Method and system for target distance measurement at ground combat vehicle

Abstract

The invention relates to a method for passive target distance measurement at a ground combat vehicle (V), carried out by means of a master image sensor device (10) and a slave image sensor device (20) for observing a target (T), said master image sensor device (10) and said slave image sensor device (20) being arranged at a distance from each other by an offset distance (OD), the method comprises: controlling an orientation of the at least one slave image sensor device (20); determining whether the line-of-sight (L2) of the slave image sensor device (20) intersects the line-of-sight (L1) of the master image sensor device (10) at the position of the target (T); and if intersecting, receiving first angle data representing the orientation of the master image sensor device (10) and second angle data representing the orientation of the slave image sensor device (20). The method further includes determining a target distance (TD) representing a distance between the combat vehicle and the target based on the offset distance (OD) and the received angle data. The invention also relates to a system and a ground combat vehicle.

Description

Technical Field

[0001] This invention relates to a method for measuring target distance at a ground combat vehicle. The invention also relates to a system for measuring target distance associated with a ground combat vehicle. The invention further relates to the ground combat vehicle itself. Background Technology

[0002] Ground combat vehicles (such as infantry fighting ground combat vehicles or tanks) can be equipped with turret-associated weapon systems, which include weapons attached to the turret. For such ground combat vehicles, the ability to determine the distance to potential targets is important.

[0003] The distance to a target at a ground combat vehicle can be measured by using the reticle in the vehicle's sight, which is known to approximate the size of the target at different distances.

[0004] Distance measurements to targets on ground combat vehicles can also be performed using laser rangefinders, which are configured to measure the time required for the emitted laser light to return to the sensor after being reflected by the target.

[0005] However, there is a need for methods and systems for target distance measurement at ground combat vehicles that facilitate accurate and secure identification of targets and distances to targets.

[0006] The purpose of this invention

[0007] The purpose of this invention is to provide a method for target distance measurement at ground combat vehicles, which facilitates accurate and secure identification of targets and distances to targets.

[0008] Another object of the present invention is to provide a system for passive target distance measurement associated with ground combat vehicles, which facilitates accurate and secure identification of targets and distances to targets.

[0009] Another object of the present invention is to provide a ground combat vehicle including such a system. Summary of the Invention

[0010] These and other aspects, as will be apparent from the following description, are achieved by the method for passive target range measurement at a ground combat vehicle, the system for passive target range measurement associated with the ground combat vehicle, and the ground combat vehicle itself, as set forth in the appended independent claims. Preferred embodiments of the method, system, and ground combat vehicle are defined in the appended dependent claims.

[0011] Specifically, the object of the present invention is achieved by a method for passive target range measurement at a ground combat vehicle. The method is executed at an electronic device of the ground combat vehicle by means of a primary image sensor device and at least one secondary image sensor device for observing a target. At least one of the secondary image sensor devices and / or the primary image sensor device is configured to be arranged at the ground combat vehicle, and the primary image sensor device and the at least one secondary image sensor device are configured to be spaced apart from each other by an offset distance. The method includes controlling the orientation of the at least one secondary image sensor device. The method also includes determining whether the line of sight of the at least one secondary image sensor device intersects with the line of sight of the primary image sensor device at the target location. The method further includes, based on determining that the line of sight of the at least one secondary image sensor device intersects with the line of sight of the primary image sensor device at the target location: receiving first angle data indicating the orientation of the primary image sensor device; receiving second angle data indicating the orientation of the at least one secondary image sensor device; and determining the target distance based on the offset distance and the received angle data, the target distance representing the distance between the ground combat vehicle and the target at the target location.

[0012] Therefore, it facilitates accurate and secure identification of targets and their distances. Thus, by determining the target distance, ground combat vehicles are not exposed. Such determination of target distance can be extremely useful in certain weather conditions where laser echoes are difficult to obtain (e.g., snowfall, light fog). Such determination of target distance facilitates silent reconnaissance. Such determination of target distance can advantageously serve as an alternative function / redundancy when laser rangefinders are not functioning properly.

[0013] According to an aspect of this disclosure, at least one of the at least one image sensor devices is configured to be disposed at a ground combat vehicle, spaced off from the location of the main image sensor device on the ground combat vehicle by an offset distance. According to an aspect of this disclosure, if at least one of the at least one image sensor is configured to be disposed at a ground combat vehicle, the main image sensor may be disposed at the vehicle, or may be disposed separately from the vehicle, spaced off from the location of the at least one of the at least one image sensor devices on the ground combat vehicle by an offset distance.

[0014] According to an aspect of this disclosure, at least one of the at least one image sensor can be configured to be arranged separately from the ground combat vehicle, spaced off from the location of the ground combat vehicle where the main image sensor device is located according to an aspect, such that the positioning of the at least one of the at least one image sensor device relative to the main image sensor device is known.

[0015] An image sensor device (e.g., a secondary image sensor device or a primary image sensor device) arranged separately from a ground combat vehicle that has another image sensor device arranged thereon can be arranged at an object (such as a drone or another vehicle) and operatively connected directly or via that object, such that the location and orientation of the secondary image sensor device relative to the primary image sensor device arranged at the ground combat vehicle are known.

[0016] A main image sensor device is configured to detect one or more targets. The main image sensor device is configured to identify one or more targets. According to an aspect of this disclosure, the method includes detecting targets by means of the main image sensor device. According to an aspect of this disclosure, the method includes identifying targets by means of the main image sensor device. According to an aspect of this disclosure, the method includes controlling the orientation of the main image sensor device to detect targets, thereby providing the main image sensor device with a line of sight in a direction toward the targets. According to an aspect of this disclosure, the method includes determining the orientation of the main image sensor device when the main image sensor device is detecting targets.

[0017] According to aspects of this disclosure, controlling the orientation of the at least one image sensor device includes physically moving (e.g., rotating) the at least one image sensor device by means of a motor (such as a servo motor) to reorient its line of sight. According to aspects of this disclosure, controlling the orientation of the at least one image sensor device includes identifying a target at an angle within the field of view of the at least one image sensor device covering the target using a suitable module to provide a line of sight. The two examples of controlling the orientation of the at least one image sensor device can be combined.

[0018] The image sensor device that acts as the master image sensor device can be changed during the operation of the ground combat vehicle, such that the slave image sensor device among the at least one slave image sensor device becomes the master image sensor device, and then the master image sensor device becomes a slave image sensor device subordinate to the new master image sensor device.

[0019] According to an embodiment of the method, determining that at least one line of sight from an image sensor device intersects with the line of sight from a main image sensor device at a target location includes: receiving first image data from the main image sensor device; receiving second image data from at least one of the at least one image sensor device; and processing the first and second image data based on image recognition to determine that a target exists along both the line of sight from the at least one image sensor device and the line of sight from the main image sensor device. Therefore, the determination that a target exists along both the line of sight from the at least one image sensor device and the line of sight from the main image sensor device can be obtained effectively and accurately.

[0020] According to an embodiment of the method, controlling the orientation of at least one secondary image sensor device includes: moving the orientation of at least one secondary image sensor device such that the line of sight of at least one secondary image sensor device intersects with the line of sight of the primary image sensor device at different distances along the line of sight of the primary image sensor device. Therefore, it is possible to effectively control the orientation of at least one secondary image sensor device such that the line of sight of at least one secondary image sensor device intersects with the line of sight of the primary image sensor device at a target location. According to an aspect of this disclosure, controlling the orientation of at least one secondary image sensor device includes applying a sweeping movement such that the line of sight of at least one secondary image sensor device intersects with the line of sight of the primary image sensor device at different distances along the line of sight of the primary image sensor device.

