U.S. patent number RE32,123 [Application Number 06/645,032] was granted by the patent office on 1986-04-22 for discriminatory hit detection in target apparatus.
This patent grant is currently assigned to Lomah Electronic Targetry, Inc.. Invention is credited to Lindsay C. Knight.
United States Patent |
RE32,123 |
Knight |
April 22, 1986 |
Discriminatory hit detection in target apparatus
Abstract
A hit detection device for use in a marksmanship evaluation
device for providing positive and negative reinforcement of
shooting techniques immediately after each shot is fired. The hit
detection device comprises a transducer spaced apart from a target
member and detects and provides a hit indication output when the
target is hit. In a preferred embodiment, the transducer in
combination with electronic circuitry provide discrimination such
that a hit indication output is only provided when the target
member is actually hit by a projectile directly and no output is
provided if the target is hit by a ricochet or is disturbed by any
other external source such as the wind, sonic booms, etc. In a
further preferred embodiment, the target member is
three-dimensional and at least partially surrounds the transducer
to shield the same from air pressure disturbances caused by
projectiles passing by but not actually hitting the target
member.
Inventors: |
Knight; Lindsay C. (Albury,
AU) |
Assignee: |
Lomah Electronic Targetry, Inc.
(Boca Raton, FL)
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Family
ID: |
27507343 |
Appl.
No.: |
06/645,032 |
Filed: |
August 27, 1984 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
Issue Date |
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Reissue of: |
110356 |
Jan 8, 1980 |
04349729 |
Sep 14, 1982 |
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Foreign Application Priority Data
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Jan 8, 1979 [GB] |
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7900626 |
Mar 8, 1979 [GB] |
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7908261 |
Apr 4, 1979 [GB] |
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7911721 |
May 14, 1979 [AU] |
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PD8800 |
Jul 24, 1979 [GB] |
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7925668 |
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Current U.S.
Class: |
235/400; 273/372;
367/127; 367/906; 434/1 |
Current CPC
Class: |
F41J
5/06 (20130101); F41J 5/044 (20130101); Y10S
367/906 (20130101) |
Current International
Class: |
F41J
5/00 (20060101); F41J 5/06 (20060101); G06F
015/20 (); F41J 005/12 (); G06F 015/72 () |
Field of
Search: |
;235/400 ;364/423
;367/129,906 ;273/371,372,373 ;434/1,19,23 |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
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7726275 |
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Mar 1978 |
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DE |
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589835 |
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May 1977 |
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CH |
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Primary Examiner: Gruber; Felix D.
Attorney, Agent or Firm: Schwartz, Jeffery, Schwaab, Mack,
Blumenthal & Evans
Claims
I claim:
1. Discriminatory hit detection apparatus for indicating when a
target member has been hit by a projectile fired at said target
member, comprising:
a target member;
transducer means spaced apart from and not physically connected to
said target member for detecting and selectively providing a hit
indication only in response to disturbance of said target member
caused by said projectile hitting or passing through said target
member and
means responsive to said transducer means output for providing said
hit indication only in response to disturbance of said target
member caused by said projectile hitting or passing through said
target member.
2. Apparatus according to claim 1, wherein said transducer means
consists of at least one transducer whose output varies in
amplitude depending upon the magnitude of disturbance of said
target, and said circuit is operative to provide said hit
indication only when said at least one transducer output amplitude
exceeds a predetermined level.
3. Apparatus according to claim 2, wherein said means responsive to
said transducer is a circuit which is further operative to provide
said hit indication only when said at least one transducer output
amplitude includes amplitude peaks which exceed said predetermined
level at a rate exceeding a predetermined rate.
4. Apparatus according to claim 1, wherein said transducer means is
responsive to air pressure disturbances caused by objects hitting
or passing through said target member.
5. Apparatus according to claim 4, wherein said transducer means is
located in front of said target member relative to a point from
which said projectile is fired at said target member, further
comprising means for shielding said transducer means such that said
transducer means is responsive only to air pressure disturbances
which propagate from the region of said target member toward said
transducer means.
6. Apparatus according to claim 5, wherein said transducer means is
located behind a front surface of said target member relative to a
point from which said projectile is fired at said target
member.
7. Apparatus according to claim 6, wherein said target member is
three-dimensional and at least partially surrounds said transducer
means, whereby said transducer means is shielded by said target
member so as to be substantially non-responsive to air pressure
disturbances caused by projectiles passing by but not hitting said
target member.
8. Apparatus according to claim 7, wherein said target member
surrounds said transducer means.
9. Apparatus according to claim 1, wherein said target member is
three-dimensional and at least partially surrounds said transducer
means, said target member comprising at least a portion of a
cylinder.
10. Apparatus according to claims 1, 4-8 or 9, wherein said
projectile travels along a trajectory from a firing point toward
said target member and through a measurement plane, further
comprising:
means, including said transducer means and said means responsive to
said transducer means, for detecting and indicating relative to a
target representation a location in said measurement plane through
which said trajectory passes, thereby providing at least an
approximate indication of where said projectile passes relative to
said target member, whereby a marksman is provided with at least an
approximate indication of where the projectile passes relative to
the target member, as well as a positive indication of whether the
projectile has hit the target member, thereby rendering hits at the
edge of the target member distinguishable from misses near the edge
of the target member.
11. Apparatus of claim 9 wherein said target member surrounds said
transducer means.
12. Apparatus according to claims 6, or 7, or 8, or 9 or 11 wherein
said transducer means comprises a single transducer.
13. Apparatus according to claim 12 wherein said transducer is
positioned proximate to a base of said target.
14. Apparatus according to claim 10, wherein said projectile
travels at a supersonic velocity and said location detecting and
indicating means comprises:
an array of at least three transducers responsive to an airborne
shock wave from the supersonic projectile and located at respective
predetermined portions spaced along a line substantially parallel
to said measurement plane;
means for measuring velocity of the supersonic projectile;
means for measuring velocity of propagation of sound in air in the
vicinity of the array of transducers; and
computing means responsive to said array of transducers, said
projectile velocity measuring means, and said propagation velocity
measuring means, and operative for:
determining the location in said plane through which the trajectory
of the supersonic projectile passes, and
providing an output indicating said determined location relative to
a target representation.
15. Apparatus according to claim 14 wherein said projectile
velocity is measured in the vicinity of said target member, further
comprising means for:
comparing said measured velocity with at least one expected
projectile velocity value to ascertain if said measured velocity is
within an expected projectile velocity range; and
providing an indication of the result of said comparison between
said measured velocity and said at least one expected velocity
value,
whereby a marksman is further provided with an indication of
whether a detected hit on said target has resulted from a free
flight projectile hitting said target member or from a projectile
which has ricocheted prior to hitting said target member.
16. Apparatus according to claim 10 further comprising means
for:
measuring a velocity of the projectile in the vicinity of the
target member;
comparing said measured velocity with at least one expected
projectile velocity value to ascertain if said measured velocity is
within an expected projectile velocity range; and
providing an indication of the result of said comparison between
said measured velocity and said at least one expected velocity
value,
whereby a marksman is further provided with an indication of
whether a detected hit on said target has resulted from a free
flight projectile hitting said target member or from a projectile
which has ricocheted prior to hitting said target member.
17. Apparatus according to claim 16 further comprising means
responsive to said detecting and indicating means for providing a
visual representation of said target member for graphically
displaying said detected location relative to said target member
representation.
18. Apparatus according to claim 17 wherein said graphic display
means-comprises a visual display screen fitted with a graticule
bearing said target representation, said visual display screen
displaying a visible mark relative to said graticule to indicate
said detected location.
19. Apparatus according to claim 18 wherein in said graphic display
means is further responsive to said hit detecting means for
displaying a positive .Iadd.visual indication of whether said
projectile has hit said target member. .Iaddend..Iadd.
20. A discriminatory hit detection apparatus for indicating when a
target member has been hit by a projectile fired at said target
member, comprising:
a target member;
transducer means spaced apart from and not physically connected to
said target member for detecting and selectively providing a hit
indication only in response to said projectile hitting or passing
through said target member; and
means responsive to said transducer means output for providing said
hit indication only in response to said projectile hitting or
passing through said target member. .Iaddend. .Iadd.21. Apparatus
according to claim 20 wherein said transducer means comprises at
least one transducer whose output varies in amplitude depending
upon the magnitude of disturbance of said target, said circuit
being operative to provide said hit indication only when said at
least one transducer output amplitude exceeds a predetermined
level. .Iaddend. .Iadd.22. Apparatus according to claim 20, wherein
said transducer means is responsive to air pressure disturbances
caused by objects hitting or passing through said target member.
.Iaddend. .Iadd.23. Apparatus according to claim 22, wherein said
transducer means is located behind a front surface of said target
member relative to a point from which said projectile is fired at
said target member. .Iaddend. .Iadd.24. Apparatus according to
claim 23, wherein said target member is three-dimensional and at
least partially surrounds said transducer means, whereby said
transducer means is shielded by said target member so as to be
substantially non-responsive to air pressure disturbances caused by
projectiles passing by but not hitting or passing through said
target
member. .Iaddend. .Iadd.25. Apparatus according to claim 24,
wherein said target member surrounds said transducer means.
.Iaddend. .Iadd.26. Apparatus according to claim 20, wherein said
target member is three-dimensional and at least partially surrounds
said transducer means, said target member having a generally
cylindrical form. .Iaddend. .Iadd.27. Apparatus according to claim
20 wherein said projectile travels along a trajectory from a firing
point toward said target member and through a measurement plane,
and further comprising:
means for detecting and indicating, relative to said target member,
a location in said measurement plane through which said trajectory
passes, thereby providing at least an approximate indication of
where said projectile passes relative to said target member,
whereby a marksman is provided with at least an approximate
indication of where the projectile passes relative to said target
member, as well as a positive indication of whether the projectile
has hit the target member, thereby rendering hits at the edge of
the target member distinguishable from misses near the edge of the
target member. .Iaddend. .Iadd.28. Apparatus according to claim 27,
wherein said location detecting and indicating means comprises:
an array of at least three transducers responsive to an airborne
pressure wave from the projectile, said array being located at
predetermined points spaced along a line substantially parallel to
said measurement plane;
means for measuring a velocity of propagation of sound in air in
the vicinity of the array of said array of transducers; and
computing means, responsive to said array of transducers and said
propagation velocity measuring means, and operable for:
determining the location in said plane through which the trajectory
of the projectile passes, and
providing an output indicating said determined location relative to
a
target representation. .Iaddend. .Iadd.29. An apparatus for use in
marksmanship training to provide a hit indication of a projectile
hitting or passing through a target comprising:
an acoustic transducer responsive to vibrations or disturbances
caused by the projectile hitting or passing through the target,
said transducer being positioned behind and not physically
connected to a front surface of the target relative to the
direction of approach of said projectile to the target, and
a circuit means responsive to an output of said acoustic transducer
for providing said hit indication only when a projectile hits or
passes through said target. .Iaddend. .Iadd.30. Apparatus according
to claim 29, wherein said acoustic transducer output varies in
amplitude depending upon the magnitude of said vibrations or
disturbances, said circuit means being operative to provide said
hit indication only when said acoustic transducer output amplitude
exceeds a predetermined level. .Iaddend. .Iadd.31. Apparatus
according to claim 30 wherein said acoustic transducer is
responsive to air pressure disturbances. .Iaddend. .Iadd.32.
Apparatus according to claim 31, wherein said target is
three-dimensional and at least partially surrounds said acoustic
transducer to thereby shield said acoustic transducer from air
pressure disturbances caused by projectiles passing by but not
hitting or passing through said target. .Iaddend. .Iadd.33.
Apparatus according to claim 32, wherein said target substantially
surrounds said acoustic transducer. .Iaddend.
Description
BACKGROUND OF THE INVENTION
1. Field of the Invention
The present invention relates to an apparatus or determining
information concerning the point in which a trajectory of the
supersonic projectile passes through a predetermined measurement
plane.
