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Claims  |
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What is claimed:
1. A weapon control system, comprising:
system electronics providing control and drive electronics for the weapon
control system;
a weapon mount for supporting and firing a weapon in accordance with
commands from said system electronics;
a remote control including a visual display and hand controls for
operational control of the weapon control system from a position distant
from said weapon mount; and
a system disconnect for removal of control of the weapon from the weapon
control system and for safety interlock to prevent accidental firing of
the weapon;
wherein said weapon mount will support and fire a variety of weapons;
a gyro stabilization assembly mounted on the weapon mount and operatively
connected to the remote control and the system electronics for
line-of-sight weapon and integral sight stabilization; and
wherein said gyro stabilization assembly has a null corrected drift rate
less than 5.degree./hr.
2. A weapon control system according to claim 1, wherein said gyro
stabilization assembly includes at least one gyro for sensing elevation
and train rate error.
3. A weapon control system according to claim 1, wherein said null
corrected drift rate can be adjusted in azimuth and elevation.
4. A weapon control system according to claim 1, wherein said hand controls
include a handgrip adapted to be operated by one hand and having a trigger
guard and trigger switch for allowing the weapon to be fired, a thumb
transducer for controlling a weapon mount line of sight in two axes, a
polarity switch for allowing a gunner to select white or black symbology
on the visual display, and a cage switch for slewing the weapon to a
predetermined position which can be set by the operator.
5. A weapon control system according to claim 1, wherein said remote
control includes a plurality of video indicators, including a target
reticle for aiming the weapon, a weapon selected video indicator for
indicating the type of selected weapon, a train position for indicating
the weapon mount rotation, an offset data video indicator for displaying
an offset of the weapon as input with a plurality of offset controls when
enabled, and an interlock open video indicator for displaying when a hull
turret disconnect is not connected.
6. A weapon control system according to claim 1, including a plurality of
preset function switches for turning off screen graphics, initiating a
programmed firing pattern, reviewing a previously stored display scene,
and storing a current display scene.
7. A weapon control system according to claim 1, wherein said remote
control includes an elevation control knob for repositioning the aimpoint
of the weapon in 1 mil elevation increments.
8. A weapon control system according to claim 1, wherein said remote
control includes an azimuth control knob for repositioning the airpoint of
the weapon in 1 mil increments of azimuth.
9. A weapon control system, comprising:
system electronics providing control and drive electronics for the weapon
control system;
a weapon mount for supporting and firing a weapon in accordance with
commands from said system electronics;
a remote control including a visual display and hand controls for
operational control of the weapon control system from a position distant
from said weapon mount; and
a system disconnect for removal of control of the weapon from the weapon
control system and for safety interlock to prevent accidental firing of
the weapon;
a computer bus having expansion slots for supporting additional capability
for target tracking, fire control and advanced sights or weapons;
wherein said weapon mount will support and fire a variety of weapons; and
a gyro stabilization assembly mounted on the weapon mount and operatively
connected to the remote control and the system electronics.
10. A weapon control system according to claim 9, wherein said gyro
stabilization assembly includes at least one gyro for sensing elevation
and train rate error.
11. A weapon control system according to claim 9, wherein said gyro
stabilization assembly has a null corrected drift rate less than
5.degree./hr.
12. A weapon control system according to claim 11, wherein said null
corrected drift rate can be adjusted in azimuth and elevation.
13. A weapon control system according to claim 9, wherein said system
electronics include two power amplifiers for controlling train and
elevation.
14. A weapon control system according to claim 9, including a motor
controller for controlling two power amplifiers.
15. A weapon control system according to claim 9, wherein power amplifiers
maintain a high bandwidth current loop around elevation and train motors.
16. A weapon control system according to claim 9, wherein said hand
controls include a handgrip adapted to be operated by one hand and having
a trigger guard and trigger switch for allowing the weapon to be fired.
17. A weapon control system according to claim 9, including a thumb
transducer positioned on the hand grip for controlling a weapon mount line
of sight in two axes.
18. A weapon control system according to claim 9, including a polarity
switch positioned on the handgrip for allowing a gunner to select white or
black symbology the visual display.
19. A weapon control system according to claim 9, including a cage switch
positioned on the handgrip for slewing the weapon to a predetermined
position which can be set by the operator.
