Electronic apparatus for determining the attitude of a weapon and operating method thereof

An apparatus configured to determine the attitude angles of a weapon, comprising:

• acceleration measuring means configured to measure the weapon acceleration components along axes of a first reference system integral with the weapon;
• angular speed measuring means configured to measure weapon angular speed components along the axes of said reference system;
• and
• processing means configured to:
• compute actual attitude angles of the weapon in dynamic conditions based on the weapon angular speed components;
• determine static attitude angles of the weapon in static conditions of the weapon itself based on said weapon acceleration components, by filtering at a low frequency said weapon acceleration components;
• correct said weapon angular speed components based on said static attitude angles and of said actual attitude angles;
• determine a first static weapon attitude angle corresponding to a static pitch angle of the weapon based on a first component of the weapon acceleration along a first axis of said reference system at a computing time;
• said first axis being arranged coaxially to a longitudinal axis of a barrel of said weapon;
• determine a second static attitude angle corresponding to a static roll angle of the weapon based on a second component of the weapon acceleration along a second axis of said reference system and said determined said static pitch at a computing time;
• said second axis being oriented towards the right side of a support frame of the weapon;
• and
• determine a third actual attitude angle corresponding to the actual heading angle of the weapon based on said weapon angular speed components, the actual roll and pitch angles determined a computing time preceding the current computing time;
• receive, at a computing time, the actual attitude angles comprising the pitch, the roll, and the heading determined at a computing time preceding the current computing time;
• determine a first correction factor of said angular seed components as a function of a difference between the static pitch and the dynamic pitch determined at the computing time preceding the current computing time;
• and
• determine a second correction factor of said angular speed components as a function of a difference between the static roll and the dynamic roll determined at the computing time preceding the current computing time.