US20160265881A1 - Method for controlling a directable weapon of a vehicle during shooting exercises - Google Patents

Method for controlling a directable weapon of a vehicle during shooting exercises Download PDF

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Publication number
US20160265881A1
US20160265881A1 US15/030,882 US201415030882A US2016265881A1 US 20160265881 A1 US20160265881 A1 US 20160265881A1 US 201415030882 A US201415030882 A US 201415030882A US 2016265881 A1 US2016265881 A1 US 2016265881A1
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United States
Prior art keywords
shooting
weapon
vehicle
sector
orientation
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Abandoned
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US15/030,882
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English (en)
Inventor
Manfred Sperber
Gerd Henning
Eric ULLRICH
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Krauss Maffei Wegmann GmbH and Co KG
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Krauss Maffei Wegmann GmbH and Co KG
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Assigned to KRAUSS-MAFFEI WEGMANN GMBH & CO. KG reassignment KRAUSS-MAFFEI WEGMANN GMBH & CO. KG ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: HENNING, GERD, SPERBER, MANFRED, ULLRICH, Eric
Publication of US20160265881A1 publication Critical patent/US20160265881A1/en
Abandoned legal-status Critical Current

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/26—Teaching or practice apparatus for gun-aiming or gun-laying
    • 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
    • F41A17/00—Safety arrangements, e.g. safeties
    • F41A17/08—Safety arrangements, e.g. safeties for inhibiting firing in a specified direction, e.g. at a friendly person or at a protected area
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H7/00—Armoured or armed vehicles
    • F41H7/02—Land vehicles with enclosing armour, e.g. tanks

Definitions

  • the invention concerns a method of controlling a directable weapon of a vehicle during shooting exercises, wherein the orientation of a shooting sector in which shooting is allowed is determined.
  • the invention can in particular be used with military vehicles.
  • military vehicles usually comprise a vehicle housing, for example in the form of a hull, and a weapon that can be oriented relative to the vehicle housing in azimuth and elevation.
  • a weapon that can be oriented relative to the vehicle housing in azimuth and elevation.
  • Such weapons can for example be disposed on a turret of the vehicle that is rotatable relative to the vehicle housing.
  • shooting exercises are carried out on training grounds, such as for example military training grounds, during which shots can be fired with live ammunition.
  • training grounds such as for example military training grounds
  • shots can be fired with live ammunition.
  • prior to the actual shooting exercise vehicle-related shooting sectors are specified in which shooting is allowed.
  • permission to fire can be given if the weapon is directed into the shooting sector and is denied if it is directed outside the shooting sector.
  • a control method for a directable weapon of a vehicle is known from FR 2 712 675 A1, with which the weapon is directed at a plurality of boundary points of the shooting sector before the start of the shooting exercise in order to determine the shooting sector.
  • the directed position of the weapon is continuously compared with the shooting sector. The weapon is only enabled if it is being directed into the shooting sector, and otherwise is blocked.
  • the object is achieved by maintaining the determined orientation during movement of the vehicle.
  • the orientation of the shooting sector in space is maintained.
  • the orientation of the shooting sector is not defined relative to the vehicle housing, but relative to the environment. This makes it possible for the vehicle to be moved during the shooting exercise without the orientation of the shooting region being changed.
  • the orientation of the shooting sector is determined wherein the weapon is directed at boundary points of the shooting sector. This can be carried out before or at the start of the exercise.
  • An autonomous method is provided for controlling the weapon during shooting exercises.
  • the weapon is preferably directed in azimuth and/or elevation for determining the shooting sector before or at the start of the shooting exercise, so that the shooting sector can be determined in azimuth and/or elevation.
  • an azimuth angle and an elevation angle can preferably be defined and stored in a control device.
  • the orientation of the shooting sector is then maintained in azimuth and/or elevation.
