EP1450125A1 - Method and device for fighting against a target - Google Patents

Abstract

A three-dimensional sensor device (32) ascertains target (17) position data details, and derivative action for the directional projectile firing weapon (34,36) (delta alpha (t), delta lambda (t)), then communicates the ascertained details to the weapon (34,36) followed by roughly lining up the weapon (34,36) followed by precisely lining up the weapon (34,36). The ascertainment, evaluation and communication is repeated so that the weapon (34,36) is capable of following the moving target taking into account the instantaneous derivative action (delta alpha (t), delta lambda (t)). An independent claim is included for a device for weapon system for combating a moving target.

Description

The invention relates to a method according to the preamble of claim 1 and a device for performing this method according to the preamble of Claim 10. The priority of the CH patent application 2003 0212/03 from Claimed February 12, 2003.

Methods and devices of this type can in particular - but not exclusively - be used for ground / air control of flight destinations.

The anti-aircraft weapons originally used to combat flight targets, in particular Anti-aircraft guns were operated by the gun teams Visual or manual target acquisition, target tracking and aiming the gun barrels. It is obvious that with such simple anti-aircraft guns poor visibility and when fighting fast flying Flight destinations could only achieve unsatisfactory results.

The anti-aircraft guns were therefore by sensors and computers or fire control devices to weapon systems, with which the probability of being hit also essential in poor visibility and rapidly moving flight destinations could be increased. Modern weapon systems of this type have in Generally at least one sensor system and one computer system, the Sensor system consisting of an actual sensor unit and a tracking unit, which is also called a tracker.

The sensor unit usually works in a large area, with a relative low rate and with a high detection capability you will in a first combat phase and is used to find a flight destination and identify.

The tracking unit typically works in a more restricted area than the sensor unit, at a higher rate than the sensor unit, however with a lower detection capability due to a smaller search angle than the sensor unit. The tracking unit will be in a second combat phase, after the sensor unit. This is the tracking unit instructed by the sensor unit on the flight destination and it is used for tracking the already recognized destination.

In the second combat phase, the weapon barrel is continuously in the direction of the Meeting point directed, and that with a reserve. For the determination of the lead are the movement variables of the flight destination, that is its speed and acceleration, as well as that Ballistics of the projectiles to be shot. Such weapon systems are indeed very efficient, but they also have disadvantages, in particular due to the high Production and maintenance costs are justified.

In order to get relatively inexpensive weapon systems that still have a have high marksmanship, an attempt was made to conventional simple anti-aircraft guns by upgrading with suitable additional devices, an increase in combat value to rent. Such solutions can be used for individual anti-aircraft guns a satisfactory increase in combat value can be achieved. However, fall here relatively high costs, mainly due to those working at high rates and relatively expensive tracking units and through those for processing the large amount of data supplied by the sensor units are. This is particularly the case with small and medium caliber guns The benefit / cost effect is unsatisfactory and such retrofitting is not justified.

• ein Verfahren vorzuschlagen, welches mit verhältnismässig geringen zusätzlichen Mitteln zu einer hohen Kampfwertsteigerung einer richtbaren Waffe führt, und
• eine Vorrichtung zu schaffen, mit welchem dieses Verfahren durchgeführt werden kann.

The object of the invention is seen in

• propose a method which leads to a high increase in combat value of a directional weapon with relatively little additional means, and
• to provide a device with which this method can be carried out.

• für das Verfahren durch die Merkmale des Anspruchs 1, und
• für die Vorrichtung durch die Merkmale des Anspruchs 10.

This task is solved

• for the method by the features of claim 1, and
• for the device by the features of claim 10.

Preferred developments of the inventive method and the inventive Device are by the respective dependent claims 2 to 9 or 11 to 19 defined.

The invention is based on the principle, 3D data, one or more targets relate directly to one or more judicial weapons, and without the interposition of trackers. Are under directional weapons to understand individual weapons as well as batteries or groups of weapons, which can deliver elements reaching the goals, for example projectiles or missiles fired from directional gun barrels. 3D data in the context of the invention include, for example, side angles, Elevation angle and distance of an object in relation to the sensor or weapon.

In addition, the sensor can be designed such that it detects the radial speed of the target. Under the concept of aiming the weapon in Furthermore, straightening a gun barrel or another suitable device be understood to deliver the elements to the goals.

• Für ein einfaches Waffensystem, wie es im folgenden detailliert beschrieben wird, werden für die Grobeinrichtung die berechnete Zielposition und für das Feinrichten nur ein Vorhalt und - falls ein Ziel nicht optisch erfassbar ist - zusätzlich noch die berechnete Zielposition übermittelt.
• Für den Einsatz von Missiles werden die Zielposition und ein Vorhalt, der an das Navigationssystem des jeweiligen Missiles angepasst ist, übermittelt.
• Für automatische Waffensysteme wird ausschliesslich der Vorhalt mit dem jeweiligen Gültigkeitszeitpunkt übermittelt.

