Stanag 4355

NATO/PfP UNCLASSIFIED
NATO NATO STANDARDIZATION AGENCY
OTAN AGENCE OTAN DE NORMALISATION
17 April 2009 NSAl0454(2009)-JAIS/4355
See CNAD AC/225 STANAG distribution
STANAG 4355 JAIS (EDITION 3) - THE MODIFIED POINT MASS AND FIVE DEGREES
OF FREEDOM TRAJECTORY MODELS
References:
a. MAS/24-LAND/4355 dated 20 January 1997 (Edition 2)
A. PFP(NAAG)D(2006)0005, dated 21 March 2006, (Edition 3) (Ratification Draft)
1. The enclosed NATO Standardization Agreement, which has been ratified by

nations as reflected in the NATO Standardization Document Database (NSDD) is
promulgated herewith.
2. The references listed above are to be destroyed in accordance with local

document destruction procedures.
ACTION BY NATIONAL STAFFS
3. National staffs are requested to examine their ratification status of the STANAG
and, if they have not already done so, advise the Defence Investment Division through
their national delegation as appropriate of their intention regarding its ratification and
implementation.
J an . MORENO
Ice-Admiral, ESP(N)
irector, NATO Standardization Agency
Enclosure:
STANAG 4355 (Edition 3)
NATO Standardization Agency - Agence OTAN de normalisation
B-1110 Brussels, Belgium Intemet site: http://nsa.nato.int
E-mail: makinen.esa@hq.nato.int- Tel 32.2.707.3823 - Fax 32.2.707.4103
Source: https://assist.dla.mil -- Downloaded: 2021-03-23T15:30Z

Check the source to verify that this is the current version before use.
STANAG4355
(Edition 3)
NORTH ATLANTIC TREATY ORGANISATION

(NATO)
NATO STANDARDIZATION AGENCY

(NSA)
STANDARDISATION AGREEMENT
(STANAG)
SUBJECT: THE MODIFIED POINT MASS AND FIVE DEGREES OF FREEDOM

TRAJECTORY MODELS
Promulgated on 17 April 2009
Jua A. MORENO
Vi -Admiral, ESP(N)
Di ector, NATO Standardization Agency

STANAG 4355
(Edition 3)
RECORD OF AMENDMENTS
No. Reference/date of Date Signature

Amendment Entered
EXPLANATORY NOTES
AGREEMENT
1. This STANAG is promulgated by the Director NATO Standardization Agency

under the authority vested in him by the NATO Standardization Organisation Charter.
2. No departure may be made from the agreement without informing the tasking
authority in the form of a reservation. Nations may propose changes at any time to the
tasking authority where they will be processed in the same manner as the original
agreement.
3. Ratifying nations have agreed that national orders, manuals and instructions
implementing this STANAG will include a reference to the STANAG number for
purposes of identification.
RATIFICATION, IMPLEMENTATION AND RESERVATIONS
4. Ratification, implementation and reservation details are available on request or

through the NSA websites (internet http://nsa.nato.int; NATO Secure WAN
http://nsa.hq.nato.int).
FEEDBACK
5. Any comments concerning this publication should be directed to NATO/NSA

Bvd Leopold III- 1110 Brussels - Belgium.
ii
STANAG 4355
(Edition 3)
NATO STANDARDISATION AGREEMENT

(STANAG)
THE MODIFIED POINT MASS AND FIVE DEGREES OF FREEDOM TRAJECTORY MODELS
ANNEXES:
A Forms of Fire Control Input Data

B Additional Terms for Projectiles with Bourrelet Nubs
C Additional Terms for Spin-Stabilized Rocket-Assisted Projectiles, Spin-Stabilized
Base-Burn Projectiles and Fin-Stablized Rockets – Method 1 –
D Additional Terms for Spin-Stabilized Rocket-Assisted Projectiles, Spin-Stabilized
Base-Burn Projectiles and Fin-Stabilized Rocket-Assisted Rockets – Method 2
E Calculation of Submunition Trajectories
F Point Mass Trajectory Model
G Additional Terms for Guided Munitions
H Glossary of Terms
I Selected Bibliography
Related Documents:
AOP-37 - NATO Armaments Ballistic Kernel (NABK)

ISO 2533- The ISO Standard Atmosphere
1975
STANAG 4106 Procedures to Determine the Degree of Ballistic Performance
- Similarity of NATO Indirect Fire Ammunition and the Applicable
Corrections to Aiming Data
STANAG 4114 Procedures to Determine the Fire Control Inputs for Use in Indirect
- Fire Control Systems
STANAG 4119 Addoption of a Standard Cannon Artillery Firing Table Format
-
STANAG 4537 NATO Armaments Ballistic Kernel (NABK)
STANAG 6022 Addoption of a Standard Gridded Data Meteorological Message
-
-1-

STANAG 4355
(Edition 3)
AIM
1. The principal aim of this agreement is to standardize the exterior ballistic trajectory
simulation methodology for NATO Naval and Army Forces. The Modified Point Mass
model will be used for spin-stabilized projectiles and the Five Degrees of Freedom model
will be used for fin-stabilized rockets. This will facilitate the exchange of exterior ballistic
data and fire control information.
AGREEMENT
2. Participating nations agree to use the Modified Point Mass Trajectory Model for
spin-stabilized projectiles and a Five Degrees of Freedom Model for exterior ballistic
trajectory simulation of fin-stabilized rockets.
GENERAL
3. This agreement permits some flexibility by accommodating certain specific

national aerodynamic conventions and ballistic data analysis procedures.
DETAILS OF AGREEMENT
4. The details of the agreement are given hereunder and are divided into the
following four parts:
I - Equations of Motion
A. Equations of Motion For Spin-Stabilized Projectiles
B. Equations of Motion for Fin-Stabilized Rockets
C. Common Equations of Motion
II - List of Symbols
III - Comparison of Aerodynamic Coefficient Symbols
IV - List of Data Requirements
IMPLEMENTATION OF AGREEMENT
5. This STANAG is considered to be implemented when a nation has issued the

necessary orders/instructions to the forces concerned, putting the procedures detailed in
this agreement into effect.
-2-

NATO/PFP UNCLASSIFIED
STANAG 4355
Edition 3
I. EQUATIONS OF MOTION
5. The following equations constitute mathematical models representing the flight of:
(1) spin-stabilized projectiles and
(2) fin-stabilized rockets,
that are dynamically stable and possess at least trigonal symmetry. The mathematical modeling is
accomplished mainly by: (a) including only the most essential forces and moments, (b) for spin-
stabilized projectiles, approximating the actual yaw by the yaw of repose neglecting transient yawing
motion, and (c) applying fitting factors to some of the above forces to compensate for the neglect of
or approximations for other forces and moments. All vectors have as a frame of reference a right-
& & &
handed, orthonormal, ground-fixed, Cartesian coordinate system with unit vectors ( 1, 2 and 3 ) as
shown in Figure I-1.
Assume that the body can be considered a solid of revolution, and assign to the axis of rotational
&
symmetry a unit vector x in the chosen coordinate system. Since the rigid body is to represent a
&
projectile or rocket, the direction of x from tail to nose is defined as positive. The total angular
momentum of the body can now be expressed as the sum of two vectors in the ground-fixed coordinate
system:
&
(1) The angular momentum about x , and
&
(2) the angular momentum about an axis perpendicular to x .
&
The angular momentum about x has the magnitude ( I X p ); where I X is the moment of inertia of
& &
the body about x , and p is the axial spin or angular velocity about x , in radians per second.
& &
Therefore, the total angular momentum about x can be represented by the vector ( I X p x ). In this
document, a positive p is defined as rotation, which would cause a right-hand screw to advance in
&
the direction of x . &
2 &
2 &
x
&
& 1
X
&
3
&
1
&
3
Figure I-1. Cartesian Coordinate System with Unit Vectors
3

STANAG 4355
Edition 3
& & &
The total angular velocity of the body about an axis perpendicular to x is given by the vector x u x ,
where the superscript dot refers to differentiation with respect to time. Since the body possesses
&
rotational symmetry, every axis through the center-of-mass and perpendicular to x is a principle axis of
inertia. If the moment of inertia of the body about any transverse axis is I Y , the total angular
& & &
momentum about an axis perpendicular to x has the vector representation I x u x . Y
& &
Let H denote the total vector angular momentum of the body. The vector representation of H is:
& & & &
H
I X p x I Y x u x (a)
& &
Let ¦M be the sum of the vector applied moments, and set ¦M equal to the vector rate of change of
angular momentum.
& &
H ¦M (b)
In addition to these basic equations, two additional expressions are needed for use in the force-moment
system.
&
H u x& &
I Y x (c)
&
H x& IX p (d)
Equation (b) is the basic vector differential equations of angular motion in a fixed coordinate system.
The basic equation of motion for the center-of-mass is:
&
&
u
¦F (e)
m
& &
where ¦F denotes the sum of the vector applied forces, m is the mass of the body, and u is the vector
acceleration of the center-of-mass in the fixed coordinate system.
4

STANAG 4355
Edition 3
A. EQUATIONS OF MOTION FOR SPIN-STABILIZED PROJECTILES
6. Newton’s law of motion of the center of mass of the projectile is:

& & & &
F m u DF LF MF m g m / (1)
where acceleration due to drag force, when i is used as a fitting factor, is:
DF §S Uid 2 · § &
¨¨ ¸ ¨ C D C D Q D D e 2 C D Q D D e 4 ·¸ v v (2)
¸
© 8m ¹ © ¹
2 4
m 0 D D
or, when C is used as a fitting factor,
DF § S U mr ·§ &
¨¨ ¸¸ ¨ C D C D 2 Q D D e 2 C D 4 Q D D e 4 ·¸ v v (3)
m © 8C m ¹ © 0 D D ¹
or, when fD is used as a fitting factor,
DF §SU d 2 · § &
¨¨ ¸ ¨ f D C D C D 2 Q D D e 2 C D 4 Q D D e 4 ·¸ v v (4)
¸
m © 8m ¹ © 0 D D ¹
acceleration due to lift force is:
LF § S U d 2 fL ·§ 2 4· 2 &
¨ ¸
m ¨ 8 m ¸ ¨© C L D C LD 3 D e C LD 5 D e ¸¹ v D e (5)
© ¹
acceleration due to Magnus force is:
MF S U d 3Q M p Cmag f & &

D e u v (6)
m 8m
acceleration due to gravity ( g ) is:

(See Section I-C, Common Equations of Motion)
acceleration due to the Coriolis effect (/) is:

5

STANAG 4355
Edition 3
7. The magnitude of spin acceleration is given by:
S U d 4 pv C spin
p (7)
8 Ix
where:
t
p p 0 ³ p dt (8)
0
is the magnitude of spin at time = t, and
2S u0
p0 (9)
tc d
is the magnitude of the initial spin of the projectile at the muzzle.
8. The yaw of repose is given by:

& &
&
De

8 I X p v u u (10)
S U d 3 (C MD C M 3 D e2 ) v 4
D
where:
ª0º
& «0»
D e0 (11)
« »
«¬0»¼
is the initial value of the yaw of repose.
To begin the numerical integration of the modified

& point &mass equations of motion using a predictor-&
corrector method, one must predict the value of u using D e0 (Eq. (11)) and then use this value of u to
&
calculate D e using Eq. (10).
9. See section I-C for the velocity of the projectile with respect to the ground fixed axis at time = t.
See section I-C for the velocity of the projectile with respect to the air at time = t.
See section I-C for the position of the projectile with respect to the ground axis at time = t.
6

STANAG 4355
Edition 4
10. Windage jump, the correction for wind shear between successive integration steps, is given as a
velocity correction:
§ C C D 2 C D 4 ·¸ f I p u& u 'w&

& ¨© LD L 3
D
e LD
5 e
¹ L X
'u (12)
(C MD C M 3 D e2 ) m d v 2
D
& & &
where: 'w wt wt 't (13)
& &
and at t = 0, wt w0 0 .
11. See section I-C for the position of the projectile with respect to the spherical earth’s surface.
7

STANAG 4355
Edition 3
B. EQUATIONS OF MOTION FOR FIN-STABILIZED ROCKETS
The equations of motion for fin-stabilized rockets are described during four phases of the flight,
namely, during launch, from launch to fin opening, from fin opening to the end of motion requiring five
degrees of freedom (5 DoF), and from the end of the 5 DoF segment to the end of the 3 DoF phase
which normally is the burst point of the warhead. Motor will normally be functioning from t0 until
before (near) the end of Phase 3, Time of End of Five Degrees of Freedom t0 d t t E 5 D . These phases
were chosen to represent those portions of the motion, which require significantly different force and
moment descriptions to properly simulate actual flight conditions.
Phase 1: Time Zero to Time of Launch (t 0 d t d t L )
Initial Launching Phase

&
12. The initial position of the center-of-mass, X 0 , with-respect-to the ground-fixed axis, acceleration, and
angular momentum for a rocket are as follows:

The drag force DF , thrust force TF , acceleration due to gravity and the deceleration due to rocket-
launcher friction are considered during the rocket-launching phase. The equation of motion of the
center-of-mass during the rocket launch phase is given by:
&
F
&
m u DF TF m g& sin QE P f
&
cos QE x0 (14)
NOTE: In this phase the rocket does not move before t t FM and is restricted to forward
motion, i.e., for Eq. (14):
& & & &
F { 0 for t d t FM or whenever F 0
where acceleration due to drag force is:
DF §S i U d 2 · &
¨¨ ¸¸ C D0 v 2 x 0 (15)
m © 8m ¹
acceleration due to thrust force is:

&
TF f T m f I SP Pr P Ae x0
(16)
m m
ªcos QE cos 'AZ º

where: & « » (17)
x0 sin QE
« »
«¬ cos QE sin 'AZ ¼»
& &
and acceleration due to gravity g and X 0 are given in Section I-C.
8

STANAG 4355
Edition 3
Initial Angular Momentum at Time of Launch ( t L )

13. At t L , the initial angular momentum of the rocket is assigned. p( tL ) is the initial angular velocity
&
(spin) of the rocket about x , and Z y( t ) and Z z( t ) are the transverse angular velocities of the rocket
L L
at t L . Z y( t ) and Z z( t ) are used to match the observed angular performance of the rocket. The initial
L L
&
value of H ( tL ) is given by:
ª Z y sin QE cos 'AZ Z z sin 'AZ º

& & « (tL ) (tL )
»
H (tL ) I X (tL ) p(tL ) x ( t L ) I Y ( t L ) « Z y( t L ) cos QE » (18)
« Z »
¬ y( t L ) sin QE sin 'AZ Z z ( t L ) cos 'AZ ¼
where:
& &
x(tL ) x0 (19)
Phase 2: Time of Launch to Time of Rocket Fins Opening ( t L d t d t FO )

Use aerodynamics for rockets with fins closed.
Equation of Motion of the Center-of-Mass of the Body

