EP0223949A1 - Method for detection, tracking and defence of flying objects - Google Patents
Method for detection, tracking and defence of flying objects Download PDFInfo
- Publication number
- EP0223949A1 EP0223949A1 EP86112713A EP86112713A EP0223949A1 EP 0223949 A1 EP0223949 A1 EP 0223949A1 EP 86112713 A EP86112713 A EP 86112713A EP 86112713 A EP86112713 A EP 86112713A EP 0223949 A1 EP0223949 A1 EP 0223949A1
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- European Patent Office
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- target
- sensor
- target data
- tracking
- transformed
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Links
- 238000000034 method Methods 0.000 title claims abstract description 7
- 238000001514 detection method Methods 0.000 title claims abstract description 4
- 238000012937 correction Methods 0.000 claims abstract description 6
- 230000004913 activation Effects 0.000 claims description 5
- 230000007123 defense Effects 0.000 claims description 3
- 238000011156 evaluation Methods 0.000 claims description 2
- 230000009466 transformation Effects 0.000 description 6
- 238000013501 data transformation Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000011157 data evaluation Methods 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 230000001627 detrimental effect Effects 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G5/00—Elevating or traversing control systems for guns
- F41G5/14—Elevating or traversing control systems for guns for vehicle-borne guns
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G3/00—Aiming or laying means
- F41G3/02—Aiming or laying means using an independent line of sight
Definitions
- the invention relates to a method for the detection, tracking and defense of flying objects using a central common search sensor for a number of mobile weapon systems, each with a follow sensor and its own vehicle navigation system.
- the invention is based on the object of specifying a location determination of a mobile weapon system which can be carried out with reasonable effort in the battlefield in a method of the type mentioned at the outset, which enables the target data relating to the location to be calculated with sufficient accuracy.
- this object is achieved in that, with the location data of the weapon system ascertained by the vehicle navigation system, a transformation of the target data assigned by the search sensor to a weapon system is carried out, and that with the transformed target data, the follow-up sensor is controlled to the target, and that after activation with the target data determined by the follow-up sensor are compared with the assigned transformed target data and the difference values are stored as correction values for the target display on the display device of the follow-up sensor and for evaluation in the case of further target assignments to the weapon system.
- the probability of activation is significantly improved by using this method, since the errors that are unavoidable when determining the location due to the slip of the drive of the vehicle relative to the ground can lead to a considerable deterioration in the data quality.
- the air situation in the battlefield is continuously determined at a central point with a monitoring sensor (search radar) SR. Flying objects appearing in airspace are detected by the surveillance sensor and their target data after identification via a coordinating point KS is transmitted to one of several weapon systems WS1 to WSn stationed in the battlefield, each with a secondary radar FR.
- a transformation of the assigned target data to the location of the weapon system is required, which requires knowledge of the location coordinates.
- the values of the vehicle navigation system FNA are used for a first transformation with approximated data F of the monitoring sensor SR.
- the errors that cannot be avoided with this transformation are due to inaccuracies in the measurement of the route by means of the vehicle navigation system FNA, which result from the slippage of the drive. These errors have a detrimental effect on the data accuracy and thus on the probability of activation of the weapon system. Repeatedly initiating the location determination by the vehicle navigation system FNA can only partially correct these errors be lifted.
- a follow sensor FR located on the vehicle of the weapon system with the transformed data is applied to the assigned target.
- the target data determined by the follow sensor FR with very high accuracy are compared with the data of the assigned target, which are still supplied by the central point.
- the difference between the assigned target data and the target data determined by the subsequent sensor FR is stored and taken into account as a correction value in all further target assignments and target data transformations.
- the target tracking system shown in FIG. 2 shows a block diagram of the device for the electronic data processing and data evaluation of a mobile weapon system for the defense against enemy flying objects.
- RR is a radar searching radar, which assigns the target coordinates of a located target object Z to one of several mobile weapon systems WS.
- the in-vehicle device consists of a following sensor FR, a vehicle navigation system FNA and a data preparation DA with a display device PPI.
- the target data assigned by the central station is transformed to the location coordinates of the location of the weapon system WS determined by the travel time navigation system FNA and is displayed as the target object on the screen of the display device PPI.
- the sequence sensor FR is now switched on by the operating personnel to the displayed target by means of a roller ball or control stick.
- the following sensor FR delivers very precise during the tracking of the target object Z.
