Patent Description:
Typically, grenade launchers use <NUM> low-velocity projectiles, which in contrast to smaller caliber projectiles, may have a high arc ballistic solution at times, requiring the user to aim the launcher at a high angle to achieve the maximum effective range. Likewise, due to their low velocity, the grenade launcher projectile trajectory is greatly influenced by environmental factors, such as gravity, wind, air drag, spin, launcher roll, weather and other ballistics issues. Therefore, unless the distance to the target is fairly short, the user cannot simply aim directly at a target and expect the projectile to follow the line of sight and hit the target.

Typically, to fire at a target at the distance of about <NUM> meters the user needs to raise the barrel of the launcher at an angle of some <NUM> degrees, which makes it complicated to support the launcher with the user's body and have a clear line of sight to the target, especially since the user needs to see over the barrel when aiming. As a result, common sights for grenade launchers are on the side of the firearm, or on top of the firearm but require raising a metal extension.

Typical grenade launchers use simple ballistic sights with a plurality of ballistic angle positions, usually from <NUM> meters every <NUM> meters up to <NUM> meters. Typically, the user selects the position based on an estimated or known distance to the target. Alternatively, the sight may be divided by different ranges, for example short range - up to about <NUM> meters, medium range up to about <NUM> meters and long range - greater than <NUM> meters. The longer the range, the higher the angle the firearm has to be raised by the user and when shooting to the effective distance pressing the mechanical trigger tends to shake the launcher and cause a large deviation between the hit point of the projectile and the target.

A more advanced sight for grenade launchers, e.g. "Meprolight GLS" is a sight that shows a line of sight red dot to one eye (through the barrel after manually adjusting the sight mechanically to get the right ballistic trajectory) and the target is seen by the other eye (at the side of the grenade launcher). It is left for the user's brain to combine the red dot and the target to a united view based on the view from both eyes.

The available sights are less ergonomic, complicated for use and result in poor hit-ratio. As a result, hitting targets consistently at varying ranges with a grenade launcher requires a significant amount of training.

Commonly the grenade launcher is coupled to a standard firearm, such as the Israeli Weapons Industries' (IWI) X95 or similar rifles, under the barrel and also has a stand-alone version (IWI GL <NUM>). Typically, the under-barrel grenade launcher (UBGL) is positioned in front of the magazine. This position makes it hard to access the mechanical trigger located on the proximal end of the grenade launcher. Various solutions to this problem include a mechanical system to circumvent the magazine well and provide a trigger closer to the user or placing the trigger on a side of the launcher in the area of the handguard. However, a trigger placed on the side of the launcher is problematic since a sideway push of the user may cause deviation in the resulting trajectory of the projectile and lead to missing the target.

Another problem with grenade launchers is estimating the distance to the target and translating the estimated distance to an elevation angle for the specific projectile being launched. Typically, the distance is estimated by the user relative to objects in the landscape or by using a Laser Range Finder (LRF). After estimating the distance the user sets a distance dial on the sight to select the elevation angle. Typically, the dial may also compensate for drift due to the trajectory followed to the target.

Grenade launchers that are coupled to a firearm typically use a single barrel that is loaded to launch a single projectile. Loading a projectile in the barrel cocks the firing pin and places the launcher in a state ready for launching the projectile. Some launchers include a safety lever to prevent accidental launch of the projectile. Some launchers have a double action trigger to enhance safety. However, such arrangements makes it harder to release the projectile without disturbing the aim to the target resulting in poor hit-ratio.

Patent publication <CIT> describes a weapon sight having analog on-target indicators.

Patent Publication <CIT> describes an interactive weapon targeting system displaying remote sensed image of target area.

The invention is a method according to claim <NUM> and a drone according to claim <NUM>. An aspect of an embodiment of the disclosure, relates to a system and method for launching a projectile with a grenade launcher toward a target. The system includes a sight through which a user views a representative target that is positioned to enable the user to hit the real target by aiming the sight toward the representative target. The system may be independent in identifying the target and forming a representative target in the sight. Alternatively, the system may be assisted with devices that are external to the sight to identify the target and help to form the representative target for the user to aim the sight. There is thus provided according to an embodiment of the disclosure, a method of aiming a grenade launcher at a real target, comprising:.

