Active stabilization targeting correction for handheld firearms

An electromechanical system translates an “aiming error” signal from a target tracking system into dynamic “pointing corrections” for handheld devices to drastically reduce pointing errors due to man-machine wobble without specific direction by the user. The active stabilization targeting correction system works by separating the “support” features of the handheld device from the “projectile launching” features, and controlling their respective motion by electromechanical mechanisms. When a target is visually acquired, the angular deflection (both horizontal windage and vertical elevation) and aiming errors due to man-machine wobble (both vertical and horizontal) from the target's location to the current point-of-aim can be quickly measured by the ballistic computer located internal to a target tracking device. These values are transmitted to calibrated encoded electromechanical actuators that position the isolated components to rapidly correct angular deflection to match the previous aiming error.

BACKGROUND

The automation of fire-control technology has drastically improved hit-probabilities and reduced target-engagement times for almost all gun systems over the past century, but small-arms systems have lagged behind their larger brethren in improvements because of limitations in weight, power, size, and onboard computing power. Modern combat-proven optics have allowed major strides toward closing the gap, but because of the nature of the small-arms mission, the necessity of having a “human-in-the-loop” introduces natural human errors, referred to as man-machine wobble, into the fire-control solution.

SUMMARY

Correction of man-machine wobble errors is achieved by realigning the weapon's point of aim independently from the portion of the weapon system that interfaces with the shooter, e.g., the stocks, optics, and grips, each of which are mounted to a “carriage” that envelops the moving parts of the weapon system. This separation of the projectile-launching components of the weapon system from the user-interface components is controlled via target tracking software and embedded mobile processing hardware that optically monitor target position relative to point of aim. When the system is powered on, and the shooter activates a targeting button on the grip, the target tracking system detects the target and calculates its angular deflection from the standard line-of-sight (“LOS”) of the weapon by comparing it to the standard aiming point (dot or reticle). Electromechanical actuators are activated to rapidly redirect the LOS of the barrel and receiver, separately from the standard LOS of the carriage, to actively stabilize the weapon direction relative to the target. This is a much simpler alternative to guided bullets and is an intelligent launch. In effect, this capability can continuously correct for man-machine wobble and erratic target movements. An electromechanical system continuously translates an “aiming error” signal from a target tracking system into dynamic “aiming corrections” for man-machine wobble for handheld devices by physically offsetting the direction of aim from the line-of-sight to the target to drastically reduce aiming errors without specific direction by the user. The electromechanical system improves the “hit” probabilities for handheld devices of all types, especially projectile launchers, including, but not limited to, firearms, paintball guns, grenade launchers, shoulder-fired rocket launchers, air soft guns, pellet/bb guns, crossbows, less/non-lethal weapons (e.g., tasers, acoustic beam, tear gas launchers, rubber slug launchers, bean-bag launchers, etc.), “tagging/marking” guns, and tranquilizer guns, etc. The system compensates for man-machine wobble in standing and unsupported firing positions, and other moving firing positions such as on trucks, aircraft, and boats. The system will also significantly reduce target acquisition time by offering shooters an effective “snap-to-target” capability and radically decreasing ammunition consumption rates.

DETAILED DESCRIPTION

With the computing environment in mind, embodiments of the present invention are described with reference to logical operations being performed to implement processes embodying various embodiments of the present invention. These logical operations are implemented (1) as a sequence of computer implemented steps or program modules running on a computing system and/or (2) as interconnected machine logic circuits or circuit modules within the computing system. The implementation is a matter of choice dependent on the performance requirements of the computing system implementing the invention. Accordingly, the logical operations making up the embodiments of the present invention described herein are referred to variously as operations, structural devices, acts or modules. It will be recognized by one skilled in the art that these operations, structural devices, acts and modules may be implemented in software, in firmware, in special purpose digital logic, and any combination thereof without deviating from the spirit and scope of the present invention as recited within the claims attached hereto.

Typical aiming systems for firearms provide a line-of-sight that intersects the projectile's trajectory at a predetermined distance, often called the “zero” range. This is usually around 25 meters for handguns, 50 meters for shotguns, 100 meters for small rifles, and 200 meters for large rifles. Shooters have traditionally been required to compensate for the elevation error of projectile impact when shooting targets at distances other than the zero range. This was usually accomplished by estimating the distance to target and utilizing alternate graduated aiming points built into the aiming system. Advanced commercially available aiming systems now utilize laser range finders to electronically measure the distance to a target when a shooter activates the system and points at the target. The aiming device then automatically corrects the aiming point to compensate for the elevation error. Technology is in development to also address aiming errors from wind-induced drift and other sources of dispersion of the projectile. These systems also transparently correct the aiming point for shooters. Once windage and elevation corrections have been accurately calculated by a ballistic computer and accounted for in the aiming system, there usually remains only one source of aiming error—shooter or man-machine wobble.