2. The Prior Art
When a projectile travels through the atmosphere with a supersonic
velocity, a conically-expanding pressure or shock wave is
generated, with the projectile being at the apex of the shock
wave.
It has been proposed to provide apparatus for determining the
position at which the trajectory of the projectile passes through a
plane, employing transducers or the like to detect such a shock
wave generated by a supersonic projectile. One such proposal is
described in U.S. Pat. No. 3,778,059 (Rohrbaugh).
Other target systems are disclosed in Swiss Patent Specification
Ch-PS No. 589,835, granted May 15, 1977, to Walti, and German
Utility Model DE-GM No. 77 26 275 of Walti, laid open Mar. 16,
1978. Other prior art systems are known, as well, but none provides
comprehensive training in proper marksmanship. The prior art target
arrangements provide only partial information to the marksman about
the progress of his shooting. For example, the aforementioned prior
art references provide systems which determine a location at which
a projectile fired at a target passes relative to the target. U.S.
Pat. No. 3,233,904 offers an automatic target apparatus having an
impulse switch for detecting projectile hits on a target and
initiating operation of a target mechanism which drops the target
from a fully raised to a fully lowered position.
SUMMARY OF THE INVENTION
The present invention provides a considerably more versatile and
sophisticated system for training in marksmanship than has
heretofore been proposed. In order to more effectively instruct
trainees in marksmanship training, it is advantageous to provide
positive and negative reinforcement of shooting techniques
immediately after each shot is fired. Such reinforcement may take a
number of forms, but preferably comprises a plurality of
indications concerning each shot fired. For example, it is
desirable to provide the marksman with an at least approximate
indication of where a projectile fired at a target has passed
relative to the target and/or a positive indication of whether the
projectile has actually hit the target and/or whether the
projectile has ricocheted prior to reaching the zone of the target.
It is also advantageous to provide, in combination with one of the
foregoing indications, information concerning whether the marksman
is correctly gripping the weapon being fired. The marksmanship
training system is particularly effective for beginning marksmen
who may not be holding the weapon correctly and who may now even be
shooting sufficiently near the target to score a "hit." Such a
marksman is thus apprised of the manner in which he should change
his technique to improve his shooting. The system is, however, also
effective for more advanced shooters, who may wish to not only have
an indication that the target has been hit by a projectile, but
whether the projectile has struck a particular region of the
target.
A first form of the invention relates to an apparatus for use in
marksmanship training in which a projectile travels along a
trajectory from a firing point toward a target member and through a
measurement plane. The apparatus detects and indicates relative to
a target representation a location in the measurement plane through
which the trajectory passes, thereby providing at least an
approximate indication of where the projectile passes relative to
the target member. The present invention further detects and
provides a positive indication of a projectile "hit" on the target
member. In this way, a marksman is provided with at least an
approximate indication of where the projectile passes as well as a
positive indication of whether the projectile has hit the target,
the indications making it a simple matter for the marksman to
distinguish hits at the edge of the target from misses near the
edge of the target.
A further form of the invention provides the marksman with at least
an approximate indication of where the projectile passes relative
to the target member, a positive indication of a projectile hit on
the target member, and an indication of whether a detected hit on
the target has resulted from a free flight (i.e., non-ricocheting)
projectile hitting the target or from a projectile which has
ricocheted prior to hitting the target. Such a system, particularly
for beginning trainees who may not even realize that shots are
being fired slightly below the target and ricocheting up into the
region of the target. Absent some means of determining positively
whether the projectile has ricocheted, a "ricochet hit" on the
target may be indicated as simply a "hit" on the target, providing
the marksman erroneously with positive reinforcement of incorrect
shooting technique.
According to one particularly advantageous form of the invention,
the apparatus for detecting a hit on the target comprises a device,
such as a transducer, spaced apart from and not physically
connected to the target member for detecting and selectively
providing a hit indication only in response to disturbance of the
target member caused by a projectile hitting the target member.
This particulaar apparatus for hit detection is intended to
overcome problems with some prior art systems in which stones
kicked up by bullets ricocheting off the ground in front of the
target sometimes erroneously provide a "hit" indication, such as
when kicked-up stones hit the target but the ricocheting projectile
does not. When used with supersonic projectiles, it is intended
that this hit detection arrangement comprise a transducer located
in front of the target relative to the flight path of the
projectile and shielded in such a manner as to detect air pressure
disturbances caused by the projectile hitting or passing through
the target, but not disturbances caused by the airborne shock wave
of the supersonic projectile. Alternatively the transducer is
located behind a 3-dimensional target and at least partially
shielded from the airborne shock wave of a supersonic projectile by
the target member itself.
One particularly advantageous arrangement is the combination of the
hit detection device and a means for indicating the location in a
measurement plane through which the trajectory of a supersonic
projectile passes is also provided. The arrangement includes an
array of at least three transducers responsive to an airborne shock
wave from the supersonic projectile and located at respective
predetermined positions spaced along a line substantially parallel
to the measurement plane. Apparatus is provided for measuring
velocity of the supersonic projectile and for measuring velocity of
propagation of sound in air in the vicinity of the array of
transducers. Computing apparatus is responsive to the transducer
array and the projectile velocity and propagation velocity
measuring apparatus, and determines the location in the plane
through which the trajectory of the supersonic projectile passes,
and provides an output indicating the determined location.
Also contemplated within the scope of the invention is the hit
detector combined with some form of graphic display for providing
the desired positive and negative reinforcement to each marksman
for each shot fired. For example, a visual display screen may be
provided with a representation of the target fired upon, relative
to which is displayed an indication of where the projectile has
passed by or struck the target. Since it may at times be difficult
to distinguish between hits at the edge of the target and near
misses at the edge of the target, it is desired to provide
supplemental positive indication of whether a hit has been
detected. It is also contemplated to provide an indication of the
region of a target which has been hit, as well as to provide a
positive indication of whether the projectile has ricocheted.
Useful for competitive shooting situations is a graphic display of
the marksman's score for each shot fired and total score for a
grouping of shots fired.
It will be seen from the description which follows with reference
to the drawing figures and computer program appendices that the
present invention provides a comprehensive marksmanship training
system which is both versatile and sophisticated, and which
provides a level of training that has heretofore been unknown in
the field.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 shows in perspective view a marksmanship training range
employing concepts of the present invention;
FIG. 2 shows in perspective view a target mechanism equipped with a
target member, a hit sensor, and transducers for detecting an
airborne shock wave;
FIG. 3 shows a coordinate system relating the positions of shock
wave-sensing transducers;
FIG. 4 shows a schematic block diagram of an overall system in
accordance with the invention;
FIG. 5 shows an isolator module circuit for block 66 of FIG. 4;
FIG. 6 shows a circuit arrangement for one of amplifiers 54-60 of
FIG. 4;
FIG. 7 shows in block schematic form one channel of comparator 62
of FIG. 4;
FIG. 8 shows in detailed circuit form two channels of comparator 62
of FIG. 4;
FIGS. 9A-9H show in detail one possible form of timer interface 64
of FIG. 4;
FIGS. 10A and 10B show a suitable circuit arrangement for the air
temperature sensing unit 78 of FIG. 4;
FIG. 10C shows a timing diagram for the circuits of FIGS. 10A and
10B;
FIG. 10D shows a preferred mounting arrangement for the temperature
sensor of FIG. 10B;
FIG. 11 shows airborne shock waves impinging on a piezoelectric
disc transducer;
FIG. 12 shows an output waveform of the transducer of FIG. 11;
FIGS. 13 and 14 show one possible form of construction for airborne
shock wave-sensing transducers;
FIG. 15 shows an acoustically decoupled mounting for the airborne
shock wave sensing transducers;
FIGS. 16A and 16B are flow charts for computer subroutine
CALL(3);
FIGS. 17A-17C show flow charts for computer subroutine CALL(4);
FIGS. 18-20 show alternate transducer arrangements in plan
view;
FIG. 21 shows apparatus for generating a light curtain and
detecting the passage of a projectile therethrough;
FIG. 22 shows an arrangement employing two such construction as
shown in FIG. 21, in combination with an array of transducers for
detecting an airborne shock wave;
FIG. 23 shows a plane through the trajectory of a projectile;
FIG. 24 shows an x, y measurement plane in which transducers are
located;
FIGS. 25 and 26 show an arrangement for sensing impact of a
projectile on a target member;
FIGS. 27 and 28 show an alternative arrangement for detecting a
projectile hit on a target member;
FIGS. 29A and 29B show typical transducer output signals for "hits"
and "misses" of a projectile passing relative to the target member,
respectively;
FIG. 30 shows a target member construction for detecting passage of
a projectile therethrough;
FIG. 31 shows an alternative arrangement for determining projectile
velocity; and
FIG. 32 shows a graticule overlay used on the visual display screen
of FIG. 4.
The present specification relates to co-pending U.S. patent
applications Ser. Nos. 110,481, 110,471, 110,498 and 110,492 all
filed Jan. 8, 1980, claiming priority from the same foreign
references as the present specification.
DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS
FIG. 1 shows in perspective view a marksmanship training range
employing concepts of the present invention. The range has a
plurality of firing points 10 from which trainee marksman 12 shoot
at targets 14. Located in front of the targets 14 is, for example,
an earthen embankment which does not obstruct the marksman's view
of targets 14 from the firing points, but which permits the
positioning of transducer arrays 18 just below the lower edge of
the target and out of the line of fire. The transducer arrays will
be described in more detail below, but it will be understood that
they may be connected by suitable cables to a computer 22 situated
in a control room 24 located behind the firing points, as shown, or
may alternatively be connected to a data processor or computer (not
shown) located near the transducer array, which is in turn coupled
to the visual display units. As will be explained below, each
transducer array detects the shock wave generated by a supersonic
projectile, such as a bullet, fired at the respective target, and
the computer 22 is operative to determine the location in a
measurement plane in front of the target through which the bullet
trajectory passes. Means (not shown in FIG. 1) are provided at each
target for detecting when the target has been "hit" by a
projectile. Computer 22 is coupled to suitable visual display unit
26, 28, 30, located respectively in the control room 24, at each
firing point 10, and at one or more other locations 30. Provided on
the visual display units may be, for example, an approximate
indication, relative to a target representation, of where the
projectile has passed through the measurement plane, and an
indication of whether the target has been "hit" by the projectile.
Spectators 32 may observe the progress of shooting of one or more
of the marksmen on visual display unit 30. The computer may be
coupled with a suitable printer or paper punching device 34 to
generate a permanent record of the bullet trajectory location
determined by the computer.
Although the targets 14 shown in FIG. 1 have marked thereon
representations of the conventional bull's-eye type target, the
target may be of any suitable configuration, such as a rigid or
semi-rigid target member 35 as shown in FIG. 2 on which may be
provided the outline of a soldier or the like. Means are provided
for detecting when a projectile fired at the target member has
"hit" the target member, and the target member may be mounted on a
target mechanism 36 which is operative to lower the target out of
sight of the trainee when a "hit" is detected. The "hit" detecting
means may be an inertia switch 38 as shown in FIG. 2, or any other
suitable apparatus. Alternative "hit" detecting arrangements will
be described below. The automated target mechanism may be of the
type described in U.S. Pat. No. 3,233,904 to GILLIAM et al. (the
content of which is incorporated herein by reference). Target
mechanisms of this type are available commercially from
Australasian Training Aids Pty. Ltd., Albury, N.S.W. 2640,
Australia, Catalog No. 106535. Inertia switches are commercially
available from Australasian Training Aids Pty. Ltd., Catalog No.
101805.
In the arrangement of FIG. 2, transducers S1-S4 are mounted on a
rigid support member 40, which is in turn mounted on the target
mechanism 36. Although the transducer arrays 18 may be supported
separately from the target mechanism beneath targets 14 (as in FIG.
1), affixing the transducer arrary to the target mechanism as in
FIG. 2 assure correct alignment of the measurement plane relative
to target member 35. Transducers S1-S4 (FIG. 2) preferably each
comprise a disk-shaped piezoelectric element of 5 mm diameter
mounted to a hemispherical aluminum dome, the hemispherical surface
of the dome being exposed for receiving the shock wave from the
bullet. The airborne shock wave generated by the bullet is
represented by the series of expanding rings 42, the bullet
trajectory by a line 44, and the acoustic vibrations induced in the
target member 35 on impact of the bullet by arc segments 46.
