Method for checking clearance to fire, computer program product and vehicle

Abstract

A method for checking clearance to fire for a weapon system (6) of a vehicle (1A, 1B, 1C, 1D), in particular an armoured vehicle, comprising the following steps: a) acquiring (S1) vehicle sensor data (FSD) with the aid of a number NI of vehicle housing sensors (14) of the vehicle (1A, 1B, 1C, 1D), where NI > 1, b) evaluating (S2) the acquired vehicle sensor data (FSD) with the aid of an evaluation device (15), and c) checking (S3) with a checking device (17) that clearance to fire has been given on the basis of the evaluated vehicle sensor data (FSD).

Description

[0001] RLS24003PWO DPQ24001 WO

[0002] Rheinmetall Landsysteme GmbH

[0003] 1

[0004] METHOD FOR VERIFYING A SHOOTING RELEASE, COMPUTER PROGRAM PRODUCT AND VEHICLE

[0005] The present invention relates to a method for checking a firing authorization for the armament of a vehicle, in particular an armored vehicle, a computer program product for carrying out the method and a vehicle, in particular an armored vehicle, for carrying out the method.

[0006] The barrel or gun barrel of a weapon or vehicle armament is, on the one hand, to be categorized as a vibration-prone mechanical system due to its elongated geometric shape and the flexible mounting of the weapon. On the other hand, when the vehicle is in motion, for example during driving, firing, and / or aiming operations, the gun barrel is subject to oscillating or alternating loads, in particular so-called driving-, firing-, and aiming-induced vibrations. The operation of the vehicle's tracked drive system, in particular, induces such vibrations.

[0007] This combination of the aforementioned vibration-prone system and the aforementioned induction through oscillating and / or alternating loads on the system results in a so-called barrel oscillation, which leads to time-dependent deviations of the muzzle angle of the weapon or the weapon barrel from a reference angle of the weapon, i.e., from an intended alignment of the weapon. This negatively affects the weapon's accuracy and thus its accuracy.

[0008] This problem can be addressed by stiffening the gun barrel to manipulate its susceptibility to shrinkage, by adjusting the natural frequencies of the RLS24003PWO DPQ24001 WO

[0009] Rheinmetall Landsysteme GmbH

[0010] 2

[0011] The barrel's height can be increased, thereby exceeding the expected frequencies of vibration induced by driving, firing, and aiming. Alternatively or additionally, active and / or passive dampers are used for the barrel itself and / or for the barrel's mounting, in order to deliberately dissipate kinetic energy from the system. However, both options are difficult and costly to retrofit to existing vehicles and / or negatively increase the mass and / or complexity of the armament.

[0012] Against this background, one object of the present invention is to provide an improved method for verifying a firing authorization for the armament of a vehicle.

[0013] Accordingly, a method for verifying a firing authorization for the armament of a vehicle, in particular an armored vehicle, is proposed. The method comprises the following steps: a) Acquiring vehicle sensor data using a number of NIs on the vehicle's housing sensors, with NI > 1, b) Evaluating the acquired vehicle sensor data using an evaluation device, and c) Verifying the granting of a firing authorization based on the evaluated vehicle sensor data using a test device.

[0014] By granting authorization to fire based on evaluated vehicle sensor data, it is possible to ensure that authorization is only given when there is a high probability of hitting a target. This increases accuracy.

[0015] Preferably, the vehicle body sensors are permanently installed in the vehicle, in particular within a hull of the vehicle and / or in or on a turret of the vehicle. It is therefore preferred that the vehicle body sensors are not attached to the armament or a gun barrel of the armament itself. RLS24003PWO DPQ24001 WO

[0016] Rheinmetall Landsysteme GmbH

[0017] 3 are attached. The weapon tube can also be referred to as the gun barrel. The vehicle body sensors are preferably already present on an existing vehicle, for example, as part of its standard equipment. This configuration of the vehicle with the armament and the vehicle body sensors is referred to below as the operating mode. The vehicle is preferably in the operating mode during operation or deployment, especially during combat operations.

[0018] The vehicle housing sensors are preferably designed to provide information about speed, acceleration, temperature, and / or other physical, mechanical, or elastodynamic characteristics of the vehicle. The vehicle sensor data can be electrical signals from the vehicle housing sensors and / or represent the respective characteristics themselves. For example, the vehicle sensor data can represent variables containing the values ​​of the aforementioned characteristics.

[0019] In particular, when the vehicle's hull, turret, and / or the weaponry itself moves, the weaponry, especially the gun barrel, is excited by this movement and set into oscillations and / or vibrations, which can be described as driving-, firing-, and aiming-induced vibrations. Steps a) of detection and b) of evaluation enable knowledge of the current and / or future elastodynamic state of the weaponry, especially the gun barrel.

[0020] Here, the elastodynamic state of the weapon, in particular the gun barrel, can describe a current geometric shape of the weapon or the gun barrel. Advantageously, this allows the granting of firing authorization to be made dependent on the elastodynamic state of the weapon or the gun barrel. For example, an RLS24003PWO DPQ24001 WO

[0021] Rheinmetall Landsysteme GmbH

[0022] 4

[0023] Authorization to fire will only be granted if the weapon is in a specific elastodynamic state that is particularly suitable with regard to the weapon's accuracy. This specific elastodynamic state could refer to a point in time at which the weapon exhibits properties, such as a specific geometric shape, that correspond to or at least closely approximate the properties the weapon would have without any induction of the weapon's elastodynamic system due to the vehicle's movement and / or acceleration.

[0024] Alternatively or additionally, time delays in granting firing authorization, so-called lead times, can be calculated, and / or appropriate actuators on the weapon can be used to influence the elastodynamic state of the weapon, particularly the gun barrel, in order to make corrections. Adverse effects on the weapon's accuracy due to the weapon's elastodynamic system, such as induction caused by the vehicle's movement and / or acceleration, can thus be avoided or eliminated. This can increase the vehicle's accuracy as well as the safety of the crew and the vehicle itself.

[0025] In this context, "acquiring" vehicle sensor data means in particular that measurements are carried out using the vehicle housing sensors, preferably from which the above parameters are determined.

[0026] In this context, "evaluation" refers to the processing of the acquired vehicle sensor data. The acquired vehicle sensor data is therefore preferably used to determine at least one further parameter based on it. The evaluation is performed using the RLS24003PWO DPQ24001 WO.

[0027] Rheinmetall Landsysteme GmbH

[0028] 5 Evaluation device, which may be, for example, a computer, a computer program product and / or a control unit.

[0029] In this context, "testing" means that, based on the evaluated vehicle sensor data and using the test device, a decision is made as to whether or not to grant permission to fire. The decision to grant permission to fire can be based, in particular, on at least one additional parameter determined using the evaluation device.

