WO2008048116A1

WO2008048116A1 - Monitoring engagement of a weapon

Info

Publication number: WO2008048116A1
Application number: PCT/NZ2007/000306
Authority: WO
Inventors: Richard Elliot; Roger Jamieson
Original assignee: URBAN VOYAGE Ltd
Current assignee: URBAN VOYAGE Ltd
Priority date: 2006-10-16
Filing date: 2007-10-16
Publication date: 2008-04-24
Anticipated expiration: 2009-04-16

Abstract

The invention provides a sensing apparatus for monitoring engagement of a weapon, the sensing apparatus being coupleable to the weapon; configured to monitor at least one parameter relating to engagement of the weapon; and configured to generate and/or output data based on the monitored at least one parameter. Also provided are a weapon including such a sensing apparatus, a system including such a sensing apparatus and/or weapon, and corresponding methods.

Description

MONITORING ENGAGEMENT OF A WEAPON

Technical Field of the Invention

The present invention relates to monitoring engagement of armed personnel, particularly but not limited to a soldier, with an enemy. Particular embodiments of the invention provide for predicting and/or determining a likely enemy position and/or movement by recording engagement data from one or more soldiers.

Background

In the hostile environment of armed conflict, be it an actual fire fight or a training operation, it is very difficult to always have accurate information on the locations of ally and/or enemy troops, or when and where at least the ally troops are firing. Knowing the locations of friendly troops is of vital importance during any military operation. Knowledge of the direction and location of weapons' fire, particularly small arms, can provide a valuable insight to commanding officers and trainers as to who, how and when individuals are deciding to engage an enemy. It would also be useful to be able to determine the position of an enemy force so that strategic decisions may be made. Lack of this information can lead to confusion, slower response times, loss of accountability and incidents of friendly fire. Furthermore, for the information to be of most value, it is preferable for it to be available in real-time so that commanding officers understand what is happening to their troops or police officers etc at the time they are actually engaging an enemy. The information is also of greater use in training scenarios if it is capable of being provided in real-time.

There are many technologies related to providing the modern soldier (or law enforcement officer etc.) with reliable enhanced tactical and communications ability in a hostile environment, including those related to combat training systems. These previous arrangements have been created to attempt to provide real-time situational awareness and while being of some benefit to armed personnel, they have significant drawbacks. For example, they are often heavy, require significant bandwidth where data is to be transmitted, use a lot of power, are slow to use, may create additional complexity for persons bearing the arms, may complicate existing protocols, may not be real-time and may rely on correct use, thereby creating the possibility of errors being present in the data transmitted or failure to generate or capture the data. These drawbacks make such arrangements prone to malfunction.

Previous training technologies include laser training systems (MILES, SAT, etc.), computer games, virtual reality simulation and more recently Augmented Reality. These have been used to provide more realistic and immersive training environments. While these systems do provide benefits to training operations, they are not without shortcomings. Small Arms Transmitters (SATs) typically work by sending an Infrared (IR) beam out inline with the assumed trajectory of a projectile when a blank round is discharged from a weapon. These systems can recognise a hit or 'kill' and can recognise who fired the round. The limitations with SAT are that they currently do not provide the trajectory of the real or simulated projectile. Other performance related information would also be useful for more effective training operations.

One prior arrangement of an infantry weapons simulation system requires the use of lasers fitted to infantry weapons. When the laser beam focuses on sensitive apparel a hit is registered. These devices are useful systems for training. However they do not recognise the projectile firing location and heading (x, y and z coordinates) in a 3 dimensional environment. This also limits their integration with virtual reality or augmented reality systems. The main drawback of the MILES system is its inability to accurately represent the penetration of a projectile through a physical material - such as with a bullet moving through a light plaster wall. To stop the system recognising a hit you only need to cover the receiving sensor - this is a major drawback when attempting to simulate real combat effects in the physical environment. Finally these systems do not seek to record and analyse likely or predicted enemy locations.

Computer simulations can be useful, but they do not provide a complete or 'physical' application of battle or combat environments. Virtual reality systems overcome some of these limitations by allowing users to interact in a more immersive way with the virtual environment. Augmented Reality (AR) combines the best of the virtual (virtual enemies, simulated effects, etc) and the best of the physical (running, kinetic movement, real environments and obstacles, noise, smell, environmental effects, weight, weapon handling, etc).

Previous technologies such as radio, visual communications (TV/weapon/head mounted video camera) and more recently Global Position Systems (GPS) have all been used to ascertain and target an enemy location. However current technologies often still rely on first-person interpretation, such as cameras including head-mounted video cameras feeding live images back to a command post for review and assessment. These systems rely on good weather conditions for visibility, may be heavy and rely on correct use. This makes such systems prone to malfunction. In addition head or weapon-mounted cameras require the user to be looking at the target. There are obvious drawbacks associated with this type of system. During battle the soldier may be making very fast movements and changing position without warning. Furthermore this technology still requires human interpretation (monitoring video feeds) and resources to monitor and analyse such data.

WO 98/12572 describes a system for determining the direction that an object such as an artillery barrel is pointing during a combat situation. The pointing direction is calculated by determining a phase difference between signals arriving at different positions on the object from a single source.

The system of WO 98/12572 has some advantages over conventional radio/audio visual communication technology. However the system requires at least two antennas to receive a signal from a satellite. In addition, the preferred embodiment of the system requires a gyroscope compass. A gyroscope compass requires reference points and has a tendency to drift over time. Finally, the physical size of the unit makes portability difficult.

Object of the Invention

It is an object of the present invention to provide a sensing apparatus and/or method and/or system for monitoring engagement of armed personnel with an enemy and/or to at least provide a useful alternative to currently available solutions.

Summary of the Invention

According to a first aspect of the invention, there is provided a sensing apparatus for monitoring engagement of a weapon, the sensing apparatus being coupleable to the weapon; configured to monitor at least one parameter relating to engagement of the weapon; and configured to generate data based on the monitored at least one parameter.

The at least one parameter may comprise any one or more of whether and/or when the weapon is discharged, a location of the weapon and/or the location of the user thereof at least when the weapon is discharged, a direction of fire, a temperature, a pressure, an azimuth of the weapon, an altitude, an angle of elevation of the weapon or a compass heading.

