MULTIPLE COOPERATIVE WEAPON TURRET UNMANNED GROUND VEHICLE AND ITS OPERATIONAL METHOD

Abstract

The invention relates to a system that enables multiple weapon turrets integrated onto an unmanned ground vehicle platform to operate collaboratively and coordinately. Each weapon turret has independent movement and orientation capabilities, but can communicate with other turrets via a centralized or distributed control architecture, sharing target information and supporting target prioritization, task allocation, and simultaneous engagement scenarios, thereby increasing operational effectiveness.

Description

1 TARIFF MULTIPLE COOPERATIVE WEAPON TURRET UNMANNED GROUND VEHICLE AND OPERATION METHOD The technical field to which the invention relates: The invention is a 5-modular weapon turret system integrated onto unmanned ground vehicles. an unmanned ground vehicle platform designed for coordinated control Sharing target information and assigning tasks among multiple gun turrets on board, collaborative within the framework of target prioritization and simultaneous engagement scenarios. a control and coordination system and working method that enables it to function in this way It is related to. 10 State of the art: An examination of the current state of technology reveals the importance of unmanned ground vehicles in military and security applications. It is generally used in reconnaissance, surveillance, cargo transport, and some armed missions. It is observed that most of these vehicles have a single remotely controlled weapon station. or is equipped with a fixed weapon system, and weapon systems are usually located 15 meters from the vehicle. They have structures that do not operate independently, but are controlled by a central operator. The current method increases the platform's firepower while simultaneously offering different and simultaneous capabilities. It is insufficient in terms of operational flexibility when faced with incoming threats. The current situation... in this case, target acquisition and engagement operations in armed unmanned ground vehicles This is usually done by operators. Using sensor data from the vehicles, they can determine the target's 20... However, information is not easily shared between different weapon systems. This situation, Response when multiple targets emerge simultaneously or threats come from other sources. This leads to an increase in duration and makes the system less effective. Finally... In recent times, low-altitude air threats have increased in similar operations. It is possible to see. 25 A review of the literature reveals that autonomous systems are also becoming more prevalent in military or battlefield environments. It is seen to be used frequently. Therefore, in armed vehicles and related vehicles... The issue of UAV defense is discussed more frequently in convoys. But generally... The solutions offered are either independent air defense systems or stationary ones. It is designed for vehicles. On land-based and mobile platforms, from 30 2 Solutions for coordinating the operation of multiple weapon systems are limited. They are numerous and mostly centralized, single-point failure-prone control architectures. It is based on. Currently, Unmanned Ground Vehicle (UGV) weapon systems are generally used today. tasks such as dividing tasks, setting goals, and working together are done independently by 5 Although it is seen to be done with platforms, independent weapon turrets operate on a single platform. In a system of unity, securing the convoy involves engaging moving targets. It has been observed that there is no study that provides this without human intervention. For this reason, the existing In this situation, UGV and weapon systems are subject to new missions or different threats. It appears that they cannot immediately adapt when faced with the situation. The current systems, convoy 10 in continuous tasks such as protection, area defense and the security of mobile vehicles This shows that its competence remains limited. Although various proposals and applications have been developed for… in the known state of the art. These improvements are insufficient. Some of the inventions developed for this purpose... Applications are listed below. 15 Application file number “US9163909B2” is in the known state of the art. The invention in question has been examined. The invention in question is a platform, propulsion system, and communication system. The system relates to a vehicle consisting of a sensor system and a computer system. (Propulsion) The system enables the platform to move on the ground, while the communication system is remote. It allows wireless communication with a location. The sensor system monitors the environment 20 The sensor generates data by detecting the information, and the computer system then performs the task. It operates multiple control processes to ensure its implementation. Additionally... The computer system ensures that requests regarding commands from operators are valid. In this situation, by responding to these commands, the vehicle can perform its tasks safely and effectively. It ensures that it fulfills its purpose. 25 Application file number “US8561519B2” is in the known state of the art. The invention in question has been examined. The application concerns a support base that can rotate 360 ​​degrees. an active defense system (ADS) consisting of a mortar launcher tube mounted on it a multi-weapon system that combines a machine gun positioned on the same base. It relates to the system. The system provides the necessary power requirements for the ADS and machine gun: 30 the adjusting drive mechanism, the motor that rotates the support base, and the launcher tube. 3 Control units that control the direction and elevation movements of the machine gun, The computer that enables the ADS to automatically aim and fire at the target. Electronic control elements and visualization for manual operation of the machine gun. and includes control units. Application file number “US2004030449A1”, which is in the known state of the art, 5 The invention in question has been examined. The invention in question concerns the operation of unmanned underwater vehicles (UUVs). by communicating within its structure and sharing sensor data, it can perform specific tasks. It is related to a system that enables organization according to its parameters. The leader in the system... a UUV evaluates environmental and destination data from other vehicles It dynamically rearranges the swarm formation, thus enabling the tools to perform task 10. Identifying and monitoring the defined goals by adapting to changing conditions during this process. It carries out operations such as neutralizing [the enemy]. The current state of the art allows for the development of multiple unmanned ground vehicles on a single platform. Independent gun turrets can interact with each other via a centralized or distributed control architecture. Communicating and sharing target information, prioritizing targets, and assigning tasks 15 in areas such as coordinated and simultaneous engagement with algorithms It is insufficient. In conclusion, due to the negative aspects described above and the current solutions, the subject matter... Due to its shortcomings, an improvement is needed in the relevant technical field. It has been made. 20 The purpose of the invention: The main objective of the invention is to mount multiple weapon turrets on a single unmanned ground vehicle. The aim is to ensure that they work in a coordinated and integrated manner. In this way, peers on the same platform... It is possible for it to perform multiple tasks simultaneously or sequentially, and Operational efficiency is being increased. 25 Another aim of the invention is to perform tasks using fewer tools. The aim is to ensure that this is achieved. This includes supply, maintenance, operation, and logistics. Costs are being reduced. 