# US 2014/0360081 A1 · Precision Guided Firearm With Hybrid Sensor Fire Control > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0360081 A1 - Document ID: US20140360081A1 - Status: Published application - Kind: A1 - Application number: 13/913,353 - Filed: 2013-06-07 - Published: 2014-12-11 - Earliest claimed: 2013-06-07 - Assignees: Trackingpoint, Inc. - Inventors: John Hancock Lupher; Stefanie Kwan; Douglas Ainsworth Scott; Michael Toal - Web page: https://patentgrep.com/patent/US20140360081A1 ## CPC - F41G 1/38: Telescopic sights specially adapted for smallarms or ordnance (telescopic sights in general G02B); Supports or mountings therefor {(Means for mounting sighting or aiming devices on firearms F41G11/001)} - F41G 3/12: with means for compensating for muzzle velocity or powder temperature {with means for compensating for gun vibrations} - F41G 3/06: with rangefinder (rangefinders per se G01C) - F41G 3/08: with means for compensating for speed, direction, temperature, pressure, or humidity of the atmosphere (measuring G01) - F41G 3/165: {using a TV-monitor} - F41G: WEAPON SIGHTS; AIMING (optical aspects thereof G02B) ## Abstract A precision guided firearm (PGF) includes a trigger assembly and an optical device coupled to the trigger assembly. The optical device includes an optical sensor configured to capture video of a view area and includes at least one motion sensor. The optical device is configured to process video frames of the video to determine a distance between an aim point of the PGF and a selected location on a target and to determine a trajectory of the aim point based on the video frames and motion data from the at least one motion sensor. ## Claims ### Claim 1 A precision guided firearm (PGF) comprising: a trigger assembly; and an optical device coupled to the trigger assembly and including an optical sensor configured to capture video of a view area and at least one motion sensor, the optical device configured to process video frames of the video to determine a distance between an aim point of the PGF and a selected location on a target and to determine a trajectory of the aim point based on the video frames and motion data from the at least one motion sensor. ### Claim 2 (depends on 1) The PGF of claim 1, further comprising a trigger assembly coupled to the optical device and responsive to a control signal from the optical device to permit discharge of the firearm. ### Claim 3 (depends on 2) The PGF of claim 2, wherein the optical device provides the control signal to permit discharge of the firearm when the distance is less than a threshold and the trajectory of the aim point is moving away from the selected location. ### Claim 4 (depends on 1) The PGF of claim 1, wherein the at least one motion sensor measures movement between the video frames to determine changes in the trajectory. ### Claim 5 (depends on 4) The PGF of claim 4, wherein the optical device recalibrates the at least one motion sensor optically after processing at least some of the video frames. ### Claim 6 (depends on 1) The PGF of claim 1, wherein the optical device processes the video frames sequentially to determine changes in the distance between the aim point and the selected location on the target from one frame to a next frame. ### Claim 7 (depends on 1) The PGF of claim 1, wherein the optical device predicts the trajectory of the aim point based on the changes in the distance determined optically and refines the trajectory using the motion data. ### Claim 8 (depends on 1) The PGF of claim 1, wherein the at least one motion sensor comprises a micro-electro-mechanical system configured to capture inertial measurements to determine the motion data. ### Claim 9 A method of controlling discharge of a precision guided firearm (PGF), the method comprising: processing video frames of a video of an optical scope of the PGF to determine a distance between an aim point of the PGF and a selected location on a target within the video frames; measuring movement of the PGF using at least one motion sensor of the optical scope; and determining a shot time when the distance is less than a threshold distance from the selected location. ### Claim 10 (depends on 9) The method of claim 9, wherein measuring the movement of the PGF comprises measuring the movement of the PGF during periods of time between video frames using at least one of an accelerometer, an inclinometer, and a gyroscope. ### Claim 11 (depends on 9) The method of claim 9, further comprising sending a control signal to a trigger assembly to enable discharge of the PGF in response to determining the shot time. ### Claim 12 (depends on 9) The method of claim 9, wherein the distance threshold corresponds to a minute of angle that is up to one inch of deviation per 100 yards relative to the selected location on the target. ### Claim 13 (depends on 9) The method of claim 9, further comprising wherein the threshold distance defines a zone within which a shot taken using the PGF will hit the target. ### Claim 14 (depends on 13) The method of claim 13, wherein the selected location is at a center of the zone. ### Claim 15 An optical scope comprising: at least one motion sensor configured to produce motion data corresponding to movement of the optical scope; an optical sensor configured to capture video of a view area; and a processor coupled to the optical sensor and the at least one motion sensor, the processor configured to process video frames of the video and the motion data to determine when an aim point is less than a threshold distance from a selected location on a target. ### Claim 16 (depends on 15) The optical scope of claim 15, wherein the at least one motion sensor comprises at least one of an accelerometer, a gyroscope, and an inclinometer. ### Claim 17 (depends on 15) The optical scope of claim 15, wherein the processor determines an initial trajectory of the aim point by processing sequential ones of the data frames to determine changes in the position of the aim point relative to the selected target. ### Claim 18 (depends on 17) The optical scope of claim 17, wherein, during time periods between each of the video frames, the processor uses the motion data from the at least one sensor to determine a change in the distance relative to the selected location on the target. ### Claim 19 (depends on 15) The optical scope of claim 15, further comprising: an interface configurable to couple to a trigger assembly; and wherein the processor is configured to provide a firearm discharge control signal to enable the trigger assembly in response to determining when the aim point is less than the threshold distance from the selected location. ### Claim 20 (depends on 15) The optical scope of claim 15, further comprising an input interface configurable to receive a user input, the user input corresponding to at least one of the selected location on the target and the threshold distance.