WO2011075061A1 - Dispositif pour mesurer la distance par rapport à des objets réels et virtuels - Google Patents

Dispositif pour mesurer la distance par rapport à des objets réels et virtuels Download PDF

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Publication number
WO2011075061A1
WO2011075061A1 PCT/SE2010/051392 SE2010051392W WO2011075061A1 WO 2011075061 A1 WO2011075061 A1 WO 2011075061A1 SE 2010051392 W SE2010051392 W SE 2010051392W WO 2011075061 A1 WO2011075061 A1 WO 2011075061A1
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WO
WIPO (PCT)
Prior art keywords
fire
distance
unit
real
virtual objects
Prior art date
Application number
PCT/SE2010/051392
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English (en)
Inventor
Torbjörn GUSTAFSSON
Per Carleberg
Original Assignee
Xm Reality Simulations Ab
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
Priority claimed from SE0950962A external-priority patent/SE0950962A1/sv
Application filed by Xm Reality Simulations Ab filed Critical Xm Reality Simulations Ab
Publication of WO2011075061A1 publication Critical patent/WO2011075061A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/02—Details
    • G01C3/04—Adaptation of rangefinders for combination with telescopes or binoculars
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/02—Aiming or laying means using an independent line of sight
    • 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
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/006—Simulators for teaching or training purposes for locating or ranging of objects

