TW468029B - Micro fire control method and system thereof for rifles - Google Patents

Abstract

A micro fire control method and system are disclosed for improving conventional rifles. Wherein, an inertially stabilized sight and barrel are implemented with measurements from MEMS angular rate sensors and accelerometers; rifle firing lead angle is computed by integrating information from a laser rangefinder, a MEMS inertial sensor assembly, and projectile ballistic characteristics.

Description

Printed by the Consumer Standards Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs 468029 _; _____ B7 V. Description of the invention (1 :) At present, slam-kick stepping is applied. Liang Zhun kinetic energy bullets. Sometimes equipped with a laser rangefinder, such as the McMillaiL M-32, Focused Laser, Sniper Rifle shown in the first picture, the m-32 rifle is used as a heavy infantry Sneak step Xu, 5 was developed for the Army's best striker Xiaohong. It is mainly aimed at destroying its high-priced armed personnel target in the enemy area. In order to accomplish this task, the M_32 is equipped with a hundred laser rangefinders (which can work with two "close-range visible lasers") and a sixth-generation Zeiss Thermal Imager (Thennai Imaging Sight) «10 due to killing Increased force, user movement, target movement, and increased distance requirements. 'It is necessary to apply innovative technologies to improve the performance of existing snipers in many fields.' [AppHcation]

The rapid development of Specific Integrated Circuit (ASIC) and MEMS (Micro-Electro Mechanical-System) technologies has made it possible to improve the performance of existing sniper rifles. '' The main purpose of the present invention is to provide a micro-fire control method and system, by adding low-cost, light-weight, small-volume hardware, and complex algorithms and software, to make the target sniper step hit the probability of hitting, the component's Miniaturization has achieved substantial performance improvements in terms of weight reduction and increased effective range. Among them, measurements from MEMS angular velocity sensors and accelerometers have been used to achieve an inertially stable line of sight and pipe grabbing. The information from the laser rangefinder and the MEMS inertial sensor assembly and the ballistic characteristics of the bullet calculate the firing advance angle of the rifle. Another object of the present invention is to provide a miniature fire control method and system. The paper method scale uses the Chinese National Pick (CNS) A4 specification (210X297 mm) S3. 3.10,000 ---------- -I'r----(please read the notes on the back first and then fill out this note) Order M: _ A7 B7 4 6 8 0 2 9 V. Description of the invention (2) = Tongΐί * Innovative sensor technology The formula calculation and% ^ contact fiber power loss, so that ^ meets the movement of the target, and the increase in distance is required. Gan Gu ί depreciation—provided by Muqi—weave control methods and systems that are dirty enough for military and listening, for example, law enforcement buildings_hunting 'market ’and other dual-purpose purposes. The individual components of the present invention can be used in small devices' such as cameras and mobile communications. Graphic description: Please read first. 10 15 The first picture, the second picture, the third picture, the fourth picture, the fifth picture, the tenth picture, the seventh picture, the eighth picture, and the ninth picture show the current McMillan focus laser sniper step. ',' Shows a sniper structure with a miniature fire control system. , Shows a block diagram of the sniper step micro fire control method. Shows the block diagram of sniper step auto tracking target step. Shows a block diagram of the sniper step grab electronic excitation step. It shows the block diagram of the sniper stepping line lift rate and the method of removing disturbances. A block diagram showing the advance angle calculation for snipe stepping. Laser rangefinder measuring geometry showing sniper stepping. Miniature fire control system showing sniper steps. Order the printed drawing description of the staff consumer cooperative of the Central Procurement Bureau of the Ministry of Economic Affairs: 1-Angular velocity sensor and acceleration sensor assembly L Optical sight 4- Pitch and azimuth bracket and servo unit 3-Laser rangefinder 5- Bracket angle sensor 6 -Fire control unit line-of-sight command calculation module 62-Advance angle calculation module 'ί Zhang Xiaogan used the Chinese National Kneading Rate (OIS) A4 specification (210X297 mm y 83.3.10,000 468029 Printed by the Employees' Cooperative of the Central Provincial Bureau of the Ministry of Economic Affairs V. Description of the invention (3) 621-filter 623-phase: pairing process module _ 7-electronic board machine 622-ballistic calculation module 63_ platform control algorithm: method 8-power source 10 15 This invention relates to a fire control Method and system * More accurately, but not exclusively. It is a miniature fire control method and system for target snooping. It uses the MEMS angular velocity sensor and accelerometer, line of sight. And laser rangefinder. Information, and additional inertial stability: leveling and closing, so that when both the operator and the target are in motion, they achieve practicality in terms of hit probability, miniaturization of components, weight reduction, and increased effective distance In principle, another direct method to increase the lethality of step-robbing, the 'moving target' and the extended distance requirements of the movement operator is to develop a smart bullet, a "mini-missile". But in the near future In the future, it is impossible to implant the entire guidance, navigation and control system (GN & C), and the engine into such a small bullet. With the application specific integrated circuit (ASIC) ^ pMEMS (Micro- With the rapid development of Electro-Mechanical-System technology, it is possible to develop a fire control system to provide the best performance for