EP1314950B1 - Method and device for assessing the aiming errors of a weapon system and use of the device - Google Patents

Abstract

The method involves repeatedly acquiring images of the target (Z) and its surroundings as the fire control device (F) tracks the target and the aiming device aims the weapon (B), displaying (M) the images and a marker representing the aiming line and aiming the weapon based on the movements of the target and a predictive computation for the shell. <??>An Independent claim is also included for an arrangement for assessing weapon system aiming errors.

Description

The invention relates to a method and to claim 1, a weapon system according to claim 7 and a use according to any one of claims 21 to 23.

Processes and devices of this type serve to improve the accuracy of To assess weapons systems used to combat fast-moving targets, in general, flight destinations.

Such weapons systems include a fire control and one or more of the Fire control unit associated guns. The fire control unit is intended to Target to detect, acquire and track. In pursuit of the goal, which is referred to as tracking, are practically running, that is in time very close to each other, measurements taken to to determine the location of the target for each measurement time. A the weapon system assigned data processing system calculated retrospectively from the results of these measurements the state of motion of the target, among which at least an empirical path / time function, an empirical speed / time function and an acceleration / time function of the target. Due to the way / time function, the speed / time function and the Beschieunigungs / time function calculates the computer unit further the future Movement state of the target. This is an extrapolation Thus, the actual future state of motion of the computer is not calculated Goal, but the state of motion that the target is likely to have and also referred to as the expected state of motion of the target. In particular, a due date and an associated due date item are determined. at which the target is expected at maturity. The due date position is determined in such a way that a bullet, which leads to a certain Launch time is fired by the weapon, at the due date arrives at the due date or, simply put, the target the due date position. The maturity position determined in this way is therefore the expected one Meeting point. Related to this, the computing device computes also for the weapon or for the gun barrel a point of reference, on which the gun barrel must be aimed at the time of shooting, or a Azimuth and elevation, which have the gun barrel at the time of launch got to. In this calculation, which is called Vorhaltrechnung, the relative positions of fire control and weapon, both internal and external Ballistics and delays in the functioning of the system included. Obviously, the firing time to which the gun barrel lies must be directed to the point of reference, before the due date to which the target will be at the due date.

To judge the functionality of the weapon system, the directional accuracy of the weapon system, which determines the hit, tested. This essentially examines whether the events are between tracking the target and launching a bullet as planned, namely, so that the target and bullet at the maturity date on the maturity position or at least in their immediate vicinity. There are Various methods are known to detect straightening errors. A really true one Assessment of the hit performance of a weapons system is only possible when the fight against a goal is either actual or realistic is simulated.

A precise assessment of the directional accuracy or an accurate determination of Directional errors can be done, for example, by actually firing at a target and the angular and / or distanced placement of the projectiles from the target at their Flight is determined. However, the assessment of the directional accuracy or the meeting limited to a relatively narrow time window during shelling and provides no clues about any hits during the remaining time span at which the target of the used weapon fights can be. The goal is a manipulation goal or exercise target is used, which is should behave at least approximately like those real goals to whose Combat the weapon system is provided. Such manipulation targets are unmanned. On the one hand, self-airborne manipulation targets are known which are remotely controlled are, on the other hand flightless manipulation targets, for example, of be towed a tow plane. As ammunition can be war ammunition or Exercise ammunition can be used. The filing can be done in two different ways be determined: either the way / time curves of both the Manipulierzieles as well as the projectiles determined and from it the filing of the projectiles determined by the manipulation target; For example, this can be the local area, in which manipulation target and projectiles meet, in the temporal area, to which this meeting takes place, illustrated, and from this the storage determined become. Or sensors are attached to the Manipulierziel, which on the passing bullets react. The big disadvantage of this method This is because it is very time-consuming and expensive. Independent of self-flyable or towed manipulation targets are used, these are Manipulation targets themselves as well as either additional facilities for investigation and measurement of trajectories and the evaluation of the determined Measurements or facilities for processing the from the sensors to Required signals required. The use of unmanned, airworthy, remote-controlled manipulation targets also requires terrestrial facilities for remotely controlling these manipulation targets. The totality of required Equipment is in any case, as stated above, expensive to purchase and laborious in operation; Usually these facilities can only be used by specialized staff are serviced and require an infrastructure that only on fixed shooting ranges, but not available in the field. There is also always the risk of damage or destruction of manipulation targets that are not can be avoided and should not be avoided, since the meeting of the Manipulierzieles the desired good leveling precisely just documented.

