Artillery targeting system

Abstract

An artillery targeting system (10) comprising a chassis (200) with a gun barrel (300) mounted to the chassis (200 by a pivot mount (304). The system also comprises a chassis suspension system (400) comprising a plurality of wheel arms (402) each extending away from a different chassis mount (220) on the chassis (200) to a respective wheel (404), each wheel (404) rotatably mounted to its respective wheel arm (402), each wheel (404) configured to engage a support surface (500). The artillery targeting system (10) is operable to position the barrel (300) to target an object by pivoting one or more wheel arms (402) relative to the chassis (200) and / or by pivoting one or more wheels (404) relative to their respective wheel arms (402) and / or by rotating one or more wheels (404) relative to their respective wheel arms (402).

Description

[Technical field]

[0001] The present disclosure relates to a gun targeting system. [Background technology]

[0002] For an artillery system to be effective, it must be pointed in the correct direction before a round can be fired. In small arms, this is accomplished, at least in part, by manually positioning the gun barrel. In larger caliber vehicle systems, and in turret or turret mounted systems, barrel positioning is accomplished mechanically.

[0003] Generally, to achieve aiming in any direction, the two main directions of movement are separated into separate systems: those dealing with elevation (i.e., how high or low the gun is pointed relative to the ground) and rotation (i.e., how far the gun is swung left or right to point, as shown, for example, in Figures 1-3).

[0004] Typically, elevation and depression of a vehicle gun system is controlled by an elevation system that may include, for example, a lead screw, a hydraulic / pneumatic ram, and / or gearing. Swivel may be accomplished by a slew bearing, slew ring, or turret. As illustrated in Figures 1-3, this is a device that allows the gun to rotate relative to the body / chassis of the vehicle.

[0005] However, a problem with such systems is that the systems for controlling slewing, traditionally necessary, add considerable weight to the vehicle. The extra weight means that the vehicles forming part of the artillery targeting system may be inherently less agile and slower, and require more fuel for the same distance traveled than a lighter system. Not only is a mechanism for controlling slewing necessary, but this must be of robust construction, since it must be able to function for long periods of time, meaning it must be able to withstand the recoil forces from the firing of the artillery. Another problem is that any systems that interact with the artillery system (i.e. the loading system) must be able to take this movement into account. Furthermore, the chassis on which the slewing system is mounted must also be suitably robust in order to support the slewing system, and therefore must be of high mass.

[0006] Therefore, an artillery targeting system that provides a relatively lightweight solution (compared to prior art examples) to the problem of delivering a weapon system to a firing position and then aiming the weapon system's artillery at a target is highly desirable. Summary of the Invention

[0007] According to the present disclosure there is provided an apparatus and method as set out in the accompanying claims. Further features of the invention will become apparent from the dependent claims and the following description.

[0008] Thus, an artillery targeting system (10) may be provided, the artillery targeting system (10) comprising a chassis (200) extending along an x-axis, a first end (202) of the chassis (200) and a second end (204) of the chassis (200) spaced apart from one another along the x-axis. The chassis (200) may also extend along a y-axis, with a first side (206) of the chassis (200) and a second side (208) of the chassis (200) spaced apart from one another along the y-axis. The x-axis may be perpendicular to the y-axis. The x-axis may define a chassis roll axis (210). The y-axis may define a chassis pitch axis (212). The z-axis may define a chassis yaw axis (214). The z-axis may be perpendicular to the x-axis and y-axis. A gun barrel (300) having a gun barrel axis (302) may be provided, with the gun barrel (300) mounted to the chassis (200) by a pivot mount (304). The gun barrel (300) may be pivotable relative to the x-axis about a pivot axis (310) aligned with (e.g., parallel to) the y-axis. The gun barrel (300) may be mounted such that it is constrained to movement in a plane defined by the x-axis and z-axis of the chassis 200.