20. A weapon control system according to claim 9, wherein said remote
control includes a plurality of video indicators, including a target
reticle for aiming the weapon, a weapon selected video indicator for
indicating the type of selected weapon, a train position for indicating
the weapon mount rotation, an offset data video indicator for displaying
an offset of the weapon as input with a plurality of offset controls when
enabled, and an interlock open video indicator for displaying when a hull
turret disconnect is not connected.
21. A weapon control system according to claim 9, including a plurality of
preset function switches for turning off screen graphics, initiating a
programmed firing pattern, reviewing a previously stored display scene,
and storing a current display scene.
22. A weapon control system according to claim 21, wherein said remote
control includes an elevation control knob for repositioning the aimpoint
of the weapon in 1 mil elevation increments.
23. A weapon control system according to claim 22, wherein said remote
control includes an azimuth control knob for repositioning the airpoint of
the weapon in 1 mil increments of azimuth.
24. A weapon control system, comprising:
system electronics providing control and drive electronics for the weapon
control system;
a weapon mount for supporting and firing a weapon in accordance with
commands from said system electronics;
a remote control including a visual display and hand controls for
operational control of the weapon control system from a position distant
from said weapon mount; and
a system disconnect for removal of control of the weapon from the weapon
control system and for safety interlock to prevent accidental firing of
the weapon;
wherein said weapon mount will support and fire a variety of weapons;
a gyro stabilization assembly mounted on the weapon mount and operatively
connected to the remote control and the system electronics for
line-of-sight weapon and integral sight stabilization; and
wherein said gyro stabilization assembly has a null corrected drift rate
which can be adjusted in azimuth and elevation.
25. A weapon control system, comprising:
system electronics providing control and drive electronics for the weapon
control system;
a weapon mount for supporting and firing a weapon in accordance with
commands from said system electronics;
a remote control including a visual display and hand controls for
operational control of the weapon control system from a position distant
from said weapon mount; and
a system disconnect for removal of control of the weapon from the weapon
control system and for safety interlock to prevent accidental firing of
the weapon;
wherein said weapon mount will support and fire a variety of weapons;
a gyro stabilization assembly mounted on the weapon mount and operatively
connected to the remote control and the system electronics for
line-of-sight weapon and integral sight stabilization; and
wherein said hand controls include a handgrip adapted to be operated by one
hand and having a trigger guard and trigger switch for allowing the weapon
to be fired, a thumb transducer for controlling a weapon mount line of
sight in two axes, a polarity switch for allowing a gunner to select white
or black symbology on the visual display, and a cage switch for stewing
the weapon to a predetermined position which can be set by the operator.
26. A weapon control system, comprising:
system electronics providing control and drive electronics for the weapon
control system;
a weapon mount for supporting and firing a weapon in accordance with
commands from said system electronics;
a remote control including a visual display and hand controls for
operational control of the weapon control system from a position distant
from said weapon mount; and
a system disconnect for removal of control of the weapon from the weapon
control system and for safety interlock to prevent accidental firing of
the weapon;
wherein said weapon mount will support and fire a variety of weapons;
a gyro stabilization assembly mounted on the weapon mount and operatively
connected to the remote control and the system electronics for
line-of-sight weapon and integral sight stabilization; and
wherein said remote control includes a plurality of video indicators,
including a target reticle for aiming the weapon, a weapon selected video
indicator for indicating the type of selected weapon, a train position for
indicating the weapon mount rotation, an offset data video indicator for
displaying an offset of the weapon as input with a plurality of offset
controls when enabled, and an interlock open video indicator for
displaying when a hull turret disconnect is not connected.
27. A weapon control system, comprising:
system electronics providing control and drive electronics for the weapon
control system;
a weapon mount for supporting and firing a weapon in accordance with
commands from said system electronics;
a remote control including a visual display and hand controls for
operational control of the weapon control system from a position distant
from said weapon mount; and
a system disconnect for removal of control of the weapon from the weapon
control system and for safety interlock to prevent accidental firing of
the weapon;
wherein said weapon mount will support and fire a variety of weapons;
a gyro stabilization assembly mounted on the weapon mount and operatively
connected to the remote control and the system electronics for
line-of-sight weapon and integral sight stabilization; and
including a plurality of preset function switches for turning off screen
graphics, initiating a programmed firing pattern, reviewing a previously
stored display scene, and storing a current display scene. |
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Claims |
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Description |
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FIELD OF THE INVENTION
The invention relates to systems for remote control of weapon systems, and
more particularly, to systems for remote target acquisition and weapon
firing for vehicle mounted weapons with weapon stabilization.
