KR102079688B1 - The anti-aircraft tank and the firing control method using the sub electro-optical tracking system of the anti-aircraft tank - Google Patents

Abstract

Provided are an anti-aircraft weapon and a firing control method using a sub-electro-optical tracking system thereof. The firing control method for compensating for an impact error in the anti-aircraft weapon by using an auxiliary electro-optical tracking system comprises: (A) allowing a firing control device to calculate an estimated position of a bullet after a predetermined period of time from a ballistic solution and the launching time of the bullet by using the location information of a target received from a main electro-optical tracking system in real time and to transmit a control command to the sub-electro-optical tracking system so that the same faces the calculated estimated position of the bullet; (B) allowing the sub-electro-optical tracking system to previously face the estimated position of the bullet corresponding to that after the predetermined period of time in response to the control command; (C) allowing the main electro-optical tracking system and the sub-electro-optical tracking system to track the target and the bullet, respectively, and transmit location information of the target and location information of the bullet to the firing control device in real time when the bullet is fired by a firing command; and (D) allowing the firing control device to compare the location information of the target and the location information of the bullet that are received from step (C) to calculate an impact error n times or more and compensate for the trajectory solution of the next firing using the calculated impact errors. Therefore, the firing accuracy rate can be increased without adding a separate physical device.

Description

The anti-aircraft tank and the firing control method using the sub electro-optical tracking system of the anti-aircraft tank}

The present invention relates to a fire control method using a large air conditioner and its sub-electro-optical tracking device, and more particularly, a large air-conditioner capable of tracking a shot and correcting the impact position using the sub-electro-optical tracking device for the vehicle manager. And a fire control method using the sub-electro-optical tracking device.

Previously, in order to calculate the shooting hit rate during a large-air strike, the bullet distribution data on the target is collected, and based on this, when the center of the impacted force is out of the target center, the shot hit rate is improved.

The existing method of obtaining carbon distribution is largely as follows.

First, a shot is obtained by shooting at a ground target installed at a certain distance apart.

This method basically calculates the fire accuracy of the AA guns based on the ball distribution of the target in flight, but it is very difficult to get a hit on the moving target. The same method is performed under the assumption that the same holds for. However, no assumptions have been made about the similarity of the ball distribution to the actual ground target and the moving flight target.

Secondly, MDI sensor is installed on the target to obtain shot distribution.

This method can be said to be the impact data that is more suitable for air targets than the impact forces obtained by ground fire because it attaches sensors to the targets in flight. Miss Distance Indicator (MDI) sensor is a sensor that detects the location (distance, angle) of a bullet passing around a target. However, because this method detects bullets that cross the target, some data may be lost, and data may be difficult to obtain if there is a problem in the radio link that transmits the impact information. In addition, when the trajectory is formed perpendicular to the MDI sensor surface, the impact information is correctly obtained, but when the trajectory is formed horizontally on the MDI sensor surface, the impact information is inaccurate and thus, the target plane may be restricted.

Third, the traction sleeve is installed behind the target machine to check the penetration traces generated in the sleeve.

This method attaches a sleeve in the form of a placard to a target that is actually flying, and fires at the center of the sleeve to check the impact. This method can also obtain an impact group suitable for large targets, but the impact of the bullet out of the sleeve cannot be analyzed because the size of the sleeve that can be towed due to the takeoff weight of the target is not large. In addition, since the bullet must penetrate the sleeve, there is a limitation that the target should only cross the flight, and there is a problem that the corrected amount cannot be applied immediately because the target can be identified only after landing.

Fourth, a method of identifying an impact point by recording an image of an electro-optical tracking device tracking a target.

This method compares the relative position of the target with the target center after the Tof has elapsed from the time of launch, based on the images recorded on the electro-optical tracking device and the Tof calculated by the fire control system. This method can also obtain a suitable impact group for large targets, but since Tof calculation is based on the theoretical formula, the non-uniformity of each bullet and the part affected by the surrounding environment after the bullet leaves the barrel are not reflected. For example, after a certain amount of time, the location of the shot may not be the same as the distance between the weapon and the target.

In addition, the trajectory of the target and the bullet is formed in three dimensions, but since the image recorded by the electro-optical tracking device is a two-dimensional image, the relative positions of the target and the bullet may not be clearly identified.

Therefore, it is necessary to develop a technology that can solve the problems of the various methods of obtaining ballistic distribution.

Domestic Patent No. 10-1683178 (2016.11.30)

Technical problem to be solved by the present invention in order to solve the above-mentioned problems, in addition to the electro-optical tracking device operated by the shooter for the target during the large-air strike as the conventional, the secondary electro-optical tracking used by the deputy manager for target detection and Hunter killer use Using the device to obtain the position of the shot fired from the firearm in real time, and using it to evaluate the positional error of the target center and the bullet, after the formation of the impact group, the anti-aircraft gun can immediately reflect the offset to the next shot And a fire control method using the sub-electro-optical tracking device.

The problems of the present invention are not limited to those mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the following description.

As a means for solving the above-described technical problem, according to an embodiment of the present invention, the fire control method for compensation of the impact error of the anti-aircraft using the auxiliary electro-optical tracking device, (A) the fire control device is the main electro-optical tracking Using the position information of the target received in real time from the device to calculate the predicted position of the bullet after a certain time from the ballistic sea and the launch time of the shot, and the control command to the sub-optical tracking device to face the estimated position of the shot Transmitting; (B) the sub-electro-optical tracking device pre-directing the expected position of the corresponding shot after a predetermined time according to the control command; (C) when the bullet is fired by the firing command, the sub-electro-optical tracking device tracks the bullet and transmits the position information of the bullet to the fire control device in real time; And (D) the fire control device compares the location information of the target received from the step (A) with the location information of the bullet received from the step (C) to obtain an impact error more than n times (n is an integer of 2 or more). And calculating the ballistic solution of the next shot using the calculated n or more impact errors.

