}X fence Science Journal, Vo147, No 3, July 1997, W.

343-357
@ 1997, DESIDOC

Hardwar'e-in-Loop

Simulation
I

for

S.K.1haudhuri,

.Research

Missile

Guidance

G. Venkatachalam

&

Control

Systems

and M. Prabhakar
I

Centre Imarat, Hyderabad-500 069.

ABSTRACT

The ~urpose of the guidance law is to detennine appropriate missile flight path dyhamics to
achieve ffilssion objective in an efficient manner based on navigation infonnation. Tcxia~, guided
missiles which are aerodynamically unstable or non-linear in all or part of the flight envelqpes need
control SY,stemsfor stability as well as for steering. Many classical guidance and control laws have
been used for tactical missiles with varying degrees of perfonnance, complexity and seeker/sensor
requireme\1ts. Increascd accuracy rcquiremenls and more dyn0U11ictactics of modem warfare demand
improvemcnt
of perfonnance
which is a trade-Qff between sophisticated
hardware and more
sophisticated ~oftware. To avoid increase in cost by hardware sophistication, today's trend is to exploit
pew theoretical methods and low cost high speed microprocessor techniques.
I
I
I
Missile test flights are very expensite. The missile system with its sophisticated

software and

hardware

facilities

is not reusable '4fter a test launch.

methodology

Hardwar4-in-Ioop

Simulation

fonn a well iIXegrated system aimed at transfonning

a preliminary

(HILS)

and

guidance and control

system design to flight softJ.are and hardware with trajectory.right from lift-Qfftill
its impact. Various
I guidance and coritrol law studies pertaining to gathering basket and stability margins, pre-flight,
post-flight analyses and validation of support systems have been carried out using this methodology.
Nefly
full spec~m
of dynamically
accurate six-degrees-of-freedom
(6-DOF) mcxiel of missile
systems has been\realised in the HILS scenario. The HILS facility allows interconnection of missile
hardware in flighl configuration. Pre-flight HILS results have matched fairlylwell
with actual flighr
trial results. It was possible to detect many hidden defects in the onboard guidance and control software
,
I
as well as in hardware during HILS.
I

.r>cficil~\cic~ in modcl, likc tllil-wllg-dog

n'Wl).
flcxibility.
scckcr dynamics and defects in the
guidance and c4>ntrol system were demonstrated in HILS, Appropriate design modifications
were
introdpced and tested in record time to reduce the number of expensive flight trials.

and intelligent

INTRODUC1'ION
Missile guidahce and control system
has undergone
phenomenal
change due

design
to the

replace

the

current

trend.

modern warfare

about

of computers

available

sophistication
brain power

~actics employed with the advent

,
and microprqcessor
technology. This
of

warfare

tactics

in the embeddep

the missile with the application

Received
03 January1997

qemands

software

more

carried

by

of supe.rior model
I

more

This

filters

more

and noise

designer

power

estimators

lowpass

is because

dynamics

to the

computational
of

Use of optimal

conventional

missile

technology

tools.

of

due

to

the

guidance

laws

is

increase<;l
processing

in terms of speed and precision.

advanced

is the

information
covariance

present-day

to

Design

has become

343

DEF sa 1, VOl 47,

' NO 3, JULY 1997
possible due to the availability
of more accurate
and complete
information
about missile
states
rather

than

only

line

of

sight

rate

and

hardware along with spphisticated

instrumentation
has helped in ,evaluaiion
of performance
of the

other

missile

navigation information.
The increased brain power
resident in embedded processors has necessitated
the use of even more superior
and efficient

by

high

speed

parallclism
Missile

in today's

and superfast

and target

communication

motion

simulation

sophisticated

and control system with

flight
software.
This

guidance and control systFms

dependent mostly on linear
simulation

(HILS),

f as

technology, was at its infancy

in India. Today, a number

missiles

with

inertial/radar

in
of

guidaQce,

aerodynamic
control/thrust
vector
control
(ADCrrVC),
and onboard computer (OBC)/analog
control are successfully
launched with acceptable
performance.
Th~ increased brain power of the
embedded software needs rigorous validation with
demonstrated
design

reli,ability.

verificatjon,

generation,

HILS

is used for system

quick

verification

flight

and

software

validation,

system

integration,
pre-flight
and post-flight
analyses ,and
demonstration
of f'ystem performance.
HILS
started

for

with

the

guided

non-real-time

missile
(NRT)

programme
environment,

evolving into a real-time (RT) missile

the availability
of powerful simulation
Uncertainty

in the missile

hindrances

for

model with
computers.

other

finalising

systems
mini mise
344

are

fin

the

and

.Integrated
.software

,
, This

guidance! and 'control

and hardware validation.

paper

guidance

chronologically

and control

simulation

def'ign

highlights

issues, modelling

techniques an~ validation

for guided missile

conclusions

system

application

\methodologies

in defence.

and suggesfions

and

Relevant

are summ,rised.

the

assemblies

introduced

the uncertainty.

2.

GUIDANCE

& CONTROL

DESIGN

I Knowledge
(navigation),
decIsion (guidance)
and adtion (fli~ht control system for\steering
and
stability)
are three distiqct systems r~quired for a
missile guidance and con,rol system (Fig. I ). The
onboard

, inertiat

system

supplies
information
attitude of a missile
coordinate

frame.

(gimbaled/strap-down)

on pQsition,
velocity
and
with respect to a reference
Target

sight

line

tate

from

inertialiy
stabilised strapped-down
seeker~ (RF/IR)
and other area scene gen~ration
from imaging
sensors ..Iare fundamentally
,navigation
processes.
Ground

radar/laser'

navigation
essentially
ensuring
implicit
various

systems

also

~enerate

information
for guidance,
which
is
a kinematic feedback ~ontrol.system
for

missile-brget
intercept. The explicit
or
I
guidance
schemes for mid-course
and
,proportio,hal navigation-hriented
laws for

the seeker during

the terl1jlinal guidance ,are used.

model is one of the major

software

~esign.

