Calibration device and calibration method for a firing parameters detector

Abstract

To provide a device for calibrating a firing parameters detector so that it outputs accurate firing parameters. [Solution] The present invention is a calibration device for calibrating a firing parameters detector that detects the firing parameters of a gun, comprising: a position and attitude detection unit that detects the position and attitude of the calibration device body; a fixing unit that fixes the firing parameters detector to the position and attitude detection unit; and a calculation processing unit that calculates a correction value for calibrating the firing parameters detector based on the difference between the firing parameters detected by the firing parameters detector and the detection information detected by the position and attitude detection unit.

Description

Technical Field

[0001] Embodiments of the present invention relate to a calibration device and a calibration method for calibrating a firing parameter detector that detects the posture of a firearm, such as the direction and inclination in which the firearm is pointed, so as to estimate the hit of a simulated firing operation made towards a target in firing training and output information according to the place of use.

Background Art

[0002] In firing training, it may be carried out without using actual bullets (live ammunition) or actual explosives (bombs).

[0003] In such a case, based on the firing operation made towards a target, the trajectory of the bullet is estimated and used for training. For this purpose, a firing parameter detector that detects firing parameters such as the azimuth in which the firearm is pointed and the posture of the firearm at the time of firing is used.

[0004] Conventionally, a firing parameter detector uses an acceleration sensor, a gyro sensor, a magnetic sensor, etc. to detect the azimuth angle and the posture angle for detecting the azimuth angle and the posture angle.

[0005] Thereby, the firing parameters at the time of firing are detected, enabling the calculation of the bullet trajectory.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0007] However, the output of the firing parameters detector may contain bias (deviation) inherent in the sensor. In addition, magnetic north, which can be detected by magnetic sensors, has a regional difference called magnetic declination compared to true north. Due to these biases and magnetic declination, if the output of the firing parameters detector is used without calibration, a difference will occur between the actual bullet trajectory due to the firing operation and the bullet trajectory calculated from the detected value, resulting in training results that differ from reality.

[0008] Therefore, when conducting training using a fire control detector, a calibration device is required before training to correct the inherent bias of the fire control detector and to calibrate the fire control information output by the firearm's fire control detector, which includes the difference between magnetic north and true north (magnetic declination) in the training area, so that it becomes the correct fire control information.

[0009] One method for calibrating a firing parameters detector involves aiming at a calibration target point set up at a specific location from a predetermined position, detecting the error, and correcting it. However, this method requires strictly defining the calibration location and target point in advance, which imposes restrictions on the freedom to choose training locations or to limit preparations for sudden changes in training locations to only locations where calibration equipment is prepared.

[0010] Another possible method involves emitting light or radio waves from the firing parameters detector towards a calibration device, detecting the radio waves or light, and performing calibration based on the relative positional relationship between the firing parameters detector and the calibration device. However, this method requires aligning the mechanical axis of the firing parameters detector with the axis of the light or radio waves before calibration, which makes it prone to errors and complicates the calibration process.

[0011] Furthermore, with the method described above, the firing parameters detector and the calibration device must be placed separately for calibration purposes. Therefore, there is a constraint that a certain amount of space (area) is required for calibration.

[0012] This invention has been made in view of these circumstances, and aims to provide a calibration device and calibration method for calibrating a firing parameters detector so that the firing parameters detector outputs accurate firing parameters. [Means for solving the problem]

[0013] To achieve the above objective, a first aspect of the present invention is a calibration device for calibrating a firing parameter detector that detects the firing parameters of a gun, comprising: a position and attitude detection unit for detecting the position and attitude of the calibration device body; a fixing unit for fixing the firing parameter detector to the position and attitude detection unit; and a calculation processing unit that calculates a correction value for calibrating the firing parameter detector based on the difference between the firing parameters detected by the firing parameter detector and the detection information detected by the position and attitude detection unit.

[0014] A second aspect of the present invention is a calibration device of the first aspect, wherein the firing parameters detector is attached to a gun, the firing parameters include position and orientation information of the gun, and the detected information includes position and orientation information of the calibration device body.

[0015] A third aspect of the present invention is a calibration device according to the first aspect, wherein the calculation processing unit writes the calculated correction value to the firing parameters detector, and the firing parameters corrected using the written correction value are output from the firing parameters detector.