The sensing apparatus preferably comprises any one or more of an accelerometer, a 3-axis accelerometer, a solid state inclinometer and/or clinometer, an altimeter, a gyroscope, a 2-axis gyroscope, a digital compass, a clock, a barometric sensor or a temperature sensor. Thus, according to particular embodiments of the invention, the sensing apparatus may be embodied in a plurality of sensors or a sensor array. One skilled in the art will be aware of other sensors which may be used in addition or in place of those listed above and such alternatives are included within the scope of the invention.

Preferably, the sensing apparatus is configured to monitor a firing signature of the weapon, wherein said data comprises information relating to the firing signature. According to such embodiments, the sensing apparatus preferably comprises an accelerometer and a gyroscope.

When a firearm is discharged it will move, due to two things. Firstly, movement caused by the reaction to the projectile being accelerated by the gas expansion of the cartridge being fired. Secondly, by the reaction when the high pressure gas reaches and exits the end of the barrel. These movements can be detected using, for example, a 3 axis accelerometer and a rate gyro attached to the weapon. These signals may then be analysed, such as by a high speed microcomputer and a movement or firing "signature" produced. This analysis looks for amplitude of movement, the timing between the movements and the direction of movement.

Each firearm will produce an individual "signature" of movement patterns which will depend on calibre, weight of projectile, amount of gunpowder, weight of firearm and the restraint method being used for the weapon. By using the signature it is possible to differentiate between firing of live rounds or blanks, types of firearms or details of the firing position (i.e., whether a user is standing, the barrel is being rested on something, the user is lying down, a tripod is being used, or the weapon is fixed to a mounting such as one provided on a vehicle)

This firing signature will generate different information to that received by the sensors during normal movement of the weapon, or when the firearm is knocked against a solid object. Figure 5 shows the outputs from sensors mounted on a weapon when a round is fired. Series 1 and 2 are outputs from an accelerometer showing movement in X and Y directions, respectively. Series 3 is provided by an output of a rate gyro showing in the Z axis.

Series 1 shows the characteristic double trough when the weapon moves in the direction of the user at firing. The output from the sensor reduces as the weapon moves towards the user from 500 to 300 in the acceleration phase of firing. This first trough indicates the relative weight of the projectile and the amount of power from the gunpowder accelerating it. The second downward trough of 350 to 220 indicates the strength of the gas blast as the projectile leaves the barrel. The time between the two troughs is the time between the maximum acceleration of the projectile and the moment of exit from the barrel. The longer the barrel, the greater the time between the two troughs. A pistol would have a very small time between the troughs. Series 2 shows the lateral (side to side) movement of the weapon. This frequency of oscillation of this trace is characteristic of the weight of the weapon and the restraint method. The graph shows a free-standing user with an unrestrained weapon.

Series 3 indicates the speed at which the rifle barrel rises vertically during the firing. The weight of the weapon and the type of ammunition being used will modify this value. The trace on this graph indicates that the maximum rate of movement occurs during the acceleration phase of the projectile being fired.

Figure 6 shows data obtained from the firing of a round, including data from an accelerometer in X, Y and Z directions, and data from horizontal and vertical gyro components, HG and VG, respectively.

Preferably, the sensing apparatus comprises location determination means for determining a location of the weapon and or the user thereof, wherein said data comprises information obtained thereby.

Preferably, the sensing apparatus is configured to monitor said at least one parameter and/or generate said data continuously. Additionally or alternatively, the at least one parameter may be monitored at periodic intervals and/or in response to a predetermined event. According to one preferred embodiment, the sensing apparatus may continuously monitor for discharge of the weapon and, in response thereto, measure one or more additional parameters. Additionally or alternatively, one or more parameters may be monitored upon detecting movement of the weapon and/or on activation of a switch by a user of the weapon. Such a switch may be incorporated in or coupled to or associated with the weapon, perhaps most conveniently in the safety catch or trigger of the weapon. Monitoring parameters only in response to a predetermined event has the benefit of reducing the amount of data generated.

Preferably, a memory is provided for storing at least a portion of the data.

Preferably, the memory is configured to store at least a portion of the data continuously. Additionally or alternatively, the memory may be configured to store at least a portion of the data at periodic intervals and/or in response to a predetermined event. Preferably, the sensing apparatus comprises means for transmitting at least a portion of the data.

Preferably, the means for transmitting is configured to transmit at least a portion of the data continuously. Additionally or alternatively, the means for transmitting may be configured to transmit at least a portion of the data at periodic intervals and/or in response to a predetermined event. Thus, according to particular embodiments, after a predetermined interval elapses or a predetermined event is detected, transmission may switch to being performed on a continuous basis, at least for a predetermined period thereafter or until a further predetermined event. Similar steps may be incorporated in switching to continuous monitoring and/or storing.

The predetermined event may be a detected discharge of the weapon and/or a detected movement of the weapon. Other events will also be apparent to one of skill in the art and are included within the scope of the invention.

Preferably, the sensing apparatus comprises means for associating and/or adding an identifier to the data. The use of an identifier enables the data to be associated with a particular weapon and/or user.

Preferably, the sensing apparatus comprises means for associating and/or adding a time stamp to the data, so as to identify the point in time at which the data was obtained.

According to a second aspect of the invention, there is provided a weapon comprising a sensing arrangement of the first aspect.

According to a third aspect of the invention, there is provided a system for monitoring engagement of a weapon, the system comprising one or more sensing apparatus of the first aspect and/or one or more weapons of the second aspect.

Preferably, the system comprises a memory communicatively coupled to at least one said sensing apparatus for receiving and storing at least a portion of the data obtained thereby. Such a memory may be in replacement of or in addition to any memory provided in the sensing apparatus, and may be provided in the weapon, or remote therefrom.

Preferably, the system comprises a transmitter communicatively coupled to at least one said sensing apparatus for receiving and transmitting at least a portion of the data obtained thereby. More preferably, each sensing apparatus is communicatively coupled to a respective transmitter so as to enable transmission of the data to a remote station which may be configured to receive and/or store and/or process the data. The transmitter may be integral to the sensing apparatus or communicatively coupled thereto. For example, the transmitter may be otherwise incorporated in the weapon and/or otherwise borne by a user of the weapon so as to limit the additional burden caused to users of a weapon according to the invention. According to such embodiments, preferably, a short-range wireless communications link is provided between a longer range transmitter and the sensing apparatus so as to relay information thereto without affecting movement of the user of the weapon. As would be apparent to one of skill in the art, similar short-range communication links may be used to relay information to a memory positioned remote from the sensing apparatus.