[0030] "Granting permission to fire" primarily means that firing the weapon is permitted or possible. As a result of granting permission to fire, the weapon can then be fired. Preferably, the weapon is fired when, for example, a firing order is issued by the vehicle's crew and permission to fire is granted in step c) of the check. Optionally, however, it can also be provided that the decision made by the check device regarding the granting of permission to fire can be overridden, for example, at the crew's instruction. This can occur, for instance, if permission to fire is not granted for an excessively long period. This further increases the safety of the vehicle and / or the crew.

[0031] According to one embodiment, the evaluation includes determining the muzzle angle of the weapon. In this process, the check for granting firing authorization preferably grants authorization if the muzzle angle lies within a predetermined coincidence window.

[0032] The muzzle angle is the further parameter determined using the evaluation device. The muzzle angle describes, at a specific time, the direction in which a projectile (RLS24003PWO DPQ24001 WO) travels.

[0033] Rheinmetall Landsysteme GmbH

[0034] 6. The muzzle angle describes the direction in which a projectile would fly when leaving the weapon, particularly the gun barrel, at the moment of its exit. With respect to the ballistic trajectory of the fired projectile, the muzzle angle therefore corresponds to the direction of the trajectory at its inception. The muzzle angle is not constant over time, but changes with time. The muzzle angle can depend, in particular, on the geometric shape of the weapon and thus on its elastodynamic behavior. Vibrations induced by driving, firing, and aiming operations lead to a change in the muzzle angle over time. If, at the moment of firing, the muzzle angle deviates from the intended orientation of the weapon, the so-called reference angle, then the projectile's trajectory will also deviate from the intended ballistic trajectory. This reduces accuracy.When checking for authorization to fire, it is verified whether the muzzle angle is within the specified coincidence window at any given time and / or continuously. The coincidence window, also known as the tolerance window, represents the range of acceptable deviation of the muzzle angle from the reference angle. Optionally, the coincidence window can be variable and adjusted, for example, by the crew, depending on the vehicle's speed and / or the vehicle's situation, such as the presence of a threat. It is also optional to delay the authorization to fire, for example, after the firing order has been issued, until the muzzle angle is within the coincidence window.This advantageously allows for a simple verification and assurance that the weapon's accuracy remains within an acceptable tolerance. This prevents shots with excessive deviation and, for example, avoids accidentally hitting unintended targets. RLS24003PWO DPQ24001 WO.

[0035] Rheinmetall Landsysteme GmbH

[0036] 7

[0037] According to a further embodiment, the evaluation includes a temporal prediction of the muzzle angle. In this case, the check for granting firing authorization preferably grants authorization if the muzzle angle will lie within the coincidence window within a predetermined prediction time interval.

[0038] Temporal prediction refers to a forecast of a specific time. The evaluation therefore involves predicting the muzzle angle at a particular point in the future. This future point in time can be defined using a predetermined prediction time interval. For example, the prediction time interval could correspond to the time between the firing order being issued and the moment the projectile leaves the weapon, specifically the barrel. This prediction time interval could be a few thousandths, hundredths, or tenths of a second. Regardless of the current muzzle angle, this allows the firing order to be given even if the muzzle angle will only fall within the coincidence window at the point in the future when the projectile leaves the weapon, specifically the barrel.This advantageously allows the firing authorization to be granted without reducing accuracy over longer and / or more frequent periods. Furthermore, the firing authorization can be granted more quickly following the activation of the firing command. This improves the operational readiness of the weaponry and the safety of the crew.

[0039] According to a further embodiment, the evaluation comprises a mathematical-physical approximation of weapon sensor data based on the acquired vehicle sensor data, wherein the weapon sensor data preferably represent an elastometric behavior of the weapon. RLS24003PWO DPQ24001 WO

[0040] Rheinmetall Landsysteme GmbH

[0041] 8. In particular, the elastodynamic behavior of the weapon barrel is depicted. The weapon sensor data describe the elastodynamic behavior of the weapon, especially the weapon barrel, for example, its geometric shape, bending, elongation, vibration, and / or acceleration, which significantly influence the muzzle angle. The present list is not exhaustive and should be understood as merely exemplary. The evaluation involves an estimation or approximation of the weapon sensor data based on the acquired vehicle sensor data. Consequently, a correlation between the vehicle sensor data and the weapon sensor data is used, with the help of which the weapon sensor data can be determined or approximated solely on the basis of the vehicle sensor data. The approximation of the weapon sensor data can thus also be described as a mapping of the weapon sensor data.Using approximated weapon sensor data, the elastodynamic behavior of the weapon, particularly the gun barrel, can be described more precisely and estimated based on the acquired vehicle sensor data. Advantageously, this allows the elastodynamic behavior of the weapon to be determined without the need for additional sensor technology, such as that mounted on the weapon itself. This allows the muzzle angle to be advantageously determined solely based on the vehicle sensor data. Alternatively, it may also be possible to provide the weapon sensor data in advance, for example, before a journey in the vehicle, and to carry it within the vehicle.

[0042] According to a further embodiment, the evaluation comprises reconstructing an operating vibration mode of the armament and / or the muzzle angle of the armament based on approximating the weapon sensor data, wherein the reconstruction is preferably based on analytical and / or numerical methods for solving motion differential equations relating to the armament. RLS24003PWO DPQ24001 WO

[0043] Rheinmetall Landsysteme GmbH

[0044] 9

[0045] The operating mode of the weapon, particularly the gun barrel, describes the temporal change in the weapon's geometric shape. For example, the operating mode can express which of a plurality of eigenmodes the weapon is currently oscillating, vibrating, or otherwise moving in. Reconstructing the operating mode thus enables the determination of the weapon's current and / or future geometric shape based on weapon sensor data. By understanding the approximation of the weapon sensor data, the operating mode of the weapon, particularly the gun barrel, can be reconstructed without having to measure the actual geometric shape of the weapon, for example, using optical sensors or strain gauges.The muzzle angle can be directly derived from the operating vibration mode as the geometric orientation of the end of the weapon, particularly the barrel, from which the projectile will exit. Reconstructing the muzzle angle involves determining the prevailing muzzle angle at a given time and / or predicting the muzzle angle over time, i.e., determining the weapon's orientation in the future. For example, the muzzle angle can be determined at a future time that lies within a predetermined prediction time interval. Precise knowledge of the current and / or future geometric shape of the weapon and / or the muzzle angle enables particularly precise verification before granting firing authorization.

[0046] According to another embodiment, a trained imaging model is used to approximate the weapon sensor data, wherein the imaging model is preferably a deep neural network, a transfer function, a Kalman filter, and / or an analytical and / or numerical method for solving equations of motion. RLS24003PWO DPQ24001 WO

[0047] Rheinmetall Landsysteme GmbH

[0048] 10

[0049] The vehicle sensor data is provided as input to the mapping model, which it uses to approximate the weapon sensor data. The mapping model thus represents or establishes the relationship between the vehicle sensor data and the weapon sensor data. Using the mapping model enables a particularly fast approximation of the weapon sensor data. For example, the use of the mapping model can be limited to performing one or more matrix multiplications.