the smasher to control the grab, to improve the probability of hitting, improve the range, the ability to move targets, and the ability of sports users. Therefore, the present invention provides a low-cost, light-weight, integrated micro-fire control system for step-robbing, which integrates the information from the laser rangefinder and MEMS inertial sensor components and the ballistic characteristics of the bullet, and achieves an inertial stability The fire control system of step-robbing needs to isolate the user's movement by processing the angular velocity sensor and acceleration The signal that the sensor is sensitive to make the pipe grabbing accurately point out the precautions, then i%, order • .1 The size of the paper, the angle of the angle, according to the national standard (CNS) A4 specification (210X297 mm) 83.3 '10,000 5. Description of the invention ( 4) 15 • A7 B7 The Central Ministry of Economic Affairs, the Ministry of Economic Affairs and the Consumer Cooperatives printed the bullets, and the bullet hit the target. However, conventional angular velocity sensors and acceleration sensors cannot be used because of their cost, size, weight, and power consumption. Too big for a rifle and its users. The new frontiers of angular velocity sensor and acceleration sensor technology are being developed ... The technology makes it possible to manufacture conventional inertial devices compared with conventional inertial devices. ’Angular velocity sensors and acceleration sensors have greatly improved in terms of cost, volume, and reliability. MEMS means microelectromechanical system (Microelectromedianical System) or tiny electromechanical device. MEMS devices involve the application of Integrated Circuit (1C) technology to produce controllable mechanically movable structures. MEMS includes microelectronics and micromechanical concepts. Examples of MEMS devices are print heads of inkjet printers' accelerometers that open airbags for automobiles, and micro robots. Microelectronic technology is a very mature technology for making electronic circuits on silicon wafers. As we all know, thirty years ago, with the advent of the first integrated circuit, the silicon revolution began. Integrated circuits have actually changed every aspect of our lives. Over the past three decades, the number of integrated circuits in the integrated circuit industry has increased. The number of transistors integrated in a silicon chip has increased rapidly. The number of transistors in a silicon chip has grown rapidly, and the performance of ICs has been continuously improved. . With the passage of time, huge and responsible, the complex axis has been replaced by compact, high-quality Integrity e-gambling. The growth of the axis circuit function is indeed huge, but most of this— & processing capacity. It is considered logical that the MEMS confined to the chip is considered to be fatal. 下-I believe this -6-the wave scale is applicable to the country and the country ("A4 this grid (210X297 public 嫠 (Please read the precautions on the back before (Fill in this page) 46 8029 A7 Ministry of Economic Affairs, China ’s Inhabitant Quasi Bureau® C Industrial Consumer Cooperatives-S-System V. Description of Invention (5),-The steps will be different: Yes, it will be more integrated than simple integration. Body tube to Silicon is more important. In the next thirty years, the symbol of the silicon revolution will be a new type of function integrated into the chip structure. It will not only make the chip think, ▼, and be sensitive, act, act, and trust.; MEMS It is a combination of micro-devices and systems of electrical and mechanical components. They are manufactured by integrated circuit (1C) batch processing technology, and their sizes range from micro to millimeters. Material deposition, sacrificial oxide, and corrosion processes are available. Engraving. Moving parts no larger than a micrometer. These systems can be sensitive, controlled and implemented microscopically, acting alone or producing macroscopic effects in an array. Some MEMS applications include: 10 Sensors: Inertia, pressure_ Optical switches: Integrated optics, micro-optical biology Medical devices · Micro-rheology massive data storage 15 Micro-instruments Micro-mechanics Micro-pumps Micro-robots MEMS is a growing industry, there is a calculation that estimates that it has a 20 billion-dollar market today's 34 billion in 2003 Market. Using the typical batch manufacturing technology of the semiconductor industry, thousands of identical sensors can be made at the same time, each a few square millimeters in size. Compared with conventional inertial devices, MEMS inertial devices are used for guidance, navigation and control systems in Cost, volume, and reliability are provided in huge paper ft scales, using China ® Jiao Mou (CMS) mega grid (210X2? 7 mm) 83.3 * 10,000 'IJ ^ 0 attack-(please read the back first Note: Please fill in this page again) Order 1 :: β 4,6 8029 Order of the Ministry of Economic Affairs, quasi bureau, shellfish, consumer cooperation, Du printed A7, B7 5. Improvement of invention description (β) .. Located in Simei, California, USA Valley (Simi Vailey) iTfej American navigation control company (America ^ GNC Corporation) has invented the MEMS angular velocity sensor and MEMSIMCJ, please refer to the United States patent application :. " Micro. 