FIG. 3 shows a three-dimensional coordinate system in which the
positions of the four transducers S1-S4 are related to a reference
point (0, 0, 0). The transducer array illustrated is similar to
that shown in FIG. 2, with a row of three transducers S1, S3, S4
situated at spaced locations along the X axis and with a fourth
transducer S2 situated at a spaced location behind transducer S1
along the Z-axis. A portion of target member 35 is also shown for
reference purposes, as is an arrow 44 representing the bullet
trajectory. The distance along the X-axis from transducer S1 to
transducers S3 and S4, respectively, is represented by distance d.
The distance along the Z-axis between transducers S1 and S2 is
represented by d'.
The X-Y plane intersecting the origin of the Z axis of the
coordinate system shown in FIG. 3 is considered to be the
measurement plane in which the location of the trajectory is to be
determined.
Transducers S1-S4 provide output signals in response to detection
of the shock wave of the bullet, from which the location in the
measurement plane through which the projectile trajectory passes
can be determined. A mathematical anaylsis is provided below for a
relatively simple case in which it is assumed that:
(1) The transducer array is as shown in FIG. 3;
(2) The measurement plane has its X-axis parallel to the straight
line joining transducers S1, S3, S4;
(3) The projectile trajectory is normal to the measurement
plane;
(4) The projectile travels with constant velocity;
(5) Air through which the shock wave propagates to strike the
transducers is
(a) of uniform and isotropic shock wave propagation velocity,
and
(b) has no velocity (i.e., wind) relative to the transducer array;
and
(6) The shock wave propagation velocity and projectile velocity are
separately measured or otherwise known or assumed.
It is noted that small departures from the above-stated conditions
have in practice been found acceptable, since the resulting error
in calculated location in the measurement plane through which the
projectile passes is tolerably small for most applications.
The respective times of arrival of the shock wave at transducers
S1, S2, S3, S4 are defined as T1, T2, T3, and T4. All times of
arrival are measured with respect to an arbitrary time origin.
V.sub.s is defined as the propagation velocity of the shock wave
front in air in a direction normal to the wave front, while V.sub.B
is defined as the velocity of the supersonic projectile along its
trajectory.
The velocity V.sub.B of the bullet in a direction normal to the
measurement plane can be determined from the times of arrival
T.sub.1, T.sub.2 of the shock wave at transducers S1 and S2 and
from the distance d' between transducers S1 and S2;
Then the propagation velocity of the shock wave front in a
direction normal to the projectile velocity may be defined as:
##EQU1##
The differences between the times of arrival of the shock wave may
be defined as:
The X-axis coordinate of the intersection point of the projectile
trajectory with the measurement plane is: ##EQU2##
The distance in the measurement plane from sensor S1 to the point
of intersection of the projectile trajectory with the measurement
plane is: ##EQU3##
The Y-axis coordinate of the intersection point of the bullet
trajectory with the measurement plane is:
It is possible to construct a mathematical solution for the
above-described transducer system which incorporates such effects
as:
(1) Wind;
(2) Non-equally spaced transducers along the X-axis;
(3) Non-colinear arrays;
(4) Decelerating projectiles; and
(5) Non-normal trajectories.
However, most of these corrections require more complex arithmetic,
and in general can only be solved by iterative techniques.
It can be seen that the transducer arrangements shown in FIGS. 1-3
form, when viewed in plan, a "T" configuration with at least three
transducers on the crossbar of the "T" and one transducer at the
base of the "T." The stem of the "T" is substantially aligned with
the expected bullet trajectory. The error created if the stem of
the "T" is not precisely aligned with the anticipated projectile
trajectory is relatively minor and thus the alignment of the "T"
can be considered substantially insensitive to error. However, the
stem of the "T" (that is, the Z-axis of FIG. 3) is aligned parallel
to the expected projectile trajectory, the effect is to cancel
substantially any shock wave-arrival-angle dependent time delays in
the transducer outputs.
Referring now to FIG. 4, a plan view of the transducers S1-S4 in a
"T" configuration is illustrated schematically. Each transducer is
coupled by an appropriate shielded cable to a respective one of
amplifiers 54-60. The outputs of amplifiers 54-60 are provided
through coupling capacitors to respective inputs of a multi-channel
comparator unit 62, each channel of which provides an output when
the input signal of that channel exceeds a predetermined threshold
level. Thus, a pulse is provided at the output of each of channels
1, 2, 3, and 6 of comparator unit 62 at respective times indicating
the instants of reception of the shock wave at each of the
transducers S1-S4. In the presently-described form of the
invention, channel 4 of the six-channel comparator unit is unused.
The outputs of channel 1-3 and 6 of comparator unit 62 are provided
to inputs of a timer interface unit 64. Timer interface unit 64
serves a number of functions, including conversion of pulses from
comparator unit 62 into digital values representing respective
times of shock wave detection which are conveyed via a cable 68 to
a minicomputer 70.
The output of channel 1 of comparator unit 62 is coupled to the
inputs of channels 0 and 1 of timer interface unit 64, the output
of channel 2 of the comparator unit is coupled to the input of
channel 2 of the timer interface unit, the output of channel 3 of
the comparator unit is coupled to the inputs of channels 3 and 4 of
the timer interface unit, and the output of channel 6 of the
comparator unit is coupled to the input of channel 6 of the timer
interface unit. The channel 5 input of the timer interface unit is
coupled via comparator unit channel 5 to an air temperature sensing
unit 78 which has a temperature-sensitive device 80 for measuring
the ambient air temperature. The output of amplifier 54 is also
provided to air temperature sensing unit 78, for purposes described
below with reference to FIGS. 10A-10D.
FIG. 4 also shows schematically the target mechanism 36 and the
inertia switch 38 of FIG. 2, which are interconnected as shown for
the units available from Australasian Training Aids Pty., Ltd.
Coupled to terminals A, B, C of the target mechanism/ inertia
switch interconnection is an isolator module 66 which provides a
pulse similar in form to the output pulses of comparator unit 62
when inertia switch 38 is actuated by impact of a projectile on the
rigid target member 35 of FIG. 2. The output of isolator module 66
is supplied to two remaining inputs of timer interface unit 64,
indicated in FIG. 4 as channels 7 and "S.S."
Minicomputer 70 of FIG. 4 may be of type LSI2/20G, available from
Computer Automation Inc. of Irvine, California, Part No. 10560-16.
The basic LSI2/20G unit is preferably equipped with an additional
memory board available from Computer Automation, Part No. 11673-16,
which expands the computer memory to allow for a larger "BASIC"
program. Minicomputer 70 is preferably also equipped with a dual
floppy disk drive available from Computer Automation, Part No.
22566-22, and a floppy disk controller available from Computer
Automation, Part No. 14696-01. Minicomputer 70 is coupled to a
terminal 72 having a visual display screen and a keyboard, such as
model "CONSUL520" available from Applied Digital Data Systems Inc.
of 100 Marcus Boulevard, Hauppauge, New York 11787, U.S.A. The
CONSUL 520 terminal is plug-compatible with the LSI-2 minicomputer.
Other peripheral units which are not necessary for operation of the
system in accordance with the invention, but which may employed to
provide greater flexibility in marksmanship training, include a
line printer 72' for generating permanent output records, and a
graphics generator/visual display unit combination 72" which
permits the coordinates of the intersection point of the projectile
trajectory with the measurement plane to be displayed relative to a
representation of the target, as well as an indication of whether
the target has been "hit" and a tally of the marksman's "score."
Graphics generator/visual display unit 72" may be, for example,
Model MRD "450", available from Applied Digital Data Systems, Inc.,
which is plug-compatible with the LSI-2 minicomputer.
Also shown in FIG. 4 is a thermometer 76, which preferably a
remote-reading digital thermometer such as the Pye-Ether series 60
digital panel meter Ser. No. 60-4561-CM, available from Pyrimetric
Service and Supplies, 242-248 Lennox St. Richmond, Victoria 3221,
Australia, equipped with an outdoor air temperature sensor assembly
(Refrence Job. No. Z9846). The remote-reading digital thermometer
may have its sensor (not shown) placed in the region of the
transducer array and, if the system is not equipped with the air
temperature sensing unit 78 shown in FIG. 4, the operator of
terminal 72 may read the remote-reading digital thermometer 76, and
input a value for the air temperature. An approximate value for the
speed of the shock-wave front propagation in ambient air can be
readily calculated from the air temperature using a known formula
as described below.
FIG. 5 shows a circuit diagram of the intertia switch isolator
module 66 of FIG. 4, having inputs A, B, C coupled as in FIG. 4 to
the commercially-available inertia switch. The isolator module
provides DC isolation for the inertia switch output signal and
presents the signal to timer interface unit 64 of FIG. 4 is a
format comparable to the output signals from comparator unit
62.
Suitable components for isolator module 66 are:
______________________________________ 82,84 1N914 86 47 .mu.F 88
BC177 90 10K.OMEGA. 92 820.OMEGA. 94 5082-4360 96 470.OMEGA. 98
6.8K.OMEGA. 100 10 .mu. F 102 74LS 221N Monostable Multi- vibrator
with Schmitt-trigger inputs 104 DS8830N Differential line driver
106 0.22 .mu.F 108 47.OMEGA.
______________________________________
FIG. 6 shows a suitable circuit arrangement for one of the
amplifiers 54-60 of FIG. 5. Terminals 210 and 212 are connected to
the leads of a respective one of transducers S1-S4 by a coaxial
cable, and the transducer output signal proceeds through an input
stage 214 and an output stage 216 to output terminals 218, 220. The
grounds indicated are local circuit grounds isolated from amplifier
case 222. A screen 224 is preferably provided between input and
output stages, and is not in electrical contact with case 222.
Suitable component values are:
______________________________________ 230 15 pF 232 1 .mu.F 234
39K.OMEGA. 236 47K.OMEGA. 238 0.01 240 10 242 .mu.A733C Integrated
Circuit 244 0.047 246 20.OMEGA. Variable 248 10 .mu.F 250 1K.OMEGA.
252 LH0061C Integrated Circuit 254 18K.OMEGA. 256 2.2 pF 258 1000
pF 260 51.OMEGA. ______________________________________
FIG. 7 shows a block diagram of one channel of comparator unit 62.
The output signal from one of amplifiers 54-60 (FIG. 6) is provided
through a high pass filter 110 to one input of a differential
amplifier 112 which serves as a threshold detector. The remaining
input of differential amplifier 112 is provided with a preset
threshold voltage of up to, for example, 500 millivolts. The output
of threshold detector 112 is supplied to a lamp driver circuit 114,
to one input of a NAND gate 116 and to the trigger input of a
monostable multivibrator 118 which provides an output pulse of
approximately 50 millisecond duration. A shaped output pulse is
therefore provided from NAND gate 116 in response to detection of
the airborne shock wave by one of transducers S1-S4. Lamp driver
circuit 114 may optionally be provided for driving a lamp which
indicates that the associated transducer has detected a shock wave
and produced an output signal which, when amplified and supplied to
threshold detector 112, exceeds the preset threshold value.
FIG. 8 shows two channels of comparator units 62. When a
positive-going signal is received on the channel 1 input of FIG. 8,
it drives the output of differential amplifier 160 from a quiescent
high level to a low level, thereby supplying a "timing edge" to the
trigger input (pin 9) of a monostable multivibrator comprising one
half of integrated circuit chip 166, and to AND gate inputs (pins
10, 11) of integrated circuit chip 172. The output of monostable
multivibrator of integrated circuit chip 166 (pin 12) comprises a
negative-going pulse of predetermined duration which is provided to
further inputs (pins 12, 13) of the channel 1 AND gate of
integrated circuit chip 172. The output of the channel 1 AND gate
of integrated circuit 172 comprises a negative-going pulse having a
very fast transition-time leading edge.
