US20030183070A1 - Method and device for compensating firing errors and system computer for weapon system - Google Patents

Method and device for compensating firing errors and system computer for weapon system Download PDF

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Publication number
US20030183070A1
US20030183070A1 US10/341,877 US34187703A US2003183070A1 US 20030183070 A1 US20030183070 A1 US 20030183070A1 US 34187703 A US34187703 A US 34187703A US 2003183070 A1 US2003183070 A1 US 2003183070A1
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Prior art keywords
error
values
weapon barrel
measurement
aiming
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English (en)
Inventor
Gabriel Schneider
Michael Gerber
Urs Meyer
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Rheinmetall Air Defence AG
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Oerlikon Contraves AG
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Assigned to OERLIKON CONTRAVES AG reassignment OERLIKON CONTRAVES AG ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: GERBER, MICHAEL, MEYER, URS
Assigned to OERLIKON CONTRAVES AG reassignment OERLIKON CONTRAVES AG ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: SCHNEIDER, GABRIEL
Publication of US20030183070A1 publication Critical patent/US20030183070A1/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
    • F41A27/00—Gun mountings permitting traversing or elevating movement, e.g. gun carriages
    • F41A27/30—Stabilisation or compensation systems, e.g. compensating for barrel weight or wind force on the barrel
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/32—Devices for testing or checking
    • F41G3/323—Devices for testing or checking for checking the angle between the muzzle axis of the gun and a reference axis, e.g. the axis of the associated sighting device
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G5/00—Elevating or traversing control systems for guns
    • F41G5/26—Apparatus for testing or checking

Definitions

  • the present invention relates to a method and a device for compensating firing errors of a gun, having a weapon barrel, of a weapon system, which are caused by static gun geometry errors, according to the preambles of claims 1 and 12, respectively, and a system computer for a weapon system according to the preamble of claim 17.
  • the present invention relates to all possible static gun geometry errors and their compensation.
  • Guns comprise numerous individual parts which are connected rigidly or movably to one another.
  • the individual parts can never be produced with precise dimensional accuracy, but rather only with certain manufacturing tolerances and/or deviations from the theoretically determined dimensions, and deviations, within the fixed assembly tolerances, from the intended mutual positions also result during assembly.
  • the totality of the deviations has the consequence that every gun has deviations from its ideal geometry, which are referred to as gun geometry errors.
  • gun geometry errors are composed of numerous types of errors. For example, gun geometry errors are manifested in that azimuth ⁇ of the weapon barrel in the zero position, as it is indicated by an azimuth display of the gun, is not equal to 0° in actuality, but deviates from 0° by a slight angle ⁇ .
  • elevation ⁇ of the weapon barrel in its zero position may not have the value 0° indicated by the elevation display of the gun, but rather may deviate by a slight angle ⁇ from 0°.
  • ⁇ and ⁇ may be equal to zero, but only if different gun geometry errors compensate one another.
  • the manufacturing tolerances may be equal or approximately equal for identical individual parts of a series of guns, if such individual parts are always produced on the same machines, using non-wearing or precisely adjustable tools and in identical external conditions, such as temperature conditions. However, after assembly the gun geometry errors will be different from gun to gun.
  • the gun geometry errors which manifest in a specific position of the weapon barrel and at a specific time may also be a function of the rotational direction in which the weapon barrel is brought into this specific position.
  • the gun geometry errors characterize the individual guns and therefore represent actual gun parameters. Firing errors and/or a reduction of the accuracy performance of the gun result as a consequence of the gun geometry errors, particularly as a consequence of the angular errors. Due to the large distances between the muzzle of the weapon barrel and the targets which are to be hit by the projectiles fired from the weapon barrel, even slight angular deviations of the weapon barrel cause significant deviations of the projectiles from the targets to be combated.
  • the firing errors which they cause may be compensated, in that the gun parameters may be taken into consideration in addition to other data by the software of a computer assigned to the gun during the determination of the aiming values.
  • the concept of a computer assigned to the gun is to be understood to mean a gun computer and/or a computer of a fire control device.
  • Other data which is to be taken into consideration by the computer particularly includes target data, which describes the location and the movement of the target, meteorology data, which describes the respective meteorological conditions, v 0 data, which relates to the deviation of the actual muzzle velocity from a theoretically determined muscle velocity, and possibly shell data, which characterizes the respective shells fired.
  • Static gun geometry errors which until now could only be determined imprecisely and at great cost, may now be measured precisely and may correspondingly be efficiently compensated.