4 Another purpose of the invention is to develop algorithms for target prioritization, marking, and position estimation. The goal is to optimize engagement processes. This allows the ammunition to be used more effectively. This is being used, the engagement time is shortened, and the mission success rate is increased. Another aim of the invention is to improve the safety of operations by reducing reliance on manned systems. The goal is to reduce dependency. This will reduce personnel risk and the associated direct and indirect risks. Costs are being minimized. Another aim of the invention is to provide platform-based compatibility with different types of unmanned ground vehicles. The aim is to offer an independent and scalable structure. This allows it to meet the needs of different users. customizable according to requirements, with high commercial and export potential, and technically flexible. A cost-effective solution is obtained. 10 The structural and characteristic features and all the advantages of the invention are given in the figures below. And thanks to the detailed explanation written with reference to these figures, it becomes clearer. This will be understood as such. Therefore, the evaluation should also include these forms and detailed explanations. This should be done taking that into consideration. Description of the figures: 15 FIGURE -1; Multiple weapons mounted on the unmanned ground vehicle that is the subject of the invention. This is a drawing showing the general layout of the towers. FIGURE 2; Side view of the unmanned ground vehicle with multiple collaborative weapon turrets, which is the subject of the invention. It is a drawing that gives the image. FIGURE 3; The subject of the invention is a multi-cooperative weapon turret unmanned ground vehicle with 20 This is a diagram showing the appearance of the control unit. FIGURE 4; The subject of the invention is an unmanned ground vehicle with a multi-cooperative weapon turret and its target. The calculation image of the formulas that are valid for conditions assumed to be constant. It is a drawing that gives. Explanation of references in the figures: 25 1. Vehicle body 2. Gun turret 3. Perimeter surveillance camera 4. Structural part 5. Musculoskeletal system 6. Control unit 5 Description of the invention: The invention involves multiple weapon turrets integrated onto an unmanned ground vehicle platform. It relates to a system that enables collaborative and coordinated operation. Each weapon The tower has independent movement and orientation capabilities, but it is centrally located or By communicating with other towers via a distributed control architecture, target information is 10 It enables sharing and prioritizing goals, assigning tasks, and simultaneous It enhances operational effectiveness by supporting engagement scenarios. The system in question is a multi-weapon system integrated onto an unmanned ground vehicle. a control system that ensures the towers work collaboratively and in a coordinated manner. It provides coordination. The system uses data obtained from environmental sensing units. 15 It automatically analyzes the targets identified in this way, and identifies threats. This structure prioritizes and assigns tasks to appropriate weapon turrets. Thanks to this, blind spots that may occur around the platform are minimized and it is versatile. Simultaneous response capability against threats is achieved. Within the system... Field gun turrets can engage different targets independently, as well as being operational in 20 depending on the requirements, they engage in the same objective in a coordinated or simultaneous manner. It is structured in such a way that it is possible. In the target prioritization process, threats speed, orientation and movement characteristics, especially the distance to the platform taking into consideration, starting with the closest and highest risk targets A ranking system is being implemented and marking is being applied. In this way, the sudden and rapidly developing 25 The reaction time to threats is reduced. The invention also works on the system. and to predict the location of the targets after a certain period of time. It includes algorithms. These algorithms determine the current position, speed, and of the targets. By using directional information, predictions are made regarding the orientation of gun turrets and 6 It optimizes the engagement parameters in line with these predictions. This This approach improves the accuracy rate, especially against moving targets, and the ammunition... It increases the efficiency of use. The invention also involves a system that works on and predicts that targets will be found after a certain period of time. It includes algorithms for predicting location. These algorithms are 5 It makes predictions by using the current location, speed, and direction information of the targets, and The orientation and engagement parameters of the gun turrets are determined in accordance with these predictions. This approach optimizes the hit rate, especially against moving targets. It increases and improves the efficiency of ammunition use. The invention enables multiple weapon turrets to be deployed collaboratively on the same unmanned ground vehicle platform. with its control and intervention (engagement) structure that enables it to function in this way This differs from other solutions. The towers share real-time data with each other. its ability to automatically prioritize goals and dynamically manage tasks Thanks to its distribution, the system can simultaneously intervene against different targets. They are able to both engage in coordinated actions towards the same goal when necessary. It is able to do so. This privilege is particularly relevant for multiple drone attacks and saturation. It significantly increases operational effectiveness in the threat scenarios it creates. The invention develops predictive algorithms for forecasting the future positions of targets. It involves integrating these algorithms into the system architecture. Thanks to these algorithms, weapon turrets, Targeting and firing by calculating the possible movements of the targets in advance. 20 It is able to optimize its parameters, which increases the accuracy rate and ammunition. This ensures that its use becomes more efficient. The target is on the image. Thanks to the speed-based position estimation algorithm, the vehicle can reach the target even while it is moving. With its ability to engage, this type of approach is present in existing mobile platform solutions. an unmanned ground vehicle based on both predictive and collaborative engagement mechanisms 25 No studies of this have been found. The system that is the subject of this invention is not limited to wheeled unmanned ground vehicles only, Modular, compatible with tracked and skid-mounted unmanned ground vehicle platforms. and offers a platform-independent structure. This allows the system to adapt to different terrain conditions. 30 with a wide range of applications depending on job profiles and operational needs. 