Shooting training device, shooting training method, and shooting training program

Abstract

To provide a shooting training device that simulates artillery firing training, which simulates changes in shooting accuracy according to the target capture and tracking conditions in a fire control device corresponding to the shooting training device, thereby implementing more realistic artillery firing training.SOLUTION: A shooting training device 100 that simulates gunfire training using a fire control system equipped with a tracking sensor comprises a first shot impact point generating unit 6, a second shot impact point generating unit 7, and a shot impact error evaluating unit 8. The first shot impact point generating unit 6 calculates a shot impact point when gunfire is conducted against a simulated target based on the position and speed of the simulated target including simulated errors as the first shot impact point. The second shot impact point generating unit 7 calculates a shot impact point when gunfire is conducted against a simulated target based on the position and speed of the simulated target including no errors based on a set scenario as the second shot impact point. The simulated target moves according to the set scenario. The shot impact error evaluating unit 8 calculates a shot impact error based on the first shot impact point and the second shot impact point.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to a shooting training device, a shooting training method, and a shooting training program. [Background technology]

[0002] Patent Document 1 discloses a shooting training device that simulates shooting training. According to the shooting training device, when a target can be locked on in the simulated shooting training, the shooting procedure can be confirmed as the main conditions required for shooting are satisfied. The target is also called a pseudo moving target. The shooting training device includes a projector, a training table, a means for inputting the aim position of the firearm into a computer, and a video image generating unit. When the aim position is input, the computer generates a video image of the aim position and the surroundings of the aim position using the video image generating unit. The shooting training device also includes a means for displaying the video image on a display unit of the training table, and a means for determining whether the aim of the firearm has locked on to the target based on the position of the target and the aim position on the screen. The projector projects the target onto the screen. The training table controls the firearm. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2000-018893 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the shooting training device disclosed in Patent Document 1, if the image of the target is locked on, the subsequent shooting procedure can be confirmed. However, the shooting training device does not have a mechanism for changing the shooting accuracy depending on the capture and tracking status of the fire control device. Therefore, the shooting training device cannot perform training to evaluate the shooting accuracy based on the status of the tracking sensor of the fire control device. In other words, Patent Document 1 has a problem that the shooting training device that simulates shooting training cannot evaluate the shooting accuracy caused by the target observation error in the fire control device corresponding to the shooting training device. The present disclosure aims to provide a shooting training device that simulates artillery fire training, by simulating changes in shooting accuracy depending on the target capture and tracking conditions in a fire control device corresponding to the shooting training device, thereby enabling more realistic artillery fire training. [Means for solving the problem]

[0005] A shooting training apparatus according to the present disclosure comprises: A shooting training device that simulates gunfire training using a fire control device equipped with a tracking sensor, a target signal generating unit that generates a target signal simulating the signal received by the tracking sensor from a simulated target moving according to a set scenario; a target detection unit that detects a signal corresponding to the simulated target from the target signal and calculates an observation value corresponding to the simulated target based on the detected signal; a target tracking unit that calculates a position and a velocity of the simulated target based on the calculated observation values; a first shot impact point calculation unit that calculates an impact point of a first shot when artillery fire is performed on the simulated target based on the calculated position and velocity of the simulated target; a second shot impact point calculation unit that calculates an impact point of a second shot when artillery fire is performed on the simulated target based on a position and a velocity of the simulated target that do not include an error based on the set scenario; a bullet impact error evaluation unit that calculates a bullet impact error based on the first bullet impact point and the second bullet impact point; Equipped with. Effect of the Invention

[0006] According to the present disclosure, a bullet impact error evaluation unit calculates a bullet impact error based on a first bullet impact point and a second bullet impact point. Here, the first bullet impact point is a bullet impact point based on the position and speed of a simulated target including simulated errors. The second bullet impact point is a bullet impact point based on the position and speed of a simulated target not including errors. Therefore, according to the present disclosure, in a shooting training device that simulates artillery training, by simulating changes in shooting accuracy depending on the target capture and tracking conditions in a fire control device corresponding to the shooting training device, it is possible to conduct more realistic artillery training that enables evaluation of shooting accuracy or hit rate, etc. [Brief description of the drawings]

