WO1988002841A1 - Systeme d'arme avec localisation et poursuites automatiques de la cible - Google Patents

Systeme d'arme avec localisation et poursuites automatiques de la cible Download PDF

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Publication number
WO1988002841A1
WO1988002841A1 PCT/US1987/002435 US8702435W WO8802841A1 WO 1988002841 A1 WO1988002841 A1 WO 1988002841A1 US 8702435 W US8702435 W US 8702435W WO 8802841 A1 WO8802841 A1 WO 8802841A1
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WO
WIPO (PCT)
Prior art keywords
screen
weapon
track
begin
hook
Prior art date
Application number
PCT/US1987/002435
Other languages
English (en)
Inventor
Peter D. Hergesheimer
John Neil Jensen
Original Assignee
Hughes Aircraft Company
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hughes Aircraft Company filed Critical Hughes Aircraft Company
Publication of WO1988002841A1 publication Critical patent/WO1988002841A1/fr
Priority to NO882646A priority Critical patent/NO882646L/no
Priority to DK327988A priority patent/DK327988A/da

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Classifications

    • 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
    • F41G3/00—Aiming or laying means
    • F41G3/14—Indirect aiming means

Definitions

  • Air defense weapon systems have been configured in the presence of many conflicting requirements and environmental factors. On the one hand, it is desirable that a given emplacement or unit of air defense weaponry be small, relatively inexpensive and have a limited suite of sensors in order to maximize the number of units deployed and reduce their value as a target. On the other hand, the increasingly sophisticated aircraft and missiles that are the targets for such weapon systems have presented more and more difficult acquisition and tracking problems for the relatively simple engagement systems that are part of such air defense weapons.
  • the present invention provides a means of economically, reliably and efficiently presenting target acquisition, ranging and firing information to manpad weapon systems, such as the ones commonly used for air defense.
  • the invention accomplishes these desirable functions by processing information from various sensors, correlating target information with weapon system location, and thereafter providing refined data to the weapon system that allows for rapid acquisition, tracking and firing of the weapon by the human operator using a modified version of the normally supplied visual sight display.
  • the invention thereby provides capabilities to relatively unsophisticated and inexpensive manpad weapon systems that become the equivalent to a co-location of sophisticated sensors with the weapon system. This desirable capability is achieved without the cost, complexity and difficulty of deployment associated with more elaborate point defense systems incorporating co-located sensors.
  • the invention uses a novel combination of radar target acquisition and tracking, optical tracking and infra-red homing when used in combination with heat seeking missiles such as the Stinger manpad weapon system.
  • Previous weapon systems that use radar for acquisition and tracking have had co-located sensors and presented tracking information to a visual situation display, if one was used.
  • the present invention uses the human operator as a means of completing the tracking problem, whether the missile or other weapon has self-contained tracking or is guided by the human operator through his optical sight.
  • the invention combines the best features of radar, which provides relatively long acquisition ranges and velocity information, with the decision making and tracking capabilities of the human operator when the target comes within visual range.
  • the invention further provides a beneficial effect in that it is unnecessary to locate a central major computer system near either the radar or weapon system, thereby further dissipating the resources of the system and avoiding the creation of a high value target.
  • a distributed weapon system also has the benefit that a loss of one or more weapon platforms or sensors does not render the system incapable of continued operation.
  • Such a capability is particularly important in a modern battlefield scenario and especially considering the "one shot" nature of many of the weapons that would be controlled.
  • the invention also can provide for displays to weapon system managers that indicate performance and status in real time during an engagement.
  • While the system has been configured with a small computer terminal co-located with the weapon, it is also possible to use other configurations of distributed data processing via co-location of portions of the data processing resources with the sensor systems, intermediate communications, command and control functions and the manpad weapon . Such a distribution may be desirable in order to improve survivability of the invention in the hostile environments encountered in battle.
  • the present invention utilizes the beneficial arrangement of well known components and components specifically developed for the invention to provide heretofore unavailable capabilities in an air defense system.
  • One of the components used is a sensor or plurality of sensors providing input data describing to the range, azimuth, elevation and signature of targets in the airborne environment surrounding the sensor.
  • One type of sensor system that provides such information is a three-dimensional radar of the type commonly used for battlefield surveillance.
  • a Low Altitude Surveillance three dimensional Radar (LASR) for example, a derivative of the AN/TPQ-36 artillery locating radar, provides target range, azimuth and elevation information to the system in map coordinates.
  • LASR Low Altitude Surveillance three dimensional Radar
  • Information derived from such a 3D radar includes signature information associated with returns from a target that allows the identification of targets as either helicopters or conventional aircraft.
  • the information derived from the LASR may then be transmitted over a conventional digital radio link typified by the military Joint Tactical Information Distribution System (JTIDS) currently in use by the United States Military.
  • JTIDS Joint Tactical Information Distribution System
  • This information may be directed to a communications and command station which can include a computer capable of correlating the target information and the known locations of the manpad weapons system and providing outputs of refined data that may be displayed at the manpad subsystem for the purpose of acquisition and firing.
  • An alternative preferred embodiment of the invention discussed herein can provide for the direct communication from the LASR to the manpad subsystem provided that a portable computer terminal capable of performing these calculations is collocated with the manpad weapon.
