KR101241283B1 - Fire simulation system using Sensing device - Google Patents

Abstract

The present invention relates to a target sensing device mounted to a target for simulating a leading shot using a laser beam. The target sensing device may include a second control unit controlling an overall operation of the target sensing device; A sensing circuit unit which extracts firing data from a laser beam sensed by a plurality of laser sensors and provides the extracted firing data to a second control unit; A second GPS receiver mounted to the target to provide current location information of the target; And a hit situation indicator for notifying a hit result according to the driving signal provided from the second control unit. The second control unit includes a ballistic equation corresponding to each firearm as a database, and upon receiving the firing data from the sensing circuit unit, reads the firearm identification information, the lead angle measurement value and the firearm current position information from the firing data, and firearm identification information. The ballistic equation corresponding to is read from the database, the ballistic equation is established by substituting the lead angle measurement value and the current position information of the fireball into the read ballistic equation, and the target current position value and the target speed provided from the second GPS receiver are applied. The equation of motion of the target is established and the ballistic equation and the target equation of motion are used to determine whether the target has been hit.

Description

Fire simulation system using Sensing device

The present invention relates to a firearm simulation system used in a simulated warfare system, and more specifically, to enable leading angle simulation while using a laser beam, precisely firing a leading shot against high speed anti-aircraft targets or ground targets. Firearms simulation system that can be trained.

Multiple Integrated LASER Engagement System (MILES), one of the simulated engagement systems, allows firearms to fire laser beams instead of live bullets, and a detector mounted on each target detects laser beams emitted from firearms. It is a laser application training system that determines whether each target is hit. The Miles system generally includes a firearm simulation apparatus equipped with a laser launcher and a detector capable of detecting a laser beam, and the like, and may further include a central control system capable of communicating with the firearm simulation apparatus and detectors.

The operation of the Miles system having the above-described configuration is briefly described as follows. First, when a laser beam is emitted from a firearm simulation apparatus to a target by a participant, a detector mounted on the target senses the laser beam. When the detector detects the laser beam, the target wearing the detector is judged to have been hit by the fire simulator, and the hit is displayed by a beacon or display unit such as a display panel or transmitted to the central control system.

On the other hand, when the speed of the moving target is fast or the moving target is at a distant distance, in real situations, the leading shot is considered in consideration of the lead angle according to the moving speed of the target and the moving speed of the bullet. Leading Fire. Here, the leading angle refers to the diagonal of the target moving distance from the center point of the gun to the current position of the target and the future position of the target. Therefore, the shooter must shoot by applying the correct leading angle to the current position of the moving target, so that the target can be shot accurately.

However, the laser beam not only has linearity but also moves at the speed of light, so that the laser beam first reaches the future position of the target before the moving targets move to the future position. Therefore, there is a problem that conventional miles systems or firearm simulation systems using laser beams cannot accurately simulate leading fire.

An object of the present invention for solving the above problems is to provide a firearm simulation system composed of a laser firing device and a target sensing device that can accurately simulate a leading shot.

In addition, the present invention not only accurately simulates the leading shot, but also by feeding back the error amount of aiming to the laser firing apparatus, to provide a firearm simulation system that can accurately train the leading shot on the fast moving targets For other purposes.

A first aspect of the present invention for achieving the above-mentioned technical problem is related to a laser firing apparatus mounted on a firearm and simulating a leading shot on a moving target using a laser beam, said laser firing apparatus comprising: A first control unit controlling an overall operation of the controller; A firing switch driven in conjunction with the trigger of the firearm; An image processor configured to measure a lead angle from an image of a moving target aimed by applying a lead angle by an aiming mirror of the firearm; A first GPS receiver for providing a current position coordinate: a laser beam launcher mounted to the firearm, for emitting a laser beam containing the firing data in accordance with a laser drive signal provided from the first control unit; And a motor assembly for rotating the laser beam launcher in accordance with a motor driving signal provided from the first control unit.

When the firing switch is turned on, the first controller generates firing data, rotates the laser beam launcher by a forward angle measurement value by using a motor assembly, and then launches a laser beam containing the firing data through the laser beam launcher. .

In the laser firing apparatus according to the first aspect described above, the laser firing apparatus further comprises an image capturing apparatus, wherein the image capturing apparatus captures an image of a moving target aimed at a leading angle by an aiming scope of the firearm. In addition, the captured image is provided to an image processor, and the center of the display screen of the image acquisition apparatus is disposed to coincide with the cross hair of the scope of the firearm.

In the laser firing apparatus according to the first aspect described above, the image processing unit may be provided with an image aimed by the sight from the sight of the firearm.

In the laser firing apparatus according to the first feature described above, the laser firing apparatus further comprises a first wireless signal transceiver for transmitting and receiving data with the target sensing device, the first controller is a target sensing device through the first wireless signal transceiver It is preferable to receive the shot result information from the and output the shot result information through the display device.

In the laser firing apparatus according to the first aspect described above, the image processor detects a beacon signal from an image of the moving target, recognizes the moving target using the detected beacon signal, and recognizes the moving target and the center of the image. It is desirable to measure the leading angle using the distance between them.

In the laser firing apparatus according to the first aspect described above, the firing data includes a forward angle measurement value input from an image processor, a current position coordinate input from a first GPS receiver, firearm identification information read from a memory, and a firing switch state. It is desirable to include a value.

A second aspect of the present invention relates to a target sensing device mounted to a target for simulating a leading shot using a laser beam, the target sensing device comprising: a second control unit for controlling the overall operation of the target sensing device; A sensing circuit unit which extracts firing data from a laser beam sensed by a plurality of laser sensors and provides the extracted firing data to a second control unit; A second GPS receiver mounted to the target to provide current location information of the target; And a hit situation indicator indicating a hit result according to the driving signal provided from the second controller.

