EP0862041A1 - Method and installation for estimating and displaying a shooting miss - Google Patents

Abstract

The method involves, synchronously with the taking of the sequence of pictures of the flying target (10) and the projectile (16), two sequences of angle pairs are taken, which define the position of the air space area (P) during the taking of the pictures. The pictures of the flying target are processed together with the angle pairs to a timewise flying path of the target. Also the pictures of the projectile with the timewise corresponding angle pairs are processed to two timewise even flight curves of the projectile. From the two timewise even flight curves of the projectile, a timewise space flight path of the projectile is calculated. The two flight paths of the target and the projectile are compared, which then permits the minimal distance between the target and the projectile to define the firing error.

Description

2. The invention relates to a method and a system for determining and displaying a shot error according to the preambles of independent claims 1 and 2 respectively.

Procedures and systems of this type are used in practice shooting. While it in the event of war when a enemy aircraft is shot at, generally for the gun crew is not difficult, possible hits and therefore success or to determine failure of the fire, this is during target practice, where preferred shooting at non-flammable and non-crashing destinations is more difficult. Various methods have long been used to avoid such difficulties and shot detection equipment used in the attempted Hit a flight target by projectiles fired from ground / air guns.

Schussfehler' wird im Rahmen der vorliegenden Beschreibung der Minimalabstand zwischen dem Flugziel und einem Projektil verstanden. Zur Bestimmung dieses Minimalabstandes wird herkömmlicherweise wie folgt vorgegangen: mittels einer Bilderfassungseinrichtung werden von zwei in gegenseitigem Abstand angeordneten Punkten eine Folge von Bildern bzw. je ein Film des Flugzieles und der in der Umgebung des Flugzeuges befindlichen Projektile aufgenommen und gleichzeitig festgestellt, unter welchen Winkeln, bezogen auf eine Referenzposition, die Bilder aufgenommen werden. Anschliessend werden aus diesen Filmen in einer Bildverarbeitungseinrichtung manuell oder teilautomatisch zwei verschiedene zeitliche ebene Flugkurven des Flugzieles und zwei verschiedene zeitliche ebene Flugkurven des Projektils bestimmt. Dann werden in einer Rechnereinheit mittels herkömmlicher triangulatorischer Berechnungsmethoden aus den zwei zeitlichen ebenen Flugkurven des Flugzieles die zeitliche räumliche Flugbahn des Flugzieles und aus den zwei zeitlichen ebenen Flugkurven des Projekts die zeitliche räumliche Flugbahn des Projekts berechnet; bei den zeitlichen räumlichen Flugbahnen handelt es sich im mathematischen Sinne um vierdimensionale Kurven, da jedem Kurvenpunkt drei Längendimensionen und eine Zeitdimension zugeschrieben werden müssen. Im weiteren werden die beiden räumlichen Flugbahnen des Flugzieles und des Projektils verglichen und der zwischen ihnen liegende Minimalabstand festgestellt, der dem Minimalabstand zwischen dem Flugziel und dem Projektil und damit dem Schussfehler entspricht; dieser Minimalabstand ist im allgemeinen nicht gleich dem Minimalabstand der Trajektorien des Flugzieles und des Projektils. Schliesslich wird der so bestimmte Schussfehler der Geschützbedienungsmannschaft angezeigt.Under the term

Gunfire 'is understood in the context of the present description of the minimum distance between the flight target and a projectile. The procedure for determining this minimum distance is conventionally as follows: an image capturing device is used to take a sequence of images or a film of the flight destination and the projectiles in the vicinity of the aircraft from two points arranged at a mutual distance, and at the same time to determine at what angles, related to a reference position, the pictures are taken. Subsequently, these films are used to manually or partially automatically determine two different time-level flight curves of the flight destination and two different time-level flight curves of the projectile in an image processing device. Then, in a computer unit using conventional triangulatory calculation methods, the temporal spatial trajectory of the flight destination is calculated from the two temporal plane flight curves of the flight destination and the temporal spatial trajectory of the project is calculated from the two temporal plane flight curves of the project; In the mathematical sense, the temporal spatial trajectories are four-dimensional curves, since three length dimensions and one time dimension must be ascribed to each curve point. Furthermore, the two spatial trajectories of the flight target and the projectile are compared and the minimum distance between them is determined, which corresponds to the minimum distance between the flight target and the projectile and thus the shot error; this minimum distance is generally not the same as the minimum distance of the trajectories of the flight destination and the projectile. Finally, the gun operating team's shot error thus determined is displayed.