While used in the method described above as targets Manipulierziele and, in the assessment, to real, in fact, missiles Trajectories can be parked at the following Under the name 'Zero-Test' known procedures at will genuine Goals or manipulation goals are used; the trajectories of the projectiles are optically simulated, with the simulating beams only in their initial and endpoints coincide with the simulated projectile trajectories. With The Zero test only verifies if the tracking of the target by the fire engine and directed by the fire control straightening the gun barrel on the Target is flawless, but not the actual Vorhaltrechnung tested.

In the Zero-Test, the tracking of the target, that is the tracking, of the Fire control carried out in the usual way. The gun barrel is constantly the Target tracked so that it is constantly focused on the target. The goal is not shot, but a barrel mounted video camera take pictures of the target. These images are visualized immediately or later. The straightening straight line, ie a straight line in extension of the weapon barrel axis, becomes represented by a mark in the reproduced pictures. The straightening error appears as a filing of the image of the target of this mark. The goal at the Zero-Test can be a real target, so it is not shot at with projectiles but the bombardment is simulated to some extent by optical rays; however, in the simulation, a beam is recorded and visualized, the not from the weapon to the target but from the target to the weapon, but what for the procedure is irrelevant. In the zero test, the weapon becomes the target immediately tracked, that is, azimuth and elevation are such that at perfect Directional accuracy the gun barrel is aimed exactly at the target; when visualizing the images of the video camera is then the target always on the mark. Because in Reality the directional accuracy is not perfect, because almost always certain Directional errors occur when viewing the images of the video camera the image of the target generally not on the mark. The deviation of the picture the goal of the mark corresponds to the filing of the projectiles from the target. Of the Zero-Test is based on the fiction that bullets are used without mass, which traverse their trajectory at infinite projectile speed, so that the projectile flying time from the weapon barrel to the goal is zero, with which also the designation 'Zero-Test' is explained. Retention and inclusion of inside ballistic sizes the projectiles are from the data processing unit assigned to the weapon system not in the calculations of azimuth and elevation or the Control of the barrel considered; within the fiction of the infinite Bullet speed, they actually do not matter. The advantage The zero test is that the additional facilities needed are not are expensive, and that the execution of the test is easy, so no specialized personnel must be employed; the execution of the test can not only take place on shooting ranges but also in the field. The simplifications, which take place during the zero test, that means hiding all Facts related to the statement are simultaneous the disadvantages of the zero-test.

• ein Verfahren der eingangs genannten Art anzugeben, welches die Nachteile des Standes der Technik vermeidet; einerseits sollte das neue Verfahren bezüglich der dazu benötigten Einrichtungen kostengünstiger und bezüglich seiner Durchführung einfacher sein als das herkömmliche Verfahren, bei welchem ein Manipulierziel und echte Geschosse zum Einsatz kommen; anderseits sollte das neue Verfahren, anders als der vorbekannte Zero-Test, auch alle Fakten im Zusammenhang mit der Vorhaltrechnung berücksichtigen;
• eine Vorrichtung zur Durchführung eines solchen Verfahrens vorzuschlagen und
• eine Verwendung der neuen Vorrichtung anzugeben.

It is thus an object of the invention

• to provide a method of the type mentioned, which avoids the disadvantages of the prior art; on the one hand, the new method should be more cost-effective and simpler to implement than the conventional method of using a manipulation target and real projectiles; on the other hand, unlike the previously known zero test, the new method should also take into account all the facts in connection with the preliminary calculation;
• to propose a device for carrying out such a method and
• indicate a use of the new device.

• für das Verfahren durch die Merkmale des Anspruchs 1;
• für die Vorrichtung durch die Merkmale des Anspruchs 7; und
• für die Verwendung der Vorrichtung durch die Merkmale der Ansprüche 21 bzw. 22 bzw. 23.

The solution of this task is carried out according to the invention

• for the method by the features of claim 1 ;
• for the device by the features of claim 7 ; and
• for the use of the device by the features of claims 21, 22 and 23, respectively .

Preferred developments of the inventive method and the inventive Devices are defined by the respective dependent claims.

The individual steps of the procedure can be at least partly in others Sequences are performed.

• Obwohl ein umfassenderes Testergebnis erzielt werden kann, sind - im Vergleich mit dem Zero-Test - keine zusätzlichen Einrichtungen erforderlich, um den Test durchzuführen.
• Das Verfahren ist in der Durchführung nicht aufwändig; die Hilfe von Spezialisten ist nicht erforderlich und das Verfahren kann auch ausserhalb von Schiessplätzen erfolgen.
• Das Verfahren ist umweltfreundlich; es entstehen keine Beschädigungen am Ziel, und es wird keine Munition verwendet; dadurch entfallen auch akustische Immissionen.