Flight systems hardware, like sensors, actu~tors,

on board computer,
real engine with the thrust
frame,

Essentially,

are: !.,

Hardware-in-Ioop

guided

scenario.

design a~d validation,

I
computer h~rdware validation,

dc.:1iign mcthodulugy.
applied to missile
the mid-eighties

realistic

software

.Flight

are
for

setup helps to update and freeze the

complex non-line
which is otherwise

mbre

with

hardware actuators and assoc~ated electronics

also necessary, elements
of. the test bed
validating
the guidance
actual
hardware
and

as met
by HILS
,

.Flight

speeds.
along

in

stressing it to various disturbanc~s.

objectives

simulation computers
I
logics
with inherent

hardware

system

Off-nominal
cases are also simulated in HILS for
I
demonstrating
the robustne~s of t,he guidance and
control
software/hardware
system
design
by

validation
methodologies
with practical demonstration of missile-target
engagement scenario. This
is made available

,.

and various

directly

in
,
Introduction

seeker

HlLS
of

to
these

Command

for

radar-guided

consisting
(for

guidanbe

rates,

to

the

line

missiles.

of a flight

of'sight

The

control

acceleration)

is

actiop

system

and

also

cohtrol

used

process

with

sensors

, actuators

(electric/pneumatic/hydraulic)
and/or thrust controls)
the
guidance

law after ensuring

steers (aerodynamic
missile
based on a
ade'quate stability.

CHAUDHURI,

et al : MISSILE

REFERENCE
GENERATION
SYSTEM

GUIDANCE

& CONTROL

SYSTEMS

ACCLNS
RATES

GUIDANCE
COMMAND
,

KNOWLEDGE
DECISION

GATHERING
SYSTEM

.1

KINEMATICS

PROCESS~

TARGET
TRAJECTORY

,
[~ } ~MIT

MISSILE

TRAJECTORY

i
Firure I. Missile guidance and co~trol block diagram
The i airframe

in

coordination

with

the

Classical

controllers

propulsidn
system is used to produce forces and
i
moments for mefting, the guidance and control

and 'implementation,

requirements.

guidancc

in curre~t
contr~1

The guiUance

missiles

dfsign

standard

stil'

techniques

which

co~trol

lheory.

linear

guidance

and conlrol

relies heavily

and control\law

to another (depending

law used

on classical

are

based

The

varies from

on

specific

o"a size, wei-ght, thrlIst,

cost,

inner

degrees-of -freedom,

aulopilot

loop

late~al acceleration
.Pro~ortional

contrQls

(latax)

feedbJck

while

the

the missile

qr attitude,

is generally

used to

correct\ the missil~ course in the guidance

loop,
I

law

modern

the inner
and yaw
usually

autopllot

the roll,

channels

are. uncoupled

contr.olled

indepe~dent

other,

pitch

and' are
of

t!ach

used

.typically
roll

measure

pitch,

yaw

rates

com~ands
constrai~etl
missile,

.No

explicit

to

are

amplitude

ensure

stability

or

force
of

the

:and
.
state

signals are filtere4

noise.
I

estim~tors

are

used

and

to reject high frequency

~Classical

progre~sed

dcsign

by

taking

i\l1provements

and

form of guidance

which'

steering

commands

the angle between

velocity

vector

steers to head straight

moving

target.

mal)oeuvering

line of sight

to zero. The missile

for the stationary

This

law

targets

and

were

or slowly

degrades
ends

in

against

tail

chases,

though it has the advantage <?f being relatively

insensitive
to system noise. The development
of
proporlional

navigalion

in

missile

homing

zero.

are given

This

constant

law

was a major b-reaklhrough

guidance,

where

to be optimum

of target and missile.

missile',

steering

to drive the sight line rate to

was proved

velocity

inertia-Iess

where

is to minimise

the

terminal

f9r

It assumes

only

optimal

miss

distance.

When real thrust and drag are present, proportional

velocity

.All

degrades

a pursuit

to drive

and missile

navigation

'angle,

turn,

missiles,

in

generated

criterion

.Sensors
and

ioop,

also

of the latest software

commands
.~n

in

state space melhods.

In earlier
was

which,

pcrformancc.

have

advantage

in design

but they do not use the total

availabl~

techniques

one missile

etc.) but the following

cHaracteristics are common:
I
,
i
I
.The
\outer
guidance
loop I contro\s
the
translational

information

have si~plicity

is not optimum even against constant

I
targets. There have been several attempts

to combine
pursuit

the good features

guidance

guidance

law

weighting

factor

sight and dynamic

that

are

used

into
by

an

providing

of proportional
overall
a

time

for each I. Command

varying
to line of

lead are the other guidance

for

missile

and

composite

applications.

laws
These
345

DfF SO J. VOL 47. NO 3. JULY 1997

guidance laws resident in embedded processors

form a vital link for the missile system, which
needs rigorous validation in HILS.
The autopilot
performs the function
of
translating the guidance command to engine and fin
commands.
The missile. response to these
commands depends upon aerodynamic
and
kinematic properties of t1'1e airframe and the
physical properties of the surrounding air mass.
The function of the missile autopilot is three-fold:
.To maintain stability of the airframe (which
is inherel"\tly unstable for current missiles)
,
over the performance envelope,
.'
.To
provide
adequate airframe
guidance system, and
.To

reduce

performance

the

sensitivity
to

vehicle

of

for

the
t

guidance
parameter

variations and disturbances.