[0007] [Figure 1] FIG. 2 is a diagram showing an example of the configuration of a fire control system 200. [Diagram 2] FIG. 4 is a diagram showing the operating state of a tracking radar. [Diagram 3] 1 is a diagram showing an example of the configuration of a shooting training apparatus 100 according to a first embodiment. [Figure 4] FIG. 4 is a diagram showing the state of a target signal. [Diagram 5] FIG. [Figure 6] FIG. 1 is a diagram showing an example of a hardware configuration of a computer 1 according to a first embodiment. [Figure 7] 4 is a flowchart showing the operation of the shooting training apparatus 100 according to the first embodiment. [Figure 8] FIG. 13 is a diagram showing an example of a hardware configuration of the computer 1 according to a modified example of the first embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] In the description of the embodiments and the drawings, the same elements and corresponding elements are given the same reference numerals. Descriptions of elements given the same reference numerals are omitted or simplified as appropriate. Arrows in the drawings primarily indicate data flow or processing flow. In addition, "part" may be read as "circuit," "step," "procedure," "processing," or "circuitry" as appropriate.

[0009] Embodiment 1 Hereinafter, the present embodiment will be described in detail with reference to the drawings.

[0010] ***Configuration Description*** This embodiment relates to a shooting training device 100 that simulates artillery fire training. The shooting training device 100 is a device that simulates artillery fire training using a fire control device 200 that has a tracking radar as a sensor. The shooting training device 100 can evaluate shooting accuracy by taking into account the capture and tracking situation for a simulated target for training. The shooting training device 100 not only simulates the conditions under which the target is locked on, but also simulates the capture and tracking accuracy according to the signal-to-noise ratio of the target. The tracking radar is a sensor that captures and tracks the target, and is also called a tracking sensor. Artillery fire training is training to control a gun. Artillery fire training may also be simply referred to as training. Artillery fire training is also called shooting training.

[0011] 1 shows a specific example of a fire control system 200. The components of the fire control system 200 will be described below. The antenna 12 transmits and receives electromagnetic waves. The antenna controller 13 drives the antenna 12 . The circulator 14 switches between transmitting and receiving signals. Transmitter 15 generates the radar transmission. The receiver 16 receives the reflected waves from the target 24 . The signal processor 17 detects a target signal based on the received signal, and calculates a radar observation value by measuring distance and angle based on the detected target signal. A specific example of the angle measurement method is the monopulse method that is commonly used for tracking radar. The received signal is also called a radar received signal. The computer 18 performs target tracking processing based on the calculated radar observation values, and issues a pointing command to the gun 22 based on the results of the tracking processing. The display 19 is a device that displays information required for fire control. The control panel 20 is a device for performing operations required for fire control. The gun controller 21 is a device that performs drive control and firing control of the gun 22. Gun 22 is the device that executes the firing. Beam 23 is the beam of a tracking radar. Target 24 is a target for artillery training.

[0012] Fig. 2 shows a specific example of the operating states of transmission and reception in a tracking radar provided in the fire control system 200 shown in Fig. 1. In Fig. 2, the horizontal axis indicates time, and the vertical axis indicates signal amplitude. In Fig. 2, a transmission time period 25 and a reception time period 26 are shown. That is, Fig. 2 shows the distance range in which the tracking radar processes. In the reception time period 26, amplitude values ​​obtained by A / D (Analog-to-Digital) converting the received signal after detection for each distance resolution are arranged. Also shown in Fig. 2 are a transmission pulse 27, a target signal 28, and receiver noise 29. The target signal 28 is a signal corresponding to the reflected wave from the target 24 that reflected the beam 23. The computer 18 generates observations by detecting a target signal 28 and performing range and angle measurements on the detected target signal 28. The fire control system 200 captures the target 24 within the beam 23 and continues to track the target 24 by repeating transmission and reception.

[0013] Shooting training device 100 is a device that simulates fire control system 200, and is intended to conduct simulated gun firing training related to shooting operations. Figure 3 shows an example of the configuration of shooting training device 100. Shooting training device 100 includes computer 1, operation panel 10, and display 11. The process executed by the target practice apparatus 100 will now be described.

[0014] The computer 1 is a general-purpose calculator that controls the entire artillery firing training. The computer 1 realizes the functions of a scenario generation unit 2, a target signal generation unit 3, a target detection unit 4, a target tracking unit 5, a first bullet impact point generation unit 6, a second bullet impact point generation unit 7, a bullet impact error evaluation unit 8, and an image generation unit 9.

[0015] The scenario generation unit 2 sets the effective radar reflection area, generation position, speed, start time, end time, etc. of the simulated target as a scenario in advance, generates numerical information indicating the position and speed of the simulated target while sequentially updating the position and speed of the simulated target according to the set scenario, and sends the generated numerical information to the target signal generation processing 3. At this time, the scenario generation unit 2 sequentially calculates the position of the simulated target according to the set scenario. The simulated target is a simulated target 24, and moves according to the set scenario. The simulated target is sometimes called a training target. The scenario set by the scenario generation unit 2 is also called a set scenario. The setup scenario may represent a scenario in which unwanted signals are generated due to changes in environmental conditions around the simulated target.