14. The motion of the center-of-mass of the body is a summation of the accelerations acting on the body
and is given by:
& & & &
F m u DF LF MF PDF TF m g m / (20)
where:
acceleration due to drag forces is:
DF
m
§ S Ui d 2 ·
¨¨
© 8m ¹
0 D
&
¸¸ C D C D 2 D 2 v v (21)
acceleration due to lift forces is:
LF §S U d 2 fL ·§ & & & &

m
¨¨
© ¹

¸¸ ¨ C L C 3 (D ) 2 ·¸ v 2 x v x v (22)
© 8m ¹ D LD
acceleration due to Magnus forces is:
MF S U d 3 C mag f & & & &

m

I X 8m

H x x u v (23)
9

STANAG 4355
Edition 3
acceleration due to pitch damping force is:
PDF
§ S U d 3 C N q C ND
¨
·¸ & &
v Hux (24)
m ¨ IY 8 m ¸
© ¹
acceleration due to thrust force is:

&
TF f T m f I SP Pr P Ae x
(25)
m m
acceleration due to gravity ( g ) is:

acceleration due to the Coriolis effect ( / ) is:

NOTE: (See Annex C or D for m f )

Equation of Angular Momentum of the Body
15. The angular momentum of the body is the summation of the moments acting on the body and is given
by:
&
H OM PDM MM SDM FCM AJDM TJDM (26)
where:
Angular momentum due to Overturning Moment:
OM
§ U d3 S
¨
¨ 8
·
¸ D

& &
¸ C M D C M 3 D 2 v v u x (27)
© ¹
Angular momentum due to Pitch Damping Moment:
§ U d4 S · & & & &

PDM ¨¨ >
¸¸ C M q C M D v H H x x @ (28)
© 8 IY ¹
Angular momentum due to Magnus Moment:
§ U d4 S · & &
MM ¨¨
¸¸ C mag m H x >v& x& x& v& @ (29)
© 8 IX ¹
10

STANAG 4355
Edition 3
Angular momentum due to Spin Damping Moment:
§ U d4 S · & & &

SDM ¨
¨ I 8 ¸
¸ C spin v H x x (30)
© X ¹
Angular momentum due to Fin Cant Moment:
§ U d3 S · &
FCM ¨ ¸ ClG H v 2 x (31)
¨ 8 ¸
© ¹
Angular momentum due to Axial Jet Damping Moment:
§ m rne2 · & & &

AJDM ¨ ¸
¨ 2 I ¸ H x x (32)
© X ¹
Angular momentum due to Transverse Jet Damping Moment:
§ m re rt · & & & &

TJDM ¨¨ >
¸¸ H H x x @ (33)
© IY ¹
NOTE: (See Annex C or D for effects of changes in mass during burning.)
The angular momentum and unit vector along the longitudinal axis at time = t is:
& & t &

H H (t L ) ³ H dt (34)
tL
t
& & &
x x (t L ) ³ x dt (35)
tL
&
where H ( t L ) is defined at Eq. (18), and
& &
x(t L ) x0 (36)
and & &

& (H u x)
x (37)
IY
NOTE: While integrating the equations of motion during the 5 DoF phase, the magnitude of the
&
unit vector x should be normalized to the value 1.
11

STANAG 4355
Edition 3
& &
The yaw of the symmetric rigid-body (D) is the included angle between x and v . The yaw is
defined as a positive quantity and the magnitude is given by:
ª v& x& º
D arccos « & » (38)
¬ v ¼
& &
The orientation of the yaw (\) is the angle of the plane containing v and x relative to the vertical
&
plane containing v measured in a clockwise direction. The orientation of the yaw is given by:
ª v1 x3 v3 x1 v º
\ arctan « » (39)
¬ v1 v1 x 2 v 2 x1 v3 v 2 x 3 v3 x 2 ¼
Phase 3: Time from Rocket Fins Opening to Time of End of Five Degrees of Freedom ( t FO d t d t E 5 D )
16. Same as equations in ( t L d t d t FO ) with aerodynamics for rocket with fins open. Define t E 5 D to
begin after a small time interval after motor burnout ( t BO ), to allow for aerodynamic settling.
Phase 4: Time from End of Five Degrees of Freedom ( t d t E 5 D )
17. Use point mass equations.
The center of mass of the projectile is:

& & & &
F m u DF m g m / (40)
where acceleration due to drag forces is:
DF §S Uid2 · &
¨¨ ¸ CD v v
¸ (41)
m © 8m ¹
& & &

NOTE: ( g, u , and / are defined in section I-C)
12

STANAG 4355
Edition 3
C. COMMON EQUATIONS OF MOTION
18. Acceleration due to gravity is:

ª X1 º
« R »
& & 2X 2 »

g g 0 R 2 /r 3 r g0 « 1
« X3 R » (42)
« »
¬ R ¼
where: g0 9.80665 >1 .0026 cos2 lat @ (43)
& & &

r X R, (44)
ª 0 º
& « R »
R (45)
« »
«¬ 0 »¼
and R = 6.356766 u 106 meters
19. Acceleration due to the effect of the Coriolis force is:

& & &
/ 2 Z u u (46)
where:
ª ȍ cos lat cos AZ º
& « ȍ sin lat »,
Ȧ (47)
« »
«¬ ȍ cos lat sin AZ »¼
and : = 7.292115 u 10-5 rad/s
NOTE: For Southern Hemisphere, lat is negative.
20. The velocity of the projectile or rocket with respect to the ground fixed axes at time = t is:
t
& & &
u u0 ³ u dt (48)
0
where:
ªu0 cos (QE ) cos ( 'AZ )º
& « »
u0 u0 sin (QE ) (49)
« »
«¬ u0 cos (QE ) sin ( 'AZ ) »¼
13

STANAG 4355
Edition 3
21. The velocity of the projectile or rocket with respect to the air is given by:
& & &
v uw (50)
and Mach number:
M v a (51)
where the speed of sound, a, is:
1/ 2
ªJ P º
a « » 20 .046796 (TV 273 .15)1 / 2 (52)
¬ U ¼

J ratio of specific heats for air
P = air pressure
0.003483678761P
U = air density = (53)
TV 273.15

TV = virtual temperature
NOTE: Values used in (52) and (53) referenced from STANAG 6022
22. The position of the projectile or rocket with respect to the ground axes is given by:
& & t &
X X 0 ³ u dt (54)
0
where:
ªlW cos (QE ) cos ( 'AZ )º
&
X 0 « X 2W lW sin (QE ) » (55)
« »
¬« lW cos (QE ) sin ( 'AZ ) ¼»
is the location of the muzzle, i.e., initial position of the center of mass
of the projectile or rocket. For a rocket, lW 0 .
23. The position of the projectile or rocket with respect to the spherical earth’s surface is given
by the approximation:
ª X1 º
&
E
«
«X 2
2
X1 X 3
2
»
» (56)
« 2R »
«¬ X 3 »¼
14

STANAG 4355
Edition 3
II. LIST OF SYMBOLS
Symbol Definition Units
a Local speed of sound in air m/s
Ae Exit area of the motor jet m2
AJDM Angular momentum due to axial jet damping moment kg m 2 rad s 2

&
AZ Azimuth (Bearing) of 1 axis measured clockwise from mil *
true North
C Ballistic coefficient kg/m2
CD Drag force coefficient none
C D0 Zero-yaw drag force coefficient none
CD Quadratic drag force coeffıcıent 1/rad2 **

D2
CD Quartic drag force coeffıcıent 1/rad4

D4
C LD Lift force coefficient 1/rad
CL 3 Cubic lift force coefficient 1/rad3

D
CL 5 Quintic lift force coefficient 1/rad5

D
ClG Fin cant moment coefficient 1/rad
C MD Overturning moment coefficient none
CM Cubic overturning moment coefficient 1/rad2

D3
C mag f Magnus force coefficient 1/rad2
C mag m Magnus moment coefficient 1/rad
* 1 mil = 1/6400 of a circle = 2S/6400 radians

** To aid in understanding, we use the symbol “rad” in place of the
number 1 (one) for this dimensionless derived unit.
15

STANAG 4355
Edition 3
C M q C M D Pitch damping moment coefficient 1/rad
C N q C ND Pitch damping force coefficient 1/rad
C spin Spin damping moment coefficient none
d Reference diameter of projectile m
DF Drag force kg m/s2

&
E Position of the center of mass of the body with respect to m
spherical earth’s surface
F Total force acting on the center of mass of the projectile or kg m/s2

rocket
fD Drag factor none
fL Lift Factor none
fT Thrust factor for rocket motor none
FCM Angular momentum due to fin cant moment kg m 2 rad s 2

&
g Acceleration due to gravity m/s2
g0 Magnitude of acceleration due to gravity at mean sea level m/s2

&
H Total angular momentum of the body kg m 2 rad s
&
H Rate of change of the total angular momentum of the kg m 2 rad s 2
body
&
H ( tL ) Total angular momentum of the body at t L kg m 2 rad s
I SP Specific impulse of rocket motor fuel N s kg
Ix Axial moment of inertia kg m2
I X(t Axial moment of inertia of the rocket at (t L ) kg m2

L)
16

STANAG 4355
Edition 3
IY Transversal moment of inertia of the body kg m2
I Y( t Transversal moment of inertia of the rocket at (t L ) kg m2

L)
i Form factor none
lW Distance from weapon trunnion to muzzle m
lat Latitude of launch point; for southern hemisphere lat is deg

negative
LF Lift force kg m/s2
m Fuzed projectile or rocket mass at time t kg
m Fuzed projectile or rocket mass rate of change at time t kg s
m f Mass flow rate of the motor fuel kg s
mr Reference fuzed projectile or rocket mass kg
M Local Mach number none
MF Magnus Force kg m/s2
MM Angular momentum due to Magnus moment kg m 2 rad s 2
OM Angular momentum due to overturning moment kg m 2 rad s 2
p Axial spin rate of projectile rad/s
p0 Initial spin rate of projectile rad/s
p( tL ) Axial spin rate of rocket at t L rad/s
P Local atmospheric air pressure Pa
Pr Standard atmospheric air pressure at sea level Pa

5
( 1.01325 u 10 Pa)
PDF Pitch damping force N
17

STANAG 4355
Edition 3
PDM Angular momentum due to pitch damping moment kg m 2 rad s 2
QD Yaw drag fitting factor none
QE Quadrant elevation mil
QM Magnus force fitting factor none

&
R Position of the center of the sphere, locally approximating m
the geoid
R Radius of the sphere, locally approximating the geoid m

&
r Position of the center of mass of the projectile or rocket with m
respect to the center of the sphere, locally approximating the
geoid
r Distance of the center of mass of the projectile or rocket from m

the center of the sphere, locally approximating the geoid
re Distance from the body center-of-mass to the motor m

nozzle exit
rne Radius of the motor’s mass flow exit m
rt Distance from the body center-of-mass to the motor m

nozzle throat
SDM Angular momentum due to spin damping moment kg m 2 rad s 2
t Time variable (computed time of flight) s
tc Twist of rifling at muzzle calibers/rev
t FM Time of first rocket motion s
tL Time at end of rocket launch phase s
t FO Time at rocket fin opening s
t E 5D Time at end of 5DOF phase for rockets s
18

STANAG 4355
Edition 3
TF Thrust force due to rocket motor thrust N
TJDM Angular momentum due to transverse jet damping kg m 2 rad s 2

moment
TV Virtual temperature qC
t0 Time zero (beginning of calculations) s

&
u Velocity of the projectile or rocket with respect to m/s
ground-fixed axes
&
u Acceleration of center-of-mass in the fixed m s2
coordinate system
u0 Initial speed of projectile or rocket with respect to m/s

ground-fixed axes
v Speed of projectile or rocket with respect to air m/s

&
v Velocity of the projectile or rocket with respect to air m/s
&
w Velocity of the air with respect to the ground (wind velocity) m/s
&
x Unit vector along longitudinal axis of the rigid body none
&
x0 Unit vector along longitudinal axis of the rigid body, none
Initially
&
x( t L ) Unit vector along longitudinal axis of the rigid body, none
at t L
&
x Rate of change of unit vector along longitudinal axis of rad/s
the body
&
X Position vector of the center of mass of the projectile or rocket m
in the ground-fixed coordinate system
19

STANAG 4355
Edition 3
& Initial position vector of the center of mass of the projectile m
X0
or rocket
X 2W Height of weapon trunnion above mean sea level m
D Total angle of attack rad

&
De Yaw of repose approximation rad
'AZ Difference between the weapon azimuth (bearing) and mil

&
the 1 axis measured clockwise
't Integration time step s

&
'w Difference in wind speed between the integration steps m/s
&
'u Velocity correction for windage jump m/s
H Fin cant angle rad
J Ratio of specific heats of air, 1.4 none

&
/ Acceleration due to Coriolis effect m/s2
Pf Coefficient of sliding friction none
U Density (specific mass) of air kg/m3
\ Orientation of the yaw rad

&
Z Angular velocity of the coordinate system due to the rad/s
angular speed of the earth
Zy ( tL )
Transverse angular velocity of the body at ( t L ) about an axis rad/s
perpendicular to the quadrant elevation of the weapon
in the vertical plane.
Zz ( tL )
Transverse angular velocity of the body at ( t L ) in the vertical rad/s
plane containing the weapon.
: Angular speed of the earth rad/s
x Denotes differentiation with respect to time s 1

when appears over variable or function
o Denotes vector when appears over variable none

20

STANAG 4355
Edition 3
III. COMPARISON OF AERODYNAMIC COEFFICIENT SYMBOLS
Three different conventions have been widely used to describe the aerodynamic coefficients
associated with the force and moment system used to describe the motion of the center of mass of a
projectile. Table III-1 provides a concise comparison of the symbols. The first column lists the
aerodynamic coefficient symbols used throughout this document. These symbols are associated with a
drag force and lift force whose directions are defined with respect to the velocity vector of the center of
mass of the shell and perpendicular to that vector (in the plane of yaw) respectively. The NACA
symbols are associated with axial drag and normal forces whose directions are defined with respect to
the axis of the shell and perpendicular to that axis (also in the plane of yaw) respectively. Consequently
a rotational transformation is necessary to completely relate these two sets of symbols:
CD Cx (57)
0 0
1
CD Cx C z C x0 (58)
D2 D2 D 2
C LD C zD C x0 (59)
1
CL C z 3 C zD C x 2 (60)
D3 D 2 D
The ballistic symbols shown have been slightly modernized to account for the fact that the
original set of symbols did not allow for some of the dependence of the aerodynamic forces on yaw
angle. The same logic as that used by the aeronautical community was applied to affix the subscripts 0,
D , D 2 and D 3 to the original symbols.
NOTE: Equations (58) and (60) use the small angle assumption cosD (1 sin 2 D )1 2
1
approximately equal to 1 2 D 2 . If instead one assumes cosD is approximately equal to 1, then
(58) and (60) become C D 2 C x 2 C zD and C L 3 C z 3 , respectively. If one uses higher order
D D D D
coefficients, such as C D 4 and C L 5 , (58) and (60) may still be used with a negilable effect on
D D
precision. The axial drag force and the drag force, DF , used in this STANAG are assumed to
act in the same direction.
21