  • the directed position of the weapon is determined relative to a vehicle-independent spatial coordinate system. This has the advantage that the directed position of the weapon is defined independently of the orientation of the vehicle or the orientation of the vehicle housing. In this respect, the directed position of the weapon is determined relative to the environment of the vehicle.
  • the directed position of the weapon is determined independently of a sensor arrangement of the weapon.
  • additional sensors can be disposed on the vehicle, by means of which the directed position of the weapon can be detected for enabling of the weapon for shooting exercises. This enables the determination of the directed position of the weapon without a weapon sensor arrangement.
  • two mutually independent sensor arrangements for the determination of the directed position can be disposed in the vehicle. This additionally enables the sensors of the weapon to be checked by a second sensor system.
  • the directed position of the weapon is determined by inertial sensors.
  • inertial sensors are characterized by particularly high availability.
  • the inertial sensors can be in the form of rate of turn sensors, acceleration sensors and/or magnetic field sensors.
  • the inertial sensors can be configured as microelectromechanical systems (MEMS).
  • MEMS microelectromechanical systems
  • the directed position can particularly preferably be determined by an inertial measurement unit, which comprises a plurality of, in particular orthogonally disposed, rate of turn sensors and/or a plurality of, in particular orthogonally disposed, acceleration sensors and/or a plurality of, in particular orthogonally disposed, magnetic field sensors.
  • a plurality of inertial measurement units is used for determining the directed position, the measurement values of which are combined with each other. Owing to the use of an inertial measurement unit, the directed positioning can be carried out independently of the shooting path and independently of possible targets.
  • the inertial sensors are directed together with the weapon, so that the orientation of the inertial sensors coincides with the directed position of the weapon.
  • the directed position of the weapon can be directly detected by the inertial sensors. It can be constructively provided that the inertial sensors are disposed on a weapon cradle or on a turret of the vehicle.
  • the inertial sensors are disposed within a directable turret of the vehicle. This enables an arrangement of the inertial sensors that is protected against hostile threats and weather. It can also be achieved in this way that the sensors are disposed in an interference protected manner. It is not possible for an enemy to detect the inertial sensors externally and to interfere with or influence said inertial sensors. The interference resistance can be increased further as a result.
  • a satellite navigation receiver can be used for determination of the directed position of the weapon.
  • Such a satellite navigation receiver generally comprises a lower availability than an inertial sensor.
  • the satellite navigation receiver is preferably additionally used for determination of the directed position, as inertial sensors often exhibit drift phenomena, which reduce the accuracy of the determination of the directed position of the weapon.
  • the drift of the inertial sensors can be compensated by the satellite navigation receiver.
  • the satellite navigation receiver can likewise be used to determine the position of the vehicle.
  • the directed position of the weapon during the shooting exercise is compared with the shooting sector for the release of the weapon. Enabling of the weapon can then take place depending on whether the weapon is directed into the shooting sector or not.
  • the weapon is preferably enabled if the directed position of the weapon is located within the shooting sector. Alternatively, the weapon can be blocked if the directed position of the weapon is located outside of the shooting sector.
  • the size of the shooting sector is adapted to the directed position of the weapon and/or the directed speed of the weapon. This enables delays that are caused by the inertial sensors and/or the data processing logic downstream of the inertial sensors to be taken into account.
  • the shooting sector can be reduced if the directed position of the weapon is located within the shooting sector and/or if the directed speed is less than a threshold value that is greater than or equal to zero, so that the enabling of the weapon in the event of a directing movement out of the shooting sector is not withdrawn too late.
  • the shooting sector can thus be smaller if the weapon is being directed within the shooting sector than if the weapon is being directed outside of the shooting sector.
  • a further advantageous embodiment provides that a shooting path is divided into sub regions and the orientation of the shooting sector in each sub region is determined and maintained. Owing to the shape of the shooting path, it can be necessary to re-determine the orientation of the shooting sector during the movement of the vehicle along a shooting path, so that it can be ensured that enabling the weapon is only carried out if the orientation of the shooting sector corresponds to the orientation of the shooting path.