7 This includes various tasks such as convoy protection, area defense, and mobile base security. It remains applicable in various scenarios. Environmental threats detected and addressed by the invention are brought into the operational environment. These are categorized as air, ground, and asymmetric threats. Air threats This includes micro and mini UAVs, kamikaze drones, UAV swarms, and surveillance 5. Low-altitude threats, such as balloons, are being detected and neutralized. (Black) Threats include light armored vehicles, armed unmanned ground vehicles (UGVs), and anti-tank missiles. While systems and technical tools are involved, sharp asymmetric threats are also included. such as snipers, RPG launchers, and robotic systems carrying improvised explosive devices (IEDs). Close-range threats are detected. The system includes point defense, area defense, 10 capable of performing convoy protection and suppression fire duties It is designed so that a critical asset or platform in point defense is protected against the approaching threat. While protected by a protective shield formed by towers according to its route, in area defense Specific areas, such as bases or checkpoints, are scanned in 360° to identify threats. Dynamic engagement is ensured. Threat swap and 15 in convoy protection mission. Security is enhanced with curved prediction algorithms while in motion, while suppressing fire. by using coordinated and sustained firepower in the mission, the target's mobility It is being restricted or rendered ineffective. The invention's sensing, tracking, and environmental analysis capabilities are achieved through the fusion of multiple sensors. It is supported. The combined evaluation of camera, LIDAR and radar data 20 Thanks to this, blind spots are eliminated and high performance is achieved in different weather and light conditions. Target detection is performed with high accuracy. Deep learning-based object tracking. Algorithms ensure uninterrupted monitoring and data continuity while protecting the target's identity (ID). Dynamic mapping and obstacle detection functions ensure the platform's safety. By determining the movement route, it is possible to geographically locate threats. 25 It recognizes targets. The target detection function is supported by deep learning algorithms. by processing real-time data obtained from optical and thermal sensors While working, environmental awareness is provided by mast-type high-resolution cameras. Thanks to 360° panoramic imaging and LIDAR-based distance mapping. is being created. The early warning function, on the other hand, measures the speed, orientation, and 30 of the detected objects. By analyzing movement characteristics, it performs a potential threat scoring and 8 Prepare the defensive towers before the threat enters the platform's defensive radius. It brings. The platform's mobility is hybrid, enabling it to adapt to varying terrain conditions. It is supported by solutions. In this context, the system includes wheeled walking systems. the high speed and road performance it provides, the high off-road capability offered by tracked systems 5 combining capability with soft ground performance and steep slope climbing features It has a modular infrastructure. In addition, it includes electric and internal combustion engines. with its hybrid powertrain, it has long-range deployment capability. It offers the advantage of silent advancement in operational areas all on the same platform. Thus, the invention enables the effective detection of environmental threats and the continuous monitoring of targets. raising environmental awareness and establishing early warning mechanisms, different successful execution of defense tasks and high performance in varying terrain conditions By providing mobility, it minimizes reaction time for the operator. reducing the load, increasing mission flexibility and improving the platform's overall survivability. It significantly increases. 15 The system that is the subject of the invention consists of a vehicle body (1), a gun turret (2), and a perimeter surveillance camera. (3) includes the structural part (4) and the musculoskeletal system (5). The structure shown in Figure 1 is an unmanned ground vehicle equipped with multiple weapon turrets. It reveals the general layout and there are multiple on the vehicle body (1) The independent gun turret (2) is seen to be positioned in a linear and symmetrical manner. 20 This layout provides 360° environmental coverage and contributes to reducing blind spots. It is located at the rear of the vehicle. A mast-type perimeter surveillance system is positioned there. camera (3) creates a detection layer independent of weapon turrets target Detection increases environmental awareness and early warning capabilities. The underside of the fuselage and The structural part (4) covering the side sections is only a mechanical support and protective 25 LIDAR, radar, and optical sensors that are not components but are used during convoy missions. and a sensor placement and protection volume into which similar environmental sensors are integrated It also represents obstacle detection, threat identification, and convoy tracking. Tasks are supported. Figure 2 clearly shows the vehicle's mobility infrastructure in the side view, and this 30 The mobility system shown in section (5) includes not only wheeled structures, but also tracked and 9 It is defined to include alternative motion systems as well; thus, the invention, with wheeled, tracked or hybrid mobility infrastructures for different terrain and mission conditions It offers an adaptable, platform-independent structure. This holistic architecture, sensor, that weaponry and mobility capabilities are brought together within a collaborative systems framework. It demonstrates and the invention's applications in convoy protection, area defense, and mobile security. 5 It supports their effectiveness in their duties. The vehicle body (1) is the main structural unit that carries all the subsystems of the unmanned ground vehicle. It forms the platform. Multiple weapon turrets (2), perimeter surveillance camera (3), this structure, in which the structural part (4) and the movement system (5) are integrated, system By ensuring the safe and balanced positioning of the vehicle's components, 10 It supports operational integrity. In addition, the vehicle body (1), during the mission protecting internal systems against potential environmental and mechanical impacts It serves as a contributing, supporting, and protective basic structure. The gun turret (2) is independently positioned on the vehicle body (1) and is circumferential. 15 armed units that carry out defense or intervention tasks against threats It refers to modules. Multiple gun turrets (2) in a linear and symmetrical manner. Thanks to its placement, a wide-angle coverage area is created around the vehicle. Thus, blind spots are reduced and effective protection against threats coming from different directions is achieved. It becomes possible to react. The perimeter surveillance camera (3) is mounted on a mast-type structure at the rear of the vehicle body (1) 20 It is a sensing unit positioned on the surface that enables continuous monitoring of the surroundings. This system, which operates independently of the gun turrets (2), detects targets, environmental raising awareness and contributing to the fulfillment of early warning functions It provides and enhances the vehicle's situational awareness in the operational area. Structural part (4) is located in the lower and side areas of the vehicle body (1) and is both mechanical 25 It refers to the part that performs both carrier and protective functions. This part is the LIDAR. radar, optical sensors and similar environmental sensors are placed and exposed to external factors. It functions as an integration volume that is protected against obstacle detection; thus, Performing tasks such as threat detection, environmental analysis, and convoy tracking. It supports. 30 The movement system (5) enables the vehicle to move around the mission area. This refers to its infrastructure. This system is not limited to wheeled structures only, but also includes tracked structures. or is defined to include hybrid mobility solutions, and different terrains It offers a platform architecture that can be adapted to conditions and operational needs. Thus, the vehicle provides effective mobility in various mission environments. 