Thesis - Leigh Moody.pdf - Bad Request - Cranfield University

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Chapter 3 / Sensors / Gyroscopes _ _ In high grade RLGs used for navigation quantum and quantisation noise is similar, and both are larger than residual dither. Noise is often specified in (deg/√hr) referenced to the sensor output rate. From §3.2.2.2, GS σ RN = 3.4-10 π ⋅ GS Φ RN 180 ⋅ 60 ⋅ ⋅ GS GS f O f R Equation 3.4-14 The quantisation model in Figure 3-30 adds the residual from the current pulse count to the next counting period to prevent non-existent drifts. The maximum number of pulses during the output period and the pulse weight (rad/s/pulse) determine the internal range. The analogue measurements pass through this quantising function (ϕQ) and a pulse count saturation limit commensurate with the output interface angular rate range. 1 + + GPW_Q 1/z Figure 3-30 : Quantisation Noise Model Scale factor errors in the torquer electronics are made as small as possible by designing a “stiff” system in which float rotation is minimised. They are caused by variation in the magnetic field strength due to thermal sensitivity. Scale factor errors in optical sensor fringe counting are small whereas those in mechanical system torquers are inherently larger. The IEEE cubic scale factor error has been omitted since it is rarely known. The acceleration dependent drifts effecting mechanical gyroscopes are driven by accelerations along the Input and Spin axes. For a single sensor, GS I G I S S r, u I I I r, u + - I SI 1 S r, u B : = B ⋅ f + B ⋅ f + B ⋅ f ⋅ f I r, u Equation 3.4-15 G-dependent drift is caused by mass unbalance of the float about the spin and input axes. G 2 -dependent drift is caused by unequal compliance of the float assembly between axes, and in particularly the spin and input axes. In the simulation all the combinations of error terms are available with user specified masks [G1M] and [G2M] provided to obtain the required “g” and g 2 -sensitive errors respectively. These errors should be a function of the specific accelerations acting along the sensor RPY axes. Since the misalignment angles are small, to improve modularity and allow the gyroscope and accelerometer triads to be used in isolation the acceleration along the Missile Body axes is used instead.
Chapter 3 / Sensors / Gyroscopes _ _ B ( [ GDM ] ⊗ [ G ] ) ⋅ f + [ GGM ] ⊗ [ G ] GD r, u For the configuration selected, ⎛ 1 ⎜ ⎜ ⎜ ⎝ −1 1 ⎞ ⎟ ⎟ 1 ⎟ ⎠ GS [ GDM ] : = 1 1 0 ; [ B ] ⎛ 0 ⎜ ⎜ ⎜ ⎝ −1 0 0 1 ⎞ ⎟ ⎟ 0 ⎟ ⎠ 3.4-11 B G : = ( ) ( ) T B B ⋅ f ⋅ f GD [ GGM ] : = 1 0 0 ; [ B ] 0 0 GG : = : = ⎛ ⎜ ⎜ ⎜ ⎝ ⎛ ⎜ ⎜ ⎜ ⎝ GG GG GG GD GD GD 0 B B B B B R X P X Y X P YX Y ZX r, u r, u Equation 3.4-16 GD GD GD GG B B B R Y P Y Y Y GD GD GD B B B R Z P Z Y Z ⎞ ⎟ ⎟ ⎟ ⎠ Equation 3.4-17 Equation 3.4-18 The effect of the masks on the available error sources is to extract, GS B G : = ⎛ ⎜ ⎜ ⎜ ⎜ ⎜ ⎜ ⎝ GD GD GD B B B R Z P X Y Z ⋅ f ⋅ f ⋅ f ZB r, u XB r, u ZB r, u + + − GD GD GD B B B R X P Y Y X ⋅ f ⋅ f ⋅ f XB r, u YB r, u XB r, u + + − GG GG GG B B B R XZ P XY Y XZ ⋅ f ⋅ f ⋅ f GG XB r, u XB r, u XB r, u B 0 B R XY Y ZY ⋅ f ⋅ f ⋅ f ZB r, u YB r, u ZB r, u GG GG ⎞ ⎟ ⎟ ⎟ ⎟ ⎟ ⎟ ⎠ B B 0 R XZ P YZ ⎞ ⎟ ⎟ ⎟ ⎠ Equation 3.4-19 When errors are selected from zero mean, symmetric distributions the negative terms in these equations are superfluous. Time delays associated with stabilisation of seeker IR detectors are detrimental to performance. The measurements are therefore passed through filters compensating for the deterministic time delays in the system and the sensor’s dynamics, ϕ DLL PWM PWM A B PWM ( ϕ ( ϕ ( ω ~ ) , GSQ ) , GSωNC , GSωDC ) Q LIM 800 ω ~ B C, B C, B : = Equation 3.4-20 In the simulation the output range limit and the maximum number of pulses (GSNMP) determine the quantisation level, e.g. for ± 400°/s and 2 12 pulses the
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CRANFIELD UNIVERSITY LEIGH MOODY SE
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ABSTRACT When considering advances
