轉向與姿態導控系統設計(I)

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୯ٛࣽמᏢೌӝբࣴزीฝԋ݀ൔ֋!

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ीฝጓဦǺ:7.3734.8.11:.122.E!

୺Չය໔Ǻ:7 ԃ 12 Д 12 ВԿ :7 ԃ 23 Д 42 В!

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ीฝЬ࡭ΓǺ݅మӼ!

ӅӕЬ࡭ΓǺ!

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୺ՉൂՏǺ୯ҥҬ೯εᏢႝᐒᆶ௓ڋπำᏢس)܌*!

ᙯӛᆶ࠮ᄊᏤ௓س಍೛ी

ύЎᄔा ҁीฝ௖૸०ቸᝏᄒس಍ύᙯӛᆶ࠮ᄊ௓ڋس಍ޑ೛ीᆶኳᔕǶҁԃࡋޑࣴ زख़ᗺӧس಍ኳԄϷኳᔕำԄޑࡌҥǶςࡌҥޑηس಍ኳԄхࡴҞ኱ᆶᝏᄒᏔޑ ΟԾҗࡋޑၮ୏БำԄǵӦय़ႜၲޑໆෳᇤৡኳԄǵआѦጕ൨኱ᏔޑኧᏢኳԄǵ ΟᆢКٯᏤЇࡓ฻ǶኳᔕำԄаMATLAB/SimulinkӝԋǶኧॶኳᔕޑҞޑࢂा ΑှӚηس಍ୖኧǴӵႜၲໆෳᇤৡελǵ௓ڋس಍ᓎቨǵ൨኱Ꮤޑᆒྗࡋ฻ჹ ᝏᄒਏૈޑቹៜǶኳᔕ่݀ᡉҢႜၲޑೲࡋໆෳᇤৡჹᝏᄒਏૈ(аᄒఠᐒ౗ٰ ࡋໆ)ቹៜനεǶ҂ٰޑीฝஒ௖૸ᙯӛϷ࠮ᄊ௓ڋس಍ޑ೛ीϷ࣬ᜢޑϤԾҗ ࡋᝏᄒኳᔕǶ ᜢᗖຒǺᙯӛᆶ࠮ᄊ௓ڋس಍ǵΟԾҗࡋኳᔕǵ०ቸᝏᄒس಍ǵКٯᏤЇࡓ

Guidance Divert and Attitude Control System Design

Abstract

This research investigates the design and simulation of divert and attitude control system for target-interceptor engagements. The emphasis of this year effort is on the development of system models and the implementation of simulation programs. The subsystem models developed include: three degree-of-freedom equations of motion for target and interceptor, measurement models for ground-based radar, mathematical models for infrared seeker, and three-dimensional proportional navigation guidance law. Based on these subsystem models, the simulation program is implemented using MATLAB/Simulink software. One of the purposes of simulation is to understand the effect of subsystem parameters such as radar measurement accuracy, control system bandwidth, resolution of seeker, etc. on the performance of the interceptor system. Simulation results indicate that error in radar velocity measurement has the most significant effect on kill probability. Future research will investigate divert and attitude control system design and the related six degree-of-freedom simulations.

KeywordsǺdivert and attitude control system, three degree-of-freedom simulation,

Ҟᒵ

ύЎᄔा……….. i मЎᄔा………. ii Ҟᒵ……… iii ಃ΋കǵׇፕ……….1 ಃΒകǵ०ቸس಍ࡌҥ……….2 2.1 ०ቸޑނ౛੝܄………..2 2.1.1 ኱ྗ०ቸΟࠠᙁϟ...………2 2.2 ০኱س಍………..3 2.2.1 ᄍ܄০኱S ………...………3 I 2.2.2 Ӧय़০኱S ………..3 N 2.2.3 ౚ০኱S ………..……….3 _S 2.2.4 ᅲྗጕ০኱S ..……….………...4 _L 2.2.5 ᡏ০኱S .……….………4 _B 2.2.6 S_IᙯඤԋS .……….5 _N 2.2.7 S_IᙯඤԋS .……….5 _L 2.3 ၮ୏БำԄ.……….6 ಃΟകǵᏤЇࡓ……….….…………..………..………..………..………...7 3.1 КٯᏤЇࡓޑཷۺ ………7 3.2 ΒᆢTPN.………..7 3.3 ΟᆢTPN ………. 9 ಃѤകǵηس಍ޑኧᏢኳԄ………12 4.1 Ӧय़ႜၲ……….12 4.1.1 ႜၲໆෳՏ࿼ၗૻޑኧᏢኳԄ………..12 4.1.2 ႜၲໆෳೲࡋၗૻޑኧᏢኳԄ………..14 4.2 आѦጕ൨኱Ꮤ.………14 4.3 ޜ਻ߔΚ&ख़Κ………..15 4.4 ०Չ௓ڋس಍……….17 ಃϖകǵำԄೕჄаϷ୺Չ………18 5.1 ኳᔕБ༧კکБำԄ……….18 5.1.1 ၮ୏БำԄ(EOM).………..18 5.1.2 ႜၲ(radar4).………18

5.1.3 ᕉნୖኧ(ENVI).……….19 5.1.4 ޜ਻ߔΚ(Drag Force)..………19 5.1.5 ଶЗచҹ(Boolean)..……….20 5.1.6 ځдीᆉ(AUX1).………20 5.1.7 س಍ᒡр(Output) ………21 5.1.8 ᏤЇ௓ڋ 1(CNTL1) ………21 5.1.9 ᏤЇ௓ڋ 2(CNTL2) ………22 5.2 ୖኧϯኳᔕࢬำ ………23 5.3 നλᇤৡຯᚆ(Miss Distance) ………24 5.4 ߃ۈૐӛᇤৡ(Οࡋޜ໔) ……….. 25

5.5 ႟Κᇤৡ(Zero Effort Miss) ………26

5.6 ᄒఠ౗(Kill Probability) ………. …26 ಃϤകǵୖኧϯኳᔕϷ่݀……….27 6.1 ঁਢ΋………. 27 6.1.1 ౛གྷރᄊ……….. 27 6.1.2 ႜၲԖՏ࿼ᇤৡԶؒԖೲࡋᇤৡ……….. 29 6.1.3 ႜၲԖՏ࿼ᇤৡΨԖೲࡋᇤৡ……….. 33 6.2 ঁਢΒ………. 36 6.2.1 ႜၲԖՏ࿼ᇤৡΨԖೲࡋᇤৡ……….. 36 6.2.2 ҅ዴޑفೲࡋ……….. 37 ಃΎകǵ่ፕᆶ҂ٰว৖Бӛ……… 39 ୖԵЎ᝘……… 40 ࣬ᜢၗ਑ᇆ໣……….41 ߕᒵA ኳᔕ٬ҔޑำԄϷᇥܴ………43 ߕᒵB ኳಔკ………45

კҞᒵ

კ 2.1 ኱ྗ०ቸΟࠠ ………2 კ 2.2 ᄍ܄০኱ǵӦय़০኱ᆶౚ০኱Ңཀკ………..4 კ 2.3 ᅲྗጕ০኱ᆶᡏ০኱Ңཀკ………..4 კ 2.4 S_IᙯඤS_NҢཀკ………...5 კ 2.5 S_IᙯඤS_LҢཀკ………...………..6 კ 3.1 Ҟ኱ᆶᝏᄒ०ቸӧ x-y ѳय़ޑॉၞ………...7 კ 3.2 ౛གྷ࿘ናΟف׎ǵሦӃفࡋᆶ߃ۈૐӛᇤৡ………..8 კ 3.3 ᝏᄒ०ቸᆶҞ኱ӧΟᆢS_I০኱ޑҢཀკ………..9 კ 3.4 ࣬ჹՏ࿼ᆶS_S০኱ϐ໔ޑᜢ߯………..9 კ 4.1 ႜၲෳຯҢཀკ……….12 კ 4.2 O_eᆶ\_eޑीᆉҢཀკ………13 კ 4.3 आѦጕ൨኱ᏔᆶҞ኱ӧޜ໔ύޑՏ࿼Ңཀკ……….14 კ 4.4 ੿ჴᅲྗጕᆶआѦጕ൨኱Ꮤϐ໔ޑҢཀკ……….15 კ 4.5 ጕ܄ϣකीᆉޜ਻ஏࡋޑҢཀკ……….16 კ 5.1 Ьाࢬำკ……….23 კ 5.2 ύ೼ᏤЇᆶಖᆄᏤЇࢬำ...……….24 კ 5.3 നλᇤৡຯᚆᆶኳᔕനௗ߈ᗺޑҢཀ……….24 კ 5.4 Οࡋޜ໔ޑ߃ۈૐӛᇤৡҢཀკ……….26 კ 6.1 ঁਢ΋౛གྷރᄊӧޜ໔ύޑၮ୏ॉၞ่݀……….28 კ 6.2 ঁਢ΋౛གྷރᄊޑᏤЇуೲࡋ่݀……….28 კ 6.3 ᝏᄒ०ቸޑуೲࡋ่݀Ȑঁਢ΋ႜၲԖՏ࿼ᇤৡؒԖೲࡋᇤৡȑ.…….31 კ 6.4 όӕޑ k ॶӧύ೼໘ࢤ੿ჴ࣬ჹՏ࿼ޑᇤৡ่݀……….31 კ 6.5 όӕޑ k ॶӧಖᆄ໘ࢤ੿ჴ࣬ჹՏ࿼ޑᇤৡ่݀……….32 კ 6.6 ᝏᄒ०ቸޑуೲࡋ่݀Ȑঁਢ΋ႜၲԖՏ࿼کೲࡋᇤৡȑ……….35 კ 6.7 όӕ n ॶᆶ࣬ჹೲࡋᇤৡ่݀……….35

ಃ΋കǵׇፕ

ᒿ๱ύ୯ै٣౜жϯǴ߈ԃٰӧੇ৙ჹ۞೽࿿Α 600 ӭݍ M ௼०ቸǴᏵᇥ 2010ԃ཮ቚуډ 1000 ݍ[13]Ƕа M-9 ०ቸ(ܿ॥Μϖဦ)ٰᇥǴ৔ำၲ 600 ϦٚǴ ቸᓐၩ಻ૈΚ 500 ϦАǴ༝ڬъ৩Ϧৡ(CEP)ࢂ 300 ϦЁǴೲࡋၲ 5 ଭᇲǴว৔ ࡕ०ډѠ᡼ѝሡ 5-10 ϩដǶѠ᡼य़ჹ೭٤࠶ુǴᑈཱུว৖ϸቸၰٛᑇس಍څό ৒጗Ƕ ऍ୯ޑଯቫϸቸၰ०ቸٛᑇس಍хࡴഌ୷ޑᏯ୔ଯቫε਻ٛᑇ(THAAD)० ቸǵഌ୷ᝏᄒᏔ(GBI)Ǵੇ୷ޑ኱ྗ०ቸΒࠠ Block IVAǵ኱ྗ०ቸΟࠠǴᗋԖޜ ၩႜ৔س಍ǶҞ߻Кၨௗ߈ֹԋޑࢂ኱ྗ०ቸޑ೽ҽǴவ 1997 ԃ 1 Д 24 В၂৔ ԋфᝏᄒ৔ำ 400 Ϧٚޑᙔථ०ቸ(Lance)Ǵᝏᄒଯࡋऊ 12 ϦٚǶӧ 2002 ԃ 6 Д 13 Вӧϼѳࢩ΢ޑᏤӛ०ቸْࢩᝮȨҲճ෫ȩဦว৔኱ྗΟࠠԋфӧੇय़΋ ԭϤΜӭϦٚޑϼޜᔐύଷቸᓐǴӧ 2006 ԃ 6 Д 22 ВޑಃΖԛ०၂Ǵ኱ྗΟࠠ (SM-3 Block 1A)ΞԋфᝏᄒႢቸǴ᛾ܴΑ኱ྗ०ቸΟࠠޑᝏᄒԋ݀Ƕ ᏾ঁᝏᄒޑၸำ่ӝΑӦय़܈ޜύႜၲޑୀෳǵᏯରࡰචس಍ǵᗋԖᝏᄒ० ቸǶҗܭाᝏᄒޑҞ኱ࣁቸၰ०ቸǴ०Չਔ໔อǴҞ኱λೲࡋזǴᝏᄒޑྗዴࡋ ा؃ଯǴ܌аႜၲǵआѦጕ൨኱ᏔǵᏤЇࡓϷ௓ڋس಍ޑೕ਱ा؃࣬ჹගଯǶ Ҟ߻Ѡ᡼ςԖང୯ޣΒࠠޑٛޜ०ቸǴՠᝏᄒଯࡋό୼ǴᝏᄒԋфΨёૈ௞ ပډѱ୔೷ԋཞ্Ƕ܌аךॺ׆ఈૈаऍ୯ଯቫϸቸၰ०ቸٛᑇس಍ࣁᙔკǴୖ Ե኱ྗ०ቸΟࠠޑᝏᄒၸำǴࡌҥୖኧϯޑኧᏢኳԄǴుΕѐࣴزӚಔԋ೽ϩा ؃ޑೕ਱Ǵஒٰ׆ఈૈว৖፾ӝѠ᡼ޑ०ቸٛᑇس಍Ƕ ҁࣴزЬाࢂኳᔕ᏾ঁᝏᄒၸำޑࡕъࢤǴኩਔόԵቾ࠮ᄊǴ໻૸ፕΟঁԾ җࡋၮ୏Ǵϩԋٿঁ೽ҽǶಃ΋೽ҽࢂឦܭύ೼ᏤЇޑ໘ࢤǶಃΒ೽ҽ߾ࢂឦܭ ಖᆄᏤЇޑ໘ࢤǶа኱ྗ०ቸΟࠠࣁᙔკѐ೛ीךॺޑᝏᄒၸำǴࡌҥआѦጕ൨ ኱ᏔǵႜၲǵᏤЇࡓǵ०Չ௓ڋس಍аϷᕉნቹៜ฻ޑኳᔕำԄǴѐ૸ፕႜၲໆ ෳᇤৡǵ०Չ௓ڋس಍ǵᏤЇࡓޑჴ౜฻ჹᝏᄒၸำޑቹៜǶ ҁൔ֋ಃ΋കࢂׇፕǹಃΒക०ቸس಍ࡌҥǹಃΟകᏤЇࡓޑჴ౜ǹಃѤക ႜၲǵआѦጕ൨኱Ꮤǵޜ਻ߔΚǵख़ΚаϷ०Չ௓ڋس಍฻ηس಍ޑኧᏢኳԄǹ ಃϖകୖኧϯኳᔕำԄޑೕჄаϷ୺ՉࢬำǹಃϤകୖኧϯኳᔕ่݀аϷ૸ፕǹ ಃΎകࢂ่ፕᆶ҂ٰว৖ޑБӛǶ