5 It increases operational flexibility. The control unit (6), which is the central management unit of the system that is the subject of the invention, is a multi-arm optimized for tower coordination and real-time data processing processes It is a high-performance unit. This unit acts as the "brain" of the system, controlling the sensors. fusion of complex 10-bit processes such as deep learning-based target detection and ballistic calculations. It has an advanced hardware architecture that performs the operations. Control unit (6), "As shown in Figure 3, inside the vehicle, in an armored and protected compartment..." The control unit (6) is shown to be located inside the vehicle body (1). Its inclusion in the volume, in order to increase operational survivability against external factors, It provides maximum protection against vibration and physical attacks. Control unit 15 (6), from the camera (3) and sensors such as LIDAR / Radar on the structural part (4) It collects the incoming raw data. This data is processed through CPU and GPU hardware. By processing, it creates a common threat picture. Control unit (6), the analyzed target information and ballistic calculation data simultaneously to all gun turrets (2) It transmits information about which target the gun turrets (2) will engage with and with what priority. It ensures coordination between the towers by making the final decision. In addition, the control unit... by being located in the safest inner region of the body (1) ensuring the continuity of the system The high processing capacity of the system is provided by the control unit (6). multi-core CPU units, GPUs specialized for image processing and deep learning It is supported by graphics cards and deep learning accelerators. This hardware infrastructure, 25 Enabling simultaneous data flow to multiple towers and targeting moving targets. This makes it possible to run curved prediction algorithms without errors. Identifying potential objects or target candidates in the system that is the subject of the invention, Performed using multi-sensor fusion and advanced analysis algorithms. It is an integrated process. This process increases the platform's environmental awareness and 30 threats. It forms the basis for early detection and accurate classification. First, the platform It has a mast-type perimeter surveillance camera (optical / thermal), LIDAR, radar and 11 Primary sensors, like other optical sensors, continuously monitor environmental data. These sensors collect information on the location, speed, orientation, and other characteristics of potential targets. It transmits raw data, such as classification data, to the central control unit. Awareness Control The unit combines raw data from all sensors (sensor fusion) to create a more... It creates comprehensive and accurate environmental awareness. For example, radar distance and 5 While measuring speed precisely, optical sensors provide detailed object classification. It provides image information. Fusion of sensor data enables advanced deep learning. It is analyzed using algorithms and image processing techniques. At this stage, First, noise and interference in the raw sensor data are filtered out. Image 10 using processing techniques (edge ​​detection, object segmentation, feature extraction, etc.) The boundaries of potential objects are defined and their visual characteristics are extracted. Deep Learning models (e.g., convolutional neural networks - CNNs) utilize these extracted features. Using this method, detected objects are categorized according to predefined threat profiles. It classifies them (e.g., UAV, armored vehicle, personnel carrier, light vehicle, etc.). This classification, Understanding the nature of the target and the potential threat level is critical. 15 Data from radar and LIDAR sensors determines the distance of objects to the platform. It is used to determine speed and orientation with high precision. LIDAR, While radar provides 3D structural information of objects at close range, it also provides information for longer distances. It performs range-based detection and speed measurement. This data provides precise information about the detected objects. Cartesian coordinates (x, y, z), instantaneous velocity vectors, and motion characteristics 20 It is used to calculate (linear motion, maneuvering, etc.). Finally, As a result of the analysis steps above, all identified and classified items in the environment Objects are identified as potential target or candidate candidates. For each candidate... A unique identifier (ID) is assigned, and location, speed, orientation, classification, and reliability are taken into account. A target profile is created that includes detailed information such as the score. These candidates are selected from a 25 Centralized control for threat assessment and prioritization, which is the next stage. It is being transmitted to the unit. The invention's system predicts target motion, providing a high degree of accuracy in determining the future positions of targets. The Curved Prediction Algorithm was developed to make predictions with accuracy. This is done using a Prediction Algorithm. This algorithm detects only 30 of the targets. taking into account not only its linear motion but also its maneuverability, possible future trends It predicts their locations. The central control unit provides real-time information on the detected targets. position (x, y, z coordinates), velocity vector (magnitude and direction), orientation, and timestamp 12 They continuously receive information from environmental sensing units (camera, LIDAR, radar). This data provides the most up-to-date information on the target's current movement status. The algorithm reflects the target's velocity vector and is derived from the received real-time position data. It calculates the changes in the velocity vector (acceleration) compared to the previous time period. By analyzing the angular difference (Delta Angle) between successive velocity vectors, the target's 5 It is determined whether it is following a linear route or making a maneuver. Based on the calculated angular change and velocity values, the algorithm makes two main predictions. Choosing one of the modes: Target at low speed or with very small angular deviations In situations where it is moving, a simple linear path is formed along the direction of the current velocity vector. Future position estimation is done through extrapolation (Linear Estimation). Target 10 when the vehicle is maneuvering, that is, when there is a significant angular change in the velocity vector The Curved Prediction mode is activated. This mode predicts the curved path (arc) of the target. It uses more complex rotational calculations to model it. Curved In prediction mode, the algorithm predicts the target's future trajectory over specific time intervals. It predicts by calculating the cumulative effect of angular deviation. This is the instantaneous 15 of the target. Continuous updating of dynamic parameters such as turning radius and angular velocity It includes. The estimate takes into account the time it takes for the ammunition to reach the target (flight time). By taking this information, it determines the probable location of the target at the end of this period. the estimated target location, the orientation and firing parameters of the gun turrets They are integrated. The gun turrets are positioned not at the target's current location, but at the location of the ammunition (20). The system is directed to the estimated location where the target will be found at the end of the target travel time. (Lead Aiming principle). This maximizes accuracy, especially against moving targets. These predictions also take into account ammunition selection, firing timing, and multiple It is used to optimize engagement decisions such as tower coordination. Threat score calculation and target prioritization are performed in the system described in the invention. This is carried out using a dynamic and multi-faceted approach. This process is implemented on the platform. By identifying the most urgent and critical threats, the most efficient use of resources (weapon turrets) This enables allocation in this way. Firstly, sensor fusion and deep learning For each target detected by algorithms, location, speed, orientation, and classification (UAV, Basic data such as armored vehicles, personnel, etc., and size are collected. Each target is 30 A threat score is calculated using the following main criteria and their weighted averages: 13 It is calculated through a combination of these