EP0953140B1 - Device for determining the direction of a target in a predetermined index mark - Google Patents

Device for determining the direction of a target in a predetermined index mark Download PDF

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Publication number
EP0953140B1
EP0953140B1 EP98903080A EP98903080A EP0953140B1 EP 0953140 B1 EP0953140 B1 EP 0953140B1 EP 98903080 A EP98903080 A EP 98903080A EP 98903080 A EP98903080 A EP 98903080A EP 0953140 B1 EP0953140 B1 EP 0953140B1
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EP
European Patent Office
Prior art keywords
sighting
target
consist
gyrometers
elements
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EP98903080A
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German (de)
French (fr)
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EP0953140A1 (en
Inventor
Bernard Alhadef
Guy Philibert
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Sofresud
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Direction General pour lArmement DGA
Sofresud
Etat Francais
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/06—Aiming or laying means with rangefinder
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/02—Aiming or laying means using an independent line of sight

Definitions

  • the present invention relates to the field of sighting or score. It relates more particularly to a device capable of determining the direction of a target in a predefined coordinate system, device of the type comprising sighting means and means for processing signals from the sighting means, these processing means being able to determine the direction between the means of aim and target and to transmit them to visualization means or to means exteriors.
  • patent EP5575591 describes a device capable of determine the orientation of a body with respect to a reference orientation, and includes a mobile orientation unit and a reference sensor unit, each of them comprising a gyroscopic unit with three axes, a unit of calculation receiving the measurement values of the aforementioned units, and an output unit.
  • Such devices exist and use field sensors magnetic.
  • binoculars sold under the brand LEICA, are suitable for determine the site and azimuth of a target and give complete satisfaction when they are used in free space.
  • their use is not possible in a environment with magnetic disturbances.
  • Other devices consist in analyzing electrostatic fields or even electromagnetic and, by reading their cartography, to determine the position and direction of a target.
  • the devices give satisfaction in perfectly environments known and of small dimensions. They are however heavy to implement and do not do not support changes in the electrical environment.
  • the device for determining the direction of a target comprises a mobile sighting device provided with two integrated inertial gyroscopes, means for registration in solidarity with the helicopter equipped with two gyroscopes and means enslavement of the direction of the weapon according to the information provided by the gyroscopes.
  • the registration means are used to block the four gyroscopes in a first reference position to define a reference. When the means of aiming are released from the registration means, the four gyroscopes are released. The pair of gyroscopes integrated into the registration means then rotates according to the helicopter movements.
  • the pair of gyroscopes integrated into the sighting device rotates according to the movements of the helicopter and the movements of the shooter wielding the sighting device.
  • the weapon is directed in real time towards the target in function of the difference in rotation between the two pairs of gyroscopes.
  • This device has many drawbacks.
  • the shooter is obliged to maintain the aiming means permanently in the direction of the target, and this until weapon system firing which limits firing capabilities and leaves the helicopter vulnerable in the presence of several targets.
  • the two gyros of the sighting means transmit to the processing means successions of signal variations resulting in an accumulation of measurement errors which affects the accuracy of the determining the direction of the target.
  • One of the aims of the invention is to propose a light and handy device, suitable to determine, precisely and quickly, the site and the azimuth of a target and usable what whatever the type of environment.
  • the proposed solution is a device capable of determining the direction of a target in a predefined reference frame and of the type comprising sighting means comprising a sighting device and control means, means for resetting these sighting means and means for processing signals from the sighting means, these processing means being able to determine the direction between the means of aim and target and to transmit them to visualization means or to means exterior, device characterized in that the sighting means further comprise along three axes substantially perpendicular to each other, three gyrometers, and in that the control means control the transmission to display means or external means, values representative of the direction between the sighting means and the target.
  • the device comprises three optical gyrometers, for example fiber optic.
  • the sighting means include elements capable of cooperating with elements of the registration means.
  • the first elements are constituted by three plates, one hollowed out by a cone, the second comprising a plane, while that the other elements are constituted by spikes of conical shape.
  • the processing means include a source power supply and means of calculation and information management putting implement software performing several functions.
  • the software also performs a function for viewing the operational state of the elements of the invention.
  • Patents EP717264 and EP496172 describe methods for correcting gyrometric biases as well as the means of their implementation.
  • the first concerns the correction of gyrometric biases on an aircraft and the second, on a vehicle. In both cases, the gyroscopic calibration is carried out when the aircraft or vehicle is in the stationary position.
  • One of the aims of the invention is to propose a method for processing signals from gyroscopes giving good results and not requiring powerful signal processing means.
  • the solution consists in proposing a data integration process gyroscopic consisting of performing successively, from the values gyroscopic obtained between a time to and a time t1, first calculations with complex modeling that cannot, given the processing capacity of processing means, operating in real time but giving precise results, then from the gyroscopic values obtained between time t1 and time t2, second calculations with simplified modeling and capable of being implemented in real time.
  • the software also performs a function of correction of the gyrometer drift between two successive readjustments.
  • the sighting means comprise at minus a temperature sensor.
  • the means of the invention presented in Figure 1 include means of aiming 10, registration means 20, signal processing means 30, display means 40, external means 50.60.
  • the sighting means 10 comprise means 11 having the shape of a pistol.
  • the core 12 of the latter is a precision support of light material, for example machined aluminum, on which are positioned on the one hand a sighting member 13, and on the other hand along three axes substantially perpendicular to each other compared to the others, three optical gyroscopes 14 1 , 14 2 , 14 3 .
  • these gyros are fiber optic gyros. They make it possible to obtain high accuracy of measurements, their drift is low, they support rapid movements and can be used in any environment.
  • the sighting member 13 is constituted by a viewfinder of the C-More brand which projects a crosshair to infinity, allowing aiming without parallax error.
  • the first 15 1 located at the end of the barrel, is hollowed out with a cone; the second 15 2 is located above the butt and has a groove; The third 15 3 placed at the bottom of the stick has a plane.
  • Ports are machined in the gun to house electrical systems and the three measurement gyros.
  • the plans on which they are based, and which determine their axis of rotation are machined to ensure their perfect perpendicularity.
  • These sighting means further comprise means of transmission control constituted by a switch 16 appearing under the form of a pistol trigger.
  • the registration means 20, shown in Figure 3, are fixed to the ship and are composed of a support in the form of a rectangular box 21 having a cover 22 pivoting about an axis 23.
  • This box contains a sheath 24 which matches the shape of the sighting means 10.
  • the internal surface of the face 22 has three fixed conical spikes 25 1 , 25 2 , 25 3 arranged so that each of them cooperates with one of the three removable plates fixed on the sighting means in order to ensure a very precise positioning of the latter in the registration means, the precision possibly being of the order of a hundredth of a degree or even higher.
  • These registration means further comprise a switch 26 indicating or not the presence of the sighting means 10.
  • the processing means 30 are portable and include a source stabilized power supply and computing and management resources information implementing software performing several functions.
  • the external means comprise on the one hand means 50 for measuring the attitude (heading, roll, pitch) of the ship, in this case a navigation center, and the latitude of the latter on the surface of the earth.
  • these information is transmitted to the means of the invention by the navigation means of the ship, in the form of data directly usable by the calculation means, by means of a transfer function to take account of the positioning of the navigation center in relation to the registration means.
  • a weapon system 60 which aim is controlled from site and azimuth values determined by means of invention and values specific to the weapon system and its location on the ship.
  • This attitude can be expressed in different benchmarks, depending on the needs of the system that will use the sighting information.
  • It can in particular be an absolute benchmark, whose axes are east geographic, geographic north and vertical of the location, or a landmark related to the ship.
  • the sighting means 10 When the sighting means 10 are positioned in the registration support 20, their position is perfectly known in an absolute benchmark knowing on the one hand the position of the registration support on the ship (6 degrees of freedom) and on the other position of the vessel in the geographical reference linked to its quiet point (course, roll, pitch and latitude). This information is transmitted to the processing means 30 by the ship's navigation center.
  • the command to release the sighting means from its registration support 20 triggers the integration of the three incremental angles along each of the three axes linked to sighting means 10.
  • This integration is done in a Galilean reference linked to the registration support 20, in the position where it was at the time of the extraction of the sighting means 10.
  • the attitude of the device is therefore known at all times with respect to this benchmark Galilean.
  • attitude of the aiming means must be in conformity with the needs of external resources 60.
  • this compliance requires two steps.
  • the first consists in calculating the attitude of the sighting means in a benchmark geographic centered on the registration support 20, at the time of use of information. This calculation takes into account the Earth's rotation and the time since the last registration.
  • the second consists in expressing the attitude in the operating benchmark, in the occurrence the weapon system benchmark.
  • This mark can be located several tens of meters from the support of registration, and therefore the parallax error may not be negligible, especially if the objects concerned are close, these objects being able to be swimmers or light boats.
  • This filtering can be of the low pass type or a KALMANN type filter in order to take into account target changes in a given template without having a train.
  • the initial attitude is determined mechanically. Before any objective designation, the aiming instrument is at rest in the registration means, so that its position is known and reproducible. The precision of this position is acquired by three fixed positioning pins 25 1 , 25 2 , 25 3 in this support and which are inserted successively in one of the plates placed on the sighting means. The six degrees of freedom being thus determined with great precision, the initial attitude of the sighting instrument is perfectly known.
  • the positioning of the sighting means in the registration means is carried out in two stages.
  • the first consists in positioning the sighting means in the sheath 24: it constitutes a positioning which can be described as coarse while the second consists in positioning the sighting means by successively plugging in one of the three pins in the one of the three plates: positioning is thus obtained to the nearest hundredth of a degree.
  • the precise positioning of the sighting means takes place automatically when the cover 22 of the box 21 is closed.
  • the software implemented by the processing means 30 has the mission of process the raw data provided by the sighting instrument, a device that allows the operator of the means according to the invention, by targeting a target, of determining its site and its azimuth.
  • the objective designation function takes place continuously when the instrument sighting is in operational mode, that is to say outside of the registration support. It is required that the minimum gyroscopic data processing time, for example of the order of a few milliseconds, in order to be able to process the maximum of data coming out of the gyrometers, and thus better follow the evolution of the increments angles and angles which are deduced therefrom, in order to limit the error during processing. Depending on the size of the angle increments from the gyros, a modeling is implemented to overcome as much as possible the limits of commutativity of rotations in space.
  • the integration of the gyrometric data is done in the absolute reference of the registration support in to.
  • we ends the treatment taking into account the Earth's rotation which has been measured in known by the gyros since the beginning of the treatment. For that we place our in the absolute benchmark of the registration support at t, instant of aiming, then we deduce the site and the absolute azimuth of the sighting instrument relative to the building.
  • the transmission function is very simple, since it consists in sending the calculated values of site and the azimuth in the absolute coordinate system of the building at time t, to a memory and to the weapon system and / or to the display means for display.
  • This function is triggered by the passage of switch 16 from the position open to the closed position. It is accompanied by the emission of an audible signal and / or a light signal and the display of positive information on the means of viewing.
  • the output values are: to, uo, vo, wo the position vectors of the aiming instrument to to, as well as Du.
  • the processing of the input data is carried out as follows:
  • the calculations during processing are done in the absolute benchmark of the building (and registration support) to, instant of the last registration.
  • the purpose of registration is therefore to determine the new starting vectors of the integral in the absolute coordinate system of the registration support in to.
  • the site and the azimuth are calculated using the aiming vector determined by the gyrometric measurements and integration during operational mode.
  • switch 16 closes, and the variable trigger changes from 0 to 1 on the screen.
  • the implementation of the means of the invention is carried out by an operator.
  • the latter sees a target, it removes the sighting means 10 from the means of registration 20 then it points, using the sighting member 13, the means 10 in the direction of the target and presses the switch 16 when it considers that they are correctly positioned relative to the target. Therefore the means 30 calculate the site and the azimuth of the target and transmit these values to the weapon system which controls the orientation of the weapon according to these values and the variations in attitude of the ship from said transmission of values, these variations being, as previously mentioned, determined by means 50.
  • the shooter can target another target and press the switch 16.
  • the means 30 then calculate the site and the azimuth of the new target and transmit these values to the weapon system which stores in memory said values and can direct the weapon towards this new target immediately after firing in the direction of the first target.
  • the shooter can successively target several targets in a minimum of time, without having to wait for the end of the firing sequence which optimizes the total time required for the corresponding shots and thus reduces the vulnerability of the boat.
  • the shooter can, after acquiring the target (s), achieve additional tasks or moving around without the weapon system reacting to his movements.
  • the acquisition of gyros is done with a step Dt between 5 ms and 100 ms. These values are integrated and it is known to model this integration in order to get accurate results. However, with portable computing means, it is not not possible to perform calculations in real time.
  • One of the objects of the invention is to remedy this problem by proposing an integration process consisting of performing successively, from the gyroscopic values obtained between time to and time t1, first calculations with complex modeling that cannot operate in real time but giving precise results, then from the values gyroscopic obtained between time t1 and time t2, second calculations with simplified modeling capable of being implemented in real time.
  • box 21 can be replaced by a device comprising actuators, for example of the electromechanical or pneumatic type.
  • the sighting means 10 are placed in a holder of the case type. Therefore they are roughly positioned within a few degrees.
  • the sighting means can be applied to a helmet, such as that described in US Pat. No. 4,722,601, to a headband or to binoculars and the software may include a self-adaptive algorithm for calculating the drift of gyros.
  • the three plates may each include a slot, or the means may also comprise four plates, two of which having a slit, the third has a stop and the fourth forms a plane.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Gyroscopes (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)