[0050] According to a further embodiment, the method also includes training the imaging model with training data. The training data is preferably acquired during driving tests and comprises training weapon sensor data and / or training vehicle sensor data. The training weapon sensor data is particularly preferably acquired using a number N2 of weapon sensors, with N2 > 1, and the training vehicle sensor data is acquired using the vehicle body sensors.

[0051] The driving tests can be carried out, for example, before the vehicle is manufactured or sold and / or only before it is put into service. It is also conceivable that the driving tests are carried out periodically and / or when changing conditions occur, such as a change in ambient temperature, a change in the ground material on which the vehicle is driving, after a replacement or repair of the armament, or the like. During the driving tests, the training data used to train the imaging model is recorded. For the driving tests, the vehicle is switched from operating mode to a driving test mode. In this mode, the weapon sensors are attached to the armament. Preferably, the weapon sensors are attached to the armament only during the driving tests. The weapon sensors are preferably configured to RLS24003PWO DPQ24001 WO

[0052] Rheinmetall Landsysteme GmbH

[0053] 11. To measure the elastodynamic behavior of the weapon. The data acquired during the driving tests using the vehicle body sensors are referred to as training vehicle sensor data, while the data acquired using the weapon sensors are referred to as training weapon sensor data. The training weapon sensor data and the training vehicle sensor data together constitute the training data. Advantageously, this trains the model, which approximates the weapon sensor data in the vehicle's operating mode, with the training weapon sensor data actually acquired during the driving test mode. The training is carried out in such a way that the weapon sensor data approximated by the model correspond to the training weapon sensor data at least up to a certain predetermined extent.Advantageously, the elastodynamic behavior of the armament, in particular the gun barrel, can be determined using the appropriately trained imaging model, even in the operating mode, i.e., even without the presence of the weapon sensors.

[0054] According to another embodiment, the weapon sensors are attached to the weaponry for the purpose of carrying out the driving tests and are removed from the weaponry again after the driving tests have been carried out.

[0055] The vehicle is therefore switched from operational mode to test mode before the driving tests are conducted and switched back from test mode to operational mode after the tests are completed. This advantageously allows high-quality and high-precision weapon sensors to be mounted on the armament for the test drives, even if these sensors are unsuitable for use in operational mode due to their number, size, measurement accuracy, and / or complexity. By removing the weapon sensors from the armament after the test drives, the vehicle's operational capability is ensured, for example, by reducing its weight and / or the RLS24003PWO DPQ24001 WO

[0056] Rheinmetall Landsysteme GmbH

[0057] 12. The complexity of the weapon sensors is not adversely affected. Additionally, this allows the imaging model to be trained with particularly high precision.

[0058] According to a further embodiment, the weapon sensors comprise a number N3 of spatially separated groups of weapon sensors, each with a number N4 of group sensors, where N3 > 2 and N4 > 1. The mapping model preferably comprises N3 group mapping models. Particularly preferably, each of the N3 group mapping models includes a mathematical-physical approximation of sensor data from the N4 group sensors of a first of the N3 groups of weapon sensors, based on the acquired vehicle sensor data and / or based on sensor data from the N4 group sensors of a second of the N3 groups of weapon sensors.

[0059] Each of the N3 group mapping models approximates only the data from one of the N3 groups of weapon sensors. The N3 group mapping models can be connected "in series," meaning they approximate the data of their respective N3 groups of weapon sensors based on the data of another N3 group of weapon sensors. Alternatively, the N3 group mapping models can be connected "in a star configuration," meaning they approximate the data of their respective N3 groups of weapon sensors based on the vehicle sensor data. Optionally, the system can be configured to switch between these two configurations, for example, by the crew, to respond to a failure of one of the weapon sensors and / or one of the N3 groups of weapon sensors. Using the N3 groups of weapon sensors advantageously reduces the complexity of each individual N3 group mapping model.This allows for simpler, faster, and / or more precise training of the N3 group mapping models. The star-shaped connection of the N3 RLS24003PWO DPQ24001 WO.

[0060] Rheinmetall Landsysteme GmbH

[0061] 13

[0062] Group mapping models additionally allow for self-regulation of the resulting mapping model.

[0063] According to a further embodiment, the weapon sensors comprise exactly two spatially separated groups of weapon sensors, each with N4 group sensors. Here, a first group of weapon sensors preferably comprises at least one weapon storage sensor, which is arranged on a weapon storage mount of the weapon. Furthermore, a second group of weapon sensors preferably comprises at least one weapon barrel sensor, which is arranged on a weapon barrel of the weapon.The representation model particularly preferably includes a weapon storage model and a weapon tube model, wherein the weapon storage model includes a mathematical-physical approximation of weapon storage data of the at least one weapon storage sensor of the first group of weapon sensors based on the acquired vehicle sensor data, and wherein the weapon tube model includes a mathematical-physical approximation of weapon tube data of the at least one weapon tube sensor of the second group of weapon sensors based on the weapon storage data.

[0064] The weapon mount can also be referred to as a weapon cradle. The elastodynamic behavior of the armament, particularly the gun barrel, is largely determined by the weapon mount, i.e., the connection of the armament to the vehicle's turret, as well as the design of the gun barrel. Dividing the weapon sensors into exactly two geographically separate groups, one group located on the weapon mount and the other on the gun barrel, advantageously ensures that the weapon sensor data is acquired at and / or relates to those points on the armament where the elastodynamic behavior of the armament, particularly the gun barrel, is most strongly influenced or shaped. (See advantageous RLS24003PWO DPQ24001 WO)

[0065] Rheinmetall Landsysteme GmbH

[0066] 14

[0067] This allows for a particularly precise and economical approximation of the elastodynamic behavior of the armament.

[0068] According to another embodiment, the vehicle body sensors and / or the weapon sensors include a folding ruler, an accelerometer, a GPS receiver, a tachometer, an optical camera, an infrared sensor, a load cell, an incremental encoder, a strain gauge, a temperature sensor, a pressure sensor, an angle finder, an inclinometer and / or a Hall sensor.

[0069] This list is not exhaustive and should be understood as merely an example. The weapon sensors can incorporate any sensor suitable for recording the elastodynamic behavior of the weapon, particularly the gun barrel.

[0070] According to another embodiment, the procedure is carried out periodically at predetermined repetition intervals.

[0071] For example, the procedure can be carried out periodically according to the specified repetition time intervals until a firing authorization is given or the order to fire is revoked.

[0072] Furthermore, a computer program product is proposed which includes instructions that, when the program is executed by a computer, cause it to perform the procedure described above.

[0073] A computer program product, such as a computer program tool, can be provided as a storage medium, such as a memory card, a USB stick, a CD-ROM, a DVD, or in the form of a downloadable file from a server in a network, or RLS24003PWO DPQ24001 WO

[0074] Rheinmetall Landsysteme GmbH

[0075] 15. This can be done, for example, in a wireless communication network by transmitting a corresponding file with the computer program product or the computer program tool.

