Line-of-Sight Rate Estimation Based on UKF for Strapdown Seeker

<table class="table-group" id="tab6"><tr><td><table class="table"><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr class="thead"><td align="left">LOS angle and rate</td><td align="center"><span style="width: 11.6618ptpx;"><svg height="14.7782pt" id="M255" style="vertical-align:-5.52899pt" version="1.1" viewbox="-0.0498162 -9.24921 11.6618 14.7782" width="11.6618pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,.985,-.222)"><path d="M470 619L451 641C422 610 391 595 348 595C316 595 288 601 248 612C197 628 172 633 138 633C97 633 43 615 0 555L19 532C54 562 86 578 130 578C166 578 189 571 222 562C267 549 301 540 337 540C381 540 434 557 470 619Z" id="g119-25"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="470" vert-adv-y="470"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M474 429L457 433C435 440 389 448 367 448C348 448 323 446 309 443C266 434 195 406 148 366C78 307 23 210 23 101C23 35 55 -12 92 -12C118 -12 146 1 196 35C247 70 311 130 346 173H348L281 -148C268 -211 256 -221 208 -229L191 -232L187 -257L433 -245L437 -219L411 -216C357 -210 350 -205 362 -140L427 207C447 315 461 381 474 429ZM387 387C379 337 363 262 355 236C318 180 201 57 142 57C126 57 112 81 112 128C112 205 150 321 220 376C244 395 280 403 312 403C345 403 370 396 387 387Z" id="g113-114"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="491" vert-adv-y="491"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,6.318,3.132)"><path d="M493 373C493 420 472 451 445 451C421 451 400 435 400 410C400 404 402 400 406 394S417 371 417 350C417 259 317 128 256 55H254C260 126 256 262 238 340C219 424 194 451 163 451C128 451 78 413 24 329L52 302C89 353 106 370 121 370C129 370 137 363 147 336C186 231 196 73 184 -16C152 -88 120 -192 112 -238L130 -257C157 -253 213 -227 231 -213C231 -187 234 -77 240 -23C251 -6 277 30 309 69C424 208 493 299 493 373Z" id="g50-225"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="517" vert-adv-y="517"></glyph.data></g></svg></span></td><td align="center"><span style="width: 12.155ptpx;"><svg height="12.6786pt" id="M256" style="vertical-align:-3.42939pt" version="1.1" viewbox="-0.0498162 -9.24921 12.155 12.6786" width="12.155pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,.985,-.222)"><path d="M470 619L451 641C422 610 391 595 348 595C316 595 288 601 248 612C197 628 172 633 138 633C97 633 43 615 0 555L19 532C54 562 86 578 130 578C166 578 189 571 222 562C267 549 301 540 337 540C381 540 434 557 470 619Z" id="g119-25"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="470" vert-adv-y="470"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M474 429L457 433C435 440 389 448 367 448C348 448 323 446 309 443C266 434 195 406 148 366C78 307 23 210 23 101C23 35 55 -12 92 -12C118 -12 146 1 196 35C247 70 311 130 346 173H348L281 -148C268 -211 256 -221 208 -229L191 -232L187 -257L433 -245L437 -219L411 -216C357 -210 350 -205 362 -140L427 207C447 315 461 381 474 429ZM387 387C379 337 363 262 355 236C318 180 201 57 142 57C126 57 112 81 112 128C112 205 150 321 220 376C244 395 280 403 312 403C345 403 370 396 387 387Z" id="g113-114"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="491" vert-adv-y="491"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,6.318,3.132)"><path d="M547 100L523 123C489 76 461 62 452 62C442 62 433 71 427 109C405 243 387 408 378 495C360 666 322 710 263 710C230 710 182 688 161 667L170 639C184 646 203 651 218 651C247 651 272 634 288 562C297 521 300 485 304 436C230 267 111 104 24 11L33 -12L116 6C163 73 263 255 311 362L347 84C355 26 373 -12 