The second control unit includes a ballistic equation corresponding to each firearm as a database, and upon receiving the firing data from the sensing circuit unit, reads the firearm identification information, the lead angle measurement value and the firearm current position information from the firing data, and firearm identification information. Read the ballistic equation corresponding to
The second control unit includes a database storing ballistic equations corresponding to each firearm, and upon receiving the firing data from the sensing circuit unit, reading the firearm identification information, the lead angle measurement value, and the firearm current position information from the firing data, The ballistic equation corresponding to the identification information is read from the database,
A target motion equation is applied by applying an initial position value, a current position value, and a velocity vector of the target provided from a second GPS receiver, and using the ballistic equation, the target motion equation, and the information read from the firing data, It is preferable to determine whether or not the hit has been hit, and output the judgment result to the hit status indicator.
Here, the ballistic equation is an equation representing the position of the shot ( S (x (t), y (t), z (t)) after the time t seconds elapsed from the firing point of the firearm, the target motion equation is the velocity of the target It is an equation representing the expected position of the target P (x (t), y (t), z (t)) after a time t seconds have elapsed from the initial position using the vector and the initial position value of the target.

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A target sensing device according to the second aspect of the present invention, wherein the sensing circuit unit comprises: a sensing unit including a plurality of laser sensors; An amplifier for amplifying and outputting signals transmitted from the sensing unit; Preferably, the decoder is configured to decode signals transmitted from the amplifier and extract launch data.

In the target sensing apparatus according to the second aspect described above, the second controller determines whether a difference value between the position of the bullet obtained by the ballistic equation and the target position obtained by the motion equation of the target is included in a preset threshold range. When the difference value is included in the threshold range, the target is determined to be hit, and when the difference value does not become smaller than the threshold range and increases again, it is preferable to determine that the target is not hit.

In the target sensing apparatus according to the second aspect described above, the target sensing apparatus may further include a beacon signal output unit for outputting a beacon signal according to a preset pattern.

In the target detection device according to the second aspect, the target detection device further comprises a second wireless signal transceiver capable of transmitting and receiving data with the laser beam firing device, the second control unit is determined that the determination result According to the present invention, it is preferable to generate the shot result information including the shot information, the aiming error information and the firearm identification information, and transmit the shot result information to the laser firing apparatus through the second wireless signal transceiver.

In the firearm simulation system for simulating the leading fire by using a laser firing device mounted to the firearm and a target detection device mounted to the moving target according to the third aspect of the present invention,

The laser firing apparatus includes a first control unit for controlling the overall operation of the laser firing apparatus; A firing switch driven in conjunction with the trigger of the firearm; An image processor configured to measure a lead angle from an image of a moving target aimed by applying a lead angle by an aiming mirror of the firearm; A first GPS receiver for providing a current position coordinate: a laser beam launcher mounted to the firearm, for emitting a laser beam containing the firing data in accordance with a laser drive signal provided from the first control unit; And a motor assembly for rotating the laser beam launcher in accordance with a motor driving signal provided from the first control unit.

When the firing switch is turned on, the first controller generates firing data, rotates the laser beam launcher by a forward angle measurement value by using a motor assembly, and then launches a laser beam loaded with the firing data through the laser beam launcher. Characterized in that,

The target sensing device may include a second control unit controlling an overall operation of the target sensing device; A sensing circuit unit which extracts the firing data from the laser beam received by the plurality of laser sensors and provides the extracted firing data to the second controller; A second GPS receiver mounted to the target to provide current location information of the target; And a hit situation indicator indicating a hit result according to the driving signal provided from the second controller.

The second control unit includes a database storing ballistic equations corresponding to each firearm, and upon receiving the firing data from the sensing circuit unit, reading the firearm identification information, the lead angle measurement value, and the firearm current position information from the firing data, The ballistic equation corresponding to the identification information is read from the database,
A target motion equation is applied by applying an initial position value, a current position value, and a velocity vector of the target provided from a second GPS receiver, and using the ballistic equation, the target motion equation, and the information read from the firing data, It is preferable to determine whether or not the hit has been hit, and output the judgment result to the hit status indicator.
Here, the ballistic equation is an equation representing the position of the shot ( S (x (t), y (t), z (t)) after the time t seconds elapsed from the firing point of the firearm, the target motion equation is the velocity of the target It is an equation representing the expected position of the target P (x (t), y (t), z (t)) after a time t seconds have elapsed from the initial position using the vector and the initial position value of the target.

The firearm simulation system according to the present invention can accurately simulate leading fire on a moving target using a laser beam. As a result, using the firearm simulation system according to the present invention, it is possible to accurately train the firing shot applying the leading angle. In addition, according to the present invention, shooters who are trained to fire the leading shot not only can check whether the target is hit after the trigger, but also if the target is not hit, it is possible to perform a corrected shot by checking the aiming error.

1 is a block diagram showing the overall concept of a firearm simulation system according to a preferred embodiment of the present invention, Figure 2 is a block diagram showing a firearm simulation system according to a preferred embodiment of the present invention.
3 is a block diagram schematically showing the internal configuration of the laser firing apparatus 10 of the firearm simulation system according to the preferred embodiment of the present invention.
4 is a flowchart sequentially illustrating operations of the first control unit and the image processing unit of the laser firing apparatus of the firearm simulation system according to the preferred embodiment of the present invention.
5 is a block diagram schematically showing the structure of the target sensing device 20 of the firearm simulation system according to a preferred embodiment of the present invention.
6 is a flowchart sequentially illustrating operations of a second controller of a target sensing apparatus according to an exemplary embodiment of the present invention.
FIG. 7 is a view illustrating an aiming error amount when the second control unit of the target sensing apparatus aims at a small lead angle according to an exemplary embodiment of the present invention. FIG. 8 is an aiming point when the aim angle is largely aimed at. The figure shows to explain the vehicle.

Hereinafter, with reference to the accompanying drawings will be described in detail the configuration and operation of the firearm simulation system that can train the leading fire according to an embodiment of the present invention.