Man-machine wobble is the source of a continuously varying aiming error stemming from natural instability of the body of the shooter due to breathing, muscle movements, and other causes and with varying degrees of severity. Marksmanship is the act of minimizing man-machine wobble under various conditions and triggering the shot at optimal timing for accurate hits on target. Target tracking technology in conjunction with an electromechanical system of active stabilization targeting correction compensates for man-machine wobble, leaving the shooter free to optimize timing of the shot based on other factors, such as other nearby targets, orders to fire, etc. This is most important in situations of military combat fire-fights, law-enforcement maneuvers, and self-defense shootings when the shooters will be under duress and subject to significant destabilizing factors. The system is also of considerable interest for hunting applications where it will enhance ethical harvest of animals by decreasing instances of wounding shots and increasing the instances of kill shots.

Referring now to the Figures, in which like reference numerals refer to structurally and/or functionally similar elements thereof,FIG. 1shows an elevation view of a rifle incorporating an embodiment of the active stabilization targeting correction of the present invention. Referring now toFIG. 1, the active stabilization targeting correction system is shown in conjunction with a functional prototype of an AR-15 rifle. The active stabilization targeting correction system works by separating the “support” features of the rifle from the “projectile launching” features, and controlling their respective motion by electromechanical mechanisms.FIG. 1illustrates a functional configuration of the active stabilization targeting correction system. Actual manufactured hardware may be of different shapes and designs for particular applications than that shown inFIG. 1.

InFIG. 1, Buttstock1, Hand Grip2, Trigger3, and Optical Target Tracking Device4are solidly mounted to Sub-Frame5, which also serves as a fore grip for the shooter. Buttstock1, Hand Grip2, Trigger3, Optical Target Tracking Device4, and Sub-Frame5constitute the only points of interface or support of the shooter with Firearm30, hereinafter referred to as the “Interface Components.” The remaining elements of Firearm30are isolated from the shooter and comprise the projectile launching components of Firearm30.

The Receiver6(which handles cartridge loading and unloading mechanisms), Barrel7, Upper Accessory Rail8, and Lower Accessory Rail8′ are movably mounted to Sub-Frame5at two points: a two-degree-of-freedom (2-DOF) Gimbals9at the rear of Lower Accessory Rail8′, and Windage-Elevation Translation10fixed to Hand Grip2. Receiver6, Barrel7, Upper Accessory Rail8, and Lower Accessory Rail8′ are isolated from the shooter, hereinafter referred to as the “Isolated Components.”

A target lock signal is generated when the shooter presses and holds Targeting Button27, which is typically located on or near Hand Grip2of the dominant hand of the shooter or the fore-grip of the non-dominant hand so that Targeting Button27is automatically depressed when the shooter grasps Hand Grip2or the fore-grip tightly. When Optical Target Tracking Device4locates the desired target, the ballistic computer quickly calculates aiming point corrections for constant or near-constant sources (range, elevation, azimuth, wind, spin-drift, Coriolis effect, etc.) and adjusts the aiming reticle. Simultaneously, the angular deflection from the target's location to the current point-of-aim is rapidly measured by Optical Target Tracking Device4and translated into vertical and horizontal component corrections. These two values are transmitted to calibrated encoded Electromechanical Actuators11and11′, located within Block21(seeFIG. 3) that position the Windage-Elevation Guide Blocks10accordingly to rapidly correct angular deflection of the Isolated Components (Receiver6/Barrel7/Upper Accessory Rail8/Lower Accessory Rail8′) to compensate for the previous aiming error. Electromechanical Actuators11and11′ may be stepper motors, linear actuators, piezoelectric actuators, screw transducers, hydraulic, pneumatic, or any other type of actuator capable of the micro movements required.

FIG. 2shows an enlarged isometric view of an embodiment of the gimbals shown inFIG. 1. Referring now toFIG. 2, the 2-DOF Gimbals9are comprised of an Attachment Bracket12that is secured to Lower Accessory Rail8′. Tang13is solidly attached to Attachment Bracket12and extends downward where it is received within U-Bracket14via Pin15which passes through Tang13. Pin15allows vertical panning/rotation of the Isolated Components as indicated by Arrow16and in cooperation with Windage-Elevation Translation10. U-Bracket14is solidly mounted to a vertically pinned Turret17, which is fixed within Sub-Frame5, allowing horizontal panning/rotation of the Isolated Components as indicated by Arrow18.

FIG. 3shows an enlarged isometric view of an embodiment of the windage-elevation translation shown inFIG. 1. Referring now toFIG. 3, Windage-Elevation Translation10is comprised of a Base Plate26which is solidly mounted to Sub-Frame5. Movable Plate19translates up and down against Base Plate26in the directions indicated by Arrow20. Block21translates back and forth against Movable Plate19in the horizontal directions indicated by Arrow22. Block21is solidly mounted to Mounting Block23of Receiver6. A Cutout24in a lower portion of Sub-Frame5allows for the protrusion of Magazine Well25. Cutout24is only required on rifles with high-capacity magazines. Most sporting shotguns, rifles, and some handguns would allow for simpler configurations, as shown inFIGS. 4-16.

