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

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Appendix C / Axis Transforms _ _ Not so rare is a near-zero horizontal range for high diving targets, M hM ( P > 5 ) ∧ ( P < 5 ) m Introducing the functional form, m T M A : = ϕ 16-14 ⇒ DC XYZ T M A : = ⎛ ⎜ ⎜ ⎜ ⎜ ⎜ ⎜ ⎝ A ( P , 5 ) m 0 1 0 , , , 0 0 1 , , , 1 0 0 ⎞ ⎟ ⎟ ⎟ ⎟ ⎟ ⎟ ⎠ Equation 16.13-5 Equation 16.13-6 The transform from the Alignment to Target LOS frame is (TRATOT), T T A : = ϕ DC XYZ A ( P , 5 ) 16.14 Alignment to Missile and Target Velocity Transformations t Equation 16.13-7 The Euler triplet defining the orientation of the Missile Velocity frame with respect to the Alignment frame, E MV A = −1 ZA hA 1 YA XA ( 0 , tan ( P& P& − − ) , tan ( P& P& ) ) m m m m Equation 16.14-1 The transform from the Alignment to Missile Velocity frame (TRATMV), T MV A : = ϕ DC XYZ A ( P& c , 5 ) Equation 16.14-2 The same equations can be used for the orientation of the Target Velocity frame with respect to the Alignment frame. The transform from the Alignment to Target LOS frame (TRATTV), T TV A : = ϕ DC XYZ A ( P& t , 5 ) Equation 16.14-3 Consider the YP Euler angle Jacobians associated with the Alignment to Missile Velocity frame transform, that apply in general,
Appendix C / Axis Transforms _ _ ∂ T ∂ Θ MV A MV A ∂ T ∂ Ψ : = MV A MV A ⎡ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎣ : = − T −T MV A 0 MV A ⎡ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎣ MV MV ( 3 ) , −T ( 6 ) , −T ( 9 ) − T −T ( ) ( ) ( ) ⎥⎥⎥⎥⎥⎥ MV MV 1 , − T 4 , −T 7 −T MV A MV A MV A 16-15 , A A 0 MV ( 4 ) , − T ( 1 ) A MV ( 5 ) , − T ( 2 ) 16.15 Missile Body to Missile IMU Transformation A ( ) ( ) ⎥ ⎥⎥⎥⎥⎥ MV 6 , −T 3 , 0 A , , , A A 0 ⎤ ⎦ Equation 16.14-4 0 0 ⎤ ⎦ Equation 16.14-5 The IMU sensor outputs are pre-processed and referred to a common frame located at a reference point in the INU. The orientation of the Missile IMU frame with respect to the Missile Body frame is defined by the Euler triplet, AU A AU AU AU ( Φ , Θ , ) E : = Ψ A A A Equation 16.15-1 The transform from the Missile Body to Missile IMU frame (TRBTMV) is obtained by substituting these Euler angles into Equation 16.1-4. In most applications the IMU and its sensors are aligned with Missile Body axes for convenience, in which case, the transform is the identity matrix. In practice, the IMU is skewed by a combination of sensor-to-case non-orthogonality and misalignment errors, and the case with respect to Missile Body axes. 16.16 Missile Body to Missile Velocity Transformation The compound transform from the Missile Body to Missile Velocity frame, MV B MV A T : = T ⋅ T A B Equation 16.16-1 This Euler triplet is related to the missile incidence angles as follows, MV B MV MV ( 0 , Θ , ) E : = Ψ The velocity of the missile along the Missile Body axes, B B Equation 16.16-2
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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 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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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 _ _
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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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Page 460 and 461: Bibliography _ _ G.34 GUTMAN P., VE
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Page 480 and 481: Appendix A / Geometric Points _ _ 1
Page 482 and 483: Appendix A / Geometric Points _ _ 1
Page 484 and 485: Appendix B / Frames of Reference _
Page 494 and 495: Appendix C / Axis Transforms _ _ 16
Page 496 and 497: Appendix C / Axis Transforms _ _ YP
Page 498 and 499: Appendix C / Axis Transforms _ _ B
Page 500 and 501: Appendix C / Axis Transforms _ _ YB
Page 504 and 505: Appendix C / Axis Transforms _ _ Us
Page 508 and 509: Appendix C / Axis Transforms _ _ B
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Page 514 and 515: Appendix D / Point Mass Dynamics _
Page 526 and 527: Appendix E / Earth Geometry _ _ 18-
Page 528 and 529: Appendix E / Earth Geometry _ _ ELL
Page 530 and 531: Appendix E / Earth Geometry _ _ (dx
Page 532 and 533: Appendix E / Earth Geometry _ _ Int
Page 534 and 535: Appendix E / Earth Geometry _ _ 18.
Page 536 and 537: Appendix E / Earth Geometry _ _ 19-
Page 538 and 539: Appendix E / Earth Geometry _ _ P S
Page 540 and 541: Appendix E / Earth Geometry _ _ 19.
Page 542 and 543: Appendix E / Earth Geometry _ _ ∂
Page 544 and 545: Appendix G / Gravity _ _ 20-2
Page 546 and 547: Appendix G / Gravity _ _ g : = g +
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Page 552 and 553: Appendix H / Steady State Tracking
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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 / 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 / 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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