1 is a block diagram showing the overall concept of a firearm simulation system according to a preferred embodiment of the present invention, Figure 2 is a block diagram showing a firearm simulation system according to a preferred embodiment of the present invention. Referring to Figure 1 (a), the firearm simulation system according to the present invention is composed of a laser firing device 10 mounted on the firearm and target detection devices 20 mounted on the targets. Figure 1 (b) shows the moving target, the center of the scope and the leading angle shown in the scope of the firearm. Referring to (b) of FIG. 1, the leading angle may be known through the current position of the moving target, the future position of the moving target, and the difference between the current position and the future position of the moving target. Referring to FIG. 2, a laser firing apparatus mounted on the firearm emits a laser beam, a target sensing apparatus mounted on the target senses the laser beam and extracts firing data from the laser beam, and the laser firing apparatus and the target sensing apparatuses The wireless communication is used to transmit and receive data including the shot result information.

On the other hand, the firearm simulation system according to the present invention further includes a central control device 30, and can wirelessly transmit and receive data with the laser launch device and the target sensing devices, the central control device is a laser launch device and the target sensing device Data received from can be used to control or monitor the driving of the laser firing device and the target sensing device.

Laser launch device

3 is a block diagram schematically showing the internal configuration of the laser firing apparatus 10 of the firearm simulation system according to the preferred embodiment of the present invention. Hereinafter, the structure and operation of the laser firing apparatus according to the present invention will be described in detail with reference to FIG. 3. The laser launch device 10 may include a first control unit 100, a start switch 102, an image acquisition device 110, an image processor 120, a first GPS receiver 130, which controls the overall operation of the laser launch device. A motor assembly 140, a launch switch 150, a laser beam launcher 160, and a first wireless signal transceiver 170 are provided. Hereinafter, the structure and operation of each component described above will be described in detail.

As the first control unit 100 controls the overall operation of the laser firing apparatus, a description of the specific operation will be described later.

When the start switch 102 is turned on by the shooter, the laser firing device starts to operate and the firing sequence begins. In other words, the start switch wakes up various processors and circuits of the laser firing apparatus in standby and sleep mode to start operation to save power. When the start switch 102 is turned on, the first control unit 100 drives the laser firing apparatus.

The image capturing apparatus 110 may be implemented as a video camera. The image capturing apparatus 110 detects an image of a visible light band or an infrared band and converts the image into an electrical signal. The center of the display screen of the image capturing apparatus 110 is arranged to coincide with the center of the image of the aiming mirror of the firearm, and captures an image of the moving target and provides it to the image processor.

When using a video camera of the visible light band as the image acquisition device, there is an advantage that can be utilized to a variety of color information to increase the probability of success of target recognition, but there is a disadvantage that the use is limited at night. On the other hand, when the infrared band video camera is used as the image acquisition device, it is possible to use it at night, but the target expression must be performed through the monochromatic plane, so the probability of success of the target recognition for the same target in the same environment may be lowered. Therefore, it is possible to decide whether to select a visible band video camera or an infrared band video camera according to a given condition and a use term. For example, M72LAW, PZF-3, and 90mm recoil guns used by the Korean military do not have a night command function in the aim of the firearm. It is preferable to.

Another embodiment of the laser firing apparatus according to the present invention may be provided to the image processing unit, in the case of an aiming scope that provides an image aimed at the aiming scope as digital data, without having a separate image acquisition device. have.

The image processor 120 receives an image from the image capturing apparatus, analyzes the image, recognizes a target, measures a freshness angle with the target, and provides the image to the first controller 100. The image processor includes a digital signal processor, a memory, a display, and the like.

In recent years, technology for recognizing targets by analyzing images is greatly improved by hardware and software-based breakthroughs, such as increased camera sensor resolution, CPU processing speed, memory capacity, and digital image processing algorithms. Have been. In particular, the success rate of the target recognition is very high when the background image noise against the target is not severe, such as an anti-air target against the sky or a ground target moving on the plain against the horizon.

Also, the field of recognizing / identifying / tracking targets by analyzing images has been greatly improved due to the rapid development of technology-based and social needs such as surveillance and security. It is harvested. However, when the background noise is higher than the target signal, for example, when the target travels in smoke, fog, or dust, or when the target is camouflaged, or when the leaves are falling, the target recognition rate and false alarm rate ( Lowering false alarms remains a challenge. In particular, the firearm simulation system according to the present invention emits an infrared beacon flashing in a specific pattern on a target to increase target recognition rate and dramatically lower false alarm rate when using an infrared video camera. Accurate target recognition is performed by analyzing consecutive video frames and extracting infrared beacon signals.

The image processor 120 measures a freshness angle when target recognition is completed. The process of measuring the freshness of the image processor is as follows. First, the center of the target is obtained, the distance (number of pixels) between the center of the target and the center of the image is obtained, and the distance obtained is converted into an angle to measure the lead angle. At this time, even if the distance between the two points of the image is the same, the conversion angle value is different depending on the zoom magnification, the lead angle is calculated in consideration of the zoom magnification of the image acquisition device. The value thus obtained becomes the lead angle measurement value. The leading angle consists of an azimuth leading angle and an elevation leading angle. The elevation leading angle includes an angle at which the shooter raises the elevation of the firearm in consideration of the ballistic curvature, that is, the super elevation. For example, to simulate the situation of hitting a hill-driving tank with a gravity-curve weapon, the measured azimuth forward angle φ _L is the azimuth component between the target's current position and the expected future position direction. The measured elevation curve angle θ _L is equal to the sum of the super-elevation ( θ _SE ) applied to the elevation component between the target's current position and the expected future position direction. The image processor transmits the freshness angle measurement value to the first controller (100).

The shooter angle can be changed until the shooter starts aiming the weapon at the target and immediately before the firing switch is pressed, so that the image processor repeats the lead angle measurement process and resets the value each time the leader angle measurement is updated. 1 Send to the controller.