ಃΒകǵ०ቸس಍ࡌҥ

ҁക૸ፕ०ቸس಍ኧᏢኳԄޑࡌҥǶኧᏢኳԄࣁϩ݋ǵ೛ीکኳᔕ܌ѸሡǴ ०ቸޑኧᏢኳԄϩԋࡐӭ೽ҽǴ؂΋ঁ೽ҽ೿ԖᐱҥޑኧᏢБำԄ܈ၗ਑ǶࣁΑ ჴ౜ǴךॺעѬϩԋӚ೽ҽϩձٰ૸ፕǶϩԋނ౛੝܄ǵ০኱س಍ǵၮ୏БำԄǵ ᏤЇࡓǵηس಍฻೽ҽǶӧҁകӃϟಏނ౛੝܄ǵ০኱س಍ǵϷၮ୏БำԄǶᏤ Їࡓکηس಍੮ډΠ΋കӆϟಏǶ 2.1 ०ቸޑނ౛੝܄ ाࡌҥ०ቸኳࠠǴѸ໪Ӄޕၰ०ቸޑނ౛੝܄Ǵךॺа኱ྗ०ቸΟࠠ(Block 2004)ࣁᙔკǴӵკ2.1Ǵࡌҥךॺޑᝏᄒ०ቸޑኳԄǶ კ2.1 ኱ྗ०ቸΟࠠ[5] 2.1.1 ኱ྗ०ቸΟࠠᙁϟ ኱ྗ०ቸΟࠠ(Block 2004)ࢂឦܭऍ୯ੇैቸၰ०ቸٛᑇس಍(BMDS)ޑ΋ ೽ϩǴ೽࿿ӧઓ࣯ભ០೴ᝮ΢ǴЬाࢂᝏᄒอǵύำቸၰ०ቸǶ኱ྗ०ቸΟࠠӅ ԖѤ࿯Ǵಃ΋Β࿯ϩձࣁMK72کMK104ОጂǴಃΟ࿯ࢂMK136ОጂǴനѤ࿯߾ ࣁMK142୏ૈᝏᄒᏔ(KV)Ƕ ྽እБว৔ቸၰ०ቸ(аΠᆀࣁҞ኱)ਔǴ೏ઓ࣯ᝮ΢ޑAN/SPY-1ႜၲୀෳ ډǴ٠࡭ុଓᙫǴઓ࣯Ꮿس൩཮ीᆉຑ՗ᝏᄒਔ໔ǴΠၲว৔ࡰзǴว৔኱ྗ० ቸΟࠠ(аΠᆀࣁᝏᄒ०ቸ)Ǵϐࡕ࡭ុ໺ଌҞ኱ޑၗ਑๏ᝏᄒ०ቸǶಃ΋࿯MK72 ௢຾ᏔکಃΒ࿯MK104ᚈ௢ΚОጂว୏ᐒஒᝏᄒ०ቸଌډѦϼޜǴಃΟ࿯ޑ MK136ОጂǴॄೢӧϼޜύޑ०ՉǴϼޜ०ՉޑၸำύǴᝏᄒ०ቸ߻ᆄޑሷ࿽ ཮ቸಥǴ៛рϣ೽ޑMK142୏ૈᝏᄒᏔǴ٠ፓ᏾ᝏᄒቸၰǴޔډMK142୏ૈᝏ ᄒᏔᙹۓҞ኱Ǵ໒ۈനಖ໘ࢤᝏᄒǴճҔଯೲናᔐǴᄛ྄Ҟ኱Ƕ ٩Ᏽ܍х୘ႜઓϦљޑၗ਑Ǵ኱ྗ०ቸΟࠠMK142୏ૈᝏᄒᏔޑଯှ݋ࡋ ߏݢआѦጕ൨኱ᏔૈӧΟԭϦٚѦୀෳډቸၰ०ቸǴ٠ᒣ᛽Ҟ኱ǶᙖҗᝏᄒᏔ΢ ޑȨॉ௓ᆶ࠮௓س಍ȩ (Divert and Attitude Control SystemǴDACS)ǴၮҔቔࢬ ޑБԄǴӧനಖ໘ࢤϣᆒዴ௓ڋ०Չॉၰک࠮ᄊǴၲԋޔௗናᔐ[4]Ƕ

ᝏᄒ०ቸவว৔ϲޜǴډֹԋᝏᄒǴ೿࡭ុޑௗԏډઓ࣯Ꮿس໺ٰޑҞ኱ၗ ૻǴ೭ځύх֖ΑႜၲୀෳډҞ኱ޑၗૻǵᝏᄒ०ቸҁيໆෳډޑၗૻǴ᏾ӝ೭ ٤س಍ୖኧޑၗૻǴၮҔᏤЇࡓीᆉруೲࡋঅ҅ໆǴፓ᏾०ՉॉၞǴֹԋᝏᄒǶ ךॺགྷाޕၰ೭٤س಍ୖኧჹᝏᄒၸำޑቹៜǴ܌аךॺ჋၂ኳᔕ኱ྗ०ቸ Οࠠӧሷ࿽ቸಥϐࡕǴډֹԋᝏᄒǶ೭ঁ೽ҽёϩԋٿঁ໘ࢤǴಃ΋໘ࢤࣁ΋໒ ۈǴᝏᄒ०ቸޑሷ࿽ς࿶ቸಥǴՠ୏ૈᝏᄒᏔᗋؒԖᙹۓҞ኱Ǵޔډ୏ૈᝏᄒᏔ ᙹۓtargetǶಃΒ໘ࢤࣁᙹۓϐࡕޑനಖ໘ࢤᝏᄒǶҗ኱ྗΟࠠ୏ૈᝏᄒᏔޑआ Ѧጕ൨኱Ꮤޑёຎጄൎ(Field of View)εऊѝԖ΋ࡋǴӧനಖ໘ࢤѸ໪ᙖҗDACS ፓ᏾࠮ᄊ΋ޔჹྗҞ኱Ǵךॺ௢ෳځ܌٬ҔޑᏤЇࡓᔈࣁ੿КٯᏤЇࡓ(True Proportional NavigationǴTPN)Ƕ 2.2 ০኱س಍ 㵝БߡӧΟࡋޜ໔ඔॊ०ቸޑॉၞаϷᏤЇࡓޑϦԄ௢ᏤǴךॺଷ೛Ӧౚࣁ ҅ౚᡏ཮ԾᙯόԵቾϦᙯǴ٠ۓကΠय़ϖঁ০኱س಍Ǻ

(i) ᄍ܄০኱S (Earth-centered inertial coordinate) _I (ii) Ӧय़০኱S (North-East-Down (NED) coordinate) _N (iii) ౚ০኱S (Spherical coordinate) _S

(iv) ᅲྗጕ০኱S (Line-of-sight (LOS) coordinate) _L (v) ᡏ০኱S (Body coordinate) _B 2.2.1 ᄍ܄০኱S_I ٬Ҕᄍ܄০኱س಍ࢂ㵝БߡඔॊҞ኱ᆶᝏᄒ०ቸӧޜ໔ύޑၮ୏БำԄǶ০ ኱ޑচᗺӧӦЈǴX_Iືӧهၰѳय़΢ࡰӛ೯ၸ(ਔ໔t ਔޑ)਱݅࠶ݯ࿶ጕޑБ0 ӛǴջࡰӛ࿶ࡋ႟ࡋጎࡋ႟ࡋޑБӛǴZ_IືࡰӛчཱུᗺǴY_Iື಄ӝѓЋ০኱س ಍Ǵӵკ2.2ǶX_IǵY_IǵZ_IΟືࣁኳᔕ໒ۈਔޑБӛǴόᒿӦౚԾᙯԶ౽୏Ƕ 2.2.2 Ӧय़০኱S_N ٬ҔӦय़০኱ࢂ㵝БߡඔॊҞ኱ᆶᝏᄒ०ቸ࣬ჹܭӦ߄ޑॉၞǶ০኱চᗺӧ ႜၲઠޑՏ࿼ǴX_Nືࣁႜၲઠ܌ӧޑӦ߄ѳय़ࡰӛчБǴY_Nືࣁႜၲઠ܌ӧޑ Ӧ߄ѳय़ࡰӛܿБǴZ_Nື಄ӝѓЋ০኱س಍Ǵӵკ2.2ǶҗܭӦౚ཮ԾᙯǴࡺX_Nǵ N Y ǵZ_NΟືکӦय़০኱ޑচᗺ཮ᒿ๱ӦౚԾᙯԶ౽୏Ƕ 2.2.3 ౚ০኱S_S ٬Ҕౚ০኱ࢂ㵝Бߡ௢Ꮴ3DޑTPNᏤЇۓࡓǶஒচҁΟືޑຯᚆၗૻᙯඤ ԋ΋ঁຯᚆၗૻၟٿঁفࡋၗૻǴٿঁفࡋϩձࣁНѳف(̸)ᆶࠟޔف(ͅ)Ǵӵ კ2.2Ƕ

კ2.2 ᄍ܄০኱ǵӦय़০኱ᆶౚ০኱ޑҢཀკǶ 2.2.4 ᅲྗጕ০኱S_L Ԝ০኱Ҕٰ߄ҢTPNᏤЇࡓύޑ࣬ჹՏ࿼Ǵ㵝БߡඔॊआѦጕ൨኱Ꮤޑᇤ ৡǶ০኱চᗺࣁᝏᄒ०ቸޑ፦ЈǴX_LືࣁவচᗺࡰӛҞ኱፦ЈޑБӛǴջჴሞ ޑຎጕБӛǴY_LືѳՉX_IY_Iѳय़ЪࠟޔܭX_Lື٠ࡰӛຎጕޑѰᜐǴZ_Lື಄ ӝѓЋ০኱س಍Ǵӵკ2.3Ƕ 2.2.5 ᡏ০኱S_B Ԝ০኱Ҕٰ߄Ңᝏᄒ०ቸޑ࠮ᄊǶ০኱চᗺࣁᝏᄒ०ቸޑ፦ЈǴX_Bືࣁᝏ ᄒ०ቸޑߏືБӛǴࡰӛ߻БǴջआѦጕ൨኱ᏔޑຎጕБӛǴY_BືѳՉX_I Y_Iѳ य़ЪࠟޔܭX_Bື٠ࡰӛᝏᄒ०ቸޑѰᜐǴZ_Bື಄ӝѓЋ০኱س಍Ǵӵკ2.3Ƕ კ2.3 ᅲྗጕ০኱ᆶᡏ০኱ޑҢཀკǶ

2.2.6 S_IᙯඤԋS_N

ଷ೛ޜ໔ύ΋ঁނᡏӧS_I০኱ࣁX_{o,I ¬}ªx_o,I y_o,I z_o,Iº_¼TǴႜၲઠӧS_I০኱ࣁ

T r,I ¬ªxr,I yr,I zr,Iº¼

X ǴճҔᙯඤંତޑϦԄǴୖԵკ2.4ǴךॺёаளډނᡏޑS_N

০኱ӵΠǺ





o,N NI˜ o,I r,I

X T X X (2.1) ځύ

















N N N N NI N N N N

cos / 2 0 sin / 2 cos sin 0

0 1 0 sin cos 0 sin / 2 0 cos / 2 0 0 1

I

S

I

S

T

T

T

T

I

S

I

S

ª   º ª º « » «_{˜ } » « » « » «   » «_¬ »_¼ ¬ ¼ T ǵ r,I 1 N r,I tan y x

T

 § · ¨ ¸ ¨ ¸ © ¹ ǵ 1 r,I N _{2 2} r,I r,I tan z x y I  §_¨ ·_¸ ¨ _ ¸ © ¹ Ƕ კ2.4 S_IᙯඤS_NҢཀკǶ 2.2.7 S_IᙯඤԋS_L

ӕኬޑБԄǴଷ೛ᝏᄒ०ቸӧS_I০኱ࣁX_{m,I ¬}ªx_m,I y_m,I z_m,Iº_¼TǴҞ኱ӧS_I০ ኱ࣁXt,I ¬ªxt,I yt,I zt,Iº¼TǴ߾࣬ჹՏ࿼

>

@

T

tm,I t,I m,I x y z

r X X ǴճҔᙯඤ

ંତޑϦԄǴୖԵკ2.5ǴךॺёаளډނᡏޑSL০኱ӵΠǺ L LI˜ tm,I

ځύ

L L L L

LI L L

L L

cos 0 sin cos sin 0 0 1 0 sin cos 0 sin 0 cos 0 0 1 I I T T T T I I ª º ª º « » «_{˜ } » « » « » « » « » ¬ ¼ ¬ ¼ T ǵ 1 L tan y x

T

 § · ¨ ¸ © ¹ǵ 1 L tan _{2 2} z x y I  §_¨ ·_¸ ¨ _ ¸ © ¹ Ƕ კ2.5 S_IᙯඤS_LҢཀკǶ 2.3 ၮ୏БำԄ ךॺଷ೛ᝏᄒ०ቸޑ࠮ᄊς࿶௓ڋӳΑǴջS_BᆶS_Lख़ӝǴஒচҁाԵቾޑ ϤঁԾҗࡋᙁϯԋΟঁԾҗࡋޑၮ୏ኳԄǴѝाԵቾᝏᄒ०ቸڙډѦΚբҔ೷ԋ ޑՏ࿼ᆶೲࡋޑׯᡂǴܭࢂךॺёаளډᝏᄒ०ቸӧS_I০኱ޑၮ୏БำԄࣁ xm xm ym ym zm zm v a v a v a    m xm m ym m zm x v y v z v    (2.3) ځύa ǵ_xm a_ymǵa_zmࣁᝏᄒ०ቸޑS_IуೲࡋϩໆǴv_xmǵv_ymǵv_zmࣁᝏᄒ०ቸޑೲ ࡋϩໆǴx_mǵy_mǵz_mࣁᝏᄒ०ቸޑՏ࿼ϩໆǶନΑᏤЇуೲࡋѦǴᝏᄒ०ቸޑ уೲࡋᗋٰԾख़Κکޜ਻ߔΚǶ Ҟ኱ޑၮ୏БำԄᆶ(2.3)Ԅᜪ՟ xt xt yt yt zt zt v a v a v a    t xt t yt t zt x v y v z v    (2.4) ځύҞ኱ޑуೲࡋϩໆa_xtǵa_ytǵa_ztٰԾख़Κکޜ਻ߔΚǴv_xtǵv_ytǵv_ztࣁҞ኱ ޑೲࡋϩໆǴx_tǵy_tǵz_tࣁҞ኱ޑՏ࿼ϩໆǶ