Suitable components for the two-channels of comparator unit 62
shown in FIG. 8 are;
______________________________________ 144 0.1 .mu.F 146 10 .mu.F
148 2K.OMEGA. 150 10 .mu.F 152 2.2K.OMEGA. 154 100.OMEGA. Variable
156 1K.OMEGA. 158 1 .mu.F 160,161 LM1514 Differential Amplifier 162
6.8K.OMEGA. 164 10 .mu.F 166 74LS 221N Dual Monostable
Multivibrator 168 10 .mu.F 170 6.8K.OMEGA. 172 DS 8830N Dual
Differential Line Driver 174,176 47.OMEGA. 178 0.1 .mu.F 180 10
.mu.F 182 2K.OMEGA. 184 10 .mu.F 186 2.2K.OMEGA. 188 100.OMEGA.
Variable 190 1K.OMEGA. 192 1 .mu.F
______________________________________
The logic output signals of comparator unit 62 cause counters in
timer interface unit 64 to count numbers of precision
crystal-controlled clock pulses corresponding to the differences in
times of arrival of the logic-output signals, which in turn
correspond to the times of arrival of the shock waves at the
transducers. Once this counting process is complete and all
channels of the timer interface unit have received signals, the
counter data is transferred on command into the computer main
memory. Following executive of a suitable program (described
below), the resulting projectile trajectory data is displayed on
the visual display unit 72 and/or units 72', 72" of FIG. 4.
FIGS. 9A-9H show in detail one possible form of a timer interface
unit 64, which converts time differences between the fast logic
edge pulses initiated by the transducers into binary numbers
suitable for processing by minicomputer 70. FIG. 9A shows the input
and counting circuit portions of inner interface unit, which accept
timing edges from respective comparator unit channels and generate
time difference counts in respective counters. The timer interface
unit has eight channel inputs labeled Ch0-Ch7 and one input labeled
"S.S.", receiving signals as follows:
______________________________________ Timer Interface Input
Channel No. Receives Signals initiating from
______________________________________ 0 Transducer S1 1 Transducer
S1 2 Transducer S2 3 Transducer S3 4 Transducer S3 5 Air
Temperature Sensing Unit 78, if equipped; otherwise Transducer S4 6
Transducer S4 7 Inertia Switch Isolator Module 66 S.S. Inertia
Switch Isolator Module 66
______________________________________
The input signals to each of timer interface inputs Ch0-Ch7
comprise logic signals which are first buffered and then supplied
to the clock input CK of respective latches FF0-FF7. The latch
outputs LCH0+ through LCH7+ are provided, as shown, to exclusive OR
gates EOR1-EOR7, which in turn provide counter enabling signals
ENA1- through ENA7-. Latches FF0-FF9 are cleared upon receipt of
clear signal CLR. The input and counting circuits also include a
respectively up/down counter for each of eight channels (indicated
for channel 1 as "UP/DOWN COUNTER 1"). Each up/down counter
comprises, for example, four series-connected integrated circuits
of type 74191. Each of up/down counters 1-8 thus has 16 binary
outputs, each output coupled to a respective one of terminals TBO0-
through TB15- via a controllable gate circuit (indicated for
channel 1 as "GATES 1") on receipt of a command signal (indicated
for channel 1 as "IN0-"). Up/down counter 1 is connected to receive
latch signal LCH1+, enable signal ENA1- a clock signal CLK, and a
clear signal CLR, and to provide a ripple carry output signal RC1-
when an overflow occurs. Up/down counters 2-8 each receive a
respective one of enable signals ENA2- through ENA8-. Counter 2
receives its clear signal CLB from counter 1; counters 3 and 5
receive clear signal CLR and provide clear signals CLB to counters
4 and 6, respectively; counter 7 receives clear signal CLR; and
counter 8 receives clear signal SEL2-. The up/down inputs of
counters 2-7 receive latch signals LCH2+ through LCH7+,
respectively, while the up/down input of counter 8 is permanently
connected to a +5 volt source. Counters 2-8 each receive a clock
signal CLK, while each of counters 2-7 provide a ripple carry
signal (RC2- through RC7-, respectively) when the respective
counter overflows. Gates 2-8 are coupled to receive respective
command signals IN1- through IN7- for passing the counter contents
to terminals TBO0- through TB15-. FIG. 9A also shows a gate NAND 1
which receives the latch outputs LCH0+ through LCH7+ and provides
an output signal SEN7+, the purpose of which is explained
below.
FIG. 9B shows a circuit for providing clock signal CLK for up/down
counters 1-8. The clock frequency is, for example, about 5 MHz for
the following components:
______________________________________ 300 10MHz Crystal 302 82F
304 390.OMEGA. 306 74191 IC Counter 308 2.2 K.OMEGA. 310 7414
Buffer 312 7404 Buffer 314 7440 Exclusive OR gate
______________________________________
FIG. 9C shows a circuit for providing clear signal CLR, which
resets input latches FF0-FF7 and up/down counters 1-7. When one of
ripple carry outputs RC1- through RC7- of up/down counters 1-7 goes
to a logic low level, indicating that a counter has overflowed, or
when a reset signal SEL4- is provided from one computer, gate NAND
2 triggers a monostable element which then provides clear signal
CLR in the form of a logic pulse to clear up/down counters 1-7 and
input latches FF0-FF7 of FIG. 9A.
The components of FIG. 9C are, for example
______________________________________ 320 2.2K.OMEGA. 322
10K.OMEGA. 324 47 .mu.F 326 7414 Buffer 328 74121 Monostable
______________________________________
Up/down counters 1-7 are reset by signal SEL4- from the computer
before each shot is fired by a trainee marksman. When a shot is
fired, each counter will count down or up depending on whether its
associated channel triggers before and after a reference channel,
which in this case is input channel Ch0.
FIG. 9D shows the input circuitry for input "S.S" of the timer
surface interface. Latch FF8 is coupled to receive reset signal
SEL4- and preset signal SEL1- from the interface controller of
FIGS. 9F and 9G in response to computer commands. Timer interface
input "S.S." receives "hit" indication signal VEL- from the inertia
switch isolator module 66, and provides a counter enable signal
ENA8- for up/down counter 8.
The computer communicates with the timer interface unit by placing
a "device address" on lines ABO3-ABO7 (FIG. 9E) and a "function
code" on lines ABO0-AB02 (FIG. 9G). If the computer is outputting
data to the timer interface, signal OUT is produced; if the
computer is inputting data, signal IN is produced.
FIG. 9E shows exclusive OR gates EOR11-EOR15 which decode the
"device address." A "device address" can also be selected manually
by means of switches SW1-SW5, The address signal AD- from gate
NAND3 is then further gated as indicated with computer-initiated
signals IN, OUT, EXEC, and PLSE, to prevent the timer interface
from responding to memory addresses which also appear on the
address bus.
FIG. 9G shows a latch 2A which holds the function code of lines
ABO0-ABO2 when either the IN or OUT signal is produced. The
input/output function signals from latch 2A are labeled IOF0
through IOF2.
If the computer executes an IN instruction to receive data from the
timer interface, the combination of IOF0 through IOF2 and ADIN-
(FIG. 9E) produce one of signals IN0- through IN7- at BCD/decimal
decoder 5A of FIG. 9F. Each of signals IN0- through IN7- enables
data from one of up/down counters 1-8 to be placed on data bus
terminals TBO0- through TB15-.
If the computer is executing a "select" instruction for the timer
interface, the combination of signals IOF0- IOF2 and ADEXP- (FIG.
9E) produce one of select signals SEL0- through SEL7- at
BCD/decimal decoder 5B of FIG. 9F. The select signal functions
employed in the presently-described invention are:
SEL1- enables triggering of latch FF9 (FIG. 9D)
SEL2- resets up/down counter 8 (FIG. 9A)
SEL4- resets latch FF8 (FIG. 9D) and triggers monostable element
328 via NAND2 (FIG. 9C)
If the computer is executing a sense instruction from the timer
interface, the combination of signals IOF0-IOF2 (FIG. 9G) and AD-
(FIG. 9E) allow one of sense signals SEN0+ through SEN7+ to be
placed on the SER-line (FIG. 9G). This allows the computer to
examine the state of one of these sense signals. The only sense
signal employed in the presently-described embodiment is SEN7+,
which indicates that the timer interface has a complete set of time
data for a single shot fired at the target as explained more fully
below.
FIG. 9H shows buffer connections between the timer interface
subsections of FIG. 9A-9G and the mini-computer buses.
The theory of operation of timer interface unit 64 is as follows.
Channel Ch0 is the reference channel. Each channel triggering will
clock a respective one of latches FF0-FF7, producing a respective
one of signals LCH0+ through LCH7+. Signals LCH1+ through LCH7+
each control the up/down line of one of counters 1-7 and are also
provided to OR gates EOR1 through EOR7 to produce a respective
counter enabling signal ENA1- through ENA7-.
Exclusive OR gates EOR1 through EOR7 each achieve two functions.
First, the counters of any channel that triggers before reference
channel Ch0 will be enabled until reference channel Ch0 triggers.
This has the effect of causing the counters to count down because
the associated LCH+ input line is high. Second, the counters of any
channels that have not triggered by the time reference channel Ch0
triggers are all enabled by the reference channel until each
individual channel triggers. This has the effect of causing the
counters to count up, since the associated LCH+ lines are low while
the counters are enabled.
Initially, the computer resets up/down counter 8 with signal SEL2-
and then causes a general reset with signal SEL4-. Signal SEL4-
causes gate NAND2 (FIG. 9C) to trigger monostable element 328,
producing clear signal CLR, which resets latches FF0-FF7 and
up/down counters 1-7 (FIG. 9A). Reset signal SEL4- also clears
latch FF8 (FIG. 9D). Latch FF9 (FIG. 9D) is preset by the computer
with signal SEL 1-, which puts set steering onto FF9. Latch FF9 is
thus clocked set when a signal VEL- is received at the "S.S." input
from inertia switch isolator module 66, indicating that the target
has been "hit".
Thus, prior to a shot being fired, counters 1-8 are reset, input
latches FF0-FF7 are reset, and latch FF9 is "armed". All resets
occur when the computer executes controller BASIC statement CALL
(3), described further below.
At this stage, none of channels Ch0 through Ch7 or the "S.S."
channel 8 has been triggered. Since channel Ch0 has not yet
triggered, signal LCH0+ is low. The remaining input of gate EOR0 is
permanently high, so the output of gate EOR0 is high. Since signals
LCH1+ through LCH7+ are all low, signals ENA1- through ENA7- are
all high, disabling all of up/down counters 1-7. Signal ENA8- is
also high, disabling up/down counter 8.
Assume now that a shot is fired to the left of the target, missing
the target, and to the left of the transducer array shown in FIG.
4. Channel 3 of FIG. 9A triggers first, so that signal LCH3+ goes
high, causing signal ENA3- to go low and therby causing up/down
counter 3 to begin counting down. Reference channel Ch0 and channel
Ch1 then trigger simultaneously. Signal LCH0+ goes high, so the
output of gate EOR0 goes low. This makes signal ENA3- go high,
while signals ENA2- and ENA4- through ENA7- go low. Signals ENA1-
and ENA8- remain high. Counter 3 will thus stop counting, counter 1
remains disabled and has no count, and counters 2, and 5-7 will
start counting up.
As each successive channel triggers, its respective LCH+ signal
will go high, removing the associated ENA- signal and stopping the
associated counter. When all LCH+ signals are high (indicating that
all counters have been disabled), signal SEN7+ at the output of
gate NAND1 in FIG. 9A goes from high to low. The computer monitors
signal SEN7+ to wait for all timing edge counts to be
completed.
When the computer senses signal SEN7+, indicating that a complete
set of counts is present in counters 1 through 7, it generates
address signals, ABO0-ABO7 and the IN signal which cause
BCD-to-decimal decoder 5A (FIG. 9F) to issue signals IN1- through
IN7- in sequence so that the computer will sequentially "read" the
state of each counter (on output lines TBO0- through TB15-) via the
buffers of FIG. 9H.