STANAG 4355
Edition
Table III-1. Aerodynamic Coefficient Symbols
Other Symbols
Symbol C-to-K Relationship Definition
NACA Ballistic
C D0 C x0 K D0 S Drag force
K D0 C D0
8 coefficient
S Quadratic yaw
CD Cx KD KD CD drag force
D2 D2 D2 D2 D2
8 coefficient
S Quartic yaw
CD Cx KD KD CD drag force
D4 D4 D4 D4 D4
8 coefficient
C LD C zD K LD S Lift force
K LD C LD
8 coefficient
S Cubic
CL Cz KL KL CL lift force
D3 D3 D3 D3 D3
8 coefficient
S Quintic
CL Cz KL KL CL lift force
D5 D5 D5 D5 D5
8 coefficient
S Overturning
C MD C MD K MD K MD C MD moment
8 coefficient
S Cubic over-
CM 3 CM 3 KM 3 KM 3 CM Turning moment
D D D D3
D 8 coefficient
C mag f C y pD S Magnus force
KF KF C mag f
8 coefficient
C mag m C n pD S Magnus moment

KT KT C mag m
8 coefficient
(C Z q C ZD ) S
(C N q C ND ) KS (C N q C ND ) Damping force
KS 8 coefficient
(C M q C M D ) (C mq C mD ) S Damping
KH (C M q C M D )
KH 8 moment
coefficient
S Spin damping
C spin Cl p KA KA C spin moment
8 coefficient
ClG S Fin cant
none KE KE ClG
8 coefficient
22

STANAG 4355
Edition 3
NOTE: Special symbols Cmag-f and Cspin are defined in place of CNpD and Clp to avoid possible confusion
where these symbols have been used differently in published data (notably in the UK and US), where:
Cmag-f = CNpD for data nondimensionalized using pd/v (61)

= (1/2) CypD for data nondimensionalized using pd/2v (62)
C mag m = CMpD for data nondimensionalized using pd/v (63)

= (1/2) C n pD for data nondimensionalized using pd/2v (64)
Cspin = Clp for data nondimensionalized using pd/v (65)

= (1/2) Clp for data nondimensionalized using pd/2v (66)
23

STANAG 4355
Edition 3
IV. LIST OF DATA REQUIREMENTS
Physical Data Requirements Fin-Stabilized Spin-Stabilized

Initial speed of projectile with respect to ground (muzzle u0 u0
velocity)
Twist of rifling at muzzle tc
Initial mass of fuzed projectile m0 m0
Reference mass of fuzed projectile mr mr
Reference diameter d d
Initial axial moment of inertia Ix0 Ix0
Axial spin rate of rocket at ( t L ) p( tL )
Axial moment of inertia at ( t L ) I X (t
L)
Initial transverse moment of inertia IY0

Transverse moment of inertia at ( t L ) I Y( t
L)
Specific impulse of rocket fuel I SP

Mass flow rate of the motor fuel m f
Coefficient of friction Pf
Fin cant angle H
Distance from body center of mass to motor nozzle exit re
Radius of motors mass flow exit rne
Distance from body center of mass to motor nozzle throat rt
24

STANAG 4355
Edition 3
Aerodynamic Data Requirements Fin-Stabilized Spin-Stabilized

Zero yaw drag force coefficient CD0 CD0
Quadratic yaw drag force coefficient CDD2 CDD2
Quartic yaw drag force coefficient CDD4
Total drag force coefficient CD
Lift force coefficient CLD CLD
Cubic lift force coefficient CLD3 CLD3
Quintic lift force coefficient CLD5
Magnus force coefficient Cmag-f Cmag-f
Overturning moment coefficient CMD CMD
Cubic overturning moment coefficient CMD3 CMD3
Spin damping moment coefficient Cspin Cspin
Magnus moment coefficient C mag m
Pitch damping moment coefficient C M q C M D
Pitch damping force coefficient C N q C ND

Fin cant moment coefficient ClG
NOTE: Aerodynamic coefficients for fin-stabilized rockets are required for both the fin closed and fin
open configurations.
Fitting Factor Data Requirement Fin-Stabilized Spin-Stabilized

Quadrant Elevation Fitting
Form Factor i i
Ballistic Coefficient C
Mach Number Fitting
Thrust Factor fT
Drag Factor fD
Quadrant Elevation and Mach Number Fitting
Adjustment to azimuth – difference between actual and
'(' AZ)
computed deflection – for fin-stabilized rockets
Lift Factor fL fL
Yaw Drag Factor QD
Magnus Factor QM
Exit area of motor jet Ae
Transverse vertical angular velocity of the body at ( t L ) Z y( t
L)
Transverse horizontal angular velocity of the body at ( t L ) Z z( t

L)
Adjustment to time-of-flight – difference between actual

' ToF ' ToF
and computed time-of-flight
25

STANAG 4355
Edition 3
IMPLEMENTATION OF THE AGREEMENT
24. This STANAG is implemented when a nation has issued instructions to the agencies concerned to
use the Modified Point Mass Trajectory Model for spin-stabilized projectiles and a Five Degrees of
Freedom Model for exterior ballistic trajectory simulation of fin-stabilized rockets as detailed in this
agreement.
26

ANNEX A to
STANAG 4355
Edition 3
FORMS OF FIRE CONTROL INPUT DATA
1. Aerodynamic coefficients
Aerodynamic coefficients are given as a function of Mach number. These functions are in
the form of polynomials of fourth degree or less. They are defined over regions of Mach
number, from MMAXi-1 up to and including MMAXi .
Each aerodynamic coefficient is described by a series of polynomials of the form:
Ci a 0 a1 M a 2 M 2 a3 M 3 a 4 M 4 (A.1)
Ci is a particular aerodynamic coefficient

M is Mach number
2. Fitting Factor:
a. Functions of Quadrant Elevation
Form factor (i) or ballistic coefficient (C) and lift factor (fL) are given for each charge as
follows:
f a 0 a1 (QE ) a 2 (QE ) 2 a 3 (QE ) 3 (A.2)
where f = i, C, or fL
Yaw drag factor (QD) and Magnus force factor (QM) have been chosen as constants.
(See Table A-1)
b. Functions of Mach Number:
Drag factor (fD) and lift factor (fL) are quartic polynomials of Mach number.
Yaw drag factor (QD = 1.2) has been chosen as a constant and Magnus force factor
(QM) = 1. (See Table A-1)
c. Function of Computed Time
The modeling of time used in this document may require a correction to the computed
time of flight for each charge as follows:
T t a 0 a1t a 2 t 2 a3t 3 (A.3)

T is time of flight
t is computed time of flight
A-1

ANNEX A to
STANAG 4355
Edition 3
FACTORS IN EQUATIONS FOR MATCHING OBSERVED RANGE

FIRING DATA
Two fitting systems are used, quadrant elevation or Mach number as shown below:
Table A-1. Basic Fitting Data
Fitting Data as a Function of

Fitting to
Quadrant Elevation Mach Number
[One function for each charge] [Same function for all charges]
First Order *Form factor: i Drag factor: fD

Range, all
elevations (Drag factor: fD = 1) (Form factor: i = 1)
Drift Lift factor: fL Lift factor: fL
Second Order
Range, high Yaw drag factor: QD Yaw drag factor: QD
angle
Vertex height
and time of Magnus force factor: QM Magnus force factor: QM
flight
*In many countries a ballistic coefficient, C = mr / i d 2, is in use as a fitting factor instead

of the nondimensional form factor i.
A-2

ANNEX A to
STANAG 4355
Edition 3
To compensate for the approximations in the equations of motion, aerodynamic coefficients,

rocket, projectile, rocket-assisted motor, and base burn motor performance, the factors contained in
Table A-2 are applied in order to create correspondence between the computed and the observed
range testing results.
Table A-2. Fitting factors for matching observed range firing data
Fitting Factors
Range Firing 5 DoF Modified Point Mass
Data Fin-Stabilized Rocket-Assisted Base-Burn
Projectiles
Rockets Projectiles Projectiles
Motor Burn f BT p { 0 f BTp { 0 f BT p * f BTp

Time f BTP { 0 f BTP { 0 f BTP { 0 f BTP
Velocity After Rocket
Burning fT fT { 0 fT fT { 0
Change in Radial
Ae Ae { 0 Ae Ae { 0
Velocity During Rocket
Burning
Velocity Vertical and Z y (t L )
Horizontal Angle after
Z z (t )
Rocket Burning L
i i i i
Range f (i BB,MT ) { 0 f (i BB , MT ) { 0 f (i BB , MT ) { 0 f (i BB ,MT )
'( ' AZ ) '( ' AZ ) { 0 '( ' AZ ) { 0 '( ' AZ ) { 0

Deflection
fL {1 fL fL fL
Time-of-Flight ' ToF ' ToF ' ToF ' ToF
*Optional
NOTE: See Annex C or D for further fitting factors for base-burn and rocket-assisted
projectiles
A-3

ANNEX A to
STANAG 4355
Edition 3
3. Fuze Setting
Fuze setting is given as a function of time of flight and initial spin as follows:
FS a0 a1T a 2 p0 a 3Tp0 a 4Tp0 2 a5 p0 2 (A.4)
or,
T a 0 a 2 p0
FS (A.5)
b0 b1 p0
FS is fuze setting
T is time of flight
p0 is initial axial spin of projectile
4. Muzzle Velocity Corrections
a. Muzzle Velocity Correction for Propellant Temperature
Muzzle velocity correction for propellant temperature is given for each charge as follows:
a 0 a1PT 21 a 2 PT 21 a3 PT 21
2 3
'U pt (A.6)
'Upt is incremental change in muzzle velocity

PT is propellant temperature
b. Muzzle Velocity Correction for Cannon (Tube) Wear
The muzzle velocity correction for cannon (tube) wear for a specific
charge/projectile/cannon combination is given by
'U r (a 0 a1 ( EFC ) a 2 ( EFC ) 2 )

'U w (A.7)
a 0 ,i a1,i ( EFC ) a 2,i ( EFC ) 2 a3,i ( EFC ) 3
'Uw is incremental change in muzzle velocity

'Ur(EFC) is incremental change in muzzle velocity for the reference charge, i.e., the
maximum charge compatible with the projectile/cannon combination evaluated at the
current EFC count.
EFC is the current number of Equivalent Full Charge firings from the cannon.
a0,i, a1,i, a2,i are the coefficients required to calculate the ratio of the incremental change
in muzzle velocity for the reference change ('Ur) to the corresponding incremental
A-4

ANNEX A to
STANAG 4355
Edition 3
change in muzzle velocity for the ith charge at the specified EFC. This ratio is derived
from the interior ballistics models or actual firing trials.
c. Muzzle Velocity Correction for Projectile Mass
Muzzle velocity correction for projectile mass is given for each charge as follows:
'U m ni U i m mr / mr (A.8)
'Um is incremental change in muzzle velocity

ni is a constant factor derived from interior ballistic models or projectile mass firings
Ui is firing table muzzle velocity for the ith charge corrected for calibration,
propellant temperature and cannon wear
m is fuzed projectile mass
mr is reference mass of fuzed projectile
5. List of Additional Symbols for Forms of Fire Control Data
ai Constant coefficient none
bi Constant coefficient none
FS Fuze setting none
n Constant coefficient none

o
PT Propellant temperature C
T Time of flight s
U Firing table muzzle velocity m/s
'U m Change in muzzle velocity due to nonstandard m/s

Projectile mass
'U pt Change in muzzle velocity due to nonstandard m/s

Propellant temperature
A-5

ANNEX A to
STANAG 4355
Edition 3
'U w Change in muzzle velocity due to cannon (tube) wear m/s
'( ' AZ ) Adjustment to azimuth – difference between actual and mil

computed deflection – for fin-stabilized rockets
A-6

ANNEX B to
STANAG 4355
Edition 3
ADDITIONAL TERMS FOR PROJECTILES WITH BOURRELET NUBS
The presence of nubs introduces terms in the expressions for certain of the aerodynamic forces
and moments, which are proportional to the nub setting angle and independent of the spin rate.
1. Equations of Motion
Define Cmag-f and Cspin as follows:
C mag f C N pD C NG G n / pd / v for data nondimensionalized using pd / v (B.1)

n
[C y pD C yG G n / pd / 2v ] / 2 for data nondimensionalized using pd / 2v (B.2)

n
C spin C l p C lG G n / pd / v for data nondimensionalized using pd / v (B.3)

n
[C l p C lG G n / pd / 2v ] / 2 for data nondimensionalized using pd / 2v (B.4)

n
2. List of Additional Symbols
ClG Spin moment coefficient, due to canted bourrelet 1/rad

n
nubs, at zero spin
C NG or C yG Side force coefficient, due to canted bourrelet nubs, 1/rad

n n
at zero spin
Gn Orientation of nub principal axis with respect to a plane rad

containing the projectile axis and the nub geometrical
center. Positive Gn produces a positive rolling moment.
3. Additional Data Requirements
Physical Data Symbol

Nub orientation Gn
Aerodynamic Data Symbol

Spin moment coefficient at zero spin ClG
n
Side force coefficient at zero spin C NG or C yG

n n
B-1

ANNEX C to
STANAG 4355
Edition 3
ADDITIONAL TERMS FOR SPIN-STABILIZED ROCKET-ASSISTED

PROJECTILES, SPIN-STABILIZED BASE-BURN PROJECTILES, AND FIN-
STABILIZED ROCKETS – METHOD 1
1. Introduction
This annex provides the equations required to simulate the flight of rocket-assisted projectiles
and the specific equations required to simulate the flight of base-burn projectiles and fin-
stabilized rockets.
2. Additional Terms for Spin-Stabilized Rocket-Assisted Projectiles
a. Add the following thrust term to the equation of motion of the center of mass of the
projectile shown at Eq. (1):
&
TF T * § v cos D e & ·
¨ De ¸ (C.1)
m m © v ¹
b. Zero yaw drag coefficient during the burning phase (tDI d t d tB) is CDo . B
T
c. Thrust during the burning phase (tDI d t d tB) is as follows: B
T* f T TR Pr P Ae , (C.2)
where:
TR
TST t DI ST t BST / t DI t B , (C.3)
and
t* t t DI [t DI ST

t BST / t DI t B ] t DI ST (C.4)
d. Mass of the projectile is given by:
mass at t = 0 is m = m0 (C.5)
for t < tDI
m m DI / t DI (C.6)
mass at t = tDI is m = m0 – mDI – mDOB (C.7)
C-1