5 _ Electro Mechanical System for Measuring: Angular Rate 'serial number: 60 / 154,700, "Prpcessing Method for Motion Measurement" 5 serial number: 09 / 399,980, " AngularRate Producer with Micro Electro Mechanical System Techniiogy' serial number: 09 / 442,596, and " Micro Inertial Measurement Unit ", 10 Serial number: 09 / 477,151. The motivation behind the integrated miniature fire control system of the present invention comes from the need to acquire and precisely lock the moving target in order to achieve the goal of sniper stepping to improve the hit rate 'miniaturization of components' to reduce weight and increase effective range. We have the advantages of small size, low cost, batch processing, and resistance to 15 impacts of JIMEMS sensors. Develop a low-cost, light-weight miniature fire control system for the sniper step. As shown in the second figure, the miniature fire control system for sniper stepping includes: —Angular velocity sensor and acceleration sensor assembly 1, fixed to the stepping grabbing tube 'to provide the tube grabbing attitude and attitude change rate to the fire control unit; 20 —Optical line of sight 2, fixed to the step-robbing tube, providing a target lock indication, such as a cross or grid; —Laser rangefinder 3, fixed to the step-robbing tube, the fire control unit provides the user and the target. Distance and distance change rate; —Elevation and azimuth bracket and servo unit 4 to support step gun barrel paper wave standard Universal Chinese National Kneading (CNS) A4 specification (210X297 male S) 3. IO ^ ooq (please first锖 Please fill in the ears for the notes on the back], install rr-d 5 8029 A7 B7 V. Description of invention (7 ') 15 Print and receive orders from the fire control. And generates the movement of the pitch and square bracket, which carries the barrel; a bracket angle sensor 5 'is connected between the rifle barrel and the gun base to provide the bracket angle measurement to the fire control unit;-fire control unit 6 'Packed in a step grab base, receiving from Speed sensor. Accelerometer and sensor components, laser rangefinder 3, and gimbal twist sensor 5 are used to output commands to the pitch and azimuth bracket and servo unit 4 and electronic board machine 7; an electronic board machine 7 , Is connected to the fire control unit to output fire control commands to the bullets;-a power source 8, such as an energy density battery, is connected to the above components and provides power to them. In the structure of the present invention, refer to the second figure It shows that a tube grabbing, an optical line of sight 2, and a laser range finder 3 'and a fire control unit 6 are installed on an inertial stabilization platform to move: user, moving target "and i The distance required by the target is reduced, and the hit rate of the step-by-step improvement is improved. "An angular velocity sensor and acceleration sensor components, such as Guan: American GNC Corporation's advanced commercial product 'microcore IMU (coremicro ™ IMU), a sensor installed on the pipe grabbing body as an inertial stabilization platform, according to the performance requirements of the combined miniature fire control system, such as volume, cost, weight, power consumption, and control Aiming accuracy in rotation ability, etc., a combination of micro-fire control system implemented by combining the following: suitable scaffold structure and design of the micro system; 9- clan rate di (CNS) to flank (210x297 mm) of the back Note

Page f 83.3. L〇f〇〇〇- * v ·· 46 B029 A7 B7 V. Description of the invention (8)! 5 Central Ministry of Economic Affairs, Bureau of Standards, and Consumer Cooperation. Printed main support: Control system. System implementation. Control algorithm implementation. · Provides a miniature fire control system with additional capabilities for maximum mission rate to target. The fire control system has a τ lock characteristic by a control mechanism in the ring of the dumper's car. The calculation of the firing advance angle is based on the distance from the laser rangefinder to the target and the rate of change of the distance, as well as the trajectory of the bullet. Automatic and continuous adjustments are made in the two lines of sight to take into account the target's movement and distance. The key data is the line-of-sight information, which can be obtained from the software's estimation filter. The user then aligns the grid with the target / target like normal strides to achieve a high hit rate over a relatively long distance. $ Over-rejection ‘Because of the moment of interference caused by the user ’s movement, the inertially stable plate line and tube grab provide extremely accurate pointing. In the miniature fire control system, the pipe grabbing and the laser rangefinder are stabilized, which is suitable for measuring target coordinates and isolating the disturbances generated by the user. However, the target information from the laser rangefinder only constitutes necessary for fire control calculations. The -part of the input data. If the bullet wants to hit a transport target accurately, it also needs to calculate the accurate description of the bullet's flight trajectory. The bullet does not intersect the target along a straight line—point β. If the bullet is aimed directly at the hand moving target, the physical phenomenon acting on it during the flight time of the bullet will cause the bullet to miss the target. The micro-fire control problems that need to be considered can be divided into two categories: the guides in the course of the bullet's flight time; and the physical phenomenon generally known as ballistics, which produces a curved bullet trajectory . * 40_ (210X297 ^ »83. 3.10,000 (please read the precautions of the ® first and then fill out this page) Order. 468029 V. Description of the invention (9 \) A7 B7 15 Staff of the Central Ministry of Economic Affairs of the Ministry of Economic Affairs Cooperative printed f according to the ninth _, the bullying control unit 6 step-by-step contains :: order miscellaneous block 61 'from the prostitute miscellaneous 5 access θίΐ' receiving distance measuring device, in order to control the algorithm for the platform 6 Calculation _ rate command; ... ρ calculation module 62, receives the distance _ amount from the laser rangefinder, ”is Ping & control difficult method 62 count _; lung control algorithm 63, received from the Pinghe control algorithm 62 Raise—Front angle .. From the f-line rate command to calculate the difficulty block 61 pure crane rate command, 算 calculate the prostitute control command for the pitch and the tens of thousands of brackets and the ship unit 2tt. Referring to the seventh figure, the advance angle calculation module 62 enters -The steps