Abstract: A robot control method, and associated robot controllers and robots operating with such methods and controllers, providing computational vibration suppression. Given a desired animation cycle for a robotic system or robot, the control method uses a dynamic simulation of the physical robot, which takes into account the flexible components of the robot, to predict if vibrations will be seen in the physical robot. If vibrations are predicted with the input animation cycle, the control method optimizes the set of motor trajectories to return a set of trajectories that are as close as possible to the artistic or original intent of the provider of the animation cycle, while minimizing unwanted vibration. The new control method or design tool suppresses unwanted vibrations and allows a robot designer to use lighter and/or softer (less stiff) and, therefore, less expensive systems in new robots.

Abstract: Generating a morphing sequence for an aerial show may include: receiving, at a computing device comprising a processor, first frame data defining a first location for each of a plurality of drones in a first image of the aerial show; receiving, at the computing device, second frame data defining a second location for each of the plurality of drones in a second image of the aerial show; and generating the morphing sequence, the morphing sequence defining a flightpath for each of the plurality of drones to transition from the first location associated with the first image to the second location associated with the second image.

Abstract: A method for world objects tracking and prediction by an autonomous vehicle includes receiving, from sensors of the AV, a first observation data; associating the first observation data with a first world object; determining hypotheses for the first world object; determining a respective hypothesis likelihood of each of the hypotheses indicating a likelihood that the first world object follows the intention; determining, for at least one hypothesis of the hypotheses, a respective state; and in response to a query, providing a hypothesis of the hypotheses based on the respective hypothesis likelihood of each of the hypotheses. A hypothesis corresponds to an intention of the first world object and the respective state includes predicted positions of the first world object.

Abstract: A system and method to aid in guidance, navigation and control of a guided projectile including a precision guidance munition assembly. The system and method receive position estimates of the guided projectile from a guiding sensor, determine predicted impact points of the guided projectile relative to a target based on the position estimates, determine miss distances of the guided projectile relative to the target, determine smoothed miss distances based, at least in part, on the determined miss distances, and process updated steering commands to steer the guided projectile based on the smoothed miss distances.

Abstract: The invention relates to a method and system for the terminal-phase guiding of an interceptor missile towards a mobile aerial target. According to the invention, measurements delivered by the terminal guiding sensor are used to deduce a set of components of the interceptor missile-target dynamic, by means of Bayesian estimation, and the future of this dynamic is digitally integrated on line.

Abstract: New targeting systems, hardware and techniques are provided, in which an auxiliary probe is first launched and deployed at a target. Extremely precise, deliberate targeting for future projectiles, weapons or non-lethal measures is then made relative to the position and orientation of the probe. In one embodiment, a system enables a sniper to plan measures with extreme precision within an environment, evaluate their effectiveness, and execute them extremely rapidly once satisfied. A user may create, set, adjust and execute Impact Point indicators, corresponding with projected points of impact of a projectile on a target subject within a target environment. The system may counteract and otherwise adjust for certain ballistic and environmental factors in a firing mechanism to maintain such an Impact Point fire ready, in real time. Yet the system is unobtrusive, allowing the user to engage ordinary targeting activity.

Abstract: A firearm aiming system comprising an imaging system comprising an imaging sensor and an image processor; and a user display, wherein the imaging system is adapted to detect a potential target on the user display based on target features. In some embodiments the system includes a firing processor with an epsilon logic module for calculating a target aim-point/area used by the firing processor to make a firing decision.

Abstract: Position reference system and method for positioning and tracking one or more objects which in addition to range and azimuth also provides the elevation angle of the target relative to the instrument axes of the sensor platform. The system and method is based on a near IR laser radar transceiver and one or more active or passive retroreflectors placed on the objects to be positioned. The present invention further includes an internal beam stabilization mechanism protected from the environment and utilize a cylindrical window which is transparent for the near IR laser radiation, but absorbs all visible and UV radiation and thus protects the optical parts from ambient solar radiation. In addition, the cylindrical window protects all internal mechanical parts, notably the rotating and moving parts, from a corrosive and freezing/icing environment.

Abstract: A method determining artillery fire corrections toward a fixed target using a fixed observation system is oriented and equipped with a device measuring orientation of line of sight, a laser rangefinder, a positioning device, and a display screen with fixed crosshair, displaying and moving another crosshair. The method includes: orienting the observation system to display the central crosshair on the target image and calculating target geographical coordinates using distance provided by the rangefinder. If, after firing, the impact and target do not coincide, the method includes, if the orientation is fixed: displaying a second crosshair on the impact image and measuring offset between the two crosshairs, displaying a third crosshair symmetrical to the second crosshair; and orienting the optronic system to position the third crosshair on the target image, the first crosshair coinciding with the impact point image, and actuating the rangefinder to obtain distance between the system and impact.

