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

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Appendix I / Utilities / Axis Transforms _ _ RPY Ψ 22.4-4 B A : = 0 Equation 22.4-24 B −15 B −15 RPY B ( ΨA < 10 ) ∧ ( ΘA < 10 ) ⇒ EA : = 03 22.4.4 Euler RP to Euler YP Transformation Equation 22.4-25 RP_TO_YP takes the RPY Euler triplet defining the orientation of frame (B) with respect to frame (A) and returns the equivalent YPR Euler triplet. RP_TO_YP E B A : = RPY B B YP RPY B RPY B ( E , E ) ≡ ϕ ( Φ , Θ ) ⎛ ⎜ ⎜ ⎜ ⎜ ⎜ ⎜ ⎝ sin tan −1 −1 A A RP RPY B RPY B ( sin ( Θ ) ⋅ cos( Φ ) ) A 0 ( ( ) ( ) ) ⎟⎟⎟⎟⎟⎟ RPY B RPY B tan Θ ⋅ sin Φ A A A A A Equation 22.4-26 ⎞ ⎠ Equation 22.4-27 RPY B −15 RPY B −15 B ( ΦA < 10 ) ∧ ( ΘA < 10 ) ⇒ EA : = 03 22.4.5 Euler YP to Cartesian Transformation Equation 22.4-28 YP_TO_XYZ takes the distance from point (a) to point (b), and the YPR Euler triplet defining the orientation of frame (B) with respect to frame (A), and returns the position of (b) with respect to (A). YP_TO_XYZ B A X B ( P , E , P ) ≡ ϕ ( P , E ) a, b 22.4.6 Euler RP to Cartesian Transformation A b E a, b A Equation 22.4-29 RP_TO_XYZ takes the distance from point (a) to point (b), and the RPY Euler triplet defining the orientation of frame (B) with respect to frame (A), and returns the Cartesian position of (b) with respect to (A). RP_TO_XYZ RPY B A ( P , E , P ) a, b A b Equation 22.4-30
Appendix I / Utilities / Axis Transforms _ _ A b a, b ( ) T B B B B B cosΘ , sin Θ ⋅ sin Φ , − sin Θ ⋅ cos P : = P ⋅ Φ 22.4.7 Euler YPR to Direction Cosine Transformation A 22.4-5 A A A A Equation 22.4-31 YPR_TO_DC takes an Euler triplet defining the orientation of frame (B) with respect to frame (A), and returns the transformation matrix from Equation 16-4. YPR_TO_DC B B DC B ( E , T ) ≡ ϕ ( E ) A A E A Equation 22.4-32 If any Euler angle is < 10 -15 a reduced set of equations is computed using the two remaining Euler rotations. In strict order, Φ Θ B A B A Ψ B A ≤ ≤ ≤ 10 10 10 −15 −15 −15 ⇒ ⇒ T T B A B A : = : = ⎡ B cΘA ⋅ cΨ ⎢ ⎢ ⎢ B − sin ΨA ⎢ ⎢ ⎢ B ⎣ sΘA ⋅ cΨ B A B A ⎡ B cos ΨA ⎢ ⎢ ⎢ B − cΦA ⋅ sΨ ⎢ ⎢ ⎢ B B ⎣ sΦA ⋅ sΨA ⎡ B cos ΘA ⎢ ⎢ ⎢ B sΦA ⋅ sΘ ⎢ ⎢ ⎢ B ⎣ cΦA ⋅ sΘ 22.4.8 Euler RPY to Direction Cosine Transformation ⇒ T B A : = B A B A B A , , , , , , , , , cΘ cos Ψ sΘ B A B A cΦ − sΦ cΦ − sΦ ⋅ sΨ B A ⋅ sΨ sin Ψ 0 B A B A B A B A B A B A B A ⋅ cΨ ⋅ cΨ , , , , , , − sΘ 0 cΘ B A B A ⎤ ⎥ ⎥ ⎥ ⎥ ⎥ ⎥ ⎦ Equation 22.4-33 B A B A , , , 0 sΦ cΦ B A B A ⎤ ⎥ ⎥ ⎥ ⎥ ⎥ ⎥ ⎦ Equation 22.4-34 − sin Θ sΦ cΦ B A B A B A ⋅ cΘ ⋅ cΘ B A B A ⎤ ⎥ ⎥ ⎥ ⎥ ⎥ ⎥ ⎦ Equation 22.4-35 RPY_TO_DC takes a RPY Euler triplet representing the orientation of frame (B) with respect to frame (A), and returns the transformation matrix.
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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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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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Page 552 and 553: Appendix H / Steady State Tracking
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Page 564 and 565: Appendix I / Utilities _ _ Cartesia
Page 566 and 567: Appendix I / Utilities _ _ Matrix P
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Appendix I / Utilities / Matrices _
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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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