  • Such computer terminals are readily available in militarized versions suitable for this purpose.
  • the output of the computer is used for two purposes: to drive the visual acquisition and tracking sight of the weapon launcher and, to provide a situation display to the fire unit commander to indicate the location and status of targets in the vicinity of the fire unit. While it is not necessary that a fire unit consist of two individuals, one performing the tasks of tracking a target and launching the missile, and another performing the tasks of monitoring and designating the target displayed in the situation display, it has been found that such a division of duties provides for an efficient operation of a fire unit.
  • the present invention utilizes a combination of inclinometer and fluxgate compass to provide this information.
  • the precision fluxgate compass developed from commercially available units for the invention may be compensated for nearby magnetic fields by a simple rotation through 360 degrees, the resultant output being fed to the computer and normalized for the earth's magnetic variation as part of the data base in the computer program.
  • the present invention provides for rapid calibration of the sensors detecting the inclination and azimuth of the weapon launcher.
  • a digital output of those sensors is fed to the computer and a signal comparing these signals with the desired azimuth and elevation for acquisition is sent to the viewfinder for comparison by the human operator.
  • the computer thus accepts inputs of target X, Y, Z and in the chosden reference system and converts them to range, azimuth and elevation and displays them in a maplike display in one portion of the computer screen while another portion of the computer screen displays numerical information relevant to the parameters for the target selected.
  • the situation display also contains a readout of the azimuth and elevation of the weapon, thereby providing the fire unit commander with an instantaneous view of the status of acquisition and tracking.
  • the visual display provided to the weapon launcher is a modified version of the Stinger peripheral ranging system described in copending United States patent application for a Peripheral Vision Guidance Display having a serial number of 06/673,257 and incorporated by reference herein.
  • this peripheral vision guidance system incorporates a ring of light emitting diodes (LEDs) to indicate the directions in which the axis of the missile launcher must be guided to acquire the target.
  • LEDs light emitting diodes
  • two sets of LEDs are used, one red and one green. The red LEDs correspond to the azimuth and elevation commanded and the green LEDs correspond to an inrange system.
  • a blinking red LED indicates that the weapon should be moved in that direction and when the red LEDs become steady, the axis of the launcher is pointed at the target.
  • the green LEDs are off the target is not yet in range. The green LEDs come on when the target is in firing range.
  • the operator may acquire and track a target in conditions of low visibility rather than if only visual sighting means were used where low visibility poses substantial problems, thereby extending and improving the operational capabilities of the weapon.
  • the current invention provides for an efficient and rapid acquisition of targets by a two man team in a battlefield environment without the requirement for collocation of sensors or elaborate resources.
  • the invention utilizes simple and economic sighting and sensor means on the launcher that may be disconnected from the reusable launch tube and used a number of times without modification or refurbishment. The invention, therefore, provides for a higher level of performance relevant to the training required without a significant increase in the cost of each fire unit, the overall cost of the system and its vulnerability.
  • the fire unit may also be provided with an Identification, Friend and Foe (IFF) sensor that can prevent an unwanted launch against a friendly target.
  • IFF Identification, Friend and Foe
  • Such an IFF sensor has the capability to electronically interrogate a target on the bore sight of the target and receive an encoded reply from a friendly aircraft, thereby providing a position warning to the operator that the launch should not occur.
  • Figure 1 is a perspective of the invention deployed in a battlefield illustrating the relationship of the major components.
  • Figure 2 is a block diagram of the major components associated with the computer terminal illustrating the primary interfaces with the sensor system and the weapon launcher.
  • Figure 3 is an illustration of a display on the computer terminal pictorially describing an engagement in which various targets are presented and the error signals between the launcher pointing vector and the command vectors are indicated.
  • Figure 4 is an illustration of a parameter menu available at the computer terminal for operator selection of parameters to be displayed.
  • Figure 5 is a perspective of the sight employed with the weapon launcher which provides cueing information to the operator.
  • Figure 6 is a view of the sight taken along the optical bore illustrating the cueing light emitting diodes used to provide information regarding azimuth, elevation and range of the target.
  • the present invention is embodied in a weapon automatic alerting and cueing system which uses a remote sensor system 2 to provide information to a remote weapon launcher team 4 that allows for the designation, acquisition and engagement of targets 6 that are encountered in a battlefield environment.
  • the invention provides a means of utilizing handheld weapons such as the Stinger missle system in combination with a remotely located sensor 2, thereby providing many of the advantages of a complex and sophisticated air defense system while diminishing the value of the individual components of the weapon system due to their distribution and relatively lower cost and sophistication.
  • certain components of the system have been chosen for their proven performance and availability but it should be noted that the invention may also be configured with components developed for the specific purpose of enhancing the various features of the invention.
  • the invention utilizes a remote sensor system 2, in this case incorporating a well known 3D radar 8 that is capable of deriving information about the target 6 in azimuth, elevation and range from the radar site 10.
  • the azimuth, elevation and range information from the radar 8 is then transferred from the radar data processor to a special purpose computer 14 which calculates the position of target 6 with reference to a fixed reference plane.
