U.S. patent application number 16/201416 was filed with the patent office on 2020-05-28 for system and method for target acquisition, aiming and firing control of kinetic weapon.
The applicant listed for this patent is Lawrence Livermore National Security, LLC. Invention is credited to Robert Matthew PANAS.
Application Number | 20200166309 16/201416 |
Document ID | / |
Family ID | 70770617 |
Filed Date | 2020-05-28 |
United States Patent
Application |
20200166309 |
Kind Code |
A1 |
PANAS; Robert Matthew |
May 28, 2020 |
SYSTEM AND METHOD FOR TARGET ACQUISITION, AIMING AND FIRING CONTROL
OF KINETIC WEAPON
Abstract
A target acquisition is disclosed for use with a weapon in
acquiring at least one target for the weapon. The system may make
use of a mapping sensor subsystem which forms a controllably
scanned electromagnetic wave energy subsystem for illuminating a
scene where one or more targets are potentially present with
selectively scanned electromagnetic wave energy. The system may
also incorporate a control subsystem including a target/object
recognition software module which uses information supplied by the
mapping sensor subsystem to identify at least one target in the
scene which forms a valid target to be engaged by the weapon. The
system may limit firing of the weapon until a predetermined degree
of aiming accuracy is achieved relative to the valid target.
Inventors: |
PANAS; Robert Matthew;
(Dublin, CA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Lawrence Livermore National Security, LLC |
Livermore |
CA |
US |
|
|
Family ID: |
70770617 |
Appl. No.: |
16/201416 |
Filed: |
November 27, 2018 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
F41G 3/005 20130101;
F41G 3/165 20130101; F41G 3/145 20130101; F41A 19/58 20130101; F41G
3/08 20130101; F41G 1/473 20130101 |
International
Class: |
F41G 3/00 20060101
F41G003/00; F41A 19/58 20060101 F41A019/58; F41G 3/08 20060101
F41G003/08; F41G 3/14 20060101 F41G003/14; F41G 3/16 20060101
F41G003/16 |
Goverment Interests
STATEMENT OF GOVERNMENT RIGHTS
[0001] The United States Government has rights in this invention
pursuant to Contract No. DE-AC52-07NA27344 between the U.S.
Department of Energy and Lawrence Livermore National Security, LLC,
for the operation of Lawrence Livermore National Laboratory.
Claims
1. A target acquisition system for use with a weapon in acquiring
at least one target for the weapon, the system comprising: a
mapping sensor subsystem which forms an electromagnetic wave energy
subsystem for illuminating a scene where one or more targets are
potentially present with selectively scanned electromagnetic wave
energy; and a control subsystem including a target/object
recognition software module which uses information supplied by the
mapping sensor subsystem to identify at least one said target in
the scene which forms a valid target to be engaged by the weapon,
and to limit firing of the weapon until a predetermined degree of
aiming accuracy is achieved relative to the valid target.
2. The system of claim 1, wherein the control subsystem comprises:
an electronic controller; and wherein the target/object recognition
software module comprises a target/object
recognition/prioritization software module which analyzes the one
or more targets to determine if the one or more targets form a
valid target, and when more than one valid target is identified,
prioritizes the valid targets such that a specific one of the valid
targets is selected based on it being closest to a user operating
the weapon.
3. The system of claim 1, wherein the control subsystem comprises:
an electronic controller; and wherein the target/object recognition
software module is configured to cooperate with the controller in
determine a projected impact location for a projectile to be fired
from the weapon.
4. The system of claim 3, wherein the control subsystem is
configured to further determine if the projected impact location
overlaps sufficiently with the valid target, and when the
predetermined minimum degree of overlap is present, generates a
signal indicating that the weapon is to be fired.
5. The system of claim 4, wherein the subsystem further includes an
electronic firing control mechanism mounted on the weapon which is
responsive to the signal, to control firing of the weapon.
6. The system of claim 5, further comprising a kick actuator
subsystem mounted on the weapon for initiating a momentary movement
of the weapon in response to a signal from the control subsystem,
to assist in aiming the weapon when the signal to fire the weapon
is received.
7. The system of claim 1, wherein the mapping sensor subsystem
comprises a light detection and ranging (Lidar) unit.
8. The system of claim 7, wherein the Lidar unit comprises a solid
state microelectromechanical system (MEMS) Lidar unit.
9. The system of claim 1, wherein the mapping sensor subsystem
comprises a micropower impulse radar.
10. The system of claim 1, wherein the system further includes an
electronic firing control subsystem in communication with the
control subsystem for enabling the control subsystem to fire the
weapon.
11. The system of claim 10, wherein the control subsystem includes
a wireless radio, and the firing control subsystem includes a
communications subsystem which communicates with the wireless radio
to enable the control subsystem to fire the weapon.
12. The system of claim 11, further including a sensor for
detecting a fire command initiated by a user of the weapon to fire
the weapon.
13. The system of claim 12, wherein the control subsystem prevents
firing of the weapon until the target/object recognition software
module of the control subsystem determines that a minimum degree of
overlap is present between a projected impact location of a
projectile to be fired from the weapon, and the valid target.
14. The system of claim 1, further comprising an environmental
sensor for obtaining environmental information pertaining to at
least one of: humidity; wind velocity; wind direction; barometric
pressure; altitude; weapon barrel temperature; and inclination.
15. The system of claim 1, wherein the system further comprises: an
electronic controller; at least one environmental sensor for
sensing a real time environmental condition at a location where the
weapon is being used and generating environmental information in
accordance with the sensed real time environmental condition; and
an environmental compensation software module in communication with
the electronic controller for using the environmental information
real time environment.