Abstract: An optical device includes a housing containing a plurality of lenses. At least one of those lenses includes a reticle. An optical device and a processor are also located in the housing. A wind speed sensor is mounted to the housing and configured to send a wind speed signal corresponding to a wind speed to the processor. The processor calculates a wind speed based at least in part on the wind speed signal, and wherein the processor sends an output signal corresponding to the calculated wind speed to the output device.

Abstract: According to one embodiment, a target tracking apparatus calculates N-dimensional predicted values from a respective stored (N+1)-dimensional tracks for each of the targets, determines whether or not the N-dimensional predicted value for each of the targets is correlated with the received N-dimensional angle observed value for the target, if the N-dimensional predicted value is not correlated, generates a new (N+1)-dimensional track for the target based on the N-dimensional track corresponding to the N-dimensional angle observed value and if the N-dimensional predicted value is correlated, updates and stores the (N+1)-dimensional track using the N-dimensional angle observed value.

Abstract: A method for tracking an object using radar includes detecting a wideband radio frequency (“RF”) energy at a first radar sensor tracking the object and determining in a computer process if a booster is propelling the object based on the wideband RF energy. The object is tracked in a computer process based on a ballistic trajectory if the booster is not propelling the object, and the object is tracked in a computer process based on a non-ballistic trajectory if the booster is propelling the object.

Abstract: System and methods for managing targets of a vehicle is provided. In some aspects, a system may include a boundary check module configured to receive boundary information from a flight safety system. The boundary information comprises a selected termination boundary of a plurality of termination boundaries confining navigation of the vehicle. Each of the plurality of termination boundaries is associated with a target of a plurality of targets of the vehicle. The system may further include a target modification module configured to select the target associated with the selected termination boundary, and a target guidance module configured to provide the selected target to a guidance and control system of the vehicle.

Abstract: A method and system for attenuating a shockwave propagating through a first medium. The method and system may include providing a sensor for detecting a shockwave-producing event, which may include detecting an explosive device or detecting an explosion from an explosive device, determining a direction and distance of the shockwave relative to a defended target, calculating with a computer control a firing plan, and interposing a second medium between the shockwave and a protected asset if cost effective to do so. The second medium may be different from the first medium and the shockwave may be reflected, refracted and dispersed, or absorbed as it passes through the second medium prior to reaching the protected asset, and thus may be attenuated in force as it reaches the protected asset.

Abstract: The invention relates to a method for determining a favourable moment for triggering the firing of a weapon on a moving target. According to said method, firing commands and expected impact points (P1-P3) of a projectile and the target (2) are calculated with the aid of an algorithm, without actually triggering a firing burst. The target (2) is selected, the algorithm is activated and hypothetical data is determined. The process is aided by a graphical display (4) of the data. In the preferred embodiments, additional information is taken into account and/or is visualised for a user (5).

Abstract: An example method includes receiving output voltage data from an array of at least four thermopiles placed around the circumference of a projectile such that for any rotation of the projectile during flight thereof, at least a pair of the thermopile having upwardly-facing fields of view referenced to the earth-fixed coordinate system. The method includes determining the pair of upwardly-facing thermopiles based on the output voltage data from the array, with the respective pair of thermopiles including a thermopile p and next adjacent thermopile p+1. The method includes determining a ratio of the output voltage data from thermopiles p and p+1, and applying the ratio to a function associating, for any pair of thermopiles n and n+1, a ratio of output voltage data from thermopiles n and n+1, and a roll angle ?n of thermopile n referenced to the earth-fixed coordinate system.

Abstract: A system and method calculate a range and velocity of an object in image data. The range calculation includes detecting a contour of the object from the image data, forming a template from the image data based on the contour; and calculating a range to the object using pixel resolution and dimension statistics of the object. A three-dimensional velocity of the object is determined by calculating a radial component and an angular component of the velocity. The radial velocity component is calculated by determining the range of the object in two or more image frames, determining a time differential between the two or more image frames, and calculating the radial velocity as a function of the range of the object in the two or more image frames and the time differential between the two or more image frames. The angular component is calculated using spatial-temporal derivatives as a function of a motion constraint equation.

