DK151411B

DK151411B - INSTALLATION FOR TRANSFER OF INFORMATION TO BODIES AT A SPACE Angle

Info

Publication number: DK151411B
Application number: DK352474AA
Authority: DK
Inventors: Hans Robert Robertsson
Original assignee: Saab Scania Ab
Priority date: 1973-07-02
Filing date: 1974-07-01
Publication date: 1987-11-30
Also published as: SE385159B; DE2429197B2; DK352474A; DE2429197A1; NO742382L; NO136431C; CH577172A5; GB1430550A; ATA540474A; DK151411C; FR2236191B1; FR2236191A1; NO136431B; AT361986B; JPS5519382B2; BE817162A; JPS5071356A; IT1016199B

Description

151411151411

Den foreliggende opfindelse angår et anlæg til overføring af information til legemer i en rumvinkel og af den i krav l's indledning angivne art.The present invention relates to a system for transmitting information to bodies at a space angle and of the nature specified in the preamble of claim 1.

Sådanne anlæg kendes eksempelvis fra beskrivelserne 5 til US patenterne nr. 3.159.837 og nr. 3.398.918 samt til SE patentansøgning nr. 7650/67 og SE fremlæggelsesskrift nr. 350.339. I disse beskrivelser omtales også en del af de ønsker og problemer, som forekommer i forbindelse med sådanne informationsoverføringsanlæg.Such systems are known, for example, from the specification 5 to US Patents Nos. 3,159,837 and Nos. 3,398,918 and to SE Patent Application No. 7650/67 and SE Patent Laid-Open No. 350,339. These descriptions also mention some of the desires and problems that arise in connection with such information transfer systems.

10 For et positionsinformationsoverføringsanlæg er det følgende egenskaber, som, uden nogen indbyrdes rangordning, er væsentlige for anlæggets anvendelighed og funktionsduelighed: Anlægget skal have en god opløsningsevne, være ufølsomt for forstyrrelser og fejl i overføringen, samt 15 have en i forhold til den tilgængelige effekt optimal ræk kevidde .10 For a position information transmission system, the following characteristics are, which, without any mutual ranking, are essential for the system's usability and functionality: The system must have good resolution, be sensitive to interference and error in the transmission, and 15 have a relative power available. optimal range of kevidde.

Ved god opløsningsevne forstås, at den positionsinformation, som overføres i forbindelse med afsøgningen, med hensyn til afsøgningshastigheden skal være så detalje-20 ret, at styring af legemerne i rumvinklen kan ske med den nøjagtighed, som den pågældende anvendelse kræver. Man ønsker altså billedlig talt et koordinatsystem med så små enhedsruder som muligt. Naturligvis står dette ønske ved kendte anlæg i et vist modsætningsforhold til ønsket 25 om hurtig afsøgning, fordi disse anlæg bygger enten på impulskoder med mange impulser for hver positionsinformation eller på referenceledestrålebundter.Good resolution means that the position information transmitted in connection with the scan with respect to the scan speed must be so detailed that control of the bodies at the space angle can be done with the accuracy required for the particular application. Thus, one wants a coordinate system with as small unit panes as possible. Of course, this desire for known systems is in a certain contradiction to the desire for quick scanning, because these systems are based either on pulse codes with many pulses for each position information or on reference beam beams.

At et overføringsanlæg er ufølsomt for støj eller forstyrrelser er væsentligt af hensyn bl.a. til, at fo-30 rekommende baggrundsstråling moduleres ved legemernes be vægelse, hvilket indebærer en forstyrrelse af informationer i anlæggets ledestrålebundt. Ved eksempelvis robotskydninger moduleres den baggrundsstråling, som når modtageren på robotten, kraftigt af robotflammen, robotrøg, 35 luftturbulens samt af solstråler, der trænger mellem grene, gennem buskads og lignende slørende genstande og når modtageren. I kendte anlæg benyttes frekvens- og im-pulsbreddemodulering, men det kan let vises, at støjmo- 2 151411 dulationen med hensyn til en robots bevægelseshastighed og modtagerens udstrækning er kraftig i de frekvensområder, der er .fastlagt for sådan modulering. Positionsinformationsoverføringen bør derfor udnytte MHz-området.The fact that a transmission system is insensitive to noise or disturbance is essential for reasons including: For example, the background radiation emitted by the bodies is modulated by the motion of the bodies, which implies a disturbance of information in the system's beam of radiation. In, for example, robot shoots, the background radiation that reaches the receiver of the robot is strongly modulated by the robotic flame, robotic smoke, air turbulence and by sunbeams that penetrate between branches, through bushes and similar blurring objects and reach the receiver. In known systems, frequency and pulse width modulation is used, but it can easily be shown that the noise modulation with respect to a robot's speed of movement and the extent of the receiver is powerful in the frequency ranges determined for such modulation. Therefore, the position information transfer should utilize the MHz range.

