KR890000098B1 - Aircraft automatic boresight correction - Google Patents

Abstract

The location is detected at a given instant of bullets fired from the gunnery system. A display indicates through a sighting system a boresight symbol representing a reference point from which the predicted instantaneous position of fired bullets is computed. Data representing the positions of the fired bullets and the boresight symbol are stored. A device predicts the path which the fired bullets will take. The error between the observed position of the fired bullets and the predicted position is determined and stored. The sighting system is subsequently corrected in accordance with the error correction.

Description

Optical observation field automatic calibration system of aircraft

1 is a block diagram showing an embodiment of the optical observation field automatic calibration system of the present invention aircraft.

2 is a schematic diagram of a firmware portion of video tracking processing of an automatic observation field correction system and a display processor.

3 is a diagram illustrating the window generator of the firmware of video tracking processing of FIG.

FIG. 4 is a diagram showing an image showing a ballistic movement of a pilot so that a pilot can see it when there is no system error.

5 is a diagram showing the relative error between the ballistics and the actual ballistics predicted in the ballistic motion image of FIG.

6 is a detailed view showing the relative error of FIG. 5 in more detail.

7 is a diagram showing invisible relative errors that exist when the exact location of the observation point symbol is on the predicted extension of the ballistic line.

8 is a diagram showing the error correction that appears when the observation field error correction using the city method.

9 is a diagram showing a first non-repeat method of observation field error correction.

10 shows a second non-repeat method in which the observation error adjustment is performed.

11 is a third non-repeat method, which is a method using a time interval of observation field error correction.

FIG. 12 is a more detailed view of FIG.

* Explanation of symbols for main parts of the drawings

30: display processor 35: digital processor

36: video tracking processing checkway 38: relative error processing unit

The present invention relates to an optical observation field operation correction apparatus for an aircraft rifle, and more particularly, to an automatic observation field processing apparatus for an aircraft rifle when a shot is shot in flight.

The concept of tracking trajectory to measure the relative error between the initial target detection means of the fire control system and the associated fire means (firearms) has been known. That is, U.S. Patent Application No. 3,136,992, assigned to the assignee of the present application, by the inventor Hurensch, determines the installation error between the radar and the observation axis of the gun, which tracks the direction angle and range for measuring the position of the bullet fired from the turret-type firearm. Equipped with means. The system has been mass-produced and recognized as very useful for maintaining the installation location between the turret type firearm and radar protecting the fire control system.

However, if the pilot is a fighter capable of observing the bullet through the initial target detection means, the head-up display (HUD), the tracking radar is very valuable as a bullet detection means. In this case, the error between the HUD siting system, the target grasping means and the observed bullets can be almost discerned by the naked eye as part of the electromagnetic spectrum.

The above described method, in which the pilot must first detect the relative error between real and virtual bullets, was determined to be unsatisfactory after the test flight. The most difficult thing here is that the pilot must display the information for a short time without even thinking about the error. If this is solved, it will not shoot too many times, properly correct the field of view, and save the precious short time and ammo. .

Indeed, it is almost impossible for a fighter to install guns and their means of observation precisely and reliably, keeping them for many months without the cost of meat and time-consuming methods involving good ground maintenance and skilled technicians. The installation error between the gun and its means of observation is based on the different coefficients of expansion of each part of the aircraft, the bending moment acting on the fuselage during flight, the drift of the display electronics, the reaction force of the fire and the resulting moment, repeated takeoff and landing and air. It is due to deformation force due to combat operation.

In addition to these problems, it is not practical to pay attention to the gun and gun tube errors rather than to actually fire. Shooting ammunition on the butt of a gun from the ground is impractical for wartime, very expensive and time-consuming even in peace. The gunman on the ground target provides the full range of equipment errors of the gun, but the initial means of checking the installation of observational instruments due to the difficulty of the correlation of the error by the distance is not sufficiently sophisticated and reliable. As a result, there is a need for highly precise means for observing the firearm system of a fighter that minimizes the time and cost required for the shooting.

Accordingly, a first object of the present invention is to provide an automatic observation field correction system.

A second object of the present invention is to provide an automatic observation field fixing system that can use the equipment installed in the aircraft (fighter) to the maximum.

The third objective of the present invention is to provide an automatic observation field correction system that can reduce the number of shots to a minimum and achieve the maximum effect.

A fourth object of the present invention is to provide an observation field system for an improved aircraft firearm.

Other objects and features will become more apparent when describing the accompanying drawings.