BACKGROUND OF THE INVENTION
Wheeled vehicles provide better mobility than tracked vehicles in some
situations such as dense forests, urban areas and some soft soils. The
generally smaller size and lighter weight result in better
transportability and easier deployment. Due to the lower weight, smaller
size and inherent simplicity of wheeled vehicles the operational and
support cost is lower than for tracked vehicles. Finally, in the highly
political peacekeeping arena, the wheeled vehicle projects less threat
while providing a reasonable level of protection and fire power.
With modern technology, wheeled vehicles now possess significant
survivability. Vehicle survivability on the battlefield is achieved
through a combination of characteristics including armor, agility, and the
ability to respond to an aggressor.
There has been an impressive array of weapons that have been mounted on
wheeled vehicles as a mobile platform to respond to an aggressor. The
primary limitation of these weapons as a survivability factor is the speed
of response and the protection of the gunner. For example, missiles are
highly lethal but cannot be fired quickly or on the move. They are more of
a stand-off, defensive, or ambush system than a direct offensive system,
or one that can be used in response to a spontaneous lethal encounter.
Small caliber weapons are effective against soft and lightly armored
targets, but the gunner is exposed and the response time is variable
depending on the situation and conditions. Further, the accuracy of the
response is limited, based on the ability of the gunner and whether the
vehicle is moving or stationary.
Thus, there was a need in the art for a weapon control system that is
applicable to any vehicle or tripod mounted weapon that will permit target
acquisition and firing of the weapon from inside the vehicle.
In the copending parent application, the above deficiencies were overcome
by a Weapon Control System having a remotely controlled, two-axis weapon
platform for vehicle mounted weapons such as MK19, M2, or M60 machine
guns. The disclosed Weapon Control System included four basic components:
Weapon Mount, Electronics Unit, Remote Control Unit, and Hull Turret
Disconnect. The Weapon Control System can be operated in either a Local
Mode or a Remote Mode. Operation in the Local Mode is identical to
operation of a standard vehicle weapon mount. Operation in the Remote Mode
allows target viewing, slewing, and firing of the weapon from within a
vehicle.
However, accuracy and stable targeting is also essential.
SUMMARY OF THE INVENTION
In accordance with the present invention, a Weapon Control System has
system electronics providing control and driver electronic for the Weapon
Control System. A weapon mount supports and fires a weapon in accordance
with commands from the system electronics. A remote control includes a
visual display and hand controls for operational control of the weapon
control system from a position distant from the weapon mount. A system
disconnect removes the control of the weapon from the weapon control
system. Safety inner lock prevents accidental firing of the weapon. The
weapon mount will support and fire a variety of weapons in a gyro
stabilization assembly and is mounted on the weapon mount and operatively
connected to the remote control and the system electronics for
line-of-sight weapon and integral sight stabilization.
The gyro stabilization assembly also includes at least one gyro for sensing
elevation and train rate error. The gyro stabilization assembly has a null
corrected drift rate less than five degrees/hour. The null corrected drift
rate can be adjusted in azimuth and elevation.
