US3840794A - Control system for tracking a moving target - Google Patents

Control system for tracking a moving target Download PDF

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Publication number
US3840794A
US3840794A US00337572A US33757273A US3840794A US 3840794 A US3840794 A US 3840794A US 00337572 A US00337572 A US 00337572A US 33757273 A US33757273 A US 33757273A US 3840794 A US3840794 A US 3840794A
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aiming
sighting
digital
output
control apparatus
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Expired - Lifetime
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US00337572A
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English (en)
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G Clement
R Buttman
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Etat Francais
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Etat Francais
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/66—Tracking systems using electromagnetic waves other than radio waves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/06—Aiming or laying means with rangefinder
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G5/00—Elevating or traversing control systems for guns
    • F41G5/08—Ground-based tracking-systems for aerial targets
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G5/00—Elevating or traversing control systems for guns
    • F41G5/14—Elevating or traversing control systems for guns for vehicle-borne guns
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves

Definitions

  • the control system comprises digital circuitry for determining the aiming angle required to [30] F i Application priority Data aim the gun directly at the target and for determining Mar 2 1972 France 72 07142 an aiming angle correction which provides for leading the target by an amount such that a projectile fired by the gun will strike the target.
  • the control system fur- E 5' 318/632 ggg gfgg ther includes a pair of motors controlled by the digital [58] Fieid "6 60] 625 circuitry, one of which positions the gun to lead the 3l8/6OO target by the calculated aiming angle correction and the other of which positions the telescope an angular [56] References Cited amount equal to the aiming angle correction behind UNITED STATES PATENTS the 2,176,102 10/1939 Riggs 318/632 X 10 Claims, 4 Drawing Figures WMEQ am am SHED 1 OF 2 Now woh r VON wow F F EOEEEQ m wi 55205,: H ozmm mos: u 012%; d wm s q IO
  • the present invention relates to a control system for tracking a moving object and for training a device to lead the object.
  • Gun fire control systems operate, in general, by first determining the kinematic characteristics of a moving target, then calculating a firing offset angle displaced from a datum line, defined as the direct line of sight from the gun to the target and finally training the gun so as to lead the moving target by this offset angle.
  • the kinematic characteristics of the target used by a fire control system include the target distance measured by the displacement tangential velocity or speed across the line of sight and the angular speed of the target relative to the gun.
  • the speed across the line of sight is the speed vector component of the velocity of the target resolved in a direction perpendicular to the datum line.
  • the quantities required by a fire control system to calculate the firing offset angle include the ballistic parameters of the gun and the projectile fired therefrom. If the gun is mounted on a moving vehicle, such as a tank, the calculation of the firing offset angle also involves the speed and direction of the vehicle.
  • the target speed across the line of sight and the angular speed of the target vary with time. Consequently, it is advantageous to automatically and continuously determine the angular speed of the target and the firing offset angle.
  • One method of obtaining the angular speed of the target is by visually following the target with a telescope and determining the angular speed of the telescope.
  • the particular method used in calculating and inserting the firing offset angle depends upon the specific fire control system.
  • the firing axis of the gun which in these systems is also the datum line, is kept parallel to the optical axis of the telescope.
  • the gun is also kept on the target.
  • These systems use at least two methods for inserting corrections, such as the firing offset angle.
  • One method automatically offsets the telescope optical axis to lag thetarget by'a'n angle equal to the firing offset angle.
  • the gun is also realigned an equal angular amount.
  • the firing control system automatically offsets the firing axis of the gun, and hence the datum line, to lead the target by an angle equal to the calculated firing offsetangle.
  • the system simultaneously offsets the optical axis of the telescope to lag the datum line by an angle equal to the firing offset angle. Consequently, if the firing offset angle has been correctly calculated, the optical axis of the telescope is exactly aligned to the target image.
  • the present invention overcomes these and other disadvantages of the prior art by providing a control system that uses digital electronic components to generate output signals which control the positionable aiming and sighting devices.
  • the digital electronic components of the present invention are simple, accurate and drift free. Furthermore, the components are less expensive, less cumbersome and more rugged, and hence the components individually, and the system as a whole, are more reliable.
  • the present invention provides a digital electronic sighting and aiming control system for aiming a device at an object orat a moving target in accordance with the second, more sophisticated method mentioned above.
  • the aimed device has a support, an aiming section rotatably mounted on the support and a sighting section having a movable sighting axis, the sighting section also being mounted on the support.
  • the sighting and aiming control apparatus comprises a digital electronic means for determining an aiming angle and an aiming angle correction.
  • the digital electronic means controls a first means for positioning the aiming section to the aiming angle determined thereby and for varying the position of the aiming angle in the direction opposite to the direction of target motion by the aiming angle correction relative to the aiming angle.