[0009] A chassis suspension system (400) may be provided that includes a plurality of wheel arms (402), each wheel arm (402) extending away from a different chassis mount (220) on the chassis (200) to a respective wheel (404), each wheel (404) rotatably mounted to its respective wheel arm (402), each wheel (404) configured to engage a support surface (500), and each wheel arm (402) and wheel (404) configured to support the chassis (200) away from the support surface (500) in a direction, for example, along the z-axis. Each wheel arm (402) may be pivotable relative to the chassis (200) such that the roll of the chassis (200) about the x-axis, the pitch of the chassis (200) about the y-axis, and the yaw of the chassis (200) about the z-axis are controllable by pivoting at least one of the wheel arms (402) relative to the chassis (200). Each wheel (404) may be pivotable relative to its respective wheel arm (402), such that the artillery targeting system (10) is operable to position the barrel (300) toward an object by pivoting the one or more wheel arms (402) relative to the chassis (200) and / or by pivoting the one or more wheels (404) relative to their respective wheel arms (402) and / or by rotating the one or more wheels (404) relative to their respective wheel arms (402).

[0010] Each wheel arm (402) may have a chassis mount end (410) and a wheel mount end (412), the chassis mount end (410) of each wheel arm (402) being provided with a chassis mounting member (414), the chassis mount end (410) of each wheel arm (402) and the chassis mounting member (414) being pivotable relative to one another about the chassis mount pivot axis (230), the chassis mounting member (414) being configured to support the chassis mount end (410) of the wheel arm (402) such that the wheel arm (402) and the chassis mounting member (414) are operable to pivot at least 180 degrees relative to one another about the chassis mount pivot axis (230).

[0011] Each wheel arm (402) may be provided with a wheel arm actuator (430) for controlling the orientation of each wheel arm (402) relative to the chassis (200).

[0012] A wheel mounting member (416) may be provided at the wheel mount end (412) of each wheel arm (402), and the wheel mount end (412) and the wheel mounting member (416) of each wheel arm (402) are pivotable relative to one another about a wheel mount pivot axis (432), and each wheel mounting member (416) is configured to couple with the wheel mount end (412) of the wheel arm (402) such that each wheel arm (402) and the wheel mounting member (416) are operable to pivot at least 180 degrees relative to one another about the wheel mount pivot axis (432).

[0013] Each wheel mounting member (416) may be provided with a wheel mounting member actuator (440) for controlling the orientation of each wheel (404) relative to its respective wheel arm (402).

[0014] The artillery targeting system (10) may include a control system (600) operable to control the wheel arm actuators (430) to roll the chassis (200) about an x-axis, pitch the chassis (200) about a y-axis, and / or yaw the chassis (200) about a z-axis to orient the chassis (200), with each wheel arm actuator (430) operable independently of the other wheel arm actuators (430).

[0015] The control system (600) may be operable to control the wheel mounting member actuators (440) to pivot each wheel (404) about the wheel mount pivot axis (432), each wheel mounting member actuator (440) being operable independently of the other wheel mounting member actuators (440).

[0016] The barrel (300) may be coupled to a barrel actuator (340) operable to pivot the barrel (300) about the pivot axis (310), and the control system (600) is operable to control the barrel actuator (340) to pivot the barrel (300) about the pivot axis (310).

[0017] Each actuator may be operable independently of every other actuator.

[0018] The control system (600) may be operable to control the wheel arm actuator (430), the wheel attachment actuator (440), and the barrel actuator (340) to position the barrel (300) to target an object.

[0019] At least one wheel (404) may be coupled to a drive system (700) for rotating the or each wheel (404) relative to its respective wheel arm (402) and thereby moving the artillery targeting system (10) from one location to another.

[0020] The control system (600) may be operable to control the drive system (700) and thereby drive the wheel (404), or each wheel (404), to move the artillery targeting system (10) from one location to another.

[0021] The wheel drive system (700) may include an actuator (702) coupled to the or each wheel (404), with each wheel drive actuator (702) operable independently of each other wheel drive actuator (702).