Definitions

  • the present Invention relates to a display device, for a fire-control officer, for measuring distance to real and virtual objects (simulated indirect fire), which enables the fire-control officer to act broadly as in a real case of indirect fire.
  • simulator system reality is simulated, for example, in the form of different kinds of firing, hits, and results of hits.
  • the simulator system is either a complex system forming part of an overall network for data at the disposal of an exercise command unit, or a simpler system based on a field computer (laptop type) which can be used by an exercise control officer.
  • targets which lie outside the field of view are fired upon by the firing of a projectile in an arc over long distances and/or over blocking terrain and objects.
  • a fire-control officer observes the target and conveys its coordinates to a gunner or troops manning an artillery gun.
  • a fire-control officer observes how the fire hits in relation to the target and makes corrections in the longitudinal and lateral directions.
  • Indirect fire is most often discharged with mortar, cannon, howitzer or rocket artillery, but indirect fire from aircraft also occurs.
  • the fire-control officer carries with him, or has access to, a distance instrument in order to be able to measure where the fire from the artillery lands.
  • the fire results in an explosion with subsequent smoke formation (smoke cloud), for example in the form of a detonation or blast.
  • the fire-control officer can also with the distance instrument measure distance to a target object, for example a combat vehicle, and/or to various types of fixed points in the terrain.
  • a distance instrument for example a laser rangefinder, which, for example, is integrated with a field- glass-like device.
  • distance instruments for example a laser rangefinder, which, for example, is integrated with a field- glass-like device.
  • distance instruments there are many different types of distance instruments, certain of which are mounted in various types of combat vehicles and others of which have to be placed on a tripod, or else they are designed to be able to be carried and operated by a single person.
  • the distance instrument should in this case be configured like a field glass with respect to weight, size and shape, for example with optical data of 7x50, so as to be able to be carried and operated by a single person, see figure 1 in this connection.
  • Such a distance instrument is normally used to measure targets from 150 m to 10 km, and with a resolution, for example, of about 1 m at a distance of 1000 m.
  • the resolution can vary, however, with different types of equipment.
  • the maximum distance is naturally dependent on the size and shape of the target and on weather conditions and is therefore generally limited to 5-6 km under field conditions.
  • An example of a distance instrument for indirect fire is shown in fig. 1 and comprises the following parts disposed in a housing 101 (only the most important parts are touched on here):
  • a function switch 106 which connects a battery or external voltage source to the instrument and makes it ready for measurement
  • a laser rangefinder 110 which measures the distance to a real object
  • the sight eyepiece is connected to an optically magnifying unit, for example a monocular field glass which is used for the actual observation.
  • the telescope can give seven-fold magnification, for example, and the field of view can then, for example, cover 7 degrees in the horizontal and vertical directions.
  • a reticule plate which, for example, is graduated every fifth m-line and accentuated every tenth m-line, both horizontally and vertically.
  • the reticule plate has in the middle, for example, an opening of 1 m-line size, which then corresponds to the approximate extent of the laser beam.
  • the instrument then conducts measures only on targets which are fully or partially visible within this 1 m-line opening.
  • 201 indicates a forest background
  • 202 are markings on the reticule plate
  • 203 is indicator information.
  • the indicator eyepiece is connected to an indicator, for example a display unit (panel), in which the measured distance to the target is presented. The distance is shown, for example, with four numerals.
  • the indicator also provides information to the fire-control officer indicating that one or more reflexes within the blocking distance setting have been rejected by the rangefinder. This is realized, for example, by the lighting of a light spot (light- emitting diode) around the numerals which show the distance.
  • VIS visual radiation
  • the distance instrument can be used as a normal observation field glass for reconnaissance in the terrain and target identification.
  • a laser rangefinder integrated in the distance instrument is started, for example, by setting of a function switch into the "ON" position.
  • a distance measurement is carried out, for example, as follows:
  • the rangefinder is aimed toward the target area
  • 3D objects are combined with one another, but also with images/image objects.
  • an image is a very thin 3D object, a "film screen", onto which a static or dynamic texture is projected.
  • a dynamic image/texture can also be an animation, i.e. the computer creates a "virtual film sequence", which is placed, for example, as a dynamic texture onto the "film screen", it is also possible to make use of a film recording made on an earlier occasion and to use this film sequence as an animation.
  • a thin 3D object "film screen” is placed in the far distance, from the
  • a texture static or dynamic, which describes, for example, the area around a horizon.
  • • 501 is a "film screen", thin 3D object (image), on which a camera image is placed as, for example, a dynamic texture;
  • ⁇ 502 is a real sky background
  • 505 is an x-axis in a coordinate system
  • 506 is a y-axis in a coordinate system
  • 508 is a virtual viewing point, the point from which a user regards the mixed world
  • 509 is a virtual smoke cloud, a 3D object, which is placed in front of the "film screen";
  • 510 is a virtual combat vehicle, a 3D object, which is placed in front of the "film screen".
  • Various combat elements are today practiced out in the field with the aid of various types of simulator exercises. It is possible, for example, to simulate attacks involving minings, anti-aircraft defense and, not least, combat with direct or indirect fire.
  • a computer/computing unit/simulator system determines/computes where in a terrain the simulated fire shall land.
  • the fire-control officer In order that, in an exercise which includes simulation of indirect fire, the fire-control officer shall acquire greater relevance in the exercise, the fire-control officer should be able to be alerted to the simulated fire through his sense of sight and hearing; align his distance instrument to the simulated fire; or carry out those elements which are relevant to distance measurement and rangefinding.
  • a fire-control officer who is out in the field cannot with present-day simulation systems see the simulated fire in the same way as in reality, since it merely consists of a quantity of data in a system for training.
  • an object of the invention is to provide a device for measuring distance to both real and virtual/simulated objects (indirect fire or targets) in an area, which device comprises at least one laser rangefinder, a virtual laser rangefinder, a camera unit arranged to take a sequence of images of said area, a graphics unit arranged to generate virtual objects and to merge said generated virtual objects with the image sequence taken by the camera unit, a display on which said merged virtual objects and said image sequence are shown, a tracker unit arranged to determine the position of the device, and a computing unit arranged to determine the position of said virtual/simulated fire or said target object in the area.