[0021] According to an embodiment, the method further includes: moving at least one of the at least one slave image sensor devices relative to the main image sensor device and / or moving the main sensor device relative to the at least one slave image sensor device to adjust the offset distance between the at least one of the at least one slave image sensor devices and the main image sensor device. Adjusting the offset distance by increasing the offset distance between the at least one of the at least one slave image sensor devices and the main image sensor device facilitates a more accurate determination of the target distance.

[0022] According to an embodiment of the method, the at least one slave image sensor device includes at least two slave image sensor devices arranged spaced apart from the main image sensor device and spaced apart from each other by corresponding offset distances at different locations of the ground combat vehicle. The method includes determining the target distance based on determining the target distance using different offset distances and angle data associated with the slave image sensors. Therefore, it facilitates a more accurate determination of the target distance.

[0023] According to an embodiment, the method further includes: during vehicle operation of the ground combat vehicle, continuously or intermittently providing information associated with a determined target distance to the aiming module and / or firing control module and / or ballistic module of the ground combat vehicle. Therefore, according to an aspect of this disclosure, the method includes: during vehicle operation, continuously or intermittently providing information associated with a determined target distance to one or more of the aiming module, firing control module, and ballistic module of the ground combat vehicle. Thus, the target distance information can be effectively available to one or more ground combat vehicle operators, thereby facilitating efficient and safe ground combat vehicle operation.

[0024] According to an embodiment, the method further includes determining the speed of the ground combat vehicle relative to the ground and / or the speed of the target relative to the ground combat vehicle based on the time elapsed between a continuously or intermittently determined target distance and the determined target distance. Therefore, the speed of the ground combat vehicle can be determined efficiently and accurately, thereby promoting efficient and safe ground combat vehicle operation.

[0025] According to one embodiment, the method further includes: determining a target line associated with the ground combat vehicle and pointing towards the target based on determining that at least one line of sight from the image sensor device intersects with the line of sight from the main image sensor device at the location of the target. The target line can be any suitable vector line oriented directly from the ground combat vehicle toward the target. The target line can correspond to the line of sight from the main image sensor device, or the line of sight from the image sensor device, or a vector oriented toward the target.

[0026] According to an embodiment, the method further includes: controlling the orientation of the ground combat vehicle's weapon based on the target line and the determined target distance, such that the weapon has a firing line for facilitating contact with the target. Therefore, determining the target distance promotes the effective operation of the ground combat vehicle.

[0027] According to an embodiment of the method, at least one of the at least one image sensor device and / or the main image sensor device is an electrically powered image sensor device. Therefore, efficient operation of such an image sensor device is facilitated.

[0028] According to an embodiment of the method, the main image sensor device and at least one secondary image sensor device include one or more optical image sensors and / or electro-optical image sensors.

[0029] According to the implementation of this method, the main image sensor device includes a gunner's camera device, a sight camera device, an electro-optical sight device, or a weapon camera device for ground combat vehicles.

[0030] Specifically, the object of the present invention is achieved by a system for passive target range measurement associated with a ground combat vehicle. The system includes: a primary image sensor device for observing a target; and at least one secondary image sensor device, at least one of the secondary image sensor devices and / or the primary image sensor device being configured to be arranged at the ground combat vehicle, the primary image sensor device and the at least one secondary image sensor device being arranged at an offset distance from each other. The at least one secondary image sensor device has a controllable orientation. The system includes electronics comprising: a control module; and a target range determination module. The control module is configured to: adjust the controllable orientation of the at least one secondary image sensor device; and determine whether the line of sight of the at least one secondary image sensor device intersects with the line of sight of the primary image sensor device at the target's location. The control module is further configured to: when it is determined that the line of sight of the at least one secondary image sensor device intersects with the line of sight of the primary image sensor device at the target's location, transmit first angle data representing the orientation of the primary image sensor device and second angle data representing the orientation of the at least one secondary image sensor device to the target range determination module. The target distance determination module is also configured to determine the target distance based on the offset distance and the received angle data when at least one line of sight from the image sensor device intersects with the line of sight from the main image sensor device at the location of the target.

[0031] According to an implementation of the system, when it is determined that the line of sight from at least one of the image sensor devices intersects with the line of sight from the main image sensor device at the location of the target, the control module is configured to: receive first image data from the main image sensor device; receive second image data from at least one of the at least one image sensor device; and process the first image data and the second image data based on image recognition to determine that a target exists along the line of sight of at least one of the at least one image sensor device and along the line of sight of the main image sensor device.

[0032] According to an implementation of the system, the control module is configured to control the orientation of at least one secondary image sensor device by moving the orientation of at least one secondary image sensor device such that the line of sight of at least one secondary image sensor device intersects the line of sight of the primary image sensor device at different distances along the line of sight of the primary image sensor device.

[0033] According to an implementation of the system, the control module is configured to move at least one of the at least one secondary image sensor devices relative to the primary image sensor device and / or move the primary sensor device relative to the at least one secondary image sensor device to adjust the offset distance between the at least one of the at least one secondary image sensor devices and the primary image sensor device.

[0034] According to an implementation of the system, the at least one secondary image sensor device includes at least two secondary image sensor devices arranged spaced apart from the primary image sensor device and spaced apart from each other by corresponding offset distances at different locations of the ground combat vehicle, wherein the target distance determination module is configured to determine the target distance based on determining the target distance by using offset distances and angle data associated with the secondary image sensor devices.

[0035] According to an implementation of the system, the electronic device further includes an aiming module and / or a fire control module and / or a ballistic module, or is operatively connected to or included in the aiming module and / or the fire control module and / or the ballistic module, wherein the aiming module and / or the fire control module and / or the ballistic module are configured to continuously or intermittently receive information associated with a determined target distance during ground combat vehicle operation.

[0036] According to an embodiment, the system further includes a speed determination module configured to: continuously or intermittently receive a determined target distance, and determine the speed of the ground combat vehicle relative to the ground and / or the speed of the target relative to the ground combat vehicle based on the determined target distance and the time elapsed between the determined target distance and the determined target distance.

[0037] According to an implementation of the system, the electronic device is configured to determine a target line pointing towards the target, associated with the ground combat vehicle, based on the determination that at least one line of sight from the image sensor device intersects with the line of sight from the main image sensor device at the target's location. The target line can be determined by means of, for example, the target range module of the electronic device, the control module of the electronic device, or any other suitable module, control unit, etc.

[0038] According to an implementation of the system, the aiming module and / or firing control module and / or ballistic module are configured to control the orientation of the ground combat vehicle's weapon based on the target line and the determined target distance, such that the weapon has a firing line for facilitating a hit on the target.

[0039] According to an implementation of the system, at least one of the at least one secondary image sensor device and / or the primary image sensor device is an electrically driven image sensor device.

[0040] According to the implementation of the system, the main image sensor device includes a gunner's camera device, a sight camera device, an electro-optical sight device, or a weapon camera device for ground combat vehicles.

[0041] The system for passive target range measurement associated with ground combat vehicles according to this disclosure has the advantage of the corresponding method as described herein.

[0042] Specifically, the object of the present invention is achieved by a ground combat vehicle comprising the systems described herein.

