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The Army Combined Arms Weapon System (TACAWS) is currently being developed as a technology demonstration program at the U. S. Army Missile Command (MICOM) located at Redstone Arsenal, AL. The thrust behind the development of TACAWS is to provide the 21st century Army a multiprpose, multitarget, and multi-platform weapon system that can be easily deployed to any location in the world.The TACAWS Land Navigation System (LNS) incorporates data from 3 Ring Laser Gyros (RLGs), 3 quartz accelerometers, a Precision Lightweight GPS Receiver (PLGR) and an odometer into the position and attitude solutions. The LNS is being installed on a modified M2 Bradley vehicle, for the purpose of navigation, targeting, data link attitude control, and missile initialization. Missile initialization includes the transfer of the LNS's north alignmeni accuracy to the missile's Inertial Measurement Unit (1MU). LNS test results reported in this paper include alignment accuracy (static and moving) and drift, inertial sensor error estimation, alignment transfer accuracy, imd navigation accuracy with and without GPS data.

A method is developed f o r the design of a class of observers which will handle time-varying linear systems. The time-varying linear system is stabilized by steering the extended-mean values of all closed-loop ED-eigenvalues into the left-half plane, so that bounded-input boundedoutput stability of the closed-loop system is guaranteed. This principle is analogous to the eigenvalue (pole) placement assignment idea used for time-invariant linear systems. The eigenvalues of the coef3cient matrix of the observer can be placed arbitrarily. This method leads to a system of time-varying differential equations for the determination of the elements of the T matrix using the transformation z= Tx.The results presented are to be used as an alternative to frozen-time analysis of missile systems. However, the observer used in conjunction with the EMA controller provides a design which could be used to control any system governed by time-varying linear equations.