Subject Name: GUIDANCE & NAVIGATION

Subject Code : 15AE754

Prepared By : ROHIT KUMAR

Department : AERONAUTICAL ENGINEERING

Date : 25 – Sep – 2018

 Module 4:
Guidance System
Proportional Navigation Guidance
• the missile is commanded to turn at a rate proportional to the angular
velocity of the line of sight (LOS). This ratio of the missile turning rate to
the angular velocity of the LOS is called the proportional navigation
constant. The letter N will be used to represent this quantity.
• In proportional navigation guidance N is greater than 1 and usually ranges
from 2 to 6. This means that the missile will be turning faster than the LOS,
and thus the missile will build up a lead angle with respect to the LOS.
• For a constant velocity missile and target (target not maneuvering) the
generation of this lead angle can put the missile on a collision course with
the target (zero angular velocity of the line of sight). If N =1, then the
missile is turning at the same rate as the LOS, or simply homing on the
target.
• If N < 1, then the missile will be turning slower than the LOS, thus
continuously falling behind the target, making an intercept impossible.
Conti..
• The LOS is defined as an imaginary line from the missile to the
target. The seeker, by tracking the target, establishes the direction
of the LOS, and the output of the seeker is the angular velocity of
the LOS with respect to inertial space as measured by rate gyros
mounted on the seeker.
• For the missile guidance being discussed, an axis system fixed with
respect to the earth can be considered an inertial reference. In
order to completely analyze proportional navigation guidance it is
necessary to consider the guidance geometry shown in Figure.
• The magnitude of the angular velocity of the LOS which generates
the angular velocity of the seeker 𝜔 𝑆𝐾 𝐼 is determined by the
components of missile and target velocity perpendicular to the LOS.
Conti..
• The components of missile velocity perpendicular
to LOS is
• 𝑉𝑀(˔ 𝐿𝑂𝑆) = 𝑉𝑀 𝑆𝑖𝑛(𝜃𝑅 − 𝜃𝑀 )
• The component of target
velocity perpendicular
to LOS is
𝑉𝑇(˔ 𝐿𝑂𝑆) = 𝑉𝑇 𝑆𝑖𝑛(𝜃𝑅 − 𝜃𝑇 )
Which generates a negative LOS rotation while
missile generates positive LOS rotation.
Conti..
• The magnitude of the angular velocity is then the
difference between the components of missile and target
velocity perpendicular to the LOS divided by the distance
between the target and the missile R. If the perpendicular
components of missile and target velocity are equal and
unchanging, there will be no rotation of the LOS and the
missile will be on a collision course with the target. For the
general case the angular velocity of the LOS is
𝑉 𝑆𝑖𝑛 𝜃 −𝜃 −𝑉 𝑆𝑖𝑛(𝜃 −𝜃 )
• 𝜔(𝐿𝑂𝑆) = 𝑅 𝑅 𝑀 𝑇 𝑅 𝑇
rad/sec
𝑅
• If 𝜃𝑅 , 𝜃𝑇 𝑎𝑛𝑑𝜃𝑀 are small angles then equation can be
rewritten as:
𝑉𝑅 𝜃𝑅 −𝜃𝑀 𝑉𝑇 𝜃𝑅 −𝜃𝑇
• 𝜔(𝐿𝑂𝑆) = − rad/sec
𝑅 𝑅
Conti..
• The Laplace notation
𝑉𝑚 𝑠 𝑉𝑚 (𝑠)𝜃𝑚 (𝑠) 𝑉𝑇 𝑠 [𝜃𝑇 𝑠 −𝜃𝑅 (𝑠)]
• 𝑠− 𝜃𝑅 𝑠 + =
𝑅 𝑠 𝑅(𝑠) 𝑅(𝑠)
𝑉𝑇 (𝜃𝑇 −𝜃𝑅 )/𝑅 𝑉𝑚 𝜃/𝑅
• 𝜃𝑅 = 𝑉 − 𝑉
𝑠− 𝑅𝑚 𝑠− 𝑅𝑚
Block diagram of Proportional
Navigation System
 Command Guidance
• Command guidance is also known as three point guidance which is referred to line of
sight(LOS) trajectory.
• For three-point guidance the missile is guided so as to remain on the LOS, or tracking line,
between the launch point and the target.