An advantage of this invention is that the target state determined by the sensor and the computing unit can be provided for different, completely different weapon systems.

• For a simple weapon system, as will be described in detail below, the calculated target position for the coarse device and only a lead for fine adjustment and - if a target cannot be detected - the calculated target position are also transmitted.
• For the use of missiles, the target position and a lead that is adapted to the navigation system of the respective missile are transmitted.
• For automatic weapon systems, only the advance is transmitted with the respective time of validity.

With the new method it is possible to fight one or more targets, especially with ballistic projectiles or with missiles. Here are first of all acquires data with the aid of a 3D sensor unit of a sensor device, the information about a monitored room and in particular about the included goals. Second, the data collected is through a computer unit of the sensor device is evaluated, data being determined, which, for the fight against each target, the location of the target and one of the Describe the gun barrel to be maintained. When determining the advance can give an approximate target speed and the respective time of validity of the sensor data are taken into account, which previously from the recorded Data were determined. The computing unit is able to record the data to be analyzed and evaluated in such a way that if there are several goals in the monitored space each target is assigned its specific data and the data are evaluated according to target-specific. The so determined Information is provided to the weapon or, if necessary, several weapons. There is a rough judging of each weapon barrel, the weapon assigned a target was held on a target room in which the assigned target is located; in this connection the advance is not taken into account. Subsequently, a fine adjustment of the Gun barrel instead, taking the lead into account. The steps of the process repeat themselves so that with each gun barrel, taking into account each the current reserve, the target assigned to it is followed.

With the invention, a device is obtained which in combination with or results in several simple barrel weapons a weapon system, in which one Combat value increase of a simple weapon, for example a conventional one Guns that can be directed visually and manually are made by using the gun the new device, essentially with a 3D sensor device, is coupled, which comprises a sensor unit and a computer unit. In contrast sophisticated weapon systems do not become a tracking unit or a tracker still needs an additional fire control device, so that the Costs for increasing combat value are low and, for example, for small and medium caliber guns, especially anti-aircraft guns, and for portable Guns, worth it; are not just the procurement and maintenance costs therefore less, but also the operation, especially the set-up or Localize the various components of the weapon systems before each use are reduced. Another important advantage of the invention is to see that you can get by with just one sensor device; with conventional Systems with sensor devices and tracking devices or trackers, as mentioned above, is often a first sensor type for Searching for targets and a second type of sensor for tracking or tracking the Goals set; apart from the additional effort involved in setting up more equipment can pass a target from the first to the second sensor type Difficulties that are avoided with the invention, as for the target processing only a single sensor unit is used. One more Another advantage of the invention is that in the event of a failure of the 3D sensor unit and / or the weapon does not also fail in the computer unit, but, although less efficient, can continue to be used in the conventional way remains.

The information provided to or transmitted to the weapon for example the side angle, the elevation angle and the one to be observed Lead, which is preferably given as an angle pair or vector. On Data record from side angle, elevation angle and lead is in one specific time for a target and a weapon.

The gun barrel can be fine-tuned with non-fully automatic weapon systems with the help of an optical, analog display, as below described with reference to a weapon system with a device according to the invention becomes; but it can also be acoustic indicators or visual non-analog Ads are used. With fully automatic weapon systems Ads are not required for the function, but can be used for control purposes be provided.

This new device is designed so that it is running, synchronous or asynchronous, for example provided with the respective validity period, the three-dimensional one Target position of the target recorded. For example, a 3D radar unit used with a suitable computer unit. For every Corresponding data are determined for the target position, for example when using a 3D radar unit as sensor unit two coordinates in the form of angle values and, for example, taking advantage of the Doppler effect, the distance of the target from the sensor unit. This creates a three-dimensional target space determines in which the target is located. The weapon or the barrel become the approximate side angle and the approximate elevation angle provided, and the gun barrel is by rough direction aimed at the target area or approximately to the target. Once the sensor unit your computer unit determines two sequential positions of the same target from this the target speed. With the values determined so far both the track, that is, the actual diameter of the target as well, by extrapolation and therefore approximate, the expected trajectory, that is, the path of the target that is still to be measured is known. In In general, however, the goal will not become reality exactly on this move the expected trajectory. Taking into account an approximate Target speed, which is preceded by the data of at least two Three-dimensional lead is also determined, which is to be observed by the weapon barrel or the weapon barrel of the weapon. From the previously determined target position, that is, from the previously determined coordinate information or distances, and taking account of the lead an adjustment is carried out in such a way that the weapon barrel corresponds to the calculated Meeting point follows where it should meet with the target will probably meet the target. It is obvious that yourself the expected movement path with a larger number of recorded target positions and the lead can be determined with greater accuracy.

The determined distance from the sensor unit to the target must be the weapon for the Coarse and fine straightening cannot be provided. This distance must only be considered to decide whether the goal is when that Gun barrel is directed, also located within the maximum distance in which with the usable weapons and projectiles and, if necessary, taking into account the ballistic data can be used to combat the target.

