Full Envelope Six-Degree of Freedom Simulation of Tactical

Missile
Singgih Satrio Wibowo

Aeronautical Study Program

Department of Mechanical Engineering
Politeknik Negeri Bandung
West Java, Indonesia
Email: singgih.wibowo@polban.ac.id, singgih.wibowo@gmail.com

Abstract. Missile performance of alternative missile configurations can be evaluated by using a variety of methods. These
include analytical estimates, computer simulations, laboratory tests, and flight tests. Analytical techniques is the simplest
and less costly, it provides estimations of missile performance characteristics, such as maximum speed, operational range
and time of flight, but the detailed interactions of subsystems are difficult or impossible to predict accurately by simple
analytical means. Laboratory testing provides credible information, but more costly, and restricted mainly to subsystem
evaluation. The most credible means is flight testing, but it is also the most costly. So, there is a gap, between the extremes
of low-cost, low-credibility analytical methods and high-cost, high-credibility flight testing methods. The gap is filled by
computer simulation. This paper describes a brief and comperehensive methods of six-degree-of-freedom computer
simulation of tactical missile, that can be implemented by using modern programming languages, such as C#, C/C++ or
others.

INTRODUCTION

A complete missile system contains several subsystems, such as aerodynamic control surfaces, propulsion,
guidance and control, seeker, and control surface actuator. Interaction of all of its subsystems determines the
performance of the missile. Each subsystem component must perform its own function properly, and the integration
of all subsystems into a whole missile must be balanced and tuned for best performance. A small variations in any
component can unbalance the system and result in unacceptable missile performance. A variety of methods can be
used to obtain information on the performance of alternative missile configurations. These include analytical
estimates, computer simulations, laboratory tests, and flight tests. Between the extremes of low-cost, low-credibility
analytical methods and high-cost, high-credibility testing methods is a gap filled by computer simulation [1,2].
A missile flight simulation is a computational tool that calculates the flight path and other important parameters of
a missile as it leaves the launcher and engages a target. A simulation is based on mathematical models of the missile,
target and environment, and these mathematical models consist of equations that describe physical laws and logical
sequences. The missile model includes factors such as missile mass and moments of inertia, thrust, aerodynamics,
guidance and control, and the equations necessary to calculate the missile attitude and flight path. The target model is
often less detailed but includes sufficient data and equations to determine the target flight path, signature and
countermeasures. The model of the environment contains, at a minimum, the atmospheric characteristics and gravity.
Clouds, haze, sun position, and terrain or sea surface characteristics are included if they are important to the purpose
of the simulation. Sometimes breadboarded components or actual missile hardware is used instead of mathematical
models of certain missile subsystems. This kind of simulation is often referred to Hardware In the Loop (HIL)
Simulation [1].

Full Envelope Six-Degree of Freedom Simulation of Tactical Missile POLBAN Singgih Satrio Wibowo Page 1
 MATHEMATICAL MODELING

Mathematical modeling means formulating physical phenomenas and processes in mathematical language. This
process is often iterative; a mathematical model based on the laws of physics will suggest what experimental data
should be taken, and the model may then undergo considerable adjustment in order to fit the data. In building the
mathematical model we recognize the onset of the law of diminishing returns and build a model that is good enough
for our purposes but has known limitations. Some of the limitations of the models involve uncertainty in the values of
their parameters [3,4]. This section give an overview of mathematical model of all subsystem and parts used in missile
simulation, primarily based on [1].

Missile

Equations of Motion

The six degree of freedom equations of motion (6-DOF-EOM) of the missile, in the form of translational and
angular acceleration are integrated numerically in the body reference frame (𝑂𝑋𝑏 𝑌𝑏 𝑍𝑏 ). These equations of motion
are integrated simultaneously along with the quaternion-rate equations. The resulting missile translational velocity
vector is transformed to the local horizon (or Earth) reference frame (𝑂𝑋ℎ 𝑌ℎ 𝑍ℎ ) to form the positional differential
equations of motion, which are integrated numerically to yield missile position, as shown in Fig. 1. The same
procedure applied to quaternion, which integrated numerically to yield missile attitude. The transformation of body
reference to the local horizon reference frame required transformation matrix 𝑇𝑏ℎ = 𝑇ℎ⁄𝑒 = 𝐷𝐶𝑀𝑏ℎ = 𝐷𝐶𝑀ℎ⁄𝑏 , which
required unit-norm quaternion.