FIG. 4shows a perspective view of a handgun incorporating an embodiment of the active stabilization targeting correction of the present invention. Referring now toFIG. 4, Hand Grip32, Trigger33, and Optical Target Tracking Device34are solidly mounted to Sub-Frame35of Firearm50. Optical Target Tracking Device34is mounted to U-Bracket44which is solidly mounted to Sub-Frame35. Elevation Correction Sub-Frame38and Windage-Correction Sub-Frame40are free to move unhindered within U-Bracket44. Hand Grip32, Trigger33, Optical Target Tracking Device34, U-Bracket44, and Sub-Frame35constitute the only points of interface with the shooter with Firearm50, hereinafter referred to as the “Interface Components.” The remaining elements of Firearm50are isolated from the shooter.

Elevation Correction Sub-Frame38, which contains Barrel37, and Windage-Correction Sub-Frame40are movably mounted to Sub-Frame35and form the Isolated Components from the shooter. Firearm50will typically have an ammunition box magazine (not shown) which can be part of the Isolated Components, but more typically be affixed to Hand Grip32. Semi-auto handgun mechanisms allow for slight misalignments when feeding ammunition. Pin45is solidly mounted to Sub-Frame40. Elevation Correction Sub-Frame38rotates about Pin45to raise or lower the elevation (vertical panning/rotation) of the end of Barrel37in the directions indicated by Arrow42around Axis39which is the centerline of Pin45. Windage-Correction Sub-Frame40rotates about Axis31and parallel to Top Surface36(seeFIG. 12) of Sub-Frame35in the directions indicated by Arrow43(horizontal panning/rotation) causing the end of barrel37to pan left or right in plan. This may be accomplished with a turret mechanism located in similar to Turret17shown inFIG. 2, with the exception that the turret has a hole through which the ammunition box magazine protrudes.

A target lock signal is generated when the shooter presses and holds Targeting Button47, which is typically located on or near Hand Grip32of the dominant hand of the shooter so that Targeting Button47is automatically depressed when the shooter grasps Hand Grip32. When Optical Target Tracking Device34locates the desired target, the angular deflection (both horizontal windage and vertical elevation) from the target's location to the current point-of-aim can be quickly measured by the ballistic computer located internal to Optical Target Tracking Device34. These two values are transmitted to calibrated encoded Electromechanical Actuators41and41′, located within the rear end of Windage-Correction Sub-Frame40that position Elevation Correction Sub-Frame38and Windage-Correction Sub-Frame40accordingly to rapidly correct angular deflection of the Isolated Components (Elevation Correction Sub-Frame38/Barrel37/Windage-Correction Sub-Frame40) to match the previous aiming error.

FIG. 5shows a perspective view of a handgun incorporating an embodiment of the active stabilization targeting correction of the present invention. Referring now toFIG. 5, a straightforward condition of zero degrees elevation and zero degrees windage is shown. (Trigger33and Optical Target Tracking Device34are not shown.)

FIG. 6shows an elevation view of a handgun incorporating an embodiment of the active stabilization targeting correction of the present invention. Referring now toFIG. 6, a straightforward condition of zero degrees down elevation and zero degrees windage is shown. (Trigger33and Optical Target Tracking Device34are not shown.)

FIG. 7shows an elevation view of a handgun incorporating an embodiment of the active stabilization targeting correction of the present invention. Referring now toFIG. 7, a corrected condition of two degrees down elevation and zero degrees windage is shown. (Trigger33and Optical Target Tracking Device34are not shown.)

FIG. 8shows an elevation view of a handgun incorporating an embodiment of the active stabilization targeting correction of the present invention. Referring now toFIG. 8, a corrected condition of two degrees up elevation and zero degrees windage is shown. (Trigger33and Optical Target Tracking Device34are not shown.)

FIG. 9shows a perspective view of a handgun incorporating an embodiment of the active stabilization targeting correction of the present invention. Referring now toFIG. 9, a corrected condition of zero degrees elevation and two degrees right windage is shown. (Trigger33and Optical Target Tracking Device34are not shown.)

FIG. 10shows a perspective view of a handgun incorporating an embodiment of the active stabilization targeting correction of the present invention. Referring now toFIG. 10, a corrected condition of zero degrees elevation and two degrees left windage is shown. (Trigger33and Optical Target Tracking Device34are not shown.)

FIG. 11shows a perspective view of a handgun incorporating an embodiment of the active stabilization targeting correction of the present invention. Referring now toFIG. 11, a corrected condition of two degrees up elevation and two degrees left windage is shown. (Trigger33and Optical Target Tracking Device34are not shown.) From these different examples it can be seen that Elevation Correction Sub-Frame38and Windage-Correction Sub-Frame40move in unison when a windage correction is made, and Elevation Correction Sub-Frame38moves up or down in relation to Windage-Correction Sub-Frame40when an elevation correction is made.

FIG. 12shows a partial cutaway perspective view of a handgun incorporating an embodiment of the active stabilization targeting correction of the present invention. Referring now toFIG. 12, Axis31is the rotational axis of Windage-Correction Sub-Frame40which rotates in the directions indicated by Arrow43in a plane parallel to Top Surface36of Sub-Frame35. (Trigger33, Optical Target Tracking Device34, U-Bracket44, Elevation Correction Sub-Frame38, and Windage-Correction Sub-Frame40are not shown.)

