METHOD FOR ASCERTAINING POSITION INFORMATION FOR AN EFFECTOR, EFFECTOR, COMPUTING UNIT AND WEAPONS SYSTEM

Abstract

A method for ascertaining position information for an effector after launching from a launcher of a weapons system including the effector and at least one weapons system unit different from the effector, includes receiving a time synchronization signal at the effector in such a way that the effector and the at least one weapons system unit are temporally synchronized at the latest when the effector is launched. The effector furthermore receives position data of the at least one weapons system unit and a timestamp with unique assignment to the position data through a wireless communication connection after the effector has been launched. Position information is ascertained based on the timestamp, the effector's own time upon receipt of the timestamp, and the position data assigned uniquely to the timestamp. An effector, a computing unit and a weapons system are also provided.

Claims

1. A computer-implemented method for ascertaining position information for an effector after launching from a launcher of a weapons system, the method comprising: providing the weapons system with the effector and at least one mobile or stationary weapons system unit different from the effector; receiving a time synchronization signal for a time synchronization of the effector with the at least one weapons system unit for temporally synchronizing the effector and the at least one weapons system unit no later than launching of the effector; receiving position data of the at least one weapons system unit of the weapons system; receiving a timestamp with a unique assignment to the position data through a wireless communication connection after the effector has been launched; and ascertaining the position information based on the timestamp, the effector's own time upon receipt of the timestamp, and the position data assigned uniquely to the timestamp.

2. The method according to claim 1, which further comprises carrying out the method at the effector.

3. The method according to claim 1, which further comprises receiving each of the position data and the timestamps with unique assignment from two or more weapons system units located at different positions, and calculating the position information based on triangulation.

4. The method according to claim 3, wherein the timestamps of the two or more weapons system units are identical in terms of the time synchronization.

5. The method according to claim 1, which further comprises providing the unique assignment between the position data and the respective timestamp by linking the position data and the timestamp when they are transmitted.

6. The method according to claim 1, which further comprises providing the unique assignment between the position data and the respective timestamp by using a unique identifier received together with at least one of the position data or the respective timestamp.

7. The method according to claim 1, which further comprises at least one of: receiving the position data at least partially before launch of the effector, and receiving the timestamps respectively uniquely assigned to the position data after launch of the effector, or receiving the position data with a timestamp with unique assignment at least partially after launch of the effector.

8. The method according to claim 1, which further comprises configuring the effector to receive at least one of the position data or the timestamps with unique assignment after the launch of the effector from selected weapons system units of the weapons system entering into transmission range of the effector at least in sections along a flight path of the effector, selecting the weapons system units based on a simulation of the flight path of the effector, and selecting the weapons system units for which a probability of wireless communication with the effector lies above a predefined threshold value at least in sections along the flight path.

9. An effector or a missile configured for launching from a launcher of a weapons system, the effector comprising: an electronic data processing unit with a memory including instructions which, when executed by the data processing unit, carry out the method according to claim 1.

10. A computer-implemented method for ascertaining position information for an effector after launching from a launcher of a weapons system, the method comprising: providing the weapons system with the effector and at least one mobile or stationary weapons system unit different from the effector; transmitting a time synchronization signal to the effector and the at least one weapons system unit for time synchronization of the effector and the weapons system unit; transmitting position data of the at least one time-synchronous weapons system unit to the effector; and transmitting a timestamp with unique assignment to the position data through a wireless communication connection to the effector after launching the effector, permitting the position information based on the timestamp, the effector's own time at the receipt of the timestamp, and the position data uniquely assigned to the timestamp, to be ascertained for the effector.

11. The method according to claim 10, which further comprises transmitting at least one of the position data or the timestamps, each with unique assignment, at least partially to the effector from the respective weapons system unit itself or from a control unit with a data connection to the weapons system unit.

12. The method according to claim 10, which further comprises locating two or more of the weapons system units at different positions, and transmitting timestamps corresponding to available position data, each with unique assignment to the respective position data, to the effector for ascertaining the position information.

