U.S. patent number 3,793,481 [Application Number 05/307,877] was granted by the patent office on 1974-02-19 for range scoring system.
This patent grant is currently assigned to Celesco Industries Inc.. Invention is credited to Homer B. Davis, John A. Ripley.
United States Patent |
3,793,481 |
Ripley , et al. |
February 19, 1974 |
RANGE SCORING SYSTEM
Abstract
There is disclosed a preferred embodiment of a semi-automatic
range scoring system which utilizes a closed-circuit television
system in combination with a light pen unit and computer. The
observer uses the light pen to mark the point of weapon impact on a
T.V. monitor screen for each of the camera displays. Each marking
causes the light pen unit to transfer digital positional
information of the point of impact to the computer. Once the impact
has been marked twice, the computer immediately processes the
positional data to determine miss-distance and display same. The
system is also adaptable for scoring miss-distance with regard to a
moving target. In both cases, miss-distance information is obtained
on an almost simultaneous basis with the impact of the weapon.
Inventors: |
Ripley; John A. (Newport Beach,
CA), Davis; Homer B. (Long Beach, CA) |
Assignee: |
Celesco Industries Inc. (Costa
Mesa, CA)
|
Family
ID: |
23191541 |
Appl.
No.: |
05/307,877 |
Filed: |
November 20, 1972 |
Current U.S.
Class: |
348/139; 345/180;
235/411; 340/323R |
Current CPC
Class: |
F41J
5/12 (20130101) |
Current International
Class: |
F41J
5/00 (20060101); F41J 5/12 (20060101); A63b
063/00 (); G06g 007/80 (); H04n 007/18 () |
Field of
Search: |
;178/6.8,DIG.1,DIG.20,DIG.21,DIG.22,DIG.35,DIG.36,DIG.38 ;235/61.5S
;35/10.2 ;340/324A,324AD ;273/12.2R,12.2S,DIG.28 |
References Cited
[Referenced By]
U.S. Patent Documents
Other References
Popular Mechanics, April 1943, page 5, "`Mikes` Score Accuracy in
Bombing Practice.".
|
Primary Examiner: Britton; Howard W.
Attorney, Agent or Firm: Jennings; Tipton D.
Claims
What is claimed is:
1. A scoring system for a target range comprising:
a. means for viewing said range and the impact of weapons when such
occur,
b. means for displaying the output of said viewing means,
c. a light pen unit responsive to the receipt of said viewing means
output and the display of said displaying means for generating
signals representative of impact location, and
d. means for receiving said signals generated by said light pen
unit and calculating impact position.
2. A scoring system as claimed in claim 1, wherein:
a. said displaying means includes a video monitor having
1. a screen onto which an electron beam is directed during the
scanning of the frame, and
b. said light pen unit includes
2. a manual probe capable of being disposed adjacent to the outside
of said screen to sense the passage of the electron beam during
scanning.
3. A scoring system as claimed in claim 2, wherein:
a. said light pen further includes
1. a pair of counters responsive to receipt of said viewing means
output for accumulating counts proportional to the electron beam
position during scanning, and
2. means responsive to the output of said probe for transferring
the accumulated counts of said counters to said receiving and
calculating means.
4. A scoring system as claimed in claim 3, wherein:
a. said viewing means comprises
1. a pair of television cameras, the output of each comprising a
composite picture signal, including synchronizing pulses, which is
transmitted to said monitor,
b. one of said pair of counters receives and counts synchronizing
pulses in said composite picture signal for each line in the frame
to accumulate a count proportional to the electron beam vertical
position, and
c. the other of said pair of counters comprises a timing circuit
which is actuated by each of said synchronizing pulse received from
said camera to accumulate a count proportional to the electron beam
horizontal position.
5. A scoring system as claimed in claim 4, wherein said light pen
unit further includes:
a. a photosensitive detector connected to said probe to convert the
light received by the passage of said electron beam into an
electrical signal,
b. means responsive to the output of said counter and said
photosensitive detector for latching the output of said counters at
the counts accumulated at the time the probe senses the passing of
the electron beam.
6. A scoring system as claimed in claim 5, wherein said
transferring means includes:
a. a manually operable switch on said probe connected to transfer
the latched count of said counters to said receiving and
calculating means.
7. A scoring system as claimed in claim 6, wherein:
a. said receiving and calculating means includes
1. a pair of registers, each of said registers being connected to
the output of the light pen unit to store a count proportional to
electron beam horizontal position in response to actuation of said
manually operable switch, and
2. means for electronically processing said stored counts to
calculate impact position.
8. A scoring system as claimed in claim 7, wherein:
a. said light pen unit additionally generates signals
representative of the instantaneous position of a moving target,
and
b. said receiving and calculating means further includes:
1. a second pair of registers, each of said second pair of
registers being connected to the output of the light pen unit to
store a count proportional to electron beam horizontal position in
response to actuation of said manually operable switch, and
2. second means for electronically processing the stored counts in
said second pair of registers to calculate instantaneous position
of the moving target.
9. A scoring system as claimed in claim 7, further comprising:
a. a video switch connected to the output of said pair of
cameras,
b. means for actuating said video switch for sequentially applying
to said monitor for display the composite picture signal from said
pair of cameras.
