U.S. patent application number 10/304230 was filed with the patent office on 2004-07-15 for dual elevation weapon station and method of use.
Invention is credited to Quinn, James P..
Application Number | 20040134340 10/304230 |
Document ID | / |
Family ID | 32392427 |
Filed Date | 2004-07-15 |
United States Patent
Application |
20040134340 |
Kind Code |
A1 |
Quinn, James P. |
July 15, 2004 |
DUAL ELEVATION WEAPON STATION AND METHOD OF USE
Abstract
A self-contained gimbaled weapon system (GWS) has a shared
azimuth axis and two independent elevation axes for a sighting
device and a weapon cradle. The GWS allows the weapon cradle to be
elevated completely independent of the sighting device. The GWS can
be stabilized and operated remotely.
Inventors: |
Quinn, James P.; (Gurnee,
IL) |
Correspondence
Address: |
David M. Frischkorn
McDonnell Boehnen Hulbert & Berghoff
32nd Floor
300 S. Wacker Drive
Chicago
IL
60606
US
|
Family ID: |
32392427 |
Appl. No.: |
10/304230 |
Filed: |
November 26, 2002 |
Current U.S.
Class: |
89/41.01 |
Current CPC
Class: |
F41G 3/06 20130101; F41G
3/16 20130101; F41A 27/28 20130101 |
Class at
Publication: |
089/041.01 |
International
Class: |
F41G 003/00 |
Claims
I claim:
1. A gimbaled weapon station (GWS), comprising, in combination, a)
a weapon cradle; b) at least one sighting device; c) an azimuth
drive means for simultaneously moving the sighting device and
weapon cradle in azimuth direction; d) a first elevation means for
moving the weapon cradle in elevation; and e) a second elevation
means for moving the sighting device in elevation, the second
elevation means capable of operating independently of the first
elevation means.
2. The GWS of claim 1 further comprising a control unit having a
control algorithm means for coordinating movement of the first and
second elevation means.
3. The GWS of claim 2 where the control unit contains a fire
control processor capable of determining a fire control
solution.
4. The GWS of claim 2 further characterized in that the azimuth
drive means and first and second elevation means are electrically
connected to the control unit and a central processing unit to
allow for remote control operation.
5. The GWS of claim 1 further characterized in that it comprises a
stabilization system.
6. The GWS of claim 1 further characterized in that it comprises a
stabilization system where the weapon cradle moved by the first
elevation means and the sighting device moved by the second
elevation means can be stabilized in common or independently.
7. The GWS of claim 5 further characterized in that the
stabilization system contains a fiber optic gyro to stabilize the
GWS in azimuth direction.
8. The GWS of claim 5 further characterized in that the
stabilization system contains a fiber optic gyro to stabilize the
sighting device.
9. The GWS of claim 5 further characterized in that the
stabilization system contains a fiber optic gyro to stabilize the
weapon cradle.
10. The GWS of claim 5 further characterized in that the
stabilization system contains a fiber optic gyros to stabilize the
sighting device and weapon cradle.
11. The GWS of claim 2 further comprises an operator control and
display electrically connected to the control unit and remotely
located from the weapon cradle and sighting device.
12. The GWS of claim 1 further comprising a smart system that can
identify a weapon type installed on the weapon cradle.
13. A gimbaled weapon station, comprising, in combination, a) a
weapon cradle; b) at least one sighting device; c) an azimuth drive
means for simultaneously moving the sighting device and weapon
cradle in azimuth direction; d) a first elevation means for moving
the weapon cradle in elevation; e) a second elevation means for
moving the sighting device in elevation, the second elevation means
capable of operating independently of the first elevation means; f)
a control algorithm means for coordinating movement of the first
and second elevation means; g) a fire control processor capable of
determining a fire control solution; and h) a stabilization
system.
14. A gimbaled weapon station system, comprising, in combination,
a) a weapon cradle; b) at least one sighting device; c) an azimuth
drive means for simultaneously moving the sighting device and
weapon cradle in azimuth direction; d) a first elevation means for
moving the weapon cradle in elevation; e) a second elevation means
for moving the sighting device in elevation, the second elevation
means capable of operating independently of the first elevation
means; f) a control unit in communication with the first and second
elevation means; and f) at least one target sensor capable of
interfacing with the control unit.