  • the virtual laser rangefinder is activated. If a virtual/simulated object exists and the device is aimed toward this virtual/simulated object and a distance measurement is carried out, then the virtual laser rangefinder is activated. If a virtual/simulated object exists and the device is aimed toward a real object and a distance measurement is carried out, then the real laser rangefinder is activated.
  • this object is achieved by a device characterized by the distinguishing features defined in the characterizing part of patent claim 1 , which states that the device comprises a distance- measuring unit comprising, on the one hand, a real laser rangefinder arranged to measure the distance between the device and a real object and, on the other hand, a virtual laser rangefinder arranged to measure the distance between the device and a virtual/simulated object (indirect fire or target) when the device is aimed toward the virtual/simulated object.
  • fig. 1 shows an example of a previously known distance instrument
  • fig. 2 shows an example of a reticule plate
  • fig. 3 shows a typical operating setting in the use of a distance instrument
  • fig. 4 shows a typical operating setting during reconnaissance/waiting
  • fig. 5 shows a previously known mix of a real world and virtual objects
  • fig. 6 shows an example of a device according to the invention
  • fig. 7 shows an indicating unit according to a first embodiment of the present invention
  • fig. 8a shows an indicating unit according to a second embodiment of the present invention
  • fig. 8b shows an indicating unit according to a third embodiment of the present invention
  • fig. 9 shows a mix of a real world and virtual objects according to the present invention.
  • the device comprises a housing 101, a firing button 102 and a laser rangefinder 110.
  • the device further comprises a graphics system 603, an interaction unit 604 and a computing unit 605.
  • the device also comprises a video camera system 606, a tracker system 607, a display system 608, a light-generating unit 609, an indicating device 610 and a communication unit 611.
  • the parts integral to the device are described in greater detail below.
  • the present invention provides a solution to the problem of, for a fire-control officer, being able to present/visualize simulated fire out in real terrain in such a way that the fire-control officer can by and large carry out those elements which he executes in a real case.
  • the fire-control officer on the one hand, can measure distances to real objects through a real laser rangefinder and, on the other hand, measure distances to a virtual/simulated object, for example fire or target object (e.g. a combat vehicle) with a virtual laser rangefinder.
  • the invention will be described below as a number of sub-systems, devices, units and components, which mutually interact so that the desired effect is achieved.
  • the invention thus consists of:
  • a housing A housing (or shell), from a proper distance instrument or the like a housing from the same.
  • a laser rangefinder is an active electro-optical system, which measures the distance to an object by emitting a laser pulse and measuring the time until this returns.
  • a firing button which is integrated in the housing and is connected to an interaction unit (which can be a part of a computer). Firing, that is to say execution of a measuring moment, can usually be realized when the firing button is released, but firing when the firing button is pressed down could even also be an option.
  • the firing button can control the laser rangefinder directly, or alternatively via the interaction unit and the computing unit (the computer).
  • a graphics system (which can be a part of a computer, computer graphics system), which generates virtual objects/animations/sequences, for example:
  • terrain and terrain objects which may be required to enable the fire and/or the target objects to be seen to land correctly in the depth direction.
  • the task of the graphics system is also to mix virtual
  • reticule plate can be mixed in physically, however, by an engraving, for example, on a thin sheet of glass. See also in connection with various mixing methods later in the text.
  • the task of the interaction unit (which can be a part of a computer) is to read various forms of input, for example a button pressing or button release from a firing button, a setting of a function switch or a turning of a wheel for setting of a blocking distance.
  • the interaction unit can also generate output, for example lighting/turning-off of indicators (light emitting diodes) for an indicating device.
  • indicators light emitting diodes
  • the computing unit (which can be a part of a computer) can, from
  • the tracker system obtain the orientation and/or position of the fire- control officer, and from
  • the computing unit also includes a distance-computing part. Once the fire- control officer has aimed the distance instrument toward the simulated fire with the aid of an aligning device, for example cross hairs (reticule plate) and, released (or depressed), firing button, the computing unit works out the distance which a "proper" laser rangefinder would have come up with in a real case.
  • an aligning device for example cross hairs (reticule plate) and, released (or depressed), firing button
  • a video camera with magnifying electronics can be placed inside the housing.
  • the camera image (video stream) is connected to a graphics system (which can be a part of a computer).
  • the camera is usually sensitive in the visible range, but other wavelength ranges, for example near-IR or thermal IR
  • IR lanfraRed
  • a video camera with light- amplifying function may also be appropriate, and also a video camera with light- amplifying function.
  • a plurality of video cameras can be included in the system. These can operate, for example, in different wavelength ranges or be used for surveying tasks for the tracking system.
  • the tracker system (the tracking unit) is used to compute/survey the orientation and/or position of the distance instrument (the fire-control officer).
  • Computing/surveying of the position of the distance instrument can be carried out in the x, y and z directions in any coordinate system (can be global).
  • GPS Global Positioning System
  • the position can also be preprogrammed for certain training sites or else it can also be inputted by hand (or be obtained from some other system).
  • Computing/surveying of the orientation of the distance instrument is also necessary.
  • the display system shows the image from the graphics system.
  • This image can be a camera image (with superimposed reticule plate), which shows, for example, the pertinent terrain, virtual fire in this terrain, but also measuring results in the form of numerals and indicators which show results from a laser measurement (a simulated or real measurement).
  • the display system is usually connected to an eyepiece, but connection to two eyepieces is also possible through the use of two display units (microdisplays).
  • the two eyepieces can show different information, for example the left-hand eyepiece can show measuring results in the form of numerals and indicators and the right-hand eyepiece a camera image with superimposed reticule plate.
  • the images from the two eyepieces can be merged in the brain to form an image.
  • Sound-generating unit In order for the exercise with the distance instrument to be as realistic as possible, there is a need for a sound-generating unit (which can be a part of a computer) which emits a sound that imitates proper fire.
  • the sound- generating unit can present sound in a loudspeaker component installed
  • the sound-generating unit has the task of ensuring that the fire-control officer is alerted to the fire and, with stereo and/or 3D sound, has an indicating function.
  • the fire-control officer can hold the distance instrument directly below their eyes and gaze in a line of sight directly above the distance instrument, see also figure 4.