• A variation of three-point guidance is lead angle guidance, in which the missile is commanded
to fly ahead of the LOS a distance that is a function of the difference between the range from
the launch point to the target and to the missile. Thus this commanded distance approaches
zero as the missile nears the target.
• These types of guidance are normally used for surface-to-air missiles and require two
tracking radars at the launch site. One radar tracks the target while the other tracks the
missile.
• For three-point guidance the missile-tracking radar acquires the missile shortly after launch
and then guides the missile into the beam of the target-tracking radar. The missile normally
has a transponder in the rear of the missile to facilitate the tracking of the missile and to
distinguish the missile return from that of the target. As soon as the missile is stabilized in the
beam of the target-tracking radar, the missile-tracking radar is free to track another missile.
Conti..
• In this way two missiles can be fired at a given target, with three-point guidance
used for the first missile and lead angle guidance for the second. For lead angle
guidance the missile-tracking radar tracks the missile all the way to intercept.
• The dynamic analysis of the two forms of command guidance is the same except
that the missile-tracking radar pedestal dynamics must be included for lead angle
guidance analysis.
• In the figure 𝑅𝑀 𝑎𝑛𝑑 𝑅𝑇 are the tracking lines to the missile and the target.
• The azimuth angles of the missile and target tracking lines are
𝜓𝑅𝑀 𝑎𝑛𝑑 𝜓𝑅𝑇 respectively with the corresponding elevation angles Θ𝑅𝑀 𝑎𝑛𝑑 Θ𝑅𝑇
• The angular differences between the two tracking lines are
 Δ𝜓 = 𝜓𝑅𝑇 − 𝜓𝑅𝑀
 ΔΘ = Θ𝑅𝑇 − Θ𝑅𝑀
• For the guidance command the actual distance from the tracking line to the missile
 ℎ𝑒 = 𝑅𝑀 ΔΘ
Conti..
Conti..
• To obtain the lateral distance from the tracking line
 ℎ𝜓 = Δ𝜓𝑅𝑀 Θ𝑅𝑀
• for the analysis of lead angle guidance the pedestal dynamics of the
missile tracking radar must be considered. The dynamics of the missile-
tracking radar (MTR) affect not only the stability but also the overall
performance of the system.
• The effect of the MTR dynamics on the performance of the system can
only be determined by using a full-scale simulation. Before discussing the
effects of the MTR dynamics, the generation of the lead angle term will be
covered.
• The distance between Target and Missile from the launch point can be
calculate as
𝑅𝑇−𝑅
 Δ𝑅 = 𝑅𝑇
 where RT and R are the ranges from the launch point to the target and
missile respectively.
Block Diagram of command
Guidance
 Comparison between Proportional
and Command guidance
Proportional Guidance
• proportional navigation guidance the
missile flies a fairly straight path. This is
substantiated by the correspondingly
small heading changes .
• Proportional navigation guidance is used
for non maneuvering targets.
• Needs only one Radar to detect target and
its velocity.
• Only one missile can be launch at a time.
• This type of guidance is used for long
Range targets. For very long Range target
command guidance used as initial phase
then change to proportional guidance.
• The missile is designed statically stable.
Command Guidance
• Three-point guidance the missile flies a
smooth curved trajectory with a large but
rather steady heading change.
• Command guidance is used for