ANNEX C to
STANAG 4355
Edition 3
for tDI d t < tB
m TR / I SP (C.8)
for t t tB
m 0
(C.9)
m mB (C.10)
where:
mB m0 m DI m DOB m f (C.11)
3. Additional Terms for Spin-Stabilized Base-Burn Projectiles
a. The change in acceleration due to the base drag reduction of a base-burn motor, BB, during
burning (tDI d t and m t mB) is added to the equation of motion of the center of mass of
B
the projectile which follows from Equation (1) of the main body of this STANAG:
ª§ S · º
« ¨ 8 ¸ U d v C xBB f I f i BB , MT
2 2
» § v& cos D & ·
BB «© ¹ »¨ e
De ¸ (C.12)
« m »© v ¹
«¬ »¼
b. The coefficient C xBB is the drag reduction coefficient during the burning phase. As with
other aerodynamic coefficients, values of this coefficient are given by polynomial
functions of Mach number of fourth degree or less.
c. The characteristic flow rate function of the base-burn motor is given as follows:
f(I) = I/I0 If I d I0 (C.13)
f(I) = 1 If I t I0 (C.14)
where: I is the base-burn motor fuel injection parameter;

4 m f
I , (C.15)
S db2 U v
C-2

ANNEX C to
STANAG 4355
Edition 3
and I0 is the injection parameter permitting optimum efficiency of the base-burn

motor. It is given as a function of Mach number. These functions are in the form
of polynomials of one degree or less. They are defined over regions of Mach
number, from MMAXi-1 up to and including MMAXi.
NOTE: The function f(I) = I/I0 is principally used for emptying phase and
eventually at the start of the burning phase.
d. The coefficient iBB is a fitting factor which can be used, if necessary, to adjust the drag
reduction. iBB is expressed as a polynomial function of the quadrant elevation, QE, of
third degree or less. It is included for matching observed firing data during the base-burn
phase.
e. Mass of the projectile is given by:
for 0 d t < tDI
m = m0 – mCB0 (C.16)
for tDI d t and m t mB
m m f (C.17)
m f VC U p S C mCB (C.18)
where:
mB = m0 - mf
B (C.19)
mCB = m0 - m (C.20)
mCB0 is the mass of fuel burnt in the barrel;

VC is the combustion rate;
Up is the density of fuel;
SC (mCB) is the area of combustion at time t and will be expressed in the form of a
function of the mass of fuel burnt:
SC ai bi mCB ; (C.21)
for mCBi mCB d mCBi 1
C-3

ANNEX C to
STANAG 4355
Edition 3
ai and bi are defined over regions of mCB, from mCBi = 0 up to and including mCBi = n.
The combustion rate is given by:
VC VC0 f MT gP K p (C.22)
where:
VC0 is the combustion rate obtained on the strand burner at standard pressure and
temperature
MT is the motor fuel temperature
f MT e E MT 21 (C.23)
P is the local atmospheric air pressure
g P k Pn (C.24)
p is the axial spin of the projectile

K(p) is determined from experiments to take into account the influence of axial
spin on the combustion rate, K(p) is a linear function of spin for each charge.
The time of motor burnout, tB, is the time for which m = mB and it is a program
B
output.
C-4

ANNEX C to
STANAG 4355
Edition 3
4. Fitting Factors
To compensate for the approximations in this annex, certain fitting factors are applied
in order to create correspondence between the computed and the observed range testing
results.
Table C-1. Fitting Factors for Rocket-Assisted and Base Burn Projectiles
Fitting Function
Fitting
Rocket-assisted Base-burn
Projectiles Projectiles
Change in
Radial Velocity
fT
During Motor
Burning
Base-burn,
tDI tDI
Motor-burn
tB - tDI K(p)
Time
B
i
Range i
f(iBB, MT)
5. The location of the center of mass for base burn and rocket-assisted projectiles is given by:

ª X CG0 X CGB m m0 º
X CG X CG0 « » (C.25)
¬ m0 m B ¼
C-5

ANNEX C to
STANAG 4355
Edition 3
6. Common Equations for base burn and rocket-assisted, spin-stabilized projectiles, and fin-
stabilized rockets.
a. The overturning moment coefficient of the munition is given by:
C MD *
CM «

ª X CG X CG0 C D0 C LD º (C.26)
D »
¬ d ¼
*
where: CM D
is determined for the initial munition configuration and, when
tDI d t < tB, then CD0 equals CD0 for rocket-assisted projectiles
B
T
and fin-stabilized rockets.
b. The cubic overturning moment coefficient of the munition is given by:
*

ª X CG X CG0 C L 3 C D 2 1 / 2 C LD
D D
º»
CM CM « (C.27)
D3 D3 d
«¬ »¼
*
where: C M is determined for the initial munition configuration.
D3
c. The axial moment of inertia of the munition is given by:
Ix

ª I x I xB m m0 º
Ix0 « 0 » (C.28)
¬ m0 m B ¼
7. The location of the center of mass, motor nozzle exit, motor nozzle throat, and transverse
moment of inertia for fin-stabilized rockets.
a. The location of the center of mass is given by:
X CG

ª X CG f 0 X CGB
X CGB «
m m B º
» (C.29)
«¬ m »¼
where:
C-6

ANNEX C to
STANAG 4355
Edition 3
( X CG0 X CG B )m0
X CG f X CG B
0
(m0 mB )
b. The location of the motor nozzle exit from the center of the mass is given by:
re " X CG (C.30)
c. The location of the motor nozzle throat from the center of mass is given by:
rt re rt t (C.31)
d. The transverse moment of inertia of a fin-stabilized rocket is given by:
IY
I Y0 m0 m r f2 m0 X CG f X CG0
0
m X
2
CG f
X CG
2
(C.32)
where: r f is the radius of gyration of the fuel mass.
Figure C-1 illustrates the distances used for the determination of the transverse moment of inertia
of the rocket or projectile during motor burning.
X CG f X CG0 X CGB
+ +rf x + +
Figure C-1. Distances Used for the Determination of the Transverse Moment of Inertia
C-7

ANNEX C to
STANAG 4355
Edition 3
8. List of Additional Symbols for Rocket-Assisted and Base-Burn Projectiles
Ae Exit area of jet m2
ai Coefficient (constant) none
bi Coefficient (constant) none
BB Acceleration due to drag reduction of base-burn motor m/s2
CD0 Zero yaw drag coefficient (thrust on) none

T
*
CM D
Overturning moment coefficient for initial projectile none
configuration
Cxbb Drag reduction coefficient during base-burn motor burning none
d Reference diameter of projectile m
db Diameter of projectile base m
e Base of natural logarithms none
f(iBB, MT) Base-burn factor none
f(I) Function I none
f(MT) Combustion rate as a function of motor fuel temperature none
fT Thrust Factor none
g(P) Combustion rate as a function of atmospheric air pressure none
iBB Fitting factor to adjust the drag reduction as a function none

of quadrant elevation
I Base-burn motor fuel injection parameter none
I0 Base-burn motor fuel injection parameter for optimum none

efficiency
C-8

ANNEX C to
STANAG 4355
Edition 3
ISP Specific impulse Ns/kg
Ix Axial moment of inertia of the projectile kg m2
Ix0 Initial axial moment of inertia kg m2
IxB B
Axial moment of inertia at burnout kg m2
Iy Transverse moment of inertia kg m2
Iy0 Initial transverse moment of inertia kg m2
k Constant in burning rate versus pressure formula none
K(p) Axial spin burning rate factor none
" Distance of the motor nozzle exit from nose m
m0 Initial fuzed projectile mass kg
mB B Fuzed projectile mass at burnout kg
mCB Mass of motor fuel burnt kg
mCB0 Mass of motor fuel burnt in the barrel kg
mDI Ignition delay element mass kg
mDOB Delay obturator mass kg
mf Projectile fuel mass kg
m f Mass flow rate of the motor fuel kg/s
MT Temperature of motor fuel qC
n Exponent in burning rate versus pressure formula none
P Air pressure Pa
Pr Reference air pressure for standard thrust Pa
re Distance from the body center-of-mass to the motor nozzle m

exit
C-9

ANNEX C to
STANAG 4355
Edition 3
rf Radius of gyration of the motor fuel mass m
rt Distance from the body center-of-mass to the motor nozzle m

throat
rt-t Distance of the motor nozzle exit from the motor nozzle m
throat
SC Area of combustion at time t m2
t Computed time of flight s
t* Pseudo-computed time for mapping of thrust s

at nonstandard conditions
tB B Time of rocket motor burnout s
tBST Standard time of rocket motor burnout s
tDI Time of rocket motor ignition delay s
tDIST Standard time of rocket motor ignition delay s
TR Thrust produced by rocket motor at time t N
TST Standard thrust as function of burning time N
T* Effective thrust N
VC Combustion rate of base-burn fuel m/s
VC0 Combustion rate of base-burn fuel on strand burner m/s
XCG Distance of center of mass from nose at time t m
XCG0 Initial distance of center of mass from nose m
XCGB B
Distance of center of mass from nose at burnout m
X CG f0 Distance of center-of-mass of the rocket motor fuel from m

nose, initially
E Base-burn motor temperature fuel burning coefficient none
Up Density of base-burn motor fuel kg/m3
C-10

ANNEX C to
STANAG 4355
Edition 3
9. Additional Data Requirements for Rocket-Assisted and Base-Burn Projectiles
(1) Physical Data Symbol

Exit area of jet Ae
Reference diameter of projectile d
Axial moment of inertia of the projectile Ix
Initial axial moment of inertia of the projectile Ix0
Axial moment of inertia of the projectile at motor burnout IxB B
Transverse moment of inertia of the rocket, initially IY0

Distance of the motor nozzle exit from nose "
Fuzed projectile mass at burnout mB B
Initial mass of fuzed projectile m0

Radius of gyration of motor fuel mass rf
Distance of the motor nozzle exit from the motor nozzle throat rt-t
Initial distance of center of mass from nose XCG0
Distance of center of mass from nose at burnout XCGB B
(2) Aerodynamic Data Symbol

Zero Yaw drag coefficient (thrust on) CD0
T
*
Overturning moment coefficient for initial fuzed projectile CM D
Drag reduction coefficient during base-burn motor burning CxBB
(3) Motor Data – Rocket-Assisted Symbol

Specific impulse ISP
Ignition delay element mass mDI
Delay obturator mass mdob
Mass of rocket motor fuel mf
Reference air pressure for standard thrust Pr
Time of rocket motor burnout tB
B
Standard time of motor burnout tBST

Time of rocket motor ignition delay tDI
Standard time of rocket motor ignition delay tDIST
Standard thrust as function of pseudo-time TST
C-11

ANNEX C to
STANAG 4355
Edition 3
(4) Motor Data – Base-Burn Symbol

Base-burn motor fuel injection parameter for optimum efficiency I0
Mass of fuel burnt in the barrel mCB0
Mass of motor fuel mf
Area of combustion expression in the form of a function
of the mass of fuel burnt
SC = ai + bi mCB; for mCBi < mCB d mCBi+1 SC
ai and bi are defined over regions of mCB, from
mCBi=0 up to and including mCBi=n
Combustion rate of base-burn fuel on strand burner VC0
Base-burn motor temperature fuel burning coefficient E
Exponent in burning rate versus pressure formula n
Density of base-burn motor fuel Up
Constant in burning rate versus pressure formula k
10. Fire Control Data for Rocket-Assisted and Base-Burn Motors
a. Rocket-Assisted Motor
Time of rocket ignition delay (tDI), time of rocket motor burn (tB – tDI) and thrust
B
factor (fT) are given as a function of rocket motor temperature for each charge as
follows:
f a 0 a1 MT 21 a 2 MT 212 a 3 MT 213 (C.33)
where:
f = tDI, tB – tDI, or fT
B (C.34)
MT is rocket motor temperature
Standard Thrust is given as a function of pseudo-computed time (t*) as follows:

TST a 0 a1t * a 2 t *2 a3 t *3 (C.35)
C-12

ANNEX C to
STANAG 4355
Edition 3
b. Base-Burn Motor
The axial spin influence on burning rate factor K(p), is given as a linear function of
spin for each charge.
I0 is a linear function of Mach number.
The factor, f(iBB,MT), for a base-burn projectile is given as a function of quadrant

elevation, QE, and motor temperature, MT, for each charge as follows:
iBB MT 21 a0 a1 QE a2 QE 2 a3 QE 3 (C.36)
and
f (iBB, MT ) iBB MT 21 b1 MT 21 b2 MT 21 b3 MT 21 b4 MT 21
2 3 4
(C.37)
Time of base-burn ignition delay (tDI) is given as a function of motor temperature for
each charge.
t DI a 0 a1 MT 21 a 2 MT 212 a 3 MT 213 (C.38)
MT is rocket motor temperature
C-13

ANNEX D to
STANAG 4355
Edition 3
ADDITIONAL TERMS FOR SPIN-STABILIZED ROCKET-ASSISTED PROJECTILES,

SPIN-STABILIZED BASE-BURN PROJECTILES, AND FIN-STABILIZED ROCKETS
– METHOD 2
1. Introduction
This annex provides the equations required to simulate the flight of spin-stabilized rocket-assisted
projectiles, spin-stabilized base-burn projectiles, and fin-stabilized rockets
2. Equations for spin-stabilized rocket-assisted projectiles, spin-stabilized base-burn projectiles, and

fin-stabilized rockets
a. For rocket-assisted projectiles:
TF
The acceleration due to thrust force of the rocket motor, , during burning (tDI d t d tB) is B
m
added to the equation of motion of the center of mass of the unassisted projectile:
&
TF ª f T m f I SP Pr P Ae º § v cos D e & ·
« »¨ De ¸ (D.1)
m ¬ m ¼© v ¹
During rocket motor burning the aerodynamic zero-yaw coefficient is CDoT and if m f d m P then
(Pr – P) Ae = 0.
b. For base-burn projectiles:
The base drag reduction due to a base-burn motor during burning (tDI d t d tB) is added to the B
§ DF ·
drag term ¨ ¸ of the projectile.
¨ m ¸
© ¹
ª º
DF

S Ud i2 «
^C Do f i BB , MT «
I
G BP
G I
» &
`
» C D 2 QDD e 2 C D 4 (QDD e ) 4 v v (D.2)
m 8m

« J M2 § d · 2»
«¬ 2 ¨ ¸
© b ¹ »¼
d
D D
where:
4 m f
I (D.3)
S U v db2
D-1

ANNEX D to
STANAG 4355
Edition 3
ª § m f · § G BP · º
« ¨¨ ¸¸ ¨¨ ¸¸ » is used to represent the drag reduction due to the mass flow (m ) of
« © U v Ab ¹ © G I ¹ » f

f i BB , MT « 2 »
the base-burn motor. The factor f(iBB,MT) is included for matching
« §¨ J ·¸ M 2 §¨ d ·¸ » observed range firing data.
« ©2¹ ¨d ¸ »
¬ © b¹ ¼
c. For fin-stabilized rockets:

See Eq. (16) and (25) in main document.
3. Common Equations for base-burn and rocket-assisted, spin-stabilized projectiles, and fin-
stabilized rockets.
a. The mass flow for spin-stabilized projectiles and fin-stabilized rockets is given by:
at t = 0
m m0 (D.4)
m 0 (D.5)
for 0 < t < tDI
m DI
m (D.6)
t DI
t DI § m DI ·
m ³ ¨¨ ¸¸ dt m0 (D.7)
0
© t DI ¹
for tDI d t < tB B
m m f (D.8)
tB t DI § m DI ·
m ³ m f dt ³ ¨¨ ¸¸ dt m0 (D.9)
t DI 0
© t DI ¹
§ t B* t(*t ) · *
m f ¨ ¸ m (D.10)
¨ tB t ¸ f
© (t ) ¹
t B* t (*t )
t(*t ) (D.11)
t B( t ) t
D-2

ANNEX D to
STANAG 4355
Edition 3
ª § p · § P ·º
tB( t ) t B( t )
t « f BTp ¨¨ ¸¸ f BTP ¨¨ ¸¸» (D.12)
¬ © p¹ © P ¹¼
where:
'P 'P
P u2 (D.13)
't 'E 2
and at tDI
t (*tDI ) *
t DI (D.14)
f BT f BT
ª § p( tDI ) · p § P( tDI ) · P º
t B( t t DI «t B t DI ¨¨ ¸
¸
¨
¨ P ¸
¸ » (D.15)
DI ) p
« © r ¹ © r ¹ »
¬ ¼
(Time-of-motor burnout as a function of tDI)
pr = Reference axial spin rate for motor mass flow

p(tDI) = Actual spin rate for motor mass flow at tDI
Pr = Standard atmospheric air pressure
P(tDI) = Actual atmospheric air pressure at tDI
for t t tBB
mB = m0 – mDI – mf
B (D.16)
m 0 (D.17)
b. The location of the center of mass of the munition is given by:
X CG

ª X CG f 0 X CGB
X CGB «
m m B º
» (D.18)
¬« m ¼»
where:
( X CG0 X CG B )m0
X CG f0 X CG B (D.19)
(m0 mB )
D-3

ANNEX D to
STANAG 4355
Edition 3
c. The location of the motor nozzle exit from the center of the mass is given by:
re " X CG (D.20)
d. The location of the motor nozzle throat from the center of mass is given by:
rt re rt t (D.21)
e. The overturning moment coefficient of the munition is given by:
C MD *
CM

ª X CG X CG0 C D0 C LD º (D.22)
D « »
¬ d ¼
*
where: CM D
is determined for the initial munition configuration and, when
tDI d t < tB , then CD0 equals CD0 for rocket-assisted projectiles and
T
fin-stabilized rockets. The aerodynamic coefficients are considered to
be dimensionless, with unit = 1, in this formulation.
f. The cubic overturning moment coefficient of the munition is given by:
*

ª X CG X CG0 C L 3 C D 2 1 / 2 C LD
D D
º»
CM CM «
D3 D3 d
«¬ »¼ (D.23)
*
where: C M is determined for the initial munition configuration. The
D3
aerodynamic coefficients are considered to be dimensionless, with unit =1,

in this formulation.
g. The axial moment of inertia of the munition is given by:
Ix

ª I x I xB m m0 º
Ix0 « 0 » (D.24)
¬ m0 m B ¼
D-4

ANNEX D to
STANAG 4355
Edition 3
4. The transverse moment of inertia of a fin-stabilized rocket is given by:
IY
I Y0 m0 m r f2 m0 X CG f X CG0
0
m X
2
CG f
X CG
2
(D.25)
Figure D-1 illustrates the distances used for the determination of the transverse moment of inertia of the
rocket during motor burning.
X CG f 0 X CG0 X CGB
+ rf x + +
Figure D-1. Distances Used for the Determination of the Transverse Moment of Inertia
D-5

ANNEX D to
STANAG 4355
Edition 3

Ab Area of projectile base m2
Ae Exit area of the motor jet m2
CD Zero yaw drag coefficient none

0
CD0 Zero yaw drag coefficient during rocket motor burning none
T
* Overturning moment coefficient for initial fuzed munition none

CM D
*
CM 3 Cubic overturning moment coefficient for initial fuzed 1/rad2
D
munition
db Diameter of projectile base m
fT Thrust factor none
f(iBB, MT) Base-burn factor none
fBTp Base-burn motor spin rate burning-time factor none
fBTP Base-burn motor atmospheric air pressure burning-time factor none
I Base-burn motor fuel injection parameter none
iBB Fitting factor to adjust the drag reduction as a function of none

quadrant elevation
Ix Axial moment of inertia of the munition at time t kg m2
Ix0 Axial moment of inertia of the munition, initially kg m2
IxB B
Axial moment of inertia of the munition at motor burnout kg m2
IY Transverse moment of inertia of the rocket at time t kg m2
I Y0 Transverse moment of inertia of the rocket, initially kg m2
" Distance of the motor nozzle exit from nose m
D-6

ANNEX D to
STANAG 4355
Edition 3
m0 Fuzed munition mass, initially kg
mB B Fuzed munition mass at burnout kg
mDI Mass of ignition delay element kg
mf Mass of motor fuel kg
m *f Reference mass flow rate of the motor fuel as a function kg/s

of t* pseudo-time-of-motor burning
m P Minimum mass flow rate of the motor fuel for air kg/s
pressure term
MT Temperature of motor fuel qC
p Axial spin rate of projectile rad/s
pr Reference axial spin rate for motor mass flow rad/s
re Distance from the body center-of-mass to the motor nozzle m

exit
rf Radius of gyration of the motor fuel mass m
rt Distance from the body center-of-mass to the motor nozzle m

throat
rt-t Distance of the motor nozzle exit from the motor nozzle m
throat
t* Pseudo-time-of-motor burning s
tB B Time-of-motor burnout s
t B* Reference time-of-motor burnout s
tDI Time-of-motor ignition delay s
*
t DI Reference time-of-motor ignition delay s
XCG Distance of center of mass of the munition from nose m

at time t
D-7

ANNEX D to
STANAG 4355
Edition 3
XCG0 Distance of center of mass of the munition from nose m
at time t0
XCGB B
Distance of center of mass of the munition from nose m
at time tBB
X CG f 0 Distance of center-of-mass of the rocket motor fuel from m

nose at time t0
G BP Change in non-dimensional base pressure for a change in none

GI the base-burn motor injection parameter
'P Rate of change of atmospheric air pressure as seen by Pa/s

't the munition
6. Additional Data Requirements

Physical data Symbol
Area of projectile base Ab
Exit area of motor jet Ae
Diameter of projectile base db
Axial moment of inertia of the munition, initially Ix0
Axial moment of inertia of the munition at motor burnout IxB B
Transverse moment of inertia of the rocket, initially IY0

Distance of the motor nozzle exit from nose "
Fuzed munition mass, initially m0
Fuzed munition mass at burnout mB B
Mass of ignition delay element mDI
Mass of motor fuel mf
Minimum mass flow rate of the fuel for air pressure term m p
Radius of gyration of motor fuel mass rf
Distance of the motor nozzle exit from the motor nozzle throat rt-t
Distance of center of mass of the munition from nose, initially XCG0
Distance of center of mass of the munition from nose at motor burnout XCGB B
Aerodynamic data Symbol

Zero yaw drag coefficient during rocket motor burning CD0
T
*
Overturning moment coefficient for initial fuzed munition CM D
*
Nonlinear overturning moment coefficient for initial fuzed munition CM
D3
D-8

ANNEX D to
STANAG 4355
Edition 3
Motor data Symbol

Reference mass flow rate of the motor fuel as a function of
pseudo-time-of motor burning, t*
m *f a0 a1 t * a 2 t *2 ; for ti* t * d ti*1 m *f
a0 and a1 are defined over regions of t*, from t*i=0
up to and including t*i=n
Reference axial spin rate for motor mass flow pr
Standard atmospheric air pressure at sea level Pr
Time-of-motor burnout tB B
Reference time-of-motor burnout t B*

Time-of-motor ignition delay tDI
Reference time-of-motor ignition delay *
t DI
Specific impulse of motor fuel ISP
Change in non-dimensional base pressure for a change in the base-burn G BP
motor injection parameter as a function of Mach number and injection GI
parameter
G BP
is given, for up to five values of I, as a function of Mach number in the form of
GI
polynomials of fourth degree or less. They are defined over regions of Mach number, from
MMAXi = 1 up to and including MMAX.
§ G BP ·
¨¨ ¸¸ a 0 a1 M a 2 M 2 a 3 M 3 a 4 M 4 (D.26)
© G I ¹I
7. Fire Control Data for Projectile Motor

(for a complete fitting factor table, see Annex A)
a. The time-of-motor ignition delay, tDI, and time-of-motor burn, (tB - tDI), for rocket-assisted and
base-burn projectiles are given as a function of motor temperature, MT, for each charge as
follows:
t DI a 0 a1 MT 21 a 2 MT 212 a 3 MT 213 (D.27)
t B t DI a 0 a1 MT 21 a 2 MT 212 a 3 MT 213 (D.28)
D-9

ANNEX D to
STANAG 4355
Edition 3
b. The thrust factor, fT, for a rocket-assisted projectile is given as a function of motor temperature,
MT, for each charge as follows:
fT a 0 a1 MT 21 a 2 MT 212 a 3 MT 213 (D.29)
c. The spin rate burning-time factor, fBTp, for a base-burn projectile is given as a constant for each
charge.
d. The atmospheric air pressure burning-time factor, fBTP, for a base-burn projectile is given as a
constant for each charge.
e. The factor, f(iBB,MT), for a base-burn projectile is given as a function of quadrant elevation, QE,
and motor temperature, MT, for each charge as follows:
i BB MT 21
a 0 a1 QE a 2 QE 2 a 3 QE 3 (D.30)
and
f i BB , MT i BB MT b1 MT 21 b2 MT 21 b3 MT 21 b4 MT 21
2 3 4
21
(D.31)
8. Fire Control Data for Fin Stabilized Rockets

(for a complete fitting factor table, see Annex A)
a. The mass of ignition delay element, mDI, time of motor ignition delay, tDI, spin rate burning-time
factor, fBTp, and the atmospheric air pressure burning-time factor, fBTP, are zero.
b. The time of first motion, tFM, time of launch, tL, time of rocket fin opening, tFO, time of motor
burn, (tB - tDI), is given by, tB, time of end of five degrees of freedom, tE5D, and thrust factor, fT,
B
are given as a function of motor temperature, MT, as follows:
a 0 a1 MT 21 a 2 MT 21 a3 MT 21
2 3
t FM (D.32)
a 0 a1 MT 21 a 2 MT 21 a3 MT 21
2 3
tL (D.33)
a 0 a1 MT 21 a 2 MT 21 a3 MT 21
2 3
t FO (D.34)
a 0 a1 MT 21 a 2 MT 21 a 3 MT 21
2 3
tB (D.35)
D-10

ANNEX D to
STANAG 4355
Edition 3
a 0 a1 MT 21 a 2 MT 21 a3 MT 21
2 3
t E5D (D.36)
a 0 a1 MT 21 a 2 MT 21 a3 MT 21
2 3
fT (D.37)
c. At time, tL, the initial angular velocity (spin) of the fin stabilized rocket is, p( t L ) , a constant and
the initial transverse angular velocities of the fin stabilized rocket, Z y( t and Z z( t ) , are given as
L) L
a function of quadrant elevation, QE, as follows:
p(t L ) a0 (D.38)
Zy ( t L ( MT 21))
a 0 a1 QE a 2 QE 2 a 3 QE 3 (D.39)
and Zy ( tL )
= Z y( t L ( MT 21 ))
b1 ( MT 21) b2 ( MT 21) 2 b3 ( MT 21) 3
Zz ( t L ( MT 21 ))
a 0 a1 QE a 2 QE 2 a 3 QE 3 (D.40)
and Zz ( tL )
= Z z( t L ( MT 21 ))
b1 ( MT 21) b2 ( MT 21) 2 b3 ( MT 21) 3
d. The form factor, i , and adjustment to azimuth, '(' AZ ), are given as a function of quadrant
elevation, QE, as follows:
i a 0 a1 QE a 2 QE 2 a 3 QE 3 (D.41)
' ( ' AZ ) a 0 a1 QE a 2 QE 2 a 3 QE 3 (D.42)
e. The modeling of time used for fin stabilized rockets may require a correction to time of flight
as follows:
T t 'ToF (D.43)
'ToF a 0 a1t a 2 t 2 a 3t 3 (D.44)
D-11

ANNEX E to
STANAG 4355
Edition 3
CALCULATION OF SUBMUNITION TRAJECTORIES
1. Introduction
This annex provides the methods for calculating submunition trajectories.
Submunition trajectories are the trajectories for submunitions ejected from the carrier shell in
flight.
a. Submunition trajectories may represent trajectories for:

(1) Cargo bomblets
(2) Mines
(3) Smoke canisters
(4) Illuminating canisters
(5) Canister for sensor-fuzed submunition
b. This Annex describes methods for the calculation of:

(1) the base separation point
(2) the submunition trajectories with a point mass trajectory model
(3) simple trajectory calculation using a closed form solution
(4) submunition dispersion
(5) empty carrier trajectory
Figure E-1 defines the nomenclature for the different phases. A collective name for the
different phases is submunition trajectory. Note that terminal phase should always be used
for the phase in which the submunition hits the ground or functions.
2. Rules for the Calculation of the Base Separation Point
The base separation point is the point where the fuze of the carrier shell activates the first
phase of the submunition trajectories. Calculation of the position of the base separation point
can be done using either of the following rules:
a. a predefined height of burst (HOB) above the target, or by

b. requiring a certain time of fall (Tfs) for the center submunition.
Both can be given either as a constant or as a polynomial function of the superelevation.

Thus for rule (a.) and rule (b.) we respectively get
HOB a0 a1 QE AS a 2 QE AS 2 a3 QE AS 3
(E.1)
a 4 a5 QE AS a6 QE AS 2 a7 QE AS 3 Alt w
E-1

ANNEX E to
STANAG 4355
Edition 3
and
T fs b0 b1 QE AS b2 QE AS 2 b3 QE AS 3 (E.2)
Rule (a.) is designed to ensure that a specified fraction of all base separation points occur at a
certain height. Rule (b.) is designed to ensure that a specified fraction of submunitions hits
the ground before the self-destruct time.
The starting velocity of any phase, which includes point-mass and closed-form-biases:
& & &
u s1 u carrier 'u s1c (E.3)
*
& v &
where: c cosD e D e is the axis of the carrier shell at the end of the previous phase, and
v
&
the vector D e is the yaw of repose.
'u sn a 0,n a1,n p n 1 is the ejection speed of the submunition,
and p n 1 is the magnitude of the spin at the end of the previous phase
For a more detailed description of ejection velocity from a spin-stabilized projectile

used to estimate the maximum dimension of submunition pattern on the ground, see
equation E.34.
NOTE: See Figure E-2 for explanation of additional terms
3. Calculation of Submunition Trajectories with a Point Mass Model
NOTE: See Annex F for Point Mass Model implementation.