The first GPS receiver 130 calculates a current position using signals received from a plurality of GPS satellites and provides the first control unit 100 to the first control unit 100. The first GPS receiver 130 is mounted on the firearm and transfers the current position of the firearm to the first control unit. Will be provided. Latitude and longitude of the position coordinates received through the first GPS receiver can be seen to within 1 meter of accuracy when the receiver holder is stationary, but the altitude information has an error of several tens to hundreds of meters, which is inaccurate. Therefore, in the present embodiment, only the latitude and longitude information of the position coordinates obtained through the GPS receiver will be used, and the exact altitude information at the specific horizontal coordinates will be obtained by referring to the digital map embedded in the target sensing device. Instead of the GPS system established by the United States, the position receiving device may use a Galileo method established by the European Union or a receiver integrating the GPS method and the Galileo method.

Meanwhile, another embodiment of the laser firing apparatus according to the present invention does not include the first GPS receiver and may be provided with position coordinates through a GPS receiver worn separately by the shooter and a wired or wireless communication means.

The motor assembly 140 is driven according to the motor driving signal provided from the first control unit to rotate the laser firing apparatus. The motor assembly 140 includes an azimuth rotation motor 142 and an elevation rotation motor 144, and the azimuth rotation motor and the elevation rotation motor each have a direction of the laser firing device in the azimuth and elevation directions by the leading angle measurement value. Rotate In most firearms, it is desirable to include a reduction gear in the motor assembly because the leading angle must be precisely controlled in mils (1 mil = 0.056 °).

The firing switch 150 is a switch that interlocks with the trigger of the firearm, and initially maintains the OFF state. When the trigger of the firearm is pulled by a shooter or the like, the firing switch 150 is turned on. When the shooter aims the target through the firearm's sight and determines that the applied forward angle is stable, the firing switch is turned on in conjunction with the trigger. When the firing switch is turned on, the first control unit changes the firing switch state value from OFF to ON, and accordingly, the firing switch state value of the data loaded on the laser beam emitted from the laser beam launcher is ON, which is the target device. Is also delivered. When the firing switch state value is turned ON, the image processing unit stops the repetitive leading angle measurement operation, and the first control unit generates the firing data at the moment when the firing switch state value is turned ON, transmits the firing data to the target sensing device, and then drives the laser firing apparatus. To exit. In this case, the firing data includes firearm identification information, a lead angle measurement value, a current position coordinate of the firearm, and a firing switch state value. When the firearm is triggered, the firing switch state value of the firing data is ON.

Another embodiment of the firing switch of the laser firing apparatus according to the present invention is composed of a vibration sensor, a bombardment sensor and the like that can detect the fluctuations of the fire according to the trigger, and the detection signals received from each of the sensors to a predetermined level If it exceeds, it is determined that the fire has been triggered, and change the fire switch to the ON state.

Laser beam launchers in accordance with other embodiments of the present invention may incorporate a micro-angle scanner to form a wide beamwidth around a target. As such, the first control unit of the laser firing device having the micro-angle scanner operates after additionally driving the laser beam launcher for one period of the micro scan so that the fact that the state of the firing switch is turned ON can be sufficiently transmitted to the target device. It is desirable to stop.

The laser beam launcher 160 emits a laser beam loaded with firing data according to the laser driving signal received from the first controller 100. The firing data includes firearm identification information, lead angle measurement, firearm position coordinates, and firing switch state values. The firearm identification information indicates the type of firearm equipped with the laser firing apparatus, and the leading angle measurement value includes the leading angle measurement value for the azimuth angle and the leading angle measurement value for the altitude, and the firearm position coordinate is located at the current position of the firearm. It contains information about latitude and altitude for the launch switch. The launch switch status value indicates ON or OFF, which is the current state of the launch switch.

Even if there is an error between the lead angle measurement and the motor drive angle, the laser beam must be wide enough so that a link can be formed between the firing device and the target device. As a method of forming a wide cross-section beam, a first laser beam launcher having a wide beam divergence may be used, and a second angle scanner may be embedded in the laser beam launcher. Although it is preferable to use a laser beam launcher with a wide spread angle, in this case, a high power beam must be emitted from the laser beam launcher, so in the case of a long range firearm, the output of the laser beam exceeds the prescribed range of Eye-Safety. You can do it.

If human safety is a problem, the latter method, that is, a method of embedding a micro-angle scanner in the laser beam launcher is used. In order to perform fine scan, a mechanical method using a motor may be used, or an electro-optical method may be used. As an example of an electro-optic method, if a prism is made of a crystal that exhibits an electro-optic effect and a voltage is applied to it, the refractive index of the prism changes, so the direction of the incident beam can be changed minutely, and the magnitude of the applied voltage You can adjust the degree of change of direction.

The first wireless signal transceiver 170 transmits and receives data with the target sensing device and the central control device. The first wireless signal transceiver receives data, such as a hit or aiming error, from the target sensing device. Although it is preferable that the first radio signal transceiver of the launcher and the second radio signal transceiver of the target sensing device transmit and receive directly directly without passing through the repeater, but there is not a large number of trainees and there is no burden due to communication load, the repeater or BS (Base) You can also send and receive via a station.

4 is a flowchart sequentially illustrating operations of the first control unit and the image processing unit of the laser firing apparatus of the firearm simulation system according to the preferred embodiment of the present invention. Hereinafter, the operation of the laser firing apparatus will be described sequentially with reference to FIG. 4. The first controller 100 includes a CPU, a memory, a display, a motor driving circuit, a laser driving circuit, an input / output interface, and the like.