The step (A) may include: (A1) a fire control device receiving a target position information from a main electro-optical tracking device in real time to calculate a ballistic solution; (A2) generating, by the fire control device, a driving command to direct the gun to a position corresponding to the calculated ballistic solution and transmitting the gun to the turret drive controller; And (A3) transmitting, by the fire control apparatus, a control command to a sub electro-optical tracking device to face an expected position of a bullet to be positioned after a predetermined time from the firing time of the turret drive controller.

In the step (B), the sub-electro-optical tracking device, in accordance with the control command in the ballistic dependent mode, the position of the bullet is displayed to the auxiliary operation exhibitor after a predetermined time from the launch point of the shot expected by the fire control device. It is automatically driven to be located at the center of the image of the sub-electro-optic tracking device.

Wherein (C) step, when the (C1) bullet is fired, the main electro-optical tracking device to track the target while transmitting the location information of the target to the fire control device in real time; And (C2) when the sub-electro-optical tracking device locks on the bullet displayed at the center of the image, switches to the automatic tracking mode to measure the location information of the bullet in real time and transmits the shot information to the fire control device; It includes.

In the step (D), (D1) the fire control apparatus compares the location information of the target and the location information of the bullet received from the step (C) to determine a distance between the anti-aircraft and the target (hereinafter, 'target distance'). Calculating the difference between the position of the target and the bullet as the impact error at the same point as the flight distance of the bullet; And (D2) correcting the firing position of the bullet by using the fire control device using the n or more impact errors calculated in the step (D1).

In the step (D2), when the shot control device is fired n or more times to form an impact group, and the number of impact errors calculated in the step (D1) reaches n times, the impact error of the n or more times Correct the bullet's firing position by reflecting the average of these weapons as a set value for the next shot

On the other hand, according to another embodiment of the present invention, the anti-aircraft can be compensated for impact by using the auxiliary electro-optical tracking device, ballistics and bullets using the location information of the target received in real time from the following main electro-optical tracking device A fire control device that calculates an estimated position of the shot after a predetermined time from the launching point, and transmits a control command to the sub-electro-optical tracking device to direct the calculated position of the shot; A main electro-optical tracking device that tracks a target and transmits location information of the target to the fire control device in real time; And in accordance with the control command of the fire control device for a predetermined time after the expected position of the corresponding bullet in advance, when the shot is fired by the firing command, the fired by tracking the fired shot location information of the fire control device in real time And a sub-electro-optical tracking device for transmitting to the target control apparatus, wherein the fire control device compares the location information of the target received from the main electro-optical tracking device and the sub-electro-optical tracking device with the location information of the bullet to determine an impact error. (n is an integer of 2 or more), and calculates the ballistic solution of the next shot using the calculated n or more impact errors.

When the sub-electro-optical tracking device operates in the ballistic dependent mode, the sub-electron is displayed in a sub-operation exhibitor after a predetermined time from the anticipated firing point of the shot according to the control command. It is automatically driven to be located at the center of the image of the optical tracking device.

When the shot is fired, the sub-electro-optic tracking device switches to the automatic tracking mode when the shot displayed at the center of the image is locked (Lock-On), and measures the location information of the shot in real time and transmits the shot to the fire control device.

The fire control device receives the target position information from the main electro-optical tracking device in real time, calculates a ballistic solution, generates a driving command to direct the gun to a position corresponding to the calculated ballistic solution, and transmits it to the turret drive controller. And a ballistic calculator configured to transmit a control command to the sub-electro-optical tracking device so as to face an expected position of the bullet to be positioned after a predetermined time from the launch point of the bullet.

The fire control apparatus compares the location information of the target with the location information of the bullet, and compares the location between the anti-aircraft weapon and the target (hereinafter referred to as a 'target distance') and the flight distance of the bullet, and the target and the bullet. And an impact error calculation unit configured to calculate a position difference of as an impact error, wherein the trajectory calculation unit corrects the firing position of the bullet using an average of n or more impact errors calculated by the impact error calculation unit.

The impact error calculation unit, when a shot is fired n or more times to form an impact group, and the number of calculated impact errors reaches n times, the average of the n or more impact errors is calculated as a? Set value to be reflected in the next shot. The ballistics calculator is transmitted to the ballistics calculator, and the ballistics calculator corrects the shooting position of the ball with the calculated? Set value and reflects it at the next shot.

According to the present invention, in addition to the electro-optical tracking device operated by the shooter for the target during a large-air strike, the position of the shot fired from the firearm by using the assistant electro-optical tracking device operated by the deputy manager for the purpose of detecting the target and the hunter killer. Can be obtained in real time, and the target center and the positional error of the bullet can be evaluated, and the impact hit ratio can be improved by immediately reflecting the offset to the next shot after the impact force is formed.

In addition, according to the present invention, by using the secondary electro-optical tracking device for the deputy who did not have utilization in the single target large-air strike in the air reactor, the location of the bullet is measured in real time, and the location of the impact point by comparing the relative position with the target center Make sure to check immediately. After a certain number of shots have taken place, an impact group is formed, reflecting the average value of the impact error as the offset of the next shot, so that the bias error can be closer to zero as the shot progresses, without adding a separate physical device. Improve the shooting accuracy.