In the new method, as in the conventional zero test, real targets or manipulation targets are used, and there are projectiles or their trajectory - more precisely, the beginning and end of the trajectory - optically simulated; In contrast to the conventional zero test but a lead calculation is performed. It is not only tested whether the gun barrel follows the tracking fire control exactly, but it is also the accuracy of the derivative calculation included in the test. The advantages achieved are essentially the following:

• Although a more comprehensive test result can be obtained, no additional equipment is required to perform the test compared to the zero test.
• The process is not complicated to carry out; the help of specialists is not required and the procedure can also take place outside shooting ranges.
• The process is environmentally friendly; there is no damage to the target and no ammunition is used; This eliminates acoustic emissions.

The new process is very cost effective and easy to carry out, though it is - just like the conventional zero test - only a test procedure, the digestion gives about the totality of straightening errors including the lead calculation. Therefore, the method does not allow diagnoses about the causes of Pointing error. Corrections of the straightening errors can therefore only by error compensation but not by eliminating the cause of the error. However, this does not diminish the value of the process, since ultimately only the effect of the weapon system is significant and it is meaningless, whether straightening causally or compensatorily switched off.

• Auf Grund mehrerer Messungen der Zielposition erfolgt eine retrospektive Berechnung der Bewegungszustände des Ziels, das heisst es werden im Wesentlichen eine empirische Weg/Zeit-Kurve, eine empirische Geschwindigkeits/Zeit-Kurve und eine Beschleunigungs/Zeit-Funktion des Zieles bestimmt.
• Auf Grund der retrospektiven Berechnung der Bewegungszustände des Ziels erfolgt eine extrapolierende Berechnung von zukünftigen Bewegungszuständen des Ziels, das heisst es wird eine vermutete zukünftige Weg/Zeit-Kurve des Ziels bestimmt.
• Festgehalten werden Wertepaare von Fälligkeitszeitpunkten und Fälligkeitspositionen, nämlich
  • Fälligkeitszeitpunkte, zu welchem sich das Ziel an einer bestimmten Position befinden wird und
  • Fälligkeitspositionen, wo sich das Ziel zu den zugehörigen Fälligkeitszeiten vermutlich befinden wird.
• Jede Fälligkeitsposition wird jeweils für einen bestimmten Abschusszeitpunkt unter Berücksichtigung der Geschossgeschwindigkeit und der innerballistischen Werte des Geschosses derart bestimmt, dass ein Geschoss, das zu diesem Abschusszeitpunkt von der Waffe abgeschossen würde, zum Fälligkeitszeitpunkt an der Fälligkeitsposition eintreffen würde.
• Das Waffenrohr wird nun bezüglich Elevation und Azimut so eingestellt, dass es zu jedem Fälligkeitszeitpunkt auf die zugehörige Fälligkeitsposition gerichtet. Das Richten des Waffenrohres auf die Fälligkeitsposition kann in einem Richtzeitpunkt, der kurz vor dem Fälligkeitszeitpunkt liegt, erfolgen, wird aber vorzugsweise im Fälligkeitszeitpunkt durchgeführt.
• Die Bildaufnahmevorrichtung erfasst laufend oder zeitweilig, insbesondere aber zum Fälligkeitszeitpunkt oder mindestens in dessen unmittelbarer zeitlicher Nähe, die Fälligkeitsposition und ihre Umgebung; die dabei aufgenommenen Bilder werden mittels der Bildwiedergabevorrichtung sichtbar gemacht.
• Zum Fälligkeitszeitpunkt würde sich das abgeschossene Geschoss in der Fälligkeitsposition befinden und das Ziel befindet sich vermutlich in der Umgebung der Fälligkeitsposition. Die Fälligkeitsposition wird durch eine Marke im Bild der Bildwiedergabevorrichtung dargestellt und das tatsächliche Ziel wird abgebildet. Der Abstand zwischen der Marke und dem Bild des Zieles entspricht der Ablage eines Geschosss, das um die Geschossflugzeit vor dem Fälligkeitszeitpunkt mit Richtung auf die Fälligkeitsposition abgeschossen worden wäre.

The new process involves the following steps:

• On the basis of several measurements of the target position, a retrospective calculation of the motion states of the target takes place, that is to say essentially an empirical path / time curve, an empirical speed / time curve and an acceleration / time function of the target are determined.
• On the basis of the retrospective calculation of the motion states of the target, an extrapolating calculation of future motion states of the target takes place, that is, a presumed future path / time curve of the target is determined.
• Value pairs of maturity dates and maturity positions, namely
  • Due dates at which the target will be at a specific position and
  • Due dates where the target is likely to be at related due dates.
• Each maturity position is determined for a particular firing instant, taking into account the bullet velocity and the bullet's internal ballistic values, such that a bullet fired from the weapon at that firing time would arrive at the maturity position at the time of maturity.
• The gun barrel is now adjusted for elevation and azimuth to point to its due date position at each due date. Aligning the barrel to the due date position may occur at an indicative time point which is just before the due date, but is preferably performed at the due date.
• The image recording device detects continuously or temporarily, but in particular at the due date or at least in its immediate temporal proximity, the maturity position and its surroundings; the images taken are made visible by means of the image display device.
• At maturity, the bullet shot would be in the maturity position and the target is probably in the vicinity of the maturity position. The due date position is represented by a mark in the image of the image display device and the actual destination is displayed. The distance between the mark and the image of the target corresponds to the deposit of a bullet which would have been fired by the bullet flight time prior to the due date in the direction of the due date position.