10. A scoring system as claimed in claim 9, wherein:
a. said actuating means is connected to said electronic processing
means so that the video switch automatically switches from one
camera to the other camera in said pair following application of
the counts associated with said one camera into one of said
registers whereby the counts obtained responsive to both camera
outputs are sequentially derived and stored in said registers.
11. A scoring system as claimed in claim 10, wherein said
processing means includes:
a. means for initiating processing of the contents of said
registers after counts have been obtained in said registers
representative of impact position as viewed by both cameras.
12. A scoring system as claimed in claim 11, further
comprising:
a. coaxial cables linking said cameras to said monitor for
transmission of the composite picture signals.
Description
BACKGROUND OF THE INVENTION
The present invention relates to a range scoring system for scoring
accuracy of air-to-ground weapons and, more particularly, to an
improved range scoring system utilizing a precision video subsystem
and automatic computation of miss distance.
Various range scoring systems are knowm for scoring the accuracy of
air-to-ground weapons, such as bombs, rockets, missiles, and the
like. The present manual system typically employs a pair of optical
sighting means at fixed spaced locations on the range by which two
different angles of weapon impact are determined. The coordinates
of impact are then derived by triangulation or the use of routine
trigonometric equations. Another type of system uses a pair of
spaced television cameras whose baselines form a right angle. The
weapon impact is recorded by both cameras on video tape. The tape
is then played back and the point of impact seen by each camera is
measured on a grid. The measurement data are then fed into a
computer to determine miss distances.
The problem with the prior art techniques is that they are
primarily manual in nature and thus susceptible to human error in
the making of measurements or the sighting of angles, which
naturally leads to errors in the resulting miss distance solution.
Furthermore, the computations of miss distances and the like are
obtained generally well after time of impact instead of
simultaneously therewith. This delay is particularly
disadvantageous where subsequent weapon firings or launchings must
be retarded until the results of the prior firing have been
received. Other forms of prior-art systems are generally limited in
range or cannot readily score different types of targets, or are
susceptible to weapon damage.
The need, therefore, exists for a range scoring system in which the
possibility of human error is held to a minimum and which provides
impact coordinates or miss distances on essentially a real-time
basis.
SUMMARY
The present invention overcomes the problems of prior-art range
scoring systems by providing an improved system which is
semi-automatic and in which the likelihood of human error is
reduced by eliminating manual distance and angle measurements
relative to weapon impact and by providing impact positional
information on an almost simultaneous basis, such as coordinates of
the impact point, or the distance and angle by which the point of
weapon impact missed the range center or other reference point.
In accordance with the purposes of the invention, as embodied and
broadly described herein, the scoring system for a target range
includes means for viewing said range and the impact of weapons
when such occur, means for displaying the output of said viewing
means, a light pen unit responsive to the receipt of said viewing
means output and the display of said displaying means for
generating signals respresentative of impact location, and means
for receiving said signals generated by said light pen unit and
calculating impact position.
The invention consists in the novel circuits, systems, parts,
constructions, arrangements, combinations, and improvements shown
and described. The unique features and advantages of the invention
will become apparent by reading the following description which,
taken in conjunction with the accompanying drawings which are
incorporated in and constitute a part of the specification,
disclose preferred embodiments thereof.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a perspective view of a target range and certain of the
apparatus employed in the present invention;
FIG. 2 is a block diagram of the improved scoring system forming
the present invention;
FIG. 3 is a block diagram of pertinent portions of the light pen
unit shown in FIG. 2;
FIGS. 4-7 are plan views of target ranges used in explaining
operation of the present invention;
FIGS. 8A and 8B together present a block diagram of the computer
shown in FIG. 2; and
FIG. 9 is a preferred embodiment of the control logic of FIG.
8.
DESCRIPTION OF THE PREFERRED EMBODIMENT
Reference will now be made in detail to the present preferred
embodiments of the invention, examples of which are illustrated in
the accompanying drawings.
Referring now to the drawings, FIG. 1 presents a perspective view
of a typical target range 10, together with certain of the
apparatus employed in the present invention. The range is shown
here as having a target circle 12 of a known radius and whose
center forms the target center 14. As an example, the radius of the
target circle can be 2,000 feet.
In accordance with the present invention, there are means provided
for viewing said range and the impact of weapons when they occur.
As embodied herein, a pair of television cameras 16 and 18 are
positioned on the range 10 to view the target area within circle
12. Cameras 16 and 18 are aimed at the target center 14, and the
imaginary lines running from the target center to each camera 16
and 18 are called the camera baselines 20 and 22, respectively.
Preferably, the camera baselines are positioned an equal distance
back from the target center along their respective baselines. An
example of this distance is 6,000 feet.
The cameras are preferably positioned so that their baselines 20
and 22 coincide with the range coordinates or at 45.degree. to
these coordinates. As shown in FIG. 1, the cameras 16 and 18 have
been positioned at 45.degree. to the range coordinates. In all,
eight possible camera locations can be selected in which the camera
baselines coincide with or are 45.degree. to the range coordinates,
which provides substantial system flexibility. Assuming for ease of
discussion that range 10 is a bombing range, then the X-coordinate
24 can be the aircraft approach or run-in line, and the
Y-coordinate 26 is thus perpendicular to this run-in line. The
camera baselines thus coincide with the run-in line coordinates, or
are at 45.degree. thereto. It should be understood, however, that
other baseline/run-in line angles can also be accommodated, In
fact, angles of camera baseline to run-in line between 0.degree.
and 90.degree. can be selected, but such angles must then be
compensated for in computing miss distances, as later
described.