There is further provided according to an embodiment of the disclosure, a drone, comprising drone elements configured to locate and identify a grenade launcher, a real target and a position of the drone; and.

According to a further embodiment of the disclosure, a drone is provided comprising:.

Furthermore, according to a still further embodiment of the disclosure, there is provided a system comprising such a drone according to one of the claims <NUM> or <NUM>.

The present disclosure will be understood and better appreciated from the following detailed description taken in conjunction with the drawings. Identical structures, elements or parts, which appear in more than one figure, are generally labeled with the same or similar number in all the figures in which they appear, wherein:.

<FIG> is a schematic illustration of a grenade launcher <NUM> with a barrel <NUM> for firing a projectile <NUM> and a sight <NUM> coupled directly or indirectly to the barrel <NUM>, so that they move together. The grenade launcher <NUM> may be any under-barrel grenade launcher (UBGL) or independent grenade launcher that is transportable by a user or group of users. Optionally, the grenade launcher may have a diameter of about <NUM>, <NUM>, <NUM> or other size to support launching common projectiles. In some embodiments, the projectile can be a <NUM> grenade, such as NATO 40x46mm low velocity grenade projectile or MK285 40x53mm electronic programmable pre-fragmented high explosive grenade projectile, and the like. The grenade launcher <NUM> may be a stand-alone firearm such as IWI GL <NUM> or an attachment to an existing firing solution, such as X95 IWI GL <NUM>, which could be a handheld firearm, or a firearm installed on a vehicle or mounted on a tripod. The term "projectile" is interchangeable with the term "round" or "bullet" or "firearm ammunition". The term "launch" is interchangeable with the term "firing". In some embodiments of the disclosure, the sight <NUM> is configured to show a representative target <NUM> (<FIG>, <FIG>, <FIG>) that enables aiming the grenade launcher <NUM> according to the representative target <NUM> in order to hit a real target <NUM>, and not by aiming directly at the real target <NUM>. The terms "target" and "real target" are interchangeable.

Optionally, the sight <NUM> calculates a position for displaying the representative target <NUM> on the display <NUM> so that the representative target <NUM> will provide the user with an indication how to aim the grenade launcher <NUM> to hit the target <NUM>. The representative target <NUM> is provided to guide the user since the grenade launcher <NUM> fires a high arc trajectory so as to hit the real target <NUM>.

<FIG> are schematic illustrations of a grenade launcher <NUM> firing a projectile at a short-range target, a medium range target and a long-range target, respectively. Typically, when shooting at the real target <NUM> at a short distance, the real target <NUM> appears in the sight <NUM> due to a small elevation solution being required for hitting the real target <NUM>. Therefore, the user can see the real target <NUM> in a direct line of sight (<NUM> of <FIG>) while the projectile's trajectory is slightly lobbed (<NUM> of <FIG>). However, in other cases the real target <NUM> would not be visible in the sight <NUM>, or just barely visible, since the grenade launcher <NUM> is elevated by a large angle to a correct ballistic solution to hit target <NUM>, or there is an obstacle that prevents the user from seeing the real target <NUM> such that the lobbed trajectory (<NUM> of <FIG>) would allow to hit the real target <NUM>. In such cases the user would not have a line of sight (<NUM> of <FIG>) directly to the real target <NUM> or may only see a fraction of the target through the available line of sight (<NUM> of <FIG>).

