SIMULATOR AND SIMULATION METHOD WITH INCREASED ACCURACY, IN PARTICULAR WEAPON SYSTEM SIMULATOR, AND WEAPON SYSTEM EQUIPPED WITH SUCH A SIMULATOR

Description

TECHNICAL FIELD

[0001] The present invention relates to a simulator and a simulation method for enhancing simulation accuracy, and in particular to a combat firing simulator that simulates real-world firing by engaging the firing in a virtual world. It also relates to a weapon system and a simulation system equipped with at least one such simulator. STATE OF THE ART

[0002] The present invention is therefore particularly applicable, although not exclusively, to the simulation of a weapon system.

[0003] In the field of instrumented simulation, firing simulations are generally governed by direct interaction between the shooter and the target to allow the target to be informed that it has been engaged by the shooter under conditions such that it is hit.

[0004] However, the technologies used often do not allow for the simulation of shots fired at targets outside the shooter's direct line of sight or beyond the range of a laser. To overcome this, simulators are used that link the shooter to the target via a central system.

[0005] Such a technique works correctly in a weapon operating mode where the shooter defines the firing conditions no later than the moment of ignition and does not subsequently intervene in the projectile's trajectory. However, it cannot adequately account for situations where the projectile is guided and the shooter discovers their target as the projectile flies over the obstacle, thanks to a real-time vision system mounted on the projectile. In such a situation, the shooter often also discovers other potential targets, stationary or moving, toward which they can choose to direct the projectile. In simulations, it is therefore important that these targets, invisible from the ground at the shooter's position, be represented in their sights.

[0006] French patent FR 2 968 113 discloses a method for simulating beyond-line-of-sight (BLOS) firing. In this method, during the simulation of an image-guided missile, the actual view through the weapon system's sight is replaced by a virtual reality image overlaid on the sight. This virtual reality image is generated using a database of terrain and built features, onto which representative images of the actors in their real-time positions are placed. These images are periodically refreshed to represent changes in the actors' positions due to their movements and to account for changes in the viewpoint from the advancing missile and the position of its imaging sensor. The actors' positions are provided by the central system via communication channels.

[0007] However, limitations arise when implementing this method. In particular, system inaccuracies due to imperfections in aiming and weapon orientation, in measuring the location of actors, and in the approximation of the terrain and building database, as well as communication latency and the discretization of event timing, lead to relative discrepancies in the positioning of actors and terrain (and building) elements in the virtual environment compared to their actual positioning on the ground. The problem is limited in situations where the shooter cannot see potential targets in real time.

[0008] However, since the weapon system does not prohibit engaging targets within direct line of sight, situations arise where the shooter can compare the virtual view presented in the sight with their actual view of the terrain. The imperfections of the aforementioned system can then lead to inconsistencies in the representation of the tactical situation by each view, potentially disrupting the operations and training exercises in which they are engaged, as the appropriate course of action would differ depending on the two interpretations of the situation.

[0009] This usual solution is therefore not completely satisfactory. DESCRIPTION OF THE INVENTION

[0010] The invention is described in the attached set of claims. The present invention aims to overcome the aforementioned drawbacks by providing a simulation method with enhanced accuracy.

[0011] To this end, it relates to a simulation method for at least one field of view of a vision element (in particular a viewfinder) of a simulator, said vision element displaying a virtual image of a virtual world representative of a real world located in its field of view, the virtual image comprising one or more virtual actors representative of real actors located on the ground, said method comprising a series of successive steps including a step of generating the virtual image, the virtual image being defined according to an orientation reference and a sighting reference and being generated from at least data from a field database, the position of the simulator on the ground and the position of said real actor(s) on the ground, the virtual image displayed on the vision element being said to be current.

[0012] According to the invention, said sequence of successive steps further comprises: a captured image generation step consisting of generating the captured image from deviation and telemetry measurements relating to one or more real actors, each of which is equipped with a retroreflector, the deviation and telemetry measurements being carried out by the simulator using a rangefinder generating telemetry emissions received and returned by the retroreflectors equipping the real actors; a comparison step consisting of comparing the current virtual image and the captured image in order to determine at least one error value representative of an orientation and / or aiming error, said comparison being carried out by determining the difference between the position of at least one actor in the virtual image and the position of the same actor in the captured image;and a re-registering step consisting of re-registering the orientation reference and / or the viewfinder reference of the virtual image to correct said error value in order to create an optimized virtual image, this optimized virtual image then being displayed on the vision element in place of the current virtual image.

[0013] Thus, thanks to the invention, the accuracy of the simulation is enhanced by displaying in the vision element (in particular a viewfinder) a virtual image whose positioning has been optimized by being adapted to the actual position of one or more actors, a position which has been determined in the image captured from gap measurement and telemetry measurements.

[0014] In the context of the present invention, an actor (real) can be a person or a vehicle. It can also be a building, an infrastructure element, or an element or landmark on the ground. The actor (real) can be fixed or mobile.

[0015] In a preferred embodiment, the virtual image generation step includes at least the following substeps: a substep consisting of determining the position of the simulator on the ground; a substep consisting of determining the position of the actors on the ground; and a substep consisting of creating the virtual image by representing the location of the actors in a cone around the orientation reference with a vertex placed on the aiming reference of the vision element.

