SIMULATIONS FOR BASIC PROPORTIONAL NAVIGATION

Introduction

1. The proportional guidance law derived earlier is tested for its properties by using Matlab and
SIMULINK. This will help in understanding the effectiveness of proportional navigation. The
SIMULINK blocks used for the simulation help in directly applying the Runge-Kutta fourth order
numerical integration technique for solving the differential equations derived earlier. A fixed step
size of 0.001 is selected. The inputs to the simulation are target and missile speeds, effective
navigation ratio, initial location of the target and missile, initial missile acceleration, flight path angle,
target manoeuvre parameter and the heading error. By varying the navigation ratio, target
manoeuvre parameter, flight path angle and the heading error the properties of proportional
navigation in terms of missile-target engagement (down-range vs cross-range/altitude) and missile
acceleration were studied.

Simulation Data Listing

2. Matlab Program Listing for initial conditions and input data.

%
%--------------------------------------------------------------------------
%SIMULATION OF PROPORTIONAL NAVIGATION GIVEN IN BOOK BY P.ZARCHAN
%--------------------------------------------------------------------------
global RT1 RT2 VT NT Beta VT1 VT2 RM1 RM2 RTM1 RTM2 Lambda L VM1 VM2 VTM1
VTM2 Vc Nc aM1 aM2 K HE
%-----INITIAL CONDITIONS-------
Beta0=0;%for head-on-fire target
%Beta0=pi%for target moving away or tail fire target
RT10=4000;RT20=5000;RM10=2;RM20=1;aM10=0;aM20=0;
HE=-20*pi/180;%Heading Error
VT=250;VM=500;
NT=0;%For non-maneuvring target(3*9.6 for target with 3g maneuvre)
K=3;%navigation ratio
RTM10=RT10-RM10;RTM20=RT20-RM20;
Lambda0=atan(RTM20/RTM10);
L0=asin(VT*sin(Beta0+Lambda0)/VM);
VM10=VM*cos(L0+HE+Lambda0);VM20=VM*sin(L0+HE+Lambda0);
%------Simulation parameters-----
tstart=0;tstop=9.9;tstep=0.001;
sim('PNJan10');figure;
set(gcf,'DefaultLineLineWidth',2);
set(gca,'FontSize',16,'FontWeight','bold');
plot(RT1,RT2,'r',RM1,RM2,'b')
title('TARGET MOVING HEAD ON WITH 0g MANEUVRE K=3 HE=-20deg');%figure
xlabel('RT1,RM1(m)','FontSize',10,'FontWeight','bold');ylabel('RT2,RM2
(m)','FontSize',10,'FontWeight','bold');
legend('TARGET','MISSILE');figure;
set(gcf,'DefaultLineLineWidth',2);
set(gca,'FontSize',16,'FontWeight','bold');
plot(t,aM1)
title('MISSILE ACCELERATION FOR TARGET MOVING HEAD ON 0g MANEUVRE K=3 HE=-
20deg');
xlabel('time(sec)','FontSize',10,'FontWeight','bold');ylabel('MISSILE
ACCELERATION n_c (g)','FontSize',10,'FontWeight','bold');
3. Matlab Function Program Listing