include:-A waver 62 such as an extended Kalman job waver, for receiving the distance and the rate of change of distance from the laser rangefinder 3 to generate the current target position and speed; a-ballistic calculation module 622 , Using the current target position and speed, and the future target position of the bullet to calculate the bullet flight time;-the relative motion process module 623 'Using the bullet flight time to estimate the future target position, and feedback the future target position to the trajectory calculation process module 622 and calculate the advance angle. As shown in the third figure, the step-by-step micro-fire control method includes the following steps: Start by the user Obtain the target; Track the target by the user-in-the-loop fire control unit method; Use the ik user-in-the-loop fire control unit to stimulate the -11 -This paper is commonly used in China B National Standard (CNS) A4 (210X297 mm) 83.3.10,000

Λ6B〇2 〇 Α7 Β7 V. Description of the invention (10).. _. ~ 一 ~; ~ Issue a fire control command. The preferred implementation of step 骡 .1 is disclosed as follows: u Start the operation, lock the two-axis stabilizing bracket and the barrel; U manipulate the transcription, and get the target on the Silk Vision Cross Sickle: s mark 'as convenient as the existing' rifle The target is continuously tracked and locked on the cross cursor by the rain axis bracket platform ^ 'Through the generation from the electric torque generator and the inertial capture rate gyro _ thanks to the time position and Weijiao County orders, the operator's face was _, moved The target is locked to the cross cursor. In the stable state, the operator can adjust the target position to the cross cursor by entering the motion of the base wheel as in the standard step grab. ‘At the same time, a sophisticated fire control algorithm is used to continuously calculate the advance angle, which is based on the line-of-sight length and length change rate measurements from the rangefinder and the ballistic characteristics of the bullet in order to adjust the optical line of sight. When the user pulls the stepping grab machine and fires, the barrel is stabilized by the platform and I5 ~ automatically rotates an advanced angle to track the target 'and repels motion interference. Next, the bullet is fired by the electronic board machine to minimize the input disturbance torque. The purpose of printing by the Central Standards Bureau of the Ministry of Economic Affairs and Consumers Cooperatives in step 2 is to keep the target in the optical sight of the cross cursor β at all times when the target is in motion and the user introduces interference. Ground overlap. The direct error between the line of sight and the line of sight is estimated by applying the information from the laser rangefinder and the disturbance from the user to estimate the target motion ', which is independent of the target motion. This error can be further corrected by the user. As shown in the fourth figure, step 2 consists of the following steps: 2.1 Activate the laser rangefinder and the two-axis stabilization bracket platform; Λ2- 83.3.! 0, 〇〇〇 '(Please read the note on the back first (Fill in this page again) This paper is X-speed in use® S Standard (CNS) Α4 Specification (210X297 mm) 46 802 A7 B7 V. Description of the Invention (a) Work and Consumption Cooperation of the Ministry of Economic Affairs Du Yin ¾., 2.2 Use the information from the laser rangefinder and the angle measurement from the bracket angle sensor to calculate the line of sight command; 2,3 Execute the line of sight command 'to eliminate interference torque, so as to stabilize the support platform by controlling the rain axis The means of continuous tracking and locking-targeting the cross cursor. 5 Referring to the 'fifth figure', step 3 is further composed of the following steps: 3.1 Apply the line-of-sight distance and distance change rate from the rangefinder, the measurement and the ballistic characteristics of the bullet, and continuously calculate the advance angle r to adjust the optical line of sight; 3.2 When the electronic board is buckled by the user, it automatically rotates the pipe to grab an advance angle based on the calculated advance angle to track the target; 10 3.3 The bullet is fired by the platform's stable pipe grab to eliminate motion interference. As shown in Fig.6, step 2.3 can be realized by the two-axis mechanical support and the related master control algorithm. Referring to the seventh figure, the line-of-sight distance from the laser rangefinder and the distance change rate and the ballistic characteristics of the bullet are used to predict the advance angle. The result of the relative motion effect is 15 to make the stepping point to the current moving target position plus one. A point of displacement. The amount of displacement or advance depends on the relative speed and the time it takes the bullet to travel from the firing point to the target. The collision point between the bullet and the target is the future target position. Outer ballistics is a common term used to describe some natural phenomena that cause the projectile (bullet) in flight to change direction, speed, or both. These phenomena include: gravity viscous wind drift -------- < equipment—. ~ {'(Please read the precautions on the back before filling out this page}, 1T. • 13-

