Optimal Missile Guidance System: by Yaron Eshet & Alon Shtakan Supervised by Dr. Mark Mulin

Optimal Missile
Guidance system
By Yaron Eshet & Alon Shtakan
Supervised by Dr. Mark Mulin
Equations of motion
M T
a a

2
,
,
: cos( )
: 2 sin( )
T M r
T M
r r r a a
r r a a

|
|
=
+ =
LOS
Target
Missile
r
T
a
M
a
y

x
|
Overview - Interception
Parameters:

Interception:
, , , ,
T
r r a
0 r
0 r
0 . const ~

r
Necessary condition for interception for all initial conditions:

The problem: non-linear and complex relation between the parameters
The solution:

a) Guidance law in (RTPN) to achieve

b) Guidance law in to complete the interception process
0
0 r for t t < >
Test case
2
,
,
: cos( )
: 2 sin( )
T M r
T M
r r r a a
r r a a

|
|
=
+ =
Simple maneuver
T
a
( ) 0
T
a x t | =
simulates realistic missile
T
a
Guidance law Test case
2
,
,
: cos
: 2 sin ( 2)
T M r
T M
r r r a a
r r a a r r

=
+ = =
RTPN: Realistic true proportional navigation
,
sin
M T
a r a r
=
compensation of target missile acceleration
Guidance law perpendicular to line of sight (LOS(:
Guidance law Test case
2
,
: cos
: ( 2)
T M r
r r r a a
r r

=
=
( / 2 3 / 2) t t < <
Target
Missile
r
, T x
a
, M
a

y
x
T
a
r
,
,
0
M M
M r
a a
a
=
=
LOS
distance decrease:
has a projection
in direction
Test Case: equations of motion

r r
a r r r
T
) 2 ( :
cos :
2
=
=
4
0
0
0
0
8 10
1787 / sec
2.18
0.0051 / sec
3.85
r m
r m
rad
rad
=
=
=
=
=
Initial conditions
0 10 20 30 40
0
2
4
6
8
x 10
4
r(t)
0 10 20 30 40
-2600
-2400
-2200
-2000
-1800
-1600
dr(t)
0 10 20 30 40
2.2
2.25
fe(t)
0 10 20 30 40
-2
0
2
4
6
x 10
-3
dfe(t)
0 10 20 30 40
20
25
30
35
40
45
aT(t)
0 10 20 30 40
30
35
40
45
50
55
aM(t)
Interception in 37.57 sec
Interception time vs.
intercept time vs. lamda (ro=8e4)
37.5
37.6
37.7
37.8
37.9
38
38.1
0 20 40 60 80 100 120
lamda
t

i
n
t
e
r
c
e
p
t
intercept time vs. lamda (for r0=8e5)
195
200
205
210
215
220
225
230
0 5 01 51 02 52
lamda
t

i
n
t
e
r
c
e
p
t
The influence of depends
on the initial conditions

difference in interception
time of order 0.1 sec
difference in
interception time of
order 10 sec

4
0
8 10 r m =
5
0
8 10 r m =

37.5
37.6
37.7
37.8
37.9
38
38.1
0 20 40 60 80 100 120
lamda
t

i
n
t
e
r
c
e
p
t
195
200
205
210
215
220
225
230
0 5 01 51 02 52
lamda
t

i
n
t
e
r
c
e
p
t
For values under a
certain bound, there is no
guarantee for interception

Interception time
diverges for small
values of
37.5
37.6
37.7
37.8
37.9
38
38.1
0 20 40 60 80 100 120
lamda
t

i
n
t
e
r
c
e
p
t
195
200
205
210
215
220
225
230
0 5 01 51 02 52
lamda
t

i
n
t
e
r
c
e
p
t
Saturation zone: minor
influence of . Critical
influence for initial
conditions and maneuver

interception time ~ 37 sec
interception time ~ 200 sec

4
0
8 10 r m =
5
0
8 10 r m =
Analytical analysis
2
: cos
: ( 2)
0
T
r r r a
r r

< = +
=
2 2
( ) (2 3) 0
d
r r
dt
= <
Necessary condition for interception for all initial conditions
1.5 >
0 for r <
resulting condition
(1)
(2)