There are numerous factors and influencing factors when carrying out this procedure to consider. For example, projectiles are generally not considered Single storeys but delivered in series fire; instead of individual trajectories Projectiles are then to determine trajectories of projectile sheaves. In the used Bullets are often collapsible bullets, mostly also Disassembly time can be determined. Particular problems arise when multiple destinations are available, which would be necessary to create a realistic scenario. The prevailing meteorological conditions also play a certain role.

der Fall war; das heisst, dass man bestrebt war, den Munitionsverbrauch und die Lärmentwicklung zu vermindern, ohne den Lerneffekt zu beeinträchtigen; dennoch war man bestrebt, die Schiessübungen unter mindestens annähernd realistischen Bedingungen stattfinden zu lassen, wie sie beispielsweise beim Unterricht mit Schiessimulatoren nie herrschen können. Die Erwerbung der notwendigen Fähigkeiten zur einwandfreien Betätigung der Geschütze sollte dadurch verbessert werden, dass die Ergebnisse der Schiessübungen nicht nur als Treffer oder Fehlschuss qualifizierbar sind, sondern dass durch die Kenntnis der Bewegungen der Projekte, die aufgrund der Bewegung des Flugzieles stattfindet, eine ins einzelne gehende Analyse der Schussfehler und damit eine gründliche Beurteilung der zu beübenden Geschützbedienungsmannschaften möglich ist.The method and the system of the known type mentioned at the outset were developed in order to make the execution of target practice more advantageous in ecological and economic terms than was the case with the originally conventional method according to the Trial and error

was the case; this means that efforts have been made to reduce ammunition consumption and noise without affecting the learning effect; nevertheless, efforts were made to allow the target practice to take place under at least approximately realistic conditions, such as can never prevail during lessons with shooting simulators. The acquisition of the necessary skills for the correct operation of the guns should be improved by the fact that the results of the target practice are not just Hits or Miss can be qualified, but that knowledge of the movements of the projects, which takes place due to the movement of the flight destination, enables a detailed analysis of the shooting errors and thus a thorough assessment of the gun crews to be practiced.

The disadvantage of the known method or the known system is to be seen in that the time required by the image processing device and the computer unit around the temporal spatial trajectories of the flight destination and the temporal spatial Delivering trajectories of projectiles is very large. The gun crews Therefore, the gunshot errors only occur after the actual has been completed Shooting exercise brought to the attention in the course of a later exercise critique. There during During the actual target practice, a large number of flight passages take place and always do so one or more sheaves are fired are in the subsequent exercise review, where the gunfire, its causes and consequences to the gun crew be announced, the circumstances of the individual passages and gunshots often no longer present. The learning effect for the gun crews is therefore limited, although the teaching staff can assess the progress made is possible.

EP-B1-0 018 673 discloses a hit measurement used for the formation of anti-aircraft troops, in which the shot errors can be transmitted to the gun operating teams somewhat more quickly, namely within a few minutes, and can be displayed on a screen. However, this system has several disadvantages. For example, the time it takes for gunshot reports to be reported to the gun crews is still relatively long. What is more serious, however, is that the method used to determine the trajectory requires a distance measurement using a laser device, and that the objects to be recorded, i.e. the flight target and the projectiles, must in principle be in the middle of the recorded area and cannot leave it, since otherwise it is no longer possible to assign the depicted points to the individual shots of a sheaf; Furthermore, the system is not suitable for the mirror shooting explained below, which is often carried out and is practically indispensable in shooting training.

The object of the invention is thus seen in a method and a system create a reliable determination while avoiding the disadvantages mentioned and allow rapid display or feedback of the shot errors, so that the Shooting training of the gun crews in a realistic Can play the scenario efficiently and with an economical and ecological reasonable effort is feasible.

Starting from a state of the art in accordance with the method and the system mentioned at the outset, this object is achieved by the features of the characterizing parts of the independent claims 1 and 2 , respectively. Advantageous further developments and details of the system according to the invention are defined by the dependent claims.