The effects of the present invention are not limited to those mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the following description.

=

인 경우 표적과 탄의 위치 관계를 보여주는 예시도,
도 7은 탄착 오차 산출부가 탄착 오차들의 평균을 ?셋값으로 반영하는 동작을 설명하기 위한 도면, 그리고,
도 8 및 도 9는 본 발명의 실시 예에 따른 보조 전자광학추적장치를 이용한 대공화기의 탄착 오차 보상을 위한 사격통제방법을 개략적으로 도시한 흐름도이다.1 is a view showing a large communicator capable of compensating an impact error using an auxiliary electro-optical tracking device according to an embodiment of the present invention;
FIG. 2 is a block diagram schematically illustrating the processor shown in FIG. 1;
3 is a conceptual diagram showing a target tracking and shot tracking operation of the anti-aircraft,
4 is a diagram for explaining an operation of tracking a target and a shot by the main electro-optical tracking device for a shooter and the sub-electro-optical tracking device for a vehicle manager;
5 is a conceptual diagram for explaining a ballistic curve;
6

=

Is an example showing the positional relationship between the target and the bullet,
7 is a view for explaining an operation in which the impact error calculation unit reflects the average of impact errors as a? Set value, and
8 and 9 are flowcharts illustrating a fire control method for compensating an impact error of a large resonator using an auxiliary electro-optical tracking device according to an exemplary embodiment of the present invention.

Objects, other objects, features and advantages of the present invention will be readily understood through the following preferred embodiments associated with the accompanying drawings. However, the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided to ensure that the disclosed contents are thorough and complete, and that the spirit of the present invention can be sufficiently delivered to those skilled in the art.

Where the terms first, second, etc. are used herein to describe the components, these components should not be limited by these terms. These terms are only used to distinguish one component from another. The embodiments described and illustrated herein also include complementary embodiments thereof.

When an element, component, device, or system is referred to as including a component made up of a program or software, the element, component, device, or system may be executed or operated by the element, component, device, or system even if no explicit mention is made. It should be understood to include hardware necessary to run (eg, memory, CPU, etc.) or other programs or software (eg, an operating system or drivers needed to run the hardware, etc.).

In addition, it is to be understood that an element (or component) may be implemented in software, hardware, or any form of software and hardware, unless otherwise specified in the implementation of any element (or component).

Also, the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In this specification, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, the words 'comprises' and / or 'comprising' do not exclude the presence or addition of one or more other components.

Hereinafter, with reference to the accompanying drawings for the specific technical content to be carried out in the present invention will be described in detail.

Each of the configurations of the large revolver 10 shown in FIGS. 1 and 2 is functionally and logically separated, which means that each configuration is divided into separate physical devices or written in separate codes. It will be readily understood by the average expert in the technical field of the present invention.

In addition, in some cases, it is mentioned in advance that parts of the invention which are commonly known in the description of the invention and which are not highly related to the invention are not described in order to prevent confusion in explaining the present invention without cause. However, one of ordinary skill in the art can understand that the present invention can be used without these various specific details.

In addition, the term "module" in the present specification may mean a functional and structural combination of hardware for performing the technical idea of the present invention and software for driving the hardware. For example, the module may mean a logical unit of a predetermined code and a hardware resource for performing the predetermined code, and means a physically connected code or does not necessarily mean a kind of hardware. It can be easily deduced for the average expert in the art.

1 is a diagram illustrating a large resonator 10 capable of compensating impact error using an auxiliary electro-optical tracking device according to an exemplary embodiment of the present invention.

According to an embodiment of the present invention, as a new function of tracking the flight path of the bullet is added to the function of tracking the existing target in the anti-aircraft 10, SW to enable the flight path tracking function of the shot control computer. You can install it by implementing

The role of tracking the target and the shot during the actual shooting itself is performed by the shooter's main electro-optical tracking device 300 and the sub-electro-optical tracking device 400 for the vehicle manager.

Hereinafter, the main electro-optical tracking device 300 is referred to as a main EOTS (Electric Optics Tracking System) 300, and the sub-electro-optic tracking device 400 is referred to as a sub-EOTS 400.

'Tracking' means that the main EOTS 300 and the sub EOTS 400 move along the target to keep the moving targets / shots out of view (screen range). Means to obtain distance information.

Up to now, when shooting, the main EOTS 300 is used to track the target, and the sub EOTS 400 is in a standby state unless there are two or more targets to monitor other targets at the same time. Therefore, in the present invention, by giving the role of tracking the bullet to the sub EOTS (400) in the standby state, the main feature is to check the flight path in real time where the bullet is going.

However, since the speed of the shot is so fast that it is somewhat difficult to follow the human eye, it is not easy for the sub EOTS 400 to catch and track the movement of the shot in a general situation. Extremely, if the sub EOTS 400 is looking in the opposite direction to where the shot was fired, it will never be able to track the shot.

In the present invention, since the ballistic calculating unit 533a of the fire control computer 530 calculates and knows in advance the direction in which the ball moves, the sub-EOTS 400 is based on the calculated direction (or position) information in advance. By looking at the calculated direction first, you can quickly and easily capture moving shots. In connection with this operation, the present invention can implement SW in a ballistic dependent mode, which causes the sub EOTS 400 to move toward the expected point of movement of the bullet, which is the result of the ballistic calculator 533a of the fire control computer 530. The control command may be issued to the sub EOTS 400 using the result.