  • the adjustment of the orientation of the shooting sector can preferably be carried out automatically for this. It can thus be ensured for example, even on long shooting paths, that the weapon is only enabled if the same is located within the predetermined shooting sector. Thus directional changes of the shooting path can be incorporated into the shooting authorization.
  • the orientation of the shooting sector is determined when the vehicle is crossing a position line disposed in a sub region.
  • the position of the vehicle that is determined by means of the satellite navigation receiver can be compared with georeferenced boundary points stored in the control device as well as position lines. It can thus be determined whether the vehicle is located in a new sub region and therefore a re-determination of the orientation of the shooting sector is necessary.
  • boundary points are disposed along the course of the shooting path that define the respective sub regions of the shooting path. At a distance from the boundary points, position lines can be determined that preferably lie before the boundary points at which the re-determination of the orientation is to be carried out.
  • the shooting sector has an orientation that corresponds to the orientation of the shooting path.
  • the shooting sector encloses an azimuth angle that is maintained during movement of the vehicle.
  • the azimuth angle can be enclosed by the boundary lines that span the shooting sector.
  • a center line running through the azimuth angle can determine the orientation of the shooting sector here. Said orientation is also maintained during the movement of the vehicle in a sub region.
  • the shooting sector can enclose an azimuth angle that is changed during movement of the vehicle, but wherein the orientation is also maintained.
  • the orientation of the shooting sector can be determined by the boundary points here. This is maintained during the movement of the vehicle in a sub region. As the boundary points are used as orientation points, it is necessary for maintaining the orientation that the azimuth angle of the shooting sector changes during the movement of the vehicle.
  • the determination of the orientation can be determined when entering a new sub region and can be maintained in the same. It can thus be ensured in a simple manner that enabling the weapon is only carried out if the orientation of the shooting sector corresponds to the orientation of the shooting path.
  • the shooting sector is determined by means of boundary points and the boundary points are maintained during movement of the vehicle.
  • the orientation of the shooting sector is further maintained during this, as said orientation is also determined by means of the boundary points. In this respect, only the azimuth angle of the shooting sector is changed. In this way it can be ensured that the shooting sector covers the entire shooting path between the boundary points.
  • the boundary points can preferably be in the form of shooting path boundary points for this.
  • FIG. 1 shows a training ground in a schematic top view
  • FIG. 2 shows a vehicle and a shooting sector in a first position of the vehicle (a), while the vehicle (b) is turning and during movement of the vehicle (c) in a schematic top view
  • FIG. 3 shows a schematic side view of the vehicle and of the shooting sector with different directed positions of the weapon and inclinations of the vehicle
  • FIG. 4 shows a schematic side view of the vehicle and the shooting sector to illustrate necessary safety areas
  • FIG. 5 shows a control device for determination of the shooting sector
  • FIG. 6 shows a lateral sectional representation of a turret of the vehicle
  • FIG. 7 shows a top view of the turret according to FIG. 6 .
  • FIG. 8 shows a schematic top view of a first embodiment version of the determination of the orientation of the shooting sector in a training ground
  • FIG. 9 shows a schematic top view of a second embodiment version of the determination of the orientation of the shooting sector in a training ground.
  • a training ground 15 for performing shooting exercises is represented.
  • the training ground 15 is configured as a type of military training area and comprises a control center 18 , with which vehicles 1 located on the training ground 15 are in radio contact.
  • a shooting path 16 on which shots can be fired is arranged on the training ground 15 .
  • a plurality of target objects 17 are disposed on the shooting path 16 , which form training targets for shooting exercises.
  • the vehicle In order to train over different shooting distances, the vehicle should be able to drive on the shooting path.
  • a military vehicle 1 in the form of a battle tank is represented, which comprises a chassis in the form of an armored hull 2 with a chain drive unit 5 as well as a turret 3 that is mounted rotatably relative to the chassis 2 .