First, the laser firing device is installed on the firearm, and the center of the screen of the image capturing device of the laser firing device should be aligned so as to coincide with the initial value of the cross hair of the firearm's sight and the beam firing direction of the laser beam launcher. do. In this prepared state, when the start switch is turned ON, the laser firing device starts to operate. The start switch wakes up various processors and circuits of the launch device in standby and sleep mode to save power and starts operation. The shooter knows the current position of the moving target through the scope and adjusts the lead angle, directing the laser firing device so that the center of sight of the scope matches the future position of the moving target corresponding to the lead angle.

When the start switch is turned on after directing the laser firing apparatus toward the target's future position by the shooter (step 400), the image capturing apparatus is driven to acquire images of the target, and the acquired images are provided to the image processing unit ( Step 410). The image processor analyzes the images provided from the image capturing apparatus, obtains a leading angle measurement value of the target, and transmits the leading angle measurement value to the first controller (step 420). Steps 410 and 420 are continuously repeated until the firing switch state value is turned on.

When the first controller receives the freshness angle measurement value from the image processor, the first controller detects a current position of the firearm using the data received from the first GPS receiver (step 430).

Next, the first control unit generates and transmits a motor driving signal for rotating the directing direction of the laser beam launcher of the laser firing apparatus back by the leading angle measurement value (step 440). The motor assembly operates according to the motor driving signal provided from the first control unit to rotate the laser beam launcher. As the laser beam launcher is rotated back by the leading angle measurement, the laser beam launcher is directed to the current position of the moving target.

With the laser beam launcher pointing the current position of the moving target by driving the motor assembly, the first control unit drives the laser beam launcher to fire the laser beam containing the firing data (step 450). At this time, the firing data includes firearm identification information, leading angle measurement value, firearm current position, and firing switch state value. The initial value of the firing switch state value is set to OFF. Steps 410 to 450 are repeatedly performed until the firing switch is turned on.

The shooter knows the current position of the moving target through the scope, and finally adjusts the lead angle, directs the laser firing device so that the center of sight of the scope matches the future position of the moving target corresponding to the lead angle, and then triggers. Turn the firing switch on. When the trigger switch is pulled and the firing switch is turned on, the first controller changes the firing switch state value to ON, and then performs steps 410 to 450 (step 460). Thus, when the firing switch is turned on, the laser beam containing firing data including the firearm identification information, the leading angle measurement value, the firearm current position information, and the firing switch state value indicated as ON is fired to the current position of the target.

Next, upon receiving the shot result information from the target sensing device through the first wireless signal transceiver (step 470), the first controller analyzes the shot result information. If the analysis target hits the moving target, the display device informs that the hit is terminated and the procedure is terminated. If the moving target is not hit as a result of the analysis, the aiming error value is extracted from the shot result information, the aiming error value is output to the display apparatus, and the shooter is notified, and the procedure ends. The shooter can use the aiming error value displayed on the display device to re-adjust the leading angle to make a corrected shot.

Target sensing device

5 is a block diagram schematically showing the structure of the target sensing device 20 of the firearm simulation system according to a preferred embodiment of the present invention. Hereinafter, the structure and operation of the target sensing apparatus according to the present invention will be described in detail with reference to FIG. 5.

The target detection apparatus 20 according to the present invention amplifies the laser detection signals transmitted from the second control unit 500, a detection unit 510 composed of a plurality of laser sensors, and a detection unit for controlling the overall operation of the target detection device. Amplifier 520 for outputting the signal, a decoder 530 for extracting the firing information by decoding the laser detection signals transmitted from the amplifier, a second GPS receiver 540 for detecting the current position of the moving target, a laser launching device and data A second wireless signal transceiver 550 for transmitting and receiving, a beacon signal output unit 560, and the hit situation indicator 570 is provided.

The second control unit 500 controls the overall operation of the target sensing device, and a detailed description of the operation of the second control unit will be described later.

The detector 510 is formed in the form of a detector belt in which a plurality of laser sensors are arranged at predetermined intervals, and detects a laser beam and transmits the same to an amplifier. Laser sensors sense a laser beam and generate a current proportional to the intensity of the laser beam. When the wavelength of the laser beam is 904 nm or 905 nm, a silicon photo detector chip is typically used as a sensing element, and the front surface of the PD chip is covered with a filter to block noise caused by visible light. When the target is a vehicle or a vehicle, one sensor belt is attached to the front, rear, left and right of the target, and the laser sensors arranged on each sensor belt are connected in parallel so that the currents generated by each laser sensor are summed together. Applied to the amplifier.

The amplifier 520 amplifies the weak electric signal generated in proportion to the intensity of the laser beam in the laser sensor to a level sufficient for processing by the decoder, that is, the digital signal size. Typically the input signal of an amplifier is current and its output is voltage. The gain of this amplifier is expressed as the output voltage divided by the input current. Since the unit is a resistor, it is called a TRA (trans-resistance amplifier).

Typically, amplifiers perform not only amplification but also bandpass filter functions. For example, if the pulse width of the emitted laser beam is 300 nsec, the component value of the filter is set so that the center frequency of the bandpass filter is 1/300 nsec = 3.3 MHz. This improves the amplifier's signal-to-noise ratio (S / N ratio) because the amplifier can selectively amplify only pulses near 300 nsec and consider pulses with other time periods as noise, resulting in laser detection of the target device. Performance, ie sensitivity, can be improved. If the amplifier also has a bandpass filter function, the amplifier gain is not called pure resistance, so the amplifier is called a TIA (trans-impedance amplifier).

The output voltage of the amplifier described above is shaped to a digital level and applied to the decoder.

The decoder 530 decodes the laser detection signals, restores the firing data contained in the laser beam without error, and transmits the error to the second control unit. The firing data includes firearm identification information, lead angle measurement, firearm position information, firing switch state values, and the like.

The beacon signal output unit 560 emits light that blinks in a predetermined pattern to allow the image processing unit of the laser firing apparatus to easily recognize the target. The image acquisition device of the laser launch device emits a specific pattern of infrared light.

