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

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Chapter 5 / Missile State Observer _ _ 5.8.2 Missile Accelerometer Measurement Update Airframe stabilisation is less dependent on high frequency accelerometer output compared with gyroscope data. Accelerometer data is therefore accumulated and used at 100 Hz. AC Z ~ : = 100 ~ f B r, u 5-14 : = 3 ∑ 400 i : = 0 ~ f B r, u ( t ) k − i Equation 5.8-6 If the IMU and missile reference points are not coincident the estimated accelerometer measurements are determined as in §3.3.1.1, T B A ⋅ AC Z A A B B ( & A E A G B B B P& m + 2 ⋅ TE ⋅ ωC, E × P& m − TG ⋅ g ) + ω& A, B × Pm, u + ωA, B × ωA, B × Pm d : = , u Equation 5.8-7 Ignoring coriolis acceleration due to earth rate, assuming the tilt between LGA and Alignment frames is negligible, and the IMU reference point lies on the missile longitudinal axis, P XB m, u ⋅ ⎛ ⎜ ⎝ AC − ZG T B ( 0 , 0 , g ) ⎞ ⎟ + B A Z ≅ TA ⋅ ⎛ ⎜ P& & m − ϕ ⎝ d ⎠ rB ( ω ) A, B 2 , ω XB A, B ϕ ⋅ ω B ARM YB A, B : = + ω& ZB A, B , ω XB A, B ⋅ ω ZB A, B ARM Equation 5.8-8 − ω& YB A, B ⎞ ⎟ ⎠ T Equation 5.8-9 The accumulation delay is accounted for using a cyclic stack not backward state propagation. The linearised measurement matrix comprises, AC AC [ 0 M H H ] H ≡ ∂ Z ∂ X : = M 3x9 AC ML AC MA Equation 5.8-10 Apportioning the acceleration innovations to the missile linear dynamics,
Chapter 5 / Missile State Observer _ _ ⎡ ⎢ ⎣ 0 3x2 , ∂ g ∂ P ZG d ZA m ⋅ AC B B B T B ⎤ ( TA ( 3 ) , TA ( 6 ) , TA ( 9 ) ) M 03x3 M TA ⎥ ⎦ 5-15 H ML : = Equation 5.8-11 Apportioning the acceleration innovations to the missile angular dynamics, ⎡ ∂ T ⎢ ⎢ ∂ Q ⎣ B A B A ⋅ ⎛ ⎜ ⎝ &P & A m − AC H MA ZG ( 0 , 0 , g ) d : = T ⎞ ⎟ ⎠ M ∂ ϕ ∂ ω B ARM B A, B M ∂ ϕ ∂ ω& B ARM B A, B ⎤ ⎥ ⎥ ⎦ Equation 5.8-12 The gravitational acceleration and its variation with height are given in §20.2 and §20.3 respectively. When accumulating data the measurement noise can be reduced by √n, where n is the number of measurements averaged. For noise of 500 µg/√Hz the measurement covariance is, AC ( 4 ⋅ 2 1 ) R : = diag ⋅ 5.8.3 Ground Radar Missile Measurement Update 3 Equation 5.8-13 The missile range, range rate and angle measurements stimulate the missile linear dynamic partition. The estimated seeker measurements being, ⎛ ⎜ ⎜ ⎝ P A m • P UL A m Z ~ M , ( ) T XM XM ~ M ~ M m P m , A , A ~ ~ P , Ψ Θ : = & A Pm • P& P o, m A m , UL The linearised measurement matrix, Z M tan −1 : = ⎛ ⎜ ⎝ P P YA m XA m ⎞ ⎟ ⎠ , − tan Equation 5.8-14 −1 ⎛ ⎜ ⎝ P P ZA m hA m ⎞ ⎞ ⎟ ⎟ ⎟ ⎠ ⎟ ⎠ T Equation 5.8-15
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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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Chapter 3 / Sensors / Helmet Mounte
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Chapter 3 / Sensors / Air Data Syst
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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 / Covariance
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