[0016] Advantageously, the virtual image generation step also displays on the virtual image a (virtual), imaged or infrared representation of at least a part of the terrain located in the field of vision of the vision element, from the terrain database.

[0017] Furthermore, advantageously, the image capture generation step includes at least the following sub-steps:a substep consisting of making, using the rangefinder, telemetry emissions in different directions in a cone around the orientation reference of the vision element and making a telemetry measurement in each of the directions where the telemetry emission is returned to the rangefinder; a substep consisting of making a measurement of the elevation and azimuth angles of the orientation of each of the directions which have been the subject of a telemetry measurement; a substep consisting of using the measurements of the elevation and azimuth angles around the orientation reference to create an image of said directions represented by points in a plane where the azimuth angle is on the x-axis and the elevation angle is on the y-axis; and a substep consisting of creating a 3D (three-dimensional) image by associating with each of said points the corresponding distance obtained by the corresponding telemetry measurement, this 3D image representing the captured image.

[0018] Furthermore, and advantageously, the comparison step determines the error value using the following deviation(s): the gap relating to a single actor; or the gaps (possibly weighted) relating to all actors; or the gaps (possibly weighted) relating to some of the actors who have been selected according to at least one particular criterion, such as a distance criterion for example.

[0019] Advantageously, this series of successive steps can be implemented, at least: periodically; or during the manipulation of a particular element by an operator.

[0020] In addition, advantageously, the process includes an additional step of transmitting the orientation reference and / or the aiming reference, obtained after the recalibration, to at least one user device.

[0021] The present invention also relates to a simulator for simulating at least the field of view of a vision element, said vision element of the simulator displaying a virtual image of a virtual world representative of a real world located in its field of view, the virtual image comprising one or more virtual actors representative of real actors located on the ground, said simulator also comprising a virtual image generation unit, the virtual image being defined according to an orientation reference and a sighting reference and being generated from at least data from a field database, the position of the simulator on the ground and the position of said real actor(s) on the ground, the virtual image displayed in the vision element being said to be current.

[0022] According to the invention, said simulator further comprises: a rangefinder (laser) configured to perform deviation and telemetry measurements; a captured image generation unit configured to generate the captured image from deviation and telemetry measurements relating to one or more actors, each equipped with a retroreflector, the deviation and telemetry measurements being performed by the simulator using the rangefinder generating telemetry emissions which are received and returned by the retroreflectors equipping the actors; a comparison unit configured to compare the current virtual image and the captured image in order to determine at least one error value representative of an orientation and / or aiming error, said comparison being carried out by determining the difference between the position of at least one actor in the virtual image and the position of the same actor in the captured image;and a registration unit configured to re-register the orientation reference and / or the viewfinder reference of the virtual image to correct said error value in order to create an optimized virtual image, this optimized virtual image then being displayed on the vision element in place of the current virtual image.

[0023] In a particular embodiment, said simulator further comprises at least one of the following elements: a data transmission and reception unit: the field database; a human-machine interface; at least one sensor to determine the position of the simulator; at least one sensor to determine the orientation reference and / or the aiming reference of the vision element.

[0024] Furthermore, in a first embodiment, the simulator corresponds to a combat shooting simulator simulating shots in the real world by engaging the shots in a virtual world reconstructed from the position of actors in the real world.

[0025] Furthermore, in a second embodiment, the simulator corresponds to an observation device simulator.

[0026] Furthermore, the present invention also relates to a weapon system comprising at least one simulator such as that described above.

[0027] Advantageously, the weapon system can be one of the following types: a weapon equipped with a cannon, for example a missile launcher or a rocket launcher; a ballistic missile; a guided missile.

[0028] In a preferred embodiment, the weapon system includes a laser device generating a firing simulation, and this laser device is used as a rangefinder by the simulator.

[0029] The present invention also relates to a simulation system. According to the invention, this simulation system comprises: at least one weapon system as described above, equipped with at least one simulator; retroreflectors equipping one or more actors; means to determine the position of the actor(s); a central device configured to be able to communicate at least with the simulator of said weapon system.

[0030] In a preferred embodiment, at least several of said actors equipped with retroreflectors are each equipped with a weapon system such as that described above, which is provided with at least one simulator. These actors are therefore both potential shooters and potential targets. BRIEF DESCRIPTION OF THE FIGURES

[0031] Other advantages and features will become clearer from the following description of several embodiments of the invention, given by way of non-limiting examples, with particular reference to the accompanying figures. In these figures, identical reference numerals designate similar elements. There figure 1 is the block diagram of a particular embodiment of a simulator according to the invention. figure 2 is the block diagram of a particular embodiment of a simulation system according to the invention. figure 3 schematically presents the main steps of a simulation process implemented using the simulator of the figure 1 . THE figures 4A to 4F They show different representations that clearly explain the implementation of the simulation process when applied to a single real actor. figures 5A to 5F are similar, respectively, to figures 4A to 4FThe difference is that the real actor represents the target engaged in the simulated shooting. figures 6A to 6F show different representations that clearly explain the implementation of the simulation process when applied to a plurality of real actors. DETAILED DESCRIPTION

[0032] Simulator 1 is shown very schematically on the figure 1 and allowing to illustrate the invention, is a simulator of at least one field of vision of a vision element (optics).

