Abstract:
A system for precisely timing the firing of two or more weapons in order to create a desired arrival timing of two or more projectiles on a target. Global Positioning System (“GPS”) transceivers are used to determine the position of each weapon and report that position to a command post. Heading-to-target and ranging information is also preferably transmitted so that the command post is able to accurately fix the position of the target, and the range of each weapon to the target. Computations are then performed in order to determine the firing sequence needed to achieve a desired arrival of two or more projectiles on the target. Firing of the weapons is then performed automatically in order to properly execute the computed firing sequence. Interactive command and control data is fed back and forth between the weapons and the command post.

Description:
BACKGROUND OF THE INVENTION 
   1. Field of the Invention 
   This invention relates to the field of projectile delivery systems. More specifically, the invention comprises an integrated weapon control system which precisely times the firing of two or more weapons in order to create a desired projectile delivery sequence at a target. 
   2. Description of the Related Art 
   The term “projectile delivery system” includes small devices, such as rifles fired by individuals, and large devices, such as howitzers. Such weapons are typically fired individually, though they may be aimed to concentrate their fire on a single target. Some automated firing systems have been developed to fire such weapons simultaneously. However, as the range to target may vary for the different weapons, simultaneous firing of the weapons will typically not result in all the projectiles striking the target at the same time. 
   In many instances it is desirable to have all the projectiles strike a designated target or targets simultaneously. A simultaneous strike may be needed to achieve complete surprise. A hostage situation is a good example of the need for a simultaneous strike.  FIG. 9  shows a hostage situation. Two targets  104  are in close proximity to three hostages  102 . It is desirable to strike both targets simultaneously. This goal is difficult to achieve, however, since the range to target for first rifle  110 , second rifle  112 , third rifle  114 , and fourth rifle  116  are all different. The reader should appreciate that the illustration—in order to fit all the individuals in a single view—is unrealistically compressed. It is not uncommon for one rifle to be within 50 meters of a target while another might be 200 meters further away. This displacement can result in displaced arrival times for the projectiles approaching ½ second, well within human reaction time. In order to achieve a desired arrival of two or more projectiles, it is therefore necessary to precisely sequence the firing of the weapons that launch them. 
   BRIEF SUMMARY OF THE INVENTION 
   The present invention comprises a system for precisely timing the firing of two or more weapons in order to create a desired arrival timing of two or more projectiles on a target. Global Positioning System (“GPS”) transceivers are used to determine the position of each weapon and report that position to a command post. Heading-to-target and ranging information is also preferably transmitted so that the command post is able to accurately fix the position of the target, and the range of each weapon to the target. Computations are then performed in order to determine the firing sequence needed to achieve a desired arrival of two or more projectiles on the target. Firing of the weapons is then performed automatically in order to properly execute the computed firing sequence. Interactive command and control data is fed back and forth between the weapons and the command post. 

   
     BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS 
       FIG. 1  is an isometric view, showing a rifle equipped according to the present invention. 
       FIG. 2  is an isometric view, showing a rifle equipped with an electromechanical trigger. 
       FIG. 3  is an isometric view, showing the electromechanical trigger in detail. 
       FIG. 4  is an isometric view with a cutaway, showing the internal details of a rifle equipped according to the present invention. 
       FIG. 5  is an isometric detail view, showing more details of a rifle. 
       FIG. 6  is an isometric view, showing a wiring harness used on a rifle. 
       FIG. 7  is an isometric view, showing a basic control box. 
       FIG. 8  is an isometric view, showing an advanced control box. 
       FIG. 9  is an isometric view, showing the use of the invention in a hostage situation. 
       FIG. 10  is a plan view, showing the use of the invention in a hostage situation. 
       FIG. 11  is an isometric view, illustrating the use of heading and inclination data. 
     