According to preferred embodiments, any transmitters may be embodied in a transceiver. Alternatively, a separate receiver may be provided.

The use of a short-range communications link between a weapon and a separate unit associated with an authorised user of a weapon can have the additional benefit of enabling a user, via the separate unit, to be identified to the weapon, and vice versa. According to such embodiments, the weapon may be provided with means for comparing an identity code provided by the unit with one or more identity codes stored in the weapon. Functionality of the weapon may be inhibited based on the outcome of such a determination.

The use of longer range communications links enables information to be passed to a central command point, training centre or the like, including via one or more relay stations, so that the data may be remotely accessed as will become more apparent hereinbelow. Note that not all scenarios require transmission of data to a remote or central station and the invention is not limited thereto. Particular embodiments may rely solely on storing data local to the weapon which may then be subsequently accessed, such as on return to base or the like. Wireless or wired links may again be used to transfer the data. Alternatively, the data may be stored on a removable memory.

Thus, according to one embodiment relating to firearms, a weapon may be provided with a sensing apparatus according to the first aspect and a first short-range transceiver which is configured to communicate preferably wirelessly with a second short-range transceiver which is otherwise and more conveniently borne by a user of the weapon. The second short-range transceiver is communicatively coupled to a longer range transmitter for relaying the data further afield. As would be apparent to one of skill in the art, where a user bears multiple firearms, short-range transmitters associated with each weapon may be configured to communicate via a single longer range communications transmitter or transceiver borne by the user. Alternatively, a single short-range transmitter may be coupleable to each of the firearms so that it may be associated with the one in use.

Due to the nature of the information, preferred embodiments provide for the encryption thereof using technologies known to one of skill in the art. This is of particular importance where the data is transmitted during an operation so as to prevent ready access thereto by enemy forces.

Preferably, the system comprises^' a display for displaying at least a portion of the data obtained by the at least one sensing apparatus and/or information derived therefrom. Displays may be provided at various points within the system, with the type of display and/or extent of information which may be displayed and/or the format of display dependent thereon. For example, limited information may be displayed on the sensing apparatus or the weapon if the weapon is to be carried by a user so as to limit the size and weight of the display and also to prevent easy access to the information in the field. Larger weapons, such as cannons or other items of artillery, where weight is less of an issue, may be provided with larger displays, as may any remote command point or the like. Any suitable, known means may be used to display information, including mobile telephones, PDAs, laptops, personal computers, etc.

Preferably, the system comprises location determination means associated with a respective weapon and/or user thereof for determining a location of the weapon and or the user. Such means may preferably be used to identify a location from which the weapon is fired.

According to preferred embodiments, the location determination means comprises a satellite positioning system receiver such as but not limited to a GPS receiver.

Preferably, each location determination means is communicatively coupled to a corresponding transceiver to allow communication of such data to a remote station. As will be apparent to one of skill in the art, the data transmitted may comprise at least a portion of the raw stream of data received from satellites or the like or part processed data obtained therefrom or a final determined position. According to preferred embodiments, the amount of processing performed local to the weapon may in part be determined by the size and the level of portability of the particular type of weapon, with the amount of data to be transmitted and the amount of processing required to be performed locally being optimised according to known methodology. Preferably, the system comprises a processor for processing at least a portion of the data obtained by at least one said sensing apparatus.

Preferably, the processor is configured to format the data for presentation on a display.

Preferably, the processor is communicatively coupled to at least one said sensing apparatus and/or the memory and/or the transmitter.

As would be apparent to one of skill in the art, processors may be positioned at various points within the system. Again, depending on user requirements, the type of weapon, the amount of data to be transferred and the amount of processing to be performed at each location, specific processors for each such point may be selected by one of skill in the art without invention.

Preferably, the system is configured to process data relating to one or more discharges from one or more weapons (preferably each being operated by different users) so as to identify a likely enemy position. More preferably, the processor is configured to receive engagement data from a plurality of sensing apparatus of the first aspect and identify locations of enemy activity.

The locations of the enemy may be determined, by assessing the point of fire in combination with trajectory information. Tying these details together with time information can help to show movement of an enemy. The spread or breadth of points of discharge and/or the resultant trajectories, and/or the number or frequency of discharges and/or the number of users discharging their weapon can be used to assess enemy numbers, positional strength and a range of other useful parameters.

According to preferred embodiments, the information is displayed on a display. The display may show the trajectories of rounds that have been fired superimposed on a map of the field of combat. The trajectories and/or the map may be represented/displayed in 2 or 3 dimensions.

Again, the location of the processor and/or the display may be selected based on user preferences. Furthermore, a plurality of processors and/or displays may be configured to process or display, respectively, engagement data. The amount of data accessible may vary depending on the user and/or station used to access the data. One particular embodiment of the invention provides an engagement system including a sensor array mountable on a weapon which is adapted to identify, record and/or transmit engagement data, preferably in real-time; and a processor adapted to communicate with the sensor and display the engagement data on a display unit such as a visual display unit or VDU.

Preferably, the predetermined engagement data comprises a time when a projectile is discharged from the weapon.

Preferably, the processor is further configured to perform additional calculations and/or determinations and/or functions, such as but not limited to handling the storing of data, decisions on whether to send or relay data, calculations related to dead-reckoning, true heading of projectile, weapon handling characteristics, weapon performance, weapon history, etc.

According to one embodiment, the sensor array incorporates the processor. Moreover, any two or more of the processor, display and transmitter may be provided as integral unit.

Preferably the sensor is adapted to transmit or relay the engagement data to the processor.

Preferably the processor is adapted to receive engagement data transmitted from at least one sensor.

Preferably the sensor array is located on the weapon

Preferably the processor is located on or borne by the user, such as a soldier or law enforcement officer, albeit possibly in a training environment.

Preferably the display is located in a command post, General HQ and/or on^'a user.

Preferably the engagement data includes a user/weapon location reference (such as GPS coordinates, dead-reckoning position, etc), north referenced azimuth, altitude and elevation of the weapon at all times and/or at times it is discharged.

Preferably the processor includes software adapted to record, analyse and interpret the engagement data. Preferably the processor is able to indicate the likely position of an enemy on the basis of the direction in which at least one soldier is discharging his weapon.

Preferably the display is able to identify the position of "friendly forces". Such positions may be determined using locations determined by the apparatus of the invention for each member of the friendly forces. At least the position of friendly forces may be detected at periodic intervals for this reason, and not only, for example, when a round is discharged.