FIG. 13shows a perspective view of a shotgun incorporating an embodiment of the active stabilization targeting correction of the present invention, andFIG. 14shows a plan view of a shotgun incorporating an embodiment of the active stabilization targeting correction of the present invention. Referring now toFIGS. 13 and 14, Buttstock51, Hand Grip52, Forestock70, Trigger53, and Optical Target Tracking Device54are solidly mounted to Sub-Frame55of Firearm80. Optical Target Tracking Device54is mounted to U-Bracket64which is solidly mounted to Sub-Frame55. Buttstock51, Forestock70, Trigger53, Optical Target Tracking Device54, and Sub-Frame55constitute the only points of interface with the shooter with Firearm80, hereinafter referred to as the “Interface Components.” The remaining elements of Firearm80are isolated from the shooter. (Optical Target Tracking Device54and U-Bracket64are not shown inFIG. 14.)

Receiver56, Barrel57, and Magazine Tube58are movably mounted to Sub-Frame55at two points: a two-degree-of-freedom (2-DOF) Gimbals59at the rear of Receiver6, and Windage-Elevation Translation60at the fore end of Forestock70. Receiver56, Barrel57, and Magazine Tube58form the Isolated Components from the shooter. (SeeFIGS. 15 and 16for more details of these components.)

FIG. 15shows an enlarged isometric view of an embodiment of the windage-elevation translation shown inFIGS. 13 and 14. Referring now toFIG. 15, Forestock70and Sub-Frame55have been removed to show the details of Windage-Elevation Translation60. Elevation correction is accomplished by a pair of Linear Struts61and61′ which each are an assembly of Movable Rods62and62′ (Movable Rod62′ is not visible inFIG. 15) and Electromechanical Actuators71and71′. Each bottom end of each Linear Strut61and61′ is solidly mounted to Sub-Frame55. Mounting Bracket75solidly connects Barrel57to Magazine Tube58. Movable Rods62and62′ of Linear Struts61and61′ are solidly mounted at their top ends to Lift Platform63. Electromechanical Actuators71and71′ drive each Movable Rod62and62′ up or down in the directions indicated by Arrow73in order to correct the elevation of Barrel57, with Magazine Tube58moving in unison due to connecting Mounting Bracket75.

Rack and Pinion65cooperates with Lift Platform63, Linear Struts61and61′, and Movable Rods62and62′. Rack66is solidly mounted to Lift Platform63. A pair of Pinions67and67′ engage with Rack66via their gear interface. Electromechanical Actuators72and72′ rotate each Pinion67and67′ causing Barrel57to move back and for the in the directions indicated by Arrow74in order to correct for windage.

A target lock signal is generated when the shooter presses and holds Targeting Button78, which is typically located on or near Hand Grip52of the dominant hand of the shooter or the fore-grip of the non-dominant hand so that Targeting Button78is automatically depressed when the shooter grasps Hand Grip52or the fore-grip tightly. When Optical Target Tracking Device54locates the desired target, the angular deflection (both horizontal windage and vertical elevation) from the target's location to the current point-of-aim can be quickly measured by the ballistic computer located internal to Optical Target Tracking Device54. These two values are transmitted to calibrated encoded Electromechanical Actuators71and71′ and Electromechanical Actuators72and72′ that rapidly correct angular deflection of the Isolated Components (Receiver56/Barrel57/Magazine Tube58) to match the previous aiming error.

FIG. 16shows an enlarged isometric view of an embodiment of the gimbals referenced inFIGS. 14 and 15. Referring now toFIG. 16, the base of Gimbals59is attached to the fore end of Buttstock51. The tip of Gimbals59is attached to the aft end of Receiver56. When Linear Struts61and61′ are actuated by Electromechanical Actuator71and71′, the Isolated Components (Receiver56/Barrel57/Magazine Tube58) rotate about Pin68in the directions indicated by Arrow76. When Pinions67and67′ are actuated by Electromechanical Actuator72and72′ of Rack and Pinion65, the Isolated Components (Receiver56/Barrel57/Magazine Tube58) rotate about Pin69in the directions indicated by Arrow77. (Trigger53, Optical Target Tracking Device54, and U-Bracket64are not shown inFIG. 16.)

FIG. 17shows a flow diagram of a method of utilizing an embodiment of the active stabilization targeting correction of the present invention. Referring now toFIG. 17, the method begins with Block1700where a target is visually acquired by a shooter aiming a firearm, such as Firearms30/50/80, and their associated optics, such as Optical Target Tracking Device4/34/54, at a target, establishing a point-of-aim. Next, signals are generated by Optical Target Tracking Device4/34/54and in some embodiments, by other types of target detection devices in Blocks1702-1710. The signals may be generated from visible light, near IR light, thermal imagery, acoustics, or any other type of target detecting signal. Particular embodiments may only employ one, two, or some other combination of the possible data acquisition systems. In Block1712all of the signals generated are summed, thus reducing the noise. In block1714, the active stabilization targeting correction is activated when the shooter presses and holds a button, which is typically located on or near the grip of the dominant hand of the shooter or the fore-grip of the non-dominant hand so that the button is automatically depressed when the shooter grasps the hand grip or the fore-grip tightly and generates an activation signal. The button is in electrical communication with the embedded processor within Optical Target Tracking Devices4/34/54.