In an embodiment of the disclosure, the grenade launcher <NUM> includes a fire control system (FCS) <NUM> including a control circuit <NUM> that is configured to electronically activate launching of the projectile <NUM> with an electro-mechanical firing control (EMFC) <NUM> instead of using the mechanical trigger <NUM>. Optionally, the mechanical trigger may slightly shift the direction of the barrel <NUM> of the grenade launcher <NUM> when physically squeezing the trigger <NUM> after aiming the barrel <NUM> toward the target <NUM>. In an embodiment of the disclosure, engaging the mechanical trigger <NUM> may be a safety demand but the projectile <NUM> will be fired only after receiving a FCS <NUM> command to fire. The FCS <NUM> may be located within the sight <NUM>, in the grenade launcher <NUM> or certain elements may be located in the sight <NUM> and certain elements may be located in the grenade launcher <NUM>. Optionally, the FCS140 includes a processor <NUM>, a memory <NUM>, a compass <NUM>, a GPS <NUM>, ballistic software <NUM> and sensors <NUM> such as an accelerometer, a gyro, a temperature sensor, a Laser Range Finder (LRF), a light sensor, a wind sensor and any other sensor that may be used to process location information of the grenade launcher <NUM>, the target <NUM> and calculate a required trajectory <NUM> (<FIG>) for the projectile <NUM> to be fired from the grenade launcher <NUM> and hit the target <NUM>. Optionally, a mechanical trigger is used to fire the grenade launcher <NUM> projectile <NUM>.

In an embodiment of the disclosure, a mechanical cocking mechanism <NUM> or the EMFC <NUM> is cocked by loading the projectile <NUM> into barrel <NUM>. Optionally, the grenade launcher includes a safety lever <NUM>, which is used to prevent accidentally firing the projectile <NUM>. In an embodiment of the disclosure, the mechanical trigger <NUM> is provided as a backup in case of failure of the EMFC <NUM> or the control circuit <NUM>, for example, due to depletion of power from a power source <NUM>. The power source <NUM> may be a rechargeable battery or non-rechargeable battery or other power source, for example, a solar rechargeable power source.

In some embodiments of the disclosure, the mechanical trigger <NUM> serves as another safety measure and the user will have to engage it to enable the EMFC <NUM> to electrically fire the grenade launcher <NUM>.

In some embodiments of the disclosure, the FCS <NUM> includes an activation switch <NUM>, for example a push to talk (PTT) button, which when pressed causes the control circuit <NUM> to firing the projectile <NUM>, without the torque caused by use of the mechanical trigger <NUM>. Alternatively, the control circuit <NUM> provides the instructions to fire the projectile <NUM> automatically responsive to a signal from the FCS <NUM> or the sight <NUM> in response to correctly aiming the barrel <NUM> as explained below. Further alternatively, the control circuit <NUM> may provide the instruction to fire the projectile <NUM> in response to instructions received from an external source via a communication interface <NUM>. For example, using a remote control (not shown) that activates the grenade launcher <NUM>, when the user notifies that barrel <NUM> is correctly aimed toward the target <NUM>. Optionally, control circuit <NUM> is connected through processor <NUM> to activation switch <NUM> or mechanical trigger <NUM> and provides the instructions to fire the projectile loaded into the grenade launcher <NUM>.

In an embodiment of the disclosure, control circuit <NUM> uses the electro-mechanical firing control (EMFC) system <NUM> such as described in <CIT> the disclosure of which is incorporated herein by reference, to activate firing a projectile <NUM> in response to an electronic signal such as provided by pushing activation switch <NUM> or by control circuit <NUM> when correctly aiming the sight <NUM>.

<FIG> is a schematic illustration of the grenade launcher <NUM>, firing projectile <NUM> at target <NUM> in a first state (I) and a second state (II), according to an embodiment of the disclosure. <FIG> is a schematic illustration of a display <NUM> of sight <NUM> of grenade launcher <NUM> in the first state (I) while selecting the real target <NUM>, according to an embodiment of the disclosure. <FIG> is a schematic illustration of a display <NUM> of sight <NUM> of grenade launcher <NUM> in the first state (I) after selecting the real target <NUM> and showing representative target <NUM> on display <NUM> after calculating a ballistic solution, according to an embodiment of the disclosure. <FIG> is a schematic illustration of display <NUM> of sight <NUM> of grenade launcher <NUM> in the second state (II) after the user aims the grenade launcher at the representative target <NUM>, according to an embodiment of the disclosure. In <FIG>, the user of the grenade launcher cannot see the real target <NUM> in the sight display <NUM> field of view since the grenade launcher is aimed such that the real target <NUM> is outside the sight display <NUM> field of view. <FIG> is a flow diagram of a method (<NUM>) of launching a projectile using a grenade launcher, such as through indirectly aiming the grenade launcher <NUM> at real target <NUM>, according to an embodiment of the disclosure.