Description

La présente invention concerne le domaine des appareils de visée ou de pointage. Elle a plus particulièrement pour objet un dispositif apte à déterminer la direction d'une cible dans un repère prédéfini, dispositif du type comportant des moyens de visée et des moyens de traitement de signaux issus des moyens de visée, ces moyens de traitement étant aptes à déterminer la direction entre les moyens de visée et la cible et à les transmettre à des moyens de visualisation ou à des moyens extérieurs.The present invention relates to the field of sighting or score. It relates more particularly to a device capable of determining the direction of a target in a predefined coordinate system, device of the type comprising sighting means and means for processing signals from the sighting means, these processing means being able to determine the direction between the means of aim and target and to transmit them to visualization means or to means exteriors.

Il existe de nombreux dispositifs aptes à déterminer notamment le site et l'azimut d'une cible.There are many devices capable of determining in particular the site and the azimuth of a target.

On peut, à ce titre citer le brevet EP5575591 qui décrit un dispositif apte à déterminer l'orientation d'un corps par rapport à une orientation de référence, et comprend une unité d'orientation mobile et une unité de capteurs de références, chacune d'entre elles comportant une unité gyroscopique à trois axes, une unité de calcul recevant les valeurs de mesures des unités précitées, et une unité de sortie.As such, mention may be made of patent EP5575591 which describes a device capable of determine the orientation of a body with respect to a reference orientation, and includes a mobile orientation unit and a reference sensor unit, each of them comprising a gyroscopic unit with three axes, a unit of calculation receiving the measurement values of the aforementioned units, and an output unit.

Cependant une grande partie de ces dispositifs nécessite une logistique importante. Or, dans certaines circonstances, il peut s'avérer nécessaire, voire vital d'utiliser un dispositif léger et maniable utilisable par un seul opérateur.However, a large part of these devices requires logistics important. However, in certain circumstances, it may prove necessary, even vital to use a light and handy device usable by a single operator.

De tels dispositifs existent et mettent en oeuvre des capteurs de champ magnétique.Such devices exist and use field sensors magnetic.

Parmi ces dispositifs, des jumelles, vendues sous la marque LEICA, sont aptes à déterminer le site et l'azimut d'une cible et donnent entière satisfaction lorsqu'elles sont utilisées en espace libre. Par contre leur utilisation n'est pas possible dans un environnement comportant des perturbations magnétiques.Among these devices, binoculars, sold under the brand LEICA, are suitable for determine the site and azimuth of a target and give complete satisfaction when they are used in free space. However, their use is not possible in a environment with magnetic disturbances.

D'autres dispositifs consistent à analyser des champs électrostatiques voire électromagnétiques et, par relevé de leur cartographie, à déterminer la position et la direction d'une cible.Other devices consist in analyzing electrostatic fields or even electromagnetic and, by reading their cartography, to determine the position and direction of a target.