Dual processing takes place after Block1714. In the first processing path, in Block1716a range measurement is calculated, typically through a laser range finder system. In Block1718a wind profile measurement is calculated, typically through laser scattering. In Block1720, an azimuth measurement is taken, typically through an electronic compass. In Block1724, a unique ballistic trajectory is calculated with the data from Blocks1716,1718, and1720along with stored standard ballistic trajectory data from Block1722. In Block1726a point-of-impact, zero-relative, is calculated. Depending upon the firearm in question, the data collected and generated in Blocks3516-3526is not needed in order to correct for man-machine wobble. For example, for a high powered rifle aiming at a target at less than 200 meters, the data generated from Blocks3516-3526would not alter significantly the man-machine wobble corrections generated in Block3530.

In the second processing path, in Block1728a position of target measurement relative to the point-of-aim is made. A visual display generated by the embedded processor is sent to the shooter through Optical Target Tracking Device4/34/54indicating “Lock” such as Lock Indicator152along with Instantaneous Aiming Point153as shown inFIG. 34. In Block1730, the data from Block1728, and optionally from Block1726, is used to make an angular deflection calculation from the position of the target to the point-of-impact. In Block1732aiming errors due to man-machine wobble, horizontal and vertical, are calculated. In Block1734, the horizontal aiming correction is sent to the electromechanical actuator in order to adjust the horizontal position of the isolated components of the Firearm30/50/80. Simultaneously, In Block1736, the vertical aiming correction is sent to the electromechanical actuator in order to adjust the vertical position of the isolated components of the firearm. In Block1738the results of the horizontal and vertical adjustments are summed in order to present a visual display to the shooter. In Block1740the visual display is presented to the shooter in Optical Target Tracking Devices4/34/54of the predicted point-of-impact, such as Predicted Point-of-Impact154shown inFIG. 34. One skilled in the art will recognize that due to the speed of the processing involved, there is virtually no noticeable time delay to the shooter between the display generated from block3528and the display generated from block3540. Finally, in Block1742a firing decision needs to be made by the shooter. If the decision is yes, the shooter will pull the trigger on the firearm, deactivating the active stabilization targeting correction. The active stabilization targeting correction can be repeated for a next target by establishing a new point-of-aim and pressing again the targeting activation button. If the decision by the shooter is no, the trigger is not pulled. The method can then be repeated for a next target by releasing the targeting activation button which deactivates the active stabilization targeting correction, establishing a new point-of-aim, and pressing again the targeting activation button.

FIGS. 18-21show an example target with respect to point-of-aim and point-of-impact under different conditions. Referring now toFIG. 18, the upper tip of White Chevron91indicates the point-of-aim (POA). White Circle92indicates the probable point-of-impact (POI) when Target90is at “zero” range and a shot is fired with no cross-wind. For longer shots, gravity pulls the projectile's POI below the POA unless elevation corrections are made to the aiming system.FIG. 19shows the probable POI represented by White Circle92below the POA represented by White Chevron91when Target90is beyond “zero” range. The reverse occurs when Target90is closer than “zero” range—the POI will be above the POA unless elevation corrections are made to the aiming system (not shown).

Cross-wind, spin-drift, and the Coriolis effect can each push the projectile's POI laterally from the POA unless windage corrections are made to the aiming system.FIG. 20shows the POI represented by White Circle92moved laterally to the right with respect to the POA represented by White Chevron91due to one or more of these conditions.

Man-machine wobble from fatigue, adrenalin, movement, defensive posture (standing, squatting, etc), or unsteady platforms (in the air in an aircraft, in a moving vehicle on the ground, or a marine vehicle, etc.) induces a nearly random displacement of the weapon and sighting system that results in a probable POI area that is much larger than in ideal conditions and often results in misses or failure to incapacitate the target.FIG. 21shows Target90in such a situation selected at some specific moment in time. Due to man-machine wobble, the probable POI represented by White Circle94is much larger with respect to Target90. The POA before correction of man-machine wobble is represented by White Chevron91. A predicted POA is represented by Striped Chevron93that was detected and calculated by the target acquisition system, accounted for in the solution that directs the barrel pointing actions, and displayed to the shooter for a firing decision. This correction will occur at a higher frequency than most man-machine wobble, thus improving the likelihood that the target will be hit and incapacitated.

FIG. 22shows an elevation view of a rifle incorporating another embodiment of the active stabilization targeting correction of the present invention andFIG. 23shows a partial cutaway view of the internal components of the rifle shown inFIG. 22. Referring now toFIGS. 22 and 23, the active stabilization targeting correction system is shown in conjunction with a functional prototype of a semi-custom commercial sniper weapon, such as a McMillan Spec-Tac-LR rifle. The active stabilization targeting correction system works by separating the “support” features of the rifle from the “projectile launching” features, and controlling their respective motion by electromechanical mechanisms.FIGS. 22 and 23illustrate a functional configuration of the active stabilization targeting correction system. Actual manufactured hardware may be of different shapes and designs for particular applications than that shown inFIGS. 22 and 23.