Preferably the processor is adapted to notify the soldier of a potential or likely friendly-fire incident.

Preferably the sensor array transmits engagement data to the processor through a digital radio network.

Preferably the digital radio network is secure.

Preferably the sensor and processor can be configured during training mode to transmit engagement data over less secure wireless networks such as mobile telephone networks, Wi- Fi, Wi-Max, Bluetooth, etc. Combinations of different types of communications systems are also included within the scope of the invention.

Preferably the processor and display are configured for communicatively coupling with existing military and law enforcement radio equipment and standards for data transmission. For example: JTRS (Joint Tactical Radio System, SINCGARS (Single channel ground to air radio system), etc. However any known communication means may be used including tactical handhelds, multi band radios, patrol radios, other radios under the umbrella of "combat net radio", as well as more conventional

Preferably the user forms part of an infantry troop or any other group of users. Preferably, each member of the infantry troop is provided with an apparatus of the invention, each such apparatus being configured to transmit independent engagement data to the processor, preferably for display on the display.

Preferably the sensor is capable of recognising each time the weapon has been discharged. For example, a micro-sensor may be used to register each time the firing pin or hammer falls. Preferably the sensor includes a trigger sensor and/or a light sensor, and/or a sound sensor and/or a recoil sensor to identify when the weapon is discharged.

Preferably the sensor can identify when the weapon is discharged by recognising the "firing signature" of the weapon.

Preferably the system incorporates Dead-Reckoning capability.

Preferably the sensor includes a Bluetooth module.

Preferably the sensor includes a micro-processor.

Preferably the sensor array is light-weight and does not affect or interfere with the normal handling and operation of the weapon.

Moreover, the engagement data transmitted from the sensor may include one or more of longitudinal and/or lateral data of the discharged weapon; inclinometer or clinometer data; altitude data; bearings/heading data; barometric data; time of discharge data; temperature data; azimuth data; and elevation data.

Preferably the engagement data includes the barrel elevation and/or location and/or vector in three dimensional space of the weapon on discharge.

Preferably the sensor includes one or more of a 3-axis accelerometer; a solid state inclinometer or clinometer; an altimeter; a 2 axis gyroscope; a digital compass; a time recording/stamp device; a barometric sensor; and a temperature sensor.

Preferably the sensor is of a modular construction so as to enable its configuration to be tailored to meet specific requirements in the field. For example, any subset of the aforementioned sensors and/or others as may be apparent to one of skill in the art may be included in the sensor or sensor array. Thus, preferably, components thereof are removable/replaceable.

As will be apparent to one of skill in the art, various components of the invention require electrical power and particular cells or batteries required to meet the requirements thereof of may be readily selected without invention. Preferably the engagement data is capable of being configured for output to various display types.

Preferably the engagement data can be integrated with Command & Control systems or other control systems which would be known to one of skill in the art.

Preferably the display is configured to illustrate the operational environment and location of the or of each user therein corresponding to their position in said environment. .

Preferably the display is configured to illustrate data collected over time, thereby allowing the relative position of the enemy location (hot-zones) to be manually or automatically determined.

Preferably the display is configured to illustrate real-time firing information from multiple units to provide enhanced situational awareness and enemy location.

Preferably the display is configured to display recent position and engagement data in a manner adapted to illustrate events over time (such as through use of ghosting, trails or replays of historical data).

According to another embodiment, there is provided a method of identifying engagement of a soldier with an enemy, the method including identifying a discharge from the soldier's weapon in the field and recording engagement data on discharge of the weapon; and communicating the engagement data to a processor, preferably for subsequent display such as on a VDU, so as to enable representation of the engagement data on a representation or map of the field of operation, thereby identifying the soldier's engagement.

Preferably the sensor or sensor array transmits engagement data to a processor.

Preferably the method is adapted to allow likely enemy location and/or enemy behaviour to be predicted from the engagement data.

Preferably the engagement data is recorded by a processor and/or memory located on the soldier or a holder or holster for the weapon.

Preferably the engagement data is transmitted through a secure digital radio network. Preferably the processor is adapted to determine a likely position of an enemy, such as through triangulation of firing directions or trajectories for a plurality of users/soldiers.

Preferably the engagement data may be combined with other data to provide situational awareness via the processor and or the display.

Preferably the soldier forms part of an infantry troop (or fire squad, etc), each member of the infantry troop being provided with means for transmitting independent engagement data to the processor, preferably for display on the display.

Preferably the soldier and weapon are uniquely identifiable by the processor.

According to a further embodiment of the invention, there is provided a method of mapping a battle field, the method including identifying a discharge from a weapon held by an allied soldier and recording engagement data on discharge of the weapon; identifying individual soldiers within the operational environment; communicating the engagement data to a processor; displaying the engagement data on a display of the field which preferably additionally shows engagement data from other allied soldiers, thereby allowing predictions on likely enemy positions and/or movement to be made.

Preferably the engagement data includes the position of the soldier and the direction in which the weapon was/is being pointed and/or was discharged.

Preferably the position of the soldier and the direction of the discharge are displayed on a map of the terrain.

Preferably the engagement data may be stored by the processor and/or a memory to allow a historical representation or re-enactment of a battle to be displayed.

The various displays of embodiments of the invention may be configured to represent an_, operational field in 2 or 3 dimensions.

The invention also provides methods corresponding to the various apparatus/system aspects.

According to a further aspect there is provided an engagement system substantially as herein described with reference to any one of the Figures. According to a further aspect there is provided a method of identifying engagement of a soldier with an enemy substantially as herein described with reference to any one of the Figures.

According to a further aspect there is provided a method of mapping a battle field substantially as herein described with reference to any one of the Figures.

According to a further aspect there is provided a method of mapping enemy .'hot-zones' and real-time predictive information substantially as herein described with reference to any one of the Figures.

According to a further. aspect there is provided a method of recording engagement data to build up a historical representation or re-enactment of a battle substantially as herein described with reference to any one of the Figures.

According to a further aspect there is provided a method of creating a three dimensional representation of the battlefield substantially as herein described with reference to any one of the Figures.

According to a further aspect of this invention there is provided a method for reviewing training events, fire-fights and/or shooting incidents substantially as herein described with reference to the Figures.

