EP1152206B1 - 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
EP1152206B1
EP1152206B1 EP00128755A EP00128755A EP1152206B1 EP 1152206 B1 EP1152206 B1 EP 1152206B1 EP 00128755 A EP00128755 A EP 00128755A EP 00128755 A EP00128755 A EP 00128755A EP 1152206 B1 EP1152206 B1 EP 1152206B1
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Prior art keywords
target
vector
sensor
aiming
test
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Expired - Lifetime
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EP00128755A
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German (de)
English (en)
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EP1152206A1 (fr
Inventor
Peter Toth
Essam Prof. Badreddin
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Rheinmetall Air Defence AG
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Oerlikon Contraves AG
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    • 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 weapons systems according to the preamble of patent claims 1 and 10, respectively.
  • EP 0 314 721 B1 discloses a method for correcting alignment errors between carriages and devices arranged thereon, wherein the devices can be fire control systems and weapon devices.
  • the procedure is carried out using device correction values of the coarse position of the installed devices measured in quiet fire control systems and weapons installations and their consideration in the servo controls of the carriages; the device correction values are known ex works 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 Feuerleit confusen T1, T2 and three computer-controlled devisoren wornen 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 these devices T1, T2, G1, G2, G3 are included in Laffeten or bedding and mechanically at least roughly aligned.
  • the sensor device T can be, for example, a fire control or straightening device also designated T for controlling the gun G.
  • the gun G may 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.
  • a change in the weight of the ship as a result of change in the payload, of the available fuel or of a change in the shape of the hull, etc. results in a new value for the correction vector P s , which can be determined by new, with the help of attached to the helicopter 10 ball K , measurements in turn approximately in the form of a new P n value can be determined.
  • the display shown in FIG. 3 shows how the TV sensor Sg, for example the measurement target K or the sphere K 'sees', in the actually assumed position generally with a certain offset from a crossing point 0 of a crosshair of the display.
  • This shelf which can be recognized directly by the TV sensor Sg, is a positional error which is the consequence or sum of all kind of system errors;
  • System errors include, for example, mechanical inaccuracies due to manufacturing tolerances or wear, residual errors in the coarse bearing measurement, changes in the shape of the hull, measurement noise.
  • the display of Fig. 3 is calibrated to a predetermined distance so that the components dy i 'and dz i ', which are in reality angles, can be represented by lengths or distances.
  • Factors which influence the residual error R i are, in addition to the thermal noise, among others, the sea state, inaccuracies of the servo system and the fact that the operator can not bring a mark + shown in FIG. 3 exactly to the measurement target in its instantaneous position K i ,
  • a coordinate system according to FIG. 4 is defined. If straightening device T and gun G are on earth, then, for example, the X- axis is directed to the north, the Y- axis to the east and the Z- axis to the earth center. If straightening device T and gun G are on a ship, then the X- axis is for example the longitudinal axis of the ship, the Y- axis the transverse axis of the ship and the Z- axis a clockwise, orthogonal to X- axis and Y- axis Axis.
  • each position that the measurement target K i can assume is determined by three coordinates x k , y k , z k .
  • the angle quantities ⁇ k and ⁇ k are also used as coordinates in the shooting system, ⁇ k being the side angle and ⁇ k the elevation angle; the quantities ⁇ k and ⁇ k and are therefore redundant.
  • the coordinates x k, y k, z k are considered to be components of a target vector 0K i, where ⁇ and the azimuth from these coordinates or the elevation angle ⁇ can be calculated.
  • 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 the straight line g at the zero point 0 perpendicular intersecting straight line is selected 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 about the X axis and ⁇ y i about the Y axis.
  • the rotation ⁇ z i about the Z axis also includes the rotation of the azimuth ⁇ .
  • the algorithm of the present invention is based on a special least squares method of applying the "least expensive" values by taking 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 gives 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 '.
  • a matrix S is used.
  • the matrix S is the covariance matrix listed above, which leads in particular to orthogonal-symmetric measurements to a diagonal-symmetric matrix with decreasing diagonal values, that is, the track Asp or convergence number tends to 0. Experiments with respect to the decimal places of this convergence number have shown that it is advantageous to select the value 49.25 or 492.5 etc. for the constant C, for example.
  • the value of the trace of the covariance matrix S n decreases from initially 99.99 ... to about 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, in each case by a cross +, a number of actual positions of the measurement target K borne by the helicopter 10.
  • Fig. 6 the corresponding corrected values of these positions are shown.
  • the helicopter 10 When the XYZ coordinate system exits a ship, 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 sighting line 0 of the gun G (instead of the small parallax offset firing line or gun barrel axis of the gun G) preferably automatically by the controller best possible directed to a measurement target K i .
  • the crossing point of the reticule of the sight line 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 respective measured value of ⁇ Ki or ⁇ Ki that is to say the side angle or the elevation angle of the gun G corresponding to the respective position K i of the helicopter 10 Measuring target K correspond.
  • Fig. 6 corresponds to the theoretical values of ⁇ and ⁇ , respectively, which would be measured under exactly the same conditions after the corrections according to the present method, if such a further measurement were practicable at all. In fact, it is impossible to carry out such further measurements with the helicopter 10 in exactly the same positions as in previous measurements, and under the same vessel conditions and so on.
  • the measurement-based correction data with which the alignment error vectors are corrected has a real-time corrective misalignment effect.
  • the measurements may be re-performed from time to time, for example, after four or six weeks, to adjust the correction data to changing conditions, such as a ship. This means that the measured values obtained from time to time can be integrated into the system and that they are therefore system-inherent and thus each correspond to an error that can not be directly observed.
  • the sensor device T can be a sensor, a straightening device, a radar, laser or infrared device, etc., or several such devices can be combined.
  • effector devices G guns not only conventional guns such as cannons but also rocket launchers or laser cannons come into question.
  • the measurements can be carried out for different G / T pairs B11, B12, B21, B22, ... (See FIG. 1 ), wherein a sensor device T can 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)