criteria. These criteria determine the target's approach to the platform. It expresses the potential risk quantitatively. Overall Threat Score Formula: Threat Score = (𝑊 ∗ 𝐹 ∗ 𝐹 ∗ 𝐹 ∗ 𝐹 ). The weights and functions in this formula are based on operational requirements and threats. It can be calibrated and optimized according to the scenarios. The calculated 5 All detected targets are listed in descending order according to their threat scores. The target with the highest threat score receives the highest priority. This ranking is as follows: the central control unit decides which target to prioritize. It forms the basis for the system, which continuously collects and analyzes environmental data. for, 10 depending on changes in the location, speed, orientation and behavior of the targets. Threat scores and priority rankings are dynamically updated in real time. It updates. New threats emerge or the behavior of existing threats changes. If it changes, the prioritization matrix is ​​recalculated instantly. New mission assignments can be made to weapon turrets. Criterion Factor Name Description Sample Scoring Scale (0-10) Aim Gender Threat Weight (𝑊 ) To the classification of the target The main threat identified according to this weight. Micro UAV: ​​3, Single Personnel: 4, Light Vehicles: 6, Single UAV: ​​7, Armored Vehicles: 9, UAV Swarm: 10 Distance Factor (F) The target is the platform inversely proportional to the distance factor. At close range the goals are higher It is a priority. >1000m: 1,500-1000m: 3,250- 500m: 6, <250m: 9 Speed ​​and Orientation Dynamic Factor (F) The target's speed and the platform correct orientation. High fast and approaching the platform goals are higher It has an F_V value. Moving Away / Stationary: 2, Slow Upcoming: 5, Medium Speed Approaching: 7, Fast / Maneuvering Done by: 10 14 Size Physical Factor (F) The perceived size of the target and consequently potential destructive power or Difficulty of destruction. Small (Human / Micro UAV): 3, Medium (Light Vehicle): 6, Large (Armored Vehicle / Large UGV): 9 Behavioral Analytical Factor (F) Deep learning by algorithms target behavioral patterns (e.g., aggressive maneuvers, (sudden accelerations) analysis dynamically an updated factor. Normal: 1, Suspicious: 4, Aggressive Maneuver: 8, Direct Attack: 10 Ammo The situation Operational Restriction Ammunition for the towers level and operational situation engagement It can affect the priority. High: 1, Medium: 0.8, Low: 0.5 (As a multiplication factor) Table 1: Ammunition Status factor and explanation table. The system that is the subject of the invention incorporates ballistic calculations, high accuracy, and operational capabilities. A unique Parametric Modeling Method developed to provide flexibility. The system operates via precise depth signals from sensors (LIDAR / Radar). Data from cameras, visual depth, and XY position on the map. 5 It works by integrating this information. This data is based on Euler's equations. It is formulated in a parametric structure. This parametric approach is the platform. physical locations (offset values) of weapon turrets and sensor units on it by allowing for modifications, enabling the system to be quickly adapted to different configurations. This provides the basic parametric formula obtained, which allows the system to function both statically and precisely. It has a layered structure that enables it to operate in dynamic conditions. This applies to conditions where the vehicle and the target are assumed to be stationary during the initial phase. the raw formula; As seen in Figure 4, A: Camera position, B: Tower position, C: Target, Azimuth Axis (Φ) 15 𝑎 + 𝑘 𝑒 = 𝑟𝑒 b + ki e = ki e 𝑎 + 𝑏 + 𝑟𝑒 = 𝑘 𝑒 Altitude Axis (θ) ℎ𝑒 + 𝑘 𝑒 = 𝑟𝑒 a: Parametric distance between the camera and the nearest tower to the camera. b: Parametric distance(s) between the towers. r: Parametric distance(s) of the target(s) detected by the camera. k(1,2,..,n): parametric distance of the relevant tower to the target. 10 𝜃: The parametric angular value between the camera and the target(s) relative to the altitude axis. 𝜃: Parametric distance between the camera's field of view and the towers relative to the altitude axis. Angular value. 𝜃: Parametric range of turret / gun barrel rotation relative to the altitude axis and target(s). Angular value. 15 𝜑 : The parametric angular value between the camera and the target(s) relative to the azimuth axis. 𝜑( , ,., ): Parametric angular difference between camera and target(s) with respect to the azimuth axis. value. Dynamic target detection takes into account whether the vehicle is stationary / moving or whether both elements are moving. It is parametrically expanded by considering the scenarios in which it occurs. Vehicle movement 20 while in this state, relative difference through image processing algorithms (displacement) analysis is performed and the deviations that occur during this process are recorded on the vehicle. Calibrated in real time using data from accelerometer sensors. The actual values ​​obtained from the route prediction algorithm are based on this parametric method. by including in the formula; wind speed, gravity effect (supported by satellite position data) and 25 The ammunition's specific firing parameters, etc., are fused with this holistic approach. 16 The method allows gun turrets to achieve the highest possible accuracy on the target, even under complex combat conditions. to ensure precise guidance and successful engagement It includes the purpose of obtaining it. The operational method of the multi-unit weapon turret unmanned ground vehicle is as follows: It includes the following steps; 5  The perimeter surveillance camera (3) is positioned on the structural part (4) Through LIDAR, radar, optical sensors and various types of environmental sensors data collection, The image, distance, position, speed, orientation, and related information of the targets and the environment. These are obstacle detection data. 10  The perimeter surveillance camera (3) is located within the structural part (4) LIDAR is obtained from radar, optical sensors, and various types of environmental sensors. Transmission of the collected data to the central control unit (6),  Structure via perimeter surveillance camera (3) through central control unit (6) Data from LIDAR, radar and other sensors on section (4) 15 Sensor fusion is achieved by combining sensors; deep analysis of fusion data. Analysis using learning algorithms and image processing techniques By doing so, the targets are identified and classified. Noise reduction of data received via the central control unit (6), Preprocessing with time synchronization and data standardization 20 to be done, o Pre-processed data via the central control unit (6) by combining them to create a single integrated environmental data set realizing sensor fusion, Deep learning algorithms using fused data, image 25 potential by performing processing techniques and radar / LIDAR-based analyses Identification of potential objects or targets.  Filtering noise and interference from sensor data, 17  Image processing techniques (edge ​​detection, object detection) using segmentation, feature extraction, etc.) Defining and visualizing the boundaries of potential objects. Extraction of features,  Deep learning models (e.g., convolutional neural networks- 5 Objects detected using visual features extracted with CNN. based on predefined threat profiles classification (e.g., UAV, armored vehicle, personnel carrier, light vehicle) etc.),  3D rendering of the object using radar / LIDAR sensor data. Calculation of coordinates, instantaneous velocity and orientation (the precise Cartesian coordinates (x, of the detected objects) instantaneous velocity vectors (y, z) and motion characteristics (calculation of linear motion, maneuver, etc.)  Detailed 15 by assigning unique identifiers to the analyzed objects. Creating target profiles, unique for each candidate. assigning an identity (ID) and location, speed, orientation, including detailed information such as classification and reliability score Creating target profiles.  