&
The acceleration due to aerodynamic drag, D , is computed as
& U S sn &
Dsn isn C Dsn v sn v sn (E.4)
2 m sn
where: the subscripts s and n represent submunition and the phase number respectively. Ssn
is the effective presented cross sectional area of the submunition unit and msn is its mass.
They can both be given as linear functions of time.
&
The wind velocity, w , is accounted for through
& & &
v sn u sn w (E.5)
E-2

ANNEX E to
STANAG 4355
Edition 3
If necessary the spin damping can be calculated according to the expression
2U 2
p sn S sn p sn C spinsn v sn (E.6)
S I xsn
Drag coefficient can be formatted in two ways, one of which is dependent on Mach number only
and one of which is dependent on Mach number, velocity, and spin.
Drag coefficient is given as a function of the Mach number (Msn) of the submunition. The
function is in the form of a linear function. It is defined over regions of Mach number similar to
that of Annex A, paragraph 1. Thus in each interval
C Dsn a 0,n a1,n M sn (E.7)
C Dsn value depends on the Mach number and the quotient of velocity and spin as follows.
1.0 § S ball _ sn S sn ·
C Dsn >a 0,n a1,n M sn @ ¨¨ ¸¸ (E.8)
i sn © S sn ¹
S 2
where: S ball _ sn d sn (E.9)
4
a1,sn
and d sn a 0,sn a3, sn
(E.10)
§ p sn ·
1 a 2,sn ¨ ¸
¨u ¸
© sn ¹
where: the coefficients ak,sn (k=0,1,2,3) are constant fitting factors for the submunition s in the
phase n.
psn The spin of the submunition s in the phase n ( rad/s )
usn The velocity of the submunition s in the phase n ( m/s )
The form factor, isn, is given as a polynomial function of HOB
b0 b1 HOBsn b2 HOBsn b3 HOBsn

2 3
i sn (E.11)
Mass of submunition unit, msn, is given as a quadratic polynomial of t

m sn a 0 a1t a 2 t 2 (E.12)
Reference cross sectional area, Sn, is given as a quadratic polynomial function of t
Sn a0 a1t a 2 t 2
(E.13)
E-3

ANNEX E to
STANAG 4355
Edition 3
and the corrected time is given by
Tsn t sn a t sn (E.14)
for each phase.
The end of the phase is determined either by height above the ground and/or the duration of
the phase and is calculated by one of the following equations:
H phase a (E.15)
or
b1
T f ,sn a 0 a1 QE AS a 2 QE AS 2 a 3 QE AS 3 (E.16)
u sn
usn is the velocity of the submunition at the beginning of the phase.
4. Calculation Using Simplified Formulas
The ballistic trajectory of a phase can be calculated in closed form either by
a. Closed Form A
assuming a drag proportional to a velocity reference and constant meteorological
parameters throughout the phase using the vector equation
* & &
& & § v sn g · §& g· (E.17)
x n 1 x n ¨¨ 2 ¸¸ >1 exp Tsn k s @ Tsn ¨¨ w ¸¸
© ks ks ¹ © ks ¹
where:
S sn
ks C Dsn U v sn (E.18)
2m sn
ª 0 º
& « g »
g (E.19)
« 0»
«¬ 0 »¼
and
ª w1 º
& «w »
w (E.20)
« 2 »
or ¬« w3 ¼»
E-4

ANNEX E to
STANAG 4355
Edition 3
b. Closed Form B
assuming a constant velocity of fall and constant wind throughout the phase where
the heights of burst and time of fall are related by
HOBn HOBn 1 (E.21)

T f sn
v sn ,2
&
where vsn,2 is the vertical component of vsn . HOBn is the height of burst at the start
of phase n. If n is the last phase then HOBn+1 = 0 meaning that the submunition
terminates at ground level.
& &
The displacement due to wind is T f sn wh where wh is the horizontal wind vector.
If HOBn and HOBn+1 are in different met zones, a fall time is calculated for each zone
HOBn H Z 1
T f sn ( Z ) (E.22)
v sn ,2
H z H z 1
T f sn ( z ) (E.23)
v sn ,2
H Z0 HOBn 1
T f sn ( Z 0 ) (E.24)
v sn ,2
where Z is the met zone of HOBn, Z 0 is the met zone of HOBn+1 and z is any met zone
Z z Z 0 . Hz is the upper height of met zone z. When n is the last submunition
phase, equation (E.21) becomes zero.
The displacement due to horizontal wind is the sum of contributions from applicable met
zones.
& Z
&
d ¦ T f sn z wh z (E.25)
0 s Z
& &
where d is the displacement vector and wh ( z ) the horizontal wind vector of met zone z
(assumed constant throughout the zone).
The displacement due to wind may for certain types of submunition, e.g. illumination
canisters, be used to make an offset to the aim point. The offset is
& & § o · (E.26)

o d min ¨ a , max
& ¸
¸
¨¨ d ¸
© ¹
E-5

ANNEX E to
STANAG 4355
Edition 3
&
where: o is the offset vector, a d 0.5 is a factor indicating the relation between the
displacement and the offset. The offset should not exceed a certain horizontal distance
omax. The minus sign indicates that the offset vector is in the opposite direction as the
horizontal wind vector.
For illumination canisters the maximum offset is
omax Rill 2 HOB 2 (E.27)
where: Rill is the illumination radius (maximum absolute distance between illumination
canister and target). HOB is the height at which the illumination canister ignites.
or
c. Displacement
by fitting observed data (for phase 1) to the form
&
'X 1,1 a0 a1 vcarrier ,1 along the horizontal component of v (E.28)
&
'X 1, 2 b0 b1 vcarrier , 2 along the vertical component of v (E.29)
't c0 time displacement (E.30)

or
d. Closed Form Biases

The offset is calculated using closed form rule for certain types of sensor-fuzed munitions
This describes the change of the submunition data from the ejection of the carrier shell to
the time where a deceleration device is fully deployed.
The change of the flight conditions from the base separation point after ejection to the
point where the deceleration devices (eg. ballutes, parachutes) are fully deployed, are
calculated by polynomial functions.
The separation phase is described by the following equations, where the index s
represents the submunition.
For a detailed description of the coefficients used, see chapter List of Symbols.
&
The change in position ǻX s is given as
ªcos ī 0 cos ȥ 0 º
& « sin ī »
ǻX s a0s (E.31)
« 0 »
«¬cos ī 0 sin ȥ 0 »¼
E-6

ANNEX E to
STANAG 4355
Edition 3
where *0 is the vertical angle of fall and \0 is the horizontal angle of fall at the start of
the phase.
The change in velocity is given as
ǻu s a 0 a1 u0 a 2 ī 0 a 3 u0 ī 0 (E.32)
where u0 is the velocity and *0 is the vertical angle of fall at the start of the phase.
The change in the vertical angle of fall is given as

ǻī s
a0 a1 u0 a 2 u02 b0 b1 u0 b2 u02 ī 0 c0 c1 u0 c2 u02 ī 02 (E.33)
where u0 is the velocity and *0 is the vertical angle of fall at the start of the phase.
The change in spin is given by
ǻp s a 0 a1 p0 a 2 u0 a 3 p0 u0 (E.34)
where p0 is the spin and u0 is the velocity at the start of the phase.
The duration of the phase is given by
ǻt s a 0 a1 u0 a 2 u02 (E.35)
where u0 is the velocity at the start of the phase.
5. Calculation of Submunition Dispersion
a. Concentric submunitions
The axis of the shell will not in general be parallel to the shell velocity vector due to a
non-zero yaw of repose. This effect may be accounted for as shown in the following
dispersion calculation.
&
The axis of the carrier shell is the vector c and the yaw of repose is defined by the
&
vector D e . Thus we have
*
& v &
c cos D e D e (E.36)
v
The ejection velocity of any central bomblet (a bomblet lying concentric with the axis of
the shell), we get
& & &
u s1 ucarrier ' u s1 c (E.37)
where: 'u s1 a 0 a1 p (E.38)
is the ejection speed of the submunition, and p is the magnitude of projectile’s spin at
time of fuze function.
E-7

ANNEX E to
STANAG 4355
Edition 3
b. Eccentric submunitions
For a cross-sectional layer of submunitions, the ejection velocity of eccentric

submunitions in the plane normal to the shell axis may be calculated by
& & &
u s , normal i D p u rs (E.39)
& &
where: p is the spin vector at base separation and rs is the vector from the axis of the
carrier shell to the center of gravity of the individual submunition. iD is a fitting factor.
The configuration is shown in figure E-2.
&
In order to find the ejection velocity we first have to find the horizontal vector e that is
& & & & &
normal to c and the vector d e u c . These are also shown in figure E-2. The vector e
can be written as
& &
& cuy
e & & (E.40)
cuy
&
where y is defined as a unit vector in the positive 2-direction.
&
If we now define I as the angle between the vector d and the position of the submunition
as shown in figure E-2, the position vector of the submunition from the axis is
& & &
rs
rs e sin I d cos I (E.41)
& &
In the modified point mass model, we always have p pc and when inserted into (E.39)
& & &
us ,normal iD pc u rs (E.42)
After combining (E.38-39) and adding the velocity for the central bomblets we get
& & & & &
us1
ucarrier 'us1c iD prs d sin I e cos I (E.43)
where: 'u s1 a 0 a1 p (E.44)
is the ejection speed of the submunition, and p is the magnitude of the projectile’s spin at
the time of fuze function.
& & & &
In the case when c u y = 0, both d and e are in the horizontal plane. In this case,
&
choose d to be the unit vector in the direction of the projection of the initial projectile
velocity onto the horizontal plane.
E-8

ANNEX E to
STANAG 4355
Edition 3
c. Submunition trajectories
The ballistic trajectory of the submunitions can be determined by the same methods as
described in sections 3 and 4.
This pattern is defined by the impact point of four virtual submunitions defined relative to
the vertical plane of the trajectory of the carrier:
(1) the submunition ejected in the vertical plane above the shell trajectory,
(2) the submunition ejected in the vertical plane below the shell trajectory,
(3) the submunition whose tangential ejection velocity component is normal to the
vertical plane in the negative 3-direction,
(4) the submunition whose tangential ejection velocity component is normal to the
vertical plane in the positive 3-direction.
The initial velocities for these submunitions at the base separation point are respectively
& * & &
ulower u carrier ' u s1c i D prs e (I = 180º) (E.45)
& * & &
uupper u carrier ' u s1c i D prs e (I = 0º) (E.46)
& * & &
u right u carrier ' u s1c i D prs d (I = 90º) (E.47)
& * & &
uleft u carrier ' u s1c i D prs d (I = 270º) (E.48)
In cases (3) and (4) it is anticipated that the ejection takes place at such a height that the
descent is close to vertical at the end of the terminal phase.
6. Empty Carrier Trajectory
The trajectory of the empty carrier left after the base separation point can be calculated
assuming that the carrier has the same aerodynamic properties as the original shell. The
empty carrier will at base separation get a velocity, a mass and a moment of inertia, which
are different to the original shell. The calculation of the trajectory could be done according
to the Modified Point Mass Model in the main text or the Point Mass Model in Annex F.
The velocity of the empty carrier is found by

& & &
u ec u carrier ' u ec c (E.49)
The sign of 'uec is opposite to 'us1. The mass of the empty carrier mec, its moment of inertia
Ixec, and 'uec must be entered separately.
E-9

ANNEX E to
STANAG 4355
Edition 3
Figure E-1 Definition of concepts for submunition trajectories
Figure. E-2 Geometry of tangential ejection velocity
E-10

ANNEX E to
STANAG 4355
Edition 3
Alt w Altitude of weapon above sea level m
As Angle of site mil
a0, a1…b0, b1… Auxiliary coefficients none

&
c Axis of carrier shell none
CD Drag coefficient none
Cspin Spin damping coefficient none

&
d Displacement vector due to wind m
HOB Height of burst m
Hz Upper height of met zone z m
iD Fitting factor for dispersion of submunition none
ms Mass of submunition unit kg

&
o Offset vector m
QE Quadrant elevation mil
rs Distance from carrier axis to center of gravity of m

submunition
S Reference cross sectional area m2
t Simulation time since start of phase s
Tf Fall time of submunition (duration of phase) s
Ts Time since start of phase s

&
wh Horizontal wind velocity m/s
&
xn Position at nth separation point m
E-11

ANNEX E to
STANAG 4355
Edition 3
z Met zone index none
'u Axial ejection velocity of submunition or velocity m/s

change of empty carrier due to ejection
*0 Vertical angle of fall at the start of the phase rad
I Positional angle of submunition at ejection (clockwise rad

from positive vertical, see figure E-2)
\0 Horizontal angle of fall at the start of the phase rad
U Density of air kg/m3
Subscripts (multiple subscripts occur)
carrier property of carrier shell at base separation
ec property of empty carrier shell
n (or a digit) property in terminal phase n (or phase number as given by digit)
s property of submunition
1, 2, 3 (when following a comma) component in the 1-2-3 system
Symbols without vector indicator symbolize the scalar value of the vector
E-12

ANNEX F to
STANAG 4355
Edition 3
POINT MASS TRAJECTORY MODEL
1. The following equations constitute a mathematical model representing the flight of a

projectile. The modeling is accomplished by simplifying the modified point mass equations
given in Section I of this document to those representing a point having mass and spin only.
2. Newton’s law of motion for a point mass is:

& & & &
F mu DF mg m/ (F.1)
where:
acceleration due to drag force is:
when i is used as a fitting factor,
DF §S U id 2 · & (F.2)
¨¨ ¸ CD v v
¸
m © 8m ¹
or when C is used as a fitting factor,
DF § S U mr · &
¨¨ ¸¸ C D v v (F.3)
m © 8 Cm ¹
or when fD is used as a fitting factor,
DF §SU d2 · &
m
¨¨
¸ f D CD v v
¸ (F.4)
© 8m ¹
acceleration due to gravity is:

ª X1 º
« R »
& § R2 · & « 2X »
2
g g 0 ¨¨ 3 ¸¸ r g 0 «1 » (F.5)
©r ¹ « R »
« X3 »
«¬ R »¼
where: g0 = 9.80665 [ 1 - .0026 cos (2 lat) ] (F.6)

& & &
r X R, (F.7)
F-1

ANNEX F to
STANAG 4355
Edition 3
ª 0º
& « R»
R
« » (F.8)
«¬ 0 »¼
and R = 6.356766 u 106 meters
acceleration due to the effect of the Coriolis force is:

& & &
ȁ 2 Ȧ u u (F.9)
where:
ª ȍ cos lat cos AZ º
& « ȍ sin lat »
Ȧ (F.10)
« »
«¬ ȍ cos lat sin AZ »¼
and : = 7.292115 u 10-5 rad/s
NOTE: For southern hemisphere, lat is negative.
3. The magnitude of spin acceleration is given by:
S U d 4 p v C spin
p (F.11)
8 Ix
where:
t
p p0 ³ p dt (F.12)
0
is the magnitude of spin at time = t and
2S u0
p0 (F.13)
tc d
is the magnitude of the initial spin of the projectile at the muzzle.
F-2

ANNEX F to
STANAG 4355
Edition 3
4. The velocity of the projectile with respect to the ground fixed axes at time = t is:
& & t &
u u0 ³ u dt (F.14)
0
where: ªu0 cos (QE ) cos ( ' AZ )º

& « »
u0 u0 sin (QE )
« » (F.15)
«¬ 0
u cos ( QE ) sin ( ' AZ ) »¼
5. The velocity of the projectile with respect to the air is given by:
& & &
v uw (F.16)
and Mach number by:

M v /a (F.17)
where a is the speed of sound as defined at paragraph 21 on Page 14.
6. The position of the projectile with respect to the ground axes is given by:
& & t &
X X 0 ³ u dt (F.18)
0
where:
ª º
& «lW cos (QE ) cos ( ' AZ )»
X0 « X lW sin (QE ) » (F.19)
« 2W »
« lW cos (QE ) sin ( ' AZ ) »
¬ ¼
is the location of the muzzle, i.e., initial position of the center of mass of the
projectile.
7. The position of the projectile with respect to the spherical earth’s surface is given by the
approximation:
ª X1 º
&
E
«
«X 2
2
X 1 X 32 »
» (F.20)
« 2R »
«¬ X 3 »¼
F-3

ANNEX F to
STANAG 4355
Edition 3
8. For some applications, especially where the flight path of the projectile is short, the model
described above may be simplified further:
the effects of height above the earth’s surface on gravity may be ignored, in which case
ª 0º
&
g g 0 1»
« (F.21)
« »
«¬0»¼
the effects of spin of the earth may be ignored, in which case
ȍ{0 (F.22)
the effects of projectile spin may be ignored, in which case
p0 p { 0 (F.23)
the earth’s surface may be considered a flat plane, in which case

ª X1 º
& «X »
E (F.24)
« 2»
«¬ X 3 »¼
9. The List of Symbols found at Sections II and III of the main document contain all the
symbols required for this annex with one exception, namely, CD is defined as the total drag
force coefficient (dimensionless).
10. The List of Data Requirements related to this annex are as follows:
Physical Data Symbol

Initial speed of projectile with respect to ground (muzzle velocity) u0
Rifling twist at muzzle tc
Mass of fuzed projectile m
Mass of fuzed reference projectile mr
Reference diameter d
Initial axial moment of inertia (optional) Ix0
Aerodynamic Data Symbol

Total drag force coefficient CD
Spin damping moment coefficient (optional) Cspin
F-4

ANNEX F to
STANAG 4355
Edition 3
a. Fitting Factors for Range Estimation
Since the point mass equations do not explicitly model the effects of yaw of repose, the
fitting factors for the range estimation must be used to account for this fact. As a result,
the forms will vary from those forms used with the MPM equations. Following are some
typical forms used in fire control systems.
Quadrant Elevation Fitting
Ballistic coefficient (C):
C = a0 + a1(QE) + a2(QE)2 + a3(QE)3 (F.25)
Form factor (i):
i = b0 + b1(QE) + b2(QE)2 + b3(QE)3 (F.26a)

or
i = b0 + b1(QE - As) + b2(QE - As)2 + b3(QE - As)3 (F.26b)
The equations are applicable over the QE intervals bounded by QEj-1 to and including
QEj. The functions must be continuous and smooth at each breakpoint. The minimum
and maximum values of QE are determined by the weapon and ammunition
characteristics but, typically, range from zero mils to the maximum trail angle. The
degree of the polynomial is dependent upon the desired quality of the range estimation.
Mach Number Fitting
Drag factor (fD) can be fitted as a function of Mach number.
b. Drift Correction
Since the point mass equations do not include the drift effects associated with spinning
projectiles, the drift (which is perpendicular to the vertical plane containing the line of
fire) is generally represented by a function based on the observed fall of shot results. The
following are typical expressions for drift expressed in mil:
Drift = tan (QE) f (QE) (F.27)

where:
f (QE) = a0 + a1 (QE) + a2 (QE)2 + a3 (QE)3 (F.28)
or
Drift = b0 tan (QE) + b1 tan2 (QE) (F.29)
F-5

ANNEX F to
STANAG 4355
Edition 3
or
Drift = c0 QE / (QE + c1) (F.30)
or
Drift = arctan ((d0 + d1 T + d2 T2 + d3 T3)/x1) (F.31)

*
where: x1 is the range (m) to impact along the 1 axis.
c. Time of Flight Correction
In order to account for the difference between the actual time of flight (T) and the time of
flight predicted by the point mass model the following forms can be used:
T = a0 + a1 t + a2 t2 + a3 t3 (F.32)
Or, if approximating 't as a function of t,
T = t + 't (F.33)
and 't = b0 + b1 t + b2 t2 + b3 t3 (F.34)
Where the equation is applicable over the time (t) intervals bounded by tj-1 to and
including tj. The functions must be continuous and smooth at each breakpoint. The
minimum and maximum values of T are determined by the weapon and ammunition
characteristics but, typically, range from zero seconds to the maximum time of flight.
The degree of the polynomial is dependent upon the desired quality of the time
estimation.
F-6

ANNEX G to
STANAG 4355
Edition 3
ADDITIONAL TERMS FOR GUIDED MUNITIONS
1. Introduction
This annex presents a method of extending the use of a modified point mass trajectory
model for mid-course guidance munitions utilizing Global Positioning System (GPS) and
Inertial Navigation System (INS), which incorporates an estimate of the vertical and
horizontal angles of yaw to simulate the flight of the guided munitions. The equations in
this annex are to be used during the guided and terminal phases of the trajectory, where
the munition departs from a ballistic trajectory t t t g .
The figure below shows the phases of a trajectory for guided munitions. This trajectory
shows one Aim Point after the start of guidance in the Mid-Course Guidance Phase with
a line of sight drawn between the two points. If more than one Aim Point is desired in
this phase, each Aim Point will have a line of sight vector drawn from the previous Aim
Point to the following Aim Point. The Proportional Navigation methods described in this
annex hold for each Aim Point in the Mid Course Guidance Phase.
Mid-Course Guidance Phase

Trajectory Summit
or Time Setting tg (Intermediate Aim Points optional*)
dtg
(tsg) End of Mid-Course
Guidance Aim Point
Ballistic Phase
Terminal Phase
Canards
Deployment tcd Proportional Navigation Terminal
or Attitude Hold Aim Point
Fin Cover t
Ejects tDI Trajectory Height Above Range to
Target ('HT) Target ('RT)
Line of Sight
Target
* Trajectory shown does not take these points into consideration
Figure G-1. Phases of Guided Munition Trajectory
If the canards are deployed at time tcd during the ballistic phase, the form factor and zero-
yaw drag force coefficient are ib and C D0 g respectively.
cd
G-1

ANNEX G to
STANAG 4355
Edition 3
2. Pointing of Munition
The pointing of the munition is assumed to be the same as the pointing of the velocity
vector. The projection of the velocity vector on the vertical (Jv) and horizontal (Jh) planes
is given by:
§v ·
Jv arcsin ¨ 2 ¸ (G.1)
© v ¹
§v ·
Jh arctan ¨¨ 3 ¸¸ (G.2)
© v1 ¹
Then define a unit vector along the longitudinal axis of the munition including an
estimate of the angles of yaw to simulate the guidance technologies during the guidance
phase.
2
Projectile
(v1,v2,v3)
v v12 v 22 v 32
1
Jh
Jv
3
Velocity
Vector (v)
Figure G-2. Angles for Pointing of Munition
G-2

ANNEX G to
STANAG 4355
Edition 3
3. Proportional Navigation Guidance to an Aim Point
The Aim Point is defined by a height above the target ('HT) and a distance in range from
the target ('RT).
where:
'RT
a0 a1 Ovtg a 2 Ovtg
2
(G.3)
a O a O
2
'H T a0 1 vtg 2 vtg (G.4)
The unit vector along the longitudinal axis of the munition to proportionally navigate to
an aim point beginning at the initiation of guidance (tg) is given by:
ª § f D ·º ½
°cos(J f D f D ) cos«J ¨ D h h pn ¸» °
v D v v pn gb v gb h ¨ cos J ¸ °
° « © »
v ¹¼
& ° ¬ °
x ®sin(J v fD v D v pn f gbD v gb ) ¾ (G.5)
° ª f D º °
°cos(J f D f D ) sin «J §¨ D h h pn ·¸» °
° v D v v pn gb v gb h ¨ cos J ¸ °
¯ «¬ © v ¹»
¼¿
where:
8 m N v Ov
D v pn (G.6)
2§ 2·
S U d ¨ C LD g C L 3 D g ¸v
© Dg ¹
8 m N h Oh
Dh (G.7)
S U d 2 §¨ C LD C L D g 2 ·¸v
pn
© D g g
3
¹
Nv and Nh are the vertical and horizontal plane navigation ratios, respectively. They are
linear polynomials of (t - tg) in the form a0 + a1(t - tg).
The pointing angle or angles of line-of-sight vector (from munition to aim point) in
inertial space are obtained from the known aim point position and the munition position
(for all aim points in the guidance phase) from GPS by:
§ X 2ap X 2 ·
¨ ¸
Ov arctan¨ ¸ (G.8)
¨
©
X 1ap X1 X
2
3ap X3
2
¸
¹
§ X 3ap X 3 ·
¨ ¸
Oh arctan¨ ¸ (G.9)
¨
©
X 1ap X1 X
2
2 ap X2 2
¸
¹
G-3

ANNEX G to
STANAG 4355
Edition 3
Projectile
(X1,X2,X3)
Ov
Oh Aim Point
(X1ap,X2ap,X3ap)
3
Figure G-3. Pointing Angles (Line of Sight Vector)
Then the rate of change of the pointing angles to the aim point are given by:
Ov
>X 1ap X X @ X X
X1
2
3ap 3
2
2 2 ap X2 >X X X X
1ap 1 1 3ap @
X 3 X 3
(G.10)
>X X X X X
1ap 1
2
2 ap 2
2
3ap X3 @ X X X
2
1ap 1
2
3ap X3
2
Oh
>X 1ap 2
X 1 X 2ap X 2 @ X X
2
3 3ap X3 >X X X X
1ap 1 1 2 ap @
X 2 X 2
(G.11)
>X X X
1ap 1
2
2 ap X X
2
2
3ap X3 @ X X X
2
1ap 1
2
2 ap X2
2
and gravity bias ( D v gb ), which is determined as a function of time, is given by:
8 g 2 mcos J v
Dv (G.12)
S U d 2 §¨ C LD g C L 3 D 2 g ·¸v 2
gb
© Dg ¹
NOTE: g2 represents the vertical component of the gravity vector.
G-4

ANNEX G to
STANAG 4355
Edition 3
To compensate for the approximations in the equations of motion, the fitting factors fD v ,
fD h , and f gb are applied in order to match the computed and observed results. The factor
on gravity bias ( f gb ) is reduced linearly starting at a distance from the aim point to 0 at a
closer distance to the aim point. Fitting factors are defined in Table G-1.
&
The total angle of yaw during the guidance phase, D g , is given by:
&
& & & &§ v ·
Dg x x v ¨ 2 ¸ (G.13)
©v ¹
4. Maximum Angles of Yaw
The total angle of yaw combining the horizontal and vertical directions will not be
allowed to exceed certain constraints. A vertical upward angle of attack

fD v D v pn f gbD v gb will increase the range by increasing lift and reduce the range by
increasing the drag. These opposing effects are balanced to avoid a decrease in
maximum range by defining a vertical upward angle of attack limit D vu max that yields the

maximum lift-to-drag ratio; and fD h D h pn must vanish as fD v D v pn f gbD v gb approaches
D vu max or the total drag will be increased beyond the maximum lift-to-drag ratio.

Therefore, for fD v D v pn f gbD v gb > 0: the limitation on the vertical upward angle of yaw
f D v D v pn f gbD v gb is D vu max . The limitation on f D h D h pn will be dependent on the
magnitude of f D v D v pn f gbD v gb . If D vu max is the limit on f D when
Dh h pn
f D v D v pn
f gbD v gb = 0, then when fD v D v pn f gbD v gb > 0, D vu max must be reduced to

prevent fD h D h pn from adding drag that would compromise the maximum lift-to-drag
criteria.
The horizontal angle of attack is limited as follows:
f Dh Dh 1
f Dv D v f gb D v
pn gb

2
(G.14)
hv 2
pn max max
D vu max

For fD v D v pn f gbD v gb d 0 : the maximum lift-to-drag ratio no longer applies, since the
downward lift and drag no longer oppose one another, so the primary limiter can be
fD h D h pn .
G-5

ANNEX G to
STANAG 4355
Edition 3

Therefore, for fD v D v pn f gbD v gb d 0 : the limitation on f
will be D D h D h pn hmax and the

limitation on fD v D v pn f gbD v gb will be dependent on the magnitude of f D h D h pn and
the maximum vertical downward angle of attack D vd max .
The vertical downward angle of attack is limited as follows:
f D v pn f gb D v gb D vd max 1
f Dh D h pn
2
(G.15)
Dv max D h max 2
The maximum vertical upward ( D vu max ), vertical downward ( D vd max ), and horizontal
( D hmax ) angles of attack are quartic polynomials of Mach number.
D vu max
Dh max
Velocity
Vector of
Projectile
Dvdmax
Boundary of Dmax
Figure G-4. Maximum Angles of Yaw
G-6

ANNEX G to
STANAG 4355
Edition 3
5. Maintain Munition Pointing (Attitude Hold)
To maintain munition pointing, the unit vector along the longitudinal axis of the munition
that existed at the initiation of glide (tg), that is a time interval (dtg) after a time setting
(tsg), is given by:
cos J cos J ½
vt g ht g
& °° °°
x ®sin J vt g ¾ (G.16)
°cos J sin J °
°¯ vt g ht g °¿
The unit vector remains fixed as above as long as D g , the total angle of yaw during the
guidance phase, is d D vu max . When D g ! D vu max due to the path of the trajectory falling
away from the pointing vector of the munition, the attitude must be allowed to drift
downward to prevent D g from becoming too large and causing the munition to stall.
During guidance, when D g ! D vu max the unit vector is:
°°

cos J D
vt g
vu max cos J ht g
½
°°
&
x
®sin J vt g D vumax ¾ (G.17)
°¯
°cos J D
vt g
vu max sin J ht g
°
°¿
6. Fitting Factors
Table G-1. Fitting Factors
Fitting Factor Data Requirement Symbol