The present invention is an automatic observation field correction system provided with a gun system and an observation system in an aircraft. The apparatus of the present invention includes a means for tracking the weaving of live bullets fired from a firearm system and a means for displaying an observation system indicative of a reference point for calculating the projected instantaneous position of the fired missiles and for indicating the location of fired bullets and observation symbols. Means for storing data, means for predicting the way the missile will pass, means for determining the relative error between the observed position of the missile and the predicted position, means for storing the determined relative error, and observation according to the determined error Means for calibrating the field of view system are included.

Hereinafter, with reference to the accompanying drawings will be described.

Figure 1 also shows a block diagram of one embodiment of an automatic observation calibration system for use in an aircraft equipped with a launching system and a weighting system. The automatic observation calibration system is equipped with a TV camera, such as a cock pit television detector (CTVS 10), that is, a means for locating the position of the live bullet fired from the launch device. In addition, signal display generating means indicating the pre-calculated arrival position of the bullet, that is, the head-up display HUP 20 and the display processor 30, are supplied. The HUD 20 includes HUD optical means and electronic means for receiving input from the combination glass 22 and the symbol generator 32 and is supplied with an inorganic transfer processor 34. The above-described inorganic distribution processing unit 34 is constituted by a digital processor 35 which alternately becomes a display processor 30. Also included are means for storing data indicative of the target position and the location of the missile fired, which consists of observation correction means and video tracking (BSC & T) processing firmware 36 or a display processor. Also included is a means for predicting the trajectory of the launched sugar, which is also supplied to the weapon distribution processor 34. The means for determining the error between the observed position and the predicted position of the fired shot constitutes the relative error processor 38 of the digital processor 35. The means for storing the determined error data is formed of a non-volatile memory 39, and the means for correcting the siting system in accordance with the determined error is in the form of an inorganic distribution processor 34 of the digital processor 35.

In FIG. 1, the circuit operates as follows. While flying objects are being observed, the pilot plans tactical actions, applies stalled focused shots and tracks as much as possible. Shotguns detected and fired by the CTVS 10 are tracked by the video processing wayway 36. FIG. 2 and 3 show a detailed naver of the video tracking processing wear 36. I will explain.

The video tracking processing firmware 36 is a series of high speed digital circuits that send a bullet position from a video camera and store the position in a buffer. The above position data are read by a digital processor 35 which analyzes and calculates the original gun cannon position by comparing the measured bullet position to calculate an average error between the analyzed bullet position and the measured position. It is corrected according to the error and updated with non-ambiguity memory for use in weapons calculations.

This process is described in more detail in FIGS. 5 and 6. Initially, the observation symbol position of the HUD is calculated and displayed on the camera and the HUD. The gun cross calculus module was used in the processor where the tracker “gate” 550 was placed, which was not visible at the expected observation symbol location.

At this time, the video tracking processing firmware 36 detects the position of all the cross pixels as the video and stores it in the buffer. The stored data is used in the observation symbol calculation module to calculate the current observation symbol position. As shown in FIG. 5B, the pilot bypasses and applies rapid continuous shooting around the tracking position. When the pilot pulls the trigger, it is automounted by the processor and the ballistic algorithm calculates the location of the bullet.

In the camera of the HUD 10, the tracker gate 550 is located at the bullet position in theory, as shown in Figs. 5c to 5f, and the tracker firmware 36 buffers the data by tapping the actual position of the bullet. Store in

In FIG. 6, the processor for calculating the center position of the bullet calculates the center position of the bullet and compares the vertical distance with the theoretical bullet position.

These relative errors are averaged for each camera and calculated by the corrected observation symbol position for all shots. However, this calculation can only correct observation calibration errors perpendicular to carbon. Thus, a two-axis calibration requires an opposite turn as shown in FIG. This is a unique way of calculating the observational calibration error.

Referring again to FIG. 2, there is shown a block diagram of a selected embodiment of the video tracking processing firmware 36 and the calibrator of FIG. 1, wherein the video signal from CTVS10 is a picture of the synchronous separator 202. A direct current voltage is directed at the video receiver 201 to separate the synchronization pulses (HSP and VSP) from the Bedouin. The image video 203 is made up of a threshold circuit 2040 that allows only video signals larger than the fixed threshold to come out of the output 205. The vertical synchronization pulse VSP and the horizontal synchronization pulse HSP adjust the line 206 and the pixel counter 207 to address or uniquely identify each pixel in the video. When the threshold video field 205 is received, the value of the line and the contents of the pixel count are stored in the X-position 209 and Y-position 208 memories. Handling of bullets with useful values (locations) To avoid saturation due to memo by multiple video signals, the electronic window 550 of FIG. 5 is expected to have a width and height that can be offset by any position error by the original oil generator 240. Consists of bullets regarding location. The window generator 240 sets the window boundary area as the actors from the relative error processing unit 38 (FIG. 1), so that only the line counter value and pixel count value desired in this area are emory 208 and ( 205).