Referring to FIG. 1, a large resonator 10 capable of compensating impact error according to an exemplary embodiment of the present invention includes a navigation device 100, a GPS device 200, a main EOTS 300, a sub EOTS 400, and fire control. Apparatus 500 and turret drive controller 600 may be included.

The navigation device 100 obtains attitude information of the anti-aircraft machine 10 and transmits the attitude information to the fire control device 500 together with the acquisition time.

The GPS device 200 obtains the location information and time information of the anti-aircraft 10 and transmits it to the fire control device 500.

The main EOTS 300 and the sub EOTS 400 are devices that automatically detect and / or precisely track a target. 360-degree omnidirectional monitoring is possible. In addition to monitoring a certain section, the main EOTS 300 and the sub-EOTS 400 can provide information necessary for shooting until the target is shot down. Can be obtained and transmitted to the fire control device 500.

The main EOTS 300 and the sub EOTS 400 may include a TV camera or a thermal device, a laser range finder (LRF), and a time synchronization module.

The TV camera or thermal device tracks the target or shot and displays the target or shot being tracked on the screen. The laser range finder may measure the distance between the large revolver 10 and the target or the distance between the large revolver 10 and the bullet. The time synchronization module synchronizes the times of the EOTSs 300 and 400 at the reference time sent by the fire control device 500.

The main EOTS 300 tracks the target of the shooter of the anti-aircraft 10, and the sub EOTS 400 tracks other targets along with the main EOTS 300. Therefore, the sub EOTS 400 has no utility in a single target anti-air fire in the anti-aircraft 10.

In an embodiment of the present invention, a single target antiaircraft shot or when the sub EOTS 400 has no target to track, the sub EOTS 400 allows the sub EOTS 400 to track the location of the shot (or the flight path of the shot) in real time. The path of the vehicle may be checked in real time, and the fire control apparatus 500 may be corrected to the ballistic solution based on the identified path of the bullet.

The fire control device 500 obtains a ballistic solution based on data received from the navigation device 100, the GPS device 200, the main EOTS 300, and the sub EOTS 400, and configures the trajectory of the bullet. By determining the impact position and calculating the difference value from the center position of the target, the ballistic solution can be corrected using the calculated difference value.

That is, the fire control apparatus 500 calculates an estimated position of the shot after a predetermined time from the ballistic sea and the launch point of the shot using the position information of the target received in real time from the main EOTS 300, and the estimated shot is calculated. The control command may be transmitted to the sub EOTS 400 to face the position in advance.

The sub EOTS 400 in advance directs the expected position of the corresponding shot after a predetermined time according to the control command of the fire control apparatus 500, and when the shot is fired by the firing command, the firing shot is tracked to track the shot position. Can be sent to the fire control device in real time.

The main EOTS 300 may track the captured target and transmit the location information of the target to the fire control apparatus 500 in real time. That is, the main EOTS 300 transmits location information by tracking the target both before and after firing the bullet.

The fire control apparatus 500 compares the location information of the target and the location information of the bullet received from the main EOTS 300 and the sub EOTS 400, and calculates the impact error more than n times (n is an integer of 2 or more), The computed n or more impact errors can be used to correct the ballistic solution of the next shot, or the firing position of the shot. The bullet uses the average of the n impact errors for position correction to compensate for the random components in the shooting error term. In an exemplary embodiment of the present invention, an example of using impact errors calculated three or more times is not limited thereto.

The turret drive controller 600 may change the azimuth and elevation of the turret and the turret so that the turrets can be directed as the ballistic solution calculated by the fire control device 500.

Hereinafter, an operation in which the fire control device 500 tracks a flight path of the bullet and corrects the ballistic damage based on this will be described in detail with reference to FIGS. 1 to 7.

First, referring to FIG. 1, the fire control apparatus 500 according to the embodiment of the present invention may include a main operation exhibitor 510, a sub operation exhibitor 520, and a fire control computer 530.

The main operation displayer 510 may display the image and system information obtained from the main EOTS 300, and receive an operation command of the operator and transmit the received operation command to the main EOTS 300 or the fire control computer 530.

The sub operation displayer 520 may display the image and system information acquired from the sub EOTS 400, and receive the operation command of the operator and transmit the received operation command to the sub EOTS 400 or the fire control computer 530.

The fire control computer 530 may include a memory 531 and a processor 533.

Memory 531 may include volatile memory and / or nonvolatile memory. The memory 531 may include, for example, instructions related to the components 100 to 600 to implement and / or provide the operations, functions, and the like provided by the fire control computer 530 or the fire control device 500. Data, one or more programs and / or software, an operating system, and the like may be stored.

The program stored in the memory 531 may include an impact error compensation program. The impact error compensation program may include a command for acquiring the impact using the bullet position information received from the sub EOTS 400 by the processor 533 and compensating the impact error.

The processor 533 executes one or more programs stored in the fire control computer 530 to control the overall operation of the fire control computer 530 or the fire control device 500. For example, the processor 533 executes the impact error compensation program stored in the memory 531 to obtain impact using the bullet position information received from the sub EOTS 400, and compensates the impact error to improve shooting accuracy. You can do that.

In detail, by executing the impact error compensation program, the processor 533 may operate in the standby mode and the shooting mode for shooting corresponding to the usual time before the shooting. For this purpose, the ballistic calculating unit 533a and the impact error The calculator 533b may be included.

When operating in the standby mode, the processor 533 transmits a reference time and a plurality of control commands to the navigation apparatus 100, the GPS apparatus 200, the main EOTS 300, and the sub EOTS 400. The reference time is a time for time synchronization of the electronic equipment inside the air conditioner 10 system.