For fine adjustment, the weapon preferably comprises an optical, analog display such as a visor. The location of a target that corresponds to the calculated calculated meeting point is calculated and calculated using the display made visible. At the same time, a destination is visualized with the help of the display, either by the target being directly visible, or by the visible target is mapped real, or by showing a virtual representation of the target becomes. The gun barrel is set up by holding the gun barrel as long appropriately moved until the target and destination coincide. After this are a final side angle and a final elevation angle of the gun barrel set. Projectile launch is initiated as soon as the target mark and destination are covered as completely as possible is. The projectiles are always fired at a meeting point, the the calculated advance is taken into account.

If the target is visible, the weapon barrel is at the moment the projectiles are fired aimed at a meeting point that is on the expected actual trajectory of the goal. The target location and the target mark coincide on launch the projectile exactly, it is shot at a meeting point, which by the actual position of the target at the moment of the launch and by the lead calculated based on the recorded target positions. at Use of a suitable visor, for example a reflex sight what can be seen through is preferably used as a daylight destination and good visibility, the actual target visible in the sight. In this case, it is sufficient to use the lead Δα (t), Δλ (t) as the target state Deliver weapon.

At night or when visibility is poor, such as in clouds or fog, the flight destination is not recognizable to the eye and therefore cannot be visualized immediately. The location of the destination is then targeted based on a calculation determined and visualized from the data provided by the sensor unit, whereby the location of the target is indirectly represented, so that only a virtual image of the target is visible. However, with an indirect one Representation of the location of the target accepted a certain inaccuracy be almost complete in the immediate representation of the goal is avoided, because the determination of the meeting point is additional the calculated reserve, not the actual visually determinable destination, but based on the calculated destination. It is nevertheless a major advantage of the invention that with the new device weapon systems can also be used to combat objectives for the human eye are not immediately recognizable. So in this case as the target state the target position α (t), λ (t) and the lead Δα (t), Δλ (t) to the weapon delivered.

Both rough straightening and fine straightening can be done manually or if necessary. done by manually activated gun servos. By using more suitable A completely automatic straightening of the weapon barrel can also take place, the display or the visor can be dispensed with.

When calculating the meeting point, the relative position of the weapon or the Weapons for the sensor unit, i.e. the gun parallax, must be taken into account. Are some weapons in each case, in particular guns or rocket launchers Batteries summarized, so only a medium gun parallax can be used for each battery all weapons of this battery are determined or taken into account.

In the case of sensor devices operating synchronously or asynchronously, in particular 3D radar units, is, as mentioned above, the target detection rate of the sensor units generally not very high. It is therefore advantageous to choose between Information from two successive target positions based on the Information from the sensor unit was determined, further information, in particular further approximate side angles, further approximate elevation angles and to determine further lead angles. If this is done by interpolation, then should the interpolation steps on the target detection rate of the search sensor device be coordinated. Details for the area between a first and the following captured target positions can be used instead of a pure interpolation between the data of the first and the following target position the evaluation or consideration of information from previously recorded target positions determine. The target state data that is delivered to the weapon thus have a higher rate than the input data of the sensor.

In a preferred development of the invention, the device not only an interface for connection to a weapon, but n interfaces for Coupling with n weapons.

The sensor device is designed to transmit the acquired data to multiple targets assign in the monitored room or make out which data a certain one Affect goal and assign it to this goal.

The weapons that can be coupled with the new device do not have to be the same Construction. For example, a battery can consist of several weapons are formed, the weapons of which all fight the same target, reducing the likelihood of being hit is further increased. With multiple weapons or with multiple Batteries can also be used to combat multiple targets simultaneously a target for combat is assigned to each weapon or battery. A fire control officer can assign targets to specific weapons based on direct observation or automatically or with the support of Computer unit done.

If different weapons and / or different projectiles are used, that differ in range, spread, speed or impact and if the sensor unit recognizes different target types, these become Findings advantageously taken into account when assigning weapons.

A particularly suitable sensor unit is a 3D radar unit with which two angles, corresponding to the side angle and the elevation angle of the target regarding the sensor and, e.g. by taking advantage of the Doppler effect, the distance is detectable between the sensor unit and the flight destination.

The new weapon system is particularly, but not exclusively, suitable for Retrofitting and increasing combat value of flak weapons such as light and medium Anti-aircraft guns, for example with calibers from 20 mm to 40 mm and a cadence in the range of 1000 rds / min.

It should also be noted that the new method and the new device not only to aim weapons at targets but also to instruct them from any observation or image recording devices to be observed Objects and especially for instructing trackers can.