[0033] In the following description, the vision element is described as a sight 2, in particular a sight of a weapon system 4. However, within the scope of the present invention, the vision element may also be another optical element having a field of view, for example an optical element forming part of a visual guidance system, in particular of a missile.

[0034] The viewfinder 2 displays a virtual image I1 of a virtual world MV representative of the real world MR located in and around the field of view 3 of the viewfinder 2 (i.e., the part of space considered by the viewfinder 2), as shown on the figure 2 The virtual image I1 includes one or more virtual actors Vi representing real actors Ri located on the field TR, namely the virtual actors V1, V2, V3 and V4 representing the real actors R1, R2, R3 and R4 represented on the figure 2 . Sight 2 is also equipped with a crosshair reticle 5.

[0035] The TR terrain of the real world MR (shown on the left side of the figure 2 ) is represented in different forms (solid, dashed, ...) on this figure 2to highlight depth. In a preferred embodiment, the virtual image I1 also includes a TV (or infrared) image representation of at least a portion of the terrain TR located in the field of view of the viewfinder 2.

[0036] Within the framework of the present invention, the real actors Ri can be people, for example enemy infantry, or vehicles, including enemy vehicles, such as tanks. They can also be buildings, infrastructure elements, or landmarks on the ground. The real actors Ri can be stationary or mobile.

[0037] Simulator 1 includes, as shown in the figure 1, a processing unit 6 equipped with a generation unit 7 configured to generate the virtual image I1. The virtual image I1 is defined, in the usual way, according to an orientation reference and a sighting reference and is generated from at least data from a terrain database, the position of the simulator 1 on the terrain TR and the position of said real actors Ri on the terrain TR. The virtual image I1 which is displayed, at the present (or current) moment, in the viewfinder 2 is said to be current.

[0038] Simulator 1 also includes, as shown in the figure 1 A laser rangefinder 8 configured to perform both range and offset measurements, as detailed below. In the following description, the rangefinder 8 can be referred to for both range and offset measurements.

[0039] To enhance the accuracy of the simulation, the processing unit 6 includes, in addition to the generation unit 7: A generation unit 9 configured to generate a captured image l2, from offset and range measurements relating to one or more real actors Ri, each equipped with a retroreflector 10. The retroreflectors 10 can, for example, be conventional cube-corner retroreflectors. The offset and range measurements are performed by the simulator 1 using the rangefinder 8. To do this, the laser rangefinder 8 generates range (laser) emissions which are received and reflected by the retroreflectors 10 equipping the real actors Ri; a comparison unit 11 configured to compare the current virtual image I1 and the captured image l2 (generated by the generation unit 9).Through this comparison, the comparison unit 11 determines, where applicable, an error value (or function) representative of an orientation and / or aiming error; and a registration unit 13 configured to recalibrate the orientation reference and / or the aiming reference of the virtual image in order to correct said error value (or function) so as to create an optimized virtual image I1opt. This optimized virtual image I1opt is then displayed on the viewfinder 2 in place of the current virtual image, as shown in particular in the diagrams. figures 4F , 5F And 6F .

[0040] Furthermore, said simulator 1 includes, depending on the envisaged implementation method and as specified below, one or more of the following elements represented on the figure 1 : a data transmission unit 15, capable of receiving data and, depending on the embodiment, also of transmitting data: a database 16 including TR field data; a human-machine interface 17; at least one sensor 18 to determine the position of the simulator 1; and at least one sensor 19 to determine the orientation reference and / or the aiming reference of the sight 2.

[0041] Depending on the type of simulation it performs, simulator 1 also includes a set of 12 common elements and means not described further, which help to implement the simulation.

[0042] In a preferred embodiment, specified below, simulator 1 corresponds to a combat shooting simulator that simulates real-world shooting by engaging the shots in the virtual world reconstructed from the position of the actors in the real world.

[0043] In a preferred embodiment, simulator 1 is part of a weapon system 4, schematically represented on the figure 2 Weapon system 4 comprises, in addition to simulator 1, a set of 20 standard resources and equipment. These standard resources, which depend on the type of weapon system, are known and are not described further below.

[0044] For example, weapon system 4 could be one of the following types: a weapon equipped with a barrel, for example a rifle, a rocket launcher or a missile launcher; a ballistic missile; a guided missile.

[0045] In a preferred embodiment, the weapon system 4 includes a conventional laser device 21, generating a firing simulation. In this preferred embodiment, this laser device 21 is used as a rangefinder 8 by the simulator 1. In this case, in a particular application, the laser functionalities commonly used to simulate ballistic or guided missile firings in direct line of sight are used to calibrate the origin and orientation of the virtual view displayed in the sight so that the tactical situation in the virtual environment is representative of that observed in the real environment.

[0046] Simulator 1 thus provides a replica of the aiming system of weapon system 4 in the virtual world and determines, in the virtual world, the outcome of a firing engagement between the simulated weapon system and a real target (or real targets). The enhanced accuracy of the simulation, achieved through the aforementioned elements of Simulator 1, is implemented to simulate the engagement of fire and to simulate the firing itself.

