Missile Guidance (Lecture 2)

Dr A K Sarkar (Visiting Faculty, Aerospace Engg Dept)

DIAT Pune

Lecture Series on Missile Guidance

conducted by MILIT Pune
27-03-2019

3/27/19 1
 Flow of Presentation

• Introduction
• Need of Midcourse Guidance System
• INS
 Gimbal / Platform INS
 Strap Down INS
 INS Errors
• Introduction to GPS

3/27/19
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Strategic Vehicle

Nowadays all tactical vehicles to be autonomous

Three Phases of Guidance

Boost Mid-Course Terminal

 Air-to-air Engagement

TARGET
TERMINAL
HOMING (Seeker)

FLIGHT VEHICLE
DATA
LINK
LCA

PLATFORM = Mirage2000, Mig29,

SU 30 and LCA

LAUNCH
GUIDANCE = MIDCOURSE INERTIAL (Radar) FROM LCA
TERMINAL HOMING (Seeker)
 Putting It All Together
Guidance of Long Range Missiles

Target Reflection

ANTENNA
BEAM

LAUNCH
CYCLE BOOST MIDCOURSE
TERMINAL
GUIDANCE
GUIDANCE
PRESS SEPARATE INITIATE INITIATE IMPACT
“LAUNCH SEMIACTIVE ACTIVE
” MODE MODE
Inertial Navigation System
(INS)
INS Unit
 INS: Accelerometer + Gyroscope
• Accelerometer measures vehicle acceleration (Fixed and random bias)
• Gyroscope measures vehicle body rates (Fixed and random bias)

Accelerometer
Yaw

Lateral

Axial
Fibre Optics Gyro
Pitch
Vertical
Z
Roll Accelerometer Bias 300 micro g
For 400 sec flight error = 1.6 km
Y
X Gyro Bias 0.2 deg/hr
Simplified Block Diagram of INS
 Science of Navigation
• Throughout history, science of navigation has played an important role for
humanity. Individuals who could reliably travel to and return from distant
locations were successful, both militarily and commercially.
• Since 1940s, navigation systems, in particular inertrial navigation systems
(INSs), have become important components in scietific and military
applications.There are two types of INSs:
– A mechanized platform approach that drives a set of actuators to maintain the
alignment of the platform with the coordinate axes of the desired coordinate
system independent of the motion of the vehicle relative to the navigation
frame.
– A strap-down approach that mounts the instrument platform directly to the
vehicle chassis and transforms the inertial measurements to the navigation
frame computationally.
• In both approach, set of inertial instruments is mounted on a platform and
the inertial measurements are integrated to determine position, velocity,
and attitude.

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 Navigation, Guidance and
Control

 Navigation: determination of the vehicle's location, velocity ,

Attitude (kinematic state vectors)

 Guidance: determination of desired path of travel (trajectory)

from the vehicle's current location to a designated location (target)

 Control: manipulation of the forces, by way of steering controls,

thrustors, etc., needed to track guidance commands .
 DIFFERENT PERIODS OF NAVIGATION

• Mythological Phase
(10000 BCE – 900 CE)
The period from 0 CE – 900 CE can be called
as the twilight period due to many important
discoveries were initiated.
• Medieval Period
(900 CE – 1900 CE)
• Modern Period
(1900 CE – till date)
The above are not water tight compartments
but roughly indicative of the divisions.
Mythological Phase (10000 BCE – 900 CE)
• 10000 - 5000 BCE Commencement of navigation over
land using landmarks.
• 5000 - 4000 BCE Construction of sailing vessels in
ancient cultures.
• 4000 - 2000 BCE Contact between Asian and
European civilizations.
• 2000 - 1000 BCE Commercial sailing activities of
Indians and Chinese.
• 1000 - 0 BCE Circumnavigation of Africa by
Pilotage. Curved Spherical Earth. Creation of
astronimical instruments
• 0 - 900 CE Celestial Navigation by star compass
 Medieval Period
(900 CE – 1900 CE)