FIGURE 1. Local Horizon (Earth) Frame and Body Frame

Rotation, Translation and Quaternion

The equations of motion [4,5,6,7,8,9], which are to be integrated simultaneously, are the rotational equations, the
translational equations, and the quaternion rate equations, as follows
𝐹
𝑢̇ = 𝑥 − 𝑞𝑤 + 𝑟𝑣
𝑚
𝐹𝑦
𝑣̇ = − 𝑟𝑢 + 𝑝𝑤 (1)
𝑚
𝐹𝑧
𝑤̇ = − 𝑝𝑣 + 𝑞𝑢
𝑚

Full Envelope Six-Degree of Freedom Simulation of Tactical Missile POLBAN Singgih Satrio Wibowo Page 2
 1 2
𝑝̇ = {𝐼𝑥𝑥 𝑀𝑥 + 𝐼𝑥𝑧 𝑀𝑧 + 𝐼𝑥𝑧 (𝐼𝑥𝑥 − 𝐼𝑦𝑦 + 𝐼𝑧𝑧 )𝑝𝑞 − [𝐼𝑧𝑧 (𝐼𝑧𝑧 − 𝐼𝑦𝑦 ) + 𝐼𝑥𝑧 ]𝑞𝑟}
𝐼𝑑
1
𝑞̇ = [𝑀𝑦 + 𝐼𝑥𝑧 (𝑟 2 − 𝑝2 ) − (𝐼𝑥𝑥 − 𝐼𝑧𝑧 )𝑝𝑟] (2)
𝐼𝑦𝑦
1 2
𝑟̇ = {𝐼𝑥𝑧 𝑀𝑥 + 𝐼𝑥𝑥 𝑀𝑧 + [𝐼𝑥𝑥 (𝐼𝑥𝑥 − 𝐼𝑦𝑦 ) + 𝐼𝑥𝑧 ]𝑝𝑞 − 𝐼𝑥𝑧 (𝐼𝑥𝑥 − 𝐼𝑦𝑦 + 𝐼𝑧𝑧 )𝑞𝑟}
𝐼𝑑
1
𝑞̇ 0 = − (𝑝𝑞1 + 𝑞𝑞2 + 𝑟𝑞3 )
2
1
𝑞̇ 1 = (𝑝𝑞0 − 𝑞𝑞3 + 𝑟𝑞2 )
2
1 (3)
𝑞̇ 2 = (𝑝𝑞3 + 𝑞𝑞0 − 𝑟𝑞1 )
2
1
𝑞̇ 3 = (−𝑝𝑞2 + 𝑞𝑞1 + 𝑟𝑞0 )
2
Where,
2
𝐼𝑑 = 𝐼𝑥𝑥 𝐼𝑧𝑧 − 𝐼𝑥𝑧 (4)

By introducing 𝑥 as state vector,

𝑥 = [𝑢 𝑣 𝑤 𝑝 𝑞 𝑟 𝑞0 𝑞1 𝑞2 𝑞3 ]𝑇 = [𝑥0 𝑥1 𝑥2 𝑥3 𝑥4 𝑥5 𝑥6 𝑥7 𝑥8 𝑥9 ]𝑇 (5)

The zero index for the first element of 𝑥 is chosen so that when implementing C type language it becomes easier,
because in C language, the use of indexes for arrays or vectors starts with zero.

We have the time derivative (or rate) of 𝑥,

𝑥̇ = 𝑓(𝑡, 𝑥)
= [𝑢̇ 𝑣̇ 𝑤̇ 𝑝̇ 𝑞̇ 𝑟̇ 𝑞̇ 0 𝑞̇ 1 𝑞̇ 2 𝑞̇ 3 ]𝑇 (6)
= [𝑥̇ 0 𝑥̇1 𝑥̇ 2 𝑥̇ 3 𝑥̇ 4 𝑥̇ 5 𝑥̇ 6 𝑥̇ 7 𝑥̇ 8 𝑥̇ 9 ]𝑇

So we have the following differential equation set,

𝐹𝑥
− 𝑥4 𝑥2 + 𝑥5 𝑥1
𝑚
𝐹𝑦
− 𝑥5 𝑥0 + 𝑥3 𝑥2
𝑚
𝐹𝑧
𝑥̇ 0 − 𝑥3 𝑥1 + 𝑥4 𝑥0
𝑚
𝑥̇1 2 ]𝑥 𝑥
𝐼𝑥𝑥 𝑀𝑥 +𝐼𝑥𝑧 𝑀𝑧 +𝐼𝑥𝑧 (𝐼𝑥𝑥 −𝐼𝑦𝑦+𝐼𝑧𝑧 )𝑥3 𝑥4 −[𝐼𝑧𝑧 (𝐼𝑧𝑧 −𝐼𝑦𝑦 )+𝐼𝑥𝑧 4 5
𝑥̇ 2 𝐼𝑑
𝑥̇ 3 𝑀𝑦 +𝐼𝑥𝑧 (𝑥52 −𝑥32 )−(𝐼𝑥𝑥 −𝐼𝑧𝑧 )𝑥3 𝑥5
𝑥̇ 4 𝐼𝑦𝑦
𝑥̇ = 𝑓(𝑡, 𝑥) = = (7)
𝑥̇ 5 𝐼𝑥𝑧 𝑀𝑥 +𝐼𝑥𝑥 𝑀𝑧 +[𝐼𝑥𝑥 (𝐼𝑥𝑥 −𝐼𝑦𝑦 )+𝐼𝑥𝑧2 ]𝑥 𝑥 −𝐼 (𝐼 −𝐼 +𝐼 )𝑥 𝑥
3 4 𝑥𝑧 𝑥𝑥 𝑦𝑦 𝑧𝑧 4 5
𝑥̇ 6 𝐼𝑑
𝑥̇ 7 1
− (𝑥3 𝑥7 + 𝑥4 𝑥8 + 𝑥5 𝑥9 )
𝑥̇ 8 2
1
{𝑥̇ 9 } (𝑥 3 𝑥6 − 𝑥4 𝑥9 + 𝑥5 𝑥8 )
2
1
(𝑥3 𝑥9 + 𝑥4 𝑥6 − 𝑥5 𝑥7 )
2
1
{2 (−𝑥3 𝑥8 + 𝑥4 𝑥7 + 𝑥5 𝑥6 ) }