13. The method according to claim 12, which further comprises carrying out the transmission of the timestamps time-synchronously.

14. The method according to claim 10, which further comprises using at least one of the at least one weapons system units to repeatedly transmit timestamps with unique assignment to the position data through the wireless communication connection to the effector after the effector has been launched.

15. The method according to claim 10, which further comprises at least one of: when a change occurs in the position data of one of the at least one weapons system unit after launch of the effector, transmitting the changed position data and a timestamp uniquely assigned to the changed position data, or when no change occurs in the position data, transmitting only a timestamp with unique assignment to the unchanged position data to the effector in succeeding transmissions.

16. The method according to claim 10, which further comprises transmitting a call-waiting signal to the effector, and carrying out at least one temporally first transmission of at least one of the position data or the timestamp to the effector only when the call-waiting signal is successful at the effector.

17. The method according to claim 10, which further comprises providing the unique assignment between the position data and the timestamp by at least one of transmitting the position data and the assigned timestamp to the effector together or transmitting at least one of the position data or the respective timestamp to the effector together with a respectively unique identifier.

18. The method according to claim 17, wherein the identifier is uniquely assigned to the weapons system unit.

19. The method according to claim 10, which further comprises selecting only the weapons system units for a transmission of at least one of the position data or the timestamp to the effector that enter into a transmission range with the effector at least in sections along a flight path of the effector.

20. The method according to claim 19, which further comprises carrying out a selection of weapons system units based on a simulation of the flight path of the effector.

21. The method according to claim 19, which further comprises selecting weapons system units for which a probability of wireless communication with the effector lies above a predefined threshold value at least in sections along the flight path.

22. A computing unit or command computing unit for monitoring and controlling a launcher of at least one of a weapons system or of an effector for launching the effector, the computing unit or command computing unit comprising: an electronic data processing unit and an electronic data memory including instructions which, when executed by the data processing unit, carries out the method of claim 1.

23. A computing unit or command computing unit for monitoring and controlling a launcher of at least one of a weapons system or of an effector for launching the effector, the computing unit or command computing unit comprising: an electronic data processing unit and an electronic data memory including instructions which, when executed by the data processing unit, carries out the method of claim 10.

24. A weapons system, comprising: at least one effector according to claim 9; and at least one computing unit or command computing unit for monitoring and controlling a launcher of at least one of a weapons system or of an effector for launching the effector, the computing unit or command computing unit including an electronic data processing unit and an electronic data memory including instructions which, when executed by the data processing unit, carries out a computer-implemented method for ascertaining position information for an effector after launching from a launcher of a weapons system, the method including: providing the weapons system with the effector and at least one mobile or stationary weapons system unit different from the effector; receiving a time synchronization signal for a time synchronization of the effector with the at least one weapons system unit for temporally synchronizing the effector and the at least one weapons system unit no later than launching of the effector; receiving position data of the at least one weapons system unit of the weapons system; receiving a timestamp with a unique assignment to the position data through a wireless communication connection after the effector has been launched; and ascertaining the position information based on the timestamp, the effector's own time upon receipt of the timestamp, and the position data assigned uniquely to the timestamp.

25. A weapons system, comprising: at least one effector according to claim 9; and at least one computing unit or command computing unit for monitoring and controlling a launcher of at least one of a weapons system or of an effector for launching the effector, the computing unit or command computing unit including an electronic data processing unit and an electronic data memory including instructions which, when executed by the data processing unit, carries out a computer-implemented method for ascertaining position information for an effector after launching from a launcher of a weapons system, the method including: providing the weapons system with the effector and at least one mobile or stationary weapons system unit different from the effector; receiving a time synchronization signal for a time synchronization of the effector with the at least one weapons system unit for temporally synchronizing the effector and the at least one weapons system unit no later than launching of the effector; receiving position data of the at least one weapons system unit of the weapons system; receiving a timestamp with a unique assignment to the position data through a wireless communication connection after the effector has been launched; and ascertaining the position information based on the timestamp, the effector's own time upon receipt of the timestamp, and the position data assigned uniquely to the timestamp.