- Target data which are compared in a comparator K with the transformed assigned target data.
- the determined difference value ⁇ is stored in a memory SP and is taken into account as a correction value for the display on the PPI for all further target assignments by a central point (search radar) RR, especially after a change in the location of the weapon system WS.
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Radar Systems Or Details Thereof (AREA)
- Geophysics And Detection Of Objects (AREA)
- Burglar Alarm Systems (AREA)
Abstract
Description
Die Erfindung bezieht sich auf ein Verfahren zur Erfassung, Verfolgung und Abwehr von Flugobjekten unter Verwendung eines zentralen gemeinsamen Rundsuchsensors für eine Anzahl mobiler Waffensysteme mit je einem Folgesensor und einer eigenen Fahrzeugnavigationsanlage.The invention relates to a method for the detection, tracking and defense of flying objects using a central common search sensor for a number of mobile weapon systems, each with a follow sensor and its own vehicle navigation system.
Es ist bekannt, im Gefechtsfeld mit mehreren an verschiedenen Standorten fest aufgestellten Waffensystemen und eine zentrale Stelle mit einem Rundsuchsensor vorzusehen, der das gesamte Gefechtsfeld überwacht. Werden feindliche Objekte geortet, dann werden Zieldaten dieser Objekte den Waffensystemen einzeln zugewiesen. Die voneinander abweichend Position von Rundsuchsensor und Waffensystem erfordert eine Zieldatentransformation, die auf den Standort des Waffensystems bezogen ist. Da die Ortskoordinaten fest installierter Waffensysteme im allgemeinen bekannt sind, haben die transformierten Zieldaten eine ausreichende Genauigkeit für eine Zielverfolgung bzw. für Abwehrmaßnahmen.It is known to provide in the battlefield with several weapon systems permanently installed at different locations and a central location with a round search sensor which monitors the entire battlefield. If enemy objects are located, the target data of these objects are individually assigned to the weapon systems. The different position of the circular search sensor and weapon system requires a target data transformation that is related to the location of the weapon system. Since the location coordinates of permanently installed weapon systems are generally known, the transformed target data have sufficient accuracy for target tracking or for countermeasures.
Im Gefechtsfeld nicht ortsfest stationierte Waffensysteme erfordern für die Bestimmung der Standortkoordinaten unter Umständen einen erheblichen Aufwand. Als Standort eines mobilen Waffensystems kann nur in seltenen Fällen ein trigonometrisch vermessener Punkt im Gefechtsfeld, der die Vorraussetzung für eine genaue Transformation der vom Rundsuchsensor zugewiesenen Zieldaten auf den Standort ermöglichen würde, gewählt werden.Weapon systems that are not stationed stationary in the battlefield may require considerable effort to determine the location coordinates. As a location of a mobile weapon system, a trigonometric point in the battlefield can only be used in rare cases, which is the prerequisite for an exact transformation of those assigned by the search sensor Target data on the location would allow to be chosen.
Der Erfindung liegt die Aufgabe zugrunde, bei einem Verfahren der eingangs genannten Art eine mit vertretbarem Aufwand im Gefechtsfeld durchführbare Standortbestimmung eines mobilen Waffensystems anzugeben, die eine Berechnung der auf den Standort bezogenen Zieldaten mit ausreichender Genauigkeit ermöglicht. Gemäß der Erfindung wird diese Aufgabe dadurch gelöst, daß mit den von der Fahrzeugnavigationsanlage ermittelten Standortdaten des Waffensystems eine Transformation der vom Rundsuchsensor einem Waffensystem zugewiesenen Zieldaten durchgeführt wird und daß mit den transformierten Zieldaten der Folgesensor an das Ziel gesteuert wird und daß die nach dem Aufschalten mit dem Folgesensor ermittelten Zieldaten mit den zugewiesenen transformierten Zieldaten verglichen und die Differenzwerte als Korrekturwerte für die Zieldarstellung auf dem Sichtgerät des Folgesensors und für die Auswertung bei weiteren Zielzuweisungen an das Waffensystem abgespeichert werden.The invention is based on the object of specifying a location determination of a mobile weapon system which can be carried out with reasonable effort in the battlefield in a method of the type mentioned at the outset, which enables the target data relating to the location to be calculated with sufficient accuracy. According to the invention, this object is achieved in that, with the location data of the weapon system ascertained by the vehicle navigation system, a transformation of the target data assigned by the search sensor to a weapon system is carried out, and that with the transformed target data, the follow-up sensor is controlled to the target, and that after activation with the target data determined by the follow-up sensor are compared with the assigned transformed target data and the difference values are stored as correction values for the target display on the display device of the follow-up sensor and for evaluation in the case of further target assignments to the weapon system.