15. A method of maintaining a weapon in a continuous offset
position from a sighting device during operation of a GWS
comprising the following steps in combination, a) providing a self
contained GWS having both a sighting device and a weapon cradle,
where the weapon cradle is elevated using a first elevation
mechanism; b) elevating the sighting device using a second
elevation mechanism to acquire a target based on signals received
from an observation unit located remotely from the GWS; c) sensing
the elevation of the sighting device using a first sensor that is
in communication with a control unit; d) sensing the elevation of
the weapon cradle using a second sensor that is in communication
with the control unit; e) calculating a predetermined offset
elevation for the weapon cradle using the control unit and based on
the elevation of the sighting device; f) changing the elevation of
the weapon cradle and installed weapon using the first elevation
mechanism to achieve the predetermined offset elevation calculated
in step e); and g) repeating steps a) through f) for each new
elevation of the sighting device.
16. A method of positioning a weapon during operation of a GWS
based on target acquisition obtained from a sighting device or
target sensor comprising the following steps in combination, a)
providing a self contained GWS having both a sighting device and a
weapon cradle, where the weapon cradle is elevated using a first
elevation mechanism; b) elevating the sighting device using a
second elevation mechanism to acquire a target based on signals
received from an observation unit located remotely from the GWS; c)
determining the distance to the target using a range location
device; d) sensing the elevation of the weapon cradle; e)
determining a fire control solution using a logic algorithm that
receives as input at least the distance to target and the elevation
of the weapon cradle; and e) changing the elevation of the weapon
cradle and installed weapon using the first elevation mechanism in
response to the determined fire control solution without changing
the elevation of the sighting device.
Description
BACKGROUND OF THE INVENTION
[0001] 1. Field of Invention
[0002] My invention relates generally to gimbaled weapon stations
(GWS) that provide sighting, fire control and a weapon cradle in a
self-contained system and to methods for using a GWS. In
particular, the gimbaled weapon station of my invention allows a
weapon cradle and a sighting device to move together in azimuth,
but each can be elevated completely independently of each other.
This allows for continuous target tracking and sighting regardless
of the super-elevation needed for the weapon to achieve the correct
ballistic trajectory. My weapon station can also be stabilized and
operated remotely.
[0003] 2. Description of the Prior Art
[0004] Target tracking and weapon control systems are known. For
example, on ships, a single weapon sight that can move in both
azimuth and elevation can control and direct fire of several large
weapons. These large weapons can also move in both azimuth and
elevation in response to signals received from a fire control
computer, which receives input from the separately controlled
weapon sight. For smaller weapons, such as machine guns, it is
known to combine the weapon sight and cradle on a single platform
typically with the sight mounted directly on the weapon or the
weapon cradle, but in either case there is only a single elevation
axis. One such small weapon control system is disclosed in U.S.
Pat. No. 5,949,015, which provides for a weapon mount and sighting
system on a single gimbaled mount. The system can be operated by
remote control and includes gyro stabilization. Such systems,
however, suffer from the drawback that both the gun sight and the
weapon share a common elevation mechanism. In other words, as the
operator moves the gun sight to track a target in either azimuth or
elevation the weapon must necessarily follow. Accordingly, if the
operator raises the gun sight in elevation to track the target the
weapon will also raise in elevation because there is only a single
elevation mechanism to raise both the sight and the weapon. In
these prior art systems, it is typical that the gun point and the
aiming system (gun sight combined with basic fire control) are
directed at the same target coordinates. Various sensors are
typically used for the aiming systems; for example, visible and
infrared imaging devices to view the target and a laser range
finder to determine distance to the target. However, in situations
referred to as super-elevation, where the weapon must be elevated
to a greater angle than the target line of sight in order to launch
the projectile to the hit the target over a long distance, the
sighting or aiming system no longer views the target since the aim
point of the gun no longer includes the target in the field of
view.
[0005] In situations where a fire control computer can correct for
ballistic trajectory (i.e., it can automatically raise the weapon
to a super-elevation position to ensure the projectile impacts the
target) a serious problem arises when there is only one elevation
axis. When the fire control computer super-elevates the weapon, the
sight must also increase in equal elevation. This causes the user
to completely lose view of the target in the sight. If the user
tries to override the fire control computer and lower the sight to
regain view of the target the weapon will also be lowered causing a
fired projectile to fall short of the designated target.
