Proportional Navigation

Guidance System
Notes
Contents

Contents 1

1 Introduction 1

1.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

1.1.1 Types of Guidance . . . . . . . . . . . . . . . . . . . . . . . . . . 1

1.1.2 Guidance Laws . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

1.1.3 Literature Survey . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

2 Velocity Pursuit Method of Guidance 3

2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

3 Proportional Navigation Method of Guidance 6

3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

3.2 Notes on Guidance Systems[?] . . . . . . . . . . . . . . . . . . . . . . . . 8

3.2.1 Proportional Navigation Guidance . . . . . . . . . . . . . . . . . 8

3.3 Working of Proportional Navigation Guidance System . . . . . . . . . . . 12

References 15

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Chapter 1

Introduction

1.1 Overview

Two important definitions are:-

(a) Guidance. Guidance can be defined as the strategy for how to steer the missile to
intercept.

(b) Control. Control can be defined as the tactics of using the missile actuators to
implement the guidance strategy.

1.1.1 Types of Guidance

Guidance can be divided into two types namely:-

(a) Target Related Guidance. In this guidance strategy the target tracking data are
provided in real time from a sensor which can be on-board the missile or off it.

(b) Non-Target Related Guidance. In this strategy the missile navigates to some
predetermined point which can be the target or the point where target related
guidance starts.

It must be noted that the performance of integrated GPS/INS navigational systems

offer precision in the order of meters. Weapons using non-target related guidance using

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the integration of sensor-to-shooter improves and near real time targeting data can be
obtained from sensors not fixed in the missile system, can hence compete with traditional
homing missiles and the distinction between the two types becomes less clear..

1.1.2 Guidance Laws

The most fundamental, and also most commonly used, guidance laws are:-

(a) Velocity Pursuit

(b) Proportional Navigation

(c) Command-to-Line-of-Sight

(d) Beam Riding

All of these guidance laws date back to the very first guided missiles developed in the
1940’s and 1950’s. The reasons that they have been so successful are mainly that they
are simple to implement and that they give robust performance.

1.1.3 Literature Survey

The presentation in this paper is mainly based on textbooks on missile guidance e.g.,
Blakelock [?], Garnell[?], Lee, and Zarchan[?].

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Chapter 2

Velocity Pursuit Method of

Guidance

2.1 Introduction

The conceptual idea behind velocity pursuit guidance is that the missile should always
head for the target’s current position. Thus this strategy requires that the missile’s
velocity is greater than the target’s, in order to result in an intercept. The required
information for velocity pursuit is limited to the bearing to the target, which can be
obtained from a simple seeker, and the direction of the missile’s velocity. Velocity
pursuit is usually implemented in laser guided bombs, where a simple seeker is mounted
on a vane, which automatically aligns with the missile’s velocity vector relative to the
wind. The mission of the guidance and control system thus becomes to steer the bomb
such that the target is centred in the seeker.

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 Using a target fixed polar coordinate system, see figure 1, the equations describing
the kinematics of velocity pursuit are

dVM = dR + dVT
dR = dVM − dVT
ṙ = −vM − (−vT cosφ)
ṙ = vT cosφ − vM (2.1)

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and

dV
φ̇ =
r
r.φ̇ = −vT sinφ (2.2)

Alternately,
the rate at which the distance between the target and the missile is reducing to zero
is given by the projection of instantaneous velocity vector of target on the line joining
the missile and target i.e.,vT cosφ minus the instantaneous velocity of missile. This
gives eqn.3.2. Similarly, the rate at which the angle between the line joining missile
and target and the target velocity vector reduces to zero is given by the perpendicular
distance between missile and target velocity vector given by −vT sinφ divided by the
instantaneous distance between target and missile (r). This gives eqn.3.3. Integration
gives
VM
(V
(1 + cosφ0 ) VT (sinφ) VMT − 1)
r = r0 VM VM (2.3)
(sinφ0 ) VT (1 + cosφ) VT