So that the feedback or notification of the shot error to the gun team in the desired short period of time, the necessary operations in the image processing device and can be carried out extremely quickly in the computer device. According to the invention, the image processing for the flight destination and the projectile take place in real time as well as the triangulative calculation of a chronological sequence of points of the flight destination, the sequence from which a temporal spatial trajectory of the destination is calculated; in quasi real time find the calculation of two temporal plane flight curves of the projectile and the triangulatory calculation of a temporal spatial trajectory of the projectile from its two temporal plane flight curves instead; also takes place in quasi real time the comparison of the temporal spatial trajectories of the flight destination and the projectile or the determination of the shot error and its display instead. Taking quasi-real time is to understand that the operations immediately after a salvo of the gun or a passage of the destination. The success or failure of a shot or a sheaf is therefore known at a moment when the gun crew the details of the flight passage, the details of the straightening process and the circumstances of the firing are still well remembered, so that A link between cause and effect can take place without difficulty. to teach from incorrect behavior can therefore immediately, ie before the next flight passage and preferably even before the next shot is fired, and not as before only after the end of the target practice.

The advances achieved by the invention are the result of the combination of the in its basic features of the previously known method for determining the shot error on the one hand with the real-time or quasi-real-time calculation processes and the online display of the shot error in quasi real time.

The method according to the invention and the system according to the invention can be started adapt various weapon systems and ammunition types.

For example, the detection and tracking of the flight destination and the triggering of the shot take place visually-manually on the gun itself. In this case there is Weapon system only from the gun (s). However, this way only relatively slow flight targets are efficiently tracked and shot at.

However, it is also possible to detect and track the flight destination and trigger it of the shot automatically or partially automatically by means of a fire control device perform. The weapon system in this case includes guns and fire control devices, a fire control device generally interacts with one to three guns. In such a case, the gun operating team is responsible, apart from in Position the gun and from the ammunition supply to the gun, only control of the course of judging and firing, while the rest Transfer tasks from the gun operating team to the fire control unit, whereby within the scope of the present description the fire control unit crew as to the gun operating team is properly considered. For successful tracking and Bombardment of fast flight targets such as fighter jets is a fire control device recommendable.

Numerous weapon systems have guns that can work both with and without fire control devices, and it is often possible to alternate from flight passage to flight passage or from shot delivery to firing between the function with fire control device and the function without fire control device.
Each image acquisition unit in the new system has a sensor part that detects the object to be captured externally, follows it and displays it at short intervals. Furthermore, the image acquisition unit has a position measuring device, with which the respectively associated spatial positions of the images are determined on the basis of measurements of angle pairs carried out relative to a reference line, specifically in synchronism with the respective recording of the objects.

The sensor part has a camera as a sensor. If as ammunition to be fired Tracer ammunition is selected, and if visibility is always acceptable, so a video camera is used. To fire other types of ammunition and / or to perform shooting exercises in exceptional visibility conditions, For example, a FLIR camera can be used, but this is more expensive than the commonly provided video camera. The new system allows the Carry out sensor changes relatively quickly.

The position measuring device is generally designed like a theodolite. A is essential very quiet, low-friction and play-free running or a corresponding storage and a corresponding drive.

While in an emergency the purpose of firing a shot is to target the flight, for example an enemy plane to hit with their own projectiles are with Target practice no real aircraft available as a flight target but it dragged by airplanes, drag sacks or on unmanned missiles, so-called Drones, shot. Realistic scenarios can in this way be different Reasons cannot be created. The speed of drag bag shooting is high and the maneuverability of the flight target is far greater than that of a combat aircraft inferior, which simplifies the task for the gun crews too much. In addition, it is very difficult to shoot several at the same time To provide flight destinations. Finally, care must also be taken to ensure that the towing aircraft itself is not hit. In principle, it would be possible to use drones to be used, which are fired at directly, but drones are used with regard to To approach speed and maneuverability on fighter jets, very complex, so that their use is associated with relatively high costs. The advantage of using of drag bags and drones, if any, is that they form flight destinations, which can be directly detected, tracked and shot at, so that at least in this relationship realistic scenarios can be generated. Target practice, that occur within such scenarios are called direct target shooting. The image capture device required for this comprises two image capture units, which are positioned at a mutual distance. Each image capture unit is for the shot determined by an image sequence of the flight destination and the projectiles and with an image processing unit connected, which temporal level flight curves of both the destination like the projectile delivers.