Fig. 1A

ein Waffensystem nach dem Stand der Technik, mit einer Sensoreinrichtung und mehreren Trackern, in stark vereinfachter Darstellung;

Fig. 1B

ein Waffensystem mit einer Vorrichtung nach der Erfindung, in gleicher Darstellung wie Fig. 1A;

Fig. 2A

eine Vorrichtung nach der Erfindung, und ein Display für das Grobrichten eines Waffenrohres, in vereinfachter, schematisierter Darstellung;

Fig. 2B

eine optische Anzeige, die der Waffe eines Waffensystems zugeordnet ist, das die Vorrichtung gemäss Fig. 2A aufweist, mit einem visualisierten, im Raum sichtbaren Ziel, in einem ersten Zeitpunkt, in vereinfachter Darstellung;

Fig. 2C

die in Fig. 2B dargestellte Anzeige, mit dem visualisierten , im Raum sichtbaren Ziel, in einem zweiten Zeitpunkt, in gleicher Darstellung wie Fig. 2B;

Fig. 3A

die in Fig. 2A dargestellte Vorrichtung nach der Erfindung, mit dem Display, in gleicher Darstellung wie Fig. 2A;

Fig. 3B

die optische Anzeige der in Fig. 3A dargestellten Einrichtung, mit einem visualisierten aber im Raum unsichtbaren Ziel, in einem ersten Zeitpunkt, in gleicher Darstellung wie Fig. 2B;

Fig. 3C

die in Fig. 3B dargestellte Anzeige, mit dem visualisierten aber im Raum unsichtbaren Ziel, in einem zweiten Zeitpunkt, in gleicher Darstellung wie Fig. 2C;

Fig. 4

eine Vorrichtung nach der Erfindung, welche mit zwei Waffen zu einem Waffensystem gekoppelt ist, in vereinfachter, schematisierter Darstellung;

Fig. 5

ein Waffensystem, welches eine Vorrichtung nach der Erfindung und mehrere Waffen umfasst, in vereinfachter, schematisierter Darstellung; und

Fig. 6

die Wirkungsweise eines Waffensystems mit einer Vorrichtung nach der Erfindung, in vereinfachter, schematisierter Darstellung.

Further details and advantages of the invention are described below using examples and with reference to the drawing. Show it:

Fig. 1A

a weapon system according to the prior art, with a sensor device and several trackers, in a highly simplified representation;

Figure 1B

a weapon system with a device according to the invention, in the same representation as Fig. 1A;

Figure 2A

a device according to the invention, and a display for the rough straightening of a gun barrel, in a simplified, schematic representation;

Figure 2B

an optical display which is assigned to the weapon of a weapon system which has the device according to FIG. 2A, with a visualized target visible in space, at a first point in time, in a simplified representation;

Figure 2C

the display shown in FIG. 2B, with the visualized target visible in space, at a second point in time, in the same representation as FIG. 2B;

Figure 3A

the device according to the invention shown in FIG. 2A, with the display, in the same representation as FIG. 2A;

Figure 3B

the optical display of the device shown in FIG. 3A, with a visualized target which is invisible in space, at a first time, in the same representation as FIG. 2B;

Figure 3C

the display shown in Fig. 3B, with the visualized but invisible in space, at a second point in time, in the same representation as Fig. 2C;

Fig. 4

a device according to the invention, which is coupled with two weapons to form a weapon system, in a simplified, schematic representation;

Fig. 5

a weapon system, which comprises a device according to the invention and several weapons, in a simplified, schematic representation; and

Fig. 6

the operation of a weapon system with a device according to the invention, in a simplified, schematic representation.

1A shows a conventional weapon system 1, with a sensor device 2, with several tracking devices or trackers 3 and with several weapons 4. A total of four weapons 4 are shown in FIG. 1A, the two on the left weapons shown are individual weapons and the two shown on the right Weapons form a battery. The sensor device 2 comprises a sensor unit 2.1 and a first computer unit 2.2. Each of the tracking devices 3 comprises a tracking unit 3.1 and a second computer unit 3.2. The sensor device 2 is connected to the tracking devices; it serves for Monitor or search a room for goals and assign individual ones Targets to specific tracking facilities 3. Each of the tracking facilities 3 is connected to a weapon 4 or a battery of weapons; the Tracking units are used to track those identified by the sensor device 2 Aim and aim the gun barrels at these targets. Any tracking facility can only edit one target at a time.

1B shows a weapon system 10 with a device according to the invention and with multiple weapons 14. This device according to the invention essentially consists from a sensor device 12, the one sensor unit 11 and one Computing unit 13 includes; it is used to monitor or search a Space according to goals, for direct assignment of individual goals to specific ones Weapons 14, for rough aiming of the gun barrels, for tracking the targets and for Fine-tuning the gun barrels.

A comparison of the weapon system 1 according to FIG. 1A with the weapon system 10 1B clearly shows the advantages of the present invention. The in Weapon system 1 tracking devices 3 are used in the weapon system 10 not necessary, because with the weapon system 10 the sensor device takes over 12 both the task of the sensor device 2 of the weapon system 1 and also the task of the tracking device 3 of the weapon system 1 are not only the equipment and thus the weapon system 10 Procurement and maintenance costs significantly reduced, but it will also the operation, in particular the setting up before use, of the weapon system reduced, and any problems that may arise with the Weapon system 1 when a target is transferred from the sensor device 2 the tracking device 3 can result.