Equation (7) are integrated simultaneously, using the fourth-order Runge-Kutta (RK4) method. This RK4 method
is implemented by creating a subroutine with spesific input and output. The values of the dependent variables of the
differential equations at the beginning of an integration time step are input, and the values of these variables at the end
of the time step are output.

Missile Attitude

At the end of the time step ensure that the quaternion is always unity, i.e. has unit norm. The norm of quaternion
is defined by

Full Envelope Six-Degree of Freedom Simulation of Tactical Missile POLBAN Singgih Satrio Wibowo Page 3
 ‖𝑞̅ ‖ = norm(𝑞̅ ) = 𝑞02 + 𝑞12 + 𝑞22 + 𝑞32 = ∑𝑖=3 2
𝑖=0 𝑞𝑖 (8)

Then, normalized the quaternion by dividing each component by square root of its norm, as follows,
𝑞 𝑞 𝑞 𝑞
𝑞0 = ‖𝑞̅‖01⁄2 𝑞1 = ‖𝑞̅‖11⁄2 𝑞2 = ‖𝑞̅‖21⁄2 𝑞3 = ‖𝑞̅‖31⁄2 (9)

The author has proven that without normalizing the quaternion components at each time step can result in the
integration becoming unstable.
The transformation matrix or direction cosine matrix (DCM), of local horizon from body frame (or body to local
horizon) is calculated by using
𝑞02 + 𝑞12 − 𝑞22 − 𝑞32 2(𝑞1 𝑞2 − 𝑞0 𝑞3 ) 2(𝑞1 𝑞3 + 𝑞0 𝑞2 )
ℎ ℎ 2 2 2 2
𝑇𝑏 = 𝑇ℎ⁄𝑏 = 𝐷𝐶𝑀𝑏 = 𝐷𝐶𝑀ℎ⁄𝑏 = [ 2(𝑞1 𝑞2 + 𝑞0 𝑞3 ) 𝑞0 − 𝑞1 + 𝑞2 − 𝑞3 2(𝑞2 𝑞3 − 𝑞0 𝑞1 ) ] (10)
2(𝑞1 𝑞3 − 𝑞0 𝑞2 ) 2(𝑞2 𝑞3 + 𝑞0 𝑞1 ) 𝑞02 − 𝑞12 − 𝑞22 + 𝑞32

The DCM of body from local horizon frame (or local horizon to body) is calculated by using
𝑞02 + 𝑞12 − 𝑞22 − 𝑞32 2(𝑞1 𝑞2 + 𝑞0 𝑞3 ) 2(𝑞1 𝑞3 − 𝑞0 𝑞2 )
𝑏 𝑏
𝑇ℎ = 𝑇𝑏⁄ℎ = 𝐷𝐶𝑀ℎ = 𝐷𝐶𝑀𝑏⁄ℎ = [ 2(𝑞1 𝑞2 − 𝑞0 𝑞3 ) 𝑞02 − 𝑞12 + 𝑞22 − 𝑞32 2(𝑞2 𝑞3 + 𝑞0 𝑞1 ) ] (11)
2(𝑞1 𝑞3 + 𝑞0 𝑞2 ) 2(𝑞2 𝑞3 − 𝑞0 𝑞1 ) 𝑞0 − 𝑞12 − 𝑞22 + 𝑞32
2

−1 𝑇
Note that transformation matrix 𝑇𝑏ℎ is orthogonal, i.e. its inverse equal to its transpose, [𝑇𝑏ℎ ] = [𝑇𝑏ℎ ] = 𝑇ℎ𝑏 .

