WO2014167382A1 - A system and method for compensating time delays in gun systems - Google Patents
A system and method for compensating time delays in gun systems Download PDFInfo
- Publication number
- WO2014167382A1 WO2014167382A1 PCT/IB2013/052841 IB2013052841W WO2014167382A1 WO 2014167382 A1 WO2014167382 A1 WO 2014167382A1 IB 2013052841 W IB2013052841 W IB 2013052841W WO 2014167382 A1 WO2014167382 A1 WO 2014167382A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- platform
- target
- unit
- time delays
- gun
- Prior art date
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G3/00—Aiming or laying means
- F41G3/22—Aiming or laying means for vehicle-borne armament, e.g. on aircraft
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G5/00—Elevating or traversing control systems for guns
- F41G5/14—Elevating or traversing control systems for guns for vehicle-borne guns
- F41G5/16—Elevating or traversing control systems for guns for vehicle-borne guns gyroscopically influenced
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G5/00—Elevating or traversing control systems for guns
- F41G5/14—Elevating or traversing control systems for guns for vehicle-borne guns
- F41G5/18—Tracking systems for guns on aircraft
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G5/00—Elevating or traversing control systems for guns
- F41G5/26—Apparatus for testing or checking
Abstract
The present invention relates to a system (1) and method (100) for compensating time delays in gun systems where the unknown time delays in the line of sight transmission link between Target Sighting Unit (TSU) and gun system is compensated. The inventive system for compensating time delays in gun systems (1) essentially comprises at least one platform (2) which provides the necessary mobility and carries a gun system (21) providing the necessary firepower, at least one target sighting unit (3) which resides on the platform (2) and which enables monitoring of and locking on to targets and at least one designation unit (4) which is preferably attached on a barrel of one of the guns in the gun system (21) on the platform (2) and which provides designation of the targets, at least one navigation unit (5) which yields the angular and linear velocity and values of the platform (2), at least one range finder (6) which yields the value of distance of the platform (2) to the target, at least one control unit (7) which acquires data provided by the target sighting unit (3), navigation unit (5) and range finder (6) and performs operations on the acquired data.
Description
DESCRIPTION
A SYSTEM AND METHOD FOR COMPENSATING TIME DELAYS IN
GUN SYSTEMS Field of the invention
The present invention relates to a system and method for compensating time delays in gun systems where the unknown time delays in the line of sight transmission link between Target Sighting Unit (TSU) and gun system is compensated.
Background of the invention
In the battlefield, it is essential to have the means to detect targets, and have the necessary firepower to perform attacks on targets and retaliate against the attacks from threats. It is also essential to be fast and agile in the battlefield. For this, arms are being attached to motorized vehicles such as cars, utility vehicles, helicopters, airplanes and such. While motorized vehicles provide the necessary speed and agility, they bring the accuracy problems along.
The mentioned accuracy problems have several causes. First, shooting from a moving platform requires compensation for the movement of the said platform. For smooth movements, it is relatively easy to compensate the movement of the platform; however, a platform almost never moves smoothly. Acceleration, deceleration, imperfections on the road, turbulences in the air etc. affect the smoothness of the movement of the platform. Besides the abovementioned problems, the accuracy problems may be caused by the time delay between the systems in the platform. For example, an aircraft generally comprises a target sighting unit which monitors the targets and a gun system which provides fire power over the target. These systems are generally interconnected via the bus of the platform. Because of the time delays in the bus, the data generated by the
target sighting unit can not be received by the gun system simultaneously. It seems as the time delay is very little (in the order of milliseconds) and it may be omitted. However, when shooting from large distances (say from an aircraft) these little time delays cause great deviations from the target. Another problem of the time delay between systems is that the time delay is mostly unknown. Hence, it is almost impossible to have a generic compensation for the time delays.
The United States patent document numbered US2012246992 discloses rangefinders and aiming methods using projectile grouping.
The Japanese patent document numbered JP2011220625 discloses a missile guiding device providing a guidance control technique which can guide a missile in a short time for making the missile to accurately meet a target even in a short terminal guidance time in the missile aiming at an aircraft or the like.