ಃΟകǵᏤЇࡓ

ᏤЇࡓ،ۓᝏᄒ०ቸ㵝ΑᝏᄒҞ኱Ǵֹԋናᔐᄒఠ(hit-to-kill)܌ሡाޑೲࡋ ׯᡂǶځύനத٬ҔޑࢂКٯᏤЇࡓ(Proportional NavigationǴPN Law)ǴӢࣁК ٯᏤЇࡓКၨ৒ܰჴ౜ǶΞவ2.1࿯ύǴ኱ྗ०ቸΟࠠޑಖᆄᝏᄒၸำǴ௢ෳځ ٬ҔޑᏤЇۓࡓࣁ੿КٯᏤЇࡓ(TPN)Ǵ܌аךॺᒧ᏷TPNࣁךॺޑᏤЇࡓǶа ΠךॺӃΑှКٯᏤЇࡓޑཷۺǴӆ૸ፕᙁൂޑΒᆢTPNаϷၨፄᚇޑΟᆢ TPNǶ 3.1 КٯᏤЇࡓޑཷۺ КٯᏤЇࡓࢂനதҔٰ଺ᏤЇ०ቸޑᏤЇࡓǶᝏᄒ०ቸ࿶ၸКٯᏤЇࡓޑᏤ ЇǴૈӧ࿘ናᗺᆶҞ኱วғ࿘ናǴֹԋᝏᄒǴѝाӧ࿘ናޑၸำύǴٿঁނᡏϐ ໔ޑຎጕБӛڰۓόᡂǶ୷ҁཷۺࢂаׯᡂᝏᄒ०ቸޑೲࡋٰᆢ࡭ຎጕБӛޑڰ ۓόᡂǴຎጕБӛ۳ࢌБӛׯᡂǴ߾ᝏᄒ०ቸޑೲࡋΨ۳ࢌБӛբ΋ۓКٯޑׯ ᡂǴջᝏᄒ०ቸޑуೲࡋᆶຎጕБӛޑׯᡂ౗ԋ҅КǶ வ೭ঁ୷ҁཷۺۯ՜рٰޑКٯᏤЇࡓࡐӭǴႽࢂ੿КٯᏤЇࡓ(True Proportional NavigationǴTPN)ǵપКٯᏤЇࡓ(Pure Proportional NavigationǴ

PPN)ǵᇶշКٯᏤЇࡓ(Augmented Proportional NavigationǴAPN)฻฻Ǵ೭٤К ٯᏤЇࡓϦԄ೿ᜪ՟ǴനεޑόӕӧܭуೲࡋޑБӛǶӧኳᔕύǴךॺа੿Кٯ ᏤЇࡓ଺ࣁךॺޑᏤЇࡓǶаΠךॺவΒᆢTPNፋଆǶ 3.2 ΒᆢTPN வGuelmanගрޑ੿КٯᏤЇࡓ[7]ǴךॺёаޕၰΒᆢTPNޑ௢ᏤǶଷ೛ᝏ ᄒ०ቸᆶҞ኱ࣣࣁ฻ೲࡋၮ୏Ǵӵკ3.1Ǵ კ3.1 Ҟ኱ᆶᝏᄒ०ቸӧx-yѳय़ޑॉၞ ߾੿КٯᏤЇࡓޑᏤЇуೲࡋࣁ n_c N V˜ _c˜

O

 (3.1)

ځύN ࣁԖਏᏤЇதኧǴ೯தࣁ3~5ǴV_cࣁ०ቸᆶҞ኱ޑௗ߈ೲࡋǴ

O

ࣁຎጕޑ فࡋჹਔ໔ޑ༾ϩǴn_cࠟޔܭຎጕБӛǴځཱུ܄ࢂа

O

 ෧λࣁ኱ྗٰ،ۓǶ

ךॺۓက౛གྷ࿘ናΟف׎ࣁᝏᄒ०ቸᆶҞ኱೿ؒԖуೲࡋբҔԶ཮࿘ናޑ ॉၞǴԜਔ०ቸᆶຎጕϐ໔ޑفࡋࣁሦӃفࡋ(Lead angle)ǴԶ०ቸୃᚆԜفࡋޑ ελ߾ᆀࣁ߃ۈૐӛᇤৡ(Heading errorǴHE)Ǵӵკ3.2Ƕ

კ3.2 ౛གྷ࿘ናΟف׎ǵሦӃفࡋᆶ߃ۈૐӛᇤৡ ଷ೛ᝏᄒ०ቸՏ࿼ࣁX_mೲࡋࣁV_mǴҞ኱Տ࿼ࣁX_tೲࡋࣁV_tǴ߾࣬ჹՏ࿼

>

@

T t m x y r X X Ǵ࣬ჹೲࡋv V_t V_{m ¬}ªv_x v_y¼ºTǴךॺёаளډᝏᄒ०ቸ ᆶҞ኱ޑௗ߈ೲࡋ T c x y V v r v x v y˜  ˜ (3.2) Ӣࣁຎف 1 tan y x

O

 § · ¨ ¸ © ¹Ǵ܌аຎفჹਔ໔ޑ΋ԛ༾ϩ

 

2 2 1 1 d y x y x dt _y x x

O

O

˜ ˜  ˜ § ·  ¨ ¸ © ¹    _(3.3) 2 2 y x v x y v x y O ˜  ˜   _(3.4) Զவ౛གྷ࿘ናΟف׎ύёаޕၰǴᝏᄒ०ቸᆶҞ኱ӧࠟޔܭຎጕБӛޑೲࡋᔈ၀ ࣬฻ωૈֹԋ౛གྷ࿘ናΟف׎Ǵջ sin sin t E m L V V (3.5) “ ”ࣁӛໆ ޑ๊ჹॶ ܌а౛གྷ࿘ናΟف׎ޑሦӃفࡋ 1 sin sin t m L  §

E

· ¨ ¸ ¨ ¸ © ¹ V V (3.6)

3.3 ΟᆢTPN ჴሞ΢Ǵᝏᄒ०ቸޑ०ՉॉၞࢂឦܭΟᆢޜ໔ޑǴҞ኱ᆶᝏᄒ०ቸ٠ό΋ۓ ཮ӧ΋ঁѳय़΢Ǵ܌аஒΒᆢTPNܗ৖ԋΟᆢTPNǶ ଷ೛ᝏᄒ०ቸӧS_I০኱ޑՏ࿼r_mೲࡋV_mǴҞ኱ӧS_I০኱ޑՏ࿼r_tೲࡋV_tǴ ӵკ3.3Ǵ კ3.3 ᝏᄒ०ቸᆶҞ኱ӧΟᆢS_I০኱ޑҢཀკ კ3.4 ࣬ჹՏ࿼ᆶS_S০኱ϐ໔ޑᜢ߯ ߾࣬ჹՏ࿼r r_tr_m

>

x y z

@

TǴ࣬ჹೲࡋV r  V_tV_{m ¬}ªv_x v_y v_z¼ºTǴஒ rک V ᙯඤԋSS০኱Ǵӵკ3.4Ǵ ߾࣬ჹՏ࿼ r e r r (3.7) ځύ cos cos cos sin sin r e I T I T I ª º « » « » « » ¬ ¼ (3.8) 1 tan y x

T

 § · ¨ ¸ © ¹ (3.9)

1 2 2 tan z x y I  §_¨ ·_¸ ¨ _ ¸ © ¹ (3.10) 2 2 2 x y z r (3.11) Զ࣬ჹೲࡋ



cos



r r r e e e I eT T I eI   ˜ ˜  ˜ V r r r r r   (3.12) ځύ sin cos 0 eT T T  ª º « » « » « » ¬ ¼ (3.13) sin cos sin sin cos eI I T I T I  ª º « » _{« »} « » ¬ ¼ (3.14) r e eu T eI (3.15) ”u”ࣁѦᑈ 2 2 2 d xx yy zz dt x y z     r r    (3.16) 1 2 2 tan d y yx yx dt x x y

T

 § ·  ¨ ¸ _ © ¹    _(3.17)













2 2 2 1 2 2 2 2 2 2 2 tan z x y z z xx yy zz d z dt _{x y x y x y z}

I

 §_¨ ·_¸      ¨ _ ¸ _{  } © ¹      _(3.18) ΟᆢTPNᏤЇࡓޑᏤЇуೲࡋБำԄࣁ[2] tpn c a NV u : (3.19) ځύa ࣁΟᆢTPNᏤЇуೲࡋǴ: ࣁفೲࡋǶN ࣁᏤЇதኧǴ೯தࣁ3~5Ǵ_tpn V_cࣁ ᝏᄒ०ቸௗ߈Ҟ኱ޑೲࡋΨ൩ࢂ࣬ჹೲࡋӧຎጕ΢य़ޑ׫ቹໆ



T



c er V V r (3.20) Զفೲࡋ߾ۓက[9]ࣁ: r Vu₂ r ru₂ e e_ru _r r r   (3.21)



,





,





,



r d r d d r d d r e e e e dt dt d dt d

T

I

T I

T I

T I

T



I







cos sin sin cos cos cos sin sin

0 cos

I

T

I

T

I

T

T

I

T I

I

§ª  º· ª º ¨« »¸_{˜  }« »_˜ ¨_{« »}¸ _{« »} ¨«_¬ »_¼¸ «_¬ »_¼ © ¹  

sin sin cos cos cos sin sin

0 cos

T

I

T

I

T

T

I

T I

I

§ª º· ª º ¨« »¸_{˜  }« »_˜ ¨« »¸ « » ¨_{« »}¸ _{« »} ¬ ¼ ¬ ¼ © ¹   cosI˜e_T˜ T e_I ˜I (3.22) ߾فೲࡋ cosI T e_I I e_T : ˜ ˜  ˜ (3.23) ܌аTPNᏤЇуೲࡋࣁ



T







cos tpn a N V r I T˜ ˜ eT  ˜I eI (3.24) ךॺஒ(3.19)Ԅϩှԋ࣬ჹՏ࿼ᆶ࣬ჹೲࡋёа߄Ңޑ׎ԄǴӵ(3.24)ԄǴ೸ ၸ(3.7)Ԅǵ(3.9)Ԅǵ(3.10)Ԅǵ(3.12)Ԅǵ(3.13)Ԅǵ(3.14)Ԅǵ(3.17)ԄаϷ(3.18) ԄीᆉрӚϩໆǴӆ஥Ε(3.24)ԄǴ؃ளΟᆢTPNᏤЇࡓޑᏤЇуೲࡋǶ ךॺኳᔕޑٿঁ໘ࢤ೿௦ҔΟᆢTPNᏤЇࡓǶಃ΋໘ࢤǴΨ൩ࢂύ೼ᏤЇ໘ ࢤǴ࣬ჹՏ࿼ᆶ࣬ჹೲࡋޑૻ৲җႜၲໆෳගٮǶႜၲӧᝏᄒ०ቸᆶҞ኱Տ࿼ޑ ໆෳǴ཮ԖᇤৡǴᒿ๱ໆෳޑҞ኱ຯᚆႜၲຫᇻᇤৡຫεǴࣗԿຬၸࢌঁጄൎǴ ႜၲ൩཮Ѩѐ܌ໆෳޑҞ኱ǴԶႜၲӧೲࡋБय़ޑीᆉБԄ׳ፄᚇǴᇤৡΨ׳ εǴךॺӧಃѤക཮ඔॊךॺࢂӵՖѐኳᔕႜၲޑໆෳၗૻǶಃΒ໘ࢤǴࢂឦܭ ಖᆄᏤЇ໘ࢤǴ࣬ჹೲࡋޑૻ৲ϝฅҗႜၲໆෳගٮǴԶ࣬ჹՏ࿼ׯࣁआѦጕ൨ ኱ᏔගٮǴҗܭႜၲຫᇻᇤৡຫεǴऩׯҗᝏᄒ०ቸҁيёаໆෳޑၗૻǴёа ෧ϿᇤৡǴගଯᝏᄒԋф౗Ƕ ӧךॺޑኳᔕύǴࢂஒ(3.19)Ԅϩှԋ࣬ჹՏ࿼ᆶ࣬ჹೲࡋёа߄Ңޑ׎ ԄǴӧ(3.21)فೲࡋޑीᆉ΢Ψࢂϩှԋ࣬ჹՏ࿼ᆶ࣬ჹೲࡋޑ׎ԄǴჴሞ΢ᝏ ᄒ०ቸӧفೲࡋޑीᆉ΢ёૈࢂᙖҗߒᖥሺޑໆෳԶளډǴ٠ߚҗ࣬ჹՏ࿼ᆶ࣬ ჹೲࡋٰीᆉޑǶ

ಃѤകǵηس಍ޑኧᏢኳԄ

ҁക܌ा௖૸ޑࢂᝏᄒ०ቸޑځдᇶշηس಍ޑኧᏢኳԄǶ೭٤ηس಍хࡴ Ӧय़ႜၲǵआѦጕ൨኱Ꮤǵޜ਻ߔΚکख़Κǵ०Չ௓ڋس಍ǶӧךॺޑኳᔕύǴ ଷ೛ᝏᄒ०ቸޑ࠮ᄊςڙ௓ڋǴջӧύ೼ᏤЇ໘ࢤǴᝏᄒ०ቸޑ࠮ᄊςڙ௓ڋࣁ ჹྗᅲྗጕޑБӛǹӧಖᆄᏤЇ໘ࢤǴᝏᄒ०ቸޑ࠮ᄊΨςڙ௓ڋࣁჹྗआѦጕ ൨኱ᏔीᆉрҞ኱ޑБӛǶ 4.1 Ӧय़ႜၲ ኱ྗ०ቸΟࠠࢂឦܭႜၲъЬ୏ᘜૐᏤЇ[10]Ǵӧύ೼ᏤЇਔǴ࡭ុௗԏٰ ԾႜၲޑҞ኱ၗૻǴӧಖᆄᏤЇਔǴωҗआѦጕ൨኱ᏔගٮҞ኱ޑၗૻǶҁλ࿯ ा૸ፕӦय़ႜၲޑኧᏢኳԄǶ 4.1.1 ႜၲໆෳՏ࿼ၗૻޑኧᏢኳԄ ႜၲෳໆ୷ҁচ౛ࣁӛޜ໔ύࢌঁБՏว৔ႝᅶݢǴฅࡕीᆉႝᅶݢ࿘ډނ ᡏϸ৔ӣٰޑਔ໔؃ளຯᚆǴӆճҔҁيς࿶ޕၰޑБՏᆶว৔һفǴ൩ёаޕ ၰނᡏޑ০኱Α[12]Ǵӵკ4.1Ƕ კ4.1 ႜၲෳຯҢཀკǴځύr_oRࣁނᡏຯᚆႜၲઠޑޔጕຯᚆǴOࣁБՏفǴ

\

ࣁһفǶ ଷ೛ႜၲઠޑSI০኱ࣁrRǴ߾ӧޜ໔ύ०ՉޑނᡏӧSI০኱ro cos cos cos sin sin o R roR \ O \ O \ ª º « »  _{« »} « » ¬ ¼ r r (4.1)

ځύr_oR r_or_R

>

x y z

@

T ࣁޔጕຯᚆǴ 1 tan y x

O

 § · ¨ ¸ © ¹ࣁБՏفǴ 1 2 2 tan z x y \  §_¨ ·_¸ ¨ _ ¸ © ¹ ࣁһفǶ ౜ӧޑࣽמวၲǴӧޔጕෳຯޑמೌ΢ߚத຾؁ǴᆒዴࡋёၲϦᙶаΠǴӧ БՏفکһفޑໆෳǴᆒዴࡋ߾ၨեǶ܌аךॺଷ೛ႜၲӧໆෳޔጕຯᚆؒԖᇤ ৡǴᇤৡٰԾБՏفOکһف