[0016] The target signal generating unit 3 generates a simulated target signal based on the signal received by the tracking sensor from the simulated target, assuming that the tracking sensor receives a signal from the simulated target moving according to the set scenario. The target signal generating unit 3 may include an unnecessary signal indicated by the set scenario in the target signal. When generating the target signal, the target signal generating unit 3 may simulate receiver noise in a noise generation range that is a range according to the distance from the fire control system 200 to the simulated target. The noise generation range may be determined in any manner. As a specific example, the target signal generating unit 3 receives numerical information corresponding to a simulated target from the scenario generating unit 2. Based on the received numerical information, the target signal generating unit 3 generates a signal simulating a signal received by a tracking radar for fire control during training as an amplitude value in the vicinity of the generated simulated target within the radar processing range. The target signal 28 and unnecessary signals such as background noise are superimposed on the generated received signal. However, the superimposed signals are limited to only signals corresponding to a distance range required to calculate a signal-to-noise (S / N) ratio in order to reduce the load on the computer. The generated target signal 28 is sent to the target detecting unit 4.

[0017] First, the target signal generator 3 generates the amplitude Pr(tgt) of the received signal reflected from the simulated target as received power according to the size and position of the simulated target in accordance with Equation 1.

[0018]

number

[0019] [Equation 1] follows a general radar equation. In [Equation 1], the constants explained below are set in advance. P t is the radar transmission power. G t is the radar transmitting antenna gain. G r is the radar receiving antenna gain. λ is the radar transmission wavelength. σ tgt is the radar cross section of the target. By matching these parameters to the specifications of the tracking radar of the fire control system 200, which is the subject of training, more realistic training can be performed.

[0020] R is the distance from the gun 22 to the simulated target, and is updated sequentially according to the scenario set during training.

[0021] Next, the target signal generating unit 3 generates background noise N in the receiver 16 using [Equation 2]. N indicates the average noise level, and is assumed to vary randomly over the entire distance range in which reception processing is performed. Here, the target signal generating unit 3 simulates receiver noise 29 only in a limited distance range before and after the target 24, thereby reducing the processing load.

[0022]

number

[0023] [Equation 2] is a part of a general radar equation that indicates the thermal noise of the receiver 16. In [Equation 2], constants described below are set in advance as parameters. K is the Boltzmann constant. To is the receiver temperature. B is the receiver bandwidth. NF is the receiver noise figure. By matching the noise level N to the specifications of the tracking radar of the fire control system 200, which is the subject of training, more realistic training can be performed.

[0024] In addition, the occurrence of unwanted signals due to changes in environmental conditions can also be incorporated into the scenario and added to N. As a specific example, interference signals due to reflected waves from rain clouds or disturbances can be treated as one type of noise.

[0025] The target detection unit 4 detects a signal corresponding to the simulated target from the target signal, and calculates an observation value corresponding to the simulated target based on the detected signal. The target detection unit 4 may generate an observation value including a distance measurement error and an angle measurement error according to a signal-to-noise ratio corresponding to the simulated target. As a specific example, the target detection unit 4 simulates signal detection by a fire control radar and distance and angle measurement to a simulated target, and sequentially calculates radar observation values ​​during training. Here, the ratio of the target signal Pr(tgt) generated by the target signal generation unit 3 to background noise N is the signal-to-noise (S / N) ratio. The target detection unit 4 may simulate disturbances in acquisition and tracking by using a distance measurement error generation model in distance measurement to the simulated target. The target detection unit 4 may simulate disturbances in acquisition and tracking by using an angle measurement error generation model in angle measurement to the simulated target.

[0026] The S / N ratio, which is the minimum received signal that allows target detection, is defined as S / N(min). When the level of the target signal is sufficiently higher than the noise level and equals or exceeds S / N(min), it becomes possible to "lock on to the target." Note that S / N(min) is set to have a sufficient margin relative to the background noise level to avoid false detection.

[0027] However, the lock-on conditions are different from the target observation accuracy in the fire control system 200. As a specific example, a general angle measurement accuracy σΘ in a monopulse tracking radar is expressed by [Equation 3]. Note that σΘ is generally a random error that follows a normal distribution.