Die Aufschaltwahrscheinlichkeit wird durch Anwendung dieses Verfahrens wesentlich verbessert, da die bei der Standortbestimmung durch den Schlupf des Antriebes des Fahrzeuges gegenüber dem Erdboden unvermeidbaren Fehler zu einer unter Umständen erheblichen Verschlechterung der Datengüte führen können.The probability of activation is significantly improved by using this method, since the errors that are unavoidable when determining the location due to the slip of the drive of the vehicle relative to the ground can lead to a considerable deterioration in the data quality.
In der ersten Phase der Korrektur der Zieldaten durch Transformation auf den aktuellen Standort des Waffensystems wird unter Verwendung der von der Fahrzeugnavigationsanlage ermittelten mehr oder weniger fehlerbehafteten Standortkoordinaten mittels manueller Nachsteuerung des Folgesensors des Waffensystems eine Aufschaltung herbeigeführt und so die genauen Zielkoordinaten durch den Folgesensor ermittelt.In the first phase of the correction of the target data by transformation to the current location of the weapon system, using the location coordinates determined by the vehicle navigation system, a more or less erroneous location coordinate by means of manual readjustment of the follow-up sensor of the weapon system Activation brought about and so the exact target coordinates determined by the following sensor.
Die Erfindung und weitere Einzelheiten der Erfindung werden anhand der Figuren 1 und 2 beispielhaft erläutert.The invention and further details of the invention are explained by way of example with reference to FIGS. 1 and 2.
Es zeigen
- Fig. 1 ein Feuerleitsystem mit einem zentralen Ortungsgerät und mehreren mobilen Waffensystemen mit je inem Folgesensor,
- Fig. 2 ein Blockschaltbild der Zieldatenverarbeitung in einem Waffensystem.
- 1 shows a fire control system with a central location device and several mobile weapon systems, each with a follow sensor,
- Fig. 2 is a block diagram of target data processing in a weapon system.
In einer zentralen Stelle wird mit einem Überwachungssensor (Suchradar) SR ständig die Luftlage im Gefechtsfeld ermittelt. Im Luftraum auftauchende Flugobjekte werden vom Überwachungssensor erfaßt und deren Zieldaten nach Identifizierung über eine koordinierende Stelle KS einem von mehreren im Gefechtsfeld stationierten Waffensystemen WS1 bis WSn mit je einem Folgeradar FR übermittelt. Für alle weiteren Vorgänge ist eine Transformation der zugewiesenen Zieldaten auf den Standort des Waffensystems erforderlich, welche die Kenntnis der Standortkoordinaten voraussetzt. Für eine erste Transformation mit angenäherten Daten F des Überwachungssensors SR werden die Werte der Fahrzeugnavigationsanlage FNA verwendet. Die Fehler, die bei dieser Transformation nicht zu vermeiden sind, gehen auf Ungenauigkeiten der Messung der Fahrstrecke mittels der Fahrzeugnavigationsanlage FNA zurück, die durch den Schlupf des Antriebes entstehen. Diese Fehler wirken sich nachteilig auf die Datengenauigkeit und damit auf die Aufschaltwahrscheinlichkeit des Waffensystems aus. Durch wiederholtes Inniziieren der Standortbestimmung durch die Fahrzeugnavigationsanlage FNA können diese Fehler nur teilweise be hoben werden.The air situation in the battlefield is continuously determined at a central point with a monitoring sensor (search radar) SR. Flying objects appearing in airspace are detected by the surveillance sensor and their target data after identification via a coordinating point KS is transmitted to one of several weapon systems WS1 to WSn stationed in the battlefield, each with a secondary radar FR. For all further processes, a transformation of the assigned target data to the location of the weapon system is required, which requires knowledge of the location coordinates. The values of the vehicle navigation system FNA are used for a first transformation with approximated data F of the monitoring sensor SR. The errors that cannot be avoided with this transformation are due to inaccuracies in the measurement of the route by means of the vehicle navigation system FNA, which result from the slippage of the drive. These errors have a detrimental effect on the data accuracy and thus on the probability of activation of the weapon system. Repeatedly initiating the location determination by the vehicle navigation system FNA can only partially correct these errors be lifted.
