Research Papers

Binary Range-Rate Measurements and Homing Guidance

[+] Author and Article Information
Dave W. Oyler

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

Pierre T. Kabamba

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

Anouck R. Girard

Associate Professor
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 February 18, 2014; final manuscript received August 12, 2014; published online November 7, 2014. Assoc. Editor: Junmin Wang.

J. Dyn. Sys., Meas., Control 137(4), 041010 (Apr 01, 2015) (12 pages) Paper No: DS-14-1078; doi: 10.1115/1.4028527 History: Received February 18, 2014; Revised August 12, 2014

This paper considers the problem of planar homing guidance for a vehicle traveling to a beacon with unknown location and using a measurement of binary range-rate. The fundamental nature of binary range-rate is studied, and a guidance law requiring only this measurement is presented. Another guidance law utilizing both binary range-rate and heading angle is also presented, and stability is addressed. This guidance law consists of separated control and observation, and it does not require finding the closest points of approach for multiple headings. This guidance law's response to measurement corruption and observer gain is studied. Characteristics of good initial estimates are given, and an exploration method is presented that provides good initial estimates and leads to improved response. This approach provides a method of low-cost, autonomous homing guidance that utilizes a single, omnidirectional receiver to guide a vehicle to a single, omnidirectional transmitting beacon.

Copyright © 2015 by ASME
Topics: Vehicles , Errors , Sensors
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Fig. 2

Stationary beacon: vehicle paths

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Fig. 3

Stationary beacon: range versus time

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Fig. 4

Antipursuit: vehicle path

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Fig. 5

Antipursuit: range versus time

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Fig. 6

Probability of instantaneous homing with only heading

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Fig. 8

Regions where second dimension affects measurement

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Fig. 9

Homing to stationary beacon: overhead view

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Fig. 10

Estimation errors versus time

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Fig. 11

Homing to moving beacon: overhead view

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Fig. 12

Effects of measurement errors: good initial estimate

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Fig. 13

Effects of measurement errors: bad initial estimate

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Fig. 14

Effect of observer gain: bad initial estimates

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Fig. 15

Effect of observer gain: good initial estimates

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Fig. 16

Effect of initial azimuth estimate

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Fig. 17

Travel distance versus estimation error

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Fig. 18

Exploration and homing

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Fig. 19

Travel distance versus initial heading error



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