A Helmet Cueing System Based Firing Controlfor Anti-Aircraft Gun Prototype

In this research work, a firing control system is developed for the ZU-23-2 Russian anti aircraft gun prototype by integrating an image processor with helmet mounted cueing system. The combined action of the image processor and inertial measuring unit, which is mounted on operators helmet used here to generate actuation command for the motors. Actuators used in this research are two stepper motors for azimuth and elevation motion of the weapon; both are controlled by a PI controller. The overall proposed systems are deployed in the prototype hardware and tested with an experiment by varying the target range and the PI controller parameters. Finally, results show an improvement in performance in terms of speed (1.75 sec) and approximately a 82% accuracy of detection as well as in tracking by applying background subtraction in frame deference algorithm. In addition, the deployed stepper motor gives a response time of 0.005 sec for every change in position of the gunner head with 95% accuracy in input waveform tracking.