Um trotzdem mit den fehlerhaften Standortdaten der Fahrzeugnavigationsanlage FNA zu genauen Zieldaten zu kommen, wird ein am Fahrzeug des Waffensystems befindlicher Folgesensor FR mit den transformierten Daten auf das zugewiesene Ziel aufgeschaltet. Die vom Folgesensor FR mit sehr hoher Genauigkeit ermittelten Zieldaten werden mit den weiterhin von der zentralen Stelle gelieferten Daten des zugewiesenen Zieles verglichen. Die Differenz zwischen zugewiesenen Zieldaten und vom Folgesensor FR ermittelten Zieldaten wird abgespeichert und bei allen weiteren Zielzuweisungen und Zieldatentransformationen als Korrekturwert berücksichtigt.In order nevertheless to arrive at exact target data with the incorrect location data of the vehicle navigation system FNA, a follow sensor FR located on the vehicle of the weapon system with the transformed data is applied to the assigned target. The target data determined by the follow sensor FR with very high accuracy are compared with the data of the assigned target, which are still supplied by the central point. The difference between the assigned target data and the target data determined by the subsequent sensor FR is stored and taken into account as a correction value in all further target assignments and target data transformations.
Das in Fig. 2 dargestellte Zielverfolgungssystem zeigt Blockschaltbild der Einrichtung für die elektronische Datenverarbeitung und Datenauswertung eines mobilen Waffensystems zur Abwehr von feindlichen Flugobjekten. Mit RR ist ein rundsuchendes Radar bezeichnet, das die Zielkoordinaten eines georteten Zielobjektes Z einem von mehreren mobilen Waffensystemen WS zuweist. Die fahrzeugeigene Einrichtung besteht aus einem Folgesensor FR, einer Fahrzeugnavigationsanlage FNA und einer Datenaufbereitung DA mit einer Anzeigeeinrichtung PPI.The target tracking system shown in FIG. 2 shows a block diagram of the device for the electronic data processing and data evaluation of a mobile weapon system for the defense against enemy flying objects. With RR is a radar searching radar, which assigns the target coordinates of a located target object Z to one of several mobile weapon systems WS. The in-vehicle device consists of a following sensor FR, a vehicle navigation system FNA and a data preparation DA with a display device PPI.
In einem Rechner MP werden die von der Zentralstation zugewiesenen Zieldaten auf die durch die Fahrzeitnavigationsanlage FNA ermittelten Ortskoordinaten des Standortes des Waffensystems WS transformiert und als Zielobjekt auf dem Bildschirm der Anzeigeeinrichtung PPI dargestellt. Der Folgesensor FR wird nun mittels Rollkugel oder Steuerknüppel vom Bedienungspersonal auf das dargestellte Ziel aufgeschaltet. Der Folgesensor FR liefert während der Verfolgung des Zielobjektes Z sehr genaue Zieldaten, die in einem Komparator K mit den transformierten zugewiesenen Zieldaten verglichen werden. Der ermittelte Differenzwert Δ wird in einem Speicher SP abgelegt und bei allen weiteren Zielzuweisungen durch eine zentrale Stelle (Rundsuchradar) RR vor allem nach einer Standortänderung des Waffensystems WS als Korrekturwert für die Darstellung auf dem PPI berücksichtigt.In a computer MP, the target data assigned by the central station is transformed to the location coordinates of the location of the weapon system WS determined by the travel time navigation system FNA and is displayed as the target object on the screen of the display device PPI. The sequence sensor FR is now switched on by the operating personnel to the displayed target by means of a roller ball or control stick. The following sensor FR delivers very precise during the tracking of the target object Z. Target data, which are compared in a comparator K with the transformed assigned target data. The determined difference value Δ is stored in a memory SP and is taken into account as a correction value for the display on the PPI for all further target assignments by a central point (search radar) RR, especially after a change in the location of the weapon system WS.