       
         
               
             
               
               
               
               
             
           
               
                   
               
               
                 REFERENCE NUMERALS IN THE DRAWINGS 
               
               
                   
               
             
             
               
                   
               
             
          
           
               
                  10 
                 rifle 
                  12 
                 stock 
               
               
                  14 
                 receiver 
                  16 
                 barrel 
               
               
                  18 
                 video scope 
                  20 
                 trigger 
               
               
                  22 
                 GPS antenna 
                  24 
                 bolt 
               
               
                  26 
                 bolt handle 
                  28 
                 firing mechanism 
               
               
                  30 
                 shroud 
                  32 
                 striker nut 
               
               
                  34 
                 electromechanical actuator 
                  36 
                 selector lever 
               
               
                  38 
                 electrical firing position 
                  40 
                 mechanical firing position 
               
               
                  42 
                 safe position 
                  44 
                 sear 
               
               
                  46 
                 sear notch 
                  48 
                 recoil pad 
               
               
                  50 
                 upper bay 
                  52 
                 lower bay 
               
               
                  54 
                 power supply 
                  56 
                 electronics module 
               
               
                  58 
                 conduit 
                  60 
                 multi-lead cable 
               
               
                  62 
                 connector 
                  64 
                 trigger guard/magazine 
               
               
                   
                   
                   
                 assembly 
               
               
                  65 
                 main harness 
                  66 
                 trigger harness 
               
               
                  68 
                 scope harness 
                  70 
                 R/F antenna harness 
               
               
                  72 
                 basic control box 
                  74 
                 R/F antenna 
               
               
                  76 
                 rotary switch 
                  78 
                 on-target indicator 
               
               
                  80 
                 No-Go indicator 
                  82 
                 armed indicator 
               
               
                  84 
                 remote fire trigger 
                  86 
                 auto fire panel 
               
               
                  88 
                 auto fire switch 
                  90 
                 power switch 
               
               
                  92 
                 advanced control box 
                  94 
                 video display 
               
               
                  96 
                 status indicator 
                  98 
                 tactical display 
               
               
                 100 
                 touch screen display 
                 102 
                 hostage 
               
               
                 104 
                 target 
                 106 
                 wall 
               
               
                 108 
                 window 
                 110 
                 first rifle 
               
               
                 112 
                 second rifle 
                 114 
                 third rifle 
               
               
                 116 
                 fourth rifle 
                 118 
                 first trajectory 
               
               
                 120 
                 second trajectory 
                 122 
                 third trajectory 
               
               
                 124 
                 fourth trajectory 
                 126 
                 command post 
               
               
                 128 
                 heading 
                 130 
                 inclination 
               
               
                   
               
             
          
         
       
     
   

