Firearm simulation system simulating leading fire, laser-emitting device, and target detection device

A target sensing apparatus mounted on a target for simulating leading firing by using a laser beam, comprising:

• a control unit which controls whole operations of the target sensing apparatus;
• a sensing circuit unit which includes a plurality of laser sensors and extracts firing data from the laser beam received from the laser sensors;
• a GPS receiver which is mounted on the target and provides a current position coordinate of the target;
• and
• a hitting situation indicator which indicates hitting result according to a driving signal transmitted from the control unit;
• and
• a beacon signal output unit which outputs a beacon signal according to a predefined pattern,
• wherein the control unit obtains a trajectory equation of each firing weapon from database, and if the firing data are received from the sensing circuit unit, the control unit reads firing weapon identification information, a measured value of a leading angle, and a current position of the firing weapon from the firing data, reads a trajectory equation corresponding to the firing weapon identification information from the database, and sets a trajectory equation by inserting the measured value of the leading angle and the current position of the firing weapon into the read trajectory equation, and
• wherein the control unit sets an equation of motion of the target by using a current position value of the target and a velocity of the target transmitted from the GPS receiver, solves simultaneous equations of the trajectory equation and the equation of motion of the target to determine whether or not the target is hit, and outputs a result of the determination to the hitting situation indicator.

A firing weapon simulation system simulating leading firing by using a laser firing apparatus mounted on a firing weapon and a target sensing apparatus attached to a moving target, wherein the laser firing apparatus includes:

• a first control unit which controls whole operations of the laser firing apparatus;
• a firing switch which is driven cooperatively with firing of the firing weapon;
• an image processing unit which measures a leading angle from an image including the moving target aimed with the leading angle set through a sighting scope of the firing weapon;
• a first GPS receiver which provides a current position coordinate:
• a laser beam firer which is mounted on the firing weapon to emit a laser beam carrying firing data according to a laser driving signal supplied from the first control unit;
• and
• a motor assembly which rotates the laser beam firer according to a motor driving signal supplied from the first control unit,
• wherein, when the firing switch is switched on, the first control unit generates the firing data, allows the motor assembly to reversely rotate the laser beam firer by a measured value of the leading angle, and allows the laser beam firer to emit the laser beam carrying the firing data,
• wherein the image processing unit of the laser firing apparatus detects a beacon signal from an image including the moving target, recognizes accurately the moving target by using the detected beacon signal, and measures the leading angle by using a distance between the recognized moving target and the center of the image,
• wherein the target sensing apparatus includes:
• a second control unit which controls whole operations of the target sensing apparatus;
• a sensing circuit unit which includes a plurality of laser sensors and extracts firing data from the laser beam received from the laser sensors;
• a second GPS receiver which is mounted on the target and provides a current position coordinate of the target;
• a hitting situation indicator which indicates hitting result according to a driving signal transmitted from the second control unit;
• and
• a beacon signal output unit which outputs a beacon signal according to a predefined pattern,
• wherein the second control unit obtain a trajectory equation of each firing weapon from database, and if the firing data are received from the sensing circuit unit, the second control unit reads firing weapon identification information, a measured value of a leading angle, and a current position of the firing weapon from the firing data, reads a trajectory equation corresponding to the firing weapon identification information from the database, and sets a trajectory equation by inserting the measured value of the leading angle and the current position of the firing weapon into the read trajectory equation, and
• wherein the second control unit sets an equation of motion of the target by using a current position value of the target and a velocity of the target transmitted from the second GPS receiver, solves simultaneous equations of the trajectory equation and the equation of motion of the target to determine whether or not the target is hit, and outputs a result of the determination to the hitting situation indicator.