1.49 = ( interception ) 0.9 = ( miss )
=3.85 ( interception ) =1.51 ( interception )
Behavior of with respect to (comparison with theory)
extreme divergence
Edge of divergence
divergence occurs around r~0 , as starts varying rapidly
2
r
2
: cos 0
T
r r a r + < =
?
The solution: guidance law also in direction
r
,
cos
M r T
a a K = +
2
: r r K r r K = + ~
ensures interception
for all initial conditions
depends on maneuver
2
0 0
2
0 0 0
0.5
2
intercept
r K t r t r
r r K r
t
K
~ + +
+ +
~
Interception time vs. K (simulation vs. approx. calculation)
0
20
40
60
80
100
120
140
160
180
0 50 100 150
K
I
n
t
e
r
c
e
p
t

t
i
m
e
d(fee0)=0.016
d(fee0)=0.0051
Approx.
2
0 0
2
0 0 0
0
0.5
2
1
( 0)
intercept
r K t r t r
r r K r
t for r
K
K
~ + +
+ +
~ =
r K ~
0
0.0051 =
0
0.016 =
2
0 0
K r
?
Summery: sufficient conditions for interception
K>0
1.5 <

These conditions ensure interception for all initial conditions
and for any target missile maneuver.
K - Gain Scheduling
The case: delay in data acquisition about the target missile maneuver
5 10 15 20 25 30 35 40 45 50
4
6
8
10
12
14
2
( ) ( ) ( )
2
[ cos( ) cos( )] ( :
( )
)
( ) : ( )
( )
T T delay delay delay
original original
r r r K K
K t K t delay r r r
a a
K
K
K t
t
K t
| |
= + = +
= + A = ~
A
5 10 15 20 25 30 35 40 45
25
30
35
40
5 10 15 20 25 30 35 40
-5
0
5
10
15
( ) K t ( ) K t T
a
5 2 sec
original
K delay = =
limited sensitivity
sec 203.73 212.08
intercept
t :
- Gain Scheduling
The case: adjusting for distance increase/decrease
sec 47.34 49.68
2 2
( ) (2 3)
d
r r
dt
=
0
0
0
4
0
500 /
8 10
2.15
100
1
sec
0.016 / se
0
c
r m
r
r m
ad
K
rad
=
=
=
=
=
=
2
0 0
K r
2
r
intercept
t :
not negligible
Constraints on interception time: Optimal control
2
:
: ( 2)
r r r K
r r

=
=
2
0 0 0
2
1
intercept
r r K r
t
K
K
+ +
~
Optimal Control
0
500
1000
1500
2000
2500
3000
3500
4000
4500
0 5 10 15 20 25
K
c
o
s
t

f
u
n
c
t
i
o
n
rou = 0.5 rou = 1 rou = 10
optimal K
2 2
2
[ ]
( )
intercept
J y u dt
t K K
= +
+
}
Example: Limited angular acceleration
,
sin
M T
a a r
=
4
0
0
0
0
8 10
0 / sec
2.15
0.016 / sec
100
10
r m
r m
rad
rad
K
=
=
=
=
=
=
intercept
t 41.66 sec =
, M
a

r
2
r
( ) r t
No limit
50
40
r
r

<
<
intercept
intercept
t
t 41.66 sec
42.21 sec
=
=
No interception
( ) r t
2
r
Transition from failure to successful interception
(green plot previous page)

Conclusion:

Under realistic constraints, one gets an upper bound for K, which means
a lower bound for interception time
intercept
t 62.64 sec =
Ideal interception vs. interception under constraint
(blue vs. red plots)
intercept
t 41.66 sec =
intercept
t 42.21 sec =
50 r <
( ) M M M
Total Effort F dx m v a dt = ~
} }
No constraint
7
1.394 10 S ~
7
1.381 10 S ~
Conclusion:

Interception with no constraint is faster indeed. However, it requires homing missile
with higher performance and greater control effort.
( ) ( )
M M
v t a t
Project summery
Analysis of the equations of motion of the system
Introduction of guidance laws and study of their
function in ensuring interception
Applying Gain Scheduling methods for improved
performance
Analysis of the system behavior under realistic
constraints and restrictions

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Optimal Missile

Interception time vs.

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