WO2011070478A1 - Système et procédé pour commander l'orientation d'une tourelle - Google Patents

Système et procédé pour commander l'orientation d'une tourelle Download PDF

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Publication number
WO2011070478A1
WO2011070478A1 PCT/IB2010/055500 IB2010055500W WO2011070478A1 WO 2011070478 A1 WO2011070478 A1 WO 2011070478A1 IB 2010055500 W IB2010055500 W IB 2010055500W WO 2011070478 A1 WO2011070478 A1 WO 2011070478A1
Authority
WO
WIPO (PCT)
Prior art keywords
turret
orientation
target
designation device
base structure
Prior art date
Application number
PCT/IB2010/055500
Other languages
English (en)
Inventor
Rudolph Van Vuuren
Henk Niehaus
Original Assignee
Bae Systems - Land Systems South Africa (Pty) Ltd
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 Bae Systems - Land Systems South Africa (Pty) Ltd filed Critical Bae Systems - Land Systems South Africa (Pty) Ltd
Publication of WO2011070478A1 publication Critical patent/WO2011070478A1/fr
Priority to ZA2012/04582A priority Critical patent/ZA201204582B/en

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/22—Aiming or laying means for vehicle-borne armament, e.g. on aircraft
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
    • F41A27/00—Gun mountings permitting traversing or elevating movement, e.g. gun carriages
    • F41A27/06—Mechanical systems
    • F41A27/18—Mechanical systems for gun turrets
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
    • F41A27/00—Gun mountings permitting traversing or elevating movement, e.g. gun carriages
    • F41A27/06—Mechanical systems
    • F41A27/18—Mechanical systems for gun turrets
    • F41A27/20—Drives for turret movements
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
    • F41A27/00—Gun mountings permitting traversing or elevating movement, e.g. gun carriages
    • F41A27/28—Electrically-operated systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/14—Indirect aiming means
    • F41G3/16—Sighting devices adapted for indirect laying of fire
    • F41G3/165—Sighting devices adapted for indirect laying of fire using a TV-monitor
    • 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
    • F41G5/24—Elevating or traversing control systems for guns for vehicle-borne guns for guns on tanks