Standard of this paper (CNS) Α1ϋ: (2i〇 ~ ^ * T 83 · 3 · 10,000 Poverty Alleviation Cooperation of Employees in Jiafeng Bureau of the Ministry of Economic Affairs, Reprint 46802 ^ A7 -----; _______B7_ V. Description of the Invention ( 12) The calculation of the Coriolis effect relative motion effect produces the actual Xiang collision point of the bullet and the target. The calculation of the ballistic effect produces the aiming correction due to the bending of the bullet flight track. These corrections do not change the final cabinet collision point , But cause the intersection of the bullet trajectory 5 and the target path complex. • Referring to the seventh figure, step 3.1 further includes 3.3.1 through a filter to calculate the position and speed of the poor target, 3-3.2 use When the position of the target 1 and the position and future of the target and the future target position, calculate the flight time of the bullet 10; 3.3.3 Use the bullet flight time to estimate the future target position, and feed back the future target position to step 3.3.2 and Calculate the lead angle. For example, for a given space point, one trajectory and one flight time can be calculated. However, the exact space intercept point cannot be given directly, as this point depends on its calculated flight time .open As the future target position and subsequent final flight time are unknown at this time, the solution of the fire control problem is an application of a gradual approximation method. Because the measured current target position is the first known point in space, the position is An approach to the first trajectory used to generate the firing angle and flight time. If a bullet is fired at 20 based on this approximation, it will obviously pass behind the moving target. Now calculate how far the bullet is behind the target "In other words Calculate the position of the target at the end of the flight time relative to the previous position. Calculate the new position and the new intercept point. If a bullet is fired at this new point, it will still lag behind the target. Use the time of the second trajectory ' New target position, third trajectory and time can be calculated. Continue

(Please read the notes on the back before filling this page)

rIT I- 0 468029 Α7 Β7 V. Description of the invention U3)-·. Calculate different targets: target position and time, the time difference between the recent rains is very small. In step 3.3.1, the preferred filter is a pseudo-extended Kalman filter. As shown in the eighth circle, it illustrates the measurement of the extended Kalman filter. Geometric knot building. Objective: The target position and velocity estimation and prediction algorithms are implemented by a 偭 extended Kalman filter. The measurement equation is as follows: _ _ r = ^ xxi-y ^ zz 5 Λ 2 φν = atan — (.Please read first Note on the back, please fill in this page again.) The printed paper size of the Consumer Cooperatives of the Central Bureau of Standards of the Ministry of Economic Affairs applies to the Chinese National Standard (CNS) A4 specification (210 × 297 mm) 83.3.10,000

Claims (1)

d6 B029 6. The scope of the patent application.-A miniature fire control system for step-robbing, including:-acidic bumper age, recorded in the base of the rifle, where 'the miniature fire control system contains: The-and acceleration deflector are mixed, and are connected to the 5th gun barrel in this step, which is used to provide the gunshot attitude and attitude change rate to the -fire control unit; an optical line of sight, which is fixed to the snatch tube in this step, provides Target pinout instruction; BS _ — laser rangefinder, which is fixed to the grabbing tube in this step, and provides — the fire control unit 10 with the distance and rate of change between the user and the target; — pitch and azimuth bracket And servo unit 'to support the step grab. The tube and receive commands from the fire control unit, and generate the pitch and azimuth bracket movement, which carries the tube grab;-bracket angle sensor connected to the step 15 of the grabbing pipe and the grabbing base are used to provide the bracket angle measurement to the fire control unit; wherein the fire control unit is installed in the stepping gun base and receives the angular velocity sensor and acceleration sensor assembly, The laser rangefinder, and the bracket pattern Information to the sensor, for outputting a command to the pitch bearing bracket with a servo unit and an electronic board machine, which is connected to the fire control unit, and outputs the command to fire bullets fired 2〇 persons. Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs 2. For example, the miniature fire control system of the rifle in the first patent application scope, wherein the optical line of sight provides a lock indication of the target as a cross. 3. For example, the miniature fire control system for a rifle in the scope of patent application, wherein the optical line of sight provides a lock indication of the target as a grid. -16- This paper size is applicable to China National Standard (CNS) A4 (210 X 297 mm) 46 8029 4. Applying for a patent 4. 15 Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs, please refer to the firearm system of the rifle which is requested to be reclassified. Among them, M Electric considers those with high energy density batteries. Please follow the steps in item 1 of the patent to view the fire control button. Among them, the Qi fire control unit further includes: Xigu: Calculates the command to calculate Wei, Zhiqian Qianpu sensor reception = angle 彳 g 'from this brain stimulation The receiver receives the distance measurement in order to calculate the line-of-sight command for the flat P control algorithm; M,: can advance the dragon block from the weaving lion miscellaneous measurement to calculate the advance angle for the platform control algorithm; The platform turning algorithm receives the advance angle, calculates the Wei Chun recording line rate command from the line-of-sight rate command, in order to calculate the riding order for the pitch and bearing support, and calculates the support control for the pitch and bearing support and the servo unit. Commander. 6. The miniature fire control system according to step 5 of the scope of patent application, wherein the advance angle calculation module further includes: a filter for receiving the distance and the distance change rate from the laser rangefinder to generate Current target position and speed; a trajectory calculation module that uses the current target position and speed and the future target position of the bullet to calculate the bullet's flight time; a relative motion process module that uses the bullet's flight time to estimate the future target position and feedback The future target position is given to the trajectory calculation process module, and the advance angle is calculated. 