Patent Publication Number: US-2023140441-A1

Title: Target acquisition system for an indirect-fire weapon

Description:
TECHNICAL FIELD 
     The application relates generally to a target acquisition system for an indirect-fire weapon. 
     BACKGROUND 
     Indirect fire refers to shooting at a target performed with indirect-fire weapons, for example mortars or field guns, generally without direct visual contact with the target from the gun emplacement. 
     The shooting of arcing fire weapons, establishing a fire unit, has been traditionally directed by using an observation team, including the actual observer and observation crew. The observation team makes its way under the cover of surrounding terrain to the proximity of a target, making it possible, by means of a direct line of sight, to determine the target&#39;s location coordinates based on its own position. Once determined, the target&#39;s coordinates will be transmitted by the observation team over radio or telephone to the firing unit&#39;s command post. 
     It is at the firing unit&#39;s command post that the received coordinates are converted into firing data, which are communicated to guns crews at a gun emplacement. The guns are aimed according to the determined data and the crew fires the guns according to orders from the command post. 
     SUMMARY 
     It is one objective of the invention to solve some of the prior art problems and to provide a target acquisition system for indirect fire, which enables safe observation of a target, the easy, assisted aiming of an available weapon at the acquired target, and the reliable destruction of the acquired target without risking the life of a person operating the acquisition system. 
     The one objective of the invention is attained with a target acquisition system, a terminal device, a target acquisition method, an unmanned aircraft, a target location determination method, a computer program and a computer program product, according to the independent claims. 
     A few embodiments of the invention include a target acquisition system, a terminal device, a target acquisition method, a computer program and a computer program product, according to the independent claims. 
     The target acquisition system according to one embodiment of the invention, intended for an indirect-fire weapon, comprises a terminal device, a sensor unit for the terminal device, an unmanned aircraft, and a control device for the aircraft. The terminal device is adapted to receive target location-related location data from an aircraft controlled with the control device. The sensor unit is adapted to monitor a weapon&#39;s position. The terminal device is further adapted to display, with a user interface unit, the location of a target on the basis of the received location data and the calculated hit point for a weapon&#39;s projectile on the basis of the weapon&#39;s position. The terminal device is further adapted to indicate, with the user interface unit, when the weapon has been aimed in such a way that, based on its position, the projectile&#39;s calculated hit point coincides with the target&#39;s location whereby, when the weapon is discharged, its projectile hits the acquired target. 
     The terminal device according to one embodiment of the invention, intended for target acquisition for an indirect-fire weapon, includes a data transfer unit which is adapted to receive target location-related location data from an unmanned aircraft controlled with a control device. The terminal device further includes a sensor unit, which is adapted to monitor a weapon&#39;s position. The terminal device further includes a user interface unit, which is adapted to display the location of a target on the basis of the received location data and the calculated hit point for a weapon&#39;s projectile on the basis of the weapon&#39;s position. The user interface unit is further adapted to indicate when the weapon has been aimed in such a way that, based on its position, the projectile&#39;s calculated hit point coincides with the target&#39;s location whereby, when the weapon is discharged, its projectile hits the acquired target. 
     The target acquisition method according to one embodiment of the invention, intended for an indirect-fire weapon, comprises a step of receiving, with a terminal device&#39;s data transfer unit, target location-related location data from an unmanned aircraft controlled with a control device. The method further comprises a step of monitoring, with the terminal device&#39;s sensor unit, a weapon&#39;s position. The method further comprises a step of displaying, with the terminal device&#39;s user interface unit, the location of a target on the basis of the received location data and the calculated hit point for a weapon&#39;s projectile on the basis of the weapon&#39;s position. The method further comprises a step of indicating, with the user interface unit, when the weapon has been aimed in such a way that, on the basis of its position, the projectile&#39;s calculated hit point coincides with the target&#39;s location whereby, when the weapon is discharged, its projectile hits the acquired target. 