Definitions

  • TITLE A system and method for controlling the orientation of a turret
  • THIS I NVENTION applies to the military field. It relates to the operation of turrets on military vehicles or the like. I n pa rticular, it relates to a system and method for controlling the orientation of a turret.
  • a downside of the remote turret configuration is that an operator, upon spotting a target, may be disorientated with respect to a current orientation of the turret and may then have to check on a turret position indicator on a display to determine in which direction the turret is pointing. Thereafter, he (or she) has to slew the turret in the direction of the target while constantly checking on the display for the target. If the turret slews at a high speed, the video image, which is aligned with the turret, is blurred, and therefore the operator must slow down the turret to verify whether the target is in his Field Of View (FOV).
  • FOV Field Of View
  • a system for controlling the orientation of a turret including:
  • a turret which is swivelably mounted to the base structure, the turret being directional and swivelable about a swivel axis;
  • a target designation device configured to receive an orientation input associated with an orientation of a target relative to the base structure
  • a processor in communication with the target designation device and operable to receive the orientation input from the target designation device, the processor further being operable to calculate a difference between a current orientation of the turret and the orientation of the target;
  • the word "turret” should be understood to include a rotatable structure such as a tower or platform for holding or carrying weaponry or other military equipment, including sights and pointing devices. Therefore, weaponry such as guns, rifles and/or canons, etcetera and observation equipment such as sights and viewfinders may be mounted to the turret.
  • the system may be implemented on various military vehicles such as land vehicles, aircraft or ships.
  • the base structure may be a military vehicle such as a tank, a wheeled or tracked vehicle, aircraft or ship.
  • the base structure may be fixed and may therefore include a weapons platform.
  • the target designation device may be situated on the base structure remote from the turret such that the target designation device does not swivel with the turret.
  • "Remote from the turret" in the context of this specification means that an operator, and accordingly the target designation device, does not rotate or swivel with the turret, although it may still be relatively close to the turret. In such a case, the turret may rotate independently of the operator and the operator may control the turret remotely.
  • the target designation device may be situated proximate or within the turret.
  • the turret may be a conventional turret and it may rotate together with the operator.
  • the orientation input may be received by the target designation device in one of a plurality of different ways.
  • the target designation device may include switches corresponding to discrete clock directions angularly spaced with respect to the base structure and hence with respect to the operator.
  • the target designation device may include a voice recognition system which may be operable to interpret and convert speech of the operator into the orientation input.
  • the target designation device may include a tactile user interface in the form of a touch sensitive graphical user interface (GUI).
  • GUI touch sensitive graphical user interface
  • the orientation of the target relative to the base structure (e.g. vehicle/tank), and hence with respect to the operator, may be received by the target designation device in response to the operator touching the graphical user interface.
  • a position of the base structure may be displayed on the graphical user interface as a reference point, for example, a forward axis of the base structure may have a 0° reference.
  • an angular gauge may be displayed on the user interface, the gauge indicating angular positions with respect to the base structure as reference point.
  • the angular gauge may, for example, be a 180° gauge (e.g.
  • the system may include a sight, such as a video camera, positioned on the turret and aligned with the weaponry mounted to the turret.
  • the sight may be operable to capture visuals of a target or a landscape.
  • the target designation device may be configured to display the captured visuals on the graphical user interface.
  • the target designation device may additionally be operable to receive an orientation input associated with an orientation of the target relative to the turret.
  • the target designation device may have two different modes.
  • a first mode conceptually a course adjustment or broad field of view, may allow a first orientation input, of the orientation of the target relative to the base structure.
  • a second mode conceptually a fine adjustment or narrow field of view (NFOV), may then allow a second orientation input, of the orientation of the target relative to the turret.
  • NFOV narrow field of view
  • the target designation device may be operable to receive a mode input to switch it to the first mode or to the second mode.
  • the actuator may be in the form of a motor.
  • the system may include an azimuth actuator drivingly connected to the turret and configured to swivel or rotate the turret about its swivel axis.
  • the system may also include an elevation actuator drivingly connected to the turret and configured pivotally to displace the turret about a pivot axis which is transverse to the swivel axis of the turret.
  • the processor may be operable to:
  • the processor may be operable to: calculate second an angular offset between a current angular orientation of the turret with respect to the target;
  • the processor may optionally also be operable to:
  • the processor may be further operable to communicate the elevation offset and the angular offset to the elevation actuator and the azimuth actuator, respectively.
  • the respective actuators may be configured automatically to displace and orientate the turret to point at the target.
  • the target may be sufficiently aligned with the turret and/or the sight so that the target is visible on the turret sight, although not entirely aligned with the turret.