[0047] Furthermore, in a preferred application, weapon system 4 is part of a simulation system 22 represented on the figure 2 .

[0048] In a preferred embodiment, this simulation system 22 comprises: one or more weapon systems 4, each equipped with a simulator 1; a plurality of (real) actors Ri equipped with retroreflectors 10. In a preferred embodiment, in the simulation system 22, several actors equipped with retroreflectors include a weapon system equipped with a simulator. These actors are, in this case, both potential shooters and potential targets; means 23 for determining the position of the actors Ri. By way of illustration, the following is shown on the figure 2 , a satellite 24 of a GPS (Global Positioning System) satellite positioning system, part of the means 23 and enabling actors Ri to be provided with their location, as illustrated by an arrow 25; and a central device 26 comprising a processing unit 27 and a communication system 28. Following the example of the figure 2The communication system 28 comprises two radio systems 29A and 29B connected to the processing unit 27, as illustrated by links 30A and 30B. The radio systems 29A and 29B are represented by a mast and two antennas. It is also possible to use a single radio system performing all the functions.

[0049] The communication system 28 allows the real actors Ri to provide the central device 26 with information containing their location, as illustrated by arrow 31A. It also allows the central device 26 to provide the simulator(s) 1 with information on the actors to be positioned in the virtual view of the weapon system 4, as illustrated by arrow 31B.

[0050] Simulator 1, as described above, implements a simulation method (hereinafter "method P") to enhance the accuracy of the simulation, in particular the simulation of at least the field of view 3 of a vision element (viewfinder 2).

[0051] To this end, said process P comprises, as shown in the figure 3 , a series of steps E1 to E4 comprising: a generation step E1, implemented by generation unit 7 ( figure 1 ), consisting of generating a virtual image I1 (in virtual reality), the virtual image I1 being defined according to an orientation reference and a aiming reference and being generated from at least data from database 16, the position of the simulator 1 on the ground and the position of the real actor(s) on the ground, the virtual image I1 thus generated being displayed on the viewfinder 2 ( figures 4C , 5C And 6C ); an E2 generation step, implemented by generation unit 9 ( figure 1), consisting of generating a captured image l2. The captured image l2 is generated in the generation step E2 from gap and telemetry measurements relating to one or more actors Ri, each of which is equipped with a retroreflector 10. The gap and telemetry measurements are carried out by the simulator 1 using the rangefinder 8, which generates telemetry emissions that are received and reflected back by the retroreflectors 10 equipping the real actors Ri; a comparison step E3, implemented by the comparison unit 11 ( figure 1 ), consisting of comparing the current virtual image I1 and the captured image l2 in order to determine at least one error value representative of an orientation and / or aiming error; and a registration step E4, implemented by the comparison unit 13 ( figure 1), consisting of realigning the orientation reference and / or the viewfinder reference of the virtual image to correct said error value in order to create an optimized virtual image I1opt, this optimized virtual image I1opt then being displayed on viewfinder 2 in place of the current virtual image, as shown in the figures 4F , 5F And 6F This optimized l1opt virtual image then becomes the current virtual image.

[0052] As stated above, the virtual image 11, generated in generation step E1, is defined according to an orientation reference and a sighting reference, and it is generated from at least data from database 16, the position of simulator 1 on the ground (and therefore of weapon system 4 equipped with simulator 1) and the position of the different real actor(s) on the ground TR.

[0053] More precisely : A aiming reference is established close to the aiming origin of weapon system 4. This aiming reference can be defined by positioning devices. For this purpose, a GPS system can be used, but triangulations with respect to known points in the environment can also be employed. The case where the aiming reference is close to the aiming origin of weapon system 4 is a particularly advantageous case. Weapon system 4 has a reference axis passing through the aiming reference; and an orientation reference is established. In an advantageous embodiment, the orientation reference can coincide with the aiming direction of weapon system 4 or be close to it.

[0054] In addition, simulator 1 has database 16 ( figure 1 ) including digital TR terrain data ( figure 2Database 16 can consist of numerical values ​​enabling the location of points on the terrain in an absolute coordinate system. Database 16 can be supplemented by all objects useful for the simulation or exercise carried out with the weapon system, in particular buildings and man-made objects, as well as vegetation.

[0055] The generation step E1 of process P comprises at least the following substeps: a substep E1A consisting of determining the position of the simulator 1 on the terrain TR; a substep E1B consisting of determining the position of the actors Ri (real) on the terrain TR; and a substep E1C consisting of creating the virtual image l1 by representing the location of the actors in a cone around the orientation reference with a vertex placed on the aiming reference of the sight 2.

[0056] Regarding sub-stage E1A, Simulator 1 displays the position of the simulated weapon system 4 in the field. For mobile weapon systems, Simulator 1 can display the position refreshed at each location reached, or provide real-time updates for continuously moving systems. Furthermore: In a first particular embodiment, the position data results from the periodic reading of sensors, such as sensor 18, for example, which is part of a GPS system; and in a second particular embodiment, the position data results from a modeled trajectory. The model can be recalibrated, from time to time, by measured positions.

