Effective Use of Magnetometer Feedback for Smart Projectile Applications

Rogers, Jonathan; Costello, Mark; Harkins, Thomas E.; Hamaoui, Moshe

doi:10.1002/j.2161-4296.2011.tb02581.x

Cited by 28 publications

(25 citation statements)

References 22 publications

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“…Roll estimation is necessary to resolve the target error components in the fixed-plane (i.e., nonrolling) coordinate system. Numerous authors have studied roll angle estimation for smart weapons based on magnetometer [21][22][23] or infrared sensor measurements [24][25]. For this study, it is assumed that some source of roll feedback is available, and thus the target error components can be transformed into the fixed-plane frame according to,…”

Section: Detector Modelingmentioning

confidence: 99%

See 1 more Smart Citation

Guidance and Control of a Man Portable Precision Munition Concept

Fresconi

Rogers

2015

AIAA Atmospheric Flight Mechanics Conference

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Small diameter, gun-launched projectiles pose a challenging platform on which to implement closed-loop guidance and control. This paper presents a novel imager-based guidance and control algorithm for small diameter, spin-stabilized projectiles. The control law is specifically formulated to rely on feedback only from a strap-down detector and roll angle sensors.Following introduction of the projectile nonlinear dynamic model, an integrated guidance and control algorithm is presented in which control commands are computed directly from detector feedback using a gain-scheduled proportional control. Time-varying controller gains are derived through a surrogate modeling approach, and controller performance is further enhanced through use of an observer that filters unwanted angular motion components from detector feedback.Example closed-loop flight simulations demonstrate performance of the proposed control system, and Monte Carlo analysis shows a factor of two accuracy improvement for the closed-loop system over ballistic flight. Results indicate that delivery system improvements are achievable in small, gyroscopically-stabilized projectiles containing low cost guidance elements using the proposed integrated guidance and control approach. mass [kg]This material is declared a work of the U.S. Government and is not subject to copyright protection in the United States. AIAA SciTech I moment of inertia matrix [kg-m 2 ] , ⁄ total velocity of projectile with respect to the wind, velocity of center of gravity with respect to inertial frame in body-fixed coordinates [m/s] atmospheric density [kg/m 3 ] dynamic pressure at projectile mass center [N/m 2 ] q M dynamic pressure at wing actuator center of pressure [N/m 2 ] Mach number √ pitch angle-of-attack [rad] √ yaw angle-of-attack [rad] √ √ total angle-of-attack [rad] aerodynamic roll angle [rad] , , aerodynamic forces acting on projectile [N] , , gravity forces acting on projectile [N] , , aerodynamic moments acting on projectile [Nm] , , total, zero-yaw, and yaw-dependent axial force coefficient , , , total, trim, linear and nonlinear normal force coefficient roll damping moment coefficient , , , total, trim, linear and nonlinear pitching moment coefficient pitch damping moment coefficient Magnus force coefficient Magnus moment coefficient , , , Wind actuator aerodynamic coefficients , axial center-of-pressure, radial CP [m] → vector from center-of-gravity to i th moveable Downloaded by NANYANG TECHNICAL UNIVERSITY on October 1, 2015 | http://arc.aiaa.org | aerodynamic surface center-of-pressure [m] , , , Φ, Earth-fixed commanded, Earth-fixed control, body-fixed control, relative, and stowed roll angles [rad] 1 0 0 0 Φ Φ 0 Φ Φ transformation matrix from body-fixed to moveable aerodynamic surface coordinates transformation matrix from body-fixed to Earthfixed coordinates transformation matrix from body-fixed to wing surface coordinates transformation matrix from velocity vector coordinates to Earth-fixed coordinates , , inertial position [m] , , inertial translational veloc...

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Section: Detector Modelingmentioning

confidence: 99%

“…The resulting response data due to these maneuvers was collected. More specifically, the relative position (21) and velocity (22) of the projectile with respect to the target in velocity vector coordinates was tabulated according to,…”

Section: B Surrogate Model Developmentmentioning

confidence: 99%

Guidance and Control of a Man Portable Precision Munition Concept

Fresconi

Rogers

2015

AIAA Atmospheric Flight Mechanics Conference

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“…Devices such as magnetometers have been demonstrated to provide roll (23)(24)(25)(26). (19) These nonlinear flight models were implemented in simulation.…”

Section: Flight Modelingmentioning

confidence: 99%

“…The parameter vector was formulated given these models. (24) An example of this analysis is shown in figure 10. Four levels of baseline control effectiveness (0.25, 0.50, 0.75, and 1.00) were investigated with a maneuver to extend range.…”