The computer has thus received counts representing times as
follows:
T1 zero count from counter 1 (transducer S1)
T2 positive count from counter 2 (transducer S2)
T3 negative count from counter 3 (transducer S3)
T4 negative count from counter 4 (transducer S3)
T5 positive count from counter 5 (air temperature sensing module as
explained below with reference to FIG. 10, or, if none, the output
of channel 6 amplifier 60 goes to input channel Ch5 of the timer
interface unit and the output of transducer S4 triggers counter
5)
T6 positive count from counter 6 (transducer S4)
T7 positive count from counter 7 (inertia switch)
A2 zero count from counter 8 (inertia switch)
The zero count in A2 indicates that the inertia switch was not
operated, thus showing that the shot fired has missed the target.
Had the bullet struck the target, a non-zero count would be
recorded in A2 because signal ENA8- would have gone low upon
receipt of signal VEL- (FIG. 9D).
The computer is programmed to operate on the received "time"
signals T1 through T7 and A2 in a manner which will be described
below, such that the coordinates of the bullet trajectory in the
X-Y measurement plane of FIG. 3 are determined.
If any channel of the timer interface unit triggers spuriously
(i.e. the inertia switch may be triggered by a stone shower, one of
the transducers may detect noise from other target lanes or other
sources, etc.), the associated counter will continue counting until
it overflows, causing a ripple carry signal (RC1- through RC7-).
All of the ripple carry signals are supplied to gate NAND2 (FIG.
9C), which fires the associated monostable element 328, causing
generation of clear signal CLR which resets latches FF0-FF7 and
up/down counters 1-7.
The address, data, and timing buses in the LSI-2/20G minicomputer
are entitled "Maxibus" by the manufacturer. Definitions of the
Maxibus signals indicated at the right-hand side of FIG. 9H may be
found in chapter 8 of the "LSI-2 Series Minicomputer Handbook,"
Part. No. 20400-0080, Apr. 1976, published by Computer Automation,
Inc. All signals to and from the Maxibus and buffered between the
microcomputer and timer interface unit 54, by the buffering
circuits shown in FIG. 9H. Signals DB00-, DB01, and DB02- are
bidirectional on the Maxibus and are converted to two
unidirectional signals each in the buffering circuits of FIG. 9H.
Signals "OUT" and "IN" both refer to the minicomputer.
The Maxibus signal destinations are related as follows to the
Maxibus pin numbers:
______________________________________ MAXIBUS SIGNAL MAXIBUS PIN
NUMBER ______________________________________ O volt 1 O volt 2 +5
volts 13 +5 volts 14 DBO0- 39 DBO1- 40 DBO2- 41 DBO3- 42 DBO4- 45
DBO5- 46 DBO6- 47 DBO7- 48 DBO8- 49 DBO9- 50 DB10- 51 DB11- 52
DB12- 53 DB13- 54 DB14- 55 DB15- 56 EXEC- 57 IN- 58 IOCL 61 OUT- 62
CLK 63 SER- 64 IUR- 65 IAR- 67 RST- 69 PLS- 71 ECHO- 72 ABO3- 75
ABO4- 76 ABO5- 77 ABO6- 78 ABO7- 79 ABO0- 80 ABO1- 81 ABO2- 82
PRIN- 83 PROT- 84 ______________________________________
FIGS. 10A and 10B show in detail a suitable circuit arrangement for
the air temperature sensing unit 78 of FIG. 4. FIG. 10C shows wave
forms of various points in the circuit of FIGS. 10A and 10B. The
effect of the air temperature sensing unit is to generate a pulse
at a time t.sub.1 following the time t.sub.o at which channel Ch1
of comparator unit 62 is triggered (allowing of course for
propagation delays in connecting cables).
Referring to FIG. 10B, a temperature sensor IC1 mounted in a sensor
assembly, which will be described below with reference to FIG. 10D,
assumes a temperature substantially equal to that of ambient air in
the vicinity of the transducer array. Temperature sensor IC1 may
be, for example, Model AD590M, available from Analog Devices Inc.,
P.O. Box 280, Norwood, Mass. 02062. Temperature sensor IC1 permits
a current I.sub.IN to flow through it, current I.sub.IN being
substantially proportional to the absolute temperature (in degrees
Kelvin) of the semiconductor chip which forms the active element of
temperature sensor IC1.
Referring again to FIG. 10A, when transducer S1 detects a shock
wave generated by the bullet, a wave form similar to that shown at
A in FIG. 10C is produced at the output of its associated amplifier
54 (FIG. 4). Integrated circuit chip IC3B of FIG. 10A forms a
threshold detector, the threshold being set equal to that set in
channel CH1 of comparator unit 62 of FIG. 4 and 8. Integrated
circuit chip IC3 may be of type LM 319, available from National
Semiconductor Corporation, Box 2900, Santa Clara, Calif. 95051.
When wave form A of FIG. 10C exceeds the preset threshold, wave
form D is generated at the output of circuit chip IC3B. The leading
edge (first transition) of wave form B triggers the monostable
multivibrator formed by half of integrated circuit chip IC4 of FIG.
10B and the associated timing components R8 and C3. Circuit chip
IC4 may be of type 74LS221N, available from Texas Instruments Inc.,
P.O. Box 5012, Dallas, Tex. 75222. The output of this monostable
multivibrator is fed via buffer transistor Q1 to the gate of metal
oxide semiconductor Q2, the wave form at this point being depicted
as C in FIG. 10C. Transistor Q1 may be of type BC107, available
from Mullard Ltd., Mullard House, Torrington Place, London, U.K.,
and semiconductor Q2 may be of type VN 40AF, available from
Siliconix Inc., 2201 Laurelwood Road, Santa Clara, Calif. 95054.
When wave form C, which is normally high, goes low, metal oxide
semiconductor Q2 changes from a substantially low resistance
between its source S and drain D to a very high resistance. As a
result of the current flowing through temperature sensor IC1
(proportional to its absolute temperature), the voltage at the
output of integrated circuit chip IC2 starts to rise, as shown at D
in FIG. 10C. The rate of rise in volts per second of wave form D is
substantially proportional to the current flowing through
temperature sensor IC1 and thus is proportional to the absolute
temperature of temperature sensor IC1. Integrated circuit chip IC2
may be of type CA 3040, available from RCA Solid State, Box 3200,
Summerville, N.J. 08876. When the voltage of wave form D, which is
supplied to the inverting input of comparator IC3A, rises to the
preset threshold voltage VTH2 at the non-inverting input of
comparator IC3A, the output of comparator IC3A changes state as
indicated in wave form E at time t.sub.1. This triggers a second
monostable multivibrator formed of half of integrated circuit IC4
and timing components C4 and R9. The output of this second
monostable multivibrator is sent via a line driver circuit chip IC5
to a coaxial cable which connects to the channel 5 input of the
comparator unit 62.
The operation of the air temperature sensing unit 78 of FIGS. 10A
and 10B may be mathematically described as follows (assuming that
the ramp at wave form D of FIG. 10C is linear and ignoring offset
voltages in the circuit, which will be small): ##EQU4##
where V.sub.o =voltage of wave form D, FIG. 10C, and ##EQU5##
where I.sub.IN =current through IC1
where C is a constant of proportionality of .theta..sub.K is the
absolute temperature of IC1 combining (8), (9) and (10),
##EQU6##
Timer interface unit 64 can then measure timer t.sub.1 by the same
procedure that is employed for measuring the time differences
between transducers S1-S4. It will be recalled that timer interface
unit 64 will start counter 5 counting up upon receipt of a pulse on
channel CH0, which is responsive to shock wave detection by
transducer S1. Counter 5 will stop counting upon receipt of the
pulse of wave form G from the air temperature sensing unit at time
t.sub.1. Thus, the count on counter 5 of the timer interface unit
will be directly proportional to the reciprocal of the absolute
temperature of sensor IC1.
A preferred mounting arrangement for temperature sensor IC1 is
shown in the cross-sectional elevation view of FIG. 10D. The
assembly has a base plate 500, formed from 1/8" thick glass-fiber
printed circuit board material. Extending upwardly from base plate
500 is a standoff pillar 502, which is drilled longitudinally to
permit passage of connecting wires from temperature sensor IC1. The
standoff pillar 502 may be made of any suitable insulating
material, such as Nylon, Mounted at the upper end of pillar 502 is
a finned clip-on heat sink 504, such as Part No. 7200-01-01, Series
7200Q, available from Electrobits Proprietary Ltd., 43 Ivanhoe
Street, Glen, Australia. Temperature sensor IC1 is then mounted in
the heat sink with its leads I, II, connected to terminals 506,
508, respectively. Also mounted on the base plate 500 is an inner
screen which consists of an inverted metal cup, with holes of
approximately 1/4 inch diameter drilled at spaced intervals through
the sidewall. The metal cup may be, for example, of stainless steel
of approximately 3/8 inch thickness. Inner screen 510 has a flange
511 fastened to base plate 500 by bolts 512, 514, or other suitable
means. An outer screen 516 is provided around inner screen 510 for
further shielding the temperature sensor IC1. Outer screen 516 also
preferably consists of an inverted metal cup with holes of
approximately 1/4 inch diameter drilled at spaced intervals through
the sidewall. The holes in the inner screen are located such that
they are not directly opposite those in the outer screen, so as to
prevent direct sunlight from heating the temperature sensor IC1 and
to prevent wind blown rain water from striking the temperature
sensor. Spacers 518, 520, and bolts 522, 524 (or other suitable
means) retain the outer screen 516 in the position indicated
relative to the smaller-diameter inner screen 510.
In practicing the present invention, it is preferred to utilize for
each of transducers S1-S4 a flat disk 530 of piezoelectric
material, as illustrated in FIG. 11. Such a transducer does have
several disadvantages, however. If a bullet 532 is fired to the
right of the transducer 530, the subsequent shock wave front 532
will impinge on the edge of corner 534 of transducer 530, and the
transducer will be compressed both in a vertical direction and in a
horizontal direction. The resultant transducer output will have a
wave form substantially as illustrated in FIG. 12, which is a
negative-going sinusoidal wave form 540 having a small positive
"pip" 542 at the leading edge thereof. It is desired to measure the
time T illustrated in FIG. 12 and it is very difficult to detect
this time "T" accurately since the amplitude of the "pip" 542
depends upon the precise position of the bullet relative to the
transducer, is difficult to distinguish from background noise and
can even be absent under some circumstances.
The minicomputer is provided in advance with information concerning
the position of each of transducers S1-S4, this information being
the precise center 536 of transducer disc 530. All calculations are
performed based on the assumption that the transducer is located at
point 536 and that the output signal generated by the transducer is
indicative of the instant at which the shock wave arrives at point
536. However, the transducer 530 provides an output with a
predetermined response time as soon as it is impinged by the shock
wave. If a bullet 538 passes vertically above transducer 530, the
shock wave therefrom impinges directly on the upper surface of the
transducer, generating an output signal. It can be seen that the
trajectory of bullet 532 fired to the right of the transducer is
further from point 536 than trajectory of bullet 538 passing
immediately over the transducer.
However, the distance between the transducer surface and each of
the trajectories of the bullets 532, 538 is equal to a distance L.
Since the transducer provides an output as soon as the shock wave
impinges thereon, the times between the bullet passing and the
output signal being generated are equal. Therefore, the output of
the transducer would suggest that the trajectories of the bullets
532, 538 are equispaced from point 536, which is not correct. That
is, a slight timing error will be generated and the calculated
trajectory of the bullet passing to the right of the transducer
will be closer to point 536 than it is in reality.
This disadvantage can be overcome by disposing the transducers in a
vertical orientation so that the transducers are in the form of
vertical disks with the planar faces of the disks directed toward
the marksman. As a bullet passes over the disks and the resulting
shock wave is generated, the shock wave will always impinge on the
periphery of each disk and the point of impingement of the shock
wave on each disk will be an equal distance from the center or
origin of the disk. A constant timing error will thus be introduced
into each signal generated by each transducer. Since only time
differences are used as a basis for calculation of the bullet
trajectory location, this constant error will be cancelled out.