  • a weapon 4 is disposed on the turret 3 that can be directed by rotating the turret 3 in azimuth.
  • the weapon 4 is also designed to be oriented in elevation relative to the turret 3 , so that the weapon 4 can also be directed in elevation.
  • the operation of the weapon 4 is carried out by means of a fire control system, which comprises a sensor arrangement for determining the directed position of the weapon 4 .
  • Said sensor arrangement determines the directed position R of the weapon in azimuth and elevation.
  • the measurement values determined by the weapon sensors form the basis for controlling positioning motors for directing the weapon 4 in azimuth and elevation.
  • a control device that is independent of the fire control system is provided on the vehicle 1 , with which the method according to the invention for controlling the directable weapon 4 of the vehicle 1 is performed.
  • the control device is used during shooting exercises in order to train crew members to handle the vehicle 1 and/or the weapon 4 .
  • a shooting sector S in which shooting is allowed is determined before the start of the shooting exercise.
  • the orientation of the shooting sector S is determined in doing so, so that it coincides with the orientation of a shooting path 16 .
  • the shooting sector S is essentially in the form of a type of a skew pyramid. As can be seen from the representation in FIG. 2 a, the shooting sector S is bounded in azimuth by two boundary lines, each of which starts from a boundary point D that is fixed with respect to the vehicle and intersects predetermined boundary points A and B.
  • the boundary point D that is fixed with respect to the vehicle forms the apex for this and the boundary lines form the legs of an azimuth angle ⁇ .
  • the shooting sector S is bounded on the one hand by a horizontal line that passes through the boundary point D that is fixed with respect to the vehicle, and on the other hand by a straight line starting from the boundary point D that is fixed with respect to the vehicle, which intersects a third predetermined boundary point C.
  • the horizontal line and the boundary lines through the boundary point C enclose an elevation angle ⁇ .
  • the determined orientation of the shooting sector S is maintained during movement of the vehicle 1 .
  • the shooting sector S is moved with the vehicle 1 during movement of the vehicle 1 such that the orientation of the shooting sector S in relation to the shooting path 16 is maintained.
  • the determined orientation of the shooting sector S is maintained during a rotation of the vehicle 1 .
  • the vehicle 1 can also be moved, as shown in FIG. 2 c, wherein the orientation of the shooting sector S remains unchanged. Therefore a re-determination of the shooting sector S is also unnecessary when moving the vehicle 1 .
  • the vehicle 1 can thus also move closer to the target 17 on a curved path in order to change the distance to the target 17 for training purposes.
  • FIG. 2 b and FIG. 2 c show different examples of movements of the vehicle 1 , during which the orientation of the vehicle 1 in azimuth is changed, wherein the orientation of the shooting sector S in azimuth and elevation is not changed.
  • the orientation of the shooting sector S is however also maintained in elevation during changes of the orientation of the vehicle 1 , as can be seen from the representations in FIG. 3 .
  • Such changes in orientation of the vehicle 1 can arise for example when travelling on uneven terrain, and can result in tilting of the vehicle relative to the horizontal.
  • the shooting sector S is moved with it such that the determined orientation of the shooting sector S is maintained in azimuth and elevation.
  • Enabling the weapon 4 is always carried out if the directed position R of the weapon 4 is within the shooting sector S.
  • the directed position R of the weapon 4 during the shooting exercise is compared with the shooting sector S either continuously or before shooting.
  • enabling of the weapon 4 is carried out for a directed position R as shown in FIG. 2 a, FIG. 3 a or FIG. 4 .
  • Enabling the weapon 4 is not carried out if the directed position R of the weapon lies outside of the shooting sector S, as shown for example in FIG. 2 b, FIG. 3 b or FIG. 3 c.
  • the weapon 4 is disabled if the weapon 4 is directed outside of the shooting sector S and the disabling can be lifted if the weapon 4 is directed within the shooting sector S.
