Performance comparison of guidance algorithmsfor aerial vehicles: a software-in-the-loop based approach

Abstract

This study aims to comparatively examine the guidance algorithms used for mini cruise missiles, based on the increasing importance of cost-effective and precision guidance weapon systems in today's battlefields. Mini cruise missiles have a wide range of use due to their low cost, rapid deployment capabilities and precision engagement capacities, exemplified by platforms such as Baykar Kemankeş-1 and ASUW Spear3. While such missiles are particularly effective in missions requiring high precision against point targets, they are also of critical importance in the modern battlefield with their ability to engage moving targets. Cruise missiles generally stand out with their ability to stay in the air for long periods, to conduct reconnaissance and surveillance, and to attack targets with high precision. However, in cases where targets are not fixed and move at variable speeds and directions, realistically evaluating the performance of these vehicles requires complex, costly and risky testing processes. Therefore, it is of great importance to create realistic simulation environments and perform performance analysis in these environments. Within the scope of this thesis, a realistic Software-In-The-Loop (SITL) environment was created by integrating different software tools and projects. SITL is a method that allows the developed software to be tested in a simulation environment like real hardware before using real hardware, thus reducing development costs and accelerating the design process. Missile Datcom software was preferred for fast and effective determination of aerodynamic parameters; this software plays a critical role in the design phase by providing missile aerodynamic coefficients quickly and accurately. JSBSim flight dynamics modeling software was used for realistic modeling of missile dynamics. JSBSim enables the creation of realistic flight scenarios with its ability to model flight dynamics in a detailed and flexible manner. The open source Ardupilot platform, which provides SITL support, was used as the autopilot system. Ardupilot enables fast and reliable integration of different guidance algorithms thanks to its flexible architecture. For the visualization of the simulation, Unreal Engine-based Antoinette Project was used, allowing users to visually follow the test scenarios in real time and in detail. In the study, target vehicles were tested on different motion dynamics and scenarios. In this context, constant speed and constant acceleration motion scenarios of the targets were created, and the direction of motion was determined on the earth's axis. The basic algorithm used, Proportional Navigation Guidance (PNG), is a classic and reliable method that produces the necessary maneuver commands by taking into account the change in the approach angle of the missile to the target. The Augmented PNG (APNG) algorithm, which was developed to increase the effectiveness of this algorithm, provides more precise tracking by taking into account the acceleration of the target and sudden changes in its motion. The Modified PNG (MPNG) algorithm, by adding the lateral deviation term to the guidance algorithm, allows the missile to initially turn slightly to the side of the target rather than in its direction, allowing it to maintain its precision strike capability in the terminal phase. True PNG (TPNG), on the other hand, provides higher accuracy guidance capability by using the target's real motion direction and speed information more effectively. Through the scenarios created, each algorithm's performance criteria such as sensitivity, target acquisition time, energy efficiency and adaptation capabilities to different target movement conditions were analyzed and compared in detail. Thanks to this study, valuable data was obtained on the effectiveness of the guidance algorithms of mini cruise missiles under different operational conditions, providing an important infrastructure for systems to be developed in the future.