KR102119252B1 - Wearable firing apparatus and operating method thereof - Google Patents

Abstract

The present invention relates to a wearable shooting apparatus and an operation method thereof, which can provide a method for operating a new ultra-small guided missile weapon system for soldiers. According to an embodiment of the present invention, the operation method of the wearable shooting apparatus includes the following steps of: performing a shooting lane alignment of an ultra-small guided missile operated in a launch device based on a shooting control device for each of shooting control devices included in each of a helmet and an arm wearing unit worn on a shooter′s body to be separately operated and the launch device; and performing the shooting lane alignment based on the shooting control device, and then deriving and displaying the aiming surface according to a shooting specification.

Description

Wearable shooting device and its operating method {WEARABLE FIRING APPARATUS AND OPERATING METHOD THEREOF}

The present invention relates to a wearable shooting device and a method for operating the same, and more specifically, by providing a weapon system mounted on a wearable basic configuration composed of a helmet, an arm wearing part, and a best wearing part, a method for operating a new soldier ultra-small guided missile weapon system It relates to a wearable shooting device for providing, and a method of operating the same.

Recently, wearable devices have appeared, and attempts have been made to apply various wearable devices to defense technology.

These wearable devices for defense are being developed in a form that complements or strengthens physical capabilities by wearing them on the body. In other words, defense wearable devices are being researched in the form of strengthening combat suits and protective equipment to increase the survival and combat power of shooters.

For example, the defense wearable device provides various information through the shooter's helmet or glasses, or enhances the camouflage ability to change freely according to the surrounding environment, and monitors the shooter's body condition in real time to check the health condition , Make heavy weapons or equipment available.

However, the defense wearable device is being researched in the form of a wearable weapon system that frees both hands of an individual shooter and can use other mission equipment or a main firearm. Such a wearable device for defense can configure a weapon system corresponding to a personal fire extinguisher in a wearable form. In this case, the launch device located on the shooter arm and the target acquisition optical system located on the shooter's helmet can be separated from each other.

In addition, the system operated separately as described above has a different problem from the existing personal fire extinguisher. In other words, the existing personal fire extinguisher can be configured with a mechanical alignment because the barrel and the fire control device are integrated. At this time, the personal fire extinguisher aims the target through the optical system of the fire control device and measures the distance through the laser range finder. Then, the personal fire extinguisher displays the aiming point on the display of the fire control device when the launch elevation and the azimuth are calculated through ballistic calculation. Then, the shooter looks at the display of the fire control device and fires the gun at the aiming surface.

However, in order to configure the weapon system that replaces the personal fire extinguisher in the form of a wearable, the defense wearable device requires an alignment process because the launch device and the target acquisition optical system are configured separately and not in a single structure, like the personal fire extinguisher.

However, the defense wearable device needs to set the aiming surface of the new guided area considering the guided capability of the bullet rather than the aiming point of the existing trajectory when considering the guided capability of the ultra-small guided missile.

Republic of Korea Patent Publication No. 10-2016-0015143

An object of the present invention is to provide a weapon system mounted on a wearable basic structure composed of a helmet, an arm wearing part, and a best wearing part, to provide a method for operating a new ultra-small guided missile weapon system for soldiers, a wearable shooting device and a method of operating the same To provide.

The ultra small guided missile shooting method according to an aspect of the present invention includes a helmet and an arm wearing part worn on a shooter's body, and a shooting control device and a launching device separately operated from the firing device based on the shooting control device Performing a shooting lane alignment of the operated ultra-small guided missile; And performing alignment of a shooting lane based on the shooting control device, and then deriving and displaying an aiming surface according to the shooting specification.

The step of performing the alignment of the shooting lane may include: calculating a position value and a posture value of the shooting control device and a position value and a posture value of the firing device; Deriving a posture value of the launch device as a posture value converted based on the fire control device using a posture conversion matrix; And deriving a position value of the launch device as a converted position value based on the fire control device using the posture value converted based on the fire control device.

The calculating step calculates a position value and an attitude value of the fire control device using an angular velocity/acceleration measurement sensor aligned to the day/night optical detector of the fire control device, and the angular velocity/ aligned to the launch tube of the fire control device. It may be to calculate a position value and a posture value of the launch device using an acceleration measurement sensor.

The step of deriving the converted attitude value based on the shooting control device may include the x-axis (pitch), y-axis (yaw), and z-axis (roll) of the shooting control device and the firing device in the posture conversion matrix. It may be derived by substituting a posture difference value.

