1. ‫الرحيم‬ ‫الرحمن‬ ‫هللا‬ ‫بسم‬

2. Ain Shams University, Faculty of Engineering
Computer and Systems Engineering Department
3D Intelligent Object Tracking
Missile Modeling and Guidance Design
Submitted By:
Eng. Mohamed Ali Ali Sobh
Supervised By:
Prof. Dr. Mohamed Abd Elhamed Sheirah
Cairo 2006

3. Agenda
 Objectives
 Problems
 Background
 Survey
 Achievements & Results
 Conclusion
 Future Work

4. Agenda
 Objectives
 Problems
 Background
 Survey
 Achievements & Results
 Conclusion
 Future Work
Home

5. Objectives
Provide very accurate environment to
design and to develop different guidance
techniques for missile systems
Contribute to both Missile Modeling and
Guidance Design

6. Agenda
 Objectives
 Problems
 Background
 Survey
 Achievements & Results
 Conclusion
 Future Work
Home

7. Problems
 Missile system is very complex and nonlinear
 Aerodynamics coefficients are not available
 Actual experiments are not allowed or expensive
 There is no available tools for missile modeling
 Books, Publication, Researches, Datasheets, and
Experiments results are classified

8. Agenda
 Objectives
 Problems
 Background
 Survey
 Achievements & Results
 Conclusion
 Future Work
Home

9. Background
 Structure
 Classification
 Speed
 Range
 Size
 Launcher and Target Type

10. Background
Directional Motions
Vertical Acceleration (w )
.
.
.
Accelerometer
CG

11. Background
Rotational Motion
Rolling Rate (p)
Pitching Rate (q)
Yawing Rate (r)
Rate Gyroscope
CG

12. Background
Actuators
Elevator
Aileron
Rudder
Thrust
Thrust Vectoring
Actuators

13. Background
Coordinates Systems
SB
SL
SI: (Global Inertial) Geocentric Inertial Coordinates System
SL: Earth Fixed Launch Site Coordinates System
SE: Earth-Centered Launch-Derived Coordinates System
SP: Launch Vehicle Platform Accelerometer Coordinates System
SN: Launch Vehicle Navigation Coordinates System
SB: Body Fixed Coordinates System
SG: Local Geocentric Coordinates System
SG': Fixed Local Geocentric Coordinates System
SC: Local Geodetic Coordinates System
SI
SC
SP

14. Background
Mass Variation
CG (t)
dm
Fuel Consumption

15. Background
Gravity
SGSB

16. Background
Attack Angles
Angle of Attack α
Sideslip Angle β

17. Background
Aerodynamics
CP
Final Aerodynamic Coefficients

18. Background
Experimental Aerodynamics Evaluation
Physical Missile Model
Air Tunnel
Experimental Aerodynamics Evaluation

19. Background
Computational Aerodynamics Estimation
Full Grid Multi-Grid Grid Unstructured Grid
Cube Volume
Tetrahedral Element
CFD Simulation
Results

20. Background
Computational Aerodynamics Estimation
 Bernoulli
 Euler
 Navier Stock Equations
For missile system (supersonic speed)
 Turbulent Flow
 Time Marching Numerical Calculation
 Compressible Flow
 Viscous Flow
 No-Slip Boundary Condition

21. Background
Wind

22. Background
Forces and Moments
Fx
Fy
Fz
Mx
My
Mz

23. Background
Flight Phases
Terminal Phase
Maneuvering
Launch, Coast

24. Background
Guidance
Active
Guidance
Radar & Radar Detectors

25. Background
Guidance
Semi - Active
Guidance
Radar Detectors
Radar

26. Background
Guidance
Passive
Guidance
Infrared or Vision Detectors

27. Background
Navigation
Local Navigation System
Radar
SP
Position Xt Yt Zt
Position Xp Yp Zp

28. Background
Navigation
Local Navigation System
SP
Orientation (Euler Angles) φ θ ψ
Displacement
Gyroscope

29. Background
Navigation
Global Navigation System SP
Position Xp Yp Zp
GPS

30. Agenda
 Objectives
 Problems
 Background
 Survey
 Achievements & Results
 Conclusion
 Future Work
Home

31. Survey
 Missile Modeling
 Fixed Mass Missile Model
 Variable Mass Missile Model
 MATLAB General Aircraft Model
 Guidance Techniques
 LOS - Line of Sight Navigation Guidance
 PN - Proportional Navigation Guidance
 LQR Guidance
 Fuzzy-PN Guidance
 Fuzzy Guidance for High Speed Targets

