Digital sight for hand-carried projectile-firing device and method of controlling the same
First Claim
1. A method of controlling a digital sight for a hand-carried projectile-firing device, comprising:
- an aligning step (S100) of, by using a vertical accelerometer and a horizontal accelerometer, performing horizontal alignment and then aligning a gyroscope measurement axis with a firing direction;
a step (S200) of, after the aligning step (S100), acquiring a first approximate azimuth angle from auxiliary information;
a step (S300) of, after the step (S200) of acquiring the first approximate azimuth angle, calculating a second approximate azimuth angle; and
a step (S400) of, after the step (S300) of calculating the second approximate azimuth angle, calculating a first precise azimuth angle,wherein the step (S300) of calculating the second approximate azimuth angle comprises;
a determining step (S310) of determining availability of the first approximate azimuth angle acquired at the step (S200) of acquiring the first approximate azimuth angle;
a first rotation step (S320) of, if it is determined at the determining step (S310) that the first approximate azimuth angle is available, rotating the gyroscope measurement axis so that the gyroscope measurement axis is coincident with a due east direction with respect to the first approximate azimuth angle;
a first average acquisition step (S330) of, after the first rotation step (S320), acquiring a first average (Ω
1) of gyroscope measurement values of the digital sight for the hand-carried projectile-firing device for a preset first time period (T1);
a second rotation step (S340) of, after the first average acquisition step (S330), rotating the gyroscope measurement axis at an angle of 180°
;
a second average acquisition step (S350) of, after the second rotation step (S340), acquiring a second average (Ω
2) of gyroscope measurement values of the digital sight for the hand-carried projectile-firing device for the preset first time period (T1);
an approximate bias calculation step (S360) of calculating an approximate bias from the first average (Ω
1) and the second average (Ω
2);
a step (S370) of, after the approximate bias calculation step (S360), determining whether latitude information at a current position is retained; and
a step (S380) of, if it is determined at the step (S370) that the latitude information at the current position is retained, calculating the second approximate azimuth angle from the first average (Ω
1) and the second average (Ω
2).
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Accused Products
Abstract
The present invention relates to a digital sight for a hand-carried projectile-firing device and a method of controlling the digital sight. A digital sight for a hand-carried projectile-firing device according to an embodiment of the present invention is a digital sight for a hand-carried projectile-firing device, the digital sight including an inertial sensor package and a manual rotation device, wherein the inertial sensor package includes a gyroscope and an accelerometer module. In accordance with the present invention, equipment for measuring the firing direction of a hand-carried projectile-firing device such as a mortar is replaced with a digital sight for a hand-carried projectile-firing device, which reduces an estimation error while using a single medium-low level gyroscope, thus enabling the projectile-firing device to precisely and promptly fire a projectile and improving the operability thereof.
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Citations
16 Claims
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1. A method of controlling a digital sight for a hand-carried projectile-firing device, comprising:
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an aligning step (S100) of, by using a vertical accelerometer and a horizontal accelerometer, performing horizontal alignment and then aligning a gyroscope measurement axis with a firing direction; a step (S200) of, after the aligning step (S100), acquiring a first approximate azimuth angle from auxiliary information; a step (S300) of, after the step (S200) of acquiring the first approximate azimuth angle, calculating a second approximate azimuth angle; and a step (S400) of, after the step (S300) of calculating the second approximate azimuth angle, calculating a first precise azimuth angle, wherein the step (S300) of calculating the second approximate azimuth angle comprises; a determining step (S310) of determining availability of the first approximate azimuth angle acquired at the step (S200) of acquiring the first approximate azimuth angle; a first rotation step (S320) of, if it is determined at the determining step (S310) that the first approximate azimuth angle is available, rotating the gyroscope measurement axis so that the gyroscope measurement axis is coincident with a due east direction with respect to the first approximate azimuth angle; a first average acquisition step (S330) of, after the first rotation step (S320), acquiring a first average (Ω
1) of gyroscope measurement values of the digital sight for the hand-carried projectile-firing device for a preset first time period (T1);a second rotation step (S340) of, after the first average acquisition step (S330), rotating the gyroscope measurement axis at an angle of 180°
;a second average acquisition step (S350) of, after the second rotation step (S340), acquiring a second average (Ω
2) of gyroscope measurement values of the digital sight for the hand-carried projectile-firing device for the preset first time period (T1);an approximate bias calculation step (S360) of calculating an approximate bias from the first average (Ω
1) and the second average (Ω
2);a step (S370) of, after the approximate bias calculation step (S360), determining whether latitude information at a current position is retained; and a step (S380) of, if it is determined at the step (S370) that the latitude information at the current position is retained, calculating the second approximate azimuth angle from the first average (Ω
1) and the second average (Ω
2). - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method of controlling a digital sight for a hand-carried projectile-firing device, comprising:
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an aligning step (S100) of, by using a vertical accelerometer and a horizontal accelerometer, performing horizontal alignment and then aligning a gyroscope measurement axis with a firing direction; a step (S200) of, after the aligning step (S100), acquiring a first approximate azimuth angle from auxiliary information; a step (S300) of, after the step (S200) of acquiring the first approximate azimuth angle, calculating a second approximate azimuth angle; and a step (S400) of, after the step (S300) of calculating the second approximate azimuth angle, calculating a first precise azimuth angle, wherein the step (S300) of calculating the second approximate azimuth angle comprises; a determining step (S310) of determining availability of the first approximate azimuth angle acquired at the step (S200) of acquiring the first approximate azimuth angle; a first average acquisition step (S330) of acquiring a first average (Ω
1) of gyroscope measurement values of the digital sight for the hand-carried projectile-firing device for a preset first time period (T1);a second average acquisition step (S350) of acquiring a second average (Ω
2) of gyroscope measurement values of the digital sight for the hand-carried projectile-firing device for the preset first time period (T1),wherein the step (S400) of calculating the first precise azimuth angle comprises; a step (S410) of determining availability of the second approximate azimuth angle; a third average acquisition step (S420) of, if it is determined that the second approximate azimuth angle is available, acquiring a third average (Ω
3) of gyroscope measurement values of the digital sight for the hand-carried projectile-firing device for a preset second time period (T2);a third rotation step (S430) of, after the third average acquisition step (S420), rotating the gyroscope measurement axis at an angle of 180°
;a fourth average acquisition step (S440) of, after the third rotation step (S430), acquiring a fourth average (Ω
4) of gyroscope measurement values of the digital sight for the hand-carried projectile-firing device for the preset second time period (T2);a step (S450) of calculating a first precise bias from the third average (Ω
3) and the fourth average (Ω
4); anda step (S460) of calculating the first precise azimuth angle from the third average (Ω
3) and the fourth average (Ω
4). - View Dependent Claims (11, 12, 13, 14, 15, 16)
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Specification