The hit situation indicator 570 includes a beacon, a speaker, and the like, and outputs a message indicating that a hit event has occurred by blinking the beacon that constitutes the hit situation indicator or driving the speaker according to a driving signal from the second controller. By the operation of the hit situation indicator, the firing of the firearm, the trained vehicle and the trained soldiers in the surrounding vehicle or vehicle, and the controllers to inform the fact that the hit event occurs audio and visual.

The second GPS receiver 540 is mounted on the target and detects current location information of the target by using signals received from the plurality of GPS satellites and provides the second location to the second controller.

The second wireless signal transceiver 550 wirelessly transmits and receives data to and from the laser firing apparatus, and transmits the shot result information such as whether or not to be shot and an aiming error to the laser firing apparatus under the control of the second controller.

Hereinafter, an operation of the second controller of the target sensing apparatus according to the preferred embodiment of the present invention will be described in detail with reference to FIG. 6. 6 is a flowchart sequentially illustrating operations of a second controller of a target sensing apparatus according to an exemplary embodiment of the present invention.

Referring to FIG. 6, the second controller receives launch data restored from the laser beam through the detector, the amplifier, and the decoder (step 600). The second controller extracts the latitude and longitude information of the current position coordinates of the firearm from the received firing data, and extracts the altitude information on the current position coordinates (latitude and longitude) of the firearm by inquiring a built-in digital map. The three-dimensional position coordinate of O ( x ₀ , y ₀ , z ₀ ) is obtained (step 620). In the same way, by extracting the latitude and precision information of the target's current position coordinates from the second GPS receiver, and by querying the digital map to extract the altitude information for the current position coordinates of the target, the three-dimensional position coordinates P ( x _p , y _p , z _p ) are obtained (step 630). If the target is a vehicle, read the altitude through the altimeter built into the aircraft's navigation system or install an altimeter to read altitude. Next, the second control unit detects the firearm identification information, the lead angle measurement value and the firearm position information from the received firing information, reads the ballistic equation corresponding to the firearm identification information from the memory, and reads the lead angle measurement value and the firearm position information. Complete the ballistic equation by substituting necessary variables, such as (step 640).

,

이며, 여기서,

는 사격 후 t초 경과했을 때 탄 비행 방향으로의 수평 좌표,

는 사격 후 t초 경과했을 때 탄의 수직 좌표,

는 포구 초속,

는 포신의 고각이다. Hereinafter, the ballistic equation will be described schematically. The ballistic equation is an equation that represents the position with respect to time in the state where a shot fired from a firearm flies. If we assume that the bullet is only affected by gravity as it flies, the ballistic equation

,

Lt; / RTI >

Is the horizontal coordinate in the direction of flight, t seconds after firing,

Is the vertical coordinate of the shot when t seconds have elapsed since shooting,

Muzzle sedge,

Is the elevation of the barrel.

However, in reality, it is difficult to express in a closed form because the bullet is not only affected by gravity but also air resistance. Thus, ballistic equations are generally written in tabular form and are called deadlines (called ballistics tables or firing tables). The resignation provides a visual indication of the trajectory and speed of the bullet. The resignation lists the shooting specifications, including the characteristics of the bullet and the environmental conditions. Specific shooting specifications include the type of shot, the muzzle velocity, the weight of the shot, the drag coefficient, the temperature, the specific gravity or air density of the air, the charge temperature, and the like. On the other hand, the items constituting the dead thread include a range, a super-elevation, a horizontal coordinate of a vertex, a height of a vertex, an end speed, a falling angle, and the like, which are a straight line distance from a canvas to a shot.

Next, the equation of motion of the target is read and the necessary variables are substituted to complete the equation of motion of the target (step 645). Next, a solution is obtained by combining the read ballistic equation and the target motion equation for the target, and in this case, it is preferable to obtain the solution by using a numerical method of repetition (step 650). As a result of the numerical analysis, if the difference between the position of the shot ( S (x, y, z) ) and the target position ( P (x, y, z) ) is less than the preset boundary range, the target is hit and hit. If the difference value does not become smaller than the preset boundary range but becomes larger again, the target is not shot and the shooting result is determined to be missed (step 660). If it is determined that the shooting result is missed, the aiming error amount is calculated (step 670).

Next, if the firing switch state value of the received firing information is ON (step 680), the firing result information is generated and transmits the firing result information to the laser firing apparatus through the second radio signal transceiver (step 690). . The shooting result information includes firearm identification information, whether or not to be hit, and an aiming error amount. If the firing switch state value of the received firing information is OFF, steps 600 to 670 are repeatedly performed to determine whether to be hit by numerical analysis.

)를 수학식 1과 같이 표현할 수 있다. Hereinafter, a process of calculating, by the second controller of the target sensing device, the ballistic equation, the target motion equation, and the aiming error amount will be described in detail. Vector from the current position O ( x ₀ , y ₀ , z ₀ ) of the firearm to the current position P ( x _p , y _p , z _p ) of the target (

) Can be expressed as in Equation 1.

의 크기 r _P 은 수학식 2와 같이 표시된다.vector

The size r _P is expressed by Equation 2.

의 방위각 성분(φ _P )는 수학식 3과 같이 표시된다. vector

The azimuth component φ _P of is expressed as in Equation (3).

의 고각 성분( θ _P )는 수학식 4와 같이 표시된다. Vectors based on elevation

The high angle component θ _P of is represented by Equation 4.

In addition, if the azimuth component of the lead angle measurement value is defined as φ _L and the high angle component is defined as θ _L , the azimuth component ( φ _B ) in the fire barrel direction is φ _B = φ _P + φ _L.