Initially (in the first state (I)) the user selects (<NUM>) the target by aiming the sight <NUM> coupled to the barrel <NUM> of the grenade launcher <NUM> toward the target <NUM> and places an aiming indicator, which is a unique symbol visible to the user, on the target <NUM>. The aiming indicator is ballistically calibrated to the grenade launcher, e.g. placing a red dot or a crosshair <NUM> of sight <NUM> on the target <NUM> when the grenade launcher is aimed at the target. The terms "aiming indicator" and "aiming point" are interchangeable.

Optionally, the user presses a button or activates some other indication signal such that the position of a real target <NUM> relative to the grenade launcher <NUM> is selected (e.g., into fire control system (FCS) <NUM> of sight <NUM> or the grenade launcher <NUM>). Optionally, FCS <NUM> uses sensors like a gyroscope, accelerometer, compass (magnetometer), GPS, and/or other sensors to record the real target position, when the target is in a line of sight <NUM> of the user. If the target is in motion the sensors may also measure the targets velocity. In some embodiments of the disclosure, FCS <NUM> automatically identifies and selects the real target <NUM> through an algorithm for target recognition. Optionally, sight <NUM> determines (<NUM>), using sensors <NUM>, or a range finder (not shown), the location and distance to the target and calculates (<NUM>) a required trajectory <NUM> to hit the target, for example using FCS <NUM>. Optionally, the trajectory <NUM> is calculated by processor <NUM> based on the location of the real target <NUM> relative to the grenade launcher <NUM>.

In an embodiment of the disclosure, once the real target <NUM> is selected, the sight <NUM> acquires (<NUM>) an image, e.g., a still image or a video frame image to serve as the representative target <NUM> of the target. Alternatively, a graphic icon may be used as the representative target <NUM>. The graphic icon may be any indication of a representative target, including a shape other than the aiming indicator, a flashing shape, a shape such as the aiming indicator having a different color, and the like. In some embodiments of the disclosure, the representative target <NUM> replaces the display of the real target <NUM> on the display <NUM>. Alternatively, the display <NUM> may continue to show the real target <NUM> in addition to the representative target <NUM> as long as the real target is within the field of view of the sight <NUM> (see <FIG>).

In an embodiment of the disclosure, once the real target <NUM> is selected, the processor <NUM> or the sight <NUM> using sensor <NUM> and/or other coupled range finder and/or sensor identify the location of the real target <NUM> relative to the grenade launcher <NUM> and using ballistic software <NUM> (which may be part of the grenade launcher <NUM> or part of the sight <NUM>) calculate a ballistic solution to hit the real target given the specific weapon and platform used. The ballistic solution is referred to herein as trajectory and optionally, may include lateral and side required traverse or movement required to be performed by the user of the grenade launcher <NUM>, given various environmental and weapon and platform information and data available.

In an embodiment of the disclosure, the representative target <NUM> is displayed (<NUM>) on the display <NUM> after placing the aiming indicator of sight <NUM> on the target <NUM> and selecting the real target <NUM> (e.g., by pressing a activation switch <NUM> or trigger <NUM>). Alternatively, the representative target <NUM> may be displayed (<NUM>) on the display <NUM> or its position on the display <NUM> may be updated after determining (<NUM>) the distance and/or after calculating (<NUM>) the required trajectory <NUM>. Optionally, the representative target shown is a real image of the target <NUM> which may have an additional feature distinguishing it from the real target <NUM>, e.g. a circle or a box around it as shown in <FIG>.

Once placed on the display <NUM>, the representative target <NUM> provides an indication of the direction for aiming barrel <NUM> toward real target <NUM>. Optionally, the representative target <NUM> may be placed on the circumference of the display <NUM> to indicate that a large amount of adjusting is required to aim the barrel <NUM> correctly to hit the real target <NUM>. Alternatively or additionally, an arrow <NUM> or other such indication may be placed on the display <NUM> pointing in the required direction for aiming the barrel <NUM> so as to hit real target <NUM>. Optionally, if only a small amount of adjusting is required the representative target <NUM> may be placed closer to the center of the display <NUM> (e.g. near the crosshair). Optionally, if only a small amount of adjusting is required the representative target <NUM> may be placed closer to the center of the display <NUM> replacing the real target <NUM> (e.g. hiding the real target <NUM> and providing an indication showing the representative target <NUM> is not the real target <NUM>).

