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SE546913C2 - Method and system, at a ground combat vehicle, for target distance measurement - Google Patents

Method and system, at a ground combat vehicle, for target distance measurement

Info

Publication number
SE546913C2
SE546913C2 SE2300064A SE2300064A SE546913C2 SE 546913 C2 SE546913 C2 SE 546913C2 SE 2300064 A SE2300064 A SE 2300064A SE 2300064 A SE2300064 A SE 2300064A SE 546913 C2 SE546913 C2 SE 546913C2
Authority
SE
Sweden
Prior art keywords
sensor device
image sensor
target
sight
line
Prior art date
Application number
SE2300064A
Other versions
SE2300064A1 (en
Inventor
Rikard Sundquist
Original Assignee
Bae Systems Haegglunds Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bae Systems Haegglunds Ab filed Critical Bae Systems Haegglunds Ab
Priority to SE2300064A priority Critical patent/SE546913C2/en
Priority to PCT/SE2024/050678 priority patent/WO2025014419A1/en
Publication of SE2300064A1 publication Critical patent/SE2300064A1/en
Publication of SE546913C2 publication Critical patent/SE546913C2/en

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/06—Aiming or laying means with rangefinder
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/22—Aiming or laying means for vehicle-borne armament, e.g. on aircraft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/02—Details
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/22—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length at, near, or formed by the object
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06G—ANALOGUE COMPUTERS
    • G06G7/00—Devices in which the computing operation is performed by varying electric or magnetic quantities
    • G06G7/48—Analogue computers for specific processes, systems or devices, e.g. simulators
    • G06G7/80—Analogue computers for specific processes, systems or devices, e.g. simulators for gunlaying; for bomb aiming; for guiding missiles
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30212—Military

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Electromagnetism (AREA)
  • Remote Sensing (AREA)
  • Computer Hardware Design (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Mathematical Physics (AREA)
  • General Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
  • Closed-Circuit Television Systems (AREA)

Abstract

The invention relates to a method for passive target distance measurement performed by means of: a master image sensor device (10) for observing a target (T); and a slave image sensor device (20), said sensors (10, 20) being arranged spaced apart by an offset distance (OD), said method comprising: controlling an orientation of said slave image sensor device (20); determining whether a line-of-sight (L2) of said slave image sensor device (20) intersects a line-of-sight (L1) of said master image sensor device (10) at a location of a target (T); and, if so, receiving: first angular data representing orientation of the master image sensor device (10); and second angular data representing orientation of the slave image sensor device (20); and, determining a target distance (TD), representing a distance between the combat vehicle and the target, based on the offset distance (OD) and the received angular data.

Claims (25)

