WO2022223407A1 - Vorrichtung, verfahren und fahrzeug - Google Patents
Vorrichtung, verfahren und fahrzeug Download PDFInfo
- Publication number
- WO2022223407A1 WO2022223407A1 PCT/EP2022/059914 EP2022059914W WO2022223407A1 WO 2022223407 A1 WO2022223407 A1 WO 2022223407A1 EP 2022059914 W EP2022059914 W EP 2022059914W WO 2022223407 A1 WO2022223407 A1 WO 2022223407A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- projectile
- impact
- vehicle
- target object
- pos
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims description 12
- 238000010304 firing Methods 0.000 claims abstract description 51
- 238000001514 detection method Methods 0.000 claims description 8
- 238000004590 computer program Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000004927 fusion Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000011343 solid material Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000013517 stratification Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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
- F41G3/147—Indirect aiming means based on detection of a firing weapon
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
- F41J5/00—Target indicating systems; Target-hit or score detecting systems
- F41J5/06—Acoustic hit-indicating systems, i.e. detecting of shock waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
- G01S3/802—Systems for determining direction or deviation from predetermined direction
- G01S3/808—Systems for determining direction or deviation from predetermined direction using transducers spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems
- G01S3/8083—Systems for determining direction or deviation from predetermined direction using transducers spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems determining direction of source
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S2205/01—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations specially adapted for specific applications
- G01S2205/07—Military
Definitions
- the present invention relates to a device for determining a firing position from which a projectile was fired at a target object, a corresponding method and a vehicle equipped with such a device.
- an apparatus for determining a launch position from which a projectile has been launched at a target comprises: at least one sensor unit for detecting an impact of the projectile in the target object, at least one acoustic sensor unit for detecting a muzzle bang when the projectile is fired, and a determination unit that is set up to determine the firing position on the basis of the detected muzzle blast and the detected impact.
- This device has the advantage that it can be determined that the target object has been shot at and hit, and that it can also be determined from where the target object was shot at. This allows the target object to take effective defensive measures.
- the target object is, in particular, a military vehicle that is operated, for example, by a crew of one or more soldiers. It can be vital for the crew to know the firing position from which the vehicle and its crew are being fired upon. With the proposed device, the crew can advantageously be informed of this and can then react appropriately to the threat.
- the device is attached or arranged in particular on the target object.
- the various sensor units are suitably arranged on the target object.
- the determination unit can also be integrated as part of a central control system of the target object.
- the sensor unit for detecting the impact of the projectile in the target object includes, for example, a structure-borne noise sensor for detecting longitudinal and/or transverse sound waves that propagate in the target object, in particular in a solid outer skin of the target object, such as armor or the like , is set up.
- the sensor unit has a sensitivity that makes it possible to detect impacts from small-caliber weapons, ie weapons with a caliber of around 5 mm or more. Projectiles of this type have, for example, a kinetic energy of 50 joules or more.
- the term impact sensor unit can also be used for short.
- the acoustic sensor unit for detecting the muzzle blast when the projectile is fired includes at least one microphone.
- the acoustic sensor unit preferably comprises a plurality of microphones which are directed in different directions. Due to the different orientation of the microphones, the direction from which a sound wave is incident on the acoustic sensor unit can be determined by determining differences in the reception level of the multiple microphones and/or differences in propagation time.
- the impact sensor unit and the acoustic sensor unit each output a sensor signal to the determination unit.
- This sensor signal can be an analog voltage signal, but it can also be a pre-processed digital data signal.
- the impact sensor unit and the acoustic sensor unit are arranged in a common housing and/or are controlled and operated via a common integrated circuit.
- the impact sensor unit can, for example, output a signal pattern of the detected impact as a sensor signal.
- the signal pattern can include information regarding a propagation path of the structure-borne noise from the impact position to the respective sensor unit, which is why the signal pattern can be used to infer the impact position, for example. This information can be taken into account when determining the firing position.
- the determination unit is set up to determine the firing position on the basis of the detected muzzle blast and the detected impact.
- the determination unit carries out a sensor fusion in particular, in which the different information that is recorded and provided by the different sensor units is viewed and evaluated together.
- the determination unit can be set up in particular to take into account correlations among the sensor signals that occur in the event of an independent dependent processing of the individual sensor signals is no longer necessary.
- the determination unit can be adapted in such a way that sensor signals from a larger number of sensor units are taken into account.
- the determination unit can be implemented in terms of hardware and/or software.
- the unit can be designed as a device or as part of a device, for example as a computer or as a microprocessor.
- the unit can be embodied as a computer program product, as a function, as a routine, as part of a program code or as an executable object.
- a computer program product such as a computer program tool
- the detection unit performs impact detection and location.