16. The system of claim 1, further comprising a visible laser
operably associated with the environmental mapping sensor subsystem
for projecting a visible laser beam on the valid target.
17. The system of claim 16, further comprising a switch accessible
by an operator of the weapon for turning the visible laser on and
off.
18. The system of claim 1, further comprising an optional display
system for displaying the valid target.
19. A target acquisition system for use with a weapon in acquiring
at least one target for the weapon, the system comprising: a
mapping sensor subsystem which forms a controllably scanned
electromagnetic wave energy subsystem for illuminating a scene
where one or more targets are potentially present with selectively
scanned electromagnetic wave energy; the mapping sensor subsystem
including at least one of: a solid state, microelectromechanical
system (MEMS) light detection and ranging (Lidar) unit; and a
micropower impulse radar; a control subsystem including a
target/object recognition software module which uses information
supplied by the mapping sensor subsystem to identify at least one
target in the scene from a plurality of targets, which forms a
valid target to be engaged by the weapon; and an electronic firing
control subsystem at least one of mounted or integrated into the
weapon, which is responsive to a fire command signal from the
control subsystem to fire a projectile from the weapon, and which
limits firing of the weapon until a predetermined degree of aiming
accuracy is achieved relative to the valid target.
20. A target acquisition method for use with a weapon in acquiring
at least one target for the weapon to fire at, the method
comprising: using a mapping sensor subsystem to generate a
controllably scanned electromagnetic wave energy beam to illuminate
a scene where one or more targets are potentially present; using a
control subsystem including a target/object recognition software
module which uses information supplied by the mapping sensor
subsystem to identify at least one target in the scene which forms
a valid target to be engaged by the weapon; and further using the
control subsystem to disable firing of the weapon until a
predetermined degree of aiming accuracy has been achieved relative
to the valid target.
Description
FIELD
[0002] The present disclosure relates generally to targeting
systems for weapons, and more particularly to a targeting system
incorporating a Lidar and/or radar system for assisting with target
acquisition, aiming and firing control of a weapon.
BACKGROUND
[0003] This section provides background information related to the
present disclosure which is not necessarily prior art.
[0004] Aiming with kinetic weapons is largely a matter of skill,
owing largely to a number of factors: i) the need complex image
recognition; ii) a human end user making the decision; iii) complex
ballistics of the projectile; and iv) minimal acceptable delay time
in making the decision. Thus detailed analysis or measurements of
projectile travel and aiming are generally not possible, leaving
the user reliant on their own capabilities and skill to ensure
impact of the projectile at the desired target location.
[0005] Several technologies have been attempted to address these
challenges. One technology includes bullet steering and targeting
cameras. These technologies generally work satisfactorily in
certain limited scenarios, but present a number of drawbacks.
Bullet steering is based on the idea of passing commands to the
projectile in order to have it adjust trajectory during flight.
Notionally, this could be used to ensure impact at the desired
location, however such a system remains nearly as limited as the
initial pointing technique, since it relies on the user to
correctly point the target designator. If there is error in the
designation location, then the impact of the projectile system will
miss.
[0006] Targeting cameras offer a second method, such as the
technology offered by Tracking Point, Inc. of Austin, Tex., which
is disclosed in U.S. patent Ser. No. 14/828,194. This method uses a
camera that looks along a line of sight of the weapon. Given that
this method involves only collecting a second image, rather than a
3D map, the camera is not well situated to identify objects,
particularly in poor environmental or lighting conditions. This
method relies on the user using the camera to tag a particular
location, which represents the intended target. The targeting
camera is able to predict impact location, so the system waits
until the weapon is pointed at the right angle to hit the tagged
location in the camera. This methodology suffers from three major
drawbacks, all of which end up meaning the camera is only effective
for certain scenarios of firing: generally situations involving
daytime operation where the shooter has time to settle and optimize
the shot. The first drawback is that the camera is physically large
and replaces the scope on the weapon. As such, the camera is
subject to the common issues with visual targeting, that is, it
requires a specific scale/degree of illumination to work. For
conditions outside of ideal (night or solar glare) the sensor will
fail. While nighttime operation is possible with a strong IR
illuminator, this illuminator poses significant issues during
combat due to its effect as a location signaling device. All of the
necessary components drive up the size, weight and power of the
setup until the weapon is heavily encumbered with hardware.
[0007] A second drawback of targeting cameras as disclosed above is
that the alignment operation requires the user to tag the desired
hit location. This requires switching through multiple modes, and
using the user interface (UI) to make a target selection. The human
interface adjustments required to make this choice, and the time
required for this, means that such systems cannot be used in rapid
combat. They may be adequate for ranged shooting but pose an
unacceptable hardware and time demand on the operator during mobile
combat scenarios.
[0008] Still a third drawback of present day targeting cameras is
that all of the information must be accessed by looking through the
telescopic sight, including target tagging selection and predicted
impact location. This means that the user must be peering down the
scope during the extensive operation of the system, which can be a
significant impediment during dynamic conditions.
[0009] Another kind of auto-targeting system is available as the
"Aim Lock.TM." active stabilization and auto-targeting system from
by Aim Lock, Inc. of Denver, Colo. The AimLock.TM. auto-targeting
technology uses cameras to automatically identify features,
bypassing the need for manual target tagging. The technology then
auto-aims the weapon at the automatically identified target,
waiting for the user to pull the trigger. While this resolves one
of the issues with prior targeting camera technologies, it still
retains several drawbacks. First, the camera and aiming frame is
physically large. All of the necessary components, particularly the
parts required to aim the weapon, drive up the size, weight and
power of the setup until the weapon is heavily encumbered with
hardware. Second, the camera is subject to the common issues with
visual targeting, that is, it requires a specific scale of
illumination to work. This means it is easily degraded, for example
by an unwanted illumination source (laser pointer) or by
non-optimal ambient lighting conditions. The system produced by Aim
lock, Inc. can potentially be rendered ineffective by a focused
optical signal (e.g., laser) directed at it from a remote location.
