WO2012007825A1 - Optoelectronic apparatus for assisting an operator in determining the shooting attitude to be given to a hand-held grenade launcher so as to strike a target, and respective operation method - Google Patents

Optoelectronic apparatus for assisting an operator in determining the shooting attitude to be given to a hand-held grenade launcher so as to strike a target, and respective operation method Download PDF

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Publication number
WO2012007825A1
WO2012007825A1 PCT/IB2011/001626 IB2011001626W WO2012007825A1 WO 2012007825 A1 WO2012007825 A1 WO 2012007825A1 IB 2011001626 W IB2011001626 W IB 2011001626W WO 2012007825 A1 WO2012007825 A1 WO 2012007825A1
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WO
WIPO (PCT)
Prior art keywords
attitude
operator
grenade launcher
grenade
shooting
Prior art date
Application number
PCT/IB2011/001626
Other languages
French (fr)
Other versions
WO2012007825A8 (en
Inventor
Nicola Santini
Andrea Magi
Enrico Fossati
Original Assignee
Selex Galileo S.P.A.
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 Selex Galileo S.P.A. filed Critical Selex Galileo S.P.A.
Publication of WO2012007825A1 publication Critical patent/WO2012007825A1/en
Publication of WO2012007825A8 publication Critical patent/WO2012007825A8/en

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Classifications

    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G1/00—Sighting devices
    • F41G1/44—Spirit-level adjusting means, e.g. for correcting tilt; Means for indicating or correcting tilt or cant
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G1/00—Sighting devices
    • F41G1/46—Sighting devices for particular applications
    • F41G1/473—Sighting devices for particular applications for lead-indicating or range-finding, e.g. for use with rifles or shotguns
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G1/00—Sighting devices
    • F41G1/46—Sighting devices for particular applications
    • F41G1/48—Sighting devices for particular applications for firing grenades from rifles
    • 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