where index 0 indicates the zero or initial condition. Thus it can be noted from eqn.2.3
that r becomes zero for the value of φ = 0 i.e., when the intercept is tail chase, and in
case of head-on (φ = π) the condition is unstable (1/0) condition.The velocity pursuit
guidance law results in high demanded lateral acceleration, in most cases infinite at the
final phase of the intercept. As the missile cannot perform infinite acceleration, the
result is a finite miss distance. Velocity pursuit is thus sensitive to target velocity and
also to disturbances such as wind. The velocity pursuit guidance law is not suitable for
meter precision.

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Chapter 3

Proportional Navigation Method of

Guidance

3.1 Introduction

The conceptual idea behind proportional navigation is that the missile should keep
a constant bearing to the target at all time.The guidance law that is used to implement
this concept is given by

γ̇M = c.φ̇ (3.1)

where γM is the direction of the missiles velocity vector, φ is the bearing of missile to
target, and c is a constant. Both of the angles γM and φ are measured relative to some
fixed reference.

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 Figure 3.1: Proportional navigation, kinematics and definition of angles.

With angles as defined in figure 4 and using polar coordinates the following kinematic
equations in the 2D case can be obtained:-

dVM = dR + dVT
dR = dVM − dVT
ṙ = −vM cos(φ − γ) − (−vT cosφ)
ṙ = vT cosφ − vM cos(φ − γ) (3.2)

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 dV
φ̇ =
r
r.φ̇ = vM sin(φ − γ) − vT sinφ (3.3)

3.2 Notes on Guidance Systems[?]

The lateral autopilot in a missile receives an acceleration command as its input and the
aim of the autopilot is to track this commanded acceleration. The acceleration command
is provided by an appropriate guidance system. Two such guidance systems namely
proportional navigation and line-of-sight command guidance systems are discussed.

(a) In proportional navigation, the missile is guided either by the reflected radio fre-
quency (RF) or the radiant infrared (IR) energy from the target. In case of active
homing missiles, the illuminating radar is in the missile itself whereas in case of
semiactive homing missiles, a separate illuminating radar which is the fire control
radar of the launch aircraft in case of air-to-air missiles and a ground radar at the
launch site in case of surface-to-air missiles, is used.

(b) In case of command guidance which is generally used in case of surface-to-air

missiles, two tracking radars, one to track the target and the other to track the
missile are located at the launch site.

3.2.1 Proportional Navigation Guidance

In proportional navigation guidance method, the missile turns at a rate proportional

to the angular velocity of the line-of-sight (LOS). The LOS is defined as an imaginary
line from the missile to the target. The ratio of the missile turning rate to the angular
velocity of the LOS is called the proportional navigation constant denoted by N . The
value of N is usually greater than one and usually ranges from 2 to 6. This means that
the missile will always be turning at a rate faster than the LOS rate and thus build up
a lead angle with respect to the LOS. Thus for a constant velocity missile and target
(target not maneuvering), anuglar velocity of line of sight is zero and the lead angle
generated can put the missile on a collisionm course with the target.

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 (a) If N =1, then the missile is turning at the same rate as the LOS and thus homing
on to the target.

(b) If N < 1, the missile will be turning slower than the LOS thus continuously falling
behind the target and making an intercept impossible.

The seeker, in case of proportional navigation guidance system, while tracking the target
establishes the direction of the LOS. Thus the output of the seeker is the angular velocity
of the LOS with respect to inertial space as measured by rate gyros mounted on the
seeker.

The guidance geometry for proportional navigation guidance is as shown in fig.3.2.1

where initially the turning angle of the target γT is considered to be zero while that of
the missile is given by γM . The angle of LOS is denoted by φ. The target and missile
velocities are denoted by VT and VM .

Determination of Angular Velocity

The magnitude of the angular velocity of the LOS which generates the angular veloc-
ity of the seeker ωSK is determined by the components of missile and target velocity
perpendicular to the LOS from the fig.3.2.1.