The reliance of classical control techniques in
autopilot design results in an autopilot with three
independent ch~nels for pitch, yaw and roll. These
motions are assumed uncoupled, because classical
control techniqJes are generally limited to a single
input-single
ohtput linear system. In flight,
inherent coupling occurs b~tween the steering and
the roll motion, leading to stability problem with
increased angle of attack. To overcome' this
problem, autop\Iot designers limit the steering
..
response speed for which the roll bandwidth is kept
much higher. The angle of attack is also limited to
overcome this problem. The autopilot gain in each
channel is variable to give optimum performance
for different
Mach numbers and, dynamic
-pressures. Gain schedule based oh Mach ,number
and air density (possibly other states also) is used
for various classes of missiles. The autopilot
topology normally used is two/three loop with
acceleration and rate feedback. I~ is better to
include autopilot characteristics in guidance law
I
derivation. Various aerodynamic controls like tail,
canard or wing are used by the control system,
depending on the mission requirements and\ the
subsystems used. Thrust vector, secondary thrust
vector and bang-bang control are also used.
346

Electric, hydraulic and pneumatic actuator systems

are used, depending on the mission requirement
and available size of the ;subsystem. Digital
autopilots using state-of-the-a'rt microprocessors/
microcontrollers
add flexibility
to the control
d .1
system
eslgn.
-:rhe methodology

f
ana

techniques

guidance

and .co~trol

system

design

sy'stems

have

shaped

by

requirements

been

facilities.

and. special

The approach

for

the

of these rrogrammes

of the computing

used

for

missile

particular

and a.Jailability

pu~pose simulation

used is btlsed on standard

control system design land developmelt

techniques,
but emphasis~s simulation
both as development
and performa~ce validation
tool. Figure 2 shows a
cprrent

version

of an idealisedl

methodology

for

design in flow chart form. Several ~omputer-aided

control syste'm packages which run Ion distributed
networks are availablet tp the desig~er. Simplified
models for u~e in this design are developed
,
analytically.
The built-in
t'fature of the software
package which generates a l~nearised model is also
used employing numerical perturbationltechniques.
The short period rigid body simplifie~
model
initially

excited

various

points

computed

by the tk"ajectory
of time

using

techniques
trajectory

parameters

at

margins

are

a~d cpntrol

standard

frequency

for the preliminary

design.

is used for kinemati~

is

domain
Hoint mass

study of guidance

capture and mids distance. The short period study

,
may be extended for flexibility
models in design
valid~tion
wi~h
appropriat'e
controller
for
phase/gain stabilisation.
rhe guidance Pfrformance
is e'flaluated in -'-DOF with sta6ility studies at this
1
stage and is further extended with rull 6-DOF
model. This iterative
loop is preferable
to be
continued with available inp,uts from a~rodynamic/
structural/propulsion
data and the available OBC
architecture,
guidance

sensor and actuation

and control

subsystems.

algorithm,

as tested

The
in the

previ.ous phase, is then used for the generation

fljght

software.

.hierarchical,
software

The

highly
with

aim

here

decoupled,

ma,ximum

l~nguages and custom-built

use

is
of

executives.
,

to

modular,

of

build

cohesive

higher
Finally,

level
the

CHA upHURI,

kt al : MISSIL

GUIDANCE

& CONTROL SYSTEMS

AVAILABILITY

OF

FLT COMPUTER
FLIGHT
,

SOFTWARE

OESIGN

DEVT.

&

SYSTEM

FLIGHT S/W VALIDATION IN HilS

i.
Figure

flight software
sensor

2. ethodology

used Cor guidance

is validatel1 in HILS, which includes

anct

actuator

configuratio~s.

h'ardware

This iterative

with

different

stage to satisfy guidance and

,
The classical techniques of using

design.

low-pass filtering
in

the

guidance

for att~nuating

signal

the poise inherent

~d

using

onboard

design, and validation

filter

covariance

loop goes back right

to the requirement
control

and control

matrix

Selection.

of

outputs,
making

an engineering

esti;mation

information

finding

theory.
more

i~ to separate the wanted

the noise by fusing informatibn

dynamics

rather\

frequency

conterlt I. This

guidance land

than

control

random errors (drift,

In a typical
of statistical
mostly

the

signal

based

ap~roach

systtlm

can

take

system,

because of .lack

(hardware

manufacturers

tbleranccs

apprQximations,

approximately),

modelling

the fact that implcmentahle

filters
I
order state type, ' tf1e
covariance

errors and

are of reduced
matrix
of the

states,
V(ord

module

inertial

appropriate

terminal
a short
during

in RT

about the
features in
in filtering
systems.
time update

measurement
to' open

(e.g.

velocity,

global

terrain

at

ideas for

positioning

contour

matching

sy'stems).

The aim of futury

correct,
in
accumulated

allows

in addition

guidance/navigation

and

is the guidance

guidance

update

and scene matching

system

working

algorithm,into

navigation

system, doppler

state.

size

Linearisation

for

of filter

aided

of

error
modest

are the trends

used

Decomposition

on

care

estimated

of state and extensjQn of the

way3

for

etc.)2.

in

to tackle certain non-gaussian

and measurement
I
arbitrary
intervals

only

to filtering

to true statistical

microprocessors

best estimate

algorithm
techl\iques

from

about the vehicle

filte.ring

guidance

current

navigation

scale factor stability,

information

specify

linearisation

The

precis~

with

design problem.

control

for

errors

appropriate

with the available

current

and

relation

the computational

navigation to s~eer the missile towards the targe\

were developeti
before
the advent I of mo~ern

approach

of

working

and control

proportional

bears little

work

is to achieve

accuracies
guidance
time,
I the

phase. These sophisticated

with

the

better
use o,f

philosophy

to

the trajectory
errors
mid-course
guidance
trends of guidance

and
347

DEF sa

VOL 47, NO 3, JULY 1997

a..=(TrDx)/M
R..-(Y""IM),(YA/M).'.,(,,),
a" -tZu u/M) + (ZVM)6p-(c)

ay.
q

Bzs

p = (Lp/lXX) p +(4~/xx
,

1:

q = (Ma a/lyy

) ~R +
(CIOS/lxx

) + (M&llyy

) 6p

;. = (N~ 1311,") + (N&llzz ) &"

~ ,~
AID &

1\
vx

-1
a=tan

INERTIAL

ENGINE
THRUST

Il

(W/U)

P=lan-I(V/U)

~
VB=([DCMJiR)IVI1
SI
DCM

-O-m

I NAV.FUNC

9UAT
UPDATE

VM=Vi1+V"+w"
I PARAMET
EMS;

/TfT
I

Vm

A Vh-3

Figure 3. Rotational and translational loop job allocation In real-,ime missile

control
validation

design

have

a direct

bearing

on

the

complexity.

navigation,
extended

guidance
to

5-DOF

and

control.

model

lthis
I

without

can

troll,

be

before

3.