In accordance with the invention, there are means for displaying
the output of said viewing means. As embodied herein, the outputs
of the cameras 16 and 18 are applied to the input of a remote video
monitor 28. Each output comprises a composite picture signal
including synchronizing pulses which is transmitted to the monitor
28. The monitor 28 is enlarged at the left of FIG. 1 to illustrate
an observer 34 viewing the display screen 36 of the monitor 28 and
using a manual probe 38 to manually "mark" the point of weapon
impact by noting the origin of the impact cloud, the effect of this
being hereinafter explained. The particular communication link
between the cameras and the monitor which is preferred is a
low-loss coaxial cable, shown as cables 30 and 32 in the drawing,
although other conventional links, such as an RF link, can
obviously be used.
The cameras 16,18 cables 30,32, and monitor 28 in effect define a
closed-circuit television system. In preparing the system for
operation, each camera is preferably boresighted to an alignment
target (not shown) temporarily placed at the target center 14.
Boresighting is accomplished by moving a camera until the target
center is in the electronic center of the video picture of the
monitor 28. Each camera lens is preferably chosen such that the
field-of-view of target 12 fills approximately 85 percent to 95
percent of the monitor screen. Ideally, one camera is tilted
slightly upward and the other camera is tiled slightly downward. As
a result, the range as seen by one camera fills the bottom half of
the monitor screen, and the range as seen by the other camera fills
the top half of the screen. This serves as an aid to the observer
in marking targets. Alignment targets (not shown) can be placed on
the edge of the target, tangent to the edge of the camera
field-of-view, to provide reference points to calibrate or check
the calibration of a computer used to automatically calculate
weapon impact position. After boresighting, the cameras are
preferably locked in the boresighted position on the camera
mounts.
In the selection of system components, precision apparatus is
preferred. For example, cameras which have good linearity minimize
system inaccuracy. Similarly, the monitor 28 should have good
linearity and visual acuity so that accurate measurement can be
derived from the markings of the probe 38. Monitor 28 is
conventional in construction and includes a cathode ray tube (not
shown) positioned such that its electron beam is directed against
the inside of screen 36 during the scanning of a frame.
In the operation of the present system, to the extent to which it
has been described, assume an airplane 40 flies over the target
circle 12 along run-in line 24 and drops a bomb which impacts and
explodes at point 42. The picture from camera 16 is simultaneously
displayed on screen 36 and the observer immediately "marks" the
impact point by contacting the point of his probe 38 to the impact
point displayed on the screen. The picture from camera 18 is now
switched into monitor 28, replacing the picture from camera 16 on
screen 36. The observer 34 now marks the impact point, as viewed by
camera 18, with probe 38. The data from these two markings are
immediately presented to the computer, as later described, and miss
distance or the like is immediately calculated and displayed.
In FIG. 2, there is shown a block diagram of the present invention
including the electronic apparatus additional to the cameras 16 and
18 and the monitor 28 previously described. As embodied herein, the
output of camera 16 and the output of camera 18 are both applied to
the input of video switch 44. The purpose of video switch 44 is to
select individually the composite video signal of the target area
being transmitted by either camera 16 or camera 18 and apply it to
monitor 28 for display. Video switch 44 is conventional in
construction and can be a high-performance reed switch assembly
which switches the center conductor of the video cable. If desired,
a special-effect picture splitter can be used in place of the video
switch which would split the video presentation on monitor 28
between the output of camera 16 and the output of camera 18.
The output of video switch 44 is connected to the video
equalization amplifier 46. Amplifier 46 is also of a conventional
construction, and its primary function is to compensate for
high-frequency losses caused by video cable 30 or 32 so that the
composite video signal applied to monitor 28 is returned to its
original quality.
In accordance with the invention, a light pen unit is provided
which is responsive to the receipt of the viewing means output and
the display of the displaying means to generate signals
representative to impact location. As embodied herein, a light pen
unit 50 is connected between the output of amplifier 46 and the
input of monitor 28. The light pen unit includes manual probe 38
capable of being disposed adjacent to the outside of screen 36 to
sense or detect the passage of the electron during scanning.
Preferably, the probe 38 is connected to a photosensitive detector
which is used in a manner described hereinafter.
In accordance with the invention, means are provided for receiving
the signals generated by the light pen unit 50 and calculating
impact position. As embodied herein, the receiving and calculating
means 52 automatically processes the digital signals applied from
light pen unit 50 so that impact position can be calculated and
displayed. Preferably, such means 52 is a digital computer which
performs the basic geometric calculations necessary to determine
impact position and displays this answer in the desired
coordinates, as described in detail hereinafter.