5 Til opnåelse af optimal rækkevidde bør anlæggets ledestrålebundter være smalle, så at hele den fra senderen udstrålede effekt samles i en stråle med stor intensitet. Af hensyn til følsomhedskarakteristikken for kendte laserstrålefølsomme modtagere, eksempelvis siliciumdetek-10 torer, er det, for så vidt angår rækkevidden, ufordelagtigt at disponere en lasersenders tilgængelige middeleffekt ved udsendelse af flere forholdsvis lange impulser med korte afstande. Desuden er jo ifølge det ovennævnte indvirkningen af forstyrrelser som følge af baggrundsstøj 15 stor ved en sådan overføring.5 In order to achieve optimum range, the system's beams of beams should be narrow so that all the power emitted from the transmitter is collected in a beam of high intensity. In view of the sensitivity characteristics of known laser beam-sensitive receivers, such as silicon detectors, it is disadvantageous, as far as the range is concerned, to utilize the available average power of a laser transmitter by transmitting several relatively long pulses at short distances. Moreover, according to the aforementioned effect of interference due to background noise 15 is great in such a transmission.

Formålet med opfindelsen er at anvise et positionsinformationsoverføringsanlæg, som har de nævnte, ønskede egenskaber, og som med et minimum af laserimpulser formår med høj opløsningsevne at definere en stilling i rummet 20 og mellem positionsinformationsoverføringer at overføre anden af positionen uafhængig information.The object of the invention is to provide a position information transmission system having the desired properties and which, with a minimum of laser pulses, is able to define a position in the space 20 and between position information transmissions to transmit other position independent information.

Dette opnås ifølge opfindelsen ved den i krav l's kendetegnende del anviste udformning.This is achieved according to the invention by the design according to the characterizing part of claim 1.

Opfindelsen skal i det følgende forklares nærmere i 25 forbindelse med tegningen, hvor fig. 1 viser et blokdiagram for en optisk sender for anlægget ifølge opfindelsen, fig. 2 et blokdiagram for en tilsvarende modtager, fig. 3 en rumvinkel, som skiftevis afsøges af to 30 vinkelret på hinanden stående, vifteformede ledestrålebundter, fig. 4 ledestrålebundternes afsøgningsbevægelse og udsendelse som funktion af tiden, fig. 5 et skema med eksempler på opbygning af binære 35 ord, og fig. 6 et binært ord omformet til en tidsperiode mellem to på hinanden følgende lysimpulser.The invention will now be explained in more detail in connection with the drawing, in which 1 is a block diagram of an optical transmitter for the system according to the invention; FIG. 2 is a block diagram of a corresponding receiver; FIG. 3 shows a space angle alternately scanned by two fan-shaped guide beam bundles perpendicular to each other; FIG. Fig. 4 shows the scanning motion and transmission of the beam beams as a function of time; 5 is a diagram showing examples of building binary 35 words; and FIG. 6 is a binary word transformed into a period of time between two consecutive light pulses.