  • optical-electronic gyroscope particularly a fiber-optic gyroscope
  • angular measurements to be performed whose precision, reliability, and reproducibility greatly exceeds the previously performable measurements and which provide significantly more detailed measurement results than those which could previously be achieved; in this way, much more precise compensations of the firing errors caused by the gun geometry are made possible.
  • the measurements may be performed rapidly and automatically; the outlay in time and personnel for measuring a gun is low, which results in significant cost savings.
  • the weapon barrel whose position is influenced by the gun geometry errors, may be brought into various positions through back-and-forth pivoting or complete rotation, each position being defined by the corresponding azimuth, i.e., the corresponding lateral angle, and by the corresponding elevation, i.e., the corresponding vertical angle.
  • a rotation around the vertical axis changes the azimuth and a rotation around the lateral axis changes the elevation.
  • the vertical axis and the lateral axis are two axes of a spatial, preferably orthogonal, axis system, whose axes are defined in Table 1.
  • the azimuth is understood to be not the deviation from north, as in firing operation, but from a zero position.
  • Firing errors occur because the actual position of the weapon barrel is not equal to its intended position.
  • the intended position is defined by, among other things, the values for azimuth and elevation established by the fire control computer and/or system computer, but is not assumed due to static gun geometry errors.
  • the angular error of the position of the weapon barrel which occurs, the gun geometry errors which cause it, and the primary causes of the gun geometry errors may be seen in Table 2.
  • the angular errors, which manifest as azimuth errors and elevation errors comprise the following five types of errors, which, however, are not independent of one another: TABLE Angular errors of the position of the weapon barrel, gun geometry errors, and their causes Angular Gun geometry errors errors Causes Azimuth ⁇ 1 azimuth 1.
  • Eccentricity of the lateral pivot errors synchronization bearing (lateral error 2. Out-of-round of the lateral pivot errors) bearing 3. Variable tooth intervals in the crown gear of the lateral pivot unit 4. Coder error ⁇ 2 5. Tilting of the elevation axis toward perpendicular the horizontal offset error 6. Non-orthogonality of barrel axis and elevation axis ⁇ squint error 7. Non-parallelism of barrel axis and line of sight elevation ⁇ elevation 8. Eccentricity of the vertical pivot errors synchronization bearing (vertical error 9. Out-of-round of the vertical pivot errors) bearing 10. Variable tooth intervals in the crown gear of the vertical pivot unit 11. Coder error 12. Backwards skipping of the gun with increasing elevation ⁇ 13. Elasticity of the structure ⁇ squint error 7. Non-parallelism of barrel axis and line of sight
  • the procedure is as follows: an angular error which arises during movement of the weapon barrel around one of the rotational axes is determined.
  • the weapon barrel is brought into a final position, which is also a measurement position, from a zero position in steps, by rotation in one rotational direction around the rotational axes described, via sequential measurement positions.
  • the rotation is controlled by a computer.
  • a suitable measurement unit of a measurement facility after each step the actual angle around which the weapon barrel has rotated is determined; this angle is referred to as the actual value.
  • the theoretical angle around which the weapon barrel is to have rotated is determined; this angle is referred to as the intended value.
  • the angular difference between the intended value and the actual value is then calculated for each measurement position; this difference is referred to as the error value.
  • a correction value is established from the error value, which is implemented in the software of the fire control computer and/or system computer and is subsequently taken into consideration in the determination of the aiming values, i.e., the values for azimuth and elevation.
  • the aiming values are primarily calculated using target data, i.e., data which describes positions and possible movements of a target to be combated, and using ballistics data. This primary calculation is corrected with the aid of the method according to the present invention.
  • the actual values may be represented as a function of the intended values to establish the correction values and may be prepared in such a way that the correction values may be determined therefrom.
  • Such a preparation, in which correction values result from the measured angular errors, may be performed numerically and/or with tabular aids or mathematically or numerically/mathematically combined.
  • value pairs are stored in a table, a first value being the intended value and a second value being the actual value or the difference between the actual value and intended value in each value pair.
  • the value pairs may also be considered as an empirical error curve.
  • the table and/or the empirical error curve is then available during the calculation of aiming values in such a way that the calculation of each aiming value is performed in a corrected way, taking into consideration the corresponding values of the table and/or the empirical error curve.
  • the error values are first represented in tabular form as a function of the intended angle and/or as an empirical error curve and then approximated by at least one mathematical function; i.e., the empirical error curve is either approximated over its entire course by one single mathematical error function or in each section by a mathematical partial error function, and thus as a whole by multiple mathematical partial error functions.
