• 제어로봇시스템학회논문지
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• 제10권11호
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• pp.1065-1070
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• 2004

Optimal collision avoidance algorithm for unmanned aerial vehicles based on proportional navigation guidance law is investigated this paper. Although proportional navigation guidance law is widely used in missile guidance problems, it can be used in collision avoidance problem by guiding the relative velocity vector to collision avoidance vector. The optimal navigation coefficient can be obtained if an obstacle if an obstacle moves at constant velocity vector. The stability of the proposed algorithm is also investigated. The stability can be obtained by choosing a proper navigation coefficient.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.468-473
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• 1993

Augmented proportional navigation requires the information of a target acceleration, which must be estimated by a filtering logic. The process necessary accompanies a time lag, which degrades the guidance performance. A trade-off study between augmented and conventional proportional navigation is conducted with the time lag taken into consideration. The result shows that the conventional proportional navigation has better performance against a target maneuver in the missile-target coplane, while the augmented has better performance against out-of-coplane maneuver.

• 한국군사과학기술학회지
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• 제23권4호
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• pp.399-406
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• 2020

In this paper, we propose a time-varying proportional navigation guidance law that determines the proportional navigation gain in real-time according to the operating situation. When intercepting a target, an unidentified evasion strategy causes a loss of optimality. To compensate for this problem, proper proportional navigation gain is derived at every time step by solving an optimal control problem with the inferred evader's strategy. Recently, deep reinforcement learning algorithms are introduced to deal with complex optimal control problem efficiently. We adapt the actor-critic method to build a proportional navigation gain network and the network is trained by the Proximal Policy Optimization(PPO) algorithm to learn an evasion strategy of the target. Numerical experiments show the effectiveness and optimality of the proposed method.

• 제어로봇시스템학회논문지
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• 제13권6호
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• pp.525-530
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• 2007

In this paper, a performance comparison between traditional TPN (true proportional navigation) guidance law and PPN(pure proportional navigation) guidance law is made, based on a short range surface-to-air missile simulation program. This simulation program has a nonlinear aerodynamic missile model, a roll stabilized autopilot, a nonlinear radar model, and a target model, According to the simulation results, the PPN guidance law has better performances than TPN guidance law under the condition of evasive target.

• 전기학회논문지
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• 제60권12호
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• pp.2326-2332
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• 2011

eLoran is enhanced Loran-C and eLoran is researched for as GPS backup system because this system is resistant to signal interference and has high accuracy. TOA measurements of eLoran include errors proportional to the range such as PF, SF, ASF and EF. Therefore these error factors must be compensated for improved accuracy of position. Generally, error models or GPS aided compensation methods are used, but these methods are limited by lack of infrastructure or system performance. Therefore, this paper proposes new model of error factors included in eLoran TOA measurements and navigation algorithm using this model. Error factors in this model are sum of a certain size of error and error proportional to the range. And feasibility and performance of proposed navigation algorithm are verified by using raw measurements.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.82.2-82
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• 2002

The new guidance law for a missile with the varying velocity after the rocket motor burned out is presented. This guidance is mechanized by combining the proportional navigation and the pure pursuit navigation. Some simulations are performed and then the simulation results show that the guidance law presented is effective even if the vehicle speed decreases significantly and has higher off-boresight ability than the proportional navigation.

• 한국항공우주학회지
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• 제37권10호
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• pp.998-1001
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• 2009

본 논문에서는 기존의 호밍유도법칙으로 널리 사용되는 상수 항법이득을 갖는 비례항법유도법칙이 속력 변화가 있는 경우에도 엄밀한 의미에서 최적해임을 보였다. 해석결과로부터 항법상수가 3인 경우 유도항력에 접근속력이 가중된 성능지수를 최소화하는 최적해임이 확인되었다. 비행체의 운동을 선형방정식으로 표현하고 속력변화를 고려하지 않은 기존 연구결과들과 달리 본 연구에서는 비선형 방정식을 기반으로 속력변화까지 고려하여 비례항법유도법칙의 최적성에 관한 보다 일반적인 해석 결과를 제시하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.482-485
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• 1996

We design a homing guidance law based on the proportional navigation for the fast-rolling, single-axis control missiles and analyse the misdistance of the designed guidance system. The guidance law includes a compensation scheme which compensates for the phase-shift between the commanded and achieved acceleration which is peculiar to the fast rolling airframe with single-axis control. In the error analysis of the guidance system, we calculate the misdistance with respect to the target maneuver on the 3-dimensional space via direct simulations. Also, we conduct adjoint simulation on the 2-dimensional plane in case that phase-shift is perfectly compensated. Finally we approximate the linear time-varying dynamics of the missile with autopilot to a linear time-invarient system, and as a result we can find the misdistance as a closed-form.

• 제어로봇시스템학회논문지
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• 제13권3호
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• pp.273-278
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• 2007

In this paper, a performance comparison between CLOS(Command to Line-of-Sight) guidance law and PN(Proportional Navigation) guidance law is made, based on a short range surface-to-air missile simulation program called KNUCLOS. This simulation program has a full nonlinear aerodynamic missile model, a tracker model for missile and target, and target model. According to the simulation results, the PN guidance law has a better performance than CLOS guidance law under various target speed.

• 한국항공우주학회지
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• 제37권4호
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• pp.367-371
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• 2009

본 논문에서는 기존 연구결과들과 달리 비행체의 운동을 선형방정식으로 표현할 수 있다는 가정을 도입하지 않고 비례항법유도법칙의 최적성에 관한 해석 결과를 제시한다. 비례항법유도법칙은 비행체-표적 거리의 지수함수를 가중치로 갖는 제어 에너지를 최소화하는 최적의 유도법칙임을 비선형 방정식 기반으로 유도한다. 이때 가중함수의 지수와 비례항법상수와의 관계에 대해 설명한다. 또한 이러한 해석의 유효한 조건을 도출한다.