[0076] Furthermore, a vehicle, in particular an armored vehicle, is proposed, equipped with armament, a number of vehicle housing sensors for capturing vehicle sensor data of the vehicle, with NI > 1, an evaluation device for evaluating the captured vehicle sensor data and a test device for checking for the granting of a firing release for the armament based on the evaluated vehicle sensor data.

[0077] The vehicle is preferably an armored vehicle. The vehicle may be a tracked vehicle. Therefore, the vehicle may also be referred to as a tracked vehicle. The vehicle is particularly preferably a main battle tank. The vehicle preferably comprises a hull as described above, on which a rotatably mounted turret is provided. The armament may also be referred to as a weapon. The armament is preferably a smoothbore gun.

[0078] According to one embodiment, the evaluation device is configured to determine the muzzle angle of the weapon. The testing device is preferably configured to grant permission to fire if the muzzle angle lies within a predetermined coincidence window.

[0079] Preferably, in addition to or as an alternative to the vehicle housing sensors, an optical measuring system can be attached to the weapon, which can detect the weapon's current orientation based on its current geometric shape. The optical measuring system can also be referred to as a sight system. The optical measuring system can, for example, consist of a light-emitting diode (LED) at one end of the weapon and a camera and / or an infrared sensor at an end opposite the first end.

[0080] Rheinmetall Landsysteme GmbH

[0081] The second end of the armament is arranged in 16 positions. The optical measuring system allows for additional verification of the armament's current orientation, thereby further improving the vehicle's accuracy. However, the optical measuring system can also be used as an alternative or backup system for acquiring and evaluating vehicle sensor data.

[0082] The embodiments and features described for the proposed method apply accordingly to the computer program product and the proposed vehicle, and vice versa.

[0083] The term "one" here should not necessarily be understood as restricting the number to exactly one element. Rather, it can also refer to multiple elements, such as two, three, or more. Similarly, every other counter used here should not be interpreted as restricting the number to the exact number stated. Instead, numerical deviations, both higher and lower, are possible unless otherwise specified.

[0084] Other possible implementations of the method, the computer program product, and / or the vehicle also include combinations of features or embodiments described previously or subsequently with regard to the exemplary embodiments, even if not explicitly mentioned. In doing so, the person skilled in the art will also add individual aspects as improvements or additions to the respective basic form of the method, the computer program product, and / or the vehicle.

[0085] Further advantageous embodiments and aspects of the method, the computer program product, and / or the vehicle are the subject of the sub-claims and the exemplary embodiments of the method, the computer program product, and / or the vehicle described below. Hereinafter RLS24003PWO DPQ24001 WO

[0086] Rheinmetall Landsysteme GmbH

[0087] 17. The method, the computer program product and / or the vehicle are explained in more detail with reference to preferred embodiments and the accompanying figures.

[0088] Fig. 1 shows a schematic side view of an embodiment of a vehicle!

[0089] Fig. 2 shows another schematic side view of the vehicle according to Fig. i;

[0090] Fig. 3 shows a schematic block diagram of an embodiment of a method for checking a firing release for an armament of the vehicle according to Fig. 1;

[0091] Fig. 4 shows a schematic representation of a temporal progression of a muzzle angle of the vehicle's armament according to Fig. 1;

[0092] Fig. 5 shows a schematic representation of a further temporal progression of the muzzle angle of the vehicle's armament according to Fig. 1;

[0093] Fig. 6 shows a schematic representation of a further temporal progression of the muzzle angle of the vehicle's armament according to Fig. 1;

[0094] Fig. 7 shows a schematic diagram of a time course of the mouth angle according to Fig. 6;

[0095] Fig. 8 shows a schematic side view of another embodiment of a vehicle; RLS24003PWO DPQ24001 WO

[0096] Rheinmetall Landsysteme GmbH

[0097] 18

[0098] Fig. 9 shows a schematic signal flow diagram for training the vehicle according to Fig. 8;

[0099] Fig. 10 shows a schematic side view of another embodiment of a vehicle!

[0100] Fig. 11 shows a schematic side view of another embodiment of a vehicle! and

[0101] Fig. 12 shows a schematic view of two embodiments of an operating oscillation mode of the vehicle's armament according to Fig. 1.

[0102] In the figures, identical or functionally equivalent elements have been given the same reference symbols, unless otherwise indicated.

[0103] Fig. 1 shows a schematic side view of an embodiment of a vehicle 1A.

[0104] Vehicle 1A is a military armored vehicle. It is a highly protected armored vehicle, meaning it has armor plating. Specifically, Vehicle 1A can be a main battle tank. However, it can also be an infantry fighting vehicle, a recovery vehicle, or something similar. Vehicle 1A is armed and a tracked vehicle.

[0105] Vehicle 1A is assigned a coordinate system with a first spatial direction, longitudinal direction or x-direction x, a second spatial direction, transverse direction or y-direction y, and a third spatial direction, vertical direction or z-direction z. The directions x, y, z are oriented perpendicular to each other. RLS24003PWO DPQ24001 WO

[0106] Rheinmetall Landsysteme GmbH

[0107] 19

[0108] A gravitational direction g can be oriented essentially opposite to the z-direction z.

[0109] Vehicle 1A comprises a protected hull 2, which accommodates the crew of Vehicle 1A. The hull 2 ​​is protected against gunfire, booby traps, improvised explosive devices (IEDs), mines, or similar hazards. The hull 2 ​​encloses an interior compartment 3 where the crew can be located. The interior compartment 3 of the hull 2 ​​can be entered and exited from the surrounding area 4 of Vehicle 1A via hatches or doors.

[0110] Vehicle 1A can have a turret 5. The turret 5 can also enclose part of the interior 3. Thus, the interior 3 can also be located, at least partially, outside the vehicle hull 2, namely within the turret 5. The turret 5 is rotatably mounted on the vehicle hull 2. The turret 5 can include an electric or hydraulic drive to rotate it. However, the turret 5 can also be operated manually if the drive fails.

[0111] Vehicle 1A has a weapon or armament 6. The armament 6 can be a smoothbore gun. The armament 6 can be the primary or main armament of Vehicle 1A. For example, the armament 6 can have a caliber of 130 mm. A secondary armament, for example in the form of a machine gun, may also be provided. The armament 6 can be mounted on the turret 5.

[0112] Vehicle 1A further comprises a tracked undercarriage 7, by means of which vehicle 1A can move on a surface 8 in a direction of travel 9. However, this does not preclude vehicle 1A from, for example, in RLS24003PWO DPQ24001 WO

[0113] Rheinmetall Landsysteme GmbH

[0114] 20 can move in reverse, even in the opposite direction to the direction of travel 9. In the orientation of Fig. 1, the direction of travel 9 is oriented along the x-direction x.