Third, all of the information needed for targeting must be accessed
by the user looking through a telescopic sight, including both
target tagging selection and predicted impact location. This means
that the user must be peering down the scope or using a heads up
display (HUD) to access the information during the target selection
and predicted impact operations of the system. This can be a
significant impediment during dynamic conditions. An even more
effective and desirable system would present all the needed
information to the user without requiring the user to look through
a scope or to use a HUD.
[0010] The elimination of all of the foregoing drawbacks would make
for an even more capable weapon targeting system that is better
suited to dynamic battlefield conditions, as well as challenging
ambient lighting conditions, and particularly night time operation,
on the battlefield. Eliminating the need for a HUD and the need for
the user to peer down a scope potentially would enable the
targeting system to be used even more rapidly, and with potentially
significantly greater accuracy, than present day targeting
systems.
SUMMARY
[0011] This section provides a general summary of the disclosure,
and is not a comprehensive disclosure of its full scope or all of
its features.
[0012] In one aspect the present disclosure relates to a target
acquisition system for use with a weapon in acquiring at least one
target for the weapon. The system may comprise a mapping sensor
subsystem which forms an electromagnetic wave energy subsystem for
illuminating a scene where one or more targets are potentially
present with selectively scanned electromagnetic wave energy. A
control subsystem may be provided which includes a target/object
recognition software ("TORPS") module. The TORPS module may use
information supplied by the mapping sensor subsystem to identify at
least one target in the scene which forms a valid target to be
engaged by the weapon, and the system may limit firing of the
weapon until a predetermined degree of aiming accuracy is achieved
relative to the valid target.
[0013] In another aspect the present disclosure relates to a target
acquisition system for use with a weapon in acquiring at least one
target for the weapon. The system may comprise a mapping sensor
subsystem which forms a controllably scanned electromagnetic wave
energy subsystem for illuminating a scene where one or more targets
are potentially present with selectively scanned electromagnetic
wave energy. The mapping sensor subsystem may include at least one
of a solid state, microelectromechanical system (MEMS) light
detection and ranging (Lidar) unit, or a micropower impulse radar.
A control subsystem may also be provided which includes a
target/object recognition software module which uses information
supplied by the mapping sensor subsystem to identify at least one
target in the scene from a plurality of targets, which forms a
valid target to be engaged by the weapon. An electronic firing
control subsystem may also be included which is at least one of
mounted on, or integrated into, the weapon, and which is responsive
to a fire command signal from the control subsystem to fire a
projectile from the weapon. Firing of the weapon may be limited by
the system until a predetermined level of aiming accuracy is
achieved relative to the valid target.
[0014] In still another aspect the present disclosure relates to a
target acquisition method for use with a weapon in acquiring at
least one target for the weapon to fire at. The method may comprise
using a mapping sensor subsystem to generate a controllably scanned
electromagnetic wave energy beam to illuminate a scene where one or
more targets are potentially present. The method may further
include using a control subsystem having a target/object
recognition software module, where the target/object acquisition
module uses information supplied by the mapping sensor subsystem to
identify at least one target in the scene which forms a valid
target to be engaged by the weapon. Firing of the weapon is limited
until a predetermined degree of aiming accuracy is achieved
relative to the valid target.
[0015] Further areas of applicability will become apparent from the
description provided herein. The description and specific examples
in this summary are intended for purposes of illustration only and
are not intended to limit the scope of the present disclosure.
DRAWINGS
[0016] The drawings described herein are for illustrative purposes
only of selected embodiments and not all possible implementations,
and are not intended to limit the scope of the present
disclosure.
[0017] Corresponding reference numerals indicate corresponding
parts throughout the several views of the drawings, in which:
[0018] FIG. 1 is a high level block diagram of one embodiment of a
system in accordance with the present disclosure being employed on
a kinetic weapon such as a fully automatic or semiautomatic, small
arms caliber rifle;
[0019] FIG. 2 is a high level block diagram illustration of the
various components that the system may incorporate; and
[0020] FIG. 3 is a flowchart of operations that may be performed by
the system of FIG. 1 in identifying and acquiring a target, aiming
and controlling firing of the kinetic weapon shown in FIG. 1.
DETAILED DESCRIPTION
[0021] Example embodiments will now be described more fully with
reference to the accompanying drawings.
[0022] Referring to FIG. 1, a target acquisition, aiming and fire
control system 10 is shown in accordance with one embodiment of the
present disclosure. For convenience the target acquisition, aiming
and fire control system 10 will be referred to throughout the
following discussion as simply "the system 10".
[0023] The system 10 in this example may be used with a kinetic
weapon 12, which in this example is shown as a small arms caliber
automatic or semiautomatic rifle. However, it will be appreciated
that the system 10 may be employed on other types of kinetic
weapons and is not limited to use with only rifles, or with a
kinetic weapon of any specific caliber. Accordingly, the system 10
may be implemented with handguns, shoulder fired weapons (e.g.,
rocket propelled grenade launchers, etc.), mortar tubes, and even
with mobile weapon systems (e.g., on tanks, howitzers, artillery).