  • This information is then transferred to a modem 16 which encodes the information for transmission by a transmitter 18 to the remote weapon site 4.
  • Modem 16 and transmitter 18 are typically combined in a unit 19 such as JTIDs as described above.
  • Receiver 20 receives the information for the targets acquired and tracked by radar 8 and transfers this information via cable 22 to a computer terminal 24 that includes display unit 26 available to weapon commander 28 at the weapon site.
  • Weapon commander 28 utilizing the information displayed on display 26 analyzes the information presented and designates or "hooks" a target using the keyboard of computer terminal 24. After the target is hooked, parameters describing the range, azimuth and elevation of the target from the location of the weapon site 4 are transmitted via cable 30 to the sight 32 of weapon launcher 34, in this case a launcher for the Stinger missle 36.
  • Weapon operator 38, sighting through sight 32 is provided with information indicating the direction, in which the missle launcher must be pointed and an in-range or out of range message thereby drastically simplifying the acquisition of target 6.
  • Tracking of target 6 by weapons launcher 34 is carried out in the conventional manner for such manpad weapons, by visual centering of the target in an optical aperture.
  • the present invention provides a means of acquisition and target designation which is a substantial improvement on previous methods of relying upon visual sightings by the weapon crew in a battlefield environment.
  • the weapon station may also be provided with an identification - friend or foe (IFF) set 40 which can interrogate a target and identify a friendly target thereby avoiding a launch against a friendly vehicle.
  • IFF identification - friend or foe
  • the present invention is illustrated in a configuration which routes sensor data directly to the fire unit, the invention may also use command centers and sensor data may be routed to the command centers and thence to the fire unit or some combination thereof to enhance survivability.
  • a three dimensional radar has been described as the basis for the sensor system, but an equivalent result may be obtained by the use of cooperative two dimensional sensors with the calculation of the X, Y, Z coordinates of the target in a fixed reference plane being performed by a computer similar to the one discussed above but which accepts the two dimensional track information from a plurality of sensors.
  • Fig. 2 is a block diagram illustrating the relationship of the major elements of the software and hardware of computer terminal 24 at the weapon sight and its connections with cueing sight 32 and the external information coming from radar 8 (FIG. 1).
  • the radar passes 3D radar data and time-of-day over the data link to receiver 20 and thence to the computer terminal 24.
  • a computer found to be usable is the Compass 2 portable computer from Grid Systems Corporation, Mountain View, California.
  • U.S. Patent 4,571,456 has been issued covering the features of this computer and is incorporated herein by reference.
  • the data may be formatted as described in the following discussion of the radar track information data link, and is modulated with CCITT V.22 DPSK modulation.
  • the data rate is 1200 BPS.
  • the built-in modem 42 in the computer terminal demodulates the signal and passes the resulting 8-bit bytes to the Radar Message Processing module 44 which compiles and decodes the messages.
  • Time-of-day messages are used to reinitialize the internal clock 46 in the computer terminal 24 to ensure that the computer terminal clock 46 does not drift from the radar clock.
  • the time-of-day messages are transmitted from the radar approximately every 2 seconds.
  • Track messages are sent to the Parallax Correction module 48 whereby the data link reference point location (DLRP) 50 and the fire unit location 52 are used to adjust the North, East and altitude positions of the tracks so they are represented as offsets from the fire unit (Stinger) location.
  • the track information is then used to update the track table in the Track Table Manager module 54.
  • the Track Table Manager 54 will create a new table entry if the track numbers in the table do not match the track number in the received track information.
  • the Track Table Manager 54 will also drop a track from the track table if the track has not been updated for a preselected period of time.
  • Target Parameter information is extracted from the track table for each target and sent to the Track Position Extrapolation module 56.
  • This module uses the tracks' time tags and the current time-of-day to compute the age of the track. This data and the track velocities are used to determine how far the tracks have moved since the last radar update. By adding this new data to the original track positions, the current positions of the tracks are derived. These updated track positions are sent to the Air Situation Display module for display.
  • the Air Situation Display module 58 updates a graphics picture of the air situation at the fire unit displayed on the terminal display unit 26 (FIG. 1).
  • the air situation display shows each track received from the radar relative to the position of the fire unit location. Each track is displayed with a preselected symbology that indicates if the track is friendly, hostile, or unknown and whether the track is a fixed or a rotary wing aircraft.
  • the Air Situation Display module 58 initially displays the fire unit location in the center of the screen as a default, but allows the operator to move the display up, down, right, left or back to center on the display.
  • the air situation display scaling may also be selected by the operator ranging from 10 by 10 kilometers to 160 by 160 kilometers in selectable steps.
  • An alert circle radius which is operator selected is also displayed on the air situation display. When a track enters the alert circle centered about the fire unit location, an audible alert may be generated by the computer terminal if the operator desires. The audible alert may be silenced by the operator until another track enters the alert circle
  • the Air Situation Display module 58 provides the operator with four different methods for selecting or "hooking" a target. The first is with a "hook box” that may be positioned near the desired track by the operator to “capture” it. The second method is by selecting a priority level wherein the track with the corresponding priority level will be hooked. The third method is by sequencing from one track to the next. A fourth is by entering the track number of the desired track. The display indicates the hooked track by displaying the hook box around the target symbology. The hooked track is identified in the track table.