Les dispositifs donnent satisfaction dans des environnements parfaitement connus et de petites dimensions. Ils sont cependant lourds à mettre en oeuvre et ne supportent pas de modifications de l'environnement électrique.The devices give satisfaction in perfectly environments known and of small dimensions. They are however heavy to implement and do not do not support changes in the electrical environment.

On connaít le brevet US4012989 qui décrit un hélicoptère comportant un dispositif de détermination de la direction d'une cible en vue de diriger un système d'arme mobile. Le dispositif de détermination de la direction d'une cible comporte un organe de visée mobile muni de deux gyroscopes inertiels intégrés, des moyens de recalage solidaires de l'hélicoptère munis de deux gyroscopes et des moyens d'asservissement de la direction de l'arme en fonction des informations fournies par les gyroscopes. Les moyens de recalage servent à bloquer les quatre gyroscopes dans une première position de référence pour définir un repère. Lorsque les moyens de visée sont dégagés des moyens de recalage, les quatre gyroscopes sont libérés. La paire de gyroscopes intégrée aux moyens de recalage tourne alors en fonction des mouvements de l'hélicoptère. La paire de gyroscopes intégrée à l'organe de visée tourne en fonction des mouvements de l'hélicoptère et des mouvements du tireur maniant l'organe de visée. L'arme est dirigée en temps réel en direction de la cible en fonction de la différence de rotation entre les deux paires de gyroscopes.We know the patent US4012989 which describes a helicopter comprising a device for determining the direction of a target in order to direct a system mobile weapon. The device for determining the direction of a target comprises a mobile sighting device provided with two integrated inertial gyroscopes, means for registration in solidarity with the helicopter equipped with two gyroscopes and means enslavement of the direction of the weapon according to the information provided by the gyroscopes. The registration means are used to block the four gyroscopes in a first reference position to define a reference. When the means of aiming are released from the registration means, the four gyroscopes are released. The pair of gyroscopes integrated into the registration means then rotates according to the helicopter movements. The pair of gyroscopes integrated into the sighting device rotates according to the movements of the helicopter and the movements of the shooter wielding the sighting device. The weapon is directed in real time towards the target in function of the difference in rotation between the two pairs of gyroscopes.

Ce dispositif comporte de nombreux inconvénients. Ainsi, le tireur est obligé de maintenir les moyens de visée en permanence en direction de la cible, et ce jusqu'au tir du système d'arme ce qui limite les capacités de tir et rend l'hélicoptère vulnérable en cas de présence de plusieurs cibles. Du fait des vibrations de l'hélicoptère et des mouvements du poignet incontrôlés les deux gyroscopes des moyens de visée transmettent aux moyens de traitement des successions de variations de signaux entrainant une accumulation d'erreurs de mesure qui nuit à la précision de la détermination de la direction de la cible. A bord d'un bateau, en cas de mer agitée, donc de forts tangage et roulis, l'orientation du système d'arme en direction de la cible serait quasiment impossible avec un tel dispositif.This device has many drawbacks. Thus, the shooter is obliged to maintain the aiming means permanently in the direction of the target, and this until weapon system firing which limits firing capabilities and leaves the helicopter vulnerable in the presence of several targets. Due to the vibrations of the helicopter and uncontrolled wrist movements the two gyros of the sighting means transmit to the processing means successions of signal variations resulting in an accumulation of measurement errors which affects the accuracy of the determining the direction of the target. On board a boat, in rough seas, therefore strong pitch and roll, the orientation of the weapon system towards the target would be almost impossible with such a device.

L'un des buts de l'invention est de proposer un dispositif léger et maniable, apte à déterminer, précisément et rapidement, le site et l'azimut d'une cible et utilisable quel que soit le type d'environnement.One of the aims of the invention is to propose a light and handy device, suitable to determine, precisely and quickly, the site and the azimuth of a target and usable what whatever the type of environment.

La solution proposée est un dispositif apte à déterminer la direction d'une cible dans un repère prédéfini et du type comportant des moyens de visée comportant un organe de visée et des moyens de commande, des moyens de recalage de ces moyens de visée et des moyens de traitement de signaux issus des moyens de visée, ces moyens de traitement étant aptes à déterminer la direction entre les moyens de visée et la cible et à les transmettre à des moyens de visualisation ou à des moyens extérieurs, dispositif caractérisé en ce que les moyens de visée comportent en outre selon trois axes sensiblement perpendiculaires les uns par rapport aux autres, trois gyromètres, et en ce que les moyens de commande commandent la transmission aux moyens de visualisation ou aux moyens extérieurs, des valeurs représentatives de la direction entre les moyens de visée et la cible.The proposed solution is a device capable of determining the direction of a target in a predefined reference frame and of the type comprising sighting means comprising a sighting device and control means, means for resetting these sighting means and means for processing signals from the sighting means, these processing means being able to determine the direction between the means of aim and target and to transmit them to visualization means or to means exterior, device characterized in that the sighting means further comprise along three axes substantially perpendicular to each other, three gyrometers, and in that the control means control the transmission to display means or external means, values representative of the direction between the sighting means and the target.

Selon une caractéristique particulière avantageuse, le dispositif comporte trois gyromètres optiques, par exemple à fibre optique.According to a particular advantageous characteristic, the device comprises three optical gyrometers, for example fiber optic.

Selon une caractéristique limitant le risque d'endommagement de ces gyroscopes, seule leur bobine est positionnée sur les moyens de visée. According to a characteristic limiting the risk of damage to these gyroscopes, only their coil is positioned on the sighting means.

Selon une caractéristique particulière permettant un positionnement précis des moyens de visée dans les moyens de recalage, les moyens de visée comportent des éléments aptes à coopérer avec des éléments des moyens de recalage.According to a particular characteristic allowing precise positioning of the sighting means in the registration means, the sighting means include elements capable of cooperating with elements of the registration means.

Selon une caractéristique additionnelle, les premiers éléments sont constitués par trois plaquettes, l'une creusée d'un cône, la seconde comportant un plan, tandis que les autres éléments sont constitués par des picots de forme conique.According to an additional characteristic, the first elements are constituted by three plates, one hollowed out by a cone, the second comprising a plane, while that the other elements are constituted by spikes of conical shape.

Selon une caractéristique, les moyens de traitement comportent une source d'alimentation électrique et des moyens de calcul et de gestion d'informations mettant en oeuvre un logiciel réalisant plusieurs fonctions.According to one characteristic, the processing means include a source power supply and means of calculation and information management putting implement software performing several functions.

Selon une caractéristique particulière, le logiciel réalise trois fonctions principales :

  • la fonction de désignation d'objectif, qui fait l'acquisition des données de l'instrument de visée et les traite afin d'obtenir le site et l'azimut désiré,
  • la fonction de transmission qui envoie les données d'azimut - site pour affichage sur les moyens de visualisation et/ou à un système d'arme,
  • la fonction de recalage, qui permet de corriger régulièrement la dérive de l'instrument de visée due à l'utilisation de gyromètres.
According to a particular characteristic, the software performs three main functions:
  • the objective designation function, which acquires the data from the aiming instrument and processes it in order to obtain the desired site and azimuth,
  • the transmission function which sends the azimuth data - site for display on the display means and / or to a weapon system,
  • the registration function, which allows regular correction of the drift of the sighting instrument due to the use of gyrometers.

Selon une caractéristique particulière, le logiciel réalise, en outre, une fonction de visualisation de l'état opérationnel des éléments de l'invention.According to a particular characteristic, the software also performs a function for viewing the operational state of the elements of the invention.

Il est connu aussi que les valeurs issues de gyroscopes dérivent, notamment en temps et en température, et que leur calibration statique et dynamique est nécessaire.It is also known that the values derived from gyroscopes derive, in particular in time and temperature, and that their static and dynamic calibration is necessary.

Les brevets EP717264 et EP496172 décrivent des procédés de correction des biais gyrométriques ainsi que les moyens de leur mise en oeuvre.Patents EP717264 and EP496172 describe methods for correcting gyrometric biases as well as the means of their implementation.

Le premier concerne la correction des biais gyrométriques sur un aéronef et le second, sur un véhicule. Dans les deux cas, le calibrage gyroscopique est effectué lorsque l'aéronef ou le véhicule est en position stationnaire.The first concerns the correction of gyrometric biases on an aircraft and the second, on a vehicle. In both cases, the gyroscopic calibration is carried out when the aircraft or vehicle is in the stationary position.