Navigation involved sun, moon, stars,

magnetic compass, sextant, together with
charts, later calculus helped explore the
planet more effectively for commerce and
conquest. Towards the end of this period
the seeds were laid for inertial and radio
navigation.
 Modern Period
(1900 CE – till date)

Advances with Newton’s laws of motion and

gravity, gyros, accelerometers, and radio
signals, led to inertial, radio and satellite
navigation systems. Integration of many
navigational systems by using in particular
Kalman filter.
Sea Routes around India and Southeast
Asia
 DIFFERENT NAVIGATION METHODS
• Pilotage: Use of fixed visual references on the ground or sea by means of sight
or radar to guide oneself to a destination, sometimes with the help of a map or
nautical chart. Recognizes landmarks. It is older than human kind.
• Dead reckoning: Process of estimating one's current position based upon a
previously determined position. Error in present position affects future
prediction
• Celestial navigation: Uses time and measurement angles of celestial
objects to obtain position using almanacs, and spherical trigonometry.
• Radio navigation: Uses radio wave phase or time difference signals from
stations to determine the position.
• Radar navigation: Uses radar to determine the distance from or bearing
of objects whose position is known.
• Inertial navigation: This senses the initial position, velocity, and attitude
and uses the measured attitude rates and accelerations integrated to
obtain position..
• Satellite navigation: Uses artificial earth satellites to determine position.
 DEAD RECKONING
SYSTEMS
• “Extrapolation” system: position is derived
from a “series” of velocity, heading,
acceleration or rotation measurements relative
to an initial position.
• To determine current position you must know
the past position.
• Heading and speed or velocity of the system
• Inertial navigation systems.
• Present day INS and GPS are only dead
reckoning systems.
 Modern Period (1900 CE – till date)
• 1900 – 1910 CE Change from magnetic compass to
gyrocompass. Contribution to wireless telegraphy.
• 1910 – 1920 CE Combination of gyros and
accelerometers to produce an INS. Catastrophic Titanic
shipwreck leads to wireless transmitters on ships.
• 1920 – 1930 CE Computation of gravitation has an
error due to earth’s rotation and Schuler tuning is a
must in an INS.
• 1930 – 1940 CE Character of gyro to remain stable
used in shipboard platforms. First gyro controlled
guidance system used by Goddard.
• 1940 – 1950 CE The long range radio navigation
(LORAN) system developed.
 Modern Period (1900 CE – till date)
(Contd1)
• 1950 – 1960 CE Early gimbaled gyro systems. Strap
Down Inertial Navigation System. SPUTNIK.
Commencement of satellite navigation. Change from
orbit determination to position
• 1960 – 1970 CE Conceptual development of satellite
navigation.
• 1970 – 1980 CE Commencement of the development
of RLG and FOG. Mature Gimbaled INS technology.
Concept development and validation for GPS
satellites.
 Modern Period (1900 CE – till date)
(Contd2)
• 1980 – 1990 CE Decade of the RLG. Civilian GPS
receiver for survey and Geodesy. Civil aviation use
of GPS. GLONASS.
• 1990 – 2000 CE Combining the reliability of SDINS
and the price and performance of MEMS sensors
leads to MEMS breakthrough. Combat and peace
keeping use of GPS. Civilian use increases for GPS
and GLONASS. Selective Availability turned off.
• 2000 – 2010 CE Competitive or cooperative GNSS.
GPS aided MEMS inertial system introduced.
 Guidance, Navigation, and Control
• Guidance, navigation and control command the system to facilitate vehicle
control and to provide the sensor and controller data needed to compute
these commands. The process involves three steps:

• Guidance
• Equipment
• Software

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Guidance, Navigation, and Control (GNC)
High-level Command
Planning
Position
Navigation Velocity Guidance
Attitude
Sensor output Control

Actuators
Actuation Excitation
Plant
Sensors

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Guidance, Navigation, and Control (GNC)

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 The Navigation Loop

The sensed acceleration (expressed in the working frame)

drives the integrating loop from which position and velocity are
determined. The attitude is determined by integrating the gyro
data over time (in the case of a strapdown system) or by
reading the gimbal angles (in the case of a gimbaled platform
system).