In order to also hold target practice in which the plane's speed and maneuverability are equal to a fighter plane, and thus the higher Requirements for the gun crews have been around for a long time Time used the method of target shooting, in particular mirror shooting. A mirror device is used for this, by means of which an observer can be seen or directional cannon an image of the aircraft in its optical field of view or device reflects, with the viewing device aimed at the airspace area in which shooting while the aircraft is in the mirror image of the opposite airspace area located. The real shot is then fired at the mirrored one. or fictional Destination. So it is shot in a maximum azimuth range of 3200 art ‰ in which the fictitious flight destination is located, while the real airplane is in can move the mirror-symmetrical azimuth angle range without running the risk to be hit. In such a scenario, the image capture device must have four image capture units. Two spaced apart image acquisition units are on the airspace area of the real plane that cannot be hit should, directed and deliver two image sequences and associated sequences of pairs of angles which with the aid of two image processing units connected to the image acquisition units and a first computer unit a temporal spatial trajectory of the Aircraft are calculated. Correspondingly, two further image acquisition units deliver the on the mirror symmetrical airspace area and thus on the real projectiles are aimed with the help of two further image processing units and a second computer unit has two temporal, level flight curves or flight curve groups of the projectile or projectiles and from these a temporal spatial trajectory or Trajectory family of the projectile or projects. One each on the plane and one Image acquisition unit aimed at the projectile (s) are adjacent to one another arranged.

An advantage of moving target shooting is that it is easily possible to achieve a realistic one Scenario not only with one but with several at the same time in the target area create fictitious or mirrored flight destinations, which one after the other can be shot at, the guns each so-called target change have to perform.

Following the determination of the temporal three-dimensional trajectory of the flight destination and the temporal spatial trajectory of the projectile is determined by the second computer unit by comparing the three-dimensional trajectories of the projectiles and the flight target the minimum distance between the flight target and the projectile, which is within the scope of the present Invention is defined as a shooting error.

The display of the shot errors or their feedback to the gun operating teams is carried out with the aid of a display device. This generally includes a plurality of display units, namely preferably one display unit per gun and one display unit per fire control device. Additional display units can be found elsewhere be arranged. The shot error can be displayed graphically and / or in numerical form respectively.

The feedback or notification of the shot error to the gun operating teams can also be carried out in such a way that only one central display unit is present is and that the feedback to the gun crews by telephone he follows. Such a type of shot error feedback can and is done quickly significantly easier in terms of the equipment required, but much less effective efficient than the display device described above with multiple display units.

Although the stated aim of the invention is to provide a quasi real-time error display realizing, it is an advantage if the shot errors, together with the data, that define their affiliation, can be archived for later viewing. Archiving can either be EDP-based in a storage unit or in the form of Paper copies are made, including printouts with graphic and / or numerical information are to be understood, which are generated in a suitable facility. Of course electronically archived data can not only be visualized later but also print it out.

The equipment is preferably controlled via an operating device. This can have several operating units for the different computer units exhibit. Furthermore, the operating device generally has a display unit or also via several display units, namely one per control unit, if the latter are arranged decentrally.

To manage the entire shooting operation, it is recommended to have a higher-level one Control body provided, among other things, for security measures and control the destination is responsible. At this point it should be noted that the flight destinations in the sense of the invention are parts of the system according to the invention which are characterized by the Control post can be controlled in the sense that pilots give instructions when needed received from the inspection body; If necessary, drones can pass through the control point be remotely controlled.

Fig. 1

eine erste Anlage nach der Erfindung, zum Direktzielschiessen, in einem vereinfachten Schaubild;

Fig.2

das Prinzip des Spiegelschiessens, in einem Schaubild;

Fig. 3

eine zweite Anlage nach der Erfindung, zum Versetztzielschiessen, in einem vereinfachten Schaubild;

Fig. 4

eine Bilderfassungseinheit, in einem Schaubild;

Fig. 5

eine Anzeigeeinheit, in einem Schaubild; und

Fig. 6

eine erfindungsgemässe Anlage in einer schematischen, vereinfachten Darstellung.

The invention is described in detail below using exemplary embodiments and with reference to the drawing. It shows:

Fig. 1

a first system according to the invention, for direct target shooting, in a simplified diagram;

Fig. 2

the principle of mirror shooting, in a diagram;

Fig. 3

a second system according to the invention, for shooting target shooting, in a simplified diagram;

Fig. 4

an image acquisition unit, in a diagram;

Fig. 5

a display unit, in a diagram; and

Fig. 6

a system according to the invention in a schematic, simplified representation.

