Augmented proportional navigation in second order predictive scheme

Claim 1

A method for terminal guidance of a missile to intercept a target, said method being a second order scheme employing a predictive proportional navigation system including an autopilot, an intertial reference unit and a noise adaptive guidance computer, said system including noise and radome error compensation, said computer having an adaptive guidance filtering system, said proportional navigation system having input values for line of sight (LOS) angle σ, antenna electrical boresight error angle ε, angle θ between the antenna axis and the missile axis, the rate of change θ of the angle θ, and time varying noise-adaptive time constants τ d and τ c , where ε=σ M -θ, deriving a modified value of LOS angle σ M , an estimate of LOS angle σ and a residual LOS angle σ M -σ, the output of said filtering system being a smoothed line of sight rate σ, actual missile lateral acceleration being detected by said inertial reference unit, the output of said inertial reference unit being a measure of actual lateral acceleration Y M , said method comprising the steps of: applying the boresight error angle ε to a first combining point; multiplying the residual LOS angle from said first combining point by a gain A to provide the value A(σ M -σ); combining the value A(σ M -σ) with the LOS rate σ at a second combining point to provide an estimated LOS rate σ; combining said estimated LOS rate σ with said rate θ to provide the value σ-θ; integrating the value σ-θ to provide σ-θ; feeding back the value σ-θ to said first combining point; combining said value σ-θ with the angle ε to provide the value σ M -σ at the input to said filtering sytem; multiplying the residual LOS angle by a gain B to provide the term B(σ M -σ); multiplying the LOS rate σ by 2V c ; combining said multiplied LOS rate with acceleration term Y M at a third combining point to provide the term 2V c σ-Y M ; multiplying the residual LOS angle by AV c to provide the value AV c (σ M -σ); combining the values AV c (σ M -σ) and 2V c σ-Y M at a fourth combining point to provide the value 2V.sub.c σ-Y.sub.M +AV.sub.c (σ.sub.M -σ); dividing the value 2V c σ-Y M +AV c (σ M -σ) by the range R between said missile and the target to provide the value ##EQU8## combining the immediately preceding value with the term B(σ M -σ) at a fifth combining point to provide the corrective and predictive term ##EQU9## integrating the term σ to provide the smoothed LOS rate σ; where ##EQU10## whereby gains A and B are noise-adaptive and dependent upon time-to-go, while the guidance filter output σ is also range dependent and includes both corrective and predictive terms; multiplying said guidance filter output by a gain C 2 and applying that product to a sixth combining point; multiplying the missile lateral acceleration term Y M by a gain C 4 which is a function of autopilot dynamics λ M and T go , the value C 4 Y M being fed back to said sixth combining point; multiplying said sixth combining point output C 4 Y M +C 2 σ by the navigation ratio n' which is also a function of autopilot dynamics and T go ; and applying the immediately preceding term to said autopilot as command acceleration to modify the position of the missile control surfaces and to account for first order autopilot time lag, thereby providing nearly optimal miss distance and low sensitivity to radome error.

Claim 2

A method for terminal guidance of a missile to intercept a target, said method being a second order scheme employing a predictive proportional navigation system including an autopilot, an intertial reference unit and a noise adaptive guidance computer, said system including noise and radome error compensation, said computer having an adaptive guidance filtering system, said proportional navigation system having input values for line of sight (LOS) angle σ, antenna electrical boresight error angle ε, angle θ between the antenna axis and the missile axis, the rate of change θ of the angle θ, and time varying noise-adaptive time constants τ d and τ c , where ε=σ M -θ, deriving a modified value of LOS angle σ M , an estimate of LOS angle σ and a residual LOS angle σ M -σ, the output of said filtering system being a smoothed line of sight rate σ, actual missile lateral acceleration being detected by said inertial reference unit, the output of said inertial reference unit being a measure of actual lateral acceleration Y M , said method comprising the steps of: applying the boresight error angle ε to a first combining point; multiplying the residual LOS angle from said first combining point by a gain A to provide the value A(σ M -σ); combining the value A(σ M -σ) with the LOS rate σ at a second combining point to provide an estimated LOS rate σ; combining said estimated LOS rate σ with said rate θ to provide the value σ-θ; integrating the value σ-θ to provide σ-θ; feeding back the value σ-θ to said first combining point; combining said value σ-θ with the angle ε to provide the value σ M -σ at the input to said filtering sytem; multiplying the residual LOS angle by a gain B to provide the term B(σ M -σ); multiplying the LOS rate σ by 2V c ; combining said multiplied LOS rate with acceleration term Y M at a third combining point to provide the term 2V c σ-Y M ; multiplying the residual LOS angle by AV c to provide the value AV c (σ M -σ); combining the values AV c (σ M -σ) and 2V c σ-Y M at a fourth combining point to provide the value 2V.sub.c σ-Y.sub.M +AV.sub.c (σ.sub.M -σ); dividing the value 2V c σ-Y M +AV c (σ M -σ) by the range R between said missile and the target to provide the value ##EQU8## combining the immediately preceding value with the term B(σ M -σ) at a fifth combining point to provide the corrective and predictive term ##EQU9## integrating the term σ to provide the smoothed LOS rate σ; where ##EQU10## whereby gains A and B are noise-adaptive and dependent upon time-to-go, while the guidance filter output σ is also range dependent and includes both corrective and predictive terms; multiplying said guidance filter output by a gain C 2 and applying that product to a sixth combining point; multiplying the missile lateral acceleration term Y M by a gain C 4 which is a function of autopilot dynamics λ M and T go , the value C 4 Y M being fed back to said sixth combining point; multiplying said sixth combining point output C 4 Y M +C 2 σ by the navigation ratio n' which is also a function of autopilot dynamics and T go ; and applying the immediately preceding term to said autopilot as command acceleration to modify the position of the missile control surfaces and to account for first order autopilot time lag, thereby providing nearly optimal miss distance and low sensitivity to radome error.