[0016] A fourth aspect of the present invention is a calibration device according to the first aspect, wherein the fixing part fixes the firing parameters detector to the position and attitude detection unit so as to align the axis of the attitude angle with the calibration device body.

[0017] A fifth aspect of the present invention is a calibration method applied to a calibration device for calibrating a firing parameter detector that detects the firing parameters of a gun, the calibration method comprising detecting the position and orientation of the calibration device, fixing the firing parameter detector to the calibration device, and calculating a correction value for calibrating the firing parameter detector based on the difference between the firing parameters detected by the firing parameter detector and the detection information detected by the calibration device.

[0018] The sixth aspect of the present invention is the calibration method according to the fifth aspect, wherein the firing data detector is attached to a firearm, the firing data includes the position and orientation information of the firearm, and the detection information includes the position and orientation information of the calibration device.

[0019] The seventh aspect of the present invention is the calibration method according to the fifth aspect, wherein the calculated correction value is written into the firing data detector, and corrected firing data using the written correction value is output from the firing data detector.

[0020] The eighth aspect of the present invention is the calibration method according to the fifth aspect, wherein the firing data detector is fixed to the calibration device so that the axes of the calibration device and the orientation angles are aligned.

Brief Description of the Drawings

[0021] [Figure 1A] FIG. 1A is a diagram showing the relationship between the calibration device and the firing data detector of the present embodiment. [Figure 1B] FIG. 1B is a conceptual diagram showing a configuration example of the calibration device of the present embodiment. [Figure 2] FIG. 2 is an external view showing an example of the calibration device of the present embodiment. [Figure 3] FIG. 3 is a flowchart showing an operation example by the calibration device of the present embodiment. [Figure 4A] FIG. 4A is a diagram for explaining the detection of firing data by a firing data detector to which the calibration device is not applied. [Figure 4B] FIG. 4B is a diagram for explaining the detection of firing data by a firing data detector to which the calibration device is not applied.

Modes for Carrying Out the Invention

[0022] Embodiments of the present invention will be described below with reference to the drawings. The drawings are schematic or conceptual, and the relationship between the thickness and width of each part, the ratio of the sizes of the parts, etc., are not necessarily the same as those of reality. Furthermore, even when representing the same part, the dimensions and ratios may be represented differently in the drawings. In this specification and each drawing, the same reference numerals are used for elements that are the same as those described above with respect to previously shown drawings, and detailed explanations and redundant explanations are omitted as appropriate.

[0023] A calibration system to which the calibration method of this embodiment is applied will be described.

[0024] Figure 1A shows the relationship between the calibration device and the firing parameters detector of this embodiment.

[0025] Figure 1B is a conceptual diagram showing an example of the configuration of the calibration device according to this embodiment.

[0026] The calibration device 10 is a device for calibrating the firing parameters a of a gun, which are detected by a firing parameters detector 30 attached to the gun. The firing parameters a include the gun's position a1, azimuth a2, and elevation / depression angle a3. The azimuth a2 and elevation / depression angle a3 together are also referred to as attitude information. The calibration device 10 is used with the firing parameters detector 30 fixed in place, as illustrated in Figure 1A.

[0027] The firing parameters detector 30 and the position and attitude detection unit 12 are physically separated slightly when mounted on the mounting bracket 14, resulting in a difference in their positions. However, the relative positions of the two become obvious from their mounting positions on the mounting bracket 14. Therefore, the positional difference can be corrected.

[0028] The calibration device 10 is a highly accurate sensing device, but due to its high accuracy, it is large in size and cannot be used as is with the firing parameters detector 30. For this reason, it is configured as a separate device from the firing parameters detector 30 and is used in a fixed state with the firing parameters detector 30.

[0029] On the other hand, the firing parameters detector 30 is small and lightweight, making it portable, and is used by being attached to a firearm. However, due to its small size and light weight, the detection accuracy of azimuth and elevation / depression angles is not as high as that of the calibration device 10, and there is a possibility that the azimuth and elevation / depression angles may be biased when using the calibration device 10 as a reference. Therefore, a device for calibrating the firing parameters detector 30 is necessary, similar to the calibration device 10.

[0030] Next, the configuration of the calibration device 10 will be described.

[0031] Figure 2 is an outline view showing an example of the calibration apparatus of this embodiment.

[0032] Figures 1B and 2 show the calibration device 10 with the firing parameters detector 30 fixed in place.

