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

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Chapter 5 / Missile State Observer _ _ covariances are passed to the up-link module, together with the IMM modal weights and the radar missile measurements. The missile observer propagates the simple process model at 400 Hz. Any missile sensor measurements ready for processing are used to update the filter at the rates indicated in Figure 5-7. The accelerometer data is accumulated at 400 Hz and applied at 100 Hz. The observer is updated using up-linked missile data at 10 Hz using measurement fusion and target track fusion. As each measurement is processed its “ready” flag, set originally in the sensor module where it originated, is cleared by FF_CONTROL. After the measurements have been processed any combination of the pseudomeasurements provided can be imposed at clock rates up to 400 Hz. These are used to constrain the simple process model dynamics, and introduce state cross-coupling information. 5.12 Discussion Although centralised measurement fusion and track fusion combining the output from a number of de-centralised (federated) filters for each sensor is explored, architecture selection is often determined by application. This is certainly the case for air-defence in which information is up-linked only, and the missile processing capacity is a fraction of that available on the ground. A hybrid architecture is selected comprising decentralised tracking with centralisation in the missile where this information is fused at track level with the remaining sensor data using measurement fusion. The central state observer in the missile is a conventional EKF with earth referenced position, velocity and acceleration states, complimenting those in the IMM. These states are augmented by missile orientation, angular rate and angular acceleration with respect to the same frame. The simplest possible dynamic model is used so that it can be propagated at high rate for seeker beam steering, inertial stabilisation of the seeker head and airframe stabilisation without undue latency. Growth in the expected orientation and angular state errors is controlled using 400 Hz gyroscope measurements. The slower linear dynamics are, in the first instance, driven by accumulated accelerometer data. As up-links are received the target-track is introduced into the observer using track fusion since at 10 Hz the data will certainly be correlated. The up-linked missile measurements provide a further constraint on the missile linear state errors. Seeker data links the target and missile linear states, and it is this duality (radar - IMU) and (IMU - seeker) that provides the opportunity for sensor failure detection and error estimation. Note that both PN and CLOS guidance laws can be generated from the observer output, the gyroscope triad being the one critical set of instruments. 5-32
Chapter 5 / Missile State Observer _ _ Target state observer 10Hz from DX_CONTROL ( IMM_CONTROL ) Missile state observer 400Hz from DX_CONTROL ( FF_CONTROL ) Missile observer inhibited until target observer is initialised IMM filter initialisation ( I_IMM ) Missile state onserver initialisation ( I_FF ) Propgate the state covariances at 100Hz ( FF_P_PROP ) Propagate the state vector at 400 Hz ( FF_X_PROP ) SENSOR MEASUREMENT SIMULATOR Missile seeker update at 100Hz ( MS_SN_AV Bit 5 set ) ( U_MS_SEEKER ) 1 2 3 Accelerometer triad accumulation Gyroscope triad update at 400Hz at 400Hz and update at 100Hz ( MS_SN_AV Bit 2 set ) ( MS_SN_AV Bit 1 set ) ( U_MS_GYRO ) ( U_MS_ACCN ) Constant acceleration filter ( IMM_TP Bit 2 set ) ( ACC_FILTER ) Constant velocity filter ( IMM_TP Bit 1 set ) ( VEL_FILTER ) 5-33 Target (R,RR,B,E) serial measurement update ( U_GB_RADAR_T ) Circular target motion ( MS_MSAV2 Bit 27 set ) ( U_PM_CTM ) Aerodynamic constraints ( MS_MSAV2 Bit 28 set ) ( U_PM_AERO ) Quaternion normalisation ( MS_MSAV2 Bit 27 set ) ( U_PM_QUATERNION ) 2nd order Gauss- Markov filter ( IMM_TP Bit 4 set ) ( MK2_FILTER ) 1st order Gauss-Markov filter ( IMM_TP Bit 3 set ) ( MK1_FILTER ) Uplinked target track fusion at 10Hz ( MS_SN_AV Bit 8 set ) ( FF_TRACK ) 4 9 5 Uplinked missile measurement Goal Orientated Track update at 10Hz ( MS_MSAV2 Bit 30 set ) ( MS_SN_AV Bit 8 set ) ( U_PM_GOT ) ( U_GB_RADAR_M ) Figure 5-7 : Missile State Observer Simulation 6 8 7 IMM model propagation and update 1 2 3 IMM state and covariance fusion at 10Hz IMM filter mixing and model re-initialisation at 1Hz IMM model probability update and likelyhood function at 10Hz MISSILE SIMULATOR Target data and missile measurements at 10Hz ( UP_LINK )
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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 _ _
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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 _ _ 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 / 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 _ _ 2
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Chapter 3 / Sensors / Radar _ _ ⎛
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Chapter 3 / Sensors / Seeker _ _ 3.
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Chapter 4 / Target Tracking _ _ 3.1
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Chapter 5 / Missile State Observer
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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 _ _ 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 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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