As explained above after selecting (<NUM>) the target by placing the aiming indicator, e.g. crosshair <NUM> of sight <NUM> on the real target <NUM>, a distance to the real target <NUM> is determined (<NUM>), in order to calculate (<NUM>) the required trajectory <NUM> of the projectile <NUM> to hit the real target <NUM>. The distance may be determined (<NUM>) by the following methods:.

Optionally, the determined distance to the target <NUM> may be displayed in a sight window <NUM> on the display <NUM>, for example as shown in <FIG>.

Optionally, a location of the real target <NUM> relative to the grenade launcher <NUM>, may include not just the distance but also the azimuth to the real target <NUM>. Optionally, the actual location of the real target is spatially calculated. In an embodiment of the disclosure, the sight <NUM> or FCS <NUM> include sensors <NUM>, which are configured to track motion of the barrel <NUM> or of the sight <NUM>, which is coupled to the barrel <NUM>. Optionally, the sensors <NUM> may include a microelectromechanical system (mems) gyroscope, accelerometer, magnetometer or other type of sensor. The sensors <NUM> track (<NUM>) movement of the barrel <NUM> or sight <NUM> and the representative target <NUM> is moved on the display <NUM> responsive to the motion of the barrel <NUM>. The user moves the barrel <NUM> while following the motion of the representative target <NUM> on display <NUM>. In an embodiment of the disclosure, the user holds down the activation switch <NUM> to indicate that the real target <NUM> is moving. Optionally, the relative location of the real target <NUM> would be continuously recalculated while the user is holding down activation switch <NUM> such that the representative target <NUM> is moved on the display to allow the projectile <NUM> to hit the real target <NUM> even though it is in motion. In such embodiment, the real target <NUM> is no longer shown when it is outside the field of view of the sight <NUM> but the FCS <NUM> continues to move the representative target based on the movement made by the user while the activation switch <NUM> was pressed down. Optionally, when the activation switch <NUM> is released, the FCS <NUM> interprets the release as an indication that the real target <NUM> is no longer moving. Optionally, the error window is adjusted to account for the movement of the target. Optionally, the representative target <NUM> is displayed with a correction taking into consideration the movement of the real target <NUM> and the time for the projectile to reach the real target <NUM>. In such an embodiment, the representative target may be shifted accordingly such that when the aiming indicator coincides with the representative target and a projectile is fired, it will hit the real target <NUM>.

Optionally, once the real target <NUM> is selected, the processor identifies the target according to its shape and other characteristics, such as location, and tracks any change of location of the target automatically until another target is selected by the user.

When the representative target <NUM> coincides with the aiming indicator, e.g. crosshair <NUM>, or is within a predefined error window, the barrel <NUM> is positioned to launch the projectile <NUM> so that it will follow the required trajectory <NUM> and hit the target <NUM>. An error window may be calculated based on the distance of the real target, environment conditions such as wind, humidity, barometric pressure, projectile type, projectile ammunition dispersion and the like. Based on user selection and preference, which may be pre-defined to the ballistic software <NUM> or sight <NUM>, the error window may determine that the firing of the projectile would hit real target <NUM> even if the hit would be in close proximity to the target, for example, within <NUM> to <NUM> meters from the target. Such preference may be especially useful in relation to some targets, for example, a group of infantry soldiers, since the grenade projectile hitting the vicinity of such a target may still be effective in neutralizing the target or part thereof. The error window can be preset in the sight <NUM> or the grenade launcher <NUM> and considered by ballistic software <NUM> when providing a ballistic solution. Optionally, an error window may be shown to the user of the grenade launcher <NUM> through showing of boundaries surrounding representative target <NUM>. Optionally, the user of the grenade launcher <NUM> is provided with the option to fire the projectile when the grenade launcher is aimed to hit at the error window of the representative target <NUM>, for example, through allowing a double-click on activation switch <NUM>, or specific trigger indication or through other indications.