  • the fire-control officer can then, with his eyes or ears, assess where the fire is coming from and can thus then point the distance instrument in the direction of the fire and subsequently carry out his measuring tasks. That the fire-control officer will be able to see a simulated fire in this manner when he gazes is scarcely feasible.
  • An auxiliary indicating device must therefore be used.
  • Such an indicating device can, on the one hand, focus on the sense of sight of the fire-control officer and, on the other hand, on the sense of hearing of the fire-control officer.
  • the indicating device can be:
  • the indicating device can:
  • ⁇ consist of sound-generating devices which are integrated in the
  • An indicating device can consist, for example, of direction indicators, by way of suggestion luminous arrows or dots, up on the distance instrument or integrated in the housing of the distance instrument, which show when and roughly in which direction the simulated fire was executed.
  • the indicating device can show, on the one hand, the lateral direction and, on the other hand, the vertical direction, but also both directions at the same time.
  • a computing unit which has computed/surveyed the position and orientation of the distance instrument, and the position of the simulated fire, can then instantaneously control the indicating device, see also figure 7.
  • the indicating device can blink, for example, until the simulated fire is then executed, after which, with some delay, the fire-control officer hears the bang from the sound- generating unit.
  • an indicating device can be a display which is placed on the housing of the distance instrument. This display can be tiltable up and down. On this display, graphic direction indicators, for example, can roughly show the direction of the fire, but the display could also show an image over the terrain taken with a video camera with wide-angle lens, so that the simulated fire will appear in the image of this video camera, and thereby make it easier for the fire-control officer to align the distance instrument, see also figure 8.
  • An indicating device does not need to be integrated in or placed on the distance instrument, but can be an external unit, for example set out in front of the fire-control officer.
  • an indicating device could also be stereo, 3D sound or tactile devices which give the fire-control officer a physical sensation as to the direction in which he must aim the distance instrument.
  • figure 7 shows an embodiment of the indicating device in which the distance instrument 703 has a unit 701 showing the lateral direction and a unit 702 showing the vertical direction.
  • figure 8a shows another embodiment of the indicating device, in which the distance instrument 703 has a display 801 mounted thereon, which display can show a wide-angle image of the terrain ahead, but also, in addition thereto, other directional information.
  • FIG 8b shows a third embodiment of the indicating device, in which the distance instrument 703 comprises an angled transparent glass or plastics sheet 802 with certain reflective properties, in which a luminous indicator 803 indicates a direction and the notation 804 shows examples of reflection of the luminous indicator 803 on the angled transparent glass or plastics sheet 802.
  • Communication unit 703 comprises an angled transparent glass or plastics sheet 802 with certain reflective properties
  • a luminous indicator 803 indicates a direction
  • the notation 804 shows examples of reflection of the luminous indicator 803 on the angled transparent glass or plastics sheet 802.
  • the communication unit (which can be a part of a computer) has the task of communicating with the systems/software/operators which/who
  • Systems which can generate such data can be, for example:
  • a field/exercise computer having, for example, generating software
  • an exercise controller who, through some human interaction, sets a process in motion.
  • the communication unit can obtain external data, for example, via a communication system (by wire or wirelessly).
  • a virtual simulated fire or target object can be mixed in such a way into a camera image describing a real terrain that a fire-control officer can sense that the fire/the target object lands in the right manner and in the right place as in reality.
  • This is relatively simple to achieve when the fire is executed in the air or on a flat surface, for example a large field or a water surface, or equivalent for a target object.
  • Problems arise when the simulated fire is executed behind, for example, trees, clumps of trees and vehicles, or in natural hollows. In this case, the real objects located in front of the fire must also end up in front of the simulated fire, otherwise the fire-control officer will scarcely sense where the fire lands.
  • a laser radar camera which in each pixel, picture element, can represent a distance.
  • the distance pixels of the laser radar camera are matched with the camera, which visually represents the terrain, and after this a computing unit can compute which pixels from the camera image (the terrain) shall be laid in front of the simulated fire, viewed from the position of the fire-control officer.
  • a variant of such a camera can be used, a laser scanner. This can be placed on a preselected exercise site and here can scan in depth information from this site. This depth information can then be used to compute which pixels from the camera image (the terrain) shall be laid in front of the simulated fire.
  • high-resolution geodata information can be obtained. This information can help to produce, for example, 3D models which illustrate reality. These 3D models (environment models which illustrate the terrain) can be used in part or in full in the image seen by the fire-control officer, so that the fire-control officer gathers where the fire is coming from in the depth direction, see also figure 8.
  • the high-resolution geodata information can act as an aid when the fire-control officer aims his distance instrument toward a chosen object in the terrain. Since the position and orientation of the fire control officer/the distance instrument are known, these data can be used as input data to the high-resolution geo information and it is thus possible to compute the virtual distance to the object in question. This virtual distance shall then be able to conform to corresponding real measured distances.
  • Figure 9 shows how a 3D object, a tree, which stems from a 3D model computed from high-resolution geodata information, can augment the distance evaluation for the fire-control officer.
  • • 501 is a "film screen", a thin 3D object (image) on which a camera image is placed as, for example, a dynamic texture
  • ⁇ 504 is a real field background
  • • 509 is a virtual smoke cloud
  • a 3D object which is placed in front of the "film screen”
  • • 910 is a virtual tree, a 3D object whose position, type and shape stem from high-resolution geodata information
  • Gyro-based surveying From a gyro, the direction can be obtained. By combining the gyro with a compass, a measurement can be made absolute.
  • the gyro can also be combined with a camera-based (signal processing of images) method, instead of a compass.
  • the above-described device according to the invention can be combined with a laser meter.
  • a camera is placed/is mounted next to/over the output opening of the field glass, and an eyepiece with built-in microdisplay is mounted in front of/on the eyepiece of the distance instrument.
  • the eyepiece of the distance instrument is unscrewed and replaced with the eyepiece with built-in microdisplay.
  • FIG 10a An existing distance instrument is shown in figure 10a, in which:
  • • 104/105 is an indicator eyepiece, alternatively a sight eyepiece
  • FIG. 10b A first embodiment of a modified distance instrument is shown in figure 10b, in which:
  • • 104/105 is an indicator eyepiece, alternatively a sight eyepiece
  • FIG. 10c Another embodiment of a modified distance instrument, in which an existing eyepiece has been replaced with a mounted eyepiece, is shown in figure 10c, in which:
  • 125 is a mounted eyepiece
  • 127 is a microdisplay