  • the digital electronic means further controls a second means for varying the position of the sighting axis of the sighting section by an angle equal to the aiming angle correction and in a direction opposite to the direction of target motion.
  • FIG. 1 is a highly schematic perspective view of a weapons system to be positioned by the present invention
  • FIG. 2 is a block diagram of a fire control system in accordance with one embodiment of the present invention.
  • FIG. 3 is a schematic block diagram of an alternate embodiment of a portion of the invention shown in FIG. 2;
  • FIG. 4 is a schematic block diagram of a further embodiment of the same portion of the system of FIG. 2.
  • the gun fire control system could be one used in a tank equipped with a rotatable turret on which a gun is mounted.
  • a gun mounted on a turret 11 which, is rotatably mounted on a support platform 12.
  • a turret motor schematically represented at 14, rotates turret 11 and hence, gun 10, in accordance with input signals from the fire control system.
  • a sighting system 16 having a telescope 18 with an optical axis indicated by dashed line 20, is pivotably supported on a mounting 22.
  • Mounting 22 is, in turn, rotatably mounted on support platform 12 and can be rotatably positioned independently of gun 10 by a motor schematically shown at 24.
  • FIG. 1 Also shown in FIG. 1 is a part of the fire control geometry.
  • the present invention positions gun 10 such that a projectile fired therefrom will strike a target 26 moving relative to gun 10.
  • Target 26 is located a distance D from gun 10 in a direction indicated by line 28.
  • Line 28 is often referred to as the line of sight.
  • a projectile fired from gun 10 will take a time t to reach target 26. If gun 10 were aimed in the same direction as the direction of the line of sight and aprojectile were fired therefrom, after a time t had elapsed, the projectile would arrive at the location where target 26 was when the projectile was fired.
  • a fire control system One function of a fire control system is to calculate an angle, called the lead angle or the aiming angle correction, to which gun 10 is positioned so that a projectile fired therefrom will hit target 26.
  • the aiming angle correction has been denoted a.
  • the velocity vector V of target 26 can be resolved into its component vectors, wherein the velocity component in a direction perpendicular to the line of sight, indicated by line 28, is denoted V Vector V is called the displacement tangential speed or the speed across the line of sight.
  • the target angle displacement velocity, or simply the angular velocity of target 26 with respect to gun It) is denoted .Q and can be calculated according to the formula I), V /D. Consequently, in order for the projectile to hit target 26, it must be fired an angle of .Qt degrees ahead of, or leading, target 26. This lead angle as mentioned above is denoted a and is referred to as the aiming angle correction.
  • the fire control system also uses the aiming angle correction to determine the position of sighting system 16. Simultaneously with the positioning of gun 10 to lead target 26, sighting system 16 is positioned to lag an imaginary line extending from the nozzle of gun 10, called the datum line, by an angle equal to the aiming angle correction.
  • the datum line is the same as line of sight 28 because gun 10 is aimed directly at target 26.
  • optical axis 20 lags the datum line by the aiming angle correction a.
  • target 26 is usually sighted through telescope l8 and is manually tracked by keeping optical axis 20 fixed on target 26.
  • time zero the electronics of the tire control system are energized and gun 10 is appropriately positioned.
  • a principal function of the present invention is to calculate the aiming angle correction at, to generate digital signals for the positioning of gun l0, and the datum line associated therewith, an angular distance of +0: degrees leading target 26, and to generate digital signals for the positioning of optical axis 20 an angular distance of a degrees lagging or behind the datum line, used in proper aiming of gun 10. It should be noted, however, that for many practical systems the generated digital signals cannot be directly applied to operate motors 14 and 24. In general, the
  • a potentiometer 50 is coupled to a manual tracking unit (not shown) associated with sighting system 16 (FIG. 1). Potentiometer 50 is connected to a suitable voltage source 52 and produces a voltage output in accordance with the angular position of the tracking unit. The output of potentiometer 50 is connected to the input of a frequency generator 54. Frequency generator 54 preferably comprises a voltage controlled oscillator and produces a pulse output having a frequency which varies with the applied voltage from potentiometer 50 and hence with the angular velocity of sighting system 16.
  • the pulses from frequency generator 54 are applied to a counter 56 which preferably comprises a so-called UP-DOWN counter.
  • Counter 56 counts the input pulses thereto additively or subtractively, depending on the direction in which the tap of potentiometer 50 is being rotated, i.e., the pulse count registered by counter 56 will increase for rotation in one direction and decrease for rotation in the opposite direction.
  • the net number of pulses counted by counter 56 represents, in digital form, the angular position of sighting system 16 relative to the reference position on support platform 12.
  • the numerical value ofthe pulse count can represent the displacement of sighting systerm 16 relative to a reference point on mounting 22 of a manually rotated sighting system.
  • the number of pulses integrated with respect to time represents the angular velocity 0 of sighting system 16 and hence, of the tracked target 26.
  • Turret 11, of FIG. 1 is equipped with a device for generating a pulse for a predetermined amount of rotation of the turret.
  • an incremental coder 58 is connected to and driven by turret motor 14, and provides a pulse for each l /n th of a revolution of turret 11.
  • Counter 60 preferably comprises an UP-DOWN counter-and, similarly to counter 56, counts the input pulses thereto either additively or subtractively depending upon the direction of rotation of turret 11.
  • the numerical value of the pulse count represents the actual position of turret 11 relative to the aforementioned reference position.