Abstract: A method including detecting a threat incoming to a vehicle, the vehicle having a plurality of countermeasures including a primary armament and an active protection system, communicating the detected threat to a controller, activating, with the controller, a first sensor in response to the detecting, the first sensor tracking the incoming threat and generating tracking data, routing, with the controller, the tracking data to a plurality of fire control processors, each of the plurality of fire control processors being associated with a respective one of the plurality of countermeasures, and the plurality of fire control processors simultaneously computing respective firing solutions using the tracking data, and determining, with the controller, a preferred countermeasure out of the plurality of countermeasures with which to counter the incoming threat.

Abstract: A ranging system for use with a projectile launching device is provided. The ranging system includes an alignment marker visible with an optical sight device. The position of the alignment marker is adjusted based at least on a determined range to a target.

Abstract: A remote weapon system (10) includes: a fire control unit (12); and a mechanical support (14) to which a weapon (18) capable of firing airburst ammunition is mountable, the mechanical support being adapted to move the weapon in azimuth and elevation directions. The fire control unit is adapted to receive input parameters including at least one area parameter related to a geographical area to be covered by the airburst ammunition from the weapon. Further, the fire control unit is configured to automatically calculate a number of shots of the weapon as well as azimuth and elevation directions of the mechanical support for each shot based on the input parameters such that substantially the entire geographical area is covered by the airburst ammunition when the weapon is fired.

Abstract: A network-centric targeting system includes a prepare module to plan for targeting engagements and to identify a target; a sense module to locate targets of opportunity and targets generated by the prepare module to form targeting information; a refine module to enhance the targeting information from the sense module; a track module to maintain a location of a target, a state of the target and target activity, the track module being coupled to the refine module; a target module to select effects and to coordinate delivery of selected effects to the target, the target module being coupled to the track module, the refine module and the sense module; a deliver module to deliver effects to the target, the deliver module being coupled to the track module, the refine module, the target module and the sense module; and an assess module to assess effectiveness of the delivered effects on the target.

Abstract: A method of displaying target engageability information to a pilot of an aircraft in flight including calculating according to instantaneous aircraft position and motion relative to at least one target to be engaged and to characteristics of a weapon, earliest and latest weapon release points between which the weapon is presently capable of engaging a target of interest and generating display symbols indicating a weapon launch acceptable region and the instantaneous position of the aircraft relative thereto. A system for displaying the information and a target engageability display symbology are also described.

Abstract: The invention relates to a method of applying soft-kill deployment to mislead an incoming missile directed to a mother platform. The method comprises the step of predicting a number of miss distances associated with corresponding particular decoy launch parameter sets. Further, the method comprises the step of selecting a decoy parameter set having an optimal predicted miss distance. The method also comprises the step of transmitting the selected decoy parameter set to a launch unit for launching the decoy. Here, the predicting step includes the use of an adjoint algorithm.

Abstract: A projector of multiple skewed light planes or sheets is located adjacent a vehicle to be protected and detectors are arranged to defect the penetration of the light sheets by an incoming object, with the time intervals between the piercing of the planes defining the path of the incoming object and its expected impact time. An array of bullet-firing barrels is arranged to project bullets in ah iron curtain under control of a fire control module that fires a round in a barrel above the projected flight path such that the round impacts the nose of the object and disables it. It is thus the piercing of the skewed light sheets mat provides information as to the impact point of the object as well as its time of arrival so that a round can be fired to intercept the object as it arrives at the iron curtain.

Abstract: A Reconfigurable Nose Control System (RNCS) is designed to adjust the flight path of spin-stabilized artillery projectiles. The RNCS uses the surface of a projectile nose cone as a trim tab. The nose cone may be despun by the action of aerodynamic surfaces, to zero spin relative to earth fixed coordinates using local air flow, and deflected by a simple rotary motion of a Divert Motor about the longitudinal axis of the projectile. A forward section of the nose cone having an ogive is mounted at an angle to the longitudinal axis of the projectile, forming an axial offset of an axis of the forward section with respect to the longitudinal axis of the projectile. Another section of the nose cone includes another motor, the Roll Generator Motor, that is rotationally decoupled from the forward section and rotates the deflected forward section so that its axis may be pointed in any direction within its range of motion.

Abstract: A system and method for dual-band detection of incoming threats using an initial passive detection system and a selectively activated active detection system. Advantages include improved threat detection accuracy, reduction of false alarms, and reduced radiation emission from the active system, thereby making the active system more difficult to detect and reducing irradiation levels of users and bystanders. Variations include systems employing passive optical or electro-optical detectors, systems employing active RADAR or LADAR detectors, and systems connected to alarm signal/threat mitigation systems. The system may be configured for use on ground vehicles or small watercraft. Variations of the system may be specifically configured to detect incoming munitions launches.