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Abstract

La présente invention concerne un dispositif pour mesurer la distance par rapport à des objets réels et virtuels dans une zone. Le dispositif comprend au moins une unité de caméra conçue pour prendre une séquence d'images de ladite zone et une unité d'affichage graphique conçue pour générer des objets virtuels et pour fusionner les objets virtuels générés avec la séquence d'images prise par l'unité de caméra. Un afficheur présente les objets virtuels générés et la séquence d'images. Une unité de poursuite est conçue pour déterminer la position du dispositif. Le dispositif comprend en outre un premier télémètre conçu pour mesurer la distance entre le dispositif et les objets réels, et un second télémètre conçu pour mesurer la distance entre le dispositif et les objets virtuels.
PCT/SE2010/051392 2009-12-15 2010-12-15 Dispositif pour mesurer la distance par rapport à des objets réels et virtuels WO2011075061A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE0950962-1 2009-12-15
SE0950962A SE0950962A1 (sv) 2009-04-08 2009-12-15 Anordning för avståndsmätning till verkliga och virtuella objekt

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WO2011075061A1 true WO2011075061A1 (fr) 2011-06-23

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DE102016103054A1 (de) * 2016-02-22 2017-08-24 Krauss-Maffei Wegmann Gmbh & Co. Kg Militärisches Sandkastensystem und Verfahren zum Betrieb eines militärischen Sandkastens
CN113744585A (zh) * 2020-05-28 2021-12-03 中国石油化工股份有限公司 火灾事故应急处置演练系统及处理方法
CN113744585B (zh) * 2020-05-28 2024-03-29 中国石油化工股份有限公司 火灾事故应急处置演练系统及处理方法

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