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Platform motion disturbance filtering for strapped-down electronically scanned array seekers with disturbance observer

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Abstract

Strapped-down electronically scanned radio frequency seekers are currently being introduced as alternatives to mechanically driven gimballed seekers. As the sensing frame of strapped-down seekers does not have any mechanical isolation from the missile body, the guidance signal extracted from such devices tends to get corrupted by a non-negligible fraction of the missile platform motion despite subtraction of the body motion using rate gyros and decoupling loops. This conventional signal extraction scheme is described, and the motivation for the decoupling loop is established. It is shown that for practical system with finite gains, some residual body rate component remains in the guidance signal. In this contribution, a disturbance observer (DOB)-based scheme has been described which can reduce such body motion corruption to a negligible amount. This scheme is capable of completely eliminating the corrupting body motion component in the nominal condition but does not require additional hardware and uses only a reasonable signal processing load. The DOB is used here in an unconventional way, where the guidance signal is reconstructed as if it is a ‘disturbance.’ Quantitative aspects of the proposed signal processing scheme are analyzed by deriving sensitivity expressions for the proposed scheme with respect to parameter perturbations. Validity of the theoretical results of the sensitivity studies is demonstrated and compared with a case study using simulation. The efficacy of the DOB-based filter is tabulated for different frequencies of platform motion. For a few typical cases, the advantage of the proposed scheme over the conventional is also tabulated. Effective beam shifter digitization noise mitigation is assumed for all the cases studied.

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Abbreviations

AESA:

Active electronically scanned array

DNC:

Digitization noise cancellation

DOB:

Disturbance observer

ESA:

Electronically scanned array

MEMS:

Micro-electro-mechanical system

OBSLR:

Observed sight line rate

RF:

Radio frequency

SLR:

Sight line rate, also known as line of sight rate

TR:

Transmit–receive

TRM:

Transmit–receive module

w.r.t.:

With respect to

eq. ():

Equation number

K :

Control gain

\(G_{e}\) :

Transfer function of monopulse angle measurement subsystem

\(G_{\theta }\) :

Transfer function of beam control subsystem

\(G_{{{\text{IMU}}}}\) :

Transfer function of inertial measurement unit

\(G_{{\text{F}}}\) :

Transfer function of the DOB filter

\(P\) :

Transfer function of the actual system

\(P_{{\text{n}}}\) :

Transfer function of the nominal model

\(q\) :

Body rate, also referred to as platform motion

\(t_{{\text{f}}}\) :

Time constant of the DOB filter

\(\theta_{{\text{B}}}\) :

Practical beam angle

\(\theta_{{{\text{BC}}}}\) :

Beam angle demand

\(\theta_{\varepsilon }\) :

Pointing error

\(\lambda\) :

Sight line angle

\(\dot{\lambda }\) :

Sight line rate (SLR)

\(\hat{\dot{\lambda }}_{{\text{o}}}\) :

Raw observed SLR (OBSLR)

\(\omega_{g}\) :

Natural frequency of \(G_{{{\text{IMU}}}}\)

\(\omega_{{\text{p}}}\) :

Frequency of the platform motion

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Acknowledgements

The authors are grateful to Dr. Abhijit Bhattacharyya, TD, DOS and PD, AD(M), DRDO, for facilitating infrastructural augmentation in the CKBS laboratory, where a major part of the work has been carried out. The authors wish to thank the Centre for Knowledge Based Systems, Electrical Engineering Department, Jadavpur University, for providing the infrastructure and computational facilities. The authors are also thankful to the anonymous reviewers for their valuable comments, which have helped to enhance the quality of the paper significantly.

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  1. Electrical Engineering Department, Jadavpur University, Kolkata, West Bengal, India

    Ankita Muhury, Smita Sadhu & Tapan Kumar Ghoshal

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  1. Ankita Muhury
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Muhury, A., Sadhu, S. & Ghoshal, T.K. Platform motion disturbance filtering for strapped-down electronically scanned array seekers with disturbance observer. Int. J. Dynam. Control (2024). https://doi.org/10.1007/s40435-024-01406-7

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