EP1152206A1 - Procédé et dispositif pour corriger des erreurs de pointage entre appareils - Google Patents

Procédé et dispositif pour corriger des erreurs de pointage entre appareils Download PDF

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Publication number
EP1152206A1
EP1152206A1 EP00128755A EP00128755A EP1152206A1 EP 1152206 A1 EP1152206 A1 EP 1152206A1 EP 00128755 A EP00128755 A EP 00128755A EP 00128755 A EP00128755 A EP 00128755A EP 1152206 A1 EP1152206 A1 EP 1152206A1
Authority
EP
European Patent Office
Prior art keywords
target
sensor
vector
measurement
error vector
Prior art date
Legal status (The legal status 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 status listed.)
Granted
Application number
EP00128755A
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German (de)
English (en)
Other versions
EP1152206B1 (fr
Inventor
Peter Toth
Essam Prof. Badreddin
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Rheinmetall Air Defence AG
Original Assignee
Oerlikon Contraves AG
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Publication date
Application filed by Oerlikon Contraves AG filed Critical Oerlikon Contraves AG
Publication of EP1152206A1 publication Critical patent/EP1152206A1/fr
Application granted granted Critical
Publication of EP1152206B1 publication Critical patent/EP1152206B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/32—Devices for testing or checking
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/32—Devices for testing or checking
    • F41G3/323—Devices for testing or checking for checking the angle between the muzzle axis of the gun and a reference axis, e.g. the axis of the associated sighting device
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G11/00—Details of sighting or aiming apparatus; Accessories
    • 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