In addition, the processor 533 receives the attitude information and the acquisition time of the anti-aircraft 10 from the navigation device 100 and stores it in the memory 531, and the position information and the position information of the anti-aircraft 10 from the GPS device 200. Receives and stores the time information in the memory 531, and receives each image from the main EOTS 300 and the sub EOTS 400 to be displayed on the main operation display 510 and the sub operation display 520. do.

When operating in the shooting mode, the main EOTS 300 may transmit the target position information to the fire control device 500 in real time while tracking the target when the target is locked. The target position information includes the azimuth, elevation, distance to the anti-aircraft 10 and the time of acquisition at the center position of the target.

The processor 533 calculates a ballistic solution in real time by combining the location information of the target received from the main EOTS 300 and the information received from the navigation device 100 and the GPS device 200 in real time, and fits the calculated ballistic solution. The turret drive controller 600 transmits a target position value command so that the gun can be directed.

When the shot is fired, the processor 533 constructs the actual ballistic curve of the shot based on the position information of the shot, and when the shot is separated by the same distance from the target and the anti-aircraft 10 (or by a margin of error). ), Calculates the difference between the center of the target and the position of the bullet (ie, impact error), derives the cumulative average of the calculated impact errors as a correction amount (ie, set) of the ballistic solution, Ballistics can be reflected in the calculation in real time to improve the shooting accuracy.

FIG. 2 is a block diagram schematically illustrating the processor 533 illustrated in FIG. 1, and FIG. 3 is a conceptual diagram illustrating a target tracking and a bullet tracking operation of the AA.

Referring to FIG. 2, a processor 533 according to an embodiment of the present invention includes a ballistic calculator 533a and an impact error calculator 533b.

The trajectory calculation unit 533a is based on target position information received in real time from the main EOTS 300, attitude information and acquisition time from the navigation apparatus 100, position information and time information from the GPS apparatus 200, and the trajectory. Calculate the solution. Ballistic solutions include (azimuth, elevation), which predicts the physical characteristics of the shot and how far the target will move during the time the shot will fly, and which direction the gun must head in order to finally hit the target. . The ballistic calculating unit 533a generates a driving command to direct the carriage in a direction corresponding to the calculated ballistic solution, that is, the direction of the calculated (azimuth, elevation), and transmits the driving command to the turret driving controller 600.

The trajectory calculation unit 533a may be configured to have the sub-EOTS (or EOTS () so as to face the projected position of the bullet to be positioned after a predetermined time from the firing time of the shot by the turret drive controller 600. The control command may be generated and transmitted to 400. That is, the ballistic calculator 533a transmits a control command to the sub EOTS 400 so that the sub EOTS 400 looks at the estimated position of the ball after a predetermined time.

If you look at the gun at the moment the gun is fired, the flame and high heat are generated due to the explosion of the propellant, and the sub-EOTS 400 saturates the thermal sensor due to the flame and high heat, and thus cannot identify the object and the background. 'Schedule time' is that the shot is not identified by the launch, the average time from this time to re-identify the shot, the time may vary depending on the heat sensor performance of the sub EOTS (400). For example, if the predetermined time is 0.5 seconds, the sub EOTS 400 tracks the shots from 0.5 seconds after the shot rather than from the gun fire.

Therefore, the sub-EOTS 400 operating in the ballistic dependent mode is operated by the ballistic calculator 533a after the predetermined time from the launch time of the ballistic predicted by the ballistic calculator 533a. It can be automatically driven to be located in the center of the image of the sub-EOTS (400) shown in the display 520.

When the shot is fired by the actual shot firing command, the main EOTS 300 transmits the position information of the target to the impact error calculator 533b in real time while tracking the target as shown in FIGS. 3 and 4.

In addition, the sub-EOTS 400 switches to the automatic tracking mode when the shot displayed at the center of the image of the sub-EOTS 400 is locked (Lock-On) after the shot is fired, and tracks the shot, real-time the position information of the shot. It is measured as and transmitted to the impact error calculation unit (533b). This is because the sub-EOTS 400 pre-directs the expected position of the shot before the shot is actually fired, that is, the image center of the sub-EOTS 400 already looks at the expected location where the shot will fly, so the appearance of the shot on the screen. This is because it can be seen immediately, without capturing the shot and tracking the flight path without time difference without moving the screen eye of the sub EOTS 400 up, down, left and right.

은 현재 시간,

는 미래 시간,

는 표적의 방위각,

는 표적의 고각,

는 표적과 대공화기(10) 간의 거리,

은 탄의 방위각,

은 탄의 고각,

은 대공화기(10)로부터 탄의 비행거리이다. 탄 추적 시선은 서브 EOTS(400)가 탄을 추적하는 시선이고, 탄도 곡선은 탄의 비행경로 또는 탄의 궤적일 수 있다. 미래 위치는 탄이 표적에 명중하는 시점을 의미한다. In Figure 3

Is the current time,

The future time,

Is the azimuth of the target,

Is the elevation of the target,

Is the distance between the target and the anti-aircraft 10,

Azimuth of silver shot,

Elevation of silver shot,

Is the flight distance of the bullet from the anti-aircraft 10. The bullet tracking line of sight is a line of sight that the sub EOTS 400 tracks the bullet, and the ballistic curve may be the flight path of the bullet or the trajectory of the bullet. Future location means the point at which the shot hits the target.

4 is a diagram for explaining an operation of tracking a target and a shot by the shooter main EOTS 300 and the subordinate EOTS 400 for the vehicle manager.

