Acceleration commands in missiles guided by proportional navigation require the measurement of line-of-sight (LOS) rate. It is often obtained by filtering the output of a two-degree-of-freedom (2-DOF) rate gyro mounted on the inner gimbal of the seeker. This paper describes the modeling of an imaging seeker and the formulation of an extended Kalman filter (EKF) for the estimation of LOS rate from measurements of relative angular displacement between seeker gimbals and a low-cost strapdown inertial unit. The approach aims at circumventing the need for the rate gyro on the seeker. A linearizing feedback control law for decoupling missile motion from that of the seeker is proposed based on the filter model and its estimates.
Additionally, the control law uses visual information from the image sequence for target tracking. Seeker dynamics and control are then integrated into a dynamic model of a cruciform missile equipped with canards and rollerons and guided by proportional navigation in three-dimensional (3-D) interception tasks. MonteCarlo simulation is employed to evaluate the overall system accuracy subject to different initial conditions-lateral and head-on engagements-and the impact of rolling motion during highmaneuvers on miss distance. The validation model includes noise in the various sensors, coupled inertia of the seeker gimbals, signal saturation at various subsystems, optical geometric distortion, and target segmentation errors in the image plane. Initial engagement geometry and roll-rate damping at high incidence angles have been observed to have a significant impact on miss distance.