In accordance with the invention, there are also provided means for
actuating the video switch 44 so that the composite picture signal
from the pair of cameras 16 and 18 is sequentially applied to
monitor 28. As embodied herein, computer 52 is connected to video
switch 44 by line 54 so that the switching between cameras 16 and
18 is automatically obtained once the positional information of the
impact as viewed by the first camera has been fed to computer 52.
This automatic switching reduces the amount of time it takes an
operator to manipulate probe 38 to mark the impact point as viewed
by both cameras 16 and 18. Thus, the marking of the monitor as
viewed by the second camera, e.g., camera 18, can be performed more
quickly than where switch 44 must be manually actuated. If desired,
however, manual actuation of switch 44 can be used an alternative
to automatic switching under control of computer 52.
The light pen unit 50 is used to generate signals proportional to
the X-Y coordinates of any point on the screen 36 of monitor 28.
The coordinates are fixed by placement of probe 38 and are
simultaneously applied in digital form to computer 52. Preferably,
the light pen unit is of a conventional construction, and as an
example can be the Model 4551 light pen unit manufactured by
Tektronix, Inc., of Beaverton, Oregon, the construction and
operation of which is disclosed in the instruction manual for this
unit published by Tektronix, Inc. in 1971. A generalized block
diagram of the construction of this light pen unit as it pertains
to the present invention is disclosed in FIG. 3.
The video input is applied to a sync separator 60 whose output is
applied to the input of four circuits to initiate the generation of
signals therefrom. The first horizontal sync pulse in the frame to
be scanned is applied to a vertical ramp 62 which outputs an analog
ramp voltage which progressively increases during the time it takes
for the frame to be scanned. This output is applied to one input of
a comparator circuit 64. Vertical counter 66 counts the horizontal
sync pulses during the frame and its digital output is continually
applied to the input of latch 68. When latch 68 is clocked, the
count that is at its input is transferred to its output and
retained. The output of latch 68 is connected into a
digital-to-analog converter 70 whose output, in turn, is connected
to the second input of comparator 64.
The horizontal ramp circuit 72 provides an analog output voltage
which progressively increases during the duration of the scan of
one horizontal line in the frame. Ramp 72 is initiated by each
horizontal sync pulse in the frame. Its output is applied to one
input of comparator 74. Horizontal counter 76 preferably includes
an oscillator (not shown) an, in effect, constitutes a digital
timing circuit which is actuated by each horizontal synchronizing
pulse applied by sync separator 60. Thus, horizontal counter 76
undergoes a counting cycle and accumulates a digital count for each
horizontal synchronizing pulse during the frame. The output of
counter 76 is applied to a latch circuit 78 which has the same
construction and function as latch circuit 68. The digital output
of latch 78 is connected to a digital-to-analog converter 80 whose
output is in turn connected to the second input of comparator 74.
The pair of counters 66 and 76 together are responsive to the
output of sync separator 60 and thereby the output of the cameras
16 and 18 for accumulating counts proportional to the monitor's
electron beam position during scanning.
The output of comparators 64 and 72 are connected to the input of a
cursor assembly 82 which develop the signals to form the
cross-shaped cursor which the light pen unit applies to the screen
36 of the monitor. The output of cursor assembly 82 is connected
into the cursor mixer 84 where it is mixed with the input composite
video signal. The composite video signal including the cursor
signals is applied to video amplifier 86 and the output of this
amplifier is sent out of light pen unit 50 to the monitor 28.
Manual probe 38, as embodied in FIG. 3, is a light pen sized to be
held in a person's hand so as to be disposed adjacent to the screen
of a television monitor, as mentioned previously. A fiber optics
bundle is mounted inside of light pen 38 so that the front end 90
of the bundle is disposed adjacent the tip of the light pen.
As embodied herein, the light pen unit 50 further includes a
photosensitive detector which is connected to the probe 38 to
convert the light received by the passage of the electron beam into
an electrical signal. Preferably, this detector is a
photomultiplier 92 which is connected to the opposite end of the
fiber optics bundle 88. The photomultiplier 92 is shown separate
from the light pen 38 but, if desired, can be enclosed within the
body of the light pen. The output of photomultiplier 92 is
connected to amplifier 94, whose output in turn is connected to the
clock input of latches 68 and 78.
In accordance with the invention, light pen unit 50 further
includes means responsive to the output of the probe for
transferring the accumulated counts of said counters to said
receiving and calculating means. As embodied herein, a manually
operable switch 96 is formed on said probe and is connected by a
wire 98 to the lock or hold input of registers 100 and 102. The
signal inputs to registers 100 and 102 are received from the
outputs of latch circuits 68 and 78, respectively. The digital
outputs from each of registers 100 and 102 are applied over lines
104 and 106, respectively, which are connected into the input
circuitry of computer 52. Preferably, line 104 comprises nine wires
in parallel for the application of the horizontal digital count to
the computer registers. Line 98 is also connected from the light
pen unit to the computer.
The operation of the light pen unit has to a major extent been
described in the preceding description. However, a brief review of
the operation now follows. The observer picks up the light pen 38
and places the tip of this pen lightly against the face plate
covering the screen 36 of the television monitor 28. Each time the
scanning beam passes under the tip of pen 38 during the scan of a
frame, a pulse of light is coupled through the fiber optics 88 to
the photomultiplier 92, and an electrical pulse is sent out of
photomultiplier 92, amplified, and applied as the clock signal to
latch circuits 68 and 78.