[0028]

number

[0029] [Equation 3] is a formula that shows the general angle measurement accuracy of monopulse radar. In [Equation 3], Km is the monopulse slope constant, ΘB is the beam width of the tracking radar, and S / N is the S / N ratio at the target received power. The values ​​of Km and ΘB are set in advance as parameters. S / N is updated sequentially based on [Equation 1] and [Equation 2] according to the training scenario.

[0030] In actual tracking radars, a method is generally used to perform angle measurement based on the received signals of the Σ channel, which is the sum pattern signal of the antenna to perform monopulse angle measurement, and the Δ channel, which is the difference pattern for angle measurement. However, in the target practice device 100 according to the present embodiment, the processing load is reduced by simulating disturbances in acquisition and tracking using an angle measurement error generation model.

[0031] The ranging accuracy σR is also a function of the S / N ratio. The ranging accuracy σR is generally expressed by [Equation 4].

[0032]

number

[0033] [Equation 4] is a formula that shows the general distance measurement accuracy of a pulse radar. In [Equation 4], C is the speed of light, τ is the radar transmission pulse width, and S / N is the S / N ratio at the target reception power. The constants C and τ are set in advance as parameters. S / N is updated sequentially based on [Equation 1] and [Equation 2] according to the training scenario. σR is a random error that generally follows a normal distribution.

[0034] In actual tracking radar, the apex and center of gravity of the received signal detected as a target are generally calculated to measure distance. However, in the target training device 100 according to the present embodiment, the processing load is reduced by simulating disturbances in acquisition and tracking using a distance measurement error generation model.

[0035] From [Equation 3] and [Equation 4], we can see that even when the target is locked on, the observation accuracy differs depending on the S / N ratio at the time of the lock-on state. Figure 4 shows a specific example of the target signal at the time of the lock-on state.

[0036] In Fig. 4, the horizontal axis indicates time T, and the vertical axis indicates the signal amplitude. N indicates the average value of the background noise. S / N(min) indicates the detectable level. Signals 30, 31, and 32 respectively indicate signals received from a target. Signal 30 is a signal that is not detected by the target detection unit 4. Signals 31 and 32 indicate signals that are detected by the target detection unit 4. In other words, signals 31 and 32 indicate a locked-on state. Note that since the S / N ratio of signal 31 is small, the observation accuracy corresponding to signal 31 is relatively poor. Since the S / N ratio of signal 32 is large, the observation accuracy corresponding to signal 32 is relatively good.

[0037] The results of measuring the distance and angle of the simulated target by the target detection unit 4 are sent to a target tracking unit 5.

[0038] The target tracking unit 5 calculates the position and velocity of the simulated target based on the observation values ​​calculated by the target detection unit 4. As a specific example, the target tracking unit 5 sequentially calculates the position and speed of the dummy target at the time of target detection based on the detection result received from the target detection unit 4. The position and speed of the dummy target calculated by the target tracking unit 5 are sent to the first bullet impact point generation unit 6.

[0039] The first shot impact point generating unit 6 calculates, as the first shot impact point, the impact point when artillery fire is performed on the simulated target based on the calculated position and speed of the simulated target. As a specific example, the first bullet impact point generation unit 6 calculates the bullet flight time corresponding to the shooting distance from a preset numerical table. The first bullet impact point generation unit 6 calculates a target future position based on the target position and speed and the bullet flight time based on this numerical table, and sets the calculated target future position as the first bullet impact point. The target future position is the position of the simulated target at the time of impact. The current position and velocity of the simulated target are used to calculate the future target position. However, if there is an error in the observation result of the simulated target, the error will cause the future target position, i.e., the impact point, to also contain an error.

[0040] The second bullet impact point calculation unit 7 calculates, as the second bullet impact point, the impact point when artillery fires on the simulated target based on the position and speed of the simulated target that do not include errors based on the set scenario. As a specific example, second bullet impact point generation unit 7 calculates the bullet impact point based on the position and speed of the simulated target by scenario generation unit 2, and calculates the second bullet impact point based on the position and speed of the simulated target that do not include errors. At this time, second bullet impact point generation unit 7 executes the same process as first bullet impact point generation unit 6.

