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

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Chapter 3 / Sensors / Seeker _ _ ω S B, S S A 3.9-6 T T T S B [ T ] ⋅ ω − T ⋅ : = T ⋅ ω A A, T B A, B Equation 3.9-5 The LF Euler angle and angular rate demands pass through a signed 16 bit digital interface where they are subject to range limiting of ± 60° and ± 600°/s respectively, and a one-cycle transmission delay, D 400 G IF TD IF IF IF D ( ϕ ( ϕ ( ( 400 ZG , SKf O ) ) ) ) Z : = ϕ ϕ Q LIM ZOH Equation 3.9-6 The gimbal demand interface errors are invoked by setting bits 27-30 of MS_SK_ER from Table 3-6. The additional functions listed in Table 3-17 are controlled by spare bits in MS_SK_ER. Table 3-17 : Seeker Gimbal Errors MS_SK_ER GIMBALS ERRORS 11 H/F gimbal demand processing 12 Complex gimbal dynamics 13 Gimbal friction model 14 Gimbal torque model Gimbal travel is designed for front hemisphere coverage, however, radome quality, squint losses and other mechanical constraints limit the practical off-boresight angle. YP demands require the application of an off-boresight limit of 85° as a consequence of Equation 3.9-4, ⎛ ⎛ ⎜ ⎜ YP RP ZG : = ϕRP ⎜ ϕ ⎜ ϕ LIM YP 400 G ⎜ ⎜ ⎝ ⎝ D ( Z ) ⎛ ⎜ , ⎜ ⎜ ⎝ D 400 L [ ] ⎟ [ ] ⎟⎟ − π , π ⎞ ⎞ ⎞ ⎟ ⎟ ⎟ ⎟ − π 3 , π 3 ⎟ ⎟ ⎠ ⎠ ⎠ Equation 3.9-7 The angular rate limit matching the controller gain and the motor current limit used later is ± 1440°/s assuming a perfect motor and gimbals. Fortunately, it is rare that the full angular rate of the seeker is required, and a lesser value is often substituted commensurate with the turning capability of the missile and target. As the gimbal demand interface provides angle and angular rate limits, separate limits inside the seeker are not necessary. 3.9.4 Seeker Gimbal Demand Processing If bit 11 of MS_SK_ER is set, HF gimbal demands are obtained at the seeker gimbal frequency (SKfGR) of 2 kHz (clock 4) using an FOH,
Chapter 3 / Sensors / Seeker _ _ ∀ n ∈ D [ 0 ( 1 ) , 4 ] ⇒ Z ( n ) 3.9-7 2000 G : = D 400 Z G n ⋅ + SK D 400 f Z& GR G Equation 3.9-8 If bit 11 is not set the 400 Hz angle demands are passed without change, and the angular rates are ignored. 3.9.5 Simple Gimbal Dynamics The full gimbal model presented later imposes a processing load that is unwarranted for general studies. If bit 12 in MS_SK_ER is not set (default), the gimbal demands pass through a time delay (SKtD) followed by a 2 nd order transfer function operating at the HF gimbal demand frequency. ϕ SF D ( ϕ ( ϕ ( Z , t ) , ζ , ω ) + N ( 0 , σ ) ) D2L TD 2000 G SK 2000 GD Z ~ G SK : = SG SK SG SK GRN Equation 3.9-9 The gimbal dynamics have a damping ratio (SKζSG) of 0.7, and a natural frequency (SKωSG) of 50 Hz, that are matched to the response of the closed loop model to follow. DAC and ADC quantisation and noise tend to be negligible using the 14-16 bit devices required by seekers, and the resolver dynamics are too higher frequency to be of concern, all have been ignored. Zero-mean, Gaussian noise with a variance (SKσGRN) of 0.3 mrad is superimposed, and the result is subject to resolver constant, quadratic and asymmetric scale factor errors of 0.0003, 0.0001 and 0.0001 respectively. 3.9.6 Complex Gimbal Dynamics The complex gimbal model shown in Figure 3-50 is required when the friction effects, and disturbance torques, are studied in conjunction with parasitic errors. DAC GAIN AND GIMBAL MOTOR Figure 3-50 : Gimbal Torquer Error Model
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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 _ _ t
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Chapter 2 / Target Modelling _ _ P&
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Chapter 2 / Target Modelling _ _ GO
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Chapter 2 / Target Modelling _ _
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Chapter 2 / Target Modelling _ _ VX
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Chapter 2 / Target Modelling _ _ ma
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3 Chapter 3 / Sensors _ _ Chapter 3
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Chapter 3 / Sensors _ _ 3.1 Simulat
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Chapter 3 / Sensors _ _ Table 3-4 :
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Chapter 3 / Sensors _ _ Reference D
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Chapter 3 / Sensors _ _ 3.2-9 s s i
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Chapter 3 / Sensors _ _ 3.2-11 t o
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Chapter 3 / Sensors _ _ Figure 3-5
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Chapter 3 / Sensors _ _ Table 3-7 :
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Chapter 3 / Sensors _ _ IF ϕ LIM
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Chapter 3 / Sensors _ _ The phase e
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Chapter 3 / Sensors _ _ Taking expe
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Chapter 3 / Sensors _ _ Expressing
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Chapter 3 / Sensors _ _ INPUT; AA,
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Chapter 3 / Sensors _ _ The functio
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Chapter 3 / Inertial Navigation _ _
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Chapter 3 / Sensors / Gyroscopes _
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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 _ _ ge
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Chapter 6 / Missile Guidance _ _ ex
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Chapter 6 / Missile Guidance _ _ &
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Chapter 6 / Missile Guidance _ _ PN
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Chapter 6 / Missile Guidance _ _ ra
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Chapter 6 / Missile Guidance _ _ of
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Chapter 6 / Missile Guidance _ _ NO
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Chapter 6 / Missile Guidance _ _ tr
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Chapter 6 / Missile Guidance _ _ η
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Chapter 6 / Missile Guidance _ _ Au
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Chapter 6 / Missile Guidance _ _ Fo
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Chapter 6 / Missile Guidance _ _
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Chapter 6 / Missile Guidance _ _ ar
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7 Chapter 7 / Missile Trajectory Op
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Chapter 7 / Missile Trajectory Opti
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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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