   DESCRIPTION OF THE INVENTION 
   The present invention is primarily intended to be carried out using rifles carried and fired by individuals such as those found in a tactical response team.  FIG. 1  shows rifle  10 , which generally consists of a barrel  16  locked into a receiver  14 , with a stock  12  providing a grip for a user. Trigger  20  is provided for firing the weapon. Videoscope  18  is provided for aiming the weapon. Videoscope  18  has other features as well. It includes a camera which forms and transmits an image corresponding to the shooter&#39;s view through the scope. It also includes a laser rangefinder that is capable of determining a distance to the target (More on this subject will be presented subsequently). 
     FIG. 2  is a detail view showing portions of rifle  10 . Videoscope  18 , stock  12 , and other components have been removed for purposes of visual clarity. Receiver  14  houses bolt  24 . Bolt handle  26  is provided to allow the operator to manipulate bolt  24  in the loading and ejection of cartridges. Shroud  30  and striker nut  32  move with bolt  24 . Firing mechanism  28  attaches to the bottom of receiver  14 . Trigger  20  extends out the bottom of firing mechanism  28 . Electromechanical actuator  34  is mounted on the front of firing mechanism  28 . Selector  36  is pivotally mounted to the side of firing mechanism  28 . Its upper portion extends out to the side of shroud  30 , where it can be manipulated by the user&#39;s thumb or fingers into various positions. 
     FIG. 3  shows firing mechanism  28  in more detail. Sear  44  extends out its upper extremity. As those skilled in the art will know, sear notch  46  engages with a stepped surface on the bottom of the striker nut in order to hold the firing striker in the cocked position. When sear  44  pivots downward, sear notch  46  will disengage from the striker nut, allowing the striker to slam forward and detonate a cartridge in the rifle&#39;s chamber. In a conventional trigger mechanism, the firing action is actuated by simply pulling trigger  20 . The version shown in  FIG. 3  incorporates additional features. 
   Electromechanical actuator  34  is installed in the forward portion of the mechanism. Rather than being directly connected to the sear, trigger  20  controls only an electrical switch. Selector lever  36  is pivotally moved between safe position  42 , electrical firing position  38 , and mechanical firing position  40 . When selector lever  36  is in safe position  42 , the weapon will not fire. When selector lever  36  is in electrical firing position  38 , the unit is set to receive a fire signal from a remote command post. When in this state, trigger  20  is used as an “enabling” feature. The user points the rifle at the target. So long as the rifle is on target, the user depresses trigger  20 . If the fire signal is received at that point, the weapon will fire. If the fire signal is received when trigger  20  is not depressed, the weapon will not fire. Thus, in order for the weapon to fire when selector lever  36  is in the electrical firing position, trigger  20  must be depressed and a fire signal must be received. 
   In some instances, the user will want to use the rifle conventionally with no control by a remote command post. In such a situation, the user moves selector lever  36  to mechanical firing position  40 . In this position, the rifle will fire as soon as trigger  20  is depressed. The term “mechanical firing position” is used to indicate that the weapon can be fired by simply squeezing the trigger. For the specific embodiment described, an electrical circuit is obviously involved. Selector lever  36  can be used as a conventional safety by moving it rearward to safe position  42 . 
     FIG. 4  shows a rifle according to the present invention with a cutaway through the stock to reveal internal features. Two cylindrical cavities are included in the butt portion of stock  12 . These cavities are accessed from the rear by removing recoil pad  48 . Upper bay  50  contains electronics module  56 . Lower bay  52  contains power supply  54 , which is electrically connected to electronics module  56  through a conduit just beneath recoil pad  48  (not shown). Power supply  54  can assume many forms, but is generally a set of storage batteries with voltage and current regulating features. 
   Electronics module  56  includes: a radio frequency (“R/F”) transmitter and receiver, a global position system (“GPS”) receiver, an electronic compass (indicating the precise heading of the weapon), and a microcomputer for processing data transmitted by and to the rifle. These devices are preferably housed within a sturdy and shock-resistant cylinder sized to fit within upper bay  50 . Returning briefly to  FIG. 1 , GPS antenna  22  is preferably provided on an external surface of stock  12 . It is connected via an internal passage to electronics module  56 . The use of such an antenna enhances the accuracy of the GPS receiver. 
   Returning now to  FIG. 4 , the reader will observe that upper bay  50  is connected to receiver  14  via conduit  58 .  FIG. 5  shows this feature in more detail. Conduit  58  houses multi-lead cable  60 , which connects electronics module  56  to connector  62  on the underside of receiver  14 . In this view, the reader will observe the position of trigger guard/magazine assembly  64 , as well as the position of firing mechanism  28  and selector lever  36 . Multi-lead cable  60  is a bundle of insulated electrical wires. It is important for numerous connections to be made between electronics module  56  and the rest of the rifle, as will be explained subsequently. Those skilled in the art will realize that this multi-lead cable could be replaced by a data bus. 
