Mobile platform for weapons

Abstract

A mobile platform (202, 302, 402) for a weapon (206, 306) with a variable barrel angle (208, 308), comprising means for adjusting in real time the height from the terrain directly below where the recoil force from the weapon acts on the mobile platform, in order to maintain the stability of the mobile platform when the weapon is fired.

Description

Technical Field

[0001] The present disclosure relates to a mobile platform for weapons, and more particularly, although not limited thereto, to a mobile platform for a gun system.

Background Art

[0002] The use of mobile platforms to maneuver weapons is well established, ranging from historical cannons such as cannon guns and long-barrelled guns, to more modern rifled artillery, mortars, and rocket launchers.

[0003] An example of a conventional mobile weapon system 101 in the form of a towed cannon is shown in FIG. 1. A towed cannon typically comprises a gun system 103 having a gun barrel 105 and a breech 107. The gun system 103 is mounted on trunnions (substantially cylindrical bearing elements) 109 that allow the elevation of the gun barrel 105 to be adjusted during use. The gun system 103 is supported via the trunnions 109 on a gun carriage 113 disposed on a mobile platform 111. The gun carriage 113 comprises an opening adapted to cooperate with and support the trunnions 109. The mobile platform 111 also comprises a trail assembly 115 that helps to dampen the recoil forces from the gun system 103 during its firing.

[0004] Examples of such conventional towed cannons include rifled artillery class light field guns such as the UK L118 and US M119 105mm.

[0005] When the gun system 103 is fired, it can have an effect of destabilizing the mobile platform 111 on which it is mounted. This is represented in FIG. 1 using the simple case where the gun system 103 fires substantially horizontally. The recoil force (F r ) 121 is the weight (M w × g) of the mobile weapon system 101 (the combined weight of the gun system 103 and the mobile platform 111) and the length (Lt ) The overturning moment (reaction force F r ) 121 and the gun ear height (H t ) 125) must be equal to or exceed the restoring moment by 127. This results in the following inequality (1): F r × H t < M w g × L t (1) which is represented by.

Summary of the Invention

Problems to be Solved by the Invention

[0006] Conventional weapons and the related carriages have a stable operating range defined and determined at the design and manufacturing stages according to the operating specifications. This ensures stable operation, but the operating performance, adaptability, and / or efficiency may be sacrificed. For example, the operating range of a conventional mobile weapon system 101 may be overly restricted by a stable margin that is not applicable to all firing scenarios / conditions. Instead, or in addition, the fixed design of the mobile weapon system 101 may be overly specified for other firing scenarios / conditions. For example, the mass of the mobile weapon system 101 may be specified for the worst-case scenario, which may lead to inefficiencies in use in scenarios / conditions with less stringent requirements. Also, the higher weight of the mobile platform may also affect the operational deployability.

[0007] The present invention was conceived against this background. In at least certain embodiments, the present invention seeks to overcome or improve at least some of the problems and drawbacks associated with known mobile weapon systems.

Means for Solving the Problems

[0008] Each aspect of the present invention relates to a mobile platform for weapons, a controller for a mobile platform having weapons, a method for controlling a mobile platform for weapons, a computer program, and a mobile weapon system as claimed in the claims of the Appendix.

[0009] According to one aspect of the present invention, a mobile platform for a weapon having a variable barrel elevation angle is provided, comprising means for adjusting in real time the height from the terrain directly below where the recoil force from the weapon acts on the mobile platform, in order to maintain the stability of the mobile platform when the weapon is fired.

[0010] The ability to change the height at which the reaction force from a weapon acts on the supporting mobile platform in real time is beneficial in that it facilitates lightweight solutions and enables greater adaptability and performance in battlefield operations.

[0011] The adjustment means may be configured to adjust the height at which the recoil force acts on the moving platform such that the restoring moment provided by the moving platform is greater than or equal to the overturning moment generated on the moving platform by the recoil force of the weapon when the weapon is fired.

[0012] This ensures a wider operating range and stable operation on diverse terrains.

[0013] In one embodiment, the adjustment means is configured to adjust the height at which the recoil force acts on the moving platform according to the gun barrel elevation angle of the weapon. To avoid misunderstanding, the gun barrel elevation angle is measured relative to the horizontal axis of the moving platform.

[0014] Optionally, the height at which the recoil force from the weapon acts on the mobile platform can be altered by a control mechanism, depending on the magnitude of the substantially horizontal component of the recoil force from the weapon at the time of firing. To avoid misunderstanding, the horizontal component is measured relative to the platform (not in Earth-fixed coordinates).

[0015] In another embodiment, the adjusting means controls the height at which the reaction force acts on the moving platform. Recoil force F in the direction of the gun barrel r , Total weight of mobile platform and weapons in mg, Barrel elevation angle QE relative to the horizon, The angle θ of the terrain directly beneath the moving platform relative to the horizon, ACMA is a counterclockwise moment arm around the pivot point of the mobile platform, extending to the point where the reaction force from the weapon acts on the mobile platform. T , A clockwise moment arm CMA (Clockwise Moment Arm) around the pivot point of the mobile platform, up to the point where the reaction force from the weapon acts on the mobile platform. T , ACMA: A counterclockwise moment arm centered on the pivot point of the mobile platform, extending to the center of gravity of the mobile platform and weapon combination. CoG , and A clockwise moment arm CMA (Clockwise Moment Arm) centered on the pivot point of the mobile platform, extending to the center of gravity of the mobile platform and weapon combination. CoG , It is configured to adjust in real time according to at least two of the following.

[0016] This embodiment provides an alternative and more comprehensive solution to the previously described embodiment.

[0017] In a further embodiment, the adjusting means controls the height at which the reaction force acts on the moving platform using the following inequality: F r cos(QE-θ)·ACMA T +T+mgsin(θ)·ACMACoG <F r sin(QE-θ)·CMA T +mgcos(θ)·CMA CoG It is configured to adjust in real time to satisfy the requirements.

[0018] This represents a further improvement over the previously described embodiment.

[0019] Optionally, the height of the mobile platform from the terrain directly below can be varied according to the substantially vertical component of the weapon's recoil at launch. The substantially vertical component of the recoil may include the displacement of the weapon at launch.

[0020] Therefore, the height of the mobile platform may be positioned to avoid collision between the mobile platform's hull or the recoil portion of the weapon (as a non-limiting example, the breech of the weapon) and the terrain directly below when the weapon is fired. This eliminates the need to dig a hole beneath the mobile platform to receive the mobile platform's hull or the recoil portion of the weapon when fired.