  • the air situation display also indicates the current position of the Launcher in azimuth and elevation.
  • the azimuth is displayed as a line radiating from the fire unit location in the direction of the Stinger azimuth.
  • the elevation is displayed on a vertical bar graph next to the air situation display. In addition, the same bar graph is used to display the elevation of the hooked target.
  • the software in the computer terminal has the ability to prioritize the tracks received from the radar based upon input from the operator. This function is performed by the Track Prioritization module 60.
  • the operator may select a priority sector to aid in the track prioritization. This sector is displayed on the air situation display 58 as a pair of angled lines.
  • the Track Prioritization module 60 uses the tracks' current range from the weapon site, the projected minimum range, velocity, altitude, degree of maneuvering, and identification to determine their respective priorities.
  • the module sorts the tracks in order of priority and assigns each a priority number. This number can be used to hook a track.
  • the hooked target is passed from the Track Table 54 to the Target Position Extrapolation module 56.
  • the hooked track's position is calculated in the Track Position Extrapolation module 56.
  • the updated position is sent tp the Rectangular To Polar Conversion module 64 which converts the target's Easting, Northing and altitude position into slant range, azimuth and elevation position with respect to the fire unit location. This information is used for the weapon sight cueing, for display to the operator on the target metric display, and for calculating when the target is in range of the weapon.
  • the In-Range Calculation module 66 uses this updated target position, heading and velocity from the rectangular to Polar Conversion module 64 to determine if the target can be engaged by the Stinger weapon. If the target is not yet within range, the In-Range Calculation module 66 provides the time remaining before the target will be engaged. The in-range calculation results are passed to the weapon sight and to the target metric display.
  • Metric information on the hooked target is presented to the operator to aid in determining the engagability of the target.
  • This function is accomplished by the Target Metric Display module 68.
  • the module displays the time-to-engage which also indicates if the target is currently in range of the weapon or if the target will not become within range of the weapon based on its current heading and course.
  • Other target information displayed is target range, azimuth, elevation, altitude, velocity, track number and priority level.
  • the units for azimuth and elevation may be selected by the operator as degrees or mils.
  • the target velocity units may also be selected to be meters per second or knots.
  • the weapon control order for the hooked target is also displayed.
  • the computer terminal also displays the scale of the air situation display, the time-of-day and the status of the data link communications.
  • Weapon cueing is implemented using a feedback control loop involving a pointing sensor 70 located on the weapon, the computer terminal for sensor calibration and feedback error calculation, a special sight for displaying the pointing error, and a human operator for correcting the pointing error by positioning the weapon.
  • the pointing sensor attached to the launcher is a digital compass/inclinometer.
  • a particular sensor found to be usable in one embodiment of the invention is the Model 236 Precision heading/tiltsensor produced by Digicourse Inc., P.O. Box 50699, New La, Louisiana 70150.
  • the sensor senses the earth' s magnetic f ield to determine the azimuth orientation of the weapon and senses the earth's gravity to determine the elevation orientation of the weapon.
  • Weapon position messages from the pointing sensor are received at the computer terminal and processed by the Weapon Message Processing module 72. Correction for the individual sensor is then corrected by the Pointing Sensor Calibration module 74. This module adjusts for magnetic deviations affecting the pointing sensor and elevation biases in the pointing sensor. The corrected weapon position data is used by the Pointing Error Calculation module 76 to generate the pointing error information. The pointing error is determined by differencing the hooked target's azimuth and elevation with that of the weapon. If the pointing error is small enough, the module 74 sends an on-target indication to the Target Metric Display 68. The Weapon Message Processing module 72 converts the pointing error informaton into up, down, right and left commands.
  • These commands combined with the in-range indication from the In-Range Calculation module 66 are sent to the weapon cueing sight 32.
  • This special sight cues the weapon operator to point up or down, left or right using four red blinking lights in this case red LEDs. Using these cueing lights, the weapon operator can position the weapon axis so that it is pointing at the target. The sight includes additional green LEDs to indicate when the target is within range of the weapon.
  • the modules referred to above may be implemented in software executable by the computer terminal 24.
  • One such embodiment developed for the invention is included in the Appendix attached hereto and incorporated herein by reference.
  • the data link which is used to broadcast radar track information from the LASR 3D radar to the computer terminal display units located at the weapon site is described below.
  • Two message types are used; a track message for passing information for one of up to ten tracks to the weapon site and a time message for synchronizing the computer terminal clock 46 with the LASR clock.
  • Each message is composed of 14 asynchronous characters.
  • the characters are sent serially over the link at a rate of 1,200 BAUD with each character consisting of one start bit, one stop bit, eight data bits (LSB first), and one parity bit representing the even parity of the eight data bits.
  • the serial bit stream is modulated by a Bell 212A compatible modem before being transmitted to the computer terminal display units.
  • Each of the up to tens tracks sent over the data link is updated every radar antenna rotation (1.82 seconds for the candidate 3D radar).
  • a time message is also sent over the link.
  • the computer 14 at the radar site 10 adjusts the time value in the time message so that it will be current when it is received at each computer terminal display. This function permits the clock resident in each computer terminal to be synchronized with the LASR clock without any offsets resulting from communications delays.