Brief Description of the Figures

The present invention will now be described by way of example and with reference to the accompanying Figures, in which:

Figure 1 illustrates a schematic plan view of a soldier using the present invention:

(A) Soldier and Weapon at initial position; (B) Soldier moves and engages enemy at heading shown; (C) Soldier moves and engages enemy at heading shown;

(D) Likely enemy location; (E) Soldier moves and engages enemy at heading shown; (F) Soldier moves and engages enemy at heading shown; (G) Likely enemy location; (H) Hot Zone; (I) Enemy movement. Figure 2 illustrates a schematic plan view of soldiers using the present invention: (A)

Soldier engages enemy; (B) Soldier engages enemy; (C) Soldier engages enemy;

(D) Soldier engages enemy; (E) Enemy location (calculated via averaged directional data); (F) Hot Spot or Positional Strength; (G) Positional Strength;

(H) Possible enemy movement. Figure 3 illustrates a 3 dimensional display of the field of combat after analysis by the processor. Figure 4 is a schematic representation of an embodiment of the system of the invention. Figures 5 and 6 provide representations of data obtained for movement signatures for weapons during discharge.

Preferred Embodiment of the Invention

The word "weapon" is used throughout this specification to refer to a mechanical device that fires projectiles at high velocity through a barrel running along its longitudinal axis, including but not limited to firearms and artillery. It is to be noted that while the invention is generally described in the context of firearms, the scope is not limited thereto and is intended to cover any type of weapon including vehicle-mounted or permanently positioned guns or cannons. Furthermore, depending on the particular type of weapon, the sensors provided and the data collected/displayed may be selected accordingly. "Weapon" is also used to refer to weapons which may be used for training or recreational purposes, including those used in war games. The term "user" is used to refer to a user or firer of a weapon. References to "communicatively coupleable/coupled" include direct and/or indirect couplings via a wired and/or wireless link(s).

The present invention relates to an engagement system and method for providing real-time situational awareness in battle or combat type conditions. More specifically,^" the invention provides an engagement system and method for monitoring the engagement of a soldier, and preferably an infantry troop of soldiers, with an enemy force. The invention allows approximate triangulation of an enemy position or "hot zone" which can be used to synchronise other effects, target enemy positions, calculate positional strength and decide whether reinforcements are required. The invention may have use in conventional combat zones but also urban environments which may have particular value to police swat teams, for example. Of course those skilled in the art may develop new applications for the invention. This invention provides hardware and software solutions to increase the efficiency and lethality of users of weapons according to the invention while simultaneously increasing the efficiency and responsiveness of the combat operation.

This invention also provides a method for improved training and combat simulation, particularly for organisations that employ the use of small arms. More particularly, embodiments of the invention may be configured to operate on the basis of firing blank rounds.

The invention has applications for hunters, law enforcement officers and soldiers and can help to prevent incidents of friendly fire or fratricide by providing an early warning against discharging a weapon in the direction of friendly forces.

Embodiments of the invention may provide benefits to sport or competition shooters by recording and presenting engagement data to provide valuable statistics on performance, handling characteristics, accuracy, efficiency, speed and so on.

The invention could be combined with augmented reality systems to provide enhanced training and combat simulation.

The engagement system of the present invention preferably includes a sensor or sensor array, a processor and a display such as a VDU.

The sensor is preferably engageable with a weapon carried by a soldier (for example), who is being monitored. Preferably the sensor is a ruggedized, quick-disconnect type device that can be mounted, attached or integrated into an existing weapon or weapon attachment. The sensor may be adapted to engage with pistols, rifles, submachine guns, machine guns, assault rifles, shotguns, cannons, artillery weapons and the like. The configuration and components included in the sensor may be selected at least in part based on the type of weapon.

The sensor may be adapted to record or register engagement data when the weapon is discharged (blanks or live ammunition releasing a projectile from the weapon). The engagement data may include (but is not limited to):

• longitudinal and/or lateral bearings for the projectile discharged;

• the position of the soldier;

• compass heading;

• altitude data; • barometric data;

• time data;

• temperature data;

• azimuth of the weapon; and

• elevation data of the weapon.

It will be appreciated that the sensor may be tailored to record a variety of other relevant data.

In a preferred embodiment the sensor records or registers the position of the soldier and/or weapon when a projectile is discharged and the direction in which the projectile is launched. In addition the sensor preferably records or registers the latitude and longitude coordinates of the weapon and/or the user thereof, the azimuth, elevation and altitude of the gun barrel when a projectile is discharged from the weapon. A single sensor may be mounted to record or register this data, or the sensor may include a number of independent sensors mounted to the weapon to record or register various parameters. However in the preferred embodiment, a single sensor unit or array records or registers the engagement data.

In a preferred embodiment the processor records the engagement data transmitted from the sensor. The sensor and/or the processor preferably has an identifier code which identifies the soldier from other members of an infantry troop.

Means are preferably provided for recording the engagement data, preferably under the control of a processor. Any known means may be used for recording or storing data including but not limited to non-volatile memory, magnetic storage media, battery backed memory, optical storage media, removable storage media, etc.

The sensor may monitor continuously, at periodic intervals and/or in response to a predetermined event. Similarly, the processor may enable recording of engagement data continuously and/or when the weapon is discharged, depending on the desired configuration. The sensor and/or processor may be activated to monitor/record the engagement data by a variety of means. In a preferred embodiment the sensor and/or the processor may be initiated by any one of the following trigger mechanisms to monitor/record engagement data:

• pulling the trigger;

• falling of the weapon hammer or pin;

• a flash; • a sound;

• ejection of a shell; and

• recoil from discharge.

The inventors have found that analysing the recoil, combined with the firing characteristics of the weapon and ammunition type acts as an effective method to register every time a round is discharged.

It will be appreciated that there may be other parameters which trigger the sensor and/or processor to monitor/record engagement data on discharge of a projectile from the weapon. The engagement data is preferably recorded only at the time of the discharge but may be modified to transmit data continuously whether or not the weapon is discharged. Those skilled in the art will be aware of other means which may be adapted to identify a discharge from the weapon and which may be included in embodiments of the invention.

Preferably the sensor is powered by a battery maintained within the sensor unit or array, or in a small case alongside the weapon, connected to a battery-pack carried by the solider, or in another suitable location depending on the weapon type and operational mode. Of course it will be appreciated that the sensor could be integrally formed with the weapon on construction or could be retrofitted to the weapon. The sensor is preferably manufactured according to MIL- SPEC standards and configured to survive harsh battle conditions.