로서, 벡터

를 방위각 방향으로 θ _L 만큼 회전시킨 후 고각 방향으로 φ _L 만큼 회전시킴으로써 구할 수 있다. 통상적으로는 구면 좌표계(spherical coordinate system)에서 고각의 0°기준을 z축으로 삼는 것을 감안하여 벡터

를 구면 좌표계 형식으로 표시하면

이 되고 이로부터 직교 좌표계 표현을 도출하면 수학식 5가 된다. The high angle component θ _B 'becomes θ _B ^' = θ _P + θ _L. In other words, the direction of firearm barrel is vector

As, vector

Can be obtained by rotating θ _L in the azimuth direction by φ _{L in the} high angle direction. Normally, the vector takes into account the z-axis as the 0 ° angle of elevation in a spherical coordinate system.

Is displayed in spherical coordinate system format

And a Cartesian coordinate system expression is derived from the equation (5).

, 탄의 포구 초속 v ₀ 등 초기 조건과 풍향 및 풍속

, 공기의 밀도 ρ _air 등과 같은 환경 변수에 의해 결정되는 함수이다. 탄도 방정식은 수학식 6과 같이 표시된다.After t seconds from the firing time of the firearm, the positions of the shots S (x (t), y (t), z (t)) can be represented by ballistic equations, which represent the positional coordinates O (x ₀ , y ₀ , z ₀ ) , direction of barrel

Muzzle of bullets v ₀ Initial conditions and wind direction and wind speed

This function is determined by environmental variables such as _air density, ρ _air, and so on. The ballistic equation is expressed as in equation (6).

The ballistic equation is a function that depends on the type of firearm.

를 구한다. 즉, 시간 t=0 에서의 표적위치를 P₀ [x(0), y(0), z(0)]라 하고 시간 t=t1에서의 표적위치를 P₁ [x(t1), y(t1), z(t1)]라 하면, 수학식 7을 사용하여 속도 벡터를 구할 수 있다.On the other hand, in the present embodiment, it is assumed that the target is in constant motion, and when the target position received from the second GPS receiver at time t is P [ x (t), y (t), z (t) ] Velocity vector of target from rate of change of target position

. That is, the target position at time t = 0 is called P ₀ [ x (0), y (0), z (0) ], and the target position at time t = t1 is defined as P ₁ [ x (t1), y ( t1), z (t1) ], a velocity vector can be obtained using Equation (7).

After the velocity vectors are obtained as described above, the predicted positions P [ x (t), y (t), z (t) ] of the target at any time t can also be predicted through Equation 8.

Equation 8 is called the equation of motion of the target.

The second control unit combines the ballistic equation and the motion equation of the target to obtain a solution to determine whether to be hit. There are many ways to solve simultaneous equations, but ballistic equations are often nonlinear, and in such cases it is convenient to use an iterative method of numerical analysis. Repeating the calculation by iterative method, the difference between the shot positions S (x (t), y (t), z (t)) and the target positions P [ x (t), y (t), z (t) ] If it continues to converge to (0,0,0), the solution is considered to be a solution, and the shooting result is judged to be a hit. In this case, the calculation stops when the difference value becomes smaller than a certain range. As the calculation is repeated by the iterative method, the difference value between the position of the shot ( S (x, y, z)) and the target position ( P (x, y, z)) does not become smaller than the preset threshold range. Does not exist and the shooting results are judged to be off.

When it is determined that the shooting result is a hit, the second control unit 500 drives the hit situation indicator 570 to blink a warning light or drives a speaker, and identifies the firearm to the laser firing device side through the second wireless signal transceiver 550. Transmission result information including the information and the attack information is transmitted. If it is determined that the shooting result is missed, the second control unit calculates the aiming error amount and transmits the shooting result information including the weapon identification information and the aiming error information to the laser firing apparatus through the second radio signal transceiver. Hereinafter, a process of calculating the aiming error amount by the second controller of the target sensing apparatus will be described with reference to FIGS. 7 and 8. FIG. 7 is a view illustrating an aiming error amount when the second control unit of the target sensing apparatus aims at a small lead angle according to an exemplary embodiment of the present invention. FIG. 8 is an aiming point when the aim angle is largely aimed at. The figure shows to explain the vehicle.

In order to simplify the calculation of the aiming error amount, it is assumed in the present embodiment that the target is transversely moved from right to left in a direction perpendicular to the vector. If the shooting result is missed, the missed amount can be roughly calculated by the following procedure. The distance between the position coordinates ( O (x ₀ , y ₀ , z ₀ ) ) of the firearm and the position ( S (x, y, z) ) of the bullet can be expressed by Equation 9.

가 수학식 2에 의해 구할 수 있는 벡터

의 크기 r _P 와 같아지게 하는 시간 t=t _f 를 구한다. 여기서 r _P 는 방아쇠가 당겨졌을 때, 즉 t=0 일 때의 표적과 화기 사이의 거리이다. 표적의 운동방정식으로부터 t=0 일 때부터 t=t _f 사이에 표적이 이동한 거리는

이다. 그러면 수평 방향인 방위각 방향으로 빗나간 거리(△l )은 수학식 10에 의해 구할 수 있다.

Can be obtained by Equation 2

Size r _P Find the time t = t _f equal to. Where r _P Is when the trigger is pulled, that is t = 0 When is the distance between the target and the firearm. Between time t = 0 days of the equation of motion of the target t = t _f is a distance between the mobile target

to be. The distance (△ l) deviate in the horizontal azimuthal direction can be determined by the equation (10).

Angle (△ φ) of the stray azimuth direction is obtained as shown in equation (11).

If the values of the equations (10) and (11) are positive, as shown in FIG. 7, the shooter passes the rear surface of the cross-target moving to the left because the shooter has a small leading angle. If the values of the equations (10) and (11) are negative, as shown in FIG. 8, when the leading angle is largely applied, the shot passes the front of the cross target.

If it is determined that the shot is missed as a result of the shooting, the second control unit transmits the aiming error information including the information of the missed distance and the missed angle through the second radio signal transceiver, and the first control unit of the laser firing apparatus graphically displays the aiming error information on the display. It allows the shooter to see it and make corrective shots.