Abstract: Methods and apparatus for communications between a fire control system and an effector according to various aspects of the present invention may include a communications link. The communications link may be coupled to a launcher for the effector and the effector. The communications link is detachably coupled to at least one of the launcher and the effector. The communications link may be adapted to transmit a fire control solution to the effector after initiating the launch.

Abstract: The present invention relates to a hierarchical system and method for task assignment (TA), coordination and communication of multiple Unmanned Aerial Vehicles (UAV's) engaging multiple attack targets and conceives an ad-hoc routing algorithm for synchronization of target lists utilizing a distributed computing topology. Assuming limited communication bandwidth and range, coordination of UAV motion is achieved by implementing a simple behavioral flocking algorithm utilizing a tree topology for target list routing. The TA algorithm is based on a graph-theoretic approach, in which a node locates all the detectable targets, identifies them and computes its distance to each target. The node then produces an attack plan that minimizes the sum of distances of the UAV's in the subtree of a given node to the targets.

Abstract: A projectile tracking system for acquiring and precisely tracking a projectile in flight in order to reveal the source from which the projectile was fired. The source is revealed by the back projection of a 3-dimensional track file. In preferred embodiments the system is installed on a vehicle, such as an un-manned blimp or other aircraft, road vehicle or ship, for locating and destroying small arms fire directed at the vehicle. A kill system may also be included on the vehicle to destroy the source of the projectile.

Abstract: A method of displaying target engageability information to a pilot of an aircraft in flight including calculating according to instantaneous aircraft position and motion relative to at least one target to be engaged and to characteristics of a weapon, earliest and latest weapon release points between which the weapon is presently capable of engaging a target of interest and generating display symbols indicating a weapon launch acceptable region and the instantaneous position of the aircraft relative thereto. A system for displaying the information and a target engageability display symbology are also described.

Abstract: The multi-target tracking and discrimination system (MOST) fuses with and augments existing BMDS sensor systems. Integrated devices include early warning radars, X-band radars, Lidar, DSP, and MOST which coordinates all the data received from all sources through a command center and deploys the GBI for successful interception of an object detected anywhere in space, for example, warheads. The MOST system integrates the optics for rapid detection and with the optical sensor array delivers high-speed, high accuracy positional information to radar systems and also identifies decoys. MOST incorporates space situational awareness, aero-optics, adaptive optics, and Lidar technologies. The components include telescopes or other optical systems, focal plane arrays including high-speed wavefront sensors or other focal plane detector arrays, wavefront sensor technology developed to mitigate aero-optic effects, distributed network of optical sensors, high-accuracy positional metrics, data fusion, and tracking mounts.

Abstract: A ballistics fire control system for a spin or fin stabilized projectile is provided with means which are operated such that the closest point of approach between a fired projectile and a target is taken to be at the instant the projectile velocity vector (6) is orthogonal to the position error vector (13) between the projectile and target in accordance with the relationship: Vp•(PP−PF)=0 where Vp is the projectile velocity vector, PP is the projectile trajectory or position vector, PF is the target future position vector, • is the vector dot product and (PP−PF) is the position error vector.

Abstract: A method for tracking a target having substantially constrained movement utilizes the steps of determining constrains for movement of the target, obtaining information on movement of the target, and predicting that the target will continue to move upon a route segment after the target has begun to move thereupon. The constraints are made up of a plurality of separate alternate route segments. Predicting that the target will continue to move upon the route segment upon which it is previously moving facilitates targeting, intercept and intelligence with a substantial degree of reliability, particularly when continuing information, such as radar returns, is not available.

Abstract: A fire-control system for anti-aircraft defense systems, particularly mobile ones, having at least one launch apparatus for guided missiles that is pivotable in elevation and disposed on a platform that is pivotable in azimuth, has an optical target-tracking sensor that is rigidly coupled with the launch apparatus, a follow-up computer for panning the target-tracking sensor after targets, a directional angle computer for calculating lead and elevation of the guided missile during launch, and a control unit that has adjustment drives for the platform and launch apparatus, which unit pivots the platform in azimuth and the launch apparatus in elevation, and, prior to launch, locks the lead on the platform and the elevation on the launch apparatus.