Claims (10)

  1. Procédé permettant de corriger des erreurs de pointage entre un dispositif détecteur (T ; T1, T2) et un dispositif effecteur (G ; G1, G2, G3) commandé via une servocommande par le dispositif détecteur (T ; T1, T2), par correction d'un vecteur d'erreur de pointage (B),
    caractérisé par les étapes de procédé suivantes :
    a) alignement du dispositif détecteur (T ; T1, T2) sur une cible de mesure (Ki),
    b) alignement d'un capteur de mesure de cible (Sg) existant dans le dispositif effecteur (G ; G1, G2, G3) sur cette cible de mesure (Ki), qui représente par conséquent une cible de mesure (Ki) commune du dispositif détecteur (T ; T1, T2) et du dispositif effecteur (G ; G1, G2, G3),
    c) enregistrement d'une valeur de déviation (Di) entre la position de la ligne de mire (0) du capteur de mesure de cible (Sg), telle qu'elle découle du dispositif effecteur (G ; G1, G2, G3) commandé par le dispositif détecteur (T ; T1, T2), et la position de la cible de mesure (Ki) telle que perçue par le capteur de mesure de cible (Sg),
    d) utilisation d'un vecteur d'erreur d'alignement existant (B) en tant que signal d'entrée de la commande, et
    d) réalisation récurrente d'une correction du vecteur d'erreur d'alignement (B) sur la base de la valeur de déviation (Di), selon la méthode des moindres carrés.
  2. Procédé selon la revendication 1,
    caractérisé en ce que
    pour corriger un vecteur d'erreur de pointage (B), on obtient un vecteur (Pn), calculé de façon récurrente dans des étapes de procédé i = 1, ... jusqu'à i = n, qui présente pour chaque position mesurée de la cible de mesure (Ki) au moins deux composantes ou coordonnées de la valeur de déviation (Di), et
    la correction d'un vecteur calculé (Pi) est réalisée par multiplication d'une valeur initiale ou d'un vecteur précédemment calculé avec une matrice de transformation (Mi) entraínant une transformation des coordonnées de la cible de mesure en fonction de l'angle azimutal (αgi) et de l'angle d'élévation (λgi) du capteur de mesure de cible (Sg).
  3. Procédé selon la revendication 1 ou 2,
    caractérisé en ce que la matrice d'une transformation est définie comme suit :
    Figure 00190001
    avec i = 1, 2, 3, ...n.
  4. Procédé selon la revendication 2 ou 3,
    caractérisé en ce que pour chaque étape de procédé i, on utilise aussi une matrice des covariances (Si), comme suit Si = Si-1 - Si-1 * Mi T * Mi * Si-1 (Mi * Si-1* Mi T + I) où I est une matrice unité, et où on utilise pour l'initialisation de la récurrence une valeur initiale de S0, et i = 1, 2, 3... n.
  5. Procédé selon l'une des revendications 2 à 4,
    caractérisé en ce que l'on obtient un vecteur d'erreur (E) selon la formule récurrente suivante Ei = Di - Mi * Pi-1 où Di = |dyi' dzi'| est un vecteur présentant les composantes de la valeur de déviation (d).
  6. Procédé selon la revendication 5,
    caractérisé en ce que les étapes de procédé récurrentes sont réalisées avec des valeurs pouvant être librement sélectionnées pour P0, S0, avec des valeurs calculées pour Mi et avec des valeurs mesurées pour Di = |dyi' dzi'|T, en commençant par i = 1, et en ce que l'on en déduit le vecteur d'erreur (Ei) selon la formule récurrente nommée Ei = Di - Mi * Pi-1 et le vecteur de correction (Pi) selon la formule récurrente suivante Pi = Pi-1 + Si * Mi T * Ei, avec i = 1, 2, 3... n.
  7. Procédé selon l'une des revendications 2 à 5, caractérisé en ce que le vecteur de correction (Pi) est formé par au moins deux des quatre composantes suivantes Δxi, Δyi, Δzi et Δλi.