[0057] Furthermore, regarding sub-step E1B, Simulator 1 has the position of the actors (or potential targets) on the ground. The target positions can be provided to Simulator 1 of Weapon System 4 by various means, depending on the embodiment envisaged. More specifically: One means consists of loading the position data of potential targets into a database (not shown) of the simulator 1 of weapon system 4, prior to the exercise; another means consists of the simulator 1 of weapon system 4 receiving the position data of potential targets by means of communication, in particular by the communication system 28, and this at any time, before or during the exercise.

[0058] For potential moving targets, simulator 1 provides a refreshed position at each location reached, or a real-time refresh for continuously moving targets. In addition: In a first particular embodiment, the position data results from the periodic reading of sensors of the potential target, and is transmitted to the simulator 1 (preferably via the communication system 28); and in a second particular embodiment, the position data results from a modeled trajectory. The model can be recalibrated, from time to time, by measured positions.

[0059] Furthermore, in substep E1C, simulator 1 creates a virtual image I1 of the aiming by representing the location of potential targets in a cone around the orientation reference with a vertex placed on the aiming reference.

[0060] In the virtual image, the generation unit 7 represents the location of potential targets by points representing the orientation of the virtual target relative to the aiming reference in a graph where the azimuth angle is on the x-axis and the elevation angle is on the y-axis. For cases where a target (or real actor) is not directly visible to the shooter, its representation is restored in the virtual image displayed on the sight 2 of the weapon system 4.

[0061] In a preferred embodiment, the generation unit 7 also displays, at generation step E1, on the virtual image I1 ( figure 2) a TV (or infrared) image representation of at least a portion of the terrain TR located within the field of view of the viewfinder 2, from the database 16 containing terrain data. Furthermore, in a particular embodiment, the generation step E1 can associate an oriented image derived from a 3D model of the actor under consideration with the location of each actor constituting a potential target. It can also associate an image of buildings and / or any useful object added to the terrain database 16.

[0062] Furthermore, to make the aiming more realistic, it is possible to display an object reproducing the appearance of a generic actor or the appearance of the real actor, insofar as it is known, at its location in the virtual image 11, as represented on the figure 2for virtual actors V1 to V4. Depending on the information available to simulator 1, the presented appearance of the virtual actor can take into account the angle from which it is seen by simulator 1.

[0063] Substep E1C creates the virtual image 11 (in 3D) by associating the location of each of the potential targets in the virtual image with its distance from the simulator (and therefore from the simulation weapon system 4).

[0064] Furthermore, the generation step E2 of process P, intended to generate the captured image l2, includes, as shown in the figure 3 , at least the following sub-steps E2A to E2D: A substep E2A consists of using the laser rangefinder 8 to generate rangefinding emissions in different directions within a cone around the viewfinder's orientation reference and to perform a rangefinding measurement in each direction where the rangefinding emission is returned to the rangefinder 8; a substep E2B consists of measuring the elevation and azimuth angles of the orientation in each of the directions that have been the subject of a rangefinding measurement; a substep E2C consists of using the elevation and azimuth angle measurements around the orientation reference to create an image of said directions represented by points in a plane where the azimuth angle is on the x-axis and the elevation angle is on the y-axis; and a substep E2D consists of creating a 3D image by associating each of said points with the corresponding distance obtained by the rangefinding measurement. This 3D image represents the captured image l2 generated.

[0065] Typically, as shown on the figure 1 The rangefinder 8 emits an electromagnetic wave OE representing the telemetry transmission, and it measures the time taken by the electromagnetic wave OE to return to the rangefinder 8 after reflection, notably by an actor Ri, representing a potential target for the weapon system 4. The reflection of the wave towards the emitter is advantageously achieved using retroreflectors 10, for example of the cube-corner type. The potential targets are, as indicated above, equipped with retroreflectors 10.

[0066] The rangefinder 8 is orientable in elevation and azimuth, as represented by angles A and B on the figure 1 . The rangefinder 8 includes a standard unit 32 for measuring distance for rangefinding measurements, and a standard unit 33 for measuring elevation and azimuth angles for deviation measurements.

[0067] Furthermore, the comparison step E3 of the process P, which follows the generation step E2, performs the comparison by determining at least the difference between the position of at least one actor in the virtual image I1 and the position of that same actor in the captured image I2.

[0068] The comparison step E3 determines the error value by implementing one method from a plurality of possible methods and using one or more deviations, as detailed below based on various examples. In particular, it can be considered that: The error value (or function) applies only to a selection of points from the two images. In particular, moving points can be ignored, or only points on infrastructure can be selected; filters can be used to select the points in the images included in the error calculation. Some filters can eliminate points that do not have a nearby counterpart in the other image. Other filters can select points located within a predefined distance range; specific criteria can be adopted when only one point (or only one selected point) appears in one of the two images; and error weighting can be implemented, assigning more weight to some points than others, and in particular by assigning more weight to permanently fixed potential targets, such as a building.

[0069] The comparison step E3 determines the error value by implementing one of several possible methods and using one or more deviations, as detailed below in the description of various examples, with reference to the figures 4A to 4F , 5A to 5F And 6A to 6F .