\

ǶճҔςޕޑ҅ዴБՏفکһفуΕଯථᚇૻޑ БԄ߄Ңᇤৡ m e m e

O

O O

\

\ \

  (4.2) ځύOࣁ҅ዴБՏفǴ

O

_eࣁᇤৡໆǴ

O

_mࣁႜၲໆෳډޑǴ

\

ࣁ҅ዴһفǴ

\

_eࣁ ᇤৡໆǴ

\

_mࣁႜၲໆෳډޑǶ Զ

O

_eᆶ

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_eޑीᆉӵკ4.2܌ҢǴځύuࣁ౛གྷᐱҥϩթ(i.i.d.)ޑଯථᒿᐒኧӈ Ъᡂ౦ኧ(variance)=1Ǵ

V

_{O \,} ࣁ኱ྗৡǴ 1



1 1



( ) 1 ... k F z z z k       ࣁԖज़ેፂៜ ᔈ(FIR)ᘠݢᏔǴߏࡋࣁkǶऩkॶຫεǴ߾ж߄ᇤৡໆϐ໔ޑ࣬ᜢ܄ຫεǴջᒿ ᐒኧӈޑᡂ୏ၨѳ጗Ƕ კ4.2

O

_eᆶ

\

_eޑीᆉҢཀკǶ ӆஒ

O

_mک

\

_mжΕջёளډ࿶ၸႜၲໆෳޑޜ໔ύ०ՉޑނᡏӧS_I০኱_rˆ_o cos cos ˆ cos sin sin m m o R oR m m m r \ O \ O \ ª º « »  _{« »} « » ¬ ¼ r r (4.3) ӧύ೼ᏤЇ໘ࢤޑኳᔕύǴ࿶ၸႜၲໆෳޑᝏᄒ०ቸᆶҞ኱ޑՏ࿼ၗૻࣣҔ ΢ॊޑБݤीᆉǶ

4.1.2 ႜၲໆෳೲࡋၗૻޑኧᏢኳԄ

ႜၲҁيӧ؃ނᡏޑೲࡋਔǴёճҔ೿Νୌਏᔈ(The Doppler Effect)ѐ؃ள ނᡏޑೲࡋǴ܈ࢂճҔՏ࿼ၗૻᆶਔ໔ৡ؃ளೲࡋǶӧԜჹܭႜၲໆෳೲࡋၗૻ ޑኧᏢኳԄךॺᙁϯࣁ҅ዴၗૻӆу΢ᇤৡޑБԄѐ߄ҢǴΨ൩ࢂ΢΋λ࿯ႜၲ ໆෳБՏفᆶһفޑБԄǴӵΠ ˆ_{o o e} v v v (4.4) ځύvˆ_oࣁႜၲໆෳޑೲࡋǴv_oࣁ҅ዴޑೲࡋǴᇤৡໆv_eࢂ౛གྷᐱҥϩթ(i.i.d.)ޑ ଯථᒿᐒኧӈ೯ၸߏࡋࣁnޑᘠݢᏔک኱ྗৡ

V

_v܌ीᆉрٰޑǶ 4.2 आѦጕ൨኱Ꮤ IR seeker а኱ྗ०ቸΟࠠ୏ૈᝏᄒᏔޑआѦጕ൨኱ᏔٰᇥǴૈӧѦϼޜຯᚆҞ኱ޑΟ ԭϦٚѦ[4]Ǵୀෳډቸၰ०ቸǴ٠ᒣ᛽рҞ኱ǴᙹۓǶआѦጕ൨኱Ꮤޑচ౛ࢂ ௗԏቸၰ०ቸޑ௢຾Ꮤ܈ࢂᆶޜ਻ነᔔ೷ԋޑ዗܌ණวрޑआѦጕǴளډΒᆢޑ आѦጕቹႽǴӆճҔቹႽೀ౛ޑБԄ׳຾΋؁ளډҞ኱ӧआѦጕ൨኱ᏔޑБՏǶ კ4.3 आѦጕ൨኱ᏔᆶҞ኱ӧޜ໔ύޑՏ࿼ҢཀკǴځύX_Bࣁᝏᄒ०ቸޑᡏ০ ኱ǴX_Lࣁᝏᄒ०ቸޑᅲྗጕ০኱Ǵq q₁, ₂ϩձࣁᅲྗጕ׫ቹډᡏ০኱΢ޑНѳف ᆶࠟޔفǶ

җܭ኱ྗ०ቸΟࠠޑआѦጕ൨኱Ꮤёຎጄൎ(Field of ViewǴFOV)΢ΠѰѓ εऊ΋ࡋǴӧआѦጕ൨኱ᏔᙹۓҞ኱ϐࡕǴᝏᄒ०ቸޑ࠮ᄊ௓ڋѸ໪٬ᅲྗጕᆶ ቸᡏϐ໔ޑفࡋλܭआѦጕޑёຎጄൎǴᝏᄒ०ቸωૈཛྷ઩ளډҞ኱ޑБՏǴΞ आѦጕ൨኱Ꮤޑёຎጄൎࢂа256Ø256ޑႽનѐ߄ҢǴ܌а΋ঁႽનϐ໔ޑفࡋ εऊࢂ68͔rad(= / 256 68 10 5 180

S

 u rad)Ƕ ӧךॺޑಖᆄኳᔕύǴଷ೛ᝏᄒ०ቸޑ࠮ᄊςڙ௓ڋǴૈஒᝏᄒ०ቸޑ࠮ᄊ ௓ڋӧआѦጕ൨኱ᏔीᆉрޑҞ኱БՏǴΨ൩ࢂआѦጕ൨኱ᏔёຎጄൎޑύЈՏ ࿼ǴջᅲྗጕᆶቸᡏБӛख़ӝǶჴሞ΢आѦጕ൨኱Ꮤޑೀ౛ࢂаႽનޑБԄǴΨ ൩ࢂӧύЈᗺՏ࿼΢ΠѰѓѝाόຬၸ0.5ঁႽન೿཮೏ղᘐࣁӧύЈՏ࿼Ǵ཮ ԖλفࡋޑᇤৡǴӵკ4.4܌ҢǴ

კ4.4 ੿ჴᅲྗጕᆶआѦጕ൨኱Ꮤϐ໔ޑҢཀკǴ੿ჴޑᅲྗጕӧआՅ຀ጕБ༧ ύޑҺՖՏ࿼Ǵ೿཮೏ղᘐࣁӧύЈޑՏ࿼Ƕ 㵝Αඔॊ೭ঁλفࡋޑᇤৡǴךॺճҔआѦጕ൨኱ᏔޑቸᡏБӛ(฻ӕܭᅲྗጕ) у΢ٿঁᇤৡѐ߄ҢǺଷ೛ᝏᄒ०ቸӧS_I০኱ޑՏ࿼r_mǴҞ኱ӧS_I০኱ޑՏ࿼ t rǴ߾࣬ჹՏ࿼r r_tr_m

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x y z

@

TǴճҔS_IᙯඤԋS_B BI T b ˜ r r (4.5) ځύT_BIࣁᙯඤંତǴவS_IᙯඤԋS_BǴӧԜᅲྗጕᆶቸᡏБӛख़ӝǶ߾ 1 2 0 ˆ_{b b b} q q ª º « »  _{« »} « » ¬ ¼ r r r (4.6) ځύq q1, 2ࣁᐱҥ֡ϬϩѲܭ 6 6 34 10 , 34 10  ª u u º ¬ ¼ϐᒿᐒኧӈǶ ӆᙯӣS_IǴךॺ൩ёаளډ࿶ၸआѦጕ൨኱ᏔޑᇤৡኧᏢኳԄࣁ T BI ˆ T ˜ˆ_b r r (4.7) 4.3 ޜ਻ߔΚ&ख़Κ ε਻ஏࡋࢂᒿଯࡋቚуԶ෧ϿǴӧຯᚆӦ߄25Ϧٚޑଯޜ΢ε਻ஏࡋεऊѝ Ԗੇѳय़ޑ3%ǴচҁԖ΋ঁε਻ஏࡋεठޑඤᆉϦԄٮ०ᐒ฻०Չᡏኳᔕ٬ ҔǴՠךॺኳᔕޑଯࡋຬрԜϦԄޑӝ౛ጄൎǴܭࢂќ௦Ҕ[6]܌ۓޑ኱ྗε਻ ஏࡋ߄Ƕаၗ਑৤ࢗ၌ޑБԄǴӧٿ฽ၗ਑ϐ໔Ҕጕ܄ϣකݤٰीᆉځॶǴӵკ 4.5Ǵଷ೛ଯࡋAޜ਻ஏࡋ

U

1ǵଯࡋBޜ਻ஏࡋ

U

2Ǵ߾ଯࡋCޜ਻ஏࡋࣁ





1 2 1 C-A B-A

U

U



U



U

(4.8)

კ4.5 ጕ܄ϣකीᆉޜ਻ஏࡋޑҢཀკǶ ޜ਻ߔΚۓကࣁ 2 1 2 D

U

v ACD F (4.9) ځύF_Dࣁޜ਻ߔΚǴբҔӧೲࡋޑ࣬ϸБӛǴ

U

ࣁނᡏ྽ਔޑޜ਻ஏࡋǴv ࣁނ ᡏ྽ਔޑೲࡋǴAࣁௗ᝻य़ᑈǴC_Dࣁޜ਻ߔΚ߯ኧǶ ޜ਻ߔΚ߯ኧC_Dࣁ΋੝܄ڄኧǴ཮Ӣࣁ०ቸѦࠠǵ׷፦Ǵᆶޜ਻ௗ᝻ޑᄒ य़ᑈόӕԶԖ܌ׯᡂǴӢࣁךॺኳᔕޑଯࡋǴޜ਻ߔΚޑቹៜԖज़Ǵࡺךॺᙁϯ ीᆉǴኩۓC _D 0.4٠ଷ೛०ቸکҞ኱ޑௗ᝻य़ᑈࣁ༝׎Ƕ ӧޜ໔ύނᡏ܌ڙޑख़ΚуೲࡋٰԾܭख़ΚǴਥᏵФႥಃΒၮ୏ۓࡓǴӦ߄ а΢ޑނᡏ܌ڙޑख़Κࣁ[11]



e o



GMm F=mg= R +r ځύGࣁख़ΚதኧǴMࣁӦౚ፦ໆǴR_eࣁӦౚъ৩Ǵr_oࣁଯࡋǶ܌аךॺёаள ډख़Κуೲࡋࣁ





2 e GM R r_o g  բҔБӛࣁࡰӛӦЈǶ㵝ᙁϯीᆉǴךॺଷ೛ኳᔕޑਔং܌ڙޑख़Κуೲࡋࣣࣁ 9.80665 m/s2Ƕ

4.4 ०Չ௓ڋس಍ ྽०ቸௗԏډᏤЇуೲࡋڮзਔǴ཮Πڮз๏०Չ௓ڋس಍Ǵӆҗ०Չ௓ڋ س಍բҔౢғ܌ሡޑᏤЇуೲࡋǶӧύ೼ᏤЇ໘ࢤϷಖᆄᏤЇ໘ࢤǴ०Չ௓ڋس ಍֡ճҔ௢຾Ꮤٰౢғ܌ሡޑᏤЇуೲࡋǶ㵝Α૸ፕᏤЇࡓޑਏ౗Ǵךॺஒ०Չ ௓ڋس಍ᙁϯԋ኱ྗΒ໘س಍[1] 2 2 2 ( ) 2 n n n H s s s

Z

]Z

Z

  (4.10) ځύ

Z

_nࣁԾฅᓎ౗Ǵ

]

ࣁߔѭКǶӧךॺޑኳᔕύǴךॺڰۓ

]

1/ 2Ǵ߾

Z

_n/ 2

S

൩ࢂ०Չ௓ڋس಍ޑ3-dBᓎቨǴൂՏࣁHzǴس಍ޑ؁໘ᓎ౗ៜᔈό཮Ԗᛙᄊᇤ ৡǴЪovershootεऊѝԖ5%Ƕനࡕךॺׯᡂ

Z

_nѐ࣮०Չ௓ڋس಍ޑᓎቨჹᝏᄒ ၸำޑቹៜǶ

ಃϖകǵำԄೕჄаϷ୺Չ

ךॺճҔMATLAB7.1.0.246(R14)೬ᡏٰኗቪำԄǴЬำԄޑ೽ҽࢂճҔ MATLAB/simulinkޑБ༧კٰኗቪޑǴኳᔕޑ߃ۈୖኧ೛ۓаϷ่݀ᡉҢკ߾ࢂ Ҕm-fileޑБԄٰኗቪǶ ЬำԄޑ೽ҽǴӢࣁ०ቸԖࡐӭηس಍Ǵ܌аךॺ௦Ҕ่ᄬϯޑБԄǴஒ० ቸޑηس಍аኳಔޑБԄٰኗቪǴӳೀࣁБߡ૸ፕکКၨόӕኳಔϐ໔ჹܭ᏾ঁ ኳᔕ่݀ޑቹៜǴനࡕӆஒӚঁኳಔಔӝԋس಍Ƕ 5.1 ኳᔕБ༧კکБำԄ ךॺኳᔕϩԋύ೼کಖᆄٿঁ໘ࢤǴৡձӧܭᏤЇБԄǴ܌аЬाԖٿঁЬ ำԄǴځд०ቸޑηس಍ǴႽࢂޜ਻ߔΚᆶख़Κǵႜၲǵၮ୏БำԄ೿ࢂ࣬ӕޑǶ аΠךॺӃӈр࣬ӕޑኳಔǴ၁ಒޑኳᔕБ༧კୖྣߕᒵB 5.1.1 ၮ୏БำԄ(EOM) ҞޑǺЬाࢂஒуೲࡋᑈϩԋೲࡋǴೲࡋᑈϩԋՏ࿼ ᒡΕǺam_limitedࣁᏤЇࡓीᆉрٰӧS_I০኱ޑуೲࡋॶ Gravity_tǵ Gravity_mࣁҞ኱ᆶᝏᄒ०ቸޑख़Κуೲࡋ DragForce_tǵ DragForce_mࣁҞ኱ᆶᝏᄒ०ቸޑޜ਻ߔΚ܌೷ԋޑу ೲࡋ ᒡрǺV_tǵV_mࣁҞ኱ᆶᝏᄒ०ቸӧS_I০኱ޑೲࡋ _XtǵX_mǵX_rࣁҞ኱ǵᝏᄒ०ቸᆶႜၲӧS_I০኱ޑՏ࿼ БำԄǺ