Referring to FIG. 4, the target and bullets being tracked by the main EOTS 300 and the sub EOTS 400 are displayed on the main operation display 510 and the sub operation display 520, respectively. t is the time point at which the sub EOTS 400 starts tracking the first shot, and the refresh rate is a period in which the main EOTS 300 and the sub EOTS 400 update the target position or the tracking position of the shot.

For example, if the EOTS updates the target position 50 times per second, the position information of the target and the bullet is obtained once every 1/50 second. In the case of Figure 4, the position of the target and bullet continuously updated once every 1/50 seconds, 2/50 seconds, 3/50 seconds, ..., n / 50 seconds after t time. Such data is also provided to the impact error calculator 533b to become basic data constituting the trajectory.

Referring back to FIG. 2, the impact error calculator 533b stores the target position information and the shot position information received in real time from the main EOTS 300 and the sub EOTS 400 after the firing command in the memory 531.

The impact error calculator 533b may construct a trajectory curve using the bullet position information stored in the memory 531.

=

인 경우 표적과 탄의 위치 관계를 보여주는 예시도이다.5 is a conceptual diagram for explaining a ballistic curve, FIG.

=

If is an example showing the positional relationship between the target and the bullet.

5 and 6, A is the location information of the bullets received in real time, that is, the information of the location of the bullets for each time zone from the time of launch, B is the flight distance of the bullets of A and the target distance It is the same time point, and a is the measurement time interval of the sub EOTS 400.

)와 탄의 비행거리(

)가 동일할 때의 시점(B)에 해당하는 탄착 위치를 탄도 곡선(A)에서 확인하고, 시점(B)에 해당하는 탄의 위치(즉, 탄착 위치)와 표적의 위치 차이를 탄착 오차로서 산출하고, 산출된 탄착 오차를 메모리(531)에 저장할 수 있다.The impact error calculation unit 533b configures a ballistic curve that records the actual position of the bullet over time in order to calculate the impact error. The impact error calculator 533b compares the position information of the target with the position information of the bullet and compares the distance between the target and the anti-aircraft machine 10.

) And shots fly

The impact position corresponding to the point in time B when) is the same is confirmed from the ballistic curve A, and the difference between the position of the bullet corresponding to the point in time B (ie, the impact position) and the target is determined as the impact error. The calculated impact error can be stored in the memory 531.

=

인 지점)를 탄착 위치로 판단하고, 판단된 탄착 위치와 표적의 중심위치 차이를 탄착 오차로서 산출할 수 있다. 탄착 오차 산출부(533b)는 시점(B)가 확인되면, 이 때 표적의 (방위각, 고각)과 탄의 (방위각, 고각)을 비교하여 탄착 오차를 산출할 수 있다. That is, the impact error calculation unit 533b is a position (a) of the time point B identified in the ballistic curve A.

=

Phosphorus point) can be determined as the impact position, and the difference between the determined impact position and the center position of the target can be calculated as the impact error. When the viewpoint B is confirmed, the impact error calculator 533b may calculate the impact error by comparing the (azimuth angle, the elevation angle) of the target with the (azimuth angle, the elevation angle) of the bullet.

The impact error calculation unit 533b may compare the center position of the target and the position of the bullet to immediately evaluate the front / back coal and the upper / lower coal tendency of the coal, and calculate the impact error average from the accumulation of the evaluation results. That is, the impact error calculation unit 533b is a shot set to reflect the average of the impact impact error n times or more in the next shot, when the number of impact hits calculated by forming an impact group is generated n times or more, and the calculated impact error reaches n times. It can be calculated as and transmitted to the ballistic calculating unit 533a.

The ballistic calculation unit 533a may correct the launch position of the ball, that is, the ballistic solution, by using an average of n or more impact errors calculated by the impact error calculation unit 533b. That is, the ballistic calculation unit 533a may correct the shooting position of the bullet by using the? Set value calculated by the impact error calculation unit 533b and then reflect it at the next shot.

FIG. 7 is a diagram for describing an operation in which the impact error calculator 533b reflects the average of impact errors as a? Set value.

Referring to FIG. 7, when the shots were fired three times, the first shots were the top bombs 1.0 and the shotguns 2.0, the second shots were the top shots 1.5 and the shotguns 1.0, and the third shots were the top shots 0.5 and the bullets 1.0. The average values calculated by the impact error calculating unit 533b are 1.0 coal and 0.7 carbon. Accordingly, the ballistic calculator 533a is based on target position information received from the main EOTS 300 in real time, attitude information and acquisition time from the navigation apparatus 100, position information and time information from the GPS apparatus 200, and the like. The ballistic solution may be calculated, and the turret drive controller 600 may be commanded to perform the shooting after modifying the ballistic solution to move the bullet down by 1.0 and 0.7 in the fourth round. In Fig. 7, the circle of dotted line drawn in the target (airplane) is the impact point to be ideally obtained.

8 and 9 are flowcharts schematically illustrating a fire control method for compensating an impact error of a large resonator using an auxiliary electro-optical tracking device according to an exemplary embodiment of the present invention.

The fire control method of FIGS. 8 and 9 may be operated by the anti-aircraft machine 10 described with reference to FIGS. 1 to 7.

FIG. 8 is a flowchart illustrating an operation in the shooting standby mode or the shooting mode of the anti-aircraft 10.

Referring to FIG. 8, the fire control apparatus 500 transmits a reference time and a plurality of control commands to the navigation apparatus 100, the main EOTS 300, and the sub EOTS 400 (S810 ˜ S830).

The main EOTS 300 and the sub EOTS 400 transmit the captured image to the fire control apparatus 500 (S840 and S850).