Definitions

  • the present invention relates to an optoelectronic apparatus for assisting an operator in determining the shooting attitude to be given to a hand-held grenade launcher so as to strike a target and to a respective operation method.
  • the probability of failure in hitting a target with a grenade launched from a weapon system of the type described above crucially depends on determining the correct shooting attitude to be given to a grenade launcher by the operator.
  • the aim of the present invention is therefore to provide an optoelectronic apparatus adapted for assisting an operator both in determining the shooting attitude to be given to the hand-held grenade launcher and in the spatial orientation to be given, moment by moment, to the grenade launcher according to the determined shooting attitude and responding to the guidance of the grenade launcher by the operator itself, so as to increase the probability of success of striking a target with a grenade.
  • an optoelectronic apparatus for assisting an operator in determining the shooting attitude to be given to a hand-held grenade launcher so as to strike a target, as stated in claim 1 and preferably, but not necessarily, in any of the claims depending directly or indirectly from claim 1.
  • a method for assisting an operator is also provided, by way of an optoelectronic apparatus, in determining the shooting attitude to be given to a hand-held grenade launcher so as to strike a target, according to what stated in claim 5 and preferably, but not necessarily, in any of the claims depending directly or indirectly from claim 5.
  • a computer product loadable onto the memory of an electronic calculator for assisting an operator, when implemented by the electronic computer itself, in determining the shooting attitude to be given to a hand-held grenade launcher so as to strike a target in accordance to what stated in claim 11.
  • FIG. 1 schematically shows a grenade launcher in a target pointing attitude provided with an assisting optoelectronic apparatus, made according to the dictates of the present invention
  • FIG. 2 schematically shows the grenade launcher of figure 2 in a shooting attitude
  • FIG. 3 is a block diagram of the assisting optoelectronic apparatus shown in Figure 1;
  • FIG. 4a, 4b and 4c show as a whole a flowchart of the operations implemented by the assisting optoelectronic apparatus shown in Figure 1;
  • FIG. 5 schematically show examples of the graphical cross generated by the assisting optoelectronic apparatus to indicate to the military operator the direction to be given to the grenade launcher;
  • Figures 9 and 10 show the ideal and actual grenade trajectory into a Cartesian reference plane, in a state of flat-trajectory shot and non-flat-trajectory shot, respectively.
  • the assisting optoelectronic apparatus 2 is configured so as to communicate to the operator, moment by- moment, the angular movements that must be given to the grenade launcher 1 in response to the instantaneous movement of the grenade launcher 1 carried out by the operator, allowing the grenade to strike the target K.
  • the grenade launcher 1 can be preferably, but not necessarily, mounted on a hand-held weapon 3, for example, a rifle and in the example shown in Figure 1 it comprises a grenade launch tube 4 presenting a longitudinal axis L integral and coincident with a first Cartesian axis X B ODY of a predetermined body reference system ⁇ BODY associated with the grenade launcher 1, and presenting a second Cartesian axis YBODY / orthogonal to the first Cartesian axis XBODY and a third Cartesian axis Z BO DY orthogonal to the first X B ODY and to the second Cartesian axis YBODY -
  • the grenade launcher 1 also comprises an aiming device 5 through which the operator is able to aim at the target K (not shown) and to have the grenade launcher 1 in a target pointing attitude of the target K itself.
  • the aiming device 5 is of a known type and therefore will not be further described except to clarify that it may comprise a LASER sight (not shown) and a screen in which is represented a pointing reticule and a moving graphic pointer on the screen according to the pointing done by the laser sight, and can be configured so as to identify the completed target pointing attitude of the grenade launcher 1 when the graphic pointer reaches a predetermined position, such as central, in the pointing reticule.
  • a LASER sight not shown
  • a screen in which is represented a pointing reticule and a moving graphic pointer on the screen according to the pointing done by the laser sight, and can be configured so as to identify the completed target pointing attitude of the grenade launcher 1 when the graphic pointer reaches a predetermined position, such as central, in the pointing reticule.
  • the general attitude of the grenade launcher 1 is characterized by a pitch angle a P i T c H (ti) and a heading angle a HEAD (ti), where the pitch angle P i TCH (ti) corresponds to the angle present between the first Cartesian axis X BODY and a reference plane lying on Earth's ground level ( Figure 2); while the heading angle oiHEAD(ti) corresponds to the azimuth angle present between the first Cartesian axis Y BODY and Earth's geographic north.
  • the assisting optoelectronic apparatus 2 further comprises, preferably, but not necessarily, a mechanical device (not shown) , which is structured in such a way as to couple the assisting optoelectronic apparatus 2 in a stable, but easily removable way, to the grenade launcher 1.
  • a mechanical device not shown
  • the assisting optoelectronic apparatus 2 is permanently coupled, i.e. is integral with the grenade launcher 1.
  • the assisting optoelectronic apparatus 2 is configured for: - measuring the pitch angle a P i tC h(to) and the heading angle oiheading ( t 0 ) of the grenade launcher 1 when the grenade launcher is in a target pointing attitude;
  • Aa h ea d ( ti ) is zero.
  • the assisting optoelectronic apparatus 2 comprises an electronic distance measuring device 6, which is configured to measure the distance Dis ttarget of the target K from the grenade launcher 1, and an electronic attitude measuring device 7, which is configured for determining the instantaneous attitude (at moment ti) of the grenade launcher 1, i.e. the pitch angle Aa P i tCh (ti) and the heading angle Aof ead(ti) that characterize the attitude itself.
  • the assisting optoelectronic apparatus 2 also comprises a user interface 8 through which an operator is able to issue commands to the assisting optoelectronic apparatus 2 and receives indications on variation in attitude Aa P i tCh (ti) and Aoihead(ti) to be given to grenade launcher 1 to strike the target k.
  • the assisting optoelectronic apparatus 2 also comprises an electronic processing unit 9, which is configured so as to compute the pitch angle af P itch > and the heading angle af he ad that characterize the shooting attitude, and communicates to the operator, through the user interface 8 and in response to the movement of the grenade launcher 1 itself by the operator, the variation in attitude Aa P i tC h(ti), Aofhead(tj . )to be given to the grenade launcher 1 at moment ti to orientate it in the shooting attitude.
  • the assisting optoelectronic apparatus 2 also comprises a memory unit 10 containing a series of ammunition-data indicating a plurality of different grenade types employable in the grenade launcher 1.
  • the memory unit 10 further contains, for each type of grenade, a series of ballistic data associated with the grenade itself, such as: the frontal area S of the grenade, i.e. the area of the front surface of the grenade itself; the mass m of the grenade; the coefficient of aerodynamic resistance Cd of the grenade; the lift coefficient Cl of the grenade, the launching speed of the grenade Vin; a coefficient of variation GradVin of launching speed of the grenade at changing temperature T.
  • a series of ballistic data associated with the grenade itself such as: the frontal area S of the grenade, i.e. the area of the front surface of the grenade itself; the mass m of the grenade; the coefficient of aerodynamic resistance Cd of the grenade; the lift coefficient Cl of the grenade, the launching speed of the grenade Vin; a coefficient of variation GradVin of launching speed of the gren
  • the memory unit 10 is also adapted for further storing: environmental data indicating the atmospheric pressure p, the thermodynamic constant of air; and precision data indicating a minimum desired precision err y of the target position K along a vertical axis (e.g. the axis Y in Figure 9) , which is orthogonal to a flat Earth's ground reference surface, and a minimum desired precision err x of the target position K along a horizontal axis parallel to a flat Earth's ground surface.
  • the assisting optoelectronic apparatus 2 also comprises sensors 11 adapted to measure the air temperature T corresponding in the initial step to the temperature of the grenade .
  • the distance measuring device 6 may comprise, for example, a LASER rangefinder (acronym for Light Amplification by Stimulated Emission of Radiation) , which is configured so as to emit laser pulses towards the target determining the distance Dist ta rge t of the target from the grenade launcher 1 in function of the "flight time" tfnght of the LASER pulse.
  • LASER rangefinder ancronym for Light Amplification by Stimulated Emission of Radiation
  • the attitude measuring device 7 in the example shown in Figure 3 it comprises an inertial electronic platform 12 configured to provide in output the acceleration components Ax, Ay, Az and angular velocity components Gx, Gy and Gz of the grenade launcher 1 determined with respect to the body reference system ⁇ B O DY -
  • the inertial electronic platform 12 conveniently comprises one or more accelerometers, for example, a dual-axis accelerometer and two single-axis accelerometers, presenting two measuring axes arranged along the axes X BODY and Y BODY of the body reference system ⁇ BODY ; and one or more gyroscopes presenting a total of three measuring axes arranged parallel to the axes X B ODY/ YBODY and ZBODY of the body reference system ⁇ B ODY-
  • the attitude measuring device 7 also comprises a computing module 13 receiving in input acceleration components Ax, Ay, Az, and the angular velocity components Gx, Gy and Gz measured by the electronic inertial platform 12 thus processing them to provide in output the pitch angle Aa P i tC h(ti) , and the heading angle Aoihead(ti) at moment ti.