     The unmanned aircraft according to one embodiment of the invention, intended for determining the location of a target for an indirect-fire weapon, is provided with a camera, which is adapted to generate imagery comprising a target. The aircraft is further provided with a data transfer unit, which is adapted to transmit the camera-generated imagery to an aircraft control device. The aircraft is further provided with a data transfer unit, which is adapted to receive a target designation from the control device. The aircraft is further provided with a measuring unit, which is adapted to acquire the camera position and the aircraft&#39;s distance to target. The aircraft is further provided with a positioning unit, which is adapted to acquire aircraft position data for the determination of target location-related location data by means of the camera position, the distance between aircraft and target, and the position data. 
     The target location determining method according to one embodiment of the invention, intended for an indirect-fire weapon, comprises a step of generating, with an unmanned aircraft-mounted camera, imagery comprising a target. The method further comprises a step of transmitting, with an aircraft-mounted data transfer unit, the camera-generated imagery to an aircraft control device. The method further comprises a step of receiving, with a data transfer unit, a target designation from the control device. The method further comprises a step of acquiring, with an aircraft-mounted measuring unit, a camera position and the aircraft&#39;s distance to target. The method further comprises a step of acquiring, with an aircraft-mounted positioning unit, aircraft position data for the determination of target location-related location data by means of the camera position, the distance between aircraft and target, and the position data. 
     The computer program according to one embodiment of the invention, intended for target acquisition for an indirect-fire weapon, includes instructions which enable a computer to execute the steps of a target acquisition or target location determining method of the preceding embodiment as the program is run on a computer. 
     The computer program product according to one embodiment of the invention, intended for target acquisition for an indirect-fire weapon, has a computer program according to the preceding embodiment stored therein. 
     Other embodiments of the invention are presented in the dependent claims. 
     Some exemplary embodiments of the invention are also subsequently presented in more detail by means of the accompanying figures. 
    
    
     
       BRIEF DESCRIPTION OF THE FIGURES 
       Some exemplary embodiments of the invention will be described more precisely hereinafter with reference to the accompanying figures: 
         FIG.  1    shows a target acquisition system 
         FIG.  2    shows the functional components of an unmanned aircraft and a weapon user&#39;s terminal device 
     
    
    
     DETAILED DESCRIPTION OF THE FIGURES 
       FIG.  1    shows a target acquisition system  100 , which is intended for acquiring a target (object)  102  for at least one firearm  104  intended for shooting indirect fire. 
     The target acquisition is conducted by using an unmanned aircraft (a drone, Unmanned Aircraft UA)  106 , enabling acquisition of the target&#39;s  102  location (location data) LT (x T , y T , z T ) without a user of the gun (shooter)  108 , or especially an operator (target designator)  109  of the drone  106  used for target acquisition, being in direct visual contact with the target  102 , whereby the user  108  or the operator  109  are also not exposed to possible direct fire coming from the target  102  or its vicinity. 
     The indirect fire shooting weapon  104  is e.g. a rifle intended for shooting a rifle grenade, a rifle equipped with a grenade launching device, a machine gun, an automatic grenade launcher, a mortar  104  as shown in the figure, a rocket launcher, a field gun or howitzer; an antitank bazooka, missile or gun; the main weapon of a tank or armored vehicle; an antiaircraft cannon, machine gun or missile; or a self-propelled, coastal or naval gun. 
     As depicted in the figure, the at least one weapon  104  comprises one, two, three, four or more weapons  104 . 
     The drone  106  is an aircraft without a human pilot and it is in the type of e.g. an unmanned aerial vehicle (airplane), a multicopter  106  as shown in the figures, a blimp, a captive balloon or the like type of aircraft. 
     The system  100  includes a portable terminal device  110  for the user  108  of the weapon  104 , at least a part of said device being attached to the weapon  104  or, as shown in the figure, the terminal device  110  is attached in its entirety to the weapon  104 . 