The navigation device 100 transmits the attitude information and the acquisition time of the anti-aircraft machine 10 to the fire control device 500 (S860).

The GPS device 200 transmits the location information and time information of the anti-aircraft machine 10 to the fire control device 500 (S870). Although not shown, the fire control apparatus 500 stores the information received in step S840 to step S870.

9 is a flowchart illustrating an operation in the firing mode of the anti-aircraft machine 10.

Referring to FIG. 9, the sub EOTS 400 may operate in a ballistic dependent mode by an operator's operation before the actual bullet is fired from the anti-aircraft 10 (S905).

When the target is locked (On), the main EOTS 300 transmits the target position information to the fire control apparatus 500 while tracking the target in real time, whereby the fire control apparatus 500 switches to the fire mode ( S910, S915).

The ballistic calculation unit 533a of the fire control device 500 combines the target location information received from the main EOTS 300 and the information received from the navigation device 100 and the GPS device 200 in real time. It calculates (S920), and transmits a gun-directed direction command (ie, target position value command) to the turret drive controller 600 so that the gun can be directed according to the calculated ballistic solution (S925).

In addition, the ballistic calculator 533a generates and transmits a control command to the sub EOTS 400 so as to face an expected position of the bullet to be positioned after a predetermined time from the launch time of the bullet (S930).

Therefore, the sub EOTS 400 operating in the ballistic dependent mode is driven to pre-orient the expected position of the corresponding shot after a predetermined time from the launch time of the shot according to the control command (S935).

When the shot is fired by the actual shot firing command (S940), the main EOTS 300 transmits the position information of the target to the impact error calculation unit 533b in real time while tracking the captured target before shooting (S945 and S950). ).

In addition, the sub-EOTS 400 switches to the automatic tracking mode when capturing the bullet displayed at the center of the image, and measures the position information of the bullet in real time and transmits it to the impact error calculator 533b (S955, S960).

The impact error calculation unit 533b stores target position information and bullet position information received in real time, and constructs a trajectory curve using the bullet position information (S965).

=

인 시점을 확인하고(S975-Yes)한다. In addition, the impact error calculator 533b reads the target position information and the bullet position information from the memory 531 and compares the target position information and the bullet position information (S970).

=

Check the point in time (S975-Yes).

=

인 경우 표적의 위치정보와 탄의 위치정보가 추적된 시점들(t_tg, t_bl), 방위각 차이(

-

) 및 고각 차이(

-

)를 포함하고, 이로부터 상하탄 여부와 전후탄 여부가 판단될 수 있다.The impact error calculation unit 533b checks the position of the bullet corresponding to the identified time point (B point in FIG. 5), that is, the impact position on the ballistic curve, and calculates the difference between the confirmed impact position and the target position as the impact error. The average of n or more impact errors is calculated (S980). Impact error

=

If the target position information and the bullet position information is tracked (t _tg , t _bl ), the azimuth difference (

-

) And elevation difference (

-

), It can be determined whether the upper and lower bombs, and whether the war.

The impact error calculation unit 533b transfers the calculated impact impact average to the ballistic calculation unit 533a (S985), and the ballistic calculation unit 533a may correct the ballistic solution using the impact error (S990). In operation S985, the impact error calculation unit 533b emits at least n times of impacts and forms an impact group, and when the calculated number of impact errors reaches n times, the average of the impact impacts of n or more times is reflected in the next shot. The ballistic calculating unit 533a can calculate the shooting position of the shot, that is, the ballistic solution, using the calculated set value.

On the other hand, the fire control method for the compensation of the impact error of the anti-aircraft machine using the auxiliary electro-optical tracking device according to the present invention is included in the recording medium that can be read through a computer by implementing a program of instructions to implement this typewise It may be easily understood by those skilled in the art.

That is, the fire control method for the compensation of the impact error of the anti-aircraft machine using the auxiliary electro-optical tracking device according to the present invention is implemented in a program form that can be performed by various computer means, can be recorded on a computer readable recording medium. The computer-readable recording medium may include program instructions, data files, data structures, etc. alone or in combination. The computer-readable recording medium may include magnetic media such as hard disks, optical media such as CD-ROMs, DVDs, and ROMs, RAMs, flash memories, USB memories, and the like. Hardware devices specifically configured to store and execute program instructions are included.

Accordingly, the present invention provides a program stored in a computer-readable recording medium that is executed on a computer controlling the anti-aircraft to implement a fire control method for compensation of the impact error of the anti-aircraft using the auxiliary electro-optical tracking device.

On the other hand, while described and illustrated in connection with a preferred embodiment for illustrating the technical spirit of the present invention, the present invention is not limited to the configuration and operation as shown and described as described above, it deviates from the scope of the technical idea It will be apparent to those skilled in the art that many modifications and variations can be made to the present invention without departing from the scope of the invention. Accordingly, all such suitable changes and modifications and equivalents should be considered to be within the scope of the present invention. Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

10: Great Republic
100: navigation system
200: GPS device
300: main electro-optical tracking device
400: sub electron optical tracking device
500: fire control device
600: turret drive controller

Claims (12)