 The firearm simulation system according to the present invention is a system capable of training shooting for moving targets requiring leading fire, and can be widely used in MILES and the like.

10: laser firing device
100: first control unit
102: start switch
110: image acquisition device
120: image processing unit
130: first GPS receiver
140: motor assembly
150: launch switch
160: laser beam launcher
170: first wireless signal transceiver
20: target detection device
500: second control unit
510: detection unit
520: Amplifier
530: decoder
540: second GPS receiver
550: second wireless signal transceiver
560 beacon signal output unit
570: hit situation indicator

Claims (9)

In the target detection device mounted on the target to simulate the leading shot using a laser beam,
A second controller for controlling the overall operation of the target sensing device;
A sensing circuit unit having a plurality of laser sensors and extracting firing data from a laser beam received from the laser sensors and providing the extracted firing data to a second control unit;
A second GPS receiver mounted to the target to provide current location information of the target; And
And a hit situation indicator indicating a hit result according to the driving signal provided from the second controller.
The second control unit includes a database storing ballistic equations corresponding to each firearm, and upon receiving the firing data from the sensing circuit unit, reading the firearm identification information, the lead angle measurement value, and the firearm current position information from the firing data, The ballistic equation corresponding to the identification information is read from the database,
The target motion equation is set using the initial position value and the current position value of the target and the velocity vector of the target provided from the second GPS receiver, and using the ballistic equation and the target motion equation and the information read from the firing data. Determining whether the target has been hit or not, and outputs the determination result to the hit situation indicator,
The ballistic equation is an equation representing the position of the shot S (x (t), y (t), z (t)) after a time t seconds from the firing point of the firearm, and the target motion equation And an equation representing an expected position ( P (x (t), y (t), z (t)) of the target after a time t seconds has elapsed from the initial position using the initial position value of the target ) . The semiconductor memory device according to claim 1,
A sensing unit comprising a plurality of laser sensors;
An amplifier for amplifying and outputting signals transmitted from the sensing unit;
A decoder which decodes signals transmitted from the amplifier and extracts firing data;
Target sensing device, characterized in that consisting of. The method of claim 1, wherein the second control unit determines whether a difference value between the position of the bullet obtained by the ballistic equation and the target position obtained by the motion equation of the target is included in a preset threshold range, and the difference value is If it is included in the threshold range is determined that the target has been hit, target detection device, characterized in that it is determined that the target has not been hit if the difference value is not smaller than the threshold range or larger again. The apparatus of claim 1, wherein the target sensing apparatus further comprises a beacon signal output unit configured to output a beacon signal according to a preset pattern. The target sensing device of claim 1, wherein the hit situation indicator comprises at least one of a warning light, a speaker, a display device, and a vibration device. The apparatus of claim 1, wherein the target sensing device further comprises a second wireless signal transceiver capable of transmitting and receiving data to and from the laser beam firing device.
The second controller generates hit result information including hit information, aiming error information, and firearm identification information according to a determination result of determining whether there is a hit, and sends the hit result information to the laser firing apparatus through the second wireless signal transceiver. Target sensing device, characterized in that for transmitting. In the firearm simulation system for simulating the leading fire using a laser firing device mounted to the firearm and a target detection device mounted to the moving target,
The laser launch device,
A first control unit controlling an overall operation of the laser firing apparatus;
A firing switch driven in conjunction with the trigger of the firearm;
An image processor configured to measure a lead angle from an image of a moving target aimed by applying a lead angle by an aiming mirror of the firearm;
First GPS receiver providing current location coordinates:
A laser beam launcher mounted to the firearm and configured to emit a laser beam loaded with firing data according to a laser driving signal provided from the first controller; And
And a motor assembly for rotating the laser beam launcher in accordance with a motor driving signal provided from the first control unit.
When the firing switch is turned on, the first controller generates firing data, rotates the laser beam launcher by a forward angle measurement value by using a motor assembly, and then launches a laser beam loaded with the firing data through the laser beam launcher. Characterized in that,
The target detection device,
A second controller for controlling the overall operation of the target sensing device;
A sensing circuit unit which extracts the firing data from the laser beam received by the plurality of laser sensors and provides the extracted firing data to the second control unit;
A second GPS receiver mounted to the target to provide current location information of the target; And
And a hit situation indicator indicating a hit result according to the driving signal provided from the second controller.
The second control unit includes a database storing ballistic equations corresponding to each firearm, and upon receiving the firing data from the sensing circuit unit, reading the firearm identification information, the lead angle measurement value, and the firearm current position information from the firing data, The ballistic equation corresponding to the identification information is read from the database,
The target motion equation is set using the initial position value and the current position value of the target and the velocity vector of the target provided from the second GPS receiver, and using the ballistic equation and the target motion equation and the information read from the firing data. Determining whether the target has been hit or not, and outputs the determination result to the hit situation indicator,
The ballistic equation is an equation representing the position of the shot S (x (t), y (t), z (t)) after a time t seconds from the firing point of the firearm, and the target motion equation A firearm simulation system using an initial position value of a target, wherein the equation represents an expected position ( P (x (t), y (t), z (t))) of the target after time t seconds have elapsed. The apparatus of claim 7, wherein the image processing unit of the laser firing apparatus detects a beacon signal from an image of the moving target, recognizes the moving target using the detected beacon signal, and a distance between the recognized moving target and the center of the image. Characterized by measuring the leading angle using,
The target sensing device further comprises a beacon signal output unit for outputting a beacon (beacon) signal according to a predetermined pattern. The method of claim 7, wherein the laser firing device further comprises a first wireless signal transceiver for transmitting and receiving data with the target sensing device,
The target sensing device further includes a first wireless signal transmitting and receiving unit capable of transmitting and receiving data with the laser firing apparatus, and the second control unit of the target sensing apparatus generates the shooting result information to generate the laser firing apparatus through the second wireless signal transmitting and receiving unit. Firearm simulation system, characterized in that the transmission to.

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