  • Comparator 62 generates a digital representation of the absolute angular value and of the sign (i.e., the direction) between the datum line of gun It) and optical axis 20 of the telescope 18.
  • comparator 62 When telescope 18 is trained on a target, and hence optical axis 20 is superimposed on the line of sight to the target, comparator 62 generates a signal corresponding to the angular offset between the datum line and the target position.
  • a telemeter system calculates the gun-t-o-target distance D.
  • Telemeter system 64 can be coupled to sighting system 16 or can be independent thereof.
  • An aiming angular correction processor or computer 66 calculates the aiming angle correction a.
  • the input signals to computer 66 include the digital output pulses generated by frequency generator 54.
  • Computer 66 then internally integrates the number of pulses with respect to time to generate signals representative of angular velocity 0.
  • Computer 66 also receives a digital input signal representative of the gunto-target distance D from telemeter 64 and internally calculates the travel time t of a projectile to be fired from gun 10.
  • the calculation of travel time 2 requires using ballistic parameters which can be stored in" computer 66 and using the gun-to-target distance D.
  • Computer 66 calculates the instantaneous aiming angle correction, a, by the multiplication of the instantaneous values of angular velocity Q and projectile travel time t.
  • Computer 66 continuously transmits an output signal representative of the instantaneous valueof the aiming angle correction or to a second adder-subtracter or comparator 68.
  • Comparator 68 also receives the digital signal output from comparator 62 and algebraically adds the value of this signal to the value of the signal from computer 66.
  • the absolute value of the resulting signal represents the difference between the desired angular position of gun l0 and its datum line and the present angular position of gun It) and its datum line.
  • the sign of the resulting signal represents the direction the gun must be trained to properly lead the target.
  • D/A converter 70 generates an output signal of a voltage proportional to the pulse rate of the digital input signal thereto.
  • the output of D/A converter 70 is applied to turret motor 14 which positions gun 10 in accordance therewith.
  • turret motor 14 is preferably a direct current electric motor having a rotational speed proportional to the applied input voltage.
  • sighting system 16 is positioned to lag the datum line associated with gun 10 by an angle equal to the aiming angle correction a.
  • mounting 22, which supports sighting system 16 is rotated by motor 24.
  • motor 24 is preferably a directcurrent motor. Motor 24 is appropriately energized so as to rotate sighting system 16 such that it lags the datum line of gun 10 by the firing angle correction or.
  • a coder 72 coupled to motor 24, generates a digital output signal representative of the angular displacement of optical axis 20 from the aforementioned reference point. This signal is applied to an adder-subtractor or comparator 74. Comparator 24 also receives an input signal, the digital output signal from computer 66. Comparator 24 algebraically adds the two input signals and generates an output signal representative of the angular correction to be made to optical axis 20. The output signal is applied to a digital-to-analog (D/A) converter 76. Converter 76 converts the digital input signal to an analog voltage output signal. The output signal from A/D converter 76 is applied to motor 24, which thereupon positions sighting system 16 in accordance with the signal.
  • D/A digital-to-analog
  • FIG. 2 The embodiment of the invention as shown in FIG. 2 has been described hereinabove in terms of calculating and adjusting only the bearing angle of gun 10. It will be appreciated by those skilled in the art that the same principles can be applied to calculating and adjusting other parameters in the fire control problem, such as the elevation angle of gun l0. Naturally, the formula necessary for the calculation of time t, the time required for a projectile fired from gun 10 to reach target 26, is changed when the other parameters are used. However, the calculation of time t is well known in the art and further elucidation of the calculation is not required herein.
  • the digital firing control system described hereinabove provides a high degree of accuracy, yet it is completely adaptable to be used with motors operated by analog signals.
  • the most critical input in the present system is a digital signal representing the deviation from the reference points. Any errors introduced into the system from the digital-to-analog conversion or the operation of the electrical motors with analog signals can be easily corrected by position feedback signals. Consequently the present invention can still provide the accuracy inherent in a totally digital system.
  • FIG. 3 A second embodiment of the invention is shown in FIG. 3.- Up to and including D/A converter 70, the embodiment of the invention shown in FIG. 3 is the same as that shown in FIG. 2. However, the output of D/A converter in this embodiment is applied to an operational amplifier 102 connected as a double input integral adder. Amplifier 102 produces an output voltage proportional to the sum of the voltage generated by D/A converter 70 and a voltage generated by a coupler 104 and applied in a feedback loop. Coupler 104 has a primary winding 106, driven at a constant speed by an electric motor 108, and an energizing winding 110, energized by the voltage generated by amplifier 102.
  • Coupler 104 produces a torque that is proportional to the current delivered to its energizing winding 110 and drives both turret 11 (FIG. 1) and incremental coder 58.
  • FIG. 4 A third embodiment of the invention is shown in FIG. 4. As in FIG. 3, this embodiment is the same as that shown in FIG. 2 up to and including D/A converter 70.
  • the output of D/A converter 70 is applied to an operational amplifier 202 connected as a double input integral adder.
  • Amplifier 202 produces an output voltage which is proportional to the sum of the voltage generated by D/A converter 70 and a voltage generated by a tachometer-generator 204.
  • Tachometer-generator 204 is driven by a hydraulic motor 206 and generates a voltage proportional to the rotational speed at which it is driven.