As explained above, for the calculations of the flight behavior of the simulating projectiles only the internal ballistics of corresponding projectiles considered. This makes sense, since with the method only the straightening errors, ie only the internal behavior of the weapon system, to be tested.

In the new method, the steps described above are carried out continuously and preferably clocked, which means that the calculation steps for the value pairs due dates / due dates at calculation dates be carried out by very small and preferably the same Time intervals are separated. The image display device thus shows continuously for a whole Zieltrajektorie the straightening errors of the weapon system.

Each due date is preferably based on a calculation time therefore, it does not generally coincide with any of the following Calculation times together. When straightening the gun barrel too Therefore, a calculation date must generally have the appropriate due date determined by an interpolation between maturity positions whose due dates are close to the calculation date associated due date.

For the new method, the calculations must be based on the deviation of the locations of the fire control and the weapon are taken into account. The procedure can also be performed when the weapon relative to the fire control moved, that is, for example, mounted on a moving tank. In In this case, the changing weapon position must constantly be measured and be included in the calculations.

The movement of a weapon relative to the fire control device described above is not to be confused with vibrational movements of a weapon that is itself on a moving platform, for example aboard a ship or tank, located. Weapons on ships and tanks can be both locomotives also perform vibration-like and shaking movements. For compensation Such oscillatory movements have the ships or tanks in the Generally about stabilization systems. The new procedure will be vibratory Movements compensated by stabilization systems should not be included in the calculations. This means that the test track according to the new method not only the functions of the weapon system between tracking the target and aiming the barrel while taking into account includes the derivative calculation, but also the effect of stabilization systems includes.

When assessing the results of the new procedure must be considered In general, the hit of a weapon system tends to be better is assumed to be due to the images appearing on the image display device first, because the antiaircraft guns used as weapons usually have several weapons tubes, secondly, because in one Weapon system a fire control usually several weapons are assigned and third, because when shooting with real bullets always with scatters is to be expected. However, it is also to be considered that the new procedure The external ballistics, which can affect the hit negative, not includes.

For performing the above-described method, an image pickup device and one with the image pickup device via a connection device related image display device used. In addition, a data processing unit with the required software and a storage unit are available.

In a preferred embodiment of the invention, the image display device is so connected to the image pickup device that the recorded Immediately play back images.

For example, a video camera may be used as the image pickup device.

There are different variants for the arrangement of the image recording device. Assuming at least approximately elongated trajectories, the most accurate test results achieved when the optical axis of the image pickup device coincides with the weapon barrel axis. This is not true at all Montagevarianten possible, but in principle should be striven that the optical axis of the image pickup device and the Waffenrohrachse possible to match. A first variant is the attachment of the image pickup device on or in the barrel, though, so that their optical axis with the weapon barrel axis coincidentally, that means directionally and in terms of location with her matches. A second variant is the attachment of the image pickup device on the barrel, in such a way that its optical axis with the weapon barrel axis directionally but not in line. A third variant is the attachment of the image pickup device to the gun barrel, and indeed so that their optical axis neither directionally nor positionally with the Weapon barrel axis coincides. In the second and the third variant of Attachment of the imaging device may be prior to beginning the actual procedure the difference between the optical axis of the image pickup device and weapon barrel axis, for example by means of adjusting tube mounted in the barrel, determined and in the subsequent process steps as compensatory Correction either purely optically or by consideration in the calculations be included. Such a correction can be dispensed with, if at least the positional difference between the optical axis the image pickup device and weapon barrel axis compared to the distance between weapon and target is relatively low.

If the image pickup device is mounted so that its optical axis with the Gun barrel axis coincides, so it can only temporarily attached to the weapon become.

However, if the image pickup device is mounted so that its optical axis is in position not coincide with the weapon barrel axis, so it can definitely be attached to the weapon. The advantage of this is that the method according to The invention then be carried out practically at any time and without preparation can; For example, it can be tested quickly, whether failures in combat of targets on missive of the weapon system or on unexpected ones Target movements are based. The fixation must be relatively robust, especially when the image pickup device is attached directly to the gun barrel because it is subject to great shock during regular shooting.