  • the second orientation input may allow the displacement of the turret to align it entirely with the target.
  • the system may include a plurality of target designation devices.
  • a first target designation device may include a first graphical user interface as described above, and may for example be operated by a gunner.
  • a second target designation device may include a second graphical user interface, and may for example be operated by a commander.
  • the orientation of the turrets may be controllable from any one of the target designation devices.
  • the second graphical user interface may mirror the display of the first graphical user interface.
  • the second graphical user interface may display information/video different from that displayed by the first graphical user interface.
  • This embodiment may be useful if the system includes multiple sights.
  • the system may include:
  • At least two sights a first sight mounted to the turret and aligned with the weapon, and a second sight independently controllable with respect to the first sight and the turret;
  • At least two target designation devices such that the orientation of the turret is controllable from any one of the target designation devices, wherein a first target designation device is operable to display video captured from the first sight aligned with the weapon, and a second target designation device is operable to display video captured by the second sight, thereby providing a second viewable area which can be used to control the orientation of the turret.
  • a method of controlling the orientation of a turret swivelably mounted to a base structure including:
  • the method may further include actuating at least one actuator in communication with the processor and drivingly connected to the turret.
  • the method may include a further step of:
  • the method may include receiving a mode input to switch the target designation device between:
  • a first mode in which a first orientation input associated with the orientation of the target relative to the base structure is receivable by the target designation device;
  • the step of calculating using the processor may include:
  • the step of orientating the turret may include:
  • a vehicle including:
  • a turret swivelably mounted to the vehicle, the turret being directional and swivelable about a swivel axis;
  • a target designation device mounted to the vehicle and configured to receive an orientation input associated with an orientation of a target relative to the vehicle; a processor in communication with the target designation device and operable to receive the orientation input from the target designation device, the processor further being operable to calculate a difference between a current orientation of the turret and the orientation of the target;
  • the target designation device may be remote or separate from the turret.
  • the target designation device may be on or integral with the turret.
  • a vehicle implementing a system and/or method, for controlling the orientation of a turret, as described above.
  • Figure 1 shows a schematic view of a system for controlling the orientation of a turret, in accordance with the invention
  • FIGS. 2a to 2c illustrate a vehicle in which the system and method for controlling the orientation of a turret is implemented, in accordance with the invention.
  • Figure 3 shows a flow diagram of a method of controlling the orientation of a turret, in accordance with the invention.
  • reference numeral 10 refers generally to a system for controlling the orientation of a turret in accordance with the invention.
  • the system 10 includes a base structure 12, which is, for example, in the form of a vehicle chassis or body, to which a turret, generally indicated by reference numeral 14, is mounted.
  • the turret 14 includes a turret base 15 which is swivelably mounted to the base structure 12 and turret weaponry 17 which is pivotally connected to the turret base 15.
  • the turret base 15 is independently swivelable with respect to the base structure 12 about a swivel axis and the turret weaponry 17 is pivotable relative to the turret base 15, and hence to the base structure 12, about a pivot axis which is transverse to the swivel axis of the turret base 15.
  • the system 10 further includes a target designation device 16 which is in the form of a touch sensitive Graphical User Interface (GUI) which is mounted to or in the base structure 12.
  • GUI Graphical User Interface
  • the target designation device 16 is in communication with a processor 18 which in turn communicates with a pair of actuators 19, 20.
  • the system 10 includes an azimuth actuator 20 which is drivingly connected to the turret base 15 of the turret 14 and an elevation actuator 19 which is drivingly connected to the turret weaponry 17 of the turret 14.
  • the system 10 is operated by an operator.
  • the operator In an older version of a conventional turret arrangement, the operator is situated within the turret itself, and the operator is therefore displaced together with the turret.
  • the operator In a newer version of a conventional turret arrangement, the operator is situated at an operation station which is remote from the turret although it is still located on/in the base structure. (In a conventional turret arrangement, the operation station could be in the turret). If, for example, the operator identifies a target 22 with the eye through an observation window of the base structure 12, the aim of the operator is to orientate the turret 14 toward the target 22 as quickly as possible. It is understandable that the operator may be unaware of a current orientation of the turret 14, which may lead to slower orientation of the turret 14 towards the target 22.
  • reference numeral 200 refers generally to a method of controlling the orientation of a turret in accordance with the invention.
  • the operator enters a command (i.e. a mode input) to switch the target designation device 16 to a first mode (or the target designation device could default to the first mode without receiving the mode input).
  • a command i.e. a mode input
  • the target designation device 22 displays, at block 202, an angular gauge 16.1
  • the angular gauge may be overlaid on any other image or data displayed by the target designation device 16.