1 shows a flight destination 10 and a gun 12 , which is intended for shooting down the flight destination 10 by means of a project 16 . In the present case, the destination 10 is supposed to be a drag bag or a drone, and the direct target method is used for shooting. To simplify the description, it is initially assumed that the system has only one gun 12 and that no fire control device is provided, although in reality a large number of identical or different guns, in modern weapon systems almost exclusively with fire control devices, are involved in a target practice , on the one hand, to make the best possible use of the effort involved in providing the flight destination, and on the other hand to make the target practice as realistic as possible, since in an emergency, if available, several guns are used at the same time. The guns can also be flab armor guns that fire from fixed positions.

To simplify matters, the function of the system is described when only one projectile is fired. although in reality shots are not fired in individual shots will. The system can also be used when steering projectiles or Missiles are fired. Commonly used projectiles are collapsible projectiles, where the time of the decomposition can be fixed, fixed or controlled adjustable can. In general, the system is designed to fire tracer ammunition, because it makes it possible to use a video camera instead of a more expensive FLIR camera to work.

According to FIG. 1, the system comprises an image capturing device; this is formed by two mutually spaced-apart image acquisition units 14.1, 14.2 , one of which is shown in more detail in FIG. 4. The image acquisition units 14.1, 14.2 are directed in the relevant time period to an airspace area P in which the flight destination 10 and, if possible, are located the projectile 16 is already located. The image acquisition units 14.1, 14.2 serve to record sequences of images or films of the airspace area both of the flight target 10 and of the projectile 16 fired by the gun 12 and to determine the respective spatial position of the images. For this purpose, each of the image acquisition units 14.1, 14.2 has a sensor part with a camera as a sensor and a position measuring device with a theodolite, which measures an angle pair relative to predetermined reference values, usually an azimuth angle in the horizontal and an elevation angle as a deviation from the horizontal. The camera and the associated position measuring device of each of the image acquisition units 14.1, 14.2 are synchronized, that is to say that an image is taken at the same time and its spatial position is recorded by measuring the azimuth and elevation angle mentioned. The camera is a video camera, but can be replaced by a FLIR camera depending on the ammunition and visibility.

, jedoch nicht für das zu beschiessende gespiegelte bzw. fiktive Flugziel 10, zuständig sind.. Anlagen mit vier Bilderfassungseinheiten 14.1 bis 14.4 können ohne weiteres auch zum Direktzielschiessen verwendet werden; dabei werden die Bilderfassungseinheiten 14.3, 14.4 nicht benützt.While in the direct target shooting described above with reference to FIG. 1 , the flight target 10 itself has to be hit, in the form of a drag bag or a drone, in the case of offset target shooting or mirror shooting, the flight target 10 is a fictitious target, namely the mirror image 10 'of a real aircraft, for example a regular fighter plane. The principle of mirror shooting is shown in Fig. 2 and requires no further explanation. In direct target shooting, as explained above, two image acquisition units 14.1, 14.2 are provided, both of which are directed towards the airspace region P in which the flight target 10 and the projectile 16 are located, and which are used to acquire the images and locations of both the destination 10 as well as the projectile 16 are responsible. This is not the case with mirror shooting according to FIG. 3 ; there, because the aircraft 10 ' and the projectile 16 are located in mirror-image opposing airspace areas P' and P , two additional image acquisition units 14.3, 14.4 must be present. The image capturing units 14.1, 14.2 are then only responsible for the projectile 16 , while the additional image capturing units 14.3, 14.4 are responsible for the real aircraft 10 , which is not to be bombarded

, but not for the mirrored or fictitious flight destination 10 to be fired at. Systems with four image acquisition units 14.1 to 14.4 can also be used for direct target shooting without further notice; the image capture units 14.3, 14.4 are not used.

In contrast to the system of FIG. 1 , the system shown in FIG. 3 has a fire control device 18 . The detection and tracking of the flight target 10 and the triggering of the shot are not carried out visually or manually by the gun operating team on the gun 12 , but the gun 12 is controlled automatically or with the support of the fire control device team from the fire control device 18 .

The image acquisition units 14.1 to 14.4 are first instructed with the aid of data entered on the approximate hit position, for example by the fire control device 18 , and then controlled with data for tracking the flight destination 10 or 10 ' , which are supplied, for example, by the image acquisition units 14.3, 14.4 . The destination does not have to be in the central area of the image; it can even leave the edge of the image area and is nevertheless detected again.

