DE1175120B - Alignment device on a sight for tracking moving air targets - Google Patents

Description

Alignment device on a sight for tracking moving air targets The invention relates to an aiming device on a sight for tracking of moving air targets, of infinitely variable drives for the vertical directional movements and the lateral directional movement is driven, the drives being driven by a shooter can be controlled via a command transmitter.

There are already devices known that the tracking of a visor thereby facilitate that mechanical or electronic devices the drives in addition influence so that the visor automatically one after a brief targeting extrapolated, straight line target path of constant speed follows and only more requires minor corrections by the shooter, d. i.e., approximately at one correctly adjusted visor, the shooter then only has to correct the errors, due to imprecise steering, changes in speed and direction of the target or inevitable errors in the sight. At acquaintances mechanical facilities becomes one through the aiming direction and the observation point Laying plane (flight plane) visited, its angle to the horizontal plane constant is held. The apparent flight angle is a line mark on these visors visible in the visor. Provided that the apparent flight angle is accurate has been set, these known devices still have the task of to control another mark in the visor along the line mark, with the most favorable Fall the task of a control in two coordinate directions on the task a control of the tracking speed is fed back along a predetermined direction is. Mechanical devices of this type require a high level of component complexity, which have to be made very dimensionally and are therefore expensive. Are disadvantageous in the case of mechanical devices also those that occur at high accelerations Errors due to delayed or inaccurate tracking due to inertia and the inevitable play of their components and the difficulties involved in Attachment to already existing visors because of the high space requirement of the mechanical Facilities occur.

In other known straightening devices with electronic computing devices, at which the angular velocity and the angular acceleration of the azimuth angle as well as the approach speed and the distance of the target the mathematical Deliver basic provisions, in the simplest case the shooter has the task of two actuators in pursuit of the intended target at the same time to operate,, The determination of the target range required in these directions is, requires an additional expenditure on measuring and computing devices. She is not feasible in many cases, in particular. , 49i fighting faster flying Low altitude goals.

In contrast, mathematical relationships are used in the subject matter of the invention are used that only contain trigonometric functions and the constant quantities formed from them, as a result, a measurement or an exact estimate of the target distance is no longer necessary is.

In the case of a straightening device of the type mentioned at the outset, the with is equipped with known electronic devices, the invention seen in the fact that an electronic one for additional influencing of the drives Computing device is provided, the at least one time value transmitter, an input computer, a smoothing member and an output computer; which are arranged in such a way that that the input computer for a straight, unaccelerated target movement from '' the straightening angles measured on the visor and their first temporal derivatives as well as a time value proportional to the Cartesian speed components vz, vy, vz and in the smoothing element stabilized quantities Ko, K1, K, form, from which the output computer, which is also supplied with the time value and the straightening angle, extrapolated height and lateral angular velocities are determined proportionally to the drives are fed.

This assignment of the computing device results in a very low The use of electronic means results in a surprisingly high level of accuracy with these Means achieved tracking, in which the shooter after targeting none or only very minor corrections have to be made to that essentially limited to controlling an angular velocity that he can easily master.

According to a further development of the invention, the timer is either when the specified limit values for the stabilized quantities Ko, K1, KZ or periodically reset to a new initial value corresponding to the time value t = 0.

In a simplified embodiment of the invention, the computing device is designed for a horizontal target movement, which further simplifies result in the structure of the computer.

To derive the mathematical relationships on which the invention is based, the in FIG. 1 is used. The speed of the target can be broken down into components whose directions are parallel to the axes of a Cartesian coordinate system, e.g. B. parallel to the in F i g. 1 specified axes x, y, z, and thus receives where ® is the elevation angle and p is the azimuth angle, which are tapped on the drives of the sight with known means. The target distance r and the target height h only serve to derive the mathematical relationships and do not need to be determined and entered into the computing device, as is the case with similar known devices. A straight line target movement of constant speed is represented by the vector v.

According to the assumptions made, v, = constant, vy = constant, r1 = constant, and one can write h = ho @ - Ir t.

Introduce the following abbreviations: so one can write: - - K2 cos q - K1 sin g tg O, 4 (KO t + 1) (K, ctg O - K, cos g - K2 sin g ') sing ƒ. 5 (K, t + 1) With the abbreviations: f2 (t) = ctg O cos g, - t f1 (t) 7 and the time derivatives f1 (t) and f2 (t) are obtained The constants K1 and K% are then determined according to the following equations For the special case h = 0 one obtains with K, = 0 Ö = - sinn 0 (KI cos cp -E- K2 sin T), 11 Further details of the invention emerge from the drawing and the description. It shows F i g. 1 shows a geometric representation to explain the aforementioned mathematical relationships, FIG. 2 shows the schematic representation of an exemplary embodiment of the visor according to the invention.

A visor 1, the immobile, z. B. is provided with an eyepiece 3 mounted on a launch frame (not shown) for missiles, has drive shafts 4 and 5 , via which a sighting optics 6 can be tracked to a target 7. A contactor 8 first enters tracking commands into a command transmitter 9, which thereby controls a continuously variable elevation drive 10 connected to the drive shaft 4 and a correspondingly designed azimuth drive 11 connected to the other drive shaft 5. Angular speed sensors 12 and 13 and angle sensors 14 and 15 are also connected to the drive shafts 4 and 5, which functions of the elevation speed Ö, the azimuth speed @ and the elevation angle 0 as well as the azimuth angle g? and enter it into an input computer 16. At the same time, the input computer 16 receives a time value from a timer 19. From the values entered, the input computer 16 determines quantities Ko, K1, K2 which are proportional to the target speed components vx, vv, vz. These quantities Ko, K1, K2 are smoothed by a smoothing element 17, which can be configured as a passive network and connected to an input computer, and then entered into an output computer 18, to which the time value supplied by the timer 19 and the function of the azimuth and elevation angles from the angle sensors 14 and 15 are fed.

After the target 7 has been briefly pursued by the shooter 8, the output computer 18 delivers control commands which control the elevation drive 10 and the azimuth drive 11 in the sense of an extrapolated straight target movement of constant speed. The shooter 8 now only has to enter minor corrections into the command transmitter 9, which are caused by an incorrect original command and changes in the course or speed of the target, with the corrections carried out by the shooter via the variables from the angular velocity transmitters 12 sent to the computers 16 and 19 and 13 and the angle sensors 14 and 15 continuously serve to correct the automatic tracking.

Claims (4)

Claims: 1. Alignment device on a sight for tracking of moving air targets, that of infinitely variable drives for the vertical directional movements and the lateral directional movements are driven by a shooter via a Commanders are influenced, d a -characterized by that for additional An electronic computing device is provided to influence the drives, the at least one timer, an input computer, a smoothing element and an output computer which are arranged such that the input computer for a straight, unaccelerated target movement from the ones tapped on the visor Straightening angles and their first time derivatives as well as a time value are Cartesian Velocity components v., Vy, vz proportional and stabilized in the smoothing term Variables Ko, K1, K2 are used to form the output computer and the time value and the straightening angles are fed in, extrapolated elevation and azimuth velocities proportional values are determined which are fed to the drives. 2. Straightening device according to claim 1, characterized in that the time value transmitter when exceeded predetermined limit values for the stabilized quantities Ko, K1, K2 to a new one Output value can be switched back according to the time value to. 3. Straightening device according to claim 2, characterized in that the current value included in the invoice periodically begins with the time value zero. 4. Straightening device according to claim 3, characterized in that the calculation of the output speeds is based on a horizontal course of the target movement. Considered publications: German Patent Specifications No. 1060 746, 1069 036, 1080905.