MODELLING

& SIMULATION

The validity of the guidance and control design

depends on the refineness and proximity of the
plant model to the real world. The actual terms and
coefficients used in the 6-DOF model depend very
much on the availability
of aero~ynamic,
propulsion and inertial data as well as engineering
judgement. To have a feel of the missile dynamic
behaviour with the control algorithm, the plant may
,
be simplified initially to a 2-DOF (planar) rigid
body model with plant pafameters' at various
instants of trajectory. Simultaneously, trajectory
equations of motion with forward accelt!ration
(3-DOF) for a variable point mass are developed
for kinematic studies. The 2-DOF model equations
are combined with the trajectory variable functions
(thrust, drag, etc.) for the development of 3-DOF
planar model. This 3-DOF model with ideal
actuators and sensors allows preliminary studies on
348

using the fulltfledged

6-DOF

model.

and sensor models are progressively

typi<fal

rigid

equations
Pjtc~,

/body

used for

model

c'onsisting

a ~issile'

yaw, rJII, ~eflection

generated
steering

by OBC
and stability

A 3-axis
its origin

at centre
acting

plant

for

etc.

of a missile

of mass. External

forces

generated
in the body
frame of importance
is

attitude

to the e,arth-rixed

the

3.

01) the body due to thrust and

,
on the egrth

to

ADC,

(CG)

the one fixed

relative

6-DOF

in Fig.

frame is de:flned to have

of'gravity

aerodynamic
forces are
frame. Another reference

'for transforming

(Op, Oy, Or)

the 6-DPF

using TVt,

which moves as a function

and moment~

of

is giv~n

c~mmands

excite

coordinate

The actuator
introduced.

surface.

The

body's

frame is required

the body trpnslational accelerations

,
frame. Angular
accelerations
are

earth'
,
integrated
to generate'body
angular rates which
further generate thel I.body quaternlOns to resolve
I

9IAUDHURI,

incremental

body

The resultIng
will

give

velocities
j

to

r~ference

et al : MISSILE

reference

velocities

tpe positions.

GUIDANCE

& CONTROL

The primary

function

to

the

velocities.

on integration

extract

6-DOF

rigid

infornll~tion)

body equat~ons as given in Fig. ~ are derived

from

position,

Newton 's fecond

The typical

is

'aw of,motion

4l The Euler jaxes

are fixed to the body. The momen\

Eulerian

axes

rotational

are written

accelerations

derivatives

equation.s about

and Implemented

after

neilecting

ass

dynamic

has little inttuence)

and the
I
effect dub to couplingS, The effect of engines (for
TVC)

(which

an~ fins

(for

ADC)

is accounted
I

M6, N6, and L6 f..ctors.

.I
A top-down
hier,archical
been follbwed

for the entire

in Fig. 4.IThe

6-DOF

translational

and

implementation.
software.

equations

as shown

are divided

loops

hie~a,rchi~al

supplement

\AEROFU)

MlSVELM

module

dynamic

pressure.

for

computes

deflections

functions

for

the

plant.

f~nctions

generated

with

within

of the

aerodynan\ic
fundtions.

I
and

number

engine

deflections

are

the

Mission

the plant

equations.

based

(autopilot)

steers and stabilises

forcing

events

and

a,

to

and sensor
(3 are

also
I

and are used by Ithe

commands

generated

objectives.

coupled.

The

MISVEL

module

Mach

and feedback

in

turn,

sch9duling.

excites

in

~ystem, is used to

accomplishing
guidanqe
while

the

The airframe,

mission
loop

(Fig.1 )

the autopilot

lateral acceleration.9r

loop

attitude.

loop roll, pitch and yaw are not

control

number

system

The deflection

system,

outer

The inner autopilot

modules

are supported

(onboard

dynamic

generation)

for

The engine,

by

pressure
adaptive

fin commands

height (2), and velocity

and
gain

(O~C), (Orc)'

(V m) are, passed on to plant

and support software respectively

(Fig. 4).
,
I
The model
software
(plant
and support
software)

and onboard

software

are required

synchronised

in RT. The software

be converted

to a ti'ming

model

ns well

schcdulillg
cycles-major,

of the OBC lin HILS.

jwhich,

for

The

processor

the missile

with the propulsion

forces

reference

by the OBC are output to the

subsystem

produce

guidance

digital

commanps

and propulsion

coordination

navigation

available

sensors (rates, accelerations~.

~uppl.)rt ~oftware.
introduction

'1'11c.ol1board mission ~oftWarc i~

I
the mi~sile model for the ease of

the

The onboard

based on the guidance

from

process the

generate

system.

delinked

from

on

to

generation

the kinematics,

modules

system,

command

the missile

ar~ also used as inputs

6-DOF

decision

controls

thrust

I (0/0)

for

RT task

(navigation

and attitude-related

controls

the plant. The plant consis~s of actuator

I
~
along

ease

the inertial

is broken into

Mac,h

The thrust,

fin

models

into

of the onboard

knowledge

of

inertialp

and

(8eo) and
aerodynamic

has

plant mpdel and 6nboardl mission

support software
(AEROCO,

simulation,

rotational

Th~ lower

information

actuation

methodology

from

velocity

airfram.e

The dntire software

support software,

in Z6 ' y 6 ,

SYSTEMS

model.

i~

diagram,

structure

for generating

I\~ onhonrd
RT executive.
I
achieved
through
three
submajor

In the application

and minor
software

to be
has to

cycles

The
time
for the

also, timing

is
349

DEF sa J, VOL 47, NO 3, JULY 1997

Apprupriiltc
OBC

I~

Sc ~

SERVO

lfl

CONTRO

CTUATION

..
5FB

si~ulating
SIMULATION
r;OMPUTER
--

SYSTEMI

LLt211

(IVC,

ADCI

SENSOR

I~c

INTER

MissiLe
6.DOF

FEEDBACK

.~C~,

eventually
integrated

~o

AVB

motion

~
i1>

FORMATION;

SIMULATOR

FigureS.