To mount the image pickup device to the weapon are usually suitable Fixing agent used. Preferably, it is taken into account that the weapons in the field may be exposed to large temperature differences

As the image reproducing apparatus, a monitor is usually used. The image reproduction device is designed so that in the visualization of the Imaging device supplied images a mark, for example, a crosshair coordinate system or a corresponding field becomes visible; the Mark, that is, the origin of the crosshair or coordinate system or the corresponding field represents the straightening straight line, below which is the weapon barrel axis extending straight line is understood. If the goal coincides with the mark together, there is no shelf and the directional accuracy is perfect, which does not exclude that several errors in the timing chain between the tracking of the target and the aiming of the gun barrel occur, the but pick up. By additional markings or calibrations can at the Image reproduction device the extent of the tray are read.

The connecting device between the image pickup device and the image reproduction device may be a conventional cable connection, a fiber optic connection or a non-material connection to a transmitter on the image capture device and a receiver on the image display device. Non-material connection devices have the advantage that no tangling arises when the gun barrel at a large angle, if necessary. To more as 360 °, is pivoted. But they are easily disturbed. Become material connection arrangements used, which are less susceptible to interference, so must Measures to be taken to prevent wide-angle pivoting of the Gun barrel to prevent tangling; this can rotate against each other Used contacts or cables, for example, led over a kind of gallows become.

As a data processing unit can generally associated with the weapon system Data processing unit can be used. This unit can only on the fire control unit or partly on the fire control unit and partly on the weapon be arranged by yourself. It can also be a separate and if necessary. Of weapon and Fire control unit separate computer and / or storage unit can be used, the if necessary, can be switched in a modular manner.

As mentioned above, the relative position, ie the distance and the Angular position, be known between weapon and fire control and in the calculations be taken into account.

If both the weapon and the fire control unit are stationary, this is relative Location the constant gun parallax. The gun parallax must be started of the method. To determine the gun parallax used a position measuring device. This can be a complete one external device in the manner of a triangulation device or a internal device of the weapon system or one cooperating with a GPS Institution act.

The relative position between the weapon and the fire control device can also change, for example, if the weapon is moving on a moving vehicle, to Example on a tank, is mounted while the fire control is stationary. In this case, the ongoing change in relative position must be recorded and To be taken into account in the calculations that are being carried out of the procedure. The position measuring device can therefore not be purely external Be institution. The position measuring device is connected to the data processing system connected and the software must be trained to ongoing change of relative position in the calculations of the procedure.

Fig. 1

ein ortsfestes Waffensystem, wobei sich Feuerleitgerät und Waffe in derselben Position befinden, sowie ein Ziel und ein Geschoss in verschiedenen Lagen während der Durchführung des Verfahrens;

Fig. 2

eine Bildwiedergabevorrichtung mit einem visualisierten Bild;

Fig. 3

ein ortsfestes Waffensystem, wobei sich Feuerleitgerät und Waffe nicht in derselben Position befinden, sowie ein Ziel und ein Geschoss in verschiedenen Lagen während der Durchführung des Verfahrens;

Fig. 4

ein Waffensystem mit einer auf bewegtem Vehikel montierten Waffe in zwei Stellungen und einem ortsfesten Feuerleitgerät, sowie ein Ziel und ein Geschoss in verschiedenen Lagen während der Durchführung des Verfahrens.

Further details and advantages of the invention will be described below in detail by way of example and with reference to the drawings. Show it:

Fig. 1

a fixed weapon system, with the fire control and weapon in the same position, and a target and a projectile in different positions during the performance of the process;

Fig. 2

an image reproduction apparatus having a visualized image;

Fig. 3

a fixed weapon system, with the fire control device and weapon not in the same position, and a target and a projectile in different positions during the execution of the process;

Fig. 4

a weapon system with a weapon mounted on a moving vehicle in two positions and a fixed fire control, and a target and a projectile in different positions during the implementation of the method.

The method according to the invention will be explained with reference to FIGS. 1 to 4 ; the processes are described in a calculation time Tc; in fact, these calculations are performed continuously or repeatedly in a plurality of consecutive calculation times.

Fig. 1 shows a weapon system to be checked for its directional accuracy or whose straightening errors are to be determined. The weapon system has a Feuerleitgerät F and a weapon W with a gun barrel B and judging means for straightening the gun barrel on; for simplicity, it is assumed that the fire control device F and the weapon W are in the same position. The barrel axis and its extension beyond the weapon barrel B are designated B.1 . The weapon system is a data processing system EDV associated with the software required for the usual shooting operation S.

To carry out the method according to the invention, the weapon system W has an image recording device V, an image reproduction device M and a computer unit with a specific software S.1 .