>

@

limited T Gravity DragForce am Gravity DragForce omega (2) (1) 0 t t t m m m r r r t t m m r r    ˜  V V V X X X V X V X V       omegaࣁӦౚԾᙯفೲࡋ=7.29211 5 10 u rad/s 5.1.2 ႜၲ(radar4) ҞޑǺЬाࢂႜၲޑኧᏢኳԄǴीᆉႜၲໆෳޑՏ࿼ᆶೲࡋၗૻ ᒡΕǺV_tǵV_mࣁҞ኱ᆶᝏᄒ०ቸӧSI০኱ޑೲࡋ X_tǵX_mǵX_rࣁҞ኱ǵᝏᄒ०ቸᆶႜၲӧSI০኱ޑՏ࿼

randǵ velocityRand ࣁi.i.d.ଯථᒿᐒኧӈǴջ4.1.1࿯ޑu

ᒡрǺV_{t r,} ǵV_{m r,} ࣁ࿶ၸႜၲໆෳࡕǴҞ኱ᆶᝏᄒ०ቸӧS_I০኱ޑೲࡋ X_{t r,} ǵX_{m r,} ࣁ࿶ၸႜၲໆෳࡕǴҞ኱ᆶᝏᄒ०ቸӧS_I০኱ޑՏ࿼ БำԄǺ

>

@

T or o  r x y z X X X 1 1 2 2 tan tan o o y x z x y O \   § · ¨ ¸ © ¹ § · ¨ ¸ ¨ _ ¸ © ¹

 

 

angle angle rand 1 rand 2 or o or r

O

O

V

\

\

V

 ˜  ˜ , cos cos cos sin sin or or o r o or or or or \ O \ O \ ª º « »  _{« »} « » ¬ ¼ X X X V_{o r,} V_o

V

_velocity˜velocityRand ځύoࣁt܈m 5.1.3 ᕉნୖኧ(ENVI) ҞޑǺЬाࢂीᆉख़Κǵޜ਻ஏࡋǵᖂೲ ᒡΕǺV_tǵV_mࣁҞ኱ᆶᝏᄒ०ቸӧS_I০኱ޑೲࡋ _XtǵX_mࣁҞ኱ᆶᝏᄒ०ቸӧS_I০኱ޑՏ࿼ ᒡрǺ Gravity_tǵ Gravity_mࣁҞ኱ᆶᝏᄒ०ቸޑख़Κуೲࡋ

U

_tǵ

U

_mࣁҞ኱ᆶᝏᄒ०ቸޑޜ਻ஏࡋ SoundSpeed_tǵ SoundSpeed_mࣁҞ኱ᆶᝏᄒ०ቸޑᖂॣೲࡋ БำԄǺ Gravity_o 9.80665 o o  ˜ X X ځύoࣁt܈m 5.1.4 ޜ਻ߔΚ(Drag Force) ҞޑǺЬाࢂीᆉҞ኱ᆶ०ቸޑޜ਻ߔΚޑኧᏢኳԄ ᒡΕǺV_tǵV_mࣁҞ኱ᆶᝏᄒ०ቸӧS_I০኱ޑೲࡋ

U

_tǵ

U

_mࣁҞ኱ᆶᝏᄒ०ቸޑޜ਻ஏࡋ A ǵ A ࣁҞ኱ᆶᝏᄒ०ቸޑୖԵय़ᑈ

SoundSpeed_tǵ SoundSpeed_mࣁҞ኱ᆶᝏᄒ०ቸޑޜ਻ೲࡋ ᒡрǺ DragForce_tǵ DragForce_mࣁҞ኱ᆶᝏᄒ०ቸޑޜ਻ߔΚ܌೷ԋޑу ೲࡋ БำԄǺ DragForce_o 1 _o A 2 / 2 o o o o o m

U

˜ ˜ _˜¨§_¨ ·¸_¸ © ¹ V V V ځύoࣁt܈m 5.1.5 ଶЗచҹ(Boolean) ҞޑǺЬाࢂीᆉՖਔଶЗኳᔕޑచҹ ᒡΕǺV_tǵV_mࣁҞ኱ᆶᝏᄒ०ቸӧS_I০኱ޑೲࡋ t X ǵX_mࣁҞ኱ᆶᝏᄒ०ቸӧS_I০኱ޑՏ࿼ m m ࣁᝏᄒ०ቸޑ፦ໆ ᒡрǺ r ࣁ࣬ჹՏ࿼ޑ๊ჹॶ STOPࣁኳᔕଶЗ БำԄǺ r X_tX_m V V_t V_m ѝा T 0 ! V r ܈m_m ܈0 r  r_relative Ǵ߾STOPࣁ੿ǴଶЗኳᔕ 5.1.6 ځдीᆉ(AUX1) ҞޑǺЬाࢂीᆉଯࡋکS_N০኱ޑ่݀ ᒡΕǺV ǵ_t V ࣁҞ኱ᆶᝏᄒ०ቸӧm SI০኱ޑೲࡋ _{X ǵt X ǵm X ࣁҞ኱ǵᝏᄒ०ቸᆶႜၲӧr} S_I০኱ޑՏ࿼ ᒡрǺV ǵ_t,N Vm,NࣁҞ኱ᆶᝏᄒ०ቸӧSN০኱ޑೲࡋ X_t,NǵXm,NࣁҞ኱ᆶᝏᄒ०ቸӧSN০኱ޑՏ࿼ H_tǵ H_mࣁҞ኱ᆶᝏᄒ०ቸޑଯࡋ БำԄǺ H_o X_o RA

>

@

T or o  r x y z X X X 1 tan o y_x

O

 § · ¨ ¸ © ¹

1 2 2 tan o z x y \  §_¨ ·_¸ ¨ _ ¸ © ¹

















N N N N NI N N N N

cos / 2 0 sin / 2 cos sin 0

0 1 0 sin cos 0 sin / 2 0 cos / 2 0 0 1

\

S

\

S

O

O

O

O

\

S

\

S

ª   º ª º « » «_{˜ } » « » « » «   » «_¬ »_¼ ¬ ¼ T X_o,N T_NI˜X_or ځύoࣁt܈mǴRAࣁӦౚѳ֡ъ৩ 5.1.7 س಍ᒡр(Output) ҞޑǺЬाࢂᒡрኳᔕ่݀ ӆӈрόӕޑኳಔ 5.1.8 ᏤЇ௓ڋ1(CNTL1) ҞޑǺЬाࢂύ೼ᏤЇуೲࡋޑीᆉکᝏᄒ०ቸޑ፦ໆ ᒡΕǺV ǵ_{t r,} Vm r, ࣁ࿶ၸႜၲໆෳࡕǴҞ኱ᆶᝏᄒ०ቸӧSI০኱ޑೲࡋ _{X ǵt r, Xm r,} ࣁ࿶ၸႜၲໆෳࡕǴҞ኱ᆶᝏᄒ०ቸӧS_I০኱ޑՏ࿼ nࣁᏤЇதኧǴn=5 am_limitedࣁᏤЇࡓीᆉрٰӧS_I০኱ޑуೲࡋॶ m_mࣁᝏᄒ०ቸޑ፦ໆ ᒡрǺam_limitedࣁᏤЇࡓीᆉрٰӧS_I০኱ޑуೲࡋॶ amb_limitedࣁᏤЇࡓीᆉрٰӧS_B০኱ޑуೲࡋॶ m_mࣁᝏᄒ०ቸޑ፦ໆ БำԄǺ , , t r m r r X X V V_{t r,} V_{m r,} am=T



_{r V Ǵځύ},



T



_{r V ࣁTPNᏤЇࡓ},



amb T_BI˜am

amb_limited ambmax amb ­ ® ¯ Ǵ if if max max amb amb amb amb t  am T ˜amb

limited 0 sp amb g I m m m m ˜ 5.1.9 ᏤЇ௓ڋ2(CNTL2) ҞޑǺЬाࢂಖᆄᏤЇуೲࡋޑीᆉک०ቸޑ፦ໆ ᒡΕǺV ǵ_{t r,} Vm r, ࣁ࿶ၸႜၲໆෳࡕǴҞ኱ᆶᝏᄒ०ቸӧSI০኱ޑೲࡋ X ǵ_t X ࣁҞ኱ᆶᝏᄒ०ቸӧ_m SI০኱ޑՏ࿼ nࣁᏤЇதኧǴn=5 am_limitedࣁᏤЇࡓीᆉрٰӧS_I০኱ޑуೲࡋॶ m_mࣁᝏᄒ०ቸޑ፦ໆ uniRandࣁᐱҥ֡ϬϩѲܭ 6 6 34 10 , 34 10  ª u u º ¬ ¼ ϐᒿᐒኧӈǴ ջ4.2࿯ޑq q1, 2 ᒡрǺam_limitedࣁᏤЇࡓीᆉрٰӧS_I০኱ޑуೲࡋॶ amb_limitedࣁᏤЇࡓीᆉрٰӧS_B০኱ޑуೲࡋॶ m_mࣁᝏᄒ०ቸޑ፦ໆ БำԄǺ , , t r m r r X X r_b T_BI˜r rˆ_b r_buniRand rˆ T_BIT ˜rˆ_b V V_{t r,} V_{m r,} am=T



_{r V Ǵځύ}ˆ,



T



_{r V ࣁTPNᏤЇࡓ}ˆ,



amb T_BI˜am

amb_limited ambmax amb ­ ® ¯ Ǵ if if max max amb amb amb amb t 

am_limited T_BI˜amb_limited limited 0 sp amb g I m m m m ˜

5.2 ୖኧϯኳᔕࢬำ 㵝ΑКၨόӕୖኧჹᝏᄒၸำޑቹៜǴךॺ೛ीୖኧϯޑኳᔕࢬำǴڰۓ܌ ԖୖኧǴଞჹࢌঁୖኧኧॶǴѐາኳᔕǶӕኬޑୖኧǴךॺׯᡂଯථᒿᐒኧӈޑ ᅿη(seed)ѐາኳᔕ΋ԭԛǴ؃ளѳ่֡݀ǶϐࡕӆׯᡂୖኧޑኧॶǴख़ཥӆາ ኳᔕ΋ԭԛǴளډќѦޑ่݀ǴำԄЬाࢬำკӵკ5.1ǵკ5.2 კ5.1 Ьाࢬำკ

კ5.2 ύ೼ᏤЇᆶಖᆄᏤЇࢬำკ 5.3 നλᇤৡຯᚆ(Miss Distance) ךॺۓကനλᇤৡຯᚆ(Miss Distance)ࣁᝏᄒ०ቸᆶҞ኱ӧᝏᄒၸำύന߈ ޑຯᚆ଺ࣁךॺኳᔕޑ่݀Ƕҗܭךॺޑኳᔕ࣬ჹೲࡋଯၲ؂ࣾΟϦٚǴགྷाၲ ԋനλᇤৡຯᚆӧ50ϦϩϣޑᆒࡋǴӧኳᔕਔ㵝؃ᆒዴǴࡺӧMATLAB/simulink ޑှБำޑ೽ҽ௦Ҕᡂኧޑ׎ԄǴ೛ۓኳᔕޑଶЗచҹࣁ࣬ჹՏ࿼ޑ๊ჹॶλܭ 50ϦϩǴ܈ࢂ࣬ჹຯᚆቚуΑǴୖྣ5.1.5࿯Ǵനࡕीᆉрٰനௗ߈ޑၗ਑Ǵёૈ όࢂ᏾ঁᝏᄒၸำύനௗ߈ޑਔংǴࢂวғӧനௗ߈ޑਔ໔ᗺϐ߻܈ࢂϐࡕǴӵ კ5.3Ǵ܌аךॺ೸ၸനλѳБݤޑϦԄѐीᆉрനλᇤৡຯᚆǶ კ5.3 നλᇤৡຯᚆ(วғӧt_f)ᆶኳᔕനௗ߈ᗺ(วғӧt_k܈t_k1)Ңཀკ

ଷ೛ኳᔕനࡕௗ߈ޑ࣬ჹՏ࿼ࣁr

 

t_k Ǵ࣬ჹೲࡋࣁV

 

t_k Ǵ߾วғനλᇤৡ ຯᚆޑ࣬ჹຯᚆࣁ

 

tf

 

tk 

 

tk 't r r V (5.1) ځύ' t t_f  Ƕt_k з ( ) 0r t _f ǴךॺှV

 

t_k ' t r

 

t_k ளډ

 

 



T



1

   

T k k k k t t t  t t '  V V V r (5.2) ӆжΕ(5.1)ԄǴ߾ёளډวғനλᇤৡຯᚆޑਔ໔ᗺࣁ f k t t  ' t (5.4) നλᇤৡຯᚆࣁ

 

tf

 

tk 

 

tk 't r r V (5.5) 5.4 ߃ۈૐӛᇤৡ(Οࡋޜ໔) வ3.2࿯ךॺۓကрΒᆢ౛གྷᝏᄒΟف׎ᆶ߃ۈૐӛᇤৡǴ౜ӧךॺाۓက Οࡋޜ໔ޑ߃ۈૐӛᇤৡǶଷ೛Οᆢ౛གྷᝏᄒΟف׎Ǵӵკ5.4Ǵவ(3.5)Ԅёޕ

sin sin sin

t E m L i L V V V (5.6) ځύ T 1 cos t t

E

 §  · ¨ ¸ ¨ _˜ ¸ © ¹ V r V r Ǵёаளډ 1 sin sin t m L  §

E

· ¨ ¸ ¨ ¸ © ¹ V V (5.7) җܭV ǵ_t V کҞ኱ᆶᝏᄒ०ቸϐ໔ޑຎጕ(ջ࣬ჹՏ࿼_i r)ӧӕ΋ѳय़΢ǴԜѳय़ ൩ࢂΟᆢ౛གྷᝏᄒΟف׎܌ӧѳय़ǴҔٿঁӛໆѐ߄ҢǴϩձࣁ r ᆶr ǴځύA



T



t t A _ r r V V r r Ǵ߾ךॺёаளډֹԋΟᆢ౛གྷᝏᄒΟف׎ന٫ᝏᄒ०ቸޑೲ ࡋࣁ sin cos i m L m L A A § · _{§ ·} ¨ ¸ ˜  _{˜¨ ¸} ¨ ¸ ¨ ¸ _{© ¹} © ¹ r r V V V r r (5.8)

ᗨฅ V_m V Ǵՠࢂჴሞ΢ᝏᄒ०ቸޑೲࡋ_i V ό΋ۓ฻ܭ_m V Ǵଷ೛_i

>

@

T 1 2 3 m i v v v '  V V V Ǵ߾ۓကΟࡋޜ໔ޑ߃ۈૐӛᇤৡ HE_TࣁV ӧ_' SI০኱ ΢ޑНѳفǴ HE_\ ࣁV ӧ_' SI০኱΢ޑࠟޔف 1 2 1 HE tan v v T  § · ¨ ¸ © ¹ (5.9) 1 3 2 2 1 2 HE tan v v v \  §_¨ ·_¸ ¨ _ ¸ © ¹ (5.10) კ5.4 Οࡋޜ໔ޑ߃ۈૐӛᇤৡҢཀკ

5.5 ႟Κᇤৡ(Zero Effort Miss)