     The user  108  comprises at least one user  108  participating in deployment of the weapon  104 , e.g. as shown in the figure, one, two, three, four or more users  108 . 
     The terminal device  110  comprises a control unit  211 , which is intended for making up a three-dimensional (3D) coordinate system  107  which is utilized by the terminal device in computation needed for pinpointing and acquiring the target  102 . 
     The terminal device  110  further comprises a sensor unit  112 , which is attachable to the weapon  104  and intended for monitoring the position (aiming, orientation) of e.g. the weapon&#39;s  104  barrel or, as shown in the figure, tube  113  through which a projectile  114  travels in the weapon  104 , and for determining (procuring) a position (position data) PW of the weapon  104 . 
     The sensor unit  112  comprises at least one position sensor intended for detecting a position, e.g. one, two, three, four or more sensors. The sensor is e.g. an acceleration sensor. 
     The terminal device  110  further comprises a positioning unit  216 , which is intended for monitoring the location of the terminal device  110  itself and, at the same time, that of the weapon  104  and for determining the location (location data) LW (x W , y W , z W ) of the terminal device  110  and the weapon  104 , i.e. for pinpointing at the same time both itself and the weapon  104  in the coordinate system  107 . It is for locating the weapon  104  that the positioning unit  216  makes use of e.g. satellite navigation, e.g. Global Positioning System (GPS), Glonass, Galileo or Beidou positioning system, or Global System for Mobile Communications (GSM) positioning. 
     The terminal device  110  further comprises a user interface unit (user interface)  118 , e.g. a touch screen or display, which is intended for presenting the user  108  with a two-dimensional (2D) or 3D map view (display)  120  of the weapon&#39;s  104  location area  119  based on the weapon&#39;s  104  location determined by means of the positioning unit  216 . By means of the map view  120  it is possible to present, as shown in the figure, the weapon  104  in the area  119 . 
     According to the figure, the sensor unit  112  is integrated with the terminal device  110  in such a way that the sensor unit  112  is protected by the structure of the terminal device  110  from mechanical shocks and effects of the environment, e.g. the weather. Alternatively, the sensor unit  112  is designed as a shield structure-protected discrete entity, which communicates, by way a cable connection, a wireless radio link, or both, the position PW to the portable terminal device  110  spaced from the weapon  104 , to be processed by the control unit  211  and to be presented by the user interface  118 . 
     In the system  100 , it is the terminal device  110  which calculates, by means of the control unit  211 , a trajectory TR for the projectile  114  on the basis of a position PW of the weapon  104 , i.e. in the illustrated case, that of the tube  113 , enabling the determination of an angle of inclination a between an xy-plane (horizontal plane) HO and the weapon  104  (tube  113 ), as well as on the basis of predetermined ballistic data for the weapon  104  and each projectile type. 
     Thereafter, the terminal device  110  further calculates, by means of the control unit  211 , a hit point LH (x H , y H , z H ) for the projectile  114  on the basis of a position PW of the weapon  104  acquired by the sensor unit  112 , a location LW of the weapon  104  acquired by the positioning unit  216 , a calculated trajectory TR. and elevation data which are co-directional with a z-axis of the area  119  and determine the location of each map point on the z-axis. 
     Once the hit point LH has been calculated, it is by means of the user interface  118  that the terminal device  110  shows the operator  108  in the map view  120  which hit point LH within the area  119 , calculated on the basis of a position PW of the weapon  104 , will be struck by the projectile  114  if the weapon  104  is discharged in the weapon&#39;s current orientation (position PW). 
     In the system  100 , it is the terminal device  110  which updates, on the user interface  118 , the calculated hit point LH for the weapon  104  continuously or on the basis of a separate command issued by the user  108  over the user interface  118  every time the weapon&#39;s  104  location LW, position PW or both are changed, whereby, when the terminal device  110  is operating, the user  108  is constantly aware of where it is possible to shoot with the weapon  104  in its current position PW. 