In an alternative embodiment, the sensor may be adapted to detect the discharge of blanks from the weapons thereby allowing the apparatus to act in a training system for armed personnel. When used to train soldiers in combat, this invention allows soldiers to play intense war games in a battle-simulated environment without the threat of being injured.

As mentioned hereinabove, the sensor communicates engagement data to a processor which then communicates with a display to facilitate display of the data. In a preferred embodiment, the sensor transmits the engagement data via a secure digital radio to the processor. The processor (or processors) transmit the engagement data to the display via a secure digital radio network. Other known means may be used to transmit engagement data. As would be apparent to one of skill in the art, where the display is provided remote from the processor, the display is preferably provided with a processor. Thus, the display may be located some distance from the combat zone such as at a command post or General Headquarters (GHQ). However the display may be located closer to the combat zone or carried or worn by an individual soldier if required.

The processor may be adapted to receive and/or generally communicate with the display. The processor may be adapted to analyze the engagement data and transmit the data to a visual display unit (VDU). In a preferred embodiment, the processor receives engagement data and matches the data against a field map of the terrain. The location of the soldier, direction of the discharge and other data transmitted may be displayed on the VDU along with engagement data from other soldiers in the infantry troop. This allows predictions to be made on the approximate location of an enemy. In the preferred embodiment, the processor receives engagement data from a number of troops in the field and displays this information on the VDU.

In one embodiment of the invention the processor is adapted to display (from analysis of the engagement data and via the VDU) the position of the soldier and direction of discharge from a user's weapon on a 2 dimensional or 3 dimensional image of the field of combat.

Figure 1 illustrates a plan schematic 2 dimensional image of the present invention in action. A soldier is initially represented by a circle A. As the soldier moves from position A to positions B, C, E and F, the soldier discharges a projectile in the direction of an enemy I initially located in position D but who moves to G. The sensor identifies discharge of the weapon and records the engagement data thereof. This engagement data is transmitted to the processor in the preferred embodiment. The processor is then adapted to analyse the results and display the engagement data on a display. The hot zone H can then be triangulated or calculated from the general direction of the weapons discharge. The processor is therefore designed to predict the likely location of an enemy. Engagement data received by the processor may include one or more of: longitudinal and lateral bearing data; the position of the soldier on discharge of the weapon; compass heading; speed; altitude data; barometric data; time data; temperature data; barrel azimuth of the weapon; and barrel elevation.

The present invention also allows for the collection of engagement data from a number of soldiers independently.

Figure 2 illustrates a plan schematic 2 dimensional view of four soldiers of an infantry troop A, B, C, D engaged in combat with an enemy at location E. The predicted enemy location F may be calculated based on the intersection points of detected trajectories of fired rounds. Depending on the number of shots fired and/or the spread of shots fired within a predetermined time period, a determination can be made as to whether reinforcements should be called in or aerial attacks requested at locations F and H.

Thus, the processor may provide the following data on the display or VDU or allow the following data to be determined/calculated:

• Round firing location, direction, angle and altitude;

• Predicted enemy location;

• Predicted enemy movements;

• Other troop/weapon location(s);

• Previous locations, position and movement;

• Weapon type;

• Rounds discharged;

• Positional strength; and

• GPS locations.

The engagement system may therefore provide for visible analysis, discussion and consideration of the following features:

• Operation synchronization;

• Friendly-fire avoidance and fratricide prevention;

• Prediction of enemy location, movement and behaviour;

• Optimised precision fire and manoeuvre

• Increased speed-to-fire and lethality

• Three dimensional view for spatial analysis;

• Weapon in firing position/or not;-

• Operating method or style; .

• Ammunition efficiency and or rounds used;

• Projectile characteristics, speed and likely distance or fall of shot;

• Firing and user handling characteristics;

• Personnel alive/dead;

• Capability to self-synchronize operations;

• Positional strength;

• Target efficiency;

• Consider the position and attack range of enemy units;

• Could show combat directives;

• Could be used to synchronize other effects such as indirect fire or guided munitions; • Historical data;

• Understand "fire-fights" or "shooting incidents"

• Play back with After Action Review; and

• Soldiers that are not firing their weapons.

In addition the processor may transmit the data back to at least one soldier in the field to be displayed on a handheld or personal computer, or through helmet visors. Other means for display are also included within the scope of the invention.

Figure 3 illustrates a 3 dimensional perspective view of the field of combat. The "hot zone" of predicted enemy location and movement is shown on the image of the combat zone as a red zone within a valley. The predicted enemy location is determined by assessing the engagement data transmitted from the sensors of various soldiers when their respective weapons are discharged. The "hot zone" (shown as a red zone in Figure 3) may be triangulated or determined visually, manually or automatically calculated by the processor and displayed over the region of maps of the combat zone.

The invention also provides a method of identifying engagement of a soldier with an enemy. The method generally includes the steps of identifying a discharge from the soldier's weapon in the field and recording engagement data. The engagement data includes, for example, the position of the soldier, the altitude and direction of the weapon etc as previously described. The engagement data is communicated to a processor. Typically the processor will configure and relay the engagement data to enable display on a display such as a VDU. The processor analyses the engagement data and enables display of data of the combat field to allow visual inspection.

A preferred performance of the method is described below.

1. The sensor or sensor arrays are set-up as described above on the individual weapons (adapted by weapon type). The sensor array and its sensory properties are selected on requirements for the user and application.

2. The sensors may be activated by the soldier, when the weapon moves or when a round is discharged (depending on configuration). Once the system is activated the sensors automatically begin to collect data and transmit data to the processor for 'processing'.

3. Soldiers are deployed into a real (or simulated) environment.

4. Based on their orders they then proceed as directed. 5. As they proceed the soldiers encounter enemy resistance and engage the enemy by returning fire. On discharge of the weapon, engagement data is recorded.

6. The engagement data is captured, recorded and transmitted to the processor. The processor may be located some distance from the combat zone.

7. The processor may run various calculations/analyses of the data.

8. The engagement data is then combined with mapping data, historical data (from previous engagements), environmental data, Allied/Blue Force data, and other data to provide situational awareness. Engagement data from various individual weapons may be compared against engagement data from multiple weapons. In simple form, the point at which they intersect creates likely or predicted enemy location(s).

9. This information is then presented through the VDU to give a visual picture of the battlefield. The invention therefore provides a method of creating a 2 dimensional or 3 dimensional representation of the battle field or combat zone. This information can be used immediately or it can be stored for future use.