Definitions

  • the present invention relates to a method and a device for correcting alignment errors between devices of fire control systems and weapon systems according to the preamble of patent claims 1 and 10 .
  • EP 0 314 721 B1 discloses a method for correcting alignment errors between mountings and devices arranged thereon, the devices being fire control systems and weapon systems. The method is carried out using device correction values of the rough position of the installed devices measured in the case of immobilized fire control systems and weapon systems and their consideration in the servo controls of the mountings; the device correction values are known from the factory and / or are determined from measured values.
  • FIG. 1 shows a system with a total of five devices, namely two sensor devices in the form of fire control devices T1, T2 and three computer-controlled effector devices in the form of guns G1, G2, G3.
  • the sensor devices and the effector devices can be located on a ship or on land. All of these devices T1, T2, G1, G2, G3 are accommodated in laffetes or beds and mechanically at least roughly aligned.
  • FIG. 2 shows , for example, a helicopter 10 and a simple system with a sensor device T and an effector device G.
  • the sensor device T can be, for example, a fire control or directional device, likewise designated T , for controlling the gun G.
  • the gun G can, for example, be provided with a TV sensor Sg .
  • the topping device T controls over data or signal lines 11 the gun G.
  • Both the gun G and the target device T are aimed at a common measuring target K, for example, a likewise designated K ball which is attached to a supporting cable 12 of the helicopter 10 degrees.
  • Such arrangements are intended to determine a correction for an alignment error vector B or a plurality of alignment error vectors B jk, in FIG. 1 for example B11, B12, B21, B22, B31, B32 . It is assumed here that the alignment error vector B or the alignment error vectors B jk are basic vectors which are known and stored from rough position measurements, works measurements etc.
  • a fine measurement is carried out by the method according to the invention in order to improve these known values of the alignment error vectors B or B jk in several steps or after several measurements.
  • the display shown in FIG. 3 shows how the TV sensor Sg, for example the measurement target K or the ball K , 'sees', in fact in the position actually taken, generally with a certain offset from an intersection 0 of a crosshair Display.
  • This storage which is directly perceptible by the TV sensor Sg, is a position error which is the result or the sum of all system errors of some kind; System errors are, for example, mechanical inaccuracies as a result of manufacturing tolerances or wear, residual errors in the rough position measurement, changes in the shape of the hull, measurement noise.
  • factors that influence the residual error R i include the sea state, inaccuracies of the servo system and the fact that the operator cannot bring a mark + shown in FIG. 3 exactly to the measurement target in its current position K i .
  • a coordinate system according to FIG. 4 is defined in the area of the aiming device T and the gun G. If the aiming device T and the gun G are on the earth, the X axis is directed towards the north, the Y axis towards the east and the Z axis towards the center of the earth. If the aiming device T and gun G are on a ship, the X axis is, for example, the longitudinal axis of the ship, the Y axis is the transverse axis of the ship and the Z axis is a clockwise rotation, oriented orthogonally to the X axis and the Y axis Axis.
  • each position that the measurement target K i can take is determined by three coordinates x K , y K ,, z K.
  • the angle values ⁇ k and ⁇ K are also used as coordinates in shooting, with ⁇ k denoting the side angle and ⁇ K the elevation angle; the sizes ⁇ k and ⁇ K and are therefore redundant.
  • the coordinates x K , y K , z K are considered as components of a target vector 0K i , whether the side angle ⁇ or the height angle ⁇ can also be calculated from these coordinates.
  • the projection of the vector 0K onto the plane XY in FIG. 4 defines a straight line g; a straight line also lying in the plane XY and intersecting the straight line g at the zero point 0 is chosen as the ⁇ axis .
  • the error that results from this has two degrees of freedom and can therefore be corrected by the two rotations ⁇ x i around the X axis and ⁇ y i around the Y axis.
  • the rotation ⁇ z i around the Z axis also includes the rotation of the azimuth ⁇ .
  • the algorithm according to the present invention is based on a special application of the least squares method, in which the "most favorable" values are obtained by adding the sum of the squares of the respective differences between the observed value for D i and the calculated value for D ic ⁇ M i * P n results in a minimum.
  • the calculated correction vector P i is transformed into the vector D i or the components ⁇ x i , ⁇ y i , ⁇ z i and ⁇ i into the components dy i ', dz i ' by the transformation matrix M i .
  • a matrix S is used.
  • the matrix S is the covariance matrix listed above, which leads to a diagonally symmetrical matrix with diminishing values in the diagonal, in particular for orthogonally symmetrical measurements, that is to say that the track Sp or convergence number tends towards 0. Experiments regarding the decimal places of this convergence number have shown that it is advantageous to choose the value 49.25 or 492.5 etc. for the constant C.
  • the value of the track of the covariance matrix S n drops from an initial 99.99 ... to approximately 0.03 with a sufficiently large number n of measurements or steps.
  • the constant C can also be 1 or have any value.
  • FIG. 5 shows, each with a cross +, a number of actual positions of the measurement target K carried by the helicopter 10.
  • FIG. 6 shows the corresponding corrected values of these positions.
  • the helicopter 10 preferably flies in a circular path with a radius of the order of 1.5 km, but helically or with increasing height ⁇ Ti, ⁇ Ti , ⁇ Ti around the ship.
  • the sensor sight line 0 of the gun G (instead of the line of fire or gun barrel axis of the gun G offset with a small parallax ) preferably automatically directed by the control in the best possible way to a measurement target K i .
  • the cross point of the crosshairs of the line of sight of the sensor Sg (FIG. 3) points in the direction in which the measurement target K i is expected.
  • each point marked with a cross + refers to a measured value of ⁇ Ki or ⁇ Ki, that is to say to the side angle or the elevation angle of the gun G that corresponds to the respective position K i of the helicopter 10
  • Measurement target K correspond. 6
  • Such 'derailments' could For example, if you try to pass readings to one for each run to adapt the predefined curve, such as a sine curve.
  • the correction data based on measurements, with which the alignment error vectors are corrected have a real-time correcting effect on the misalignment.
  • the measurements can be carried out from time to time, for example after four or six weeks, in order to adapt the correction data to changing conditions, for example of a ship. This means that the measured values obtained from time to time can be integrated into the system and that they are therefore inherent to the system and therefore each correspond to an error that cannot be observed directly.
  • the sensor device T can be a sensor, a directional device, a radar, laser or an infrared device, etc., or several such devices can be combined.
  • Effector devices G are not only conventional guns such as cannons but also rocket launchers or laser cannons. The measurements can be carried out for different G / T pairs B11, B12, B21, B22, ... (cf. FIG. 1) , it being possible for one sensor device T to also control a plurality of effector devices G.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Eye Examination Apparatus (AREA)
  • Attitude Control For Articles On Conveyors (AREA)
  • Body Structure For Vehicles (AREA)
  • Control Of Position Or Direction (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
  • Fire Alarms (AREA)
  • Feedback Control In General (AREA)
  • Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
  • Exposure Of Semiconductors, Excluding Electron Or Ion Beam Exposure (AREA)
  • Manufacture Of Electron Tubes, Discharge Lamp Vessels, Lead-In Wires, And The Like (AREA)
  • Formation Of Various Coating Films On Cathode Ray Tubes And Lamps (AREA)
EP00128755A 2000-04-26 2000-12-30 Procédé et dispositif pour corriger des erreurs de pointage entre appareils Expired - Lifetime EP1152206B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH00818/00A CH694743A5 (de) 2000-04-26 2000-04-26 Verfahren und Vorrichtung zur Korrektur von Ausrichtfehlern zwischen einer Sensoreinrichtung und einer Effektoreneinrichtung.
CH818002000 2000-04-26

Publications (2)

Publication Number Publication Date
EP1152206A1 true EP1152206A1 (fr) 2001-11-07
EP1152206B1 EP1152206B1 (fr) 2005-01-26

Family

ID=4539149

Family Applications (1)

Application Number Title Priority Date Filing Date
EP00128755A Expired - Lifetime EP1152206B1 (fr) 2000-04-26 2000-12-30 Procédé et dispositif pour corriger des erreurs de pointage entre appareils

Country Status (11)