  • the determination of the shooting sector S, and in particular the orientation thereof, is carried out exclusively by devices 6 , 7 , 8 that are fixed to the vehicle. Control by the control center 18 that is separate from the vehicle 1 is not necessary.
  • the weapon 4 is directed at different boundary points A, B, C of the shooting sector S in order to define the boundaries and hence also the angles ⁇ , ⁇ of the shooting sector S.
  • An operator's control device 8 of the control device that is represented in FIG. 5 is used for this.
  • the control device 8 comprises a plurality of operating elements 9 , 10 , 11 , 12 in the form of buttons, by means of which boundary points A, B, C of the shooting sector S can be defined.
  • the weapon 4 is first directed by means of the fire control system of the vehicle 1 at a boundary point A on the left boundary region of the shooting path 16 .
  • the directed position R of the weapon 4 is checked by means of an optical sight.
  • the operating element 10 is operated, whereby the current directed position R of the weapon 4 is temporarily stored as the left boundary of the shooting sector S.
  • the weapon 4 is directed by means of the fire control system at a boundary point B in the right boundary region of the shooting path 16 .
  • the operating element 11 is now operated, whereby the current directed position R of the weapon 4 is temporarily stored as the right boundary of the shooting sector S.
  • the weapon 4 is directed at a maximum permitted elevation a for the respective shooting path 16 .
  • the weapon 4 is directed at an elevation boundary point C.
  • the operating element 9 is operated, whereby the current directed position R of the weapon 4 is temporarily stored as the upper boundary of the shooting sector S.
  • the determination of the shooting sector S is terminated by operation of the button 12 . In this way the temporarily stored values for the right, left and upper boundaries of the shooting sector S are adopted as new boundaries of the shooting sector S.
  • the azimuth angle ⁇ as well as the elevation angle ⁇ are also stored in the control device.
  • the directed position R of the weapon 4 is defined relative to a vehicle-independent spatial coordinate system with the spatial directions x, y, and z both for determination of the shooting sector S and also for comparison with the determined shooting sector S during the shooting exercise, cf. FIG. 2 a and FIG. 4 .
  • the directed position R of the weapon 4 is thus always known relative to the environment of the vehicle 1 , which has the advantage that the shooting sector S is determined relative to a vehicle-independent spatial coordinate system x, y, z. In this respect the shooting sector S is defined independently of the orientation of the vehicle 1 .
  • the detection of the directed position R for the determination of the shooting sector S and the subsequent comparison with the shooting sector S is carried out independently of the sensor arrangement of the fire control system.
  • the vehicle 1 is provided with inertial measurement units 6 for determining the directed position R that are independent of the fire control system.
  • the inertial measurement units 6 each comprise a plurality of inertial sensors 13 , which are in the form of rate of turn sensors, acceleration sensors and magnetic field sensors.
  • the inertial sensors 13 are part of an inertial navigation system (INS), by means of which the directed position R is determined in a vehicle-independent coordinate system.
  • the directed position R is determined by three orthogonally disposed rate of turn sensors as well as three orthogonally disposed acceleration sensors and three orthogonally disposed magnetic field sensors.
  • the inertial sensors 13 are disposed in the interior of the turret 3 on the weapon cradle, so that the same are directed in azimuth and elevation together with the weapon 4 , cf. FIG. 6 and FIG. 7 . In this way it can be ensured that the orientation of the inertial sensors 13 coincides with the directed position R of the weapon 4 .
  • the inertial sensors 13 are protected against external effects and in particular against interference effects owing to the arrangement in the interior of the turret 3 .
  • the position at which the inertial sensors 13 are disposed is not directly visible to an attacker, so that interference or influencing can be prevented.
  • owing to the use of inertial sensors 13 it is possible to minimize error sources, such as can occur for example owing to masking, deflections or similar.