At the same time, the sync separator circuit 60 is extracting the
horizontal sync pulses from the input composite video signals and
applying them to counters 66 and 76. The vertical counter 66 counts
the total number of horizontal sync pulses in each frame. e.g., 525
pulses. It is then reset and begins a new count in response to the
vertical sync pulse. The horizontal counter 76 is initiated by each
sync pulse. It is reset between each scan line. Assuming 525
horizontal scan lines per frame, the horizontal counter 76 goes
through 525 counting cycles for each frame of the video signal.
Thus, at any time the counts accumulated in counters 66 and 76 are
proportional to the vertical and horizontal positions of the
electron beam during its frame scan.
When the photomultiplier 92 sends a clock signal to latches 68 and
78 in response to the passage of the electron beam past the tip of
light pen 38, the digital counts which have been reached at that
instant in counters 66 and 76 are passed from the input to the
output of latches 68 and 78, respectively. These signals are
converted and applied to comparators 64 and 74 where they are
compared with the analog signals developed respectively by ramps 62
and 72. As the level of each ramp attains the level of its
associated converter, the comparator 64 applies a signal to cursor
assembler 82. The cursor signals are then mixed with the composite
video signals and the resultant signal is amplified and applied to
the monitor. A cursor in the shape of a cross or any other
convenient shape now appears on screen 36 under the tip of lighpen
38. Ideally, this cursor is displaced slightly to avoid errors that
might be caused by visual interference by the probe or the
operator's hand covering the point of weapon impact.
The frame frequency is sufficiently rapid, e.g., 30 frames per
second, so that the cursor fills in rapidly on the monitor screen
36. Because the cursor is now referenced to the position of the
light pen 38 by detection of the electron scanning beam, the cursor
can be moved over the face of the screen in direct response to pen
movement.
When an airplane passes over the range to drop a bomb, the observor
34 (FIG. 1) first merely touches his light pen 38 lightly to the
screen 36 to generate a cursor as described above. He now moves the
cursor by movement of pen 38 across the face of the screen until
the cursor is positioned at the point of weapon impact as viewed by
the observer on the monitor screen. The observer now closes switch
96 of light pen 38 which causes the registers 100 and 102 to hold
the counts then being applied by latches 68 and 78, respectively.
The digital horizontal and vertical position signals of the cursor
position, and thereby the point of weapon impact, are applied by
lines 104 and 106 to computer 52. A signal is also applied by line
98 to instruct the computer to accept these digital signals. Once
these positional signals have been stored in computer 52, video
switch 44 switches the output of the other camera 18 into monitor
28 and the observer 34 marks this new point of weapon impact in the
same manner as aforedescribed. The digital horizontal and vertical
counts indicative of this new impact position are also transferred
to computer 52.
Switch 96 can be positioned on light pen 38 to be actuated by the
finger, thumb, or other movement of the hand. Preferably, switch 96
is incorporated into the point of pen 38 so that it is closed by
depression of the point firmly against the screen 36. This
simplifies the marking procedure because the light pen is already
in contact with the screen and it merely requires the application
of additional hand pressure inwardly against the screen to cause
the tip to be depressed. Line 98, in actuality, can be composed of
two wires with the switch completing the circuit, or,
alternatively, a source of potential could be contained in pen 38.
The fiber optics 88 and the line 98 are preferably contained within
the same sheath or cable for compactness and also to lessen the
likelihood of damage to these members.
The computer 52 accepts the data from the light pen unit 50 and
calculates the coordinates of weapon impact. It then displays the
answer in a format selected by the computer operator, preferably
either in a distance/clock code format or a right/left-over/under
format. With reference to FIG. 4, a Cartesian coordinate system of
the range 10 is shown with the cameras' baselines 20, 22 coincident
with the range coordinates 24, 26. The aircraft run-in line is here
selected as Y-axis 26. A "hit" or point of weapon impact 42 is also
arbitrarily positioned on the range. The symbols shown are defined
as follows:
.theta. = Hit angle -- angle from center of camera field-of-view to
hit location 42.
D = Distance from camera to center of target.
x = Hit distance measured from the hit impact 42 to camera 18
optical baseline 22 and parallel to camera 16 optical baseline
20.
y = Hit distance measured from the hit impact 42 to camra 16
optical baseline 20 and parallel to camera 18 optical baseline
22.
The impact coordinates of hit 42 are therefore:
x = (D.sub.1 + y) tan .theta..sub.1 1
y = (D.sub.2 - x) tan .theta..sub.2 2
By substitution, these equations become:
x = (D.sub.1 tan .theta..sub.1 + D.sub.2 tan .theta..sub.1 tan
.theta..sub.2)/(1 + tan .theta..sub.1 tan .theta..sub.2) 3
y = (D.sub.2 tan .theta..sub.2 - D.sub.1 tan .theta..sub.1 tan
.theta..sub.2)/(1 + tan .theta..sub.1 tan .theta..sub.2) 4
Computer 52 solves equations 3 and 4.