%MATLAB FUNCTION FOR PROPORTIONAL NAVIGATION CALCULATIONS

function output = PN_con1(u);
global RT1 RT2 VT NT Beta VT1 VT2 RM1 RM2 RTM1 RTM2 Lambda L VM1 VM2 VTM1
VTM2 Vc Nc aM1 aM2 K
Beta=u(1);RT1=u(2);RT2=u(3);RTM1=u(4);RTM2=u(5);Lambda=u(6);
VM1=u(7);VM2=u(8);RM1=u(9);RM2=u(10);%VTM1=u(11);VTM2=u(12);
Betadot=NT/VT;
VT1=-VT*cos(Beta);VT2=VT*sin(Beta);
RT1dot=VT1;
RT2dot=VT2;
% L=asin(VT*sin(Beta+Lambda)/VM);
% VM1=VM*cos(L+HE+Lambda);VM2=VM*sin(L+HE+Lambda);
VTM1=VT1-VM1;VTM2=VT2-VM2;
RTM1dot=VTM1;
RTM2dot=VTM2;
RTM=sqrt(RTM1^2+RTM2^2);
Vc=-(RTM1*VTM1+RTM2*VTM2)/RTM;
Lambdadot=(RTM1*VTM2-RTM2*VTM1)/(RTM^2);
Nc=K*Vc*Lambdadot;
Nc1=Nc/9.8;
aM1=-Nc*sin(Lambda);aM2=Nc*cos(Lambda);
VM1dot=aM1;
VM2dot=aM2;
RM1dot=VM1;
RM2dot=VM2;
output=[Betadot RT1dot RT2dot RTM1dot RTM2dot Lambdadot VM1dot VM2dot
RM1dot RM2dot Nc1 aM2];

4. Engagement Geometry for a non-manoeuvring target in Head-on-Fire, Effective Navigation

Ratio=3 with zero heading error.

TARGET MOVING HEAD ON WITH 0g MANEUVRE K=3

6000
TARGET
MISSILE
5000

4000
RT2,RM2 (m)

3000

2000

1000

0
0 500 1000 1500 2000 2500 3000 3500 4000
RT1,RM1(m)
5. Missile Acceleration Vs Time Plot for a non-manoeuvring target in Head-on-Fire, Effective
Navigation Ratio=3 with zero heading error.

-12
x 10 MISSILE ACCELERATION FOR TARGET MOVING HEAD ON WITH 0g MANEUVRE K=3
8

4
MISSILE ACCELERATION nc (g)

-2

-4

-6
0 2 4 6 8 10 12
time(sec)

6. Engagement Geometry for a non-manoeuvring target in Head-on-Fire, Effective Navigation

Ratio=3 with heading error of -20 degrees.

TARGET MOVING HEAD ON WITH 0g MANEUVRE K=3 HE=-20deg

6000
TARGET
MISSILE
5000

4000
RT2,RM2 (m)

3000

2000

1000

0
0 500 1000 1500 2000 2500 3000 3500 4000
RT1,RM1(m)
7. Missile Acceleration Vs Time Plot for a non-manoeuvring target in Head-on-Fire, Effective
Navigation Ratio=3 with heading error -20 degrees.

It can be noted that when there is a heading error, the missile acceleration is maximum
initially and reduces gradually to become zero at the time of intercept.

MISSILE ACCELERATION FOR TARGET MOVING HEAD ON 0g MANEUVRE K=3 HE=-20deg

6

4
MISSILE ACCELERATION nc (g)

-1

-2
0 1 2 3 4 5 6 7 8 9 10
time(sec)

8. Engagement Geometry for a non-manoeuvring target in Head-on-Fire, Effective Navigation

Ratio=3 with heading error of +20 degrees.

TARGET MOVING HEAD ON WITH 0g MANEUVRE K=3 HE=20deg

6000
TARGET
MISSILE
5000

4000
RT2,RM2 (m)

3000

2000

1000

0
-500 0 500 1000 1500 2000 2500 3000 3500 4000
RT1,RM1(m)
9. Missile Acceleration Vs Time Plot for a non-manoeuvring target in Head-on-Fire, Effective
Navigation Ratio=3 with heading error +20 degrees.

It can be noted that when there is a heading error, the missile acceleration is maximum
initially and reduces gradually to become zero at the time of intercept.

MISSILE ACCELERATION FOR TARGET MOVING HEAD ON 0g MANEUVRE K=3 HE=20deg

0.5

-0.5

-1
MISSILE ACCELERATION nc (g)

-1.5

-2

-2.5

-3

-3.5

-4
0 2 4 6 8 10 12 14
time(sec)

10. Engagement Geometry for a target manoeuvring with 1-g in Tail-Fire, Effective Navigation
Ratio=4 with zero heading error.