InFIGS. 22 and 23, Firearm100has Buttstock101, Hand Grip102, Trigger103, Optical Target Tracking Device104, and Optical Module115, all of which are solidly mounted to Carriage Shell Stock105, which also serves as a fore grip for the shooter. Buttstock101, Hand Grip102, Trigger103, Optical Target Tracking Device104, Optical Module115, and Carriage Shell Stock105constitute the only points of interface or support of the shooter with Firearm100, hereinafter referred to as the “Interface Components.” Carriage Shell Stock105houses the majority of the stabilization system hardware and enables unencumbered movement of the projectile launching features of Firearm100within the bounds of the mechanical limits of Carriage Shell Stock105. Thumb Hole116in Carriage Shell Stock105receives the thumb of the shooter's hand. Bolt Handle117extends out of and travels within L-Channel118in Carriage Shell Stock105. The remaining elements of Firearm100are isolated from the shooter and comprise the projectile launching components of Firearm100.

The Receiver106handles cartridge loading and unloading mechanisms. Along the exterior of Carriage Shell Stock105is an extended length Accessory Rail108affixed along the top of Carriage Shell Stock105for mounting Optical Target Tracking Device104, which may include night, thermal, and fused imagers. Additional accessory rails can also be added to the sides and bottom of Carriage Shell Stock105for additional accessory mounting. Barrel107is movably mounted to Carriage Shell Stock105at two points: a two-degree-of-freedom (2-DOF) Gimbals109and windage-elevation Guide Block Assembly110. Accessory Rail108may be a Picatinny rail or a Weaver rail or any proprietary or universal rail system. Receiver106, and Barrel107are isolated from the shooter, hereinafter referred to as the “Isolated Components.”

FIG. 24shows a perspective view of the optical module of the rifle shown inFIGS. 22 and 23. Referring now toFIG. 24, Optical Module115has a flexible Boot122that is removably connected to Optical Target Tracking Device104. Boot122keeps out light and dust in the space between Optical Module115and Optical Target Tracking Device104. Tilt-Ring Mount114secures Optical Module115to Accessory Rail108. Optical Module115contains a commercial USB Camera123to gather an image of the target through the main optic, Optical Target Tracking Device104. USB Camera123may be a ¼″imager chip with a 6 mm M12-type lens, or any other suitable combination of camera and lens. On the other side of Optical Module115is Liquid Crystal Display (“LCD Display)113that relays the targeting image along with corrected aim-point and target-lock information to the shooter. LCD Display113may be a CINSR-1835 2″, 176×132 pixel LCD display, or any other suitable LCD display. The CINSR-1835 2″, 176×132 pixel LCD display is the same unit used in commercial iPod music players and is low-cost, rugged, and reliable. In the case of any targeting system failure, the shooter may simply tilt Optical Module115to the side via Tilt-Ring Mount114, which may be a Larue Tactical LT755 Pivot Mount or a Burris AR-Pivot Mount, with Boot122remaining attached to the optical module, and continue using the rifle in the standard manner without assisted stabilization. With this embodiment, different types of Optical Target Tracking Devices104may be swapped in and out and mounted to Accessory Rail108, and Tilt-Ring Mount114with Boot122adjusted to line up with each new Optical Target Tracking Devices104so mounted, giving the shooter greater flexibility depending upon the situation and need.

FIG. 25shows an isometric view of the internal components of the rifle shown inFIGS. 22 and 23,FIG. 26shows an enlarged isometric view of an embodiment of the gimbals shown inFIG. 25, andFIG. 28shows an enlarged view of a trigger assembly of a rifle shown inFIGS. 22 and 23incorporating another embodiment of the active stabilization targeting correction of the present invention. Referring now toFIGS. 25,26, and28, mounted in the fore-stock of Carriage Shell Stock105is a two-degree-of-freedom (2-DOF) precision Gimbals109that affixes the rifle's forestock to Carriage Shell Stock105to allow for pan and tilt of the isolated components (seeFIGS. 23 and 27). A precision Guide Block Assembly110attaches internally to Buttstock101of Carriage Shell Stock105(FIG. 23) and mounts high-speed, high-torque, zero-backlash Vertical Actuator111and Horizontal Actuator112that impart horizontal and vertical corrections of as much as 10 MRAD total translation (FIG. 27). Depending upon the design of the carriage shell stock, total translation of more than 10 MRAD may be achieved for horizontal and vertical corrections. Vertical Actuator111and Horizontal Actuator112may be stepper motors, linear actuators, piezoelectric actuators, screw transducers, hydraulic, pneumatic, or any other type of actuator capable of the micro movements required. More translation can be accommodated with a larger Carriage Shell Stock105.

Guide Block Assembly110features curved slide surfaces to resist all recoil forces with normal contact forces, thus relieving Actuators122and123from recoil loads. A trigger linkage system (electromechanical in the sniper platform, mechanical in battle rifles and carbines) allows Trigger Assembly121mounted with the Hand Grip102of Carriage Shell Stock105to actuate Sear Actuator124on the receiver (FIG. 28). Innovative designs for the sear actuator such as stacked piezo-crystals offer inherently low power consumption and high reliability. Trigger Assembly121in Carriage Shell Stock105now only needs to close a circuit for Sear Actuator124, enabling light, crisp, and safe triggers, all in one package. For weapons that don't require a light trigger, a cable-in-sheath mechanical linkage (not shown) will activate Sear Actuator124from Trigger103input with standard trigger feel. The outer ring of Gimbals109is pressed into Carriage Shell Stock105and is pinned to the middle ring horizontally. The inner ring of Gimbals109is pressed onto the fore end of Barrel107and pinned to the middle ring vertically. Battery120supplies power to Mobile Processing Unit119.