[0115] The track assembly 7 comprises a circulating chain 10, which is driven by a drive roller 11. The drive roller 11 is located at the rear. In the orientation shown in Fig. 1, the chain 10 rotates clockwise when the vehicle 1A is moving in the direction of travel 9. The chain 10 can have a plurality of interconnected chain links that are movably connected to one another. The chain links are made of a metallic material, such as steel. However, the chain 10 can also be a rubber track or have rubber elements.

[0116] The drive roller 11 is operatively connected to a drive system of the vehicle 1A. The drive system can, for example, comprise an internal combustion engine, in particular a diesel engine, and a transmission. Furthermore, the track assembly 7 comprises a plurality of track rollers 12, of which only one is designated with a reference numeral in Fig. 1. For example, seven such track rollers 12 are provided on each side of the vehicle 1A. However, the number of track rollers 12 is, in principle, arbitrary. The track assembly 7 also includes a deflection roller 13. The deflection roller 13 is located at the front. Conversely, the drive roller 11 can also be located at the front and the deflection roller 13 at the rear.

[0117] The track assembly 7 preferably comprises two tracks 10 arranged on both sides of the vehicle 1A when viewed along the direction of travel 9. Accordingly, the track assembly 7 also comprises a pair of drive rollers 11 arranged on both sides of the vehicle 1A, any number of track rollers 12 also arranged on both sides of the vehicle 1A, and a pair of deflection rollers 13. RLS24003PWO DPQ24001 WO

[0118] Rheinmetall Landsysteme GmbH

[0119] 21

[0120] In Fig. 1, vehicle 1A is in operating mode BM. Operating mode BM will be explained in more detail below.

[0121] Figure 2 shows another schematic side view of vehicle 1A. Figure 3 shows a schematic block diagram of an embodiment of a method for checking a firing release for the armament 6 of vehicle 1A. Figures 2 and 3 will be discussed together below.

[0122] Vehicle 1A is in operating mode BM. Figure 2 schematically shows components within the vehicle body 2. Within the vehicle body 2, a number NI of vehicle housing sensors 14 are arranged, with NI > 1. For example, NI can be 1, 2, 5, or 10. The vehicle housing sensors 14 can include a folding ruler, an accelerometer, a GPS receiver, a tachometer, an optical camera, an infrared sensor, a load cell, an incremental encoder, a strain gauge, a temperature sensor, a pressure sensor, an angle sensor, an inclinometer, and / or a Hall sensor.

[0123] In a first step S1 of the proposed method according to Fig. 3, vehicle sensor data (FSD) are acquired using the vehicle housing sensors 14. In a second step S2, the acquired vehicle sensor data (FSD) are evaluated using an evaluation device 15. The evaluation device 15 has a mapping model 16, which, in a substep S2.1, is used to approximate weapon sensor data (WSD) based on the acquired vehicle sensor data (FSD).

[0124] The mapping model 16 is a deep neural network, a transfer function, a Kalman filter, and / or an analytical and / or numerical method for solving equations of motion. The RLS24003PWO DPQ24001 WO

[0125] Rheinmetall Landsysteme GmbH

[0126] 22 Weapon sensor data (WSD) depict the elastodynamic behavior of the armament 6, in particular a gun barrel of the armament 6, describing, for example, bending, acceleration, vibration and / or oscillation of the armament 6. In contrast, the vehicle sensor data (FSD) depict the movement of the vehicle 1A, describing, for example, speed, acceleration, tilt angle, turret rotation speed, outside temperature and / or vibrations of the vehicle 1A.

[0127] Both the vehicle sensor data (FSD) and the weapon sensor data (WSD) are time-resolved data and / or parameters. Although the weapon sensor data (WSD) depict the elastodynamic behavior of the weapon 6, the weapon sensor data (WSD) are not measured in operating mode BM. Instead, the weapon sensor data (WSD) are approximated—that is, estimated or modeled—using the evaluation device 15 solely based on the vehicle sensor data (FSD). In other words, the weapon sensor data (WSD) are simulated. Therefore, in operating mode BM, dedicated sensors for acquiring the weapon sensor data (WSD) are not required.

[0128] In a further substep S2.2, an operating oscillation mode BSF (Fig. 12) of the armament 6 is reconstructed based on the approximated weapon sensor data WSD. The operating oscillation mode BSF represents a time-resolved description of a geometric shape of the armament 6. The operating oscillation mode BSF thus provides information about the geometric shape that the armament 6 has or will have at a specific current and / or future time.

[0129] Based on the operating oscillation mode BSF, a present and / or future muzzle angle MW can be determined. The muzzle angle MW describes the direction in which a fired projectile would fly, given the current armament 6 RLS24003PWO DPQ24001 WO

[0130] Rheinmetall Landsysteme GmbH

[0131] 23 exits. Here, the future muzzle angle MW can be determined, for example, for a future time point that lies a predetermined prediction time interval PZ (Fig. 7) in the future. The reconstruction of the operating mode BSF and / or the muzzle angle MW in substep S2.2 is carried out on the basis of an analytical and / or numerical method for solving motion differential equations (not shown) of the armament 6.

[0132] In a further step S3, the reconstructed muzzle angle MW is transmitted to a test device 17, and a decision is made with the aid of the test device 17 as to whether or not a firing authorization is granted for the armament 6. The testing in step S3 is based on the determined muzzle angle MW and is discussed further in detail with reference to Figures 4 to 7.

[0133] Vehicle 1A also includes a computer program product 18, which controls or executes the proposed procedure. For example, the procedure steps described above can be carried out periodically at predetermined repetition intervals. In particular, the vehicle housing sensors 14, the evaluation device 15, and the test device 17 are controlled.

[0134] Before operating vehicle 1A and carrying out the steps S1 to S3 described above, the imaging model 16 is trained in an initial step SO. This step SO is explained in detail below with reference to Figures 8 to 10.

[0135] Figure 4 shows a schematic representation of the temporal evolution of the mouth angle MW. RLS24003PWO DPQ24001 WO

[0136] Rheinmetall Landsysteme GmbH

[0137] 24

[0138] When vehicle 1A is operated in operating mode BM, the armament 6 is subjected to fluctuating or alternating loads. Additionally, the armament 6 can be considered a flexible and elastodynamic system. The combination of these two effects results in the armament 6 exhibiting elastodynamic behavior, causing the muzzle angle MW to change over time. Consequently, the direction in which a projectile is fired is subject to a time-resolved fluctuation. This is also referred to as driving-, firing-, and aiming-induced vibration.

[0139] Figure 4 shows an exemplary time course 19A of the muzzle angle MW (solid line with arrowheads). The end of the time course 19A describes the muzzle angle MW at a present time. The time course 19A of the muzzle angle MW describes a movement of one end of the armament 6, which lies within a plane oriented parallel to the y-axis y and parallel to the z-axis z.