The position, speed, orientation and 20 of the targets are monitored via the central control unit (6). Target motion prediction by analyzing motion characteristics creation, Instantaneous position (x, y, z), velocity vector, orientation, and time of the targets. Continuous collection of stamp information from sensors, The target's velocity vector, acceleration, and the angular difference between successive velocity vectors are 25°. Calculating the difference (Delta Angle), Linear estimation based on the target's motion (low speed, small angular velocity) Deviation) or Curved Forecast (maneuver, significant angular change) automatic selection of the mode and prediction position creation, 30 18  The target is encountered at low speed or with very small angular deviations. linear prediction mode in cases where it moves with its activation, a simple action is taken along the existing velocity vector. future position with linear extrapolation Prediction (Linear Prediction), 5  The target is maneuvering, meaning there is a significant change in its velocity vector. In cases where there is an angular change, the Curved Prediction mode is used. With its activation, the modeling of the curved road becomes instantaneous. dynamic parameters such as turning radius and angular velocity With the update, the ammunition's flight time will be 10 at the end. Calculating the possible location of the target, The curved estimation model, Kalman filter, and Bézier curve or classical estimation such as polynomial regression It is not the method. The approach is to target at least the last three years. two consecutive movements obtained from position 15 using the direction change of the vector in the short term It geometrically predicts the trajectory. This In this respect, the method, especially for low frame rate images operating systems with a simple computational load a practical trajectory trying to maintain its trend 20 It is an extrapolation. The three consecutive locations of that target and as When defined, first two motion vectors is calculated:  ?⃗? = 𝑃 − 𝑃 25  ?⃗? = 𝑃 − 𝑃 These vectors only show how much space the target has not only did it change, but also the direction of movement. It also reveals how both vectors have changed. The direction angle is calculated using the function 𝑎𝑡𝑎𝑛2: 30  𝜃 = atan2 𝑣 , 𝑣  𝜃 = atan2 𝑣 , 𝑣 19 Then the change of direction between two consecutive movements. It is obtained in the following way:  Δ𝜃 = 𝜃 − 𝜃 The calculated 𝛥𝜃 value is normalized to the range between -𝜋 and +𝜋. This is done. Thus, 5 that may arise from angle transitions Artificial and major changes in direction are prevented and The actual reversal trend is being maintained. The final motion vector in the prediction phase is ?⃗? , instead of being extended directly into the future It is rotated incrementally. The code predicts 10. The path is divided into 10 sections. At each step The angular change to be applied is: Δ𝜃 = It is determined. In the rotation of the vector. A standard two-dimensional rotation matrix is ​​used: R(ε) = cos 𝜃 − sin 𝜃 sin 𝜃 cos 𝜃 Accordingly, each new estimation point is approximately It is formed by the following equality: ?̂? = ?̂? + 𝑅 𝑘 ?⃗? This process determines the direction of the final motion vector step by step. by changing it from a straight prediction line to a curved one. a trajectory that continues the trend of movement 20 It creates. The remarkable thing about the algorithm is that it only target's tendency to turn based on three pieces of location information being able to extract it and do so with very low calculations It is about being able to carry it into the future at a reasonable cost. Additional thresholds were also included in the model to increase reliability. It has been used. The movement size is 0.2 pixels. No prediction can be made if it is below that. Movement is less than 5 pixels. If the size is small, use a linear estimation instead of a curved model. is being implemented. The estimated position obtained is the orientation and firing of the gun turrets. 30 Integration into its parameters (Lead Aiming principle).  Target type, distance, size, movement via central control unit (6) Calculating the threat score based on the characteristics and threat level. Threat assessment and targeting by prioritizing objectives. prioritization, Each of the 5 detected by sensor fusion and deep learning algorithms Location, speed, orientation, and classification for the target (UAV, armored vehicle, personnel) (etc.) and collecting basic data such as size, The threat score for each target is calculated as follows: “Threat Score = (𝑊 ∗ 𝐹 ∗ 𝐹 ∗ Calculation using the formula "F * F") According to the calculated threat scores, all detected targets are in descending order of 10. being ranked in order, The target with the highest threat score has the highest priority. It should be considered as such.  Assignment of tasks to gun turrets (2) via central control unit (6), ammunition for gun turrets (2) is 15 via the central control unit (6). status, operational status, line of sight and range information taking, o Central control unit (6) through the gun turrets (2) to the target Determining eligibility for engagement,  Checking the ammunition status, 20 There was a predetermined amount of ammunition in that tower. If applicable, approval should be granted. There was a predetermined amount of ammunition in that tower. If not found, no approval will be granted.  Performing an operational status check, 25 There is a malfunction, restriction, or outage in that tower. not being granted approval when this happens, 21 There is a malfunction, restriction, or outage in that tower. Approval is granted when it is not present.  Checking the field of view, The target remained within the tower's line of fire and was in a blind spot. If it is not outside of this, approval will be given, 5 that the target was not within the tower's line of fire and was blind No eligibility will be granted if it is outside the designated area.  Checking for range suitability, When the target is within the turret's firing range approval, 10 When the target is not within the turret's firing range No approval granted. Location and distance of targets via the central control unit (6) and determining the threat level, via the central control unit (6) the gun turrets (2) and targets 15 matching between them, o Central control unit (6) to assign appropriate gun turrets (2) the appointment The weapons assignment decisions are made through the Central Control Unit (6) to be transmitted to the towers (2). 20  Target received from the central control unit (6) via the gun turrets (2). According to the information, ballistic calculations were made and gun turrets (2) were placed on the target. guidance. It is assumed that the vehicle and the target are stationary in the initial stage. Ballistic calculations using the raw formula applicable to the conditions 25 This is done by creating parametric equations. 22 Dynamic target detection, whether the vehicle is stationary or moving, and both elements... parametrically, considering scenarios where it is mobile is being expanded. Image processing while the vehicle is in motion. relative displacement analysis through algorithms This is being done and deviations occurring during this process are detected by the accelerometer 5 on the vehicle. real-time data from accelerometer sensors It is being calibrated. The actual value obtained from the route prediction algorithm. The values ​​wind speed, gravity are included in this parametric formula. the effect (supported by satellite positioning data) and the specific firing of the ammunition Parameters, etc., are combined with this information. This holistic method, 10 Even in complex combat conditions, gun turrets can hit the target most accurately. highly precise guidance and successful engagement It is being developed with the aim of guaranteeing its realization.