- the impact sensor unit determines whether an impact of a projectile has occurred. For this purpose, for example, an amplitude, a rate of change and/or a frequency analysis of the sensor signal is carried out. If an impact has been determined, a location is carried out on the basis of the sensor signal from the impact sensor unit and the sensor signal from the acoustic sensor unit, the result of which is the position of the barrel weapon which fired the projectile.
- the projectile impact is usually recorded before the muzzle blast because the projectile is usually faster than the speed of sound in air. The accuracy of the location depends in particular on how many acoustic sensor units cal the device includes.
- the device particularly advantageously comprises at least three acoustic sensor units which are arranged on the target object with as great a distance as possible from one another.
- the firing position can be determined by means of a multilateration, in particular on the basis of differences between the several sensor units on the basis of transit time.
- environmental conditions such as air temperature, air humidity, wind direction and wind speed and/or air stratification can be taken into account when locating.
- the result of the locating is the launch position, which includes, for example, a direction indication that includes an azimuth angle and a distance of the launch position from the target object.
- the indication of direction can optionally also include an elevation angle.
- the determination unit is set up to determine a hit position, which includes a position of the impact of the projectile in the target object, on the basis of the detected muzzle blast and the detected impact.
- the hit position indicates, for example, that the projectile hit the target object in a front area, a rear area, a left side and/or a right side.
- the muzzle blast is characterized by a certain sound level, which arrives at the device from a certain direction.
- the device comprises at least two acoustic sensor units for detecting the muzzle blast.
- this comprises at least two sensor units for detecting the impact of the projectile in the target object, the determination unit also being set up to determine a hit position based on a difference in the respective detection of the impact by the at least two sensor units a position of impact of the projectile in the target object.
- the difference in the detection is understood to mean a difference in the at least two sensor signals which are output by the at least two sensor units.
- the difference may include a detection timing, but may also include a difference in a signal pattern or the like.
- the acoustic sensor unit is also set up to detect a pressure wave of the projectile when the projectile is flying past the sensor unit, with the determination unit also being set up to additionally determine the firing position on the basis of the pressure wave detected.
- This embodiment is advantageous if the projectile flies past the acoustic sensor unit before impact, for example, since the pressure wave of the projectile is then also detected and taken into account when determining the firing position. Whether this is the case depends on the position of the acoustic sensor unit, the hit position and the firing position.
- the sensor unit for detecting the impact of the projectile comprises a structure-borne noise detector.
- the muzzle blast comprises a specific sound pattern that is characteristic of the barrel weapon that fires the project, the determination unit also being set up to determine a type of barrel weapon that fired the projectile.
- the sound pattern is received by the acoustic sensor unit and also output as a sensor signal.
- conclusions can be drawn about the barrel weapon type from the sound pattern. This can be done, for example, by comparing the received sound pattern with a database of sound patterns for different barrel weapons.
- the firing position in particular a distance between the firing position and the target object, can be determined more precisely on the basis of a distortion of the received sound pattern.
- the sensor signal of the impact sensor unit can also be taken into account, from which, for example, a kinetic energy of the projectile can be derived, which gives an indication of a mass and/or a caliber and/or a speed of the projectile , which can limit the eligible raw weapon types.
- the device comprises an output unit for outputting the firing position determined.
- the firing position determined is output, for example, to a central control system of the target object, to a command and control system and/or to a soldier information system or the like.
- a method for determining a launch position from which a projectile has been launched at a target is proposed.
- the procedure includes the steps ⁇
- a vehicle in particular a military vehicle, is proposed with a device according to the first aspect or according to one of the embodiments of the first aspect.
- the vehicle forms the target object according to the first aspect.
- this is designed as an armored vehicle, in particular a tracked vehicle or a wheeled armored vehicle, as a flying object, in particular an airplane, a helicopter or a drone, and/or as a watercraft.
- the sensor unit for detecting the impact of the projectile is arranged in particular in or on armor of the vehicle.
- the armor includes, for example, solid materials, such as steel, which transmit structure-borne noise, such as that caused by the impact of the projectile in the armor, well.
- the device comprises at least two acoustic sensor units which are arranged at opposite positions on the vehicle.
- opposite positions is understood in particular to mean that the acoustic sensor units are arranged on the vehicle at the greatest possible distance from one another, since this can improve the accuracy of the position determination.
- the acoustic sensor units are preferably also arranged in such a way that they are essentially not covered or shadowed by other structures of the vehicle in one hemisphere, so that sound waves can escape from this Hemisphere run essentially unweakened on the acoustic sensor unit.
- the device comprises at least two sensor units for detecting the impact of the projectile in the vehicle, which are arranged at opposite positions on the vehicle.
- FIG. 1 shows a schematic view of a first exemplary embodiment of a vehicle with a device for determining a firing position
- FIG. 2 shows a schematic view of a vehicle being fired upon with a device for determining a firing position
- FIG. 3 shows a schematic block diagram of an embodiment of a device for determining a firing position
- FIG. 4 shows a schematic block diagram of an exemplary embodiment of a method for determining a firing position.
