Iranian Journal of Electrical and Electronic Engineering

---

In this paper, after defining pure proportional navigation guidance in the 3-

dimensional state from a new point of view, range estimation for passive homing missiles is

explained. Modeling has been performed by using line of sight coordinates with a particular

definition. To obtain convergent estimates of those state variables involved particularly in

range channel and unavailable from IR trackers, nonlinear filters such as sequential U-D

extended Kalman filter and Unscented Kalman filter in modified spherical coordinate

combined with a modified proportional navigation guidance law are proposed. Simulation

results indicate that the proposed tracking filters in conjunction with the dual guidance law

are able to provide the convergence of the range estimate for both maneuvering and nonmaneuvering

targets.

---

When a detector sensitive to the target plume IR seeker is used for tracking airborne targets, the seeker tends to follow the target hot point which is a point farther away from the target exhaust and its fuselage. In order to increase the missile effectiveness, it is necessary to modify the guidance law by adding a lead bias command. The resulting guidance is known as target adaptive guidance (TAG). First, the pure proportional navigation guidance (PPNG) in 3-dimensional state is explained in a new point of view. The main idea is based on the distinction between angular rate vector and rotation vector conceptions. The current innovation is based on selection of line of sight (LOS) coordinates. A comparison between two available choices for LOS coordinates system is proposed. An improvement is made by adding two additional terms. First term includes a cross range compensator which is used to provide and enhance path observability, and obtain convergent estimates of state variables. The second term is new concept lead bias term, which has been calculated by assuming an equivalent acceleration along the target longitudinal axis. Simulation results indicate that the lead bias term properly provides terminal conditions for accurate target interception.

---

An integrated fuzzy guidance (IFG) law for a surface to air homing missile is introduced. The introduced approach is a modification of the well-known proportional navigation guidance (PNG) law. The IFG law enables the missile to approach a high maneuvering target while trying to minimize control effort as well as miss-distance in a two-stage flight. In the first stage, while the missile is far from the intended target, the IFG tends to have low sensitivity to the target maneuvering seeking to minimize the overall control effort. When the missile gets closer to the target, a second stage is started and IFG law changes tactic by increasing that sensitivity attempting to minimize the miss-distance. A fuzzy-switching point (FSP) controller manages the transition between the two stages. The FSP is optimized based on variety of scenarios some of which are discussed in the paper. The introduced scheme depends on line-of-sight angle rate, closing velocity, and target-missile relative range. The performance of the new IFG law is compared with PNG law and the results show a relative superiority in wide variety of flight conditions.