Integrated navigation and fire control system for battle tanks

摘要

The gyroscopes existing for the fire control system are to be used also for navigation and the fire control is to be improved. Accelerometers and a rate gyro are located at the weapon. The accelerometer signals and signals derived from the rate gyro are supplied to attitude filters which are constructed as Kalman filters. The attitude filters supply estimated values of elements of the direction cosine matrix for a transformation from a weapons-fixed coordinate system into an earth-fixed coordinate system. From this, the vehicle course is calculated for the navigation and the attitude angles of the weapon are calculated for fire control.