[0140] In Fig. 4, the time course 19A describes the shape of a figure eight, which is to be understood here as merely an example. The time course 19A of the muzzle angle MW can have any shape. Reference numeral 20 in Fig. 4 schematically denotes, using a cross-section of the armament 6, an orientation of the armament 6 in a resting state. This orientation is subsequently referred to as the reference angle 20. Without the influence of vibrations induced by driving, firing, and aiming operations, the reference angle 20 therefore corresponds to the muzzle angle MW.

[0141] Reference numeral 21 designates a coincidence window. The coincidence window 21 corresponds to an acceptable degree of deviation of the muzzle angle MW from the reference angle 20. During step S3 (Fig. 3) of the test, the test device 17 (Fig. 2) grants the firing release of the armament 6 if RLS24003PWO DPQ24001 WO

[0142] Rheinmetall Landsysteme GmbH

[0143] 25 the mouth angle MW is currently or permanently within the coincidence window 21.

[0144] If, on the other hand, the muzzle angle MW is currently or permanently outside the coincidence window 21, then the firing authorization is not granted. This ensures that the weapon 6 is used exclusively to hit a desired target (not shown) with high accuracy. In the scenario schematically depicted in Fig. 4, the muzzle angle MW is currently, particularly at the end of the time sequence 19A, outside the coincidence window 21. The test device 17 would therefore not grant the firing authorization.

[0145] Fig. 5 shows a schematic representation of a further temporal progression 19B of the mouth angle MW.

[0146] The preceding statements regarding Fig. 4 apply analogously to Fig. 5. In contrast to the scenario depicted in Fig. 4, the temporal elastodynamic fluctuation of the muzzle angle MW is significantly less pronounced in the scenario depicted in Fig. 5. The temporal profile 19B of the muzzle angle MW now lies within the coincidence window 21. Consequently, the test device 17 will grant permission to fire.

[0147] Figure 6 shows a schematic representation of a further time course 19C of the mouth angle MW. Figure 7 shows a schematic diagram of the time course 19C of the mouth angle MW according to Figure 6. Figures 6 and 7 will be discussed together below.

[0148] The preceding statements regarding Figures 4 and 5 apply analogously to Figure 6. Just as in the scenario depicted in Figure 4, in the scenario depicted in Figure 6 the muzzle angle MW is strongly RLS24003PWO DPQ24001 WO

[0149] Rheinmetall Landsysteme GmbH

[0150] 26. Subject to pronounced elastodynamic fluctuations. The time course 19C of the mouth angle MW is at least temporarily outside the coincidence window 21.

[0151] In substep S2.2 of the reconstruction process, the test device 17 determines predictions Pl, P2, i.e., temporal predictions of a future value of the muzzle angle MW, based on the temporal progression 19C of the muzzle angle MW. Here, the test device 17 considers a future point in time that lies a prediction time interval PZ in the future. The prediction time interval PZ can correspond to the time span that elapses between the triggering of a firing command by the crew and the actual release of the projectile from the armament 6. Thus, if the firing command is given at a specific time, the time shifted into the future by the prediction time interval PZ corresponds to the time of the projectile's release from the armament 6.

[0152] As an example, Fig. 6 shows a muzzle angle MW_tl at a first time tl on the time course 19C. Determining the prediction PI at time tl, i.e., predicting the future muzzle angle MW_tl shifted into the future by the prediction time interval PZ, reveals that this angle will lie outside the coincidence window 21. Consequently, the test device 17 will not release the firing signal at time tl.

[0153] As an example, a muzzle angle MW_t2 is shown for a second time t2, along with the corresponding prediction P2 of the muzzle angle MW. The prediction P2 indicates that the muzzle angle MW, starting from time t2, will be within the coincidence window 21 after the prediction time interval PZ has elapsed. The projectile of a shot triggered at time t2 will be RLS24003PWO DPQ24001 WO

[0154] Rheinmetall Landsysteme GmbH

[0155] 27 Consequently, the weapon 6 leaves the muzzle at a muzzle angle MW which lies within the coincidence window 21. The accuracy for this shot is correspondingly high. As a result, the test device 17 will authorize firing at time t2. In this way, the test device 17 can ensure that high accuracy can be maintained even with a highly variable time course 19C of the muzzle angle MW.

[0156] Figure 7 shows a two-axis diagram, with a timeline over time t on the horizontal axis and the elastodynamically changing mouth angle MW on the vertical axis. The prediction P2 at time t2 is shown as a dashed arrow. Determining the prediction P2 at time t2 shows that the mouth angle MW will be below a tolerance threshold of the coincidence window 21 (horizontal dashed line) after the prediction time interval PZ has elapsed.

[0157] Figure 8 shows a schematic side view of another embodiment of a vehicle 1B. Figure 9 shows a schematic signal flow diagram for training the vehicle 1B. Figures 8 and 9 will be discussed together below.

[0158] Figures 8 and 9 are specifically related to the aforementioned initial step SO of the training process. Vehicle 1B is not in operating mode BM, but in a test driving mode FW. The statements regarding vehicle 1A apply analogously to vehicle 1B. In particular, vehicles 1A and 1B are at least approximately identical in construction. Specifically, vehicle 1A can be converted or retrofitted to become vehicle 1B and vice versa. RLS24003PWO DPQ24001 WO

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[0160] 28

[0161] Vehicle 1B, unlike vehicle 1A, is equipped for conducting driving tests. In contrast to vehicle 1A, vehicle 1B has a number N2 of weapon sensors 22, where N2 > 1. The weapon sensors 22 are mounted on the armament 6. However, this mounting is only temporary. Before the driving tests, the weapon sensors 22 are mounted on the armament 6, and after the tests, they are removed.

[0162] Without the weapon sensors 22, vehicle 1B in the FM test mode is equivalent to vehicle 1A in the BM operating mode. Vehicle 1B can therefore be converted into vehicle 1A and vice versa, as mentioned previously. The FM test mode can also be referred to as the training mode.

[0163] The weapon sensors 22 acquire training weapon sensor data (TWSD) and transmit it to the evaluation device 15. The training weapon sensor data (TWSD) represents the elastodynamic behavior of the weapon 6, which is based in particular on a mechanical excitation A of the weapon 6 by the vehicle 1B. Simultaneously, the vehicle housing sensors 14 acquire training vehicle sensor data (TFSD) and transmit it to the evaluation device 15. The training vehicle sensor data (TFSD) and the training weapon sensor data (TWSD) together constitute training data (not shown) with which the imaging model 16 is trained.