In an embodiment of the disclosure, to enable firing, the user moves the safety lever to a "fire enabled" position prior to firing. Alternatively or additionally, FCS <NUM> prevents release of projectile <NUM> until the user electronically authorizes that projectile <NUM> may be released.

The display <NUM> may be a digital display, an optical display or a combination of both, for example enabling the user to optically view through a transparent display and also view objects that are digitally injected onto the display to be viewed by the user. In some embodiments, display <NUM> may be a screen.

In an embodiment of the disclosure, movement by the user of the grenade launcher <NUM> is taken into account when calculating the trajectory to hit the real target <NUM> and the location in the sight <NUM> where the representative target <NUM> is displayed. For example, when the grenade launcher <NUM> is placed on a moving platform, e.g. an armored vehicle, and the armored vehicle is moving towards the real target <NUM>, the representative target <NUM> is continuously displaced so to account for the changing trajectory.

In an embodiment of the disclosure, when the representative target <NUM> coincides with the aiming indicator, e.g., crosshair <NUM> the projectile is automatically launched if the safety lever is set to allow the launch (<NUM>). Optionally, grenade launcher <NUM> may also require that the trigger <NUM> also be engaged to automatically launch a projectile <NUM>. Alternatively, the user only needs to press activation button <NUM> or pull the mechanical trigger <NUM> to launch (<NUM>) the projectile <NUM>.

It should be noted that the sight <NUM> and the aiming indicator, e.g. crosshair <NUM>, are typically calibrated relative to the grenade launcher <NUM> before being used to implement the methods described in this disclosure. In some embodiments of the disclosure, the sight <NUM> may support multiple modes of operation, for example:.

Optionally, in each mode the aiming point is adjusted for use in the selected mode. In some embodiments of the disclosure, the sight identifies the mode automatically or the mode is selected manually.

<FIG> is a schematic illustration of grenade launcher <NUM> launching projectile <NUM> at target <NUM> with external aid that serves as a representative target, according to an embodiment of the disclosure. <FIG> is a schematic illustration of display <NUM> of sight <NUM> of grenade launcher <NUM> using external aid that serves as a representative target, according to an embodiment of the disclosure; and <FIG> is a flow diagram of a method (<NUM>) of launching a projectile using a grenade launcher, such as through aiming grenade launcher <NUM> under control of a drone <NUM>, according to embodiments of the disclosure. A drone may be any unmanned aerial vehicle that is typically flown by remote control or autonomously without the intervention of human control.

In an embodiment of the disclosure, the grenade launcher <NUM> may be used to fire at a real target <NUM> that is not in the field of view of the user, for example, the real target <NUM> may be behind a barrier <NUM> blocking the user's view. Optionally, one or more drones <NUM> (or <NUM>) are launched to identify the position of the real target <NUM> (<NUM>) (e.g., by GPS coordinates) and optionally also identify the position of the grenade launcher <NUM> (<NUM>). Alternatively, the grenade launcher <NUM> may identify its own position. Optionally, the one or more drones <NUM> (or <NUM>) are in direct sight of the real target <NUM>.

In some embodiments of the disclosure, a single drone <NUM> is used and serves as a main drone <NUM>. In such embodiment, the drones <NUM>, <NUM> can be a part of an unmanned aircraft system (UAS) that can fly autonomously while maintaining communication between the members of the UAS and optionally with user of the UAS on the ground, such as the grenade launcher. Optionally, the drone <NUM> identifies the grenade launcher <NUM> and the target <NUM>, for example, with an imaging device (e.g. camera or video camera) installed on the drone <NUM> or the drone is programmed to identify specific targets <NUM> and/or grenade launchers <NUM>. Optionally, the grenade launcher <NUM> sends to the drone <NUM> its location through communication interface <NUM>, e.g. software and hardware. Including an antenna allowing RF communication. Once the grenade launcher <NUM> and target <NUM> are identified, the drone <NUM> calculates (<NUM>) a required trajectory <NUM> for the projectile <NUM> to hit the real target <NUM>. The drone <NUM> then positions itself (<NUM>) between the grenade launcher <NUM> and the real target <NUM> to serve as the representative target <NUM> to which the user aims the sight <NUM>. When the drone <NUM> is in position (<NUM>), the drone <NUM> notifies (<NUM>) the user, for example, by communicating with sight <NUM> and sounding an audio signal to the user or by turning on an indicator <NUM> (e.g. a light signal on the drone or an image on display <NUM>).