The video pulse counter 210 precedes each threshold videofilth 205. The result of the video pulse counter 210 is 1) used to securely specify the memory for storing the line counter 206 and the pixel counter 207 corresponding to each threshold videofilth 205, and 2) the memory 208. It is used to prevent overuse of the threshold video pulse 205 so as not to exceed the saturation limit of the < RTI ID = 0.0 > Logic gates 211 and 212 always detect the saturation limit so that video pulse counter 210 does not effect the saturation value described above. When the line counter 206 exceeds the lower limit of the window boundary area, the window generator 240 generates an interrupt signal to the relative error processing unit 38 (FIG. 1). Therefore, the line counter indicating the threshold video pulse position and the bullet position in the visible region of the CTVS and the data of the pixel towner are determined by the relative error processing unit by the CPU bus interface 213 connected to the processor control signal from the memory 208 and 209. Read as (38).

3 illustrates a window generator 240 that accommodates positions that occur only within the boundary region of the window 550. The border area of the window is calculated by the processor 35 and stored with the aid of the loading control 312 in register 340 in register 301. The output of the register is transferred to the first input of the comparison means 305 to 308. The values of the line counter 206 and the pixel counter 207 are transferred to the other inputs of the comparison means 305 to 308. When the values of the line counter and pixel counters 206 and 207 are within the window boundary, a satisfactory comparison is made by the comparing means 305 to 308, and the result is represented by GTL, GTR, GTT, GTB. The output signal is logically combined by a logic gate 309 to generate a logic signal. The logic signal described above is available to the memory 208, 209 and the video pulse counter 210. In order to maximize the processing time, the circuit including the flip-flop 310, Kate, and 311 interrupts the computer as soon as the lower limit of the window boundary area is exceeded. The loading control 312 generates pulses for loading from the registers 301 to 304 when DATA is received from the relative error processor 38 and resets the interrupt circuit 310 and 311.

Referring to FIG. 4 and FIG. 5, a gun system that can magnify the flight of the bullet shown by the optical field means of the gun system, which can magnify the flight of the bullet for a given turn rate of the fired aircraft. A series of screens showing the location of the bullets seen by the optical field means is shown. Figure 4a shows the location of observation symbol 440, showing the base line with the weapon mounted on the aircraft. The trajectory calculated by the processor 35 is calculated from the observation symbol position 440 described above, and the estimated pitch lines of the bullets are respectively 442 and 542 in the (4b-4f) and (5b-5f) screens. Is shown. The above-described screens 4b-4f and 5b-5f show images seen by the coordinator and the CTVS 10 as an engineering observation field system of the gun as a form of a bullet firing operation. 4b and 5b are the triggers of the firearm, while 4C-4f and 5C-5f are the states that follow. Parts of dashed lines 443 and 543 represent the respective positions as the bullets are fired from the gun and fly through the space near the aircraft detected by each video screen of the CTVS 10. In the series of screens described above, bullets are represented by dots 444 and 544 that fly off and disappear. The location of the benefits is detected by the CTVS 10 associated with the BSC & T video tracking process 36 as described above and relative error to determine the relative error of the observation symbols 440 and 540 on each firearm of the aircraft. It is processed by the processing unit 38.

4 and 5 are the same drawings except that Fig. 4 shows the image when there is an error that can be mismatched, while Fig. 5 shows the image when an error that cannot be ignored is shown. In addition, in FIG. 5, the position and shape of the electronic window when the trigger of the gun is operated are shown in FIG. 5a, while in FIG. 5c-5f, there is a series of states thereafter.

In FIG. 6, the above situation is enlarged and the relative error is enlarged. In addition, FIG. 6 shows the base line with the weapon mounted at the present position of the observation symbol 640 and the actual position 64J where the observation symbol is stored in the processor 35 (in which the observation symbol is shown in a small cross shape. Should be noted). The solid line 660 is the actual trajectory of the bullet center when the bullet is sufficiently far from the aircraft to reduce the change in relative position due to the change in the direction of the target. The extension line of the trajectory 660 intersects the calibration position 640 'of the tube symbol.