[0021] In one embodiment, the mobile platform defines an opening adapted to receive at least a portion of the weapon upon firing.

[0022] In such embodiments, the opening of the mobile platform cooperates with the recoil portion of the weapon to allow at least partially the recoil portion to pass through it when the weapon is fired.

[0023] In one embodiment, means for adjusting the height at which the reaction force from a weapon acts on the mobile platform include a height-adjustable suspension system.

[0024] Means for adjusting the height at which the reaction force from a weapon acts on the mobile platform may include at least one suspension arm, which at its proximal end is articulated to / from the body of the mobile platform by a movable joint, and at its distal end is terminated by a wheel hub.

[0025] The joint may be movable in a manner substantially parallel to the body of the mobile platform, or it may be movable in a manner pivotally relative to the body of the mobile platform.

[0026] The wheel hub may be a towing wheel or a wheel component of a continuous track (for example, for a skid-steered vehicle).

[0027] The movable joint may have a first mechanical degree of freedom that defines a plane on which the suspension arm can move relative to the vehicle body of the mobile platform.

[0028] The mobile platform may comprise a plurality of the suspension arms articulated to / from the vehicle body of the mobile platform, each extending outward from the mobile platform along at least one of the longitudinal axis and transverse axis of the mobile platform, forming at least one leading suspension arm and at least one trailing suspension arm.

[0029] At least one of the suspension arms optionally extends outward along both the longitudinal and transverse axes; that is, it is not parallel to either the longitudinal or transverse axis of the moving platform.

[0030] In one embodiment, the adjustment means includes a controller that operably communicates with at least one actuator configured to change at least one of the position and angle to which each suspension arm articulates to the vehicle body of the moving platform, thereby changing the height of the moving platform from the terrain directly below.

[0031] Optionally, each suspension arm can be controlled independently to change the height of the mobile platform relative to the terrain directly below, and optionally, to change the attitude of the mobile platform.

[0032] Having at least one leading suspension arm and at least one trailing suspension arm is beneficial because, when lowering the height of the mobile platform, the suspension arms work together to increase at least one of the wheelbase and track width of the mobile platform. This extends the effective trail length of the mobile platform and provides the mobile platform with greater stability by adjusting the height at which reaction forces act on the mobile platform.

[0033] Each suspension arm optionally includes a second mechanical degree of freedom in a second plane substantially perpendicular to the first plane.

[0034] The second mechanical degree of freedom may be provided by the first movable joint or by the second movable joint.

[0035] Each suspension arm optionally includes a steerable joint located distal to the vehicle body of the mobile platform, the steerable joint being adapted to support a wheel hub.

[0036] One or more wheel hubs may be independently powered (hub-driven) to facilitate changes in the wheelbase and / or track width of the mobile platform and / or to provide driving force to the mobile platform.

[0037] The mobile platform may be equipped with means (e.g., a swivel ring) for changing the azimuth angle of the weapon independently of the orientation of the mobile platform. The mobile platform may be configured to expand at least one of its axis distance and track width depending on the azimuth angle of the weapon's barrel.

[0038] According to another aspect of the present invention, a controller for a mobile platform having weapons: An input means configured to communicate with a weapon and receive data from the weapon indicating the angle of elevation of the weapon's barrel when in use. Processing means, (i) Determine the tipping moment generated from the weapon to the mobile platform when the weapon is fired, depending on at least one of the gun barrel elevation angle and the recoil force from the weapon, (ii) Determine the restoring moment provided by the mobile platform to counteract the overturning moment, depending on at least one parameter of the mobile platform. (iii) Processing means configured to determine the maximum allowable height from the terrain directly below, such that the determined restoring moment remains greater than or equal to the determined overturning moment, allowing reaction forces from weapons to act on the moving platform. A controller is provided, equipped with output means positioned to provide in real time an output indicating a determined maximum permissible height from the terrain directly below, allowing the reaction force from the weapon to act on the mobile platform.

[0039] The barrel elevation angle is optionally the requested elevation angle, or the actual / current elevation angle as communicated during the weapon aiming stage, i.e., before or after the activation of the weapon control system.

[0040] In one embodiment, the output means is configured to operably communicate with at least one actuator adapted to change the height of the moving platform from the terrain directly below, and the output from the output means includes a request control signal to the at least one actuator. The request control signal may include a data signal or a power signal that can directly operate the at least one actuator.

[0041] In another embodiment, the input means is: (iv) Total weight of the mobile platform and weapons in mg; (v) Solutions for firing missions; (vi) The attitude of the mobile platform and the configuration of the suspension arms, and (vii) The angle of elevation of the gun barrel relative to the horizon (QE); It is configured to receive data indicating, Processing means: (viii) The angle θ of the terrain directly beneath the moving platform relative to the horizon; (ix) Reaction force F in the direction of the gun barrel r ; (x) ACMA, a counterclockwise moment arm around the pivot point of the mobile platform, up to the point where the reaction force from the weapon acts on the mobile platform. T ; (xi) A clockwise moment arm CMA around the pivot point of the mobile platform, up to the point where the reaction force from the weapon acts on the mobile platform. T ; (xii) ACMA, a counterclockwise moment arm around the pivot point of the mobile platform, extending to the center of gravity of the mobile platform and weapon combination. CoG , and; (xiii) A clockwise moment arm CMA around the pivot point of the mobile platform, extending to the center of gravity of the mobile platform and weapon combination. CoG , (xiv)(vii) through (xiii), the maximum permissible height from the terrain directly below that allows the reaction force from the weapon to act on the mobile platform. It is configured to determine this.

[0042] While not limited to these, solutions for firing missions may include muzzle velocity, projectile mass, and optionally, barrel elevation angle. The attitude and suspension arm configuration (angle) may be derived from angle sensors (potentiometers, rotary encoders, etc.) and / or a minimum ground clearance calculator, etc.

[0043] In another embodiment, the processor determines the maximum allowable height from the terrain directly below that allows the reaction force from the weapon to act on the mobile platform using the following inequality: F r cos(QE-θ)·ACMA T +mgsin(θ)·ACMA CoG <F r sin(QE-θ)·CMA T +mgcos(θ)·CMA CoG It is configured to be determined accordingly.