     The system  100  further includes an unmanned drone  106  as mentioned above, which is equipped with a camera unit  124  and intended for detecting a target  102  and for determining its location LT. 
     The drone  106  comprises a flight unit  222 , which is intended for generating the power needed for movement of the drone  106  in the air, and for directing the movement achieved by the power in accordance with commands CC given by the operator  109 . The flight unit  222  comprises an engine EN and at least one rotor  123  or propeller rotated by its output, e.g. one, two, three, four as shown in the figure, or more rotors  123  or propellers. 
     The drone  106  further comprises a camera  124  as mentioned above, which is intended for producing video imagery VD for detecting a target  102  and for marking the target  102  in order to acquire its location LT for the terminal device  110 . It is by means of the video imagery VD that the operator  109  of the drone  106  is able to monitor surroundings of the flyable drone  106  and to detect the target  102  from afar without the operator  108 ,  109  being physically detected. As shown in the figure, the operator  109  can be a separate operator or a user  108  in charge of operating the drone  106 . 
     The camera  124  is equipped with a multi-axis, e.g. two- or three-axis, gimbal (stabilizer)  227 , which is intended for steadying the camera  124  for producing stable video image VD while moving. The stabilizer  227  is equipped with an automated tracking system for the target  102 , enabling the operator  109  to use the camera  124  for tracking and panning the moving target  102 . 
     The drone  106  further comprises a positioning unit  228 , which is intended for monitoring location of the drone  106  and for determining its location (location data) LD (x D , y D , z D ), i.e. for pinpointing the drone  106  in the coordinate system  107 . The positioning unit  228  makes use of satellite navigation, e.g. a GPS, Glonass, Galileo, or Beidou satellite navigation system, or GSM navigation. 
     The drone  106  further comprises a measuring unit  230 , which is intended for determining a distance DT between the drone  106  (camera  124 ) and the target  102  which has been detected and marked by means of video image VD transmitted by the camera  124 . The measuring unit  230  comprises an optical rangefinder, e.g. a laser rangefinder or an ultrasonic rangefinder. 
     The measuring unit  230  is further intended for monitoring the camera&#39;s  124  position (direction, orientation) and for determining the camera&#39;s  124  position (position data) PC in 3D-space while acquiring the distance DT. Therefore, the measuring unit  230  further comprises at least one position sensor intended for detecting a position, e.g. one, two, three, four or more sensors. The sensor is e.g. an acceleration sensor. 
     In the system  100 , it is the distance DT and the position PC acquired by the measuring unit  230  and the location LD acquired by the positioning unit  228  which enable the location LT of the target  102  to be determined. 
     The system  100  further includes a portable control device (remote, online controller)  132  for the drone  106 , which enables the operator  109  to control the operation of at least the drone  106  and its camera  124  with control commands CC issued by him/herself over a wireless, two-way radio link  134  and to receive data VD therefrom. 
     The remote controller  132  comprises a user interface  136 , e.g. a touch screen or a display, and control elements, e.g. controllers and/or function keys, by means of which the operator  109  is able to issue control commands CC for controlling the functions of at least the drone  106  and its units  124 ,  222 ,  230  and for marking the target  102 , visible in the video image VD, with a control command CC for acquiring its location LT. 
     In the system  100 , the operator  109  controls the drone  106  with a remote controller  132  by means of a video image VD transmitted by its camera  124  while aerially surveying vicinity of the weapon  104  in the area  119 . While moving (flying), the drone  106  monitors constantly its location LD. 
     Alternatively, the control of the drone  106  can be implemented in such a way that the drone  106  moves autonomously (automatically) on the basis of predetermined control without being continuously controlled by the operator  109 . In this case, the drone  106  is pre-controlled to move at a specific flight altitude, at a specific distance from the weapon  104 , and at a specific direction (angle) relative to the weapon  104 , e.g. in exact alignment with the weapon  104  or at some predetermined angle with respect to the weapon&#39;s  104  position PW in the xy-plane HO. 