[0043] According to one embodiment, the ground combat vehicle includes a turret and a turret-mounted weapon system with weapons. According to an aspect of this disclosure, the main image sensor device is disposed at the turret. According to an aspect of this disclosure, the at least one secondary image sensor device is disposed at the turret. Attached Figure Description

[0044] To better understand this disclosure, reference should be made to the following detailed description when read in conjunction with the accompanying drawings, in which the same reference numerals refer to the same parts throughout the views, and in the drawings:

[0045] Figure 1 A side view of a tracked ground combat vehicle according to an embodiment of the present disclosure is shown schematically.

[0046] Figure 2 A side view of a turret with a weapon system equipped with weapons, according to an embodiment of the present disclosure, is shown schematically.

[0047] Figure 3a A schematic plan view of a ground combat vehicle and a target at a target distance to be determined, according to an embodiment of the present disclosure.

[0048] Figure 3b A triangle according to an embodiment of the present disclosure is schematically shown, the triangle including the line of sight from the image sensor device to the target, the offset distance between the image sensor devices, and the angle for determining the target distance;

[0049] Figure 4a A schematic plan view of a ground combat vehicle and a target at a target distance to be determined, according to an embodiment of the present disclosure.

[0050] Figure 4b A triangle according to an embodiment of the present disclosure is schematically shown, the triangle including the line of sight from the image sensor device to the target, the offset distance between the image sensor devices, and the angle for determining the target distance;

[0051] Figure 4c The embodiments according to this disclosure are illustrated schematically. Figure 4a The rear view of the turret of the ground combat vehicle and the target at the distance to be determined.

[0052] Figure 4d The embodiments according to this disclosure are illustrated schematically. Figure 4c A side view of the turret and the target at the distance to be determined;

[0053] Figure 5 A block diagram of a system for passive target range measurement associated with a ground combat vehicle, according to an embodiment of the present disclosure, is shown schematically.

[0054] Figure 6 A flowchart illustrating a method for passive target range measurement at a ground combat vehicle according to an embodiment of the present disclosure is shown schematically. Detailed Implementation

[0055] In this document, the term "ground combat vehicle" refers to any suitable ground combat vehicle, including: infantry fighting vehicles (IFVs), main battle tanks (MBTs), armored personnel carriers (APCs), and infantry motorized vehicles (IMVs). Ground combat vehicles may include turrets and turret-mounted weapon systems with weapons. Ground combat vehicles may include roof-mounted weapon stations containing weapons.

[0056] In the following text, the term “weapon” refers to any weapon applicable to ground combat vehicles, including: main guns / cannons, gun barrels, missile launchers, grenade launchers, machine guns, directed energy weapons (DEW), and remotely controlled weapon stations (RCWS).

[0057] The ground combat vehicle according to this disclosure can be any suitable ground combat vehicle such as a tracked ground combat vehicle (i.e., a ground engagement member having a ring track shape) or a wheeled ground combat vehicle (i.e., a ground engagement member having a wheel shape).

[0058] Figure 1 A side view of a tracked ground combat vehicle V according to an aspect of this disclosure is shown schematically. Thus, the illustrated ground combat vehicle V is composed of a tracked ground combat vehicle. The tracked ground combat vehicle V includes a ground combat vehicle body VB, which, according to an aspect of this disclosure, includes the chassis and body of the ground combat vehicle V.

[0059] The tracked ground combat vehicle V includes a pair of track assemblies TA1 and TA2 suspended in connection with the vehicle body VB. Each track assembly includes a right track assembly TA1 and a left track assembly TA2 for driving the ground combat vehicle. Each track assembly includes an annular track ET driven by a drive unit, arranged to run through a set of wheels.

[0060] Even though the ground combat vehicle V shown is a tracked ground combat vehicle, according to other embodiments of the present invention, the ground combat vehicle V may also be composed of a wheeled ground combat vehicle.

[0061] The ground combat vehicle V is equipped with a turret TU. The turret TU is mounted on top of the ground combat vehicle V. The turret TU is capable of rotating about a rotation axis Y, which is orthogonal to both the longitudinal and lateral extensions of the ground combat vehicle V.

[0062] Ground combat vehicle V is configured to be equipped with a weapon system W having weapon B. Weapon B is mounted on a turret TU. Therefore, the weapon B of weapon system W is allowed to rotate by means of the turret TU rotating around axis Y. According to one aspect, weapon B consists of or includes a barrel.

[0063] Weapon B is configured to be connected to an elevation device E, which, according to aspects of this disclosure, may be or may include a so-called weapon mount connected to the turret TU. Weapon B is configured to orbit the turret TU by means of the elevation device E. Figure 1 and Figure 2 The pitch axis Z shown is raised and lowered, i.e., provides pitch movement. Weapon B is configured to raise and lower around the pitch axis Z, i.e., provide pitch movement.

[0064] The weapon B has a main extension. The pitch axis Z is orthogonal to and transverse to the main extension of the weapon B.

[0065] Figure 2 A side view of a turret TU having a weapon system W with weapon B is schematically shown according to an embodiment of the present disclosure.

[0066] As shown above (refer to the reference) Figure 1 As mentioned, weapon B is configured to be connected to a pitch device E. Weapon B is configured to rise and fall about the pitch axis Z by means of the pitch device E, i.e., to provide pitch movement. According to aspects of this disclosure, weapon B can be configured to... Internal rises and falls.

[0067] like Figure 1 and Figure 2As shown, a ground combat vehicle includes a system S for passive target range measurement. System S includes a main image sensor device 10, which can be positioned at the turret TU of the ground combat vehicle V for target observation. According to an aspect of this disclosure, the main image sensor device 10 includes a sighting device for target identification, the sighting device being configured to be controlled by a vehicle operator (such as a gunner). System S also includes at least one secondary image sensor device 20, which can be configured to be positioned at the ground combat vehicle V, preferably at the turret TU of the ground combat vehicle V, spaced off from the position of the main image sensor device 10 at an offset distance. The at least one secondary image sensor device 20 has a controllable orientation.

[0068] According to aspects of this disclosure, at least one secondary image sensor device 20 is configured to adjust its orientation based on the field of view of the primary image sensor device 10 (i.e., the target field of view of the primary image sensor device 10), such that the line of sight of the at least one secondary image sensor device 20 intersects with the line of sight of the primary image sensor device 10 at a target identified by the primary image sensor device 10. When the at least one secondary image sensor device 20 intersects with the primary image sensor device 10 at the target, the target distance is configured to be determined based on angular data representing the orientation of the at least one secondary image sensor device 20 and the primary image sensor device 10 relative to a hypothetical direction of a weapon directly pointing at the target.

[0069] According to aspects of this disclosure, the ground combat vehicle V and its turret TU are configured such that the turret TU rotates based on the direction of the identified target, which is identified by means of a main image sensor device 10 operated by, for example, a gunner, and wherein the firing line of the weapon B is adjusted based on the target distance and target direction determined therefrom, as well as other possible data (such as weather data including wind direction, wind speed, temperature, and other data such as the possible movement of the target, ammunition type, etc.).

[0070] Reference Figure 5 To describe such a system S in more detail.

[0071] According to aspects of this disclosure, the tracked ground combat vehicle V is arranged as follows: Figure 6 The method M1 for passive target distance measurement is used for operation.