[0022] A method for controlling an artillery targeting system may also be provided, the artillery targeting system comprising a barrel (300), a chassis (200), a wheel arm actuator (430), a wheel mounting member actuator (440), a wheel drive system (700), and a barrel actuator (340) for targeting an object, the barrel (300) being mounted on the chassis (200), the chassis (200) extending along an x-axis and having a first end (202) of the chassis (200) and a second end (203) of the chassis (200) for targeting an object. the ends (204) of the chassis (200) are spaced apart from one another along the x-axis, the chassis (200) extends along the y-axis, a first side (206) of the chassis (200) and a second side (208) of the chassis (200) are spaced apart from one another along the y-axis, the x-axis is perpendicular to the y-axis, the x-axis defines a chassis roll axis (210), the y-axis defines a chassis pitch axis (212), the z-axis defines a chassis yaw axis (214), the z-axis is perpendicular to the x-axis and the y-axis, the barrel (300) has a barrel axis (302) and is pivoted parallel to the y-axis. The artillery targeting system (10) is pivotable about a pivot axis (310) relative to the x-axis and mounted so as to be constrained to movement in a plane defined by the x-axis and the z-axis, the wheel arm actuator (430), the wheel mounting member actuator (440) and the wheel drive system (700) forming part of a chassis suspension system (400) coupled to the chassis (200), and the barrel actuator (340) coupled to the barrel (300), the method comprising the steps of controlling the wheel drive system (700) to transport the artillery targeting system (10) to a gun firing location, controlling the wheel mounting member actuator (440) and / or the drive system (700) to position the barrel (300) in a direction toward the object, and if further adjustments are required, controlling the wheel arm actuator (430), the wheel mounting member actuator (440) and / or the barrel actuator (340) to position the barrel (300) in a direction toward the object.

[0023] Thus, an artillery targeting system configuration is provided that enables a relatively lightweight solution to delivering a weapon system to a firing position and then targeting the weapon system's artillery at a target, as compared to related art examples.

[0024] Embodiments of the present invention will now be described, by way of example only, with reference to the figures, in which: [Brief description of the drawings]

[0025] [Figure 1] FIG. 1 shows a plan view of a prior art vehicle weapon delivery system. [Diagram 2] FIG. 1 shows a plan view of a prior art vehicle weapon delivery system. [Diagram 3] FIG. 1 shows a plan view of a prior art vehicle weapon delivery system. [Figure 4] 1 illustrates important features of the artillery targeting system of the present disclosure, the artillery targeting system being shown in plan view. [Diagram 5] 1 illustrates important features of the artillery targeting system of the present disclosure, the artillery targeting system being shown in plan view. [Figure 6] 1 illustrates an example of how the artillery targeting system of the present disclosure may be operated, the artillery targeting system being shown in plan view. [Figure 7] 1 illustrates an example of how the artillery targeting system of the present disclosure may be operated, the artillery targeting system being shown in plan view. [Figure 8] 1 illustrates an example of how the artillery targeting system of the present disclosure may be operated, the artillery targeting system being shown in plan view. [Figure 9] 10 is a side view of an artillery targeting system according to the present disclosure further illustrating how the artillery targeting system may be operated. [Figure 10] 10 is a side view of an artillery targeting system according to the present disclosure further illustrating how the artillery targeting system may be operated. [Figure 11]10 is a side view of an artillery targeting system according to the present disclosure further illustrating how the artillery targeting system may be operated. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0026] The present disclosure relates to an artillery targeting system 10. In particular, the present disclosure relates to an artillery targeting system provided as a vehicle for transporting, supporting and directing an artillery at a target, and to a method for controlling the artillery targeting system. The vehicle may be a self-propelled vehicle.

[0027] Figures 4-8 show plan views of the artillery targeting system 10 of the present disclosure and illustrate important features and operation of the artillery targeting system 10. Figures 9-11 show the artillery targeting system 10 of the present disclosure in side view.

[0028] As shown in these figures, the artillery targeting system 10 comprises a chassis 200 extending along an x-axis, with a first end 202 of the chassis 200 and a second end 204 of the chassis 200 spaced apart from one another along the x-axis. The chassis 200 also extends along a y-axis, with a first side 206 of the chassis 200 and a second side 208 of the chassis 200 spaced apart from one another along the y-axis. The x-axis is perpendicular to the y-axis.

[0029] The x-axis defines the chassis roll axis 210. The y-axis defines the chassis pitch axis 212. The z-axis defines the chassis yaw axis 214, the z-axis being perpendicular to the x-axis and y-axis.