     The movement of an autonomous drone  106  is controlled by the aforesaid predetermined control and by a location LW of the weapon  104  received from the control device  110 , unlike in the figure, by way of a two-way wireless radio link  137 , whereby, when the weapon&#39;s  104  location LW changes, the drone  106  moves the same way, retaining its flight altitude, distance to the weapon  104  and position (angle) with respect to the weapon  104 . It is a benefit of the autonomous drone  106  that the user  108 , and possibly the operator  109 , will be able to concentrate not on controlling the drone  106  but instead on e.g. sensory observation of the surroundings, as well as on moving, deploying and shooting the weapon  104 . 
     Upon detecting a target  102  from a video image VD presented by the user interface  136 , the operator  109  marks the target  102  from the video image VD, the drone&#39;s  106  measuring unit  130  determining a distance DT of the camera  124  to the target  102  and a current position PC of the camera  124 , indicating in which direction the target  102  lies at the distance DT in a view from the drone&#39;s  106  location LD. 
     After determining the distance DT and the position PC, the drone  106  transmits the data DT, PC, along with its own location LD, to the terminal device  110  by way of a wireless one- or two-way radio link  137 , as shown in the figure, or alternatively calculates a location LT of the target  102  on the basis of data items LD, DT, PC and transmits those to the terminal device  110  by way of the radio link  137 . 
     It is in the vicinity of the weapon  104  that the terminal device  110  receives the data items LD, DT, PC transmitted by the drone  106  and calculates the target&#39;s  102  location LT itself or, when the location LT is calculated by the drone  106 , merely receives it. 
     Once a location LT of the target  102  is acquired, the terminal device  110  presents, by means of its user interface  118 , the user  108  with the target&#39;s  102  location LT in a map view  120 , whereby the user  108  is at least shown at which hit point LH, calculated on the basis of a current position PW of the weapon  104 , the projectile  114  shall strike in the area  119  and the current location LT of the target  102 . 
     In addition to the above, it is possible in the system  100  for the user  108  to present, by means of the user interface  118 , in the map view  120  a current location LW of the weapon  104 , a current location LD of the drone  106 , or both as depicted in the figure. 
     In the system  100 , in a manner similar to a calculated hit point LH for the weapon  104 , the location of the target  102  is being updated by the terminal device  110  continuously or on the basis of a separate command issued by the user  108  over the user interface  118  or a control command CC issued by the operator  109  over the user interface  136  every time the drone&#39;s  106  location, the target&#39;s  102  distance DT, or the camera&#39;s  124  position are changed, whereby the user  108  shall see, when the terminal device  110  is operating, from the user interface  118  where the target  102  lies in the area  119  at that moment. 
     In case the user interface  118  indicates in its map view  120  that the calculated hit point LH for the weapon  104  is not in alignment with a location LT of the target  102  designated by the operator&#39;s  109  marking in accordance with an embedded map view  120  on the left, the user  108  would not hit the target  102  or its immediate vicinity when firing with the weapon  104 . 
     In the system  100 , it is by means of a map view  120  updating in real time and presented by the terminal device  110  on the user interface  118  that the user  108  is able to re-aim the weapon  104 , i.e. to change its position PW, whereby the changes in the weapon&#39;s  104  position PW will be updated as a shift of the hit point LH in the map view  120 . 
     Once a position PW of the weapon  104  has been changed by the user  108 , whereby the calculated hit point LH is displaced accordingly in such a way that the hit point LH is in alignment with the target&#39;s  102  location LT marked by the operator  109  in accordance with an embedded map view  120  on the right, or the location LT is within the impact area of a projectile  114 , the result of firing the weapon  104  is the projectile  114  striking the target  102  or its immediate vicinity with the target being damaged or destroyed. 
     It is the visuality of the system  100  which facilitates and expedites the work of a user  108  in the process of aiming the weapon  104  as the user  108  receives immediate feedback about successful aiming over the user interface  118 . 