Abstract: A fire control system and a method for estimating periodic component of a target path. An efficient, fast-setting estimator is realized by first estimating the period and then the amplitude of the periodic component on the basis of the most recent measurements made.

Abstract: A method and apparatus for use by a personnel in combat unit to assess in bstantially real-time the threat to a combat unit posed by one or more threat projectiles. A command and control system receives a variety of input data and information signals and generates corresponding signals directed to a processing module. The processing module receives and processes the informational signals indicative of the status and characteristics of the combat unit and threat projectile. The processing module determines whether sample threat projectiles with an uncertainty region associated with each threat projectile detects the combat unit and determines therefrom a probability that the actual threat projectile detects the combat unit. The processing module also generates a probability of detection signals, to generate a report in user perceivable form, indicative of the probability of the threat projectile detecting the combat unit on a substantially real-time basis.

Abstract: An optical storage disk for use in an optical storage system includes a storage layer which is capable of being disrupted when a laser beam of sufficient intensity is focused thereon. The optical storage disk has a transparent substrate layer on one side of the storage layer and a lacquer layer on the other side of the storage layer. The disruptions provided by the laser beam are selected to provide human readable and/or machine readable patterns. To reduce the damage to portions of the optical disk other than the storage layer, the storage layer is exposed to the laser beam prior to curing, or prior to applying and curing the lacquer layer. The optical disk can be of the type with data written thereon during fabrication, or the disk can be of the type in which data can be impressed thereon after fabrication of the optical disk. The patterns on the optical disk can be in the form of optical bar codes.

Abstract: A method for firing a computerized radar weapon system upon a fast target to reduce errors in aim caused by aim-biasing factors that vary in time and space includes computing a point along an extrapolated target track ahead of the target at which to stage an interception. A spotting round is fired at the point to zero-in just before the interception and then a correctly-aimed intercept round is fired at the point in time to make the interception. Additional interceptions may be staged at backup intercept points to guard against a miss, a burst of spotting rounds may be fired at an intercept point to average out perturbations in the trajectory of the projectile from each one of the rounds, and conventional monopulse radar methods of aim bias measurement may be employed to detect projectile miss information.

Abstract: A hand held wand utilizes an elongated rigid hollow longitudinally extending stainless steel tube open at both ends. A data collection probe is disposed in one tube end. A data uploading port is disposed in the other tube end. The probe and port each include a stainless steel body electrically and mechanically engaging the tube. Each body has a front surface disposed outside of the tube with a peripheral annular ring and a central recess extending inwardly and terminating in a rear surface having a first opening. Each body also includes a corresponding longitudinally extending central electrode disposed in the corresponding recess. Each central electrode has an exposed front surface flush with the ring and a rear surface aligned with and spaced from the opening. Electrical insulation is disposed in the recess to electrically isolate the electrode from the body and the tube. The two bodies and the tube define a common external electrical ground with respect to the central electrodes.

Abstract: A method for determining the position and velocity of a target in inertial space including the steps of (a) tracking the target and providing three orthogonal velocity components in inertial space; (b) computing the scalar velocity V.sub.T of the target in an inertial reference frame by providing the square root of the sum of the squares of the orthogonal velocity components; and (c) computing the aspect angle .beta..sub.cue of the target relative to a line-of-sight to a platform as an inverse sinusoidal function of the ratio of one of said orthogonal components and V.sub.T, when such tracking data is available, and otherwise; (d) estimating actual target maneuver to develop a minimum uncertainty zone using an assumed worst case lateral target acceleration. Also disclosed are techniques for bounding the aspect angle and for providing global range and range rate estimates which account for uncertainties in the measurements of target and platform ranges and velocities.

Abstract: Tactical routing apparatus e.g. for an aircraft comprises stores for storing data representing the geographical domain through which the aircraft is to pass and data representing the location and type of a plurality of threats (e.g. gun or missile sites), and a processor for determining and displaying on a V.D.U. the optimal route connecting two points and the probability of successfully completing the route.

Abstract: A fire control system for a weapon having an operator-aimed barrel compri a sighting piece carried by the barrel and having a reticle adjustable in position with respect to the bore axis of the barrel. A camera fast with the barrel has a field coaxial with the bore axis. The apparent movement of the target in the field of the camera is measured as well as the angular movements of the barrel by the operator. The position to be given to the reticle is computed from variations of the aiming direction of the barrel and from the apparent movement and the position of the reticle is consequently adjusted. The reticle may consist of a LCD.