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 Inertial Navigation
• Inertial navigation is based on techniques, which have been invented and
developed after the Second World War. The first systems were built of
mechanical gyros, which required very complicated technical and power
consuming constructions being prone to failure. Later on “solid state”
solutions have been realized by using only discrete integrated electro-
mechanical or electro-optical sensors. These 'solid state' systems had no
moving parts (therefore Strapdown Inertial Navigation System), but
consisted of expensive laser-gyros and integrated sensor devices in MEMS
technology (Micro Electro-Mechanical System).

• INS are used in civil and military aviation, cruise missiles, submarines and
space technology. According to these areas of operation, the entire system
and all components have to be very precise and reliable. As a consequence,
the costs for such a system are still very high and the size is not yet as
small that it can be used for mobile roboting, wearable computing,
automotive or consumer electronics.

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 Basic Concepts of Inertial Navigation
• Inertia is the propensity of bodies to maintain constant translational and
rotational velocity, unless disturbed by forces or torques, respectively
(Newton’s first law of motion).

• An inertial reference frame is a coordinate frame in which Newton’s laws

of motion are valid. Inertial reference frames are neither rotating nor
accelerating.

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 Inertial Navigation System

• Inertial navigation uses gyroscopes and accelerometers to maintain an

estimate of the position, velocity, attitude, and attitude rates of the vehicle
in or on which the inertial navigation system (INS) is carried out, which
could be a spacecraft, missile, aircraft, surface ship, submarine, or land
vehicle.

• An INS consists of the following:

– Inertial measurement unit (IMU) or Inertial reference unit (IRU)
containing a cluster of sensors (accelerometers, two or three
orthogonal; and gyroscopes, usually three orthogonal). These sensors
are rigidly mounted to a common base to maintain the same relative
orientations.

– Navigation computers (one or two) to calculate the gravitational

acceleration (not measured by accelerometers) and doubly integrate the
net acceleration to maintain an estimate of the position of the host
vehicle.

Clock.
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 Inertial Sensor Technologies
• Inertial navigation depends on sensors for orientation. Inertial sensors
measure rotation rate and acceleration, both of which are vector-valued
variables. A classical system uses a three degree of freedom gyroscopic
platform with accelerometers in each axis:

– Gyroscopes: Sensors for measuring rotation (angular rate). They are

used to give the orientation of an object (for example: angles of roll,
pitch, and yaw of an airplane).

– Accelerometers: Sensors for measuring acceleration. Cannot measure

gravitational acceleration. Accelerometers sense a linear change in rate
(acceleration) along a given axis.

– MEMS inertial sensors: MEMS Inertial Sensors consist of miniature

devices that combine electrical and mechanical inertial sensing
components. Typical of such devices are accelerometers containing
miniature proof masses and sensing electronics and gyroscopic
devices.
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 Accelerometers
• An accelerometer is a device for measuring acceleration.
• Accelerometers are used along with gyroscopes in inertial guidance
systems, as well as in many other scientific and engineering systems. One
of the most common uses for MEMS accelerometers is in airbag
deployment systems for modern automobiles. In this case the
accelerometers are used to detect the rapid deceleration of the vehicle to
determine when a collision has occurred and the severity of the collision.

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 Accelerometer Modeling
At its most basic level, an accelerometer can be viewed as a classical second order
mechanical system; that is a damped mass-spring system under an applied force.
When an accelerometer experiences an acceleration, with a component parallel
to its sensitive axis, the accelerometer's proof mass develops a corresponding
inertial force. This force acts on and displaces the spring a distance x where k
is the spring constant. The sensor’s output is related either to the spring's
displacement x or to the spring's internal force, both of which are proportional to
the applied acceleration.

Frame

Spring
Fapplied  Finertial  Fdamping  Fspring
x Mass
 mx  cx  kx
Damper

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• Combining the gyro-sensed orientation information with the summed
accelerometer outputs yields the INU’s total acceleration in 3D space.