7. The miniature fire control system as claimed in step 6 of the scope of patent application, wherein the filter is an extended Kalman filter. -17- ^ Applicable paper size _ National Standard (CNS) A4 (21〇 297 mm) (Please read the precautions on the back before filling this page) Loading tr ·-: 468029 A8 B8 .C8 6. Scope of patent application. Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs. 8: The miniature fire control system such as step 2 of the scope of patent application. The fire control unit further includes: a command calculation module for ㈣ The sensor receives the angle signal of the stent bracket, and receives the distance measurement from the laser range to calculate the line-of-sight command for the 5 control algorithms; y The angle calculation module receives the distance measurement from the laser rangefinder 'in order to The platform Wei algorithm calculates the advance angle; / 、、 — The platform control algorithm 'tilt platform control miscellaneous method receives the advance angle, and receives the line of sight command from the line of sight command calculation module in order to provide the pitch 10 elevation and azimuth bracket and servo unit Calculate stand control commander. 9: For the first step of applying for a patent, a miniature fire control button, in which the advance angle calculation module further includes:-a de-wave device 'uses a button to weave light', the pure distance and the rate of change of distance to generate the current Target position and speed; 15 —Calculate the seam, target position and speed before the problem, and the future target position of the bullet 'calculate the sub-report_;-relative to the riding range, _ the bullet's flight time to estimate the future target position' And feedback the future target position to the trajectory calculation module and account for the advance angle. 2 10. The miniature fire control system according to step 9 of the scope of patent application, wherein the filter is an extended Kalman filter. 11. The miniature fire control system according to step 3 of the scope of patent application, wherein the fire control unit further includes: a line-of-sight command calculation module for receiving from the bracket angle sensor. 18- This paper standard is applicable to China National Standard (CNS) A4 specification (21〇X 297 MM) C Please read the precautions on the back before filling this page) Binding —-468029 A8 B8 C8 D8 VI. Patent application scope The angle signal of this bracket is measured from this laser The distance meter receives the distance measurement to calculate the line-of-sight command for the platform control algorithm; an advance angle calculation module receives the distance measurement from the laser rangefinder to calculate the advance angle for the platform control algorithm; 5 /, a platform control algorithm Those who receive the advance angle from the platform control algorithm, and receive the line of sight command from the line of sight command calculation module in order to calculate the frame control command for the pitch and azimuth bracket and servo unit, 12 ' The step-by-step miniature fire control system, wherein the advance angle calculation module further includes: a 10- " filter for detecting from the laser The ranger receives the distance and the rate of change of the distance to generate the current target position and speed; b a trajectory calculation module that uses the previous target position and speed and the future target position of the bullet to calculate the bullet flight time; Shed fresh bullet travel time estimates the 15 future target positions, and feeds back the future target position (ballistic meter) overtaking module, and calculates the advance angle. ~ 一 & 13 ,; For example, the micro fire control system of claim 12 in the scope of patent application, in which the filter is an extended Kalman filter. 14. For example, the mini-fire control system in the fourth step of the patent application park is printed by the Intellectual Property Office of the Ministry of Economic Affairs and the Consumer Cooperatives. 20 The fire control unit further includes:-a line-of-sight command calculation module for receiving the angle angle signal from the bracket angle sensor and a distance measurement from the laser rangefinder to calculate the line-of-sight command for the platform control algorithm;- Advance angle calculation module 'receives the distance measurement from the laser rangefinder -19 · This paper listens _SiiCN ^ CNS) A4 size (210 x 297 public heart A6 8029 6. Scope of Patent Application 15 Intellectual Property of the Ministry of Economic Affairs] Employees pay the cooperatives to print the amount of miscellaneous front angles for the outline of the platform; From the gas phase Si method, the advance angle is received from the platform control algorithm. The calculation module receives the line-of-sight command in order to obtain a data for the top 10 million New sickle. The surface fire control system for step M of the patent scope of the application, wherein the advance angle calculation module further includes:-the tester's secret and bridging device and the distance change rate to generate the current Target position and speed; A ballistic calculation module 'Profit current speed and position of the current target and the target count from the sub-county to calculate the child's limp time;-Relative motion profile, the estimated target position, And feedback the future target position to the trajectory calculation process module, and calculate the advance angle. 16. The miniature fire control system as claimed in step 15 of the scope of patent application, wherein the filter is an extended Kalman filter. Π.