  • the mathematical error function is then made available to the computer, which determines a correction function therefrom, which it takes into consideration during the calculation of the aiming values for the weapon barrel, i.e., the azimuth and the elevation.
  • the numerical method may be designed in such a way that the necessary precision for the compensation of the firing errors is ensured.
  • the mathematical methods have the advantage that mathematical error functions may be analyzed simply, specifically using known mathematical methods; not only may the values for the compensation of the firing errors be obtained therefrom, but also insights into the influence of individual constructive conditions on the error functions; constructive improvements resulting therefrom serve, in the final analysis, to combat the firing errors caused by gun geometry at the root, in that the gun geometry errors are eliminated.
  • the concept of constructive relates to both conceptual conditions, and to conditions relating to production and assembly.
  • an average empirical error curve may be formed from all identically performed measurement procedures or a mathematical error function may be formed from each empirical error curve and an average mathematical error function may be formed from these functions or a correction function may be formed from each empirical error curve and an average correction function may be formed from all correction functions.
  • the rotation of the weapon barrel is always in the same rotational direction; the error values obtained in this way are mono-directionally determined error values, which may be numerically or mathematically prepared.
  • the empirical error curve and/or mathematical error function is a mono-directionally determined and/or mono-directional error curve and/or error function.
  • the error values are, however, as described above, generally a function of, among other things, the rotational direction in which this rotation was performed. It is therefore advantageous to perform two measurements.
  • the weapon barrel is rotated, around the same rotational axis, in one rotational direction for the first measurement and in the opposite rotational direction for the second measurement.
  • the measurement positions of the first-directional rotation and the measurement positions of the second-directional rotation may correspond, but do not have to.
  • first-directional and second-directional error values are established. If the deviations between the first-directional and the second-directional error values are small, then a direction-free error value may be established and prepared and/or analyzed further.
  • an average direction-free empirical error curve may be established, from the first-directional empirical error curve and the second-directional empirical error curve, from which an average direction-free mathematical error function and, from this, an average direction-free correction function may be established, the correction function being taken into consideration in the calculation of the aiming values. Since, however, the influence of the rotational direction results in a systematic error component of the overall error values, both the first-directional error values and the second-directional error values are preferably prepared and/or analyzed separately.
  • spirit levels preferably electronic spirit levels
  • gyroscopic measurement systems preferably optical-electronic gyroscopic measurement systems, these being understood to include, for example, ring laser gyroscopes and fiber-optic gyroscopes
  • the measurement devices must generally be calibrated after being mounted on the gun and/or on the weapon barrel, before beginning a measurement procedure.
  • the continuously changing gyroscopic drift must also generally be detected and the values measured must be corrected in accordance with the gyroscopic drift.
  • An example of the detection and consideration of the gyroscopic drift is described in European Patent Application 00126917.4.
  • the description above relates to establishing a correction function, which is based on detecting error values arising during the rotation of the weapon barrel around one of the axes.
  • the weapon barrel is not rotated around only one axis, but around two non-coincident, generally orthogonal axes.
  • the first axis is preferably vertical axis A and the second axis is preferably lateral axis L, azimuth ⁇ being set by rotation around vertical axis A and elevation ⁇ being set by rotation around lateral axis L.
  • azimuth synchronization error ⁇ 1 and wobble error ⁇ T may be established.
  • azimuth ⁇ of the weapon barrel is changed in steps at an elevation of 0°.
  • the azimuth errors established in this way provide an azimuth error curve which is generally constituted so that it may be approximated by a sine function, a rotation of the weapon barrel by 360° corresponding to one or more periods of the sine function.
  • a first measurement unit of the gyroscopic measurement system is used as a measurement device.
  • Wobble error ⁇ T is also detected within the first measurement procedure.
  • the rotations of the weapon barrel performed to detect azimuth synchronization error ⁇ 1 may be repeated.
  • the actual azimuth and the intended azimuth and/or their difference are not detected and/or established.
  • the actual angle of inclination of the weapon barrel axis to the horizontal is detected; this angle of inclination is referred to as the actual wobble angle and/or actual value.
  • the theoretical angle of inclination which is referred to as the intended wobble angle and/or intended value, is always zero in this case, since the measurement procedure is performed at an elevation of 0°. Therefore, the wobble movement during a rotation around vertical axis A is detected.
  • a spirit level preferably an electronic spirit level, is used as a measurement system.
  • Elevation synchronization error ⁇ and perpendicular offset error ⁇ 2 may be determined in the course of the second measurement procedure.