The image acquisition units 14.1 to 14.4 must be functional in all weather conditions and in a wide temperature range. It must be ensured that the visual perception is not impaired by rain, snow or fog. In addition, the image acquisition units must be protected from direct sunlight by sun visors. The combination of a sun visor with a sliding protective device has proven to be cheap. Depending on the temperature conditions to be expected, the image acquisition units 14.1 to 14.4 can have a heating and / or cooling device which must be arranged in such a way that they do not impair the accuracy of the storage and the drive.

The image acquisition units 14.1 to 14.4 are permanently installed on frequently used shooting ranges . However, it is also possible to mount them on vehicles as mobile devices for use in the field. Fixed installations have the advantage that certain basic but quite complex setup, measurement and adjustment work only has to be carried out once and not before each target practice; on the other hand, shooting installations can be carried out with more variety using mobile installations.

The image acquisition units 14.1 to 14.4 are advantageously in operation at least up to the point in time at which the projectile 16 penetrates the current target level; that plane is defined as the target plane for the system according to the invention, which plane extends perpendicular to the line of sight of the gun when fired and which contains the flight target.

Collapsible floors are preferably at least until they are disassembled tracked.

The image acquisition units 14.1 to 14.4 do not require any operation during a target practice after they have been freed from the hoods that protect them when not in use.

In the following it will be described with reference to FIG. 6 how shot errors are determined from the data determined by the image acquisition units 14.1 to 14.4 and how they are displayed to the gun operating teams. The airspace area P ' in which the real aircraft 10' is located during mirror shooting is represented by a frame; the airspace area P , in which the fictitious or mirrored aircraft 10 is located in mirror shooting and the real flight destination 10 in direct target shooting, is likewise represented by a frame; The projectile 16 is also located in this airspace region P during the period of time that is possible for the determination of the shot errors.

Regardless of whether two image acquisition units 14.1, 14.2 or four image acquisition units 14.1 to 14.4 are in use, a real-time image processing unit 20.1, 20.2 or 20.1 to 20.4 is connected to each of the image acquisition units 14.1, 14.2 or 14.1 to 14.4 . Since these are high-precision devices, they are preferably not installed at the location of the image acquisition units 14.1 to 14.4, but rather centrally at a protected location. Each of the image processing units 20.1 to 20.4 supplies the positions of the object captured by the associated image capture unit relative to a reference point, for example the image center of the corresponding captured image.

As already mentioned, the flight destinations 10 are generally not taken under single fire but under series fire. Instead of the flight curve of a projectile, a flight curve family of a bullet sheaf must then be recorded and processed. This creates the problem of the correct mutual allocation of the images and projectiles. A plausibility calculation taking into account the minimum triangulation error distance and the ballistic plausibility over several successive images ensures that this assignment is carried out correctly.

However, the assignment cannot be made for any number of projectiles Realize series, the limit of the number of storeys that are still assignable are essentially determined by the expenditure on equipment. To both this apparatus Keeping effort within reasonable limits as well as series with a high number to be able to cope with storeys, it is intended to series, the number of storeys exceeds the stated limit in a conventional off-line process process using the usual semi-automatic or manual procedures can. Gunshot errors determined in this way can only be achieved later by the gun teams and are not displayed during the target practice.

If several successive sheaves, which are individually detectable, are delivered to a flight destination 10 by a gun 12 , there must be an interval of a few seconds between the sheaves so that no assignment problems arise.

A similar problem arises when several flight destinations are available and have to be bombarded during a flight passage. If two different flight targets are pursued and shot at in succession, there is a change of target between them. In order to obtain evaluable data from the image acquisition units 14.1 to 14.4 and the image processing units 20.1 to 20.4 and from computer units 22.1, 22.2 described below, it is necessary to allow a short period of time to pass after a change of destination until the method is started again.

6 , the first computer unit 22.1 is connected to the image processing units 20.1 to 20.4 . It serves to deliver a sequence of triangularly calculated spatial points for the flight destination 10 , 10 ' from the points supplied by the image processing units 20.1 to 20.4 , which together result in a temporal spatial trajectory of the flight destination 10, 10' . Furthermore , the first computer unit 22.1 serves to forward the data of the projectile 16 supplied by the image processing units 20.1 to 20.4 to a second computer unit 22.2 .