႟Κᇤৡ(ZEM)൩ࢂᝏᄒ०ቸᆶҞ኱ӧؒԖѦΚբҔΠǴന᎞߈ޑຯᚆǶך ॺ٬Ҕ႟Κᇤৡٰ߄Ң΋໒ۈѸ໪অ҅ޑᇤৡໆԖӭϿǴΨ൩ࢂᝏᄒ०ቸ࿶ၸᏤ ЇуೲࡋᏤЇϐࡕǴऩૈஒ႟Κᇤৡຯᚆ੃ନډ50Ϧϩϣ߾߄ҢᝏᄒԋфǶ ךॺӧ؃႟ΚᇤৡਔǴճҔќѦޑMATLAB/simulinkБ༧კǴޔௗжΕҞ኱ ᆶᝏᄒ०ቸޑ߃ۈՏ࿼کೲࡋǴ٬ځ໻ڙख़Κᆶޜ਻ߔΚቹៜǴѐኳᔕҞ኱ᆶᝏ ᄒ०ቸޑനλᇤৡຯᚆǴ߾ኳᔕрٰޑനλᇤৡຯᚆ൩ࢂ܌؃ޑ႟ΚᇤৡǶ 5.6 ᄒఠ౗(Kill Probability) ךॺۓကᄒఠ౗ࣁԋфֹԋᝏᄒԛኧନаᕴኳᔕԛኧޑԭϩКǴٯӵᕴኳᔕԛኧ ࣁ΋ԭԛǴځύԖΐΜϖԛԋфֹԋᝏᄒǴ߾߄Ңᄒఠ౗ࣁ 95%Ƕᄒఠ౗ࢂࣁΑ Бߡ߄Ңᝏᄒޑ่݀Ƕ

ಃϤകǵୖኧϯኳᔕϷ่݀

ҁക૸ፕୖኧϯኳᔕаϷ่݀Ǵӧୖኧޑᒧ᏷Бय़Ǵךॺ׆ఈޕၰႜၲޑՏ ࿼ໆෳᇤৡǵೲࡋໆෳᇤৡǵуΕޑଯථᒿᐒኧӈ܌೯ၸޑᘠݢᏔǵआѦጕ൨኱ ᏔᙹۓຯᚆаϷ०Չ௓ڋس಍ޑᓎቨ฻ჹനλᇤৡຯᚆޑቹៜǶӧ଺ୖኧϯኳᔕ ਔǴךॺ΋ԛׯᡂ΋ঁୖኧǴځᎩޑόᡂǴ࣮ځቹៜǴќѦךॺΞϩԋٿঁঁਢ ѐ଺૸ፕǴϩձࣁঁਢ΋ᆶঁਢΒǴৡձӧܭҞ኱ᆶᝏᄒ०ቸޑ߃ۈՏ࿼ᆶೲࡋ όӕǴځдᕉნ೛ۓ೿࣬ӕǶ ځдޑᕉნଷ೛ӵΠǺ (i) ႜၲઠՏܭܿ࿶120.9990306ࡋǵчጎ24.79964167ࡋ(ཥԮѱࡌф୯λ)Ƕ (ii) Ӧౚъ৩ࣁ6367474.844 mǶ (iii) ޜ਻ߔΚதኧC _D 0.4Ƕ (iv) ᏤЇதኧN Ƕ5 (v) Ҟ኱ޑ፦ໆm _t 500 kgǴୖԵय़ᑈ 2 A_t ˜

S

1 2 m Ƕ (vi) ᝏᄒ०ቸޑ፦ໆm _t 30 kgǴୖԵय़ᑈA_m ˜

S



0.5



2 _m2_{Ǵౢғޑനε} уೲࡋ(ӧSB০኱)ࣁ1.5g=14.7 2 m/s Ƕ 6.1 ঁਢ΋ Ҟ኱ᆶᝏᄒ०ቸޑ߃ۈ೛ۓӵΠǺ (i) Ҟ኱߃ۈՏ࿼ӧS_N০኱ࣁ (472, -216, -75) kmǶ (ii) ᝏᄒ०ቸ߃ۈՏ࿼ӧS_N০኱ࣁ (28, 21, -45) kmǶ (iii) Ҟ኱߃ۈೲࡋӧS_N০኱ࣁ (-1492, 1365, -1125) m/sǶ (iv) ᝏᄒ०ቸ߃ۈೲࡋӧS_N০኱ࣁ (1592, -31, -1077)m/sǶ (v) ߃ۈૐӛᇤৡ HE_I 10q ǵ HE_T 10q Ƕ (vi) ႟Κᇤৡ ZEM=51.13 kmǶ 6.1.1 ౛གྷރᄊ ౛གྷރᄊࢂךॺҔٰ଺КၨޑǴଷ೛ᝏᄒ०ቸޑ௢຾ᏔࢂֹऍޑǴջ०Չ௓ ڋس಍ࣁ౛གྷ(H s )ǴаΟᆢTPNᏤЇࡓीᆉޑуೲࡋѐ଺ᏤЇǴЪႜၲᆶ

 

1 आѦጕ൨኱ᏔόԵቾᇤৡǶ ኳᔕ่݀ӵკ6.1ǵკ6.2܌ҢǶ

1. ኳᔕ०Չޑᕴਔ໔t_{time to go } |150secǶ 2. നλᇤৡຯᚆMiss Distance 0 mǶ 3. ܌ሡനεуೲࡋ(ӧS_B০኱)εऊࢂ11 2 m/s ࣬྽ܭ1gǶ კ6.1 ߄Ңঁਢ΋౛གྷރᄊӧޜ໔ύޑၮ୏ॉၞ(ӧS_N০኱)ǴځύᙔՅж߄ᝏᄒ ०ቸǴआՅж߄Ҟ኱Ƕ კ6.2 ߄Ңঁਢ΋౛གྷރᄊޑᏤЇуೲࡋ(ӧSB০኱)

6.1.2 ႜၲԖՏ࿼ᇤৡԶؒԖೲࡋᇤৡ ךॺଷ೛ႜၲӧՏ࿼ޑໆෳ΢ԖᇤৡǴԶӧೲࡋޑໆෳ΢ؒԖᇤৡǶךॺ૸ ፕՏ࿼ᘠݢᏔޑߏࡋ(k)ǵՏ࿼኱ྗৡελ(

V

_\ ܈

V

_O)ǵ०Չ௓ڋس಍ޑᓎቨ(

Z

_n)ǵ ᙹۓຯᚆ(lock-on range)฻ୖኧჹᝏᄒၸำޑቹៜǶ 1. ׯᡂՏ࿼ᘠݢᏔޑߏࡋ(k)ǴڰۓՏ࿼኱ྗৡελ( ₁₀ 4 \ O V V  _{rad)ǵ०Չ௓} ڋس಍ޑᓎቨ(

Z

_n 10Hz)ǵᙹۓຯᚆ=100 kmǴ߾ኳᔕ่݀ӵ߄6.1܌ҢǶ

k ZEM (m) Miss Distance (m) Kill Probability

1 28.2469 0.0011 100% 2 28.1796 0.0011 100% 3 28.1270 0.0011 100% 4 28.0411 0.0011 100% 5 27.9070 0.0011 100% ߄6.1 ׯᡂՏ࿼ᘠݢᏔޑߏࡋ(k)ǴڰۓځдୖኧǶ Տ࿼ᘠݢᏔޑߏࡋ(k)ຫߏж߄уډՏ࿼ޑᇤৡϐ໔ޑ࣬ᜢ܄ຫεǴᡂ୏ຫ ѳ጗ǴԖճܭ෧λಖᆄᏤЇ߻ޑ႟Κᇤৡ(ZEM)Ǵӵკ6.3ǵკ6.4ǵკ6.5܌ҢǶ 2. ׯᡂՏ࿼኱ྗৡελ(

V

_\

V

_O)ǴڰۓՏ࿼ᘠݢᏔޑߏࡋ(k=5)ǵ०Չ௓ڋس಍ ޑᓎቨ(

Z

_n 10Hz)ǵᙹۓຯᚆ=100 kmǴ߾ኳᔕ่݀ӵ߄6.2܌ҢǶ \ O

V

V

(rad) ZEM (m) Miss Distance (m) Kill Probability

0.0001 27.9070 0.0011 100% 0.0003 36.4448 0.0011 100% 0.0005 48.9222 0.0011 100% 0.0007 63.3376 0.0011 100% 0.0010 86.5259 0.0011 100% ߄6.2 ׯᡂՏ࿼኱ྗৡελ(

V

_\

V

_O)ǴڰۓځдୖኧǶ Տ࿼኱ྗৡελຫλǴ߄ҢႜၲໆෳՏ࿼ຫྗዴǴԖճܭ෧λಖᆄᏤЇ߻ޑ ႟Κᇤৡ(ZEM)Ƕ

3. ׯᡂ०Չ௓ڋس಍ޑᓎቨ(

Z

_n)ǴڰۓՏ࿼኱ྗৡελ( 4 10 \ O V V  rad)ǵՏ ࿼ᘠݢᏔޑߏࡋ(k=5)ǵᙹۓຯᚆ=100 kmǴ߾ኳᔕ่݀ӵ߄6.3܌ҢǶ n

Z

(Hz) ZEM (m) Miss Distance (m) Kill Probability

1 26.6551 0.0099 100% 3 27.5794 0.0033 100% 5 27.7300 0.0021 100% 10 27.9070 0.0011 100% 20 28.0190 0.0006 100% ߄6.3 ׯᡂ०Չ௓ڋس಍ޑᓎቨ(

Z

_n)ǴڰۓځдୖኧǶ ०Չ௓ڋس಍ޑᓎቨຫεǴ߄Ң኱ྗΒ໘ޑᓎ౗ៜᔈຫזǴຫזၲԋ܌ሡޑ ᏤЇуೲࡋǴԖճܭ෧λനλᇤৡຯᚆǶ 4. ׯᡂᙹۓຯᚆǴڰۓ०Չ௓ڋس಍ޑᓎቨ(

Z

_n 10Hz)ǵՏ࿼኱ྗৡελ (V_\ V_O 104 rad)ǵՏ࿼ᘠݢᏔޑߏࡋ(k=5)Ǵ߾ኳᔕ่݀ӵ߄6.4܌ҢǶ

ᙹۓຯᚆ ZEM (m) Miss Distance (m) Kill Probability

100 27.9070 0.0011 100% 50 12.1991 0.0011 100% 30 12.4047 0.0011 100% 20 11.7011 0.0011 100% 10 13.1547 0.0011 100% ߄6.4 ׯᡂᙹۓຯᚆǴڰۓځдୖኧǶ ᙹۓຯᚆჹܭനλᇤৡຯᚆޑᡂϯόܴᡉǴЬाޑচӢӧܭଷ೛ޑҞ኱ࢂឦ ܭԾҗပᡏރᄊǴՠࢂჹܭಖᆄᏤЇ߻ޑ႟ΚᇤৡԖቹៜǴҗܭᙹۓຯᚆຫ߈Ǵ εठ΢ಖᆄᏤЇ߻ޑ႟ΚᇤৡΨຫλǶ

კ6.3 ᝏᄒ०ቸޑуೲࡋ(ӧS_B০኱)ҢཀკǴځύᙔՅჴጕࣁ౛གྷޑރᄊǴआՅ ϷણआՅ຀ጕǴឦܭঁਢ΋ଷ೛ႜၲԖՏ࿼ᇤৡؒԖೲࡋᇤৡ(k=5ǵ 4 10 \ O V V  radǵ

Z

_n 10Hzǵᙹۓຯᚆ=100km)ޑ௃ݩǶ კ6.4 όӕޑkॶӧύ೼໘ࢤ੿ჴ࣬ჹՏ࿼ޑᇤৡ(ӧS_I০኱)ϐ໔ޑᜢ߯Ǵёа࣮ рkॶຫεǴ߾ᇤৡԔጕຫᖿܭ጗کǴឦܭঁਢ΋ଷ೛ႜၲԖՏ࿼ᇤৡؒԖೲࡋ

კ6.5 όӕޑkॶӧಖᆄ໘ࢤ੿ჴ࣬ჹՏ࿼ޑᇤৡ(ӧS_I০኱)ϐ໔ޑᜢ߯Ǵҗܭಖ ᆄ໘ࢤׯҗआѦጕ൨኱Ꮤගٮ࣬ჹՏ࿼ޑၗૻǴ܌аkॶόቹៜډಖᆄ໘ࢤޑ࣬ ჹՏ࿼ᇤৡǴᆶკ6.6 ύ೼໘ࢤޑ࣬ჹՏ࿼ᇤৡКၨǴआѦጕ൨኱ᏔޑᇤৡКၨ λǴឦܭঁਢ΋ଷ೛ႜၲԖՏ࿼ᇤৡؒԖೲࡋᇤৡ( 4 10 \ O V V  radǵ 10 n

Z

Hzǵᙹۓຯᚆ=100km)Ƕ

6.1.3 ႜၲԖՏ࿼ᇤৡΨԖೲࡋᇤৡ ךॺଷ೛ႜၲӧՏ࿼کೲࡋޑໆෳ΢ԖᇤৡǶךॺ૸ፕೲࡋᚇૻᘠݢᏔޑߏ ࡋ(n)ǵೲࡋ኱ྗৡελ(

V

_v)ǵ०Չ௓ڋس಍ޑᓎቨ(

Z

_n)ǵᙹۓຯᚆ(lock-on range) ฻ୖኧჹᝏᄒၸำޑቹៜǶ 1. ׯᡂೲࡋ኱ྗৡελ(

V

_v)ǴڰۓՏ࿼ᘠݢᏔޑߏࡋ(k=5)ǵՏ࿼኱ྗৡελ ( ₁₀ 4 \ O V V  _{rad)ǵೲࡋᘠݢᏔޑߏࡋ(n=5)ǵ०Չ௓ڋس಍ޑᓎቨ} (

Z

_n 10Hz)ǵᙹۓຯᚆ=100 kmǴ߾ኳᔕ่݀ӵ߄6.5܌ҢǶ v

V

(m/s) ZEM (m) Miss Distance (m) Kill Probability 0.5 28.8517 0.0130 100% 1 31.2358 0.0422 100% 2 41.3940 0.1575 96% 5 84.8599 1.0116 37% 10 165.2979 4.0521 10% ߄6.5 ׯᡂೲࡋ኱ྗৡελ(

V

_v)ǴڰۓځдୖኧǶ ೲࡋ኱ྗৡελຫλǴ߄ҢႜၲӧೲࡋޑໆෳຫྗዴǴԖճܭ෧ϿಖᆄᏤЇ ߻ޑ႟ΚᇤৡکനλᇤৡຯᚆǴவኳᔕޑ่݀ё࣮р

V

_vd Ǵᄒఠ౗ࢂ100%Ƕ1 2. ׯᡂೲࡋᘠݢᏔޑߏࡋ(n)ǴڰۓՏ࿼ᘠݢᏔޑߏࡋ(k=5)ǵՏ࿼኱ྗৡελ ( ₁₀ 4 \ O V V  _{rad)ǵೲࡋ኱ྗৡελ( 2} v