     FIG. 6  shows more of the electrical connections within the rifle. Main harness  65  runs along the lower left side of receiver  14  (here the term “harness” is used to describe a group of electrical connectors). It is preferably a three-dimensional molded circuit board, containing a number of separately insulated connectors. Scope harness  68  is connected to the upper portion of main harness  65 . Trigger harness  66  is connected to the lower portion of main harness  65 . Scope harness  68  electrically connects videoscope  18  to main harness  65 , and ultimately to electronics module  56 . Likewise, trigger harness  66  connects firing mechanism  28  to main harness  65  and electronics module  56 . 
   Because the rifle sends and receives R/F data, the use of an antenna is desirable. The combination of barrel  16  and receiver  14  (which are typically locked together via a threaded engagement) makes a good antenna. R/F antenna harness  70  electrically connects a portion of main harness  65  to receiver  14 . This lone contact is electrically insulated from the other circuits. It provides an electrical connection between electronics module  56  and the antenna assembly comprised of barrel  16  and receiver  14 . 
   Reviewing  FIGS. 4–6 , then, the basic operation of a rifle equipped according to the present invention can be understood. For a remote firing scenario, the user switches on the electronics and moves selector lever  36  to electrical firing position  38 . He or she then aims through videoscope  18  in order to put the rifle on target. Videoscope  18  sends video data through scope harness  68 , main harness  65 , and multi-lead cable  60  to electronics module  56 . When the rifle is on target, the user depresses trigger  20 . This action makes an electrical contact, and that information is transmitted through trigger harness  66  and ultimately on to electronics module  56 . 
   The reader will recall that electronics module  56  also contains a GPS receiver and electronic compass. These known devices compute the position of the rifle and the direction in which it is pointed (“heading”). 
   Electronics module  56  processes the video data, trigger status, rifle position, and rifle heading information. It converts these to an R/F signal and transmits them back through multi-lead cable  60  to main harness  65 . They are then sent through R/F antenna harness  70 . The barrel/receiver assembly then functions as an antenna and transmits the video image, trigger status, rifle position, and rifle heading information to a remote location. 
   A control station is needed to command several rifles. This control station can assume many forms.  FIG. 7  shows a simplified version, designated as basic control box  72 . Basic control box  72  is small enough to be held in two hands. Antenna  74  receives and transmits R/F signals to the rifle. A set of indicator lights is provided across the top of the device. For the version shown, a maximum of four rifles are controlled (Those skilled in the art will realize that a version controlling  5  or more rifles could also be made). 
   The lowest row of lights comprise armed indicators  82 . These lights illuminate for a particular rifle when that rifle&#39;s selector lever  36  has been placed in electrical firing position  38 , meaning that the rifle&#39;s remote firing capability has been activated. The middle and upper row of lights indicate whether a particular rifle is on target and ready to fire. If the rifle is not on target or is otherwise not ready to fire (perhaps because of an intervening obstruction), no-go indicator  80  will illuminate. Once the rifle is on target and ready to fire, the shooter depresses trigger  20 . No-go indicator  80  will then go out and on-target indicator  78  will illuminate. Different colors can be used for the different indicators. One example would be using green for the on-target indicators, red for the no-go indicators, and amber for the armed indicators. 
   At the very bottom of the device is power switch  90 , which may assume the form of a rotary lock requiring a key. It switches on and off all functions. Just to the right of this device is a large rotary switch  76 . Rotary switch  76  can be turned to one of four positions. These are: (1) Standby; (2) Safe; (3) Remote Fire; and (4) Auto Fire. In the “Standby” position, the circuitry remains active but no signals are sent or received. All the indicator lights are switched off. In the “Safe” position, signals are transmitted and received and the indicator lights are illuminated. However, it is not possible to fire any of the weapons. 
   In the “Remote Fire” position, the user is able to remotely fire one or more of the rifles (explained in further detail subsequently). In the “Auto Fire” position, control circuits are used to automatically fire the rifles once a set of predetermined parameters is satisfied. Auto fire panel  86  only comes into play if rotary switch  76  is placed in the Auto Fire position. It allows the auto fire capabilities for each rifle to be turned on or off using auto fire switches  88 . 
   If rotary switch  76  is placed in the Remote Fire position, the user can selectively fire one or more of the rifles by pressing the appropriate remote fire trigger  84 . These buttons are preferably covered by a safety hatch, as shown. The safety hatch would remain over the buttons until just before firing. Basic control box  72  performs a variety of other functions, which will be described in detail once an explanation of the entire context in which the devices are used has been provided. 