When the aircraft run-in line is not coincident with one of the
range axes, the coordinates must be rotated through the angle the
run-in line makes with such range axis so that the hit coordinates
can be referenced to the run-in line. FIG. 5 shows a Cartesian
coordinate system of the range 10 with the aircraft run-in line
non-concident with a range axis. The symbols shown are defined as
follows:
.phi. = Coordinate rotation angle.
x' = Hit distance measured from the hit impact 42 to the run-in
line (y' axis) and perpendicular to the run-in line.
y' = Hit distance measured from the hit impact 42 to the x' axis,
which is perpendicular to the run-in line, parallel to the run-in
line.
The impact coordinates of hit 42 are therefore:
x' = x cos .phi. + y sin .phi. 5
y' = ycos .phi. - x sin .phi. 6
The values of x and y are found by first solving equations (3) and
(4). Computer 52 also solves equations 5 and 6.
The values of x and y, i.e., miss distance, displayed by computer
52 is in a right/left-over/under format for the examples just
described. If a distance/clock code format is desired, additional
computations are necessary. With reference to FIG. 6, the
additional symbols shown are defined as follows:
R = Distance from target center to hit location 42.
C = Clock code as in a conventional time clock (0:00 to 12:00
o'clock).
K = Conversion constant to convert 360.degree. or 2 .pi. radians to
12:00 o'clock.
X = x axis of coordinate selected to go through distance/clock code
generator, e.g., x or x'.
Y = y axis of coordinate selected to go through distance/clock code
generator, e.g., y or y'.
The distance R is therefore:
R = .sqroot.x.sup.2 + y.sup.2 7
and the clock code equations are:
If X is (+) and Y is (+), the range of C is 0:00 to 3:00 o'clock,
and C = K arc sin .vertline.X.vertline./R; 8
if X is (+) and Y is (-), the range of C is 3:00 to 6:00 o'clock,
and C = K arc sin .vertline.Y.vertline./R + 3; 9
if X is (-) and Y is (-), the range of C is 6:00 to 9:00 o'clock,
and C = K arc sin .vertline.X.vertline./R + 6; 10
if X is (-) and Y is (+), the range of C is 9:00 to 12:00 o'clock,
and C = K arc sin .vertline.Y.vertline./R + 9. 11
the computer also solves equations 7 through 11.
The scoring system of the present invention can also be used to
socre moving targets in addition to a stationary target. The moving
target becomes the center of the scoring system. With reference
again to FIGS. 1 and 2, assume that a moving target, such as a
radio-controlled tank (not shown), is moving over target range 10,
and that an aircraft flies over the range and drops a bomb aimed at
the tank. The bomb impacts and explodes on the ground (assuming a
miss) at a point 42.
The observer 34 first "marks" the tank position with light pen 38
for both cameras 16 and 18 in the same manner as has been
previously described for marking an impact point. Digital
information proportional to instantaneous target position is
applied by light pen unit 50 to computer 52. This data establishes
the center the scoring system with which to reference weapon impact
position 42. The observer next marks the impact position with the
light pen 38 for both cameras and this digital information is also
applied by light pen unit 50 to computer 52. The computer now
calculates and displays the coordinates of weapon impact with
reference to the moving target at the time of impact.
With reference to FIG. 7, a Cartesian coordinate system of the
range 10 is shown with the moving target location and hit 42
arbitrarily positioned on the range. The symbols shown are defined
as follows:
x'.sub.1 = Moving target location along x' axis.
y'.sub.1 = Moving target location along y' axis.
x'.sub.2 = Hit location along x' axis.
y'.sub.2 = Hit location along y' axis.
.DELTA. x' = Distance from moving target to hit location measured
parallel to x' axis referenced from moving target location.
.DELTA. y' = Distance from moving target to hit measured parallel
to y' axis referenced from moving target location.
The impact coordinates of hit 42 with reference to the moving
target are therefore:
.DELTA. x' = x'.sub.2 - x'.sub.1 12
.DELTA. y' = y'.sub.1 - y'.sub.2 13
Computer 52 solves equations 12 and 13. The x and y positions of
both the target and hit are first determined with respect to the
camera axes, following the example of FIG. 4, and then rotated
through the angle .phi. so that they are referenced to the range
axes, following the example of FIG. 5.
A block diagram of computer 52 showing a mechanization which
encompasses small, large, and movable vehicle targets is shown in
FIGS. 8A and 8B. Computer 52 is divided into two sections 52a and
52b. Section 52b is used when the target is a moving target,
otherwise only sections 52a is used. As embodied herein, each of
computer sections 52a and 52b includes a pair of registers, each of
said registers being connected to the output of the light pen unit
50 to store the count proportional to electron beam horizontal
position, namely, that derived from counter 76 (FIG. 3).
Preferably, section 52a includes a pair of input storage registers
110 and 112. One of these registers, e.g., register 110, receives
the digital output of counter 76 in response to the output of the
marking of weapon impact, as viewed by camera 16. The other
register 112 receives the digital output of counter 76 in response
to the output of the marking of weapoin impact, as viewed by the
other camera 18. When a moving target is used, registers 110 and
112 are loaded in the same manner with digital signals proportional
to position of the moving target at the time of weapon impact while
registers 114 ad 116 receive weapon impact positional data. Once
the input data is received by these registers, it is held for
processing.