Claims
1. A method, at a ground combat vehicle (V), for passive target distance measurement, the method being performed at an electronic device (100) of the ground combat vehicle (V) by means of: a master image sensor device (10) for observing a target (T); and at least one slave image sensor device (20), said master image sensor device (10) and/or at least one of said at least one slave image sensor device (20) being configured to be arranged at the ground combat vehicle (V), said master image sensor device (10) and said at least one slave image sensor device (20) being configured to be arranged spaced apart by an offset distance (OD) from each other, said method comprising: - controlling an orientation of said at least one slave image sensor device (20), - determining whether a line-of-sight (L2) of said at least one slave image sensor device (20) intersects a line-of-sight (L1) of said master image sensor device (10) at a location of a target (T), - in accordance with a determination that the line-of-sight (L2) of the at least one slave image sensor device (20) intersects the line-of-sight (L1) of the master image sensor device (10) at the location of the target (T); - receiving first angular data representing the orientation of the master image sensor device (10), - receiving second angular data representing the orientation of the least one slave image sensor device (20), and - determining a target distance (TD), representing a distance between the combat vehicle and the target at the target location, based on the offset distance (OD) and the received angular data.
2. The method according to claim 1, wherein the determination that the line- of-sight (L2) of the at least one slave image sensor device (20) intersects the Inkom till Patent- och registreringsverket 2023 -07- 1line-of-sight (L1) of the master image sensor device (10) at the location of the target comprises: - receiving first image data from the master image sensor device (10), - receiving second image data from the at least one of said at least one slave image sensor device (20); and - processing the first image data and the second image data based on image recognition so as to determine that the target (T) is present along the line-of-sight (L2) of the at least one slave image sensor device (20) and along the line-of-sight (L1) of said master image sensor device (10).
3. The method according to claim 1 or 2, wherein controlling the orientation of the at least one slave image sensor device (20) includes moving the orientation of the at least one slave image sensor device (20) so that the line- of-sight of the at least one slave image sensor device (20) intersects the line- of-sight (L1) of the master image sensor device (10) at different distances along the line-of-sight (L1) of the master image sensor device (10).
4. The method according to any of claims 1-3, further comprising: moving at least one of said at least one slave image sensor device (20) relative to said master image sensor device (10) and/or moving said master sensor device (10) relative to said at least one slave image sensor device (20) so as to adapt the offset distance (OD) between said master image sensor device (10) and said at least one of said at least one slave image sensor device (20).
5. The method according to any of claims 1-4, said at least one slave image sensor device (20) comprising at least two slave image sensors (20), arranged spaced apart from said master image sensor device (10) and spaced apart from each other at different locations at the combat vehicle (V) with corresponding offset distances (OD), the method comprising determining the target distance (TD) based on determining target distances by using the different offset distances and angular data associated with the slave image sensors (20).
6. Inkom till Patent- och registreringsverket 2023 -07- 16. The method according to any of claims 1-5, further comprising, during vehicle operation, continuously or intermittently providing information associated with the determined target distance to an aiming module (AM) and/or a fire control module (FCM) and/or a ballistics module (BM) of said ground combat vehicle (V).
7. The method according to any of claims 1-6, further comprising deterrnining the speed of the ground combat vehicle (V) relative to the ground and/or speed of the target relative to the ground combat vehicle (V) based on continuously or intermittently determined target distances (TD) and elapsed time between determined target distances.
8. The method according to any of claims 1-7, the method further comprising determining, based on the determination that the line-of-sight (L2) of the at least one slave image sensor device (20) intersects the line-of-sight (L1 ) of the master image sensor device (10) at the location of the target (T), a target line (L) associated with said ground combat vehicle (V) pointing towards said target (T)-
9. The method according to claim 8, based on said target line (L) and said determined target distance (TD), controlling the orientation of a weapon (B) of said ground combat vehicle (V) so that the weapon has a line-of-fire for facilitating hitting said target (T).
10. The method according to any of claims 1-9, wherein said master image sensor device (10) and/or at least one of said at least one slave image sensor device (20) is a motorized image sensor device.
11. The method according to any of claims 1-10, wherein the master image sensor device (10) and the at least one slave image sensor device (20) comprises one or more optical and/or electro-optical image sensors.
12. Inkom till Patent- och registreringsverket 2023 -Û7- l Z12. The method according to any of claims 1-11, wherein the master image sensor device (10) comprises a gunner camera, a sight camera, an electro- optical sight device or a weapon camera of the ground combat vehicle (V).