[0070] THE figures 4A to 4F show different representations that clearly explain the implementation of process P as described above, when applied to a single real actor R1 equipped with a retroreflector 10. More specifically: there figure 4A illustrates a real-world (MR) view in a real sight 32 of weapon system 4. The outer circle represents the limits of the real sight 32. The crosshair 35 represents the target designator to be engaged; the figure 4Bshows the captured image l2 (in 3D). This captured image l2 contains as its only element a representation 36 of the retroreflector 10 of the real actor R1. Landscape elements and targets leave no trace in this representation; the figure 4C shows the virtual image I1 (in 3D) in the viewfinder 2 of simulator 1, which includes the virtual actor V1 representing the real actor R1. The dashed curve represents the perimeter of the virtual viewfinder, and the scene is constructed from the database 16 and the type and position of the actors provided to simulator 1, preferably by the central device 26; the figure 4D shows the comparison between the image captured l2 (of the figure 4B ) and the virtual image l1 (of the figure 4C), implemented in the comparison step E3. The two images l1 and l2 are superimposed in the same representation. We see that a discrepancy appears between the position of the representation 36 of the retroreflector 10 of the captured image I2 and the position of the virtual actor V1 on which the representation 36 should be located in the absence of error; the figure 4E shows the result of the orientation reference re-registering, implemented in re-registering step E4. To do this, the orientation reference of the virtual image I1 is rotated to align the representation 36 of the retroreflector 10 with its position on the virtual actor V1. During this operation, the landscape data from the database are rotated by the same angular value; and the figure 4F shows the optimized virtual image l1opt, obtained by implementing the P process (designed to enhance accuracy), as seen in the sight 2 of weapon system 4.

[0071] In the case where only one fixed actor (or target) is located in the cone of the rangefinder 8, the simulator 1 compares its position from the rangefinder 8 and its position from the localization transmitted by the central device 26. If, taking into account measurement uncertainties, there is a high probability that the target positioned by the rangefinder 8 and the target positioned in the virtual image I1 refer to the same object, the simulator 1 modifies its view by applying an angle correction leading to a new orientation reference and / or an origin correction leading to a new aiming reference in the virtual environment (in the optimized virtual image I1opt displayed on the viewfinder 2) so that there is no longer any difference between the position from the rangefinder 8 and the corrected position of the target from the localization transmitted by the central device 26.Where appropriate, all objects and landscape elements are corrected identically in the optimized I1opt virtual image so as to maintain the relative distances between them.

[0072] THE figures 5A to 5F (which show different representations to explain the implementation of process P when applied to a single real actor R3 equipped with a retroreflector 10) are figures representing situations similar, respectively, to those of figures 4A to 4F The only difference is that the real actor R3 is the target engaged in the simulated firing. In this particular case, which is frequent in practice, the target (real actor R3) is located in the center of the sight, being positioned under the crosshair 35 ( figure 5A ).

[0073] Furthermore, the figures 6A to 6Fshow different representations explaining the implementation of process P, when applied to several real actors R1, R2, R3 and R4, each equipped with a retroreflector 10. figures 6A to 6F represent similar situations, respectively, to those of figures 4A to 4F Furthermore, among the real actors R1, R2, R3 and R4, the real actor R3 is a target which is located at the center of the sighting, being positioned under the crosshair 35 of the sighting ( figure 6A ).

[0074] In the case where several fixed actors are located within the cone of the rangefinder 8, the simulator 1 performs a global comparison such that the view constituted by all the positions of the actors from the rangefinder 8 (captured image l2) and the view constituted by all the positions of the actors from their locations transmitted by the central device 26 (virtual image 11) are displaced relative to each other at the origin and by modifying the orientation reference and the aiming reference in order to bring each position of the captured image l2 closer to the most probable actor among the virtual actors present in the virtual image I1. An error function takes into account all the residual differences, pairwise, between the positions of the actors in the captured image l2 and their positions in the virtual image I1.Among all possible combined modifications of the orientation reference and the aiming reference, the one that minimizes this error function is retained as optimal. The new aiming reference and the new orientation reference resulting from this modification are taken as the new reference frame for the optimized virtual image I1opt (. figure 6F ). All actors and, where applicable, all objects and landscape elements are placed in this new virtual reference frame, in an identical manner, in order to maintain the relative distances between them.

[0075] If Simulator 1 prioritizes a subset of actors, it can restrict the previous analysis to a selected actor set. It then applies various filters to eliminate from the comparison any retroreflectors observed in the field associated with avatars that are not part of the actors in the selected actor set. For example, one filter might exclude retroreflectors located at distances that do not correspond to any of the actors in the selected actor set. In another example, the filter eliminates all retroreflectors whose angular deviations from each of the selected actors exceed a predetermined angle.

[0076] A specific case of restricting the interaction of actors involves limiting it to a single actor. In this case, the filtering of the retroreflectors aims to retain only one actor, and we return to the case described above relating to a single actor.