  • the operator enters into the target designation device 16 an orientation input associated with an orientation of the target 22 (relative to the base structure 12).
  • the target orientation device 16 receives, at block 203, the orientation input when the operator touches on the angular gauge. For example, if the operator clicks on a -90° marking, this would indicate that the target 22 is at a right angle to, and on a left-hand side of, the base structure 12.
  • the orientation input is communicated to the processor 18 which calculates, at block 204, an angular offset which is the difference between a current angular orientation of the turret base 15 with respect to the base structure 12 and an angular orientation of the target 22 with respect to the base structure 12.
  • the processor 18 then communicates, at block 207, the calculated angular offset to the azimuth actuator 20 which is then actuated, at block 208, to displace the turret 14 angularly to reduce the angular offset between the turret 14 and the target 22.
  • the operator has the option, at block 212, to enter a new target designation.
  • the operator will enter a mode input to switch the target designation device 16 to a second mode.
  • the target designation device 16 displays, at block 216, a video stream captured from a sight 25 (see further below) aligned with the turret 14 (or more specifically with the turret weaponry 17).
  • the operator touches the actual target on the screen of the target designation device 16 which receives, a block 218, this second orientation input and, together with the processor and actuators, aligns, at blocks 204, 207, 208, the turret 14 more accurately with the target of 22 (i.e. for fine tuning) and, optionally also aligns, at blocks 220, 222, 224, the elevation of the turret weaponry 17 relative to the target.
  • reference numeral 40 refers generally to a vehicle in accordance with the invention. In order to prevent confusion, the same reference numerals are used throughout the Figures for corresponding features of the invention. It is to be appreciated that the system 10 could take other forms, with appropriate modifications.
  • the vehicle 40 includes a base structure 12 in the form of a vehicle chassis to which the turret 14 is swivelably mounted.
  • An exploded image of the target designation device 16 which is used to enter the orientation inputs of the target 22 is shown in the Figures.
  • the vehicle 40 and turret 14 are shown in an initial position.
  • the oblique dotted line on the target designation device 16 represents the initial position of the turret 14 relative to the vehicle 40.
  • the turret 14 includes a sight 25 (Figure 1) in the form of a video camera mounted to, and aligned with, the turret 14.
  • the sight 25 is configured such to be displaced together with the turret weaponry 17 such that it captures visuals of whatever the turret weaponry 17 is pointing at.
  • the target designation device 16 is operable to display the visuals captured by the sight 25.
  • reference numeral 26 indicates schematically that visual data is communicated from the sight 25 to the target designation device 16.
  • the target designation device 16 overlays an angular gauge, generally represented by reference numeral 16.1, indicative of positions relative to the vehicle 40 itself, and completely independent of the orientation of the turret 14.
  • the target 22 is in fact so far from the turret 14 that the target 22 is not even visible in the FOV of the sight 25.
  • the target 22 is generally on the right-hand side of the vehicle 40, and the operator accordingly touches the angular gauge 16.1 at or nearby the 90° mark (i.e. thereby entering a first orientation input).
  • the approximate orientation of the target is entered into the target designation device
  • the processor 18 directs the azimuth actuator 20 to swivel or slew the turret 14 about its swivel axis to point at 90° relative to the vehicle 40.
  • the turret 14 is perfectly aligned with the target 22 and no further adjustment is necessary.
  • the target is slightly forward of the 90° position and further adjustment is therefore desirable (see Figure 2b).
  • At least the target 22 is now in the FOV of the sight 25.
  • the operator switches the target designation device 16 to the second mode, i.e. the NFOV, for fine tuning of the orientation of the turret 14.
  • the target designation device 16 no longer displays the angular gauge 16.1 but rather displays only the visual data captured from the sight 25.
  • the turret 14 was swivelled slightly too far to the right, the target 22 is slightly to the left of the turret 14.
  • the operator merely touches the target 22 on the touch-sensitive display of the target designation device 16. In this fashion, the operator enters a second orientation input indicative of an orientation of the target 22 relative to the turret 14 (and not relative to the vehicle 40, as in the case of the first orientation input).
  • the processor 18 then calculates, at block 204, an angular offset between the target 22 and the current angular orientation of the turret base 15 and also calculates, at block 220, an elevation offset which is the difference between a current elevation of the turret weaponry 17 and the elevation of the target 22.
  • the processor 18 then communicates, at blocks 222 and 207, the respective offsets to the elevation actuator 19 and azimuth actuator 20 respectively.
  • Both the elevation actuator 19 and the azimuth actuator 20 are actuated, at blocks 210 and 224 respectively, to reduce the elevation offset and angular offset respectively and to point the turret weaponry 17 at the target 22. This is therefore for both elevation and traverse (i.e. about two axes or having two degrees of freedom) and is relative to the orientation of the turret 14.
  • the turret 14 has quickly and accurately being pointed towards the target 22.
  • the Inventor believes that the system 10 and method 200, as exemplified, for controlling the orientation of a turret 14 significantly improves the reaction time from the moment the target 22 is sighted by the normal eye until the turret 14 and the turret weaponry 17 are orientated towards the target 22.
  • the operator does not have to slew the turret 14 manually towards the target 22 while constantly checking on the display to see if the target 22 has shown up in his field of view. Further, both course and fine adjustments may be used, allowing highly accurate targeting.