In the second computer unit 22.2 , two temporal plane flight curves of the projectile 16 and the temporal spatial trajectory of the projectile 16 are calculated from these data, and then the temporal spatial trajectories of the flight target 10 (for direct shooting) or 10 ' (for mirror shooting) and of the projectile 16 are compared, the mirrored arrangement of the flight target 10 relative to the data of the flight target 10 ' recorded by the image acquisition units 14.3, 14.4 having to be taken into account when moving the target. The minimum distance between the temporal spatial trajectories of the flight target 10 or 10 ' and the projectile 16 corresponds to the shot error.

After the shot errors have been determined, the latter are displayed or reported back to the respective gun operating teams. For this purpose, each gun 12 and possibly each fire control device 18 is assigned a display unit 24 . 5 shows a display unit 24 for a gun 12 , which together with an optical target assignment device 24 ′ assigned to the gun 12 and independent of the display unit 24 forms a work station; The arrangement of the display unit 24 and the target assignment device 24 ' at a single work station has the advantage that only one person is required to operate or monitor both devices 24 and 24' .

All display units 24 have the same hardware. They are designed as intelligent terminals and also take over the calculation of the directional errors of the guns 12 . They also include the connection points between the fire control devices 18 , the guns 12 and a general communication network. The results obtained during a flight passage can be called up on each display unit 24 of a gun 12 or a fire control device 18 until the next flight passage takes place.

To operate the system, an operating device 26 is provided which has a first operating unit 26.1 for the first computer unit 22.1 and a second operating unit 26.2 for the second computer unit 22.2 . The control units 26.1, 26.2 comprise control panels with input devices, and each control unit 26.1, 26.2 is further assigned a display unit 24 . Preferably, data relating to the various guns or fire control devices of a battery can be called up on these display units 24 .

Finally, a higher-level control point 28 is provided for the central management and monitoring of the target practice. This is expressly a control point that can be used for teaching in connection with the system according to the invention and not a military command point as would be responsible for firing with the guns in an emergency. For practical reasons, it is advisable to arrange the control point 28 in a location with a good overview, for example on a tower, in the case of stationary systems. It is particularly advantageous to integrate the operating device 26 into the control point 28 . In any case, the control point 28 is equipped with a terminal for entering the data necessary for carrying out the target practice and with a display unit 24 . The tasks of the control point 28 include the input of the data which designate the flight passages and the firing guns 12 . In addition, the control point 28 is responsible for compliance with all security measures, for example for fire release or for fire barriers, if, contrary to expectations, missiles such as military or civil aircraft other than the planned flight targets 10 are in airspace area P. Finally, the control point 28 is also responsible for controlling the flight destination 10 or 10 ' or, if applicable, for several flight destinations, either - in the case of aircraft - in the form of instructions to the pilot or - in the case of drones - in the form of the control thereof.

In particular, the control point 28 can temporarily inactivate individual guns 12 , as described in the above-mentioned CH patent application No., with the purpose of performing realistic target exercises without firing, thereby reducing the ammunition consumption and the shooting noise is intended.

As already mentioned and shown in FIG. 6 , the various components of the system are connected by a communication network, which also contains a communication computer 22.3 of the computer device. A first communication part is shown by dash-dotted lines and connects the three computer units 22.1, 22.2, 22.3 . A second communication part is represented by double lines and establishes the connections between the communication computer 22.3, the display units 24 , the guns 12 and the fire control devices 18 . A third part of the communication is shown by solid lines and includes all other connections. Suitable conventional as well as light guides are used as conductors. Dashed lines between individual blocks of the diagram represent conductorless data transmission paths.

Those components of the system which are referred to as evaluation device A are summarized in FIG. 6 by a dashed frame. The evaluation device A can be decentralized. In addition to the components already described, the evaluation device A also includes an output device 30 for creating and outputting paper copies of the data which can be displayed and, if appropriate, further data.

FIG. 6 also shows which components of the system are real components that are also required in an emergency; these, namely the gun and fire control device, are delimited by double lines. The other components of the system, delimited by simple lines, are used exclusively for performing the target practice.

The system according to the invention is therefore suitable for fulfilling the intended tasks numerous conditions must be met in terms of hardware and software. Basic It is important that the system works with an accuracy that is usual occurring shooting errors far exceeds. The quick and accurate functioning The system is also largely based on the concept of the used Software.