Objects of the invention
The object of the invention is to provide a system and method for compensating time delays in gun systems where the unknown time delays in the line of sight transmission link between Target Sighting Unit (TSU) and gun system is compensated.
Detailed description of the invention A system and method for compensating time delays in gun systems in order to fulfill the objects of the present invention is illustrated in the attached figures, where:
Figure 1 is the schematic view of the system for compensating time delays in gun systems.
Figure 2 is the flowchart of the method for compensating time delays in gun
systems
Elements shown in the figures are numbered as follows:
1. System for compensating time delays in gun systems
2. Platform
21. Gun system
3. Target sighting unit
4. Designation unit
5. Navigation unit
6. Range finder
7. Control unit
The inventive system for compensating time delays in gun systems (1) essentially comprises
- at least one platform (2) which provides the necessary mobility and carries a gun system (21) providing the necessary firepower,
- at least one target sighting unit (3) which resides on the platform (2) and which enables monitoring of and locking on to targets and
- at least one designation unit (4) which is preferably attached on a barrel of one of the guns in the gun system (21) on the platform (2) and which provides designation of the targets.
- at least one navigation unit (5) which yields the angular and linear velocity values of the platform (2),
- at least one range finder (6) which yields the value of distance of the platform (2) to the target.
- at least one control unit (7) which acquires data provided by the target sighting unit (3), navigation unit (5) and range finder (6) and performs operations on the acquired data.
The inventive system for compensating time delays in gun systems (1) essentially comprises at least one platform (2), which carries the gun system (21) providing the necessary firepower in the battlefield. In the preferred embodiment of the
invention, the platform (2) is an aircraft such as a helicopter. In order to track the targets and have a lock on them, at least one target sighting unit (3) resides on the platform (2). The gun system (21) located on the platform aims at the target using the information supplied by the target sighting unit (3). In order to determine where the gun system (21) is pointing at, at least one designation unit (4) resides on the platform (2). In the preferred embodiment of the invention, the designation unit (4) is attached on the barrel of at least one gun in the gun system (21). In this embodiment, the designation unit (4) is a laser designator. At least one navigation unit (5) which yields the angular and linear velocity values of the platform (2) resides on the platform (2). The inventive system for compensating time delays in gun systems (1) further comprises at least one range finder (6) which yields the value of distance of the platform (2) to the target. The inventive system for compensating time delay in gun systems (1) further comprises at least one control unit (7) which acquires data provided by the target sighting unit (3), navigation unit (5) and range finder (6) and performs operations on the acquired data. The operations performed on the acquired data can include, but is not limited to, mathematical operations, logical operations and such.
In the preferred embodiment of the invention, the navigation unit (5) is an inertial navigation unit.
In the preferred embodiment of the invention, the range finder (6) is a laser range finder. A method for compensating time delays in gun systems (100) comprises the steps of;
- acquiring the line of sight of the target in terms of azimuth, elevation and slant range (101),.
- converting the azimuth, elevation and range data acquired in step 101 into Cartesian coordinates (102),
- acquiring the yaw, pitch and roll rates of the platform (2) from the navigation unit (5) (103),
- multiplying the rates acquired in step 103 by the delay time (TDeiay) (104),
- applying 3-2- 1 Euler transformation to the data acquired in step 102 and 104 ( 105),
- acquiring the velocity of the platform (2) from the navigation unit (5) (106),
- multiplying the velocity value of the platform (2) by the delay time
(Today) (107),
- subtracting the data acquired in step 107 from the data acquired in step 105 (108),
- converting the outcome of step 108 into spherical coordinates ( 109),
- updating the line of sight and target range (1 10)
In the preferred embodiment of the invention, the target sighting unit (3) comprises at least two encoders, which yield the position of the sighting unit (3) in terms of azimuth and elevation, relative to the platform (2). In this embodiment, the change in the line of sight due to the movement of the platform (2) is compensated using the data acquired from the navigation unit (5).