The system 10 may also potentially be employed with airborne
platforms such as aircraft, rotorcraft, drones, as well as on
marine vessels. The system 10 may be used in any application where
accurate target acquisition and aiming and fire control of a
projectile from medium to long range (e.g., typically 10 m or
longer) is needed. It is possible to use the system 10 for short
range operation, however the need for precise alignment tends to
drop at close ranges.
[0024] The system 10 may include a control subsystem 14 and an
environmental mapping sensor subsystem 16 in bi-directional
communication with one another mounted on the weapon 12. In this
example the control subsystem 14 is mounted on a receiver portion
12a of the weapon for easy access by the user, while the mapping
sensor subsystem 16 is mounted from a barrel 12a of the weapon.
However, the precise placement of these components may be varied
from these locations; it is only necessary that the mapping sensor
subsystem 16 have an unobstructed view (i.e., unobstructed by any
portion of the weapons 12) and that the control subsystem 14 be
conveniently accessible to the user. The specific type of weapon
may with which the system 10 may dictate at least in part the
preferred mounting locations for these components.
[0025] The system 10 may also include an electronic firing control
subsystem 12c that is incorporated into or on the weapon 12. The
electronic firing control subsystem 12c is able to electronically
communicate, wirelessly or in wired fashion, with the control
subsystem 14, and enables the subsystem 14 to fire the weapon
(e.g., cause an appropriate signal to be applied to the firing pin
or other firing mechanism of the weapon 12) at a precise time
controlled by the subsystem 14. In this regard the electronic
firing control subsystem 12c may include a wireless radio 12d or
suitable communications port for enabling a wired connection with
the control subsystem 14. If a wired connection is used, then the
electronic firing control subsystem 12c may include a
communications port 12f (serial and/or parallel) to enable the
wired connection to be made with the control subsystem 14 via a
suitable cable 31a. A wired connection may be preferable in that it
would not create a detectable electromagnetic signature on a
battlefield. The control subsystem 14 may also include one or more
subsystems that are operably associated with a trigger 12e of the
weapon 12, as will be explained more fully in the following
paragraphs.
[0026] Referring to FIG. 2, the various components and subsystems
of the system 10 are shown in greater in detail. The environmental
mapping sensor subsystem 16 forms a controllably scanned
electromagnetic wave energy propagation subsystem which projects
controllably scanned electromagnetic wave energy at a desired scene
where one or more targets may be present. The environmental mapping
sensor subsystem 16 (hereinafter simply the "mapping sensor
subsystem" 16) may incorporate, in one embodiment, a solid state
MEMS (micro-electro-mechanical system) Lidar unit. For convenience,
this component will be referred to simply as "Lidar unit" 18
throughout the following discussion. Optionally, though, or even in
addition to a solid state MEMS Lidar unit, the environmental
mapping sensor subsystem 16 could instead incorporate a micropower
impulse radar. Both implementations are contemplated by the present
disclosure. For convenience, however, the following discussion will
involve using the Lidar unit 18 as the electromagnetic wave energy
scanning component.
[0027] The Lidar unit 18 generates and scans one or more beams 18a
to image a scene in which one or more potential targets may be
present. The beams 18a may be used to not only identify valid
targets within the scene but also to assist the user of the weapon
12 in aiming the weapon at the valid target, or further even to
help control firing of the weapon at the precise instant where the
weapon is aimed at the valid target. Optionally, a visible laser 20
may be included with a separate On/Off switch 22 that may be
engaged by the user. The visible laser 20 may generate a visible
laser beam 20a to identify to the user a specific target or
specific location on a given target during an aiming process, which
will be described further in the following paragraphs.
[0028] The control subsystem 14 may include a collection of
environmental sensors 24 (e.g., humidity, wind velocity, barometric
pressure, altitude, weapon barrel temperature sensor, etc.) which
provide various types of information that is helpful or necessary
for accurate target acquisition and aiming of the weapon 12. A
database 26 may be provided for holding various data pertaining to
the weapon and or the specific projectile being fired (e.g.,
projectile caliber, bullet weight, bullet velocity, bullet
material/construction, barrel length, explosive powder quantity,
etc.). A plurality of weapon motion sensors 28 may be provided
which include one of accelerometers for sensing real time roll,
pitch, yaw, etc. of the weapon 12 and providing real time
electrical signals in accordance therewith. An optional wireless
radio (e.g., BLUETOOTH.RTM. communications protocol module) 30 may
be included to wirelessly communicate with the electronic firing
control subsystem 12c. Alternatively, a communications port 31
(serial and/or parallel) may be provided to enable the wired
connection (i.e., with cable 31a) described above. As noted above,
the wired connection will likely be preferred in most instances, as
this avoids generating an electromagnetic signature in the field
that could give away the shooter's/user's location.
[0029] The control subsystem 14 may further include an
environmental compensation software module 32 which makes use of
the data collected by the environmental sensors 24 that helps the
system 10 compensate for environment factors (e.g., wind direction
and wind speed, altitude, etc.) that may have a bearing on the
trajectory of the projectile being filed from the weapon.
[0030] A target/object recognition prioritization software module
("TORPS module") 34 may be included in the control subsystem 14
which helps to identify targets within a field of view of the Lidar
unit 18, and optionally to prioritize targets. The TORPS module 34
may include a database 34a with 3D models of various objects
including adult humans, child humans, various animals, various
objects such as cars, trucks or other objects, which the system 10
is able to identify. Various objects within the database 34a may be
classified as targets or non-targets, and objects designated as
targets may optionally be provided with a priority categorization
designating an importance of the object relative to other objects
within the database. Although, as discussed further below, in most
instances it is expected that the preferred prioritization will be
based on the available valid targets that are closest to the user
firing the weapon 12.