3 151411 I fig. 1 er vist en lasersender 1, der fødes af et drivtrin 2 og, via en afbøjningsanordning 3 og en ikke vist optik, skiftevis og periodisk udsender to vinkelret på hinanden stående, vifteformede ledestrålebundter, der 5 i fig. 3 betegnes 4 og 5. Ledestrålebundterne udgår i senderen 1 fra to parallelle laserstrålefrembringende organer, eksempelvis diodelasere, hvis lysemitterende overflade har stor rektangelværdi. Alternativt kan man anvende et enkelt laserstrålefrembringende organ og et periodisk arbejdende, 10 vinkeldrejende prisme. Optikken har til opgave at afbilde diodelasernes lysemitterende flade på en sådan måde, at et strålebundt med stor rektangelværdi opnås. Påvirket af en drivanordning 6 er afbøjningsanordningen 3 indrettet til at afbøje ledestrålebundterne, så at disse skiftevis 15 afsøger et azimuthplan og et elevationsplan i en rumvinkel 7 (fig.3). Afbøjningsanordningen kan eksempelvis bestå af to indbyrdes modroterende optiske kiler, såkaldte diasporametre. Ved afsøgning af pejleplanet bevæges ledestrålebundtet 4 i x-aksens retning. Ledestrålebundtet 5 20 bevæges under afsøgning af elevationsplanet i y-aksens retning. De legemer, til hvilke positionsinformationen skal overføres, skal befinde sig i den nævnte rumvinkel 7, for at overføring skal være mulig. Afsøgningen i hver af de to retninger er foretrukket sinusformet med 90° 25 indbyrdes faseforskydning som vist i fig. 4. Her er med fed streg 8,9 markeret, i hvilke vekselvise intervaller afsøgning sker i azimuth- og elevationsplan.In FIG. 1, a laser transmitter 1 is fed by a drive stage 2 and, via a deflection device 3 and an optic not shown, alternately and periodically emits two perpendicularly fan-shaped guide beam bundles 5 in FIG. 3 are denoted 4 and 5. The conductor beam bundles in transmitter 1 emanate from two parallel laser beam generating means, for example diode lasers, whose light emitting surface has a high rectangle value. Alternatively, one can use a single laser beam generating means and a periodically working, 10 angle rotating prism. The task of the optics is to image the light emitting surface of the diode lasers in such a way that a beam bundle with a large rectangle value is obtained. Affected by a drive 6, the deflector 3 is arranged to deflect the guide beam bundles so that they alternately scan an azimuth plane and an elevation plane at a space angle 7 (Fig. 3). For example, the deflection device may consist of two mutually counter-rotating optical wedges, so-called diasporameters. When scanning the bearing plane, the guide beam bundle 4 moves in the direction of the x-axis. The guide beam bundle 5 20 moves while scanning the elevation plane in the direction of the y-axis. The bodies to which the position information is to be transmitted must be at said space angle 7 in order for transmission to be possible. The scanning in each of the two directions is preferably sinusoidal with 90 ° to each other phase shift as shown in FIG. 4. Here, the bold line 8.9 is marked, in alternating intervals scanning in the azimuth and elevation plan.

For at kunne overføre positionsinformation som indledningsvis nævnt er til afbøjningsanordningen 3 koblet 30 en positionsføler 10, som har til opgave på afbøjningsanordningen at aftaste ledestrålebundternes 4,5 øjeblikkelige positioner i rumvinklen og ifølge opfindelsen at frembringe tilsvarende binære ord, hvis opbygning kan være som vist i fig.5. Her består hvert ord af ni bits 35 Ag.....Aq, af hvilke de seks første bit Ag.....Ag (i fig. 5 markeret med x) indeholder informationens numeriske værdi. Af de resterende tre bit udgør A2 en tegnbit, medens A. og A« er en adressedel. Adressedelen angiver, om 4 151411 informationen er positionsinformation i elevations- eller azimuthplanet eller anden information. Hvad der skal forstås ved begrebet anden information fremgår af det følgende.In order to be able to transmit position information as initially mentioned, a position sensor 10 is coupled to the deflection device 3, which has the task of scanning the deflection device at the instantaneous positions of the guide beam bundles 4,5 in the space angle and according to the invention to produce corresponding binary words, the structure of which can be as shown in FIG. fig.5. Here, each word consists of nine bits 35 Ag ..... Aq, of which the first six bits Ag ..... Ag (in Fig. 5 marked with x) contain the numerical value of the information. Of the remaining three bits, A2 constitutes a character bit, while A. and A «are an address portion. The address section indicates whether the information is position information in the elevation or azimuth plane or other information. What is to be understood by the term other information is given below.

5 Positionsfølerens 10 udgang er forbundet med en kode- vælger 11, til hvilken også et organ 12 for indlæsning af anden information er forbundet. Kodevælgeren har til opgave at bestemme, om positionsinformation eller anden information skal overføres.5 The output of the position sensor 10 is connected to a code selector 11 to which also a means 12 for entering other information is connected. The task of the code selector is to decide whether to transfer position information or other information.