  • the pitch Aa pitC h(ti) and heading Aa hea d(ti) angles can be determined by the computing module 13 by way of, for example, the computing method described in the patent application filed in Italy on April 12, 2010 with the No. TV2010A000060 , which is here incorporated as reference.
  • the user interface 8 comprises a screen or display 14 to visualize one or more graphic interfaces, a control device 15, and preferably but not necessarily a voice message generating device 16.
  • the electronic processing unit 9 can be configured so as to ensure that the display 14 and/or the voice message generating device 16 notifies the operator attitude variations Aa P i tC h(ti) and Aa hea d(ti) to be given to the grenade launcher 1, while the control device 15 may comprise a keyboard provided with a set of keys through which the operator imparts commands to the assisting optoelectronic apparatus 2.
  • the display 14 is conveniently of an OLED type (acronym for Organic Light Emitting Diode) while the electronic processing unit 9 is configured to ensure that also the display 14 visualizes a supporting graphical interface 14a representing the attitude variation A P i tch (ti) and Aa he ad(ti) to be given to the grenade launcher 1.
  • the electronic processing unit 9 is configured to ensure that the assisting graphical interface 14a visualized by the display 14 comprises a graphical attitude cross 18 provided with a plurality of luminous segments arranged aligned one after the other so as to form a first and a second attitude branch which are mutually orthogonal and intersect a common central point 19.
  • the electronic processing unit 9 is configured to switch on/off:
  • the attitude branch 20 is subdivided in correspondence to the midpoint 19 in a first 20a and in a second luminous branch 20b, wherein the first luminous branch 20a comprises a predetermined number Nl of segments adapted to be switched on/off in function of the negative variation of the pitch angle Aoipi Ch ( ti ) , while the second luminous branch 20b comprises a predetermined number Nl of segments adapted for being switched on/off in function of the negative variation of the pitch angle Aa P i tch ( ti ) .
  • the second luminous branch 21 is in turn divided in correspondence to the midpoint 15 in a first 21a and in a second luminous branch 21b, wherein the first luminous branch 21a comprises a predetermined number N3 of segments adapted for being switched on/off in function of the negative variation of the heading angle Aoi h ea d ( ti ) , while the second luminous branch 21b comprises a predetermined number N4 of segments adapted for being switched on/off in function of the positive variation of the heading angle Aoi ea d ( ti ) .
  • the voice message generating device 16 it can be configured so as to communicate voice messages containing the attitude variation to be given to the grenade launcher 1.
  • the voice message generating device 16 can comprise, for example, an electronic digital unit configured to produce voice messages and a loudspeaker such as a headset connected to the electronic digital unit and usable by the operator for listening to information relative to the attitude variation to be given to the grenade launcher 1.
  • a loudspeaker such as a headset connected to the electronic digital unit and usable by the operator for listening to information relative to the attitude variation to be given to the grenade launcher 1.
  • the electronic processing unit 9 can comprise a microprocessor receiving in input: pitch angles Aa P i tCh ( i) and heading A hea d(ti) at moment ti; the distance Dist ta rget of the target; the commands given by the user through the control device 15.
  • the electronic processing unit 9 also receives a series of data indicative of the type of grenade to be launched such as : the frontal area S, the mass m, the coefficient of aerodynamic resistance Cd, the lift coefficient CI, the speed of release Vin of the grenade, the coefficient of variation GradVin.
  • the electronic processing unit 9 further receives a series of data indicative of the atmospheric pressure p; of the thermodynamic constant of the air; of the desired minimum precisions err y and err x .
  • the electronic processing unit 9 is adapted to implement a computing method that processes the input variables listed above to communicate to the operator in output, moment by moment, the attitude variation to be given to the grenade launcher 1 for achieving the correct shooting attitude. More specifically, the electronic processing unit 9 is adapted to vary the number Nl and/or N2 of switching on/off of the segments contained in the first luminous branch 20 , and the number N3 and/or N4 of switching on/off of segments contained in the second luminous branch 21 , so as to conveniently visually notify the operator the angle to be given so as to place the grenade launcher 1 in the shooting attitude.
  • the configuration/setting of the assisting optoelectronic apparatus 2 can provide that: the electronic processing unit 9 notifies the operator by way of the user interface 8 different types of grenades usable contained in the memory unit 10 and determines in the memory unit 10 itself the data that characterize the grenade ballistics, in response to the selection command of the grenade given by the operator.
  • the operator selects, by way of the user interface 8, the type of shooting trajectory to be given to the grenade, which may correspond to a first type, later indicated with “flat-trajectory shot” an example of which is shown in Figure 9 , or a second type, later indicated with “non-flat-trajectory shot” an example of which is shown in Figure 10 (block 100 ) .
  • the electronic processing unit 9 communicates a message to the operator by way of the user interface device 8, in which is required to place the grenade launcher 1 in the pointing attitude.
  • the operator directs the grenade launcher 1 so as to aim at the target K and once reaching the pointing attitude confirms the completed pointing by manually imparting by way of the command device 15 a predetermined confirmation command (block 110 ) .
  • the electronic processing unit 9 receives the input pitch angle Aa P i tCh (ti) and the heading angle Aoihead(ti) by the electronic inertial platform 12 (block 120 ) .
  • the electronic processing unit 9 further receives the input distance Dist ta rget calculated by the distance measuring device 6 (block 13 0 ) .
  • the electronic processing unit 9 calculates the actual position X ta rget and Ytarget of the target K relative to the Cartesian reference system X , Y shown in Figures 9 and 10 on the basis of the pitch angle P i tCh (to), of the heading angle oihead(to) and the distance Dist target (block 140 ) .
  • the electronic processing unit 9 verifies the shot type selected by the operator (block 150 ) .
  • the electronic processing unit 9 determines the actual trajectory of the grenade on the basis of the ideal trajectory, the ballistic data, the environmental data and the precision data.
  • the electronic processing unit 9 verifies:
  • xi of the grenade is in the range defined by a minimum value equal to X ta rge t _ err x and a maximum value equal to X ta rg et +err x and
  • yi of the grenade is in the range defined by a minimum value of about Y t arge t -err Y and a maximum value of about Y ta rge t +err Y (block 230 ) .
  • the electronic processing unit 9 gives to the shooting pitch angle the starting pitch angle:
  • the electronic processing unit 9 starts a new cycle of integration of the trajectory (block 250 ) in which it assigns a new value aideal P i tC h to the starting angle, which, in case of flat-shot, is computed by way of the relation o) while in case of non-flat-shot is computed by way of the relation P ) : o)
  • the electronic processing unit 9 computes the shooting heading angle af he ad using the following mathematical relation:
  • the electronic processing unit 9 determines the pitch angle oipi t c h ( ti ) and verifies if the following first condition q) is satisfied (block 270 ) :
  • Aa P i t ch oif P i t c h -oi P i t c h ( ti ) and SI is a predetermined threshold.
  • the electronic processing unit 9 determines that the pitch angle P i tCh ( ti ) corresponds to the final pitch angle af P i tCh i.e. that the grenade launcher 1 has a correct pitch attitude (block 280 ) and therefore does not require movements of the grenade launcher 1 adapted to vary the pitch angle a P i TC H ( ti ) itself.
  • the electronic processing unit 9 commands, by way of the user interface 8, the maintaining of segments Nl and N2 in the off condition so as to communicate to the operator the absence of rotations i.e. variations of the pitch angle to be given to the grenade launcher 1 (block 280) ( Figure 6) .
  • Sa is a predetermined angle value associated with each segment of the graphical cross (block 290) .
  • the electronic processing unit 9 determines the heading angle oi ea d ( ti ) at moment ti and also verifies if the following condition t ) is satisfied (block 320) :
  • Aa fh ea d o ⁇ fhea d -oi h ea d ( ti ) wherein S2 is a predetermined threshold.
  • the electronic processing unit 9 determines that the heading angle oi h ea d ( ti ) corresponds to the final heading angle afhead i.e. that the grenade launcher 1 has a correct heading attitude (block 33 0 ) , and therefore does not require movements of the grenade launcher 1 adapted to vary the heading angle he a d itself (block 330 ) .
  • the electronic processing unit 9 commands, by way of the user interface 8 , the maintaining of the segments N3 and N4 in a switching off condition so as to communicate to the operator the absence of rotations he a d to be given to the grenade launcher 1 (block 330 ) ( Figure 5 ) .
  • the electronic processing unit 9 determines the integer to be assigned to the unknown value n head to satisfy the following condition u) :
  • the electronic processing unit 9 communicates to the operator the condition of correct positioning of the grenade launcher 1 in the shooting attitude (block 370 ) .
  • the electronic processing unit 9 controls the switching off of all segments and preferably, but not necessarily, the switching on of a central graphical icon comprising for example a circle centered on the center point 19 ( Figure 8) .
  • the above described assisting optoelectronic apparatus is extremely advantageous because it automatically provides to the military operator a precise indication of the orientation to be given to the grenade launcher in such a way so as to successfully strike the target with a grenade.