[0041] FIG. 5 shows a specific example of the impact point error. FIG. 5 shows a simulated target moving at time t1, time t2, and time t3, and the impact point when firing at time t3. In FIG. 5, a gun 33 shows a gun that fires. A target position 34 shows the target position without error, that is, the target true value. A target observation value 35 shows the target observation value by the target tracking unit 5. A ballistic trajectory 36 shows the ballistic trajectory when firing is performed based on the target position 34. A ballistic trajectory 37 shows the ballistic trajectory when firing is performed based on the target observation value 35. A ballistic impact point 38 shows the ballistic impact point corresponding to the target true value, that is, the second ballistic impact point. A ballistic impact point 39 shows the ballistic impact point corresponding to the observation value, that is, the first ballistic impact point. An error 40 shows the error of the impact point, that is, the difference between the impact point 38 and the impact point 39. The target position is the position of the simulated target. The target position may or may not include error. The target true value is the true position of the simulated target, which is the position of the simulated target as shown in the scenario.

[0042] The bullet impact error evaluation unit 8 calculates a bullet impact error based on the first bullet impact point and the second bullet impact point. As a specific example, the impact error evaluation unit 8 compares the impact point calculated by the first bullet impact point generation unit 6 with the impact point calculated by the second bullet impact point generation unit 7, and calculates the impact error in training based on the comparison result. As a specific example, the impact error evaluation unit 8 calculates the shooting accuracy based on statistical values ​​such as the average value or standard deviation, and also calculates the hit rate against the simulated target to evaluate the training.

[0043] If the average value of the bullet impact error is m, m can be calculated using [Equation 5].

[0044]

number

[0045] In [Number 5], n indicates the number of shots, and xr i indicates the impact position including error, and xt i indicates the impact position without error. This makes it possible to evaluate whether the impact position is shifted in a specific direction. Note that the impact position is expressed in one dimension, i.e., on a straight line, but the impact error can be calculated in the same way even if the impact position is on a plane or in three-dimensional space.

[0046] Next, if the standard deviation of the bullet impact error is S, S can be calculated using [Equation 6].

[0047]

number

[0048] In [Number 6], n indicates the number of shots, and xr i indicates the impact position including error, and x m indicates the average impact position. This allows us to evaluate the degree of variation in the impact positions.

[0049] Furthermore, if the hit rate is P, P is calculated using [Equation 7].

[0050]

number

[0051] In [Equation 7], N1 indicates the number of effective bullets, i.e., the number of bullets whose bullet impact error was below a certain threshold, and N2 indicates the total number of bullets fired.

[0052] The image generating unit 9 generates an image signal for displaying on a display 11 the target signal from the target signal generating unit 3, the positions of the simulated target and the bullet impact point, etc. As a specific example, the image generator 9 generates an image signal corresponding to a display image. The display image is an image corresponding to a signal received by the tracking sensor from a simulated target, and is an image to be displayed on the display 11.

[0053] The control panel 10 is a device that enables operations required for gunfire training. A person conducting gunfire training operates the control panel 10 during gunfire training. The control panel 10 is equipped with switches for performing radar control for detecting and observing targets, and gun control for fire control.

[0054] The display 11 is a device for performing displays necessary for gunfire training. As a specific example, the display 11 displays the status of gunfire training. The display 11 includes a display screen for displaying the status of target signals and detections, and the status of fire control.

[0055] 6 shows an example of the hardware configuration of computer 1 according to this embodiment. Shooting training apparatus 100 may be composed of multiple computers.

[0056] As shown in the figure, the computer 1 is a computer equipped with hardware such as a processor 51, a memory 52, an auxiliary storage device 53, an input / output IF (Interface) 54, and a communication device 55. These pieces of hardware are appropriately connected via signal lines 59.

[0057] The processor 51 is an integrated circuit (IC) that performs arithmetic processing and controls hardware included in a computer. Specific examples of the processor 51 include a central processing unit (CPU), a digital signal processor (DSP), or a graphics processing unit (GPU). The computer 1 may include a plurality of processors that serve as the processor 51. The plurality of processors share the role of the processor 51.

[0058] The memory 52 is typically a volatile storage device, and a specific example is a RAM (Random Access Memory). The memory 52 is also called a primary storage device or a main memory. Data stored in the memory 52 is saved in the auxiliary storage device 53 as necessary.

[0059] The auxiliary storage device 53 is typically a non-volatile storage device, and specific examples thereof include a ROM (Read Only Memory), an HDD (Hard Disk Drive), or a flash memory. Data stored in the auxiliary storage device 53 is loaded into the memory 52 as necessary. The memory 52 and the auxiliary storage device 53 may be integrated into one unit.

[0060] The input / output IF 54 is a port to which an input device and an output device are connected. A specific example of the input / output IF 54 is a Universal Serial Bus (USB) terminal. Specific examples of the input device are a keyboard and a mouse. A specific example of the output device is a display.

[0061] The communication device 55 is a receiver and a transmitter, and is, for example, a communication chip or a network interface card (NIC).