The step of deriving the converted position value based on the fire control device is derived using the following [mathematical formula],

[Mathematics]

는 자세변환행렬, [x,y,z]는 발사장치의 위치값, [X_L,Y_L,Z_L]는 사격통제장치를 기반으로 변환된 발사장치의 위치값, d_x, d_y, d_z는 사격통제장치와 발사장치의 원점의 x축, y축, z축 위치 차이값이다.here,

Is the posture transformation matrix, [x,y,z] is the position value of the launcher, [X _L, Y _L ,Z _L ] is the position value of the launcher converted based on the fire control device, d _x , d _y , d _z is the difference between the x-axis, y-axis, and z-axis positions of the origin of the fire control device and the launch device.

According to an embodiment, prior to the step of performing the alignment of the shooting lane, an initialization process for initial information of the angular velocity/acceleration measurement sensor aligned with the day/night optical detector and the angular velocity/acceleration measurement sensor aligned with the launch tube is predetermined. It may further include a step of performing every time of.

The shooting specification may be classified into a standard condition shooting specification that is calculated using only the shooting distance between the shooter and the target without external factors, and a non-standard condition shooting specification considering the effects of non-standard factors.

The non-standard factors may be influenced by altitude difference (slope), wind, target movement, temperature, and air pressure.

The displaying of the aiming surface may include: constructing the standard condition shooting specification to derive the aiming surface according to the standard condition shooting specification; And extending and reflecting the aiming surface according to the standard condition shooting specification to a non-standard condition shooting specification to derive and display the aiming surface according to the non-standard condition shooting specification.

The aiming surface according to the standard condition shooting specifications, the aiming point capable of hitting through a ballistic flight is determined without using the guided function of the ultra-small guided missile, and the guided focus is focused on the targeted point while considering the trajectory control while using the guided function. It may be a collimating surface configured by setting a range of a firing angle and an azimuth angle in which a blow is allowed.

The aiming surface according to the non-standard condition shooting specification is changed by reflecting the influence of the non-standard elements on the aiming surface of the standard condition shooting specification, and the firing range and azimuth range corresponding to the size of the aiming plane are the standard. It may be a collimating surface configured and configured identically to the collimating surface according to the condition shooting specification.

The step of deriving and displaying the aiming plane according to the non-standard condition shooting specification is to calculate the aiming plane according to the non-standard condition shooting specification by sequentially reflecting the influence of the non-standard elements on the aiming plane according to the standard condition shooting specification. Can be.

In addition, the ultra-small guided missile shooting apparatus according to an embodiment of the present invention, at least one processor; And memory for storing computer readable instructions, wherein the instructions, when executed by the at least one processor, cause the micro-guided grenade shooting device to each of a helmet and an arm wearing portion worn on the shooter's body. For a fire control device and a launch device that are included and operated separately, a shooting lane alignment of an ultra-small guided missile operated in the launch device is performed based on the shooting control device, and a shooting lane alignment is performed based on the shooting control device. Then, the aiming surface according to the shooting specification may be derived and displayed.

The instructions, when executed by the at least one processor, cause the micro guided missile shooting device to perform the shooting lane alignment, the position value and posture value of the fire control device, and the position value of the launch device. A posture value is calculated, a posture value of the launcher is derived as a posture value converted based on the fire control device using a posture conversion matrix, and a posture value converted based on the fire control device is used. It may be to derive the position value of the launch device as a converted position value based on the fire control device.

When the instructions are executed by the at least one processor, when the micro guided missile shooting device displays the aiming surface, the standard condition shooting specification is configured to derive the aiming surface according to the standard condition shooting specification. In addition, the aiming surface according to the standard condition shooting specification may be extended and reflected to the non-standard condition shooting specification, and the aiming surface according to the non-standard condition shooting specification may be derived and displayed.

The present invention can provide a method of operating a new ultra-small guided missile weapon system for soldiers by providing a weapon system mounted on a wearable basic structure composed of a helmet, an arm wearing part, and a best wearing part.

In addition, the present invention can be operated in a situation in which the optical system of the firing device and the fire control device are separated, thereby improving the operability of the soldier.

In addition, the present invention can provide a method of operating a new soldier weapon system through the shooting lane alignment for performing the axial alignment of the launcher and the helmet, the calculation of the shooting specifications in consideration of the guided missile guide capability, and the aiming surface display.

1 is a view for explaining a state of wearing a wearable shooting device according to an embodiment of the present invention,
Figure 2 is a view showing the wearable shooting device of Figure 1,
3 to 5 are diagrams for a method of operating a wearable shooting device according to an embodiment of the present invention,
6 is a view for explaining the launch elevation setting according to the trajectory,
7 is a view for explaining the setting of the launch elevation area in consideration of the shot guide function;
8 is a view showing an example of the aiming surface is reflected the shot guide function,
9 is a view showing an example of calculating the oval aiming surface by distance,
10 is a view for explaining the reflection of altitude differences in non-standard conditions shooting specifications.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, in the following description and accompanying drawings, detailed descriptions of well-known functions or configurations that may obscure the subject matter of the present invention are omitted. In addition, it should be noted that the same components throughout the drawings are represented by the same reference numerals as much as possible.