Abstract

Optoelectronic apparatus (2) for assisting an operator in determining the shooting attitude to give to a hand-held grenade launcher (1) so as to strike a target (k) and configured to measure a pointing attitude of the target (k); measure the distance (Disttarget ) of the target (k); determine the position of the target (k); determine a shooting pitch angle (αfpitch) and shooting heading angle (αfhead); measure the pitch angle (αpitch(ti)) and the heading angle (αheading(ti) ) indicative of the attitude given to the grenade launcher 1 by the operator; compute a pitch difference (Δαpitch(ti) ) and a heading difference in (Δαhead(ti)); communicate to the operator the pitch variation and/or the heading variation that an operator must give to the grenade launcher so that the pitch difference (Δαpitch(ti) ) and/or heading difference ( Δαhead( ti ) ), respectively, is zero.

Description

nOPTOELECTRONIC APPARATUS FOR ASSISTING AN OPERATOR IN DETERMINING THE SHOOTING ATTITUDE TO BE GIVEN TO A HAND-HELD GRENADE LAUNCHER SO AS TO STRIKE A TARGET, AND RESPECTIVE OPERATION METHOD"
TECHNICAL FIELD
The present invention relates to an optoelectronic apparatus for assisting an operator in determining the shooting attitude to be given to a hand-held grenade launcher so as to strike a target and to a respective operation method.
BACKGROUND ART
The changing scenario of use of the armed forces have recently imposed a comprehensive reconsideration of the tasks and equipment to be allocated to military operators in operation settings and in particular the more widespread and effective use of high caliber ammunition so as to allow high precision during combat and consequentially a high capacity of reducing enemy capability. For this purpose, it became necessary to equip the military operator with a weapon system that comprises, not only a traditional hand-held weapon such as a rifle, but also a grenade launcher, which is coupled to the hand-held weapon to enable the operator to launch towards a target high caliber ammunition, greater than or equal to 40 mm, which, as known, is indicated by the word "grenade" .
However, the use of weapon systems integrating a grenade launcher of the above described type has had to date a relatively limited distribution because the probability of failure of striking a target by a single grenade was found to be quite high, and therefore not acceptable in war scenarios.
In fact, the probability of failure in hitting a target with a grenade launched from a weapon system of the type described above crucially depends on determining the correct shooting attitude to be given to a grenade launcher by the operator.
Such an assessment results, however, to be extremely complex and therefore susceptible to errors as the operator must make, extremely quickly, especially in combat scenarios, a visual estimate of the distance from the target, a visual estimate of the angle of the site where the target is, and determine the shooting attitude to be given to the grenade launcher taking into account the estimated distance and angle and the trajectory of the grenade, which trajectory, as is known, results to be particularly difficult to determine.
Therefore, the use of weapon systems provided with hand-held grenade launchers of the above described type has proven to be very inconvenient to date, as it involves a high localization risk of the military operator against a low probability of striking a target with grenades.
DISCLOSURE OF INVENTION
The aim of the present invention is therefore to provide an optoelectronic apparatus adapted for assisting an operator both in determining the shooting attitude to be given to the hand-held grenade launcher and in the spatial orientation to be given, moment by moment, to the grenade launcher according to the determined shooting attitude and responding to the guidance of the grenade launcher by the operator itself, so as to increase the probability of success of striking a target with a grenade.
According to the present invention an optoelectronic apparatus is presented for assisting an operator in determining the shooting attitude to be given to a hand-held grenade launcher so as to strike a target, as stated in claim 1 and preferably, but not necessarily, in any of the claims depending directly or indirectly from claim 1.
According to the present invention a method for assisting an operator is also provided, by way of an optoelectronic apparatus, in determining the shooting attitude to be given to a hand-held grenade launcher so as to strike a target, according to what stated in claim 5 and preferably, but not necessarily, in any of the claims depending directly or indirectly from claim 5.
According to the present invention being further provided is a computer product loadable onto the memory of an electronic calculator for assisting an operator, when implemented by the electronic computer itself, in determining the shooting attitude to be given to a hand-held grenade launcher so as to strike a target in accordance to what stated in claim 11.
BRIEF DESCRIPTION OF THE DRAWINGS
The present invention will now be described with reference to the annexed drawings, which illustrate a non limitative embodiment, in which:
- Figure 1 schematically shows a grenade launcher in a target pointing attitude provided with an assisting optoelectronic apparatus, made according to the dictates of the present invention;
- Figure 2 schematically shows the grenade launcher of figure 2 in a shooting attitude;
- Figure 3 is a block diagram of the assisting optoelectronic apparatus shown in Figure 1;
- Figures 4a, 4b and 4c show as a whole a flowchart of the operations implemented by the assisting optoelectronic apparatus shown in Figure 1;
- Figures 5, 6 7 and 8 schematically show examples of the graphical cross generated by the assisting optoelectronic apparatus to indicate to the military operator the direction to be given to the grenade launcher;
Figures 9 and 10 show the ideal and actual grenade trajectory into a Cartesian reference plane, in a state of flat-trajectory shot and non-flat-trajectory shot, respectively. BEST MODE FOR CARRYING OUT THE INVENTION
With reference to Figure 1, with number 1 is indicated as a whole a hand-held grenade launcher, and an assisting optoelectronic apparatus 2, which is coupled to the grenade launcher 1 and is configured for assisting an operator in determining the shooting attitude be given to the grenade launcher 1 so as to strike a target K.
In particular, the assisting optoelectronic apparatus 2 is configured so as to communicate to the operator, moment by- moment, the angular movements that must be given to the grenade launcher 1 in response to the instantaneous movement of the grenade launcher 1 carried out by the operator, allowing the grenade to strike the target K.
The grenade launcher 1 can be preferably, but not necessarily, mounted on a hand-held weapon 3, for example, a rifle and in the example shown in Figure 1 it comprises a grenade launch tube 4 presenting a longitudinal axis L integral and coincident with a first Cartesian axis XBODY of a predetermined body reference system ∑BODY associated with the grenade launcher 1, and presenting a second Cartesian axis YBODY / orthogonal to the first Cartesian axis XBODY and a third Cartesian axis ZBODY orthogonal to the first XBODY and to the second Cartesian axis YBODY -
The grenade launcher 1 also comprises an aiming device 5 through which the operator is able to aim at the target K (not shown) and to have the grenade launcher 1 in a target pointing attitude of the target K itself.
The aiming device 5 is of a known type and therefore will not be further described except to clarify that it may comprise a LASER sight (not shown) and a screen in which is represented a pointing reticule and a moving graphic pointer on the screen according to the pointing done by the laser sight, and can be configured so as to identify the completed target pointing attitude of the grenade launcher 1 when the graphic pointer reaches a predetermined position, such as central, in the pointing reticule.
