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

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Chapter 6 / Missile Guidance _ _ 6.5.2.3 Target Acceleration Augmented PN Guidance Compensating for constant target acceleration normal to the LOS results in Augmented TPN (ATPN) with the PN guidance command component, PN α B TA : = 1 2 ⋅ T S B ( 1 ) ⋅ ⎛ ⎜ ⎜ ⎜ ⎝ 6-18 T S B − T ( ) ( ) ⎟ ( ) ( ) ⎟⎟ S ⎞ ⎛ YB 9 , − T ⎞ B 8 &P & ⎟ ⎜ o, t ⎟ ⋅ ⎜ S S ⎟ ⎜ ZB 6 , T 5 &P & B B ⎠ ⎝ o, t ⎠ Equation 6.5-26 If target acceleration estimates are unavailable ATPN can be replaced by Target Biased TPN using apriori estimates of maximum target acceleration during avoidance manoeuvres. A target manoeuvre estimator is required to determine target direction with respect to the missile-target LOS. When the target is manoeuvring a bias is applied in the direction of target motion with a gain from optimal analysis of 1.5. PN α B TA : = 3 2 ⋅ &P & MAX o, t S 2 ⋅ TB ( 1 ) ⋅ ⎛ ⎜ ⎜ ⎜ ⎝ T S B − T S ( 9 ) , − T ( 8 ) S B S ( 6 ) T ( 5 ) B B ⎞ ⎛ sign ⎟ ⎜ ⎟ ⋅ ⎜ ⎟ ⎜ ⎠ ⎝ sign YS ( 1, P& ) o, t ⎞ ( ) ⎟⎟⎟ ZS 1, P& o, t ⎠ Equation 6.5-27 A zero dead-band is needed to deal with target direction uncertainty. 6.5.2.4 Gravitational Acceleration Compensation Gravitational acceleration compensation is important when using PN against low-level, long-range targets as the sight-line rate is small and height loss occurs close to the ground. The compensation is usually generated automatically by closing the autopilot around the accelerometer output (in straight and level flight the z-accelerometer outputs +1g) however, in the simulation it is added directly to the guidance demand, B GA 6.5.3 Seeker Inertial Stabilisation α ⎛ P ⎞ r, d : = − gd ⋅ ⎜ ⎟ ⋅ ⎜ ZG Pr , d P ⎟ ⎝ + m ⎠ 2 ( ( ) ( ) ) T B B T 8 , T 9 G G Equation 6.5-28 For staring array seekers it is important to divorce the detector from missile body motion in inertial space. Detector motion during the stare time smears IR energy returns over adjacent cells making it more difficult to isolate an object from the background intensity level. This reduces the acquisition
Chapter 6 / Missile Guidance _ _ range, and increases the LOS angular error. Conceptually there are two gimbal arrangements: roll-pitch or yaw-pitch. Roll-pitch configurations take less volume and are preferred for high offboresight scenarios because the small roll inertia means their response time is shorter. Unfortunately for targets on boresight a singularity exists with sight-line rate errors increase to infinity which requires specialised gimbal steering algorithms in this region. In contrast yaw-pitch gimbals are larger, have higher inertia and hence a slower response time however, they do not magnify the sight-line rate error close to boresight. For both mechanisations hardware obscuration and imperfect radomes at high off-boresight angles placing further restrictions on optimal guidance solutions. Consider the LOS rate error and its parasitic effect on the PN guidance law. Treating the Alignment frame as an inertial reference for convenience, the inertial LOS rates for a YP seeker, T S B ⋅ ω B A, B + ω S B, S : = T S B Expanding, and collecting terms, ω ZS A, S − ω XB A, B Θ & S A ⋅ sin Θ S S B S ( Θ , Ψ ) ⋅ ω + [ Θ ] YS A, S B 6-19 ω S A, S B XB A, B : = A, B S B B YB A, B ⋅ ⎛ ⎜ ⎜ ⎜ ⎝ 0 0 Ψ& : = ω + ω ⋅ sin Ψ − ω ⋅ cos Ψ S B Ψ & ⋅ cos Ψ S A S B ⋅ cos Θ − ω YB A, B S B : = ⋅ sin Θ S B ⋅ sin Ψ S B − S B ⎞ ⎟ ⎟ ⎟ ⎠ + ⎛ ⎜ ⎜ ⎜ ⎝ 0 Θ& S B 0 ⎞ ⎟ ⎟ ⎟ ⎠ Equation 6.5-29 S B Equation 6.5-30 ω ZB A, B ⋅ cos Θ S B Equation 6.5-31 These equations show that detector stabilisation depends on the gyroscope errors leaking into the gimbal control loop. Combining these results with Equation 6.5-22 confirms that parasitic errors are not magnified in the YP gimbal configuration. Typically gimbal steering loops have bandwidths of 70-90 Hz and care must be taken to minimise parasitic coupling between the airframe and target sight-line dynamics, Nesline [N5-6] . In the past inertial isolation is performed using a dedicated rate sensors in the seeker. This complication, and expense, is removed using a centralised missile observer to fuse gimbal pick-off and gyroscope measurement data. Reduction in acquisition range due to parasitic errors often limits the missile observer bandwidth, a balance between measurement noise suppression and latency.
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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 _ _ 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 / 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 _ _
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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 / 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 4 / Target Tracking _ _ ran
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Chapter 5 / Missile State Observer
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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 / 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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