  • Elevation synchronization error ⁇ comprises two components, which may only be determined jointly.
  • a first component of elevation synchronization error ⁇ is based—analogously to the azimuth synchronization error—on the fact that the respective actual angle of the weapon barrel does not correspond to the intended angle.
  • a partial error curve and/or partial error function describing this component of elevation synchronization error ⁇ has the nature of a sine function, possibly having multiple angular frequencies.
  • a further component of elevation synchronization error ⁇ is based on the fact that the torque applied to the gun carriage by the weight of the weapon barrel becomes lower with increasing elevation; this torque has the tendency to rotate the weapon barrel downward; in a tied down position, for example with azimuth 0° and low elevation, the gun would tend to tip forward. Due to the reduction of the torque with increasing elevation, the weapon barrel is pulled downward less, with the consequence that the gun tips forward less and/or, in comparison to the tied down position, tips backward.
  • the partial error curve and/or partial error function which describes this component of the elevation synchronization error has the nature of a cosine curve subtracted from 1 with a single angular frequency.
  • the measurements of the second measurement procedure, using which the elevation synchronization error is determined run analogously to the measurement procedure using which the azimuth synchronization error is detected.
  • they provide an error function like a sine function corresponding to the first component of elevation synchronization error, however, this sinusoidal function does not oscillate around a horizontal, but around the continuously rising curve of the cosine curve subtracted from 1, corresponding to the second component of the elevation synchronization error.
  • the two partial error functions may be separated mathematically. Such a separation does not have to be performed to calculate the corresponding correction function, since only the result, specifically the correction of the overall elevation synchronization error, is significant.
  • the partial error functions may, however, possibly be of interest, because they more clearly display errors of the gun construction, the temperature dependence of individual assemblies, the wear, and other things.
  • a second measurement unit of the gyroscopic measurement system is used for the measurement.
  • Perpendicular offset error ⁇ 2 which may also be established within the second measurement procedure, is based on the fact that elevation axis L and azimuth axis A are not, as desired, orthogonal to one another, and the weapon barrel axis is not, as desired, orthogonal to elevation axis L. Even with the gun leveled to the horizon, a change of elevation ⁇ results in an error of azimuth ⁇ .
  • Perpendicular offset error ⁇ 2 is measured using the first measurement unit of the gyroscopic measurement system.
  • squint error ⁇ is detected in a third measurement procedure. This error represents the non-parallelism of the weapon barrel axis and the line of sight. Squint error ⁇ is established and prepared in the method according to the present invention in a typical way, which is therefore not described in more detail.
  • FIG. 1A shows a weapon system having a device according to the present invention in a schematic illustration
  • FIG. 1B shows a gun of the weapon system in FIG. 1A in a simplified illustration, with three axes of an orthogonal axis system
  • FIG. 2A shows a schematic illustration to explain the azimuth synchronization error
  • FIG. 2B shows empirical error curves of the azimuth synchronization error
  • FIG. 3A shows empirical error curves of the wobble error
  • FIG. 3B shows an empirical error curve of the wobble error; only the error component caused by the lower gun carriage is illustrated;
  • FIG. 3C shows an empirical error curve of the wobble error; only the error component caused by the leg support is illustrated;
  • FIG. 4A shows an empirical error curve of the elevation synchronization error for a constant azimuth
  • FIG. 4B shows elevation synchronization errors as a function of azimuth with various elevations as a parameter
  • FIG. 5 shows an empirical error curve and a mathematical error function of the perpendicular offset error.
  • FIG. 1A schematically shows a weapon system 10 .
  • a weapon system 10 has a gun 10 . 1 having a weapon barrel 10 . 2 , a fire control device 10 . 3 , and a fire control computer and/or system computer 10 . 4 .
  • a weapon system 10 also has an intended value sensor 10 . 5 , using which the intended position of weapon barrel 10 . 2 is detected.
  • FIG. 1A shows a device 20 for performing the method according to the present invention.
  • Device 20 has a measurement facility 20 . 1 for detecting the actual values, which describe the actual positions of weapon barrel 10 . 2 after aiming, and a computer unit 20 . 2 .
  • Intended value sensor 10 . 5 is typically a component of weapon system 10 , but its functions may also be included in device 20 .
  • FIG. 1B shows gun 10 . 1 of weapon system 10 , having a lower gun carriage 12 , an upper gun carriage 14 , and weapon barrel 10 . 2 .
  • Lower gun carriage 12 is supported via three legs 12 . 1 , 12 . 2 , and 12 . 3 on a horizontal support surface 1 .