[0033] The calibration device 10 includes a position and attitude detection unit 12 that detects the position b1, azimuth b2, and elevation / depression angle b3 of the calibration device body, a fixing unit 14 that fixes the firing parameters detector 30 to the position and attitude detection unit 12, a calculation processing unit 16 that calculates a correction value d to correct the firing parameters a detected by the firing parameters detector 30 based on the detection result b, which includes the position b1, azimuth b2, and elevation / depression angle b3 detected by the position and attitude detection unit 12, and a user interface 18.

[0034] The fixing part 14 can be implemented, for example, by a mounting metal. The fixing part 14 fixes the firing parameters detector 30 to the position and attitude detection unit 12, so that the position and attitude detection unit 12 and the firing parameters detector 30 are physically constrained to coordinate axes that include the same direction and angle. In other words, the fixing part 14 fixes the firing parameters detector 30 to the position and attitude detection unit 12 so that the axis of attitude angle is aligned with that of the calibration device 10.

[0035] The position and attitude detection unit 12 includes a GNSS receiver 12A that detects position b1 based on signals m from satellite 40, and an inertial navigation unit 12B that detects attitude information including azimuth b2 and elevation / depression angle b3. This detection can be performed anywhere outdoors.

[0036] The position and attitude detection unit 12 also includes a control unit 12C that monitors and controls the GNSS receiver 12A and the inertial navigation unit 12B, collects detection results b from the GNSS receiver 12A and the inertial navigation unit 12B, and transmits and receives data with the arithmetic processing unit 16.

[0037] With this configuration, the position and attitude detection unit 12 collects the detection result b detected by the GNSS receiver 12A and the inertial navigation unit 12B, and outputs it to the arithmetic processing unit 16.

[0038] The firing parameters detector 30 also outputs the detected firing parameters a to the processing unit 16 via wired or wireless connection.

[0039] The arithmetic processing unit 16 receives the firing parameters a output from the firing parameters detector 30 and the detection result b output from the position and attitude detection unit 12. Based on the difference between the firing parameters a and the detection result b, it calculates a correction value d for calibrating the firing parameters detector 30. For this purpose, the arithmetic processing unit 16 stores and maintains magnetic declination data c in advance. The difference between the firing parameters a and the detection result b can be the difference between the positions of firing parameters a and the detection result b, the difference between the azimuths of firing parameters a and the detection result b, and the difference between the elevation angles of firing parameters a and the detection result b. Therefore, the correction value d can also be calculated as a correction value d1 for position, a correction value d2 for azimuth, and a correction value d3 for elevation angle, respectively.

[0040] The arithmetic processing unit 16 uses magnetic declination data c to identify the magnetic declination e at the position of the calibration device 10 from the detection result b, calculates a correction value for attitude information, and determines the azimuth and elevation angle of the calibration device 10 in the installed state. In order to detect the azimuth and elevation angle with high accuracy, it is necessary to perform positioning by satellite 40, geomagnetic field detection, and gravity detection at the installation location of the calibration device 10. For this reason, the arithmetic processing unit 16 calculates the azimuth based on magnetic north N and the elevation angle based on gravity G in order to accurately determine the azimuth and elevation angle of the calibration device 10 in the installed state.

[0041] In the above example, an example based on magnetic north N was given to accurately determine the orientation of the calibration device 10 when it is installed. However, in the present invention, the information on which to accurately determine the orientation of the calibration device 10 when it is installed is not limited to magnetic north N. In fact, in order to accurately determine the orientation of the calibration device 10 when it is installed, no matter where in the world it is installed, it is necessary to correct magnetic north N to true north. Therefore, it is understood that the case of further correcting magnetic north N to true north is also included in the present invention.

[0042] Furthermore, there may be variations in the detection results b from the position and orientation detection unit 12. In such cases, the detection results b from the position and orientation detection unit 12 can be accumulated for a certain period of time, and the average value can be used as the detection result b.

[0043] If the installation location of the calibration device 10 is predetermined, the position and attitude detection unit 12 can omit the GNSS receiver 12A. As a result, the detection result b output from the position and attitude detection unit 12 to the arithmetic processing unit 16 will not include position b1. In such cases, the information of the predetermined position b1 is directly input to the arithmetic processing unit 16 using a user interface 18 with input functions such as a keyboard or mouse.

[0044] The arithmetic processing unit 16 calculates a correction value d for calibrating the firing parameters detector 30 based on the difference between the firing parameters a and the detection result b, and outputs it to the firing parameters detector 30.