In an embodiment of the disclosure, once the drone <NUM> is in position (in the line of sight <NUM> of the user) the user aims (<NUM>) the grenade launcher <NUM> at the drone <NUM>, for example, by positioning an aiming indicator, e.g. a crosshair <NUM> to coincide with the drone <NUM> in sight <NUM>. Display <NUM> may be transparent and enable the user to see through display <NUM> while adding crosshair <NUM>, or display <NUM> may be configured to repeat what is seen in front of sight <NUM> while adding crosshair <NUM>. Optionally, when the crosshair <NUM> coincides with the drone <NUM>, the projectile <NUM> is automatically launched (<NUM>) or the user may release the projectile <NUM> manually to hit the target.

Optionally, depending on the distance of the drone <NUM> from the grenade launcher <NUM>, a specific dot or other indication (not shown) is displayed so as to allow for more precise aiming by the user and higher chances of hitting the real target <NUM> when aiming at drone <NUM>. Optionally, the specific dot is shown on the drone <NUM> itself, e.g. a red dot, IR beam, a cross painted on the drone, drone <NUM> to turn on a light with a specific wavelength to help being identified when viewed in the sight <NUM>.

In some embodiments of the disclosure, more than one drone <NUM> is used. For example, one drone <NUM> may serve as the main drone to control the other drones <NUM>. Optionally, one drone <NUM>/<NUM> is used to identify the real target <NUM>, another drone <NUM>/<NUM> may identify the grenade launcher <NUM> and yet another drone <NUM>/<NUM> may serve as the representative target <NUM>. Alternatively, one drone <NUM>/<NUM> may perform more than one action. Optionally, the drones <NUM>/<NUM> include various drone elements <NUM> to perform the required tasks. For example, the drone elements <NUM> may include cameras, sensors, a GPS, a Laser Range Finder (LRF), a self-navigation system, a target identification and tracking system, a target and user location calculation computer, communication transceivers, and controllers to locate and identify the grenade launcher <NUM> and real target <NUM>, calculate trajectories, communicate with the grenade launcher <NUM> and/or other drones <NUM>/<NUM> and position one of the drones <NUM>/<NUM> to serve as the representative target <NUM>.

In an embodiment of the disclosure, the drone system can operate even with a simple and standard Grenade Launcher sight because all the calculations are done by the drone <NUM>/<NUM> or drones. Optionally, drone <NUM>/<NUM> includes any unmanned aircraft, any type of human controlled flying object or any spotter/observer that can perform the tasks of drones <NUM>/<NUM> as described above.

In an embodiment of the disclosure, the drone <NUM>/<NUM> serving as the representative target <NUM> may be marked differently than the other drones <NUM>/<NUM>, for example, have a different color, stripes, special lights, radiate a special RF signal or other markings.

In an embodiment of the disclosure, at night the drones <NUM>/<NUM> may be instructed to turn on a light with a specific wavelength to help being identified by sight <NUM>. Likewise, the drone camera may use night vision means to enable identification of the target <NUM> and the grenade launcher <NUM> in the dark.

In an embodiment of the disclosure, the drone <NUM>/<NUM> can track a moving target or/and a moving user and continuously reposition the representative target drone <NUM>/<NUM> to match the new positions, so the projectile will hit the real target when fired by the user. Optionally, the calculation takes into account the movement of the target during the projectile time of flight. <FIG> is a schematic illustration of a grenade launcher <NUM> launching a projectile <NUM> at a target <NUM> with external aid, according to an embodiment of the disclosure. <FIG> is a schematic illustration of a display of a sight <NUM> of a grenade launcher <NUM> using external aid after receiving the location of the target <NUM>, according to an embodiment of the disclosure. <FIG> is a schematic illustration of a display of a sight <NUM> of a grenade launcher <NUM> using external aid after aiming at the representative target <NUM>, according to an embodiment of the disclosure. <FIG> is a flow diagram of a method <NUM> of aiming a grenade launcher <NUM>, according to an embodiment of the disclosure.