  • two identical inertial measurement units 6 are disposed on the vehicle 1 , so that in the event of a failure, one of the two units 6 can perform the determination of the directed position R rather than the respective other unit 6 . If both inertial measurement units 6 are operational, the measurement values of both units 6 can be interpolated in order to increase the accuracy of the measurement.
  • a satellite navigation receiver 7 which can be in the form of a GPS receiver for example or a different satellite navigation system, is additionally disposed on the turret 3 .
  • additional position data of the weapon 4 can be determined, which are used for compensation of drift phenomena of the inertial sensors.
  • the inertial sensors 13 and also the data processing logic connected downstream of the inertial sensors 13 each comprise signal delays that are to be taken into account in the control method.
  • the size of the shooting sector S is adapted to the directed position R of the weapon 4 and/or to the current directing displacement of the weapon 4 , which will be described using the representations in FIG. 2 a and FIG. 4 .
  • the shooting sector S is reduced, which is represented in FIG. 2 a and FIG. 4 by the boundary points A′′, B′′ and C′′.
  • the risk is countered that without adjustment the firing authorization for the weapon 4 in the case of a rapid directional movement out of the shooting sector S would only be blocked at the points A′, B′ and C′ and hence belatedly. Said circumstance is already to be taken into account in advance during the safety planning of the shooting sector S.
  • the enabling of the weapon 4 when swiveling the weapon 4 into the shooting region is carried out belatedly owing to the aforementioned delays, so that the shooting sector does not have to be reduced. Said circumstance is already to be taken into account in advance during the safety planning of the shooting sector S.
  • the orientation of the shooting sector S that is authorized by the system is re-determined at defined points during the movement of the vehicle 1 along the shooting path 16 . Said method will be described in detail below using the representations in FIGS. 8 and 9 .
  • Large shooting paths 16 are frequently divided into a plurality of regions, in which a vehicle 1 can be disposed during a shooting exercise. Said regions are defined by different boundary points A 1 , B 1 , A 2 , B 2 , A 3 , B 3 that are disposed staggered in depth.
  • the representation in FIG. 8 shows a first region, which extends from the start of the shooting path 16 to the first boundary points A 1 , B 1 .
  • a second region lies between the first boundary points A 1 , B 1 and the second boundary points A 2 , B 2 .
  • Further regions can also be defined in a similar way.
  • position lines 20 , 20 ′, 20 ′′ on which a determination of the orientation of the shooting sector S, S′, S′′ is to be carried out can be defined in the individual sub regions of the shooting path 16 . If such a position line 20 , 20 ′, 20 ′′ is crossed by the vehicle 1 , the shooting sector S, S′, S′′ is re-determined and initialized, so that the orientation is then adapted to the respective sub region of the shooting path 16 . The orientation is then maintained during the movement of the vehicle 1 in a sub region.
  • the position and travelling motion of the vehicle 1 can be continuously determined by means of the satellite navigation receiver 7 and can be stored in the control device.
  • the position data of the vehicle 1 that is determined by the satellite navigation receiver 7 can be compared with georeferenced boundary points A 1 , B 1 , A 2 , B 2 , A 3 , B 3 stored in the control device as well as the position lines 20 , 20 ′, 20 ′′.
  • the orientation of the shooting sector S, S′, S′′ which is then in turn maintained in said sub region.
  • the orientation can be determined in different ways for this.
  • a first option is represented in FIG. 8 and was also illustrated in the above figures.
  • a first shooting sector S is determined in terms of the orientation thereof when traveling over the first position line 20 . This means that the azimuth angle ⁇ remains the same over the entire sub region and the shooting sector S along the center line between the two boundary lines enclosing the angle ⁇ determines the orientation. If the vehicle 1 now moves along an arbitrary turn, then said orientation of the shooting sector S is maintained until the vehicle 1 crosses the next position line 20 ′ and it is thus indicated that the vehicle 1 is located in a new sub region of the shooting path 16 .