TARGET MOVING AWAY WITH 1g MANEUVRE

5000
TARGET
4500 MISSILE

4000

3500

3000
RT2,RM2 (m)

2500

2000

1500

1000

500

0
0 1000 2000 3000 4000 5000 6000 7000 8000
RT1,RM1(m)
10. Engagement Geometry for a target manoeuvring with 1-g in Tail-Fire, Effective Navigation
Ratio=3 with zero heading error.

TARGET MOVING AWAY WITH 1g MANEUVRE K=3

5000
TARGET
4500 MISSILE

4000

3500

3000
RT2,RM2 (m)

2500

2000

1500

1000

500

0
0 1000 2000 3000 4000 5000 6000 7000 8000
RT1,RM1(m)

11. Missile Acceleration Vs Time Plots for a target manoeuvring with 1-g in Tail-Fire, Effective
Navigation Ratio=3 and 4 with zero heading error.

It can be seen from the two plots that the maximum acceleration attained during the flight
time decreases when the effective navigation ratio=4 as compared to that when effective navigation
ratio=3.

MISSILE ACCELERATION FOR TARGET MOVING AWAY WITH 1g MANEUVRE K=3

0.1

-0.1

-0.2
MISSILE ACCELERATION nc (g)

-0.3

-0.4

-0.5

-0.6

-0.7

-0.8

-0.9
0 2 4 6 8 10 12 14 16 18
time(sec)

MISSILE ACCELERATION FOR TARGET MOVING AWAY WITH 1g MANEUVRE K=4

0.1

-0.1
MISSILE ACCELERATION nc (g)

-0.2

-0.3

-0.4

-0.5

-0.6

-0.7
0 2 4 6 8 10 12 14 16 18
time(sec)
12. Engagement Geometry for a target manoeuvring with 3-g in Head-on-Fire, Effective
Navigation Ratio=3 with zero heading error.

TARGET MOVING HEAD ON WITH 3g MANEUVRE K=3

8000
TARGET
MISSILE
7000

6000

5000
RT2,RM2 (m)

4000

3000

2000

1000

0
0 500 1000 1500 2000 2500 3000 3500 4000
RT1,RM1(m)

13. Missile Acceleration Vs Time Plots for a target manoeuvring with 3-g in Head-on-Fire,
Effective Navigation Ratio=3 with zero heading error.

It can be noted that the maximum missile acceleration during the entire flight time is around
7-g which is greater than the target acceleration of 3-g.

MISSILE ACCELERATION FOR TARGET MOVING HEAD ON WITH 3g MANEUVRE K=3

2

-1
MISSILE ACCELERATION nc (g)

-2

-3

-4

-5

-6

-7

-8
0 2 4 6 8 10 12 14 16
time(sec)
14. Engagement Geometry for a target manoeuvring with 3-g in Tail-Fire, Effective Navigation
Ratio=3 with zero heading error.

TARGET MOVING AWAY WITH 3g MANEUVRE K=3

5000
TARGET
4500 MISSILE

4000

3500

3000
RT2,RM2 (m)

2500

2000

1500

1000

500

0
0 1000 2000 3000 4000 5000 6000 7000
RT1,RM1(m)

15. Missile Acceleration Vs Time Plots for a target manoeuvring with 3-g in Tail-Fire, Effective
Navigation Ratio=3 with zero heading error.

It can be noted that the maximum missile acceleration during the entire flight time is around
7-g which is greater than the target acceleration of 3-g.

MISSILE ACCELERATION FOR TARGET MOVING AWAY WITH 3g MANEUVRE K=3

7

4
MISSILE ACCELERATION nc (g)

-1

-2
0 2 4 6 8 10 12 14
time(sec)

16. Conclusion

Simulations show that proportional navigation is highly effective even for targets
manoeuvring with accelerations as high as 3-g. Increase in effective navigation ratio is seen to
reduce the maximum missile acceleration attained during the entire flight time.