—A step fire grab mini fire control method, including a grab pipe fixed to an inertial stabilization platform, which is installed on the step fire grab base. The micro fire control method includes the following steps: (a) Started by the user Obtain the target; (b) track the target by the user's fire control unit in the ring method; (c) fire the fire control commander through the user's fire control unit in the ring. 18. The micro-fire control method as described in the step π of the scope of patent application, wherein step (a) further includes steps (: (al) when the operation is started, lock the two-axis stable bracket and grab the pipe; ---- -------- Install -i C, please read the precautions on the back before filling this page} -20- National National Standards (CNSM4 specifications (210 X 297 mm A8 B8 C8 468029) 6. Scope of patent application 0.2 ) The operator_this step is grabbed 'to obtain the target person on the county vision_cross cursor. I9 · Miniature fire control method such as step IS of the scope of patent application, in which the target is tracked by successive performances'by the inertial stabilization platform Locked on the cross 5 cursor ', its platform is a two-axis bracket platform, and the azimuth and altitude angular rate commands are generated from the sensitivity of the electric torque device and the inertial rate gyro, so the operator's movement is isolated. The target is locked at The cursor is on the cursor, so the operator can adjust the target to the cross cursor person by inputting motion to the gun grave under stable conditions. 10 20. Miniature fire control method such as step 19 of the scope of patent application Where 'take advantage of complex fire control Method, based on the line-of-sight angle, the angular rate measurement from the rangefinder 'and the ballistic characteristics of the bullet, continuously calculate the advance angle, and the optical line of sight'. The platform is stable and automatically rotates-this corner, and excludes 15 to disturb the sportsman. 21 'As a miniature fire control method for the rifle in the 17th scope of the patent application, step (b) further includes: ( b. 1) Activate the above-mentioned laser rangefinder and anger-stabilized support platform; (b_ 2) Rely on the above-mentioned laser device and rely on the angle measurement from the support sensor to calculate the line rate command; 03.3) Execute this The line of sight command repels the dry moment, so as to continuously track and lock the target on the cross cursor by means of controlling the inertial stabilization bracket platform. 22_ If the miniature fire control method in step 21 of the scope of patent application is applied, its paper size is 21 · Chinese National Standard (CMS) A4 (210 X 297 mm) {Please read the precautions on the back before filling This page) Loading: Printed by the Employees 'Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs 468029 Printed by the Employees' Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs g___ 6. In the scope of applying for a patent, the step (C) further includes: (C. 1) Application The line of sight distance change rate measurement from the rangefinder and the ballistic characteristics of the bullet continuously calculate the advance angle in order to adjust the optical line of sight; (c.2) When the electronic board machine is buckled by the user, the pipe grab is automatically turned— 5 'ahead of time in order to track the target; (c.3) firing bullets with the grab tube stabilized by the inertial platform to repel motion interferers. 23. A miniature fire control method as claimed in step π of the scope of patent application, wherein 'this step (c.3) is implemented by a two-axis mechanical frame and a corresponding active control algorithm. 24. A miniature fire control method as claimed in step 22 of the scope of patent application, wherein 'this step (cl) further includes: (c. 1.1) calculating the current target position and velocity by means of a filter; 15 (c · 1 · 2) use the position and degree of the current target and future target position to calculate the flight time of the bullet; (cl, 3) use the bullet flight time to estimate the future target position, and feedback the future target position to Step (c.1.2), and calculate the advance angle ^ 25. As in the miniature fire control method of step 24 of the scope of application for patent, in 20, the filter is an extended Kalman filter, the target's The position and speed estimation algorithm is the implementer of the extended Kalman server implementation. 26. Step 1 micro-control method according to item 1S of the scope of patent application, wherein step (b) further includes: (b'l) activating the above-mentioned laser rangefinder and inertial stabilization bracket platform; • 22- this paper size Used Chinese National Standard (CNS> A4 Specification (21G X 297 Gong Chu T.l, i —.4 · I ---- i —V,., Installed-ΙΑ) Please read the precautions on the back before filling this page ) Order · • V. d6 8029 A8 .B8 C8 D8 VI. Application scope of patents 15 Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs γ) Use the information from the above laser rangefinder and the angle sensor I from the bracket angle Angular measurement, tt calculates the line of sight command; (1) Execute pure line command, repel the interference torque, and stabilize the drunk section of the stent platform by controlling the inertia, and continually turn the target to the cursor of the ten events. = 'Rushen_Li_The 26th step of the surface fire control method, wherein step (C) further includes: ㈣ should: use the fine-to-fine aircraft distance _ surface _ rate surveying and bullet _ track characteristics Lianqi counts Tiye so as to tangle the optical reel; (2) 2) When the electronic _ is deducted, the automatic recording recorder will set a rule angle to track the target; (C.3) Reason The platform stability depends on grabbing and controlling bullets to repel the perpetrators. 