FIG. 27shows a full “down corrected” position of rifle shown inFIG. 22incorporating another embodiment of the active stabilization targeting correction of the present invention. Referring now toFIG. 27, the isolated components are shown suspended between the 2-DOF Gimbals109in the fore-stock area and Guide Block Assembly110in the Buttstock101area. At the full “down-corrected” position shown inFIG. 27, Guide Block Assembly110exhibits half of its full elevation travel (5 of 10 MRADs), and the isolated components have reached the limits of their movement inside Carriage Shell Stock105. Similarly, the pan (horizontal) corrections are limited by the width of Carriage Shell Stock105at the Buttstock101end. Full pan travel may typically be up to 10 MRAD for rifles, and up to20MRAD for machine guns, handguns, and shotguns depending upon the design of the carriage shell stock.

FIG. 29shows a side view,FIG. 30shows a top view, andFIG. 31shows a perspective view of the guide block assembly of the rifle shown inFIG. 23incorporating another embodiment of the active stabilization targeting correction of the present invention. Referring now toFIGS. 29,30, and31, Base Plate125is securely attached to Buttstock101. Vertical Actuator111actuates Vertical Drive126, which in one embodiment is a lead screw type drive. Horizontal Actuator112actuates Horizontal Drive127, which in one embodiment is a rack and pinion type drive. However, each drive may be one of several different types listed above. Connector Block128fits within Groves129within both Vertical Drive126and Horizontal Drive127. The Interface130between the abutted surfaces of Vertical Drive126and Connector Block128as shown inFIG. 29are curved. The radius of the curve of the abutted surfaces runs from Interface130to the pivot point defined by Gimbals109. This provides for smooth sliding between the abutted surfaces of Vertical Drive126and Connector Block128when elevation changes, or tilt, are made by Vertical Actuator111in the direction indicated by Arrow132(seeFIG. 32). The Interface131between the abutted surfaces of Horizontal Drive127and Connector Block128as shown inFIG. 30are curved. The radius of the curve the abutted surfaces runs from Interface131to the pivot point defined by Gimbals109. This provides for smooth sliding between the abutted surfaces of Horizontal Drive127and Connector Block128when horizontal changes, or pan, are made by Horizontal Actuator112in the direction indicated by Arrow133(seeFIG. 32).

FIG. 32shows a board used for data processing for the rifle shown inFIGS. 22 and 23incorporating another embodiment of the active stabilization targeting correction of the present invention. Referring now toFIG. 32, Mobile Processing Unit119houses Board134. In one embodiment of the invention, Board134is a PandaBoard, an open OMAP™ 4 mobile software development platform which has a Processor135. In one embodiment, Processor135features Texas Instruments OMAP 4430 processor designed to drive smart-phones. Board134is at the center of all the image collection, target identification/tracking, actuator controlling, and targeting feedback display duties. JTAG136is an IC debug port. WLAN/Bluetooth137provides local communications with alternate hardware such as telecommunication devices, additional diagnostics, external processing centers, etc. Expansion Connector138is available but not used at this time. LCD Expansion139provides the video out to LCD Display113. DVI Out140and HDMI Out141are available and HDMI may be utilized for external monitors such as a soldier heads-up-display. Ethernet and USB Ports142provide extended external communications. Power/Reset Buttons143and Stereo Audio In/Out145are available but not used at this time. Power Supply144receives voltage from Battery120. USB146provides motor control to Vertical Actuator111and Horizontal Actuator112. Camera Connector147receives signals from USB Camera123. Serial/RS-232148receives input from Targeting Button151(seeFIG. 28). SD/MMC Card Slot149receives the Secure Digital (“SD”) card which has the operating system and the image detection software. Status LEDs150are used for internal diagnostics.

In one embodiment, Board134possesses all of the features listed below:

In one embodiment, some features of Processor135are listed below:Designed to drive smart phones, tablets and other multimedia-rich mobile devices;IVA 3 hardware accelerators enable full HD 1080 p, multi-standard video encode/decode;Faster, higher-quality image and video capture with digital SLR-like imaging up to 20 megapixels;Dual-core ARM® Cortex™-A9 MPCore™ with Symmetric Multiprocessing (SMP);Integrated POWERVR™ SGX540 graphics accelerator drives 3D gaming and 3D user interfaces;Highly optimized mobile applications platform; andOMAP4430 operates at up to 1 GHz.

In one embodiment, the hardware will support three popular open source mobile operating systems: a light and fast one called Angstrom, a very usable one called Ubuntu, and the Android™ OS. Swapping out the software platform is as simple as inserting a different SD card into SD/MMC Card Slot149.