[0030] The artillery targeting system 10 further comprises a barrel 300 having a barrel axis 302. As shown in Figures 9-11, the barrel 300 is mounted to the chassis 200 by a pivot mount 304, and the barrel 300 is pivotable about a pivot axis 310 aligned with the y axis (e.g., parallel to the y axis) relative to the x axis. That is, the barrel 300 is pivotable about a pivot axis 310 aligned with the y axis (e.g., parallel to the y axis) relative to the x axis, and is mounted so as to be constrained to move in a plane defined by the x axis and the z axis. In other words, the barrel 300 is pivotable about a pivot axis 310 aligned with the y axis (e.g., parallel to the y axis) relative to the x axis, and the barrel 300 is directly or indirectly mounted to the chassis 200 so as to be constrained to move in a plane defined by the x axis and the z axis. That is, the barrel 300 may be pivotable about the x-axis about a pivot axis 310 aligned with (e.g., parallel to) the y-axis, but not rotatable about the z-axis. In other words, the barrel 300 is constrained to pivot about the x-axis about a pivot axis 310 aligned with (e.g., parallel to) the y-axis, and is attached (e.g., directly or indirectly) to the chassis 200 such that it cannot be swung about the z-axis.

[0031] The artillery targeting system 10 further comprises a chassis suspension system 400. The chassis suspension system 400 comprises a plurality of wheel arms 402, each extending away from a different chassis mount 220 on the chassis 200 to a respective wheel 404, each wheel 404 rotatably mounted to its respective wheel arm 402, and each wheel 404 configured to engage a support surface 500.

[0032] Each wheel arm 402 is pivotable relative to the chassis 200 such that the roll of the chassis 200 about the x-axis, the pitch of the chassis 200 about the y-axis, and the yaw of the chassis 200 about the z-axis are controllable by pivoting at least one of the wheel arms 402 relative to the chassis 200. Additionally, each wheel 404 is pivotable relative to its respective wheel arm 402.

[0033] Thus, each wheel arm 402 may be pivotable relative to the chassis 200 about an axis parallel to the z-axis (as shown in FIG. 4 ) and / or about an axis parallel to the y-axis (as shown, for example, in FIGS. 9 , 10 , 11 ). That is, each wheel arm 402 may be pivotable relative to the chassis 200 in a direction having a component parallel to the z-axis and / or parallel to the y-axis. Thus, pivoting the wheel arm 402 about the z-axis causes the chassis 200 to yaw about the z-axis, and pivoting the wheel arm 402 about the y-axis causes the chassis 200 to pitch about the y-axis.

[0034] Additionally, each wheel 404 is pivotable relative to its respective wheel arm 402, thereby changing the angle of one or more of the wheels 404 relative to its respective wheel arm 402 (e.g., as shown in Figures 9, 10, 11). Thus, for example, such pivoting of a wheel 404 relative to its respective wheel arm 402 changes the direction in which the wheel 404 is aligned, thereby causing the chassis / vehicle to steer in a direction defined by the orientation of the wheel 404 relative to its respective wheel arm 402, when the wheel is rotated.

[0035] 9-11 , each wheel arm 402 and wheel 404 is configured to support the chassis 200 away from a support surface 500. Each wheel arm 402 and wheel 404 may be configured to support the chassis 200 away from the support surface 500 in the direction of the z-axis. Each wheel arm 402 and wheel 404 may be configured to support the chassis 200 a distance Dz away from the support surface 500 in the z-axis, where the distance Dz can be varied by the suspension system 400 and can vary at different locations on the chassis 200.

[0036] Each wheel arm 402 has a chassis mount end 410 which, in use, abuts the chassis 200 , and a wheel mount end 412 to which one of the wheels 404 may be attached for supporting the chassis 200 .

