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Research Papers

Homing Guidance Using Spatially Quantized Signals

[+] Author and Article Information
Ricardo Bencatel

Department of Aerospace Engineering,
University of Michigan,
Ann Arbor, MI 48109
e-mail: bencatel@umich.edu

Dave W. Oyler

Department of Aerospace Engineering,
University of Michigan,
Ann Arbor, MI 48109
e-mail: dwoyler@umich.edu

Liang Liu

Department of Aerospace Engineering,
University of Michigan,
Ann Arbor, MI 48109
e-mail: liuliang@umich.edu

Danning Sun

Department of Aerospace Engineering,
University of Michigan,
Ann Arbor, MI 48109
e-mail: danning@umich.edu

Anouck R. Girard

Department of Aerospace Engineering,
University of Michigan,
Ann Arbor, MI 48109
e-mail: anouck@umich.edu

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received August 31, 2015; final manuscript received December 15, 2016; published online April 13, 2017. Assoc. Editor: Manish Kumar.

J. Dyn. Sys., Meas., Control 139(6), 061009 (Apr 13, 2017) (10 pages) Paper No: DS-15-1408; doi: 10.1115/1.4035610 History: Received August 31, 2015; Revised December 15, 2016

This paper considers homing guidance for a vehicle with a single omnidirectional receiver traveling to a stationary, omnidirectional transmitting beacon by using spatially quantized signal strength measurements. Two homing strategies are presented, and simulations are performed for cases with signal noise and vehicle turn rate limits. The first strategy is the Oyler strategy, which adapts a sliding mode controller and observer from the previous work. The second strategy is based on constant heading changes (CHCs) each time a range increment is detected, and this strategy is shown to be sufficient for homing. This study also discusses a signal filter designed to improve the homing controllers' performance. Performance metrics are developed for strategy evaluation and parameter optimization. The performance of each guidance strategy is shown through simulations for a variety of conditions. The Oyler strategy guides the vehicle to the beacon more efficiently than the constant heading change strategy, but it comes with a slight penalty in success rate.

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References

Figures

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Fig. 1

Graphical representation of signal measurement system model

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Fig. 2

CHC strategy worst case scenario for constant turn angles Δψ ≤ 90 deg: (a) random scenario and (b) worst case scenario: bisection

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Fig. 3

CHC strategy worst case scenario for constant turn angles Δψ ≥ 90 deg

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Fig. 4

Misclassification rate

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Fig. 5

Graphical representation of the no signal region strategy

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Fig. 6

Monte Carlo sampling initialization

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Fig. 7

Quantized signal strength model probability of single-step convergence less than or equal to 50%

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Fig. 10

Combination of efficiency and success rate for base case

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Fig. 11

Convergent trajectories

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Fig. 12

Single-step success rate and efficiency for the Oyler strategy with K2 = 213 in base case

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Fig. 13

Single-step success rate and efficiency for the CHC strategy in base case

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