2A shows a device 12 with a 3D sensor unit 11, which is used for monitoring a room is formed, and with a computer unit 13. The sensor unit 11 captures data, which information about the to be monitored Include space, in particular via at least one possible target 17, which is in located in this room and moved at a target speed. With the help of her Computer unit 13 evaluates the sensor device 12 and the acquired data determines information about the location of the target 17, an approximate target speed and a variable time reserve to be observed by the gun barrel Describe Δα (t), Δλ (t). When determining the lead Δα (t), Δλ (t) the previous determined approximate target speed is taken into account, and preferably an approximately determined target acceleration is also taken into account. The information determined in this way is made available to a weapon and is found with the help of a display 21 a rough direction, with the intention of the gun barrel without considering the reserve Δα (t), Δλ (t) on one containing the target Target space so that there is an approximate elevation angle λ (T) and an approximate side angle α (T). The general direction is ends as soon as a vertically wandering mark in the display 21 reaches its target position I * and a horizontally moving mark has reached its target position a *; this System of the rough direction, preferably with logarithmic combination of The target position and location of the brands on the display is known per se. Fall the two mentioned brands together, then correspond to the approximate elevation angle λ (T) and the approximate azimuth angle α (T) the information that the Weapon were provided by the sensor device 12.

2B and 2C represent the subsequent fine straightening, namely at Visibility in which target 17 is visible. The one shown in Fig. 2B Display 15, for example a visor, shows a destination 17 *, which is indicated by the visible target 17 or a real image of the visible target 17 is formed, wherein of course no advance is taken into account. There is also one on the display 15 Target mark 19 visible, which corresponds to the approximate, calculated target position, taking into account the previously calculated lead Δα (t), Δλ (t). In the following setup, the weapon barrel is moved so that the destination 17 * coincides with the target 19, as shown in Fig. 2C is. If this is the case, the weapon barrel is aimed at a real meeting point, where its elevation is λ * (t) and its azimuth is α * (t).

FIG. 3A shows the same sensor device 12 as FIG. 2A. 3B and 3C fine-tuning in visual conditions where target 17 is not visible, but can be detected by the sensor device 12. Here corresponds to Destination 17 *, not the target 17 itself or a real one as in FIGS. 1B and 1C Image of target 17, but it represents a virtual image of target 17. The refinement is also carried out here in that the destination 17 * with the target 19 is made to coincide, as shown in Fig. 3C.

FIG. 4 shows a further device 32 according to the invention, which is coupled with two weapons 34, 36 to form a weapon system 10. The weapons are shown here as individual guns; Instead of the individual weapons, batteries from several weapons can also be used; guns are guns, in particular anti-aircraft guns, stinger-type weapons, rocket launchers, and weapons which can be aimed in the broadest sense, preferably tubular weapons. The device 32 comprises a sensor unit 31 and a computer unit 33. The sensor unit 31 monitors a room in order to acquire information or data about targets located therein; The determined data are assigned to individual targets by the computer unit 33, and the targets are assigned - as far as possible - to combat a specific weapon. 4 shows two targets, both of which are designated 17 and which move approximately in the direction of the arrows L and R. The weapon 34 is assigned the target flying in the direction L, and it is given the values for azimuth α ₁ (t), elevation λ ₁ (t) for rough aiming with the aid of the display 21 and additionally the lead Δα ₁ (t), Δλ ₁ (t) for fine-tuning made available with the aid of the display 15, so that its weapon barrel can be aimed at the target 17 flying in the direction of the arrow L. Correspondingly, the weapon 36 values for azimuth α ₂ (t), elevation λ ₂ (t) and lead Δα ₂ (t), Δλ ₂ (t) for its rough and fine adjustment towards the target 17 flying in the direction of arrow R. Provided. Basically, the rough aiming and setting up of the weapon barrels of the weapons 34 and 35 to the respectively assigned target 17 takes place in the same way as in cases in which only one target is to be combated, as described above; The data recorded by the sensor unit 31 or evaluated by the computer unit 33 are used not only for the rough direction of the weapon barrel but also for the assignment of individual targets to specific weapons. Instead of weapons 34, 36, two batteries could also be set, in which case usually only one common lead is calculated for each battery.