[0037] A chassis mount end 410 of each wheel arm 402 may be provided with a chassis mounting member 414 (e.g., a bracket for mounting to the chassis 200), and the chassis mount end 410 of each wheel arm 402 and the chassis mounting member 414 are pivotable relative to one another about the chassis mount pivot axis 230. The chassis mounting member 414 may be configured to support (e.g., couple) the chassis mount end 410 of the wheel arm 402 such that the wheel arm 402 and the chassis mounting member 414 are operable to pivot at least 180 degrees relative to one another about the chassis mount pivot axis 230. That is, the wheel arm 402 may be attached to the chassis mount 220 (e.g., via the chassis mounting member 414) such that the wheel arm 402 is operable to pivot at least 180 degrees relative to the chassis mount 220. The wheel arm 402 and the chassis mounting member 414 may be operable to pivot at least 180 degrees but not more than 200 degrees relative to one another. The wheel arm 402 and the chassis mounting member 414 may be operable to pivot at least 180 degrees but not more than 190 degrees relative to one another. For example, the chassis mounting member 414 and / or the chassis mount 220 may space the chassis end of the wheel arm 402 from the chassis 200 such that the wheel arm 402 may be parallel to the chassis 200 (e.g., extending parallel to the x-axis and / or extending in a direction having a component in a direction parallel to the x-axis) or to allow the wheel arm 402 to extend from its chassis mount end towards the chassis 200 (e.g., extending in a direction at an angle of 95 degrees to the y-axis and / or extending in a direction having a component in a direction at an angle of 95 degrees to the y-axis). The wheel arm 402 and the chassis mount 220 may be pivotable relative to one another about an axis parallel to the z-axis and / or about a vertical axis. Each chassis mounting member 414 may include a universal joint.

[0038] Each wheel arm 402 may be provided with a wheel arm actuator 430 for controlling the orientation of each wheel arm 402 relative to the chassis 200.

[0039] The wheel mount end 412 of each wheel arm 402 may be provided with a wheel mounting member 416 (e.g., a bracket) for mounting to one of the wheels 404, and the wheel mount end 412 and wheel mounting member 416 of each wheel arm 402 are pivotable relative to one another about a wheel mount pivot axis 432.

[0040] Each wheel mounting member 416 is configured to couple with the wheel mount end 412 of the wheel arm 402 such that each wheel arm 402 and each wheel mounting member 416 (and thus the wheel 404) are operable to pivot 180 degrees relative to one another about the wheel mount pivot axis 432. Each wheel arm 402 and each wheel mounting member 416 (and thus the wheel 404) may be operable to pivot at least 180 degrees but not more than 200 degrees relative to one another about the wheel mount pivot axis 432. Each wheel arm 402 and each wheel mounting member 416 (and thus the wheel 404) may be operable to pivot at least 180 degrees but not more than 190 degrees relative to one another about the wheel mount pivot axis 432. Each wheel mounting member 416 may include a universal joint 420.

[0041] The chassis mount pivot axis 230 may be parallel to the wheel mount pivot axis 432. The chassis mount pivot axis 230 may be aligned with (e.g., parallel to) the z-axis.

[0042] Each wheel mounting member 416 is provided with a wheel mounting member actuator 440 for controlling the orientation of each wheel 404 relative to its respective wheel arm 402 .

[0043] At least one wheel 404 is coupled to a drive system 700 for rotating the or each wheel 404 relative to its respective wheel arm 402, thereby moving the artillery targeting system 10 from one location to another.

[0044] The wheel drive system 700 includes an actuator 702 coupled to the or each wheel 404 , where each wheel drive actuator 702 is operable independently of each other wheel drive actuator 702 .

[0045] The suspension system is configured such that the artillery targeting system 10 is operable to position the barrel 300 in a direction to target an object by pivoting one or more of the wheel arms 402 relative to the chassis 200 and / or by pivoting one or more wheels 404 relative to their respective wheel arms 402 and / or by rotating one or more wheels 404 relative to their respective wheel arms 402.

[0046] The artillery targeting system 10 may further comprise a control system 600 operable to control the wheel arm actuators 430 to roll the chassis 200 about the x-axis, pitch the chassis 200 about the y-axis, and / or yaw the chassis 200 about the z-axis to orient (e.g., angle) the chassis 200. That is, the control system 600 is operable to control the suspension 400 to position the barrel 300 relative to the target.

[0047] Additionally or alternatively, the control system 600 may be operable to control wheel mounting member actuators 440 to pivot each wheel 404 about the wheel mount pivot axis 432, with each wheel mounting member actuator 440 operable (e.g., controllable) independently of the other wheel mounting member actuators 440.