   Those skilled in the art will realize that modern user interface systems have gone well beyond the type shown for basic control box  72 .  FIG. 8  shows advanced control box  92 , which incorporates additional interfaces. This device is the size of a small console. The version illustrated is intended for use with four rifles, though a version controlling five or more rifles could obviously be made. Four video displays  94  are arrayed across the top of the console. These display the video feeds from each of the four videoscopes  18  on the four rifles. Thus, the scene commander is able to observe exactly what the shooters are observing through their videoscopes. Just beneath each video display  94  is a status indicator  96 . Each of these replaces the three lighted indicators used in basic control box  72 . It textually displays the status of each rifle by displaying “ARMED,” “NO-GO,” and “ON-TARGET” messages. These are typically done using a back-lit LCD display. The display may also be set to change colors for each message. Again, as an example, “ARMED” could be amber, “NO-GO” could be red, and “ON-TARGET” could be green. 
   Below the status indicators is a row of remote fire triggers  84 . These are used to remotely fire individual rifles. As for basic control box  72 , they are preferably guarded by hatch covers or similar devices. 
   The primary user interface is provided by touch screen display  100 . It provides a set of graphical menus for the user to select. The menus (which are displayed in a Windows-style format familiar to contemporary computer users) guide the user through processes carried out by the advanced control box. The user makes selections and enters data within the menus by touching the screen at a “pick-box” location. Alternatively, a pointing device such as an external mouse can be provided. A keyboard or numerical pad can also be provided. A computer is used to control all the functions of advanced control box  92 , including the displays. 
   Tactical display  98  is provided to the left of touch screen display  100 . Both touch screen display  100  and tactical display  98  are typically back-lit LCD&#39;s similar to those used in “notebook” computers. They are capable of displaying color graphics and text of a very high resolution. Tactical display  98  shows the position of all rifles. It can also show the position of targets, hostages, and other features relevant to the scene. Geographical Information System (“GIS”) data can be loaded into the control box and displayed on tactical display  98 . Such GIS data typically includes street map overlays and satellite or aerial imagery. 
   The operation of the devices described previously is best explained using an example. As explained previously,  FIG. 9  shows a hostage situation. The scene is compressed substantially in order to show all the participants in a single view. The building in the upper right contains three hostages  102  being held by two targets  104 . In an attempt to hit the two targets, the scene commander must consider the position of the doors and windows, as well as the hostages themselves. He or she must also consider the desired position for each shooter. In the scene depicted, the scene commander has placed first rifle  110 , second rifle  112 , third rifle  114 , and fourth rifle  116  as shown. Each is positioned to be able to fire through a window. 
   Advanced control box  92  is placed at command post  126  (which happens to be near one of the rifles, though this need not be the case). Advanced control box  92  receives GPS position data from each of the rifles. The GPS system employed is preferably equipped with the Wide Area Augmentation System (“WAAS”), which can obtain stand-alone positional accuracy of about 3 meters. In some instances, even greater accuracy will be desired. In that case, a reference GPS receiver is placed near the scene at a known point. GIS (Geographical Information Systems) data includes highly accurate position information for building corners, light pole positions, and other similar commonly-available reference points. A reference GPS receiver can be placed on such a point. As the GPS satellites orbit, small variations in computed positions are typical for stand-alone GPS receivers. All GPS receivers in the same area tend to experience the same variations. The reference GPS receiver (which is stationary at a known position) is used to cancel out these variations. As those skilled in the art will know, the incorporation of a reference GPS receiver allows the computed positional accuracy of other GPS receivers in the vicinity to be reduced to several centimeters. The use of such a system is now common in the field of surveying. Thus, through the use of a reference GPS receiver, advanced control box  92  “knows” the position of all four rifles within a few centimeters. Each position is displayed to the scene commander on tactical display  98 . 
   Conventional radio voice communications are typically maintained between the scene commander and each shooter (common in the prior art). The scene commander would typically assign a target for each shooter using verbal instructions. In some instances, the scene commander may assign two or more shooters to a single target in order to achieve redundancy (and for other purposes to be subsequently explained). Thus, for each rifle, one target of the group of targets represents a “designated” target. 