Section: Guidance and Flight Controlmentioning

confidence: 99%

Guidance and Control of a Man-Portable Precision Munition Concept

Fresconi¹,

Rogers²

2014

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Approved for public release; distribution is unlimited.ii REPORT DOCUMENTATION PAGE Form Approved OMB No. 0704-0188Public reporting burden for this collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection information. Send comments regarding this burden estimate or any other aspect of this collection of information, including suggestions for reducing the burden, to Department of Defense, Washington Headquarters Services, Directorate for Information Operations and Reports (0704-0188), 1215 Jefferson Davis Highway, Suite 1204, Arlington, VA 22202-4302. Respondents should be aware that notwithstanding any other provision of law, no person shall be subject to any penalty for failing to comply with a collection of information if it does not display a currently valid OMB control number. PLEASE DO NOT RETURN YOUR FORM TO THE ABOVE ADDRESS. REPORT DATE (DD-MM-YYYY)June 2014 ARL-TR-6966 SPONSORING/MONITORING AGENCY NAME(S) AND ADDRESS(ES) 10. SPONSOR/MONITOR'S ACRONYM(S) SPONSOR/MONITOR'S REPORT NUMBER(S) DISTRIBUTION/AVAILABILITY STATEMENTApproved for public release; distribution is unlimited. SUPPLEMENTARY NOTES ABSTRACTThe hypothesis of this report is that delivery accuracy of small-diameter spin-stabilized projectiles can be improved through novel guidance and control techniques using low-cost components. A gyroscopically stable projectile equipped with a strap-down detector and rotary actuation assembly is introduced. Flight models are formulated to enable nonlinear simulation. The unique guidance challenges posed by characteristics of spin-stabilized flight dynamics such as limit cycles, center-ofgravity swerve, instability, and practical feedback are illustrated. New guidance and control techniques to circumvent these difficulties are proposed. Modeling, parameter estimation, and stability analysis results underpin control design. Representative feedback, control commands, and flight behaviors from nonlinear simulations demonstrate the efficacy of this guidance approach. Monte Carlo analysis shows more than a factor of two in accuracy improvement of the guided over the ballistic flight. These results indicate that delivery system improvements are achievable in small, gyroscopically stable projectiles containing low-cost guidance elements using integrated control formulations. iii SUBJECT TERMS

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“…In the past, both dynamic models (5) and kinematic models (6) have been used as process models for projectile Kalman filters, as well as combinations of the two (7). There have been practical concerns with using an IMU on a projectile, the first of which is the availability of sensors that are capable of measuring the spin rate of a projectile.…”

Section: Introductionmentioning

confidence: 99%

Multiplicative Quaternion Extended Kalman Filtering for Nonspinning Guided Projectiles

Maley¹

2013

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Approved for public release; distribution is unlimited.ii REPORT DOCUMENTATION PAGE Form Approved OMB No. 0704-0188Public reporting burden for this collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection information. Send comments regarding this burden estimate or any other aspect of this collection of information, including suggestions for reducing the burden, to Department of Defense, Washington Headquarters Services, Directorate for Information Operations and Reports (0704-0188), 1215 Jefferson Davis Highway, Suite 1204, Arlington, VA 22202-4302. Respondents should be aware that notwithstanding any other provision of law, no person shall be subject to any penalty for failing to comply with a collection of information if it does not display a currently valid OMB control number. PLEASE DO NOT RETURN YOUR FORM TO THE ABOVE ADDRESS. REPORT DATE (DD-MM-YYYY)July 2013 ARL-TR-6503 SPONSORING/MONITORING AGENCY NAME(S) AND ADDRESS(ES) 10. SPONSOR/MONITOR'S ACRONYM(S) SPONSOR/MONITOR'S REPORT NUMBER(S) DISTRIBUTION/AVAILABILITY STATEMENTApproved for public release; distribution is unlimited. SUPPLEMENTARY NOTES ABSTRACTThe problem of estimating the attitude, velocity, and position states of a slow to nonspinning, gun-launched projectile is addressed through the use of an extended Kalman filter (EKF). The EKF is constructed using an error-state mechanization similar to those used in traditional inertial navigation applications, although the kinematics are simplified by assuming the Earth-fixed reference frames used for tactical applications are inertial. The advantages of using quaternions rather than Euler angles to represent projectile attitude are discussed, and the use of multiplicative quaternion error states is given detailed attention as this leads to fundamental differences from most other extended Kalman filter implementations that tend to assume additive error states. The measurements and heuristic information available for most projectile applications are incorporated into the EKF. Two sets of simulation results involving a direct-fire system and an indirect-fire system are presented. iii SUBJECT TERMS

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Effective Use of Magnetometer Feedback for Smart Projectile Applications

Cited by 28 publications

References 22 publications

Guidance and Control of a Man Portable Precision Munition Concept

Guidance and Control of a Man Portable Precision Munition Concept

Guidance and Control of a Man-Portable Precision Munition Concept

Multiplicative Quaternion Extended Kalman Filtering for Nonspinning Guided Projectiles

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