Advanced Materials Research Vols 785-786 (2013) pp 1560-1563 Online: 2013-09-04

© (2013) Trans Tech Publications, Switzerland

doi:10.4028/www.scientific.net/AMR.785-786.1560

Research On Missile System With Strapdown Guidance Technology

Delong Feng1,a, Suochang Yang1,a , Yingxi Liu2,b

1
Department of Missilery Engineering Shijiazhuang Mechanical Engineering College Shijiazhuang,
China
2
National Key Laboratory of Science and Technology on Radar Signal Processing Xidian University
Xi’an, China
a
[email protected]
b
[email protected]

Keywords: proportional guidance law; guided missile; strapdown; seeker

Abstract:This paper presents a project of missile guidance system based on the strapdown guidance
technology. The project is composed of strapdown seeker and inertial measurement unit. The
integrated guidance and control technology have been adopted. The project raise accuracy of
missiles on the premise that the low cost should be guaranteed. According to simulation experiment,
this paper proves the feasiblity of the scheme, and it has good ballistic missile.

Introduction
As the precision guided weapon plays a more and more important role in the modern war, the
traditional missile of uncontrol can not meet the requirement of modern war, so the development of
missile guidance has become the focus of world military [1]. Because the inertial guidance
technology of traditional gyro gimbal should be needed high cost and complex theory, so it is not
suitable for low cost and high reliability requirements [2]. This paper proposes a method of guidance
system based on strapdown guidance technology.
General structure
The integrated guidance and control technology are in the spotlight with its low cost, high
performance and reliability. Integral design has obvious advantages in cost that the same inertial
device is used for guidance and flight control [3]. The guidance of inertial device’s performance is
much better than typical gyroscope and accelerometer which autopilot used. So that it is not only
reduced the cost, but also improved the control performance.
This project is composed of the strapdown seeker and a set of Inertial Measurement Unitinertial
(IMU). The strapdown seeker could measure the normal angle of sight and lateral angle of sight in
the seeker coordinates [4]. Inertial Measurement Unitinertial is composed by three angular rate
gyroes and three accelerometers, which can be sensitive by three direction angular rate and apparent
acceleration of guided missile body axis [5]. The angle of sight, the projectile angle rate provided by
Inertial Measurement Unitinertial and the angular velocity is the guidance system input. The output
is the deflection control signal of rudder which control system needed [6].
As shown in Fig. 1, there is the integrated structure of guidance system. Here were studied some
key algorithms.
Coordinate Transformation
Because of the angle of sight ( q yh , qzh ) which measured in the seeker coordinates is provided by
the strapdown seeker, these angle need to coordinate transformation, in order to compute the angle
( q y , qz ) in inertial coordinates that the guidance algorithm needed [7].
The coordinate conversion matrix that m to n is described as Amn . And then each coordinate
conversion is as shown in Fig. 2.
The transformation matrix of seeker coordinates to projectile coordinates is:

All rights reserved. No part of contents of this paper may be reproduced or transmitted in any form or by any means without the written permission of Trans
Tech Publications, www.ttp.net. (ID: 128.210.126.199, Purdue University Libraries, West Lafayette, USA-21/05/15,20:02:42)
 Advanced Materials Research Vols. 785-786 1561

Strapdown seeker a x ay
accelerometer
Body q zh
coordinates q yh

qz q y n∗yl nzl∗ n ∗y n z∗ Automatic

Coordinate Navigation Coorfinate
control
transformation Inertial filter transformation Projectile
Normal acceleration system
frame instruction acceleration
instruction

θ βγ
Direction
cosine matrix
integral

Rate ωx ω y ωz
gyroscope

Figure 1. Overall structure of guidance system.

Ahb AbL

Figure 2. The coordinate transformation.

cos σ 0 − sin σ 0 0
Ahb =  sin σ 0 cos σ 0 0  . (1)
 0 0 1 

The transformation matrix of projectile coordinates to inertial coordinates is:

 cosφ ⋅ sinψ ⋅ sinγ cosφ ⋅sinψ ⋅ cosγ 
cosφ ⋅ cosψ −sinφ ⋅ cosγ +sinφ ⋅ sinγ 
 
 
AbL = sinφ ⋅ cosψ cosφ ⋅ cosγ sinφ ⋅ sinψ ⋅ cosγ  . (2)
 +sinφ ⋅sinψ ⋅ sinγ −cosφ ⋅ sinγ 
 
 −sinψ cosψ ⋅ sinγ cosψ ⋅ cosγ 

Among them δ 0 is the seeker angle of sight, rotation along the projectile Z axis is positive (i.e.
head downward is negative). ϕ , ψ and γ are respectively the projectile angle of pitch, angle of yaw,
angle of inclination.