Description

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWING

[0090] FIG. 1 is a side-elevational view of an example of a weapons system that is configured for ascertaining position information for an effector according to a method described herein;

[0091] FIG. 2 is a side-elevational view of the weapons system in a first phase after launching the effector;

[0092] FIG. 3 is a side-elevational view showing the weapons system in a second phase after launching the effector;

[0093] FIG. 4 is an example of an effector-side flow diagram of a method for ascertaining position information;

[0094] FIG. 5 is an example of a control computer-side flow diagram of a method for ascertaining position information; and

[0095] FIG. 6 is an exemplary transmission diagram in a method for ascertaining position information.

DETAILED DESCRIPTION OF THE INVENTION

[0096] Referring now to the figures of the drawings in detail and first, particularly, to FIG. 1 thereof, there is seen, by way of example, a weapons system 1, in which the weapons system 1 is configured for ascertaining position information for an effector 2 according to a method described herein.

[0097] Concretely, the weapons system 1, drawn by way of example in FIG. 1, includes as weapons system units an effector 2, for example a guided missile, and a first launcher 3 that are configured for carrying out a method according to the invention. As an example for clarifying the method, the weapons system 1 further includes two further second launchers 4. Analogously to the first launcher 3, the further launchers 4 can be constructed and include appropriately configured effectors that are not further drawn.

[0098] The launchers 3 and 4 are connected to one another for the mutual exchange of data through a data communication connection 5 (see the double arrows in FIGS. 1 to 3).

[0099] The launchers 3 and 4, as well as the effector 2, each include assigned data transmission units (not shown) which, even after the effector 2 has been launched from the launcher, in particular enable a data communication connection between the effector 2 and the launchers 3, 4 when the transmission range is suitable.

[0100] In order to carry out embodiments of the method proposed in accordance with the invention for ascertaining position information, the data communication connection 5 between the effector 2 and the launchers 3, 4 is configured at least unidirectionally, so that, assuming there is a sufficient data transmission range, at least one data transmission is possible from the launcher 3, 4 to the effector 2.

[0101] FIG. 1 shows the weapons system 1 in a phase before launching the effector 2. In this phase, the weapons system 1 can carry out a time synchronization of all the units 2, 3, 4 combined into the weapons system. The time synchronization can, for example, be carried out by a computing unit of a tactical control center 6 (also known as a TOC: tactical operations center), in that the TOC 6 can, for example, transmit time synchronization signals {t} to the units provided for time synchronization. Alternatively the time synchronization can also proceed at least partially from a launcher 3, 4 or another unit of the weapons system. Corresponding considerations apply to the method steps described below, in particular to the extent that these permit execution on distributed computing units.

[0102] Before launching the effector 2, in the phase shown in FIG. 1, unique identifiers ID1, ID2, ID3 can be assigned to the weapons system units 3, 4. In this phase, the identifiers ID1 to ID3 can be transmitted together with position data P1, P2, P3 of the respective launchers 3, 4 to the effector 2 provided for launching in such a way that the position data P1 to P3 are each uniquely assigned to the respective identifier ID1 to ID2.

[0103] This can, for example, take place in that the position data P1, P2, P3 and respective identifiers ID1, ID2, ID3 are each transmitted together in one data packet as a 2-tuple: {ID1, P1}; {ID2, P2}; {ID3, P3}. The 2-tuples can be transmitted, as in the example illustrated, from the TOC 6, through the launcher 3 to the effector 2. The respective launchers 3, 4 can alternatively also transmit corresponding 2-tuple data packets to the other weapons system units. For the sake of clarity, data packets are in particular identified by curly brackets.

[0104] Before the effector 2 is launched it thus knows the IDs assigned to the weapons system units 3, 4, as well as the position data P linked to the IDs.

[0105] FIG. 2 shows the weapons system 1 in a first phase PH1 after launching the effector 2. The launch of the effector 2 can be initiated or commanded by the TOC 6 through a corresponding launch signal A (see FIG. 6).