[0031] With further reference to FIG. 2, the control subsystem 14
includes an electronic controller 36 that may have a non-volatile
memory (RAM or ROM), for controlling overall operation of the
system 10. The electronic controller 36 may receive inputs from
components or subsystems 24, 32, 26, 28, 32 and 34, in addition to
a fire command detection sensor 38, and a kick actuator subsystem
40. An On/Off switch 42 may be provided that controls the
application of power (e.g., DC or AC power) from a power source 44
(e.g., on-board DC battery) to the various system 10 components and
subsystems. An optional display 46 (e.g., LCD, LED, OLED, etc.) may
be included for providing the user of the weapon 12 a display of
the scene being imaged by the system 10.
[0032] The kick actuator subsystem 40 may be component that
initiates movement of one or more masses (e.g., 1 lb weight(s)) to
provide a small, momentary movement to the weapon, to help aim the
barrel 12b. One or more actuators, for example electrically
controlled linear actuators, may be used to move one or more the
weight in one the X, Y or Z axes as needed. The electronic
controller 36 may use information from one or more of the
components and subsystems 24, 26, 28, 32 and 34 in determining what
control signals need to be applied to the kick actuator subsystem
40, and at exactly the precise time, to achieve the needed degree
of overlap with the Lidar unit 18a to accurately aim the weapon 12
at a determined target. This active type control may enable the
system 10 to reach convergence (i.e., desired degree of overlap)
with a selected target faster than waiting on the user driven drift
of the weapon 12, while the user is aiming the weapon, to reach the
desired point of convergence. In the active mode of operation, the
kick actuator subsystem 40 is able to help bring the weapon 12
rapidly into alignment, thus eliminating firing delays possibly
caused by gusting winds or other factors which affect the user
while holding the weapon 12.
[0033] Both of the control subsystem 14 and the Lidar weapon 12
preferably form a significantly more compact package than present
day aiming systems typically used with kinetic weapons. The present
system 10 thus provides a lightweight system and is adaptable to
more weapons and a wider variety of packages than present day
targeting systems. The operation of the system 10 provides the
advantage that the system is not susceptible to being compromised
by shining a laser at it, while the Lidar unit 18 performance
likewise will not be degraded by such an external light source. The
Lidar unit 18 is also significantly less sensitive to interference
or environmental illumination, meaning it may be expected to
provide significantly increased reliability over other present day
targeting systems.
[0034] In operation the Lidar unit 18 operates as an environmental
mapping sensor with a relatively small field. As noted above, the
Lidar unit 18 may instead comprise a micropower impulse radar unit,
and both implementations are envisioned by the present disclosure.
However, a micropower impulse radar unit would be able to penetrate
wooden walls and other structures that may prove an impediment to
the Lidar unit 18 beam 18a.
[0035] This Lidar unit 18 is attached to the weapon 12, in the
example of FIG. 1 to the barrel 12b, and is attached so that it
points largely along the bore of the barrel 12b. The Lidar unit 18
preferably uses a solid state MEMS Lidar. The benefit this provides
is small size, weight and power demand, while providing high
precision and high speed scanning of a scene. The Lidar unit 18 may
be configured to scan with multiple different wavelengths to ensure
measurement capability in a wide variety of environments, even
seeing through vegetation or plastic sheeting. It will be
appreciated that this feature provides a significant benefit when
using the system 10 in forested environments. The environmental
mapping sensor subsystem 16 only requires a relatively small field
of view, for example around a few degrees off bore of the weapon
12. For long range use (e.g., possibly longer than 100 meters), the
beam steering capability and aperture of the Lidar unit 18 could be
tuned to provide approximately a 100 urad beam divergence, to
provide centimeter scale beam alignment at around 200 m or at even
longer distances. The Lidar unit 18 generates a 3D point cloud map
of the view downstream of the weapon 12, with fine resolution
suitable to discern the shape of objects at distances of upwards of
200 m or possibly even greater. Shorter range versions of the
system 10, which may be of interest to law enforcement agencies,
may include a mapping sensor subsystem 16 which is tuned for closer
range operation with a wider field of view (FOV) and reduced range.
It is expected that precision targeting would only be of general
value at ranges greater than at least about 10 meters; at closer
ranges, the user is likely able to target the projectile from the
weapon 12 as desired.
[0036] The Lidar unit 18 scan need not be a set raster operation.
The mapping sensor subsystem 16 may initially carry out a low
resolution mapping of its full FOV, then focus in on any return
signals, collecting a fine point cloud around those regions of
interest in an adaptive manner. This would ensure the maximum
utility of the collected data with the lowest data bandwidth,
unlike a camera.
[0037] The Lidar unit 18 may also use its laser to map the wind
velocity along the potential path of the projectile, using standard
Doppler techniques or other mapping techniques. In one instance,
this may require scanning the beam 18a around in a pattern of a
cone to collect a set of velocity measurements, from which the wind
vector may be discerned.
[0038] All of these pieces of information (environmental and
movement of the weapon 12) may be used by the electronic controller
36 in the precision targeting system to predict the impact location
of the projectile to be fired from the weapon 12. The impact
location would generally be within the FOV of the mapping sensor
subsystem 16. In the case that sensor is the Lidar unit 18, the
visible laser beam 20a may be placed in parallel to the scanning
laser of the Lidar unit. The visible laser 20 may be controlled by
the mapping sensor subsystem 16 (and/or electronic controller 36)
so that the visible laser occasionally generates a pulse out to
mark the spot of the expected impact downstream. This would provide
the user the ability to see where they would hit without needing a
scope, which is a critical difference from conventional targeting
cameras, and a virtual necessity for dynamic conditions.