However, orienting the disks in a vertical position will not
obviate the problem of the positive pip 542 at the beginning of
output signal 540 as shown in FIG. 12. Therefore, in the present
invention it is preferred to provide each transducer with a dome of
a solid material having a convex surface exposed to the shock wave,
the planar base of the dome being in contact with the transducer
disk and being suitable for transmitting shock waves from the
atmosphere to the transducer disk. If a hemispherical dome is
utilized (provided that the axis of the dome is positioned
vertically upwardly in front of the target or is directed toward
the marksman or is at an orientation between these two limiting
orientations), the shock waves generated by the projectiles fired
at the target will always strike the periphery of the hemispherical
dome tangentially, and shock waves will be transmitted radially
through the dome directly to the center of the transducer. A
constant timing error is thereby introduced, the timing error being
equal to the time taken for the shock wave to pass from the
periphery of the hemispherical dome to the center thereof and, as
indicated above, such a constant timing error will be of no
consequence in the calculation of the bullet trajectory
location.
The hemispherical dome serves to prevent or minimize the generation
of the positive-going pip 542 at the beginning of the transducer
output wave form, so the output of the transducer more closely
resembles a sinusoidal wave form. It is important that the instant
of commencement of this sinusoidal wave form be measured with great
accuracy, and thus it is preferred to utilize a transducer that
will have a very fast response, though not necessarily a large
response.
It has been found that if the response time of a series of
piezoelectric disks of different size are compared, the response
time is a function of the diameter of the disk, the smaller disks
having a faster response time. However it has been found that a
response time of all disks with 5 mm diameter or smaller are
substantially equal. It is to be noted, however, that the amplitude
of the disk output is proportional to its size. For this reason, it
is advantageous to utilize a disk having a diameter of about 5 mm,
since such a size provides the fastest response time with the
highest amplitude output signal.
Referring now to FIGS. 13 and 14 of the drawings, one possible form
of transducer for use in connection with the present invention
comprises a transducer element consisting of a disk 550 of
piezoelectric material such as, for example, lead zirconium
titanate. The disk 550 is about 1 mm thick and 2-5 mm in diameter,
and may be part No. MB1043, available from Mullard Ltd., Torrington
Place, London, U.K. The opposed planar faces of disk 550 are
provided with a coating of conductive material 552, which may be
vacuum-deposited silver.
Two electrically conductive wires 554, 556 of, for example, copper
or gold, are connected to the center of the lower surface of the
disk and to the periphery of the upper surface of the disk,
respectively, by soldering or by ultrasonic bonding. Disk 550 is
then firmly mounted in a housing which comprises a cylindrical
member 558 having recess 560 in one end thereof, the recess 560
having a depth of about 1.5 mm and a diameter adapted to the
transducer disk diameter, and being aligned with an axial bore 562
extending through member 558 to accomodate wire 554 provided on the
lower surface of the piezoelectric member. A second bore 554,
parallel to bore 562, is formed in the periphery of member 558,
bore 562 accomodating wire 556 and terminating in an open recess
566 adjacent the main recess 560. Member 558 may be formed of
Tufnol, which is a phenolic resin bonded fabric, this material
being readily obtainable in cylindrical form. The housing may be
machined from this material, although the housing may be
alternately formed of a two-part phenolic resin such as that sold
under the trademark Araldite, the resin being retained in a
cylindrical aluminum case 568 and subsequently being machined. If
the latter construction is employed, aluminum case 568 may be
grounded to provide a Faraday cage to minimize noise. The
piezoelectric material and wires are bonded into member 560 with an
adhesive such as Araldite or a cyano-acrylic impact adhesive. Two
small bores 570, 572 are provided in the lower surface of member
558 and electrically conducting pins are mounted in the bores.
Wires 554, 556 protrude from the lower ends of bores 562, 564 and
are soldered to the pins in bores 570, 572, respectively. An
adhesive or other suitable setting material is employed to retain
all the elements in position and to secure a solid hemispherical
dome 574 to the transducer element 550. The dome 574 may be
machined from aluminum or cast from a setting resin material such
as that sold under the trademark Araldite. The dome 574 preferably
has an outer diameter of about 8 mm, which is equal to the diameter
of the housing 568. A centrally-disposed projection 576 on the base
of the dome member 574 contacts and has the same diameter as the
piezoelectric disk 550. Alternatively, dome 574 and member 558 may
be cast as a single integral unit surrounding the transducer
disk.
The assembled transducer with housing as shown in FIG. 14 is
mounted, as discussed elsewhere herein, in front of the target. It
is important that both the housing and a coaxial cable coupling the
transducer assembly to the associated amplifier be acoustically
decoupled from any support or other rigid structure which could
possibly receive the shock wave detected by the transducer before
the shock wave is received by the hemispherical dome provided on
top of the transducer. Thus, if the transducers are mounted on a
rigid horizontal framework, it is important that the transducers be
acoustically decoupled from such framework. The transducers may be
mounted on a block of any suitable acoustic decoupling medium, such
as an expanded polymer foam, or a combination of polymer foam and
metal plate. A preferred material is closed-cell foam polyethylene,
this material being sold under the tradename Plastizote by Bakelite
Xylonite, Ltd., U.K. Other suitable acoustic decoupling materials
may be used, as well, such as glass fiber cloth, or mineral
wood.
The transducer may be mounted by taking a block 580 of acoustic
decoupling medium as shown in FIG. 15, and forming a recess 582
within the block of material for accomodating the transducer
assembly of FIG. 14. The entire block may be clamped in any
convenient way, such as by clamps 584, to a suitable framework or
support member 586, these items being illustrated schematically.
Other suitable mounting arrangements for the transducer assembly
will be described later below.
To summarize briefly, the system described above includes:
Transducers S1, S3, S4 for detecting shock wave arrival times along
a line parallel to the measurement plane, which is in turn
substantially parallel to the target.
Transducers S1, S2 for detecting shock wave arrival times along a
line perpendicular to the measurement plane and substantially
parallel to the bullet trajectory.
An inertia switch mounted on the target for detecting actual impact
of the bullet with the target.
A unit for detecting the ambient air temperature in the region of
the transducer array. The outputs of the transducers, inertia
switch, and air temperature sensing unit are fed through circuitry
as described above to the timer interface unit, which gives counts
representing times of shock wave arrival at the transducers,
representing the inertia switch trigger time, from the timer
interface unit to the minicomputer. Provided that the minicomputer
is supplied with the locations of the transducers relative to the
measurement plane, it may be programmed to:
Determine the speed of sound in ambient air in the vicinity of the
transducer array (to a reasonable approximation) by a known formula
##EQU7## where V.sub.ST is the speed of sound in air at the given
temperature T, and V.sub.s.theta..degree.C. is the speed of sound
at zero degrees Celsius.
Determine the velocity of the bullet in the direction perpendicular
to the measurement plane and substantially parallel to the bullet
trajectory, and
Determine the location of the trajectory in the measurement
plane.
However, the information provided from the timer interface unit
permits still further and very advantageous features to be provided
in the system for marksmanship training. The system can be made to
discriminate between direct (free flight) target hits by the
bullet, on the one hand, and target hits from ricochets or target
hits from stones kicked up by the bullets striking the ground or
spurious inertia switch triggering due to wind or other factors, on
the other hand. In the embodiment employing timer interface unit
64, spurious inertia switch triggering will cause counter 7 to
count until ripple carry signal RC7- is produced, thereby causing
the system to automatically reset. The system can be further made
to discriminate between ricochet hits on the target and ricochet
misses. These features further enhance the usefulness in training
as the as the marksman can be apprised, immediately after a shot is
fired, of the location of the shot relative the target in the
measurement plane, whether the target was actually hit by the
bullet, whether the shot ricocheted, and even of a "score" for the
shot.
The present invention contemplates three possible techniques for
processing the information from the timer interface unit for the
purpose of providing ricochet and stone hit discrimination.
(a) Electronic target window. For a hit to be genuine, the hit
position determination system should have recognized a projectile
as having passed through a target "window" in the measurement plane
approximately corresponding to the outline of the actual target
being fired upon. The target outline is stored in the computer and
is compared with the location of the projectile as determined from
the transducer outputs. If the calculated projectile trajectory
location is outside the "window," then the "hit" reported by the
inertia switch or other hit registration device cannot be valid and
it can be assumed that no actual impact of the bullet on the target
has occurred.
(b) Projectile velocity. It has been found experimentally that,
although there is a variation in velocity of bullets from round to
round, any given type of ammunition yields projectile velocities
which lie within a relatively narrow band, typically + or -5%. It
has also been found that when a projectile ricochets, its apparent
velocity component as measured by two in-line sensors along its
original line of flight is substantially reduced, typically by 40%
or more. It is therefore possible to distinguish a genuine direct
hit from a ricochet by comparing the measured velocity component
with a preset lower limit representing an expected projectile
velocity (which will generally be different for different
ammunitions and ranges). If the detected projectile velocity does
not exceed this threshold limit, then the associated mechanical hit
registration (inertia switch) cannot be valid and can be ignored.
The computer may be supplied with a minimum valid threshold
velocity for the type of ammunition being used, and the appropriate
comparison made. It is to be noted that this technique does not
require a capability to measure position, but only projectile
velocity, and can be implemented using only an impact detector in
combination with two sensors positioned relative to the target for
detecting the airborne shock wave generated by the projectile at
two spaced locations on its trajectory.
(c) Hit registration time. For a "hit" detected by the inertia
switch to be genuine, it must have occurred within a short time
period relative to the time at which the projectile position
determining system detected the projectile. It has been found from
theory and practice that this period is very short, not more than +
or -3.5 milliseconds for a commonlyused "standing man" target as
illustrated in FIG. 2. By suppressing all target impacts detected
by the inertia switch outside of this time, many otherwise false
target impact detections are eliminated. The position in time and
the duration of the period varies with different targets, with
position of hit positions sensors (i.e. airborne shock wave
responsive transducers) relative to the target, with nominal
projectile velocity and velocity of sound in air, and, to a small
extent, with various target materials. All these factors are,
however, known in advance and it is therefore possible to provide
the system with predetermined limits for the time period. It is to
be noted that this last technique does not require a capability to
measure position or even projectile velocity, and can be
implemented using only an impact detector in combination with a
single sensor positioned relative to the target for detecting the
airborne shock wave generated by the projectile.
A suitable program written in "BASIC" programming language which
may be directly used with the Computer Automation LSI 2/206
minicomputer appears as Appendix A in U.S. Pat. No. 4,307,292
(hereinafter referred to as Appendix) and is incorporated herein by
reference. An explanation of the various functions of that program,
appearing in said patent, is also hereby incorporated herein.
A further program, in the "BASIC" programming language, similar to
that of in Appendix A appears as Appendix B in U.S. Pat. No.
4,307,292 (hereinafter referred to as Appendix B). It too is hereby
incorporated by reference herein. However, the program of Appendix
B is intended for use with the LSI-2/20G minicomputer where no air
temperature sensing unit 78 (FIG. 4) is employed. In this case, the
Ch5 and Ch 6 inputs of the timer interface unit 64 are patched
together for receiving the output of comparator unit channel Ch6 in
parallel. The computer operator is provided with an opportunity
(Appendix B, at lines 1045-1050) to read the ambient air
temperature in the vicinity of the transducer array from a
remotereading thermometer 76 (FIG. 4), and supply the value
manually via the keyboard of unit 72. Except for this variation,
the program of Appendix B compares with that of Appendix A.