[0044] According to another aspect of the present invention, a method for controlling a mobile platform for weapons: (xv) Determining the elevation angle of a weapon's barrel; (xvi) Determining the tipping moment generated from the weapon to the mobile platform when the weapon is fired, according to the elevation angle of the weapon's barrel; (xvii) Determine the restoring moment provided by the moving platform to counteract the overturning moment, depending on at least one parameter of the moving platform; (xviii) Determine the maximum allowable height from the terrain directly below that allows reaction forces from the weapon to act on the moving platform such that the determined restoring moment remains greater than or equal to the determined overturning moment; (xix) By changing the height of the mobile platform in real time, maintain the current height at which the recoil force from the weapon acts on the mobile platform during firing below the determined maximum allowable height; A method for controlling a mobile platform for weapons is provided, including the following.

[0045] This law is: (xx) Total weight of mobile platform and weapons in mg; (xxi) Solutions for shooting missions; (xxii) Posture of the mobile platform and configuration of the suspension arms; (xxiii) Barrel elevation angle QE relative to the horizon; Receiving data indicating, (xxiv) The angle θ of the terrain directly beneath the moving platform relative to the horizon, (xxv) Recoil force F in the direction of the gun barrel r , (xxvi) ACMA, a counterclockwise moment arm around the pivot point of the mobile platform, up to the point where the reaction force from the weapon acts on the mobile platform. T , (xxvii) A clockwise moment arm CMA around the pivot point of the mobile platform, up to the point where the reaction force from the weapon acts on the mobile platform. T , (xxviii) ACMA, a counterclockwise moment arm around the pivot point of the mobile platform, extending to the center of gravity of the mobile platform and weapon combination. CoG , (xxix) A clockwise moment arm CMA around the pivot point of the mobile platform, from the center of gravity of the mobile platform and weapon combination. CoG , and Determine the maximum permissible height from the terrain directly below, which allows the reaction force from the weapon to act on the mobile platform, depending on (xxx)(xxi) to (xxix). It may include.

[0046] The attitude and suspension arm configuration (angle) may be derived from angle sensors (potentiometers, rotary encoders, etc.) and / or a minimum ground clearance calculator, etc.

[0047] In another embodiment, the method allows for the maximum permissible height from the terrain directly below to act on the mobile platform due to the following inequality: F r cos(QE-θ)·ACMA T +mgsin(θ)·ACMA CoG <F r sin(QE-θ)·CMA T +mgcos(θ)·CMA CoG This includes making a decision based on the circumstances.

[0048] According to another aspect of the present invention, a computer program is provided which, when the program is executed by a computer, includes instructions causing the computer to perform the above-described method.

[0049] According to another aspect of the present invention, a mobile weapon system is provided, which includes a weapon mounted on the above-described mobile platform and / or configured to perform the above-described method.

[0050] The processors, controllers, and / or functional units (and various related elements) described herein may comprise any suitable processing circuits to perform the methods described and illustrated herein. These include: at least one application-specific integrated circuit (ASIC); and / or at least one field-programmable gate array (FPGA); and / or a single-processor or multi-processor architecture; and / or a sequential (von Neumann) / parallel architecture; and / or at least one programmable logic controller (PLC); and / or at least one microprocessor; and / or at least one microcontroller; and / or a central processing unit (CPU).

[0051] A processor, controller, or functional unit may comprise at least one microprocessor, a single-core processor, multiple processor cores (such as a dual-core or quad-core processor), or multiple processors (at least one of which may comprise multiple processor cores). Two or more functional steps of the technology described herein may be executed sequentially or in parallel on a given processor. Furthermore, functional steps of the technology described herein may be shared among separate processors and executed sequentially or in parallel.

[0052] A processor, controller, or functional unit may be part of a system further comprising computer-based input / output means implemented by processing circuits, or any suitable devices for receiving and transmitting information between the system and the system's user. A processor, controller, or functional unit may also be part of a system including an electronic display, or any suitable device for conveying information to the user.

[0053] A processor, controller, or functional unit may have one or more computer memories for storing data for performing the methods described herein and / or software for performing the processes and functions described herein, and / or communicate with computer memories. A processor, controller, or functional unit may trigger the ingestion of data from one or more memories and read data for the purpose of performing the methods described herein. Outputs from a processor, controller, or functional unit may be written back to memory for further use by the system.

[0054] Memory may use current or future memory technologies. Memory may be any suitable non-temporary computer-readable storage medium, data storage device, or device, and may include a hard disk and / or solid-state memory (such as flash memory). Memory may be permanent, non-removable memory or removable memory (such as a Universal Serial Bus (USB) flash drive).

[0055] The memory may store a computer program, which, when read by a processor, controller, or functional unit, includes computer-readable instructions that cause such instructions to be performed in the manner described and illustrated herein. The computer program may be software or firmware, or a combination of software and firmware. The computer-readable storage medium may be, for example, a USB flash drive, a compact disc (CD), a digital multipurpose disc (DVD), or a Blu-ray disc. In some examples, the computer-readable instructions are transferred to the memory via wireless or wired signals.

[0056] Herein, one or more embodiments of the present invention will be described illustratively with reference to the accompanying drawings. [Brief explanation of the drawing]

[0057] [Figure 1] Figure 1 is a schematic side view of a conventional towed artillery piece based on prior art. [Figure 2] Figure 2 is a schematic side view of a mobile weapon platform according to one embodiment of the present invention, detailing notable features. [Figure 3] Figure 3 is a schematic side view of a mobile platform for weapons according to one embodiment of the present invention, showing characteristic dimensions in detail. [Figure 4] Figure 4 is a schematic isometric view of the rear right corner of a mobile platform according to one embodiment of the present invention, showing in detail characteristic angles illustrating the configuration of the rear suspension arm. [Figure 5] Figure 5 is a schematic diagram of a control system for a mobile weapon system according to one embodiment of the present invention. [Figure 6] Figure 6 is a flowchart illustrating the steps of a method implemented by a mobile weapon system according to one embodiment of the present invention. Forms for making an invention

[0058] While the basic criteria for the stable operation of simple mobile weapon systems are known from Equation 1, the applicant recognizes that the firing stability of modern mobile weapon systems can be a more complex issue. For example, solutions to this problem may require taking into account changes such as muzzle energy, quadrant elevation, changes in platform mass (e.g., due to ammunition consumption and / or fuel load in the case of self-propelled mobile weapon systems), and movement of the mobile weapon system's center of gravity, such as during recoil.