Abstract

L'invention porte sur un système (10) et sur un procédé (200) pour commander l'orientation d'une tourelle (14), et porte également sur un véhicule (40) dans lequel un tel système (10) et/ou un tel procédé (200) est mis en œuvre. L'invention vise à réduire le temps de réaction à partir du moment où une cible (22) est visée jusqu'à celui où la tourelle (14) est orientée vers la cible (22). Le système (10) comprend une structure de base (12) qui se présente de façon générale sous la forme d'un châssis de véhicule sur lequel une tourelle (14) est montée de façon pivotante. La tourelle (14) comprend une base (15) et des armes de tourelle (17) qui sont reliées de façon pivotante à la base (15). Le système (10) comprend de plus un dispositif de désignation de cible (16) sous la forme d'une interface utilisateur graphique (GUI) sensible au toucher, qu'un opérateur utilise pour entrer une orientation de la cible (22).
PCT/IB2010/055500 2009-12-08 2010-11-30 Système et procédé pour commander l'orientation d'une tourelle WO2011070478A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
ZA2012/04582A ZA201204582B (en) 2009-12-08 2012-06-20 A system and method for controlling the orientation of a turret

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ZA2009/08719 2009-12-08
ZA200908719 2009-12-08

Publications (1)

Publication Number Publication Date
WO2011070478A1 true WO2011070478A1 (fr) 2011-06-16

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Application Number Title Priority Date Filing Date
PCT/IB2010/055500 WO2011070478A1 (fr) 2009-12-08 2010-11-30 Système et procédé pour commander l'orientation d'une tourelle

Country Status (2)

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WO (1) WO2011070478A1 (fr)
ZA (1) ZA201204582B (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013127397A1 (fr) * 2012-02-29 2013-09-06 Krauss-Maffei Wegmann Gmbh & Co. Kg Véhicule militaire et système ti intégré pour un véhicule militaire
RU2505775C1 (ru) * 2012-08-01 2014-01-27 Открытое акционерное общество "Всероссийский научно-исследовательский институт "Сигнал" (ОАО "ВНИИ "Сигнал") Стабилизатор танкового вооружения
ITTO20120908A1 (it) * 2012-10-16 2014-04-17 Selex Galileo Spa Innovativo sistema di comando e controllo e di puntamento e tiro per veicoli militari terrestri equipaggiati con almeno un'arma
EP3034983A1 (fr) * 2014-12-19 2016-06-22 Diehl BGT Defence GmbH & Co.KG Arme
RU2715874C2 (ru) * 2018-02-28 2020-03-03 Федеральное Государственное Казенное Военное Образовательное Учреждение Высшего Образования "Военный Учебно-Научный Центр Сухопутных Войск "Общевойсковая Академия Вооруженных Сил Российской Федерации" Система целеуказания для танка
RU2775579C2 (ru) * 2020-12-08 2022-07-04 Алексей Владимирович Зубарь Система управления огнём образцов бронетанкового вооружения