  • the position lines 20 , 20 ′, 20 ′′ are each disposed at a sufficient distance in front of the associated boundary points A 1 , B 1 , A 1 , B 2 , A 3 , B 3 such that it can be ensured that a re-determination of the orientation of the shooting sector S, S′, S′′ is carried out at the right time and shooting outside the shooting path 16 is not possible.
  • the position line 20 ′ By crossing the position line 20 ′, by the comparison of the position of the vehicle determined by the satellite navigation receiver 7 and the stored georeferenced boundary points A 1 , B 1 , A 2 , B 2 , A 3 , B 3 as well as the position lines 20 , 20 ′, 20 ′′ it can be determined in the control device that the vehicle 1 is now located in a new sub region of the shooting path 16 , and therefore a re-determination of the shooting sector S is necessary. Accordingly, the orientation of the shooting sector S is re-calculated, so that the orientation then corresponds to the shooting sector S′. Consequently, the shooting sector S′ is also adapted when crossing further position lines 20 ′′, so that it can be ensured that enabling the weapon 4 is only carried out if there is no risk.
  • a second, alternative option for the determination of the orientation of the shooting sector S, S′, S′′ is represented in FIG. 9 .
  • the orientation of the shooting sector S, S′, S′′ is not defined by means of a center line between the boundary lines there, but rather by means of the boundary points A 1 , B 1 , A 2 , B 2 , A 3 , B 3 themselves.
  • the orientation of a first shooting sector S is determined in a known way, while the vehicle 1 is on the position line 20 . If the vehicle 1 now moves along a turn on the shooting path 16 , the angle ⁇ of the shooting sector S changes, but the orientation, which is determined by means of the boundary points A 1 , B 1 is maintained.
  • the orientation of the shooting sector S is re-determined and then maintained during movement of the vehicle 1 in the new sub region.
  • the shooting sector S′ thus produced uses the boundary points A 2 , B 2 as orientation reference points, so that the orientation of the shooting sector S′ is determined by means of the same.
  • the shooting sector S, S′, S′′ is determined for this by means of the boundary points A 1 , B 1 , A 2 , B 2 , A 3 , B 3 , wherein the boundary points A 1 , B 1 , A 2 , B 2 , A 3 , B 3 are maintained during movement of the vehicle 1 as determining points.
  • the orientation of the shooting sector S, S′, S′′ is maintained, but the azimuth angle ⁇ changes.
  • the orientation of the shooting vector S, S′, S′′ is maintained, but the azimuth angle ⁇ of the shooting sector S, S′, S′′ is dynamically adapted within each sub region, so that here too a safe firing authorization can be achieved.
  • the determined orientation is maintained during movement of the vehicle 1 . In this way it is possible that the vehicle 1 can be moved during the shooting exercise without the orientation of the shooting region S being changed.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
US15/030,882 2013-10-22 2014-10-22 Method for controlling a directable weapon of a vehicle during shooting exercises Abandoned US20160265881A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE201310111644 DE102013111644A1 (de) 2013-10-22 2013-10-22 Verfahren zur Steuerung einer richtbaren Waffe eines Fahrzeugs bei Schießübungen
DE102013111644.2 2013-10-22
PCT/DE2014/100377 WO2015058743A1 (fr) 2013-10-22 2014-10-22 Procédé de commande d'une arme orientable d'un véhicule dans le cadre d'exercices de tir

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EP (1) EP3060872B1 (fr)
BR (1) BR112016008798B1 (fr)
DE (1) DE102013111644A1 (fr)
WO (1) WO2015058743A1 (fr)

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EP3060872B1 (fr) 2023-02-15
EP3060872A1 (fr) 2016-08-31
DE102013111644A1 (de) 2015-04-23
WO2015058743A1 (fr) 2015-04-30
BR112016008798A2 (fr) 2017-08-01
BR112016008798B1 (pt) 2022-04-05

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