It will be recognized from the foregoing that the computer programs
of Appendix A and Appendix B employ the "projectile velocity" and
"hit registration time period" techniques for ricochet and stone
hit discrimination. Those skilled in the art will readily recognize
the manner in which the programs of Appendix A and Appendix B may
be modified to employ the "electronic target window" technique for
ricochet and stone hit discrimination. That is, a mathematical
algorithm defining the boundaries of the target outline in the
measurement plane may be included in the program and compared with
the X, Y coordinates of the calculated bullet trajectory location
in the measurement plane to determine whether the calculated
location lies within the target "window". Assuming for example that
the target is a simple rectangle, the "window" may be defined in
the program as XA<X1<XB, YA<Y1<YB, where XA and XB
represent the left and right edges of the target "window" and YA
and YB represent the lower and upper edges of the target "window",
respectively.
The "BASIC" subroutines "CALL(3)" and "CALL(4,- - - -)" will now be
described in greater detail to enable those skilled in the art to
fully understand the operation of the program of Appendices A and
B.
Subroutines CALL (3) and CALL (4, - - - -) are Assembly Language
subroutines utilized to interface the timer interface unit 64 with
the Controller BASIC of Appendices A and B. "Controller BASIC" is a
version of the high-level computer language "BASIC" available from
Computer Automation Inc. for use in the LSI-2 minicomputer.
Controller BASIC has the facility of linking user written
subroutines to BASIC for the control of non-standard input or
output devices. "Assembly Language" is employed for programs which
convert pseudo-English programming statements to binary
instructions which can be executed on the Computer Automation LSI-2
minicomputer. The features of "BASIC" are described in sections 1-7
of Computer Automation BASIC Reference Manual No. 90-96500-01E2.
Appendix A of that manual describes linking of Assembly Language
subroutines to BASIC, while Appendix E describes the component
software modules incorporated in Controller BASIC. Computer
Automation Assembler Reference Manual No. 90-96552-00A1 describes
all features of the Computer Automation Assembly Language facility
known as MACRO2. Computer Automation Real Time Executive Users
Manual No. 90-94500 -00F2 describes all features of the real time
executive program which is required for running controller BASIC on
the LSI2 minicomputer.
Two Assembly Language subroutine facilities are provided in the
programming described above. They are:
CALL(3): Execution of this BASIC statement resets the timer
interface unit 64 and readies the circuitry for use. This
subroutine is assigned the Assembly Language label RESET.
CALL(4 Z0, A2, T7, T6, T5, T4, T3, T2, T1): Execution of this BASIC
statement transfers the binary numbers of counters 1-8 of the timer
interface unit to BASIC in sequence. This subroutine is assigned
the assembly language label IN:HIT in the Controller BASIC Event
Handler Subroutine Module.
FIGS. 16A and 16B show flow chart sections for the subroutine
RESET. Appendix C of U.S. Pat. No. 4,307,292 incorporated herein by
reference and hereinafter referred to as Appendix C provides a
program listing for this subroutine. The subroutine RESET starts on
line 40 of the listing of Appendix C. It saves the return address
to BASIC and then tests that CALL(3) has only one parameter.
Another subroutine labeled RST (line 31) is then called which
contains the instructions to reset the timer interface unit
circuits. Subroutine RESET ends by returning to BASIC.
FIGS. 17A, 17B, and 17C provide a flow chart for the subroutine
IN:HIT, while Appendix C contains a program listing for this
subroutine. Subroutine IN:HIT commences on line 48 of the listing
in Appendix C by saving the return address to BASIC, and then
checks that CALL(4, - - - - - - - - -) has ten parameters, i.e., it
verifies the format of the statement. On line 52 of Appendix C, the
program labeled HOLD checks whether the computer operator has
pressed the "E" key on the LSI-2 minicomputer front panel. This is
a feature to allow the operator to escape from the subroutine back
to BASIC if the timer interface unit fails to operate for any
reason. If the "E" key has been pressed, the program labeled ESCAPE
(line 58) passes eight zero values and one flag to BASIC using the
subroutine PASSV which will be described later. If the "E" key has
not been pressed, the program checks whether the timer interface
unit has been triggered and is ready to input data to the computer.
If the timer interface unit is not ready, control passes back to
HOLD and the loop is executed indefinitely until either the timing
module becomes ready or the operator presses the "E" key. When the
module becomes ready, the program labeled P:NEXT (line 84) checks
that a counter is fitted in one of positions 1, 2, 3, 4, or 7 by
inputting data from each in turn. If data is not present from one
counter, this is a false condition and the program returns to HOLD.
When data is found, the program proceeds to PASS (line 70 of
Appendix C), which inputs data from each of the eight timing module
counters in turn and passes it back to BASIC. Finally, the program
labeled END (line 64 of Appendix C) passes a flag value to the
ninth BASIC variable Z0 control passes back to BASIC on line 66
(the flag value is not used in the embodiments described herein).
The subroutine PASSV (line 98 of Appendix C) is used to pass all
valuesin Appendix A of the Computer Automation BASIC Reference
Manual.
Those skilled in the art will recognize that the configuration of
the transducer array in FIGS. 2 and 4 may be modified within the
spirit and scope of the present invention. For example, FIG. 18
shows an array in which transducers S1', S3', and S4' are spaced
along a line parallel to the measurement plane, with transducers
S2' spaced apart from transducer S1' along a line normal to the
measurement plane. Thus, the transducer array, when viewed in plan,
has an "L" shaped configuration rather than the "T" shaped
configuration of FIGS. 2 and 4. Alternatively, the arrangement of
FIG. 19 could be employed in which an array of transducers S3"-S5"
is spaced apart along a line parallel to the measurement plane,
with transducers S1" and S2" spaced apart along a line normal to
the measurement plane. The transducers may thus be configured in
two separate arrays, and transducer S1" need not be in line with
transducers S3"-S5".
Still a further arrangement of transducers may be employed as shown
in FIG. 20. In that configuration, transducers C1 and C3-C6 are in
a line parallel to the measurement plane, and transducers C1 and C2
are spaced along a line normal to the measurement plane. With the
arrangement of FIG. 20, the diagram of FIG. 4 would be modified so
that the output of transducer C1 is coupled to timer interface unit
input channels Ch0 and Ch1, the outputs of transducers Ch2-Ch6 are
coupled to the inputs Ch2-Ch6 of the timer interface unit,
respectively, and the air temperature sensing unit and isolator
module outputs are coupled to the channel Ch7 and S.S. inputs of
the timer interface unit. Minicomputer 70 is then programmed in
accordance with the program listing given in Appendix D of U.S.
Pat. No. 4,307,292, herein incorporated by reference herein and
hereinafter referred to as Appendix D, which includes provision for
detecting ricochets and which further provides an indication of
which quadrant of a target is impinged by a projectile detected by
the apparatus of the invention (i.e. employing a version of the
target "window" technique described above). The program of Appendix
D is in the "BASIC" programming language and includes comments
which describe the function of the various lines in the program
listing.
Still further modifications may be made in accordance with the
present invention, as will be recognized by those skilled in the
art. For example, one or more light curtains may be generated for
detecting passage of the bullet through an area in space, for the
purpose of determining the velocity of the bullet. Such apparatus
may be of the type disclosed in U.S. Pat. No. 3,788,748 to KNIGHT
et al., the content of which is incorporated herein by reference.
FIG. 21 shows an apparatus for generating a light curtain and
detecting the passage of the bullet therethrough. A continuous wave
helium-neon laser 600 generates a beam 602 which is directed onto
an inclined quartz mirror 603 having a mirror coating on the second
surface thereof, relative to beam 602, such that a portion of beam
602 is transmitted therethrough to form beam 604. Beam 604 is
passed into a lens 605. Lens 605 is shaped as a segment of a circle
cut from a sheet of material sold under the trade name Perspex.
Beam 604 is directed to bisect the angle of the segment and passes
centrally thereinto at a circular cut-out portion 606. Cut-out
portion 606 causes beam 604 to project as beam 608, which is of
substantially rectangular cross-section shown by the dotted lines
and which has no substantial transverse divergence.
Lens 605 comprises a generally triangular slab of light
transmitting material having two substantially straight edges which
converge, and having a part in the form of a part cylindrical notch
606 adjacent to the apex confined by the converging edges, which is
adapted to diverge light entering the lens at the apex. The two
straight edges of the lens, not being the edge opposite the apex at
which light is to enter the lens, are reflective to light within
the lens. For example, the edges may be mirrored. Such a lens is
adapted to produce a fan-shaped beam of light (a light curtain)
having an angle which is equal to the angle included by the edges
of the slab adjacent the apex at which light is to enter the
slab.
If a projectile such as a bullet should pass through beam 608, it
will be incided by beam 608. Since the projectile cannot be a
perfect black body, a portion of the beam will be reflected
thereby, and a portion of that reflection will return to lens 605
where it will be collected and directed at mirror 603 as beam 609.
Beam 609 is reflected by mirror 603, which is first-surface coated,
with respect to beam 609, as beam 610. The coating of mirror 603 is
such that beam 610 will be approximately 50% of beam 609. Beam 610
passes through an optical band pass filter 612 which prevents light
of frequency substantially different to that of laser 601 from
passing, so as to reduce errors which may arise from stray light
such as sunlight. Beam 610 emerges as beam 613, which then passes
through lens 614. Lens 614 focuses beam 613 onto to the center of a
photoelectric cell 615, which emits an electrical signal 617.
Signal 617 thus indicates the time at which the projectile passed
through the light curtain.
FIG. 22 shows schematically a system according to the invention
which may be employed for determining the velocity of the bullet in
a direction normal to the measurement plane and the location in the
measurement plane. A target 596 is mounted on a target mechanism
598 (which may be as shown in FIG. 2). An array of, for example,
three transducers S1, S2, S3 is provided in front of and below the
edge of target 596. Two arrangements as shown in FIG. 21 are
located in front of target 596 to generate respective light
curtains 608, 608' and produce output signals 618, 618' indicating
the time at which the bullet passes through the respective light
curtains: Since the spacing between the light curtains 608, 608' is
known in advance, the time difference may be employed to determine
the velocity of the bullet in a direction normal to the measurement
plane. The calculated velocity and the speed of sound in air (as
separately measured or determined) may be employed with the output
signals from transducers S1-S3 to determine the location at which
the bullet trajectory passes through the measurement plane. An
inertia switch or other target impact detector may be used, as
described above, for registering an actual hit on the target.
Those skilled in the art will readily recognize the manner in which
the BASIC programs of Appendix A may be modified for use with an
arrangement as shown in FIG. 20. The skilled artisan will also
recognize that, for example, light curtain 608' may be deleted and
the velocity of the bullet may be determined from the output 618 of
photoelectric cell 615 and the output of transducer S2 of FIG.
20.
Those skilled in the art will also recognize that marksmanship
training may be further enhanced by combining the use of the
arrangements described herein with a rifle equipped with pressure
sensors at critical points as described in U.S. Patent Application
No. 835,431, filed Sept. 21, 1977 (the content of which is
incorporated herein by reference). For example, the rifle used by
the marksman may be equipped with pressure sensitive transducers
located at the parts of the rifle that are contacted by the
marksman when the rifle is being fired. Thus, a transducer is
located at the butt of the rifle to indicate the pressure applied
by the shoulder of the marksman, a transducer is provided at the
cheek of the rifle to indicate the pressure applied by the cheek of
the marksman, and transducers are provided at the main hand grip
and the forehand grip of the rifle. The outputs of the transducers
are coupled to suitable comparator circuits as described in U.S.
Patent Application No. 835,431 and the comparator output signals
then indicate whether the pressure applied by the marksman at each
critical point on the rifle is less than, greater than, or within a
predetermined desired range. While a display as described in U.S.
Patent Application Ser. No. 835,431 may be employed for indicating
whether the pressure applied by the marksman to the rifle at each
point is correct, it will be understood that the comparator output
signals may alternatively be provided to minicomputer 70 in a
suitable format so that the visual display unit 72 of FIG. 4 will
display a graphic representation of the rifle and indication
thereon of the pressure applied by the trainee marksman to the
rifle. This graphic display may be in addition to a graphic display
of the target being fired upon and representations thereon of the
location at which each bullet has struck or passed by the target.