   It is important for the operation of the present invention that the range from each rifle to its designated target be known. The range can be computed using several methods. First, videoscope  18  may incorporate a laser rangefinder. These devices, which are known in the art, use a projected laser and interferometric principles to compute the range to a target. This range information is displayed to the shooter in the videoscope and it can be transmitted via R/F signal to advanced control box  92 . However, those skilled in the art will also know that laser range finders sometimes produce false reading when looking through glass. If the glass is dirty (thereby producing laser backscatter on its surface), the laser rangefinder may report the range to the glass panel rather than the target lying beyond it. For this reason, a second range finding method is also employed. 
     FIG. 10  shows a plan view of the same scene depicted in  FIG. 9 . As mentioned previously, advanced control box  92  receives continuously updated position data for each of the rifles. It also receives continuously updated heading data for each of the rifles. Using principles of triangulation, this information can be used to compute the range from each rifle to its target. A computer is provided within the control box for manipulating the data and performing the computations. 
   An example is helpful: First rifle  110  occupies position (X1, Y1). The heading of first rifle  110  lies along first trajectory  118 , which is aimed to hit target  104 . Assuming that north is toward the top of the page in the view, first trajectory  118  is on a heading of 88 degrees (using the conventional system of true north being zero degrees and counting upward in the clockwise direction). 
   Fourth rifle  116  occupies a position (X4, Y4) and is trained on the same target  104  as first rifle  110 . Fourth trajectory  124  is on a heading of 11 degrees. The origin point of both first trajectory  118  and fourth trajectory  124  is known, since the position of each rifle is known. The angular heading information can then be used to determine the point at which the two trajectories intersect (commonly referred to as “triangulation”). This intersection point will be the position of the northern target  104 . The same method can be used to determine the position of the southern target  104 . These computations are updated continuously using a fast clock cycle. Thus, the computer within the control box is constantly determining position data for all four rifles and the two targets  104  it is then a simple matter to determine the range from each rifle to its designated target. This range information can be checked against range information provided by the laser rangefinders in order to verify its accuracy. If the two range values are close, then there is a good indication of accuracy. If, on the other hand, the laser information suggests a far shorter range to target than the triangulation computations, then there is a suggestion that the laser data represents the range to an intervening glass panel rather than to the target. 
   The depiction shown in  FIG. 10  is actually a good representation of what is preferably shown on tactical display  98  of advanced control box  92 . Continuing the example of the hostage situation depicted in  FIGS. 9 and 10 , assume the scene commander has decided that the shooters are to engage both targets simultaneously. Further assume that he or she has decided that a minimum of two rifles must be trained on each target before the order to fire will be given. Another goal is to have all the projectiles strike their targets simultaneously. The commander inputs these parameters into advanced control box  92  using the aforementioned user interface. The commander then selects the “Auto Fire” function. 
   At this point, the computer calculates the range-to-target for each rifle. Next, it computes a time-in-flight for each projectile. It then computes a staged firing sequence which is required to place all the projectiles at their respective targets at the same instant. In the example shown, first rifle  110  must be fired first, followed by fourth rifle  116 , second rifle  112 , and third rifle  114 . The delay between each rifle-specific firing command is computed so that all the projectiles strike their targets simultaneously. Of course, the other parameters are considered as well. The computer will not issue the firing sequence until all four shooters have depressed their triggers to indicate that they are “on-target” and have a clear field of fire. 
   The example presented is but one of many possibilities for using the system. As a second example—It is well known to rifle shooters that striking and punching through a glass window will alter a bullet&#39;s trajectory. While some compensation is possible, this phenomenon degrades accuracy whenever a target is a significant distance beyond the glass pane. The present invention can be used to reduce this concern. Employing the user interface, the scene commander can assign second rifle  112  and fourth rifle  116  to be “glass breakers.” These two rifles would be loaded with flat-nosed solid bullets. They can be aimed a bit higher to avoid striking an unintended target (obviously on a different trajectory than the one shown in the view). The computer then times the firing sequence to have a solid bullet fired by a “glass breaker” strike the glass pane about 25 milliseconds ahead of the conventional bullet aimed at the target. The “glass breaker” punches a hole through the glass so the target bullet can pass through unaffected. The firing sequence can then have the two target bullets arrive at their respective targets simultaneously. 
