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Ballistic Computer with Tracking Radar

This is a sample vehicle for tracking radar and ballistic calculator. The radar tracks the enemy, and deviation fire can be performed based on the information obtained.
*Ballistic calculator processing is extremely high load; operation of more than three units is not recommended*.

§ Outline

【Tracking radar】
This radar tracks the target. It is manually operated until it enters tracking. tracking is started by turning on Ch.1.
Target position and velocity are output as composite signals.


【Ballistic calculator】
Calculates the firing angle of the shell based on the target's position and velocity. If the target is within the effective range of the shell selected by the property, the vertical/horizontal axis angles are output.
The horizontal axis can be selected from the robotic pivot/velocity pivot by property.

§ 【Tracking radar】

§§ Installation of sensors

　In addition to the tilt sensor and compass sensor installed on the radar body, install a tilt sensor, compass sensor, GPS sensor, and altitude sensor on its base.
　Two tilt sensors are to be installed on the base, one facing left and the other facing front, when the radar is facing the direction from behind.
　The compass sensor is placed on the base so that the arrow points in the front direction when viewed from behind in the direction the radar is facing.
　There are no restrictions on the direction in which GPS and altitude sensors can be placed. They can be placed anywhere as long as the merge is the same as the base of the radar's horizontal pivot. Compensation for distance from the radar is set by the properties.

§§ Property Settings

　There are four tracking radar property settings

　[GPS Position Diff]
　->Set the difference between the position of the radar's rotation axis and the position of the GPS block. The position of the radar axis of rotation is the square where the button is located, and the position of the GPS block is the square where the node of the X coordinate of the GPS block is located.
　The description is in the order of X, Y, Z. Negative values can also be entered. The way the axes are taken depends on the initial orientation of the radar. As an example, if the radar is to spawn with the front side facing you as seen from the rear of the workbench, the X axis + is for the front side as seen from the rear of the workbench, the Y axis + for the top, and the Z axis + for the left.
　Distance is the distance between the center of the block and the center of the block. As an example, if there are three blocks open between the blocks, such as ■□□□■, the distance is 1.00 m.

　[Altitude Position Diff]
　->Set the difference between the radar rotation axis position and the altitude sensor position. The concept of the setting is the same as that of [GPS Position Diff].

　[Rotate Sensitivity]
　->Sets the radar rotation speed.


　[Maximum Distance]
　->Set the maximum distance for tracking. You can set up to 8km.



§ 【Ballistic calculator】
It works by connecting the information from the radar's microcontroller to the composite node. As long as the channel of the information to be input is correct, it can work even if GPS coordinates are input manually.



　Tilt and compass sensors are installed on the same merge as the base of the horizontal turning pivot as well as the base of the radar. A GPS sensor and an altitude sensor are also installed.
　Each sensor should be connected to the microcontroller node of the ballistic calculator.
　Installation on the merge where the gun barrel is located is not required.

§§ Property Settings

　There are eight ballistic calculator property settings as follows

　[GPS Position Diff]
　->Same as Radar.

　[Altitude Position Diff]
　->Same as radar.

　[Gun Type]
　->Set the type of firearm. Currently, rockets are not supported.

　[Additional Data Lag]
　->Set the value to compensate for any lag in input/output nodes. The unit is tick.
　As an example, enter 1 if the signal from the radar is transmitted wirelessly.

　[Horizontal Pivot]
　->Specifies whether the horizontal pivot is a robotic pivot or a velocity pivot.
　If velocity pivot is specified in this item, connect a node of the pivot's rotation angle to CurrentRotation of the microcontroller.
　In the case of a robotic pivot, it can only rotate up to 90 degrees even if the horizontal turning angle is set to 90 degrees or more.

　[Horizontal Speed] [Vertical Speed]
　->Specifies the barrel rotation speed.

　[Max Left Horizontal Angle] [Max Right Horizontal Angle]
　->Set the maximum left/right angle of the barrel. Enter a positive value for Left and a negative value for Right.

　[Max Up Vertical Angle] [Max Down Vertical Angle]
　->Set the maximum vertical angle of the barrel. Enter a positive value for Up and a negative value for Down.

§§ Input/output specifications

　【Composite input】
　[ON/OFF]
　Ch.1: Specifies whether ballistic calculation is performed; if ON, calculation is performed. When connected to the radar's microcomputer, the input is made at the same time as target detection.

　[Number].
　Ch.4~6: Coordinates of the target. Equivalent to (4,5,6)->(GPS_X,Altitude,GPS_Y).
　Ch.10~12: Velocity of the target. Axes are the same as coordinates.

　【Output】
　[Number]
　Ch.1: Horizontal turning angle of the gun barrel.
　Ch.2: Vertical turning angle of the barrel.