Guidance Law
Guidance law is based on the movement information of the missile and the target to make the
missile hit the target according to a certain flight path [8]. As guidance missile main attack ground
targets, so use proportional guidance law that designing the project. It is presented the proportional
guidance by the lateral motion equation of missile below. The lateral motion equation of guided
missile is:
1562 Current Trends in the Development of Industry

 dr
 dt = −v cos σ − vt cos [ k zσ 0 − ψ v − ( k z − 1) q z ]
 (3)
 dσ = 1 {v sin σ + v sin [ k σ −ψ − ( k − 1) q ]}
 dt r t z 0 v z z

The proportional guidance law requires the rotation angular velocity of missile velocity vector
and the angular velocity of sight are in proportion, it is:
. .

θ = k y q y
. .
(4)
σ = k q
 z z

According to the Eq. (3) and Eq. (4), it can deduce the expectations overloading which meet the
needs of the proportional guidance:
 n y = k y q y v / g + cos θ
*

 * (5)
 z
n = − k q
z z v / g
When the latitude and longitude of launching point and target point was known, it could solve the
target coordinates in the emission. If the target was fixed, its velocity would be zero. In this way, it
can solve the relative position and velocity of the line which missile and target in the emission, and
getting the angular rate of sight.
Instantaneous Equilibrium Trajectory
If you assume that guided missile are in equilibrium every instantaneous when calculating the
ballistic, then it can be calculated the balance lift coefficient in every point of ballistic [9]. This
assumption is called "instantaneous balance", it think that it is instantaneous completed when guided
missile turned a state of equilibrium to another state of equilibrium. There are only two parts of
pitching moment in the guided missile .
It will be able to greatly reduce the computing workload using instantaneous balance in the
missile preliminary design. This paper uses the method of instantaneous equilibrium trajectory. After
the expected overload is calculated, it needs get pitch angle, yaw angle, pitching rudder Angle, yaw
rudder angle of guided missile to make the actual overload expecting. And let the guided missile
stayed in equilibrium state. The method is as follows:
c*y = mgn*y / (0.5ρ v 2 S )
 * (6)
cz = mgnz / (0.5 ρ v S )
* 2

Simulation And Analysis

According to the above model, the guided missile trajectory simulation in two kind initial
conditions is studied by using MATLAB software. Among them, the latitude distance of condition 1
is 100 meter in minimum range, the latitude distance of condition 2 is 4000 kilometer in maximum
range. The Fig. 3 to Fig. 8 respectively gives a height curve, an attack angle curve and a normal
overload curve of the guided missile.

Figure 3. 100 m range - height curve Figure 4. 100 m time - attack angle curve
 Advanced Materials Research Vols. 785-786 1563

Figure 5. 100 m time - normal overload curve Figure 6. 4000 km range - height curve

Figure 7. 4000 km time - attack angle curve Figure 8. 4000 km time - normal overload curve

Conclusion
Now the technology of strapdown guidance is increasingly mature, using the strapdown guidance
technology in guided missiles have become the hot spot of the weapon development. This paper
presents a low-cost design scheme of strapdown guidance missile system. And it also proves the
feasibility of the system through the simulation experiment.

Reference
[1] T. Srinivasan, P. Kar, A. Sakar, “Performance Study of Radar and Seeker Estimator in a
Realistic Tactical Scenario,” In Proceedings of AIAA Guidance, Navigation and Control
Conference and Exhibit, vol. 1, no. 21, 1701-1706, 2008.
[2] M. L. Ding, Q. Wang, Theoretical summary on non-gyro inertial measurement unit, Journal of
Inertial Technology of Chian, vol. 13, no. 4, pp. 83-88, 2005.
[3] R. H. Macfadzean, Surfaced-based air defence system analysis. Boston: Artech House, 1992.
[4] Z. M. Wang, A new method for estimating system error of guidance instrument, Science of
China, vol. 28, no. 2, pp. 160-167, 1998.
[5] P. Gurfil, M. Jodorkovsky, and M. Guelman, Neoclassical guidance for homing missiles,
Journal of Guidance, Control and Dynamics, vol. 24, no. 3, pp. 425-459, 2001.
[6] R. Yanushevsky, “Analysis and design of missile guidance system in frequency domain”, In
Proceedings of 44th AIAA Space Sciences Meeting, Reno, Nevada, pp. 822-825, 2006.
[7] X. H. Cheng, M. Zhang, Kalman parameters optimization method of sins initial alignment,
Journal of Inertial Technology of China, vol.12, no. 4, pp. 13-17, 2006.
[8] L. Zhe, Y. Yu, “The design of LOS reconstruction filter for strap-down imaging seeker,” In
Proceedings of IEEE 2005 International Conference On Machine Learing and Cybernetics, no. 4,
pp. 2272-2277, 2005.
[9] Song Tack-Lyul, Yun Joongsup, “Strapdown sensors and seeker based guidance filter design,”
In Proceedings of International Conference on Control, Automation and Systems 2008, COEX,
Seoul, Korea, vol. 14, no. 17, pp. 468-472, 2008.
Current Trends in the Development of Industry
10.4028/www.scientific.net/AMR.785-786

Research on Missile System with Strapdown Guidance Technology

10.4028/www.scientific.net/AMR.785-786.1560