  • the orthogonal axis system of the three axes is also shown, the vertical axis being indicated with A, the lateral axis with L, and the longitudinal axis with R.
  • Weapon barrel 10 . 2 may be rotated around vertical axis A to change the lateral angle and/or azimuth ⁇ and may be rotated around lateral axis L to change the vertical angle and/or elevation ⁇ .
  • An optical-electronic gyroscopic measurement system 22 which forms a component of measurement facility 20 . 1 , is positioned on weapon barrel 10 . 2 in the muzzle region.
  • a gyroscopic measurement system 22 includes a first measurement unit and/or ⁇ -measurement unit and a second measurement unit and/or ⁇ -measurement unit, using which angle changes resulting from changed azimuth ⁇ and/or changed elevation ⁇ of weapon barrel 10 . 2 may be detected.
  • FIG. 2A gun 10 . 1 is illustrated greatly simplified in a top view.
  • Weapon barrel 10 . 2 illustrated in simplified form as a weapon barrel axis, is indicated with solid lines in its zero position and with dashed lines in one of the measurement positions, which, with the zero position, encloses an angle of, for example, 20°.
  • weapon barrel 10 . 2 is rotated a total of 180° into a final position in steps of, for example, 5° in the direction of arrow D 1 .
  • the rotation of weapon barrel 10 . 2 is controlled by fire control computer 10 . 4 .
  • Each measurement position is determined by the associated lateral angle and/or associated azimuth ⁇ .
  • weapon barrel 10 . 2 is theoretically in an intended position, which is defined by the associated intended value and/or an associated intended azimuth ⁇ 1 (theor), which is displayed, for example, on gun 10 . 1 .
  • weapon barrel 10 . 2 is, however, in an actual position, which is indicated by an actual value and/or an actual azimuth ⁇ 1 (eff) detected by the ⁇ -measurement unit of gyroscopic measurement system 22 of measurement facility 20 . 1 .
  • Computer unit 20 is .
  • first-directional empirical azimuth error curve f ⁇ 1 (D 1 ) 1 The method steps described up to this point are repeated multiple times in order to remove random errors in the detection of actual azimuth and intended azimuth as much as possible. In this way, further first-directional empirical azimuth error curves f ⁇ 1 (D 1 ) 2 , f ⁇ 1 (D 1 ) 3 , f ⁇ 1 (D 1 ) i are established. As shown in FIG.
  • an average first-directional azimuth error curve f ⁇ 1 (D 1 ) finally results o from all of the first-directional azimuth error curves.
  • the method steps described above are performed again, weapon barrel 10 . 2 being rotated in the opposite direction, i.e., in the direction of arrow D 2 .
  • Multiple second-directional azimuth error curves f ⁇ 1 (D 2 ) 1 , f ⁇ 1 (D 2 ) 2 , f ⁇ 1 (D 2 ) 3 and an average second-directional empirical azimuth error curve f ⁇ 1 (D 2 ) result from this, also shown in FIG. 2B.
  • an average direction-free empirical azimuth error curve f ⁇ 1 (D 0 ) which is also shown in FIG.
  • average direction-free azimuth error curve f ⁇ 1 (DO), which describes azimuth synchronization error ⁇ 1 runs approximately in the shape of a sine curve having a double angular frequency. This indicates that there is a slight ovality in the lateral pivot bearing.
  • average direction-free empirical azimuth error curve f ⁇ 1 (D 0 ) and/or the value pairs which define this curve are made available to the fire control computer and/or system computer, in order to make them available during further calculations of aiming values.
  • the numerical methods may be performed analogously for all measurement procedures.
  • average direction-free empirical azimuth error curve f ⁇ 1 (D 0 ) is approximated by a mathematical azimuth error function F ⁇ 1 .
  • the approximation is performed either by a mathematical partial error function for each section, the totality of the partial error functions being referred to as the mathematical error function, or as a whole by one single mathematical error function.
  • Mathematical error function F ⁇ 1 is used to produce a correction function, which is taken into consideration during calculation of the aiming values, together with other available data. To check, after the implementation of the correction function in the software of system computer 10 .
  • establishing direction-free azimuth error curve f ⁇ 1 (D 0 ) may be dispensed with; in place of this mathematical azimuth error functions F ⁇ 1 (D 1 ) and F ⁇ 1 (D 2 ) are determined for first-directional empirical azimuth error curve f ⁇ 1 (D 1 ) and second-directional empirical azimuth error curve f ⁇ 1 (D 2 ), respectively, and the corresponding correction functions are determined therefrom.