The terms or words used in the present specification and claims described below should not be interpreted as being limited to ordinary or lexical meanings, and the inventor appropriately defines terms as terms for explaining his or her invention in the best way. Based on the principle that it can be done, it should be interpreted as a meaning and a concept consistent with the technical idea of the present invention.

Therefore, the configuration shown in the embodiments and drawings described in this specification is only one of the most preferred embodiments of the present invention, and does not represent all of the technical spirit of the present invention, and can replace them at the time of this application. It should be understood that there may be equivalents and variations.

In the accompanying drawings, some components are exaggerated, omitted, or schematically illustrated, and the size of each component does not entirely reflect the actual size. The present invention is not limited by the relative size or spacing drawn in the accompanying drawings.

When a part of the specification "includes" a certain component, this means that other components may be further included instead of excluding other components, unless specifically stated to the contrary. Also, when a part is said to be "connected" to another part, this includes not only "directly connected" but also "electrically connected" with other elements in between.

Singular expressions include plural expressions unless the context clearly indicates otherwise. The terms "include" or "have" are intended to indicate the presence of features, numbers, steps, actions, components, parts or combinations thereof described in the specification, one or more other features or numbers or steps. It should be understood that it does not preclude the existence or addition possibility of the operation, components, parts or combinations thereof.

Also, the term "part" as used in the specification means a hardware component such as software, FPGA, or ASIC, and "part" performs certain roles. However, "part" is not meant to be limited to software or hardware. The "unit" may be configured to be in an addressable storage medium or may be configured to reproduce one or more processors. Thus, as an example, "part" refers to components such as software components, object-oriented software components, class components and task components, processes, functions, attributes, procedures, Includes subroutines, segments of program code, drivers, firmware, microcode, circuitry, data, database, data structures, tables, arrays and variables. The functionality provided within the components and "parts" may be combined into a smaller number of components and "parts" or further separated into additional components and "parts".

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art to which the present invention pertains may easily practice. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. In addition, in order to clearly describe the present invention in the drawings, parts irrelevant to the description are omitted, and like reference numerals are assigned to similar parts throughout the specification.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

1 is a view illustrating a state in which the wearable shooting device is worn according to an embodiment of the present invention, and FIG. 2 is a view showing the wearable shooting device of FIG. 1.

1 and 2, the wearable shooting device 100 according to an embodiment of the present invention, a helmet (helmat) 10, an arm wearing part 20, and a vest wearing part The wearable basic structure consisting of (30) is equipped with a micro guided missile weapon system. That is, the'wearable shooting device 100' includes a shooting device 21 of a wearable arm wearing part 20 on a shooter's body, a shooting control device 11 of a helmet 10 capable of target acquisition, It is a weapon system composed of an information processor (processor and memory) built into the best wearing part 30. Here, the'ultra-small guided munition' may be a guided munition for a target hitting a moving person of the size of a rifle bullet.

The helmet 10 basically protects the shooter's head from external impacts, but includes a fire control device 11 for performing a series of processes of acquiring and aiming the target.

The fire control device 11 includes a day/night optical detector capable of acquiring a target, a display for displaying the processing result by the processor 31, a laser range finder capable of measuring a distance to the target, and a helmet 10. It includes an angular velocity/acceleration measurement sensor that measures angular velocity and acceleration related to posture information, and an electrical interface between the launch device 21 and the processor 31.

In addition, the arm wear part 20 protects the shooter's arm from external impacts, and includes a launching device 21 for firing a micro guided missile.

The launcher 21 protects from the outside prior to the launch of the ultra-small missile, and when the ultra-small missile is fired, the launch tube serves as a cylinder that guides the direction of the ultra-small missile, and the injection mechanism such as the launch of the ultra-small missile and gas discharge It includes an injection/firing device provided, an angular velocity/acceleration measurement sensor for measuring angular velocity and acceleration related to posture information of the launching apparatus 21, and an electrical interface between the helmet 10 and the processor 31.

In addition, the best wearing part 30 may be implemented in the form of a vest or backpack that protects the shooter's chest and belly from external impacts.

The best wearer 30 is provided with at least one processor 31 and a memory 32 for storing computer readable instructions in order to perform a method of operating the wearable shooting device 100 according to an embodiment of the present invention. Includes. That is, when the computer-readable instructions stored in the memory 32 are executed by the at least one processor 31, the wearable shooting device 100 performs a method of operating the wearable shooting device 100 according to an embodiment of the present invention. do.