[0062] Each section of shooting training device 100 may use input / output IF 54 and communication device 55 as appropriate when communicating with other devices.

[0063] Auxiliary storage device 53 stores a shooting training program. The shooting training program is a program that causes a computer to realize the functions of each unit of shooting training device 100. The shooting training program is loaded into memory 52 and executed by processor 51. The functions of each unit of shooting training device 100 are realized by software.

[0064] Data used when executing the shooting training program and data obtained by executing the shooting training program are appropriately stored in a storage device. Each part of the shooting training device 100 appropriately uses a storage device. As a specific example, the storage device is composed of at least one of memory 52, auxiliary storage device 53, a register in processor 51, and a cache memory in processor 51. Note that the terms "data" and "information" may have the same meaning. The storage device may be independent of computer 1. The functions of the memory 52 and the auxiliary storage device 53 may be realized by other storage devices.

[0065] The shooting training program may be recorded in a computer-readable non-volatile recording medium. Specific examples of the non-volatile recording medium include an optical disk and a flash memory. The shooting training program may be provided as a program product.

[0066] ***Explanation of Operation*** The operating procedure of shooting training device 100 corresponds to a shooting training method. Also, the program that realizes the operation of shooting training device 100 corresponds to a shooting training program.

[0067] 7 is a flowchart showing an example of the operation of shooting training apparatus 100. The operation of shooting training apparatus 100 will be described with reference to FIG.

[0068] (Step S101) The scenario generation unit 2 generates a training scenario as a set scenario.

[0069] (Step S102) The target signal generating unit 3 generates a target signal corresponding to a simulated target according to a set scenario.

[0070] (Step S103) The target detection unit 4 detects a simulated target from the target signal generated in step S102.

[0071] (Step S104) The target tracking unit 5 tracks the dummy target based on the dummy target detected in step S103.

[0072] (Step S105) The first shot impact point generation unit 6 calculates the first shot impact point based on the tracking result in step S104.

[0073] (Step S106) The second shot landing point generation unit 7 calculates the second shot landing points based on the set scenario.

[0074] (Step S107) The bullet impact error evaluation unit 8 evaluates the bullet impact error based on the calculated first bullet impact point and second bullet impact point.

[0075] (Step S108) The image generating unit 9 generates an image signal corresponding to an image to be displayed on the display device 11 .

[0076] ***Explanation of the Effects of the First Embodiment*** As described above, the shooting training device 100 simulates the state of target capture and tracking by the shooting control device 200 by incorporating the observation results of the tracking sensor that observes the target in the shooting control device 200 corresponding to the shooting training device 100 and the signal processing of the tracking sensor as a simulation function. Therefore, the shooting training device 100 not only considers the condition in which the simulated target is in a locked-on state, but also generates observation values ​​(distance and angle) according to the S / N ratio of the target signal corresponding to the simulated target, and calculates the impact point of the bullet fired by the shooting control based on the generated observation values. The observation values ​​may include distance measurement errors and angle measurement errors. In addition, the shooting training device 100 calculates the impact point of the bullet fired at the true target position that does not include errors. Therefore, the shooting training device 100 can not only confirm the shooting procedure, but also evaluate the shooting accuracy by comparing the two calculated impact points. This makes it possible to take into account the effect of target observation errors on the shooting accuracy. Furthermore, according to this embodiment, more realistic gunfire training can be carried out. Furthermore, since this embodiment reduces the processing load of the tracking sensor signal processing simulation, it is possible to realize the shooting training device 100 using a general-purpose computer.

[0077] In addition, the shooting training device 100 can also be used to train for better shooting by incorporating into the operation panel 10 settings for signal processing to ensure good target capture and tracking by the tracking sensor.

[0078] In this embodiment, a shooting training device using a tracking radar as a sensor is described, but this embodiment can be applied to a shooting training device using an optical sight as a sensor. Also, this embodiment can be applied to a training device for missile fire control other than gun fire control.

[0079] Furthermore, the target conditions and environmental conditions set in the scenario can be changed during training through external control, i.e., through operations by an instructor, etc. Therefore, according to this embodiment, it is possible to increase the degree of freedom in shooting training.

[0080] ***Other configurations*** <Variation 1> FIG. 8 shows an example of the hardware configuration of the computer 1 according to this modification. The computer 1 includes a processing circuit 58 in place of the processor 51 , the processor 51 and a memory 52 , the processor 51 and an auxiliary storage device 53 , or the processor 51 , the memory 52 , and the auxiliary storage device 53 . The processing circuitry 58 is hardware that realizes at least a part of each unit of the computer 1. The processing circuitry 58 may be dedicated hardware, or may be a processor that executes programs stored in the memory 52 .