The remainder of computer section 52a, except for the display
apparatus, as embodied herein functions as the means for
electronically processing the stored counts to calculate impact
position. The remainder of computer section 52b functions as means
for electronically processing the stored counts to calculate
instantaneous position of the moving target. Included in these
processing means are means for initiating processing of the
contents of the register after counts have been stored in each of
the registers 110, 112, 114, and 116 which are being used.
Preferably, this means includes a conventional control logic
circuit 118 which controls the data being entered in the registers
and initiates processing after all inputs have been entered and
stored. For example, the input signal applied on line 98 by each
actuation of light pen 38 causes control logic 118 to condition
sequentially each of the registers 110, 112, 114. and 116 via the
data hold line so that each register selectively accepts in turn
the digital output of counter 76 via input lines 104. Control logic
118 is also connected to video switch 44 (FIG. 2) via line 54 so
that video switch 44 is automatically switched from one camera to
the other following application of the count associated with the
first camera into one of the input registers of computer 52. When
all of the input registers have been properly loaded with selected
data, calculate signal is sent to the computation portion of the
computer. A signal is also sent to the display logic which enables
it to display the calculated answer.
The vertical count applied on line 106 to control logic 118 is
preferably not used in the computations. The control logic receives
only the most significant bit of this digital count and determines
if the observer is marking the correct part of the screen. For
example, if a camera output is being displayed on the upper part of
the monitor screen, and the observer inadvertently marks the lower
part of the screen, then the most significant bit will be a One
instead of a Zero and the control logic will reject the digital
data. Thus, the vertical count can be used to insure that the
correct camera or correct part of the screen is being scored.
The computations of the computer basically follow the following
order, assuming a moving target is included in the scoring
system:
1. Convert input data to angles .theta..sub.1, .theta..sub.2,
.theta..sub.3, .theta..sub.4 referenced to the center of the target
area.
2. Calculate Calibrated .theta..sub.1, .theta..sub.2,
.theta..sub.3, and .theta..sub.4.
3. Calculate Tan .theta..sub.1, Tan .theta..sub.2, Tan
.theta..sub.3, and Tan .theta..sub.4.
4. Calculate right/left-over/under in camera coordinates.
5. Rotate coordinates if necessary to aircraft run-in
coordinates.
6. Perform moving target miss distance calculations.
7. Calculate distance/clock code.
8. Display answer for stationary target, or moving target in
over/under-right/left or distance/clock code.
The function performed in each computation block of the computer
block diagram of FIGS. 8A and 8B is now briefly described. The
digital count stored in each register is proportional to .theta..
The Sign Magnitude Conversion 120 is necessary to convert the
stored .theta. to an angle .theta. referenced to the center of the
target area. This also simplifies the computer calculations. The
Sign Change Logic 122 is provided in order to change the sign of
the input angle if the camera locations on the range are changed.
The magnitude of the input angle .theta. is calibrated for slight
camera-to-camera variations in the field of view. This is
accomplished by multiplying in Multiplier 124 the input angle by a
constant which can be varied to achieve calibration. The input
angle is also multiplied by the target size scale factor whose
value is determined by the particular camera lens used. Because
tangent .theta. is the major variable in the coordinate
calculations, it is calculated at 126 before entering the
coordinate calculation portion of the computer.
Continuing with the functions of the computer block diagram, the
Coordinate Calculator 128 accepts the tan .theta. calculations, and
the camera position distance components, and calculates the
projectile hit in X and Y camera coordinates. This information is
then sent to the Axis Rotator 130 which rotates the axis of the
input camera coordinate data to that of the aircraft run-in line or
any other desired orientation. A calculate command input to the
axis rotator commands the Axis Rotator to rotate the axis. If there
is no calculate command, the input data will proceed through the
Axis Rotator 130 without being converted. The outputs of the Axis
Rotator go to both the Variable Target Center Calculation 132 and
the Distance/Clock Code Generator 134.
The variable target center calculations are performed in block 132
for moving target applications. The instantaneous position of the
moving target is designated as the target center. Any other point
within the overall target area could also be designed as the target
center if desired. This computation basically moves the center of
the coordinate system to the specified location selected by the
observer using the light per unit. To perform computation, inputs
are received which specify the center coordinates of the new
coordinate system (location of moving target), and the coordinate
of the projectile hit. The computed output is sent to the
Distance/Clock Code Generator 134.
The Distance/Clock Code Generator 134 operates on the X, Y
coordinates (over/under-right/left) to convert them to a modified
polar coordinate system (distance/clock code). Coordinate data from
fixed target and moving target are both applied to this generator.
However, only one set of inputs is accepted depending on the input
select command signal which the operator uses to select fixed
target or moving target operation. There is also a calculate input
which commands the Distance/Clock Code generator 134 to generate
its normal distance/clock code output. If there is no calculate
command, input data will proceed through this block without being
converted and will go to the Display Logic 136 in the
over/underright/left format.
The Display Logic 136 converts the binary sign magnitude answer
into a binary-coded-decimal output. Display Logic 136 also contains
conventional logic drives for driving Displays 138 and controlling
display power. An input from the control logic 118 establishes when
the anxwer will be displayed. Set functions in the computer are
manually set prior to computer operation.