It should be specified that with the following term "shooting attitude" of the grenade launcher 1 it will be intended the condition in which the grenade launcher 1 is oriented in space ensuring that the grenade will strike the target K; while with the term "pointing attitude" it will be intended the condition in which the aiming device 5 points at the target K (Figure 1) . More specifically, at a certain moment ti, the general attitude of the grenade launcher 1 is characterized by a pitch angle aPiTcH(ti) and a heading angle aHEAD(ti), where the pitch angle PiTCH(ti) corresponds to the angle present between the first Cartesian axis XBODY and a reference plane lying on Earth's ground level (Figure 2); while the heading angle oiHEAD(ti) corresponds to the azimuth angle present between the first Cartesian axis YBODY and Earth's geographic north.
The assisting optoelectronic apparatus 2 further comprises, preferably, but not necessarily, a mechanical device (not shown) , which is structured in such a way as to couple the assisting optoelectronic apparatus 2 in a stable, but easily removable way, to the grenade launcher 1. According to a different embodiment, not shown, the assisting optoelectronic apparatus 2 is permanently coupled, i.e. is integral with the grenade launcher 1.
The assisting optoelectronic apparatus 2 is configured for: - measuring the pitch angle aPitCh(to) and the heading angle oiheading ( t0) of the grenade launcher 1 when the grenade launcher is in a target pointing attitude;
- measuring the distance Disttarget of the target k when the grenade launcher 1 is in a target pointing attitude;
- determining position data indicative of the position of the target Xtarget and Ytarget on the basis of the pitch angle oipitc ( o ) , of the heading angle aheading ( to ) and the distance Dis ttarget measured in the pointing attitude;
- determining, on the basis of the position data, a shooting pitch angle afPitCh and a shooting heading angle fhead indicative of a shooting attitude to be given to the grenade launcher 1 causing the grenade to strike the target ; and
during the handling of the grenade launcher 1 by the operator:
- measuring, moment by moment, the pitch angle PitCh ( ti ) and the heading angle oiheading ( ti ) of the grenade launcher 1;
- computing, moment by moment, a pitch difference Aapitch ( ti ) between the shooting pitch angle afpitch and the instantaneous pitch angle oiPitch ( ti ) associated with the attitude given by the operator to the grenade launcher 1; - computing, moment by moment, a heading difference Aoihead ( ti ) between the shooting heading angle oihead ( ti ) and the instantaneous heading angle ahead ( tj. ) associated with the attitude given by the operator;
- communicating, moment by moment, to the operator data indicative of the pitch variation that the operator must give the hand-held grenade launcher so that the pitch difference AaPitCh ( ti ) is zero;
- communicating, moment by moment, to the operator data indicative of the heading variation that the operator must give the grenade launcher so that the heading difference
Aahead ( ti ) is zero.
With reference to Figure 3, the assisting optoelectronic apparatus 2 comprises an electronic distance measuring device 6, which is configured to measure the distance Dis ttarget of the target K from the grenade launcher 1, and an electronic attitude measuring device 7, which is configured for determining the instantaneous attitude (at moment ti) of the grenade launcher 1, i.e. the pitch angle AaPitCh(ti) and the heading angle Aof ead(ti) that characterize the attitude itself.
The assisting optoelectronic apparatus 2 also comprises a user interface 8 through which an operator is able to issue commands to the assisting optoelectronic apparatus 2 and receives indications on variation in attitude AaPitCh(ti) and Aoihead(ti) to be given to grenade launcher 1 to strike the target k.
The assisting optoelectronic apparatus 2 also comprises an electronic processing unit 9, which is configured so as to compute the pitch angle afPitch > and the heading angle afhead that characterize the shooting attitude, and communicates to the operator, through the user interface 8 and in response to the movement of the grenade launcher 1 itself by the operator, the variation in attitude AaPitCh(ti), Aofhead(tj.)to be given to the grenade launcher 1 at moment ti to orientate it in the shooting attitude.
The assisting optoelectronic apparatus 2 also comprises a memory unit 10 containing a series of ammunition-data indicating a plurality of different grenade types employable in the grenade launcher 1.
The memory unit 10 further contains, for each type of grenade, a series of ballistic data associated with the grenade itself, such as: the frontal area S of the grenade, i.e. the area of the front surface of the grenade itself; the mass m of the grenade; the coefficient of aerodynamic resistance Cd of the grenade; the lift coefficient Cl of the grenade, the launching speed of the grenade Vin; a coefficient of variation GradVin of launching speed of the grenade at changing temperature T. The memory unit 10 is also adapted for further storing: environmental data indicating the atmospheric pressure p, the thermodynamic constant of air; and precision data indicating a minimum desired precision erry of the target position K along a vertical axis (e.g. the axis Y in Figure 9) , which is orthogonal to a flat Earth's ground reference surface, and a minimum desired precision errx of the target position K along a horizontal axis parallel to a flat Earth's ground surface. The assisting optoelectronic apparatus 2 also comprises sensors 11 adapted to measure the air temperature T corresponding in the initial step to the temperature of the grenade . With reference to Figure 3, the distance measuring device 6 may comprise, for example, a LASER rangefinder (acronym for Light Amplification by Stimulated Emission of Radiation) , which is configured so as to emit laser pulses towards the target determining the distance Disttarget of the target from the grenade launcher 1 in function of the "flight time" tfnght of the LASER pulse.
Regarding however the attitude measuring device 7, in the example shown in Figure 3 it comprises an inertial electronic platform 12 configured to provide in output the acceleration components Ax, Ay, Az and angular velocity components Gx, Gy and Gz of the grenade launcher 1 determined with respect to the body reference system ∑BODY- In particular, in the example shown in Figure 3, the inertial electronic platform 12 conveniently comprises one or more accelerometers, for example, a dual-axis accelerometer and two single-axis accelerometers, presenting two measuring axes arranged along the axes XBODY and YBODY of the body reference system ∑BODY; and one or more gyroscopes presenting a total of three measuring axes arranged parallel to the axes XBODY/ YBODY and ZBODY of the body reference system ∑BODY-
The attitude measuring device 7 also comprises a computing module 13 receiving in input acceleration components Ax, Ay, Az, and the angular velocity components Gx, Gy and Gz measured by the electronic inertial platform 12 thus processing them to provide in output the pitch angle AaPitCh(ti) , and the heading angle Aoihead(ti) at moment ti. In this case, the pitch AapitCh(ti) and heading Aahead(ti) angles can be determined by the computing module 13 by way of, for example, the computing method described in the patent application filed in Italy on April 12, 2010 with the No. TV2010A000060 , which is here incorporated as reference.
Regarding the user interface 8, it comprises a screen or display 14 to visualize one or more graphic interfaces, a control device 15, and preferably but not necessarily a voice message generating device 16.
In particular, the electronic processing unit 9 can be configured so as to ensure that the display 14 and/or the voice message generating device 16 notifies the operator attitude variations AaPitCh(ti) and Aahead(ti) to be given to the grenade launcher 1, while the control device 15 may comprise a keyboard provided with a set of keys through which the operator imparts commands to the assisting optoelectronic apparatus 2. In the example shown, the display 14 is conveniently of an OLED type (acronym for Organic Light Emitting Diode) while the electronic processing unit 9 is configured to ensure that also the display 14 visualizes a supporting graphical interface 14a representing the attitude variation A Pitch(ti) and Aahead(ti) to be given to the grenade launcher 1. In detail, the electronic processing unit 9 is configured to ensure that the assisting graphical interface 14a visualized by the display 14 comprises a graphical attitude cross 18 provided with a plurality of luminous segments arranged aligned one after the other so as to form a first and a second attitude branch which are mutually orthogonal and intersect a common central point 19.