10 Informationen har altså nu form af et binært ord, dvs. en følge af binære tegn 0 og 1, som også kan opfattes som et binærtal. Til omformning ifølge opfindelsen af det binære ord til en tidsperiode mellem to på hinanden følgende lysimpulser påtrykkes ordet, via et kredsløb 13 til 15 modificering af informationen, som skal overføres, en forudindstillelig tæller 14. Denne er også forbundet med en oscillator 15, der frembringer impulser med en konstant frekvens, og med en detektor 16, som har til opgave at frembringe et signal, når tællerens 14 indhold bliver nul.Thus, the information now takes the form of a binary word, ie. a consequence of binary characters 0 and 1, which can also be perceived as a binary number. For converting the binary word according to the invention to a period of time between two consecutive light pulses, the word is applied via a circuit 13 to 15 to modify the information to be transmitted, a preset counter 14. This is also connected to an oscillator 15 which produces pulses with a constant frequency, and with a detector 16, which is designed to produce a signal when the content of counter 14 becomes zero.

20 Detektoren 16 er også koblet til lasersenderens 1 drivtrin 2.The detector 16 is also connected to the laser stage 1 of the laser transmitter 1.

Tælleren 14, som altså er forudindstillet med binærtallet og en konstant del, nedtælles af impulserne fra oscillatoren 15, og fordi impulsfrekvensen er konstant, 25 vil der medgå en til det binære ord svarende tid, til tælleren 14 er nulstillet. Detektoren 16 vil da med nulsignalet påvirke drivtrinet 2, så at lasersenderen 1 udsender en laserimpuls. Samtidig påtrykkes tælleren næste binærtal, og forløbet gentages. Ved hjælp af kredsløbet 30 13 kan informationen modificeres som nærmere omtalt i det følgende.The counter 14, which is thus preset with the binary number and a constant part, is counted down by the pulses from the oscillator 15, and because the pulse frequency is constant, a time corresponding to the binary word will pass until the counter 14 is reset. The detector 16 will then affect the drive stage 2 with the zero signal so that the laser transmitter 1 emits a laser pulse. At the same time, the counter is pressed to the next binary number and the sequence is repeated. By means of the circuit 30 13, the information can be modified as further described below.

Ved nedtællingen af impulserne er tidsforskellen mellem to tidsperioder altid et multiplum af tidsforskellen mellem to naboperioder, som igen er bundet til oscil-35 latorens 15 impulsfrekvens. I fig.6 betegner T en passende tidsperiode, som ligger mellem T . og T . T . er en mindste tidsperiode afledt af den maksimalt tilladte im- 5 151411 pulsfrekvens hos senderens 1 laserstrålefrembringende organ. betegner den tidsperiode, som maksimalt kan benyttes under hensyn til T .j og antallet af forskellige binære ord. Med eksempelvis ni. bit kan der dannes 512 for-5 skellige ord, hvilket indebærer, at man fra T . til T behøver samme antal trin. At tidsperioderne ikke ændres kontinuerligt, men trinvist, er en fordel ved modtagelsen, hvor man lettere kan frasortere støjimpulser.In counting the pulses, the time difference between two time periods is always a multiple of the time difference between two neighboring periods, which in turn is linked to the pulse frequency of the oscillator 15. In Fig. 6, T denotes an appropriate time period which lies between T. and T . T. is a minimum period of time derived from the maximum allowable pulse rate of transmitter 1 laser beam generating means. denotes the time period that can be used to the maximum with respect to T .j and the number of different binary words. With, for example, nine. bit, 512 different words can be formed, which implies that from T. to T need the same number of steps. The fact that time periods do not change continuously, but incrementally, is an advantage of the reception, where noise pulses can be more easily separated.