13. A system (S), associated with a ground combat vehicle (V), for passive target distance measurement, wherein the system comprises: - the system comprises a master image sensor device (10) for observing a target (T); and at least one slave image sensor device (20), said master image sensor device (10) and/or at least one of said at least one slave image sensor device (20) being configured to be arranged at the ground combat vehicle (V), said master image sensor device (10) and said at least one slave image sensor device (20) being configured to be arranged spaced apart by an offset distance (OD) from each other, said at least one slave image sensor device (20) having a controllable orientation, the system (S) comprising: - an electronic device (100) comprising: - a control module (CM), and, - a target distance deterrnination module (TDM), - the control module (CM) being configured to: - adjust the controllable orientation of the at least one slave image sensor device (20) and to determine whether a line-of-sight (L2) of said at least one slave image sensor device (20) intersects a line-of-sight (L1) of said master image sensor device (10) at a location of a target (T), and, - upon determining that the line-of-sight (L2) of said at least one slave image sensor device (20) intersects the line-of-sight (L1) of said master image sensor device (1 0) at the location of the target, transmit, to the target distance determination module, first angular data representing the orientation of the master image sensor device (10) and second angular data representing the orientation of the least one slave image sensor device (20), Inkom till Patent- och registreringsverket ZÛZE -Û7~ l Z - the target distance determination module (TDM) being configured to determine a target distance (TD), when the line-of-sight (L2) of the at least one slave image sensor device (20) intersects the line-of-sight (L1) of the master image sensor device (10) at the location of the target, based on the offset distance (OD) and the received angular data.
14. The system according to claim 13, wherein the control module (CM), when determining that the line-of-sight (L2) of the at least one slave image sensor device (20) intersects the line-of-sight (L1) of the master image sensor device (10) at the location of the target, is configured to: - receive first image data from the master image sensor device (10); - receive second image data from at least one of said at least one slave image sensor device (20); and, - process the first image data and the second image data based on image recognition so as to determine that the target (T) is present along the line-of- sight (L2) of the at least one of said at least one slave image sensor device (20) and along the line-of-sight (L1) of said master image sensor device (10).
15. The system according to claim 13 or 14, wherein the control module (CM) is configured to control the orientation of the at least one slave image sensor device (20) by moving the orientation of the at least one slave image sensor device (20) so that the line-of-sight of the at least one slave image sensor device (20) intersects the line-of-sight (L1) of the master image sensor device (10) at different distances along the line-of-sight (L1) of the master image sensor device (10).
16. The system according to any of claims 13-15, wherein the control module (CM) is configured to move at least one of said at least one slave image sensor device (20) relative to said master image sensor device (10) and/or said master sensor device (10) relative to said at least one slave image sensor device (20) so as to adapt the offset distance (OD) between said master image sensor Inkom till Patent- och registreringsverket 2023 -Û7~ 1device (10) and said at least one of said at least one slave image sensor device (20).
17. The system according to any of claims 13-16, said at least one slave image sensor device (20) comprising at least two slave image sensors (20), arranged spaced apart from said master image sensor device (10) and spaced apart from each other at different locations at the combat vehicle (V) with distances (OD), determination module (TDM) is configured to determine the target distance corresponding offset wherein the target distance (TD) based on determining target distances by using the offset distances and angular data associated with the slave image sensors (20).
18. The system according to any of claims 13-17, wherein the electronic device (100) further comprises or is operably connected to or comprised in an aiming module (AM) and/or a fire control module (FCM) and/or a ballistics module (BM), wherein said aiming module (AM) and/or said fire control module (FCM) and/or said ballistics module (BM) is configured to, during vehicle operation, continuously or interrnittently receive information associated with the determined target distance (TD).
19. The system according to any of claims 13-18, further comprising a speed determination module (SDM) configured to continuously or intermittently receive determined target distances (TD), and determine the speed of the ground combat vehicle (V) relative to the ground and/or speed of the target relative to the ground combat vehicle based on determined target distances (TD) and elapsed time between determined target distances.
20. The system according to any of claims 13-19, the electronic device (100) being configured to determine a target line (L) associated with said ground combat vehicle (V) pointing towards said target (T), based on the deterrnination that the line-of-sight (L2) of the at least one slave image sensor device (20) intersects the line-of-sight (L1) of the master image sensor device (10) at the location of the target (T). inkom till Patent- och registreringsverket 2023 -07-
21. The system according to claim 20, when depending on claim 18, wherein said aiming module (AM) and/or fire control module (FCM) and/or ballistics module (BM), based on said target line (L) and said determined target distance (TD), is configured to control the orientation of a weapon (B) of said ground combat vehicle (V) so that the weapon has a line-of-fire for facilitating hitting said target (T).
22. The system according to any of claims 13-21, wherein said master image sensor device (10) and/or at least one of said at least one slave image sensor device (20) is a motorized image sensor device.
23. The system according to any of claims 13-22, wherein the master image sensor device (10) comprises a gunner camera, a sight camera, an electro- optical sight device or a weapon camera of the ground combat vehicle (V).
24. A ground combat vehicle (V) comprising a system (S) according to any of claims 13-
25. The ground combat vehicle (V) according to claim 24, wherein said ground combat vehicle comprises a turret (TU) and a turret-mounted weapon system (W) having a weapon (B).
SE2300064A 2023-07-12 2023-07-12 Method and system, at a ground combat vehicle, for target distance measurement SE546913C2 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
SE2300064A SE546913C2 (en) 2023-07-12 2023-07-12 Method and system, at a ground combat vehicle, for target distance measurement
PCT/SE2024/050678 WO2025014419A1 (en) 2023-07-12 2024-07-10 Method and system, at a ground combat vehicle, for target distance measurement