[0106] After the effector 2 has been launched it can, supported for example by inertial navigation, performed for example by an effector-side computing unit, ascertain inter alia the position of the effector 2 with reference to a predefined reference system.

[0107] The purpose in particular of checking and/or improving the accuracy of the position ascertained by inertial navigation, is that the weapons system can ascertain additional position information in accordance with the method according to the invention, independently of the inertial navigation, which will be considered in more detail below.

[0108] After launching {A} the effector 2, respective timestamps Z, uniquely assigned to the position data P1, P2 of the respective launchers 3, 4 are transmitted to the effector by the weapons system units 3, 4 that are located within data transmission range R with the effector, in the present case the launcher 3 and one of the launchers 4.

[0109] In the present case the unique assignment is achieved in that the effector 2 already knows the respective IDs and associated position data P, and the timestamps Z are transmitted with respective data packets together with the IDs.

[0110] In the present example the launcher 3 for example transmits the data packet {ID1, Z1.sub.i}, with i=1, 2, 3, . . . (wherein the index i identifies repeated or periodic transmissions of data packets), and the launcher 4 that is within transmission range R of the effector in the first phase PH1 transmits the data packet {ID2, Z2.sub.i}, with i=1, 2, 3, . . . . The effector 2 receives these data packets at respective receipt time points E1 and E2 at the effector's own time, which is in time synchronization with the weapons system 1.

[0111] As a result of the time synchronization that is present in the weapons system 1, and of the unique assignment between timestamps Z1.sub.i, Z2.sub.i and position data P1, P2, the effector 2 can ascertain the distances d1 and d2 from the respective launcher 3, 4 from the respective time-of-flight difference of the data transmission, i.e. Δ(E1, Z1.sub.i) and Δ(E1, Z2.sub.i) and the known signal speed of the data transmission.

[0112] With the support of the distances d1, d2 and of the position data P1 and P2 uniquely assigned to them, the effector 2 can ascertain position information, for example through triangulation, that can be used for checking or correcting the position obtained from inertial navigation. If the situation with respect to data is adequate, the effector 2 can also ascertain the position of the effector 2 itself from the position information.

[0113] The transmission of the timestamps Z1.sub.i and Z2.sub.i can take place time-synchronously. The transmission of the timestamps Z can further take place periodically, at least as long as the respective launcher 3, 4 is within transmission range R, so that the effector can substantially ascertain position information continuously, independently of the inertial navigation (such a periodic or continuous transmission is indicated herein for the exemplary embodiment by the index i).

[0114] In FIG. 3 the weapons system 1 is shown in a second phase PH2 after launch of the effector 2, in which the effector 2 has moved forwards along the flight path 7. In this second phase PH2, the launcher 3 is located outside the transmission range R. Instead, the further second launcher 4 that until now was located outside the transmission range R however now lies within the transmission range R.

[0115] If the effector 2 reaches a position along the flight path 7 in which a transmission with the launcher 4 that was previously not located within transmission range R is/becomes possible, a data communication connection can be created or negotiated between the effector 2 and this launcher 4 on the basis of a successful ping signal PS (the call-waiting signal) transmitted from the launcher 4 (see also FIG. 6).

[0116] In response to a successful ping signal PS, the second launcher 4 starts to periodically transmit timestamps Z3.sub.i with a unique assignment to the position data P3 of the launcher 4 through the wireless communication connection established with the effector 2. The unique assignment in this case, as in the first phase PH1, is established in that the timestamps Z3.sub.i are transmitted to the effector 2 together with the associated identifier ID3 in a data packet formed as a 2-tuple: {ID3; Z3.sub.i} (see FIG. 6). In the second phase PH2 the effector 2 thus receives periodically timestamps Z2.sub.i, Z3.sub.i, and can, as in the first phase PH1, ascertain analogous position information, e.g. distances d2′ and d3, based in particular on corresponding receipt time points E2′ and E3, and use these in a corresponding way for triangulation.