Claims

23 REQUESTS 1. It is an unmanned ground vehicle with multiple cooperative weapon turrets, and its features include:  Multiple weapon turrets (2), perimeter surveillance camera (3), structural the part (4) and the movement system (5) are positioned on top of the vehicle body (1), 5  Located on the vehicle body (1) and against environmental threats performing defense or intervention duties and carrying weapons gun turret (2), located  Located on a structure in the rear part of the vehicle body (1) and perimeter surveillance camera (3) which enables continuous monitoring of the environment, 10  Environmental sensors located in the lower and side areas of the vehicle body (1) By ensuring its integration and protection, the vehicle's detection, tracking and structural elements that support and protect environmental analysis tasks. part (4),  On the vehicle body (1) in the mission area of ​​the unmanned ground vehicle 15 The movement system that enables the structure to move with the positioned structure (5),  Located inside the vehicle body (1) and performing analyses to gather target information and ballistic calculation data simultaneously to all gun turrets (2) Transmitting, control unit (6) which provides coordination between gun turrets (2) It includes. 20 2. An unmanned ground vehicle with multiple cooperative weapon turrets, conforming to Claim 1, and characterized by its blind spot capability. reducing the number of affected areas and protecting against environmental threats that may come from different directions. unmanned by placing them in a linear and symmetrical manner to elicit a reaction. 360-degree wide-angle coverage around the ground vehicle. It includes multiple gun turrets (2) which enables its creation. 25 3. It is an unmanned ground vehicle with multiple cooperative weapon turrets, conforming to Claim 1, and its characteristics are: Operating independently of the gun turrets (2) and providing target detection, environmental raising awareness and fulfilling early warning functions It includes a contributing environmental surveillance camera (3). 24 4. Claim 3 is for an unmanned ground vehicle with multiple cooperative weapon turrets, characterized by its depth capability. Optical and thermal sensors, supported by learning algorithms, are real. mast-type high-resolution cameras that detect targets through real-time data processing. with 360° panoramic imaging and LIDAR-based distance mapping using environmental awareness and the movement of identified objects 5 It creates a potential threat score by analyzing the characteristics of threats. preparing the towers before entering the platform's defensive radius environmental monitoring that enables early warning functions It includes a camera (3).

5. An unmanned ground vehicle with multiple cooperative weapon turrets, conforming to Claim 1, and having the following features: 10 perimeter surveillance camera (3) positioned on a structure of the mast type It includes.

6. It is an unmanned ground vehicle with multiple cooperative weapon turrets, in accordance with Claim 1, and its characteristics are: LIDAR involves the integration of environmental sensors, including radar and optical sensors. It includes the structural part (4) that provides 15 7. It is an unmanned ground vehicle with multiple cooperative weapon turrets, in accordance with Claim 1, and its characteristic is; the vehicle wheeled, tracked or hybrid drive located on the body (1) (5) It includes.

8. An unmanned ground vehicle with multiple cooperative weapon turrets, conforming to Claim 7, and having the following features: 20 Modular wheeled and tracked drive systems with electric and internal combustion engines. with a structure that includes hybrid motion solutions consisting of hybrid powertrain systems It contains a locomotor system (5) that enables it to move.

9. Claim 1 is for an unmanned ground vehicle with multiple cooperative weapon turrets, characterized by its micro / mini features. UAVs, Kamikaze Drones, UAV Swarms, Surveillance Balloons - Airborne 25 Threats, Light Armored Vehicles, Armed UGVs, Anti-Tank Missile Systems, Technical Ground threats include vehicles, snipers, RPG launchers, and hand-made weapons. Robotic systems carrying explosives pose environmental asymmetric threats. Against threats: point defense, area defense, convoy protection, suppression. performing defensive or intervention duties involving firearms and having a rating of 30 or higher It includes a gun turret (2) containing weapons.

10. Claim 1 describes an unmanned ground vehicle with multiple cooperative weapon turrets, characterized by the following features: Eliminating blind spots and handling all weather / light conditions through multi-sensor fusion. Detection capability under this condition, Deep Learning-Based Object Tracking uninterrupted monitoring and data continuity tracking while protecting the target's identity (ID). and Dynamic Mapping and Obstacle Detection to track the platform's movement path 5 environmental analysis involves identifying and geographically locating threats. It includes a structural part (4) that is supportive and protective and that supports its functions.

11. This is the operating method and characteristic of a multi-cooperative weapon turret unmanned ground vehicle;  On the structural part (4) with the perimeter surveillance camera (3) 10 types of LIDAR, radar, and optical sensors are positioned. data collection through environmental sensors,  The perimeter surveillance camera (3) is located within the structural part (4) positioned LIDAR, radar, optical sensors and their various types Data obtained from environmental sensors are sent to the central control unit (6) transmission, 15  Through the central control unit (6) and the perimeter surveillance camera (3) Obtained from LIDAR, radar and other sensors on structural part (4) Sensor fusion is achieved by combining the collected data; deep learning algorithms and image processing of fusion data By analyzing using techniques, the targets are identified and 20 classification,  The position, speed, orientation and of the targets are monitored via the central control unit (6). Target motion prediction by analyzing motion characteristics creation,  Target type, distance, size, 25 via central control unit (6) Threat score based on movement characteristics and threat level calculating and prioritizing targets and threats evaluation and prioritization of goals,  Through the central control unit (6), the gun turrets (2) are given tasks appointment, 30 26  Target received from the central control unit (6) via the gun turrets (2). According to the information, ballistic calculations are made and gun turrets (2) It involves the steps involved in directing the process towards the target.