Abstract: In a method for locating an object such as a target for firing simulation in which the echo of a radiation beam emitted in the direction of the object and reflected back from the object is detected in the form of an electric signal, the signal is subjected to a correction treatment in order to compensate for variations in detection sensitivity as a function of the distance of the object. The signal treatment primarily consists in imposing on the signal a variable minimum threshold or a constant threshold with a variable preliminary gain. The variations take place in accordance with a predetermined correction law as a function of the time which elapses between emission of the radiation and detection of the echo.

Abstract: An error-free pointing and tracking system is disclosed which separates the functions of pointing and tracking. Beginning with an initialized trajectory for an object, a sensor is positioned and deviations of the object position with respect to the sensor are noted. To the extent these deviations are trended, the gain of a trajectory correction algorithm is adjusted. Based on the adaptive gain trajectory correction algorithm, a new position estimate is determined. The new position estimate is corrected for servo lag error by referring to a predefined correlation between at least the acceleration term of the trajectory and prerecorded servo lag error. The position estimate, corrected for servo lag is used to then point the sensor.

Abstract: An improved method and apparatus for aiming a gun at a target moving along a non-linear path is disclosed which relies upon the discovery that at any given moment in a non-linear path, a target is traversing an arc of a circle. Methods for calculating offsets for aiming a gun at a point further along on the arc of the circle in accordance with the determined time of flight of the projectile are disclosed.

Abstract: A method and apparatus for identifying inertial reference unit (IRU) errors in a guided missile employing a multi-mode guidance system and constructing correction terms to recover the missile true position. Discrepancy parameters are introduced to indicate misalignment between missile and launching platform (or ship) inertial frames where the missile onboard executive computer simultaneously processes the data provided from missile onboard sensors and target relevant data uplinked from the launching platform. The discrepancy parameters are employed to construct correction factors used to reduce the discrepancies. This updated missile configuration is then coupled with the target state estimator outputs to reconstruct smoothed line-of-sight (LOS) angles for terminal homing engagement.

Abstract: The target tracking system has high tracking reliability at small servo load and comprises a plural number of groups of target sensors having tracking signal travelling times which vary from one group to the other and defining respective lines of sight, a servo system causing the lines of sight to track the target, a target estimator for estimating the movement of the target, a servo estimator for estimating the movement of the servo system, and a regulator which identically controls the servo system and the servo estimator such that the vectorial difference between the estimate of the target movement and the estimate of the servo movement is caused to approach zero. During the target tracking operation, vectorial target deviation signals which are generated by groups of angle sensors, are processed by multipliers using respective matrices in order to produce related combined target deviation signals.

Abstract: A display is disclosed for indicating in the peripheral vision of a viewer the deviation between the actual position of a target and a reference position such as an aiming point. Light sources are arranged around a common circle which is of a particular size such that when viewed from a particular distance, the viewer sees the display by peripheral vision. There are two sets of light sources, one of which indicates the azimuth and elevation deviations of the target from the aiming point and the other of which may be used to indicate range. The direction of azimuth and elevation deviation is indicated by flashing selected light sources around the circle and the magnitude of deviation is indicated by flashing those light sources at a flash rate indicative of the magnitude. Range is indicated by causing the second set of light sources around the circle to illuminate upon attainment by the target of a certain range.

Abstract: In a fire control system for a vehicle or vessel a data processor (21) connected to the target tracking unit (7) determines, in a first coordinate system coupled to said unit (7), angular error data about a target position for aligning the tracking unit (7) with the target position.A fire control computer (22) is incorporated for:a. determining matrix (H) elements concerning the transformation from the first coordinate system to a second fixed horizontal coordinate system, using data about relative angular positions between the tracking unit (7), the vehicle or vessel and a turret mounted thereon, and using data from reference orientation means (18, 19, 20) about the angular positions in said second coordinate system;b. converting the angular error data into target positions in said second coordinate system;c. changing said target positions to gun aiming data; andd. transforming the latter data to a third coordinate system coupled to the vehicle or vessel.

Abstract: A firing weapon is associated with a laser radiation source mounted in proximity to the weapon and also with a detector which is sensitive to the laser radiation. The orientation of the radiation is adjusted independently of the aiming of the weapon in order to carry out continuous detection of the target as a result of detection of radiation by the detector after reflection from the target. The orientation and the time of transit of radiation between source and target are utilized in order to obtain target data relating to position in elevation and in azimuth as well as distance of the target. The data are processed in order to orient a real shot or in order to compare the data quantitatively with the position of a simulated projectile which follows a fictitious trajectory.