  • the output voltage from amplifier 202 is applied to a servo-valve coil 208.
  • Servo-valve coil 208 is coupled to motor 206 and controls the output torque of motor 206 in accordance with the magnitude of the voltage output of amplifier 202.
  • the present invention has applications other than with a turret mounted gun fire control system. These applications can include any system which has to be aimed from either a moving support or from a stationary installation.
  • the invention can be adapted to a missile fire control system for properly positioning the missile launching ramp or can be adapted to a celestial laser telemetry system for properly positioning the laser so that laser pulses emitted therefrom will intercept a celestial body.
  • the present invention can also be applied to telescopic sighting systems. Because telescopes have a very narrow field of vision, they are often equipped with an auxiliary wide angle sight-tube for locating the object to be observed, such as a star. Thus the present invention can be used to offset the optical axis of the telescope relative to the optical axis of the auxiliary sighttube so as to enable a shift from a star presently being observed to the next star to be observed.
  • the angular velocity 0 of the object and the value of the travel time t required for an object to reach the target may be obtained from different sources.
  • the value of travel time t can be obtained from mathematical data processed by a previously programmed computer.
  • Sighting and aiming control apparatus for automatically positioning a system for tracking a moving object, the tracking system including a support, an aiming section rotatably mounted on the support, and a sighting system supported by the support and having a movable sighting axis, said sighting and aiming control apparatus comprising a digital electronic means for determining an aiming angle and an aiming angle correction; first means controlled by said digital electronic means for positioning the aiming section to the aiming angle determined by said digital electronic means and for varying the position of the aiming section by the aiming angle correction relative said aiming angle in the direction of the target motion; and second means controlled by said digital electronic means for varying the position of the sighting axis of the sighting system by an angle equal to the aiming angle correction in a direction opposite to the direction of the target motion.
  • said digital electronic means includes a frequency generator for producing a pulse output corresponding to the relative angular position of the object; third means for producing a pulse output corresponding to the angular position of the aiming section; fourth means for comparing the pulse output produced by said frequency generator and said third means and for producing a digital output corresponding to the comparison; fifth means for generating a digital output representative of the desired aiming angle correction; sixth means for comparing the outputs of said fourth means and said fifth means and for applying a signal corresponding to said comparison to said first means for the control thereof; and seventh means for applying said digital output of said fifth means to control said second means.
  • said fourth means comprises counter means for adding or subtracting said pulses generated by said frequency generator depending on the direction of the movement of the object and for adding or subtracting said pulses generated by said third means depending upon the position of the aiming section, said fourth means producing a digital output corresponding to the algebraic summation of said counter means and being representative of the desired aiming angle; and wherein said sixth means algebraically adds the digital output from said fifth means and said fourth means and produces a digital output which is representative of the desired correction to be made to the angular position of the aiming section.
  • said fourth means includes a first counter connected to the output of said frequency generator for counting the pulses produced thereby additively or subtractively depending upon the direction of movement of the sighting axis; a second counter connected to the output of said third means for counting the pulses produced thereby additively or subtractively depending upon the angular position of the aiming section of said count; and a comparator connected to said first counter and said second counter for algebraically comparing the contents thereof and for producing a digital signal representative of that comparison; and wherein said sixth means comprises a comparator.
  • Sighting and aiming control apparatus as claimed in claim 6 wherein said fifth means is connected to the output of said frequency generator and comprises a computer for calculating travel time of a projectile fired from the aiming section to the tracked object, for calculating the relative angular speed of the object and for generating a digital output corresponding to the product of the relative angular speed and the travel time.
  • Sighting and aiming control apparatus as claimed in claim 8 and further including a potentiometer coupled to the sighting section for producing a voltage which varies with the angular position of the sighting axis; and wherein said frequency generator is connected to the output of said potentiometer and generates a pulse output having a frequency corresponding to the voltage produced by said potentiometer.
  • Sighting and aiming control apparatus as claimed in claim 4 and further including an operational amplifier connected as a double input adder-subtractor, an input of said amplifier being coupled to the output of said sixth means; a synchronous means coupled to said amplifier and controlling the bearing of the sighting axis in accordance with the output of said amplifier; and a coder driven by said synchronous means for producing digital pulses in accordance with the angular position of said synchronous means, said coder being coupled to the input of said amplifier.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • General Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Control Of Position Or Direction (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
US00337572A 1972-03-02 1973-03-02 Control system for tracking a moving target Expired - Lifetime US3840794A (en)