32. Survey
 Missile Modeling
 Fixed Mass Missile Model
 Variable Mass Missile Model
 MATLAB General Aircraft Model
 Guidance Techniques
 LOS - Line of Sight Navigation Guidance
 PN - Proportional Navigation Guidance
 LQR Guidance
 Fuzzy-PN Guidance
 Fuzzy Guidance for High Speed Targets

33. Missile Modeling
Fixed Mass Missile Model
A. Aircraft
B. Missile (Symmetry)
C. Missile (Plan Separation)
Longitudinal Lateral

34. Missile Modeling
Fixed Mass Missile Model
D. Missile: Linearization at certain operating point

35. Missile Modeling
Variable Mass Missile Model
• Derived specially for large space rockets
• Different coordinate systems (SI, SL, SE, SP, SB, SG, SG’, SC)
• Consider mass variation
• Consider measuring elements
• Consider fuel sloshing and body bending
A. Missile
B. Missile: Linearization at certain operating point. Assume thrust vectoring control.

36. Missile Modeling
MATLAB General Aircraft Model
• Provides both fixed and variable mass missile models
• Uses nonlinear model directly
• Two coordinate systems (SP, SB)
• Provide accurate models for wind, gravity and atmosphere

37. Missile Modeling
MATLAB Missile Model

38. Guidance Techniques
Basic Concepts / Plan Separation
Pitch Control - Vertical Plan Yaw Control - Horizontal Plan Roll Control

39. Guidance Techniques
Basic Concepts / Roll Control
Roll Angle
Control
Roll Rate
Control

40. Guidance Techniques
Basic Concepts / Pitch and Yaw Control

41. Guidance Techniques
Basic Concepts / Autopilot
Autopilot Using Gyroscope Autopilot Using Accelerometer

42. Survey
 Missile Modeling
 Fixed Mass Missile Model
 Variable Mass Missile Model
 MATLAB General Aircraft Model
 Guidance Techniques
 LOS - Line of Sight Navigation Guidance
 PN - Proportional Navigation Guidance
 LQR Guidance
 Fuzzy-PN Guidance
 Fuzzy Guidance for High Speed Targets

43. Guidance Techniques
LOS - Line of Sight Navigation Guidance
PD Controller

44. Guidance Techniques
PN - Proportional Navigation Guidance

45. Guidance Techniques
LQR Guidance

46. Guidance Techniques
Fuzzy-PN Guidance

47. Guidance Techniques
Fuzzy Guidance for High Speed Targets

48. Agenda
 Objectives
 Problems
 Background
 Survey
 Achievements & Results
 Conclusion
 Future Work
Home

49. Achievements & Results
 Missile Modeling
 Very Accurate Missile Model
 Visual and Interactive Environment for Guidance Design
 Guidance Techniques
 New Adaptive Digital Guidance Technique (ADC)
 New Technique for Exact and Realistic Target Prediction (RPPMT)
 New Technique to Intercept High Speed Targets (RPPHST)
 General Topics
 Aerodynamic CFD Simulator to Estimate Aerodynamics Coefficients
 New Method for Automatic Fuzzy Mapping

50. Achievements & Results
 Missile Modeling
 Very Accurate Missile Model
 Visual and Interactive Environment for Guidance Design
 Guidance Techniques
 New Adaptive Digital Guidance Technique (ADC)
 New Technique for Exact and Realistic Target Prediction (RPPMT)
 New Technique to Intercept High Speed Targets (RPPHST)
 General Topics
 Aerodynamic CFD Simulator to Estimate Aerodynamics Coefficients
 New Method for Automatic Fuzzy Mapping