The weapon system 10 shown in FIG. 5 has a device according to the invention on, with the sensor unit 11, which is formed by a 3D radar unit and with the computing unit 13. Additionally or alternatively, the computing unit 13 have decentralized computer components, for example batteries 14, 16 or weapon groups and / or individual guns of the batteries 14, 16 or the weapon units of weapon groups 18, 20 can; the determination of data from the information of the sensor unit and / or the evaluation of this data can also be done elsewhere than in one the sensor unit practically integral computer unit can be performed. The Sensor unit 12 usually works with a high search rate, for example 1.5 / sec. Furthermore, the weapon system 10 has the batteries already mentioned on, namely the first battery 14 and the further battery 16. The first battery In the present example, 14 comprises three guns 14.1, 14.2, 14.3, each of which has at least one gun barrel. The second battery 16 comprises in the present Example three guns 16.1, 16.2, 16.3. The batteries 14, 16 can also have a different number of guns, and the guns can be designed differently. In addition to batteries 14, 16 the weapon system 10 also other weapons, for example weapon groups 18, 20 with portable weapon units 18.1, 18.2 or 20.1, 20.2, or not shown Rocket launchers and any suitable pipe weapons or weapons aimed at targets, generally with gun barrels. The one shown in FIG. 5 Weapon system 10 has each of batteries 14, 16 and each of the weapon groups 18, 20 via an electrical power supply unit 22. Furthermore, there are various Transfer means provided. The computer unit 13 is via transmission means 23 for data or data lines with the energy supply units 22 connected. The power supply units 22 are via conductor connections 24, which are also responsible for data transmission, with the individual guns 14.1, 14.2, 14.3; 16.1, 16.2, 16.3 or the individual Weapon units 18.1, 18.2; 20.1, 20.1 connected. Basically, the data transfer also take place separately and, if necessary, without a conductor. The device after The invention advantageously has a large number of interfaces, so that it can be coupled with numerous, also different, weapons or batteries. she can also have inputs for information generated externally by the system, for example regarding the outside ballistics.

6 shows the weapon system 10, with the sensor unit 12, with the Computer unit 13 with the battery 14, which among other things, the gun 14.1 has, with the three weapon units 18.1, 18.2, 18.3, with the power supply units 22, with the data line 23 and with other, not designated in Fig. 6 Cables. A three-dimensional characterized by three arrows X, Y, Z Coordinate system shows that the data is permanent or time-variable positions of the sensor unit 12, the guns 14.1, 14.2, 14.3, the weapon units 18.1, 18.2, 18.3 and various positions Define the goal, each is spatial information. In the case of Fig. 6 example shows each of the weapon units 18.1, 18.2, 18.3 has its own Power supply unit 22, these power supply units 22 connected in series and to the power supply unit 22 of the battery 14 are connected.

At a certain moment, target 17 is actually at PA; it moves on an actual trajectory A, with A1 being the one in the past really traversed trail of the target is designated. According to that of of the sensor unit 12 and determined by the computer unit 13 the target 17 is supposedly not at PA, but at PB, and it moves supposedly on a trajectory B; B1 denotes the track that has measured goal 17 according to the calculation in the past, with B2 is the expected trajectory. The calculated trajectory B corresponds approximate to the actual trajectory A but between the actual Trajectory A and the calculated trajectory B there is an error F which - especially when using a 3D radar unit as a search sensor device - mainly, but not exclusively, is due to the fact that the Determining the distance to goal 17 is relatively inaccurate compared to the determination of angles that can be recorded relatively precisely.

6 shows various lines of sight from the gun 14.1 to the target 17. The lines of sight are in the various phases of target 17 combat or the direction of the weapon barrel of the weapon different. A first one Line of sight, which is set as a result of the rough direction, is denoted by L1; here the weapon barrel is on the target area or approximate on the target 17 directed, with the approximate side angle α (t) and the approximate Elevation angle λ (t), but without taking into account a lead Δα (t), Δλ (t). L2 denotes the line of sight during a pursuit phase of the target with the Barrel; With L2 the error F is corrected so that the supposed one is no longer Position PB of goal 17 but the actual goal 17 at PA, however without considering the lead Δα (t), Δλ (t) would be targeted. With L3 is one Line of sight denotes between the gun barrel and a supposed meeting point MB. The supposed meeting point MB is determined by the calculated one Path of movement B of the target and by the calculated lead Δα (t), Δλ (t). The Line of sight when shooting projectiles is labeled L4. L1 thus corresponds the line of sight to the supposed or approximate position of the target, and L2 corresponds to the line of sight to the actual position of the target, being in both Cases the lead Δα (t), Δλ (t) is not taken into account; L2 is correlated with that Destination 17 * of Fig. 2B. With a direction of the weapon barrel according to L2 could the target with a zero projectile that has a flight time of 0 sec from the barrel to the target, or - as possible in the most modern weapon technology - with one Laser beam can be hit. L3 corresponds to the line of sight to the supposed Meeting point MB, that means to the supposed or approximate position the goal, but taking into account the calculated lead Δα (t), Δλ (t); MB is correlated with the target of Fig. 2B. According to L4 is the gun barrel by Feinrichtung, taking into account the actual location of the target and the calculated reserve Δα (t), Δλ (t) directed to an effective meeting point MA, where the target and the projectiles shot from the gun barrel will actually hit; this coincides with the display 15 of FIG. 2C Target 19 and the real destination 17 *.

The above description in connection with FIG. 6 relates to a case in which the target 17 is visible; the visualized destination corresponds exactly - within the achievable system accuracy - the actual goal 17, and the meeting point MA can be determined with great accuracy, although the Provision only on the basis of the recorded or not precisely recordable target positions or the approximate target speed is calculated.