10. The user may manipulate information by customising how and what is presented.

11. The user can gain instant battlefield awareness to increase lethality, survivability, and responsiveness. The engagement data may be fed directly to troops in the combat zone or aid in instructing troops at the battle field.

12. As this data is also recorded it can be played back at a future point to evaluate battle engagement. In this way the invention can be used to collect data of a combat zone for historical recording or forensic/diagnostic purposes.

A preferred embodiment of the present system may provide the following advantages:

• Provides avoidance and reduction of friendly-fire or fratricide;

• Prediction of enemy location, movement and behaviour

• Optimize precision fire and manoeuvre - increase in enemy kill-rate and reduction in casualties

• Understand what is happening in real-time to soldiers and police officers

• Increased speed-to-fire and lethality through enhanced training

• Gives a visual picture of the battlefield;

• Measure likely enemy position;

• Show troop/weapon location;

• Shows round firing location, direction, altitude and angle;

• Creates 'hot-zones' based on engagement;

• Overlays this data onto map; • Can synchronize effects in the battlespace;

• Displays GPS locations;

• Collects, processes and distributes information;

• Builds up a 'historical' picture of battle;

• Can be recorded and played back as required;

• Can show possible enemy movements (based on recognized warfare strategies); and

• 3 dimensional view for spatial analysis.

The present invention is adapted to reduce confusion by recording the position a soldier is in and the direction in which a projectile is discharged from a weapon. As the engagement data is recorded, an electronic record of the soldier(s) attack is created. This means that in future if questions surround troop activities or unlawfulness, the electronic record can be retrieved and reviewed thereby allowing issues of culpability to be addressed. Thus the present invention provides a method of mapping a battle field including identifying a discharge from a weapon held by a soldier; monitoring and recording predetermined engagement data on discharge of the weapon; communicating the engagement data to a processor; and displaying the engagement data on a display of the field which also shows engagement data from other soldiers. This allows predictions on likely enemy positions to be made.

Figure 4 is a schematic representation of an embodiment of the system of the invention, generally marked 40. System 40 includes sensor unit or array 41 which may include a plurality of individual sensors. Communication means 42, processing means 43, memory 44, display 45 and remote station 46 are preferably communicatively coupled, such as by but not limited to bus 46. Note that transfer of data between said items may be performed at least in part via other means, including wireless communication means, wherein particular ones of said items are not directly coupled to or integral to sensor array 41.

Sensor array 41 is preferably in communication with remote station 47 via communication means 42, which is preferably configured to communicate wirelessly. Note that any one or more of processing means 43, memory 44 and display 45 may be additionally or alternatively associated with remote station 47. While not shown, the exchange of information with remote station 47 may be effected via one or more relay stations. Also, while one sensor array 41 and one remote station 47 are shown, it will be appreciated that system 40 may include any number of such devices.

The invention will now be described by way of example. Example

A patrol is deployed into a real or simulated battlefield environment. Based on their orders the patrol deploys to secure a strategic crossroad located in a lightly populated urban environment. The soldiers may have been instructed to observe the Rules of Engagement which could be they only fire once fired upon and preserve the life of non-combatant - this may be assessed in post briefing sessions. As the patrol moves towards the crossroad they encounter light enemy fire by mobile units. The Patrol Commander orders the patrol to split into two units. The first moves towards the crossroads via a direct route, and the second moves along the side to cover the flank.

As the units advance they come under heavy enemy fire and obstacles, collapsed buildings, which causes the flanking unit to loose visual contact with the others, and also to clearly identify where the resistance is coming from.

Option 1. Realising this, the patrol commander views his VDU, assesses each soldier's relative positions, the direction of fire of those engaging the enemy, and coordinates further action to the patrol members via the patrol's radios.

Option 2. Realising this, the soldiers of the flanking unit view their VDUs to assess their relative position, where the other is and where they are firing. They can then quickly coordinate further action.

Further towards the crossroads, they encounter fierce resistance from fixed enemy defended positions. Both units go to ground and engage the enemy from safe locations. Meanwhile the entire contact has been monitored by a Command Post to the rear. The Command Post has ascertained from the real time feedback, from each patrol member's sensor of the invention, accurate GPS positions for all of their own troops and the location of the enemy's defended position from the direction of fire of the patrol members. Using this information artillery and air support is able to be quickly directed onto the enemy position. The final obstacle now cleared, the patrol proceeds to secure the strategic crossroad.

Once combat has finished the data is available for review and post-event analysis.

The apparatus and method described above have a variety of advantages including: • optimized precision fire and manoeuvre • avoidance and reduction of friendly-fire incidents

• prediction of enemy location, movement and behaviour

• increased speed-to-fire and lethality

• increased operational tempo

• promote higher accountability for weapon discharges;

• complements current forensic and training techniques to understand "fire fights" or "shooting incidents";

• see exactly what happened, where it happened and how it happened;

• ability to analyze training scenarios and identify areas of improvement e.g. engagement tactics, etc;

• enhance training operation through real-time data visualization and post event analysis;

• dramatically improve understanding, application and retention of the experience;

• instant battlefield awareness;

• gives greater confidence of enemy location;

• synchronise operations;

• adjust battle strategy;

• exploit opportunities;

• increasing lethality, survivability, and responsiveness;

• adapt to changing circumstances and dynamic environments;

• know where to concentrate force and firepower;

• increase individual combatant's chances of survival;

• calculate positional strength;

• avoid unnecessary enemy engagements;

• is excellent for complex environments with limited visibility;

• collect valuable data;

• easily understood visual interface;

• reducing response time;

• achieving greater speed of command;

• optimise force and energy required;

• gain a timely and accurate picture of your forces and what the enemy is up to;

• share this information with joint forces; and

• collect, process and distribute needed information for joint force operations.

Particular advantages include real time feedback of multiple soldiers and weapon locations, the direction and count of every round fired and the ability to use this for both immediate operational decision making and/or post event analysis. The invention provides a unique solution that incorporates a miniature sensor fitted to an individual's weapon. The sensor records and feeds back, via in-service or other secure radio (in real time) weapon location, rounds fired and the barrel azimuth/elevation for every shot fired. The system can monitor multiple weapons concurrently and display the trajectory and point of impact of each instantly, at a remote base station or in the field of combat, for either fire control during an operation or analysis/debriefing post activity

The invention may also be used by police, swat teams, law enforcement agencies, security, hunters, sport shooters, as well as military groups. Furthermore, embodiments of the invention may be adapted for use in training and/or recreational environments (such as war games, paint balling etc), including but not limited to situations where blanks are used in place of live rounds.