BRIEF DESCRIPTION OF THE DRAWINGS
The accompanying drawings, referred to herein and constituting a part
hereof, illustrate preferred embodiments of the invention and, together
with the description, serve to explain the principles of the invention,
wherein:
FIG. 1 illustrates the basic components of the Weapon Control System
according to the invention;
FIG. 2A illustrates a front elevation of the Remote Control Unit of the
Weapon Control System;
FIG. 2B is a side elevation view of the Remote Control Unit of the Weapon
Control System;
FIG. 3 illustrates typical information displayed on an LCD display of the
Remote Control Unit;
FIG. 4 illustrates a Weapon Mount of the Weapon Control System;
FIG. 5 is a front view of a vehicle showing the positioning of the Weapon
Control System;
FIG. 6 is a side view of the vehicle showing the positioning of the Weapon
Control System;
FIG. 7 is a top sectional view of the vehicle showing the positioning of
the Weapon Control System;
FIG. 8 is a schematic illustration of the basic components of the
Electronic Unit;
FIG. 9 is a schematic rear elevation view of the assembly for mounting a
MK19 machine gun;
FIG. 10 is a partial sectional view showing the horizontal clamping system
used for mounting the M2;
FIG. 11 shows a vertical mount and adjustment handle for mounting a M2;
FIGS. 12 and 13 show a clamping system used for mounting a M60 gun;
FIG. 14 shows the stabalization/sensor assembly;
FIG. 14a shows the front view of the stabalization/sensor assembly looking
in the direction of arrow 14a; and
FIG. 14b shows the front view of the stabalization/sensor assembly looking
in the direction of arrow 14b.
DETAILED DESCRIPTION OF THE DRA WINGS
As illustrated in FIG. 1, the Weapon Control System according to the
invention comprises the following basic components:
(1) Remote Control Unit (RCU) 10;
(2) Electronics Unit (EU) 12;
(3) Hull Turret Disconnect (HTD) 14; and
(4) Weapon Mount (WM) 16.
As illustrated in FIG. 2A and 2B, the RCU 10 provides a remote operator
interface to the Weapon Control System. The RCU 10 includes a video CRT
display 18, handgrip 20, and control panel 22. The RCU may be located to
the right rear of the driver's seat, situated so as to be operable by a
crew member seated behind a vehicle driver.
The LCD display 18 of the RCU is preferably an 8 inch.times.6 inch black
and white flat panel display, with brightness control, mounted slightly
below eye level. The LCD display is preferably 2 inches thick and extends
approximately 3 inches from the rear of the front passenger side seat. The
RCU may be mounted on the cross supports located at the knees of the
operator.
The LCD display provides for viewing of camera video from the WM 16. The WM
camera video includes operator messages, target reticle, and line of sight
indication overlaid by the EU computer. FIG. 3 illustrates typical
information displayed on LCD display 18. In particular, Gun Indicator 28
displays the type of weapon currently mounted (i.e., MK19, M2, or M60).
Azimuth Indicator 30 indicates the weapon pointing direction in azimuth
relative to the vehicle. Weapon Indexing Indicators indicate the indexing
of the weapon in 1 mil increments when elevation and azimuth control knobs
(described below) are rotated. In the center of CRT display 18 is provided
Aiming Reticle 34. All the overlaid information is programmable and can
easily be changed to suit specific applications.
Handgrip 20 gives the operator line of sight and fire control which is
accomplished by lifting a trigger guard 24 and depressing a trigger switch
26 with the index finger (FIG. 2B). Other controls are included for power,
display, and fine position adjustments. In particular, the following
controls may be found at the RCU:
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RCU Handgrip 20
Trigger Switch 26
Allows the weapon to be fired. A safety
cover is included.
Thumb Transducer 20a
Controls the Weapon Mount line of
sight in both axes.
Polarity Switch 20b
Allows the gunner to select white
or black symbology.
Cage Switch 20c Will slew the weapon to a predesigned
position. This position can be set by
the operator.
RCU Control Panel 22
Brightness 22b Control the display brightness level.
Power 22c Controls the system power.
Guarded Arm/Safe Switch 22d
Disables remote firing of the weapon;
Arm - enables remote firing of the
weapon.
Run/Setup Switch 22e
Allows normal system operation. Setup
allows Set Boresight; Set Cage Position
and Select Ammo.
Preset Function Switches 22f
Switches off screen graphics; initiates a
programmed firing pattern. Allows
Selection of Stablized or non-stabalized
mode.
RCU Indicator
Power 22g Lamp to verify power to the system.
RCU Video Indicators
Weapon Selected 28
Indicates the type of weapon selected.
Target Reticle 34
Used to aim the weapon, range data is
based on the weapon selected.
Train Position 30
A circle indicates the weapon mount
360 degrees of rotation, up is forward
for the vehicle, a line indicates the
relative aimpoint of the weapon.
Interlock Open 18c
Displayed when the HTD interlock
switch is open, power and control of the
weapon mount are disabled.