  • the time tags associated with each track update can then be used to accurately determine the track age between updates. Track age is used to extrapolate its current position based on the position of the last update and the track velocity,
  • Display 26 which may be reproduced on any number of visual displays but, in the preferred embodiment, is presented on a electroluminescent display integral with the computer terminal, illustrates on the situation display side 78, the targets and their relationship to the weapon location and, on the parameter display side 80, parameters associated with the selected target.
  • helicopters 82 are represented by symbols different from those utilized to represent aircraft 84, in this case a bar over the symbol indicating it is a helicopter.
  • a diamond indicates that the target is hostile, a U that it is unknown and a circle that the target is friendly.
  • the azimuth line 86 indicates the current pointing direction of the weapon and the box 88 the position of a target 90 being selected or "hooked".
  • a center vertical bar 92 contains a "bug" 94 of the desired elevation of the weapon in order to acquire the target and a traveling indicator of instantaneous elevation angle 96 of the weapon.
  • the data 98 on the parameter display contain important information associated with the target being designated.
  • an alternate display 100 can present a menu of parameters which can allow the operator to customize the parameters displayed by his scenario and engagement data.
  • Figure 5 illustrates a simplified view of the visual sight 32 employed for the present invention. As shown, it is mounted close to the weapon launcher 34 and includes a boresight 104 parallel to that of the bore of the weapon launcher.
  • the sight 32 employs light emitting diodes 105 in the periphery of the visual sight 32 thereby providing an indication of target cueing to the operator.
  • red light emitting diodes 106 are used to indicate azimuth and elevation commands received from the computer terminal and green light emitting diodes 108 are used to provide a range indication for firing cueing. These diodes may be driven by signals from the message processing module 72.
  • a red light emitting diode 106 will blink if it is necessary to move the angle of the launcher in that direction to acquire the target.
  • the green light emitting diodes 108 are off until such time as the target is in range as derived from data being generated by the computer terminal, at which time they come on, indicating that the target is within range of the weapon.
  • the complex acquisition and firing cues normally performed visually by the weapon operator are reduced to simple steering commands until such time as the target is acquired and the very difficult "in range” estimate is reduced to a simple visual indication in the sight that the target is within range of the weapon.
  • the present invention provides for a substantially enhanced probability of acquisition and successful engagement of a target by a manpad launched system compared to the independent use of such weapons in a battlefield environment.
  • This capability is accomplished without the necessity of proliferation of sensor sites or an increase in the vulnerability of various weapon sites is an important improvement in such air defense weapon systems.
  • all of the capabilities normally associated with manpad weapon systems remain intact in the event of a failure or enemy destruction of any of the other components of the system, thereby providing with graceful degradation in the event of attack and high survivability of the individual units in the event of a concentrated attack against any part of the system.
  • the simplified peripheralvision guidance display briefly described above, may be replaced, for instance, by virtual image displays involving the projection by holograms or otherwise of information displayed on a cathode ray tube or other visual graphics system. If such displays were used, of course, more information could be displayed than is used in the simplified peripheral vision guidance display described above and, depending upon the capabilities and training of the operator and the display capabilities of such display, it may even be possible to eliminate the requirement for a separate person to select and feed targets to the operator. thereby further reducing the personnel requirement of a weapon launching location to a single operator.
  • the invention could be applied in a similar way to air or surface borne vehicles thereby substantially reducing the acquisition time and accuracy of sensorless vehicles or vehicles with limited sensor capabilities.
  • the application of the present invention is not limited to weapon locations with a two man crew.
  • the invention may be configured by the use of many components that currently are available or easily modified from available equipment developed for other military purposes. Therefore, the beneficial effects of the invention do not require or rely upon the development of heretofore unavailable component technology or other technological breakthroughs but, nonetheless, provide heretofore unrealizable capabilities, efficiencies and economies in air defense weaponry. Naturally, the development or availability of special purpose components for such a system can only enhance and improve its other beneficial capabilities. While a particular form of the invention has been illustrated and described, it will also be apparent that various modifications can be made without departing from the spirit and scope of the invention. Accordingly, it is not intended that the invention be limited except as by the appended claims.
  • PROCEDURE pqclose(VAR f:BYTES) ; $COMPACT(-const in code-)
  • PROCEDURE beep PROCEDURE zint
  • PROCEDURE zeroinit PROUBLIC alert; PROCEDURE beep; PROCEDURE zint; PROCEDURE zeroinit;
  • VAR erec ARRAY [0..maxentry] of erectype; todclock : clock type ; capture : BOOLEAN ; hook_x : INTEGER ; hook_y : INTEGER ; hook_z : INTEGER ; io_buffer : ARRAY [1..io buff _lng] of BYTE ; in_range_bit : INTEGER ; status_bit : INTEGER ; led_bit : INTEGER ; hook_a_track: BOOLEAN ; hook_az : REAL ; hook_el : REAL ; hook_range : REAL ; hook_alt : REAL ; sting_az : byte_int ; sting_el : byte int ; sting_on : BOOLEAN ; grid_mag_north:REAL ; dlrp_coord : coord_type ; ⁇ DLRP x,
  • PUBLIC builtinradar PROCEDURE activateradar
  • PROCEDURE deactivateradar PROCEDURE deactivateradar
  • ⁇ record ⁇ caprec RECORD cap _time LONGINT ; (*4*) cap _num BYTE ; (*1*) cap _vel REAL ; (*4*) cap _range REAL ; (*4*) cap _az REAL ; (*4*) cap _alt REAL ; (*4*) cap prio REAL ; (*4*)
