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

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Chapter 5 / Missile State Observer _ _ The missile position uncertainty is commensurate with GPS data. Small values are used for the velocity and acceleration of the launcher with respect to the Earth. This is important if IMU bias states are added to the filter so the filter innovations are directed into the appropriate error states, SO C : = diag ⋅ MLL 5-10 2 2 2 ( 30 1 , 1 , 1 ) 3 3 3 Equation 5.5-4 The orientation error in this simple case of pointing the launcher at the target is determined by apriori radar bearing and elevation errors. From the relationship between quaternions and half Euler angles in §22.9.2, ⎛ diag ⎜ ⎜ ⎝ 5.6 Process Model 0 0 RD σ 4 2 Θ RD σ 4 2 Ψ SO M C ⎛ 5 ⋅ π 180 ⎜ ⎝ MAA ⎞ ⎟ ⎠ : = 2 ⎛ 5 ⋅ π 180 ⎜ ⎝ ⎞ ⎟ ⎠ 2 ⎛ 5 ⋅ π 180 ⎜ ⎝ ⎞ ⎟ ⎠ 2 M 0 3 ⎞ ⎟ ⎟ ⎠ Equation 5.5-5 The state vector and covariances are propagated at 400 Hz for autopilot and seeker stabilisation using the simple dynamic model, k + 1 k + 1 k + 1 k X : = Φ ⋅ X k + 1 k k k k + 1 T ( Φ ) Qk C : = Φ ⋅ C ⋅ + The target and missile linear state partition transition matrices, Φ TLL : = Φ MLL : = ⎡ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎣ 0 0 I 3 3x3 3x3 , , , k ∆ ⋅ 0 I I 3 3 3x3 ∆ ⋅ I 3 2 0. 5 ⋅ ∆ ⋅ I Similarly, the missile angular state partition transition components, B A B B ( t + ∆t ) : = 0. 5 ⋅ ∆t ⋅ q ⊗ ( 0 , ) q ω A I A, B Equation 5.6-1 Equation 5.6-2 3 3 ⎤ ⎥ ⎥ ⎥ ⎥ ⎥ ⎥ ⎦ Equation 5.6-3 Equation 5.6-4
Chapter 5 / Missile State Observer _ _ Φ MAA MAA MAA Φ : = QQ Φ QW ⎡ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎣ : = MAA 0 0 Φ 3x 4 3x 4 1 2 QQ 5-11 , , , ⎡ 1 ⎢ ⋅ ⎢ L ⎢ B ⎢ ωA, ⎣ B MAA M M M 0 I Φ 3 3x3 I − 3 QW , , , 0 3x3 ∆ ⋅ I I 3 3 ( ) ⎥ [ ] ⎥ ⎥⎥ B T ω ⎤ A, B L B − ω × A, B ( ) ⎥ ( ) [ ] ⎥ ⎥⎥ B T − q ⎤ A L L L B 0 ⋅ I − q × : = ⎡ 1 ⎢ ⋅ ⎢ 2 ⎢ B ⎢ qA ⎣ 3 L A ⎦ ⎤ ⎥ ⎥ ⎥ ⎥ ⎥ ⎥ ⎦ Equation 5.6-5 ⎦ Equation 5.6-6 Equation 5.6-7 This non co-ordinated model ignores missile velocity vector rotation coupling the missile linear and rotational states. Process noise is therefore needed to cope with the un-modelled dynamics with state error growth constrained using high frequency IMU data. Γ = ( ) T 2 0. 5 ⋅ ∆ ∆ 1 ( Q , Q ) 2 T 2 T ( Γ ⋅ diag ( 50 ⋅1 ) ⋅ Γ , Γ ⋅ diag ( 200 ⋅1 ) ⋅ Γ ) Q MAA : = ⎛ ⎜ ⎜ ⎜ ⎜ ⎜ ⎜ ⎝ 3 MAA TLL Q L − L − QQ M M M M M MLL MAA GS σ Q L 2 RN L − : = QW ⋅ I 3 M M M M M 0 0 0 3 3 3 3 x3 L x3 L x3 Equation 5.6-8 Equation 5.6-9 ⎞ ⎟ ⎟ ⎟ ⎟ ⎟ ⎟ ⎠ Equation 5.6-10
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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 _ _ th
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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 3 / Sensors / Accelerometer
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Chapter 3 / Sensors / Barometric Al
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Chapter 3 / Sensors / Barometric Al
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Chapter 3 / Sensors / Radar Altimet
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Chapter 3 / Sensors / Radar _ _ 3.8
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Chapter 3 / Sensors / Radar _ _ LF
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Chapter 3 / Sensors / Radar _ _ ( )
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Chapter 3 / Sensors / Radar _ _ S :
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Chapter 3 / Sensors / Radar _ _ SN
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Chapter 3 / Sensors / Radar _ _ 2
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Chapter 3 / Sensors / Radar _ _ ⎛
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Chapter 3 / Sensors / Seeker _ _ 3.
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Chapter 3 / Sensors / Seeker _ _ 5
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Chapter 3 / Sensors / Seeker _ _
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Chapter 3 / Sensors / Seeker _ _ th
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Chapter 3 / Sensors / Seeker _ _ Th
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Chapter 3 / Sensors / Seeker _ _ Th
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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 / Helmet Mounte
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Page 303 and 304: Chapter 6 / Missile Guidance _ _ CD
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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 _ _ 6.
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Chapter 6 / Missile Guidance _ _ Au
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Chapter 6 / Missile Guidance _ _ 6.
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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 _ _
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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 / Axis Trans
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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 / Earth, Atm
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Appendix I / Utilities / Digital Ma
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Appendix I / Utilities / Digital Fi
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Appendix I / Utilities / Matrices _
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Appendix I / Utilities / Quaternion
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Appendix I / Utilities / Trigonomet
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Appendix I / Utilities / Vectors _
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Appendix I / Utilities / Covariance
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