Euler's angles, calculated from quaternion, are

2(𝑞 𝑞 +𝑞 𝑞 )
𝜙 = arctan [ 2 0 21 22 32]
𝑞0 −𝑞1 −𝑞2 +𝑞3
𝜃 = arcsin[2(𝑞0 𝑞2 − 𝑞1 𝑞3 )] (12)
2(𝑞0 𝑞3 +𝑞1 𝑞2 )
𝜓 = arctan [ ]
𝑞02 +𝑞12 −𝑞22 −𝑞32

Missile Position

Missile’s velocity components obtained by solving (7) are expressed in the body reference frame, which, in
general, is a rotating frame of reference. To calculate missile position in local horizon frame, the body frame velocity
vector is transformed to the local horizon coordinate system by using
𝑉⃗ 𝑀 = [𝑉𝑥ℎ 𝑉𝑦ℎ 𝑉𝑧ℎ ]𝑇 = 𝑇𝑏ℎ [𝑢 𝑣 𝑤]𝑇 (13)

The unit velocity vector 𝑢 ⃗ 𝑀 , that is

⃗ 𝑉𝑀 is calculated by normalizing 𝑉
⃗𝑀
𝑉 1
𝑢
⃗ 𝑉𝑀 = ⃗ 𝑀|
= [𝑉𝑥ℎ 𝑉𝑦ℎ 𝑉𝑧ℎ ]𝑇 (14)
|𝑉 𝑉𝑀

Missile position vector in the local horizon coordinate system, 𝑃⃗𝑀 = [𝑃𝑥ℎ 𝑃𝑦ℎ 𝑃𝑧ℎ ]𝑇 , are integrated at the end
of each time step by using
𝑃⃗𝑀 (𝑡 + ∆𝑡) = 𝑃⃗𝑀 (𝑡) + 𝑉
⃗ 𝑀 ∙ ∆𝑡 (15)

The altitude of the missile above the ground level, assuming that the ground level is at sea level, is calculated by
using
ℎ = −𝑃𝑧ℎ (16)

Aerodynamics

It is assumed that aerodynamic force coefficient data are supplied in terms of lift (𝐿), drag (𝐷) and cross-wind
force (𝐶), which are defined in wind frame (𝑂𝑋𝑤 𝑌𝑤 𝑍𝑤 ), as shown in Fig. 2. The calculated lift, drag and cross-wind
forces are therefore transformed to the body reference frame used for solving the equations of motion.

Full Envelope Six-Degree of Freedom Simulation of Tactical Missile POLBAN Singgih Satrio Wibowo Page 4
 FIGURE 2. Body Frame, Wind Frame, Stability Frame, and Aerodynamic Forces

The aerodynamic forces (in wind axes) are calculated by using

1
𝐷 = 𝜌𝑉𝑀2 𝑆𝐶𝐷 = 𝑄̅𝑆𝐶𝐷
2
1
𝐶 = 𝜌𝑉𝑀2 𝑆𝐶𝐶 = 𝑄̅ 𝑆𝐶𝐶 (17)
2
1
𝐿 = 𝜌𝑉𝑀2 𝑆𝐶𝐿 = 𝑄̅ 𝑆𝐶𝐿
2

Where 𝐷 is drag, 𝐶 is cross-wind force, and 𝐿 is lift, 𝑆 is reference area (in missile, it is often to use body cross
section as reference area), and 𝑄̅ is dynamic pressure. Aerodynamic forces in wind axes is then transformed to body
axis by,
𝐹𝐴𝑥 −𝐷 cos 𝛼 cos 𝛽 − cos 𝛼 sin 𝛽 − sin 𝛼 −𝐷
[𝐹𝐴 ]body = {𝐹𝐴𝑦 } = 𝑇𝑤𝑏 { −𝐶 } = [ sin 𝛽 cos 𝛽 0 ] { −𝐶 } (18)
𝐹𝐴𝑧 −𝐿 sin 𝛼 cos 𝛽 − sin 𝛼 sin 𝛽 cos 𝛼 −𝐿