[0006] The art has recognized this serious problem and has
attempted to provide a solution. For example, some weapon systems
provide an offset mechanism. One such mechanism counter rotates the
gun sight from the gun by an amount needed to bring the target back
into the field of view of the sight. The disadvantage of this
system is that it can introduce errors in the aiming accuracy
because of the added complexity and mass of the additional counter
rotation system components, which are placed on the single weapon
elevation axis. This added complexity and mass must be added to the
sole elevation mechanism, which greatly increases the chances for
error in aiming the gun during super elevation. Another
disadvantage is that counter rotation has a very limited range of
movement and it can also introduce target image blur as the offset
between the gun and sight is being established. Prior art systems
can have offset mechanisms that cause either small mechanical
elevation changes of the gun, the sight, or cause an electronic
repositioning of the sight reticle in the sight display. U.S. Pat.
Nos. 5,456,157, 5,171,933, and 4,760,770 each disclose variations
in the type of offset mechanism utilized by the weapon system. For
example, in the '933 patent the gun is offset by several servo
motors to achieve super-elevation once target acquisition is
acquired by the user. In the '157 patent a computer generated
offset of the sight reticle is used to correct the gun aim point
for super-elevation targeting requirements. In each of these known
offset systems, however, the amount of offset possible is very
limited, which of course drastically limits target range
capability. A need therefore exists to provide a gimbaled weapon
system (GWS) that avoids these problems and that allows mechanical
elevation of the sighting device independent of weapon elevation,
while allowing the weapon to achieve a super-elevation position to
ensure target hit accuracy.
[0007] Accordingly, one object of my invention is to provide a self
contained GWS that has two separate elevation means, one for a
sighting device and one for a weapon cradle, where the cradle can
hold a variety of different weapons. This system provides for
totally independent elevation axes and associated control and drive
mechanisms.
[0008] Another object of my invention is to provide a GWS that
eliminates the need for an offset mechanism when super-elevation is
needed for correct ballistic trajectory. This is accomplished by
providing full elevation axes for both the weapon cradle and
sighting device.
[0009] A further object is to provide a GWS where the dual
elevation axes are stabilized independently or in common.
Stabilization is very beneficial when large mass weapons are used
with my GWS or when the GWS is used on a moving platform, such as a
tank, troop carrier or other wheeled vehicle or boat deck.
[0010] Yet another object of my invention is to provide a control
algorithm to coordinate the movement of the two independent
elevation axes so that the user can continuously view and track a
target without interruption and which will allow the weapon cradle
(and the installed weapon) to achieve a correct super-elevation
position independent of the actual elevation of the sighting
device.
[0011] Other objects will be recognized upon reading the following
disclosure in conjunction with the accompanying figures.
SUMMARY OF THE INVENTION
[0012] My invention is directed to a gimbaled weapon system (GWS)
that combines a weapon cradle and a sighting device in a
self-contained unit that is capable of 360.degree. rotation in
azimuth. My GWS is capable of either manual or remote control
operation and also provides independent elevation axes for both the
weapon cradle and the sighting device. Separate elevation axes
allow the weapon operator to always maintain visual contact with
the target through the sighting device even during a super-elevated
condition of the weapon. Coordination between the two separate
elevation axes is accomplished using a control unit containing a
software algorithm that analyzes and controls the relative position
of each elevation axis based on inputs received from GWS subsystems
including position sensors on each axis, fire control processor,
operator display commands, sighting device, stabilization system or
from other systems, such as a host vehicle. The fire control
processor monitors and processes range data, platform cant,
ammunition and weapon type, ambient pressure and temperature, and
bore sight information. The sighting device provides an image of
the target using visible and or infrared video cameras and range
data through the operation of an active device, such as a laser
range finder or through the use of a passive device. Preferably the
laser range finder is optional eye safe Class 1, which provides
range measurement accurate to .+-.10 meters for engagement of
vehicle sized land, maritime and aerial targets at ranges up to
5000 meters. My GWS can also provide the capability for the weapon
operator to zero the installed weapon at selected ranges. Zeroing
consists of adjusting the bore-sighted reticle position (aim point)
based on the results of weapon firing. Zeroing controls provide for
reticle movement in increments of less than 0.1 mil in azimuth and
elevation.