[0081] When processing circuitry 58 is dedicated hardware, processing circuitry 58 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. The computer 1 may include a plurality of processing circuits that replace the processing circuit 58. The plurality of processing circuits share the role of the processing circuit 58.

[0082] In the computer 1, some of the functions may be realized by dedicated hardware, and the remaining functions may be realized by software or firmware.

[0083] Processing circuitry 58 is illustratively implemented in hardware, software, firmware, or a combination thereof. Processor 51, memory 52, secondary storage device 53, and processing circuitry 58 are collectively referred to as “processing circuitry.” In other words, the functions of each of the functional components of shooting training device 100 are realized by the processing circuitry.

[0084] ***Other embodiments*** Although the first embodiment has been described, it is possible to combine a plurality of parts of the present embodiment. Alternatively, it is possible to partially implement the present embodiment. In addition, the present embodiment may be modified in various ways as necessary, and may be implemented in any combination, either as a whole or in part. The above-described embodiment is essentially a preferred example, and is not intended to limit the scope of the present disclosure, its applications, and uses. The procedures described using the flowcharts and the like may be modified as appropriate.

[0085] Various aspects of the present disclosure are summarized below as appendices.

[0086] (Appendix 1) A shooting training device that simulates gunfire training using a fire control device equipped with a tracking sensor, a target signal generating unit that generates a target signal simulating the signal received by the tracking sensor from a simulated target moving according to a set scenario; a target detection unit that detects a signal corresponding to the simulated target from the target signal and calculates an observation value corresponding to the simulated target based on the detected signal; a target tracking unit that calculates a position and a velocity of the simulated target based on the calculated observation values; a first shot impact point calculation unit that calculates an impact point of a first shot when artillery fire is performed on the simulated target based on the calculated position and velocity of the simulated target; a second shot impact point calculation unit that calculates an impact point of a second shot when artillery fire is performed on the simulated target based on a position and a velocity of the simulated target that do not include an error based on the set scenario; a bullet impact error evaluation unit that calculates a bullet impact error based on the first bullet impact point and the second bullet impact point; A shooting training device comprising:

[0087] (Appendix 2) The shooting training device further comprises: a scenario generating section for sequentially calculating the position of the simulated target according to the set scenario; 2. The shooting training apparatus of claim 1, comprising:

[0088] (Appendix 3) The shooting training device further comprises: A control panel operated by a person conducting gunfire training during gunfire training; A display that shows the status of artillery firing training and 3. The shooting training apparatus according to claim 1 or 2, comprising:

[0089] (Appendix 4) The shooting training device further comprises: an image generating unit that generates an image signal corresponding to a display image, which is an image corresponding to a signal received by the tracking sensor from the simulated target and is to be displayed on the display; 4. The shooting training apparatus of claim 3, comprising:

[0090] (Appendix 5) the set scenario indicates a scenario in which an unwanted signal occurs due to a change in an environmental condition around the simulated target; A shooting training device as described in any one of appendix 1 to 4, wherein the target signal generating unit includes an unnecessary signal indicated by the set scenario in the target signal.

[0091] (Appendix 6) 6. The shooting training device according to claim 1, wherein the target signal generating unit simulates receiver noise in a noise generation range, which is a range according to a distance from the fire control system to the simulated target, when generating the target signal.

[0092] (Appendix 7) 7. The shooting training device according to claim 1, wherein the target detection unit simulates distance measurement and angle measurement for the simulated target, simulates a disturbance in acquisition and tracking in distance measurement for the simulated target using a distance measurement error generation model, and simulates a disturbance in acquisition and tracking in angle measurement for the simulated target using an angle measurement error generation model.

[0093] (Appendix 8) 8. The shooting training device of claim 7, wherein the target detection unit generates an observation value including a distance measurement error and an angle measurement error according to a signal-to-noise ratio corresponding to the simulated target. [Explanation of symbols]

[0094] 1 computer, 2 scenario generation section, 3 target signal generation section, 4 target detection section, 5 target tracking section, 6 first bullet impact point generation section, 7 second bullet impact point generation section, 8 bullet impact error evaluation section, 9 image generation section, 10 operation panel, 11 display, 12 antenna, 13 antenna controller, 14 circulator, 15 transmitter, 16 receiver, 17 signal processor, 18 computer, 19 display, 20 operation panel, 21 gun controller, 22 gun, 23 beam, 24 target, 25 transmission time period, 26 reception time period, 27 transmission pulse, 28 target signal, 29 receiver noise, 30, 31, 32 signal, 33 gun, 34 target position, 35 target observation value, 36, 37 ballistic trajectory, 38, 39 bullet impact point, 40 error, 51 processor, 52 Memory, 53 auxiliary storage device, 54 input / output IF, 55 communication device, 58 processing circuit, 59 signal line, 100 shooting training device, 200 shooting control device.

