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Calculation of Weapon Platform Attitude and Cant Using Available Sensor Feedback

Successful development of mobile weapon systems must incorporate operation on sloped terrain.

When firing artillery, there is typically a maximum angle that the platform cannot exceed relative to the Earth plane. This is due to the large recoil forces involved and the risk of destabilizing the platform the weapon is mounted to. Mobile systems are particularly sensitive to this as the attitude of the platform relative to Earth is constantly changing. A simple solution is to add pitch and roll sensors directly to the platform. However, many mobile systems already have an assortment of sensors that can be used to calculate the platform attitude.

Excessive cant

U.S. Army weapon systems are designed to be deployed and operated wherever a need arises. This design requirement necessitates operation on a myriad of terrain types. This includes hills, mountains and ravines — locations where level ground is rare or unavailable. It follows that successful development of mobile weapon systems must incorporate operation on sloped terrain.

Sloped terrain presents challenges for firing large caliber weapons. When a weapon is fired, the forward momentum of the discharge is equally reflected to the weapon in the form of a recoiling impulse. That recoiling force can be minimized via a recoil system, which applies a lesser counter force over a calculated distance to spread the impulse over a greater period of time. However, even with sophisticated recoil systems, large caliber guns can impart significant forces into the weapon mount and, subsequently, the weapon platform. The figure below illustrates a large platform cant combined with a low firing angle tangential to that cant. Firing in this configuration could destabilize the platform, resulting in a vehicle rollover.

Sloped terrain can also impact non-firing operations. Traversing on a level platform requires force to accelerate the inertia of the mass and overcome any frictional losses. When canted, a gravitational component is added. That additional load increases with the cant angle and is reflected to the traversing mechanism requiring additional force to overcome. There are also instances when cant must be minimized in order to perform certain maintenance procedures, such as boresighting the gun tube.

Due to the challenges presented by operation on uneven terrain, determination of the weapon cant is essential. Computer controlled indirect weapon systems typically have an attitude sensing device that is aligned to the gun tube and enables precise pointing of the weapon. This device provides the attitude of the gun tube relative to Earth using a series of rotations (yaw, pitch, and roll) called Euler angles. In addition, these systems often incorporate sensors to indicate the angles of the traversing and elevating actuators relative to the platform. The weapon attitude and actuator sensor data can be used to calculate the attitude of the platform relative to Earth, as well as the maximum cant and heading values.

This work was done by Joshua Stapp for the Army Armament Research, Development and Engineering Center. ARDEC-0001

Topics:
Aeronautics Attitude control Avionics Data Acquisition Data Acquisition Defense Flight control systems MEMs Mechanical Components Military vehicles and equipment Munitions Sensors Sensors and actuators Terrain Transportation Vehicles
This Brief includes a Technical Support Package (TSP).
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Calculation of Weapon Platform Attitude and Cant Using Available Sensor Feedback

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    Aerospace & Defense Technology Magazine

    This article first appeared in the April, 2018 issue of Aerospace & Defense Technology Magazine (Vol. 3 No. 2).

    Read more articles from this issue here.

    Read more articles from the archives here.

    Overview

    The document titled "Calculation of Weapon Platform Attitude and Cant Using Available Sensor Feedback," authored by Joshua Stapp and published in February 2018, presents a technical exploration of methodologies for determining the attitude and cant of weapon platforms through the use of sensor data. The report is a product of the U.S. Army Armament Research, Development and Engineering Center (ARDEC) and is intended for public release.

    The primary focus of the report is to enhance the accuracy and reliability of weapon systems by leveraging available sensor feedback. Attitude refers to the orientation of the weapon platform in three-dimensional space, while cant indicates the tilt or angle of the platform relative to a reference plane. Accurate measurement of these parameters is crucial for effective targeting and operational performance in various military applications.

    The document outlines the theoretical foundations and practical applications of sensor integration in weapon systems. It discusses various types of sensors that can be employed, including inertial measurement units (IMUs), gyroscopes, and accelerometers, and how these sensors can provide real-time data to inform the weapon platform's orientation and stability. The report emphasizes the importance of data fusion techniques, which combine information from multiple sensors to improve the overall accuracy of attitude and cant calculations.

    Additionally, the report addresses challenges associated with sensor feedback, such as noise, drift, and environmental factors that can affect measurement precision. It proposes solutions to mitigate these issues, including advanced algorithms for data processing and filtering.

    The findings and methodologies presented in this report are significant for military engineers and researchers involved in the development of next-generation weapon systems. By improving the understanding of weapon platform dynamics through sensor feedback, the report aims to contribute to enhanced operational effectiveness and mission success.

    Overall, this technical report serves as a comprehensive resource for understanding the integration of sensor technology in weapon systems, providing insights into both the theoretical and practical aspects of calculating weapon platform attitude and cant. It underscores the critical role of accurate sensor data in modern military operations and the ongoing efforts to refine these technologies for improved performance.

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