Claims (10)

Method for determining and displaying a shot error when firing at a flight target ( 10 ) with a projectile ( 16 ), wherein one from the airspace area ( P, P ' ) containing the flight destination ( 10, 10' ) and the projectile ( 16 ) from two locations, a sequence of images each with the flight destination ( 10, 10 ' ) and the projectile ( 16 ) and two in synchronization therewith Then records sequences of angle pairs, each of which defines the position of the airspace area ( P, P ' ) during the recording of the images processes the images of the flight target ( 10, 10 ' ) with the temporally associated angle pairs into a temporal spatial trajectory of the flight target ( 10, 10' ) and the images of the projectile ( 16 ) with the temporally associated angle pairs into two temporally flat flight curves of the projectile ( 16) processed and calculates a temporal spatial trajectory of the projectile (16) from the two temporal levels trajectories of the projectile (16); compares the two temporal spatial trajectories of the flight target ( 10, 10 ' ) and the projectile ( 16 ) in order to determine the shot error defined as the minimum distance between the flight target ( 10, 10' ) and the projectile ( 16 ), and indicates the shot error,
characterized,
that the determination of the temporal spatial trajectory of the flight target (10, 10 ') in real time and the determination of the temporal spatial trajectory of the projectile (16), the determination of the shot error and the display of the shot error is carried out in quasi real time. System for determining and displaying a shot error of a gun ( 12 ) when firing at a flight target ( 10, 10 ' ) with a projectile ( 16 ), comprising an image capturing device with at least two image capturing units ( 14.1 to 14.4 ), each having a sensor for capturing sequences of images of the airspace area ( P, P ' ) containing the flight target ( 10, 10' ) and the projectile ( 16 ), and a position measuring device
Recording sequences of pairs of angles, which determine the spatial position of the airspace area ( P. P ' ) when the images are recorded, and having a synchronization device in order to synchronize the recordings of the images and the angle pairs, a device ( 20.1 to 20.4, 22.1, 22.2 ), from the images and angle pairs determined, a spatial temporal trajectory of the flight target ( 10, 10 ' ) and two temporal plane flight curves of the projectile ( 16 ) and therefrom a temporal spatial trajectory of the projectile ( 16 ) and to determine the minimum distance between the flight target ( 10, 10 ' ) and the projectile ( 16 ) as a shot error, and a display device ( 24 ) to indicate the shot error,
characterized, that the device (20.1 to 20.4, 22.1, 22.2) (up to 20.4 20.1), having an image processing device for determining the location and a first computer unit (22.1), which determines the temporal spatial trajectory of the flying target (10), the real-time devices are , that the device ( 20.1 to 20.4, 22.1, 22.2 ) has a second computer unit ( 22.2 ), which determines the temporal plane flight curves of the projectile ( 16 ) and the temporal spatial trajectory of the projectile ( 16 ) as well as the shot error, which quasi-real time Facilities are, and that the display device ( 24 ) is a real-time device. System according to claim 2 ,
characterized,
that the image capture device has two image capture units ( 14.1, 14.2 ), which is directed towards the airspace area ( P) in which the flight target ( 10 ) and the projectile ( 16 ) are located. System according to claim 2 ,
characterized,
that the image capturing device has two image capturing units ( 14.1, 14.2 ) which are directed towards the airspace area ( P ) in which the projectile ( 16 ) is located, and that it has two further image capturing units ( 14.3, 14.4 ) which points towards the airspace area ( P ' ) are directed in which the flight destination ( 10' ) is located, the airspace areas ( P ) and ( P ' ) lying opposite one another in mirror image and the fictitious flight target ( 10 ) to be bombarded by a mirror image of the real one generated by means of a mirror device , not to be bombarded flight destination ( 10 ' ) is formed. System according to at least one of claims 2 to 4,
characterized,
that each image acquisition unit ( 14.1 to 14.4 ) has a preferably interchangeable camera, for example a video or FLIR camera, as a sensor. System according to at least one of claims 2 to 5,
characterized,
that the image acquisition units ( 14.1 to 14.4 ) are stationary or mobile. System according to at least one of claims 2 to 6,
characterized,
it has an operating device ( 26.1, 26.2 ) with input devices for controlling the computer device ( 22.1, 22.2 ). System according to at least one of claims 2 to 7 ,
characterized,
that it has a control point ( 28 ) with input devices for fire release or fire blocking of all or part of the guns ( 12 ) and / or for controlling the destination ( 10, 10 ' ). System according to at least one of claims 2 to 8,
characterized,
that it has an output device ( 30 ) for outputting paper copies of at least some of the representable shot errors and preferably further data. System according to at least one of claims 2 to 9 ,
characterized,
that it has a communication network with conventional and / or optical fibers.

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