[0072] Figure 3a A schematic plan view of a ground combat vehicle V and a target T at a target distance TD to be determined, according to an embodiment of the present disclosure, is shown. Figure 3bA triangle according to an embodiment of the present disclosure is schematically shown, the triangle including the line of sight from the image sensor device to the target, the offset distance OD between the image sensor devices, and the angle used to determine the target distance. , .

[0073] Figure 3a The ground combat vehicle V in the reference can be any suitable ground combat vehicle, such as those specified in the reference. Figure 1 The ground combat vehicle V described.

[0074] The ground combat vehicle V includes a turret TU and a turret-mounted weapon system with weapon B.

[0075] The ground combat vehicle V is associated with a system for passive target range measurement.

[0076] According to aspects of this disclosure, a main image sensor device 10 is disposed at a ground combat vehicle V for observing a target T. The main image sensor device 10 is configured to be included in the system.

[0077] According to one aspect, the image sensor device 20 is configured to be located at the ground combat vehicle V, spaced apart from the position of the main image sensor device 10 at the location of the ground combat vehicle V by an offset distance OD.

[0078] The main image sensor device 10 has identified the target T. This identification can be performed by an operator (such as a gunner or main operator) at the vehicle, or automatically by means of the main image sensor device 10. The main image sensor device 10 has a line of sight L1 oriented towards the target.

[0079] The orientation of the slave image sensor device 20, subordinate to the master image sensor device 10, is configured to be controlled such that its line of sight L2 intersects with the line of sight L1 of the master image sensor device 10 at the target T. According to aspects of this disclosure, this is achieved by processing first image data from the master image sensor device 10 and second image data from the slave image sensor device 20 based on image recognition.

[0080] According to the variant, the image sensor device 20 is arranged at the weapon 10.

[0081] Based on the determination that at least one line of sight L2 from image sensor device 20 intersects with the line of sight L1 from main image sensor device 10 at the location of target T, a target line L associated with the ground combat vehicle V and pointing towards target T is configured to be determined. Target line L can be any suitable vector pointing towards target T. Here, the line of sight L1 from main image sensor device 10 pointing towards target T constitutes target line L.

[0082] According to aspects of this disclosure, the offset distance OD associated with the target line L corresponds to the distance between the main image sensor device 10 and the slave image sensor device 20.

[0083] First angle data representing the orientation of the main image sensor device 10 is configured to be determined. According to an aspect of this disclosure, the first angle data corresponds to the angle of the line of sight L1 of the main image sensor device 10 relative to the offset distance OD (i.e., relative to the direction of extension of the offset distance OD). .

[0084] A second angle data representing the orientation from the image sensor device 20 is configured to be determined. According to an aspect of this disclosure, the second angle data corresponds to the angle of the line of sight L2 from the image sensor device 20 relative to the offset distance OD (i.e., relative to the direction of extension of the offset distance OD). .

[0085] The target distance TD, representing the distance between the combat vehicle V and the target at the target position T, is configured to be determined based on the offset distance OD and the determined first angle data and second angle data.

[0086] The line of sight L1 of the main image sensor device 10, the line of sight L2 of the slave image sensor device 20, and the offset distance OD between the main image sensor device 10 and the slave image sensor device 20 provide a triangle in 3D space. This triangle has a point at the target T and a base corresponding to the offset distance OD. The first angle data corresponds to the angle between the direction of the line of sight L1 of the main sensor device 10 and the offset distance OD. The second angle data corresponds to the angle between the line of sight L2 of the subordinate sensor device 20 and the direction of the offset distance OD. The first angle data and the second angle data (i.e., the angle) and The relative movement of the main image sensor device 10 and the secondary image sensor device 20 (e.g., relative movement caused by vehicle movement, image sensor device movement, turret movement, etc.) can vary.

[0087] Such targets may be very close or hundreds of meters to hundreds of kilometers away. Offset range (OD) can be measured within a range of one to several meters or more, depending on the location of the image sensor device, for example, using an image sensor device positioned relative to the ground combat vehicle (i.e., at a certain distance from the ground combat vehicle V).

[0088] According to an alternative, the secondary image sensor device 20 can be configured to be arranged separately from the ground combat vehicle V, as shown in the dashed square. Alternatively, this separation of the secondary image sensor device 20 from the ground combat vehicle V can be a complement to the arrangement of the secondary image sensor device 20 at the ground combat vehicle V. The secondary image sensor device 20, separated from the ground combat vehicle V, is spaced apart by an offset distance OD from the position of the primary image sensor device 10 on the ground combat vehicle V, thus obtaining a larger offset distance OD, facilitating a more accurate determination of the target distance TD. The larger offset distance OD is related to the target T, i.e., it causes the lines of sight L1 and L2 to be at a larger angle relative to each other. They intersect at target T, see [link / reference] Figure 3b Compared to the image sensor device located on the ground combat vehicle V, the triangle provided by the orientation of this image sensor device 20 provides additional angular data, and therefore the angle... and Different. The positioning of the slave image sensor device 20 relative to the master image sensor device 10, arranged separately from the ground combat vehicle V, is known by means of an operable connection between them. The slave image sensor device 20, indicated by the dashed line, has a line of sight L3 intersecting the line of sight of the master image sensor device 10 at the location of the target T.

[0089] According to one aspect, the target T is Figure 3a A combat vehicle moving to the right, wherein the turret TU and weapon B are configured with a specific ballistic orientation relative to the target line L to obtain the correct firing line of weapon B for facilitating a hit on target T.

[0090] The slave image sensor device 20, arranged separately from the ground combat vehicle V on which the main image sensor device 10 is arranged, can be arranged at an object (such as a drone or another vehicle) and operatively connected directly or via the object, such that the position and orientation of the slave image sensor device 20 relative to the main image sensor device 10 arranged at the ground combat vehicle are known during operation, including the relative movement of the slave image sensor device 20 separated from the ground combat vehicle V and the main image sensor device 10 arranged at the ground combat vehicle V.

[0091] Reference Figure 5 The system S described for passive target distance measurement can be based on Figure 3aThe system of the ground combat vehicle V. (Refer to...) Figure 6 The described method M1 for passive target distance measurement can be based on Figure 3a The ground combat vehicle V was deployed to carry out the operation.

[0092] Figure 4a A schematic plan view of a ground combat vehicle V and a target T at a target distance TD to be determined, according to an embodiment of the present disclosure, is shown. Figure 4b The diagram schematically illustrates a triangle according to an embodiment of the present disclosure, the triangle including the line of sight from the image sensor devices 10, 20 to the target T, the offset distance OD between the image sensor devices 10, 20, and the angle used to determine the target distance. , . Figure 4c The embodiments according to this disclosure are illustrated schematically. Figure 4a The rear view of the turret TU of the ground combat vehicle V and the target T at the target distance to be determined. Figure 4d The embodiments according to this disclosure are illustrated schematically. Figure 4c The side view of the turret TU and the target T at the distance TD to be determined.

[0093] Figure 4a The ground combat vehicle V in the text can correspond to Figure 3a Ground combat vehicle V. Figure 4a Ground combat vehicle V and Figure 3a The ground combat vehicle V differs essentially only in the positioning of the main image sensor unit 10 and the secondary image sensor unit 20. Figure 4a In the middle, the main image sensor device 10 is arranged at the mast (see...). Figure 4c and Figure 4d The image sensor device 20 is located at the turret TU of the ground combat vehicle V, separate from the weapon B.

