Proportional Navigation Guidance Blakelock Approach

Notes

Synopsis
Proporitonal navigation guidance system has been treated dierently by various authors like Zarchan, Siouris, Blakelock, Yanushevsky, etc. These notes discuss the approach taken by John H.Blakelock as given in chapter 8 of his book entitled AUTOMATIC CONTROL OF AIRCRAFT AND MISSILES.

Contents

Synopsis 1 Introduction 1.1 1.2 1.3 1.4 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Guidance Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Proportional Navigation Guidance . . . . . . . . . . . . . . . . . . . . . . Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1 1 1 1 2 3

Chapter 1 Introduction
1.1 Overview

Proportional navigation guidance is widely used due its simplicity and ease in implementation.Over the decades, there has been considerable interest in developing various approaches to the proportional navigation guidance problem and overcoming the limitations of each previous approach. A study of each of these approaches is worthwhile in order to make a comparison and may also help in devising new approaches.

1.2

Guidance Systems

The important parameters of the missile-target intercept are shown in gure below:(a) An earth reference axis system (XE , YE , ZE ) is located at the missile, M, and target, T. (b) The headings of the missile, M , and the target, T as well as the angle in azimuth, R of the LOS from the missile to the target, R, are measured from the XE axis. (c) As shown in the gure, T is measured in the negative direction. (d) The elevation angles of the missile, the target, and R are M , T and R respectivley. (e) To simplify the gure, the missile angle of attack has been taken as zero. 1

The two missile guidance systems to be analysed are (a) Proportional navigation and (b) Line-of-sight Command Guidance For proportional navigation guidance, the missile is guided by either the reected radio frequency or the radiant infrared energy from the target. The reected energy is received by an appropriate tracking device referred to as the seeker. For command guidance of surface-to-air missiles, two tracking radars are located at the launch sight, one to track the target, the other the missile. The outputs of the two radars are used to generate guidance commands.

1.3

Proportional Navigation Guidance

For proportional navigation guidance, the missile is guided to tun 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. (a) 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. (b) For a constant velocity missile and target (target not maneuvering), the generation of this lead angle can put the missile in a collision course with the target (zero angular velocity of the line-of-sight). (c) If N = 1, then the missile is turning at the same rate as the LOS, or simply homing on the target. (d) If N < 1, then the missile will be turning slower than the LOS thus continuously falling behind the target, making an intercept impossible. This instability can be shown through root locus analysis.

1.4

Analysis

The LOS is dened 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 the inertial space as measured by rate gyros mounted on the seeker. For the missile guidance being discussed, an axis system xed with respect to the earth can be considered as inertial reference. In order to completely analyze proportional navigation guidance, it is necessary to consider the guidance geometry shown in gure below:The magnitude of the angular velocity of the LOS which generates the angular velocity of the seeker, (SK)I , is determined by the components of missile and target velocity perpendicular to the LOS, which for simplicity is shown in the vertical plane in the gure above. The component of the missile velocity perpendicular to the LOS is VM ( LOS) = VM sin(R M ) which generates a positive LOS rotation. The component of the target velocity perpendicular to the LOS is VT ( LOS) = VT sin(R T ) which generates a negative LOS rotation. The magnitude of the angular velocity is then the dierence 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 the 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 LOS = VM sin(R M ) VT sin(R T ) R 3 (1.3) (1.2) (1.1)

If T , M , R can be assumed to be small angles then the above equation can be linearised as LOS = VM (R M ) VT (R T ) R R (1.4)

From the gure for guidance geometry, LOS = R Hence VM (R M ) VT (R T ) R = R R (1.6) (1.5)

Taking Laplace transforms on both sides of the above equation and simplifying gives [s VM (s) VT (s) VM (s) ]R (s) + M (s) = [T (s) R (s)] R(s) R(s) R(s) (1.7)

Solving for R gives R (s) = VT (s) [T (s) R (s)] VM (s) M (s) M (s) R(s) R(s) [s VM (s) ] [s VR(s) ] R(s) (1.8)