[0059] Furthermore, the applicant has come to the remarkable realization that introducing greater degrees of freedom (specifically, adjusting the height at which the reaction force from the weapon acts on the supporting mobile platform during operation) facilitates the design of a stable, lightweight platform, enabling greater adaptability and performance in battlefield operations.

[0060] In the embodiments described herein, a mobile weapon system is defined as a weapon mounted on a mobile platform. While not limited to such embodiments, in the following embodiments, the weapon will be specifically described as a gun system, but the weapon may be any other weapon that experiences recoil during operation. For example, optionally, the weapon mounted on the mobile platform may comprise a mortar system or a rocket-propelled gun system (the firing force for pure rocket propulsion is perceived to be far lower than that for a gun).

[0061] In some embodiments, the height at which the reaction force from the weapon acts on the supporting mobile platform can be adjusted substantially linearly (upward / downward) in real time by actuators that raise or lower the height of the mobile platform from the terrain directly below. The actuators optionally raise or lower the minimum ground clearance of the mobile platform by, for example, changing the length of one or more suspension arms that support the mobile platform. Alternatively, or in addition, the points to which the suspension arms are attached to the mobile platform may be movable, thereby allowing the attachment points to move in parallel with the vehicle body of the mobile platform (thus adjusting the height of the vehicle body from the terrain directly below).

[0062] Referring now to Figure 2, a mobile weapon system 200 according to one embodiment of the present invention comprises a mobile platform 202 with a platform body 204 having means for adjusting its height from the terrain directly below in real time.

[0063] In this embodiment, the height adjustment means controls the reaction force F of the weapon 206 mounted on the mobile platform 202. r It features a height-adjustable suspension that is adapted to use to change the height at which it operates.

[0064] In the embodiment shown in Figure 2, the weapon 206 comprises a gun system having a barrel 208 and a breech 210. The barrel 208 is mounted on trunnions 212 that allow the gun system 206's elevation angle to be adjusted during use. The gun system 206 is supported via the trunnions 212 on a gun carriage 214 having openings adapted to receive, cooperate with, and support the trunnions 212.

[0065] In this embodiment, the height-adjustable suspension comprises a plurality of suspension arms 216 (more specifically, 216a, 216b, 216c, and 216d), each suspension arm 216 being articulated at its proximal end from the vehicle body 204 by movable shoulder joints 218 (218a, 218b, 218c, and 218d, respectively). The distal end of each suspension arm 216 is terminated by wheel hubs 220 (220a, 220b, 220c, and 220d, respectively) that are rotatable around rotation centers K1 and K2 (230). The distance between each wheel hub 220a and 220b along the longitudinal axis of the mobile platform 202 determines the wheelbase 222 of the mobile platform 202. The distance between each wheel hub 220a and 220c along the transverse axis of the mobile platform 202 determines the track width 224 of the mobile platform 202.

[0066] Each movable shoulder joint 218 (218a, 218b, 218c, 218d) allows each suspension arm 216 (216a, 216b, 216c, 216d) to pivotally move around at least one axis of rotation relative to the vehicle body 204, thereby changing the height of the mobile platform and improving its stability during use.

[0067] Each shoulder joint is preferentially located inside the associated suspension arm to form one or more pairs of leading suspension arms located at one end (front end) of the mobile platform and one or more pairs of trailing suspension arms located at the other end (rear end) of the mobile platform.

[0068] While not mandatory, this configuration benefits from the synergistic effect that exists between the height at which the reaction force acts on the moving platform and the "effective" tail length of the moving platform provided by the moving platform suspension.

[0069] To elaborate further, lowering the height of the mobile platform reduces the tipping moment generated on the mobile platform by the recoil force from the gun system during firing. Furthermore, lowering the height of the mobile platform increases the "effective" tail length by lengthening the wheelbase of the mobile platform due to the opposing leading and trailing suspension arms. Thus, the reduced tipping moment and increased wheelbase work synergistically to increase the stability of the mobile platform.

[0070] Optionally, each shoulder joint 218 is positioned so that each suspension arm can pivotally move around at least two (optionally orthogonal) axes of rotation relative to the mobile platform body 204. This configuration, optionally used in conjunction with steerable wheel hubs 220, allows for changing the track width of the mobile platform, instead of changing the wheelbase of the mobile platform in response to the variable height of the mobile platform, or in addition to changing the wheelbase of the mobile platform.

[0071] Such a configuration is particularly beneficial in embodiments in which the gun mount 214 includes means (e.g., a traverse ring) for changing the azimuth angle of the weapon (from weapon to target) independently of the azimuth of the mobile platform. This produces a similar synergistic effect to that described above in that it extends the "effective" mount length by increasing the track width of the mobile platform as a result of lowering the height of the mobile platform.

[0072] In all embodiments of the present invention, one or more of the wheel hubs 220 (220a, 220b, 220c, 220d) are optionally self-propelled (e.g., hydraulic or electric) wheel hubs equipped with a traction motor (and, as appropriate, associated gear mechanism) housed within them. One or more self-propelled wheel hubs propel the mobile platform directly or via a continuous track (in the case of a skid-steering mobile platform). In the specific embodiments of the present invention described below, each self-propelled wheel hub may otherwise be referred to as an automotive drive unit.

[0073] Wheel hubs that do not have an integrated hub traction motor are driven remotely from the wheel hub by an automotive drive unit located, for example, on each suspension arm or within the vehicle body of the mobile platform. In such cases, traction power is transmitted from the remote automotive drive unit to the wheel hub via its associated drive system.

[0074] The symbol CoG(226) for the mobile weapon system 200 indicates the center of gravity of the combination of the mobile platform 202 and the weapon (gun system) 206 mounted on it.

[0075] The mobile platform 202 also includes a controller 228 configured to determine the overturning moment of the mobile weapon system 200 according to several mission and operational parameters. The controller 228 is configured to adjust the height of the adjustable suspension by changing the pivot angles of the suspension arms 220a, 220b, 220c, and 220d when in use, so as to ensure that the overturning moment of the mobile weapon system 200 is kept below the restoring moment resulting from the weight and configuration of the mobile weapon system 200.

[0076] Optionally, the hull 204 of the mobile platform 202 includes an opening 229 that, in cooperation with the recoil portion of the gun system 206 (including, but not limited to, the breech 210), allows the recoil portion to pass at least partially through the hull 204 when the gun system 206 is fired.

[0077] Further features, attributes, points of interest, dimensions, angles, and moment arms of this embodiment will be described and discussed with reference to Figures 2, 3, and 4.