12. Operation of a multi-cooperative weapon turret unmanned ground vehicle in accordance with Claim 11. The method is characterized by; the surrounding surveillance camera (3) and the structural part (4) 5 LIDAR, radar, optical sensors and their various types are positioned on it. The process of collecting data through environmental sensors is mentioned in the step. The data passed through includes images, distance, location, and speed of the targets and the environment. It is about orientation and obstacle detection data.

13. Operation 10 of the unmanned ground vehicle with multiple cooperative weapon turrets in accordance with Claim 11. The method is characterized by: environmental monitoring via the central control unit (6). from the camera (3) and the LIDAR, radar and other sensors on the structural part (4) Sensor fusion is achieved by combining the obtained data; deep learning algorithms and image processing techniques for fusion data Identifying and classifying targets by analyzing them using 15 the process step;  Noise reduction of data received via central control unit (6), Preprocessing with time synchronization and data standardization. to be done,  Pre-processed data is transmitted via the central control unit (6) 20 by combining sensors to create a single integrated environmental data set the realization of fusion,  Image processing and radar / LIDAR based on fused data Identifying potential objects or target candidates by conducting analyses. It includes the steps of the process. 25 14. Operation of a multi-cooperative weapon turret unmanned ground vehicle in accordance with Claim 13. It is a method characterized by its ability to perform image processing on fused data. Potential objects or target candidates are identified by performing radar / LIDAR-based analyses. determination of the process step;  Filtering noise and interference from sensor data, 30 27  Image processing with edge detection, object segmentation, and feature extraction. Determining the boundaries of objects using processing techniques and Extraction of visual features,  Detected using deep learning models and extracted visual features classifying objects according to predefined threat profiles, 5  Instantaneous 3D coordinates of the object using radar / LIDAR sensor data. calculating its speed and direction,  Assigning a unique identifier to each candidate and determining location, speed, orientation, a target that includes detailed information such as classification and reliability score It includes the steps involved in creating profiles. 10 15. Operation of a multi-cooperative weapon turret unmanned ground vehicle in accordance with Claim 11. The method is characterized by the central control unit (6) to the gun turrets (2) task assignment process step;  Ammunition of gun turrets (2) via central control unit (6) Obtaining information on the status, operational status, line of sight and range, 15  The gun turrets (2) target via the central control unit (6) Determining eligibility for engagement,  Location, distance and information about the targets via the central control unit (6) Determining the threat level,  Targets via gun turrets (2) through central control unit (6) 20 matching between them,  The central control unit (6) assigns tasks to the appropriate gun turrets (2). the appointment  Task assignment decisions are made via the central control unit (6) It includes the steps of transmitting the information to the towers (2). 25 16. Operation of a multi-cooperative weapon turret unmanned ground vehicle in accordance with Claim 15. The method is characterized by the gun turrets (2) via the central control unit (6). The process step of determining eligibility for engagement with the target;  Checking the ammunition status, If there is a predetermined amount of ammunition in that tower, then 30 granting approval, 28 If the tower does not contain the predetermined amount of ammunition No approval granted.  Performing an operational status check, When there is a malfunction, restriction or outage in that Tower Failure to grant approval, 5 When there is no malfunction, restriction or outage in that Tower approval.  Checking the field of view, The target remained within the turret's line of fire and outside the blind spot. If not, approval will be given, 10 that the target was not within the turret's line of fire and was outside the blind spot No approval is given when this happens.  Checking for range suitability, The target is deemed suitable when it is within the turret's firing range. The suitability is 15 when the target is not within the turret's firing range. not to be given It includes the steps of the process.

17. Operation of a multi-cooperative weapon turret unmanned ground vehicle in accordance with Claim 11. The method is characterized by the position of the targets via the central control unit (6). Target movement 20 by analyzing speed, orientation and movement characteristics the process step of generating the forecast; Instantaneous position, velocity vector, orientation, and timestamp of the targets. Continuous collection of information from sensors, The velocity vector of the target, its acceleration, and the relationship between successive velocity vectors. Calculation of angular difference, 25 Linear Estimation or Curved Estimation depending on the target's movement. automatic selection of the mode and prediction position creation, The resulting estimated position determines the orientation and firing of the gun turrets. The integration of its parameters includes the process steps. 30 18. Operation of a multi-cooperative weapon turret unmanned ground vehicle in accordance with Claim 17. It is a method characterized by its ability to provide either linear or curved estimation based on the target's movement. 29 Automatic selection of the forecast mode and forecast location. creation process step;  The target is moving at a low speed or with very small angular deviations. In these situations, the current speed is activated by engaging the linear prediction mode. With a simple linear extrapolation along the vector, the next 5 Predicting the location,  The target is maneuvering, meaning there is a significant angular change in its velocity vector. In such cases, the Curved Prediction mode is activated, creating a curved shape. modeling the path, dynamics such as instantaneous turning radius and angular velocity. By updating the parameters, the ammunition's flight time will be 10 at the end. Calculating the possible location of the target - process steps It includes.

19. Operation of a multi-cooperative weapon turret unmanned ground vehicle in accordance with Claim 11. The method is characterized by the target type via the central control unit (6), Threat 15 depending on distance, size, movement characteristics and threat level by calculating the score and prioritizing the targets and threats The process step involves conducting an assessment and prioritizing targets;  Each one detected using sensor fusion and deep learning algorithms basic characteristics of the target such as location, speed, orientation, classification, and size. data collection, 20  A threat score for each target is calculated as follows: “Threat Score = (𝑊 ∗ 𝐹 ∗ 𝐹 ∗ 𝐹 ∗ Calculation using the formula "F").  All detected targets in decreasing order according to calculated threat scores being ranked in order,  The target with the highest threat score should have the highest priority. 25 It is considered as such because it includes the process steps.

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