• At each time-step of the system’s clock, the navigation computer time

integrates this quantity once to get the body's velocity vector. The velocity
vector is then time integrated, yielding the position vector. These steps are
continuously iterated throughout the navigation process.

• There are two primary types of inertial navigation systems:

– Gimbaled
– Strapdown

• The differences in system type are based on the type of gyro being used.

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 Gimbaled Systems
• In navigation systems, all gyroscopes were based on a rotating platform
connected to an outer housing by low friction gimbals.
• In a gimbaled system, a set of mutually orthogonal accelerometers are
attached to the gimbaled gyro platform and hence are held in a fixed
inertial orientation. In the event of an angular motion, the rotating
platforms tend to maintain their original orientation per Newton’s First
Law.
• Pickoffs on the gimbals measure the movement of the outer body around
the steady platform and the accelerometers measure the body's acceleration
in the fixed inertial axes.

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 Strapdown Systems
• As gimbaled inertial navigation systems evolved, they necessarily became
increasingly based on intricate mechanical designs. In recent decades,
technology has progressed more in the area of electronics than mechanics.

• This is reflected in the evolution of the strapdown inertial navigation

system. With less moving parts and mechanisms than gimbaled systems,
strapdown inertial navigation systems have strongly benefited from the
advance of computer technologies, being built upon electronics, optics, and
solid state technology.

• The majority of commercially available accelerometers and gyros take

advantage of these modern technologies and are manufactured on micro-
machined silicon.

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• Strapdown inertial navigation systems are rigidly fixed to the moving
body. Therefore strapdown INUs move with the body, their gyros
experiencing and measuring the same changes in angular rate as the body
in motion.

• The strapdown INU’s accelerometers measure changes in linear rate in

terms of the body’s fixed axes. The body's fixed axes is a moving frame of
reference as opposed to the constant inertial frame of reference.

• The navigation computer uses the gyros’ angular information and the
accelerometers’ linear information to calculate the body’s 3D motion with
respect to an inertial frame of reference.

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Gimbaled Versus Strapdown

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THE GPS CONSTELLATION
 NEED FOR AIDED SDINS
In The Unaided Systems
• Velocity and position errors grow w.r.t time of flight
• CEP is high and it demands a large warhead effectiveness
• Difficulties to perform in flight alignment
• Sensor noise effects cannot be reduced by calibration of
sensors during flight

Above difficulties can be overcome in an

AIDED SDINS
EXTERNAL AIDS
• GPS (Global Positioning System) For Position Aiding
• Tracking Radar and Radar Altimeters For Position Aiding
• Doppler Radar for Velocity Aiding
 METHODS OF RESETTING SDINS
• DIRECT RESETTING BASED ON MEASUREMENT OF EXTERNAL AIDS

• SLIDING LEAST SQUARE TECHNIQUE

• KALMAN BUCY FILTER

ADVANTAGES OF USING KALMAN FILTER

• Sequential Data Processing

• Gyro and Accelerometer noise can be treated as Process Noise

• Noise of the external aid can be easily treated as Measurement Noise.

• Covariance Propagation can take Model Replacement; Gyro &

accelerometer data can be fed into the model

• Real Time Implementation

 Present Architecture of Tightly Coupled GPS

Feed Forward Filter Mechanization with INS data As control input

and GPS or Tracking Radara Data As measurements
SFV Trajectory with and without sensor bias (1300 m impact error)
(Accelerometer bias = 1000 micro g, Gyro bias = 20 deg/hr)
 Flow of Presentation

• Introduction
• Need of Midcourse Guidance System
• INS
 Gimbal / Platform INS
 Strap Down INS
 INS Errors
• Introduction to GPS

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 Acknowledgement

• Mr K K Mangrulkar , (Visiting Faculty, DIAT Pune)

• Dr S Vathsal (Superanuated Scientist, DRDL)
• Prof M R Ananthasayanam (Superanuated Professor, IISc)

THANK YOU FOR

PATIENT HEARING

3/27/19 58