HTD Disconnected 18d
Displayed when the HTD is not
connected.
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Guarded Arm/Safe Switch 22d: Safe--disable remote firing of the weapon;
Arm--enable remote firing of the weapon. A Run/Setup Switch 22e:
Run--allows normal system operation; Setup--allows the following three
setup options:
(1) Set Boresight--when boresighting the weapon to the camera this option
allows fine adjustment of crosshairs in elevation and azimuth to meet the
boresight target, by rotating the elevation and the azimuth control knobs,
depressing the knobs fixes position. This position then becomes the range
0 reticle crosshair.
(2) Set Cage Position--this option is used when a preset elevation and
azimuth position is desired. The weapon is positioned to the desired cage
position, and depressing the elevation knob will set the weapon to the
(new) cage position. Recalling that cage position is then accomplished by
depressing the Cage Switch on the handgrip.
(3) Select Ammo--this option is used when choosing an ammunition for the
weapon placed in the weapon mount. The choice of ammunition dictates the
type of aiming reticle placed on the display.
Preset Function Switches 22g:
F1 turns off screen graphics.
F2 initiates a programmed firing pattern.
F3 stabalized Mode.
F4 unstabalized Mode.
After selecting either F3 or F4, and moving the toggle switch to the
neutral position between F3 and F4 is preferably normal operating mode.
An elevation control knob 33a may be provided for use in various setup
functions and to reposition the aimpoint of the weapon at, e.g., 1 mil
increments in elevation (FIG. 3). An azimuth control knob 33b may be
provided for use in various setup functions and to reposition the aimpoint
of the weapon at, e.g., 1 mil increments in azimuth. Video indicators 32
display Azimuth and Elevation positions in one mil increments. A
line-of-sight handgrip control (thumb transducer) 20a (FIG. 2A) may be
provided for use to control the weapon pointing direction.
The electronics unit 12 is a compact light weight controller for the weapon
system and integral sight. For purposes of clarity, the description of the
Electronics Unit 12 will proceed with numbers starting in the 100 series.
The electronics unit 12 features an industry standard computer bus 100
architecture featuring a state-of-the-art embedded controller 101 based on
the Intel class of CPU's. The computer architecture is expandable with 4
spare slots indicated generally at 102, to support additional capability
for target tracking, fire control and advanced sights or weapons.
The computer bus is powered from a compact, rugged power supply 104 that
meets the severest military vehicle requirements for environment as well
as input power. A special purpose card 106 interfaces the handgrip control
to a standard industrial motor controller 108 on the computer bus. The
motor controller 108 drives two power amplifiers 110, 112 for control of
train and elevation. Standard industrial control algorithms are modified
by the embedded controller to offer drift-free rate control of the LOS
(Line of Sight) using an encoder position feedback scheme. Sub
milli-radians position accuracy is maintained by the encoder position
feedback of motor position.
The two state-of-the-art power amplifiers 110, 112 are used to maintain a
high bandwidth current loop around the elevation and train motors. The
power amplifiers running at a high switching frequency to reduce power
dissipation and increase efficiency are used to control the brushless
motors. The amplifiers are supplied from a high voltage bus. The high
voltage bus helps to reduce IR losses in the current drive to the
elevation and train motors. A compact power supply develops the correct
voltage from standard vehicle input power of 24 volts. The system can meet
all its performance parameters running at 100 watts continuous with surge
requirements of 600 watts. This will allow operation in a variety of low
power vehicles as well as reduce IR signature of the sight and electronics
in surveillance mode.
The video interface 120 is supplied by a video graphics printed circuit
board 122 running on the same embedded computer bus. The graphics card
captures the sights video and adds annotated position information and the
appropriate aiming reticle. Advanced features of video and digital image
downloading are also performed by the graphics card with control from the
embedded processor. The command interface is a user friendly graphics
display with installation, built-in test, and operator feature control
algorithms.
All the electronics include current limit and over-voltage protection as
well as automatic recovery from shutdown due to over-voltage or
over-current. The system will continue operating during vehicle starting
when the available voltage drops to 6 volts.
The EU 12 contains a circuit breaker 12a for the vehicle power input 12b.