The image pickup device V is, for example, a video camera. The image pickup device V is designed to take pictures of the space that lies in front of the weapon barrel B. For this purpose, the image pickup device V is arranged so that it executes the directional movements of the weapon barrel B in solidarity with the weapon barrel B. The image pickup device V is arranged, preferably on the weapon W or on or in the weapon barrel B, so that its optical axis coincides exactly with the weapon barrel axis B.1 or differs so slightly from the weapon barrel axis B.1 that this deviation is responsible for the results of the method according to the invention is insignificant. Alternatively, the image pickup device V can also be arranged so that its optical axis deviates in the direction and / or position of the weapon barrel axis B.1 in a non-negligible mass, but that this deviation is detected and compensated within the method according to the invention.

The image reproduction apparatus M is, for example, a monitor. It is connected to the image pickup device V and intended to make the images taken by the image pickup device V visible.

The computer unit can be integrated into the data processing system EDP ; this arrangement is common practice and also met in the example described; The function of the computer unit is thus perceived by the already existing data processing system EDP of the weapon system, so that only the specific software S.1 is additionally required.

Fig. 1 also shows a target Z which has taken position Pa at time Ta and position Pb at time Tb , and which occupies position Pc at time Tc . The target Z moves on a target trajectory; in Fig. 1 , the portion z of the target trajectory which has flown through before time Tc is shown by a solid line, while that portion z + of the target trajectory which is presumed to be traversed after time Tc is shown by a dashed line; a dot-dash line represents that portion z + eff of the target trajectory, which is actually traversed after the time Tc , but which is not yet known at the time Tc .

The target Z is followed or tracked by the fire control device F , and the state of motion of the target Z is determined. The target Z had the position Pa and the associated movement state at time Ta , and the position Pb and the associated movement state at time Tb . The data processing system EDV, which is assigned to the weapon system, calculates at the time Tc retrospectively the movement state of the target Z , which includes the section z - the target trajectory, until the time Tc .

At the time Tc , which is assumed to be a calculation time, a derivative calculation is performed in a manner known per se. On the basis of the determined states of motion of the target Z , the data processing system EDV calculates by an extrapolation the expected future motion state of the target Z, which corresponds to the target trajectory z + . A so-called maturity date T * and an associated maturity position P * are determined in such a way that a bullet G which would be launched at the time Tc by a weapon barrel B of a weapon W would arrive at the maturity position P * at the maturity date T * . In the calculation, the projectile velocity and the internal ballistics of the projectile P are included. If there is a deviation of the position of the weapon W from the position of the fire control device F, ie a gun parallax, then this deviation must also be included in the calculation. At this due date T * , the target Z is also expected in the vicinity of the corresponding due date position P * . The target Z presumably does not reach the expected due date position P * precisely because its actual state of motion generally does not correspond to the calculated state of motion, so that the actual target trajectory z + eff does not coincide with the expected target trajectory z + or is traversed in time at the time calculated.

The derivative calculation is carried out continuously in successive calculation times. The value pairs T *, P * determined for respectively associated due dates T * and due positions P * of the target Z are stored in a memory of the data processing system EDV in the manner of a table. This table is continuously updated on the basis of further determinations of movement states of the target Z continuing on the section z + eff of the target trajectory . As soon as the due time T * has been reached, the weapon barrel B is directed to the due position P * . In general, however, the due date T * will not coincide exactly with one of the calculation times. In this case, the calculation date used immediately after the due date T * , which does not belong to one of the stored value pairs, is used as the due date. The maturity position associated at this time, which, of course, also does not belong to one of the stored value pairs, is then determined by interpolation between the value pair T * / P * and an adjacent value pair from the stored value pairs of maturity items and maturity dates. If a real projectile G were shot down to the maturity position P * at the time Tc , it would fly along a projectile trajectory g and would arrive at the maturity position P * in the due date T * . The target Z is in the due date T * in the environment A of this maturity position P *, so that almost certainly a hit would be made if the bullet G had actually been shot down. For these calculations a software S.1 is used.

Conventionally, the aiming of the gun barrel B to the respective maturity position when shooting at the beginning of the projectile flight duration and for the purpose of launching a projectile; According to the invention, the direction of the weapon barrel is only at the end of the projectile flight time and thus at the due date for the purpose of taking a picture.

In the due date T * , the data processing unit EDV provides a signal on the basis of which the aiming means direct the weapon barrel B to the due position P * . An image of this due date position P * and its environment A is taken by the image recording device V at the time of maturity T * . This image is visualized with the aid of the image reproduction device V.

The alignment of the gun barrel B and the shooting of the image are also continuous.