[0039] The active beam steering provided by the mapping sensor
subsystem 16 and the Lidar unit 18 may also be used to "paint" more
than a point on an identified target. For instance, a circle could
be drawn to indicate the region of confidence for impact of the
projectile. The combined designation and area scanning is possible
with the high speed beam steering capability of the mapping sensor
subsystem 16 and the Lidar unit 18.
[0040] Calibration of the system 10 may be carried out by firing at
least one round of ammunition against a surface within range of the
Lidar unit 18. The mapping sensor subsystem 16 may use the Lidar
unit 18 to scan the surface, identify the impact point and update
the internal predictions of barrel 12b angle to match the measured
impact location. This would likely require that the Lidar unit 18
be able to discern the impact location, which would mean the spot
left by the impact of the projectile must be large enough to
discern during scanning. This would certainly be possible if
impacts occur well within the full range of measurement. Data from
multiple shots could be used by the electronic controller 36 to
develop impact statistics, for instance an average location and
circle of probability. The predictions could be slowly updated in
real time with each shot, so if the impact location starts to drift
from predictions then the alignment values could be updated by the
electronic controller 36. This would allow the system 10 to auto
calibrate itself, and remove barrel 12b heating or warping issues
from consideration.
[0041] The system 10 would not need to be interfaced to a
conventional scope; rather the entirety of the system 10 may be
placed in a housing which can be readily attached to the weapon 12
in a manner which does not obstruct ordinary use of the weapon 12
or its operation. The system 10 interfaces with the weapon 12 and
provide an additional sensor (e.g., fire command detection sensor
38, for determining when the user has indicated that the weapon can
now be fired. One specific mode of operation is to provide the fire
command detection sensor 38 as a switch or component (e.g., button)
that the user may press and hold when the precision targeting
operation is desired. Alternatively the fire command detection
sensor 38 may be placed adjacent the trigger 12e and may sense when
the trigger 12e has been moved a small, predetermined distance by
the user. So in this mode, the user is able to pull the trigger 12e
of the weapon in the normal manner, and this movement will be
detected as a fire command signal. The mapping sensor subsystem 16
uses the Lidar unit 18 to scan the down-bore field, to confirm
alignment with at least one identified target, and the electronic
controller 36 generates an internal "fire" command that is
communicated to the electronic firing control subsystem 12c on the
weapon 12 when the predicted impact location matches the observed
target location, allowing the weapon to fire.
[0042] One more general mode of operation for the system 10 may be
to simply provide a real-time calibrated prediction of impact
location via a designation using the visible laser beam 20a. This
would not impair the user's ability to fire the weapon 12 in its
ordinary manner. It would also not require the user to be looking
through any type of sight, meaning that the user is still able to
view areas around a scene at which the weapon 12 is being aimed,
and therefore is more aware of dynamic conditions in the general
vicinity. Conventional camera tracking techniques with present day
targeting systems are not able to provide this benefit.
[0043] A second general mode of operation for the system 10 is to
aid in the targeting by actively identifying objects downstream,
with the system 10 choosing specific locations on these objects and
deferring the user fire command (provided by pulling the trigger
12e) until the predicted impact location sufficiently overlaps with
the target location(s). This second mode critically differs from
conventional targeting cameras in several ways. First, it does not
require the user to tag the target, rather the environmental
mapping sensor subsystem 16 does so automatically without the need
for the user to be peering down a scope mounted on the weapon 12.
Second, the mapping sensor subsystem 16 is illumination
insensitive, so it works equally well in daytime or nighttime
conditions. Third, the mapping sensor subsystem 16 may be
configured to use specially selected wavelengths which enable
penetrating intervening material such as vegetation or water, which
would otherwise obstruct the view of conventional targeting
systems. Moreover, the first and second general modes described
above are not exclusive, the user could keep on the laser
designation provided by the visible laser beam 20a and still select
precision targeting by engaging the fire command detection sensor
38.
[0044] In one of its "active" modes of operation, the system 10 may
scan the downstream scene, identify one or more objects in the
scene as potential targets, and then tag or select one or more
specific target locations on specific targets based on the selected
system mode. These operations may all be subsets of the second
general mode identified above. These modes essentially configure
the electronic controller 36 on how to choose target points on the
object. The object identified to be closest to the bore of the
weapon 12 (so in the user's sights) may in general be determined to
be the most preferred available target. This may be the preferred
method for hitting certain types of targets, for example airborne
drones.
[0045] The environmental mapping sensor subsystem 16 may pass the
point cloud data to the TORPS module 34, which may make use of one
or more image recognition algorithms, when the user pulls the
trigger 12e of the weapon 12. The modes below are examples of how
the system 10 may identify the specific target areas from this
data. Once these areas are chosen, the system 10 may then generate
a fire control signal to the electronic firing control subsystem
12c of the weapon 12 only once the motion of the weapon aligns it
so that the predicted impact location sufficiently overlaps (e.g.,
>90% hit probability) with the chosen target area. The target
areas may be illuminated by some part of the visible laser beam 20a
to show the user what the system 10 has identified as the target.
This would enable the user to change the aim of the weapon 12 to
ensure a hit.
[0046] Still another optional mode of operation is for the system
10 to target only typically non-lethal impacts on an individual
(e.g., an arm, shoulder, etc. In this mode, the TORPS module 34
would use one or more suitable algorithms to identify non-lethal
impact areas as the target is stationary or moving. This would
reduce the chance of killing a human target, as the weapon would
avoid hitting lethal areas of the individual. This non-lethal mode
of operation may be of particular interest to law enforcement
agencies, where a situation exists in which a threat to law
enforcement personnel or bystanders needs to be eliminated, but
where law enforcement personnel determine that non-lethal force on
a human target may be sufficient to remove the threat without
resorting to using lethal force.