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US05/460,997 US4020407A (en) 1973-03-02 1974-04-15 Control system for tracking a moving target

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FR7207142A FR2183302A5 (ru) 1972-03-02 1972-03-02

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Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3978386A (en) * 1973-12-18 1976-08-31 Kabushiki Kaisha Hoya Lens Servo system for finishing objects materials
US4184109A (en) * 1976-04-30 1980-01-15 Regie Nationale Des Usines Renault Position servo loop for robot or automatic machine
US4562769A (en) * 1983-12-27 1986-01-07 United Technologies Corporation Spatially modulated, laser aimed sighting system for a ballistic weapon
US4787291A (en) * 1986-10-02 1988-11-29 Hughes Aircraft Company Gun fire control system
US6604064B1 (en) * 1999-11-29 2003-08-05 The United States Of America As Represented By The Secretary Of The Navy Moving weapons platform simulation system and training method
WO2005080908A2 (en) 2003-09-12 2005-09-01 Vitronics Inc. Processor aided firing of small arms
US20140240134A1 (en) * 2013-02-28 2014-08-28 Invap S.E. System and method for the detection and control of illicit trafficking of special nuclear materials
US20150215040A1 (en) * 2014-01-28 2015-07-30 SA Photonics, Inc. Free Space Optical Communication Tracking With Electronic Boresight Compensation And Co-Boresighted Transmit And Receive Optics
US20160161217A1 (en) * 2013-03-21 2016-06-09 Kms Consulting, Llc Apparatus for correcting ballistic errors using laser induced fluorescent (strobe) tracers
US9973274B1 (en) 2015-10-07 2018-05-15 SA Photonics, Inc. Fast tracking free space optical module
US10215936B2 (en) 2015-08-21 2019-02-26 SA Photonics, Inc. Free space optical (FSO) system
US10389442B2 (en) 2015-08-21 2019-08-20 SA Photonics, Inc. Free space optical (FSO) system
US11909439B2 (en) 2021-04-23 2024-02-20 SA Photonics, Inc. Wavefront sensor with inner detector and outer detector