On the visualized image of the environment A can be seen according to FIG. 2, a mark X, which represents the extension of the weapon barrel axis B1 . If the projectile G had been shot down at the time Tc , this mark X would correspond to the end of the projectile trajectory g . On the visualized image is also visible, with a certain shelf of the mark X , the image of the target Z , which is also denoted by Z. The tray a of the image of the target Z of the mark X is a measure of the aiming error of the weapon system. Had the weapon system no straightening error, the image of the target Z and the mark X would coincide.

With the aid of FIG. 3 , which is not in the form of a scale, the processes described above are shown again, but it is assumed here that there is a distance d between the fire control device F and the weapon W. The relative position of fire control device F and weapon W is measured by a position measuring device WF , which is shown in Figure 4 ; this may be an internal position-measuring device of the weapon system or a completely external position-measuring device. At time Tc , the fire control device F , or its search and track unit, is effective in a region C , the target Z is in the position Pc, and the weapon barrel B would be directed to the due position P * , if one missile were intended To shoot G ; this bullet G would still be in barrel B at the beginning of its projectile trajectory g, which it would fly through after the launch. At the due date T *, ie after the end of the projectile flight duration during which the projectile G would be on the way, the target Z is near the maturity position P * and the weapon barrel B is directed to the maturity position P * . The straightening error is shown in FIG. 3 as angle ρ.

4 shows a weapon system with a fixed fire control device F and a weapon W mounted on a moving vehicle Q , which is shown in two positions; the distance d and the angular position δ between the fire control device F and the weapon W change over time; they amount at the time Tc d1 and δ 1 and the time T * d2 and δ2. The weapon system W has an internal position- measuring device W-F or a position- measuring device W-F cooperating with a GPS , which is connected to the data processing system EDV . The software S.1 is also designed to include the ongoing change in the distance d and the angular position δ between weapon W and fire control device F in the calculations.

Claims (23)

1. Method for assessing the aiming errors of a weapon system exhibiting

   a fire control unit (F) to track a target (Z),

   a weapon (W) with a weapon barrel (B),

   means for aiming the weapon barrel (B), and

   a data processing unit (EDV), whereby

   the fire control unit (F) tracks the target (Z) and the means for aiming aims the weapon barrel (B),

   an imaging device (V) solidly joined to and moved with the weapon barrel. (B) repeatedly acquires images of the target (Z) and its surrounds, and

   an image display device (M) visualizes the images acquired by the imaging device (V) and a marker (X), said marker representing a point on a straight-line aim of the weapon (W), whereby a deviation (a) of an image of the target (Z) from the market (X) represents the aiming error of the weapon system,

   characterized in that

   aiming of the weapon barrel (B) is performed on the basis of a lead calculation that considers the movements of the target (Z) and a projectile (G) to be fired from the weapon barrel (B) to detect the totality of the aiming error including the lead calculation.
2. Method according to claim 1,
   characterized in that

   the fire control unit (F) repeatedly conducts measurements in tracking the target (Z) to detect positions of the target (Z) and times at which the target (Z) assumes these positions,

   the data processing unit (EDV) repeatedly, at a time (Tc) selected as the time of calculation,

   calculates the previous movement status of the target (Z) on the basis of the measurements by the fire control unit (F),

   calculates the expected future movement status of the target (Z) on the basis of the previous movement status of the target (Z),

   determines intercept times (T*) and associated intercept positions (P*), allowing for a difference (d, δ) between the positions of the weapon (W) and the fire control unit (F), and the velocity and internal ballistics of usable projectiles (G), in such a way that at the intercept time (T*) a projectile (G), if fired at the time of calculation (Tc), would arrive at the intercept position (P*), and the target (Z) arrives in the surrounds of the intercept position (P*),

   sends the means for aiming the weapon barrel (B) a signal when an aiming time (T ⁰ *) is reached,

   the weapon barrel (B) is aimed at the intercept position (P*) at the latest at the associated intercept time (T*), whereby the deviation (a) corresponds to an aiming error allowing for the lead calculation.
3. Method according to claim 2,
   characterized in that
   the aiming time (T ⁰ *) coincides with the intercept time (T*).
4. Method according to one of the preceding claims,
   characterized in that
   delays produced by the method, in particular delays in transmitting signals to the means for aiming the weapon barrel (B), are considered in the calculations.
5. Method according to one of the preceding claims,
   characterized in that
   the difference (d, δ) between the position of the weapon (W) and that of the fire control unit (F) is repeatedly measured, and changes in this difference (d, δ) are continuously considered in calculations.
6. Method according to one of the preceding claims,
   characterized in that
   a deviation between a weapon barrel axis (B.1) and an optical axis of the imaging device (V) is determined, and said deviations are considered in display of the images from the imaging device (V) by the image display device (M).
7. Weapon system with a device (M, V, S.1) for assessing the aiming errors of the weapon system,