- Fig. 1 shows a schematic view of a first embodiment of a vehicle 200 with a device 100 for determining a firing position ⁇ on POS (see Fig. 2 or 3).
- a device 100 for determining a firing position ⁇ on POS (see Fig. 2 or 3).
- the device 100 comprises in this example a sensor unit 110 for detecting an impact IP (see FIG. 2) of a projectile in the vehicle ⁇ convincing 200 and two acoustic sensor units 120, each are set up to detect a muzzle bang NB (see FIG. 2) that occurs when the projectile is fired.
- the device 100 includes a determination unit 130, which is set up to determine the firing position POS on the basis of the detected muzzle blast NB and the detected impact IP.
- All three sensor units 110, 120 shown here output a respective sensor signal to determination unit 130, for example.
- the determination unit 130 carries out a sensor fusion in order to determine the firing position POS, taking into account all sensor signals received. The determination of the firing position POS is explained in detail below with reference to FIGS. 2 and 3. FIG.
- FIG. 2 shows a schematic view of a vehicle 200 being fired upon using a device 100 for determining a firing position POS.
- the vehicle 200 is, for example, the wheeled armored vehicle of FIG. 1.
- the device 100 includes, in addition to the determination unit 130, a total of three combined sensors 110, 120, each of the three sensors having an impact sensor unit 110 and an acoustic Sensor unit 120 includes.
- the respective acoustic sensor unit 120 includes, in particular, five microphones ne whose respective sensitive membrane is directed in different directions from ⁇ .
- the five microphones are arranged on five sides of a cube, with a surface normal of the respective side of the cube representing the main reception direction for the respective microphone.
- the respective one ⁇ impact sensor unit 110 each includes a structure-borne noise sensor, which is arranged in ⁇ example directly on the armor of the vehicle 200.
- the three combined sensor units 110 , 120 span a triangle, with the respective sensor units 110 , 120 being arranged near a side edge of the vehicle 200 .
- the sensor units 110, 120 are thus arranged as far apart as possible on the vehicle, which enables the firing position POS to be located more precisely than if the sensor units 110, 120 were positioned closer together.
- a barrel weapon 300 is shown schematically at a position POS away from the vehicle 200 . It is, for example, a sniper ⁇ zen with a sniper rifle. The sniper fires a shot at the vehicle 200 with his rifle 300 . When the projectile leaves the barrel of the rifle 300, the highly pressurized gases of the drive charge for the projectile escape from the barrel and form the muzzle blast NB. The trajectory TR of the projectile is shown in dashed lines. The projectile hits the vehicle 200 and impacts it at position IP.
- the impact of the projectile causes structure-borne noise to propagate in the vehicle 200 . This is detected by the impact sensor units 110 . In this case, a hit position of the impact can be determined with high accuracy on the basis of the three independent sensor signals.
- the acoustic sensor unit 120 which is closest to the firing position POS can detect a pressure wave which is caused by the projectile flying past the sensor unit 120 .
- the three acoustic sensor units 120 each detect the muzzle blast NB. This results in a difference in the time of detection of the muzzle bang NB for the various sensor units 120 (transit time difference ). Based on this difference, a multilateration can be performed, the result of which is the firing position POS.
- the firing position POS is hereby determined at least with an azimuth angle and a distance, the azimuth angle relating, for example, to a current direction of travel of the vehicle 200 .
- the direction in which the firing position POS is located can already be inferred from each individual sensor signal of the acoustic sensor units 120, since the multiple microphones of a respective sensor unit 120 detect the muzzle blast NB differently, in particular with a different one sound level.
- This individual direction information when ascertaining the firing position POS by the ascertainment unit 130 can also be taken into account in order to ascertain the firing position POS with even greater accuracy.
- the device 100 is not limited to operation with land vehicles, such as armored vehicles, in particular tracked or wheeled armor , but also with aircraft, such as helicopters, airplanes or drones, or water vehicles, such as speedboats, ships or the like ⁇ chen can be used.
- land vehicles such as armored vehicles, in particular tracked or wheeled armor
- aircraft such as helicopters, airplanes or drones
- water vehicles such as speedboats, ships or the like ⁇ chen can be used.
- FIG. 3 shows a schematic block diagram of an exemplary embodiment of a device 100 for determining a firing position POS.
- the device 100 comprises only an impact sensor unit 110 and an acoustic sensor unit 120, which, however, is not to be interpreted restrictively .
- the device 100 also includes a determination unit 130, which has two blocks 131, 132 in this example, with the block 131 carrying out an impact determination and the block 132 carrying out a location.
- impact sensor unit 110 outputs a sensor signal to determination unit 130 when it detects an impact IB (see FIG. 2). If the acoustic sensor unit 120 detects a pressure wave of the projectile, as described with reference to FIG. 2 , then this also outputs a corresponding sensor signal to the determination unit 130 .