Integrated

hydraulic
controller

HILS

incremental

angles

three time cycles, where the

and

incremental

velocities

are

sampled at every minor cycle. The actuators used

are modelled wtthin the plant. with appropriate
damping and bat\dwidth6. Actuator rate limits are
also taken into account in the model. Subsequently,
I
model actuators are replaced by hardware actuators
along with engine thrust frame and fins.

Figure

350

for
are

(IMU)

a lower

should
drift

flight

comprising

is mounted

which

The

~n a 3-axis
have

rate.

a higher

Appropriate

pump, accufllulator,
filt~r
and servo
electronics
as) used in f1~ght are also

intr()duc~d.

achieved through

uscd
which

Eqler angle rates are generated to'drive the motion

simulhtor.
Tqe hardware
actuators\ along with

TRANSEULER

I
3-AXISMOTION

with

(SSM).

~nit

sensor~

simul~,tor,

bandwidth

ulsu

sensors

mi~sile

measuring

strapped-down
lixe

.urc

replaced
hy night
~en~or~ I in the
HILS, as shqwn in l~ig. 5, for a typical

surface-to-~urface
inertial

V/F
I C9NVERTER'1

1Iiudcls

strapped-down

6. TWD

The

thrust

frame,

cold

engines

with

gimbals are also used with ~e hardware actuators

in the hope of revealing hidden defects in hardware
or

software.

perpendicular
accelerometers

The

engine

acceleratio~

axes are sensed

for excitind

by

TWO

in

two

piezp-electric
effect7.

It was

~onclusively
proved in HIL$ forla typical SSM that
TWO associated witH low damping introduced by
,
gimbaled
engines,
thrust frame
and Ihardware

effects in 6-DOF

model

CHAUDHURI,

el al : MISSILE GmDANCE

& CONTROL SYSTEMS

x,v.
--

ACTUATOR
MODEL

ICGIC

'1

CONVERT

KINEMATICS

l-=
ax~
-'W

-.J
PLANT

Ps

SENSOR
MODEL

.1?!,

SYNTHETIC
SIGHT

Figure

actuator compliance
oscillations.

The

is the prinlary
model

ANGLE

7. Setup ror seeker in MILS

sourc.e for roll

infofmation

RATE

which

is

system

with

guidance

bandwidth

and

much higher

seeker

trackloop

than that of

bandwidth

is

missing in Fig. 3 for TWO I in roll is shown

explicitly8
in Fig. 6. The engine acceleration
in

necessity for seeker HILS. A typical HILS set up

for seekerlo, as'realised, is giveh Fig. 7. Electronic

Fitch, yaw and roll (Op, Oy, Or} are fed to the
enhanced modell via piezo-electric
accelerometers.

ana rR-target

Missiles

with hi~her

underg<b HILS,

which

o:cillat1ons.

slenderness

may reveal

Missile

flexibility-related

ratio have to
bending

parameters,

Pilrameters,

mode

including

are to be considered

simulation.

arrays may be introduced

The seeker system as well as the entire

guida~ce and cont~ol system need to be introduced

in HILS indepen- dently.
I
Development

of missile

mddel it:l.RT is one of

the major

challenges

in HILS.'

at various points o~ the trajectory

with a much
higher order model.
The short. period I mode RT

computers,

hybrid

computers,

HILS can be performed

for some cases and may be

used at various

extended fJr integrated

6-DOF

validation.

HILS.

The loss of

computers

autopilot st~bility due to unanticipJted

rate~ sensed
by control sensjor needs to be examined. Defledtion

obtaining

and its

differential

rate

non-linear

limits

to be i'mplemented

modelling

in simulatioh.
I

surface-to-air

missiles

I
For

are

based radar 1 noise

generator...
distri~ution).

is

~odelled

for

through

groundsignal

(...pecific<,
mean
an<1 ...t;lndard
Seeker- based systems need detailed

seeker modelling

before

motion simulator

for final

mounting

on the 3-axis

HILS., A targel- mlotion

and specialised
Simulating

no,n-Iinearities

way

form

equations.
realistic

simulation

introduction

missile

power
of

computers

care

system design and

missile

mathematically
of the coupled

engineer's
time

system in

desire

domain)

to
for

and discontinuities
on a linearly
I
system can be met with

an appropriate

computing

mini-

than

(in.

and control

l{f

multiple

solution

An

effect

tuned guidance

The

digital

a complex

elegant

the closed

Mainframe

digital

stages of missile

RT is a more

observe
(SAM),

for ease of

facility.
model

demands

for time domai'n

adtual

night

HILS.

subsystems

large

Further,
in

the
351

DEF sa I, VOL 4?, NO 3.'JULY 1997

IIII.S

IlvoiJ...

simplifications
geared up to

,
111~ 1IIIl.~rlllilllic...

Ilrisill!~

in mathematical
connect entire

model.
missile

JII~

11I

Facility is
hardware,

.I'll~
include

actual/simulated
ground computers with sophisticated and flexible, 1/0 interfaces
to bring more

111~tll()d1' 11()rlfl:llly
the following:

.Stability

.1 Extension

Formulation of 6-DOF model,

study

and rotational

Top-down

hierarchical

structure

for

the

software,

.Develop~ent
of engineer's block diagrams
or data flow diagrams,
,
.Task
scheduling,
tlistribution
(timing
diagram)

and software

.Establishing
application

flight

hardware

Sometimes, it may be necessary

entire HILS with integrated hardware
the final

Missile

launches

operations.

to excite the
in one /plane

In addition,

very

expen~ive

The missile

has to fly

necessary

model

and
with

and 'design updates are

due to changes arising

in the course of

algorithmic
vis-a-vis software development,
flight
trial
experience
and original
requirement
specifications.
The validation process should not be
mixed up with the verification
process. Validation
is the process to determine
like the actual missile
is

intended

implemented

to

behaves

system, whereas verification

ascertain

correctly

that simulation
that

(Fig. 8).

li~ear

control

at various

period

,ime

points

response

a*d

t
.study

6-DOF

with

flight

input

p~ofilq

(FLIP)

Sometimesl

the

implementationt

phase

mis-synchronisatlon
worsen' the situation

sta~e of the
,
,
and

lag

(inappropriate

was also

other

time

cycles,

aspects with
RT software
and usage ,of RT simulatiol1
design

problems

at an

early' stage. Certlain

zones in the trajectory,
especially
low dynamic
pressure,regiJn,
control
and
stress

terminal

the

sensor

phase
and

high

actuator

specification
requirements'. High rates (more than
the design) experienced by sensors and high flow

navigation, guidance and control software in R1. A

priori validation
of the onboard software with the
missile model in RT is a necessity before the actual
launch.

of the short

system-switchover

VALIDATION
are

frequency

tb RT,

manoeuvering

one-shot

and

conventional

tools helps in highlighting

HILS.