[0078] Platform attributes: mg = total weight of the 200 / 300 mobile weapon systems (i.e., the 202 / 302 mobile platform plus the 206 / 306 artillery systems).

[0079] PD = Platform Reference Plane (defined by an Inertial Measurement Unit (IMU), tilt sensor, Inertial Navigation System (INS), and elevation encoder, or other mechanism).

[0080] OP = an orthogonal plane that is perpendicular to PD and parallel to the centerline of the moving platform.

[0081] F r = Recoil force 221 / 321 in the direction of the barrel 208 / 308.

[0082] Points of interest: CoG = Center of gravity of mobile weapon system 200 / 300 is 226 / 326.

[0083] K1 = The position of the rotation centers of the rear wheels 220a / 320a and 220c / 320c at 230a / 330a and 230c / 330c.

[0084] K2 = The position of the rotation centers of the front wheels 220b / 320b and 220d / 320d at 230b / 330b and 230d / 330d.

[0085] S1 = Connection points 218a / 318a, 218c / 318c at the rear of the mobile platform 302, where the rear suspension arms 216a / 316a and 216c / 316c are articulated.

[0086] S2 = Connection points 218b / 318b and 218d / 318d at the front of the mobile platform 302, where the front suspension arms 216b / 316b and 216d / 316d are articulated.

[0087] T = barrel rises 208 / 308, recoil force F r Point 212 / 312 (gun trunnion) of (221 / 321) (not shown) applies to mobile platform 202 / 302.

[0088] size: A1 = the lengths of suspension arms 316a and 316c (332a and 332c), or the distance between K1 (320a, 320) and S1 (318a, 318c).

[0089] A2 = the lengths of suspension arms 316b and 316d (332b and 332d), or the distance between K2 (330b and 330d) and S2 (318b and 318d).

[0090] L Int = Shoulder-to-shoulder distance of 334 in a plane parallel to PD (distance between S1 and S2).

[0091] H Int = Shoulder-to-shoulder distance in a plane perpendicular to PD = 336 (distance between S1 and S2) (if S2 is above PD than S1, then +ve).

[0092] L CoG = The distance between S1 and CoG in a plane parallel to PD is 338.

[0093] H CoG = The distance between S1 and CoG in a plane perpendicular to PD is 340 (if CoG is above PD than S1, then it is +ve).

[0094] L t = The distance between S1 and T in a plane parallel to PD is 342.

[0095] H t = The distance between S1 and T in a plane perpendicular to PD is 344 (if T is above PD than S1, then it is +ve).

[0096] r = radius 346 of the wheel 320 (including the tire; assuming all wheels 320a, 320b, 320c, 320d have the same diameter).

[0097] Angles (all angles measured in degrees): QE = firing angle, or barrel elevation angle of 348 degrees relative to the horizon according to Earth-fixed coordinates (not shown).

[0098] PE = Moving platform elevation angle, the angle of the moving platform 350 (not shown) as measured by moving platform sensors (IMU, tilt sensor, INS, and elevation encoder, or other mechanism; upward tilt = +ve, downward tilt = -ve).

[0099] α1 = Angle of 45° of the rear suspension arm below the reference plane of the moving platform.

[0100] α2 = Angle of 454° (not shown) of the front suspension arm below the reference plane of the moving platform.

[0101] β1 = Angle of 456° (0° is completely rearward) of the rear suspension arm displaced outward in a plane parallel to the centerline of the moving platform.

[0102] β2 = Angle of 458 (not shown) of the outwardly displaced front suspension arm in a plane parallel to the centerline of the moving platform (0° is completely forward).

[0103] γ1 = OP: Angle of 460° (not shown) between the rear suspension arm that protrudes above OP and the vertical line according to the Earth's fixed coordinate system:

number

[0104] γ2=OP: Angle between the front suspension arm, which temporarily protrudes above the OP, and a vertical line according to the Earth's fixed coordinate system is 462° (not shown):

number

[0105] To calculate the ground angle relative to Earth's fixed coordinates for the mobile weapon systems 200, 300, and 400, the length of the suspension arms protruding from the OP must be calculated.

[0106] X1 = Length of the rear suspension arm protruding above the OP:

number

[0107] X2 = Length of the rear suspension arm protruding above the OP:

number

[0108] θ = 464 degrees (not shown) of the angle of the ground relative to the horizon according to Earth-fixed coordinates (assuming all wheels are in contact with the ground):

number

[0109] Moment arm: CMA CoG =The clockwise moment arm from the pivot point of the mobile platform to the CoG of the combination of the mobile platform and weapon parallel to the ground: CMA CoG =X1sin(γ1+θ)+cos(θ-PE)·(L CoG +HCoG tan(θ-PE)) ACMA CoG = A counterclockwise moment arm around the pivot point of the mobile platform, from the CoG (Coordination of Gates) of the mobile platform and weapon combination:

number

number

[0110] In one embodiment, controllers 228, 328, and 428 are configured to determine the overturning moment of the mobile weapon systems 200, 300, and 400 according to the firing angle relative to the horizon according to Earth-fixed coordinates, or the barrel elevation angle QE(348) (not shown).

[0111] In some embodiments, the system controller adjusts the height of the mobile platform in real time substantially linearly (upward / downward) by changing the length of one or more suspension arms supporting the mobile platform or by translating the point where the suspension arms are attached to the mobile platform, so as to ensure that the overturning moment of the mobile weapon systems 200, 300 remains below the restoring moment resulting from the weight of the mobile weapon systems 200, 300 and the configuration of the mobile platform.

[0112] Alternatively, or in addition, system controllers 228, 328, and 428 adjust the height of the mobile platform in real time by changing the pivot angle of the adjustable suspension arms 220 and 320, ensuring that the tipping moment of the mobile weapon systems 200 and 300 remains below the restoring moment generated by the weight of the mobile weapon systems 200 and 300 and the configuration of the mobile platform.

[0113] In addition, or instead, in another embodiment, controllers 228, 328 receive the recoil force F from the gun system. r The system is configured to determine the overturning moment of the mobile weapon systems 200 and 300 depending on the magnitude of the substantially horizontal component of (221, 321).

[0114] In some embodiments, the system controller controls the reaction force F from the gun system. r The height of the moving platform is adjusted in real time substantially linearly (upward / downward) by changing the length of one or more suspension arms supporting the moving platform, or by translating the point where the suspension arms are attached to the moving platform, depending on the magnitude of the substantially horizontal component of the platform.