More in detail, in the example shown in Figures 5-8, the electronic processing unit 9 is configured to switch on/off:
- the segments of a vertical attitude branch 20 as a function of positive or negative variation AaPitCh of the pitch angle oipitch to be given to the grenade launcher 1 so as to orient it in the shooting attitude;
- the segments of a horizontal attitude branch 21 as a function of positive or negative variation Aaheaa of the heading angle ahead to be given to the grenade launcher 1 so as to orient it in the shooting attitude.
More specifically, in the example shown in Figures 5-8, the attitude branch 20 is subdivided in correspondence to the midpoint 19 in a first 20a and in a second luminous branch 20b, wherein the first luminous branch 20a comprises a predetermined number Nl of segments adapted to be switched on/off in function of the negative variation of the pitch angle Aoipi Ch ( ti ) , while the second luminous branch 20b comprises a predetermined number Nl of segments adapted for being switched on/off in function of the negative variation of the pitch angle AaPitch ( ti ) .
The second luminous branch 21 is in turn divided in correspondence to the midpoint 15 in a first 21a and in a second luminous branch 21b, wherein the first luminous branch 21a comprises a predetermined number N3 of segments adapted for being switched on/off in function of the negative variation of the heading angle Aoihead ( ti ) , while the second luminous branch 21b comprises a predetermined number N4 of segments adapted for being switched on/off in function of the positive variation of the heading angle Aoi ead ( ti ) . As for the voice message generating device 16 it can be configured so as to communicate voice messages containing the attitude variation to be given to the grenade launcher 1. The voice message generating device 16 can comprise, for example, an electronic digital unit configured to produce voice messages and a loudspeaker such as a headset connected to the electronic digital unit and usable by the operator for listening to information relative to the attitude variation to be given to the grenade launcher 1. Regarding the electronic processing unit 9, it can comprise a microprocessor receiving in input: pitch angles AaPitCh( i) and heading A head(ti) at moment ti; the distance Disttarget of the target; the commands given by the user through the control device 15.
The electronic processing unit 9 also receives a series of data indicative of the type of grenade to be launched such as : the frontal area S, the mass m, the coefficient of aerodynamic resistance Cd, the lift coefficient CI, the speed of release Vin of the grenade, the coefficient of variation GradVin.
The electronic processing unit 9 further receives a series of data indicative of the atmospheric pressure p; of the thermodynamic constant of the air; of the desired minimum precisions erry and errx.
The electronic processing unit 9 is adapted to implement a computing method that processes the input variables listed above to communicate to the operator in output, moment by moment, the attitude variation to be given to the grenade launcher 1 for achieving the correct shooting attitude. More specifically, the electronic processing unit 9 is adapted to vary the number Nl and/or N2 of switching on/off of the segments contained in the first luminous branch 20 , and the number N3 and/or N4 of switching on/off of segments contained in the second luminous branch 21 , so as to conveniently visually notify the operator the angle to be given so as to place the grenade launcher 1 in the shooting attitude. With reference to Figures 4a, 4b and 4c it will be described below the computing method implemented by the electronic processing unit 9 to determine attitude variations A Pitch(ti) and Aoihead(ti) to be given to the grenade launcher 1 to strike the target K where it is assumed that the assisting optoelectronic apparatus 2 is configured/set on the basis of a particular type of grenade.
In particular, the configuration/setting of the assisting optoelectronic apparatus 2 can provide that: the electronic processing unit 9 notifies the operator by way of the user interface 8 different types of grenades usable contained in the memory unit 10 and determines in the memory unit 10 itself the data that characterize the grenade ballistics, in response to the selection command of the grenade given by the operator.
In the initial step, the operator selects, by way of the user interface 8, the type of shooting trajectory to be given to the grenade, which may correspond to a first type, later indicated with "flat-trajectory shot" an example of which is shown in Figure 9 , or a second type, later indicated with "non-flat-trajectory shot" an example of which is shown in Figure 10 (block 100 ) .
At moment ti=t0, i= 0 , the electronic processing unit 9 communicates a message to the operator by way of the user interface device 8, in which is required to place the grenade launcher 1 in the pointing attitude.
In this step, the operator directs the grenade launcher 1 so as to aim at the target K and once reaching the pointing attitude confirms the completed pointing by manually imparting by way of the command device 15 a predetermined confirmation command (block 110 ) .
At moment ti=t0, the electronic processing unit 9 receives the input pitch angle AaPitCh(ti) and the heading angle Aoihead(ti) by the electronic inertial platform 12 (block 120 ) .
At moment ti=to, the electronic processing unit 9 further receives the input distance Disttarget calculated by the distance measuring device 6 (block 13 0 ) .
The electronic processing unit 9 calculates the actual position Xtarget and Ytarget of the target K relative to the Cartesian reference system X , Y shown in Figures 9 and 10 on the basis of the pitch angle PitCh(to), of the heading angle oihead(to) and the distance Dist target (block 140 ) .
The electronic processing unit 9 verifies the shot type selected by the operator (block 150 ) .
In the event that the selected shot type corresponds to the first typology, i.e. the "flat-trajectory shot" (in output "flat" from block 150 ) , the electronic processing unit 9 assigns to an initial pitch angle
Figure imgf000014_0001
(wherein i= 0 at moment ti=t0) an ideal pitch angle idealPitch (block 160 ) which is computed by way of the following relationship a) relative to an ideal parabolic trajectory: a)
Ό, 'ideal = tan"' <! - 1 - 2 ·
l argel target t arget
J wherein g is the acceleration of gravity.
Whereas, if the selected shot type is the second type, i.e. the "non-flat-trajectory shot" (output "non-flat" at block 1 5 0 ) , the electronic processing unit 9 assignes to an initial pitch angle
Figure imgf000015_0001
(wherein i= 0 at moment ti=t0) (block 17 0 ) an ideal pitch angle aidealpitch computed using the following equation b) which describes an ideal parabolic trajectory: b) V2■ Y target
'■ aideai = tan -1-2·
S■ ^t arget g2-x arge/ o ^ target
The electronic processing unit 9 determines the actual trajectory of the grenade on the basis of the ideal trajectory, the ballistic data, the environmental data and the precision data.
In particular, the electronic processing unit 9 updates the index i=l, and calculates an actual infinitesimal displacement of the grenade Δχί and Ayi compared to the X and Y axes (Figures 9 and 1 0 ) , in a moment of time ti=t0+i*dt, starting from the output moment to, of the grenade from the grenade launcher 1 by way of the following mathematical relation c) and d) (block 1 8 0 ) :
c) cos(or, ideal (c£ ideal )-Vi 2-dt2-g-dt2
Figure imgf000015_0002
The electronic processing unit 9 also computes the slope of the actual trajectory of the grenade at moment ti=t0+i*dt by way of the following relation e) (block 1 9 0 ) :
Figure imgf000015_0003