     The user interface  118  is capable of displaying to the user  108  visually in the map view  120  when the weapon has been aimed in such a way that, when shooting therewith, the projectile  114  hits the target  102  or its immediate vicinity, e.g. by having map symbols for the location LT, the hit point LH, or both repeatedly switched off and back on, or by changing the colors, tones, brightness or size of map symbols for the location LT, the hit point LH, or both, whereby the terminal device  110  facilitates and ensures hitting the target  102  when shooting with the weapon  104  by instructing the user  108  to shoot when the weapon  104  is correctly aimed. 
       FIG.  2   a    shows a principle view of a terminal device  110  intended for facilitating and expediting the aiming of a weapon  104  presented in connection with the preceding figure and usable in the system  100 . 
     The terminal device  110  comprises the aforementioned control unit  211 , by means of which the terminal device  110  controls its own operation, i.e. the operation of its components  112 ,  118 ,  216 ,  242 ,  244 , such that the terminal device  110  operates as described in connection with the preceding figure. 
     The control unit  211  includes a processor element  238 , which is used for executing control commands determined by application programs, e.g. an application TA, and possibly by a user  108  of the terminal device  110 , as well as for processing information. The processor element  238  includes at least one processor, e.g. one, two, three or more processors. 
     The control unit  211  further includes a memory element (memory)  240 , in which are stored application programs, e.g. TA, controlling the operation of and used by the terminal device  110 , as well as information usable in the operation. The memory  240  includes at least one memory, e.g. one, two, three or more memories. 
     The terminal device  110  further comprises a power supply element (power supply)  242 , e.g. at least one battery, by means of which the terminal device  110  derives its necessary operating current. The power supply  242  is in communication with the control unit  211  which controls its operation. 
     The terminal device  110  further comprises a data transfer unit  244 , by means of which the terminal device  110  transmits control commands and information at least to its other components  112 ,  118 ,  216 ,  242  and receives information sent by the latter and by the drone  106 . The data transfer unit  242  is in communication with the control unit  211  which controls its operation. Data transfer out of the terminal device  110  and from outside to the terminal device  110  takes place by the utilization of wireless communication links. Data transfer, e.g. with the drone  106 , takes place over a radio link  137 . Data transfer within the terminal device  110  occurs by the utilization of fixed cable connections but, when the sensor unit  112  is separate from the rest of the terminal device  110 , the data transfer therebetween takes place by way of a fixed cable connection or a wireless communication link, e.g. a radio link. 
     The terminal device  110  further comprises the aforementioned user interface  118 , by means of which the user  108  issues to the terminal device  110 , especially to the control unit  211 , control commands and information needed thereby, as well as receives from the terminal device  110  information, instructions and control command requests presented thereby. The user interface  118  is in communication with the control unit  211  which controls its operation. The user interface  118  includes at least a display or a touch screen and at least one physical function key. 
     The terminal device  110  further comprises a sensor unit  112  as presented in connection with the preceding figure, which is a separate entity or integrated with the terminal device  110 , and by means which the terminal device  110  monitors and determines a position PW of the weapon  104 , and a positioning unit  216 , by means of which the terminal device  110  monitors and determines its own and the weapon&#39;s  104  location LW. 
     The memory  240  is provided with a user interface application  246  controlling the operation of the user interface  118 , a power supply application  248  controlling the operation of the power supply  242 , a data transfer application  250  controlling the operation of the data transfer unit  244 , a sensor application  252  controlling the operation of the sensor unit  112 , a positioning application  254  controlling the operation of the positioning unit  216 , and an application (computer program) TA to be utilized in target acquisition and in the process of aiming the weapon  104 . 
     The application TA comprises a computer program code (instructions), which is used for controlling the terminal device  110  as described in connection with the preceding figure, when the application TA is executed in the terminal device  110  jointly with the processor element  238  and the memory  240  included in the control unit  211 . 
     The application TA is stored in the memory  240  or can be designed as a computer program product by recording it on a storage medium readable with a computer, e.g. with the terminal device  110 . 