V

m/s)ǵ०Չ௓ڋس಍ޑᓎቨ (

Z

_n 10Hz)ǵᙹۓຯᚆ=100 kmǴ߾ኳᔕ่݀ӵ߄6.6܌ҢǶ

n ZEM (m) Miss Distance (m) Kill Probability

1 43.4156 0.6191 63% 2 43.1910 0.3416 77% 3 42.6952 0.2333 89% 4 42.0854 0.1773 94% 5 41.3940 0.1575 96% ߄6.6 ׯᡂೲࡋᘠݢᏔޑߏࡋ(n)ǴڰۓځдୖኧǶ ೲࡋᘠݢᏔޑߏࡋ(n)ຫߏǴж߄уډೲࡋ΢ޑᇤৡϐ໔ޑ࣬ᜢ܄ຫεǴᡂ ୏ຫѳ጗ǴԖճܭ෧λനλᇤৡຯᚆǴӵკ6.6ǵკ6.7܌ҢǶ

3. ׯᡂ०Չ௓ڋس಍ޑᓎቨ(

Z

_n)ǴڰۓՏ࿼ᘠݢᏔޑߏࡋ(k=5)ǵՏ࿼኱ྗৡε λ( 4 10 \ O V V  rad)ǵೲࡋᘠݢᏔޑߏࡋ(n=5)ǵೲࡋ኱ྗৡελ (

V

_v m/s)ǵᙹۓຯᚆ=100 kmǴ߾ኳᔕ่݀ӵ߄6.7܌ҢǶ2 n

Z

(Hz) ZEM (m) Miss Distance (m) Kill Probability

1 40.8268 0.4144 69% 3 41.2239 0.1952 96% 5 41.3022 0.1724 96% 10 41.3940 0.1575 96% 20 41.4273 0.1516 96% ߄6.7 ׯᡂ०Չ௓ڋس಍ޑᓎቨ(

Z

_n)ǴڰۓځдୖኧǶ ०Չ௓ڋس಍ޑᓎቨຫεǴ߄Ң኱ྗΒ໘ޑᓎ౗ៜᔈຫזǴຫזၲԋ܌ሡޑ ᏤЇуೲࡋǴԖճܭ෧λനλᇤৡຯᚆǶ 4. ׯᡂᙹۓຯᚆǴڰۓՏ࿼ᘠݢᏔޑߏࡋ(k=5)ǵՏ࿼኱ྗৡελ (V_\ V_O 104 rad)ǵೲࡋᘠݢᏔޑߏࡋ(n=5)ǵೲࡋ኱ྗৡελ(

V

_v m/s)ǵ2 ०Չ௓ڋس಍ޑᓎቨ(

Z

_n 10Hz)Ǵ߾ኳᔕ่݀ӵ߄6.8܌ҢǶ

ᙹۓຯᚆ(km) ZEM (m) Miss Distance (m) Kill Probability

100 41.3940 0.1575 96% 50 23.9241 0.1575 96% 30 17.7541 0.1575 96% 20 14.8926 0.1575 96% 10 13.6382 0.1575 96% ߄6.8 ׯᡂᙹۓຯᚆǴڰۓځдୖኧǶ ᙹۓຯᚆຫλǴ߾Ԗճܭ෧λಖᆄᏤЇ߻ޑ႟ΚᇤৡǶ

კ6.6 ᝏᄒ०ቸޑуೲࡋ(ӧS_B০኱)ҢཀკǴځύᙔՅჴጕࣁ౛གྷޑރᄊǴआՅ ϷણआՅ຀ጕǴឦܭঁਢ΋ଷ೛ႜၲԖՏ࿼کೲࡋᇤৡ(k=5ǵ 4 10 \ O V V  _radǵ n=5ǵ

V

_v m/sǵ2

Z

_n 10Hzǵᙹۓຯᚆ=100km)ޑ௃ݩǶ კ6.7 όӕnॶᆶ࣬ჹೲࡋᇤৡ(ӧSI০኱)ϐ໔ޑᜢ߯ǴҗܭᏤЇࡓीᆉޑ࣬ჹೲ ࡋӧύ೼ᆶಖᆄ೿ࢂႜၲໆෳޑǴ܌аύ೼ᆶಖᆄ೿ৡόӭǴnॶຫε߾ᇤৡԔ ጕຫᖿܭѳ጗Ǵឦܭঁਢ΋ଷ೛ႜၲԖՏ࿼کೲࡋᇤৡ(k=5ǵ 4 10 \ O V V  _radǵ 2

V

m/sǵ

Z

10Hzǵᙹۓຯᚆ=100km)ޑ௃ݩǶ

6.2 ঁਢΒ Ҟ኱ᆶᝏᄒ०ቸޑ߃ۈ೛ۓӵΠǺ (i) Ҟ኱߃ۈՏ࿼ӧS_N০኱ࣁ (326, -84, -139) kmǶ (ii) ᝏᄒ०ቸ߃ۈՏ࿼ӧS_N০኱ࣁ (28, 21, -45) kmǶ (iii) Ҟ኱߃ۈೲࡋӧS_N০኱ࣁ (-1549, 1386, -219) m/sǶ (iv) ᝏᄒ०ቸ߃ۈೲࡋӧS_N০኱ࣁ (1753, -27, -788) m/sǶ (v) ߃ۈૐӛᇤৡ HE_I 17.5q ǵ HE_T 17.5q Ƕ (vi) ႟Κᇤৡ ZEM=51.28 kmǶ 6.2.1 ႜၲԖՏ࿼ᇤৡΨԖೲࡋᇤৡ ךॺଷ೛ႜၲӧՏ࿼کೲࡋޑໆෳ΢ԖᇤৡǴךॺ૸ፕೲࡋᚇૻᘠݢᏔޑߏ ࡋ(n)ǵೲࡋ኱ྗৡελ(

V

_v)ჹᝏᄒၸำޑቹៜǶ 1. ׯᡂೲࡋ኱ྗৡελ(

V

_v)ǴڰۓՏ࿼ᘠݢᏔޑߏࡋ(k=5)ǵՏ࿼኱ྗৡελ (V_\ V_O 104_{rad)ǵೲࡋᘠݢᏔޑߏࡋ(n=5)ǵ०Չ௓ڋس಍ޑᓎቨ( 10} n

Z

Hz)ǵ ᙹۓຯᚆ=100 kmǴ߾ኳᔕ่݀ӵ߄6.9܌ҢǶ v

V

(m/s) ZEM (m) Miss Distance (m) Kill Probability 0.5 200.7097 0.0140 100% 1 201.6301 0.0449 100% 2 203.8948 0.1624 97% 5 214.8619 1.0015 35% 10 249.7700 3.9399 9% ߄6.9 ׯᡂೲࡋ኱ྗৡελ(

V

_v)ǴڰۓځдୖኧǶ όӕޑঁਢǴӧಖᆄᏤЇ߻ޑ႟ΚᇤৡΨόӕǴঁਢΒޑ߃ۈૐӛᇤৡКၨ εǴ܌аಖᆄᏤЇ߻ޑ႟ΚᇤৡΨКၨεǴՠࢂೲࡋ኱ྗৡελຫλǴӕኬԖճ ܭ෧λಖᆄᏤЇ߻ޑ႟ΚᇤৡکനλᇤৡຯᚆǶ 2. ׯᡂೲࡋᘠݢᏔޑߏࡋ(n)ǴڰۓՏ࿼ᘠݢᏔޑߏࡋ(k=5)ǵՏ࿼኱ྗৡελ (V_\ V_O 104_{rad)ǵೲࡋ኱ྗৡελ( 2} v

V

m/s)ǵ०Չ௓ڋس಍ޑᓎቨ (

Z

_n 10Hz)ǵᙹۓຯᚆ=100 kmǴ߾ኳᔕ่݀ӵ߄6.10܌ҢǶ

n ZEM (m) Miss Distance (m) Kill Probability 1 203.5337 0.5782 60% 2 203.7350 0.3106 85% 3 204.1568 0.2274 90% 4 203.9952 0.1866 95% 5 203.8948 0.1624 97% ߄6.10 ׯᡂೲࡋᘠݢᏔޑߏࡋ(n)ǴڰۓځдୖኧǶ ঁਢόӕǴՠࢂೲࡋᘠݢᏔޑߏࡋ(n)ޑቹៜ࣬ӕǴೲࡋᘠݢᏔޑߏࡋ(n)ຫ ߏǴж߄уډೲࡋ΢ޑᇤৡϐ໔ޑ࣬ᜢ܄ຫεǴᡂ୏ຫѳ጗ǴԖճܭ෧λനλᇤ ৡຯᚆǶ 6.2.2 ҅ዴޑفೲࡋ ӧჴ౜ᏤЇࡓीᆉਔǴفೲࡋޑीᆉёૈࢂҗᝏᄒ०ቸޑߒᖥሺ܌ໆෳډޑ ܈ځдБԄໆෳளډޑǴ٠ߚךॺ܌གྷޑࢂҗ࣬ჹೲࡋᆶ࣬ჹՏ࿼Ǵܭࢂךॺ჋ ၂ѐ؃р҅ዴޑفೲࡋжΕᏤЇࡓीᆉКၨᝏᄒޑ่݀ǶբݤࣁୖԵ(3.23)ԄǴ ճҔ҅ዴޑ࣬ჹೲࡋᆶ࣬ჹՏ࿼ѐीᆉ cos

I T

˜  ک

I

 ǴճҔԖᇤৡޑ࣬ჹೲࡋᆶ ࣬ჹՏ࿼ѐीᆉ T V rǵe_T کe_IǶ ךॺ૸ፕ҅ዴޑفೲࡋᆶೲࡋ኱ྗৡ(

V

_v)ǵ҅ዴفೲࡋᆶೲࡋᘠݢᏔߏࡋ(n) ჹᝏᄒၸำޑቹៜǶ 1. ׯᡂೲࡋ኱ྗৡελ(

V

_v)ǴڰۓՏ࿼ᘠݢᏔޑߏࡋ(k=5)ǵՏ࿼኱ྗৡελ (V_\ V_O 104_{rad)ǵೲࡋᘠݢᏔޑߏࡋ(n=5)ǵ०Չ௓ڋس಍ޑᓎቨ} (

Z

_n 10Hz)ǵᙹۓຯᚆ=100 kmǴ߾ኳᔕ่݀ӵ߄6.11܌ҢǶ v

V

(m/s) ZEM (m) Miss Distance (m) Kill Probability 0.5 198.0931 5.62e-9 100% 1 198.1303 8.55e-9 100% 2 198.0328 8.67e-9 100% 5 198.0980 6.16e-9 100% 10 198.1198 4.02e-9 100% ߄6.11 ׯᡂೲࡋ኱ྗৡελ(

V

_v)ǴڰۓځдୖኧǶ

2. ׯᡂೲࡋᘠݢᏔޑߏࡋ(n)ǴڰۓՏ࿼ᘠݢᏔޑߏࡋ(k=5)ǵՏ࿼኱ྗৡελ

(V_\ V_O 104

rad)ǵೲࡋ኱ྗৡελ(

V

_v m/s)ǵ०Չ௓ڋس಍ޑᓎቨ2

(

Z

_n 10Hz)ǵᙹۓຯᚆ=100 kmǴ߾ኳᔕ่݀ӵ߄6.12܌ҢǶ

n ZEM (m) Miss Distance (m) Kill Probability

1 198.2405 8.64e-9 100% 2 198.1690 9.60e-9 100% 3 198.1253 7.29e-9 100% 4 198.0431 7.58e-9 100% 5 198.0328 8.67e-9 100% ߄6.12 ׯᡂೲࡋᘠݢᏔޑߏࡋ(n)ǴڰۓځдୖኧǶ வ߄6.11ǵ߄6.12ک߻΋࿯6.2.1଺КၨǴךॺёаว౜Ǵऩفೲࡋीᆉ҅ዴǴ ߾ᝏᄒޑၸำ߈Я౛གྷǴᡉҢӧךॺޑኳᔕύǴفೲࡋᇤৡޑीᆉБԄቹៜനλ ᇤৡຯᚆࡐεǶ຾΋؁ѐϩ݋(3.24)ԄǴว౜চӢࢂӢࣁ(3.17)Ԅ(ीᆉ

T

 )ᆶ(3.18) Ԅ(ीᆉ

I

 )ࢂճҔ࣬ჹՏ࿼ᆶ࣬ჹೲࡋޑ४ᑈǴҗܭ࣬ჹՏ࿼ᆶ࣬ჹೲࡋ೿Ԗᇤ ৡǴ࣬४೷ԋᇤৡ׳εǴ٬ளനλᇤৡຯᚆΨᡂεΑǶ

ಃΎകǵ่ፕᆶ҂ٰว৖Бӛ

ҁࣴزගٮΑ०ቸᝏᄒس಍ޑኧᏢኳԄϷ߃؁ޑᝏᄒኳᔕำԄǴҞ߻ࢂаК ၨ౛གྷޑచҹΠ຾Չس಍ϩ݋ǴኩਔόԵቾᝏᄒ०ቸޑ࠮ᄊǴа኱ྗ०ቸΟࠠࣁ ᙔკǴࡌҥΑΟԾҗࡋၮ୏(ᝏᄒ०ቸکҞ኱)ǵआѦጕ൨኱ᏔǵᏤ௓ǵႜၲǵε ਻ஏࡋᆶख़ΚϷޜ਻ߔΚ฻Ӛ೽ҽኧᏢኳࠠǶӧᏤЇࡓ΢ǴךॺஒΟᆢTPNޑϦ Ԅϩှԋ࣬ჹೲࡋᆶ࣬ჹՏ࿼ޑБԄѐჴ౜ᏤЇࡓǴ೛ीךॺޑᏤ௓ኳԄǶӧႜ ၲ΢ǴୖԵႜၲ୷ҁচ౛ѐࡌҥႜၲޑኳࠠǴуΕᇤৡीᆉǴ٬ᝏᄒኳᔕ׳੿ჴǶ ӧआѦጕ൨኱Ꮤޑ೽ҽǴа኱ྗ०ቸΟࠠޑ୏ૈᝏᄒᏔࣁᙔკǴόԵቾ࠮ᄊޑ߻ ගΠǴ଺Α΋٤Кၨ౛གྷޑଷ೛ǴࡌҥΑआѦጕ൨኱ᏔޑኧᏢኳԄǶ ךॺ଺ΑᝏᄒኳᔕаϷ΋٤ୖኧϯޑϩ݋Ǵ่݀ёٮຑ՗ᝏᄒس಍ޑёՉ܄ аϷ࣬ᜢηس಍ޑୖԵǴҞ߻่ፕԖ 1.ႜၲໆෳೲࡋޑᇤৡǴჹճҔ࣬ჹՏ࿼ک࣬ჹೲࡋٰीᆉᏤЇуೲࡋޑБԄቹ ៜࡐεǴႜၲӧೲࡋໆෳ΢Ǵຬၸ1m/sǴ཮٬ᄒఠ౗ε൯Πफ़Ƕ 2.ႜၲໆෳೲࡋޑᇤৡǴ཮ޔௗϸࢀӧᏤЇࡓޑفೲࡋीᆉ΢य़Ǵ೷ԋ੿ჴޑف ೲࡋᆶीᆉޑفೲࡋ΢ࡐεޑৡձǴऩૈׯ຾ᏤЇࡓޑفೲࡋीᆉǴаߒᖥሺ ܌ෳளޑفೲࡋ܈ࢂ࠮ᄊ௓ڋ܌૶ᒵᝏᄒ०ቸޑفೲࡋǴ߾ૈගଯᏤЇуೲࡋ ޑྗዴ܄Ǵ٬ளനλᇤৡຯᚆΠफ़ǵᄒఠ౗ε൯ගϲǶ 3.ႜၲໆෳՏ࿼ޑᇤৡǴჹಖᆄᏤЇ߻ޑ႟ΚᇤৡԖቹៜǴໆෳՏ࿼ຫྗዴǴಖ ᆄᏤЇ߻ޑ႟ΚᇤৡຯᚆຫλǶ 4.०Չ௓ڋس಍ޑᓎቨǴჹനλᇤৡຯᚆԖቹៜǴᓎቨຫεǴ߄Ңуೲࡋޑၲԋ ຫזǴ߾നλᇤৡຯᚆຫλǶ 5.ᝏᄒ०ቸᙹۓޑຯᚆຫอǴ߄ҢځӧಖᆄᏤЇ߻ޑύ೼ᏤЇբޑӭǴ߾ಖᆄᏤ Ї߻ޑ႟ΚᇤৡຯᚆຫλǶ ҂ٰךॺஒᝩុว৖׳ௗ߈ჴሞޑᝏᄒس಍ǵ೛ीϷኳᔕำԄǴуΕ࠮ᄊޑ ೽ҽǴځύхࡴǺ 1. ࠮ᄊᙯӛ௓ڋس಍ޑ೛ी(໒ᜢԄ௢ΚᏔ) 2. ϤঁԾҗࡋၮ୏(ᝏᄒ०ቸ)ᆶΟԾҗࡋၮ୏(Ҟ኱) 3. ηس಍ೕ਱ኳᔕ ׆ఈૈගٮ׳ֹ᏾ǵ׳ჴሞޑ”ᙯӛᆶ࠮ᄊᏤ௓س಍೛ी”ޑኳᔕำԄǴගٮ ҂ٰว৖ฯᡏޑຑ՗ᆶୖԵǶ