[0045] The firing parameters detector 30 includes a memory (not shown).

[0046] The correction value d output to the firing parameters detector 30 is written to the memory of the firing parameters detector 30.

[0047] The firing parameters detector 30 calibrates the firing parameters a using correction values ​​d written to memory. For example, the firing parameters detector 30 can calibrate the position using correction value d1, the bearing using correction value d2, and the elevation / depression angle using correction value d3. After that, if there are no abnormalities or malfunctions, the calibration process is terminated, and if there are abnormalities or malfunctions, the series of calibration processes described above are repeated.

[0048] Next, an example of the operation of the calibration device 10 of this embodiment will be described.

[0049] Figure 3 is a flowchart showing an example of operation using the calibration device of this embodiment.

[0050] First, in the position and attitude detection unit 12, the position b1 is detected by the GNSS receiver 12A, and attitude information including the azimuth b2 and elevation / depression angle b3 is detected by the inertial navigation unit 12B. The detection result b, including the position b1, azimuth b2, and elevation / depression angle b3, is output to the arithmetic processing unit 16. Alternatively, the azimuth b2 and elevation / depression angle b3 are detected, and position information is input from the user interface 18 (S1).

[0051] Next, in order to accurately determine the orientation and elevation angle of the calibration device 10 in its installed state, the calculation processing unit 16 calculates the orientation based on magnetic north N and the elevation angle based on gravity G, based on the detection result b (S2).

[0052] Next, the firing parameters a detected by the firing parameters detector 30 are output to the arithmetic processing unit 16 (S3).

[0053] Next, the arithmetic processing unit 16 calculates a correction value d for calibrating the firing parameter detector 30 based on the difference between the firing parameter a and the detection result b (S4).

[0054] The correction value d is written to the memory of the firing parameters detector 30 by the arithmetic processing unit 16 (S5).

[0055] The firing parameters detector 30 calibrates the firing parameters a using the correction value d written to the memory (S6).

[0056] If there are no abnormalities or defects (S7:OK), the calibration is completed. If there are abnormalities or defects (S7:NG), the process returns to step S1 and the aforementioned series of calibration processes are repeated.

[0057] As described above, the calibration device 10 of this embodiment can calculate a correction value d for calibrating the firing parameter detector 30 based on the difference between the firing parameter a and the detection result b. The firing parameter detector 30 can then calibrate the firing parameter a using this correction value d. This makes it easy to obtain accurate azimuth and attitude angle information for the gun.

[0058] If the calibration device 10 of this embodiment is not present, the firing parameters detector 30 will not be able to output accurate firing parameters a. This will be explained using Figures 4A and 4B.

[0059] Figures 4A and 4B both illustrate the detection of firing parameters by the firing parameter detector 30 without applying the calibration device 10.

[0060] In Figure 4A(a), the firing parameters detector 30 located within circle C1 is attached to a gun (not shown) and detects the azimuth F and elevation / depression angle θ.

[0061] For the firing parameters detector 30 to perform calibration, a location is needed to position the firing parameters detector 30 and the target object 50 at a distance from each other. Furthermore, the positions of both the firing parameters detector 30 and the target object 50, as well as the altitude difference between them, must be clearly defined in advance.

[0062] As a means of confirming that the firing parameters detector 30 is facing the correct azimuth and elevation angle, as shown in Figure 4A(b), the detector 30 is aimed from its known coordinate position A towards the target point M (e.g., the top of a tower) of a target object 50 (e.g., a tower located in circle C2) whose coordinate position B and height H are known, as shown by the dashed line I. By reading the scale of the target point M using the aiming line S, it is possible to handle cases where the height difference T with respect to the target object 50 is not clearly known in advance, and the direction and angle in which it is facing can be determined from the positional relationship between coordinate position A and coordinate position B.

[0063] Therefore, the difference between the bearing and angle of the target object 50, which have been determined in advance, and the bearing and angle indicated by the firing parameters detector 30, is the error that needs to be calibrated. However, with this method, the positional and angular relationship between the firing parameters detector 30 and the target object 50 must be determined in advance, so calibration cannot be performed anytime, anywhere in the world. Similarly, when calibrating using the sight line as a reference and the elevation and depression angles of a known gun, calibration cannot be performed anytime, anywhere in the world.

