omer cohen shilo abramovicz with the guidance of: eliran abutbul and sharon rabinovich
TRANSCRIPT
Interception Planning SystemOmer Cohen
Shilo Abramovicz
With the guidance of:Eliran Abutbul and Sharon Rabinovich
Project Definition
Designing an algorithm for intercepting ballistic missiles with a ballistic interceptor, based on target and interceptor model.
Problem Definition
Finding an interception plan (a launch yaw and pitch)Which satisfies the following constraints:1.The launch does not occur in the past2.The maximum height of the interceptor doesn’t cross a certain height.3. The interceptor’s velocity at the interception point must be larger then the user’s demand.4. The aspect of the interception must be close enough to .
90
Problem Definition
From the feasible solutions we choose the one that maximize the following objective function:
(w1, w2, w3)- user’s input.
w1*IcpVel+w2*RelativeVel+w3*IcpAccel
Development Steps
• Building a model of ballistic missile trajectory.
• Finding all the feasible interception plans under the given constraints
• Choosing the optimal plan according the objective function.
Model Design- Forces1
| |2 dF A C v v
-Material DensityA -Cross-sectional area
dC -Drag Coeffv
-Velocity Vector
-Gravitation
-Drag ForceA force that oppose the relative motion of an object through a fluid (a liquid or gas).
Motion EquationsF
am
1
2
1
21
2
xx
yy
zz
dvv v
dtdv
v vdtdv
g v vdt
dA C
m
Ballistic Coefficient
x
y
z
Atmosisa Function
[T a P rho=]atmosisa(height)
T [ ]Ka -Speed of sound
sec
m
-Air Density
P -Pressure
[ ]pascal
2
kg
m
-2000 0 2000 4000 6000 8000 10000 12000295
300
305
310
315
320
325
330
335
340
345
height [m]
Speed of Sound Vs. Height
a [m
/sec
]
-Temparture
The function gets the height above sea level And returns:
Atmosisa Function
Uses the International Standard Atmosphere model
This function uses another function, “atmosplase”, with constants, such as:
0 288.15
9.80665
11000troposphere
T K
g
h m
a and are calculated using the Ideal Gas Model.
Calculating β (ballistic coeff)
We calculate β using a linear interpolation
Cd Mach
0.13 0
0.13 0.8
0.14 0.9
0.16 1
0.21 1.1
0.17 1.4
velocity VMach
sound velocity a
Euler’s Approximation Method
t (0) , (0)o ov v r r
(( 1) ) ( ) ( )
(( 1) ) ( ) ( )
dv n t v n t v n t t
dtd
r n t r n t r n t tdt
(*)dr
vdt
A second order approximation method, used here to solve the motion equations. For a certain and the initial conditions :
RK4 - Approximation Method
t (0) , (0)o ov v r r
1 2 3 4
1 2 1
3 2 4 3
1(( 1) ) ( ) ( 2 2 )
61
( ) ( ( ) )2
1( ( ) ) ( ( ) )
2
v n t v n t t k k k k
d dk v n t k v n t t k
dt dtd d
k v n t t k k v n t t kdt dt
A second order approximation method, used here to solve the motion equations. For a certain and the initial conditions :
RK4 - Approximation Method
1(( ) )
2v n t
1(( 1) ) ( ) [ ( ) (( 1) ))]
2r n t r n t t v n t v n t
Using this method for propagating the location requires the calculation of the velocity at half the time, such as:
Which complex the calculation difficulty.
Therefore, we used the following approximation :
Comparing the Methods
0 5000 10000 150000
1000
2000
3000
4000
5000
6000
X: 1.467e+004Y: 1384
RK4 vs Euler
X: 1.468e+004Y: 1376X: 1.466e+004Y: 1368
Euler T=0.001
RK4 T=0.05
Euler T=0.05
1.462 1.464 1.466 1.468 1.47 1.472
x 104
1320
1340
1360
1380
1400
1420
1440
1460
1480
X: 1.467e+004Y: 1384
RK4 vs Euler
X: 1.468e+004Y: 1376
X: 1.466e+004Y: 1368
Euler T=0.001
RK4 T=0.05
Euler T=0.05
Comparing the Methods
0 1 2 3 4 5 6 7
x 104
0
2000
4000
6000
8000
10000
12000
14000
16000
18000
X: 6.741e+004Y: 520.6
X: 6.739e+004Y: 509.8X: 6.737e+004Y: 513.9
RK4 vs Euler (horizontal)
Euler T =0.001
RK4 T =0.05
Euler T =0.05
6.736 6.737 6.738 6.739 6.74 6.741 6.742
x 104
508
510
512
514
516
518
520
522
524
526
X: 6.741e+004Y: 520.6
X: 6.739e+004Y: 509.8
X: 6.737e+004Y: 513.9
RK4 vs Euler (horizontal)
Euler T =0.001
RK4 T =0.05
Euler T =0.05
Tolerances-Temperature
0 2000 4000 6000 8000 10000 12000 14000 160000
1000
2000
3000
4000
5000
6000
Range[m]
Hei
ght[
m]
Temperature tolerance
288 K
298 K278 K
1.525 1.53 1.535 1.54 1.545 1.55
x 104
50
100
150
200
250
300
X: 1.544e+004Y: 139.2
Range[m]
Hei
ght[m
]
Temperature tolerance
X: 1.537e+004Y: 108.7
X: 1.532e+004Y: 82.43
288 K
298 K278 K
Creating The TableWe’ll Us two tables- one for the lower impact angle and the other for the larger.
0.005
700seco
rad
mv
0 2000 4000 6000 8000 10000 12000 14000 16000-2000
0
2000
4000
6000
8000
10000
12000
Range[m]
Heig
ht[
m]
Table creating Trajectoris
Finding Optimal Solution• Developing the target’s trajectory
• Projecting each point to a 2D plane – z axis stays the same xy transform to Range.
• Performing the “best” interpolation from table data.
• Checking if the constraints are being satisfied.
• Calculating the target function and replacing the current solution if necessary.
Finding Optimal Solution
-50000
500010000
1500020000
0
50
100
150
200-1000
0
1000
2000
3000
4000
5000
6000
7000
8000
9000
x[m]
scenario height limit
y[m]
z[m
]
Other Possible SolutionsEach point in the space can be achieved with two different launch pitches
Suggestions:
• fit every relevant paremeter (pitch angle, impact angle, impact velocity, etc.) to a fifth degree polynomial.
• fitting using ANN.
Surface Fitting
surface fitting was performed for each table parameter resulting a Two variable, five degree polynomial.
The fitting is based on MMSE.
Instead of performing the interpolation, the height and range will beInserted into to polynomial and that will give us the wanted parameter.
Artificial Neural Network
Using Matlab's Neural Network Fitting Tool it is possible tocreate a neural network that is a close fit to the table.
The table cells are given to the tool and it trains a suitable Neural network.
In order to achieve better results this method will consume to muchtime and memory.
Refernces• http://en.wikipedia.org/wiki/Drag_%28physics%29 http://en.wikipedia.org/wiki/Drag_coefficient http://en.wikipedia.org/wiki/Drag_equation• The International Standard Atmosphere (ISA) • http://www.learnartificialneuralnetworks.com/ a tutorial about ANN• http://mathworld.wolfram.com/Runge-KuttaMethod.html-RK4 method• http://www3.ee.technion.ac.il/labs/eelabs/Upload/Projects/Enrichment /winter2011/Graphics%20and%20GUI%20using%20Matlab.pdf