In the method for compensating time delays in gun systems ( 100), the line of sight of the target is acquired in terms of azimuth, elevation and slant range ( 101). In the preferred embodiment of the invention, the line of sight of the target is acquired in terms of azimuth, elevation and range and they are acquired with a period equal to the delay time. Once the line of sight is acquired, the values are converted into Cartesian coordinates ( 102). Afterwards, the yaw, pitch and roll rates of the platform (2) are acquired ( 103). The acquired yaw, pitch and roll rates are then multiplied by the delay time (TDeiay) ( 104). Euler angles are then calculated in terms of yaw, pitch and roll rates. In addition, the position of the target is acquired in Cartesian coordinates and these Cartesian coordinates are
then transformed using at least one transformation (105). After transforming the date, the velocity of the platform (2) is acquired (106). The velocity value of the platform (2) is acquired in Cartesian coordinates. The velocity value is then multiplied by the delay time (TDeiay) (107). The velocity value multiplied by the delay time (Toeiay) is then transformed into spherical coordinates and subtracted from the coordinates acquired in step 105 (108). Afterwards, the outcome is converted into spherical coordinates (109). The line of sight and the target range is updated with respect to these coordinates (110) In the preferred embodiment of the invention, delay time (Toeiay) is first approximated and then experimentally calibrated. The calibration process is carried on as follows:
While the platform (2) is hovering the target sighting unit (3) is locked on to a target,
Platform (2) is maneuvered in yaw axis while ground staff observes the designation unit (4). If the designation signal (which is a laser in the preferred embodiment) moves in the direction of the platform (2), Toeiay is increased. If the designation signal moves in the opposite direction of the platform (2), Toeiay is decreased. TDeiay is fixed for the minimum movement of the designation signal.
Claims
A system for compensating time delays in gun systems (1) essentially comprising
- at least one platform (2) which provides the necessary mobility and carries a gun system (21) providing the necessary firepower,
- at least one target sighting unit (3) which resides on the platform (2) and which enables monitoring of and locking on to targets,
- at least one designation unit (4) which provides designation of the targets - at least one navigation unit (5) which yields the angular and linear velocity values of the platform (2),
- at least one range finder (6) which yields the value of distance of the platform (2) to the target,
- at least one control unit (7) which acquires data provided by the target sighting unit (3), navigation unit (5) and range finder (6) and performs operations on the acquired data characterized in that
-the designation unit (4) is attached on a barrel of one of the guns in the gun system (21) on the platform (2),
A system for compensating time delays in gun systems (1) as in claim 1 characterized in that the navigation unit (5) is an inertial navigation unit.
3. A system for compensating time delays in gun systems (1) as in claim 1 characterized in that the range finder (6) is a laser range finder.
4. A system for compensating time delays in gun systems (1) as in claim 1 characterized in that the target sighting unit (3) comprises at least two encoders, which yield the position of the sighting unit (3) in terms of azimuth and elevation, relative to the platform (2).
5. A system for compensating time delays in gun systems (1) as in claim 4
characterized in that the change in the line of sight due to the movement of the platform (2) is compensated using the data acquired from the navigation unit (5)
A method for compensating time delays in gun systems (100) characterized in that it comprises the steps of;
- acquiring the line of sight of the target in terms of azimuth,elevation and slant range (101),
- converting the azimuth and elevation and range data acquired in step 101 into Cartesian coordinates (102),
- acquiring the yaw, pitch and roll rates of the platform (2) from the navigation unit (5) (103),
- multiplying the rates acquired in step 103 by the delay time (Toeiay) (104),
- applying 3-2-1 Euler transformation to the data acquired in step 102 and 104 (105),
- acquiring the velocity of the platform (2) from the navigation unit (5) (106),
- multiplying the velocity value of the platform (2) by the delay time
(Today) (107),
- subtracting the data acquired in step 107 from the data acquired in step 105 (108),
- converting the outcome of step 108 into spherical coordinates (109),
- updating the line of sight and target range (110).
A method for compensating time delays in gun systems (100) as in claim 6 characterized in that the line of sight of the target and the range of the target are acquired in terms of azimuth and elevation.
A method for compensating time delays in gun systems (100) as in claim 7 characterized in that the line of sight of the target and the range of the
target are acquired with a period equal to the delay time.
