detecting the azimuth synchronization error DELTA α1 or the vertical offset error DELTA α. A method for compensating for a fire error of a firearm, characterized in that it is used to detect a value. 2. The measuring device 20.1 according to claim 1, wherein a measuring device 20.1 comprising an optoelectronic gyro measuring system 22.1 having a second measuring unit used for detecting elevation angle error Δλ is used to detect the actual value. A method for compensating for a fire error of a firearm. The fire of the firearm according to claim 1, characterized in that a measuring facility (20.1) comprising a measuring system (22.2) having a level used to detect a wobble error (Δτ) is used to detect the actual value. How to compensate for errors. A firearm according to claim 1, characterized in that a measuring facility (20.1) comprising a measuring system (22.3) having a device used for detecting a shunt error (Δσ) is used for detecting the actual value. How to compensate for shooting errors. Method according to claim 1, characterized in that the intended and actual values are made available to the computer (20.2, 10.4) for determining the calibration value or the calibration function. The firearm according to claim 1, characterized in that the calibration value is stored in the system computer 10.4 assigned to the firearm 10.1 for use during calculation of the aiming value for aiming the weapon barrel 10.2. How to compensate for shooting errors. Method according to claim 1, characterized in that the weapon barrel (10.2) is rotated about the vertical axis (A) of the firearm (10.1) while rotating to the measuring position. 6. The gyro drift of the gyro measurement system 22 is determined at predetermined time intervals or continuously during the detection of the actual value with the optoelectronic gyro measurement system 22 to take into account the detected actual value. Characterized in that the method for compensating for a shooting error of a firearm. Compensating for shooting errors of firearms with weapons barrel (10.2), caused by static weapon geometry errors and affecting the position of weapons barrel (10.2) while aiming weapons barrel (10.2) at the calculated aiming value As a device for The apparatus has a measuring device 20.1 for establishing an actual value describing the position of the weapon barrel, and the measuring device 20.1 has a weapon barrel having a first measuring unit for detecting an azimuth synchronization error Δα1. And an optoelectronic gyro measurement system (22.1) on (10.2). 13. Device according to claim 12, characterized in that the optoelectronic gyro measuring system (22.1) has a second measuring unit for detecting elevation angle error (Δλ). The measuring apparatus 20.1 according to claim 12 or 13, Has a measuring system 22.2 with a level to detect a wobble error Δτ, or And a measuring system (22.3) having a device for detecting a shunt error (Δσ). 14. A device according to claim 12 or 13, wherein the device has a computer unit 20.2, On the input side, it is connected to an intended value sensor 10.5 which makes the intended value describing the intended position of the weapon barrel 10.2 and the measuring instrument 20.1 which makes the actual value available, To calculate calibration values based on the intended and actual values, to take into account while calculating the aiming value for the weapon barrel 10.2 to compensate for shooting errors, On the output side, data representing the calibration value can be connected to the system computer (10.4) so that it can be used at the system computer. 16. An apparatus according to claim 15, characterized in that the computer unit (20.2) has an input unit (20.3) for inputting data. As system computer 10.4 of weapon system 10 for calculating aiming value for aiming weapon barrel 10.2 of firearm 10.1 of weapon system 10, The system computer includes a data interface 24, which calculates the aiming value to compensate for aiming errors caused by static weapon geometry errors affecting the position of the weapon barrel 10.2. A system computer 10.4, characterized by making data available for consideration. 2. The measuring apparatus 20.1 according to claim 1, wherein the measuring apparatus 20.1 comprises an optoelectronic gyro measuring system 22.1 having a first measuring unit which is used for detecting the azimuth synchronization error DELTA α1 and the vertical offset error DELTA α. A method for compensating for a fire error of a firearm, characterized in that it is used to detect a value. A firearm according to claim 1, characterized in that a measuring facility (20.1) comprising a measuring system (22.2) having an electronic level used to detect the wobble error (Δτ) is used to detect the actual value. How to compensate for shooting errors. Method according to claim 1, characterized in that the intended and actual values are made available to a computer (20.2, 10.4) for determining calibration values and calibration functions. The weapon barrel 10.2 according to claim 1, which is rotated about the vertical axis A of the firearm 10.1 and also about the transverse axis L of the firearm 10.1 while rotating to the measuring position. A method for compensating for a fire error of a firearm, characterized in that: Compensating for shooting errors of firearms with weapons barrel (10.2), affecting the position of weapons barrel (10.2) while aiming weapons barrel (10.2) with aiming values calculated caused by static weapon geometry errors As a device for The apparatus has a measuring facility 20.1 for establishing an actual value describing the position of the weapon barrel, and the measuring facility 20.1 detects an azimuth synchronization error Δα1 and a vertical offset error Δα2. And an optoelectronic gyro measuring system (22.1) on the weapon barrel (10.2) having a first measuring unit for the purpose of compensating for the shooting error of the firearm. The measuring apparatus 20.1 according to claim 12 or 13, Has a measuring system 22.2 having a level to detect a wobble error Δτ, And a measuring system (22.3) having a device for detecting a shunt error (Δσ). 15. The apparatus of claim 14, wherein the spirit level is an electronic spirit level. 15. The apparatus of claim 14, wherein the apparatus for detecting the shunt error (Δσ) is an optical apparatus.

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