[0064] Figure 4B illustrates a case where a device 60 capable of detecting radio waves or light from the firing parameters detector 30 is placed on the target side indicated by circle C3.

[0065] If the firing parameters detector 30 can detect that it is correctly pointed towards the target equipment 60, then calibration of the bearing and angle becomes easier.

[0066] However, in the example in Figure 4B, as in Figure 4A, it is necessary to know in advance the azimuth relationship and height difference between the firing parameters detector 30, which is the object to be calibrated, and the target object 50.

[0067] Thus, even with a method that emits light or radio waves in the direction the gun is pointed and detects the direction and elevation angle in relation to the device 60, calibration cannot be performed anytime, anywhere in the world, just as in Figure 4A.

[0068] However, with the calibration device 10 to which the calibration method of this embodiment is applied, the need to "pre-determine the positional and angular relationship between the firing parameters detector 30 and the target object 50," which was previously required, is eliminated, enabling highly accurate calibration and allowing the firing parameters detector 30 to output accurate firing parameters a.

[0069] While embodiments of the present invention have been described, these embodiments are presented as examples only and are not intended to limit the scope of the invention. These embodiments can be carried out in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims and their equivalents.

[0070] For example, in the above embodiment, the position and orientation detection unit 12 and the calculation processing unit 16 were described as separate components for the sake of explanation, but they can also be integrated into a single component.

[0071] Furthermore, there are two methods for calibrating the system: one involves removing the firing parameters detector from the gun and attaching only the detector to the calibration device, and the other involves fixing the entire gun, including the detector, to the calibration device while the detector remains attached. In either method, physical fixing allows the axes of the firing parameters detector and the calibration device to be aligned, thus enabling the same calibration. [Explanation of Symbols]

[0072] 10 Calibration device 12 Position and attitude detection unit 12A GNSS Receiver 12B Inertial Navigation Unit 12C Control Unit 14 Fixed part 16. Processing Unit 18. User Interface 30. Firing parameters detector 40 satellites 50 targets 60 equipment a. Firing parameters a1 position a2 direction a3 Elevation / depression angle b. Detection results b1 position b2 bearing b3 Elevation / depression angle c. Magnetic declination data d Correction value d1 Correction value d2 correction value d3 correction value e. Magnetic declination m signal A coordinate position B coordinate position C1 Circle C2 Circle C3 Circle F direction G gravity H Height I. Dashed line M target point N magnetic north S-line of sight T Height difference θ elevation / depression angle

Claims

1. A calibration device for calibrating a firing parameters detector that detects the firing parameters of a gun, A position and orientation detection unit that detects the position and orientation of the calibration device body, A fixing part for fixing the firing parameters detector to the position and attitude detection unit, A calibration device comprising a calculation processing unit that calculates a correction value for calibrating the firing parameters detector based on the difference between the firing parameters detected by the firing parameters detector and the detection information detected by the position and attitude detection unit.

2. The aforementioned firing parameters detector is attached to the gun, The aforementioned firing parameters include information on the position and orientation of the gun, The calibration apparatus according to claim 1, wherein the detection information includes position and orientation information of the calibration apparatus body.

3. The calculation processing unit writes the calculated correction value to the firing parameters detector. The calibration device according to claim 1, wherein the firing parameters corrected using the written correction value are output from the firing parameters detector.

4. The calibration apparatus according to claim 1, wherein the fixing part fixes the firing parameters detector to the position and attitude detection unit so as to align the axis of attitude angle with the calibration apparatus body.

5. A calibration method applicable to a calibration device for calibrating a firing parameters detector that detects the firing parameters of a firearm, The position and orientation of the calibration device are detected, The firing parameters detector is fixed to the calibration device, A calibration method comprising calculating a correction value for calibrating the firing parameters detector based on the difference between the firing parameters detected by the firing parameters detector and the detection information detected by the calibration device.

6. The aforementioned firing parameters detector is attached to the gun, The aforementioned firing parameters include information on the position and orientation of the gun, The calibration method according to claim 5, wherein the detection information includes position and orientation information of the calibration device.

7. The calculated correction value is written to the firing parameters detector. The calibration method according to claim 5, wherein the firing parameters corrected using the written correction value are output from the firing parameters detector.

8. The calibration method according to claim 5, wherein the firing parameters detector is fixed to the calibration device so as to align with the axis of attitude angle of the calibration device.

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