[0048] The barrel 300 may be coupled to a barrel actuator 340 operable to pivot the barrel 300 about the pivot axis 310, and the control system 600 is operable to control the barrel actuator 340 to pivot the barrel 300 about the pivot axis 310.

[0049] Each actuator (ie, each of the wheel arm actuator 430, the wheel attachment member actuator 440, and the gun barrel actuator 340) may be operable (eg, controllable) independently of each other actuator.

[0050] The control system 600 may be operable to control the wheel arm actuator 430, the wheel mounting member actuator 440, and the barrel actuator 340 to position the barrel 300 to target an object. For example, the control system 600 may be operable to control the wheel arm actuator 430, the wheel mounting member actuator 440, and the barrel actuator 340 to position the barrel 300 to target an object in response to a command from a user to target an object, and / or in response to receiving data identifying and / or locating the target, and / or in response to sensing and / or identifying the target. Additionally or alternatively, the control system 600 may be operable to control the drive system 700, thereby driving the or each wheel 404 to move the artillery targeting system 10 from one location to another (e.g., to move closer to the target and / or to achieve a desired position relative to the target).

[0051] The artillery targeting system 10 may be operated according to a method comprising controlling the wheel drive system 700 to transport the artillery targeting system 700 to the artillery firing location, for example, to the location shown in Figures 6 and 9. If the barrel 300 is not positioned toward the target (e.g., its elevation and rotation are not as required to deliver a projectile from the barrel 300 to the target), the wheel mounting member actuator 440 and / or the drive system 700 are controlled to position the barrel 300 toward the object (e.g., in Figure 7, the chassis 200 has been rotated about the z-axis relative to the orientation shown in Figure 6, for example). Alternatively and / or additionally, the wheel arm actuator 430, the wheel mounting member actuator 440, and / or the barrel actuator 340 may be controlled to position the barrel 300 toward the object, for example, as shown in Figure 8. Alternatively and / or additionally, the wheel arm actuator 430, the wheel mounting member actuator 440, and / or the barrel actuator 340 may be controlled to position the barrel 300 in an orientation to target an object, as shown in FIG. 10 or FIG. 11, where the chassis 200 has, by way of example, been rotated about the y-axis relative to the orientation shown in FIG. 9, and the barrel 300 may be rotated about the pivot axis 310.

[0052] The method may further include operating the gun to fire the projectile only when the barrel 300 is in a plane defined by the x-axis and the z-axis. In the illustrated example, the barrel 300 is always in the plane defined by the x-axis and the z-axis (e.g., constrained to pivot about a pivot axis 310 parallel to the y-axis) and is attached (e.g., directly or indirectly) to the chassis 200 such that it cannot be swung about the z-axis. In other examples, the barrel may have a storage / travel orientation and is aligned in the plane defined by the x-axis and the z-axis prior to firing.

[0053] That is, in an artillery targeting system according to the present disclosure, coarse steering is accomplished by repositioning the vehicle at wheels 404 to achieve a change in position, for example between the positions shown in FIG. 6 and the positions shown in FIG. 7. This may be accomplished by driving forward and / or backward. In another example (not shown), this may utilize a mechanism that allows the vehicle to rotate in place (e.g., about the z-axis). Such positioning achieves a reasonable level of accuracy, but does not reliably achieve the <1 mil requirement for many weapon systems, especially in rough terrain.

[0054] Fine turning is achieved by manipulating the wheel arms and suspension when the vehicle is parked. Thus, the wheel arms are constructed so that the wheels can be moved independently on all sides towards / away from the vehicle chassis and then the chassis can be rotated relative to the wheel position to achieve <1 mil fine aiming. This is exemplified by the change in wheel arm position between Figures 4 and 5, between Figures 7 and 8, and / or between Figures 9 and 10 and / or 11.

[0055] In some examples, rotation about the y-axis (e.g., pitch axis 212) can achieve the majority of the angulation of the barrel 300, and the barrel actuator can be configured to pivot up to 10 degrees for "fine tuning" of the barrel position.

[0056] In some examples, when the barrel 300 is at a "low angle" relative to the x-axis (e.g., 0 degrees to about 30 degrees), all of the wheel arms may be pivoted to lower the chassis 200 closer to the ground, minimizing tipping moments and increasing stability, thereby reducing the risk of tipping over.