Tidsperioderne rekonstrueres, og de tilsvarende bi-10 nære ord genskabes i den i fig.2 viste modtager. Denne omfatter en for laserstrålingen følsom detektor 17, som, via et klippekredsløb 18, med styrekredsløb 19 til regulering af klippeniveauet og et forsinkelseskredsløb 20, er forbundet med en forudindstillingsindgang på en tæl-15 ler 21. Klippekredsløbet 18 har til opgave ved hver afsøgning kun at lade de stærkeste impulssignaler passere.The time periods are reconstructed and the corresponding secondary words are recreated in the receiver shown in Fig. 2. This includes a laser-sensitive detector 17 which, via a cutting circuit 18, with control circuit 19 for controlling the level of the cut and a delay circuit 20, is connected to a preset input on a counter 15. The cutting circuit 18 is for the purpose of each scan only to pass the strongest pulse signals.

En oscillator 22, hvis impulsfrekvens er et heltalsmultiplum af oscillatorens 15 frekvens, er tilsluttet tællerens 21 tælleindgang.Til tælleren er også sluttet et 20 lager 23, som indeholder et til T svarende binært tal samt fire lagre 24,25,26 og 27 for positionsinformation i x- og y-aksens retning og for anden information i disse to retninger, hvilke lagre aktiveres af en til klippekredsløbets 18 udgang forbunden vælger 28, til hvilke 25 tællerens 21 værdi kopieres som beskrevet i det følgende.An oscillator 22, whose pulse frequency is an integer multiple of the frequency of oscillator 15, is connected to the count input of counter 21. Also connected to the counter is a memory store 23 which contains a binary number corresponding to T as well as four stores 24,25,26 and 27 for position information. in the direction of the x and y axes, and for other information in these two directions, which stocks are activated by a select 28 connected to the output of the cutting circuit 18 to which the value of the counter 21 is copied as described below.

Når en laserimpuls rammer detektoren 17, frembringer denne af laserimpulsens forflanke et impulssignal, som via klippekredsløbet 18 og forsinkelseskredsløbet 20 når tællerens 21 forudindstillingsindgang. Herved udløses 30 den tidligere nævnte værdi i lageret 23, og tælleren åbnes for tælling af impulser fra oscillatoren 22. Når næste laserimpuls detekteres, frembringes igen et impulssignal. Af impulssignalet påvirkes tælleren 21 til at aktivere et af lagrene 24-27. Hvilket af lagrene der skal 35 aktiveres, bestemmes af tællerens 21 indhold, som jo nu svarer til den udsendte tidsperiode. Det vil sige, at tælleren indeholder den udsendte positionsinformation eller anden information i form af en adressedel og en 151411 e numerisk værdi. Mressedelen angiver, til hvilket af lagrene 2 4*»27 tællerindholdet skal kopieres. Af kredsløbet 20 forsinkes impulssignalerne så meget, at kopieringen kan foretages. Når impulssignaler når tælleren, sker forudindstil-5 ling i henhold til det foregående, og forløbet gentages.When a laser pulse strikes the detector 17, it produces a pulse signal from the leading edge of the laser pulse which reaches the preset input of the counter 21 via the cutting circuit 18 and the delay circuit 20. Hereby, the previously mentioned value is triggered in the memory 23 and the counter is opened for counting pulses from the oscillator 22. When the next laser pulse is detected, an impulse signal is again produced. By the impulse signal counter 21 is actuated to activate one of the bearings 24-27. Which of the stores must be activated is determined by the contents of the counter 21, which now corresponds to the transmitted time period. That is, the counter contains the transmitted position information or other information in the form of an address portion and a numeric value. The cover portion indicates to which of the bearings 2 4 * »27 the counter contents must be copied. Out of circuit 20, the pulse signals are delayed so much that copying can be done. When impulse signals reach the counter, presetting occurs according to the foregoing and the sequence is repeated.

Som nævnt har oscillatoren 22 en impulsfrekvens, som er et heltalsmultiplum af oscillatorens 15 impulsfrekvens. Hensigten er dels at mindske tidsafstanden mellem en indkommende laserimpuls og det øjeblik, hvor tælleren 10 21 begynder at tælle, dels at mindske sandsynligheden for fejl i modtagelsen. Ved den højere frekvens opnås et ord bestående af flere bit end det udsendte, og ved i det modtagne ord at stryge de mindst signifikante bit, mindskes støjimpulsers indflydelse. Det er indlysende, 15 at impulspositioner, der ligger uden for de positioner, som i tiden defineres af impulsen fra oscillatoren 15 efter detektering let kan sorteres fra ved en af oscillatoren 22 styret proces.As mentioned, oscillator 22 has a pulse frequency which is an integer multiple of the pulse frequency of oscillator 15. The intention is partly to reduce the time distance between an incoming laser pulse and the moment at which the counter 10 21 starts to count, and partly to reduce the probability of reception error. At the higher frequency, a word consisting of more bits than the transmitted one is obtained, and by erasing in the received word the least significant bits, the influence of noise pulses is reduced. It is obvious that pulse positions which are outside the positions defined in time by the pulse of the oscillator 15 after detection can be easily sorted by a process controlled by the oscillator 22.