[0115] In other embodiments, the controller receives the reaction force F from the gun system. r By changing the pivot angle of the suspension arms 220, 320 according to the magnitude of the substantially horizontal component, the height of the mobile platform is adjusted in real time, ensuring that the overturning moment of the mobile weapon systems 200, 300 remains below the restoring moment provided by the weight of the mobile weapon systems 200, 300 and the configuration of the mobile platform.

[0116] In yet another embodiment, the controller 328 is configured to determine the overturning moment of the mobile weapon system 300 according to at least two of the following parameters: Recoil force F in the direction of the gun barrelr ; Total weight of mobile platform and weapons in mg; The gun barrel elevation angle QE relative to the horizon according to Earth-fixed coordinates; The angle θ of the terrain directly beneath the moving platform relative to the horizon, according to Earth-fixed coordinates; ACMA is a counterclockwise moment arm around the pivot point of the mobile platform, extending to the point where the recoil force from the gun system acts on the mobile platform. T ; A clockwise moment arm CMA (Clockwise Moment Arm) around the pivot point of the mobile platform, up to the point where the recoil force from the gun system acts on the mobile platform. T ; ACMA: A counterclockwise moment arm centered on the pivot point of the mobile platform, extending to the center of gravity of the mobile platform and weapon combination. CoG and A clockwise moment arm CMA (Clockwise Moment Arm) centered on the pivot point of the mobile platform, extending to the center of gravity of the mobile platform and weapon combination. CoG .

[0117] In some embodiments, the controller adjusts the height of the mobile platform in real time substantially linearly (upward / downward) by changing the length of one or more suspension arms supporting the mobile platform or by translating the point to which the suspension arms are attached to the mobile platform, in response to the overturning moment of the mobile weapon system 300, which is determined according to at least two of the above parameters, so as to ensure that the overturning moment of the mobile weapon system remains below the restoring moment provided by the weight of the mobile weapon system and the configuration of the mobile platform.

[0118] In other embodiments, the controller adjusts the height of the mobile platform in real time by changing the pivot angles of the suspension arms 220, 320 in response to the overturning moment of the mobile weapon system 300, which is determined according to at least two of the above parameters, so as to ensure that the overturning moment of the mobile weapon system 200, 300 remains below the restoring moment provided by the weight of the mobile weapon system 200, 300 and the configuration of the mobile platform.

[0119] In another embodiment, the controller adjusts the height of the moving platform in real time substantially linearly (upward / downward) by changing the length of one or more suspension arms supporting the moving platform, or by translating the point at which the suspension arms are attached to the moving platform, as shown in the following inequality (11): F r cos(QE-θ)·ACMA T +mgsin(θ)·ACMA CoG <F r sin(QE-θ)·CMA T +mgcos(θ)·CMA CoG (11) To satisfy this condition, the height at which the reaction force acts on the moving platform is adjusted in real time.

[0120] In further embodiments, controllers 228, 328 are configured to adjust the height of the moving platform by changing the pivot angles of the suspension arms 220, 320, thereby adjusting in real time the height at which the reaction force acts on the moving platform so as to satisfy the above inequality 11.

[0121] Figure 4 is a schematic isometric view of the rear right corner of a mobile platform according to one embodiment of the present invention, showing in detail characteristic angles illustrating the configuration of the rear suspension arm. The angles are relative to the x, y, and z axes, with the y axis being the reference plane of the mobile platform.

[0122] Referring here to Figure 5, a control system 500 according to one embodiment of the present invention comprises a controller 528 having processing means (e.g., a processor) and associated storage means (e.g., memory) configured to store and execute control software for operating a mobile weapon system according to at least one embodiment described herein. The controller 528 comprises input means (analog and / or digital inputs) configured to receive data from other systems on the mobile weapon system and / or signals from sensors on the mobile weapon system. The controller 528 also comprises output means (analog and / or digital outputs) configured to transmit data to other systems on the mobile weapon system and / or transmit control signals to actuators on the mobile weapon system.

[0123] The controller 528 is configured to communicate operably with the weapon launch control system 574, and the control system receives data from the weapon launch control system regarding the firing solution, such as the mass of the projectile and the muzzle velocity. The control system uses the launch control data to determine the recoil force 576 generated on the mobile platforms 202, 302, and 402, and inputs the determined recoil force to the controller 528.

[0124] The control system determines the mass of the mobile platform and the position of the center of gravity of the weapon system from mass parameters including, but not limited to, the fuel level, battery, ammunition stock, and crew (if any).

[0125] Controller 528 runs control software configured to perform one of the methods of the embodiments described above to determine a stable configuration of the mobile platform (in particular, a stable height and optionally its attitude). Having knowledge of the current mobile platform configuration (e.g., gun elevation QE and wheel arm / suspension configuration) based on actuator state 578, the controller determines and outputs request control signals 578 to control the actuators, thereby bringing the mobile platform to the desired stable configuration. Once the desired stable configuration is achieved, a launch safety complete status 588 is output, indicating that firing may commence. The firing proceeds under the direction of the weapon system launch controller (and optionally in conjunction with the mobile weapon control system 500, especially if firing is repeated).

[0126] Although the functions of the control system 500 are shown in separate function blocks in Figure 5, those skilled in the art will understand that such an illustration is not limiting but merely schematic. Therefore, the functions are arbitrarily separable, combined, and movable between the separate function blocks.

[0127] Now, with reference to Figure 6, a method for operating a mobile weapon system comprising a gun system (having a gun having a barrel and a breech) and a mobile platform as described in one of the embodiments above will be explained.

[0128] S610: The mobile weapons system receives details of the firing mission (target location, ammunition type, etc.).

[0129] S612: The onboard launch control computer calculates ballistic data such as azimuth, elevation, propellant zone (muzzle velocity), and ammunition type (projectile mass).

[0130] S613: The projectile and propellant are loaded into the gun.

[0131] S614: The mobile platform control system calculates the reaction force and reaction stroke.

[0132] S616: The vehicle drive system orients the mobile platform so that the gun barrel's centerline aligns with the target bearing from the gun.

[0133] S618: Receives data from the IMU on the mobile platform and the encoders on the suspension arms.

[0134] S620: Determines the forward / backward and transverse slopes of the surrounding terrain based on data received from the inertial measurement unit on the moving platform and the encoders of the suspension arms.

[0135] S622: Optionally, use a camera / sensor to evaluate the clearance under the moving platform.