The processor 31 is interlocked with an input device capable of user input, a wireless communication unit for communication with the outside, a measurement sensor for measuring air temperature and air pressure, an electrical interface between the launch device 21 and the fire control device 11. The best wearing part 30 may include a battery pack for supplying overall power to the wearable shooting device 100.

The processor 31 acquires mutual position and posture information through an angular velocity/acceleration measurement sensor attached to each of the shooting control device 11 and the firing device 21 to perform shooting lane alignment in real time between shooting operations. Since this is calculated based on the shooting control device 11, that is, the helmet 10 when calculating the shooting specifications, the shooting device 21 capable of hitting the target through alignment with the shooting device 21 using the shooting lane alignment information This is to set the firing altitude/defense angle of and then launch the missile.

Then, the processor 31 reflects the influence of the non-standard factors on the standard condition shooting specification and calculates the non-standard condition shooting specification. At this time, the processor 31 displays the aiming surface (eg, ellipse or rectangle) rather than the aiming point for setting the firing elevation in consideration of the guided capability of the ultra-small guided missile.

As described above, since the wearable shooting device 100 operates the shooting control device 11 and the firing device 21 separately from each other, the shooting lane alignment is performed, and the shooting specifications are calculated in consideration of the inducing performance of the ultra-small guided missile. And provides a guided aiming surface that reflects the guided capability of the ultra-small guided grenade for setting the launch altitude.

For reference, the existing fire extinguisher is operated in a combined form of a gun and a fire control device, so the optical part of the gun and the fire control device is mechanically aligned, and the bullet has no guiding ability, so it aims and fires at the aiming point according to the trajectory.

Hereinafter, a method of operating the wearable shooting apparatus 100 according to an embodiment of the present invention will be described in detail with reference to FIGS. 3 to 10 to be described later.

3 to 5 are diagrams for a method of operating a wearable shooting device according to an embodiment of the present invention.

3 and 4, in the wearable shooting device 100, the shooting control device 11 included in the helmet 10 and the launching device 21 included in the arm wearing part 20 are not aligned with each other. Since it is operated separately, the shooting lane (axis) alignment of the ultra-small guided missile operated by the launcher 21 is performed based on the helmet 10, that is, the fire control device 11 (S110).

Since the firing information calculated by obtaining the target through the fire control device 11 included in the helmet 10 is the firing angle and azimuth angle of the fire control device 11, the wearable fire device 100 is a fire control device 11 ) And the process of aligning the shooting lanes of the launch device 21 is required.

Here, the shooting lane alignment refers to deriving the converted position value based on the coordinate system of the helmet 10, that is, the fire control device 11, the position value of the launch device 21.

To this end, the wearable shooting device 100 utilizes an angular velocity/acceleration measuring sensor aligned with the day/night optical detector of the shooting control device 11 and an angular velocity/acceleration measuring sensor aligned with the launch tube of the firing device 21. .

Specifically, the wearable shooting device 100 is positioned through the angular velocity/acceleration measuring sensor aligned to the day/night optical detector of the shooting control device 11, the position value of the helmet 10, that is, the shooting control device 11 ) And the orientation value (orientation) is calculated as in Equations 1 and 2 below (S111).

는 헬멧(10) 즉, 사격통제장치(11)의 위치,

는 가속도 측정센서 출력,

는 헬멧(10) 즉, 사격통제장치(11)의 자세,

는 각속도 측정센서 출력을 의미한다.Here, the subscripts in the formula mean the x-axis, y-axis, and z-axis, respectively,

Is the position of the helmet 10, that is, the fire control device 11,

Is the acceleration sensor output,

The helmet 10, that is, the posture of the fire control device 11,

Means the angular velocity sensor output.

Similarly, the wearable shooting device 100 calculates the position value and the posture value of the launch device 21 as shown in Equations 3 and 4 below through the angular velocity/acceleration measurement sensor arranged in the launch tube of the launch device 21 ( S112).

는 발사장치(21)의 위치,

는 가속도 측정센서 출력,

는 발사장치(21)의 자세,

는 각속도 측정센서 출력을 의미한다.here,

Is the position of the launcher 21,

Is the acceleration sensor output,

The posture of the launch device 21,

Means the angular velocity sensor output.

However, since the wearable shooting device 100 performs all shooting control based on the shooting control device 11, a process of converting the shooting lane of the firing device 21 into the shooting lane of the shooting control device 11 must be performed. do.