  • FIGS. 3A to 3 C relate to wobble error ⁇ T .
  • Weapon barrel 10 . 2 is theoretically to be directed horizontally at an elevation of 0°, i.e., the intended elevation must be 0°. In reality, weapon barrel 10 . 2 will always have a slight inclination to the horizontal, i.e., the actual elevation is not 0°, but differs from 0° by ⁇ T .
  • Angle ⁇ T is a function of azimuth ⁇ . During a rotation through 360° around vertical axis A, weapon barrel 10 . 2 therefore performs a wobble motion, which is described by a wobble error function. To detect wobble error ⁇ T , weapon barrel 10 .
  • an average first directional and an average second directional empirical wobble error curve f T (D 1 ) and f T (D 2 ), respectively, are determined analogously to the establishment of average empirical azimuth error curve f ⁇ (D 1 ) and f ⁇ (D 2 ).
  • a direction-free empirical wobble error curve f T (D 0 ) results therefrom, which is approximated by a mathematical wobble error function F T .
  • FIG. 3A the two extreme wobble error curves of multiple established empirical wobble error curves are illustrated, between which all other wobble error curves lie; the measurements appear to be quite precise, since the curves only deviate slightly from one another; the wobble movement is a sinusoidal movement.
  • FIGS. 3B and 3C An analysis of the measurement data for the wobble movement provides results which are illustrated in FIGS. 3B and 3C.
  • the wobble error has two causes: firstly, the azimuth-dependent rigidity of the lower gun carriage; the component of the wobble error resulting therefrom is illustrated in FIG. 3B; secondly, the stiffening effect due to the legs, also azimuth-dependent, this component of the wobble error being illustrated in FIG. 3C.
  • the positive values of the wobble error are illustrated using solid lines and the negative values of the wobble error are illustrated using dashed lines.
  • Elevation synchronization error ⁇ comprises two error components. Both error components are detectable using a second measurement unit and/or ⁇ -measurement unit of gyroscopic measurement system 22 of measurement facility 20 . 1 , and only as their sum. Therefore, ⁇ refers to and/or indexes data and/or functions which relate to total elevation synchronization error ⁇ .
  • elevation ⁇ is understood to be the angle of inclination of weapon barrel 10 . 2 to the horizontal assumed by weapon barrel 10 . 2 while keeping azimuth ⁇ constant.
  • Elevation ⁇ starting from a horizontal position, i.e., from an elevation of 0° and also a perpendicular deviation of 0°, is changed in steps of, for example, 5° up to a final position of, for example, 85°.
  • the movement of weapon barrel 10 . 2 is controlled by computer. After each step, weapon barrel 10 . 2 is in a measurement position. In this case, its elevation is theoretically a value which is referred to as an intended value and/or intended elevation ⁇ (theor) and which is indicated by intended value sensor 10 . 5 . However, weapon barrel 10 . 2 is in another position, which is described by actual value and/or actual elevation ⁇ (eff).
  • the difference between the ⁇ (theor) and ⁇ (eff) is represented in a function of ⁇ (theor).
  • the movement of weapon barrel 10 . 2 is repeated multiple times in both rotational directions.
  • An average first-directional empirical elevation error curve f ⁇ (D 1 ) and an average second-directional empirical elevation curve f ⁇ (D 2 ) is obtained from the measurement results recorded in this case.
  • a direction-free elevation error curve f ⁇ (D 0 ) results therefrom, which is shown in FIG. 4A with a solid line. It may be seen in FIG. 4A that with increasing elevation ⁇ , i.e., with continuously steeper positioning of weapon barrel 10 .
  • elevation error curve f ⁇ (D 0 ) rises.
  • Empirical elevation error curve f ⁇ (D 0 ) is then approximated by a mathematical elevation error function F ⁇ , and a correction function is determined which is taken into consideration in the calculation of the aiming values. If the measurements are repeated, but taking the correction functions into consideration, the corrected elevation error function runs much more flatly than the uncorrected one.
  • the error components of elevation synchronization error ⁇ which may not be individually detected during the measurement may be established using a mathematical analysis of mathematical elevation error function F ⁇ .
  • the first error component of the elevation synchronization error would, by itself, result in an error function which essentially corresponds to a sine function having multiple angular frequencies.
  • the second error component of the elevation synchronization error would result in an error function f ⁇ (D 0 ) 2 , which essentially follows a cosine function subtracted from 1, illustrated in FIG. 4A using a dashed line.