[0136] S624: The gun elevation system positions the gun barrel at the correct firing angle.

[0137] S626: Sensors on the mobile platform determine fuel capacity, ammunition stock, and other mobile platform variables, and determine the weight and center of gravity of the mobile weapon system.

[0138] S628: The mobile platform control system calculates the overturning moment caused by the launch.

[0139] S630: The mobile platform control system determines the position of the suspension arms to ensure that a restoring moment greater than the overturning moment is generated, maintaining the stability of the mobile platform during firing, while simultaneously ensuring that the gun system does not hit the ground with maximum recoil.

[0140] S632: The mobile platform control system drives the suspension arms to achieve the correct height and orientation of the trunnions.

[0141] S634: The mobile platform control system, gun elevation system, and vehicle drive system are modified to achieve the correct trunnion height, firing angle, and target bearing from the gun.

[0142] S636: Fire the cannon.

[0143] S638: Has the final round been fired?

[0144] S640: Should we continue firing?

[0145] S642: Reload the gun.

[0146] At least steps S618 to S642 are repeated until the instruction to fire repeatedly is withdrawn or until the final round is fired (whichever comes first). Optionally, an additional step S616 is repeated if the orientation of the moving platform is disrupted by a preceding firing.

[0147] Some of the steps of the method described above are modified in embodiments of the mobile platform that include means (e.g., a traverse ring) for changing the azimuth angle of the weapon (azimuth from the weapon to the target) independently of the orientation of the mobile platform. In particular, step S616 is modified to orient the barrel centerline from the gun to the target using the traverse ring instead of or in addition to orienting the mobile platform. Orienting the gun to the final target by operating the traverse ring is optionally achievable as part of the elevation step S624 and / or as part of the final target azimuth adjustment as described in S634.

[0148] Those skilled in the art will understand that features of one aspect of the present invention may be applied to other aspects of the present invention in any suitable combination. In particular, aspects of a method may be applied to aspects of an apparatus, and vice versa. It will be further understood that the various embodiments disclosed herein are described for illustrative purposes and may be modified without departing from the scope of this disclosure.

[0149] As a concrete example, all embodiments of the mobile weapon system have been described and illustrated herein with reference to a mobile platform having height-adjustable suspension comprising four suspension arms and four wheel hubs. However, those skilled in the art will understand that this is not limiting and the mobile platform may have fewer or more suspension arms and associated wheel hubs, typically six, eight, or more wheels. In modifications with more than four suspension arms / wheel hubs, the distance between each of the outermost wheel hubs along the longitudinal axis of the mobile platform (i.e., the front wheel hub and the rear wheel hub) determines the wheelbase of the mobile platform. Regardless of the number of suspension arms / wheel hubs, the platform stability issues and solutions are substantially the same as those described herein with respect to the four-wheel embodiment; these outermost (front and rear) sets of suspension arms / wheel hubs function very well as "outriggers" providing enhanced lateral stability to the mobile platform.

[0150] Similarly, all embodiments of this mobile weapon system have been described and illustrated herein with reference to weapons comprising a gun system. However, those skilled in the art will understand that this is not limiting and that the mobile platform is suitable for use with any weapon that experiences recoil during operation. For example, optionally, the weapon mounted on the mobile platform may comprise a direct-fire gun system, a mortar system, or a rocket-propelled gun system. In such alternative weapons, one or more launch tubes replace the barrels of the gun systems described and illustrated in the embodiments described above. Therefore, for clarity, the launch tubes of a mortar system or rocket-propelled gun system will be defined as their barrels in this specification.

[0151] Where appropriate, features implemented in hardware may instead be implemented in programmable hardware (such as an FPGA), firmware, or software, and vice versa.

Claims

1. A mobile platform for weapons with a variable barrel elevation angle, A mobile platform equipped with means for adjusting in real time the height from the terrain directly below where the reaction force from the weapon acts on the mobile platform, in order to maintain the stability of the mobile platform when the weapon is fired.

2. The mobile platform according to claim 1, wherein the adjusting means is configured to adjust the height at which the recoil force acts on the mobile platform such that the restoring moment provided by the mobile platform is greater than or equal to the overturning moment generated on the mobile platform from the recoil force of the weapon when the weapon is fired.

3. The mobile platform according to claim 1 or 2, wherein the adjusting means is configured to adjust the height at which the recoil force acts on the mobile platform in accordance with the gun barrel elevation angle of the weapon.

4. The mobile platform according to any one of claims 1 to 3, wherein the height at which the recoil force from a weapon acts on the mobile platform can be changed by an adjustment means according to the magnitude of the substantially horizontal component of the recoil force from the weapon at the time of firing.

5. The adjustment means controls the height at which the reaction force acts on the moving platform. Recoil force F in the direction of the gun barrel ｒ , Total weight of mobile platform and weapons in mg, Barrel elevation angle QE relative to the horizon, The angle θ of the terrain directly beneath the moving platform relative to the horizon, ACMA: A counterclockwise moment arm around the pivot point of the mobile platform, up to the point where the reaction force from the weapon acts on the mobile platform. Ｔ , A clockwise moment arm CMA (Clockwise Moment Arm) around the pivot point of the mobile platform, up to the point where the reaction force from the weapon acts on the mobile platform. Ｔ , ACMA: A counterclockwise moment arm centered on the pivot point of the mobile platform, extending to the center of gravity of the mobile platform and weapon combination. ＣｏＧ , and The CMA (Clockwise Moment Arm) is a moment arm centered on the pivot point of the mobile platform, extending to the center of gravity of the mobile platform and weapon combination. ＣｏＧ , A mobile platform according to any one of claims 1 to 4, configured to adjust in real time according to at least two of the following:

6. The adjustment mechanism determines the height at which the reaction force acts on the moving platform using the following inequality: F ｒ cos(QE - θ)·ACMA Ｔ + mgsin(θ)·ACMA ＣｏＧ <F ｒ sin(QE-θ)・CMA Ｔ +mgcos(θ)・CMA ＣｏＧ The mobile platform according to claim 5, configured to adjust in real time to satisfy the following conditions.

7. A mobile platform according to any one of claims 1 to 6, wherein the height from the terrain directly below can be varied according to the substantially vertical component of the recoil of the weapon at the time of firing.

8. The mobile platform according to any one of claims 1 to 7, wherein the means for adjusting the height at which the reaction force from a weapon acts on the mobile platform comprises a height-adjustable suspension system.