[0164] The imaging model 16 is trained to precisely approximate the muzzle angle MW. Figure 9 shows a signal waveform during step SO of the training, i.e., while vehicle 1B is in the test driving mode FM, which is discussed below. Based on the training vehicle sensor data TFSD RLS24003PWO DPQ24001 WO, the imaging model 16 determines

[0165] Rheinmetall Landsysteme GmbH

[0166] 29 and the training weapon sensor data TWSD, a model prediction V of the weapon sensor data WSD is calculated. From this, an error difference F is determined as the difference between the weapon sensor data WSD acquired using the weapon sensors 22 and the model prediction V. The error difference F is transmitted to the imaging model 16 to determine an improved model prediction V in a further iterative step. The training step SO can be terminated as soon as the error difference F has converged sufficiently towards zero.

[0167] Figure 9 additionally shows a signal waveform which is assigned to the BM operating mode. In this mode, the vehicle sensor data FSD acquired using the vehicle housing sensors 14 are transmitted to the evaluation device 15 and a precise model prediction V is made using the trained imaging model 16, which approximates the weapon sensor data WSD.

[0168] Fig. 10 shows a schematic side view of another embodiment of a vehicle 1C.

[0169] Vehicle 1C is in the aforementioned FM driving test mode. The preceding statements regarding vehicle 1B apply analogously to vehicle 1C. However, unlike vehicle 1B, the weapon sensors 23, 24 of vehicle 1C are divided into two geographically separate groups. This division into two geographically separate groups is merely an example. The weapon sensors 23, 24 can be divided into any number of groups. The preceding statements concerning the weapon sensors 22 are applicable to the weapon sensors 23, 24, and vice versa. In this sense, the statements concerning Fig. 9 are also applicable to Fig. 10. RLS24003PWO DPQ24001 WO

[0170] Rheinmetall Landsysteme GmbH

[0171] 30

[0172] A first group of weapon sensors 23 is arranged on a weapon mount 25 of the armament 6. The weapon mount 25 can also be referred to as a weapon cradle and provides a mechanical connection between the armament 6 and the turret 5. A second group of weapon sensors 24 is arranged on a gun barrel or gun tube 26 of the armament 6. Both the weapon sensors 23 and the weapon sensors 24 each have at least one group sensor 27, 28, which is suitable for mapping the elastodynamic behavior of the armament 6.

[0173] The at least one group sensor 27 of the weapon sensors 23 can also be referred to as a weapon storage sensor. Group sensor 27 is configured to transmit weapon storage data (WLD) to the evaluation device 15. The at least one group sensor 28 of the weapon sensors 24 can also be referred to as a weapon barrel sensor. Group sensor 28 is configured to transmit weapon barrel data (WRD) to the evaluation device 15.

[0174] The model shown in Figure 16 includes a weapon storage model 29 and a weapon barrel model 30. The weapon storage model 29 is trained to approximate the weapon storage data WLD based on the vehicle sensor data FSD. The weapon barrel model 30 is trained to approximate the weapon barrel data WRD based on the vehicle sensor data FSD. The training of the weapon storage model 29 and the weapon barrel model 30 is carried out analogously to the procedures for training the model shown in Figures 8 and 9.

[0175] Alternatively, the gun barrel model 30 can also be trained to map the gun barrel data WRD based on the gun storage data WLD. The distribution of the gun sensors 23, 24 into several groups and the mapping model 16 into a gun storage model 29 and an RLS24003PWO DPQ24001 WO

[0176] Rheinmetall Landsysteme GmbH

[0177] 31

[0178] The Weapon Tube Model 30 enables simpler, faster and / or more precise training of the Weapon Storage Model 29 and the Weapon Tube Model 30.

[0179] Fig. 11 shows a schematic side view of another embodiment of a vehicle ID.

[0180] The above descriptions for vehicles 1A, IB, and 1C apply analogously to vehicle ID. However, unlike the above descriptions, vehicle ID includes an optical measuring system 31. This optical measuring system 31 comprises a light-emitting diode (LED) or light-emitting diode 32 arranged on the armament 6 and a camera 33 mounted on the turret 5.

[0181] The light-emitting diode 32 emits visible light and / or infrared radiation towards the camera 33. The camera 33 can also be an infrared sensor. Alternatively, the camera 33 can also be mounted on the armament 6. The camera 33 is configured to transmit camera data KD to the evaluation device 15. The optical measuring system 31 is configured to detect any geometric deformation of the armament 6.

[0182] The evaluation device 15 is configured to determine the muzzle angle MW using the acquired camera data KD. The optical measuring system 31 can be considered an alternative to the aforementioned method of approximating the weapon sensor data WSD based on the acquired vehicle sensor data FSD. Alternatively, the optical measuring system 31 can also be considered a supplement and / or a backup solution. The embodiment of vehicle ID is thus expressly compatible with the other described embodiments of vehicle 1A, IB, 1C. RLS24003PWO DPQ24001 WO

[0183] Rheinmetall Landsysteme GmbH

[0184] 32

[0185] Fig. 12 shows a schematic view of two embodiments of an operating oscillation mode BSF of the armament 6.

[0186] The two illustrated embodiments of the operating vibration mode BSF of the armament 6, in particular of the gun barrel 26, are to be understood as merely exemplary. There can be any number and any number of embodiments of the operating vibration mode BSF. The illustrated operating vibration mode BSF can occur in any illustrated embodiment of the vehicle 1A, 1B, 1C, ID.

[0187] Although the present invention has been described using exemplary embodiments, it can be modified in many ways.

