Switched bias proportional navigation for homing guidance against highly maneuvering targets

1994 ◽  
Vol 17 (6) ◽  
pp. 1357-1363 ◽  
Author(s):  
K. Ravindra Babu ◽  
I. G. Sarma ◽  
K. N. Swamy
Keyword(s):  
Proportional Navigation ◽  
Maneuvering Targets

Proportional Navigation (PN) Based Tracking of Ground Targets by Quadrotor UAVs

2013 ◽  
Author(s):  
Ruoyu Tan ◽  
Manish Kumar
Keyword(s):  
Target Tracking ◽  
Proportional Navigation ◽  
Tracking Method ◽  
Maneuvering Targets ◽  
Time Optimal ◽  
Aerial Vehicle ◽  
Quadrotor Uavs ◽  
The One ◽  
Rotary Wing ◽  
Guidance Laws

This paper addresses the problem of controlling a rotary wing Unmanned Aerial Vehicle (UAV) tracking a target moving on ground. The target tracking problem by UAVs has received much attention recently and several techniques have been developed in literature most of which have been applied to fixed wing aircrafts. The use of quadrotor UAVs, the subject of this paper, for target tracking presents several challenges especially for highly maneuvering targets since the development of time-optimal controller (required if target is maneuvering fast) for quadrotor UAVs is extremely difficult due to highly non-linear dynamics. The primary contribution of this paper is the development of a proportional navigation (PN) based method and its implementation on quad-rotor UAVs to track moving ground target. The PN techniques are known to be time-optimal in nature and have been used in literature for developing guidance systems for missiles. There are several types of guidance laws that come within the broad umbrella of the PN method. The paper compares the performance of these guidance laws for their application on quadrotors and chooses the one that performs the best. Furthermore, to apply this method for target tracking instead of the traditional objective of target interception, a switching strategy has also been designed. The method has been compared with respect to the commonly used Proportional Derivative (PD) method for target tracking. The experiments and numerical simulations performed using maneuvering targets show that the proposed tracking method not only carries out effective tracking but also results into smaller oscillations and errors when compared to the widely used PD tracking method.

scholarly journals Tracking of Ground Mobile Targets by Quadrotor Unmanned Aerial Vehicles

2014 ◽  
Vol 02 (02) ◽  
pp. 157-173 ◽  
Author(s):  
Ruoyu Tan ◽  
Manish Kumar
Keyword(s):  
Numerical Simulations ◽  
Unmanned Aerial Vehicles ◽  
Positional Error ◽  
Proportional Navigation ◽  
Switching Strategy ◽  
Maneuvering Targets ◽  
Aerial Vehicles ◽  
Mobile Target ◽  
Guidance Laws ◽  
Quadrotor Unmanned Aerial Vehicles

This paper focuses on the development of control and guidance laws for quadrotor Unmanned Aerial Vehicles (UAVs) to track maneuvering ground targets. Proportional Derivative (PD) control law is a popular choice to be used as a tracking controller for quadrotors, but it is often inefficient due to practical acceleration constraints and a number of parameters that need to be tuned. The paper proposes a Proportional Navigation (PN)-based switching strategy to address the problem of mobile target tracking. The experiments and numerical simulations performed using nonmaneuvering and maneuvering targets show that the proposed PN-based switching strategy not only carries out effective tracking but also results into smaller oscillations and errors when compared to the widely used PD tracking method. The proposed PN-based switching strategy presents an important question with regard to when the switching should happen that would minimize the positional error between the UAV and the target. An optimal switching strategy, which is based on the analytical solutions of the PN and PD methods, is proposed. The numerical simulations not only validate the theoretical results with regard to the optimality of the proposed method for both nonmaneuvering and maneuvering targets but also demonstrate that the proposed method is robust to measurement noise.

Polynomial guidance law for impact angle control with a seeker look angle limit

2019 ◽  
Vol 234 (3) ◽  
pp. 857-870
Author(s):  
Zhou Zhiming ◽  
Xiaoxian Yao
Keyword(s):  
Impact Angle ◽  
Line Of Sight ◽  
Time Varying ◽  
Proportional Navigation ◽  
Guidance Law ◽  
Maneuvering Targets ◽  
Nonlinear Simulations ◽  
Impact Angles ◽  
The Impact ◽  
Guidance Laws

In this paper, the impact angle control problem is investigated by applying the polynomial shaping method. By shaping the light-of-sight angle with relative range, a guidance law called range polynomial guidance is proposed, and the coefficients are determined by boundary conditions. The range polynomial guidance law can be applied to maneuvering targets. By profiling the seeker look angle with the light-of-sight angle, a guidance law called line-of-sight polynomial guidance is developed for impact angle control under a limitation on the seeker look angle. The line-of-sight polynomial guidance law is also effective in intercepting a non-maneuvering moving target at the desired impact angle. Guidance laws with different gain sets are discussed in this paper. The proposed guidance laws take the form of proportional navigation with a time-varying navigation gain. Nonlinear simulations are performed to validate the efficacy of the proposed guidance laws in various engagement conditions. Comparison with other studies demonstrates the practicality and flexibility of the proposed guidance laws in the design of desired impact angles and maximum look angles.

scholarly journals Terminal attack trajectories of peregrine falcons are described by the proportional navigation guidance law of missiles

2017 ◽  
Vol 114 (51) ◽  
pp. 13495-13500 ◽  
Author(s):  
Caroline H. Brighton ◽  
Adrian L. R. Thomas ◽  
Graham K. Taylor
Keyword(s):  
Angular Rate ◽  
Feedback Gain ◽  
Visually Guided ◽  
Proportional Navigation ◽  
Live Prey ◽  
Guidance Law ◽  
Maneuvering Targets ◽  
Peregrine Falcons ◽  
Feedback Laws ◽  
Identification Techniques

The ability to intercept uncooperative targets is key to many diverse flight behaviors, from courtship to predation. Previous research has looked for simple geometric rules describing the attack trajectories of animals, but the underlying feedback laws have remained obscure. Here, we use GPS loggers and onboard video cameras to study peregrine falcons, Falco peregrinus, attacking stationary targets, maneuvering targets, and live prey. We show that the terminal attack trajectories of peregrines are not described by any simple geometric rule as previously claimed, and instead use system identification techniques to fit a phenomenological model of the dynamical system generating the observed trajectories. We find that these trajectories are best—and exceedingly well—modeled by the proportional navigation (PN) guidance law used by most guided missiles. Under this guidance law, turning is commanded at a rate proportional to the angular rate of the line-of-sight between the attacker and its target, with a constant of proportionality (i.e., feedback gain) called the navigation constant (N). Whereas most guided missiles use navigation constants falling on the interval 3 ≤ N ≤ 5, peregrine attack trajectories are best fitted by lower navigation constants (median N < 3). This lower feedback gain is appropriate at the lower flight speed of a biological system, given its presumably higher error and longer delay. This same guidance law could find use in small visually guided drones designed to remove other drones from protected airspace.

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