Electronic apparatus for determining the attitude of a weapon and operating method thereof
First Claim
1. An apparatus configured to determine the attitude angles of a weapon, comprising:
- acceleration measuring means configured to measure the weapon acceleration components along axes of a first reference system integral with the weapon;
angular speed measuring means configured to measure weapon angular speed components along the axes of said reference system; and
processing means configured to;
compute actual attitude angles of the weapon in dynamic conditions based on the weapon angular speed components;
determine static attitude angles of the weapon in static conditions of the weapon itself based on said weapon acceleration components, by filtering at a low frequency said weapon acceleration components;
correct said weapon angular speed components based on said static attitude angles and of said actual attitude angles;
determine a first static weapon attitude angle corresponding to a static pitch angle of the weapon based on a first component of the weapon acceleration along a first axis of said reference system at a computing time;
said first axis being arranged coaxially to a longitudinal axis of a barrel of said weapon;
determine a second static attitude angle corresponding to a static roll angle of the weapon based on a second component of the weapon acceleration along a second axis of said reference system and said determined said static pitch at a computing time;
said second axis being oriented towards the right side of a support frame of the weapon; and
determine a third actual attitude angle corresponding to the actual heading angle of the weapon based on said weapon angular speed components, the actual roll and pitch angles determined a computing time preceding the current computing time;
receive, at a computing time, the actual attitude angles comprising the pitch, the roll, and the heading determined at a computing time preceding the current computing time;
determine a first correction factor of said angular seed components as a function of a difference between the static pitch and the dynamic pitch determined at the computing time preceding the current computing time; and
determine a second correction factor of said angular speed components as a function of a difference between the static roll and the dynamic roll determined at the computing time preceding the current computing time.
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Accused Products
Abstract
An embodiment of an apparatus for determining the attitude angles of a weapon includes a number of accelerometers for measuring the components of the acceleration of the weapon along the axes of a first reference system integral with weapon; a number of gyroscopes configured in such a way to measure the components of the angular speed of the weapon along the axes of the reference body; and a processing unit configured to compute a number of actual attitude angles of the weapon under dynamic conditions based on the components of the angular speed; determine a number of static attitude angles of the weapon under static conditions of the weapon based on the components of the acceleration; and correct the components of angular speed according to static attitude angles and to the actual attitude angles.
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Citations
13 Claims
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1. An apparatus configured to determine the attitude angles of a weapon, comprising:
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acceleration measuring means configured to measure the weapon acceleration components along axes of a first reference system integral with the weapon; angular speed measuring means configured to measure weapon angular speed components along the axes of said reference system; and processing means configured to; compute actual attitude angles of the weapon in dynamic conditions based on the weapon angular speed components; determine static attitude angles of the weapon in static conditions of the weapon itself based on said weapon acceleration components, by filtering at a low frequency said weapon acceleration components; correct said weapon angular speed components based on said static attitude angles and of said actual attitude angles; determine a first static weapon attitude angle corresponding to a static pitch angle of the weapon based on a first component of the weapon acceleration along a first axis of said reference system at a computing time;
said first axis being arranged coaxially to a longitudinal axis of a barrel of said weapon;determine a second static attitude angle corresponding to a static roll angle of the weapon based on a second component of the weapon acceleration along a second axis of said reference system and said determined said static pitch at a computing time;
said second axis being oriented towards the right side of a support frame of the weapon; anddetermine a third actual attitude angle corresponding to the actual heading angle of the weapon based on said weapon angular speed components, the actual roll and pitch angles determined a computing time preceding the current computing time; receive, at a computing time, the actual attitude angles comprising the pitch, the roll, and the heading determined at a computing time preceding the current computing time; determine a first correction factor of said angular seed components as a function of a difference between the static pitch and the dynamic pitch determined at the computing time preceding the current computing time; and determine a second correction factor of said angular speed components as a function of a difference between the static roll and the dynamic roll determined at the computing time preceding the current computing time. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method for determining the attitude angles of a weapon, comprising:
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measuring components of acceleration of the weapon along axes of a first reference system integral with the weapon; measuring components of angular speed of the weapon along the axes of said reference system; and computing actual attitude angles of the weapon in dynamic conditions based on the components of the angular speed; determining static attitude angles of the weapon in static conditions of the weapon based on said components of the acceleration, by filtering at a low frequency said acceleration components; correcting said angular speed components based on of said static attitude angles and said actual attitude angles; determining a first static weapon attitude angle corresponding to the static pitch angle of the weapon based on a first component of the weapon acceleration along a first axis of said reference system at a computing time;
said first axis being arranged coaxially to a longitudinal axis of a barrel of said weapon;determining a second static attitude angle corresponding to the static roll angle of the weapon based on a second component of the weapon acceleration along a second axis of said reference system and said determined said static pitch angle at a computing time;
said second axis being oriented towards a right side of a support frame of the weapon;determining a third actual attitude angle corresponding to the actual heading angle of the weapon based on said weapon angular speed components, the actual roll and pitch angles determined a computing time preceding the current computing time; receiving at a computing time, the actual attitude angles comprising the pitch, the roll and the heading determined at a computing time preceding the current computing time; determining a first correction factor of said angular speed components as a function of a difference between the static pitch and the dynamic pitch determined at the computing time preceding the current computing time; and determining a second correction factor of said angular speed components as a function of a difference between the static roll and the dynamic roll determined at the computing time preceding the current computing time. - View Dependent Claims (8, 9, 10, 11, 12, 13)
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Specification