[0077] Furthermore, when actors are in motion, the measurement of their position is subject to additional uncertainty due, in particular, to measurement latency, which leads to a lag resulting from the lack of simultaneity between the measurement and its availability to simulator 1, especially due to information transmission delays. This situation can be taken into account: by ignoring moving actors in the overall comparison, if one or more actors are located in the rangefinder 8 field. The correction calculation is carried out without taking into account the moving actors, but their position is corrected in the optimized virtual image I1opt, via the corrections made during the registration; or by taking them into account with a lower weight in the error function, in connection with a higher positioning uncertainty concerning them; or if there are few actors, or if the moving actor is alone in the rangefinder 8 field, by taking into account successive measurements and refining its location estimate in the virtual image by a predictive approach established on the basis of successive position and / or speed measurements, while applying the approach associated with fixed actors for a single actor or for several actors in the rangefinder 8 field, depending on the situation.

[0078] It should also be noted that: A common special case involves aligning the optical axis with the initial orientation axis; another common special case is when the stationary actor, or one of the stationary actors, is the target to be engaged in a simulated firing exercise. In this case, the optical axis is close to the aiming direction for engaging this actor, but not necessarily identical; a discrepancy can be caused, in particular, by taking ballistic corrections into account.

[0079] Simulator 1 and / or Process P, as described above, can be used for different types of weapon systems. In particular, they can be used to simulate: weapons equipped with a sighting system attached to the weapon allowing engagement of targets in direct line of sight; weapons equipped with a sighting system attached to the munition allowing engagement of targets seen by the munition at all stages of flight; weapons equipped with both types of sights mentioned above.

[0080] They can also be used to simulate: cannon-type weapons; ballistic missile-type weapons; guided missile-type weapons (wire-guided, fiber-optic, radio-guided, laser-guided); a gunnery sight.

[0081] Furthermore, Simulator 1 and / or Process P, as described above, can be implemented for different situations. In particular, they can be implemented: to simulate the engagement of the shot. In this case, the shot can be activated in coincidence with a step of handling the simulation weapon, such as for example its gripping, a release of safeties, a press on a trigger or a firing button, ... periodically, during all or part of the simulated flight of the munition; episodically or periodically, during the aiming phases and during all or part of the duration of the observations made using the sight (whether for aiming before firing, or for observation of a tactical situation).

[0082] Furthermore, simulator 1 can also be used to provide, in an observation means simulator, a replica of the view of the tactical situation in the virtual world, in which process P is implemented to simulate the observations captured by a fire observer.

[0083] Furthermore, in a preferred embodiment, the new orientation reference and / or the new aiming reference, generated at the recalibration step (by the recalibration unit 13) are transmitted to the central device 26 (for example by the transmission unit 15).

[0084] Within the framework of the present invention, the new orientation reference and / or the new aiming reference can be used for various simulation needs such as observation simulation, engagement simulation and for establishing the sanction of simulated shots.

[0085] Furthermore, within the scope of the present invention, the initial orientation reference and / or the initial sighting reference can be obtained in various ways. In particular: The initial orientation reference and aiming reference can be determined by sensors (GPS, attitude, north, ...) equipping the simulator 1, such as sensor 19, or sensors (GPS, attitude, north, ...) equipping the weapon system 4; the initial orientation reference and aiming reference can be provided by an operator via the human-machine interface 17; the initial orientation reference and aiming reference can be provided by the central device 26 via the communication system 28 which cooperates with the transmission unit 15 of the simulator 1.

[0086] In addition, it is possible to provide, at any time, a new initial orientation reference and a new initial aiming reference, for example in the event of a significant reorientation of weapon system 4.

Claims

1. A method for simulating a field of vision of a vision element of a simulator, said vision element (2) displaying a virtual image (11) of a virtual world (MV) representative of a real world (MR) located in its field of vision, the virtual image (11) comprising one or more virtual actors (V1 to V4) representative of real actors (R1 to R4) located in the terrain (TR), said method (P) comprising a series of successive steps comprising a step of generating (E1) the virtual image (11), the virtual image (11) being defined according to an orientation reference and a sighting reference and being generated from at least data of a terrain database (16), of the position of the simulator (1) in the terrain and of the position of said real actor or actors (R1 to R4) in the terrain, the virtual image (11) displayed on the vision element (2) being referred to as current image, characterised in that said sequence of successive steps further comprises: - a step (E2) of generating an image referred to as captured image (12) consisting in generating the captured image (12) from measurements of angle-error and telemetry relating to one or more of said real actors (R1 to R4), each of which is equipped with a retro-reflector (10), the measurements of angle-error and of telemetry being carried out by the simulator (1) with the aid of a rangefinder (8) generating telemetry emissions received and sent back by the retro-reflectors (10) equipping the real actors (R1 to R4); - a comparison step (E3) consisting in comparing the current virtual image (11) and the captured image (12) so as to determine at least one error value representative of an orientation and / or sighting error, the comparison being carried out by determining the deviation between the position of at least one actor in the virtual image (11) and the position of this same actor in the captured image (12); and - a resetting step (E4) consisting in resetting the orientation reference and / or the sighting reference of the virtual image to correct said error value so as to create an optimised virtual image (I1opt), this optimised virtual image (l1opt) then being displayed on the vision element (2) instead of the current virtual image.

2. The method according to claim 1, characterised in that the step of generating (E1) the virtual image (11) comprises at least the following sub-steps: - a sub-step (E1A) consisting in determining the position of the simulator (1) in the terrain; - a sub-step (E1B) consisting in determining the position of the actors (R1 to R4) in the terrain; and - a sub-step (E1C) consisting in creating the virtual image (11) by representing the location of the actors in a cone around the orientation reference with a summit placed on the sighting reference of the vision element (2).