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Contents _ _ LIST OF CONTENTS 1 INT
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Contents _ _ 8.2 The Scope of Moder
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Contents _ _ 17.4 Inertial Velocity
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Tables _ _ LIST OF TABLES Table 1-1
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Figures _ _ LIST OF FIGURES Figure
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Figures _ _ Figure 5-1 : Centralise
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Figures _ _ Figure 19-3 : Air Densi
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Acronyms _ _ Acronyms And Abbreviat
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Acronyms _ _ HDOP - NAVSTAR GPS Hor
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Acronyms _ _ RCS - Radar Cross Sect
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Glossary _ _ GLOSSARY A challenge w
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Glossary _ _ 0.1 Predicate Calculus
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Glossary _ _ ]A,B] Real number rang
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Glossary _ _ 0.9 Matrix Operators [
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Glossary _ _ 0.14.2 Special Vectors
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Glossary _ _ P C a , b ≡ XC YC ZC
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Glossary _ _ V ≡ V : = V • V Th
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Glossary _ _ 0.16.4 Matrix Partitio
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Glossary _ _ Only the subset of qua
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Glossary _ _ 0.19 Systeme Internati
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1 Chapter 1 / Introduction _ _ Chap
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Chapter 1 / Introduction _ _ Wherea
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Chapter 1 / Introduction _ _ • Cr
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Chapter 1 / Introduction _ _ genera
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Chapter 1 / Introduction _ _ radar
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Chapter 1 / Introduction _ _ simple
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Chapter 1 / Introduction _ _ optimi
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Chapter 1 / Introduction _ _ 1.3.9
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2 Chapter 2 / Target Modelling _ _
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Chapter 2 / Target Modelling _ _ 2.
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Chapter 2 / Target Modelling _ _
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Chapter 2 / Target Modelling _ _ P&
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Chapter 2 / Target Modelling _ _
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Chapter 3 / Sensors / Seeker _ _ 3.
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Chapter 3 / Sensors / Seeker _ _ Th
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Chapter 3 / Sensors / Seeker _ _ 3.
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Chapter 3 / Sensors / Fins _ _ 3.10
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Chapter 3 / Sensors / Fins _ _ thro
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Chapter 3 / Sensors / NAVSTAR GPS _
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Chapter 3 / Sensors / Air Data Syst
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Chapter 4 / Target Tracking _ _ 3.1
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Chapter 4 / Target Tracking _ _ Ine
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Chapter 5 / Missile State Observer
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5 Chapter 5 / Missile State Observe
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6 Chapter 6 / Missile Guidance _ _
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Chapter 6 / Missile Guidance _ _ 6.