ୖԵЎ᝘

[1] C. A. Lin, “Guidance divert and altitude control system design,” Midterm Report, NSC-96-2623-7-009-011-D, July. 2007.

[2] F. Tyan, “Unified Approach to Missile Guidance Laws: A 3D Extension,” IEEE Transaction on Aerospace and Electronic Systems, Vol.41, No.4, pp.1178-1199, Oct.2005.

[3] Y. He and Q. Yong, “Thaad-like high altitude theater missile defense: strategic defense capability and certain countermeasures analysis,” Science and Global Security, Vol.11, pp.151-202, 2003.

[4] ഋࣽ౺, “ऍ୯ଯቫϸቸၰ०ቸٛᑇس಍ࣴว౜ݩ,”ύࣽଣΒ܌०Չ௓ڋಔ, 2008 Jan. 29.

[5] “Standard Missile III,” Raytheon Corporation.

[6] C. A. Lin, “Six Degree-of-Freedom Simulation of Launch Vehicle Dynamics A preliminary report,” Jan. 17, 2006.

[7] M. Guelman, “The closed-form solution of true proportional navigation,” IEEE Transaction on Aerospace and Electronic Systems, Vol.12, No.4, pp.472-482, July.1976

[8] Ciann-Dong Yang and Chi-Ching Yang, “A unified approach to proportional navigation,” IEEE Transaction on Aerospace and Electronic Systems, Vol.33, No.2, pp.557-567, Apr.1997

[9] ”angular velocity,” http://en.wikipedia.org/wiki/Angular_velocity [10] ϑ࣬ໜ, ०ቸᏤЇس಍ 1984 ԃ 7 Д 175 ය

http://203.68.20.65/science/content/1984/00070175/0003.htm

[11] “ख़Κуೲࡋ,” http://tw.knowledge.yahoo.com/question/?qid=1007021305991 [12] “ႜၲ,” http://zh.wikipedia.org/wiki/%E9%9B%B7%E9%81%94

࣬ᜢၗ਑ᇆ໣

ፕЎǺ

[1] David Wright, “An Analysis of the 25 January 2002 Test of the Aegis-LEAP Interceptor for Navy Theater-Wide,” Union of Concerned Scientists Working Paper

[2] M. R. Ananthasayanam, Prashant Vohra, A.Bhattacharya, and R. Srivastava, “Estimation of LOS Rates and Angles using EKF from noisy seeker

measurements, ” International Conference on Signal Processing & Communication (SPCOM), 2004.

[3] F. Tyan, “Unified Approach to Missile Guidance Laws: A 3D Extension,” IEEE Transaction on Aerospace and Electronic Systems, Vol.41, No.4, pp.1178-1199, Oct.2005. [4] ݅మӼ, “ᙯӛᆶ࠮ᄊᏤ௓س಍೛ी(I),” යύൔ֋, NSC-96-2623-7-009-011-D, 2007ԃ 7 Д. [5] ݅మӼ, “ύଯޜ०Չᡏԛܺ௓ڋس಍౛ፕᆶ೛ी,” ය҃ൔ֋, NSC87-2623-D-009-014, 1998ԃ. [6] ᐽ଼യ, “०ቸᝏᄒᐒ୏Ҟ኱ϐᏤЇࡓ೛ी,” ୯ҥҬ೯εᏢ௓ڋπำᏢسᅺ γፕЎ, 2004. [7] ᖴࡾᐪ,׵ࣁ҇,୿ტࡾ,“ϸᏤس಍ᝏᄒቸמೌᆕॊ, ”०ૐᏤቸ, 2004ԃಃΟය. ᆛ।Ǻ

[1] “Raytheon RIM-161 Stamdard SM-3,”

http://www.designation-systems.net/dusrm/m-161.html

[2] THAAD/DACS – Pratt & Whitney

http://www.pw.utc.com/vgn-ext-templating/v/index.jsp?vgnextrefresh=1&vgnexto id=ca10376b41dee010VgnVCM100000c45a529fRCRD [3] ੇैᝮဒޑٛޜӃ᎔-኱ྗسӈ०ቸ http://www.youth.com.tw/joanna/Military/M93.03.09-A.htm [4] ߓೱ੝ᄽҢᡍ᛾ڰᡏᙯӛᆶଯࡋ௓ڋس಍೛ी_TOMཥᆪ http://army.news.tom.com/1019/1211/2005/1/5-56989.html [5] Ԗᜢ०ቸޑᏤЇᆶ०Չ௓ڋ Ѡ᡼ૡល http://taiwanbbs.org/cgi/index.pl?b=mil,m=1126330050 ቹТǺ [1] MDAޑᆛઠ http://www.mda.mil/mdalink/html/video.html

Ԝԛऍ୯ճҔׯؼޑ኱ྗ०ቸΟࠠѺѨ௓ޑፁࢃǺ [1] ऍᏤቸ৔ࢃ२ݍᔐύᆒߍฝय़[຀ᔕਔޜ] http://home.xnsk.com/dispbbs.asp?boardID=4&ID=40010 [2] ύ๮ᆛፕᏝ-კЎ၁ှԜԛऍ୯ፁࢃᝏᄒჴᡍ http://military.club.china.com/data/thread/1011/138/18/40/7_1.html [3] ऍ୯ੇ୷Ꮴቸ৔ࢃ२ݍ໣ύ໔ᒊፁࢃ http://big5.thethirdmedia.com/g2b.aspx/ido.3mt.com.cn/Article/200802/show9162 75c30p1.html

[4] Spy satellite shootdown hinges on tricky factors – Space – msnbc.com

http://www.msnbc.msn.com/id/23253805

[5] Navy Will Attempt to Down Spy Satellite – washingtonpost.com

http://www.washingtonpost.com/wp-dyn/content/article/2008/02/14/AR20080214 01704.html?sid=ST2008021403174

[6] BM/CMᆶATBM/ATCMനཥว৖୏ᄊᆶຑፕ Ѡ᡼ૡល

ߕᒵ A ኳᔕ٬ҔޑำԄϷᇥܴ

ำԄᇥܴǺ start_ideal.m ୺Չ౛གྷރᄊޑኳᔕЬำԄǶ start_midcourseAndTerminal.m ୺Չঁਢ΋کঁਢΒޑኳᔕЬำԄǶ cool05_ini.m ࢂำԄ߃ॶၗ਑೛ۓǶ parameter2.m ࢂӦౚނ౛੝܄аϷख़Κதኧޑ೛ۓǶ newVm.m ࢂׯᡂᝏᄒ०ቸޑ߃ۈೲࡋǴ٬ځ಄ӝा؃ޑ߃ۈૐӛᇤৡǶ result_plot9.m ࢂᛤკኳᔕ่݀Ƕ errorPlot.m ࢂᛤკ࣬ჹՏ࿼࣬ჹೲࡋᆶ੿ჴ࣬ჹՏ࿼࣬ჹೲࡋޑৡǶ amb_limitation.m ࢂज़ڋуೲࡋελॶόຬၸനεॶǶ angleVelocityCompare.m ࢂКၨ੿ჴޑفೲࡋᆶΟᆢTPNϦԄޑفೲࡋᇤৡǶ assign4.m ࢂճҔനλѳБݤѐीᆉനλᇤৡຯᚆǶ dragforce.m ࢂीᆉޜ਻ߔΚуೲࡋǶ gravity.m ࢂीᆉख़ΚуೲࡋǶ HE_phi.m ࢂीᆉ߃ۈૐӛᇤৡӧࠟޔБǶ HE_theta.m ࢂीᆉ߃ۈૐӛᇤৡӧНѳБǶ makeRandomNoise.m ࢂीᆉуΕډႜၲᆶआѦጕ൨኱ᏔޑᚇૻελǶ massLoss.m ࢂीᆉᏤЇуೲࡋ܌੃઻௞ޑ፦ໆǶ newIR.m ࢂीᆉआѦጕ൨኱ᏔޑၗૻǶ radar4.m ࢂीᆉႜၲໆෳޑၗૻǶ tpn.m ࢂीᆉΟᆢ TPN ޑᏤЇуೲࡋǶ tpn2ter.m ࢂीᆉ҅ዴفೲࡋޑᏤЇуೲࡋǶ transI2LOS.m ࢂஒS_IᙯඤԋS_LǶ transLOS2I.m ࢂஒS_LᙯඤԋS_IǶ zmd.m ࢂीᆉ႟Κᇤৡ(όԵቾख़Κᆶޜ਻ߔΚޑኧᏢှ)Ƕჴሞ΢ޑ ीᆉࢂճҔ gogogo03.mdl ჴሞѐኳᔕޑǶ gogogo00.mdl ౛གྷΟᆢ TPN ޑ simulink س಍Б༧Ƕ gogogo03.mdl ό଺ᏤЇ໻ڙޜ਻ߔΚᆶख़Κޑ simulink س಍Б༧Ƕ gogogo01.mdl ύ೼໘ࢤႜၲԖՏ࿼ᇤৡؒԖೲࡋᇤৡޑ simulink س಍Б༧Ƕ gogogo02.mdl ಖᆄ໘ࢤႜၲԖՏ࿼ᇤৡؒԖೲࡋᇤৡޑ simulink س಍Б༧Ƕ gogogo11.mdl ύ೼໘ࢤႜၲԖՏ࿼ᇤৡΨԖೲࡋᇤৡޑ simulink س಍Б༧Ƕ gogogo12.mdl ಖᆄ໘ࢤႜၲԖՏ࿼ᇤৡΨԖೲࡋᇤৡޑ simulink س಍Б༧Ƕ gogogo21.mdl ύ೼໘ࢤفೲࡋ҅ዴޑ simulink س಍Б༧Ƕ gogogo22.mdl ಖᆄ໘ࢤفೲࡋ҅ዴޑ simulink س಍Б༧Ƕ

randomAngle.mdl ౢғଯථᒿᐒኧӈޑኳᔕำԄǶ

uniRandom.mdl ౢғ uniform distributed random sequence ޑኳᔕำԄǶ

୺ՉำԄ؁ᡯǺ 1. ஒኳᔕำԄፄᇙډ΋ҞᒵΠǴ໒௴ MATLABǴ຾Ε၀ҞᒵǶ 2. Ѻ໒ cool05_ini.m ೛ۓ߃ॶϷ߃ۈૐӛᇤৡǶ 3. ୺ՉኳᔕำԄёϩԋаΠΎঁ೽ҽǺ a. ኳᔕ౛གྷރᄊǴ߾୺Չ start_ideal.mǶ b. ኳᔕႜၲໆෳՏ࿼ԖᇤৡǴໆෳೲࡋؒԖᇤৡޑঁਢǴ߾ӃѺ໒ start_midcourseAndTerminal.m অׯำԄಃ 93 ՉำԄዸࣁ gogogo01 аϷಃ 99ՉำԄዸࣁ gogogo02Ǵӆ୺ՉำԄǶ c. ኳᔕႜၲໆෳՏ࿼ԖᇤৡǴໆෳೲࡋΨԖᇤৡޑঁਢǴ߾ӃѺ໒ start_midcourseAndTerminal.m অׯำԄಃ 93 ՉำԄዸࣁ gogogo11 аϷಃ 99ՉำԄዸࣁ gogogo12Ǵӆ୺ՉำԄǶ d. ኳᔕفೲࡋ҅ዴǴ߾ӃѺ໒ start_midcourseAndTerminal.m অׯำԄಃ 93 ՉำԄዸࣁ gogogo21 аϷಃ 99 ՉำԄዸࣁ gogogo22Ǵӆ୺ՉำԄǶ e. ኳᔕόӕޑᙹۓຯᚆǴ߾ሡঅׯำԄಃ 21 Չޑ relative_error=ךॺགྷाᙹ ۓޑຯᚆǶ f. ኳᔕ߃ۈޑ႟ΚᇤৡຯᚆǴ߾ӃѺ໒ start_midcourseAndTerminal.m অׯำ Ԅಃ 93 Չکಃ 99 ՉำԄዸࣁ gogogo03Ǵӆ୺ՉำԄǴ߾നλᇤৡຯᚆջ ࣁ߃ۈޑ႟ΚᇤৡຯᚆǶ g. ኳᔕಖᆄᏤЇ߻ޑ႟ΚᇤৡຯᚆǴ߾ӃѺ໒ start_midcourseAndTerminal.m অׯำԄಃ 99 ՉำԄዸࣁ gogogo03Ǵӆ୺ՉำԄǴ߾നλᇤৡຯᚆջࣁ ಖᆄᏤЇ߻ޑ႟ΚᇤৡຯᚆǶ 4. ୺Չ result_plot9.mǴջёᛤკ่݀Ƕ 5. ୺Չ errorPlot.mǴջёளډ࣬ჹՏ࿼࣬ჹೲࡋᆶჴሞ࣬ჹՏ࿼࣬ჹೲࡋޑৡǶ

ߕᒵ B ኳಔკ

EOM

ENVI

Drag Force