[0013] The GWS includes a smart system that can sense the specific
type of weapon installed in the cradle. This information, along
with the identification of ammunition type, and other data that can
be entered through the use of a touch screen video display
physically located away from the GWS, is sent to the fire control
processor. Of course, depending on the weapon mounted the
ammunition will automatically be known and selected by the smart
system. For those weapons that are capable of firing different
ammunition, then input of ammunition type is necessary. The fire
control processor provides for accurate fire control of the weapon
by using the information obtained from the smart system,
range-to-target data, line of sight (LOS) indication, cant of the
GWS platform, and ambient temperature and pressure, to calculate a
fire control solution. In addition to providing super-elevation and
azimuth displacement (projectile drift) signals, the fire control
solution is used to re-orient the weapon and sight reticle in
azimuth while allowing the operator to maintain visual contact with
the target in a high magnification-viewing field. However, in
another mode of operation where the sighting system has independent
elevation, the weapon is elevated and moved in azimuth to
compensate for projectile drift and to develop target lead. Target
lead is used to compensate for the relative motion between the
target and weapon aimpoint. To keep the aimpoint on the target, the
fire control solution is calculated using the tracking rates for
azimuth and elevation that are generated by the gimbal. The
commanded tracking rates come from the joystick or from a
video-tracking device. Once the weapon and sight are moved in
azimuth, the laser range finder is no longer pointed at the target
preventing additional fire control solutions from being calculated.
This condition is corrected by providing a small dynamic (.+-.10
degree) azimuth adjustment to the sight. The weapon aimpoint can
then lead the target and the sight can still accurately point the
laser ranger finder.
[0014] My invention can also be transformed from a remotely
operated GWS to a manually operated system in the event platform
system power is lost. Manual operation allows the weapon operator
to traverse the GWS in azimuth, elevate the weapon mount, charge
ammunition and fire the weapon. The GWS of my invention can be used
on all forms of moving ground vehicles, helicopters, ships, boats
and planes, and can accept a variety of weapons, including the Mk19
GMG (using 40 mm ammunition), M2 HMG (using 12.7 mm ammunition),
M240 machine gun (using 7.62 mm ammunition), and M249 Squad
Automatic Weapon using 12.7 mm ammunition. The GWS can move
360.degree. in azimuth and be mounted in an existing hatch mounting
pintle to allow for 360.degree. manual rotation.
[0015] Accordingly, in the broadest sense my invention is directed
to a GWS, comprising a weapon cradle, at least one sighting device,
an azimuth drive means for simultaneously moving the sighting
device and weapon cradle in azimuth direction, a first elevation
means for moving the weapon cradle in elevation, and a second
elevation means for moving the sighting device in elevation, the
second elevation means capable of operating independently of the
first elevation means.
[0016] Alternatively, my invention is also directed to a gimbaled
weapon station, comprising a weapon cradle, at least one sighting
device, an azimuth drive means for simultaneously moving the
sighting device and weapon cradle in azimuth direction,
[0017] a first elevation means for moving the weapon cradle in
elevation, a second elevation means for moving the sighting device
in elevation, the second elevation means capable of operating
independently of the first elevation means, a control algorithm
means for coordinating movement of the first and second elevation
means, a fire control processor capable of determining a fire
control solution, and a stabilization system.
[0018] In addition, my invention includes a method of maintaining a
weapon in a continuous offset position from a sighting device
during operation of a GWS, whereby the sighting device is elevated
using an elevation mechanism to acquire a target based on signals
received from an observation unit located remotely from the GWS. An
observation unit can be a combination of the operator interface and
display, for example one that is located in the crew compartment
remote from the actual weapon cradle and sighting device.