Where in the foregoing description there has been made reference to specific components or integers of the invention having known equivalents then such equivalents are herein incorporated as if individually set forth.

Although this invention has been described by way of example only and with reference to possible embodiments thereof it is to be understood that modifications or improvements may be made without departing from the scope or spirit of the invention.

Claims

1. A sensing apparatus for monitoring engagement of a weapon, the sensing apparatus being: coupleable to the weapon; configured to monitor at least one parameter relating to engagement of the weapon; and configured to generate and/or output data based on the monitored at least one parameter.

2. The sensing apparatus of claim 1 , wherein said at least one parameter comprises any one or more of whether and/or when the weapon is discharged, a location of the weapon and/or the location of the user thereof at least when the weapon is discharged, a direction of fire, a temperature, a pressure, an azimuth of the weapon, an altitude, an angle of elevation of the weapon or a compass heading.

3. The sensing apparatus of claim 1 or claim 2, comprising any one or more of an accelerometer, a 3-axis accelerometer, an inclinometer, a solid state inclinometer, an altimeter, a gyroscope, a 2-axis gyroscope, a digital compass, a clock, a barometric sensor or a temperature sensor.

4. The sensing apparatus of any one of the preceding claims, configured to monitor a firing signature of the weapon, wherein said data comprises information relating to the firing signature.

5. The sensing apparatus of claim 4, comprising an accelerometer and a gyroscope.

6. The sensing apparatus of any one of the preceding claims, ^" comprising location determination means for determining a location of the weapon and or the user thereof, wherein said data comprises information obtained thereby.

7. The sensing apparatus of any one of the preceding claims, configured to monitor said at least one parameter and/or generate said data continuously.

8. The sensing apparatus of any one of the preceding claims, configured to monitor said at least one parameter and/or generate said data at periodic intervals or in response to a predetermined event.

9. The sensing apparatus of any one of the preceding claims, comprising a memory for storing at least a portion of the data.

10. The sensing apparatus of claim 9, wherein the memory is configured to store at least a portion of the data continuously.

11. The sensing apparatus of claim 9, wherein the memory is configured to store at least a portion of the data at periodic intervals and/or in response to a predetermined event.

12. The sensing apparatus of any one of the preceding claims, comprising means for transmitting at least a portion of the data.

13. The sensing apparatus of claim 12, wherein the means for transmitting is configured to transmit at least a portion of the data continuously.

14. The sensing apparatus of claim 12, wherein the means for transmitting is configured to transmit at least a portion of the data at periodic intervals and/or in response to a predetermined event.

15.- The sensing apparatus of claim 8 or claim 11 or claim 14, wherein said predetermined event is a detected discharge and/or other movement of the weapon.

16. The sensing apparatus of any one of the preceding claims, comprising means for associating and/or adding an identifier to the data.

17. The sensing apparatus of any one of the preceding claims, comprising means for associating and/or adding a time stamp to the data.

16. A weapon comprising the sensing apparatus of any one of the preceding claims.

17. A system for monitoring engagement of a weapon, the system comprising one or more sensing apparatus of any one of claims 1 to 15 and/or one or more weapons of claim 16.

18. The system of claim 17, comprising a memory communicatively coupled to at least one said sensing apparatus for receiving and storing at least a portion of the data obtained thereby.

19. The system of claim 17 or claim 18, comprising a transmitter communicatively coupled to at least one said sensing apparatus for receiving and transmitting at least a portion of the data obtained thereby.

20. The system of any one of claims 17 to 19, comprising a display for displaying at least a portion of the data obtained by the at least one sensing apparatus and/or information derived therefrom.

21. The system of any one of claims 17 to 20, comprising location determination means associated with a respective weapon and/or user thereof for determining a location of the weapon and/or the user.

22. The system of any one of claims 17 to 21 , comprising a processor for processing at least a portion of the data obtained by at least one said sensing apparatus.

23. The system of claim 22, wherein the processor is configured to format the data for presentation on a display.

24. The system of claim 22 or claim 23, wherein the processor is communicatively coupled to at least one said sensing apparatus and/or the memory and/or the transmitter.

25. The system of any one of claims 17 to 24, wherein said processor is configured to process data relating to one or more discharges from each of a plurality of weapons so as to identify a likely enemy position.

26. The system of claim 25, wherein the processor is configured to determine the likely enemy position based on one or more of the points of fire together with corresponding trajectory information.

27. The system of any one of claims 17 to 26, comprising means for displaying engagement data superimposed on a map of the region in which the data is obtained.

28. A method for monitoring engagement of a weapon, the method comprising: monitoring at least one parameter relating to engagement of the weapon; and generating data based on the monitored at least one parameter.

29. The method of claim 28, wherein said at least one parameter comprises any one or more of whether and/or when the weapon is discharged, a location of the weapon and/or the location of the user thereof at least when the weapon is discharged, a direction of fire, a temperature, a pressure, an azimuth of the weapon, an altitude, an angle of elevation of the weapon or a compass heading.

30. The method of claim 28 or claim 29, comprising monitoring a firing signature of the weapon, wherein said data comprises information relating to the firing signature.

31. The method of any one of claims 28 to 30, comprising determining a location of the weapon and or the user thereof, wherein said data comprises information obtained thereby.

32. The method of any one of claims 28 to 31 , wherein said monitoring and/or said generating is performed continuously.

33. The method of any one of claims 28 to 32, wherein said monitoring and/or said generating is performed at periodic intervals or in response to a predetermined event.

34. The method of any one of claims 28 to 33, comprising storing at least a portion of the data.

35. The method of any one of claims 28 to 34, comprising transmitting at least a portion of the data.

36. The method of any one of claims 28 to 35, comprising associating and/or adding an identifier to the data.

37. The method of any one of claims 28 to 36, comprising associating and/or adding a time stamp to the data.

38. The method of any one of claims 28 to 37, comprising a display for displaying at least a portion of the data.

39. The method of any one of claims 28 to 38, comprising processing at least a portion of the data.

40. The method of any one of claims 28 to 39, comprising processing data relating to one or more discharges from each of a plurality of weapons so as to identify a likely enemy position.

41. The method of any one of claims 28 to 40, comprising displaying engagement data superimposed on a map of the region in which the data is obtained.