[0117] FIG. 4 shows, by way of example, an effector-side flow diagram of a method for ascertaining position information for the effector 2. In a first step 401, the effector 2 receives a time synchronization signal {t} for the time synchronization of the weapons system 1, i.e. for the time synchronization of the effector 2 with the weapons system units 3, 4, 6. The time synchronization in this case takes place in such a way that the effector 2 and the at least one weapons system unit 3, 4, 6 are temporally synchronized at the latest by the launch of the effector 2.

[0118] In a second step 402, the effector receives position data of the at least one weapons system unit 3, 4, 6 of the weapons system 1. The step of transmitting the position data can take place before or after the time synchronization. It is, however, advantageous if the position data are transmitted to the effector 2 before launching, since in this way the quantity of data to be transmitted after launch can be reduced.

[0119] In a further step 403 the effector 2 receives a timestamp (e.g. {IDj; Zji}), wherein the index j identifies the weapons system unit, and the index i identifies the sequence of the timestamps transmitted by the respective weapons system unit j. The timestamps are transmitted with a unique assignment to the position data through a wireless communication connection after the effector 2 has been launched. In one exemplary embodiment, the unique assignment can take place on the basis of an identifier uniquely assigned to the respective weapons system unit.

[0120] In a further step 404 the position information is ascertained by the effector 2 on the basis of the timestamp, the effector's own time at receipt of the timestamp, and the position data uniquely assigned to the timestamp on the basis of time-of-flight calculations. The position information ascertained in this way can, for example, be used for correction and/or checking of the position of the effector 2 ascertained by an independent method, e.g. inertial navigation.

[0121] FIG. 5 shows by way of example a flow diagram of a method that can for example be carried out on the control computer-side for ascertaining position information for the effector 2. In a first step 501, a weapons system unit 3, 4, 6 transmits a time synchronization signal to the effector 2 and the further weapons system units 3, 4, 6 for the time synchronization of the weapons system 1, in particular for the time synchronization of the effector 2 and the weapons system unit(s) 3, 4, 6.

[0122] In a further step 502, the respective weapons system unit 3, 4, 6 transmits position data of at least one, preferably all, of the weapons system units 3, 4, 6 that are available and are relevant for the flight path 7 of the effector 2, to the effector 2. As already explained, the position data can be transmitted before or after the time synchronization.

[0123] In a further step 503, the respective weapons system unit 3, 4, 6 transmits a timestamp with unique assignment to the position data through a wireless communication connection to the effector after it has been launched.

[0124] The transmission of the timestamp takes place in such a way that the effector 2 can ascertain the position information on the basis of the timestamp, the effector's own time at receipt of the timestamp, and the position data uniquely assigned to the timestamp on the basis of time-of-flight calculations.

[0125] The time synchronization previously performed in particular underlies step 503, on the basis of which and of time-of-flight calculations, distances between the effector 2 and the positions of the weapons system units 3, 4, 6 when the timestamp is received can be calculated. The distances ascertained in this way can be used as position information for controlling and/or correcting positions already known to the effector 2 from other position ascertainment methods.

[0126] FIG. 6 shows an exemplary transmission diagram of a method for ascertaining position information. The data transmitted or received according to the transmission diagram illustrated correspond to the exemplary embodiments described with reference to FIGS. 1 to 5. To that extent, reference is made to the full extent to the above explanations. It is further noted that the invention described herein includes a transmission or a reception of data on the basis of all of the given units 2, 3, 4, 6 of the weapons system 1. The underlying invention accordingly also includes all data transmissions between the respective units, in particular in connection with a navigation of an effector 2, for example of a guided missile, to a target location or target object.

[0127] The following is a summary list of reference numerals and the corresponding structure used in the above description of the invention:

[0128] 1 Weapons system

[0129] 2 Effector

[0130] 3 First launcher

[0131] 4 Second launchers

[0132] 5 Data communication connection

[0133] 6 Tactical control center

[0134] 7 Flight path

[0135] t Time synchronization signal

[0136] ID Identifier

[0137] P Position data

[0138] A Launch signal

[0139] R Data transmission range

[0140] Z Timestamp

[0141] d Distance

[0142] PH Phase

[0143] PS Ping signal