(A) The fire control apparatus calculates an estimated position of the shot after a predetermined time from the ballistic sea and the launch point of the shot using the target position information received in real time from the main electro-optical tracking device, and the estimated position of the calculated shot. Transmitting a control command to the sub-electro-optical tracking device to face the device;
(B) the sub-electro-optical tracking device pre-directing the expected position of the corresponding shot after a predetermined time according to the control command;
(C) when the bullet is fired by the firing command, the sub-electro-optical tracking device tracks the bullet and transmits the position information of the bullet to the fire control device in real time; And
(D) the fire control device compares the location information of the target received from the step (A) with the location information of the bullet received from the step (C) and calculates the impact error more than n times (n is an integer of 2 or more) And correcting the ballistic solution of the next shot by using the calculated n or more impact errors.
Step (D),
(D1) The fire control apparatus compares the location information of the target and the location information of the bullet received from the step (C) to compare the distance between the anti-aircraft weapon and the target (hereinafter referred to as the 'target distance') and the flight distance of the bullet. Calculating the difference between the position of the target and the shot at the same point as the impact error; And
(D2) correcting the impact error of the anti-aircraft weapon using the auxiliary electro-optical tracking device, comprising the step of correcting the firing position of the shot using at least n impact errors calculated in the step (D1) Fire control method for The method of claim 1,
Step (A) is
(A1) the fire control device receiving the target position information from the main electro-optical tracking device in real time to calculate a ballistic solution;
(A2) generating, by the fire control device, a driving command to direct the gun to a position corresponding to the calculated ballistic solution and transmitting the gun to the turret drive controller; And
(A3) transmitting, by the fire control apparatus, a control command to a sub electro-optical tracking device to face an expected position of a bullet to be positioned after a predetermined time from the firing time of the turret drive controller. Fire control method for compensation of impact error of anti-aircraft machine using auxiliary electro-optical tracking device. The method of claim 1,
Step (B) is,
The sub-electro-optical tracking device may include a sub-electro-optic tracking device in which the position of the bullet is displayed on an auxiliary operating exhibitor after a predetermined time from the firing time expected by the fire control device according to the control command. Fire control method for the compensation of impact error of a large resonator using an auxiliary electro-optical tracking device, characterized in that it is automatically driven to be located in the center of the image. The method of claim 1,
Step (C) is,
(C1) transmitting the location information of the target to the fire control device in real time while the main electro-optical tracking device tracks the target; And
(C2) When the shot is fired, the sub-electro-optical tracking device locks on the shot displayed at the center of the image and switches to the automatic tracking mode to measure the location information of the shot in real time to the shooting control device. Fire control method for the compensation of the impact error of the ballistic resonator using an auxiliary electro-optical tracking device comprising the step of transmitting. delete The method of claim 1,
Step (D2),
When the shot control device emits n or more shots to form an impact group, and the number of impact errors calculated in the step (D1) reaches n times, the average of the n or more impact errors is calculated for the next shot. Fire control method for the compensation of the impact error of the anti-aircraft using the auxiliary electro-optical tracking device, characterized in that for correcting the shooting position of the bullet reflected by the set value. Using the position information of the target received in real time from the main electro-optical tracking device to calculate the estimated position of the bullet after a predetermined time from the ballistic sea and the launch time of the bullet, and to face the estimated position of the calculated bullet The control command is transmitted to the optical tracking device, and the target error received from the following main electro-optical tracking device and the sub-electro-optical tracking device is compared with the location information of the bullet and the impact error is not less than n (n is an integer of 2 or more). A shot control device that calculates and corrects ballistic solutions of the next shot using the calculated n or more impact errors;
A main electro-optical tracking device that tracks a target and transmits location information of the target to the fire control device in real time; And
After a predetermined time according to the control command of the fire control device, the target position of the corresponding bullet is oriented in advance, and when a shot is fired by the firing command, the fired bullet is tracked to provide the position information of the bullet to the fire control device in real time. Including a sub-electro-optical tracking device for transmitting;
The fire control device,
Receives the target position information from the main electro-optical tracking device in real time to calculate the ballistic solution, generates a driving command to direct the gun to the position corresponding to the calculated ballistic solution, and sends it to the turret drive controller, and the time of firing the bullet A ballistic calculator configured to transmit a control command to the sub-electro-optical tracking device so as to face an estimated position of the bullet to be positioned after a predetermined time from the target; And
By comparing the location information of the target with the location information of the bullet, the distance between the target and the bullet is equal to the distance between the anti-aircraft and the target (hereinafter referred to as the 'target distance') and the bullet, and the difference between the target and the bullet is the impact error. It includes; impact error calculation unit for calculating,
The ballistic calculation unit,
A large resonator capable of compensating impact error using an auxiliary electro-optical tracking device, characterized in that the position of the shot is corrected using at least n impact errors calculated by the impact error calculator. The method of claim 7, wherein
When the sub-electro-optical tracking device operates in a ballistic dependent mode,
According to the control command, the fire control device is automatically driven to be positioned in the center of the image of the sub-electro-optical tracking device displayed in the auxiliary operation display after a predetermined time from the expected time of firing the shot. A large revolver capable of compensating impact error using an auxiliary electro-optical tracking device The method of claim 7, wherein
Once the shot is fired,
The sub-electro-optical tracking device, when the bullet displayed at the center of the image is captured (Lock-On), switch to the automatic tracking mode to measure the location information of the bullet in real time and transmits the auxiliary electronics to the fire control device. A large revolver capable of compensating impact errors using an optical tracking device. delete delete The method of claim 7, wherein
The impact error calculation unit,
When the bomb is fired n times or more and an impact group is formed, and the number of calculated impact errors reaches n times, the average of the n or more impact errors is calculated as a set value to be reflected in the next shot and transmitted to the ballistic calculating unit. ,
The ballistic calculation unit,
A large revolver capable of compensating impact error using an auxiliary electro-optical tracking device, characterized in that the shot position is corrected and reflected at the next shot.

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