- SR, RR = SuchradarSR, RR = search radar
- KS = Koordinierende StelleKS = coordinating body
- WS1,2...n = WaffensystemeWS1.2 ... n = weapon systems
- FNA = FahrzeugnavigationsanlageFNA = car navigation system
- Z = ZielobjektZ = target object
- FR = FolgesensorFR = follow sensor
- DA = DatenaufbereitungDA = data preparation
- PPI = AnzeigeeinrichtungPPI = display device
- Mp = RechnerMp = calculator
- K = KomparatorK = comparator
- Sp = SpeicherSp = memory
- Δ = DifferenzwertΔ = difference value
Claims (1)
dadurch gekennzeichnet, daß mit den von der Fahrzeugnavigationsanlage (FNA) ermittelten Standortdaten des Waffensystems (WS1...WSn) eine Transformation der vom Rundsuchsensor (SR,RR) einem Waffensystem (WS1...WSn) zugewiesenen Zieldaten durchgeführt wird und daß mit den transformierten Zieldaten der Folgesensor (FR) an das Ziel (Z) gesteuert wird und daß die nach dem Aufschalten mit dem Folgesensor ermittelten Zieldaten mit den zugewiesenen transformierten Zieldaten verglichen und die Differenzwerte (Δ) als Korrekturwerte für die Zieldarstellung auf dem Sichtgerät (ppI) des Folgesensors (FR) und für die Auswertung bei weiteren Zielzuweisungen an das Waffensystem (WS1...WSn) abgespeichert werden.Procedure for the detection, tracking and defense of flying objects using a central common search sensor for a number of mobile weapon systems, each with a follow-up sensor and its own vehicle navigation system,
characterized in that the location data of the weapon system (WS1 ... WSn) determined by the vehicle navigation system (FNA) is used to transform the target data assigned by the search sensor (SR, RR) to a weapon system (WS1 ... WSn) and that transformed target data of the following sensor (FR) is controlled to the target (Z) and that the target data determined after activation with the following sensor is compared with the assigned transformed target data and the difference values (Δ) as correction values for the target display on the display device (ppI) Follow sensor (FR) and for evaluation with further target assignments to the weapon system (WS1 ... WSn).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| AT86112713T ATE44610T1 (en) | 1985-09-17 | 1986-09-15 | PROCEDURES FOR DETECTING, TRACKING AND COUNTERING AIRCRAFT OBJECTS. |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE3533042 | 1985-09-17 | ||
| DE3533042 | 1985-09-17 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP0223949A1 true EP0223949A1 (en) | 1987-06-03 |
| EP0223949B1 EP0223949B1 (en) | 1989-07-12 |
Family
ID=6281113
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP86112713A Expired EP0223949B1 (en) | 1985-09-17 | 1986-09-15 | Method for detection, tracking and defence of flying objects |
Country Status (3)
| Country | Link |
|---|---|
| EP (1) | EP0223949B1 (en) |
| AT (1) | ATE44610T1 (en) |
| DE (1) | DE3664377D1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0884604A1 (en) * | 1997-06-12 | 1998-12-16 | Diehl Stiftung & Co. | Warning sensor, especially for a target tracking device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4093153A (en) * | 1965-11-18 | 1978-06-06 | The United States Of America As Represented By The Secretary Of The Army | Ground-controlled guided-missile system |
| DE3131089A1 (en) * | 1981-08-06 | 1983-03-03 | Messerschmitt-Bölkow-Blohm GmbH, 8000 München | Reconnaissance and fire-control system |
-
1986
- 1986-09-15 AT AT86112713T patent/ATE44610T1/en not_active IP Right Cessation
- 1986-09-15 EP EP86112713A patent/EP0223949B1/en not_active Expired
- 1986-09-15 DE DE8686112713T patent/DE3664377D1/en not_active Expired
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4093153A (en) * | 1965-11-18 | 1978-06-06 | The United States Of America As Represented By The Secretary Of The Army | Ground-controlled guided-missile system |
| DE3131089A1 (en) * | 1981-08-06 | 1983-03-03 | Messerschmitt-Bölkow-Blohm GmbH, 8000 München | Reconnaissance and fire-control system |
Non-Patent Citations (1)
| Title |
|---|
| Bofors, Air Defence Weapons-Bofi AA-System * gesamt * * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0884604A1 (en) * | 1997-06-12 | 1998-12-16 | Diehl Stiftung & Co. | Warning sensor, especially for a target tracking device |
| US6137436A (en) * | 1997-06-12 | 2000-10-24 | Diehl Stiftung & Co. | Alarm sensor, in particular for a target tracking apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| DE3664377D1 (en) | 1989-08-17 |
| ATE44610T1 (en) | 1989-07-15 |
| EP0223949B1 (en) | 1989-07-12 |
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