  8. Procédé selon l'une des revendications 3 à 7, caractérisé en ce que le calcul est réalisé avec le vecteur de correction Pi = |Δxi Δyi Δzi Δλi| et est initialisé avec les valeurs P0 suivantes = |0 0 0 0|T et
    Figure 00210001
    où C est une constante qui représente de préférence la valeur 49,25.
  9. Procédé selon l'une des revendications 1 à 8, caractérisé en ce que la cible de mesure commune (Ki) est amenée dans l'espace sur des trajectoires prédéfinies, de préférence au moyen d'un hélicoptère (10).
  10. Dispositif de correction des erreurs de pointage entre un dispositif détecteur (T ; T1, T2) et un dispositif effecteur (G ; G1, G2, G3) commandé via une servocommande par le dispositif détecteur (T ; T1, T2), par correction d'un vecteur d'erreur de pointage (B), dans lequel
    le dispositif détecteur (T ; T1, T2) est conçu pour être pointé sur une cible de mesure (Ki),
    dans lequel, dans le dispositif effecteur (G ; G1, G2, G3) existe un capteur de mesure de cible (Sg) qui est conçu pour être pointé sur cette cible de mesure (Ki), qui peut alors représenter une cible de mesure commune (Ki) du dispositif détecteur (T ; T1, T2) et du dispositif effecteur (G ; G1, G2, G3),
    dans lequel existent des moyens d'affichage pour enregistrer une valeur de déviation (Di) entre la position de la ligne de mire (0) du capteur de mesure de cible (Sg), telle qu'elle découle du dispositif effecteur (G ; G1, G2, G3) commandé par le dispositif détecteur (T ; T1, T2), et la position de la cible de mesure (Ki) telle que perçue par le capteur de mesure de cible (Sg),
    et dans lequel existent des moyens par ordinateur
    pour obtenir, à partir d'un vecteur d'erreur de pointage existant (B), un signal d'entrée pour la servocommande, et pour réaliser ensuite de façon récurrente une correction du vecteur d'erreur de pointage (B) sur la base de la valeur de déviation (Di), selon la méthode des moindres carrés.
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

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EP1152206B1 true EP1152206B1 (fr) 2005-01-26

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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
AU2002301625B2 (en) * 2001-11-23 2008-06-26 Oerlikon Contraves Ag Method and device for judging aiming errors of a weapon system and use of the device
AU2002301626B2 (en) * 2001-11-23 2008-06-26 Oerlikon Contraves Ag Method and device for judging the aiming error of a weapon system and use of the device

Families Citing this family (7)

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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

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TR27014A (tr) 1987-05-15 1994-09-15 Contraves Ag Bir ates idare tertibati icin tevcih usulü ve bu usulü icra etmeye mahsus ates idare tertibati.
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
US5303878A (en) * 1991-08-30 1994-04-19 Texas Instruments Incorporated Method and apparatus for tracking an aimpoint on an elongate structure
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

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2002301625B2 (en) * 2001-11-23 2008-06-26 Oerlikon Contraves Ag Method and device for judging aiming errors of a weapon system and use of the device
AU2002301626B2 (en) * 2001-11-23 2008-06-26 Oerlikon Contraves Ag Method and device for judging the aiming error of a weapon system and use of the device

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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
ATE288070T1 (de) 2005-02-15
EP1152206A1 (fr) 2001-11-07
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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