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Chapter 6 / Missile Guidance _ _ As
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Chapter 6 / Missile Guidance _ _
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Chapter 6 / Missile Guidance _ _ CD
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Chapter 6 / Missile Guidance _ _ PN
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Chapter 6 / Missile Guidance _ _ NO
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Chapter 6 / Missile Guidance _ _ η
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Chapter 6 / Missile Guidance _ _ Fo
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Chapter 6 / Missile Guidance _ _ ar
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8 Chapter 8 / Simulation _ _ Chapte
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Chapter 8 / Simulation _ _ 8.1 The
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Chapter 8 / Simulation _ _ 8.3 The
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Chapter 8 / Simulation _ _ Having p
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Chapter 8 / Simulation _ _ 8.5.1 Gl
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Chapter 8 / Simulation _ _ (1) CONS
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Chapter 8 / Simulation _ _ 8.6.2 Ou
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Chapter 8 / Simulation _ _ The file
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Chapter 8 / Simulation _ _ • The
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Chapter 8 / Simulation _ _ comprehe
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Chapter 8 / Simulation _ _ WIN_RATE
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Chapter 8 / Simulation _ _ for this
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Chapter 8 / Simulation _ _ with the
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Chapter 8 / Simulation _ _ Figure 8
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Chapter 8 / Simulation _ _ Table 8-
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Chapter 8 / Simulation _ _ 8.8 Disc
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9 Chapter 9 / Performance _ _ Chapt
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Chapter 9 / Performance _ _ 9.1 Air
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Chapter 9 / Performance _ _ XM ( >
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Chapter 9 / Performance _ _ 9.3 PN
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Chapter 9 / Performance _ _ The eff
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Chapter 9 / Performance _ _ VXMVOM
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Chapter 9 / Performance _ _ VXMVOM
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Chapter 9 / Performance _ _ 9.4 CLO
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Chapter 9 / Performance _ _ AR_BOM
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Chapter 9 / Performance Chapter 9 /
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Initially the position error falls
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values of CN are not always a relia
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crude initialisation introduces err
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9.5.3 Singer Filter Tuning The Sing
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9.6.2 CLOS Study The CLOS study sho
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Chapter 10 / Conclusions _ _ 10-2
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Chapter 10 / Conclusions _ _ 10.3 T
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Chapter 10 / Conclusions _ _ 10.7 M
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Chapter 11 / Future Research _ _ 11
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Chapter 11 / Future Research _ _
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Chapter 11 / Future Research _ _ To
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References _ _ B.4 BAZARAA M.S., SH
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References _ _ F.1 FOX J.E., “A C
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References _ _ H.5 #HULL D.G., RADK
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References _ _ L.2 LOOZE D.P., HSU
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References _ _ N.4 NABAA N., BISHOP
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References _ _ R.3 RUSNACK I., “O
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References _ _ S.15 SINGER R.A.,
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References _ _ Y.2 YUAN P., CHERN J
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Bibliography _ _ B.13 BABA Y., YAMA
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Bibliography _ _ B.40 BECKER J.C.,
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Bibliography _ _ C.33 CORTINA E., O
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Bibliography _ _ E.8 ERSHOV A.A.,
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Bibliography _ _ G.34 GUTMAN P., VE
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Bibliography _ _ H.35 HUSSAIN A.M.,
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Bibliography _ _ K.14 KATZIR S., CL
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Bibliography _ _ L.19 LEFAS C.C,
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Bibliography _ _ M.16 MAYNE D.Q., P
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Bibliography _ _ P.1 PAINTER J.H.,
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Bibliography _ _ R.32 RONG LI X., Z
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Bibliography _ _ S.47 SPEYER J.L.,
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Bibliography _ _ V.5 VIAN J.L., MOO
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Bibliography _ _ W.29 WATSON G.A.,
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Appendix A / Geometric Points _ _ 1
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Appendix A / Geometric Points _ _ 1
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Appendix B / Frames of Reference _
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Appendix C / Axis Transforms _ _ 16
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Appendix C / Axis Transforms _ _ YP
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Appendix C / Axis Transforms _ _ B
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Appendix C / Axis Transforms _ _ YB
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Appendix C / Axis Transforms _ _ Us
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Appendix C / Axis Transforms _ _ No
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Appendix C / Axis Transforms _ _ B
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Appendix C / Axis Transforms _ _
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Appendix D / Point Mass Dynamics _
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Appendix E / Earth Geometry _ _ 18-
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Appendix E / Earth Geometry _ _ ELL
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Appendix E / Earth Geometry _ _ (dx
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Appendix E / Earth Geometry _ _ Int
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Appendix E / Earth Geometry _ _ 18.
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Appendix E / Earth Geometry _ _ 19-
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Appendix E / Earth Geometry _ _ P S
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Appendix E / Earth Geometry _ _ 19.
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Appendix E / Earth Geometry _ _ ∂
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Appendix G / Gravity _ _ 20-2
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Appendix G / Gravity _ _ g : = g +
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Appendix G / Gravity _ _ d −6 2
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Appendix G / Gravity _ _ 20-8
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Appendix H / Steady State Tracking
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Appendix I / Utilities _ _ 22.1-2
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Appendix I / Utilities _ _ Cartesia
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Appendix I / Utilities _ _ Matrix P
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Appendix I / Utilities _ _ 22.1-8
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Appendix I / Utilities / General Ut
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Appendix I / Utilities / WGS 84 Tar
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Appendix I / Utilities / Point Mass
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Appendix I / Utilities / Earth, Atm
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Appendix I / Utilities / Matrices _
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Appendix I / Utilities / Quaternion
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