In an embodiment of the disclosure, the user fires the projectile <NUM> at a real target <NUM> that is sighted by a drone <NUM> or a spotter <NUM>, since the real target <NUM> may be blocked by a barrier <NUM> or other obstacles and not appear in the field of view of the user. Optionally, the spotter <NUM> or drone <NUM> may determine (<NUM>) the coordinates, (e.g. position), of the real target <NUM> and optionally also determine (<NUM>) coordinates of the grenade launcher <NUM>. Alternatively, the grenade launcher <NUM> may determine its own coordinates.

In an embodiment of the disclosure, the spotter <NUM> or drone <NUM> calculates (<NUM>) the required trajectory <NUM> for the grenade launcher <NUM> at its current position to hit the target <NUM>. The drone <NUM> or spotter <NUM> then transmit (<NUM>) information of the required trajectory <NUM> to the sight <NUM>. Alternatively, the spotter <NUM> or drone <NUM> may transmit (<NUM>) the coordinates of the target to the FCS <NUM> and the FCS <NUM> may calculate (<NUM>) the required trajectory <NUM> and show the representative target <NUM> on display <NUM> to enable accurately hitting the real target <NUM>.

In an embodiment of the disclosure, a representative target <NUM> is placed (<NUM>) on the display <NUM> of the sight <NUM> to direct the user to aim at the target. The representative target <NUM> may be in the form of a real image of the actual target (e.g. acquired by the spotter <NUM> or drone <NUM>) or a virtual image or icon of a target.

The user then adjusts (<NUM>) barrel <NUM> of the grenade launcher <NUM> to position the aiming indicator (e.g. crosshair <NUM>) over the representative target <NUM>. When the representative target <NUM> coincides with the aiming indicator, the user launches (<NUM>) the projectile <NUM> or the sight <NUM> provides an electronic signal to automatically launch the projectile <NUM>.

In some embodiments of the disclosure, when identifying the target <NUM>, with the sight <NUM>, drone <NUM> or spotter <NUM>, the target <NUM> is tracked for a few seconds to determine if the target is moving. Optionally, in the above embodiments when calculating the required trajectory <NUM>, the movement of the target <NUM> and time that the target <NUM> was sampled is taken into account to predict the location of the target <NUM> when the projectile <NUM> will hit it, even though the movement is not tracked in real-time. In this case, it is predicted that in the few seconds that it will take to aim and shoot, the real target will continue moving at a constant speed and in the same direction. Another and more accurate method is to keep track of the representative target by the drone <NUM> or spotter <NUM> and continue transmitting the real time target location to the grenade launcher <NUM> so that the FCS <NUM> will continue to adjust the representative target <NUM> on the display <NUM> based on the actual motion of the target <NUM>, until the user or the FCS <NUM> shoot the projectile <NUM> at the target <NUM>.

In some embodiments of the disclosure, the FCS <NUM> takes into account the predicted movement of the real target within the time it takes the projectile to hit the real target after firing the grenade launcher.

It should be appreciated that the above described methods and apparatus may be varied in many ways, including omitting or adding steps, changing the order of steps and the type of devices used. It should be appreciated that different features may be combined in different ways. In particular, not all the features shown above in a particular embodiment are necessary in every embodiment of the disclosure. Further combinations of the above features are also considered to be within the scope of some embodiments of the disclosure.

Claim 1:
A method of aiming a grenade launcher (<NUM>) at a real target (<NUM>), comprising:
determining distance to the real target (<NUM>);
calculating a trajectory to hit the real target (<NUM>);
displaying a representative target (<NUM>) representing the real target (<NUM>) through a weapon sight (<NUM>) that is coupled to a barrel (<NUM>) of the grenade launcher (<NUM>); and
aiming the barrel (<NUM>) toward the representative target (<NUM>) thereby aiming the grenade launcher (<NUM>) to launch a projectile (<NUM>) to hit the real target (<NUM>); and
characterized by the representative target (<NUM>) being displayed on the display by aiming the sight (<NUM>) at a drone (<NUM>) in direct sight with the real target (<NUM>) and positioned to serve as the representative target (<NUM>).