9. A method for compensating time delays in gun systems (100) as in claim 6 characterized in that the delay time (TDeiay) is first approximated and then experimentally calibrated.
10. A method for compensating time delays in gun systems (100) as in claim 10 characterized in that the calibration process comprises the steps of;
- locking of the target sighting unit (3) on to a target while the platform (2) is hovering,
- maneuvering of the platform (2 in yaw axis while ground staff observes the designation unit (4),
- if the designation signal (which is a laser in the preferred embodiment) moves in the direction of the platform (2), increasing of
TDeiay,
- if the designation signal moves in the opposite direction of the platform (2), decreasing of Toelay,
- fixing the Toelay for the minimum movement of the designation signal.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PL416701A PL228118B1 (en) | 2013-04-10 | 2013-04-10 | System and method for compensation of time delay in the firearm systems |
| TR2015/12442T TR201512442T1 (en) | 2013-04-10 | 2013-04-10 | A SYSTEM AND METHOD FOR COMPENSATING TIME DELAYS IN TOP WEAPON SYSTEMS |
| RU2015147865A RU2618756C1 (en) | 2013-04-10 | 2013-04-10 | System and method of time delays compensation in weapon systems |
| PCT/IB2013/052841 WO2014167382A1 (en) | 2013-04-10 | 2013-04-10 | A system and method for compensating time delays in gun systems |
| ZA2015/07491A ZA201507491B (en) | 2013-04-10 | 2015-10-08 | A system and method for compensating time delays in gun systems |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/IB2013/052841 WO2014167382A1 (en) | 2013-04-10 | 2013-04-10 | A system and method for compensating time delays in gun systems |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2014167382A1 true WO2014167382A1 (en) | 2014-10-16 |
Family
ID=50071651
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/IB2013/052841 WO2014167382A1 (en) | 2013-04-10 | 2013-04-10 | A system and method for compensating time delays in gun systems |
Country Status (5)
| Country | Link |
|---|---|
| PL (1) | PL228118B1 (en) |
| RU (1) | RU2618756C1 (en) |
| TR (1) | TR201512442T1 (en) |
| WO (1) | WO2014167382A1 (en) |
| ZA (1) | ZA201507491B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5166689A (en) * | 1991-11-25 | 1992-11-24 | United Technologies Corporation | Azimuth correction for radar antenna roll and pitch |
| EP2151662A1 (en) * | 2008-07-29 | 2010-02-10 | Honeywell International Inc. | Method and apparatus for boresighting and pointing accuracy determination of gun systems |
| US7870816B1 (en) * | 2006-02-15 | 2011-01-18 | Lockheed Martin Corporation | Continuous alignment system for fire control |
| CN102230758A (en) * | 2011-06-16 | 2011-11-02 | 北京理工大学 | Method and device for testing tracking stability precision during travel of self-propelled gun |
| JP2011220625A (en) | 2010-04-12 | 2011-11-04 | Mitsubishi Electric Corp | Missile guiding device |
| US20120246992A1 (en) | 2005-11-01 | 2012-10-04 | Peters Victoria J | Rangefinders and aiming methods using projectile grouping |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4855932A (en) * | 1987-07-08 | 1989-08-08 | Lockheed Electronics Company | Three-dimensional electro-optical tracker |
| RU2468399C2 (en) * | 2010-09-22 | 2012-11-27 | Государственное образовательное учреждение высшего профессионального образования "Поволжский государственный университет телекоммуникаций и информатики" (ГОУВПО ПГУТИ) | Method of compensating for differential modal delay in multimode fibre-optic line in low-mode signal transmission |
-
2013
- 2013-04-10 WO PCT/IB2013/052841 patent/WO2014167382A1/en active Application Filing
- 2013-04-10 RU RU2015147865A patent/RU2618756C1/en active
- 2013-04-10 TR TR2015/12442T patent/TR201512442T1/en unknown
- 2013-04-10 PL PL416701A patent/PL228118B1/en unknown
-
2015
- 2015-10-08 ZA ZA2015/07491A patent/ZA201507491B/en unknown