Power for the system is currently drawn from Battery120, which in one embodiment is an internal Li-Po battery pack which is fully rechargeable. Other embodiments can be configured to be powered by removable primary batteries, a universal power bus, or an external power supply. Power requirements are dependent on situational factors.

Target tracking systems, in general, receive a digitized video signal and optically detect the location of persons of interest, i.e., potential targets. The output from these systems is typically twofold: 1) a marker of all potential targets in the field of view, and 2) a vertical and horizontal angular deflection from the primary target's center of mass to the camera's center of view or the weapon optic's point of aim (POA). These deflection measurements are used to control (or stabilize) the direction of any number of devices such as the laser rangefinders mentioned above.

The image detection software is the brain of the stabilization system. OpenCV (Open Source Computer Vision Library) computer vision libraries are utilized to identify all targets in the field of view (seeFIG. 33), and custom code “snap-to-target” capability selects the closest target to the aim point for target lock. Once target lock is achieved, firearm stabilization is activated (seeFIG. 34). Lock Indicator152is displayed, along with Instantaneous Aiming Point153and Predicted Point-of-Impact154. If a fire decision is made by the shooter at this point, the target should be hit at or near Predicted Point-of-Impact154. If the system is provided range and trajectory data, it can also compensate for moving target aiming lead. The software calculates the speed of the target relative to its background or surroundings and superimposes this lead correction onto the man-machine wobble correction.

FIG. 35shows a flow diagram of a method of utilizing another embodiment of the active stabilization targeting correction of the present invention. Referring now toFIG. 35, the method begins with Block3500where a target is visually acquired by a shooter aiming a firearm, such as Firearm100, and its associated optics, such as Optical Target Tracking Device104and Optical Module115, at a target, establishing a point-of-aim. Next, signals are generated by Optical Target Tracking Device104and in some embodiments, by other types of target detection devices in Blocks3502-3510. The signals may be generated from visible light, near IR light, thermal imagery, acoustics, or any other type of target detecting signal. Particular embodiments may only employ one, two, or some other combination of the possible data acquisition systems. In Block3512all of the signals generated are summed, thus reducing the noise. In block3514, the active stabilization targeting correction is activated when the shooter presses and holds a button, which is typically located on or near the grip of the dominant hand of the shooter so that the button is automatically depressed when the shooter grasps the hand grip tightly and generates an activation signal. The button is in electrical communication with Processor135in Optical Module115.

Dual processing takes place after Block3514. In the first processing path, in Block3516a range measurement is calculated, typically through a laser range finder system. In Block3518a wind profile measurement is calculated, typically through laser scattering. In Block3520, an azimuth measurement is taken, typically through an electronic compass. In Block3524, a unique ballistic trajectory is calculated with the data from Blocks3516,3518, and3520along with stored standard ballistic trajectory data from Block3522. In Block3526a point-of-impact, zero-relative, is calculated. Depending upon the firearm in question, the data collected and generated in Blocks3516-3526is not needed in order to correct for man-machine wobble. For example, for a high powered rifle aiming at a target at less than200meters, the data generated from Blocks3516-3526would not alter significantly the man-machine wobble corrections generated in Block3530.

In the second processing path, in Block3528a position of target measurement relative to the aiming point is made. A visual display generated by Processor135is sent to the shooter through LCD Display113indicating “Lock” such as Lock Indicator152along with Instantaneous Aiming Point153as shown inFIG. 34. In Block3530, the data from Block3528, and optionally from Block3526, is used to make an angular deflection calculation from the position of the target to the point-of-impact. In Block3532aiming errors due to man-machine wobble, horizontal and vertical, are calculated. In Block3534, the horizontal aiming correction is sent to the electromechanical actuator in order to adjust the horizontal position of the isolated components of Firearm100. Simultaneously, In Block3536, the vertical aiming correction is sent to the electromechanical actuator in order to adjust the vertical position of the isolated components of Firearm100. In Block3538the results of the horizontal and vertical adjustments are summed in order to present a visual display to the shooter. In Block3540the visual display is presented to the shooter in LCD Display113of Optical Module115of the predicted point-of-impact, such as Predicted Point-of-Impact154shown inFIG. 34. One skilled in the art will recognize that due to the speed of the processing involved, there is virtually no noticeable time delay to the shooter between the display generated from block3528and the display generated from block3540. Finally, in Block3542a firing decision needs to be made by the shooter. If the decision is yes, the shooter will pull the trigger on the firearm, deactivating the active stabilization targeting correction. The active stabilization targeting correction can be repeated for a next target by establishing a new point-of-aim and pressing again the targeting activation button. If the decision by the shooter is no, the trigger is not pulled. The method can then be repeated for a next target by releasing the targeting activation button which deactivates the active stabilization targeting correction, establishing a new point-of-aim, and pressing again the targeting activation button.

The concept is applicable to smaller weapons such as handguns provided that the components will fit within the frame of the handguns. For weapons that are too small, the shooter may “wear” the processor and battery with an umbilical cord running to the handgun to provide active stabilization targeting correction to the handgun.

Having described the present invention, it will be understood by those skilled in the art that many changes in construction and circuitry and widely differing embodiments and applications of the invention will suggest themselves without departing from the scope of the present invention. Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.