Even in cases where the target is not visible, the lead is Δα (t), Δλ (t) due to the - only imprecisely recorded - target positions and the approximate ones Target speed calculated. An additional inaccuracy then arises however, because the destination 17 * is a brand shown in the display 15, the Situation due to the currently recorded or current but inaccurately recorded Position of the target is determined, the error F is not corrected here. The However, set-up is also carried out in the same way here by using the virtual one Target location 17 * is brought into register with target mark 19.

Claims (19)

A method for controlling a moving with a target speed of the target (17) by a projectile, consisting of a directable weapon (14.1, 14.2, 14.3, 16.1, 16.2, 16.3, 18.1, 20.1, 20.2; 34, 36) in is launchable, characterized that the following steps are performed: a) acquiring data with a 3D sensor device (12; 32) that includes information about a monitored space, b) evaluating the recorded data by the sensor device (12; 32) in order to determine information which describes the position of the target (17) and a lead to be maintained by the weapon (Δα (t), Δλ (t)), with the Determining the lead (Δα (t), Δλ (t)) an approximate target speed is taken into account, c) transmitting the determined information to the weapon (14.1, 14.2, 14.3, 16.1, 16.2, 16.3, 18.1, 20.1, 20.2; 34, 36), d) rough aiming of the weapon (14.1, 14.2, 14.3, 16.1, 16.2, 16.3, 18.1, 20.1, 20.2; 34, 36) in the direction of the target (17) based on the information provided, e) fine-tuning the weapon (14.1, 14.2, 14.3, 16.1, 16.2, 16.3, 18.1, 20.1, 20.2; 34, 36) to the target (17) taking into account the lead (Δα (t), Δλ (t)), f) repeating the acquisition, evaluation, transmission, in order to use the weapon (14.1, 14.2, 14.3, 16.1, 16.2, 16.3, 18.1, 20.1, 20.2; 34, 36) taking into account the current reserve (Δα (t), Δλ ( t)) to be able to follow the moving target (17). A method according to claim 1, characterized in that the transmitted information side angle (α ₁ (t) to α _n (t)) and elevation angle (λ ₁ (t) to λ _n (t)) and lead, preferably as lead angle (Δα ₁ (t) to Δα _n (t), Δλ ₁ (t) to Δλ _n (t)) or lead vectors. A method according to claim 1 or 2, characterized in that if the weapon is a simple weapon system in which rough judging uses a calculated target position and fine straightening only the current lead and, if necessary, the calculated target position; if the projectile is a rocket with a navigation system, a target position and a lead that is adapted to the navigation system of the rocket are transmitted; if the weapon is an automatic weapon system, the advance is transmitted with a respective validity date. Method according to claim 1, 2 or 3, characterized in that the following steps are carried out: Visualize a target mark (19) on a display (15), preferably a sight, which is assigned to the weapon (14.1, 14.2, 14.3, 16.1, 16.2, 16.3, 18.1, 20.1, 20.2; 34, 36), which target mark (19th ) represents a meeting point (MB) of target (17) and projectile calculated taking into account the reserve (Δα (t), Δλ (t)), and Fine-tuning the weapon (14.1, 14.2, 14.3, 16.1, 16.2, 16.3, 18.1, 20.1, 20.2; 34, 36) by using the weapon (14.1, 14.2, 14.3, 16.1, 16.2, 16.3, 18.1, 20.1, 20.2; 34 , 36) is moved in such a way that the target mark (19) with a target location (17 *), which is formed by the target (17), a real image of the target (17) or a virtual representation of the target (17), for Cover is brought. Method according to claim 1, characterized in that the 3D sensor device (12; 32) comprises a 3D radar unit (11; 31) and a computer unit (13; 33) and for one or more targets (17) side angles (α ₁ ( t) to α _n (t)), elevation angle (λ ₁ (t) to λ _n (t)) and leads (Δα ₁ (t) to Δα _n (t), Δλ ₁ (t) to Δλ _n (t) ) for n weapons (14.1, 14.2, 14.3, 16.1, 16.2, 16.3, 18.1, 20.1, 20.2; 34, 36) determines which targets (17) are assigned. Method according to Claim 5, characterized in that the data are acquired by the 3D radar unit (11; 31) with a target detection rate, data being updated at time intervals which are smaller than the target detection rate in order to ensure the accuracy of the evaluation of the data improve. Method according to one of claims 1 to 6, characterized in that the data recorded by the 3-D sensor device (12; 32) can be assigned to a plurality of targets (17), the data being evaluated by the sensor device (12; 32) for n weapons details are determined, each for the assigned targets (17) the direction (α ₁ (t) to (α _n (t), λ ₁ (t) to λ _n (t)) and the reserves to be complied with (Δα ₁ (t) to Δα _n (t), Δλ ₁ (t) to Δλ _n (t)) describe. Method according to Claim 7, characterized in that , if several targets (17) have been detected in the monitored space, the targets (17) are assigned to specific weapons (14.1, 14.2, 14.3, 16.1, 16.2, 