Ifølge opfindelsen skal ledestrålebundtets tykkelse 20 og afsøgningshastighed samt laserimpulsernes repetitionsfrekvens være således indbyrdes afpasset, at ethvert punkt i rumvinklen 7 rammes af mindst to på hinanden følgende laserimpulser. Ved at afpasse de nævnte størrelser så at hvert punkt får mindst to stillingsfunktioner kan desuden 25 indvirkningen af atmosfæriske brydningsfænomener mindskes ved digital middelværdidannelse af den modtagne information.According to the invention, the thickness 20 and scan rate of the guide beam bundle as well as the repetition frequency of the laser pulses must be so mutually matched that any point in the space angle 7 is affected by at least two consecutive laser pulses. In addition, by adjusting said sizes so that each point receives at least two position functions, the influence of atmospheric refractive phenomena can be lessened by digital averaging of the received information.

Den i lagrene 24 og 25 lagrede positionsinformation benyttes i en ikke vist regneenhed til af positionsinfor-30 mationen og med hensyntagen til legemets ønskede bane i det koordinatsystem, som dannes ved kombination af positionsinformationsoverføring og afsøgning af rumvinklen at beregne styresignaler til legemets styresystem.The position information stored in the bearings 24 and 25 is used in a calculation unit (not shown) to calculate control signals for the body's control system by taking into account the desired trajectory of the body in the coordinate system formed by combining position information transfer and scanning the space angle.

I det foregående er omtalt anden information og mo-35 dificering af positionsinformation. Ved anden information forstås information, som ikke har nogen direkte sammenhæng med ledestrålebundternes øjeblikkelige position i rumvinklen under afsøgningen. Ved fjernstyring af robotter kan 7 151411 sådan anden information eksempelvis være signaler for armering eller brandrørsafsikring, hvilket gør det muligt at fjernbetjene sådanne funktioner således, at risiko for detonationer, som kan skade eget personel, nedsættes væ-5 sentligt. Anden information kan også være eksempelvis støttesignaler, dvs. sådanne signaler, som benyttes til at kompensere en robots efterslæb ved store vinkelhastigheder eller vinkelaccelerationer for robottens lederretning som følge af målets bevægelse. I et et system som 10 her beskrevet kan altså i modsætning til, hvad der er muligt i kendte systemer, en sådan kompensering udføres rent elektronisk.In the foregoing, other information and modification of position information are discussed. Other information means information which has no direct relation to the instantaneous position of the beams at the space angle during the scan. In remote control of robots, such other information may, for example, be signals for reinforcement or fire protection, which allows remote control of such functions so that the risk of detonations which can damage their own personnel is significantly reduced. Other information may also be, for example, support signals, ie. such signals as are used to compensate a robot's lag at high angular velocities or angular accelerations of the robot's direction of direction as a result of the target's movement. Thus, in a system such as described herein, contrary to what is possible in known systems, such compensation can be performed purely electronically.

Positionsinformationsoverføringsanlægget ifølge opfindelsen kan naturligvis også benyttes som land:ingsanlæg 15 for flyvemaskiner, hvorved overføringen af anden information kan benyttes til automatiske kontrolfunktioner af forskellig art. Ved hjælp af adressedelen kan man let skelne mellem positionsinformation og anden information eller lade visse typer af anden information være gyldig 20 alene i forbindelse med en vist positionsinformation.The position information transfer system according to the invention can of course also be used as landing gear 15 for airplanes, whereby the transfer of other information can be used for various automatic control functions. By means of the address part, one can easily distinguish between position information and other information or allow certain types of other information to be valid only in connection with a certain position information.