51. Missile Modeling
Very Accurate Missile Model
 Coordinates Systems and Coordinates Transformation
 Variable Mass Rigid Body
 Aerodynamics
 Engine
 Actuators
 Aerodynamics Actuators
 Thrust Vectoring Actuators
 Thrust Control Actuator
 Measuring Devices
 Rate Gyroscopes
 Position Gyroscopes
 Accelerometers
 Attack and Sideslip Angle Detectors
 Tracking Devices
 IR (Infrared) Detectors
 Radar Detectors
 Global Positioning System
 Atmosphere
 Shear Wind
 Turbulence Wind
 Pressure
 Density
Missile Components

52. MissileModeling
VeryAccurateMissileModel

53. Missile Modeling
Visual and Interactive Environment for Guidance Design
 Integrated within
SimulaWorks Simulation
Package
 Programmed using Native
C/C++
 High order numerical
calculations
 Very fast 4 times than
MATLAB
 Allow very complex control
loop design
 Represent missile target
engagement visually

54. Missile Modeling
Model & Environment Validation
 Successfully provide exact result compared with
MATLAB aerospace aircraft examples
 Separate verification for each component
 Visual Inspection
 Provides reasonable and expected performance due to
gravity, earth rotation, wind, aerodynamics variation
 Successfully used to implement several guidance
techniques like PN, TPN, LOS, LQR, Fuzzy…

55. Missile Modeling
Effect of Coupling

56. Missile Modeling
PN - Proportional Navigation Guidance

57. Missile Modeling
PN - Proportional Navigation Guidance

58. Missile Modeling
TPN – True Proportional Navigation Guidance

59. Missile Modeling
LOS - Line of Sight Navigation Guidance

60. Missile Modeling
LQR Guidance

61. Missile Modeling
Fuzzy-PN Guidance

62. Achievements & Results
 Missile Modeling
 Very Accurate Missile Model
 Visual and Interactive Environment for Guidance Design
 Guidance Techniques
 New Adaptive Digital Guidance Technique (ADC)
 New Technique for Exact and Realistic Target Prediction (RPPMT)
 New Technique to Intercept High Speed Targets (RPPHST)
 General Topics
 Aerodynamic CFD Simulator to Estimate Aerodynamics Coefficients
 New Method for Automatic Fuzzy Mapping

63. Guidance Techniques
New Adaptive Digital Guidance Technique (ADC)
ADC : Adaptive Dahlin Controller

64. Guidance Techniques
New Adaptive Digital Guidance Technique (ADC)
Offline System
Identification
Using
GLS

65. Guidance Techniques
New Adaptive Digital Guidance Technique (ADC)
Final ADC Controller

66. Guidance Techniques
New Adaptive Digital Guidance Technique (ADC)

67. Guidance Techniques
New Adaptive Digital Guidance Technique (ADC)

68. Guidance Techniques
New Adaptive Digital Guidance Technique (ADC)
Pitch Error
Yaw Error

69. Guidance Techniques
New Adaptive Digital Guidance Technique (ADC)
Roll Rate

70. Guidance Techniques
New Adaptive Digital Guidance Technique (ADC)

71. Guidance Techniques
New Adaptive Digital Guidance Technique (ADC)
PN
Maneuverability

72. Guidance Techniques
New Adaptive Digital Guidance Technique (ADC)

73. Guidance Techniques
New Technique for Exact and Realistic Target Prediction (RPPMT)
Actual Inputs
for
Target Position
Applying Linear Regression
RPPMT: Realistic Path Prediction for Maneuvering Targets

74. Guidance Techniques
New Technique for Exact and Realistic Target Prediction (RPPMT)
Proposed method to
calculate the exact
interception point

75. Guidance Techniques
New Technique for Exact and Realistic Target Prediction (RPPMT)

76. Guidance Techniques
New Technique for Exact and Realistic Target Prediction (RPPMT)

77. Guidance Techniques
New Technique for Exact and Realistic Target Prediction (RPPMT)
Existing Technique
Interception Time: 4.046
IAE: 12.72
Proposed Technique
Interception Time: 4.045
IAE: 10.90

78. Guidance Techniques
New Technique for Exact and Realistic Target Prediction (RPPMT)
Existing Technique Proposed Technique
Proposed Technique
Manoeuvrable
Target

79. Guidance Techniques
New Technique to Intercept High Speed Targets (RPPHST)
RPPHST: Realistic Path Prediction for High Speed Targets