Cependant, pour obtenir une bonne précision, il est nécessaire de compenser la dérive gyroscopique, à tout moment, et non seulement en position stationnaire.However, to obtain good accuracy, it is necessary to compensate for the gyroscopic drift, at any time, and not only in stationary position.

Il est aussi connu qu'une modélisation complexe de la trajectoire des données gyroscopiques est nécessaire pour obtenir de bons résultats d'intégration. Dans ce but des moyens de traitement des signaux puissants et volumineux, donc non transportables, sont utilisés.It is also known that complex modeling of the data trajectory gyro is necessary to obtain good integration results. For this purpose powerful and bulky signal processing means, therefore not transportable, are used.

L'un des buts de l'invention est de proposer un procédé de traitement des signaux issus des gyroscopes donnant de bons résultats et ne nécessitant pas de moyens de traitement des signaux puissants.One of the aims of the invention is to propose a method for processing signals from gyroscopes giving good results and not requiring powerful signal processing means.

La solution consiste à proposer un procédé d'intégration des données gyroscopiques consistant à effectuer successivement, à partir des valeurs gyroscopiques obtenues entre un temps to et un temps t1, des premiers calculs avec une modélisation complexe ne pouvant, compte tenu de la capacité de traitement des moyens de traitement, fonctionner en temps réel mais donnant des résultats précis, puis à partir des valeurs gyroscopiques obtenues entre le temps t1 et un temps t2, des seconds calculs avec une modélisation simplifiée et capable d'être mise en oeuvre en temps réel.The solution consists in proposing a data integration process gyroscopic consisting of performing successively, from the values gyroscopic obtained between a time to and a time t1, first calculations with complex modeling that cannot, given the processing capacity of processing means, operating in real time but giving precise results, then from the gyroscopic values obtained between time t1 and time t2, second calculations with simplified modeling and capable of being implemented in real time.

Selon une autre caractéristique, le logiciel réalise, en outre, une fonction de correction de la dérive des gyromètres entre deux recalages successifs.According to another characteristic, the software also performs a function of correction of the gyrometer drift between two successive readjustments.

Selon une caractéristique additionnelle, les moyens de visée comportent au moins un capteur de température.According to an additional characteristic, the sighting means comprise at minus a temperature sensor.

D'autres avantages et caractéristiques apparaítront dans la description d'un mode particulier de réalisation dans le cadre d'une exploitation à bord d'un navire et au regard des figures annexées parmi lesquelles :

  • la figure 1 un schéma des moyens généraux de l'invention.
  • la figure 2 présente des moyens de visée selon l'invention,
  • la figure 3 illustre des moyens de recalage selon l'invention,
Other advantages and characteristics will appear in the description of a particular embodiment within the framework of an operation on board a ship and with regard to the appended figures among which:
  • Figure 1 a diagram of the general means of the invention.
  • FIG. 2 shows sighting means according to the invention,
  • FIG. 3 illustrates registration means according to the invention,

Les moyens de l'invention présentés à la figure 1 comportent des moyens de visée 10, des moyens de recalage 20, des moyens de traitement de signaux 30, des moyens de visualisation 40 , des moyens extérieurs 50,60.The means of the invention presented in Figure 1 include means of aiming 10, registration means 20, signal processing means 30, display means 40, external means 50.60.

Comme montré sur la figure 2, les moyens de visée 10 comportent des moyens 11 ayant le forme d'un pistolet. L'âme 12 de ce dernier est un support de précision en matériau léger, par exemple de l'aluminium usiné, sur lequel sont positionnés d'une part un organe de visée 13, et d'autre part selon trois axes sensiblement perpendiculaires les uns par rapport aux autres, trois gyroscopes optiques 141, 142, 143. D'une manière préférentielle, ces gyroscopes sont des gyromètres à fibres optiques. Ils permettent d'obtenir une grande précision des mesures, leur dérive est faible, ils supportent des mouvements rapides et peuvent être utilisés dans n'importe quel environnement.As shown in Figure 2, the sighting means 10 comprise means 11 having the shape of a pistol. The core 12 of the latter is a precision support of light material, for example machined aluminum, on which are positioned on the one hand a sighting member 13, and on the other hand along three axes substantially perpendicular to each other compared to the others, three optical gyroscopes 14 1 , 14 2 , 14 3 . Preferably, these gyros are fiber optic gyros. They make it possible to obtain high accuracy of measurements, their drift is low, they support rapid movements and can be used in any environment.

Ces gyromètres donnent la vitesse de rotation autour de leur axe et permettent par intégration pas à pas au cours du temps, de déterminer la position des moyens 11.These gyros give the speed of rotation around their axis and allow by integration step by step over time, to determine the position of the means 11.

L'organe de visée 13 est constitué par un viseur de la marque C-More qui projette un réticule à l'infini, permettant ainsi de viser sans erreur de parallaxe.The sighting member 13 is constituted by a viewfinder of the C-More brand which projects a crosshair to infinity, allowing aiming without parallax error.

Sur la joue droite du pistolet sont placées trois plaquettes amovibles en acier qui servent au positionnement dudit pistolet dans les moyens de recalage. La première 151, située en bout du canon, est creusée d'un cône ; la seconde 152se trouve au-dessus de la crosse et comporte une rainure ; La troisième 153 placée en bas de la crosse comporte un plan.On the right cheek of the pistol are placed three removable steel plates which are used for positioning said pistol in the registration means. The first 15 1 , located at the end of the barrel, is hollowed out with a cone; the second 15 2 is located above the butt and has a groove; The third 15 3 placed at the bottom of the stick has a plane.

Des orifices sont usinés dans le pistolet pour y loger les systèmes électriques et les trois gyromètres de mesure. Les plans sur lesquels ils prennent appui, et qui déterminent leur axe de rotation sont usinés afin de veiller à leur parfaite perpendicularité. Ces moyens de visée comportent en outre des moyens de commande de transmission constitués par un interrupteur 16 se présentant sous la forme d'une détente de pistolet.Ports are machined in the gun to house electrical systems and the three measurement gyros. The plans on which they are based, and which determine their axis of rotation are machined to ensure their perfect perpendicularity. These sighting means further comprise means of transmission control constituted by a switch 16 appearing under the form of a pistol trigger.

Les moyens de recalage 20, présentés sur la figure 3, sont fixés au navire et sont composés d'un support se présentant sous la forme d'une boíte parallélépipédique 21 comportant un couvercle 22 pivotant autour d'un axe 23. Cette boíte renferme une gaine 24 qui épouse la forme des moyens de visée 10. La surface interne de la face 22 comporte trois picots fixes de forme conique 251, 252, 253 disposés de telle sorte que chacun d'entre eux coopère avec l'une des trois plaquettes amovibles fixées sur les moyens de visée afin d'assurer un positionnement très précis de ces derniers dans les moyens de recalage, la précision pouvant être de l'ordre du centième de degré voire supérieure.The registration means 20, shown in Figure 3, are fixed to the ship and are composed of a support in the form of a rectangular box 21 having a cover 22 pivoting about an axis 23. This box contains a sheath 24 which matches the shape of the sighting means 10. The internal surface of the face 22 has three fixed conical spikes 25 1 , 25 2 , 25 3 arranged so that each of them cooperates with one of the three removable plates fixed on the sighting means in order to ensure a very precise positioning of the latter in the registration means, the precision possibly being of the order of a hundredth of a degree or even higher.

Ces moyens de recalage comportent en outre un interrupteur 26 indiquant ou non la présence des moyens de visée 10.These registration means further comprise a switch 26 indicating or not the presence of the sighting means 10.

Les moyens de traitement 30 sont portables et comportent une source stabilisée d'alimentation électrique et des moyens de calcul et de gestion d'informations mettant en oeuvre un logiciel réalisant plusieurs fonctions.The processing means 30 are portable and include a source stabilized power supply and computing and management resources information implementing software performing several functions.