16.3, 18.1, 20.1, 20.2 ; 34, 36) by operating personnel or automatically. Method according to one of claims 1 to 8, characterized in that the weapon (14.1, 14.2, 14.3, 16.1, 16.2, 16.3) is a weapon which can be used as an anti-aircraft weapon or a rocket and the target (17) is preferably a flight target. Device for weapon system (10) for combating a target (17) moving at a target speed by means of a projectile which consists of a directional weapon (14.1, 14.2, 14.3, 16.1, 16.2, 16.3, 18.1, 20.1, 20.2; 34, 36) of the weapon system (10) can be fired, comprising a sensor device (12; 32) with a 3D sensor unit (11; 31) for acquiring data which comprise information about a monitored space and with a computer unit (13; 33) for evaluating the acquired data by the sensor device for information to determine the position of the target (17) and a lead to be observed by the weapon (14.1, 14.2, 14.3, 16.1, 16.2, 16.3, 18.1, 20.1, 20.2; 34, 36) (Δα ₁ (t), Δλ ₁ (t), Δα ₂ (t), Δλ ₂ (t)) describe, whereby when determining the lead (Δα ₁ (t), Δλ ₁ (t), Δα ₂ (t), Δλ ₂ (t)) an approximate Target speed is taken into account Transmission means (22, 23) for transmitting the determined information to the weapon (14.1, 14.2, 14.3, 16.1, 16.2, 16.3, 18.1, 20.1, 20.2; 34, 36) for rough aiming of the weapon (14.1, 14.2, 14.3, 16.1, 16.2, 16.3, 18.1, 20.1, 20.2; 34, 36) to the destination (17) based on the information provided, and Means for fine-tuning the weapon (14.1, 14.2, 14.3, 16.1, 16.2, 16.3, 18.1, 20.1, 20.2; 34, 36) at the target (17) taking account of the lead (Δα ₁ (t), Δλ ₁ (t) , Δα ₂ (t), Δλ ₂ (t)) in order to be able to follow the target (17) with the weapon (14.1, 14.2, 14.3, 16.1, 16.2, 16.3, 18.1, 20.1, 20.2; 34, 36). Apparatus according to claim 10, characterized in that the computer unit (13; 33) is designed to give side angles (α ₁ (t) to α _n (t)) and elevation angles (λ ₁ (t) to λ _n (t)) and determine the weapon lead, preferably as a lead angle (Δα ₁ , (t) to Δα _n (t), Δλ ₁ (t) to Δλ _n (t)) or lead vector. Apparatus according to claim 10 or 11, characterized in that the sensor device (12; 32) is designed so that it can determine the approximate target speed. Device according to claim 10, 11 or 12, characterized in that if the weapon is a simple weapon system in which rough judging uses a calculated target position and fine straightening only the current lead and, if necessary, the calculated target position; if the projectile is a rocket with a navigation system, a target position and a lead that is adapted to the navigation system of the rocket are transmitted; if the weapon is an automatic weapon system, the advance is transmitted with a respective validity date. Apparatus according to claim 10, 11, 12 or 13, characterized in that a display (15), preferably a sight, associated with each weapon (14.1, 14.2, 14.3, 16.1, 16.2, 16.3, 18.1, 20.1, 20.2; 34, 36) is provided, the display (15) being connected to the sensor device (12; 32) by the transmission means (23, 24) and being designed for this purpose, visualize a target mark (19) which, taking into account the reserve (Δα ₁ (t) to Δα _n (t), Δλ ₁ (t) to Δλ _n (t)), calculates a meeting point (MB) of target (17) and Projectile represents, and visualize a destination (17 *) which is formed by the destination (17), a real image of the destination (17) or a virtual representation of the destination (17), wherein the target mark (19) and the destination (17 *) can be brought to coincidence by fine alignment. Apparatus according to claim 10, characterized in that the 3D sensor device (12; 32) comprises a 3D radar unit (11; 31). Device according to one of claims 10 to 15, characterized in that the computer unit (13; 33) is designed to acquire the data from the 3D radar unit (11; 31) at a clock rate and at time intervals which are smaller than that Clock rate to update data to improve the accuracy of the evaluation of the data. Device according to one of claims 10 to 16, characterized in that the sensor device (12; 32) is designed to assign the acquired data to a plurality of targets (17) and to determine information for n weapons, each of the directions, when evaluating the data (α ₁ (t) to α _n (t), λ ₁ (t) to λ _n (t)) and provisions to be complied with (Δα ₁ (t) to Δα _n (t), Δλ ₁ (t) to Δλ _n ( t)) describe. Device according to claim 17, characterized in that , if several targets (17) have been detected in the monitored space, the targets (17) are assigned to specific weapons (14.1, 14.2, 14.3, 16.1, 16.2, 16.3, 18.1, 20.1, 20.2 ; 34, 36) can be done by operators or automatically. Device according to one of claims 10 to 18, characterized in that the weapon (14.1, 14.2, 14.3, 16.1, 16.2, 16.3) is a weapon which can be used as an anti-aircraft weapon or a missile and the target (17) is preferably a flight target.

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