The complete model of aerodynamic moment in stability frame (𝑂𝑋𝑠 𝑌𝑠 𝑍𝑠 ) are

Lstab = 𝑄̅ 𝑆𝑑𝐶ℓ (𝛼, 𝛽, 𝛼̇ , 𝛽̇ , 𝑀𝑛 , 𝛿𝑟 , 𝛿𝑝 , 𝛿𝑦 , 𝑢, 𝑣, 𝑤, 𝑝, 𝑞, 𝑟)
Mstab = 𝑄̅ 𝑆𝑑𝐶𝑚 (𝛼, 𝛽, 𝛼̇ , 𝛽̇ , 𝑀𝑛 , 𝛿𝑟 , 𝛿𝑝 , 𝛿𝑦 , 𝑢, 𝑣, 𝑤, 𝑝, 𝑞, 𝑟) (19)
̅ ̇
Nstab = 𝑄 𝑆𝑑𝐶𝑛 (𝛼, 𝛽, 𝛼̇ , 𝛽 , 𝑀𝑛 , 𝛿𝑟 , 𝛿𝑝 , 𝛿𝑦 , 𝑢, 𝑣, 𝑤, 𝑝, 𝑞, 𝑟)
Where Lstab is rolling-moment (about 𝑋𝑠 ), Mstab is pithing moment (about 𝑌𝑠 ), and Nstab is yawing moment (about
𝑍𝑠 ), 𝑑 is reference length (in missile, it is often to use body diameter as reference length). The aerodynamic moment
in stability frame then transform to body frame by
𝑀𝐴𝑥 = L = Lstab + 𝐹𝐴𝑦 (𝑧𝑐𝑔 − 𝑧𝑐𝑝 ) − 𝐹𝐴𝑧 (𝑦𝑐𝑔 − 𝑦𝑐𝑝 )
𝑀𝐴𝑦 = M = Mstab − 𝐹𝐴𝑥 (𝑧𝑐𝑔 − 𝑧𝑐𝑝 ) + 𝐹𝐴𝑧 (𝑥𝑐𝑔 − 𝑥𝑐𝑝 ) (20)
𝑀𝐴𝑧 = N = Nstab + 𝐹𝐴𝑥 (𝑦𝑐𝑔 − 𝑦𝑐𝑝 ) − 𝐹𝐴𝑦 (𝑥𝑐𝑔 − 𝑥𝑐𝑝 )

The coefficients of aerodynamic moments, including the damping terms, are modeled as

Full Envelope Six-Degree of Freedom Simulation of Tactical Missile POLBAN Singgih Satrio Wibowo Page 5
 𝑑
𝐶ℓ = 𝐶ℓ𝛿 𝛿𝑟 + ( ) 𝐶ℓ𝑝 𝑝
2𝑉𝑀
𝑑
𝐶𝑚 = 𝐶𝑚𝛼 𝛼 + 𝐶𝑚𝛿 𝛿𝑝 + ( ) (𝐶𝑚𝑞 + 𝐶𝑚𝛼̇ ) 𝑞 (21)
2𝑉𝑀
𝑑
𝐶𝑛 = 𝐶𝑛𝛽 𝛽 + 𝐶𝑛𝛿 𝛿𝑦 + ( ) (𝐶𝑛𝛽̇ + 𝐶𝑛𝑟 ) 𝑟
2𝑉𝑀

Where 𝛿𝑟 is fin deflection for roll channel, 𝛿𝑝 is fin deflection for pitch channel, and 𝛿𝑦 is fin deflection for yaw
channel. For simplicity, it is assumed that the center of pressure (CP) is fixed in longitudinal axis, while center of
gravity (CG) move along longitudinal axis during burning time of rocket, so we have
𝑀𝐴𝑥 = L = Lstab
𝑀𝐴𝑦 = M = Mstab + 𝐹𝐴𝑧 (𝑥𝑐𝑔 − 𝑥𝑐𝑝 ) (22)
𝑀𝐴𝑧 = N = Nstab − 𝐹𝐴𝑦 (𝑥𝑐𝑔 − 𝑥𝑐𝑝 )
The position vector of CP and CG appeared in above equation is measured in body frame, with the origin is fixed
in missile longitudinal axis.

Propulsion

The input thrust table is used to look up the thrust 𝐹𝑃ref corresponding to the reference atmospheric pressure as a
function of time. The thrust is corrected for the ambient atmospheric pressure 𝑝𝑎 by
𝐹𝑃 = 𝐹𝑃ref + (𝑝ref − 𝑝𝑎 )𝐴𝑒 (23)

The thrust is assumed to be aligned with the missile longitudinal axis; therefore,
𝐹𝑃𝑥 = 𝐹𝑃 𝐹𝑃𝑦 = 0 𝐹𝑃𝑧 = 0 (24)
𝑏 𝑏 𝑏

The line of action of the thrust is assumed to pass through the missile center of mass; therefore, the propulsion
system contributes no moments on the missile body.