In such a situation, the relative error is removed by the pilot and the CTVS 10 so that the position 74Q 'of the optical field correction symbol as shown in FIG. 7 is in line with the predicted trajectory 742, The center of the trajectory follows the predicted trajectory 742 line. At this time, the predicted trajectory 742 and the actual trajectory 76 will coincide.

8, 9 and 10 show other methods of relative error correction described above. The method he is in is programmed in selected embodiments of the present invention. FIG. 8 shows a method performed in the case where the pilot makes a priority turn after the left turn. If a series of bullets are fired at each turn, the relative error is calculated. The predicted trajectory 842 at the initial turn coincides with the actual trajectory 860. Therefore, no relative error appears and no error correction is required. On the second turn, the relative error and clarity appear clearly between the actual trajectory 860 'and the predicted trajectory 842'. The l primary calibration new position (840 ^') is to the relative error value (8625) to correct the calculated By actual trajectory line (860 of' moving the optical observation field of view normal to the symbol). In the third turn, the relative error between the actual trajectory 842 and the predicted trajectory 860 "appears, and the second calibration calculates the relative error value 862" to reposition the new position 840 ". To move the optical field of view symbol perpendicular to line 842. This process requires only two corrections until the relative error is negligibly small. The relative error is calculated by non-repetitive method, where the observation sight symbol position is corrected by moving its vertical position to the actual carbon trajectory as shown in Fig. 8. On the second turn, the first turn By shifting the vertical distance to the calculated position, the observation field fixed position is corrected as described above, so the non-repeating method is completed by the calibration at the second turn.

In FIG. 10, a second non-repeat method is shown. When a bullet is issued when the aircraft makes the first turn, the actual trajectory trajectory of the bullet is calculated and stored as a non-destructive memory. At this time, the second turn is different from the first turn, and when the bullet is fired, the actual trajectory is calculated again. The two actual ballistic trajectories described above are calculated by the following two linear equations. Y = m ₁ × + b ₁ and Y = m ₂ × ₊ b _{2 The} above two equations are calculated by the relative error processing section 38 as a conventional solution for determining the observation field correction position 1040 '. In this method, the initial observation field symbol position 1040 needs to be known. The relative error between the initial observation field symbol position 1040 and the calibration observation field symbol position 1040 'is not calculated. In other words, the calibration observation field symbol position (l040 ^y ) for the gun system is calculated.

10 shows i, i + 1, i + 2... And j, j + 1, j + 2 ... to average the center point of a number of bullets along the actual trajectory of bullets. The result is shown on the screen shown in FIG. Relative error processing unit 38, the trajectory 1060, more we feed the more samples a more accurate actual trajectory to (10605) ^- that will be obtained.

Other non-repeat methods are shown in Figures 11 and 12, which are used for aircraft flying according to certain tactics during error correction. This method predicts the location and time of the bullet center based on the aircraft's tactics. The relative error is determined every time by comparing the position 1171 of the actual ballistics with the predicted position 1118 of the ballistics. At time t ₁ , the position 1181 of the actual ballistic, the position 1171 of the predicted ballistic and the relative error 1191 are shown and similarly, the time t ₂ , t ₃ . Is also shown.

The relative error vectors 1191, 1192, and 1193. Are averaged and the result is used to correct the observation field symbol position 1140. Calculating the average value is done to get a more accurate calibration position than is necessary for this method.

Claims (24)