  • the sum of the error components corresponds to elevation error curve f ⁇ (D 0 ), resulting from the measurements performed. This is represented as an oscillation corresponding to the first error component around a rising curve corresponding to the second component.
  • FIG. 4B shows a spatial parameter illustration of elevation synchronization error ⁇ as a function of azimuth ⁇ , using various elevations ⁇ as a parameter, the bottom curve corresponding to the smallest elevation.
  • the individual measurement and analysis procedures may be performed at least partially in different sequences, without influencing the results.
  • Perpendicular offset error ⁇ 2 is also established within the second measurement procedure. For this purpose, in each of the measurement positions in which, with the aid of the ⁇ measurement unit, elevation synchronization error ⁇ is determined, perpendicular offset error ⁇ 2 is determined with the aid of the ⁇ -measurement unit.
  • FIG. 5 shows the perpendicular offset error as a function of elevation ⁇ .
  • Empirical perpendicular offset error curve f ⁇ 2 shown with a dashed line, may be approximated by a mathematical perpendicular offset error function F ⁇ 2 , shown with a solid line, for example by a second order polynomial.
  • a third measurement procedure is performed, with the aid of which a compensation of squint error ⁇ is performed.
  • Squint error ⁇ arises because the directions of the weapon barrel axis and the line of vision of the gun are not coincidental, but rather enclose a squint angle.
  • the extensions of the weapon barrel axis and the line of vision are displayed at a certain distance to the muzzle of the weapon barrel, for example using a projection, the weapon barrel axis and the line of vision appearing as points.
  • the deviation of the two points is a measure of the squint error, the distance between the weapon barrel and the projection surface also having to be considered to establish this error.
  • This method of establishing the squint error is not novel and is only described here for supplementary purposes, since complete compensation of firing errors which are caused by static gun geometry errors must also take squint error into consideration.
  • weapon system 10 has gun 10 . 1 having at least one weapon barrel 10 . 2 , whose movements are controlled in a typical way using gun servomotors. Furthermore, weapon system 10 has fire control device 10 . 3 . Weapon system 10 also has system computer and/or fire control computer 10 . 4 , which is positioned on fire control device 10 . 3 or, at least partially, on gun 10 . 1 . Weapon system 10 typically also has an intended value sensor 10 . 5 , which indicates the intended values, particularly of azimuth ⁇ and elevation ⁇ , which describe the intended position of aimed weapon barrel 10 . 2 determined by system computer 10 . 4 .
  • a first component is formed by intended value sensor 10 . 5 , which is used for the purpose of indicating the intended values, which describe the intended and/or supposed position of weapon barrel 10 . 2 .
  • the intended value sensor present on weapon system 10 in any case is used as the intended value sensor.
  • a second component of the novel device is formed by measurement facility 20 . 1 , for detecting the actual values, which describe the actual position of weapon barrel 10 . 2 .
  • Measurement facility 20 . 1 includes at least optical-electronic gyroscopic measurement system 22 . 1 , for example a fiber-optic measurement system.
  • Gyroscopic measurement system 22 . 1 has at least a first and/or ⁇ -measurement unit for detecting changes of angle, preferably of azimuth ⁇ , of weapon barrel 10 . 2 .
  • gyroscopic measurement system 22 . 1 also has a second and/or ⁇ -measurement unit for detecting changes of elevation ⁇ of weapon barrel 10 . 2 .
  • optical-electronic gyroscopic measurement systems are to be understood to include not only fiber-optic measurement systems, but also other measurement systems, for example ring laser gyroscopic measurement systems.
  • Gyroscopic measurement systems generally have the advantage that they operate autonomously; therefore, no reference points external to the system have to be used. Guns do not have to be brought into a separate measurement station. However, because there is no reference external to the system, the system generally drifts over time. The gyroscopic drift manifesting in this case must be determined and taken into consideration during the analysis of the measurement results. A laser positioning system may be used in connection with this.
  • the second component of the novel device i.e. measurement facility 20 . 1 , preferably also has measurement systems for detecting further errors, particularly wobble error ⁇ T and squint error ⁇ .
  • a further measurement system 21 . 2 in the form of a typical, preferably electronic, spirit level is used.
  • This level measures angles in relation to the horizontal, in the present exemplary embodiment, the respective angle of the weapon barrel axis to the horizontal.
  • An electronic spirit level is understood as a sensor which measures the horizontal angle, i.e., the angle to a horizontal, and outputs an electric signal correlated to this angle.
  • the measurement uses effects of gravitation, which define the vertical and therefore also the horizontal. In this case, it is unimportant how the sensor uses gravitation.