- an impact determination is first carried out in block 131 . If an impact is determined on the basis of the received sensor signals, in block 132 the firing position POS is located. Information from the impact determination, which restricts the possible shooting position POS, is also taken into account here. For example, determining the impact can include determining the hit position. Certain areas for the firing position POS can already be excluded from the geometry of the vehicle 200 (see FIG. 1 or 2) and the hit position. If a pressure wave from the projectile was also detected, the direction of the firing position can be restricted even more precisely. The location of the firing position POS is thus based both on the detected muzzle bang NB, which is detected by the acoustic sensor unit 120 and output to the determination unit 130, and on the detected impact of the projectile in the vehicle 200.
- the proposed device 100 thus has the advantage that attention can be drawn both to the impact of a projectile and to the firing position POS from which the projectile was fired.
- FIG. 4 shows a schematic block diagram of an exemplary embodiment of a method for determining a firing position POS (see FIG. 2) from which a projectile was fired at a target object 200 (see FIG. 1 or 2).
- a first step S1 an impact IP (see FIG. 2) of the projectile in the target object 200 is detected.
- a muzzle blast NB (see FIG. 2) is detected when the projectile is fired.
- the firing position POS is determined on the basis of the detected muzzle blast NB and the detected impact IP.
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2022260409A AU2022260409A1 (en) | 2021-04-21 | 2022-04-13 | Device, method and vehicle |
EP22722760.0A EP4323714A1 (de) | 2021-04-21 | 2022-04-13 | Vorrichtung, verfahren und fahrzeug |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102021110169.7 | 2021-04-21 | ||
DE102021110169.7A DE102021110169A1 (de) | 2021-04-21 | 2021-04-21 | Vorrichtung, Verfahren und Fahrzeug |
Publications (1)
Publication Number | Publication Date |
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WO2022223407A1 true WO2022223407A1 (de) | 2022-10-27 |
Family
ID=81603443
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2022/059914 WO2022223407A1 (de) | 2021-04-21 | 2022-04-13 | Vorrichtung, verfahren und fahrzeug |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP4323714A1 (de) |
AU (1) | AU2022260409A1 (de) |
DE (1) | DE102021110169A1 (de) |
WO (1) | WO2022223407A1 (de) |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2000073811A1 (en) * | 1999-05-28 | 2000-12-07 | Gte Internetworking Incorporated | Acoustic counter-sniper system |
EP2051095A1 (de) * | 2004-08-24 | 2009-04-22 | BBN Technologies Corp. | System und Verwendung zur Schätzung des Schützenbereichs |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5970024A (en) | 1997-04-30 | 1999-10-19 | Smith; Thomas | Acousto-optic weapon location system and method |
DE10136981A1 (de) | 2001-07-30 | 2003-02-27 | Daimler Chrysler Ag | Verfahren und Vorrichtung zur Ermittlung eines stationären und/oder bewegten Objektes |
EP1450125A1 (de) | 2003-02-12 | 2004-08-25 | Oerlikon Contraves Ag | Verfahren und Vorrichtung zur Bekämpfung eines Zieles |
EP2793043A1 (de) | 2013-04-18 | 2014-10-22 | Airbus Defence and Space GmbH | Bestimmung von Waffenstandorten und Projektilstrecken durch Verwendung automatischer und von Hybridverarbeitung von akustischen und elektromagnetischen Erfassungen |
-
2021
- 2021-04-21 DE DE102021110169.7A patent/DE102021110169A1/de active Pending
-
2022
- 2022-04-13 EP EP22722760.0A patent/EP4323714A1/de active Pending
- 2022-04-13 WO PCT/EP2022/059914 patent/WO2022223407A1/de active Application Filing
- 2022-04-13 AU AU2022260409A patent/AU2022260409A1/en active Pending
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2000073811A1 (en) * | 1999-05-28 | 2000-12-07 | Gte Internetworking Incorporated | Acoustic counter-sniper system |
EP2051095A1 (de) * | 2004-08-24 | 2009-04-22 | BBN Technologies Corp. | System und Verwendung zur Schätzung des Schützenbereichs |
Non-Patent Citations (1)
Title |
---|
BORZINO ANGELO M C R ET AL: "Gunshot signal enhancement for DOA estimation andweapon recognition", 2014 22ND EUROPEAN SIGNAL PROCESSING CONFERENCE (EUSIPCO), EURASIP, 1 September 2014 (2014-09-01), pages 1985 - 1989, XP032681858 * |
Also Published As
Publication number | Publication date |
---|---|
AU2022260409A1 (en) | 2023-11-23 |
EP4323714A1 (de) | 2024-02-21 |
DE102021110169A1 (de) | 2022-10-27 |
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