Country Link
US (1) US20010047248A1 (fr)
EP (1) EP1152206B1 (fr)
JP (1) JP4846102B2 (fr)
KR (1) KR100817966B1 (fr)
AT (1) ATE288070T1 (fr)
CH (1) CH694743A5 (fr)
DE (1) DE50009355D1 (fr)
DK (1) DK1152206T3 (fr)
ES (1) ES2233276T3 (fr)
MY (1) MY122819A (fr)
PT (1) PT1152206E (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1314950A1 (fr) * 2001-11-23 2003-05-28 Oerlikon Contraves Ag Procédé et dispositif pour l'évaluation des erreurs de pointage d'un système d'arme et utilisation du procédé
EP1314949A1 (fr) * 2001-11-23 2003-05-28 Oerlikon Contraves Ag Procédé et dispositif pour l'évaluation des erreurs de pointage d'un système d'arme et utilisation du procédé

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE525000C2 (sv) * 2003-03-04 2004-11-09 Totalfoersvarets Forskningsins Sätt att bringa en projektil i kastbana att verka i en önskad punkt vid en beräknad tidpunkt
SE526742C2 (sv) * 2004-10-13 2005-11-01 Goeran Backlund Anordning för automatisk inställning av optiskt sikte för skjutvapen
WO2008104008A1 (fr) * 2007-02-23 2008-08-28 Christian Emmanuel Norden Simulateur de tir d'arme à feu
KR101222531B1 (ko) * 2010-09-01 2013-01-15 국방과학연구소 다중표적처리장치에서 거리 구간별 다른 가중치의 융합 기준을 가지는 표적 융합 방법
KR101815678B1 (ko) * 2011-09-14 2018-01-05 한화지상방산 주식회사 영상 장치 연동 무장 시스템 및 그 동작 방법
KR101376689B1 (ko) 2012-12-13 2014-03-20 국방과학연구소 포신 영상을 활용한 포사격 통제시스템의 흔들림 오차 보정 방법
US20160011064A1 (en) * 2014-04-21 2016-01-14 Joseph Maybank Impact sensing ballistic vest and method for communicating data thereof

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1988008952A1 (fr) * 1987-05-15 1988-11-17 Contraves Ag Procede d'alignement d'agencement de conduite de tir et agencement de conduite de tir de mise en oeuvre du procede
US5303878A (en) * 1991-08-30 1994-04-19 Texas Instruments Incorporated Method and apparatus for tracking an aimpoint on an elongate structure

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04263796A (ja) * 1991-01-10 1992-09-18 Mitsubishi Electric Corp 自動照準誤差修正方法及びその装置
JPH1089896A (ja) * 1996-09-11 1998-04-10 Yokogawa Denshi Kiki Kk 射撃指揮装置
JPH10206094A (ja) * 1997-01-23 1998-08-07 Mitsubishi Heavy Ind Ltd シースルー型ｈｍｄにおける視線方向情報校正方法及び装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1988008952A1 (fr) * 1987-05-15 1988-11-17 Contraves Ag Procede d'alignement d'agencement de conduite de tir et agencement de conduite de tir de mise en oeuvre du procede
EP0314721B1 (fr) 1987-05-15 1993-09-08 Oerlikon-Contraves AG Procede d'alignement d'agencement de conduite de tir et agencement de conduite de tir de mise en oeuvre du procede
US5303878A (en) * 1991-08-30 1994-04-19 Texas Instruments Incorporated Method and apparatus for tracking an aimpoint on an elongate structure

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1314950A1 (fr) * 2001-11-23 2003-05-28 Oerlikon Contraves Ag Procédé et dispositif pour l'évaluation des erreurs de pointage d'un système d'arme et utilisation du procédé
EP1314949A1 (fr) * 2001-11-23 2003-05-28 Oerlikon Contraves Ag Procédé et dispositif pour l'évaluation des erreurs de pointage d'un système d'arme et utilisation du procédé
US6739233B2 (en) 2001-11-23 2004-05-25 Oerlikon Contraves Ag Method and device for judging aiming errors of a weapon system and use of the device
US6805036B2 (en) 2001-11-23 2004-10-19 Oerlikon Contraves Ag Method and device for judging the aiming error of a weapon system and use of the device
SG125076A1 (en) * 2001-11-23 2006-09-29 Contraves Ag Method and device for judging the aiming error of a weapon system and use of the device
KR100917932B1 (ko) * 2001-11-23 2009-09-21 오얼리콘 콘트라베스 아게 무기시스템의 조준 에러를 판단하기 위한 방법 및 장치와,이 장치의 용도
KR100928754B1 (ko) * 2001-11-23 2009-11-25 오얼리콘 콘트라베스 아게 무기시스템의 조준 에러를 판단하기 위한 방법 및 장치와,이 장치의 용도

Also Published As

Publication number Publication date
PT1152206E (pt) 2005-05-31
KR20010098385A (ko) 2001-11-08
JP2001311774A (ja) 2001-11-09
DK1152206T3 (da) 2005-05-30
CH694743A5 (de) 2005-06-30
KR100817966B1 (ko) 2008-03-31
EP1152206B1 (fr) 2005-01-26
ATE288070T1 (de) 2005-02-15
ES2233276T3 (es) 2005-06-16
US20010047248A1 (en) 2001-11-29
DE50009355D1 (de) 2005-03-03
MY122819A (en) 2006-05-31
JP4846102B2 (ja) 2011-12-28

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