maneuvering targets.
• Needs two Radar, one for target and one
for missile
• More than one missile can be launch
together with the help of lead angle with
three point guidance.
• This type of guidance is used for short or
medium Range of guidance.
• The missile is designed statically unstable.
 Bank-To-Turn(BTT) Missile
• Types of guided missiles, those that are flown in the
same manner as manned aircraft such as cruise
missiles and remotely piloted vehicles.
• Ramjet missile propulsion requires positive angles of
attack and minimal sideslip angles, which can best be
achieved with BTT missile.
• BTT missile control is made more difficult by the high
roll rates required to achieve the short response time
necessary for a high-performance missile.
• The high roll rates increase the aerodynamic coupling,
which will be discussed here, and can lead to inertial
cross-coupling problems.
Block diagram of pitch acceleration
control system for BTT missiles
Conti..
Conti..
• 𝑉𝑀 is the total missile velocity. The roll rate P couples
the Y and Z force equations through 𝛼 𝑎𝑛𝑑 𝛽.
• Pitch and yaw acceleration command are:
𝑅𝑀𝑇𝑍 + 𝑉𝑀𝑇𝑍 𝑡𝑔𝑜
 𝑎𝑧(𝑐𝑜𝑚𝑚) =N 2 − 𝑔𝑧(𝑏𝑖𝑎𝑠)
𝑔 𝑡𝑔𝑜
𝑅𝑀𝑇𝑍 + 𝑉𝑀𝑇𝑍 𝑡𝑔𝑜
 𝑎𝑦(𝑐𝑜𝑚𝑚) =N 2 − 𝑔𝑦(𝑏𝑖𝑎𝑠)
𝑔 𝑡𝑔𝑜
𝑅𝑀𝑇
 𝑡𝑔𝑜 =
𝑉𝑐𝑙
 The roll error angle can be calculate using
−1 𝑎𝑦 𝑐𝑜𝑚𝑚
 𝜖𝜙 = −𝑡𝑎𝑛 ( )
𝑎𝑧 𝑐𝑜𝑚𝑚
Conti..
Where
• 𝑅𝑀𝑇𝑌 𝑎𝑛𝑑 𝑅𝑀𝑇𝑍 are the Y and Z components of the missile-
to-target range vector in missile coordinates
• 𝑉𝑀𝑇𝑌 𝑎𝑛𝑑 𝑉𝑀𝑇𝑍 are the Y and Z components of the missile-
to-target relative velocity vector in missile coordinates
(negative quantities if the missile is closing on the target)
• N is the navigation constant
• 𝑡𝑔𝑜 is the time to go
• 𝑔𝑦(𝑏𝑖𝑎𝑠) 𝑎𝑛𝑑 𝑔𝑧(𝑏𝑖𝑎𝑠) are the Y and Z gravity bias terms
• 𝑅𝑀𝑇 is the magnitude of the missile to target range vector
• 𝑉𝑐𝑙 is the closing velocity between the missile and the
target.
Block Diagram of 𝜷 − 𝜷 SAS(stability
augmentation system)
Root Locus
Block diagram of RACS for
missiles
Conti..
• Roll angle control system has already been
derived in BTT missile Guidance.
• The block diagram of RACS is used to calculate
roll angle error and to improve BTT missile.
Block diagram of racs for
aircraft
Conti…
Conti…
Conti…
• this could have been added to the yaw orientational control system to improve the
stability.
• As can be seen from Figure 4-40, even a low gain drives the system unstable, and
unity feedback results in a too lightly damped response.
• Figure 4-41 shows the effect of roll rate gyro feedback. By adding the inner loop
with the roll rate feedback, a higher outer loop sensitivity can be used without
producing instability.
• To provide a heading reference a third loop can be added to Figure 4-39 by feeding
the heading back through a directional gyro. With this configuration, a heading
error provides a commanded roll angle to the roll angle control system. Then it is
possible to command an excessive roll angle when the heading error is large.
• Thus, as in the case of the yaw orientational control system, it is necessary to limit
the maximum commanded roll angle to prevent exceeding the acceleration limits
of the aircraft.
• With respect to the limiting required, the roll angle control system is superior to
the yaw orientational control system. This can be studied from the horizontal
accelerations resulting from a turn.
Thank You