Et andet anvendelsesområde for det anviste anlæg er øvelsesskydning med laserimpulser. Ved overføringen af positionsinformationen henføres et måls position til en referencelinie, eksempelvis forlængelse af våbnets rette-25 linie. Som anden information overføres våbnets aktuelle skydeelementer og ved hjælp af en regneenhed i målet kan af den overførte information beregnes, om ildafgivelse i et vist øjeblik skulle indebære træfning af målet.Another area of application for the system in question is exercise shooting with laser pulses. In transmitting the position information, the position of a target is assigned to a reference line, for example, extension of the weapon's straight line. As other information, the actual shooting elements of the weapon are transmitted and by means of a unit of calculation in the target it can be calculated from the transmitted information whether the firing of fire at a certain moment would involve hitting the target.

Ved modificering af positionsinformation forstås ek-30 sempelvis sådanne foranstaltninger, som indebærer en elektronisk flytning af middelpunktet for det ved afsøgningen frembragte koordinatsystem. En sådan flytning kan være ønsket, eksempelvis for at kompensere en indretningsfejl ved et gyrostabiliseret oprettesystem.By modifying position information, for example, it is understood that such measures involve electronically moving the center of the coordinate system produced by the scan. Such a relocation may be desired, for example, to compensate for a device failure by a gyro-stabilized creation system.

Claims

151411

An apparatus for transmitting information to bodies at a space angle (7) defined by two perpendicular fan-shaped guide beam bundles (4,5) emitted alternately from a transmitter and caused by a deflection device 5 to search for an elevation and an azimuth plane, and which beam bundles of a modulating member coupled to the deflection device are modulated according to their instantaneous position at the space angle, so that at the deflection and modulation a coordinate system is formed in which the position of any two beam sensed point is uniquely defined each body being provided with a radiation sensitive receiver with means for demodulating the information in the beams, characterized in that the modulating means (10,11,13,14,15) for various information to be transmitted comprises a code selector (11), which selects the temporal distances between consecutive pulses after an interval sequence, with each interval a specific information to be transmitted is unambiguously assigned, and where certain intervals 20 comprising subsets are reserved for indicating the instantaneous position of the beams on sensing the electric: evation and azimuth plane, which is tuned via the deflection device (3) with the beams thickness and scan rate and via the repetition frequency 25 of the beams in a manner such that the body of any position in the space angle is affected by at least two consecutive beam pulses from the same beam of beam at each scan and that the receiver (21,22,23) is arranged to detect the intervals between the leading edges of the beam pulses so that the 30 of these intervals determine the original information.

System according to claim 1, characterized in that the modulating means (13,14,16) are arranged to produce mutually identical time distances for the interval series and that the receiver (21,22,23) is arranged to completely conform to the range of the series. interval distances 151411 to divide the override time of a preselected lower limit value into corresponding time steps so that it determines the individual information by the number of time steps counted.

System according to claim 1 or 2, characterized in that the modulating means (13) is arranged to modify the position indications with a constant or variable value.

System according to claims 1-3, characterized in that the modulation means comprises a code selector (11) which reserves a separate part of the range for indicating a parameter which is valid at least in a part of the space angle, so that it can be unambiguously determined for everyone in this sub-range of the range of ranges for which part of the 15 space angle parameter is valid.

System according to claims 1-4, characterized in that the modulating means (10,11,13,14,15) comprise an oscillator (15) which produces a fixed repetition frequency signal and a second means 20 (13) connected to the oscillator. 14) which is arranged to remove from the pulse signal a number of consecutive pulses, which number is selected by a value in the predetermined series, so that between the remaining pulses there are time periods which clearly correspond to the information to be provided. and the receiver (21, 22, 23) comprises an oscillator (22) whose pulse frequency is an integer multiple of the frequency of the former oscillator (15) and a binary counter (21) adapted to count the number corresponding to the transmitted information of the oscillator pulses falling between the receiver pulses.

Apparatus according to claim 5, characterized in that the modulating means comprise a binary counter (14) preset by said value, which is arranged to produce a pulse at the preset and a pulse when it is counted down by the oscillator signal to zero. 151411 ίο

System according to claim 5 or 6, characterized in that the receiver (21, 22, 23) is arranged when it is hit by more than two consecutive light pulses from the same beam of radiation at one and the same scan and reaches the pulse distances. corresponding values belong to the first or second subset to form the mean of the positions corresponding to said values.