DESIGNUPDATE&

time

designed at the developement

software for initial validation.

simulation
with model and
software on an RT platform, .

with integrated

before executing

.Near

development,

.Establishing
HILS with sensor and actuator
models along with the OBC, and
.HILS

vu'lidati()11

8'uidance' and control on various test beds,

including RT setup, I
,
.Independent
testing'
of the ravigation
software along with the hardware for both
statIc, an d d ynamlc' qon d Itlons,
.,
an d'

integrated

with

.3-DOF/5-DOF

equations,

using

I()r
\

system ~esign
techniques
of the trajectory,

HILS:

Separation of translational

studies

resp.onse

connectivity
in a RT simulation
environment., To
sum up, the following
steps are executed to realise

ll1'~d

equations

are

rates demanded
into

by actua,tors

t~e software/hardware.

other

non-linearity

(actuators,

may force
Saturation,

effects

of

the

a relook
bias and
hardware

sensors, seeker, 'etc.) were experienced

during HILS, which helped in validating the design

under extreme conditions. Finally, validation of the
,
software
and hflrdware
'is carried
out in the
following

ste'ps:
All

dig~tal

I
6-DOF

simulation

on

two

independent
platforms
(preferably
version closer to <t>BC implementation)
.Integrated
available
simulation

application
software testing on
RT computer alo~g with the RT
computer,

352

.0-

aIAUDHURI,
Problem:

et at : MISSILE GUIDANCE

General

Mathematical

Modelling

& CONTROL SYSTEMS

and Simulation

Methodology

t-c
'1(/(I
..

0/&
0-11

COMPARISON

VERIFICATION

SYSTEM,

BASIC TECH.

MODEL, SIMULATION CORRELATION

COMPONENTS:

Requirements

VERIFICATION

which fi~al simulation

must satisfy ,

Process
operate

2.

Equation

3.

Program equations for simulation.

4.

Compare simulalion program 10 the model and modify the

for representing

~tual

system.

are

determine

programmed

that
by

the

a program
software

causes
designer

Process to determine that computer simulation

actual ststem in all pertinent respect.

.I

and validation

-I
softw~re

simulation'

computer

environmen\,

.Integrated
validation
fIiTht

Figure 8. Verification
I

and hardwar~
in

validation

with

In addition,

IOBC-IN-LOOP

guidance,

control

behaves like

and navigation

are

independently
validated 10. A typical plot showing
important
missile
states and parameters
in a

and

I
software
and tlight
hardware
with simulation
computer
and

motion

to

equations

corre~tly).

Compare simu\alion results with actual results.

.OBt

computer
(i.e.

VALIDATION

rnislake~.
5.

to

as intended

simulation run is given in Fig. 9. Disturbance cases

are 'also simulate~
in various te~t beds. Higher
thrust,

simulator.

with

simulating

lower

-drag

high

velocity

and

lesser
case

mass
and

for

their

Important
states and p~rameters,
including
structural
loads
and I dynamic
pressure
are
monitoredl
throughout I the flight
profile
for

complementary
conditibns along with static margin
I
variations are simulated for stretching the software
to its limits as well as validating
the guidance and

evaluating

control

~he performance

of the missile

system.

design

in

its

cntirety.

G:lthcring

haskct

35m/s2

AZ

-35m1s2
0.1 rad

-0.1
O 1

rad
rad

-0.1
0.4

y---I~---i-"
1---~
,

V-

,---;=:::::ii:
j

DELTA

rad

-0.4
175

rad
rad

egIs

1
I I

.175<1ea/s

I
15

-..j

~,"7--~~.~
'

--1L
...r T r---

.DELTA

DOT

-.;..-,-'I--~-.-I
.-~-

.j

r-1
-rl

130

45

60
TIME

1..IKIlre

9. A tYIJIl'uI

75

90

105

120

I
135

150

(S)
plut

III II !/IIIIIIIUII(III

rllll

353

OFF sa J, VOL .47, NO 3, JULY 1997

uurillg

slurl

guidance

uf. cluscu-luup

stiffness,

cutoff

gUiUUllCC UIIU lhc

velocity,

low

dynamic

prcssurc guic.lallcc hcllavi()lir ill rclatiOJI t() actllalor

rates (which stresses the hydraulic flow rates), and
terminnl
critical

phnsc guidnnce
performance

into during

HILS.

sequencing
alignment

hehnviour

nre some of the

I ~
:9-1
,

~
-'

issues which have to be looked

Prelaunch

functions

and in-flight

alongwith

-'
O
11:

mission

navigation

and

are also reviewed.