Les moyens extérieurs comportent d'une part des moyens 50 de mesure de l'attitude (cap, roulis, tangage) du navire, en l'occurrence une centrale de navigation, et la latitude de ce dernier à la surface de la terre. Dans cet exemple de réalisation, ces informations sont transmises aux moyens de l'invention par les moyens de navigation du navire, sous forme de données directement exploitables par les moyens de calcul, moyennant une fonction de transfert pour tenir compte du positionnement de la centrale de navigation par rapport aux moyens de recalage.The external means comprise on the one hand means 50 for measuring the attitude (heading, roll, pitch) of the ship, in this case a navigation center, and the latitude of the latter on the surface of the earth. In this exemplary embodiment, these information is transmitted to the means of the invention by the navigation means of the ship, in the form of data directly usable by the calculation means, by means of a transfer function to take account of the positioning of the navigation center in relation to the registration means.

Ils comportent d'autre part un système d'armes 60 dont le pointage est commandé à partir des valeurs de site et d'azimut déterminées par les moyens de l'invention et de valeurs propres au système d'armes et à son emplacement sur le navire.On the other hand, they include a weapon system 60 whose aim is controlled from site and azimuth values determined by means of invention and values specific to the weapon system and its location on the ship.

Dans le cadre de l'invention, pour désigner l'objectif, et donc déterminer la direction viseur-cible, il suffit de déterminer l'attitude de l'instrument de visée.In the context of the invention, to designate the objective, and therefore determine the sight-target direction, just determine the attitude of the sighting instrument.

Cette attitude peut être exprimée dans différents repères, suivant les besoins du système qui va exploiter l'information de visée.This attitude can be expressed in different benchmarks, depending on the needs of the system that will use the sighting information.

Il peut notamment s'agir d'un repère absolu, dont les axes sont l'est géographique, le nord géographique et la verticale du lieu, ou d'un repère lié au navire.It can in particular be an absolute benchmark, whose axes are east geographic, geographic north and vertical of the location, or a landmark related to the ship.

Le calcul de l'attitude se décompose de la manière suivante :The attitude calculation breaks down as follows:

Lorsque les moyens de visée 10 sont positionnés dans le support de recalage 20, leur position est parfaitement connue dans un repère absolu connaissant d'une part la position du support de recalage sur le navire (6 degrés de liberté) et d'autre part la position du navire dans le repère géographique lié à son point tranquille (cap, roulis, tangage et latitude). Ces informations sont transmises aux moyens de traitement 30 par la centrale de navigation du navire.When the sighting means 10 are positioned in the registration support 20, their position is perfectly known in an absolute benchmark knowing on the one hand the position of the registration support on the ship (6 degrees of freedom) and on the other position of the vessel in the geographical reference linked to its quiet point (course, roll, pitch and latitude). This information is transmitted to the processing means 30 by the ship's navigation center.

La commande de libération des moyens de visée de son support de recalage 20 déclenche l'intégration des trois angles incrémentaux suivant chacun des trois axes liés aux moyens de visée 10.The command to release the sighting means from its registration support 20 triggers the integration of the three incremental angles along each of the three axes linked to sighting means 10.

Cette intégration se fait dans un repère galiléen lié au support de recalage 20, dans la position où il était au moment de l'extraction des moyens de visée 10.This integration is done in a Galilean reference linked to the registration support 20, in the position where it was at the time of the extraction of the sighting means 10.

L'attitude du dispositif est donc connue à tout instant par rapport à ce repère galiléen.The attitude of the device is therefore known at all times with respect to this benchmark Galilean.

Toutefois, l'expression de l'attitude des moyens de visée doit être en conformité avec les besoins des moyens extérieurs 60.However, the expression of the attitude of the aiming means must be in conformity with the needs of external resources 60.

Dans ce mode de réalisation, cette mise en conformité nécessite deux étapes.In this embodiment, this compliance requires two steps.

La première consiste à calculer l'attitude des moyens de visée dans un repère géographique centré sur le support de recalage 20, à l'instant d'utilisation de l'information. Ce calcul prend en compte la rotation terrestre et le temps écoulé depuis le dernier recalage.The first consists in calculating the attitude of the sighting means in a benchmark geographic centered on the registration support 20, at the time of use of information. This calculation takes into account the Earth's rotation and the time since the last registration.

La seconde consiste à exprimer l'attitude dans le repère d'exploitation, en l'occurrence le repère du système d'arme.The second consists in expressing the attitude in the operating benchmark, in the occurrence the weapon system benchmark.

Ce repère peut être situé à plusieurs dizaines de mètres du support de recalage, et de ce fait l'erreur de parallaxe peut ne pas être négligeable, notamment si les objets visés sont proches, ces objets pouvant être des nageurs ou des embarcations légères.This mark can be located several tens of meters from the support of registration, and therefore the parallax error may not be negligible, especially if the objects concerned are close, these objects being able to be swimmers or light boats.

Connaissant le besoin opérationnel, on sépare en deux domaines le champ de visée. D'une part, on considère le domaine des sites positifs (ou faiblement négatifs), qui ne peuvent être des buts flottants. Pour ces objets, une distance forfaitaire d'environ 4 000 mètres est utilisée pour corriger le parallaxe. D'autre part, on considère le domaine des sites négatifs, supposés être des buts flottants. Connaissant l'altitude du dispositif par rapport à la mer, et connaissant le site de visée (mesurée par le dispositif), un calcul trigonométrique simple permet d'estimer la distance de l'objet, et c'est cette distance qui sert de base au calcul des parallaxes.Knowing the operational need, we separate the field of referred. On the one hand, we consider the domain of positive (or weakly negative) sites, which cannot be floating goals. For these objects, a fixed distance about 4,000 meters is used to correct the parallax. On the other hand, we consider the domain of negative sites, supposed to be floating goals. Knowing the altitude of the device relative to the sea, and knowing the aiming site (measured by the device), a simple trigonometric calculation makes it possible to estimate the distance of the object, and it is this distance which is the basis for calculating parallaxes.

Par ailleurs, les mouvements de la visée dus aux tremblements de l'opérateur dans un environnement à la fois stressant et perturbé par les mouvements du navire génèrent un bruit dans l'information de visée qui peut en rendre l'exploitation difficile voire impossible.In addition, aiming movements due to operator tremors in an environment that is both stressful and disturbed by the movements of the ship generate noise in aiming information which can make it difficult to use or even impossible.

Pour pallier à cet inconvénient, un logiciel de filtrage des données est intégré de façon à stabiliser le signal de sortie. Ce filtrage peut être du type passe-bas ou un filtre de type KALMANN de façon à prendre en compte les évolutions des cibles dans un gabarit donné sans avoir de traíne.To overcome this drawback, data filtering software is integrated so as to stabilize the output signal. This filtering can be of the low pass type or a KALMANN type filter in order to take into account target changes in a given template without having a train.

Le mouvement pouvant être assez rapide, et les angles incrémentaux mesurés par le système de mesure assez grands, une modélisation adéquate permet de se ramener dans les conditions précédentes.The movement can be quite fast, and the incremental angles measured by the fairly large measurement system, adequate modeling allows bring back in the previous conditions.

L'attitude initiale est déterminée mécaniquement. Avant toute désignation d'objectif, l'instrument de visée est au repos dans les moyens de recalage, afin que sa position soit connue et reproductible. La précision de cette position est acquise par trois picots de positionnement fixes 251, 252, 253 dans ce support et qui viennent s'enficher successivement dans l'une des plaquettes disposées sur les moyens de visée. Les six degrés de liberté étant ainsi déterminés avec grande précision, l'attitude initiale de l'instrument de visée est parfaitement connue.The initial attitude is determined mechanically. Before any objective designation, the aiming instrument is at rest in the registration means, so that its position is known and reproducible. The precision of this position is acquired by three fixed positioning pins 25 1 , 25 2 , 25 3 in this support and which are inserted successively in one of the plates placed on the sighting means. The six degrees of freedom being thus determined with great precision, the initial attitude of the sighting instrument is perfectly known.

Il faut noter que le positionnement des moyens de visée dans les moyens de recalage est effectué en deux temps. Le premier consiste à positionner les moyens de visée dans la gaine 24 : il constitue un positionnement que l'on peut qualifier de grossier tandis que le second consiste à positionner les moyens de visée par enfichage successif de l'un des trois picots dans l'une des trois plaquettes : le positionnement est ainsi obtenu au centième de degré près. Compte tenu de la position des picots 251, 252, 253 sur le couvercle 22, le positionnement précis des moyens de visée s'effectue automatiquement lorsque le couvercle 22 de la boíte 21 est refermé.It should be noted that the positioning of the sighting means in the registration means is carried out in two stages. The first consists in positioning the sighting means in the sheath 24: it constitutes a positioning which can be described as coarse while the second consists in positioning the sighting means by successively plugging in one of the three pins in the one of the three plates: positioning is thus obtained to the nearest hundredth of a degree. Given the position of the pins 25 1 , 25 2 , 25 3 on the cover 22, the precise positioning of the sighting means takes place automatically when the cover 22 of the box 21 is closed.