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE2300064A SE546913C2 (en) 2023-07-12 2023-07-12 Method and system, at a ground combat vehicle, for target distance measurement

Publications (2)

Publication Number Publication Date
SE2300064A1 SE2300064A1 (en) 2025-01-13
SE546913C2 true SE546913C2 (en) 2025-03-11

Family

ID=94215822

Family Applications (1)

Application Number Title Priority Date Filing Date
SE2300064A SE546913C2 (en) 2023-07-12 2023-07-12 Method and system, at a ground combat vehicle, for target distance measurement

Country Status (2)

Country Link
SE (1) SE546913C2 (en)
WO (1) WO2025014419A1 (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1619897A1 (en) * 2004-07-22 2006-01-25 Matsushita Electric Industrial Co., Ltd. Camera link system, camera device and camera link control method
KR100851018B1 (en) * 2007-01-23 2008-08-12 국방과학연구소 A measuring method using sighting point's space synchronization of two sighting telescope
EP2017650A1 (en) * 2007-06-26 2009-01-21 Honeywell International Inc. Target locator system
WO2009139945A2 (en) * 2008-02-25 2009-11-19 Aai Corporation System, method and computer program product for integration of sensor and weapon systems with a graphical user interface
WO2013039312A1 (en) * 2011-09-14 2013-03-21 Samsung Techwin Co., Ltd. Armament system interworking with image device and method for operating the same
EP3706078A1 (en) * 2019-03-04 2020-09-09 NEXTER Systems Method for inter-designation of targets between a first platform and at least one other platform and designating and pointing device implementing such a method

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10101125B2 (en) * 2016-06-15 2018-10-16 The United States Of America, As Represented By The Secretary Of The Navy Precision engagement system

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1619897A1 (en) * 2004-07-22 2006-01-25 Matsushita Electric Industrial Co., Ltd. Camera link system, camera device and camera link control method
KR100851018B1 (en) * 2007-01-23 2008-08-12 국방과학연구소 A measuring method using sighting point's space synchronization of two sighting telescope
EP2017650A1 (en) * 2007-06-26 2009-01-21 Honeywell International Inc. Target locator system
WO2009139945A2 (en) * 2008-02-25 2009-11-19 Aai Corporation System, method and computer program product for integration of sensor and weapon systems with a graphical user interface
WO2013039312A1 (en) * 2011-09-14 2013-03-21 Samsung Techwin Co., Ltd. Armament system interworking with image device and method for operating the same
EP3706078A1 (en) * 2019-03-04 2020-09-09 NEXTER Systems Method for inter-designation of targets between a first platform and at least one other platform and designating and pointing device implementing such a method

Also Published As

Publication number Publication date
WO2025014419A1 (en) 2025-01-16
SE2300064A1 (en) 2025-01-13

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