The

emb~dded

flexibility

filter

in-flight

software
was /validated
with the higher order
flexible missile fIlodel 9 in HILS, where the same
is not possible in all digital NRT simulation
rigid body 6-DOF HILS. The.seeker-system

-;;;
a
Q)
~

or RT
tested

This

guidance
model

helped

software
with

subsystems

to

validate

the

independently,

autopilot

and

has been validated

a priori

-2

.3

embedded

since
other

w
'<
1!:
-1
-1

independently
fpr stabilisation
and trackloop 'under
,
trajectory dynamic conditions without the guidflnce
loop gave sufficient
insighl for upgrading seeker
design.

w
...,

6-DOF

Many
hidden
software
and hardware
deficiencies of design and implementation have
surfaced during HILS only. It has helpe"d in
generating the missing information for guidance
and control designer as well as kno~ledge base for
a missile model. Very high actuator rates,
quantisation
problems during rate extraction,
computational delay and roll oscillations d..e to
TWD are some of the problems which have been
detected, corrected and tested in HILS, leading to
successful flights. The primary source of undue roll
oscillations due to low damping introduced by
gimbaled engines, thrust frame and hardware
actuator compliance TWD was demonstrated in
HILS and suitable design changes after introducing
digital filter were also validated (Fig. 10). Incorrect
control gains due to erroneous height information
from navigation resulting in roll oscillations was
also demonstrated. For worst case disturbances,
control gain margins, in tune with 6 db and phase
margin as low as 20 have been verified in HILS
even in a conditionally stat)le situation. Typical
cases with lower margins, yet with acceptable
performance, were also validated. For a missile

12

TIME (5) ,

hardware
10,

10

IFigure 10. Roll rate beror~ and ar/er introdlcing filter

,
with a higher slenderness ratio (lId a~out 20), the
loss of autopilot
sensed

by

corrective

in
.,

due to unanticipated

sensors

the

body

( decpupling

same

rate

test

'fatio)

decolipling

in.

its hardware

Integrated

actual

~ILS.

and

was further

The

effect

of

of

sight

rate

line

navigation

in HILS

and adequate

~y the seeker designer.

the launch

and

rates

proved

proportional

was provided

For completelTess,
In

been,

bed.

to seeker

guida.nce was demonstrated

with
..,

has

measures were taken which

validated

injected

stability

control

sbftware

Tl\e

communication

computer

was

also

opto-isolators

)inks

were

along

included

and the

employed

to

create a near launch sqenario in HILS environment.

This helped tol excite
during

the

auto-la\unch

mission-related
thrust

build
unit

helped

parameters

are

mission.

in

build

the

cledring

the
for

studies
..

354

,,--

are

onboard
in-flight

post-flight

to study, the petformance

~.

up,

telemetry

"ritical

availabl~

Comparative

all

PCM unit and ground

also.

made

system

with

pressure

Interfaci?g

ofonboard

software
(PFA)

(like

etc.).

telemetry
analysis

phase

f'llnctions
up,

system consisting
receiver

the ~aunch computer

of the

carried

out

CHAUDHURI,

et al : MI~ILE

between the in-fligh~ performance and the HILS

results. The HI,LS test Ibed is energised with the
same input data as available from the telemetry,
whereby detailed .pFA of the mission is conducted.
Missing links in. model as well as design were
traced back throu~h HILS-proving
its efficacy as
a powerful tool for PfA also.
5.

CONCLUSIONS

& jSUGGESTIONS

The methodology

knd techniqpes

this paper have been prove~

development
software
for

GmOANCE

& CONTROL SY~TEMS

modifications
Radar
directly

for

studies.

HILS

algorithm

described

to be effective

in

in the

of reliable
flight
hardware
and
missile
~ystems.. I The procedure

is used in rhissile flight test programmes

j
.
where there is no r9om for errors and low margIns
in guidance and control software and hardware.

6-O0F

are necessary

Judicious
period

from

inclusion
6-O0F

is

point

mass to rig,orous

fo.r validating

of flexibility

the design.

and slosh in short

I.
necessary,

depending

missile
configuration.1
Inclusion
hardware should be I attempted
at
ir.crease
hardware

the

re~iability

4esign.

of

flight

Guidance

and

on

of
any

.
the

certain
cost to

software
control

and

system

using OBC, seeker and i'ts RT sbftware cannot be

evolved with NRT all digital 6-DoF
simulation.
Further, the flight

s'oftware design ~Iong with OBC,

guidance and contrbl RT hardware ,can be validated

only in an integrated form in HIL~. Many hidden
software ~nd hardware

deficiencies

of design have

system

established

the

in

In~ia.

I Today,

RT

been

onboard

computer software with t:losed-loop strapped-down

inertial gulidance for missile system has.undergone
successful ~ser trials ,after rigorous validation
in
well with

HILS' results have matched fairly

I
those of actual flight trials, resulting in

reduction

in

record

are

in

time.

introduced

mode

has helped

TWO

control

simulation

in generating

roll,

detecti<?n

gain scheduling

of

due to height

in the seeker systems. The common

sensors for control

to

trajectory

capabilities
trackloop

dynamics

in

were subjected

HILS

in various

and the spread

were

also

actual

system were

its stabilisation

was tested independently

guidance

and

hydraulic

The seeker with

the missile
bias

and navigation

of the complete

established.

and

as well as with

configurations.

of the radar-guided
introduced

with

The
system

the

actual

ground-based guidance system. The scope has been

extended to include flexibility
effects of missile in
j

RT

HILS.

HILS

guidance

an~

limitations

of

results

were

control
the

correlated

stability

linear

study

with

margins
resulting

and
out

of

saturation, discontinuities
and other non-linearities
were l}rought out. It was used as an on-line design
tool

fQr

guidance

methodology
preliminary

and

control

system.

The

adopted has helped in transforming

paper

design

to

an actual

weapon

system.
Though the embedded software may be proved
in HILS with the specified plant, .the necessity of
trial remain~,

model
has

failure

facility

for

in

seeker

errors, validating
flexibility
filters, evaluating the
radar-based
guidance
system
and Qetecting

flight

surfaced quring HILS only.

j
HILg
for guided, missile

flight

variops

inappropriate

errofs
ranging

introduced

and

imperfections

described

Models

were

noise

itself.

to find out hidden

Expert

systems

links

hav~g

in the

access

to

integrated
knowledgel
bases and supported
by
learning features with the help of neural networks
and automation,
including
virtuallreality,
in HILS
will
help in faster delivery
oIl more reliable
guidance

and control

systems.