Le logiciel mis en oeuvre par les moyens de traitement 30 a pour mission de traiter les données brutes fournies par l'instrument de visée, dispositif qui permet à l'opérateur des moyens selon l'invention, en visant une cible, de déterminer son site et son azimut.The software implemented by the processing means 30 has the mission of process the raw data provided by the sighting instrument, a device that allows the operator of the means according to the invention, by targeting a target, of determining its site and its azimuth.

Ce logiciel réalise les quatre fonctions suivantes :

  • la fonction de désignation d'objectif, qui fait l'acquisition des données de l'instrument de visée et les traite afin d'obtenir le site et l'azimut désiré,
  • la fonction de transmission qui envoie les données d'azimut - site, pour affichage sur les moyens de visualisation et/ou pour commande du système d'arme 60,
  • la fonction de recalage, qui permet de corriger régulièrement la dérive de l'instrument de visée due à l'utilisation de gyromètres.
  • la fonction de visualisation de l'état opérationnel des éléments de l'invention.
This software performs the following four functions:
  • the objective designation function, which acquires the data from the aiming instrument and processes it in order to obtain the desired site and azimuth,
  • the transmission function which sends the azimuth - site data, for display on the display means and / or for control of the weapon system 60,
  • the registration function, which allows regular correction of the drift of the sighting instrument due to the use of gyrometers.
  • the function for viewing the operational state of the elements of the invention.

La fonction de désignation d'objectif a lieu en permanence quand l'instrument de visée est en mode opérationnel, c'est à dire hors du support de recalage. Il est nécessaire que le temps de traitement des données gyroscopiques minimal, par exemple de l'ordre de quelques millisecondes, afin de pouvoir traiter le maximum de données sortant des gyromètres, et ainsi suivre au mieux l'évolution des incréments d'angle et des angles qui s'en déduisent, afin de limiter l'erreur au cours du traitement. En fonction de la taille des incréments d'angles issus des gyromètres, une modélisation est mise en place pour s'affranchir le plus possible des limites de commutativité des rotations dans l'espace.The objective designation function takes place continuously when the instrument sighting is in operational mode, that is to say outside of the registration support. It is required that the minimum gyroscopic data processing time, for example of the order of a few milliseconds, in order to be able to process the maximum of data coming out of the gyrometers, and thus better follow the evolution of the increments angles and angles which are deduced therefrom, in order to limit the error during processing. Depending on the size of the angle increments from the gyros, a modeling is implemented to overcome as much as possible the limits of commutativity of rotations in space.

Les valeurs d'entrée nécessaire à cette fonction sont :

  • les incréments d'angles issus des gyromètres : dqx (t), dqy (t), dqz (t),
  • u, v, w : vecteurs de position de l'instrument de visée à l'instant t - dt dans le repère absolu du support de recalage en to (instant du dernier recalage).
The input values required for this function are:
  • the increments of angles coming from the gyrometers: dqx (t), dqy (t), dqz (t),
  • u, v, w: position vectors of the sighting instrument at time t - dt in the absolute reference of the registration support in to (time of the last registration).

Les valeurs de sortie sont :

  • u, v, w : vecteurs de position de l'instrument de visée à l'instant t dans le repère absolu du support de recalage en to,
  • site S et azimut A dans le repère absolu de référence en t.
The output values are:
  • u, v, w: position vectors of the sighting instrument at time t in the absolute coordinate system of the registration support in to,
  • site S and azimuth A in the absolute reference frame at t.

L'intégration des données gyrométriques se fait dans le repère absolu du support de recalage en to. Au moment de la visée, et de l'appui sur la détente, on termine le traitement en prenant en compte la rotation terrestre qui a été mesurée en sus par les gyromètres depuis le début du traitement. Pour cela on se place dans le repère absolu du support de recalage en t, instant de la visée, puis on en déduit le site et l'azimut absolu de l'instrument de visée par rapport au bâtiment.The integration of the gyrometric data is done in the absolute reference of the registration support in to. When aiming and pressing the trigger, we ends the treatment taking into account the Earth's rotation which has been measured in known by the gyros since the beginning of the treatment. For that we place ourselves in the absolute benchmark of the registration support at t, instant of aiming, then we deduce the site and the absolute azimuth of the sighting instrument relative to the building.

La correction des données gyrométriques est réalisée comme suit :

  • Les trois gyromètres fournissent : Sdqx (t), Sdqy (t), Sdqz (t).
    • Correction of the gyrometric data is carried out as follows:
  • The three gyros provide: Sdqx (t), Sdqy (t), Sdqz (t).

    • On calcule facilement dqx (t), dqy (t), dqz (t) : dqx (t) = Sdqx (t) - Sdqx (t-dt). We can easily calculate dqx (t), dqy (t), dqz (t): dqx (t) = Sdqx (t) - Sdqx (t-dt).

    Il en est de même pour dqy (t) et dqz (t).The same is true for dqy (t) and dqz (t).

    Après les multiples corrections réalisées de façon connue à ce niveau telles la compensation de la dérive des gyromètres en fonction du temps, de la température, filtrage du bruit..., les données notées : dqu (t), dqv (t), dqw (t) sont intégrées suivant la méthode précédemment décrite.After the numerous corrections made in a known manner at this level such as the compensation for gyrometer drift as a function of time, temperature, noise filtering ..., the data noted: dqu (t), dqv (t), dqw (t) are integrated according to the previously described method.

    La fonction transmission est très simple, puisqu'elle consiste à d'envoyer les valeurs calculées de site et l'azimut dans le repère absolu du bâtiment à l'instant t, vers une mémoire et vers le système d'armes et/ou vers les moyens de visualisation pour affichage. The transmission function is very simple, since it consists in sending the calculated values of site and the azimuth in the absolute coordinate system of the building at time t, to a memory and to the weapon system and / or to the display means for display.

    Cette fonction est déclenchée par le passage de l'interrupteur 16 de la position ouverte à la position fermée. Elle s'accompagne de l'émission d'un signal sonore et/ou d'un signal lumineux et de l'affichage d'une information positive sur les moyens de visualisation.This function is triggered by the passage of switch 16 from the position open to the closed position. It is accompanied by the emission of an audible signal and / or a light signal and the display of positive information on the means of viewing.

    Tant que l'interrupteur est fermé, un recalage automatique a lieu périodiquement et les dérives des gyromètres sont analysées tant dans le temps qu'en température. Si, au cours du traitement, l'interrupteur s'ouvre, le recalage en cours est annulé, et les valeurs du recalage précédent sont prises en compte.As long as the switch is closed, automatic reset occurs periodically and the gyroscope drifts are analyzed both in time and in temperature. If, during treatment, the switch opens, the registration in progress is canceled, and the values of the previous registration are taken into account.

    Les valeurs d'entrée sont :

    • la position de l'interrupteur 24,
    • les valeurs issues des moyens extérieurs 50
    • la position de l'instrument de visée (Uo, Vo, Wo) dans le repère relatif du bâtiment quand l'instrument de visée est dans le support de recalage : k, r, t (cap, roulis, tangage de l'instrument de visée par rapport au bâtiment déterminés lors de la calibration du support).
    The input values are:
    • the position of the switch 24,
    • values from outside resources 50
    • the position of the aiming instrument (Uo, Vo, Wo) in the relative reference frame of the building when the aiming instrument is in the registration support: k, r, t (heading, roll, pitch of the referred to the building determined during the calibration of the support).

    Les valeurs de sortie sont : to, uo, vo, wo les vecteurs de position de l'instrument de visée à to, ainsi que Du.The output values are: to, uo, vo, wo the position vectors of the aiming instrument to to, as well as Du.

    Le traitement des données d'entrée est réalisé comme suit :The processing of the input data is carried out as follows:

    Les valeurs du cap K, du roulis Rr et du tangage Ta du bâtiment sont acquises.The values of heading K, roll Rr and pitch of the building are acquired.