  • creen_type RECOR D screen_num : INTEGER ; ⁇ screen track number ⁇ screen_x : INTEGER ; ⁇ screen x coord ⁇ screen_y : INTEGER ; ⁇ screen y coord ⁇ screen_id : INTEGER ; ⁇ screen id number ⁇ screen_vel : REAL ; ⁇ screen y coord ⁇ screen_el : REAL ; ⁇ screen y coord ⁇ screen_fix : BOOLEAN ; ⁇ screen y coord ⁇ screen_head : REAL ; ⁇ screen y coord ⁇ screen_dhead: REAL ; screen_az : REAL ; screen_2drange: REAL ; screen_3drange : REAL ; screen_alt : REAL ; screen_pcp : REAL ; screen_prio : REAL ; (*30aug85*) screen weap : BYTE ; (*21MAR
  • capfil FILE of caprec ; capful : LONGINT; testfn : PACKED ARRAY [1..18] of CHAR; mils : INTEGER; msg_there : BOOLEAN ; stop : BOOLEAN ; mrect : rectangle ; mpoint : point ; mmode : WORD ; x,y, z : INTEGER ; toffset : clock_type ; tcl;ck : clock_type ; clock : clock_type ; ⁇ GRID real time clock ⁇ track_rec : track_type ; ⁇ hyolds one record from track table ⁇ track_tbl : ARRAY [0..max_track] of track_type ; screen_tbl : ARRAY [0..max_track] of screen_type ; rank_tb
  • PROCEDURE showtime(t: clock_type); vpr lint : LONGINT ; junk : clock_type ; BEGIN lint :- t.i DIV 10000 ; junk.i :- t.r DIV 625 ; WRITE((((lint) DIV 3600) MOD 3600):2,':'.
  • REPEAT ch -CONCHARIN; UNTIL ch-CHR(27) ; WINCOPYREMOTERECTANGLE(optr,NIL, orect, opoint , 0) ; CONDEFCSR(FALSE) ; END;
  • PROCEDURE timer
  • VAR s real;xo,yo,x: INTEGER;
  • BEGIN capfil ⁇ : memque [e2]; (*28apr86*)
  • PROCEDURE msg_handler
  • VAR count INTEGER ; last :INTEGER ; tmsg_type INTEGER ; ttrack_rec : track_type; tbyte : BYTE ;
  • WININVERTLINE(425.x,491.x); WINERASELINE(425,205,426,205); WINERASELINE(491,205,490,205); WINERASELINE(425,227,426,227); WINERASELINE(491,227,490,227) ; WINERASELINE(425,227,425,226); WINERASELINE(491,227,491,226); WINERASELINE(425,205,425,206); WINERASELINE(491,205,491,206) ; msg_there : FALSE; if NOT demo_mode THEN comm_init(FALSE) ; sting_init; END ; ⁇ proc ⁇
  • VAR beta REAL
  • PROCEDURE map_data ( idx , idx2 : INTEGER) ; VAR time_laps : BYTE ; x_rel_fu : real; y_rel_fu : real; BEGIN
  • y_rel_fu: ((pos_lsb*y_pos.i)+(y_vel*time_laps*time_vel_lsb)
  • VAR se.te.x INTEGER
  • VAR lint:LONGINT VAR lint:LONGINT
  • PROCEDURE prioritize
  • PROCEDURE display
  • WINDRAWLINE(screen_fu_x-2 , screen_fu_y, screen_fu_x+2,scrcen_fu_y) WINDRAWLINE(ball_x+7 ,ball_y-7 ,ball_x+7 ,ball_y+7); WINDRAWLINE(ball_x+7 ,ball_y+7 ,ball_x-7 ,ball_y+7); WINDRAWLINE(ball_x-7,ball_y+7,ball_x-7,ball_y-7); WINDRAWLINE(ball_x-7 ,ball_y-7 ,ball_x+7 ,ball_y-7); FOR count > 1 to stemp DO BEGIN
  • WINDRAWLINE(screen_x+7, screen_y-7, screen_x+7, screen_y+7) WINDRAWLINE(screen_x+7, screen_y+7, screen_x- 7, screen_y+7) WINDRAWLINE(screen_x-7, screen_y+7, screen_x-7, screen_y-7) WINDRAWLINE(screen_x-7, screen_y-7, screen_x+7, screen_y-7) END ELSE IF (pridispOO) AND (pri_num - screen_num) THEN WINCIRCLE(screen_x, scrren _,8); END ; ⁇ with screen_tbl ) END ; ( for .. next ⁇ IF sting_on THEN
  • WINCIRCLE (screen_fu_x,screen_fu_y,alert_range DIV meters_pixel); WINCOPYREMOTERECTANGLE(mptr,nil ,mrect,mpoint,mmode) ; WINSETALTERNATEWINDOW(NIL) ; IF hook_a_track THEN BEGIN metricdata; onthemoney; END; scrndim; timeofday; el_vbar; END; ⁇ proc )
  • VAR alpha gamma2,t1,t2,bm:REAL
  • VAR x INTEGER
  • VAR count INTEGER
  • PURPOSE locate hooked track in track table compute x and y coordinates based on time lapse compute azimuth, elevation, heading and range INPUT hook_a_track ,hook_num track_tbl OUTPUT hook rec
  • PROCEDURE hook_process
  • VAR twod_range REAL ; count : INTEGER ; x_rel_fu,y_rel_fu : REAL ; track_rec : track_type ; time_laps : BYTE ; BEGIN
  • VAR twod_range REAL ; count : INTEGER ; x_rel_fu,y_rel_fu : REAL ; trackjrec : track_type ; time_laps : BYTE ;
  • y_rel_fu: ((pos_lsb*y_pos.i)+(y_vel*time_laps*time_vel_lsb)
  • VAR x INTEGER
  • VAR x INTEGER
  • hook_num t_hook_num
  • VAR io_buffer ARRAY [1.. io_buff_lng] of BYTE ; io_pid : WORD ; fonrec : FONTINFORECORD ; Ifont,bfont: fontpointer ; dumptr : windowregionptr ; pe;me : WORD;
  • PROCEDURE handle_it
  • totype RECORD mode CHAR ; vall WORD; val2 WORD;
  • VAR fifo fifotype ; in_buff : fifobuffer ; modemid : WORD ; ch,kb : CHAR ; parblock : PACKED ARRAY [1..9] of CHAR pathname : PACKED ARRAY [1..7] of CHAR reserved : BYTE ; error : WORD ; nlength : INTEGER ; actual : INTEGER ; io_pos : INTEGER ; statrec : stattype ; io_state : INTEGER ; csum : BYTE ; timout : totype ; ip : WORD ; dptr : windowregionptr; thur : WORD; (*--------------------------------------------------------------------------------------------------------------------------------------------------------------------------
  • VAR x INTEGER ;
  • PROCEDURE comm_init (man_dial: BOOLEAN) ;
  • OSSETSTATUS modemid,parblock, 5, error
  • OSSETSTATUS modemid,parblock, 2 , error
  • ip OSFORKPROCESS(handle_it, 40, TRUE, 2000, error)
  • PROCEDURE handle_it BEGIN REPEAT WHILE iaok DO
  • parblock[1] CHR(43) ;
  • mode *) parblock[2] CHR(2) ;
  • OSSETSTATUS (modemid, timout, 5 , error);
  • TYPE string 8 packed array [1..8] of char; erectype RECORD xpos: INTEGER ; ypos: INTEGER ; mlng: BYTE ; val : string 8 ; editt: byte;
  • VAR erec ARRAY [0..maxentry] of ere grid_mag_north: REAL ; dlrp_coord : coord_type ; ⁇ DLRP x, y, and z coordinates ⁇ fu_coord : coord_type ; ⁇ Fire Unit x, y, and z coordinates ⁇ alert_range : INTEGER ; optr : windowregionptr ; opoint : point ; orect : rectangle ; fonrec : FONTINFORECORD ;
  • Ifont,bfont fontpointer ; audible : BOOLEAN ; auto_hook : BOOLEAN ; (*rca*) demo_mode : BOOLEAN ; pridisp : BYTE ; startps : REAL ; endps : REAL : pvel : REAL ; palt : REAL ;
  • TYPE estringtype RECORD chars : string8 ; len : integer; END;
  • VAR estring estringtype quit BOOLEAN ; entry INTEGER ; neg BOOLEAN ; dfont fontpointer;
  • PROCEDURE getstring ; VAR by : BYTE ; x: integer; BEGIN
  • PROCEDURE adjpos
  • PROCEDURE initialize ; VAR x : INTEGER ;
  • VAR x INTEGER ;b:boolean;
  • PROCEDURE writeerror
  • TRUE (b:ARRAY [1..4] of BYTE) ; FALSE: (i:LONGINT); END ; ⁇ record ⁇
  • VAR todclock clock type ; capture : BOOLEAN; hook_x : INTEGER; hook_y : INTEGER; hook_z : INTEGER; in_range_bit : INTEGER status_bit : INTEGER led_bit : INTEGER hook_a_track : BOOLEAN hook_az : REAL; hook_el : REAL; hook_range : REAL ; sting_az : byte_int ; sting_el : byte int ; sting_on : BOOLEAN ; cal tbl : cal_type; el_off : REAL; lockon : BOOLEAN; grid_mag_north: REAL;
  • PROCEDURE hook_process PROCEDURE sting_hook ;
  • PUBLIC stingerhandler PROCEDURE sting_init ; PROCEDURE sting_it ;
  • PROCEDURE calibrate(VAR az , el : INTEGER) ; VAR idx : INTEGER; ch : REAL ;
  • VAR trate integer
  • VAR trate integer
  • Procedure send_stinger PURPOSE builds stinger message In byte format INPUT : az_error el_error in_range_bit ⁇ led_bit
  • PROCEDURE send_stinger
  • VAR tempa, tempe byte_int
  • OSDELETEPROCESS (sp , error) ; wrapup ;
  • PROCEDURE update VAR count : INTEGER ; temp, temps : byte_int ; tempv : INTEGER ; tl : BYTE ; telock, junk: clock_type;

