Guidance of Unmanned Aerial Vehicles

371 Pages·2011·10.26 MB·English

by  Rafael Yanushevsky

GUIDANCE
UNMANNED
OF
AERIAL VEHICLES

GUIDANCE
UNMANNED
OF
AERIAL VEHICLES
R A FA E L YA N U S H EV S KY
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To
DANIEL and CAMILLA

Contents
Preface ......................................................................................................xi
About the Author ...................................................................................xvii
Chapter 1 Basics of Guidance ...............................................................1
1.1 Introduction ................................................................1
1.2 Guidance Process .......................................................6
1.3 Missile Guidance ........................................................7
1.4 Guidance of Cruise Missiles and UAVs ......................9
1.5 Representation of Motion ..........................................10
1.6 Line-of-Sight..............................................................13
1.7 Longitudinal and Lateral Motions ............................15
References ...........................................................................16
Chapter 2 Control of Lateral Motion ...................................................17
2.1 Introduction ...............................................................17
2.2 Parallel Navigation ....................................................17
2.3 Proportional Navigation. Planar Engagement ............19
2.4 Proportional Navigation. Three-Dimensional
Engagement ..............................................................22
2.5 Augmented Proportional Navigation ........................23
2.6 Proportional Navigation as a Control Problem .........24
2.7 Augmented Proportional Navigation as a Control
Problem .....................................................................28
2.8 When Is the PN Law Optimal? .................................29
References ..........................................................................30
Chapter 3 Control of Longitudinal and Lateral Motions .....................31
3.1 Introduction ...............................................................31
3.2 Guidance Correction Controls ..................................32
3.3 Lyapunov Approach to Control Law Design ............34
3.4 Bellman–Lyapunov Approach. Optimal
Guidance Parameters ................................................37
3.4.1 Optimal Guidance for Nonmaneuvering
Targets ..........................................................37
3.4.2 Optimal Augmented Guidance Laws ............41
vii
viii Contents
3.5 Modified Linear Planar Model of Engagement .........43
3.6 General Planar Case .................................................44
3.7 Three-Dimensional Engagement Model ...................48
3.8 Generalized Guidance Laws ......................................51
3.9 Modified Generalized Guidance Laws .....................56
3.10 Examples ..................................................................57
References ..........................................................................63
Chapter 4 Analysis of Proportional Navigation Guided Systems
in the Time Domain ...........................................................65
4.1 Introduction ..............................................................65
4.2 Inertialess PN Guidance System ..............................66
4.3 Method of Adjoints ...................................................68
References ...........................................................................74
Chapter 5 Analysis of Proportional Navigation Guided Systems
in the Frequency Domain ....................................................75
5.1 Introduction ...............................................................75
5.2 Adjoint Method. Generalized Model ........................77
5.3 Frequency Domain Analysis .....................................81
5.4 Steady-State Miss Analysis ......................................90
5.5 Weave Maneuver Analysis ........................................91
5.6 Example ....................................................................92
5.7 Frequency Analysis and Miss Step Response...........95
5.8 Bounded Input—Bounded Output Stability .............98
5.9 Frequency Response of the Generalized
Guidance Model .....................................................100
References .........................................................................103
Chapter 6 Design of Guidance Laws Implementing Parallel
Navigation. Frequency–Domain Approach .......................105
6.1 Introduction .............................................................105
6.2 Neoclassical Missile Guidance ................................106
6.3 Pseudoclassical Missile Guidance ...........................111
6.4 Example Systems .....................................................115
6.4.1 Planar Model of Engagement ......................115
6.4.2 Multidimensional Model
of Engagement ............................................120
References .........................................................................122
Contents ix
Chapter 7 Guidance Law Performance Analysis under
Stochastic Inputs ............................................................... 125
7.1 Introduction ............................................................125
7.2 Brief Discussion of Stochastic Processes ...............126
7.3 Random Target Maneuvers ......................................131
7.4 Analysis of Influence of Noises on Miss Distance ...134
7.5 Effect of Random Target Maneuvers on
Miss Distance ..........................................................140
7.6 Computational Aspects ............................................141
7.7 Examples .................................................................144
7.8 Filtering ...................................................................156
References .........................................................................157
Chapter 8 Guidance of UAVs .............................................................159
8.1 Introduction .............................................................159
8.2 Basic Guidance Laws and Vision-Based
Navigation ................................................................163
8.3 Generalized Guidance Laws for UAVs ....................171
8.3.1 Waypoint Guidance Problem .......................171
8.3.2 Rendezvous Problem ...................................172
8.3.3 Conditional Rendezvous Problem ................175
8.4 Guidance of a Swarm of UAVs ................................177
8.5 Obstacle Avoidance Algorithms ..............................181
References .........................................................................183
Chapter 9 Testing Guidance Laws Performance ................................185
9.1 Introduction .............................................................185
9.2 Forces Acting on Unmanned Aerial Vehicles .........188
9.3 Reference Systems and Transformations .................191
9.4 Unmanned Aerial Vehicles Dynamics ....................194
9.5 Autopilot and Actuator Models ..............................203
9.6 Seeker Model ..........................................................209
9.7 Filtering and Estimation ..........................................212
9.8 Kappa Guidance ......................................................219
9.9 Lambert Guidance ..................................................222
9.10 Simulation Models of Unmanned
Aerial Vehicles .......................................................224
9.10.1 6-DOF Simulation Models .........................226
9.10.2 3-DOF Simulation Models .........................234
References .........................................................................241