9. The mobile platform according to any one of claims 1 to 8, wherein the means for adjusting the height at which the reaction force from a weapon acts on the mobile platform is at least one suspension arm, which at its proximal end is articulated to / from the body of the mobile platform by a movable joint and terminated at its distal end by a wheel hub.

10. The mobile platform according to claim 9, comprising a plurality of suspension arms articulated to / from the body of the mobile platform, each extending outward from the mobile platform along at least one of the longitudinal axis and transverse axis of the mobile platform, forming at least one leading suspension arm and at least one trailing suspension arm.

11. The mobile platform according to claim 10, further comprising a processor that operably communicates with at least one actuator configured to change at least one of the position and angle to which each suspension arm is articulated to the vehicle body of the mobile platform, so as to change the height of the mobile platform from the terrain directly below.

12. A mobile platform according to any one of claims 1 to 11, comprising means for changing the azimuth angle of a weapon independently of the orientation of the mobile platform, wherein the azimuth adjustment means is configured to increase at least one of the axis distance and track width of the mobile platform in accordance with the azimuth angle of the weapon's barrel.

13. A controller for a mobile platform equipped with weapons, An input means configured to communicate with a weapon and receive data from the weapon indicating the gun barrel's elevation angle when in use. Processing means, (i) Determine the tipping moment generated from the weapon to the mobile platform when the weapon is fired, depending on at least one of the gun barrel elevation angle and the recoil force from the weapon, (ii) Determine the restoring moment provided by the moving platform to counteract the overturning moment, depending on at least one parameter of the moving platform. (iii) Processing means configured to determine the maximum allowable height from the terrain directly below, such that the determined restoring moment remains greater than or equal to the determined overturning moment, Output means positioned to provide in real time an output indicating a determined maximum permissible height from the terrain directly below, allowing the reaction force from the weapon to act on the mobile platform. A controller equipped with the following features.

14. The controller according to claim 13, wherein the output means is configured to operably communicate with at least one actuator adapted to change the height of the moving platform from the terrain directly below, and the output from the output means includes a request control signal to at least one actuator.

15. The input means is (iv) Total weight of mobile platform and weapons in mg, (v) Solutions for firing missions, (vi) Posture of the mobile platform and configuration of the suspension arms, and (vii) Barrel elevation angle QE relative to the horizon, It is configured to receive data indicating, Processing means, (viiii) The angle θ of the terrain directly beneath the moving platform relative to the horizon, (ix) Reaction force F in the direction of the gun barrel ｒ , (x) ACMA, a counterclockwise moment arm around the pivot point of the mobile platform, up to the point where the reaction force from the weapon acts on the mobile platform. Ｔ , (xi) The clockwise moment arm CMA around the pivot point of the mobile platform, up to the point where the reaction force from the weapon acts on the mobile platform. Ｔ , (xi) ACMA, a counterclockwise moment arm around the pivot point of the mobile platform, to the center of gravity of the mobile platform and weapon combination. ＣｏＧ , and (xiiii) The CMA (Clockwise Moment Arm) of the combination of the mobile platform and weapon, from the center of gravity to the pivot point of the mobile platform. ＣｏＧ , The maximum permissible height from the terrain directly below that allows the reaction force from the weapon to act on the mobile platform, corresponding to (xiv)(vii) through (xiiii). The controller according to claim 12 or 13, configured to determine the following.

16. The processor determines the maximum allowable height from the terrain directly below that allows the reaction force from a weapon to act on the mobile platform using the following inequality: F ｒ cos(QE - θ)·ACMA Ｔ + mgsin(θ)·ACMA ＣｏＧ <F ｒ sin(QE-θ)・CMA Ｔ +mgcos(θ)・CMA ＣｏＧ The controller according to claim 15, configured to determine according to the following.

17. A method for controlling a mobile platform for weapons, (xv) Determining the elevation angle of the gun barrel of a weapon, (xvi) Determining the tipping moment generated from the weapon to the mobile platform when the weapon is fired, according to the elevation angle of the weapon's barrel. (xvii) Determine the restoring moment provided by the moving platform to counteract the overturning moment, depending on at least one parameter of the moving platform. (xviiii) Determine the maximum allowable height from the terrain directly below, such that the determined restoring moment remains greater than or equal to the determined overturning moment, (xix) By changing the height of the mobile platform in real time, the current height at which the recoil force from the weapon acts on the mobile platform during firing is kept below the determined maximum allowable height. Methods that include...

18. It is a method, (xx) Total weight of mobile platform and weapons in mg, (xxi) Solutions for shooting missions, (xxii) Posture of the mobile platform and configuration of the suspension arms, (xxiii) Barrel elevation angle QE relative to the horizon, Receiving data indicating, (xxiv) Angle θ of the terrain directly beneath the moving platform relative to the horizon, (xxv) Reaction force F in the direction of the gun barrel ｒ , (xxvi) ACMA, a counterclockwise moment arm around the pivot point of the mobile platform, up to the point where the reaction force from the weapon acts on the mobile platform. Ｔ , (xxvii) A clockwise moment arm CMA around the pivot point of the mobile platform, up to the point where the reaction force from the weapon acts on the mobile platform. Ｔ , (xxviiii) ACMA: A counterclockwise moment arm around the pivot point of the mobile platform, up to the center of gravity of the mobile platform and weapon combination. ＣｏＧ , (xxx) The CMA (Clockwise Moment Arm) of the mobile platform, centered on the pivot point of the mobile platform, to the center of gravity of the mobile platform and weapon combination. ＣｏＧ , and The maximum permissible height from the terrain directly below that allows the reaction force from the weapon to act on the mobile platform, depending on (xxx)(xxi) to (xxix). To decide and The method according to claim 17, including the method described in claim 17.

19. The maximum allowable height from the terrain directly below that allows the reaction force from a weapon to act on the mobile platform is given by the following inequality: F ｒ cos(QE - θ)·ACMA Ｔ + mgsin(θ)·ACMA ＣｏＧ <F ｒ sin(QE-θ)・CMA Ｔ +mgcos(θ)・CMA ＣｏＧ The method according to claim 18, which includes determining according to the following.

20. A computer program, which, when executed by a computer, includes instructions causing the computer to perform the method described in any one of claims 17 to 19.

21. A mobile weapon system comprising a weapon mounted on a mobile platform according to any one of claims 1 to 12 and / or configured to perform the method according to any one of claims 17 to 19.

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