The electronic processing unit 9 further computes the speed of the grenade Viprojectiie at moment ti by way of the following relation f ) (block 2 00 ) :
f )
Figure imgf000016_0001
At this point the electronic processing unit 9 updates the index i=i+l=2 and computes the infinitesimal displacements inflicted upon the grenade in the successive moment of time ti=to+i*dt reapplying the formula of block 180 and considering the lift force or lift, associated with the grenade, using the lift coefficient Ci.
In this case, the calculation of each infinitesimal displacement Δχι, Δγι of the grenade along the actual trajectory made at moment ti is computable by way of the following relations g) and h) (block 210 ) :
Figure imgf000016_0002
h) -dtl +
Figure imgf000016_0003
After calculating the new displacement and, in general, for each integration step of the trajectory, the electronic processing unit 9 verifies:
i) if
Figure imgf000016_0004
and the selected shot is flat;
1 ) if yi= Ayi+yi-i<= Ytarget e Αγί of the grenade is negative and the selected shot is non-flat (block 22 0 ) . If both conditions i) or 1 ) are not met, the electronic processing unit 9 again executes the steps described in blocks 190 , 200 and 210 by again updating the index i=i+l. In fact, after the computing of each new possible displacement it is possible, by updating the index i = i + 1 , to compute the new successive slope to the trajectory according to the block 190 , and the new successive speed of the grenade according to the block 200 , and once again the new displacement of the grenade (and so on) until integrating all the real trajectories that correspond to the starting angle of the first attempt (the ideal) .
However, if one or both conditions i) or 1 ) of the block 220 are satisfied, the electronic processing unit 9 verifies:
m) if xi of the grenade is in the range defined by a minimum value equal to Xtarget _errx and a maximum value equal to Xtarget+errx and
n) if yi of the grenade is in the range defined by a minimum value of about Ytarget-errY and a maximum value of about Ytarget+errY (block 230 ) .
If both conditions m) and n) are satisfied, the electronic processing unit 9 gives to the shooting pitch angle the starting pitch angle:
oifPitc= oiidealpitch (block 240 ) .
If at least one of the conditions m) o n) is not then satisfied, the electronic processing unit 9 starts a new cycle of integration of the trajectory (block 250 ) in which it assigns a new value aidealPitCh to the starting angle, which, in case of flat-shot, is computed by way of the relation o) while in case of non-flat-shot is computed by way of the relation P) : o)
Figure imgf000018_0001
At this point the electronic processing unit 9 implements again the above described operations provided in the blocks 180 -240 by assigning to the index i the starting value i.e. i= 1 .
After the computing of the shooting pitch angle
Figure imgf000018_0002
the electronic processing unit 9 computes the shooting heading angle afhead using the following mathematical relation:
Of fheacl=0ihead ( to ) +arctan (X* 0 · 034*tan ( Of f pitch-Oiiprojectile ) /Disttarget ) where X is the range and is equal to the distance of the target k projected on the horizontal axis (block 260 ) .
For every moment ti of movement of the grenade launcher 1 by the operator, the electronic processing unit 9 determines the pitch angle oipitch ( ti ) and verifies if the following first condition q) is satisfied (block 270 ) :
q) I Aoipitch l <S1
wherein AaPitch=oifPitch-oiPitch ( ti ) and SI is a predetermined threshold.
In a positive case, i.e. if the condition q) is satisfied (output YES from block 270 ) , the electronic processing unit 9 determines that the pitch angle PitCh ( ti ) corresponds to the final pitch angle afPitCh i.e. that the grenade launcher 1 has a correct pitch attitude (block 280 ) and therefore does not require movements of the grenade launcher 1 adapted to vary the pitch angle aPiTCH ( ti ) itself. The electronic processing unit 9 commands, by way of the user interface 8, the maintaining of segments Nl and N2 in the off condition so as to communicate to the operator the absence of rotations i.e. variations of the pitch angle to be given to the grenade launcher 1 (block 280) (Figure 6) .
In a negative case (output NO from block 270), i.e. if the condition q) is not met, the electronic processing unit 9 determines the integer to be assigned to the unknown value nPitch to satisfy the condition r) :
Figure imgf000019_0001
where Sa is a predetermined angle value associated with each segment of the graphical cross (block 290) . At this point if nPitC has a positive value, the electronic processing unit 9 controls the switching on of a number Nl ' = nPitc of luminous segments of the graphical attitude cross 18 by way of the user interface 8 (Figure 5) , while if nPitCh has a negative value, the electronic processing unit 9 controls the switching on of a number N2 ' =nPitCh of luminous segments of the graphical attitude cross 14 by way of the user interface 8 (block 300) .
At this point, the electronic processing unit 9 proceeds to update its own internal counter ti=ti+i (block 310) and repeats again the operations implemented in the blocks 270-300.
The electronic processing unit 9 determines the heading angle oi ead ( ti ) at moment ti and also verifies if the following condition t ) is satisfied (block 320) :
t ) | A0ihead|<S2
wherein Aafhead=o<fhead-oihead ( ti ) wherein S2 is a predetermined threshold.
In a positive case, i.e. if the condition t) is satisfied, the electronic processing unit 9 determines that the heading angle oihead ( ti ) corresponds to the final heading angle afhead i.e. that the grenade launcher 1 has a correct heading attitude (block 33 0 ) , and therefore does not require movements of the grenade launcher 1 adapted to vary the heading angle head itself (block 330 ) .
The electronic processing unit 9 commands, by way of the user interface 8 , the maintaining of the segments N3 and N4 in a switching off condition so as to communicate to the operator the absence of rotations head to be given to the grenade launcher 1 (block 330 ) (Figure 5 ) .
In a negative case, i.e. if the condition t ) is not satisfied, the electronic processing unit 9 determines the integer to be assigned to the unknown value nhead to satisfy the following condition u) :
u) Aoihead=nhead*Sa (block 340 )
At this point if nhead has a positive value, the electronic processing unit 9 controls the switching on of a number N3 ' =nhead of luminous segments of the graphical attitude cross 18 , while if nhead has a negative value, the electronic processing unit 9 controls the switching on of a number N4 ' = nhead of luminous segments of the graphical attitude cross 18 (block 350 ) (Figure 6 ) .
At this point, the electronic processing unit 9 proceeds to update its own internal counter ti=ti+i (block 360 ) and repeats again the operations implemented in the blocks 320 - 3 60 .
In the event in which the relations q) t ) are satisfied the electronic processing unit 9 communicates to the operator the condition of correct positioning of the grenade launcher 1 in the shooting attitude (block 370 ) . Particularly, in this case, in the example shown in Figure 8 , the electronic processing unit 9 controls the switching off of all segments and preferably, but not necessarily, the switching on of a central graphical icon comprising for example a circle centered on the center point 19 (Figure 8) . From the above described it should be noted that the above described and shown operations in Figure 4, can be encoded in a software program stored in the memory unit 10 and configured so that when it is loaded onto the electronic processing unit 9 the latter performs the same operations so as to assist the operator in moving the grenade launcher.
The above described assisting optoelectronic apparatus is extremely advantageous because it automatically provides to the military operator a precise indication of the orientation to be given to the grenade launcher in such a way so as to successfully strike the target with a grenade.
Finally, it is clear that changes and variations to the electronic apparatus and method described above may be applied without extending beyond the scope of the present invention defined by the appended claims.