Seeker

The angular rate of the seeker head lags the angular rate of the line-of-sight vector. This lag is taken into account
in calculating the guidance commands; however, for this application it is not considered important that the boresight-
axis vector incorporates this lag. This lag is assumed to be represented by a first-order transfer function. So the
achieved angular rate (in Laplace variable) is
1
𝜔
⃗ ach (𝑠) = ( )𝜔⃗ 𝑐 (𝑠) (25)
1+𝜏1 𝑠

There are assumed to be delays involved in processing the seeker-head angular rate signal. The filtered seeker-
head angular rate signal (in Laplace variable) is given by
1
𝜔
⃗ 𝑠 (𝑠) = ( ⃗ ach (𝑠)
)𝜔 (26)
1+𝜏2 𝑠

Guidance and Control

The theoretical commanded-lateral-acceleration vector 𝐴𝐶ℎ in local horizon frame, by applying Proportional
Navigation (PN) method is
𝑇
𝐴𝐶ℎ = [𝐴𝐶𝑥ℎ 𝐴𝐶𝑦ℎ 𝐴𝐶𝑧ℎ ] = 𝐺𝑠 (𝑀𝑛 , ℎ)(𝜔 ⃗𝑓×𝑢 ⃗ 𝑐𝑙 ) (27)
It is assumed that the subsystem relationships are perfect in the sense that the system gain 𝐺𝑠 (𝑀𝑛 , ℎ) is always
equal to the product of navigation ratio 𝑁𝑅 and the instantaneous speed 𝑉𝑀 , i.e. 𝐺𝑠 (𝑀𝑛 , ℎ) = 𝑁𝑅 𝑉𝑀 .
The vector representing the commanded-lateral-acceleration vector 𝐴𝐶ℎ is transformed to the body reference frame
by
𝑇
𝐴𝐶𝑏 = [𝐴𝐶𝑥𝑏 𝐴𝐶𝑦𝑏 𝐴𝐶𝑧𝑏 ] = 𝑇ℎ𝑏 𝐴𝐶ℎ (28)

Full Envelope Six-Degree of Freedom Simulation of Tactical Missile POLBAN Singgih Satrio Wibowo Page 6
 The control-face angles of attack (pitch channel and yaw channel) that result from the actuator pressures
commanded by the autopilot are using
𝐺𝑛 𝐴𝐶𝑧
𝑏
𝛼𝑓𝑝 =−
𝑄̅
𝐺𝑛𝐴𝐶𝑦 (29)
𝑏
𝛼𝑓𝑦 =
𝑄̅

The dynamic response of the combination of the autopilot and the control system is assumed to be described by a
first-order system with time constant 𝜏3 . The achieved angles of attack of the fins will lag those (in Laplace variable)
given by
1
𝛼𝑓𝑝𝑎 (𝑠) = ( ) 𝛼𝑓𝑝 (𝑠)
1+𝜏3 𝑠
1
(30)
𝛼𝑓𝑦 (𝑠) = ( ) 𝛼𝑓𝑦 (𝑠)
𝑎 1+𝜏3 𝑠

The angles of incidence of the control fins (pitch channel and yaw channel), i.e., the fin deflection angles relative
to the missile body, depend on the fin angles of attack and on the missile body angles of attack and sideslip. The fin
angles of incidence are calculated by
𝛿𝑝 = 𝛼𝑓𝑝𝑎 − 𝛼
(31)
𝛿𝑦 = 𝛼𝑓𝑦𝑎 − 𝛽

The absolute values of 𝛿𝑝 and 𝛿𝑦 are tested against the maximum fin deflection angle if the absolute value of 𝛿max
it is reset to 𝛿max and retains its original sign.

Target

Target Position

𝑇
Target position in local horizon frame, 𝑃⃗𝑇 = [𝑃𝑇𝑥 𝑃𝑇𝑦 𝑃𝑇𝑧 ] , at the end of the time step is updated from the
position at the beginning of a time step, by
𝑃⃗𝑇 (𝑡 + ∆𝑡) = 𝑃⃗𝑇 (𝑡) + 𝑉
⃗ 𝑇 ∆𝑡 (32)

Relative Position and Velocity

The velocity vector 𝑉⃗ 𝑇⁄𝑀 of the target relative to the missile is calculated by using
⃗ 𝑇⁄𝑀 = 𝑉
𝑉 ⃗𝑇 − 𝑉⃗𝑀 (33)
The unit vector 𝑢
⃗ 𝑉𝑇⁄𝑀 is calculated by normalizing the vector 𝑉 ⃗ 𝑇 ⁄𝑀 .

Range vector (distance between target and missile) is calculated by,

𝑅⃗ = 𝑅⃗𝑇⁄𝑀 = 𝑃⃗𝑇 − 𝑃⃗𝑀 (34)
⃗ 𝑅 is obtained by normalizing 𝑅⃗ .
The unit range vector 𝑢

The closing speed 𝑉𝑐 —negative of range rate—is calculated by using

𝑉𝑐 = −𝑢
⃗𝑅∙𝑉 ⃗ 𝑇⁄𝑀 (35)

Environment

Atmosphere

International Standard Atmosphere (ISA) is used to calculate air temperature 𝑇, air density 𝜌, air pressure 𝑝, and
the speed of sound 𝑉𝑠 at given geopotential altitude 𝐻, by using the values shown in Table 1 [10].