28. For example, the miniature fire control method of step 27 in the scope of the patent application, in which ‘Hanmai 3’ is the one who implements the active control algorithm of Tong-Dual Residual Racks and Arms. 29. For example, the miniature fire control method of step 27 in the scope of patent application, wherein the step (cl) further includes: (C. 1) the current target position and speed are calculated by means of a device. (C · 2) Calculate the time of flight of the bullet using the position and speed of the current target and the position of the future target; (c · 3) Use the time of flight of the bullet to estimate the future target position, and set the future target -23- Dimensions are applicable to China National Standard (CNS) A4 specifications (210 X 297 feet). First read fia's lacquer on the back and fill in the original text of the manufacturer.> -------- ^ i ------! Vi '-· --------- ^ --------------- Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs 468029 6. The position of the scope of patent application is fed back to step (c 2), and calculate the advance angle. 30. A miniature fire control method as described in step 29 of the scope of the patent application, wherein the wave filter is an extended Kalman filter, and the target position and speed estimation and prediction algorithms are performed by the Kalman filter. Implementer. 5 31. The miniature fire control method according to step 19 of the scope of patent application, wherein the step (b) further includes: 1) activating the laser rangefinder and inertial stabilization bracket platform; 03. 2) Calculate the line-of-sight command using the information from the laser rangefinder and the angle measurement from the bracket sensor; 3) Execute the line-of-sight command to repel interference moments in order to control the inertia to stabilize the bracket platform , Continuously track and target the target at the cross cursor. ^ 32_ The miniature fire control method according to step 31 of the scope of patent application, wherein step (c) further includes: 15 (c, U applies the line-of-sight distance and distance change rate from the rangefinder Measure and the ballistic characteristics of the bullet, continuously calculate the advance angle in order to adjust the line of sight; (c.2) When the electronic board is buckled by the user, automatically take advantage of the pipe grab-a front angle 'in order to track the target · 20 (c.3) The bullet is fired by the grabbing tube stabilized by the inertial platform to repel motion interferers. 33. A miniature fire control method such as step 32 in the scope of patent application, wherein 'this step (c. 3) Those who have implemented a two-axis mechanical frame and the corresponding active control algorithm. • 24 · This paper size is applicable to the Chinese Standard (CNS) A4 (210 X 297 mm) (first read the note on the back Please fill in this page again for the matter} -ml HI — — Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs 468029 34. A miniature fire control method as described in step 32 of the scope of patent application, wherein 'this step (cl) further includes: (c.1.1) calculating the position and velocity of the current target by means of a filter; 5 ( cX2) Calculate the time of flight of the bullet using the position and velocity of the current target and the position of the future target; (c.1.3) Estimate the position of the future target using the time of flight of the bullet, and refer to the future target position feedback to the step knee (cl. 2), and calculate the advance angle. 35. For example, in the micro-fire control method of step 34 of the patent application, in 10, the filter is an extended Kalman filter, and the position and velocity estimation and translation algorithms of the target are from the card inspection. Those who realize the suspension device 36. For example, the miniature fire control method of step 19 of the patent application Fangu, wherein step (b) further includes: (bl) activating the above-mentioned laser rangefinder and inertial stabilization bracket platform; I5 (b.2) Use the information from the above laser ranging and the angle measurement from the bracket angle sensor to calculate the line-of-sight command; ㈣ execute the Na line command 'reject interference torque, and 稳定 stabilize the ancient shelf platform by controlling the inertia Means to continuously track and target the cross cursor. 20 37. The miniature fire control method according to step 36 of the scope of patent application, wherein step (c) further includes: (cl) the measurement of the line-of-sight distance and range 雔 change rate from the rangefinder and the bullet's Ballistic characteristics' continuously calculate the advance angle in order to adjust the line of sight; (c.2) When the electronic board inspector deducts the branch, it will automatically move the tube—a advance • 25 · This paper size applies to Chinese national standard specifications ⑵ο X 297 (public love) 468029 Sixth, the scope of patent application angle ′ in order to track the target; (c.3) The bullet is fired with the stable management of the inertial platform to repel the moving disturbance. The mini fire control method in step 37 of the scope of patent application, 5 'Xianfeng. 3) is the one who relies on the active control algorithm to implement the dual-professional framework. 39. Step 37 of the scope of patent application_Miniature fire control method, wherein 'this step (cl) further includes: (c · 1.1) Calculate the position and speed of the current target by means of a filter! (cn) Calculate the time of flight of the bullet using the position and speed of the current target and the position of the future target; (α1 · 3) Use the time of flight of the bullet to estimate the position of the future target, and feed back the position of the target to Bu Yi ( c 丄 2), and calculate the advance angle. 15 40. If the miniature fire control method of the rifle in the 39th scope of the patent application, wherein the wave filter is an extended Kalman filter, the position and speed estimation and prediction algorithm of the target is made by the extended Kalman filter Implementer. t Guess first read the "What's on the back" (preserved and written). ^ Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs 6- This paper size applies the Chinese National Standard (CNS) A4 Regulation (210 κ 297 mm)