[0188] RLS24003PWO DPQ24001 WO

[0189] Rheinmetall Landsysteme GmbH

[0190] 33

[0191] REFERENCE MARK LIST

[0192] 1A vehicle

[0193] 1B vehicle

[0194] 1C vehicle

[0195] ID Vehicle

[0196] 2 Vehicle tub

[0197] 3 Interior

[0198] 4 Environment

[0199] 5 Tower

[0200] 6. Armament

[0201] 7 track drive

[0202] 8 Subsurface

[0203] 9 Direction of travel

[0204] 10 chain

[0205] 11 Drive roller

[0206] 12 chain roller

[0207] 13 Pulley

[0208] 14 vehicle housing sensors

[0209] 15 Evaluation device

[0210] 16 Image model

[0211] 17 test equipment

[0212] 18 Computer program product

[0213] 19 A Time course

[0214] 19B timeline

[0215] 19C time course

[0216] 20 Reference angles

[0217] 21 coincidence windows

[0218] 22 weapon sensors

[0219] 23 weapon sensors RLS24003PWO DPQ24001 WO

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[0221] 34

[0222] 24 weapon sensors

[0223] 25 Weapons storage

[0224] 26 gun barrel

[0225] 27 group sensor

[0226] 28 group sensor

[0227] 29 Weapon storage model

[0228] 30 weapon barrel models

[0229] 31 optical measuring system

[0230] 32 light-emitting diodes

[0231] 33 Camera

[0232] A suggestion

[0233] BM operating mode

[0234] BSF operating vibration mode

[0235] FM test drive mode

[0236] FSD vehicle sensor data g direction of gravity

[0237] KD camera data

[0238] MW mouth angle

[0239] M W_t 1 Mün dun gs winkel

[0240] MW_t2 Mouth angle

[0241] PI prediction

[0242] P2 prediction

[0243] PZ prediction time interval

[0244] 50 steps

[0245] Step 5

[0246] Step 52

[0247] 52.1 Understep

[0248] 52.2 Understep

[0249] 53 Step RLS24003PWO DPQ24001 WO

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[0251] 35 t time

[0252] TFSD training vehicle sensor data

[0253] TWSD training weapon sensor data tl time t2 time

[0254] WLD Weapons Storage Data

[0255] WRD weapon barrel data

[0256] W SD W weapon sensor data x x-direction yy direction z z-direction

Claims

RLS24003PWO DPQ24001 WO Rheinmetall Landsysteme GmbH 36 PATENT CLAIMS 1. Method for checking a firing release for an armament (6) of a vehicle (1A, 1B, 1C, ID), in particular an armored vehicle, comprising the following steps: a) Acquiring (S1) vehicle sensor data (FSD) using a number of NI on vehicle body sensors (14) of the vehicle (1A, 1B, 1C, ID), with NI > 1, b) Evaluating (S2) the acquired vehicle sensor data (FSD) using an evaluation device (15), and c) Checking (S3) for the granting of the firing release based on the evaluated vehicle sensor data (FSD) using a test device (17).

2. Method according to claim 1, characterized in that the evaluation includes a determination of a muzzle angle (MW, MW_tl, MW_t2) of the armament (6), wherein the check for granting of the firing release preferably grants the firing release if the muzzle angle (MW, MW_tl, MW_t2) lies within a predetermined coincidence window (21).

3. Method according to claim 2, characterized in that the evaluation comprises a temporal prediction (Pl, P2) of the muzzle angle (MW, MW_tl, MW_t2), wherein the check for granting of the firing release preferably grants the firing release if the muzzle angle (MW, MW_tl, MW_t2) will lie within a predetermined prediction time interval (PZ) within the coincidence window (21).

4. Method according to one of claims 1-3, characterized in that, RLS24003PWO DPQ24001 WO Rheinmetall Landsysteme GmbH 37 that the evaluation includes a mathematical-physical approximation of weapon sensor data (WSD) based on the acquired vehicle sensor data (FSD), wherein the weapon sensor data (WSD) preferably represent an elastodynamic behavior of the armament (6).

5. Method according to claim 4, characterized in that the evaluation comprises reconstructing an operating vibration mode (BSF) of the armament (6) and / or the muzzle angle (MW, MW_tl, MW_t2) of the armament (6) based on approximating the weapon sensor data (WSD), wherein the reconstruction is preferably based on an analytical and / or numerical method for solving motion differential equations of the armament (6).

6. Method according to claim 4 or 5, characterized in that a trained imaging model (16) is used for approximating the weapon sensor data (WSD), wherein the imaging model (16) is preferably a deep neural network, a transfer function, a Kalman filter, and / or an analytical and / or numerical method for solving motion differential equations.

7. Method according to claim 6, characterized in that the method further comprises training (SO) the imaging model (16) with training data, wherein the training data are preferably acquired during driving tests and comprise training weapon sensor data (TWSD) and / or training vehicle sensor data (TFSD), wherein the training weapon sensor data (TWSD) are particularly preferably comprised of a number N2 of RLS24003PWO DPQ24001 WO Rheinmetall Landsysteme GmbH 38 Weapon sensors (22, 23, 24) are detected with N2 > 1, and the training vehicle sensor data (TFSD) is detected with the vehicle body sensors (14).

8. Method according to claim 7, characterized in that the weapon sensors (22, 23, 24) are attached to the armament (6) for carrying out the driving tests and are removed from the armament (6) after carrying out the driving tests.

9. Method according to claim 7 or 8, characterized in that the weapon sensors (22, 23, 24) comprise a number N3 of spatially separated groups of weapon sensors (23, 24) each comprising a number N4 of group sensors (27, 28), with N3 > 2 and N4 > 1, wherein the imaging model (16) preferably comprises N3 group imaging models, and wherein each of the N3 group imaging models preferably includes a mathematical-physical approximation of sensor data of the N4 group sensors (27, 28) of a first of the N3 groups of weapon sensors (23, 24) based on the acquired vehicle sensor data (FSD) and / or based on sensor data of the N4 group sensors (27, 28) of a second of the N3 groups of weapon sensors (23, 24).

10. Method according to one of claims 7-9, characterized in that the weapon sensors (22, 23, 24) comprise exactly two spatially separated groups of weapon sensors (23, 24), each with N4 group sensors (27, 28), wherein a first group of weapon sensors (23) preferably comprises at least one weapon storage sensor arranged on a weapon storage (25) of the armament (6), and a second group of weapon sensors (24) comprises at least one weapon barrel sensor arranged on a weapon barrel (26) of the armament (6), wherein the illustration model (16) is particularly RLS24003PWO DPQ24001 WO Rheinmetall Landsysteme GmbH 39 preferably comprises a weapon storage model (29) and a weapon tube model (30), wherein the weapon storage model (29) includes a mathematical-physical approximation of weapon storage data (WLD) of the at least one weapon storage sensor of the first group of weapon sensors (23) based on the acquired vehicle sensor data (FSD), and wherein the weapon tube model (30) includes a mathematical-physical approximation of weapon tube data (WRD) of the at least one weapon tube sensor of the second group of weapon sensors (24) based on the weapon storage data (WLD).

11. Method according to one of claims 7 - 10, characterized in that the vehicle housing sensors (14) and / or the weapon sensors (22, 23, 24) comprise a link measure, an accelerometer, a GPS receiver, a tachometer, an optical camera, an infrared sensor, a load cell, an incremental encoder, a strain gauge, a temperature sensor, a pressure sensor, an angle finder, an inclinometer and / or a Hall sensor.

12. Method according to one of claims 1 - 11, characterized in that the method is carried out periodically at predetermined repetition time intervals.

13. Computer program product (18) comprising instructions which, when the program is executed by a computer, cause it to execute the method according to any one of claims 1-12.

14. Vehicle (1A, 1B, 1C, ID), in particular armored vehicle, with armament (6), RLS24003PWO DPQ24001 WO Rheinmetall Landsysteme GmbH 40 a number of NI on vehicle housing sensors (14) for acquiring vehicle sensor data (FSD) of the vehicle (1A, 1B, 1C, ID), with NI > 1, an evaluation device (15) for evaluating the acquired vehicle sensor data (FSD), and a test device (17) for checking for granting a firing release for the armament (6) on the basis of the evaluated vehicle sensor data (FSD).

15. Vehicle according to claim 14, characterized in that the evaluation device (15) is configured to determine a muzzle angle (MW, MW_tl, MW_t2) of the armament (6), wherein the testing device (17) is preferably configured to grant permission to fire if the muzzle angle (MW, MW_tl, MW_t2) lies or will lie within a predetermined coincidence window (21).

Images