[0047] Another optional mode of operation is the inverse of the
nonlethal mode, that being using the TORPS module 34 with suitable
algorithms to target only areas of a human target that would
produce a lethal strike (e.g., head, center chest, abdomen, inner
thigh, etc.). Still another optional mode of operation may be to
configure the TORPS module 34 with suitable algorithms to target
areas of conventional weakness in body armor, or possibly areas of
known armor weakness of other objects such as troop carrying
vehicles, tanks, etc., or areas of objects which, if hit, are
virtually certain to immediately disable the object (e.g., engine,
fuel tank, rotor structure, etc.). The foregoing are only a limited
number of the possible operational modes that may be implemented
using the system 10, and the system 10 will be understood as not
being limited to any one or more specific operational modes.
[0048] Optionally, information provided by the system 10 (e.g., by
the environmental sensors 24, and/or the environmental compensation
mapping software module 32 and/or the TORPS module 34) could be fed
back to a heads up display (HUD) being worn by the user, if
desired, to provide imagery for around a corner, for instance,
where the user of the weapon 12 would ordinarily not be able to
visualize.
[0049] In certain use scenarios, the TORPS module 34 may be able to
identify objects behind thin screens like vegetation. One mode for
this is to have the visible laser 20a draw both the probable impact
circle on the vegetation for the weapon user, as well as (or
alternately with) the outline of any objects of interest observed
behind the vegetation. This would provide the user with immediate
feedback about the sensor readings and the targets selected within
the FOV of the system 10.
[0050] The system 10 enables several different control schemes for
discharging the weapon 12. First, the user switch 22 allows the
active visible laser 20 to be turned on and off, by itself if
desired by the user. The On/Off switch 42 enables the control
subsystem 14 and the Lidar unit 18 to be turned on. Second, the
user switch 22 may be turned on by the user to initiate active
sensing with the system 10 using the Lidar unit 18. Third, the fire
command detection sensor 38 may be arranged parallel to the weapon
trigger 12e to sense when the user is applying pressure to the
trigger, or alternatively to sense when the trigger moves a short
predetermined distance (typically called the "takeup" distance),
and would delay firing when the desired pressure applied to, or
movement of, the trigger is reached, and until the required degree
of target overlap occurs with an acquired target. Optionally,
another mode of operation, for example sensing a second trigger 12e
pull by the user within a short predetermined time period (e.g.,
2-5 seconds), may cause the electronic controller 36 to cancel a
previously detected fire signal from the user, and place the system
10 in a standby mode.
[0051] Referring to FIG. 3, a high level flowchart 100 is
illustrated to show various operations that may be implemented
using the system 10. At operation 102 the system 10 may collect
real time environmental data using the environmental sensors 24. At
operation 104 the system 10 may use the mapping sensor subsystem 16
to identify targets in the FOV. At operation 106 the system 10 may
also obtain weapon/projectile data and previously recorded/stored
calibration and alignment data. The electronic controller 36 may be
used to control and/or carry out one or more of operations 102, 104
and 106.
[0052] At operation 108 the mapping sensor subsystem 16 identifies
one or more specific objects in the FOV as valid targets. At
operation 110 the TORPS module 34 may automatically select one of a
plurality of identified, valid targets, for example the closest one
to the user, which are within the FOV. At operation 112 the TORPS
module 34 and the electronic controller 36 may be used to make an
initial estimate of the real time predicted impact location on the
selected target. The present degree of overlap of the point of
impact, as well as its impact statistics (such as probable impact
outline to show region of high impact likelihood) with the selected
target may be presented on the display 46, as indicated at optional
operation 116a. Information may also be displayed downstream, as
indicated at optional operation 116b, by the mapping sensor
subsystem 16 using an illumination (e.g., beam 20a in FIG. 2)
visible to the user, and drawing out the information so that the
user does need to look at a display or scope. This information
could include a point illuminating the presently determined impact
location, a probable impact outline to show region of high impact
likelihood, and an outline or other similar highlighting of the
automatically identified target. Such identification would allow
the user to confirm the weapon 12 is locking onto the selected
(i.e., valid) target, and determine what orientation correction is
required to ensure impact on the target.
[0053] At operation 114 the control system 14 makes a determination
if a "weapon fire" command has been received from the user. If the
answer to this inquiry is "No", then operation 112 may be repeated.
If the answer is "Yes", then at operation 118, a check is then made
if the predicted impact location overlaps at least a predetermined
minimum degree with the selected target. If this check produces a
"No" answer, then the kick actuator subsystem 40 may be used at
operation 120 (which is optional, however) in an effort to achieve
the minimum predetermined degree of overlap between the projected
point of impact and the selected target. The weapon 12 movement
(i.e., "kick") provided by the kick actuator subsystem 40 at
operation 120 will change the impact location, so the system 10
will return to operation 112 to update estimated impact location.
If the check at operation 118 indicates that the predetermined
minimum degree of overlap is present, then at operation 122 the
control subsystem 14 transmits a firing signal to the electronic
firing control subsystem 12c on the weapon 12 to fire the weapon,
or otherwise allows the weapon to fire (for example, allowing the
trigger 12e to be fully depressed by the user).