   Numerous other sequences are possible. In some instances, the scene commander might want to have a first bullet reach its target 10 milliseconds ahead of a second bullet, and so on. Those skilled in the art will also realize that many more rifles can be controlled by such a system. Six rifles could be employed, with one “glass breaker” punching a hole allowing two target bullets to pass through. 
   Additional refinements are likewise possible. In most situations, only the heading of each rifle will need to be considered. In other situations, however, the incline of the rifle will need to be considered (such as when one shooter is substantially above the rest). In artillery parlance the terms used are “azimuth” and “elevation,” with “azimuth” referring to the heading and “elevation” referring to the incline of the rifle. A digital inclinometer can be installed on each rifle in order to provide precise incline data which can be transmitted back to advanced control box  92 . Altitude data would also be fed by the GPS system within each rifle. The incline data would be combined with the heading data in order to perform three-dimensional triangulation computations. 
     FIG. 11  shows these computations schematically. First rifle  110  is aiming at target  104  along first trajectory  118 . The vector comprising first trajectory  118  is defined by its heading  128  and its inclination  130 . If the rifle is equipped with an internal rangefinder, then the length of first trajectory  118  will be known and the position of target  104  can be determined from the position of first rifle  110 . If no rangefinder is used, then two rifles will need to be trained on the same target and principles of triangulation employed. Using either approach, the system can determine the location of each rifle in three dimensions and the location of each target in three dimensions. The range calculations can then be made using three-dimensional computations. 
   The present availability of small computers means that all the computational functions described can likewise be performed by basic control box  72  (as shown in  FIG. 7 ). In order to have the computer compute and transmit the firing sequence, the scene commander would set rotary switch  76  to “Auto Fire” and set each of the four auto fire switches  88  to the “on” position. Of course, the scene commander would not have the benefit of the video display and the menu-driven interface. The parameters would have to be set by downloading code into the device, or using other known means (DIP switches and the like). The basic functionality of the device would be the same, however. 
   The illustrations presented have used rifles firing conventionally-primed ammunition, but this need not be the case. Electrically primed ammunition has been in common use for many years. Small rifles are presently being adapted for its use. The advantages to the present system would be obvious. Rather than using an electromechanical actuator to release a mechanical striker, the system could simply apply a voltage to the electrical primer of an electrically-ignited cartridge. The rest of the system&#39;s functionality would be identical. 
   The communication means employed to convey data between the rifles and the control unit can take many forms. The current state of radio frequency communications makes that technology desirable. Commercially available R/F transmitter/receiver units can be used. Some of the more advanced units allow high-speed data encryption so that unauthorized users cannot obtain the data. These units are also capable of filtering out unwanted electromagnetic interference in order to provide enhanced security and safety. 
   If the distances between the units are not too great, simple electrical conductors can be used. These can be analog conductors or a digital data bus. More advanced technologies can be used if electromagnetic interference is a concern. Those skilled in the art will know that most electronic communications equipment is susceptible to electromagnetic interference—at least to some degree. A sophisticated foe may even employ “jamming” devices to disturb the data communications. In such a case, fiber optic cables can be used to transmit the data. Such cables are light and flexible, and are virtually impervious to outside interference. Those skilled in the art will know that towed optical wires have been used to carry data transmissions over several kilometers (in the case of U.S. Army anti-tank missiles). Thus, such cables can be reliably employed in the present invention. 
   Current technology also allows the use of optical data transmission without cables. A line-of-sight transmitter and receiver pair can be fixed in position. An optical transmitter then sends pulses of light to an optical receiver. Such systems can handle high data transmission rates. Other technologies can obviously be employed. Though the communication means selected must satisfy the practical needs of the invention, it should not be viewed as critical. 
   The preceding descriptions contain significant detail regarding the novel aspects of the present invention. They should not be construed, however, as limiting the scope of the invention but rather as providing illustrations of the preferred embodiments of the invention. As an example, although R/F communications have been described, hard wires could be used to practice the invention. Thus, the scope of the invention should be fixed by the following claims, rather than by the examples given.