)을 이용하여 발사장치(21)의 자세값을 사격통제장치(11)를 기반으로 변환된 자세값으로 도출한다(S113). 여기서, 자세변환행렬(

)은 아래 수학식 5와 같다. At this time, the wearable shooting device 100 is a posture transformation matrix (transformation maxtrix) (

) To derive the posture value of the launch device 21 as the converted posture value based on the fire control device 11 (S113). Here, the posture transformation matrix (

) Is as shown in Equation 5 below.

Here, each of φ, θ, and ψ is the attitude (angle) of each of the x-axis (pitch), y-axis (yaw), and z-axis (roll) of the helmet 10, that is, the fire control device 11 and the firing device 21. ) Is the difference value. At this time, the posture values of each of the fire control device 11 and the firing device 21 are calculated through Equations 2 and 4.

Then, the wearable shooting device 100 derives the position value of the launch device 21 as the converted position value based on the shooting control device 11 using Equation 6 below (S114). That is, the wearable shooting device 100 derives the position value of the launch device 21 as the converted position value based on the shooting control device 11 by using the converted attitude value based on the shooting control device 11. .

는 자세변환행렬이다. 또한, [x,y,z]는 발사장치(21)의 위치값(발사관 벡터)이고, [X_L,Y_L,Z_L]는 사격통제장치(11)를 기반으로 변환된 발사장치(21)의 위치값이다. 그리고, d_x, d_y, d_z는 사격통제장치(11)와 발사장치(21)의 원점의 x축, y축, z축 위치 차이값이다. 이때, 사격통제장치(11)와 발사장치(21) 각각의 위치값은 수학식 1 및 3을 통해 산출된다.here,

Is a posture transformation matrix. In addition, [x,y,z] is the position value (launcher vector) of the launcher 21, and [X _L, Y _L ,Z _L ] is the launcher converted 21 based on the fire control device 11 ). In addition, d _x , d _y , and d _z are the x-axis, y-axis, and z-axis position difference values of the origin of the fire control device 11 and the firing device 21. At this time, the position value of each of the fire control device 11 and the firing device 21 is calculated through Equations 1 and 3.

As such, the wearable shooting device 100 enables alignment of the shooting lane between the shooting control device 11 and the firing device 21 through coordinate system conversion.

On the other hand, the wearable shooting device 100 prior to performing the shooting lane alignment based on the helmet 10, that is, the shooting control device 11, the angular velocity aligned to the day/night optical detector of the shooting control device 11 / It is important to perform the initialization process for the initial information of the angular velocity/acceleration measurement sensor aligned with the launch tube of the acceleration measurement sensor and the launch device 21 every predetermined time.

To this end, the wearable shooting device 100 initializes the position and posture of the shooting control device 11 and the firing device 21 in a predetermined posture before being worn by the shooter for initialization of the angular velocity/acceleration measurement sensor. Carry out the process.

In addition, the wearable shooting device 100 may accumulate errors over time after being worn by the shooter. In this case, the shooter may take a predetermined posture (that is, a posture in which an angle and position difference between the firing control device 11 and the firing device 21 are determined) and perform the initialization process again.

Referring to FIGS. 3 and 5, the wearable shooting device 100 performs shooting lane alignment based on the shooting control device 11, and then derives and displays an aiming surface according to the shooting specification (S120 ). At this time, it is assumed that the wearable shooting device 100 obtains the target shooting range value before shooting, the temperature/atmospheric pressure measurement value, the left/right and forward/backward slope value of the firing device 21, and the target moving value in advance to calculate the shooting specifications.

Since the ultra-small guided munition has a guided function, it is not possible to aim with a point based on the trajectory to strike a target like a general fire extinguisher, but it is possible to aim with a aiming surface (ie, a rectangular or elliptical figure shape).

Here, the shooting specifications are classified into standard condition shooting specifications and non-standard condition shooting specifications. The standard condition shooting specifications are calculated using only the shooting distance between the shooter and the target without external factors, and the non-standard shooting specifications are shooting specifications that take into account slope, wind, target movement, and other factors (temperature, air pressure, etc.).

Specifically, the wearable shooting device 100 configures a standard condition shooting specification to derive an aiming surface according to the standard condition shooting specification (S121, S122).

Here, the aiming surface according to the standard shooting conditions is determined by the aiming point (that is, a specific firing angle and a specific azimuth angle) that can be hit through a ballistic flight without using the guided function of the ultra-small guided missile, and the ultra-small guided ballistic using the guided function while trajectory It refers to the aiming surface that is configured by setting the range of the firing elevation and the azimuth that allow for a strike around the aiming point in consideration of control.