The EU may be mounted, for example, in the vehicle's trunk space above the
right rear wheel, in the ammunition storage area.
The HTD 14 provides two system functions. Because the weapon is mounted on
a rotable ring, a quick disconnect function is provided to allow free
rotation for full operation in the Local Mode. For remote operation, the
turret is locked into a forward position and the HTD connected. The second
function is a Safety Interlock (not shown) to prevent remote weapon
movement and firing when the HTD is connected and an operator opens a
turret hatch on the vehicle.
The WM 16 illustrated in FIG. 4 includes the stabalization/sensor assembly
200, weapon mounting 38, vehicle adapter plate 40, interconnection cables
42, elevation assembly 44, and drive train assembly 46. The WM is attached
to the top of the vehicle and the electrical connections are routed
through a hole in the turret to an electrical connector inside of the
vehicle. A standard pintle receptacle 48 is used for the weapon mount to
vehicle interface. A Weapon-Specific Solenoid (not shown) is attached to
the installed weapon for remote firing.
The absolute pointing accuracy of the WM is preferably less than 1
milliradian. The WM may be adapted to provide 60 deg/sec/sec acceleration
and 45 deg/sec velocity. The drive train is preferably free to rotate and
the elevation may go from -15 deg to +45 deg with an adjustable lower
stop.
The camera 202 may be a CCD imager with an automatic electronic shutter and
fixed focus. Boresight retention is preferably at least 0.5 milliradians
and camera resolution at least 470 lines in an RS-170 interlaced format.
Power from the vehicle batteries is connected directly to the EU 12.
Interunit cabling then connects the EU to the WM and the EU to the RCU.
The interunit cabling comprises pre-made cables attached with
environmental connectors as follows:
Cable W3, external to the vehicle, runs from the base of the WM to a CFE
adapter plate mounted either within or in place of a night vision platform
mount;
Cable W4 (FIG. 2A) mates with cable W3 from within the vehicle at the
adapter plate and terminates at the EU. Cable W4 must be disconnected at
the adapter plate in order for the turret to be rotated. The disconnected
W4 cable is preferably mated to a CFE dummy connector mounted internally
to the fixed non-rotating portion of the vehicle roof so as to keep it
protected while not in use. A HTD switch 130 is preferably mounted within
the length of the W4 cable on a CFE mounting plate 132 installed so that
opening the turret hatch will interrupt power to the mount.
Cable W5 (FIG. 1) is a power cable for the Weapon Control System.
Preferably, a 4 awg cable is run from a vehicle power source to the EU 12.
Cable W6 runs from the EU 12 back to the RCU 10.
Cables W4 and W6 must run through the passenger compartment of the vehicle
as well as through the armored dividing wall between the trunk and the
passenger compartment.
Upon powering up, the Weapon Control System senses weapon type (e.g., MK19,
M2, M60) that is placed in the WM 16. This, in turn dictates an automatic
selection of the correct software for each weapon reticle and control
variables assuring precise and accurate movement. Once the system is
powered-up the operator interface to the Weapon Control System is through
the RCU 10.
The Weapon Control System has two modes of operation, local and remote:
(1) Local Mode--When the vehicle hatch is opened, the WM motors and firing
solenoids are disabled by an interlock switch. This safety feature allows
the gunner to treat the system as a standard mount. Otherwise, local
firing operation of the weapon is unchanged.
(2) Remote Mode--Once the weapon and mount are loaded and prepped, remote
firing is done from within the vehicle. The gunner aims the weapon using
the handgrip control. Targeting is done using a computer generated reticle
overlaid on the live WM camera video. Two rotary controls allow slight
offsets to the aimpoint similar to the manual T&E assembly. Train position
relative to the vehicle is displayed with the camera video.
FIGS. 5, 6, and 7 illustrate the Weapon Control System as installed in a
XM1114HMMWV scout vehicle. In particular, FIG. 5 is a front view of the
vehicle showing the positioning of the weapon and the WM on the vehicle.
FIG. 6 is a side view of the vehicle showing the positioning of the
weapon, the WM, and the EU on and within the vehicle. FIG. 7 is a top
sectional view of the vehicle showing the positioning of the RCU and the
EU within the vehicle.