Claims

1. An optoelectronic apparatus (2) for assisting an operator in determining the shooting attitude to be given to a hand- held grenade launcher (1) so as to strike a target (k) ;
the optoelectronic apparatus (2) being characterized by comprising:
- distance measuring electronic means (6) adapted to measure the distance (Disttarget ) of the target ( K ) from the grenade launcher (1) ;
- attitude measuring electronic means (7) adapted to measure the pitch angle ( pitC (ti) ) and the heading angle ( ahead ( i) ) which are indicative of the attitude of the grenade launcher (1) ;
- user interface means (8) ;
- processing electronic means (9) configured so as to:
- measure, through said attitude measuring electronic means
(7), the pitch angle (apitCh(to)) and the heading angle ( oihead(to)) of the grenade launcher (1), when the grenade launcher (1) is arranged in a target pointing attitude
(k) ;
- measure, through said distance measuring electronic means
(6) , the distance (Disttarget ) of the target (k) when the grenade launcher (1) is arranged in the target pointing attitude (k) ;
- determine position data ( Xtarget / Ytarget) indicative of the position of the target (k) on the basis of the pitch angle ( pitch ( to) ) , of the heading angle (aheading ( t0) ) and of the distance (Disttarget) measured when the grenade launcher (1) is in the target pointing attitude (k) ;
- determine, on the basis of the position data
( Xtarget , Ytarget ) , a shooting pitch angle (afpitch) and a shooting heading angle ( afhead ) indicative of a shooting attitude to be given to the grenade launcher (1) to cause the grenade to strike the target (k) ; and
during the handling of the grenade launcher (1) by the operator :
- measure the pitch angle (aPitc (ti) ) and the heading angle
(^heading ( ti) ) indicative of the attitude given to the grenade launcher (1) by the operator;
- compute a pitch difference (AaPitCh( i) ) between the shooting pitch angle (af pitch) and the measured pitch angle (oipitch(ti) ) ;
- compute a heading difference (Aahead(ti) ) between the shooting heading angle (oihead( i) ) and the measured heading angle (ahead ( ti ) ) ;
- communicate to the operator data indicative of the pitch variation that the operator must give the hand-held grenade launcher (1) so that the pitch difference (Aoipitch(ti) ) is zero;
- communicate to the operator, through said user interface means (8) , data indicative of the heading variation that the operator must give the hand-held grenade launcher (1) so that the heading difference (A head ( ti) ) is zero.
2. The apparatus according to claim 1, wherein said processing electronic means (9) are configured so as to:
- receive an operator control as an input indicative of a flat-trajectory shot type or a non-flat-tra ectory shot type of the grenade;
- determine a shooting pitch angle ( fPitCh) and a shooting heading angle (afhead) on the basis of the flat-trajectory or non-flat-trajectory shot type selected by the operator .
3. The apparatus according to claim 2, comprising:
- memory means (10) containing a series of ammunition data indicative of a plurality of different types of grenades employable in the grenade launcher (1) and, for each type of grenade, a series of data associated to the ballistic of the grenade itself, and shooting precision data;
- environmental parameters measuring means (11) adapted to measure environmental data indicative of a series of environmental amounts;
- said processing electronic means (9) configured so as to:
- compute an ideal range pitch angle (aidealPitC ) to strike the target (k) on the basis of said target position data and of the ballistic data associated to the grenade to shoot;
- determine said shooting pitch angle (afPitCh) to strike the target (k) on the basis of the ideal range pitch angle (oiidealpitch) / of the ballistic data, of the environmental data, of the precision data, and as a function of the flat-trajectory of non-flat trajectory shot type selected by the operator.
4. The apparatus according to claim 3, wherein said processing electronic means (9) are configured so as to:
- compute the infinitesimal displacements of the grenade starting from the ideal range pitch angle (aidealPitC ) so as to define the actual trajectory on the basis of the ballistic data, of the environmental data and as a function of the flat-trajectory or non-flat-trajectory shot type selected by the operator;
- verify if the infinitesimal displacements of the actual trajectory satisfy a determined relation with said precision data;
- assign said ideal range pitch angle ( idealPitCh) to the shooting pitch angle (oifPitCh) when said relation is satisfied;
- if said relation is not satisfied, modify said ideal pitch angle (aidealpitCh) on the basis of the flat- trajectory or non-flat trajectory shot type selected by the operator, of said distance (Disttarget) and of said position data.
5. The apparatus according to claim 4, wherein said interface means (8) comprise a display (14) adapted to display a graphical attitude cross (18) provided with a plurality of luminous segments arranged aligned one after the other so as to form a first (20) and a second attitude branch (21) ;
said processing electronic means (9) being configured to switch on/off:
- the segments of a first attitude branch (20) as a function of the variation ( Aapitch ( ti) ) of the pitch angle ( PitCh ( ti ) ) to be given to the grenade launcher (1) so as to orient it in the shooting attitude; and/or
- the segments of a second attitude branch (21) orthogonal to the first attitude branch (20) , as a function of the variation (A head(ti) ) of the heading angle ( head(ti)) to be given to the grenade launcher (1) so as to orient it in the shooting attitude .
6. A method for assisting an operator, through an optoelectronic apparatus (2), in determining the shooting attitude to be given to a hand-held grenade launcher (1) so as to strike a target (k) , wherein the optoelectronic apparatus (2) comprises: distance electronic measuring means (6) adapted to determine the distance (Disttarget ) of the target ( K ) from the grenade launcher (1) ; attitude measuring electronic means (7) adapted to determine the pitch angle ( PitCh ( ti ) ) and the heading angle ( ahead ( ti ) ) which are indicative of the attitude of the grenade launcher (1); and user interface means (8) ;
said method comprising the steps of:
- measuring, through said attitude measuring electronic means (7), the pitch angle ( oipitch ( to ) ) and the heading angle ( oihead ( to ) ) of the grenade launcher (1), when the grenade launcher (1) is arranged in a target pointing attitude (k) ;
- measuring, through said electronic measuring means of the distance (6) , the distance (Disttarget ) of the target (k) when the grenade launcher (1) is arranged in the target pointing attitude (k) ;
- determining position data ( Xtarget / Ytarget ) indicative of the position of the target (k) on the basis of the pitch angle (oipitch(to) ) / of the heading angle (aheading(t0) ) and of the distance (Disttarget) measured when the grenade launcher (1) is in the pointing attitude;
- determining, on the basis of the position data (Xtarget, Ytarget) a shooting pitch angle (ofpitch) and a shooting heading angle ( fhead) indicative of a shooting attitude to be given to the grenade launcher (1) to cause the grenade to strike the target (k) ; and
during the handling of the grenade launcher (1) by the operator:
- measuring the pitch angle ( PitCh(ti) ) and the heading angle (^heading ( ti) ) indicative of the attitude given to the grenade launcher (1) by the operator;
- computing a pitch difference (A PitCh ( ti ) ) between the shooting pitch angle (afPitch) and the measured pitch angle
(oipitc ( ti) ) ;
- computing a heading difference (Aahead ( ti) ) between the shooting heading angle ( head (ti) ) and the measured heading angle (o d (ti) ) ;
- communicating to the operator data indicative of the pitch variation that the operator must give the hand-held grenade launcher (1) so that the pitch difference (AaPitCh(ti) ) is zero;
- communicating to the operator, through said user interface means (8) , data indicative of the heading variation that the operator must give the hand-held grenade launcher so that the heading difference (Aoihead(ti) ) is zero.
7. The method according to claim 6, comprising the steps of: - receiving an operator control indicative of a flat- trajectory shot type or a non-flat-trajectory shot type of the grenade;
- determining a shooting pitch angle (afPitCh) and a shooting heading angle (afhead) on the basis of the flat-trajectory or non-flat-trajectory shot type selected by the operator.
8. The method according to claim 7, wherein the optoelectronic apparatus comprises :
- memory means (10) containing a series of ammunition data indicative of a plurality of different types of grenades employable in the grenade launcher (1) and, for each type of grenade, a series of data associated to the ballistic of the grenade itself, and shooting precision data;
- environmental parameters measuring means adapted to measure environmental data indicating a series of environmental amounts ;
the method comprising the steps of:
- computing an ideal range pitch angle (aidealpitCh) to strike the target (k) , on the basis of said target position data and of the ballistic data associated to the grenade to shoot;
- determining said shooting pitch angle ( fPitCh) to strike the target (k) , on the basis of the ideal range pitch angle (aidealpitch) , of the ballistic data, of the environmental data, of the precision data, and as a function of the flat- trajectory of non-flat trajectory shot type selected by the operator .
9. The method according to claim 8, comprising the steps of:
- computing the infinitesimal displacements of the grenade starting from the ideal range pitch angle (aidealpitch) so as to define the actual trajectory on the basis of the ballistic data, of the environmental data and as a function of the flat-trajectory or non-flat-trajectory shot type selected by the operator;
- verifying if the infinitesimal displacements of the actual trajectory satisfy a determined relation with said precision data;
- assigning said ideal range pitch angle (aidealpitch) to the shooting pitch angle (afPitCh) when said relation is satisfied;
- if said relation is not satisfied, modifying said ideal pitch angle (aidealPitch) on the basis of the flat-trajectory or non-flat trajectory shot type selected by the operator, of said distance (Disttarget) and of said position data.
10. The method according to claim 9, wherein said interface means (8) comprise a display (14) ; said method comprising the steps of:
- displaying, through said display (14) , a graphical attitude cross (18) provided with a plurality of luminous segments arranged aligned one after the other so as to form a first (20) and a second attitude branch (21) ;
- controlling the switching on/off:
- of the segments of a first attitude branch (20) as a function of the variation (AaPitCh) of the pitch angle (ofpitch) to be given to the grenade launcher (1) so as to orient it in the shooting attitude; and/or
- of the segments of a second attitude branch (21) orthogonal to the first attitude branch (20) , as a function of the variation (Aahead) of the heading angle (Aoihead) to be given to the grenade launcher (1) so as to orient it in the shooting attitude.
11. A computer product loadable on a memory of an electronic processing unit designed to implement, when run by the electronic processing unit, the method according to any of claims 5 to 10, so as to assist an operator in determining the attitude to be given to a hand-held grenade launcher (1) to strike a target (k) .
PCT/IB2011/001626 2010-07-12 2011-07-12 Optoelectronic apparatus for assisting an operator in determining the shooting attitude to be given to a hand-held grenade launcher so as to strike a target, and respective operation method WO2012007825A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ITTV2010A000099A IT1401015B1 (en) 2010-07-12 2010-07-12 OPTOELECTRONIC DEVICE TO ASSIST A OPERATOR IN DETERMINING THE SHOE STRUCTURE TO BE ATTACHED TO A PORTABLE GRENADE LAUNCHER TO HIT A TARGET, AND ITS FUNCTIONING METHOD.
ITTV2010A000099 2010-07-12

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WO2012007825A8 WO2012007825A8 (en) 2012-04-05

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Cited By (3)

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Publication number Priority date Publication date Assignee Title
US10415933B1 (en) 2015-01-20 2019-09-17 Leupold & Stevens, Inc. Real-time ballistic solutions for moving-target aiming calculations
US10502527B2 (en) 2015-01-20 2019-12-10 Leupold & Stevens, Inc. Real-time ballistic solutions for calculating an aiming adjustment and for indicating a subsonic threshold
CN114593635A (en) * 2022-03-18 2022-06-07 北京航空航天大学 Intelligent grenade transmitter sighting device

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Publication number Priority date Publication date Assignee Title
CN114562909A (en) * 2022-04-06 2022-05-31 北京航空航天大学 Extended application method of intelligent grenade launcher aiming device

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FR2459443A1 (en) * 1979-06-15 1981-01-09 Thomson Brandt Aiming procedure for projectile - includes successive checking of bearing and elevation until they fall within accepted limits
EP0785406A2 (en) * 1996-01-22 1997-07-23 HE HOLDINGS, INC. dba HUGHES ELECTRONICS Method and device for fire control of a high apogee trajectory weapon
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US3824699A (en) * 1972-06-19 1974-07-23 Us Army Aiming device for indirect fire guns
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EP0785406A2 (en) * 1996-01-22 1997-07-23 HE HOLDINGS, INC. dba HUGHES ELECTRONICS Method and device for fire control of a high apogee trajectory weapon
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US20090188976A1 (en) * 2008-01-24 2009-07-30 Gs Development Ab Sight

Cited By (3)

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Publication number Priority date Publication date Assignee Title
US10415933B1 (en) 2015-01-20 2019-09-17 Leupold & Stevens, Inc. Real-time ballistic solutions for moving-target aiming calculations
US10502527B2 (en) 2015-01-20 2019-12-10 Leupold & Stevens, Inc. Real-time ballistic solutions for calculating an aiming adjustment and for indicating a subsonic threshold
CN114593635A (en) * 2022-03-18 2022-06-07 北京航空航天大学 Intelligent grenade transmitter sighting device

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ITTV20100099A1 (en) 2012-01-13
WO2012007825A8 (en) 2012-04-05

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