Such an arrangement provides the marksman with an almost
instantaneous indication of the manner in which he is holding the
rifle and of his shooting accuracy, and permits rapid diagnosis of
any difficulties he may be having with his shooting. If a switch is
mounted on the rifle for actuation when the trigger is pulled as
described in U.S. Patent Application Ser. No. 835,431, the visual
display unit 72" may be made to indicate the pressure applied to
the various pressure transducers on the rifle at the precise
instant of firing the rifle. The display may be maintained on the
display unit for a predetermined period of time and then erased so
the trainee may proceed with firing a further round.
The addition of the pressure sensitive system enables the
simultaneous display of pressure indications together with the
projectile position and for positive target hit indication and/or
ricochet indication. Such a simultaneous display has unique
advantage in providing the trainee immediately not only with an
indication of where the projectile has passed in relation to the
target, but why the projectile passed through its displayed
position. This information provides immediate positive and negative
reinforcement of marksmanship techniques with respect to the
correct grip and aim of the weapon to permit rapid learning of
correct skills.
An alternate non-iterative mathematical solution for calculation of
"hit" coordinates (x,y) is as follows, and does not require that
the airborne-shock-wave-detecting transducers be equally spaced (as
is the case for transducers S1, S3, S4, in the solution given above
with reference to FIG. 3);
It is assumed that the transducer array is horizontal, the
measurement plane is vertical and parallel to the transducer array,
and that the projectile trajectory is normal to the measurement
plane. For a supersonic projectile travelling at a velocity Vb, the
propagation velocity (Vn) of the airborne shock wave in the
measurement plane can be calculated as follows (with reference to
FIG. 23, showing a plane through the trajectory);
FIG. 24 shows the x, y measurement plane in which transducer
locations S1, S2, S3, are as indicated. Point (x, y) is the
intersection point of the projectile trajectory with the x, y
measurement plane, and r1, r2, r3 are the respective distances from
point (x, y) to transducer locations S1, S2, S3 of FIG. 24. Then:
##EQU8## Therefore: ##EQU9## With arbitrary timing origin:
##EQU10## Therefore: ##EQU11## Appendix "E" of U.S. Pat. No.
4,307,292, hereby incorporated herein by reference and hereinafter
referred to as Appendix E, is a computer program in BASIC
programming language for implementing the mathematical "hit"
coordinate solution just described.
It is not necessary to employ an inertia switch to detect a "hit"
of the projectile on a target member. Other apparatus may also be
employed for this purpose. For example, FIGS. 25-26 show an
arrangement for sensing impact of a projectile on a target member
700 employing a sensor assembly 702 positioned in front of the
rigid target member 700. The rigid target member 700 may be of any
desired shape and may be constructed, for example, of plywood or
ABS material. Sensor 702 includes a transducer mounted within a
shrouded housing which prevents any airborne shock wave of a
supersonic projectile from being detected. The output of the
shrouded sensor assembly 702 is provided through an amplifier 704
(available from Australasian Training Aids, Part No. 915-000). The
output of amplifier 704 is provided through a suitable signal
processing circuit 706, which provides a "hit" output indication.
Signal processing circuit 706 may comprise essentially a threshold
detector such as type LM710. Shrouded sensor assembly 702 may
comprise a transducer 709 (as described above with reference to
FIGS. 13-14) mounted in a block of acoustic isolating material 708
(such as described above with reference to FIG. 15). The block of
acoustic isolating material is, in turn, mounting in a housing or
shroud 710, with the transducer 709 recessed to provide a
restricted arc of sensivity of the transducer which is appropriate
to just "see" the face of target 700 when sensor assembly 702 is
appropriately positioned relative to the target member 700. A
coaxial cable from transducer 709 passes through an opening in
shroud 710 and may be isolated from vibration by a silicone rubber
ring 712, or the like. It will be understood that the threshold
level of detector 707 in FIG. 25 is to be appropriately set so that
disturbances of the target detected by transducer 709 will produce
a "hit" output indication from signal processing circuit 706 only
when the amplitude of the detected disturbance is sufficiently
great to indicate that the disturbance of the target was caused by
a projectile impacting on or passing through target member 700.
A further arrangement for determining projectile "hits" on a rigid
target member will now be described with reference to FIGS. 27, 28,
and 29A-29B. FIG. 27 shows a rigid target member 720 which has
substantial curvature in horizontal cross-section. A sensor 722
(which may be a transducer mounted in an acoustic isolating block
as described above with reference to FIGS. 13-15) is located behind
the rigid target member 720 and preferably within the arc of
curvature thereof. The output of transducer 722 is supplied to an
amplifier 724 (ATA Catalog No. 915-000), the output of which is in
turn provided to a signal processing circuit 726 for providing a
"hit" output indication.
One possible arrangement for the signal processing circuit 726 is
shown in FIG. 28. It has been found that genuine "hits" on the
target by a projectile result in electrical signals from the
transducer 722 consisting of a number (typically greater than 10)
of large amplitude pulses closely spaced, while misses or hits by
stones, debris, etc., either cause low amplitude signals or low
amplitude signals with only occasional high amplitude "peaks."
Typical "hit" and "miss" wave forms are shown in FIGS. 29A and 29B,
respectively. The signal processing circuit 726 of FIG. 28 operates
on these signals as follows:
The first stage acts to impose a preset voltage amplitude "window"
or threshold on the incoming wave form. By suitable adjustment this
can be arranged to suppress all the low-amplitude content of "miss"
signals, allowing only the high amplitude parts thereof to pass.
When the first stage threshold is exceeded, the output stage of the
first LM319 integrated circuit goes to a high impedance state. As a
result, the current flowing in resistor R1 of FIG. 28 is
transferred to flow through the diode D and into capacitor C,
causing the voltage on the latter to begin to rise. As soon as this
voltage rises, however, resistor R2 begins to "bleed" current one
of capacitor C. As a result, only if the incoming signal succeeds
in overcoming the threshold at a sufficiently rapid rate will the
voltage on capacitor C rise significantly. Thus, the sporadic
"peaks" present in "miss" signals will cause the voltage at this
point to rise to any significant extent. However, "hit" signals,
comprising many pulses in rapid succession will cause the voltage
on capacitor C to increase when sufficient pulses have occurred,
the voltage on capacitor C will thus rise until it exceeds the
preset threshold on the second comparator, when its output will
change indicating a "hit".
The technique for distinguishing "hit" from "miss" described above
with reference to FIG. 28 applies in principle to any combination
of rigid target and sensor, but has particular benefit was used
with a 3-dimensional type target such as that shown in FIG. 27 or
such as a target which completely encircles the transducer (such as
a conically-shaped target member). By virtue of the shape of the
3-dimensional targets, existing mechanical hit registrations
systems, such as inertia switches, often cannot be used to detect
hits on the target because vibration transmission within the target
may be relatively poor. Secondly, the curved shape of the target
provides very effective screening of the sensor from the airborne
shock wave produced by near-missed supersonic projectiles. The
curvature of the target can be increased to the point where it
forms a complete shell with the sensor positioned inside it thus
enabling hit detection from any direction of fire. Any of a number
of materials can be used for the target member 720, including
plywood, polyethylene, and expanded polystyrene (the latter being
of particular benefit because of its very low cost and ease of
molding it into complex shapes).
Still another apparatus for detecting a projectile "hit" (i.e.
passage through a target member) is illustrated in FIG. 30. In this
embodiment, the target member comprises a sheet of suitable
electrically insulating spacer material 730, such as 6 mm thick
"Plastazote" available from Bakelite-Xylonite Ltd., 8 Grafton
Street, London, U.K. The sheet 730 may be of any desired size.
Metal meshes 732, 734 (such as Part No. 200/22, available from
Cyclone, K.M. products P/C, 220 East Boundary Road, East Bentleigh,
Victoria, Australia) are cemented to the insulating spacer sheet
730 (such as with 3M" brand "Fast Bond" contact cement). As a
bullet passes through the "sandwich" target comprising
bonded-together members 730-734, electrical contact between metal
meshes 732, 734 is established, so that the voltage at point 736
drops momentarily from +5 volts to 0 volts, thereby indicating
passage of the bullet through the target "sandwich."
Still other apparatus is possible for determining the velocity of
the projectile, such as shown in FIG. 31. A projectile fired from a
weapon 740 travels along a trajectory 742 toward a target member or
target zone 744. An array of transducers S1, S2, S3 is located
below one edge of the target member or zone 744. For determining
the velocity of the projectile, a detector 746 is positioned to
sense the time of discharge of the projectile from the weapon and
provide a signal which starts a counter 748. Counter 748 is
supplied with pulses from a clock generator 750 and counts the
clock pulses until a signal is received from transducer S2 through
an amplifier 752 for stopping the counter.
It is known that projectiles, such as bullets, decelerate in a
well-defined and consistent manner. This deceleration can be
expressed in terms of loss of velocity per unit distance travelled
along the trajectory, the deceleration being substantially constant
from sample to sample of high quality ammunition (such as most
military ammunition) and being substantially independent of
velocity. At any point along its trajectory, the projectile
velocity V.sub.t is:
where V.sub.t =projectile velocity at point in question
V.sub.m =nominal velocity or projectile at weapon or known
origin
d=distance from muzzle (or known origin) to point in question
k=above-mentioned "deceleration" constant
By simple algebra, it is possible to find an expression for
distance travelled in a given time, which is:
where t is the independent variable of time. For good quality
ammunition the constant "k" is well controlled, and can be
predetermined with good accuracy. Thus, the only "unknown" is
V.sub.m, which will vary from round to round.
The arrangement according to FIG. 31 operates to determine a
notional value for V.sub.m by measuring the time of flight of the
projectile from the weapon to the array. The preceding equation
permits V.sub.m to be computed and, once obtained, permits V.sub.t
in the vicinity of the transducer array to be calculated. Detector
746 may be an optical detector sensing the weapon discharge muzzle
flash, or an acoustic device responding to the muzzle blast and/or
supersonic projectile shock wave.
Appendix F of U.S. Pat. No. 4,307,292 hereby incorporated herein by
reference and referred to below as Appendix F contains a listing of
a BASIC program providing graphic display of projectile position
and target "hit" scoring assessment for three zones in the target
area. The program is written to operate under CONTROLLER BASIC with
the already-described special CALL statement subroutine and
generates its graphic output on an applied Digital Data Systems
Model MRD 450 graphics generator in combination with any compatible
visual display unit, such as Model 222A available from V.G.M.
Vidiaids Ltd., Clocktower Road, Isleworth, Middlesex, TW7 6 DU,
U.K. Lines 1-35 of Appendix F initialize program selection of
various options, Execution then jumps to line 1000. Lines 1000-1385
collect data from one firing, and calculate shot status and
position. Execution jumps to line 49. Lines 49-96 comprise the
first stage of the graphic display, which converts x, y shot
coordinates to suitable form to address the correct area of the
visual display screen. Execution then jumps to line 301. Lines
301-316 check whether the shot is a ricochet or whether the
intended display position is actually within the available
area.
Depending on the result of these checks, the program on lines
111-251 and 331-431 assembles the appropriate graphics character
with correctly formatted positioning commands and outputs the
resulting string of data to the MRD 450 generator. Hit zone scoring
is accomplished in line 461-596 and the result is displayed on
another area of the screen. Line 616 checks whether less than the
full group of ten shots has been fired and, if so, execution loops
back to line 7700 for another shot. When the group is complete, the
program erases the visual display screen completely and starts a
fresh group of shots. FIG. 32 shows a graticule overlay used on the
visual display screen when running the program of Appendix F.
FIG. 32 shows a graticule overlay used on the visual display screen
72" of FIG. 4. A target T is provided as well as a separate score
column for each shot. If the positive hit indication (inertia
switch) is not actuated, a "0" score is indicated, otherwise a
non-zero point score is displayed. The positive hit indication is
particularly advantageous for borderline cases, as for example,
shot No. 6. In such cases, it may not be clear from the position
display alone whether a "hit" occurred. Shot No. 1 is shown as a
clear miss; shot No. 2 as a ricochet hit, shot No. 5 as a ricochet
miss and shot numbers 3, 4 and 7 as hits having different point
values.
* * * * *