For example, the shooter can strike the target through the aiming point where the launch angle is set to θ _std =θ _{nonguided,std} when the target is at a distance of 000 m without using a guide function as shown in FIG. 6. At this time, assuming that there is no drift in the azimuth angle (ignorable when it is not a rotating bullet), ψ _std = 0 can be set. That is, the aiming point has a launch angle of θ _std = θ _{nonguided, std} , and an azimuth angle of ψ _std = 0.

In addition, the aiming point when there is no induction is set according to a table of a firing angle and azimuth angle capable of hitting each distance. 6 is a view for explaining the setting of the launch elevation according to the trajectory.

However, the shooter can shoot through the aiming surface composed of the firing elevation range and the azimuth range of the standard shooting range according to the guided performance of the ultra-small guided ammunition when the guide function is used as shown in FIG. 7 and the target is at a distance of 000 m. 7 is a view for explaining the setting of the launch elevation area in consideration of the shot induction function.

Equation 7 below represents the launch elevation range, and Equation 8 below represents the azimuth range.

Here, the launch elevation range (Δθ) and the azimuth range (Δψ) increase as the flight control capability of the missile increases. The larger the firing range and the azimuth range, the shooter can aim and shoot at a wider aiming surface.

8 is a view showing an example of the aiming surface to which the shot guide function is reflected. Referring to FIG. 8, the aiming surface can be modeled in the form of a shape such as an ellipse or a rectangle, and can be set through various simulations. In addition, the area of the aiming surface decreases as the range increases as shown in FIG. 9. The shooter must shoot more elaborately. 9 is a view showing an example of calculating the elliptical aiming surface for each distance.

Referring again to FIG. 5, the wearable shooting device 100 extends and reflects the aiming surface according to the standard condition shooting specification to the non-standard condition shooting specification to derive and display the aiming surface according to the non-standard condition shooting specification (S123, S124) ). That is, the wearable shooting device 100 calculates the firing elevation range and the azimuth range of the non-standard shooting target by sequentially reflecting the influence of the non-standard elements on the standard shooting target. As described above, the non-standard condition shooting specification is a shooting specification that reflects the effects of non-standard factors such as altitude difference (slope) with the target, wind, target movement, and others (atmospheric temperature, air pressure, etc.) in the standard condition shooting specification.

Here, the aiming surface according to the non-standard shooting conditions is changed by reflecting the influence of the non-standard elements on the aiming surface of the shooting target according to the shooting conditions of the standard conditions, and the firing elevation range and the azimuth range corresponding to the size of the aiming plane are the standard shooting conditions. It refers to the aiming surface that is configured and configured identically to the aiming surface according to.

Specifically, the wearable shooting device 100 reflects the effect of the altitude difference by adding an altitude difference (inclination) to the firing elevation of the standard condition shooting specification. Here, it is assumed that the altitude difference (inclination) is large, which affects the basic trajectory, so it is applied only when the slope is within about 10°.

Referring to FIG. 10, the firing angle (θ _{guided, nonstd} ) of the non-standard condition shooting specification reflecting the influence of the altitude difference (tilt) may be expressed as in Equation 9 below. 10 is a view for explaining the reflection of altitude differences in non-standard conditions shooting specifications.

Here, θ _h is a compensation term that compensates for the effect of altitude difference (slope) on the launch elevation.

Next, the wearable shooting device 100 reflects the influence of the wind on the standard condition shooting specifications.

Here, the influence of the wind is considered to be divided into a wind, a back wind, a side wind, and a diagonal wind, and it is possible to reflect the influence of the wind measured before shooting. For example, when the wind blows, the launch height should be lowered slightly in case there is no wind, and when the wind is blown, the launch height should be raised slightly in case there is no back wind. In the case of a sidewind, the azimuth is set in the opposite direction to counteract the wind, and in the case of a diagonal wind, both the launch elevation and the azimuth are set to counteract the effect of the diagonal wind. The compensation value considering the influence of wind can be calculated through simulation in advance.

The launch elevation (θ _{guided, nonstd} ) of the non-standard condition reflecting the wind effect can be expressed as in Equation 10 below, and the azimuth angle (ψ _{guided, nonstd} ) of the non-standard condition reflecting the wind effect is the Equation 11 and Can be represented together.

Here, θ _w is a compensation term for compensating the wind effect for the launch elevation, and ψ _w is a compensation term for compensating for the wind effect for the azimuth angle.

Next, the wearable shooting device 100 reflects the effect of the target movement on the standard condition shooting specifications.

Here, the influence due to the target movement is considered to be divided into a crossroad movement of the target, a lateral direction, and a diagonal movement.

For example, if the target is farther away, the firing height must be slightly increased, and if it is closer to the crossroad direction, the firing height must be lowered slightly. When moving in the lateral direction, set the azimuth to predict the movement of the target by setting the azimuth to offset the movement. When moving in a diagonal direction, a compensation term is added to both the launch angle and the azimuth angle to compensate for the movement.