(a) The component of missile velocity perpendicular to the LOS is given by

vM sin(φ − γM )

This generates a positive LOS rotation.

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 (b) The component of target velocity perpendicular to the LOS is given by

vT sin(φ − γT )

This generates a negative LOS rotation.

(c) Thus the magnitude of the angular velocity is the difference between the com-
ponents of missile and target velocities perpendicular to the LOS divided by the
distance between the target and missile which is denoted by r.

vM sin(φ − γM ) − vT sin(φ − γT )
ωLOS = (3.4)
r
If the perpendicular components of missile and target are equal and unchanging,
ωLOS will be zero and there will be no rotation of the LOS. Thus the missile will
be on a collision course with the target.

(d) If the angles are assumed to be small, then eqn.3.4 can be linearised as follows:-

vM (φ − γM ) − vT (φ − γT )
ωLOS = (3.5)
r

Since ωLOS is the angular rate or φ̇, taking Laplace transform of eqn.LOSratelin
gives

vM (s)(φ(s) − γM (s)) − vT (s)(φ(s) − γT (s))

sφ(s) =
r(s)
vM (s) vM (s)γM (s) vT (s)(φ(s) − γT (s))
(s − )φ(s) + =
r(s) r(s) r(s)
vT (s)(φ(s) − γT (s))/r(s) vM (s)γM (s)/r(s)
φ(s) = − (3.6)
(s − vr(s)
M (s)
) (s − vr(s)
M (s)
)

(e) From eqn.3.6, it can be seen that when N < 1, the geometry of proportional
navigation introduces a pole in the right half s plane. As N is increased from zero,
this pole slowly moves to the left and crosses the imaginary axis at N = 1.

Determination of LOS rate (ṙ)

The magnitude of the linear rate of the LOS is determined by the components of missile
and target velocity parallel to the LOS from the fig.3.2.1.

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 (a) The component of missile velocity parallel to the LOS is given by

vM cos(φ − γM )

This generates a positive LOS rate.

(b) The component of target velocity parallel to the LOS is given by

vT cos(φ − γT )

This generates a negative LOS rate.

(c) Thus the linear rate of change of LOS (ṙ) is given by

ṙ = vM cos(φ − γM ) − vT cos(φ − γT ) (3.7)

Assumptions

(a) Missile and target are point masses.

(b) Missile and target velocities are constant.

(c) Autopilot and seeker loop dynamics are fast enough to be neglected when compared
to overall guidance loop behavior.

(d) Upper bound of target accleleration exists.

Relations for Target and Missile Accelerations

Using the above assumptions, the angular rates of target and missile can be related to
their respective accelerations by the following equations:-
aT
γ̇T = (3.8)
vT
aM
γ̇M = (3.9)
vM

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3.3 Working of Proportional Navigation Guidance
System

A simple block diagram of a proportional navigational guidance system is shown in

fig.3.3.

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θT − θR
θ R |T θR
VT /R
ωSK GUIDANCE az(comm) az az
9.81
θM
s−VM /R SEEKER COMPUTER az(comm) VM s
+
(rad)
- (rad) (rad/sec) (g) (g) (rad)

θM |R

VM /R
s−VM /R

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 The working is explained below:-

(a) θR |T is the LOS direction due to the target motion. This is given as one of the
inputs to the seeker through the summer block.

(b) The output of the seeker is ωSK which is the input to the guidance computer which
generates the missile acceleration command. It is assumed that the acceleration
command is proportional to the missile velocity times the angular velocity of the
LOS.

(c) The missile acceleration in g’s times 9.81/VM is equal to the missile pitch rate.
Integration of this value gives θM .

(d) The output of the transfer function in the feedback path is the rotation of the LOS
due to missile θR |M which is now given as the other input of the summer but with
opposite (negative) sign.

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References

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