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5166689A (en) * | 1991-11-25 | 1992-11-24 | United Technologies Corporation | Azimuth correction for radar antenna roll and pitch |
| US20120246992A1 (en) | 2005-11-01 | 2012-10-04 | Peters Victoria J | Rangefinders and aiming methods using projectile grouping |
| US7870816B1 (en) * | 2006-02-15 | 2011-01-18 | Lockheed Martin Corporation | Continuous alignment system for fire control |
| EP2151662A1 (en) * | 2008-07-29 | 2010-02-10 | Honeywell International Inc. | Method and apparatus for boresighting and pointing accuracy determination of gun systems |
| JP2011220625A (en) | 2010-04-12 | 2011-11-04 | Mitsubishi Electric Corp | Missile guiding device |
| CN102230758A (en) * | 2011-06-16 | 2011-11-02 | 北京理工大学 | Method and device for testing tracking stability precision during travel of self-propelled gun |
Also Published As
| Publication number | Publication date |
|---|---|
| ZA201507491B (en) | 2017-01-25 |
| RU2618756C1 (en) | 2017-05-11 |
| PL416701A1 (en) | 2016-08-01 |
| PL228118B1 (en) | 2018-02-28 |
| TR201512442T1 (en) | 2016-06-21 |
| RU2015147865A (en) | 2017-05-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP2623921B1 (en) | Low-altitude low-speed small target intercepting method | |
| US8415596B2 (en) | Method and apparatus for determining a location of a flying target | |
| US9625236B2 (en) | Method of fire control for gun-based anti-aircraft defence | |
| US5050818A (en) | Method for the repulsing of airborne objects | |
| CN109669480B (en) | Seeker control method for predicting target position | |
| RU2584210C1 (en) | Method of firing guided missile with laser semi-active homing head | |
| CN114502465B (en) | Determination of attitude by pulsed beacons and low cost inertial measurement units | |
| RU2713645C1 (en) | Method for detection and tracking of low-flying targets | |
| US11815335B2 (en) | Guided munition systems for detecting off-axis targets | |
| RU2351508C1 (en) | Short-range highly accurate weaponry helicopter complex | |
| RU179821U1 (en) | AUTOMATED GUIDANCE AND FIRE CONTROL SYSTEM OF RUNNING INSTALLATION OF REACTIVE SYSTEM OF VOLUME FIRE (OPTIONS) | |
| US8237095B2 (en) | Spot leading target laser guidance for engaging moving targets | |
| RU2418267C1 (en) | Information-computer system of unmanned fighter | |
| WO2014167382A1 (en) | A system and method for compensating time delays in gun systems | |
| RU2498342C1 (en) | Method of intercepting aerial targets with aircraft | |
| US8513580B1 (en) | Targeting augmentation for short-range munitions | |
| US10429151B2 (en) | Recapture of remotely-tracked command guided vehicle into the tracker's field-of-view | |
| EP3205973B1 (en) | A missile for use in a laser beam riding missile guidance system | |
| CN107010222B (en) | A kind of photoelectricity air-drop sighting device | |
| RU2715499C1 (en) | Continuous optical communication method with low-altitude target | |
| RU2365852C1 (en) | Missile guidance method | |
| RU2488769C2 (en) | System to control corrected aviation bomb designed to destroy radio-electronic facilities of enemy | |
| US11940249B2 (en) | Method, computer program and weapons system for calculating a bursting point of a projectile | |
| RU2294512C1 (en) | Method for guidance of guided missile | |
| Gao et al. | Research on theory and ways of calibrating navigation coordinate system between vehicles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 13828932 Country of ref document: EP Kind code of ref document: A1 |
|
| WWE | Wipo information: entry into national phase |
Ref document number: 416701 Country of ref document: PL |
|
| WWE | Wipo information: entry into national phase |
Ref document number: 2015/12442 Country of ref document: TR |
|
| NENP | Non-entry into the national phase |
Ref country code: DE |
|
| ENP | Entry into the national phase |
Ref document number: 2015147865 Country of ref document: RU Kind code of ref document: A |
|
| 122 | Ep: pct application non-entry in european phase |
Ref document number: 13828932 Country of ref document: EP Kind code of ref document: A1 |