Alternatively, an observation unit may comprise one or more target
sensors that can detect a probable target without human
observation, for example by using acoustic sensors, radar, infrared
detection, or a combination of these sensors, or any other type of
sensor known to the art. The target sensors could be portable and
positioned remotely from the GWS to monitor a wide range of
coverage. The target sensors, after detecting a probable target,
would interface with the control unit of the GWS, typically by
transmitting electrical signals or radio waves. The control unit
would then begin tracking the target automatically by controlling
the azimuth and elevation means, compute a fire control solution
and engage the target, all without human intervention.
Alternatively, the control unit could activate an alarm to notify
the GWS operator of a probable target. Upon receiving indication of
a probable target the operator could take active control of the
sighting device using the operator interface to track, range and
engage the target. It desirable to have the control unit
automatically adjust the azimuth and elevation of the sighting
device so that when the operator is notified of a probable target
the sighting device will be positioned to observe the target when
the operator consults the display. Likewise, it is desirable to
have the weapon cradle also moved to a predetermined aim point
based on the probable target's location. The elevation of the
sighting device is determined or sensed using a first position
sensor that is in communication with the control unit. The position
of the weapon cradle is determined using a second position sensor,
which is likewise in communication with the control unit. The
control unit calculates a predetermined offset elevation for the
weapon cradle based on the elevation of the sighting device. The
elevation of the weapon cradle and installed weapon is changed
using a completely different and independent elevation mechanism to
achieve the predetermined offset elevation calculated by the
control unit. These steps are repeated for each new elevation of
the sighting device.
[0019] Another method of my invention relates to positioning a
weapon during operation of a GWS based on target acquisition
obtained from a sighting device where the sighting device is
elevated with an elevation mechanism to acquire a target based on
signals received from an operator interface and display, or from
one or more target sensors located remotely from the GWS. A target
distance is determined using a range location device and the
elevation of the weapon cradle is determined with a first position
sensor. Next a fire control solution is calculated using a logic
algorithm that receives as input at least the distance to target
and the elevation of the weapon cradle. After the fire control
solution is calculated the elevation of the weapon cradle and
installed weapon is changed without changing the elevation of the
sighting device.
BRIEF DESCRIPTION OF THE DRAWINGS
[0020] FIG. 1 is a schematic block diagram representing the GWS of
my invention.
[0021] FIG. 2 is a schematic block diagram of elevation control
system for coordinating the elevation axes of the weapon cradle and
sighting device.
[0022] FIG. 5 is a detailed algorithm of the elevation control
system of my invention.
[0023] FIG. 4 is a perspective view of one embodiment of the GWS of
my invention.
DESCRIPTION OF PREFERRED EMBODIMENTS
[0024] My invention is directed to a self-contained gimbaled weapon
system (GWS) that has a sighting device and a weapon cradle where
each has its own independent elevation axis. The GWS moves
360.degree. in azimuth and allows the sighting device and weapon
cradle to each move in elevation independently of each other,
thereby allowing a weapon operator to always maintain visual
contact with a target through the sighting device, yet allows the
weapon cradle to achieve super-elevation positions to accommodate
correct ballistic trajectories. FIG. 1 is a block diagram of my
invention showing GWS 10 comprising sighting device 1 connected to
a first sighting elevation means 3, which is detachably connected
to azimuth drive means 5. Weapon cradle 2 is connected to a second
elevation means 4, which, like first elevation means 3, is
connected to azimuth drive means 5. Control of both elevation means
3 and 4 and azimuth drive means 5 is accomplished with control unit
6. Control unit 6 is connected to operator interface 7 and display
8, preferably with the interface and display located remotely from
the control unit, azimuth drive means, the weapon cradle, sighting
device, and the two elevation means. GWS command and control data
can be entered through the operator interface 7 and display 8. In
situations where the GWS is used on a vehicle platform, display 8
and interface 7 are located within the interior of the vehicle and
all other components are located externally, preferably mounted to
the roof of the vehicle.
[0025] Operator interface 7 is preferably a joy stick type device
providing control of the azimuth drive means and the sighting
device elevation means. The joy stick is designed such that its
operation is similar to what a user of a typical video game would
experience. Display 8 receives information from control unit 6,
such as video images, ranging data, weapon identification, ambient
conditions, and other information needed by the weapon operator to
acquire, track and fire on a target. The display is preferably a
night and daylight readable active matrix liquid crystal display
(LCD) having 800.times.600 pixels and is SVGA and RS-170
(NTSC)/CCIR (PAL) compatible. The display can also have an embedded
text and graphic processor and can be fitted with a hood to further
enhance the operator's view of the screen when exposed to bright
sun light. The display also can provide a white and black reticle
simultaneously, which is automatically viewable in all light
conditions and all contrast/brightness levels of the display.