[0094] exist Figure 4a In this context, weapon B may extend at an angle relative to the defined target line L, which is oriented directly from the ground combat vehicle V toward the target T. According to an aspect of this disclosure, the turret TU may be configured to rotate based on the defined target line L, such that weapon B can be positioned within a firing line toward the target T. Here, the target line L, determined based on the intersection of the line of sight L2 from image sensor device 20 and the line of sight L1 from main image sensor device 10 at the location of target T, is a target line L oriented from the ground combat vehicle V toward target T.

[0095] Reference Figure 5 The system S described for passive target distance measurement can be based on Figure 4a The system of the ground combat vehicle V. (Refer to...) Figure 6 The described method M1 for passive target distance measurement can be based on Figure 4a The ground combat vehicle V was executed.

[0096] Figure 5 A block diagram schematically illustrates a system S for passive target range measurement associated with a ground combat vehicle according to an embodiment of the present disclosure. According to an aspect of the present disclosure, the ground combat vehicle includes a turret and a turret-mounted weapon system with weapons. According to an aspect of the present disclosure, the ground combat vehicle includes a roof-mounted weapon system with weapons.

[0097] System S includes: a primary image sensor device 10 for observing targets; and at least one secondary image sensor device 20. At least one of the secondary image sensor devices 20 and / or the primary image sensor device 10 is configured to be located at a ground combat vehicle. The primary image sensor device 10 and the at least one secondary image sensor device 20 are configured to be spaced apart from each other by an offset distance.

[0098] According to an aspect of this disclosure, the main image sensor device 10 is configured to be disposed at a ground combat vehicle. According to an aspect of this disclosure, the main image sensor device 10 is configured to be disposed at the turret of the ground combat vehicle. According to an aspect of this disclosure, the main image sensor device 10 is configured to be separate from the ground combat vehicle, spaced off by an offset distance from the position of the at least one of the image sensor devices 20 located on the ground combat vehicle.

[0099] According to an aspect of this disclosure, the at least one secondary image sensor device 20 is configured to be disposed at a ground combat vehicle. According to an aspect of this disclosure, the at least one secondary image sensor device 20 is configured to be disposed at the turret of the ground combat vehicle. According to an aspect of this disclosure, the at least one secondary image sensor device 20 is configured to be disposed separately from the ground combat vehicle, spaced off from the position of the primary image sensor device 10 on the ground combat vehicle by an offset distance. The at least one secondary image sensor device 20 has a controllable orientation.

[0100] According to an aspect of system S, at least one of the at least one image sensor device 20 and / or the main image sensor device 10 is an electric image sensor device.

[0101] According to aspects of system S, the main image sensor device 10 includes a gunner's camera device, a sight camera device, an electro-optical sight device, or a weapon camera device for a ground combat vehicle V.

[0102] According to aspects of this disclosure, the main image sensor device 10 and the at least one secondary image sensor device 20 are operatively connected to each other to determine the relative distance between them.

[0103] System S also includes an electronic device 100. According to aspects of this disclosure, such an electronic device 100 may include one or more control units. According to aspects of this disclosure, such an electronic device 100 may include at least one of the at least one slave image sensor device and the at least one master image sensor device. According to aspects of this disclosure, such an electronic device 100 may be operatively connected to at least one of the at least one slave image sensor device 20 and the at least one master image sensor device 10.

[0104] According to aspects of this disclosure, the main image sensor device 10 and the at least one secondary image sensor device 20 are operatively connected to each other via the electronic device 100 to determine the relative distance between them.

[0105] According to an aspect of this disclosure, the main image sensor device 10 is configured to detect one or more targets. According to an aspect of this disclosure, the main image sensor device 10 is configured to identify one or more targets. According to an aspect of this disclosure, an electronic device 100 is configured to receive information that the main image sensor device 10 has detected a target. According to an aspect of this disclosure, the electronic device 100 is configured to determine the orientation of the main image sensor device 20. According to an aspect of this disclosure, the electronic device 100 is configured to determine the orientation of the main image sensor device 20 relative to the direction of extension of the offset distance between the main image sensor device 10 and the at least one secondary image sensor device 20, the orientation pointing towards the target.

[0106] According to an aspect of this disclosure, the electronic device 100 includes a control module CM. According to an aspect of this disclosure, the electronic device 100 includes a target distance determination module TDM.

[0107] The control module CM is configured to: adjust the controllable orientation of at least one image sensor device 20; and determine whether the line of sight L2 of the at least one image sensor device 20 intersects with the line of sight L1 of the main image sensor device 10 at the position of the target T.

[0108] According to aspects of this disclosure, the control module CM is configured to adjust the controllable orientation of at least one image sensor device 20 by providing control commands for physically moving (e.g., rotating) the at least one image sensor device 20 by means of a motor (such as a servo motor) to reorient its line of sight.

[0109] According to aspects of this disclosure, the control module CM is configured to adjust the controllable orientation of at least one image sensor device 20 based on target information identified at a certain angle within the field of view of the at least one image sensor device 20 covering the target, so as to provide a line of sight toward the target. Such an image sensor device 20 can have a field of view that covers a sufficient field of view within a certain angular interval, allows the image sensor device 20 to be fixedly arranged, and allows the field of view to be controlled by the control module, so that a line of sight toward the target can be obtained.

[0110] The control module CM is also configured to transmit, when it is determined that the line of sight of the at least one secondary image sensor device 20 intersects with the line of sight of the primary image sensor device 10 at the location of the target, a first angle data representing the orientation of the primary image sensor device 10 and a second angle data representing the orientation of the at least one secondary image sensor device 20 to the target distance determination module TDM.

[0111] The target distance determination module TDM is configured to determine the target distance TD based on the offset distance OD and the received angle data when at least one line of sight from the image sensor device 20 intersects with the line of sight from the main image sensor device 10 at the location of the target.

[0112] According to aspects of this disclosure, when it is determined that the line of sight from at least one of the image sensor devices 20 intersects with the line of sight from the main image sensor device 10 at the location of a target, the control module CM is configured to: receive first image data from the main image sensor device 10; and receive second image data from at least one of the at least one of the image sensor devices 20. The control module CM is then configured to process the first and second image data based on image recognition to determine that a target exists along the line of sight of at least one of the at least one of the image sensor devices 20 and along the line of sight of the main image sensor device 10.

[0113] According to an aspect of this disclosure, the control module CM is configured to control the orientation of at least one slave image sensor device 20 by moving the orientation of at least one slave image sensor device 20 such that the line of sight of at least one slave image sensor device 20 intersects the line of sight of the main image sensor device 10 at different distances along the line of sight of the main image sensor device 10.

[0114] According to an aspect of this disclosure, the control module CM is configured to move at least one of the ...

[0115] According to an aspect of this disclosure, the at least one secondary image sensor device 20 includes at least two secondary image sensor devices 20 arranged spaced apart from the primary image sensor device 10 and spaced apart from each other at different locations on the combat vehicle V by corresponding offset distances OD, wherein the target distance determination module TDM is configured to determine the target distance TD based on determining the target distance by using offset distances and angle data associated with the secondary image sensor devices 20.

[0116] According to an aspect of this disclosure, the system S further includes a velocity determination module SDM configured to continuously or intermittently receive the determined target distance. The velocity determination module SDM is also configured to determine the velocity of the ground combat vehicle relative to the ground and / or the velocity of the target relative to the ground combat vehicle based on the determined target distance and the time elapsed between the determined target distance and the time elapsed between the determined target distance and the time elapsed between the determined target distance and the ground combat vehicle.