[0057] Thus, an artillery targeting system is provided that allows a relatively light vehicle solution compared to the related art examples for delivering the weapon system to the firing position and then aiming the weapon system's gun at the target. This is achieved by using the chassis suspension system 400 to position the gun barrel towards the target position, so that further adjustments are only for the elevation and depression of the gun barrel, which can be made by a separate actuator or manually, if necessary. Thus, compared to the related art artillery targeting system, the slewing system of the related art solution is not required. This has the advantage that by reducing the number of different systems on the gun mount, the entire gun mount can be lighter and therefore more agile, faster, more fuel-efficient and generally more reliable than the related art examples.

[0058] A further advantage of the system of the present disclosure is that since the system is configured such that the barrel cannot be swung about the z-axis, the system is less likely to tip over during firing of the gun. This is because the width of the chassis 200 must be limited to allow the gun targeting system to be transported and / or may have to be suitably narrow to pass through obstacles, but the length of the chassis 200 may be greater than the width of the chassis 200 without compromising the transportability of the entire gun targeting system. Thus, fixing the gun barrel to the longitudinal axis of the chassis (i.e., the longest axis of the chassis) provides maximum stability. Also, since the wheel arms and wheels can extend forward and rearward of the chassis 200, this provides additional stability during the firing cycle.

[0059] Attention is directed to all documents and literature related to this application that are filed contemporaneously with or prior to this application and that are open to public inspection herewith, and the contents of all such documents and literature are incorporated herein by reference.

[0060] All of the features disclosed in this specification (including any accompanying claims, abstract, and drawings), and / or all of the steps of any method or process so disclosed, may be combined in any combination, except combinations in which at least some of such features and / or steps are mutually exclusive.

[0061] Each feature disclosed in this specification (including any accompanying claims, abstract, and drawings), unless expressly stated otherwise, may be replaced by alternative features serving the same, equivalent, or similar purpose. Thus, unless expressly stated otherwise, each feature disclosed is only one example of a generic series of equivalent or similar features.

[0062] The invention is not limited to the details of the embodiment or embodiments described above. The invention extends to any novel one or any novel combination of the features disclosed in this specification (including any accompanying claims, abstract and drawings), or to any novel one or any novel combination of the steps of any method or process so disclosed.

Claims

1. a chassis extending along an x-axis, wherein a first end of the chassis and a second end of the chassis are spaced apart from one another along the x-axis, and the chassis extending along a y-axis, wherein a first side of the chassis and a second side of the chassis are spaced apart from one another along the y-axis, the x-axis being perpendicular to the y-axis; the x-axis defines a chassis roll axis, the y-axis defines a chassis pitch axis, and the z-axis defines a chassis yaw axis, the z-axis being perpendicular to the x-axis and the y-axis; a barrel having a barrel axis, wherein the barrel is attached to the chassis by a pivot mount, the barrel being pivotable relative to the x-axis about a pivot axis aligned with the y-axis and mounted such that the barrel is constrained to movement in a plane defined by the x-axis and the z-axis; a chassis suspension system comprising a plurality of wheel arms, each wheel arm extending away from a different chassis mount on said chassis to a respective wheel, each wheel being rotatably mounted to its respective wheel arm, each wheel being configured to engage a support surface; Each wheel arm and wheel is configured to support the chassis away from the support surface; each wheel arm is pivotable relative to the chassis such that a roll of the chassis about the x-axis, a pitch of the chassis about the y-axis, and a yaw of the chassis about the z-axis are controllable by pivoting at least one of the wheel arms relative to the chassis; Each wheel is pivotable relative to its respective wheel arm. An artillery targeting system comprising: whereby the artillery targeting system is operable to position the barrel in a direction to target an object by pivoting one or more wheel arms relative to the chassis and / or by pivoting one or more wheels relative to their respective wheel arms and / or by rotating one or more wheels relative to their respective wheel arms.

2. 2. The artillery targeting system of claim 1, wherein each wheel arm has a chassis mount end and a wheel mount end, the chassis mount end of each wheel arm is provided with a chassis mounting member, the chassis mount end of each wheel arm and the chassis mounting member are pivotable relative to one another about a chassis mount pivot axis, the chassis mounting member configured to support the chassis mount end of the wheel arm such that the wheel arm and the chassis mounting member are operable to pivot at least 180 degrees relative to one another about the chassis mount pivot axis.