   said weapon system exhibiting

   a fire control unit (F) to track a target (Z),

   a weapon (W) with a weapon barrel (B),

   means for aiming the weapon barrel (B), and

   a data processing unit (EDV) with software (S), whereby

   the fire control unit (F) possesses a sensor device to measure the particular positions of the target (Z), and whereby

   the device (M, V, S.1) exhibits

   an imaging device (V) solidly joined to and moved with the weapon barrel (B) to acquire images of the target (Z) and its surrounds,

   an image display device (M) to visualize the acquired images and a marker (X), said marker representing a point on a straight-line aim of the weapon (W), whereby a deviation (a) of an image of the target (Z) from the market (X) corresponds to the aiming error of the weapon system,

   characterized in that

   the data processing unit (EDV) is designed to

   repeatedly calculate the previous movement status of the target (Z),

   repeatedly, at a time (Tc) selected as the time of calculation, perform a lead calculation in order to determine, allowing for the previous movement status of the target (Z) and the velocity and internal ballistics of usable projectiles (G), an intercept time (T*) and an intercept position (P*)

   
   in such a way that at the intercept time (T*) a projectile (G), if fired at the time of calculation (Tc), would arrive at the intercept position (P*), and the target (Z) arrives in the surrounds of the intercept position (P*), and

   • additional software (S.1) is provided for the data processing unit (EDV) in order to send a signal to the means for aiming, as a result of the lead calculation, so that the weapon barrel (B) is aimed at the intercept position (P*) at the intercept time (T*), whereby the aiming error, visualized by means of the imaging device (V) and the image display device (M), is the totality of the aiming error including the lead calculation.
8. Weapon system according to claim 7,
   characterized in that
   the weapon barrel (B) is aimed at the intercept position (P*) at the intercept time (T*).
9. Weapon system according to one of the claims 7 and 8,
   characterized in that
   the image display device (M) is so designed and connected to the imaging device (V) that the recorded images are immediately visualized.
10. Weapon system according to one of the claims 7 through 9,
    characterized in that
    the imaging device (V) is a video camera.
11. Weapon system according to one of the claims 7 through 10,
    characterized in that
    the imaging device (V) is arranged so that an optical axis of the imaging device (V) coincides with a weapon barrel axis (B.1).
12. Weapon system according to one of the claims 7 through 11,
    characterized in that
    the imaging device (V) is arranged so that an optical axis of the imaging device (V) corresponds at least in its direction and preferably also in its attitude to that of a weapon barrel axis (B.1).
13. Weapon system according to one of the claims 7 through 12,
    characterized in that
    the imaging device (V) is temporarily attached to the weapon (W).
14. Weapon system according to one of the claims 7 through 12,
    characterized in that
    the imaging device (V) is permanently attached to the weapon (W).
15. Weapon system according to one of the claims 7 through 14,
    characterized in that
    the image display device (M) is a monitor.
16. Weapon system according to one of the claims 7 through 15,
    characterized in that
    it comprises a device to measure a deviation of an optical axis of the imaging device (V) from a weapon barrel axis (B.1) in order to compensate said deviation in visualization of the images from the imaging device (V).
17. Weapon system according to claim 16,
    characterized in that
    the data processing unit (EDV) is designed to perform calculations to determine the necessary compensation of the deviation of the optical axis of the imaging device (V) from the weapon barrel axis (B.1) in visualization of the images from the imaging device (V).
18. Weapon system according to one of the claims 7 through 17,
    characterized in that

    it exhibits a position measuring device (W-F) to continuously measure the change in the position of the weapon (W) relative to the fire control unit (F) upon movement of the weapon (W), and

    the data processing unit (EDV) is designed to continuously include changes in the relative position of the weapon (W) in its calculations.
19. Weapon system according to claim 18,
    characterized in that
    the position measuring device (W-F) is an internal device of the weapon system.
20. Weapon system according to claim 18,
    characterized in that
    the position measuring device (W-F) is a device working with external means, for example with GPS.
21. Use of the weapon system according to one of the claims 7 through 20,
    characterized in that
    the weapon (W) is mounted on a vehicle (Q), and the fire control unit (F) is stationary.
22. Use of the weapon system according to one of the claims 7 through 20,
    characterized in that
    the weapon (W) and the fire control unit (F) are mounted on a vehicle (Q).
23. Use of the weapon system according to one of the claims 7 through 20,
    characterized in that
    the weapon (W) is mounted on a vehicle (Q) that subjects it to vibration and/or jolting and is stabilized in relation to this vehicle (Q) by a stabilizing means.

Images