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)

Abstract

Un système d'arme (34) avec localisation et poursuite automatique de cibles détectées comprend un détecteur (2) destiné à fournir à un ordinateur (24) des données relatives à la cible ainsi que des données de position et de visée du système d'arme (34), afin de permettre le calcul des directions et des distances relatives des cibles par rapport à l'ordinateur (24). Le système d'arme (34) se trouve à distance du détecteur (2) et peut être constitué par un appareil de tir portatif. Dans le cas ou une cible particulière (6) est désignée, l'ordinateur (24) calcule les écarts entre la direction de visée du système d'arme (34) et la position de la cible désignée et communique ces écarts à la mire (32) du système d'arme (34), afin de permettre le guidage du système d'arme sur la cible désignée (6). L'ordinateur (24) comporte des dispositifs d'affichage multiples sélectifs, dont l'un est un dispositif d'affichage (78) de la situation destiné à présenter les directions relatives et certaines caractéristiques des cibles détectées et dont un autre est un dispositif d'affichage de paramètres (80) destiné à afficher les données numériques relatives à une cible sélectionnée. Dans un mode de réalisation, l'ordinateur (24) peut également être portatif.
PCT/US1987/002435 1986-10-17 1987-09-24 Systeme d'arme avec localisation et poursuites automatiques de la cible WO1988002841A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
NO882646A NO882646L (no) 1986-10-17 1988-06-15 Automatiske varslings- og avmerkings-system for vaapen.
DK327988A DK327988A (da) 1986-10-17 1988-06-15 System til automatisk alarmering og markering ved et vaaben