Full Envelope Six-Degree of Freedom Simulation of Tactical Missile POLBAN Singgih Satrio Wibowo Page 7
 TABLE 1. ISA Parameter
Segment (𝑖) 𝐻𝑖  𝐻  𝐻𝑖+1 (m) 𝜆𝑖 (K/m) 𝑇𝑖 (K) 𝜌𝑖 (kg/m³) 𝑝𝑖 (Pa)
0 -2000  H  0 -0.0065 301.15 1.47808 127773.73
1 0  H  11000 -0.0065 288.15 1.22500 101325.00
2 11000  H  20000 0 216.65 0.36390 22632.00
3 20000  H  32000 0.0010 216.65 0.08800 5475.00
4 32000  H  47000 0.0028 228.65 0.01320 868.00
5 47000  H  51000 0 270.65 0.00140 110.90
6 51000  H  71000 -0.0028 270.65 0.00084 66.90
7 71000  H  80000 -0.0020 214.65 0.00006 3.95

Air properties for 𝜆𝑖 ≠ 0 are calculated by

𝜆
𝑇(𝐻) = 𝑇𝑖 [1 + 𝑖 (𝐻 − 𝐻𝑖 )]
𝑇𝑖
1
𝜆𝑖 −
𝑅𝑔 𝜆𝑖
𝑝(𝐻) = 𝑝𝑖 [1 + (𝐻 − 𝐻𝑖 )] (36)
𝑇𝑖
1
𝜆𝑖 −(1+ )
𝑅𝑔 𝜆𝑖
𝜌(𝐻) = 𝜌𝑖 [1 + (𝐻 − 𝐻𝑖 )]
𝑇𝑖

Air properties for for 𝜆𝑖 = 0 are calculated by

𝑇(𝐻) = 𝑇𝑖
𝐻−𝐻𝑖
−
𝑅𝑔 𝑇𝑖
𝑝(𝐻) = 𝑝𝑖 𝑒 (37)
𝐻−𝐻𝑖
−
𝑅𝑔 𝑇𝑖
𝜌(𝐻) = 𝜌𝑖 𝑒

𝑅 287.05287 m2 ⁄s2 ∙K m
Where 𝑅𝑔 = = = 29.27125 .
𝑔0 9.80665 m⁄s2 K

The relationship between geopotential 𝐻 and geometric altitudes ℎ is

𝑅 ℎ ℎ
𝐻= 𝑒 = ℎ (38)
𝑅𝑒 +ℎ 1+
𝑅𝑒
Where 𝑅𝑒 is nominal radius of Earth (𝑅𝑒 = 6.356766 × 106 m). For geometric altitude from -2000 m to 80000
m, we have ℎ⁄𝑅𝑒 ≈ 0 and therefore 𝐻 ≈ ℎ.
Missile Mach number 𝑀𝑛 is calculated by
𝑉 𝑉
𝑀𝑛 = 𝑀 = 𝑀 (39)
𝑉snd √𝛾𝑅𝑇

Where, 𝛾 is adiabatic constant of air (𝛾 = 1.4), and 𝑅 is specific gas constant of air (𝑅 = 287.05287 J⁄(kg ∙ K) =
287.05287 m2 ⁄(s 2 ∙ K)), and 𝑇 is air temperature in Kelvin calculated by using ISA formula.

The dynamic pressure 𝑄̅ is calculated by using

1
𝑄̅ = 𝜌𝑉𝑀2 (40)
2

Gravity

The standard value of the acceleration due to gravity is used (𝑔 = 𝑔0 = 9.80665 m⁄s 2 ), and since the missile
configurations being simulated will operate at relatively low altitude, no correction for the radial distance from the
center of the earth is made. Thus the gravitational force in local horizon frame is
𝐹𝐺𝑥 = 0 𝐹𝐺𝑦 = 0 𝐹𝐺𝑧 = 𝑚𝑔 (41)
ℎ ℎ ℎ

The gravitational force is transformed to the body reference frame by using

Full Envelope Six-Degree of Freedom Simulation of Tactical Missile POLBAN Singgih Satrio Wibowo Page 8
 [𝐹𝐺𝑥𝑏 𝐹𝐺𝑦 𝐹𝐺𝑧 ]𝑇 = 𝑇ℎ𝑏 [𝐹𝐺𝑥 𝐹𝐺𝑦 𝐹𝐺𝑧 ]𝑇 (42)
𝑏 𝑏 ℎ ℎ ℎ

SIMULATION IMPLEMENTATION

Scenario

The example simulations are developed based on [1]. The objectives are derived from the following hypothetical
scenario. A new tactical missile system is to be developed. It can be used for: (1) air-to-air missile (AAM), (2) air-to-
suface missile (ASM), and/or (3) surface-to-air missile (SAM). The missile configuration is still in the conceptual
phase, and a missile flight simulation is needed to evaluate various design alternatives. Aerodynamic data are available
for missiles that are generally similar to the proposed configurations, but only limited wind tunnel data are available
for the specific configurations to be modeled. No flight-test data are yet available. The autopilot and control systems
have not been defined in detail, but general transfer functions are available for the types of systems that are likely to
be developed for this missile. The seeker design requirements have not been completed, but tentative seeker
characteristics have been estimated. The missile is assumed to have a proximity fuze warhead with a circular error
probable (CEP) of 5.0 m, and therefore it is choosen as hit radius criteria.