3. 3. The artillery targeting system according to claim 1 or 2, wherein the wheel mount end of each wheel arm is provided with a wheel mounting member, the wheel mount end of each wheel arm and the wheel mounting member are pivotable relative to each other about a wheel mount pivot axis, and each wheel mounting member is configured to couple with the wheel mount end of the wheel arm such that each wheel arm and wheel mounting member are operable to pivot at least 180 degrees relative to each other about the wheel mount pivot axis.

4. An artillery targeting system as claimed in any one of claims 1 to 3, wherein each wheel arm is provided with a wheel arm actuator for controlling the orientation of each wheel arm relative to the chassis.

5. 5. An artillery targeting system according to claim 3 or 4, wherein each wheel mounting is provided with a wheel mounting actuator for controlling the orientation of each wheel relative to its respective wheel arm.

6. 6. The artillery targeting system of claim 4 or 5, further comprising a control system operable to control the wheel arm actuators to roll the chassis about the x-axis, pitch the chassis about the y-axis, and / or yaw the chassis about the z-axis to orient the chassis, each wheel arm actuator operable independently of the other wheel arm actuators.

7. 7. The artillery targeting system according to claim 6, dependent on claim 5, wherein the control system is operable to control the wheel mounting member actuators to pivot each wheel about the wheel mount pivot axis, each wheel mounting member actuator being operable independently of the other wheel mounting member actuators.

8. 8. The artillery targeting system of claim 6 or 7, wherein the barrel is coupled to a barrel actuator operable to pivot the barrel about the pivot axis, and the control system is operable to control the barrel actuator to pivot the barrel about the pivot axis.

9. 9. The artillery targeting system of claim 8, wherein each of the wheel arm actuator, the wheel attachment member actuator, and the barrel actuator is operable independently of each other actuator.

10. 10. An artillery targeting system according to claim 8 or 9, wherein the control system is operable to control the wheel arm actuator, the wheel mounting member actuator and the barrel actuator to position the barrel to target an object.

11. 11. An artillery targeting system as claimed in any one of the preceding claims, wherein at least one wheel is coupled to a drive system for rotating the or each wheel relative to its respective wheel arm and thereby moving the artillery targeting system from one location to another.

12. 12. An artillery targeting system according to claim 11, wherein the control system is operable to control the drive system and thereby drive the or each wheel to move the artillery targeting system from one location to another.

13. 13. An artillery targeting system according to claim 11 or 12, wherein the drive system comprises an actuator coupled to the or each wheel, each wheel drive actuator being operable independently of each other wheel drive actuator.

14. 1. A method of control of an artillery targeting system, the method comprising: a barrel, a chassis, a wheel arm actuator, a wheel mounting actuator, a wheel drive system, and a barrel actuator for targeting an object; Equipped with The gun barrel is attached to the chassis; the chassis extends along an x-axis, a first end of the chassis and a second end of the chassis being spaced apart from one another along the x-axis, the chassis extends along a y-axis, a first side of the chassis and a second side of the chassis being spaced apart from one another along the y-axis, the x-axis being perpendicular to the y-axis; the x-axis defines a chassis roll axis, the y-axis defines a chassis pitch axis, and the z-axis defines a chassis yaw axis, the z-axis being perpendicular to the x-axis and the y-axis; The gun barrel has a gun barrel axis, is pivotable relative to the x-axis about a pivot axis parallel to the y-axis, and is mounted so as to be constrained to movement within a plane defined by the x-axis and the z-axis; the wheel arm actuator, the wheel mounting member actuator and the wheel drive system form part of a chassis suspension system coupled to the chassis, and the barrel actuator is coupled to the barrel; The method comprises: controlling the wheel drive system to transport the artillery targeting system to an artillery firing location; controlling the wheel mounting actuator and / or drive system to position the barrel in a direction that targets an object, and if further adjustments are required; controlling the wheel arm actuator, the wheel attachment actuator, and / or the barrel actuator to position the barrel toward a target object; A method comprising the steps of:

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