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US92116486A 1986-10-17 1986-10-17
US921,164 1992-07-29

Publications (1)

Publication Number Publication Date
WO1988002841A1 true WO1988002841A1 (fr) 1988-04-21

Family

ID=25445012

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US1987/002435 WO1988002841A1 (fr) 1986-10-17 1987-09-24 Systeme d'arme avec localisation et poursuites automatiques de la cible

Country Status (5)

Country Link
DK (1) DK327988A (fr)
IL (1) IL84020A (fr)
NL (1) NL8720538A (fr)
TR (1) TR24215A (fr)
WO (1) WO1988002841A1 (fr)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5056411A (en) * 1988-09-15 1991-10-15 Gec-Macroni Limited Course recommendation display
EP0629832A1 (fr) * 1993-06-16 1994-12-21 GF-OTO MELARA BREDA BRESCIANO S.r.l. Dispositif automatique et procédé pour le repérage et la désignation de cibles aériennes
ES2071547A2 (es) * 1992-11-12 1995-06-16 Ceselsa S A Equipo de radar.
WO2001082211A1 (fr) * 2000-04-20 2001-11-01 The Commonwealth Of Australia Procede et appareil de simulation et de modelisation
US7210392B2 (en) * 2000-10-17 2007-05-01 Electro Optic Systems Pty Limited Autonomous weapon system
RU2495356C1 (ru) * 2012-04-26 2013-10-10 Открытое акционерное общество "Конструкторское бюро приборостроения" Способ управления орудием в подразделении
US8818829B2 (en) 2007-07-30 2014-08-26 International Business Machines Corporation Method and system for reporting and relating firearm discharge data to a crime reporting database
US9310165B2 (en) * 2002-05-18 2016-04-12 John Curtis Bell Projectile sighting and launching control system
US11965714B2 (en) 2007-02-28 2024-04-23 Science Applications International Corporation System and method for video image registration and/or providing supplemental data in a heads up display

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2415285A1 (fr) * 1978-01-18 1979-08-17 Bofors Ab Equipement de commande de tir d'une arme a feu
WO1980000618A1 (fr) * 1978-09-12 1980-04-03 Ericsson Telefon Ab L M Installation radar
US4267562A (en) * 1977-10-18 1981-05-12 The United States Of America As Represented By The Secretary Of The Army Method of autonomous target acquisition

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4267562A (en) * 1977-10-18 1981-05-12 The United States Of America As Represented By The Secretary Of The Army Method of autonomous target acquisition
FR2415285A1 (fr) * 1978-01-18 1979-08-17 Bofors Ab Equipement de commande de tir d'une arme a feu
WO1980000618A1 (fr) * 1978-09-12 1980-04-03 Ericsson Telefon Ab L M Installation radar

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5056411A (en) * 1988-09-15 1991-10-15 Gec-Macroni Limited Course recommendation display
ES2071547A2 (es) * 1992-11-12 1995-06-16 Ceselsa S A Equipo de radar.
EP0629832A1 (fr) * 1993-06-16 1994-12-21 GF-OTO MELARA BREDA BRESCIANO S.r.l. Dispositif automatique et procédé pour le repérage et la désignation de cibles aériennes
TR28644A (tr) * 1993-06-16 1996-12-11 Gf Oto Melara Breda Bresciana Hava hedeflerinin kesfi ve belirlenmesi icin otomatik aygit ve yöntem.
US5587718A (en) * 1993-06-16 1996-12-24 Gf-Oto Melara Breda Bresciana S.R.L. Method for discovering and designating air targets
WO2001082211A1 (fr) * 2000-04-20 2001-11-01 The Commonwealth Of Australia Procede et appareil de simulation et de modelisation
US7210392B2 (en) * 2000-10-17 2007-05-01 Electro Optic Systems Pty Limited Autonomous weapon system
US9310165B2 (en) * 2002-05-18 2016-04-12 John Curtis Bell Projectile sighting and launching control system
US11965714B2 (en) 2007-02-28 2024-04-23 Science Applications International Corporation System and method for video image registration and/or providing supplemental data in a heads up display
US8818829B2 (en) 2007-07-30 2014-08-26 International Business Machines Corporation Method and system for reporting and relating firearm discharge data to a crime reporting database
US9159111B2 (en) 2007-07-30 2015-10-13 International Business Machines Corporation Method for reporting and relating firearm discharge data to a crime reporting database
RU2495356C1 (ru) * 2012-04-26 2013-10-10 Открытое акционерное общество "Конструкторское бюро приборостроения" Способ управления орудием в подразделении

Also Published As

Publication number Publication date
IL84020A (en) 1994-01-25
NL8720538A (nl) 1988-09-01
DK327988A (da) 1988-08-16
DK327988D0 (da) 1988-06-15
TR24215A (tr) 1991-07-02
IL84020A0 (en) 1988-02-29

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