       FIG.  2   a    shows a principle view of a drone  106  intended for safe, easy, and quick acquisition and localization of a target  102  presented in connection with the preceding figures and usable in the system  100 . 
     The drone  106  comprises a control unit  256 , by means of which the drone  106  controls its own operation, i.e. the operation of its components  124 ,  222 ,  227 ,  228 ,  230 ,  262 ,  264 , in such a way that the drone  106  functions as described in connection with the preceding figures. 
     The control unit  256  includes a processor element  258 , which is used for executing control commands determined by application programs, e.g. an application LA, and possibly by an operator  109  of the drone  106 , as well as for processing information. The processor element  258  includes at least one processor, e.g. one, two, three or more processors. 
     The control unit  256  further includes a memory element (memory)  260 , in which are stored application programs, e.g. LA, controlling the operation of and used by the drone  106 , as well as information usable in the operation. The memory  260  includes at least one memory, e.g. one, two, three or more memories. 
     The drone  106  further comprises a power supply element (power supply)  262 , e.g. at least one battery, by means of which the drone  106  derives its necessary operating current. The power supply  262  is in communication with the control unit  256  which controls its operation. 
     The drone  106  further comprises a data transfer unit  264 , by means of which the drone  106  transmits control commands and information to its other components  124 ,  222 ,  227 ,  228 ,  230 ,  262 ,  264  and to a remote controller  132  and receives control commands information sent thereby. The data transfer unit  264  is in communication with the control unit  256  which controls its operation. Data transfer out of the drone  106  and from outside to the drone  106  takes place by the utilization of wireless communication links. Data transfer e.g. with the remote controller  132  and the terminal device  110  takes place over a radio link  134 ,  137 . Data transfer within the drone  106  occurs by the utilization of fixed cable connections. 
     The drone  106  further comprises, as presented in the preceding figure, a flight unit  222  by means of which the drone generates the power needed for its movement and orientation, a camera  124  for producing video imagery VD, a stabilizer  227  for steadying the camera  124 , a positioning unit  228  by means of which the drone  106  detects and determines its location LD, and a measuring unit  230  by means of which the drone  106  determines a distance DT to the target  102 , as well as detects and determines a position PC of the camera  124  in order to enable a location LT of the target  102  to be determined either in the terminal device  110  or in the drone  106  by means of the control unit  256 . 
     The memory  260  includes a power supply application  266  controlling the operation of the power supply  262 , a data transfer application  268  controlling the operation of the data transfer unit  264 , a camera application  270  controlling the operation of the camera  124 , a stabilizer application  272  controlling the operation of the stabilizer  227 , a flight application  274  controlling the operation of the flight unit  222 , a measurement application  276  controlling the operation of the measuring unit  230 , a positioning application  278  controlling the operation of the positioning unit  228 , and an application (computer program) LA to be utilized in the process of determining a location LT of the target  102 . 
     The application LA comprises a computer program code (instructions), which is used for instructing the drone  106  to operate as described in connection with the preceding figures, when the application LA is executed in the drone  106  jointly with the processor element  258  and the memory  260  included in the control unit  256 . 
     The application LA is stored in the memory  260  or can be designed as a computer program product by recording it on a storage medium readable with a computer, e.g. with the drone  106 . 
     The drone&#39;s  106  user interface is included in the remote controller  132 , which is described in connection with the preceding figures and used in controlling the drone, and which comprises its control unit provided with processor and memory elements, a data transfer unit, and the aforementioned user interface  136  by which the operator  109  issues to the drone  106 , especially to its control unit  256 , control commands CC and information needed thereby, as well as receives from the drone  106  the video imagery VD, information, instructions and control commands by way of a radio link  134 . 
     The foregoing only discloses a few exemplary embodiments of the invention. The principle according to the invention may naturally be varied within the scope of protection defined by the claims, regarding e.g. implementation details and fields of use.