80. Guidance Techniques
New Technique to Intercept High Speed Targets (RPPHST)

81. Guidance Techniques
New Technique to Intercept High Speed Targets (RPPHST)

82. Achievements & Results
 Missile Modeling
 Very Accurate Missile Model
 Visual and Interactive Environment for Guidance Design
 Guidance Techniques
 New Adaptive Digital Guidance Technique (ADC)
 New Technique for Exact and Realistic Target Prediction (RPPMT)
 New Technique to Intercept High Speed Targets (RPPHST)
 General Topics
 Aerodynamic CFD Simulator to Estimate Aerodynamics Coefficients
 New Method for Automatic Fuzzy Mapping

83. General Topics
CFD Simulator to Estimate Aerodynamics Coefficients
 Provides CFD simulation
 In 2D using finite difference method
 In 3D using finite volume method
 Uses Multi-Grid to perform CFD calculations
 Automatically generate the grid around any 3D object
 Can be used to perform general fluid simulation for speeds up to 5.0
mach
 Provide mach number, pressure, temperature, energy, fluid density
distribution graphs
 Calculate forces, moments, center or pressure and fluid dynamics
(aerodynamics) coefficients
 Optimized to run with limited memory and computation power

84. General Topics
CFD Simulator to Estimate Aerodynamics Coefficients
CFD Simulator Verification
 Performs CFD simulation over standard shapes like Sphere, Plate
 Visual Inspection
Speed 300  Cx = 0.549
Speed 700  Cx = 0.506
Speed 1000  Cx = 0.549
Cx ≈ 0.5
Speed 700  Cx = 0.952
Cx ≈ 1.0

85. Simulator
Velocity Vectors Map at Missile Head (2D)
General Topics
CFD Simulator to Estimate Aerodynamics Coefficients
Mach Number Distribution Graph (2D)
Temperature Distribution Graph (2D)
Mach Number Distribution Graph (2D)
2D (2000 Iteration, 0.005m Resolution, 10 Layers, 468,654 Cell, 45 sec)
3D (5000 Iteration , 0.005m Resolution, 10 Layers, 44,094,150 Cell, 6 hours)
Air Speed 700 m/s
Air Density 1.225
Temperature 288.16 K Velocity Distribution Graph (3D)

86. General Topics
New Method for Automatic Fuzzy Mapping
Objective: Map existing control into an equivalent fuzzy control
Offline Mode: Construct the Variables and the Rules
Online Mode: Update the Rules

87. General Topics
New Method for Automatic Fuzzy Mapping

88. General Topics
New Method for Automatic Fuzzy Mapping
Trained Fuzzy System In Pitch Plan Trained Fuzzy System In Yaw Plan
Original LOS Guidance
IAE = 32.22
Fuzzy LOS Guidance
IAE = 56.62

89. Agenda
 Objectives
 Problems
 Background
 Survey
 Achievements & Results
 Conclusion
 Future Work
Home

90. Conclusion
Missile Modeling
 Missile system is too complex to be modeled by a set of linear
equations
 The missile model is successfully derived, implemented, and
integrated within SimulaWorks simulation environment
 The proposed model and the simulation environment succeeds to
represent most of missile system behaviors and to provide a very
realistic environment for guidance design
 A special simulation tool is built and used successfully to estimate
the aerodynamics coefficients by performing CFD simulation around
missile airframe

91. Conclusion
Guidance Design
 A new guidance technique (ADC) is proposed and used successfully
to intercept different type of targets
 ADC provides minimum IAE, very fast interception, high tracking and
manoeuvrability
 A new realistic target prediction technique (RPPMT) is proposed
and used successfully to predict and to intercept manoeuvring
targets
 A new realistic target prediction technique (RPPHST) is proposed
and used successfully to predict and to intercept high speed targets

92. Agenda
 Objectives
 Problems
 Background
 Survey
 Achievements & Results
 Conclusion
 Future Work
Home

93. Future Work
 More aspects and components can be included:
 Fuel sloshing and body bending dynamics
 More realistic models for propulsions system
 Advanced CFD simulation using finite element method
 Actual experiments to verify CFD simulation results
 Practical implementation to verify simulation results
 Apply new digital control techniques like RST
 Study the effect of model parameters variation on
guidance performance

94. Thank You
3D Intelligent Object Tracking
Missile Modeling and Guidance Design