  • the tilt of gun 10 . 1 may be determined with the aid of an electronic spirit level. Tilt is understood as the following: if weapon barrel 10 . 2 is only moved in the azimuth, then the movement of the muzzle of the weapon barrel may be approximately considered as a circular line which defines a plane. The angular deviation of this plane in relation to the horizontal plane is referred to as tilt; in other words, without tilt, this plane would be a horizontal plane. Generally, in new guns, the tilt is automatically compensated and/or the gun is automatically leveled to the horizontal. The leveling to the horizontal of the gun is, however, not necessary for performing the novel method.
  • a further measurement system 22 . 3 in the form of a typical, preferably optical, device is used. This device measures the angular difference between the weapon barrel axis and the line of vision of gun 10 . 1 .
  • a computer is required as a third component for performing the novel method.
  • the computer is implemented, as shown in FIG. 1A, as a separate computer unit 20 . 2 , which is used exclusively to perform the novel method or also for other purposes and is only coupled to the weapon system 10 for this purpose.
  • fire control computer and/or system computer 10 . 4 of weapon system 10 may also possibly be used as the computer.
  • the third component of the novel device in the present case computer unit 20 . 2 , has a data input and/or a data interface, via which it is supplied at least data which represent the detected intended values and actual values.
  • the data may be made available to computer unit 20 . 2 in any desired suitable way, for example with the aid of a data carrier such as a diskette, or via a data circuit, which may be material or immaterial.
  • fire control computer and/or system computer 10 . 4 is used as the computer, then it already knows the intended values and the actual values are made available to it via a data input and/or a data interface 24 .
  • the third component of the novel device in the present case computer unit 20 . 2 , further has software implemented in order to determine the correction values from the intended values and the actual values.
  • the steps to be performed in this case are described in more detail above in relation to the method according to the present invention.
  • fire control computer and/or system computer 10 . 4 is used as the computer, the correction values established may be implemented directly in the fire control software.
  • the established correction values must be made available to fire control computer and/or system computer 10 . 4 via data input and/or data interface 24 and implemented in the fire control software on the computer.
  • the third component i.e., the computer, preferably has an input unit 20 . 3 , such as a keyboard, via which further data may be made available, particularly if it is formed by separate computer unit 20 . 2 .
  • This may include, for example, data which controls the progress of the novel method, in that it, among other things, controls the step-by-step rotation of the weapon barrel into the measurement positions by the servomotors and the coupling of the respective measurement systems and/or measurement units to be used.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
  • Gyroscopes (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Organic Low-Molecular-Weight Compounds And Preparation Thereof (AREA)
  • Fire Alarms (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)
US10/341,877 2002-01-16 2003-01-14 Method and device for compensating firing errors and system computer for weapon system Abandoned US20030183070A1 (en)

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US20070144338A1 (en) * 2005-12-12 2007-06-28 Stefan Gerstadt Weapon having an eccentrically-pivoted barrel
EP2151662A1 (en) * 2008-07-29 2010-02-10 Honeywell International Inc. Method and apparatus for boresighting and pointing accuracy determination of gun systems
DE102022106062A1 (de) 2022-03-16 2023-09-21 Vincorion Advanced Systems Gmbh Verfahren und Notrichtsteuereinheit zum Betreiben eines Notrichtsystems für eine Geschützvorrichtung, Geschützvorrichtung und Fahrzeug

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GB0619014D0 (en) * 2006-09-27 2006-11-08 Lindsay Norman M Identifying golf shots
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PL358315A1 (en) 2003-07-28
IL153223A0 (en) 2003-07-06
PL206455B1 (pl) 2010-08-31
DK1329683T3 (da) 2005-12-12
DE50204077D1 (de) 2005-10-06
JP2003214797A (ja) 2003-07-30
NO327584B1 (no) 2009-08-24
EP1329683A1 (de) 2003-07-23
ZA200300259B (en) 2003-07-31
CA2416166A1 (en) 2003-07-16
IL153223A (en) 2007-10-31
NO20030094D0 (no) 2003-01-09
JP4248856B2 (ja) 2009-04-02
KR100928753B1 (ko) 2009-11-25
NO20030094L (no) 2003-07-17
KR20030062225A (ko) 2003-07-23
EP1329683B1 (de) 2005-08-31
CN1432786A (zh) 2003-07-30
CA2416166C (en) 2010-04-13
CN100480614C (zh) 2009-04-22
ATE303576T1 (de) 2005-09-15

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