[0117] According to an aspect of this disclosure, the system S of the ground combat vehicle includes at least one processor 110, which is operatively connected to the main image sensor device 10 and the at least one slave image sensor device 20. According to an aspect of this disclosure, the electronic device 100 of the system S includes the at least one processor 110, which is operatively connected to the main image sensor device 10 and the at least one slave image sensor device 20.

[0118] According to aspects of this disclosure, electronic device 100 includes a memory arrangement 120. Memory arrangement 120 may include at least one memory. Therefore, electronic device 100 includes at least one memory.

[0119] According to aspects of this disclosure, electronic device 100 includes a communication interface 130. The communication interface 130 may also be referred to as a communication unit.

[0120] According to aspects of this disclosure, the main image sensor device 10 and the at least one slave image sensor device 20 may be operatively connected to the electronic device 100 via one or more links.

[0121] According to aspects of this disclosure, the memory arrangement 120 of the electronic device 100 may be integrated with or embedded in at least one processor 110, and / or be a separate memory hardware device. According to aspects of this disclosure, the memory arrangement 120 of the control device 100 is operatively connectable to at least one processor 110. According to aspects of this disclosure, at least one of the at least one memories of the memory arrangement 120 may be integrated with or embedded in at least one processor 110, and / or be a separate memory hardware device.

[0122] The memory arrangement 120 may include RAM, ROM, hard disk, optical disk, magnetic media, flash memory and / or any other mechanism capable of storing instructions or data.

[0123] According to aspects of this disclosure, at least one processor 110 of electronic device 100 may include any physical means having circuitry for performing logical operations on input data. For example, at least one processor 110 may include all or part of one or more integrated circuits, microchips, microcontrollers, microprocessors, CPUs, DSPs, FPGAs, or other circuitry for executing instructions or performing logical operations. According to aspects of this disclosure, when executing one or more computer programs stored in memory arrangement 120, at least one processor 110 of electronic device 100 performs the actions and method steps described herein as performed by electronic device 100. According to aspects of this disclosure, when executing one or more computer programs stored in memory arrangement 120, at least one processor 110 of electronic device 100 performs the actions and method steps described herein as performed by at least one processor 110.

[0124] According to aspects of this disclosure, communication interface 130 is operatively connected to the memory arrangement 120. According to aspects of this disclosure, communication interface 130 may also be operatively connected to the at least one processor 110.

[0125] Based on aspects of this disclosure, such as Figure 5As shown, the control module CM and the target determination module TDM are stored in the memory arrangement 120. According to aspects of this disclosure, instructions for performing functions associated with the modules CM and TDM are stored in the memory arrangement 120, and these functions are enabled by means of processing the instructions by at least one processor 110.

[0126] Therefore, the method steps discussed below can be executed via the stored instructions being executed by at least one processor 110. Alternatively, one or more of the control module CM and the target determination module TDM may be implemented as separate hardware units.

[0127] The ground combat vehicle includes a turret and a turret-mounted weapon system with weapons.

[0128] According to an aspect of this disclosure, the electronic device 100 further includes a targeting module AM, or is operatively connected to or included in the targeting module AM. According to an aspect of this disclosure, the targeting module AM ​​is configured to continuously or intermittently receive information associated with a determined target distance during vehicle operation. According to an aspect of this disclosure, the targeting module AM ​​is configured to control the aiming of the weapon based on the received information, etc., associated with the determined target distance.

[0129] According to an aspect of this disclosure, the electronic device 100 further includes a firing control module (FCM) or is operatively connected to or included in the firing control module (FCM). According to an aspect of this disclosure, the firing control module (FCM) is configured to continuously or intermittently receive information associated with a determined target distance during vehicle operation. According to an aspect of this disclosure, the firing control module (FCM) is configured to control the firing of the weapon based on the received information, etc., associated with the determined target distance.

[0130] According to an aspect of this disclosure, the electronic device 100 further includes a ballistic module BM, or is operatively connected to or included in the ballistic module BM. According to an aspect of this disclosure, the ballistic module BM is configured to continuously or intermittently receive information associated with a determined target distance during vehicle operation. According to an aspect of this disclosure, the ballistic module BM is configured to control the trajectory of the weapon based on the received information, etc., associated with the determined target distance.

[0131] According to an aspect of this disclosure, the electronic device 100 is configured to: determine a target line pointing toward the target associated with the ground combat vehicle V based on determining that at least one line of sight from an image sensor device intersects with the line of sight of a main image sensor device at the location of the target.

[0132] According to aspects of this disclosure, the aiming module AM ​​and / or firing control module FCM and / or ballistic module BM are configured to control the orientation of the weapon B of the ground combat vehicle V based on the target line L and the determined target distance TD, such that the weapon has a firing line for facilitating a hit on the target T.

[0133] According to aspects of this disclosure, the system S of the ground combat vehicle is arranged according to Figure 6 The method M1 for passive target distance measurement is used for operation.

[0134] Figure 6 A flowchart of a method M1 for passive target range measurement at a ground combat vehicle V, according to an aspect of this disclosure, is shown schematically.

[0135] The method is configured to be executed at the electronics of a ground combat vehicle using a primary image sensor device and at least one secondary image sensor device for observing a target. At least one of the secondary image sensor devices and / or the primary image sensor device is configured to be disposed at the ground combat vehicle, and the primary image sensor device and the at least one secondary image sensor device are configured to be spaced apart from each other by an offset distance. The ground combat vehicle may be based on… Figure 1 , Figure 3a or Figure 4a Ground combat vehicles.

[0136] According to an aspect of this disclosure, method M1 includes step S1. In this step, the orientation of the at least one image sensor device is controlled.

[0137] According to aspects of this disclosure, step S1, which controls the orientation of the at least one slave image sensor device, is based on a target identified by means of the master image sensor device, and therefore on the orientation of the master image sensor device. Thus, the at least one slave image sensor device is subordinate to the master image sensor device; that is, the at least one slave image sensor device adjusts its orientation based on the orientation of the master image sensor device.

[0138] According to aspects of this disclosure, the method may include one or more steps prior to step S1. In such a step, according to one aspect, a target is detected by means of the main image sensor device. In such a step, according to one aspect, a target is identified by means of the main image sensor device. In such a step, according to one aspect, the orientation of the main image sensor device is controlled to detect the target, thereby providing a line of sight of the main image sensor device in the direction toward the target. In such a step, according to one aspect, the orientation of the main image sensor device is determined while the main image sensor device is detecting the target.

[0139] According to an aspect of this disclosure, step S1 of controlling the orientation of at least one secondary image sensor device includes moving the orientation of at least one secondary image sensor device such that the line of sight of at least one secondary image sensor device intersects the line of sight of the primary image sensor device at different distances along the line of sight of the primary image sensor device. According to an aspect of this disclosure, step S1 of controlling the orientation of at least one secondary image sensor device includes applying a sweeping movement such that the line of sight of at least one secondary image sensor device intersects the line of sight of the primary image sensor device at different distances along the line of sight of the primary image sensor device.

[0140] According to aspects of this disclosure, step S1 of controlling the orientation of at least one image sensor device includes physically moving (e.g., rotating) the at least one image sensor device by means of a motor (such as a servo motor) to reorient the line of sight of the at least one image sensor device.