Claims

1. A shooting training device that simulates gunfire training using a fire control device equipped with a tracking sensor, a target signal generating unit that generates a target signal simulating the signal received by the tracking sensor from a simulated target moving according to a set scenario; a target detection unit that detects a signal corresponding to the simulated target from the target signal and calculates an observation value corresponding to the simulated target based on the detected signal; a target tracking unit that calculates a position and a velocity of the simulated target based on the calculated observation values; a first shot impact point calculation unit that calculates a shot impact point when artillery fire is performed on the simulated target based on the calculated position and velocity of the simulated target as a first shot impact point; a second shot impact point calculation unit that calculates a shot impact point when artillery fire is conducted on the simulated target based on a position and a velocity of the simulated target that do not include an error based on the set scenario, as a second shot impact point; a bullet impact error evaluation unit that calculates a bullet impact error based on the first bullet impact point and the second bullet impact point; A shooting training device comprising:

2. The shooting training device further comprises: a scenario generating section for sequentially calculating the position of the simulated target in accordance with the set scenario; 2. The shooting training device of claim 1, comprising:

3. The shooting training device further comprises: A control panel operated by a person conducting gunfire training during gunfire training; A display that shows the status of artillery firing training and 3. A shooting training apparatus as claimed in claim 1 or 2, comprising:

4. The shooting training device further comprises: an image generating unit that generates an image signal corresponding to a display image, which is an image corresponding to a signal received by the tracking sensor from the simulated target and is to be displayed on the display; 4. The target practice training device of claim 3, comprising:

5. the set scenario indicates a scenario in which an unwanted signal occurs due to a change in an environmental condition around the simulated target; 3. The shooting training device according to claim 1, wherein the target signal generating unit includes an unnecessary signal indicated by the set scenario in the target signal.

6. 3. The shooting training device according to claim 1, wherein the target signal generating unit simulates receiver noise in a noise generation range that corresponds to a distance from the fire control system to the simulated target when generating the target signal.

7. 3. The shooting training device according to claim 1, wherein the target detection unit simulates distance measurement and angle measurement for the simulated target, simulates disturbances in acquisition and tracking in distance measurement for the simulated target using a distance measurement error generation model, and simulates disturbances in acquisition and tracking in angle measurement for the simulated target using an angle measurement error generation model.

8. 8. The shooting training device according to claim 7, wherein the target detection unit generates an observation value including a distance measurement error and an angle measurement error according to a signal-to-noise ratio corresponding to the simulated target.

9. A shooting training device which is a computer that simulates gunfire training using a fire control device equipped with a tracking sensor, generating a target signal by simulating the signal received by the tracking sensor from a simulated target moving according to a set scenario; Detecting a signal corresponding to the simulated target from the target signal, and calculating an observation value corresponding to the simulated target based on the detected signal; Calculating a position and a velocity of the simulated target based on the calculated observation values; Calculating a first shot impact point when firing at the simulated target based on the calculated position and velocity of the simulated target; Calculating a second shot impact point based on the position and velocity of the simulated target without including an error based on the set scenario, and A shooting training method for calculating a shot impact error based on the first shot impact point and the second shot impact point.

10. A shooting training program executed by a shooting training device which is a computer that simulates gunfire training using a fire control device equipped with a tracking sensor, a target signal generation process for generating a target signal by simulating the signal received by the tracking sensor from a simulated target moving according to a set scenario; a target detection process for detecting a signal corresponding to the simulated target from the target signal and calculating an observation value corresponding to the simulated target based on the detected signal; a target tracking process for calculating a position and a velocity of the simulated target based on the calculated observation values; a first shot impact point generation process for calculating an impact point of a first shot when artillery fire is performed on the simulated target based on the calculated position and velocity of the simulated target; a second shot impact point generation process for calculating an impact point of a second shot when artillery fire is conducted on the simulated target based on a position and a velocity of the simulated target that do not include an error based on the set scenario; a bullet impact error evaluation process for calculating a bullet impact error based on the first bullet impact point and the second bullet impact point; A shooting training program that causes the shooting training device to execute the above.

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