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AIAA Guidance, Navigation and Control Conference and Exhibit20 - 23 August 2007, Hilton Head, South Carolina

AIAA 2007-6785

Copyright © 2007 by TNO, The Netherlands and DSTO, Australia. Published by the American Institute of Aeronautics and Astronautics, Inc., with permission.

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x = V cos γ, x(to) = xo , y(to) = yo,

y = V sin γ,

V γ = aN(t), γ(to) = γo, �'�

V = aL(t), V (to) = Vo,

�� (x, y) �� V �� γ �� aN(t) �� aL(t) ��

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˙x = V cos γ, x(to) = xo , y(to) = yo,˙y = V sin γ,

V ˙γ = aN,m(t), γ(to) = γo, �.�

˙V = aL,m(t), V (to) = Vo,

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��ˆ�� "�� aN,m = aN + εaN �� aL,m = aL + εaL �� )�� εaN �� εaL �� ΦaN �� ΦaL�

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xT = vxT ,

vxT = axT , �3�

yT = vyT ,

vyT = ayT ,

�� axT �� ayT �� %� �� &

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xT (td) = xT (tu) + vxT (tu)(td − tu), �5�

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aNc = NλINSPIP V ,

�� N �� λINSPIP ��

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λINSPIP =

vx(y − yP ) − vy(x − xP )

(x − xP )2 + (y − yP )2.

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θd = γ(td) − λ(td) = γ(td) − arctanyT (td) − y(td)

xT (td) − x(td). �9�

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θd = γ(td) − arctanyT (td) − y(td)

xT (td) − x(td). �<�

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εθd = θd − θd

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sin ξ =(xT − x)(vyT − vy) − (yT − y)(vxT − vx)√

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ddt

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ν = nT − nM , ν(0) = −VMξ,ddt

nM = 1τ(nc − nM − εaN ), nM(0) = 0,

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�� miss = ν(thom)� �� thom� �� )��

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aN (τ)]2dτ,

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[American Institute of Aeronautics and Astronautics AIAA Guidance, Navigation and Control Conference...

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