Program Structure

Figure 3 shows the structure of the computer program for simulating tactical missile. The detailed equations and
procedures to implement the blocks in the diagram are given in the previous sections. The missile configuration to be
studied is controlled by torque-balanced canard control surfaces, and the canards and stabilizing tail fins are arranged
in a cruciform configuration.

FIGURE 3. Flow Chart Diagram for Tactical Missile Simulation

Full Envelope Six-Degree of Freedom Simulation of Tactical Missile POLBAN Singgih Satrio Wibowo Page 9
 Simulation Design

Microsoft Visual Studio Community 2015, with C# Programming Language, have been chosen to perform this
simulation study. This software was choosen because its stability, speed, real-time performance, accuracy, and
manageability. The author has proven that a computer program (or software) developed by using C# has strong
stability, very fast when performing calculation and give very accurate result.

Input Data

All input data for simulation was taken from [1]. In the first iteration of this simulation model, constant mass is
assumed for launch and burnout, for simplicity, and will be modified in subsequent versions to reflect the initial
condition provided below. The same is true for moment of inertia about the 𝑦- and 𝑧-axes, as well as the distance from
missile nose to center of mass and launch and burnout.

SIMULATION RESULTS

Case 1, Air To Air Engagement

The target aircraft flies in a straight line to the North, at a speed of 350 m/s at a constant altitude of 3000 m. The
initial position of the target is 𝑋 (North) = 0 m, and 𝑌 (East) = 3000 m. Missile is launched from its carrier (a fighter
aircraft), at an altitude of 2000 m, with initial position of 𝑋 = 0 m, and 𝑌 = 0 m, with a speed of 300 m/s, to the East.
The simulation results shown in the following figures.

FIGURE 4. Case 1: Trajectory of Missile, Target and Fighter Aircraft

Full Envelope Six-Degree of Freedom Simulation of Tactical Missile POLBAN Singgih Satrio Wibowo Page 10
 FIGURE 5. Case 1: Lateral Acceleration and Control Surface Deflection

Case 2, Air To Surface Engagement

The target land vehicle moves on the ground in a straight line, with a direction is to the East, at a speed of 50 m/s.
The ground surface is assumed at sea level (altitude 0 m). The initial position of the target is 𝑋 (North) = 2000 m, and
𝑌 (East) = 5000 m. The initial position of the missile is launched from its carrier (a fighter aircraft), at an altitude of
2500 m, coordinates 𝑋 = 0 m, and 𝑌 = 0 m, with a speed of 250 m/s, to the north. The simulation results shown in the
following figures.

FIGURE 6. Case 2: Trajectory of Missile, Target and Fighter Aircraft

Full Envelope Six-Degree of Freedom Simulation of Tactical Missile POLBAN Singgih Satrio Wibowo Page 11
 FIGURE 7. Case 2: Lateral Acceleration and Control Surface Deflection

Case 3, Surface To Air Engagement

The target aircraft flies in a straight line to the West, at a speed of 250 m/s at a constant altitude of 2000 m. The
initial position of the target is 𝑋 (North) = 2500 m, and 𝑌 (East) = 0 m. Missile is launched ground surface (at an
altitude of 0 m), with initial position of 𝑋 = 0 m, and 𝑌 = 0 m, elevation 30 deg, initial speed of 0 m/s, to the North.
The simulation results shown in the following figures.

FIGURE 8. Case 3: Trajectory of Missile, Target and Fighter Aircraft

Full Envelope Six-Degree of Freedom Simulation of Tactical Missile POLBAN Singgih Satrio Wibowo Page 12
 FIGURE 9. Case 3: Lateral Acceleration and Control Surface Deflection

CONCLUSION

This paper explains the development of full envelope six-degree-of-freedom tactical missile simulation. The
general development method is as follows: first, modeling all subsystems and parts, including: missile six-degree-of-
freedom dynamics, aerodynamics, propulsion, guidance and control, seeker, and environments, and gives a brief
explanation of the working process of the simulation model. Secondly, implements all the model in C#. Finally, it
concludes the simulation of trajectory attack process, seeker dynamics and GNC performance.

REFERENCES

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Defence, USA, 1995.
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Advanced Simulation Center," US Army Missile Laboratory, Redstone Arsenal, Alabama, 1982.
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Center (WADC), Washington D. C., 1958.
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Standardization, 1978.

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