Vertical angle of yaw fD v
Gravity Bias angle of yaw f gb
Horizontal angle of yaw fD h
G-7

ANNEX G to
STANAG 4355
Edition 3
7. Forms of Fire Control Input Data
a. Functions of Horizontal Inertial Line-of-sight Angle:
Fitting factor for Horizontal angle of yaw ( fD h ) is given for each charge as follows:
fD h a 0 a1 (O h ) a 2 (O h ) 2 (G.18)
where: O h is evaluated at tg
b. Functions of Vertical Inertial Line-of-sight Angle:
Fitting factors for Vertical angle of yaw ( fD h ) and Gravity Bias angle of yaw ( f gb ) are
given for each charge as follows:
fD v a 0 a1 (Ov ) a 2 (Ov ) 2 (G.19)
f gb a 0 a1 (Ov ) a 2 (Ov ) 2 (G.20)
where: Ov is evaluated at tg
C D0 g Zero yaw drag force coefficient with none

canards deployed
C LD Lift force coefficient during guidance phase 1/rad

g
CL Cubic lift force coefficient during guidance phase 1/rad3

D 3g
dtg Time between the end of Ballistic Phase and s

start of guidance (tg)
fD v Fitting factor on vertical angle of yaw none
fD h Fitting factor on horizontal angle of yaw none
G-8

ANNEX G to
STANAG 4355
Edition 3
f gb Fitting factor on gravity bias none
ibcd Form factor during ballistic phase with none

canards deployed
Nv Vertical plane navigation ratio none
Nh Horizontal plane navigation ratio none
t cd Time-of-canards deployment s
tg Time-of-guidance or glide s
t sg Time-setting for-guidance or glide s
v1 Velocity along 1-axis m/s
X1 Position of projectile along 1-axis m
X 1ap Position of aim point in the ground-fixed m

coordinate system along 1-axis


Dg Angle of yaw during guidance rad
G-9

ANNEX G to
STANAG 4355
Edition 3
&
Dg Total angle of yaw during guidance phase rad
D hmax Maximum horizontal angle of attack rad
D h pn Proportional navigation horizontal angle of yaw rad
D max Maximum angle of attack rad
D vd max Maximum vertical downward angle of attack rad
D vgb Gravity bias vertical angle of yaw rad
D v pn Proportional navigation vertical angle of yaw rad
D vumax Maximum vertical upward angle of attack rad
'HT Difference in height between the End of m

Mid-Course Guidance Aim Point and the target
'RT Difference in range between the End of m

Mid-Course Guidance Aim Point and the target
Jh Angle of projection on the horizontal plane rad
Jv Angle of projection on the vertical plane rad
Oh Horizontal inertial line-of-sight angle rad
Ov Vertical inertial line-of-sight angle rad
G-10

ANNEX H to
STANAG 4355
Edition 3
GLOSSARY OF TERMS
1. Reference Frame and Axes
All vectors have as a& frame

& of& reference a right-handed, orthonormal, ground-fixed, Cartesian
coordinate system ( 1, 2, and 3 ) where:
a. the origin is the point where the local vertical line, perpendicular to the surface of the
geoid, through the weapon trunnion, intersects the geoid.
&
b. the 1 axis is the intersection of the vertical plane of fire and the horizontal plane and
pointing along the gun to target line.
& &
c. the 2 axis is parallel to the gravity vector, g , and opposite in direction.
&
d. the 3 axis completes the right-handed coordinate system.
The geoid is the surface within or around the earth that is everywhere normal to the direction
of gravity and coincides with mean sea level.
2. Geophysical Approximations
The following geophysical approximations are used in this document.
a. The geoid is locally approximated by a sphere with a radius (R) of 6,356,766 metres.
&
b. The gravitational acceleration, g , has the scalar magnitude
g0 = 9.80665 [1 - .0026 cos (2 lat)]
at the surface of the above-mentioned sphere and is inversely proportional to the square
of the distance from the center of the sphere. The term “lat” is the latitude of the origin
of the coordinate system.
3. Coriolis
The origin of the& coordinate system is fixed to the rotating earth, therefore, a Coriolis
acceleration term, / , is included.
H-1

ANNEX H to
STANAG 4355
Edition 3
4. Yaw of Repose
The Yaw of Repose is defined by an approximation to the particular solution of the classical
linearized equations of yawing motion for a dynamically stable projectile possessing at least
trigonal symmetry.
NOTE: Based on comparisons of test firings and modified point mass simulations, it has
been determined that quadrant elevations corresponding to a yaw of repose of 0.6 radians
provide a good approximation of a weapon system’s practical maximum quadrant elevation.
Quadrant elevations exceeding this limit can lead to erratic flight behavior reflected by
increased dispersion in the deflection plane. Details can be found in the reference, Collings,
W.Z. and Lieske, R.F., “A study of Artillery Shell Drift at High Angle of Fire Using Solar
Aspect Sensors,” BRL-MR-2244, U.S. Army Ballistic Research Laboratory, Aberdeen
Proving Ground, Maryland, November 1972.
5. Windage Jump
Windage Jump corrects for the effect of a transient yaw caused by a wind shear. This gives
the “Modified Point Mass Model” the ability to perform the correct second order response to
wind, range effect due to a cross wind, and the deflection effect due to a range wind.
6. Fitting
To compensate for the approximations in the “Modified Point Mass Model” and the
aerodynamic data, certain fitting factors are applied in order to create correspondence
between the computed and the observed values of range, deflection and the time of flight.
H-2

ANNEX H to
STANAG 4355
Edition 3
Two fitting systems are used, quadrant elevation or Mach number as shown below:
Table H-1. Fitting Data
Fitting Data as a Function of

Fitting to
Quadrant Elevation Mach Number
[One function for each charge] [Same function for all charges]
First Order *Form factor: i Drag factor: fD

Range, all
elevations (Drag factor: fD = 1) (Form factor: i = 1)
Drift Lift factor: fL Lift factor: fL
Second
Order Yaw drag factor: QD Yaw drag factor: QD
Range, high
angle
Vertex height
and time of Magnus force factor: QM Magnus force factor: QM
flight
*In many countries a ballistic coefficient, C = mr / i d 2, is in use as a fitting factor instead

of the nondimensional form factor i.
H-3

ANNEX I to
STANAG 4355
Edition 3
SELECTED BIBLIOGRAPHY
Title Topic
Textbook of Ballistics and gunnery. Complete general background to

Volumes I and II, Her Majesty’s trajectory modeling P(I) (External
Stationary Office, London, 1987 Ballistics) and use of MPM P(III) (Fire
Control Data).
Equations of Motion for a Modified Point Definition and derivation of original

Mass Trajectory. R. Lieske & model
M. Reiter, Feb 1966, LCB 199
The Modified Point Mass Trajectory Specifications of Model for current use
Model, NATO D/161 (UK Source) by NATO countries
Introduction to Equation of Motion in Mathematical description of point mass

Ballistics (and Related Topics), trajectories in ballistics
W.G. Dotson, Jr., BRL 1964
Äussere Ballistick, H. Molitz, R. Strobel, General textbook on ballistics.

Springer Verlag, 1963 Chapter: Lineares Widerstandsgesetz
(linear drag law)
American Standard Letter Symbols for NACA Aerodynamic Symbols

Aeronautical Sciences, ASA Y 10.7-
1954
The Calibration of a Modified Point Mass Reports use of linearized MPM to aid
Model by Mach Number Fitting SCICON trials design and automated analysis
Jan 1982 techniques.
Dynamic Firing Techniques to determine Specified measurements to be taken

ballistic data for cannon artillery firing during R&A trials and gives some
tables and associated fire control indication of numbers of rounds that
equipment. NATO STANAG 4144 might be fired.
A note on recent progress in the design Short resume of first generation

and analysis of Ballistic Trials of analysis method. Contains references
Artillery Shells. P. Fitch, RARDE to relevant analysis work on the
Branch memo 31/1980 subject.
I-1

ANNEX I to
STANAG 4355
Edition 3
Title Topic
A Study of Design and Analysis Methods Review of work leading to current UK

For Range and Accuracy Trials. SCICON techniques for R&A analysis.
- Jun 1978 Contains references to relevant
SCICON work in the area.
Adoption of a Standard Canon Artillery Contains description of Firing Table

Firing Table Format. NATO STANAG content indicating which parametric
4119 variations are of interest.
Use of Programmable Hand-Held Describes method of programming

Calculators for Artillery Fire Control. back-up fire control from Firing Table
Col Roberts RARDE Branch Memo output.
58/1981.
Base Burn Projectile French Trajectory Background information and

Model. D. Chargelegue and development of the French trajectory
M.T. Couloumy, Proc. First International model for base-burn projectiles.
Symposium on Basebleed, Athens,
Greece, November 1988.
Base Burn Trajectory Model. Background information and

D. Chargelegue and M.T. Couloumy, development of the French trajectory
Proc. 11th International Symposium on model for base-burn projectiles
Ballistics, Volume 1, FOLO, Pages 725-
733, Brussels Belgium, May 1989
Analysis of the Flight Performance of the Comparison of base-burn motor

155mm M864 Base Burn Projectile. performance modeling and flight test
J.E. Danberg, BRL Report No. 3083, results using M864 projectile.
U.S. Army Ballistic Research
Laboratory, Aberdeen Proving ground,
MD, April 1990 (AD A222624)
I-2

ANNEX I to
STANAG 4355
Edition-3
Title Topic
Base-Bleed Systems for Gun Projectiles, Fundamental principles of base flow

Nils-Erik Gunners, K. Andersson and techniques and comparisons with
R. Hellgren, National Defense Research Swedish munitions
Institute (FOA) Tumba, Sweden, Chapter
16, Volume 109, 1988, Progress in
Astronautics and Aeronautics, Gun
Propulsion Technology, Published by the
American Institute of Aeronautics and
Astronautics, Inc., 370 L’Efant
Promenade S.W., Washington, D.C.
20024
Modified Point Mass Trajectory Extension of the trajectory simulation

Simulation for Base-Burn Projectiles. to include base-burn projectiles for use
R.F. Lieske and J.E. Danberg, in fire control systems. Comparisons
BRL Report No. 3321, U.S. Army with observed performance are
Ballistic Research Laboratory, Aberdeen included.
Proving Ground, MD, March 1992 (AD
A248292)
A Physically More Direct and Trajectory modeling.

Mathematically More Simple Approach
To the MPM Trajectory Model.
Prof. In. E. Celens – Head Dept Ballistics
and Armament Royal Military Academy
- Brussels – 10th International Symposium
on Ballistics – San Diego, California,
1987
Modern Exterior Ballistics, The Launch Covers the free flight dynamics
and Flight Dynamics of Symmetric of symmetric projectiles. Provides
Projectiles. many examples of projectile motion
Robert L. McCoy, illustrating key flight behaviors.
Shiffer Publishing Ltd., 1999
ISBN: 0-7643-0720-7
I-3

ANNEX I to
STANAG 4355
Edition 3
International Standard ISO 2533: Specifies the characteristics of an ISO

Standard Atmosphere, First Edition Standard Atmosphere and is intended for use
International Organization for in calculations and design of flying vehicles.
Standardization, 1975. Also recommended in the processing of data
from meteorological observations.
I-4


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NATO/PfP UNCLASSIFIED

NATO NATO STANDARDIZATION AGENCY

OTAN AGENCE OTAN DE NORMALISATION

17 April 2009 NSAl0454(2009)-JAIS/4355

See CNAD AC/225 STANAG distribution

1. The enclosed NATO Standardization Agreement, which has been ratified by

2. The references listed above are to be destroyed in accordance with local

ACTION BY NATIONAL STAFFS

STANAG 4355 (Edition 3)

NATO Standardization Agency - Agence OTAN de normalisation

B-1110 Brussels, Belgium Intemet site: http://nsa.nato.int

E-mail: makinen.esa@hq.nato.int- Tel 32.2.707.3823 - Fax 32.2.707.4103

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NORTH ATLANTIC TREATY ORGANISATION

NATO STANDARDIZATION AGENCY

SUBJECT: THE MODIFIED POINT MASS AND FIVE DEGREES OF FREEDOM

Promulgated on 17 April 2009

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No. Reference/date of Date Signature

1. This STANAG is promulgated by the Director NATO Standardization Agency

RATIFICATION, IMPLEMENTATION AND RESERVATIONS

4. Ratification, implementation and reservation details are available on request or

5. Any comments concerning this publication should be directed to NATO/NSA

NATO STANDARDISATION AGREEMENT

A Forms of Fire Control Input Data

AOP-37 - NATO Armaments Ballistic Kernel (NABK)

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3. This agreement permits some flexibility by accommodating certain specific

5. This STANAG is considered to be implemented when a nation has issued the

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A. EQUATIONS OF MOTION FOR SPIN-STABILIZED PROJECTILES

6. Newton’s law of motion of the center of mass of the projectile is:

or, when C is used as a fitting factor,

or, when fD is used as a fitting factor,

acceleration due to lift force is:

acceleration due to Magnus force is:

MF S U d 3Q M p Cmag  f & &

acceleration due to gravity ( g ) is:

acceleration due to the Coriolis effect (/) is:

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7. The magnitude of spin acceleration is given by:

8. The yaw of repose is given by:

is the initial value of the yaw of repose.

To begin the numerical integration of the modified

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B. EQUATIONS OF MOTION FOR FIN-STABILIZED ROCKETS

Phase 1: Time Zero to Time of Launch (t 0 d t d t L )

Initial Launching Phase

where acceleration due to drag force is:

acceleration due to thrust force is:

ªcos QE cos 'AZ º

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Initial Angular Momentum at Time of Launch ( t L )

ª Z y sin QE cos 'AZ  Z z sin 'AZ º

Phase 2: Time of Launch to Time of Rocket Fins Opening ( t L d t d t FO )

Equation of Motion of the Center-of-Mass of the Body

acceleration due to lift forces is:

LF §S U d 2 fL ·§ & & & &

acceleration due to Magnus forces is:

MF S U d 3 C mag  f & & & &

MF S U d 3Q M p Cmag f & &

ª Z y sin QE cos 'AZ Z z sin 'AZ º

MF S U d 3 C mag f & & & &

NOTE: (See Annex C or D for m f )

§ m rne2 · & & &

§ m re rt · & & & &

where: g0 9.80665 >1 .0026 cos2 lat @ (43)

C mag f Magnus force coefficient 1/rad2

C mag m Magnus moment coefficient 1/rad

C M q C M D Pitch damping moment coefficient 1/rad

C N q C ND Pitch damping force coefficient 1/rad