Citations (4)

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Publication number Priority date Publication date Assignee Title
FR2192697A5 (fr) * 1972-07-11 1974-02-08 France Etat
DE3342338A1 (de) * 1983-11-23 1985-09-05 IBP Pietzsch GmbH, 7505 Ettlingen Verfahren und vorrichtung fuer zielzuweisung und zielbekaempfung
DE4207251A1 (de) * 1992-03-07 1993-09-09 Tzn Forschung & Entwicklung Feuerleitanlage fuer panzer
US20030105588A1 (en) * 1999-12-07 2003-06-05 Ching-Fang Lin Method and wystem for pointing and stabilizing a device

Patent Citations (4)

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Publication number Priority date Publication date Assignee Title
FR2192697A5 (fr) * 1972-07-11 1974-02-08 France Etat
DE3342338A1 (de) * 1983-11-23 1985-09-05 IBP Pietzsch GmbH, 7505 Ettlingen Verfahren und vorrichtung fuer zielzuweisung und zielbekaempfung
DE4207251A1 (de) * 1992-03-07 1993-09-09 Tzn Forschung & Entwicklung Feuerleitanlage fuer panzer
US20030105588A1 (en) * 1999-12-07 2003-06-05 Ching-Fang Lin Method and wystem for pointing and stabilizing a device

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013127397A1 (fr) * 2012-02-29 2013-09-06 Krauss-Maffei Wegmann Gmbh & Co. Kg Véhicule militaire et système ti intégré pour un véhicule militaire
EP2820371B1 (fr) 2012-02-29 2018-11-07 Krauss-Maffei Wegmann GmbH & Co. KG Véhicule militaire et système ti intégré pour un véhicule militaire
RU2505775C1 (ru) * 2012-08-01 2014-01-27 Открытое акционерное общество "Всероссийский научно-исследовательский институт "Сигнал" (ОАО "ВНИИ "Сигнал") Стабилизатор танкового вооружения
ITTO20120908A1 (it) * 2012-10-16 2014-04-17 Selex Galileo Spa Innovativo sistema di comando e controllo e di puntamento e tiro per veicoli militari terrestri equipaggiati con almeno un'arma
WO2014060970A1 (fr) 2012-10-16 2014-04-24 Selex Es S.P.A. Système innovant de commande, de contrôle, de visée et de mis à feu pour véhicules militaires terrestres équipés d'au moins une arme
US9694748B2 (en) 2012-10-16 2017-07-04 Selex Es S.P.A. Innovative system of command and control and of aiming and firing for military land vehicles equipped with at least one weapon
RU2638511C2 (ru) * 2012-10-16 2017-12-13 СЕЛЕКС ЕС С.п.А. Инновационная система командования и управления, а также прицеливания и стрельбы для военных сухопутных транспортных средств, оснащенных, по меньшей мере, одним орудием
EP3034983A1 (fr) * 2014-12-19 2016-06-22 Diehl BGT Defence GmbH & Co.KG Arme
EP3034983B1 (fr) 2014-12-19 2020-11-18 Diehl Defence GmbH & Co. KG Pistolet automatique
EP3034983B2 (fr) † 2014-12-19 2024-01-24 Diehl Defence GmbH & Co. KG Arme
RU2715874C2 (ru) * 2018-02-28 2020-03-03 Федеральное Государственное Казенное Военное Образовательное Учреждение Высшего Образования "Военный Учебно-Научный Центр Сухопутных Войск "Общевойсковая Академия Вооруженных Сил Российской Федерации" Система целеуказания для танка
RU2775579C2 (ru) * 2020-12-08 2022-07-04 Алексей Владимирович Зубарь Система управления огнём образцов бронетанкового вооружения

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