[0141] According to an aspect of this disclosure, step S1 of controlling the orientation of at least one image sensor device includes using a suitable module to identify the target at an angle within the view of the at least one image sensor device covering the target, in order to provide a line of sight.

[0142] According to an aspect of this disclosure, method M1 includes step S2. In this step, it is determined whether the line of sight from the at least one image sensor device intersects with the line of sight from the main image sensor device at the location of the target.

[0143] According to an aspect of this disclosure, step S2, determining whether the line of sight of the at least one secondary image sensor device intersects with the line of sight of the primary image sensor device at the location of the target, includes: receiving first image data from the primary image sensor device; receiving second image data from at least one of the at least one secondary image sensor device; and processing the first image data and the second image data based on image recognition to determine that a target exists along the line of sight of the at least one secondary image sensor device and along the line of sight of the primary image sensor device. According to an aspect of this disclosure, the first image data and the second image data are compared, and if a match exists, it is determined that a target exists along the line of sight of the at least one secondary image sensor device and along the line of sight of the primary image sensor device.

[0144] According to one aspect, method M1 includes step S2a. In this step, if it is determined whether the line of sight of the at least one secondary image sensor device intersects with the line of sight of the primary image sensor device at the target location, the method continues to steps S3a and S3b, and if they do not intersect, step S1 is repeated, i.e., the orientation of the at least one secondary image sensor device is controlled.

[0145] According to one aspect, method M1 therefore includes steps S3a and S3b performed when determining whether the line of sight from the at least one image sensor device intersects with the line of sight from the main image sensor device at the location of the target.

[0146] In step S3a, first angle data representing the orientation of the main image sensor device is received.

[0147] In step S3b, second angle data representing the orientation of at least one image sensor device is received.

[0148] According to aspects of this disclosure, ground combat vehicles include weapon systems having weapons for engaging said targets.

[0149] According to an aspect of this disclosure, method M1 may further include the step of: determining a target line associated with the ground combat vehicle pointing towards the target based on determining that at least one line of sight from the image sensor device intersects with the line of sight from the main image sensor device at the location of the target.

[0150] The target line can be any suitable vector line oriented directly toward the target from the ground combat vehicle. For ground combat vehicles having turrets configured to rotate relative to the vehicle body and turret-mounted weapon systems including weapons, the determined target line can be oriented directly toward the target from the vehicle, wherein the weapon can extend at an angle relative to the target line, and wherein the turret can rotate based on the determined target line such that the weapon can be positioned in a firing line toward the target. According to one aspect, the target line can correspond to the line of sight of the main image sensor device. According to another aspect, the target line can correspond to the line of sight of a secondary image sensor device in at least one secondary image sensor device. The ground combat vehicle includes a weapon system having weapons for firing at the target, wherein, according to one aspect, if the weapon is to be directly pointed at the target, the target line corresponds to the hypothetical direction of the weapon. According to one aspect of this disclosure, the secondary image sensor device is arranged at the weapon such that if the weapon is to be directly pointed at the target, the line of sight from the secondary image sensor toward the target corresponds to the hypothetical direction of the weapon. According to one aspect of this disclosure, the target line may correspond to the line of sight of an image sensor device (such as, for example, a main image sensor device arranged relative to the vehicle).

[0151] According to an embodiment, the method includes: controlling the orientation of the weapon of the ground combat vehicle based on the target line and the determined target distance, such that the weapon has a firing line for facilitating a hit on the target.

[0152] According to an aspect of this disclosure, method M1 includes step S4. In this step, a target distance is determined based on the offset distance between the main image sensor device and the at least one secondary image sensor device, and received first angle data and second angle data, the target distance representing the distance between the combat vehicle and the target at the target location.

[0153] According to an aspect of this disclosure, method M1 may further include the step of: moving at least one of the at least one slave image sensor devices relative to the main image sensor device to adjust the offset distance between the at least one of the at least one slave image sensor devices and the main image sensor device. Figure 6 This step is not disclosed. Such a step may include increasing the offset distance between the at least one of the image sensor devices and the main image sensor device to improve accuracy in determining target distance. This step may be used when the target is at a long distance away from ground combat vehicles.

[0154] According to an aspect of this disclosure, the at least one slave image sensor device includes at least two slave image sensor devices arranged spaced apart from the main image sensor device and spaced apart from each other by corresponding offset distances at different locations of the combat vehicle. According to an aspect of this disclosure, method M1 may further include the step of determining a target distance based on determining a target distance using different offset distances and angle data associated with the slave image sensor devices.

[0155] According to aspects of this disclosure, method M1 may further include the following steps: during vehicle operation, continuously or intermittently providing information associated with the determined target distance to the aiming module and / or firing control module and / or ballistic module of the ground combat vehicle.

[0156] According to an aspect of this disclosure, method M1 may further include the step of determining the speed of the ground combat vehicle relative to the ground based on the time elapsed between a target distance determined continuously or intermittently and the determined target distance during the movement of the ground combat vehicle.

[0157] According to an aspect of this disclosure, at least one of the primary image sensor device and / or the at least one secondary image sensor device is an electrically powered image sensor device. According to an aspect of this disclosure, the primary image sensor device and the at least one secondary image sensor device include one or more optical image sensors and / or electro-optical image sensors. According to an aspect of this disclosure, the primary image sensor device includes a gunner's camera device, a sight camera device, an electro-optical sight device, or a weapon camera device for a ground combat vehicle.

[0158] For purposes of illustration and description, the foregoing description of preferred embodiments of the invention has been provided. The foregoing description is not intended to be exhaustive or to limit the invention to the precise forms disclosed. Many modifications and variations will obviously be apparent to those skilled in the art. The embodiments were chosen and described in order to best illustrate the principles of the invention and its practical application, thereby enabling others skilled in the art to understand the various embodiments of the invention and the various modifications suitable for the particular intended use.

Claims

1. A method for passive target range measurement at a ground combat vehicle (V), the method being performed at an electronics (100) of the ground combat vehicle (V) by means of a primary image sensor device (10) for observing a target (T) and at least one secondary image sensor device (20), wherein at least one of the secondary image sensor devices (20) and / or the primary image sensor device (10) are configured to be arranged at the ground combat vehicle (V), and the primary image sensor device (10) and the at least one secondary image sensor device (20) are configured to be spaced apart from each other by an offset distance (OD), the method comprising: - Control the orientation of the at least one image sensor device (20); - Determine whether the line of sight (L2) from the at least one image sensor device (20) intersects the line of sight (L1) from the main image sensor device (10) at the position of the target (T); - Based on the determination that the line of sight (L2) from at least one image sensor device (20) intersects with the line of sight (L1) from the main image sensor device (10) at the position of the target (T): - Receive first angle data indicating the orientation of the main image sensor device (10); - Receive second angle data representing the orientation of the at least one image sensor device (20); and - Target distance (TD) is determined based on the offset distance (OD) and the received angle data, wherein the target distance (TD) represents the distance between the combat vehicle and the target at the target location.

2. The method according to claim 1, wherein, Determining that the line of sight (L2) from at least one image sensor device (20) intersects with the line of sight (L1) from the main image sensor device (10) at the location of the target includes: - Receive first image data from the main image sensor device (10); - Receive second image data from at least one of the at least one image sensor devices (20); and - The first image data and the second image data are processed based on image recognition to determine the presence of the target (T) along the line of sight (L2) from the at least one image sensor device (20) and along the line of sight (L1) from the main image sensor device (10).