3. The method according to any of claims 1 and 2, characterised in that the step of generating (E1) the virtual image (11) additionally displays on the virtual image (11) a representation (TV) of at least one part of the terrain located in the field of vision of the vision element (2), from the terrain database (16).

4. The method according to any one of the preceding claims, characterised in that the step of generating (E2) the captured image (I2) comprises at least the following sub-steps: - a sub-step (E2A) consisting in carrying out, with the rangefinder (8), telemetry emissions (OE) in different directions in a cone around the orientation reference of the vision element (2) and carrying out a telemetry measurement in each of the directions where the telemetry emission is sent back to the rangefinder (8); - a sub-step (E2B) consisting in carrying out a measurement of the elevation and azimuth angles of the orientation of each of the directions which have been the subject of a telemetry measurement; - a sub-step (E2C) consisting in using the measurements of the elevation and azimuth angles about the orientation reference to create an image of said directions represented by points in a plane where the azimuth angle is on the abscissa and the elevation angle is on the ordinate; and - a sub-step (E2D) consisting in creating a 3D image by associating to each of said points the corresponding distance obtained by the corresponding telemetry measurement, this 3D image representing the captured image (12).

5. The method according to any one of the preceding claims, characterised in that the comparison step (E3) determines the error value using the following deviation or deviations: - the deviation relating to a single actor; or - the deviations relating to all the actors; or - the deviations relating to some of the actors who were selected according to at least one particular criterion.

6. The method according to any one of the preceding claims, characterised in that said sequence of successive steps can be implemented at least: - periodically; or - when a particular element is handled by an operator.

7. The method according to any one of the preceding claims, characterised in that it comprises a further step consisting in transmitting the orientation reference and / or the sighting reference, obtained after the resetting, to at least one user device (26).

8. A simulator for simulating the field of vision of a vision element, said vision element (2) of the simulator (1) displaying a virtual image (11) of a virtual world (MV) representative of a real world (MR) located in its field of vision (3), the virtual image (11) comprising one or more virtual actors (V1 to V4) representative of real actors (R1 to R4) located in the terrain, said simulator (1) also comprising a unit (7) for generating the virtual image (11), the virtual image (11) being defined according to an orientation reference and a sighting reference and being generated from at least data of a terrain database (16), of the position of the simulator (1) in the terrain and of the position of said real actor or actors (R1 to R4) in the terrain, the virtual image (11) displayed in the vision element (2) being referred to as current, characterised in that it further comprises: - a rangefinder (8) configured to carry out angle-error and telemetry measurements; - a unit (9) for generating an image referred to as captured (12) configured to generate the captured image (12) from measurements of angle-error and telemetry relating to one or more real actors (R1 to R4), each of which is equipped with a retro-reflector (10), the angle-error and telemetry measurements being carried out by the simulator (1) with the aid of the rangefinder (8) generating telemetry emissions which are received and sent back by the retro-reflectors (10) equipping the real actors (R1 to R4); - a comparison unit (11) configured to compare the current virtual image (11) and the captured image (12) so as to determine at least one error value representative of an orientation and / or sighting error, the comparison being carried out by determining the deviation between the position of at least one actor in the virtual image (11) and the position of this same actor in the captured image (12); and - a resetting unit (13) configured to reset the orientation reference and / or the sighting reference of the virtual image to correct said error value so as to create an optimised virtual image (I1opt), this optimised virtual image (I1opt) then being displayed on the vision element (2) instead of the current virtual image.

9. The simulator of claim 8, characterised in that it further comprises at least one of the following elements: - a data emission and reception unit (15); - the terrain database (16); - a human-machine interface (17); - at least one sensor (18) for determining the position of the simulator (1); - at least one sensor (19) for determining the orientation reference and / or the sighting reference of the vision element.

10. The simulator of any of claims 8 and 9, characterised in that it corresponds to one of the following simulators: - a combat shooting simulator that simulates real-world shooting by engaging the shooting in a virtual world reconstructed from the position of the actors in the real world; - an observation device simulator.

11. A weapon system, characterised in that it comprises at least one simulator (1) according to any of claims 8 to 10.

12. The weapon system of claim 11, characterised in that it is one of the following types: - a weapon provided with a barrel; - a ballistic missile; - a guided missile.

13. The weapon system of any of claims 11 and 12, characterised in that it comprises a laser device (21) generating a shooting simulation, and in that this laser device (21) is used as a rangefinder (8) by the simulator (1).

14. A simulation system, characterised in that it comprises: - at least one weapon system (4) according to any of claims 11 to 13, provided with at least one simulator (1); - retro-reflectors (10) equipping one or more actors (R1 to R4); - means (23) for determining the position of the actor or actors (R1 to R4); - a central device (26) configured to be able to communicate at least with the simulator (1) of said weapon system (4).

15. The simulation system of claim 14, characterised in that at least several of said actors equipped with retro-reflectors are each equipped with a weapon system (4) according to any of claims 10 to 13, which is provided with at least one simulator (1).