Optionally, GWS can include an interface capable of accommodating a
separate display (gunner's view) for the vehicle commander. This
interface is capable of accepting a fire inhibit command and a
no-fire zone over-ride from the vehicle commander.
[0026] Once a target is identified, a laser range finder as
previously discussed and which is part of sighting device 1, is
used to determine range to target. Alternatively, the weapon
operator can manually input the range to target through interface 7
or display 8. This external range data can be determined directly
by the operator or received from other external sources, for
example, via radio communication or electronically from another GWS
or similar weapons system. Azimuth drive means 5 rotates the entire
GWS system giving the weapon operator a 360.degree. field of view.
The design of the azimuth drive means is not critical to my
invention and any mechanism known to the art can be used.
[0027] Elevation means 3 and 4 are separate mechanical actuators
comprising any known system of devices that can increase or
decrease the elevation of sighting device 1 and weapon cradle 2.
For example, the elevation means may comprise a motor and gear
system or a direct motor drive system. A preferred elevation means
is a motor and gear system, with the most preferred being a
harmonic drive coupled to a servo motor. Likewise, it is within the
scope of my invention that the elevation means could use a fluid
driven actuator such as a hydraulic cylinder. Regardless of the
specific system that is chosen, the elevation means should be
capable of moving the weapon cradle and sighting device quickly and
smoothly in response to operator commands. Most importantly,
elevation means 3 must be a completely independent system from
elevation means 4, thus allowing the weapon cradle to be elevated
to a super-elevation position without affecting the elevation of
sighting device 1. Likewise, sighting device 1 can be elevated
without changing the elevation of weapon cradle 2. Position sensors
(not shown) determine the elevation position of the weapon cradle
and sighting device. Any type of position sensor known to the art
will work with my invention. These position sensors provide
elevation position information to the control unit, which in turn
uses the information, along with other inputs, to compute a fire
control solution.
[0028] The GWS of my invention can also contain a stabilization
system or systems. Preferably, the GWS would contain at a minimum a
stabilization system on the azimuth axis. Most preferably the GWS
would also include sight elevation stabilization and/or weapon
cradle elevation stabilization. Any type of known stabilization
system can be used with my invention; however, a preferred
stabilization system is one that uses fiber optic gyros. In the
direct inertial rate stabilized approach the gyros move with the
mechanical system to stabilize and a servo loop is used to regulate
a null rate. Alternatively, the gyros can be mounted off-axis,
where the gyros sense base motion and an elevation loop is
commanded equal and opposite to the sensed based motion. When used
on a moving vehicle and aiming at a stationary target, the GWS
should provide weapon and sighting device stabilization sufficient
to allow a gunner, moving over cross-country terrain to achieve at
least one hit from a burst of fire against a vehicle-like
stationary target located about 500 meters distant. This would
apply to moving toward or away from a target. Likewise, when the
target is moving it is preferred that the GWS can provide weapon
and sighting device stabilization sufficient to allow a gunner in a
vehicle, moving over cross-country terrain, less than about 3 mils,
visual contact with a vehicle sized target up to about 1500 meters
distant moving in the opposite direction over cross-country
terrain.
[0029] Power to drive the azimuth and elevation drive means is
supplied by an external source and is not part of the GWS. For
example, when the GWS is mounted to a vehicle, the GWS will use the
host vehicle's power system. Control unit 6 contains a fire control
processor which calculates and determines fire control solutions
based on target range data, ambient temperature and air pressure,
weapon type, ammunition type, platform cant and bore sight
information. Control unit 6 also contains software, which executes
a control algorithm that coordinates movement of the weapon cradle
elevation means and sighting device elevation means. The control
unit contains industry standard computer architecture with a
state-of-the-art central processing unit (CPU). This computer
architecture supports target tracking, coordination of the two
elevation axes, fire control and other advanced sighting features
including an infrared thermal imaging device, a visible imaging
device, and a laser range finder. As schematically shown in FIG. 2
this control algorithm receives input from the fire control
processor, weapon operator, inertial sensors, and relative position
sensors located on the weapon cradle and sighting device. Using
these inputs, the control algorithm causes the elevation means
associated with the sighting device and weapon cradle axis to
reposition as needed for accurate weapon firing.