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3015311C2 (de) * 1980-04-21 1988-09-08 Honeywell Gmbh, 6050 Offenbach Regelkreisanordnung für eine Waffenricht- und Stabilisierungsanlage
DE3725760A1 (de) * 1987-08-04 1989-02-16 Honeywell Regelsysteme Gmbh Regelkreisanordnung fuer eine waffennachfuehranlage
GB9511050D0 (en) * 1995-06-01 1996-08-28 Avimo Ltd Gun sights
DE29518706U1 (de) * 1995-11-24 1997-03-27 Moog GmbH, 71034 Böblingen Antriebssystem für eine Richtanlage

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3978386A (en) * 1973-12-18 1976-08-31 Kabushiki Kaisha Hoya Lens Servo system for finishing objects materials
US4184109A (en) * 1976-04-30 1980-01-15 Regie Nationale Des Usines Renault Position servo loop for robot or automatic machine
US4562769A (en) * 1983-12-27 1986-01-07 United Technologies Corporation Spatially modulated, laser aimed sighting system for a ballistic weapon
US4787291A (en) * 1986-10-02 1988-11-29 Hughes Aircraft Company Gun fire control system
US6604064B1 (en) * 1999-11-29 2003-08-05 The United States Of America As Represented By The Secretary Of The Navy Moving weapons platform simulation system and training method
WO2005080908A2 (en) 2003-09-12 2005-09-01 Vitronics Inc. Processor aided firing of small arms
US20060005447A1 (en) * 2003-09-12 2006-01-12 Vitronics Inc. Processor aided firing of small arms
US20140240134A1 (en) * 2013-02-28 2014-08-28 Invap S.E. System and method for the detection and control of illicit trafficking of special nuclear materials
US20190025014A1 (en) * 2013-03-21 2019-01-24 Kevin Michael Sullivan Apparatus for correcting ballistic aim errors using special tracers
US20160161217A1 (en) * 2013-03-21 2016-06-09 Kms Consulting, Llc Apparatus for correcting ballistic errors using laser induced fluorescent (strobe) tracers
US10648775B2 (en) * 2013-03-21 2020-05-12 Nostromo Holdings, Llc Apparatus for correcting ballistic aim errors using special tracers
US20150215040A1 (en) * 2014-01-28 2015-07-30 SA Photonics, Inc. Free Space Optical Communication Tracking With Electronic Boresight Compensation And Co-Boresighted Transmit And Receive Optics
US9876567B2 (en) * 2014-01-28 2018-01-23 SA Photonics, Inc. Free space optical communication tracking with electronic boresight compensation and co-boresighted transmit and receive optics
US20170288776A1 (en) * 2014-01-28 2017-10-05 SA Photonics, Inc. Free Space Optical Communication Tracking with Electronic Boresight Compensation and Co-Boresighted Transmit and Receive Optics
US9716549B2 (en) * 2014-01-28 2017-07-25 SA Photonics, Inc. Free space optical communication tracking with electronic boresight compensation and co-boresighted transmit and receive optics
US10215936B2 (en) 2015-08-21 2019-02-26 SA Photonics, Inc. Free space optical (FSO) system
US10389442B2 (en) 2015-08-21 2019-08-20 SA Photonics, Inc. Free space optical (FSO) system
US9973274B1 (en) 2015-10-07 2018-05-15 SA Photonics, Inc. Fast tracking free space optical module
US11909439B2 (en) 2021-04-23 2024-02-20 SA Photonics, Inc. Wavefront sensor with inner detector and outer detector

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FR2183302A5 (ru) 1973-12-14
GB1401377A (en) 1975-07-16
DE2310557A1 (de) 1973-09-06
DE2310557C2 (de) 1982-02-25

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