The launch _height (θ _{guided, nonstd} ) of the non-standard conditions reflecting the effect of target movement can be expressed as in Equation 12 below, and the azimuth angle (ψ _{guided, nonstd} ) of the non-standard conditions reflecting the effect of target movement is expressed by the following formula It can be expressed as 13.

Here, θ _t is a compensation term that compensates the effect of the target movement for the launch elevation, and ψ _t is a compensation term that compensates the effect of the target movement for the azimuth angle.

Next, the wearable shooting device 100 reflects the influence of other effects (atmospheric temperature, air pressure) on the standard condition shooting specifications.

The temperature affects the combustion of the propellant, and the combustion of the propellant of the coal changes the speed of the coal. Since the bullet velocity mainly affects the range, the influence by temperature should be reflected for the launch elevation. In addition, air pressure affects the aerodynamic coefficient, especially the drag force. Thus, the effect of air pressure should be reflected on the launch elevation.

The launch elevation (θ _{guided, nonstd} ) of non-standard conditions reflecting the influence of other influences (atmospheric pressure, air pressure) can be expressed as in Equation 14 below.

Here, θ _etc is a compensation term that compensates the effects of other effects (atmospheric temperature, air pressure) on the launch elevation.

Next, since the firing angle and azimuth calculated as described above are calculated on the assumption that there is no left and right tilt of the helmet 10, if there is a left and right tilt, the final firing angle and azimuth are compensated as shown in Equation 15 below. Calculate

Here, φ is the left and right inclination angle of the helmet 10.

Referring back to FIG. 3, the wearable shooting device 100 is a shooting specification calculated based on the day and night optical detectors of the helmet 10, since the firing angle and azimuth calculated through the shooting specification calculation process are of the firing device 21. The orientation point is aligned with the helmet 10 through the alignment of the shooting lane, and the aiming surface derived according to the non-standard shooting conditions is displayed on the display of the helmet 10 (S130). Then, the shooter performs shooting by appropriately adjusting the directional angle of the launcher 21 so that the directional point of the launcher 21 enters the aiming surface.

The method according to some embodiments may be implemented in the form of program instructions that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, or the like alone or in combination. The program instructions recorded on the medium may be specially designed and configured for the present invention, or may be known and available to those skilled in computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CDROMs, DVDs, and magneto-opticals such as floptical disks. And hardware devices specifically configured to store and execute program instructions such as magneto-optical media, and ROM, RAM, flash memory, and the like. Examples of program instructions include high-level language code that can be executed by a computer using an interpreter, etc., as well as machine language codes produced by a compiler.

Although the above description has been described with a focus on novel features of the present invention applied to various embodiments, a person skilled in the art may have the apparatus and method described above without departing from the scope of the present invention. It will be understood that various deletions, substitutions, and modifications are possible in the form and details of the. Accordingly, the scope of the present invention is defined by the appended claims rather than in the above description. All modifications within the equivalent scope of the claims are covered by the scope of the present invention.

10; Helmet 20; Arm wear
30; Best wearing part 11; Fire control device
21; Launcher 31; Processor
32; Memory

Claims (19)

Performing a shooting lane alignment of a micro guided missile operated in the firing apparatus based on the firing control apparatus, for a firing control apparatus and a firing apparatus separately included and operated in a helmet and an arm wearing portion worn on the shooter's body; ; And
Including the step of performing the shooting lane alignment based on the shooting control device, and then deriving and displaying the aiming surface according to the shooting specification;
The step of performing the alignment of the shooting lane may include:
Calculating a position value and a posture value of the fire control device and a position value and a posture value of the launch device;
Deriving a posture value of the launch device as a posture value converted based on the fire control device using a posture conversion matrix; And
And deriving a position value of the launcher as a converted position value based on the fire control device using the posture value converted based on the fire control device.
delete According to claim 1,
The calculating step,
Calculate the position value and posture value of the fire control device using the angular velocity/acceleration measurement sensor aligned to the day/night optical detector of the fire control device,
A method of operating a wearable shooting device, wherein a position value and a posture value of the launch device are calculated using an angular velocity/acceleration measurement sensor arranged in the launch tube of the launch device.
According to claim 1,
The step of deriving the converted attitude value based on the fire control device may include:
A method of operating a wearable shooting device, which is derived by substituting a position difference value of each of the x-axis (pitch), y-axis (yaw), and z-axis (roll) of the shooting control device and the firing device to the posture conversion matrix.
According to claim 1,
The step of deriving the converted position value based on the fire control device,
A method of operating a wearable shooting device that is derived using the following [Equation].
[Mathematics]