3. The method according to claim 1 or 2, wherein, Controlling the orientation of the at least one slave image sensor device (20) includes moving the orientation of the at least one slave image sensor device (20) such that the line of sight of the at least one slave image sensor device (20) intersects the line of sight (L1) of the main image sensor device (10) at different distances along the line of sight (L1) of the main image sensor device (10).

4. The method according to any one of claims 1 to 3, further comprising: Move at least one of the ...

5. The method according to any one of claims 1 to 4, wherein the at least one secondary image sensor device (20) comprises at least two secondary image sensor devices (20) arranged spaced apart from the primary image sensor device (10) and spaced apart from each other at different locations on the combat vehicle (V) by corresponding offset distances (OD), the method comprising determining the target distance (TD) based on determining the target distance by using different offset distances and angle data associated with the secondary image sensors (20).

6. The method according to any one of claims 1 to 5, further comprising: During vehicle operation, information associated with the determined target distance is continuously or intermittently provided to the aiming module (AM) and / or firing control module (FCM) and / or ballistic module (BM) of the ground combat vehicle (V).

7. The method according to any one of claims 1 to 6, further comprising: The speed of the ground combat vehicle (V) relative to the ground and / or the speed of the target relative to the ground combat vehicle (V) are determined based on the time elapsed between the continuously or intermittently determined target distance (TD) and the determined target distance.

8. The method according to any one of claims 1 to 7, further comprising: A target line (L) pointing toward the target (T) associated with the ground combat vehicle (V) is determined based on the intersection of the line of sight (L2) from the at least one image sensor device (20) and the line of sight (L1) from the main image sensor device (10) at the location of the target (T).

9. The method according to claim 8, wherein the orientation of the weapon (B) of the ground combat vehicle (V) is controlled based on the target line (L) and the determined target distance (TD) such that the weapon has a firing line for facilitating a hit on the target (T).

10. The method according to any one of claims 1 to 9, wherein, At least one of the at least one image sensor device (20) and / or the main image sensor device (10) is an electric image sensor device.

11. The method according to any one of claims 1 to 10, wherein, The main image sensor device (10) and the at least one secondary image sensor device (20) include one or more optical image sensors and / or electro-optical image sensors.

12. The method according to any one of claims 1 to 11, wherein, The main image sensor device (10) includes the gunner's camera device, aiming camera device, electro-optical aiming device or weapon camera device of the ground combat vehicle (V).

13. A system (S) for passive target range measurement associated with a ground combat vehicle (V), wherein, The system (S) includes: - A main image sensor device (10) for observing a target (T); and at least one secondary image sensor device (20), at least one of the secondary image sensor devices (20) and / or the main image sensor device (10) being configured to be arranged at the ground combat vehicle (V), the main image sensor device (10) and the at least one secondary image sensor device (20) being configured to be arranged spaced apart from each other by an offset distance (OD), the at least one secondary image sensor device (20) having a controllable orientation; - Electronic device (100), comprising: - Control module (CM); and - Target Distance Determination Module (TDM) - The control module (CM) is configured to: - Adjust the controllable orientation of the at least one image sensor device (20) and determine whether the line of sight (L2) of the at least one image sensor device (20) intersects the line of sight (L1) of the main image sensor device (10) at the position of the target (T); and - When it is determined that the line of sight (L2) of the at least one secondary image sensor device (20) intersects the line of sight (L1) of the primary image sensor device (10) at the position of the target, a first angle data indicating the orientation of the primary image sensor device (10) and a second angle data indicating the orientation of the at least one secondary image sensor device (20) are transmitted to the target distance determination module. - The target distance determination module (TDM) is configured to determine the target distance (TD) based on the offset distance (OD) and the received angle data when the line of sight (L2) from the at least one image sensor device (20) intersects the line of sight (L1) from the main image sensor device (10) at the position of the target.

14. The system according to claim 13, wherein, When it is determined that the line of sight (L2) from at least one image sensor device (20) intersects the line of sight (L1) from the main image sensor device (10) at the location of the target, the control module (CM) is configured to: - Receive first image data from the main image sensor device (10); - Receive second image data from at least one of the at least one image sensor devices (20); as well as - The first image data and the second image data are processed based on image recognition to determine the presence of the target (T) along the line of sight (L2) of the at least one of the at least one image sensor devices (20) and along the line of sight (L1) of the main image sensor device (10).

15. The system according to claim 13 or 14, wherein, The control module (CM) is configured to control the orientation of the at least one slave image sensor device (20) by moving the orientation of the at least one slave image sensor device (20) such that the line of sight of the at least one slave image sensor device (20) intersects the line of sight (L1) of the main image sensor device (10) at different distances along the line of sight (L1) of the main image sensor device (10).

16. The system according to any one of claims 13 to 15, wherein, The control module (CM) is configured to move at least one of the ...

17. The system according to any one of claims 13 to 16, wherein the at least one slave image sensor device (20) comprises at least two slave image sensor devices (20), the at least two slave image sensor devices (20) being arranged spaced apart from the main image sensor device (10) and spaced apart from each other by corresponding offset distances (OD) at different locations on the combat vehicle (V), wherein, The target distance determination module (TDM) is configured to determine the target distance (TD) based on the offset distance and the angle data associated with the image sensor device (20).

18. The system according to any one of claims 13 to 17, wherein, The electronic device (100) further includes an aiming module (AM) and / or a firing control module (FCM) and / or a ballistic module (BM), or is operatively connected to or included in the aiming module (AM) and / or the firing control module (FCM) and / or the ballistic module (BM), wherein the aiming module (AM) and / or the firing control module (FCM) and / or the ballistic module (BM) are configured to continuously or intermittently receive information associated with a determined target distance (TD) during vehicle operation.

19. The system according to any one of claims 13 to 18, further comprising a speed determination module (SDM) configured to: continuously or intermittently receive a determined target distance (TD), and determine the speed of the ground combat vehicle (V) relative to the ground and / or the speed of the target relative to the ground combat vehicle based on the time elapsed between the determined target distance (TD) and the determined target distance.

20. The system according to any one of claims 13 to 19, wherein the electronic device (100) is configured to: determine a target line (L) associated with the ground combat vehicle (V) pointing toward the target (T) based on determining that the line of sight (L2) from the at least one image sensor device (20) intersects with the line of sight (L1) from the main image sensor device (10) at the location of the target (T).

21. The system according to claim 20 when dependent on claim 18, wherein, The aiming module (AM) and / or the firing control module (FCM) and / or the ballistic module (BM) are configured to control the orientation of the weapon (B) of the ground combat vehicle (V) based on the target line (L) and the determined target distance (TD), such that the weapon has a firing line for facilitating the hit on the target (T).

22. The system according to any one of claims 13 to 21, wherein, At least one of the at least one image sensor device (20) and / or the main image sensor device (10) is an electric image sensor device.

23. The system according to any one of claims 13 to 22, wherein, The main image sensor device (10) includes the gunner's camera device, aiming camera device, electro-optical aiming device or weapon camera device of the ground combat vehicle (V).

24. A ground combat vehicle (V) comprising the system (S) according to any one of claims 13 to 23.

25. The ground combat vehicle (V) according to claim 24, wherein, The ground combat vehicle includes a turret (TU) and a turret-mounted weapon system (W) with weapons (B).

Images