[0054] Further to the above operations, other firing sequences may
be carried out by the system 10 as follows. The user has the active
visible laser 20 turned on with the laser beam 20a being projected
on the approximate location of projectile impact. The user aims the
weapon 12 at the target general area, assisted by the laser beam
20a acting as an impact location designator, and engages the active
targeting mode by switching on the On/Off switch 42, and then pulls
the trigger 12e to signal the system 10 initiate firing of the
weapon 12.
[0055] When the On/Off switch 42 is turned on, thus powering on the
targeting system 10, in real time the TORPS module 34 initiates the
active targeting mode and identifies a plurality of valid targets,
and further designates one of the valid targets as being the one
closest to the calculated projectile trajectory and calculated
impact location. When the user begins to pull the trigger 12e, the
active mode of the system 10, implemented using the TORPS module
34, waits until the weapon 12 aligns to these areas. The weapon
trigger 12e is only allowed to be fully depressed, or recognized as
being fully depressed, once the weapon is in alignment to hit the
target area. Optionally, movement of the trigger 12e may be
physically obstructed by the system 10, for example through a
movable element positioned behind the trigger 12e, to accomplish
this. The movable element may be moved by the system 10 only when
the weapon 12 is properly aimed at the identified target.
[0056] In the active mode, the kick actuator subsystem 40 may be
immediately driven to shift the weapon 12 slightly into alignment.
If the desired mode is chosen, the target areas may be illuminated
by the laser 20 to show the user what the system 10 has identified
as the target. Optionally, the visible laser 20 may be activated by
the user switch 22 being activated by pressure on the trigger 12e.
The benefit of using the trigger 12e to activate this is that the
target illumination would be brief and only during the specific
moment of alignment. In the case that the weapon 12 is misaligned,
the laser beam 20a will provide a visual cue for the user to
manually fix alignment. Once the weapon 12 is in alignment, the
trigger 12e may be allowed to physically move, or optionally its
movement may be recognized, thus letting the user's triggering
pulling action fire the weapon 12.
[0057] The system 10 may also be incorporated for use on weapons
such as tasers. The system 10 may be used to ensure that both of
the taser electrodes fired from the taser impact the target at a
preferred location on the target.
[0058] The foregoing description of the embodiments has been
provided for purposes of illustration and description. It is not
intended to be exhaustive or to limit the disclosure. Individual
elements or features of a particular embodiment are generally not
limited to that particular embodiment, but, where applicable, are
interchangeable and can be used in a selected embodiment, even if
not specifically shown or described. The same may also be varied in
many ways. Such variations are not to be regarded as a departure
from the disclosure, and all such modifications are intended to be
included within the scope of the disclosure.
[0059] Example embodiments are provided so that this disclosure
will be thorough, and will fully convey the scope to those who are
skilled in the art. Numerous specific details are set forth such as
examples of specific components, devices, and methods, to provide a
thorough understanding of embodiments of the present disclosure. It
will be apparent to those skilled in the art that specific details
need not be employed, that example embodiments may be embodied in
many different forms and that neither should be construed to limit
the scope of the disclosure. In some example embodiments,
well-known processes, well-known device structures, and well-known
technologies are not described in detail.
[0060] The terminology used herein is for the purpose of describing
particular example embodiments only and is not intended to be
limiting. As used herein, the singular forms "a," "an," and "the"
may be intended to include the plural forms as well, unless the
context clearly indicates otherwise. The terms "comprises,"
"comprising," "including," and "having," are inclusive and
therefore specify the presence of stated features, integers, steps,
operations, elements, and/or components, but do not preclude the
presence or addition of one or more other features, integers,
steps, operations, elements, components, and/or groups thereof. The
method steps, processes, and operations described herein are not to
be construed as necessarily requiring their performance in the
particular order discussed or illustrated, unless specifically
identified as an order of performance. It is also to be understood
that additional or alternative steps may be employed.
[0061] When an element or layer is referred to as being "on,"
"engaged to," "connected to," or "coupled to" another element or
layer, it may be directly on, engaged, connected or coupled to the
other element or layer, or intervening elements or layers may be
present. In contrast, when an element is referred to as being
"directly on," "directly engaged to," "directly connected to," or
"directly coupled to" another element or layer, there may be no
intervening elements or layers present. Other words used to
describe the relationship between elements should be interpreted in
a like fashion (e.g., "between" versus "directly between,"
"adjacent" versus "directly adjacent," etc.). As used herein, the
term "and/or" includes any and all combinations of one or more of
the associated listed items.
[0062] Although the terms first, second, third, etc. may be used
herein to describe various elements, components, regions, layers
and/or sections, these elements, components, regions, layers and/or
sections should not be limited by these terms. These terms may be
only used to distinguish one element, component, region, layer or
section from another region, layer or section. Terms such as
"first," "second," and other numerical terms when used herein do
not imply a sequence or order unless clearly indicated by the
context. Thus, a first element, component, region, layer or section
discussed below could be termed a second element, component,
region, layer or section without departing from the teachings of
the example embodiments.
[0063] Spatially relative terms, such as "inner," "outer,"
"beneath," "below," "lower," "above," "upper," and the like, may be
used herein for ease of description to describe one element or
feature's relationship to another element(s) or feature(s) as
illustrated in the figures. Spatially relative terms may be
intended to encompass different orientations of the device in use
or operation in addition to the orientation depicted in the
figures. For example, if the device in the figures is turned over,
elements described as "below" or "beneath" other elements or
features would then be oriented "above" the other elements or
features. Thus, the example term "below" can encompass both an
orientation of above and below. The device may be otherwise
oriented (rotated 90 degrees or at other orientations) and the
spatially relative descriptors used herein interpreted
accordingly.
* * * * *