    A l'initialisation du logiciel, on entre comme paramètre la position du support de recalage par rapport au bâtiment. On connaít par ailleurs la position de l'instrument de visée dans son support de recalage (ur, vr, wr ). Ceci permet de déterminer la position de l'instrument de visée, quand il est dans son support de recalage, dans le repère relatif du bâtiment.When initializing the software, you enter as a parameter the position of the registration in relation to the building. We also know the position of the instrument aimed in its registration support (ur, vr, wr). This determines the position of the sighting instrument, when it is in its registration support, in the reference relative of the building.

    Les calculs lors du traitement se font dans le repère absolu du bâtiment (et du support de recalage) en to, instant du dernier recalage. Le recalage a donc pour objet de déterminer les nouveaux vecteurs de départ de l'intégrale dans le repère absolu du support de recalage en to.The calculations during processing are done in the absolute benchmark of the building (and registration support) to, instant of the last registration. The purpose of registration is therefore to determine the new starting vectors of the integral in the absolute coordinate system of the registration support in to.

    Pour afficher une valeur représentative de la dérive des gyromètres au cours de la dernière phase opérationnelle, il est nécessaire de connaítre dans le repère absolu du support de recalage en to1, instant où l'on a posé l'instrument de visée dans son support, le vecteur v calculé après traitement des données gyrométriques, et vo, vecteur de référence déterminé à partir de la navigation du bâtiment.To display a value representative of the drift of the gyros during the last operational phase, it is necessary to know in the absolute benchmark of the registration support in to1, the moment when the aiming instrument was placed in its support, the vector v calculated after processing the gyrometric data, and vo, reference vector determined from the navigation of the building.

    On effectue le calcul suivant pour déterminer la dérive.The following calculation is carried out to determine the drift.

    On se place dans le repère absolu du support de recalage en to, instant où l'on vient de mettre l'instrument de visée dans son support (to1).We place ourselves in the absolute frame of the registration support in to, instant when we has just put the aiming instrument in its support (to1).

    On calcule le site et l'azimut à l'aide du vecteur de visée déterminé par les mesures gyrométriques et l'intégration au cours du mode opérationnel. The site and the azimuth are calculated using the aiming vector determined by the gyrometric measurements and integration during operational mode.

    On compare ces valeurs à celles calculées à partir du vecteur de visée déterminé par la navigation du bâtiment et la position connue de l'instrument de visée quand il est dans son support de recalage.These values are compared to those calculated from the aiming vector determined by the navigation of the vessel and the known position of the sighting instrument when it is in its registration support.

    La fonction visualisation de l'état du système permet de visualiser l'état de certaines fonctions :

    • transmissions des gyromètres vers le calculateur,
    • transmissions des valeurs issues des moyens extérieurs
    • transmission de la détente vers le calculateur,
    • transmission du capteur de recalage vers le calculateur.
       ainsi que de certaines valeurs comme le site et l'azimut calculés, les valeurs de cap, roulis , tangage, latitude, ainsi que de l'heure, de l'heure de dernier recalage, de la durée de dernière utilisation depuis le recalage, de la dérive constatée...The system status display function allows you to view the status of certain functions:
    • transmissions from gyros to the computer,
    • transmission of values from external resources
    • transmission of the trigger to the computer,
    • transmission from the registration sensor to the computer.
    as well as certain values such as the calculated site and azimuth, the heading, roll, pitch, latitude values, as well as the hour, the time of last readjustment, the duration of last use since the readjustment, of the observed drift ...

    Pour tester la réception des informations en provenance des gyromètres, il faut vérifier que les données gyrométriques parviennent bien à l'unité de traitement tous les Dt. Si au bout de 3 Dt, aucune information n'est parvenue à l'unité de traitement, il y a détection d'une anomalie, et passage de 1 à 0 de la variable "transmission des gyromètres".To test the reception of information from gyros, you must check that the gyrometric data reach the processing unit every Dt. If after 3 Dt, no information has reached the processing unit, there is detection of an anomaly, and change from 1 to 0 of the variable "transmission of gyros. "

    Pour tester la transmission des valeurs issues des moyens extérieurs, le même principe est utilisé.To test the transmission of values from external means, the same principle is used.

    Quand la détente est appuyée, il y a fermeture de l'interrupteur 16, et la variable détente passe de 0 à 1 sur l'écran.When the trigger is pressed, switch 16 closes, and the variable trigger changes from 0 to 1 on the screen.

    De même, lorsqu' il y a fermeture de l'interrupteur 26, la variable recalage passe de 0 à 1 sur l'écran.Similarly, when the switch 26 is closed, the reset variable goes from 0 to 1 on the screen.

    La mise en oeuvre des moyens de l'invention est réalisée par un opérateur. Lorsque ce dernier aperçoit une cible, il enlève les moyens de visée 10 des moyens de recalage 20 puis il pointe, à l'aide de l'organe de visée 13, les moyens 10 en direction de la cible et appuie sur l'interrupteur 16 lorsqu'il estime qu'ils sont correctement positionnés par rapport à la cible. Dès lors les moyens 30 calculent le site et l'azimut de la cible et transmettent ces valeurs au système d'arme qui commande l'orientation de l'arme en fonction de ces valeurs et des variations d'attitude du navire à partir de ladite transmission des valeurs, ces variations étant, comme précédemment mentionné, déterminées par les moyens 50.The implementation of the means of the invention is carried out by an operator. When the latter sees a target, it removes the sighting means 10 from the means of registration 20 then it points, using the sighting member 13, the means 10 in the direction of the target and presses the switch 16 when it considers that they are correctly positioned relative to the target. Therefore the means 30 calculate the site and the azimuth of the target and transmit these values to the weapon system which controls the orientation of the weapon according to these values and the variations in attitude of the ship from said transmission of values, these variations being, as previously mentioned, determined by means 50.

    Immédiatement après la transmission, le tireur peut viser une autre cible et appuyer sur l'interrupteur 16. Les moyens 30 calculent alors le site et l'azimut de la nouvelle cible et transmettent ces valeurs au système d'arme qui stocke en mémoire
       lesdites valeurs et peut orienter l'arme vers cette nouvelle cible immédiatement après le tir en direction de la première cible.    Immediately after transmission, the shooter can target another target and press the switch 16. The means 30 then calculate the site and the azimuth of the new target and transmit these values to the weapon system which stores in memory
    said values and can direct the weapon towards this new target immediately after firing in the direction of the first target.

    Ainsi, le tireur peut viser successivement plusieurs cibles en un minimum de temps, sans être obligé d'attendre la fin de la séquence de tir de l'arme ce qui optimise la durée totale nécessaire aux tirs correspondants et diminue ainsi la vulnérabilité du bateau.Thus, the shooter can successively target several targets in a minimum of time, without having to wait for the end of the firing sequence which optimizes the total time required for the corresponding shots and thus reduces the vulnerability of the boat.

    Il permet en outre au tireur de pouvoir reviser une cible dans le cas où le projectile de l'arme ne l'aurait pas atteinte, et ce, alors que le système d'arme est orienté vers une autre cible.It also allows the shooter to be able to revise a target in the event that the projectile of the weapon would not have reached it, and this while the weapon system is oriented towards another target.

    De plus, le tireur peut, après acquisition de la ou des différentes cibles, réaliser des tâches complémentaires ou se déplacer sans que le système d'arme réagisse à ses mouvements.In addition, the shooter can, after acquiring the target (s), achieve additional tasks or moving around without the weapon system reacting to his movements.

    L'acquisition des gyromètres est faite avec un pas Dt compris entre 5 ms et 100 ms. Ces valeurs sont intégrées et il est connu de modéliser cette intégration afin d'obtenir des résultats précis. Cependant, avec des moyens de calcul portables, il n'est pas possible de réaliser des calculs en temps réel. L'un des buts de l'invention est de remédier à ce problème en proposant un procédé d'intégration consistant à effectuer successivement, à partir des valeurs gyroscopiques obtenues entre le temps to et le temps t1, des premiers calculs avec une modélisation complexe ne pouvant fonctionner en temps réel mais donnant des résultats précis, puis à partir des valeurs gyroscopiques obtenues entre le temps t1 et le temps t2, des seconds calculs avec une modélisation simplifiée et capable d'être mise en oeuvre en temps réel.The acquisition of gyros is done with a step Dt between 5 ms and 100 ms. These values are integrated and it is known to model this integration in order to get accurate results. However, with portable computing means, it is not not possible to perform calculations in real time. One of the objects of the invention is to remedy this problem by proposing an integration process consisting of performing successively, from the gyroscopic values obtained between time to and time t1, first calculations with complex modeling that cannot operate in real time but giving precise results, then from the values gyroscopic obtained between time t1 and time t2, second calculations with simplified modeling capable of being implemented in real time.