here,

Is the posture transformation matrix, [x,y,z] is the position value of the launch device, [X _L, Y _L ,Z _L ] is the position value of the converted launch device based on the fire control device, d _x , d _y , d _z is the difference between the x-axis, y-axis, and z-axis positions of the origin of the fire control device and the launch device.
The method of claim 3,
Prior to the step of performing the alignment of the shooting lane, an initialization process for initial information of the angular velocity/acceleration measurement sensor aligned with the day/night optical detector and the angular velocity/acceleration measurement sensor aligned with the launch tube is performed at predetermined times. step;
Method of operating a wearable shooting device further comprising a.
According to claim 1,
The shooting specifications,
A method of operating a wearable shooting device that is classified into a standard condition shooting specification that calculates using only the distance between a shooter and a target without external factors, and a non-standard condition shooting specification considering the effects of non-standard factors.
The method of claim 7,
The influence of the non-standard factors,
A method of operating a wearable shooting device that is influenced by altitude difference (slope), wind, target movement, temperature, and air pressure.
The method of claim 8,
The step of displaying the aiming surface,
Constructing the standard condition shooting specification to derive an aiming plane according to the standard condition shooting specification; And
Deriving and displaying the aiming surface according to the non-standard condition shooting specification by expanding and reflecting the aiming surface according to the standard condition shooting specification to the non-standard condition shooting specification;
Method of operating a wearable shooting device comprising a.
The method of claim 9,
The aiming surface according to the above standard condition shooting specifications,
The small guided grenade does not use a guided function, and the aiming point that can be hit through a ballistic flight is determined. A method of operating a wearable shooting device, which is a set and configured aiming surface.
The method of claim 9,
The aiming surface according to the above non-standard shooting conditions is
The aiming point of the aiming plane according to the standard condition shooting specification is changed to reflect the influence of the non-standard elements, and the firing range and azimuth range corresponding to the size of the aiming plane are set equal to the aiming plane according to the standard condition shooting specification. A method of operating a wearable shooting device, which is an aiming surface that is constructed and configured.
The method of claim 11,
The step of deriving and displaying the aiming surface according to the non-standard condition shooting specifications is,
A method of operating a wearable shooting device, wherein the aiming surface according to the non-standard shooting conditions is calculated by sequentially reflecting the influence of the non-standard elements on the aiming surface according to the standard shooting conditions.
As a wearable shooting device,
At least one processor; And
And a memory for storing computer readable instructions.
The instructions, when executed by the at least one processor, cause the wearable shooting device to
The shooting control device and the firing device included in each of the helmet and the arm wearing parts worn on the shooter's body are operated to perform shooting lane alignment of the ultra-small guided ammunition operated by the launch device based on the shooting control device. ,
After performing the shooting lane alignment based on the shooting control device, the aiming surface according to the shooting specification is derived and displayed.
The instructions, when executed by the at least one processor, cause the wearable shooting device to:
When performing the alignment of the shooting lane, the position value and posture value of the shooting control device, and the position value and posture value of the firing device are calculated,
Using the posture conversion matrix, the posture value of the launch device is derived as the posture value converted based on the fire control device,
The wearable shooting device is configured to derive a position value of the launch device as a converted position value based on the shooting control device using the posture value converted based on the shooting control device.
delete The method of claim 13,
The shooting specifications,
A wearable shooting device that is classified into a standard condition shooting specification that calculates using only the shooting distance between a shooter and a target without external factors, and a non-standard condition shooting specification considering the effects of non-standard factors.
The method of claim 15,
The influence of the non-standard factors,
Wearable shooting device that is influenced by altitude difference (slope), wind, target movement, temperature, and air pressure.
The method of claim 16,
The instructions, when executed by the at least one processor, cause the wearable shooting device to:
When displaying the aiming surface, the standard condition shooting specification is configured to derive the aiming surface according to the standard condition shooting specification,
A wearable shooting device that extends and reflects the aiming surface according to the standard condition shooting specification to a non-standard condition shooting specification to derive and display the aiming surface according to the non-standard condition shooting specification.
The method of claim 17,
The aiming surface according to the above standard condition shooting specifications,
The small guided grenade does not use a guided function, and the aiming point that can be hit through a ballistic flight is determined. A wearable shooting device that is an aiming surface that is configured and configured.
The method of claim 17,
The aiming surface according to the above non-standard shooting conditions is
The aiming point of the aiming plane according to the standard condition shooting specification is changed to reflect the influence of the non-standard elements, and the firing range and azimuth range corresponding to the size of the aiming plane are set equal to the aiming plane according to the standard condition shooting specification. A wearable shooting device that is composed of aiming surface.

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