HILS. Pre-flight

the

number

or

flight

trials.

seeker guideq
missiles
afe also
performance Validation in HII,S.
Actual

\
failures

(due

to TWO,

poorer class of sehsors, flexibility,

demonstrated

in

1IilS

and

I
Radar

evaluated
I
lower

for
I

I
thruslt,

etc.) have been

appro4)riate

ACKNOWLEDGEMENTS

and

design

The
A.P.J.
I)r

authors

Abdul

V..Jo .'-iIIII(I:lr:llll,

Development
provided
TII(.:y

SlIri

their

gratefulness

SA to RM
J>irclo!(lr,

Laboratory,

by them

tllank

express

Kalam,

J>l'rl'lll'C

for

the

in the preparation
N,V,

K,IU,IIl1,

to Dr

and Lt Gen

Dr

(Retd)

l{csl~:lr(.:11 ,'<l.

encouragement
of the paper,
T,K.

GIIosIlJI.

355

DEF sa J, VOL 47. NO 3, JULY 1997

Shri

S.K.

Ray,

Shri

Prasada Rao, Shri

Cllllkrllvllrly

r()r

P. Banerji,

V.K.

Saraswat

1IIIIIiy

illlllllilllllill~

Shri

K. V.S.S.

and Shri

4,

A.K.

(lis(.llo;si(IIIS.

Smt. Chayanika

Dutta, Shri Shailendra

V. Sunder

Shri

Raman

Ramana

Kumar, fShri J. Ram Deepak

6.

and Shri B .

given in the preparation

J:

New

methoos'

in

guidance
and control
of
AGARD, France. LS -101.

the

tactical

terminal

missiles,

Chaudhuri, S.K., et al. Trends in missile guidance

and control design and validation. Proceedings of
the National Seminar on Current Practices and
Future Trends in Defence Electronics and
Avionics Systems. National Telematics Forum
and DRDO, May 1994.
Chaudhuri,

1961.
I{eul-tul\e

S.K.

strategy

for

the
I.

guidance

of

surface-to-air
missiles using track-while-scan
radar and extended Kalmad filters. , Cranfield
Institute of Technology,
PhD thesis.

UK,

December

design,

t
(,-1JOI.. ll\uuel
I

Chaudhuri, S.K:; Venkata~hala~, G. 8f Pmb~~ar

M. Hardware-m-Ioop
simulation
for missile
of the Intdrnational
Autonomous Control in

Aerospace '95. IFAC, Atlgustl1995.

.I

REFERENCES

el fll.

systems.
Proceedingsj
Conference on Intelligenf

of

this paper.

Gonzalez,

New York,
S.K.,

confif!}uration

V. V.

Ramana Rao. ThJy also express thanks to Sh'ri B. V.

Ramesh for the silpport

LII1\Uulluri,

Missile

REALp.RI in integra~d software environment.

Res~arch Centre Imarat, Hyderabad. July 1988.
Technical Report.
I

Kumar, Shri

and Shri

I
S.S.

~cGrawhill,
5. '

They acknowledge
the technical support given by
all their colleagues, especially Shri S.C.A. Basha,
S. Dutta,

Chin,

1985.
\

8.

9.

Chaudhuri,S.K.;
Venkatachalam, G. & prabhakar
M. Hardware-in-Ioop
simulation. Procaedings of
,
the Technica1 Meet on Navigation and Guidance.
Astronautica~ Society of India, 1993.
,
Chaudhuri, ~.K. & Kadam, N.V. Tail wag dog
introduction in 6-DOf model. Research Centre
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I
,
Chaudhuri, S.K., et al. Flight sqftware validation
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National Workshop oniFlight Software, Systems.
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10. Chaudhuri"
S.K.,
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si:mulation for seeker. Research Centre Imarat,
, Hyderabad, July 1996. T,echnical Report.

Contributors

Dr SK Chaudhuri obtained his BE from Jadavpur University, Calcutta anb MTech from Indian
Institute Technology, Madras. He was awarded Commonwealth Scholarship {or PhD on Aerospace
Elec,ronics Systems with Right Control System specialisation from Cranfield Institute of
Technology, United Kingdom in 1985. Presently, he is the Head, Control and Guidance Software
Intergration Division at the RCI. He is actively involved in real-timd HILS, flight software design
for missile systems. His main contribution was the development of refll-time onboard computer
software for closed-loop strapped-down Prithvi missile,system. All the ;missile's of the Integrated
Guided Missiles Development Programm'1 have undergone HILS under his leadership. He included

356

,
cHAUDHURI,

et 01:

MISSILE

GUIDANCE

&

CONTROL

SYST~MS

r
higher order flexibility model in real-time simulation and intro~uced seeker systems in HILS. His
current interests are estimation and filtering techniques for missile guidance, guidance system
engineering, seeker head simulation, expert systems, neural networks and virtual reality
rpplications. He received Dr Vikram Sarabhai Research Award (1993-94) for his achievements in
the field of electronics, informatics, telematics and automation. He has a number of research papers
and technical reports to his credit. He is a member of IEEE, Computer Society of India" and a
specialist member of the Aeronautical Research & Development Board System Panel and Review
Board Member of LCA and PTA.

Shrl G Venk~tachalam,
Eng~neering
I

College,

Scientist E, obtained his BTech (Electrical

Warangal

and

MTech

(Computer

Science

Engineering)
and

from the Regional

Engineering)

from

Osmania

University, Hyderabad. Presently, he is working at the Research Centre Imarat (RCI), Hyderabad.
l;Ie has be~n actively involved in the area of real-time flight software development and
hardware-in-Ioop simulation for missile systems since 1983. His main contribution was in the
development of real-time software for Prithvi. His current interests are neural networks and virtual
reality ~pplications to hardware-in-Ioop simulation. He is a member of IEEE Computer Society.

Shrl

M Prabhakar

Delhi.

of hardware
since
facility.

obtained

He is working
1986.

interfacing
His main

The current

target

dynbmic

HilLS

facilit~

his BE from

as Scientist

D at RCI,

and testing,
contribution

to match

scenario

state-of-the-art

of Electronics

Hyderabad.

include

along

with

simulation

and establishing

extending
powerful

and Telecommunications,

He has been actively

and hardware-in-Ioop
was in plan~ing

areas of his research

engagement

Institute

the HILS
simulation

involved

(HILS)

for missile

hardware-in-Ioop
for missile
computers

New

in the areas
systems

simulation

seeker and moving

and upgrading

the

technology.

357