An observation field automatic calibration system for an aircraft equipped with a firearm system and its cytin system, wherein the sighting symbol indicates a reference point for predicting instant positions of bullets fired from the firearm system through the sighting system. The video signals indicating the respective positions of the live shots are supplied by a video sensor to a video sensor, a video processor, and a video processor that generates video signals indicating instant positions of the bullets. Means for processing and storing the detected observation signals and an observation symbol generator, and supplying the observation symbol generator with the display processor for generating the position data for the observation symbol and the observation symbol position data generated by the display processor. Prize Means for locating an observation symbol, means for activating the observation system, and predicting instantaneous positions of the bullet and calculating an error between the predicted bullet position and the instantaneous bullet position detected by the video sensor. And a digital processor which is responsive to the display processor and that adjusts the position of the observation symbol data to compensate for the calculated error. 12. The system of claim 11, wherein the digital processor includes a non-explosive memory for storing adjusted position data for the observation symbol. 12. The system of claim 11, wherein the digital processor further responds to the adjusted position data of the observation symbol to perform an inorganic supply calculation for the firearm system. 12. The system of claim 11, wherein the digital processor is further responsive to the error calculated to perform the weapons supply division for the firearm system. 12. The apparatus of claim 11, wherein the plane includes means for supplying data representing its instantaneous motion to the digital processor, the digital processor decomposing the motion data into calculated values of the instantaneous bullet positions predicted. And an optical observation field automatic calibration system for the aircraft. 12. The video sensor according to claim 11, wherein the video sensor is composed of a cockpit television camera, and the camera comprises means for supplying a signal to the video processing unit indicating a signal symbol position and a bullet position on the head-up display. Optical field of view automatic calibration system for aircraft. 17. The system of claim 16, wherein the video processor includes means for extracting and separating signals representing the observation symbol position and the bullet position from a received camera signal. 18. The system of claim 17, wherein the video processor includes means for providing a predetermined electronic window focused around the predicted instantaneous bullet position, the time required to process the received camera signals by the video processor and digital processing; And the electronic window excludes a portion of the camera signal outside the electronic window boundary so as to reduce the amount of memory. 12. The system of claim 11 wherein at least a portion of the ammunition is a tracer round optically detectable by the video sensor. CLAIMS What is claimed is: 1. A method of observing a firearm system of an aircraft having a sighting system comprising observation symbols, comprising: firing multiple rounds with the firearm system, detecting the actual position of the round relative to the observation symbol; Predicting a relative position of the round with respect to the observation symbol, calculating an error vector representing a difference between the actual position and the predicted position of the round, and compensating for the difference according to the error vector; And calibrating the sighting system. 21. The method of claim 20, wherein predicting the location of the rounds fired comprises decomposing data indicative of instantaneous movement of the aircraft. 22. The method of claim 21, wherein detecting the actual position of the fired rounds comprises calculating the centers of the plurality of fired rounds, and calculating the error vector calculates the calculated centers for the observation symbols. Comparing the predicted center to the predicted center of gravity. 23. The firearm system of claim 22, wherein comparing the calculated center also includes comparing each of the plurality of instantaneous positions of the calculated center to each predicted instantaneous center position. How to observe. 24. The method of claim 23, wherein the step of calibrating the siteing system further comprises averaging the comparisons of the plurality of instantaneous positions and reducing the error vector by an amount proportional to the average of the comparisons. And moving the position of the firearm system of the aircraft. A method of automatically observing a firearm system of an aircraft having a sighting system comprising observation symbols, comprising: firing multiple rounds from the firearm system and detecting the actual position of the round relative to the observation symbol Calculating a predicted trajectory of the round for the observed symbol, calculating an error vector representing a difference between the position of the round and the actual, and compensating for the difference in accordance with the error vector. And calibrating the sighting system. 26. The method of claim 25, wherein detecting the actual trajectory of the rounds fired when the aircraft is in the firing comprises detecting each position of each round fired, and calculating the centers of the plurality of rounds. And calculating a trajectory of the center, and comparing the calculated trajectory of the center with a calculated predicted trajectory for the observed symbols. 27. The method of claim 26, wherein calculating the predicted trajectory of the fired round comprises decomposing data indicative of the instantaneous motion of the aircraft. 27. The method of claim 25, wherein determining the error vector when the aircraft is in flight comprises performing a series of in-flight iteration solutions that determine corresponding components of the error vector by comparing an actual trajectory with the predicted trajectory. Method for automatically observing the gun system of the aircraft comprising a. 29. The method of claim 28, wherein calculating the predicted trajectory of the fired round comprises decomposing data indicative of instantaneous motion of the aircraft. 30. The method of claim 29, wherein calibrating the siteing system comprises moving the position of the observation symbol in a direction of decreasing the error vector by an amount proportional to the corresponding error vector component for each iteration solution. Method of automatically observing the firearm system of the aircraft. 30. The method of claim 29, wherein calculating the predicted trajectory of the fired round comprises decomposing data indicative of the instantaneous motion of the aircraft. 32. The firearm of claim 31, wherein calibrating the siteing system comprises moving the position of the observation symbol in a direction of decreasing the error vector by an amount proportional to each error vector component. How to automatically observe the system. 27. The method of claim 25, wherein firing multiple rounds comprises firing multiple tracking ammunition to facilitate detection of the firing round. 26. The method of claim 25, wherein the calculating of the error vector when the aircraft is in flight comprises: performing a first constant rotation adjustment in one direction, calculating a first error component based on the first rotation adjustment, and performing the first rotation adjustment. Performing a second constant rotation perpendicular to a second constant rotation adjustment perpendicular to a; calculating a second error component approximating the second rotation adjustment; and providing the first and second components to provide the error vector. And observing the gun system of the aircraft, characterized in that it comprises a step of combining them.

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