    Cette succession d'étapes a l'avantage de pouvoir conduire à des calculs de site et d'azimut en temps réel par rapport à la fermeture de l'interrupteur 16 et, compte tenu de cet objectif, donne des résultats plus précis que l'utilisation seule de la modélisation complexe ou de la modélisation simplifiée.This succession of steps has the advantage of being able to lead to calculations of site and azimuth in real time relative to the closure of switch 16 and, account given this objective, gives more precise results than the use alone of the complex modeling or simplified modeling.

    Il est évident que de nombreuses modifications peuvent être apportées au mode de réalisation présenté. Ainsi, la boíte 21 peut être remplacée par un dispositif comportant des actionneurs par exemple du type électromécanique ou pneumatique.It is obvious that many modifications can be made to the presented embodiment. Thus, the box 21 can be replaced by a device comprising actuators, for example of the electromechanical or pneumatic type.

    Les moyens de visée 10 sont placés dans un support du type étui. De ce fait ils sont positionnés grossièrement à quelques degrés près.The sighting means 10 are placed in a holder of the case type. Therefore they are roughly positioned within a few degrees.

    Sur détection de leur présence un dispositif pneumatique ou électromécanique vient les plaquer contre les 3 picots décrits précédemment.On detection of their presence a pneumatic or electromechanical device just press them against the 3 pins described above.

    Ce faisant, ils sont automatiquement positionnés au centième de degré grâce à l'action des 3 picots avec les 3 plaquettes. Le recalage a alors lieu.In doing so, they are automatically positioned to the hundredth of a degree thanks to the action of the 3 pins with the 3 pads. The registration then takes place.

    Par ailleurs, les moyens de visée peuvent être appliqués à un casque, comme celui décrit dans le brevet US 4 722 601, à un bandeau ou à des jumelles et le logiciel peut comporter un algorithme auto-adaptatif pour le calcul de la dérive des gyromètres. Furthermore, the sighting means can be applied to a helmet, such as that described in US Pat. No. 4,722,601, to a headband or to binoculars and the software may include a self-adaptive algorithm for calculating the drift of gyros.

    Pour ce qui est des éléments 15,25 de positionnement des moyens de visée dans les moyens de recalage, les trois plaquettes peuvent chacune comporter une fente, ou les moyens peuvent aussi comporter quatre plaquettes dont deux comportant une fente, la troisième présente un arrêt et la quatrième forme un plan.Regarding the positioning elements 15,25 of the sighting means in the registration means, the three plates may each include a slot, or the means may also comprise four plates, two of which having a slit, the third has a stop and the fourth forms a plane.

    Claims (22)

    1. A device capable of determining the direction of a target in a predefined point of reference, of the type comprising sighting means (10) comprising a sighting member (13) and control means (16), resetting means (20) for said sighting means (10) and means (30) of processing signals from the sighting means (10), said processing means (30) being capable of determining the direction between the sighting means (10) and the target and transmitting them to display means (40) or to external means (50, 60), said device being characterised in that the sighting means (10) comprise three gyrometers (141, 142, 143) along three axes substantially perpendicular to one another as well as means (16) of controlling transmission to the display means (40) or to the external means (50, 60) of the values representing the direction between the sighting means and the target.
    2. A device according to claim 1, characterised in that the device comprises three optical gyrometers (141, 142, 143).
    3. A device according to claim 2, characterised in that the device comprises three optical fibre gyrometers (141, 142, 143).
    4. A device according to claim 3, characterised in that only the coil of each of the optical fibre gyrometers is positioned on the sighting means (10).
    5. A device according to any one of claims 1 to 4, characterised in that the sighting means (10) comprise elements (15) capable of cooperating with elements (25) of the resetting means.
    6. A device according to claim 5, characterised in that the elements (15) consist of three plates, one with a hole formed in it, the second comprising a slot and the third forming a plane.
    7. A device according to claim 5, characterised in that the elements (15) consist of three plates each comprising a slot.
    8. A device according to claim 5, characterised in that the elements (15) consist of four plates, two comprising a slot, the third having a stop and the fourth forming a plane.
    9. A device according to any one of claims 5 to 8, characterised in that the elements (25) consist of conical pins.
    10. A device according to any one of the preceding claims, characterised in that the resetting means (20) comprise means (24) for approximate positioning of the sighting means as well as means (22) for precise positioning of said means.
    11. A device according to claim 10, characterised in that the means (24) consist of a sheath.
    12. A device according to either one of claims 10 and 11, characterised in that the means (22) consist of a cover.
    13. A device according to either one of claims 10 and 11, characterised in that the means (22) consist of at least one actuator.
    14. A device according to any one of the preceding claims, characterised in that the sighting means comprise a temperature sensor.
    15. A device according to any one of the preceding claims, characterised in that the processing means (30) comprise a power supply source and data calculation and management means implementing software performing a plurality of functions.
    16. A device according to claim 15, characterised in that the software performs in particular:
      an objective designating function, which acquires the data from the sighting instrument and processes them in order to obtain the elevation angle and the desired azimuth,
      a transmission function which sends the azimuth/elevation angle data for display on display means and/or to a weapon system,
      a resetting function, which allows regular correction of the drift of the sighting instrument due to the use of gyrometers.
    17. A device according to claim 16, characterised in that the software additional performs the function of displaying the operational status of the elements of the invention.
    18. A device according to either one of claims 16 and 17, characterised in that the software additionally performs the function of correcting the drift of the gyrometers between two successive resettings.
    19. A device according to claim 18, characterised in that the drift correction software is of the self-adapting type.
    20. A device according to either one of claims 16 and 19, characterised in that the software additionally performs a noise filtering function.
    21. A device according to any one of the preceding claims, characterised in that the sighting means (10) comprise a sighting member (13) consisting of a sight projecting a graticule at infinity.
    22. A process of integrating the gyroscopic data from the sighting means of the device according to any one of claims 1 to 21, characterised in that it consists in successively carrying out, on the basis of the gyroscopic values obtained between a time to and a time t1, first calculations with complex modelling incapable, given the processing capacity of the processing means, of functioning in real time but giving precise results, and then, on the basis of the gyroscopic values obtained between the time t1 and a time t2, second calculations with simplified modelling capable of being implemented in real time.
    EP98903080A 1997-01-17 1998-01-19 Device for determining the direction of a target in a predetermined index mark Expired - Lifetime EP0953140B1 (en)

    Applications Claiming Priority (3)

    Application Number Priority Date Filing Date Title
    FR9700497 1997-01-17
    FR9700497A FR2758625B1 (en) 1997-01-17 1997-01-17 DEVICE CAPABLE OF DETERMINING THE DIRECTION OF A TARGET IN A PREDEFINED MARKING
    PCT/FR1998/000086 WO1998031985A1 (en) 1997-01-17 1998-01-19 Device for determining the direction of a target in a predetermined index mark

    Publications (2)

    Publication Number Publication Date
    EP0953140A1 EP0953140A1 (en) 1999-11-03
    EP0953140B1 true EP0953140B1 (en) 2004-04-14

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    EP98903080A Expired - Lifetime EP0953140B1 (en) 1997-01-17 1998-01-19 Device for determining the direction of a target in a predetermined index mark

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    US (1) US6202535B1 (en)
    EP (1) EP0953140B1 (en)
    DE (1) DE69823167T2 (en)
    FR (1) FR2758625B1 (en)
    WO (1) WO1998031985A1 (en)

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    Also Published As

    Publication number Publication date
    FR2758625B1 (en) 1999-03-19
    WO1998031985A1 (en) 1998-07-23
    EP0953140A1 (en) 1999-11-03
    FR2758625A1 (en) 1998-07-24
    DE69823167T2 (en) 2005-06-30
    DE69823167D1 (en) 2004-05-19
    US6202535B1 (en) 2001-03-20

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