[0030] FIG. 3 presents a further description of the elevation
control algorithm indicating three modes of operation of the GWS;
surveillance mode, fire control solution and tracking. Many
possible control protocols can be predetermined and programmed into
the central processor unit contained in the control unit. For
example, in any of the three modes, the weapon cradle can remain
stationary in elevation with the sighting device free to move in
elevation while the operator acquires and tracks a target. Once a
fire control solution has been determined by the fire control
processor, the weapon cradle (and attached weapon) would be moved
by its associated elevation means to the proper elevation needed to
ensure the projectile hits the designated target. Alternatively,
the control algorithm could cause the weapon cradle to continuously
move in elevation in response to movement of the sighting device
without first receiving input from the fire control processor. In
this control protocol, the control algorithm would move the weapon
cradle to a predetermined estimated offset elevation anticipating a
final super-elevation position that will ultimately to be
determined by the fire control processor. By continuously having
the weapon cradle already offset by a predetermined estimated
amount will result in less elevation distance travel for the weapon
cradle once a final fire control solution is determined. In
addition, this predetermined offset scheme will lead to a faster
fire control solution.
[0031] FIG. 4 illustrates one embodiment of the GWS of my invention
where the operator interface and display (both not shown) are
located remotely. GWS 20 has azimuth drive means 25 positioned over
platform mounting plate 27. Weapon cradle elevation means 22 is
connected to weapon cradle 23 which is designed to accommodate a
number of standard military issued weapons, including machine guns
and grenade launchers, without requiring modification to the
weapon. As mentioned, GWS 20 can also include a smart system which
will detect the type of weapon mounted on weapon cradle 23 and will
provide that information to control unit 26, which in turn uses
that information to determine fire control solutions and provides
feedback to the weapon operator. Optical sighting device 24 is
moved in elevation by elevation means 21 independent of weapon
cradle elevation means 22. Sighting device 24 can include a thermal
imaging device and or a daylight imaging device to provide video
for a real time on-screen display (not shown), both of which can be
operated remotely from a user interface (not shown), such as with a
joystick. The ability to magnify the video image is also desirable,
with a preferred magnification in the range of about 0.5.times.
through 8.times.. The video imaging devices could also be used to
perform target tracking, which can be used to accurately determine
a fire control solution. Also included on the sighting device would
be a range determination means, preferably an active device, such
as a laser range finder. Likewise, a passive device could also be
used.
[0032] To allow for remote operation of the weapon cradle and
sighting device the connection of control unit 26 to an operator
interface and display is preferably accomplished with a single
through-hull, quick-disconnect electrical connector. The
quick-disconnect is preferred in situations when power loss may
occur and manual operation of the GWS is then required. The GWS of
my invention also allows for aligning the line-of-sight (LOS) of
sighting device 24 with the bore of whatever weapon is mounted on
the GWS. Both manual and electronic bore sighting is possible and
follows well known and established protocols.
[0033] The display/monitor used by the weapon operator can be a
night and daylight readable active matrix liquid crystal display
(LCD), either color or black and white. The display can also
function as an operator command and control interface by providing
a touch sensitive screen. It is preferred that the display and
operator interface be located remotely from the sighting device and
weapon cradle combination. In situations where the GWS is used on a
moving vehicle, the display and operator interface are preferably
located in the vehicle crew compartment. In addition to viewing the
video output from the sighting device, the display also can include
operator messages, target reticle and line of sight indication
determined and generated by the control unit. Operator messages
could include the identification of the weapon in the weapon
cradle, GWS mode of operation (i.e., safe, fire, tracking, etc.),
azimuth and elevation indication of the weapon, and ammunition
type. While my invention has been described in it preferred
embodiments, it is to be understood that the words which have been
used are words of description, rather than limitation, and that
changes may be made within the preview of the appended claims
without departing from the true scope and spirit of the invention
in its broader aspects.
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