Computer 52 as has been described is seen to be a special purpose
computer designed to perform miss-distance calculations. However,
if desired, a properly-programmed general purpose digital computer
can obviously be used. A mini-computer of the type which is in
popular use today can also be used if supplemented by the addition
of input registers 110, 112, 114, and 116, control logic 118, and
the Sign Magnitude Conversion function.
FIG. 9 shows the preferred embodiment of a control logic unit 118
in combination with the computer registers and the horizontal
output register 100 of the light pen unit 50. The control logic 118
sequentially activates each register 110, 112, 114, and 116 to
receive the digital information being applied on lines 104 in
response to light pen marking. The signal applied from the light
pen 38 on line 98 when switch 96 (not shown) is closed is applied
through inverter 140 to NAND gates 142 and 144. The output of NAND
gate 142 is connected to flip-flop 146, and the output of NAND gate
144 is connected into flip-flop 148. The line 106 is preferably a
single line which carries the most significant bit out of vertical
register 102 in the light pen unit, and this line is applied to
NAND gate 142 and through inverter 150 to NAND gate 144.
Assuming that camera 16 (FIG. 2) is first selected by switch 44 and
is being displayed on the upper half of monitor screen 36, the
output from light pen 38 in response to the marking of a target
impact on the screen is applied to gates 142 and 144. However, the
most significant bit on line 106 is at this time a Zero and only
gate 144 is enabled. The output of gate 144 goes from a One to a
Zero. Flip-flop 148 is Set, and a signal is applied out of this
flip-flop to register 110 so that only this register accepts the
digital output from register 100.
The signal on line 98 is also routed to flip-flop 152 by line 154,
and this flip-flop changes state. The Q output goes from a logic
Zero to a One and this level is applied by line 154 to video switch
44 (FIG. 2). The output of camera 18 is now switched into the
monitor, and is displayed at the bottom of the screen. The target
impact is again marked. This time the most significant bit on line
106 is a One and gate 142 is enabled. The signal from the light pen
unit, applied on line 98, sets flip-flop 146. Register 112 is thus
conditioned to receive and hold the digital positional signals from
register 100.
The target impact has now been marked for both cameras. The Q
outputs of flip-flops 146 and 148 are both Ones. The output of AND
gate 156 therefore rises to a One which signal is sent out as a
calculate comand to the rest of the computer. The digital data
stored in registers 110 and 112 are thus processed, and then
displayed to give miss distance. The output of gate 156 is also
sent to the display logic to display the answer.
In moving target and similar applications, registers 110 and 112
preferably record data on moving target instantaneous position,
while registers 114 and 115 are used to store target impact
positional data. The last two registers are controlled by
flip-flops 158 and 160, respectively. The input NAND gates 162 and
164 each have an additional enable input which is connected to the
output NAND gate 156. Thus, registers 114 and 116 can be loaded
only after registers 110 and 112 have been properly loaded, at
which time the output of AND gate 156 is a One. The input signal of
gate 162 is received from the output of gate 144 via inverter 166.
Similarly, the signal applied to gate 164 comes from the output of
gate 142 via inverter 168. The other enable input of gates 162 and
164 is connected to an output of shift register 170.
Shift register 170 serially loads Ones in response to clocking
inputs applied on line 154. Initially, this shift register is in
the reset position where all Zeros are loaded. The first clock
pulse applied in response to actuation of the light pen in marking
a target causes a One to be loaded into shift register 170. A One
appears at output Q.sub.A. The second light pen marking loads
another One and a One output also appears at Q.sub.B. If there is
no moving target calculation involved, then the shift register
advances no further and gates 162 and 164 do not become enabled.
However, for moving target applications, once registers 110 and 112
have been loaded, the target impact is now marked for the first
camera display. The signal from light pen 38 again clocks shift
register 170 and a One appears at output Q.sub.C. This enables
gates 162 and 164. The Zero signal out of gate 144 is inverted at
166 and applied to NAND gate 162. The output of gate 162 changes
from a One to a Zero and sets flip-flop 158. Register 114 is
thereby loaded with the data from register 100.
Flip-flop 152 is toggled by the marking signal on line 154 and the
second camera output is now displayed. The operator marks impact
position, again clocking shift register 170. However, because
Q.sub.C is already loaded with a One, there is no change in output
from Q.sub.C. Gate 164 remains enabled and the signal out of gate
142 is inverted and applied to this gate. Its output goes to Zero
to set flip-flop 160. Register 116 is now conditioned to receive
and hold the digital signals out of register 100.
The target impact has now been marked for both cameras and both
inputs to AND gate 172 are a One. Its output goes to One and is
used as a calculate command. The data in registers 114 and 116 are
thus processed. Once the calculations are complete and have been
displayed, the flip-flops and registers can be reset by depressing
a manual switch. Preferably, this switch is on the shaft of light
pen 38 so that it can be readily actuated by the observer.
This invention in its broader aspects is not limited to the
specific details shown and described and departures may be made
from such details without departing from the principles of the
invention and without sacrificing its chief advantages.
* * * * *