It may be appreciated that the interior components of the Weapon Control
System will not interfere with vehicle crew members' operational space.
The RCU is preferably disposed in a location free of other equipment. The
RCU location can be adjusted to accommodate different mission load
requirements. The EU is preferably disposed in unutilized trunk space.
It may be further appreciated that integration of the Weapon Control System
into the vehicle will not require major vehicle modifications, will not
interfere with existing component or crew space claims, and will not
degrade vehicle performance with regard to weight or power requirements.
Referring now to FIG. 14, there is illustrated at 200 a stabilization
assembly, mounted on the weapon mount forming a gyro stabilized mechanism
of the Weapon Control System, which offers line-of-sight weapon and
integral sight stabilization. The stabilization assembly 200 is designed
around state-of-the-art fiber optic gyros 201, offering long life, low
drift and high shock performance in a compact light weight package. The
assembly 200 can incorporate two single axis gyros for sensing elevation
and train rate error within the gyro assembly. Null corrected drift rate
is less than 5.degree./hr. The stabilization assembly 200 is mounted on
the axis of the weapon mount 16 in proximity to the gun to get the closest
line-of-sight rate error of the gun's motion. The integral sight is
adjustable in elevation and azimuth and is hard mounted to the assembly
200 in the stabilized option.
The unmanned stabilization accuracy with a full ammunition can and heavy
weapon is 3 mils peak to peak (PK/PK) and less than 1 mil root mean
squared (RMS) for a 15 mph bump and 20 mph zigzag course.
In accordance with the present invention, the stabilization system control
is selected by the operator at the RCU 10 via the F3 function switch (FIG.
2). The default state of the Weapon Control is gyro stabilized. Null drift
adjust is available in azimuth 33b and elevation 33a from encoders on the
RCU 10. The gyro stabilized mode is available instantly on power up
because of the zero warm-up time of the fiber optic gyro.
Processing of the gyro rate error signals are performed in the Electronics
Unit 12 by the standard industrial motor controller 108. Optional control
algorithms for stabilization signals are embedded in the firmware on the
main CPU of the Electronics Unit 12.
A necessary and important element of any gyro stabilized system is the
capability to keep all moving parts under control and rigidly mounted.
This can be difficult to accomplish on a weapon such as a machine gun
because of the many loose fitting parts inherent to its operation. The gun
assembly and its mounting interfaces are not designed as a rigid
structure. Any close fitting mounting interfaces on a new weapon will
loosen over time due to the recoil and counter recoil forces acting on
them. The Weapon Control System has a mounting interface which securely
holds the MK19, M2 and M60 machine guns in the cradle, and will allow the
weapons to be securely mounted even as the mounting interfaces wear from
use. FIG. 9 shows a weapon 210, illustrated as the MK19 machine gun,
having Clamping Bolts 214, which are fine pitch threaded and used to clamp
the rear of the weapon from side to side, as the weapon is held in place
with the Retaining Pin 216. The Knurled Nuts 218 prevent any loosening
under load. The M2 (210a) .50 cal machine gun uses the same hardware in
the same manner (FIG. 10). The M2 requires a one piece .50 cal. Aft Mount
230 to secure the assembly. In addition, FIG. 11 shows the M2 has a
Vertical Mount 232 and Adjustment Handle 234 which removes all looseness
in the vertical direction. The assembly as a whole allows the variations
in weapons to be accommodated as well as the take-up "slop" as weapons
wear out. FIG. 12 shows a similar clamping scheme for the M60 (210b), with
a Clamping Bolt 236 and a Knurled Nut 240. FIG. 13 is an enlarged view of
FIG. 12, showing the clamping bolt 236 and knurled nut 240. Due to the low
recoil forces of this weapon, only one central Clamping Bolt 236 located
on the vertical barrel centerline is required and removes free gun
movement in azimuth. The standard M60 mounting pintle eliminates free
movement in elevation. Live fire testing has shown the rigid mounting of
the weapons in this manner allows the Weapon Control System dispersion to
be equivalent to the weapon's dispersion.
While the invention has been described in its preferred embodiments, it is
to be understood that the words which have been used are words of
description, rather than limitation, and that changes may be made within
the purview of the appended claims without departing from the true scope
and spirit of the invention in its broader aspects.
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