406 -12C440 -12 489 12 547 100Z" id="g50-233"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="571" vert-adv-y="571"></glyph.data></g></svg></span></td><td align="center"><span style="width: 11.727ptpx;"><svg height="18.3026pt" id="M257" style="vertical-align:-6.261001pt" version="1.1" viewbox="-0.0498162 -12.0416 11.727 18.3026" width="11.727pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,.137,-3.014)"><path d="M470 619L451 641C422 610 391 595 348 595C316 595 288 601 248 612C197 628 172 633 138 633C97 633 43 615 0 555L19 532C54 562 86 578 130 578C166 578 189 571 222 562C267 549 301 540 337 540C381 540 434 557 470 619Z" id="g119-25"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="470" vert-adv-y="470"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,5.97,-.222)"><path d="M-161 571C-161 600 -183 623 -212 623C-238 623 -262 600 -262 571C-262 544 -238 520 -212 520C-183 520 -161 544 -161 571Z" id="g117-11"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="0" vert-adv-y="0"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M474 429L457 433C435 440 389 448 367 448C348 448 323 446 309 443C266 434 195 406 148 366C78 307 23 210 23 101C23 35 55 -12 92 -12C118 -12 146 1 196 35C247 70 311 130 346 173H348L281 -148C268 -211 256 -221 208 -229L191 -232L187 -257L433 -245L437 -219L411 -216C357 -210 350 -205 362 -140L427 207C447 315 461 381 474 429ZM387 387C379 337 363 262 355 236C318 180 201 57 142 57C126 57 112 81 112 128C112 205 150 321 220 376C244 395 280 403 312 403C345 403 370 396 387 387Z" id="g113-114"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="491" vert-adv-y="491"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,6.407,3.864)"><path d="M493 373C493 420 472 451 445 451C421 451 400 435 400 410C400 404 402 400 406 394S417 371 417 350C417 259 317 128 256 55H254C260 126 256 262 238 340C219 424 194 451 163 451C128 451 78 413 24 329L52 302C89 353 106 370 121 370C129 370 137 363 147 336C186 231 196 73 184 -16C152 -88 120 -192 112 -238L130 -257C157 -253 213 -227 231 -213C231 -187 234 -77 240 -23C251 -6 277 30 309 69C424 208 493 299 493 373Z" id="g50-225"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="517" vert-adv-y="517"></glyph.data></g></svg></span></td><td align="center"><span style="width: 12.2203ptpx;"><svg height="16.0648pt" id="M258" style="vertical-align:-4.0232pt" version="1.1" viewbox="-0.0498162 -12.0416 12.2203 16.0648" width="12.2203pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,.137,-3.014)"><path d="M470 619L451 641C422 610 391 595 348 595C316 595 288 601 248 612C197 628 172 633 138 633C97 633 43 615 0 555L19 532C54 562 86 578 130 578C166 578 189 571 222 562C267 549 301 540 337 540C381 540 434 557 470 619Z" id="g119-25"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="470" vert-adv-y="470"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,5.97,-.222)"><path d="M-161 571C-161 600 -183 623 -212 623C-238 623 -262 600 -262 571C-262 544 -238 520 -212 520C-183 520 -161 544 -161 571Z" id="g117-11"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="0" vert-adv-y="0"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M474 429L457 433C435 440 389 448 367 448C348 448 323 446 309 443C266 434 195 406 148 366C78 307 23 210 23 101C23 35 55 -12 92 -12C118 -12 146 1 196 35C247 70 311 130 346 173H348L281 -148C268 -211 256 -221 208 -229L191 -232L187 -257L433 -245L437 -219L411 -216C357 -210 350 -205 362 -140L427 207C447 315 461 381 474 429ZM387 387C379 337 363 262 355 236C318 180 201 57 142 57C126 57 112 81 112 128C112 205 150 321 220 376C244 395 280 403 312 403C345 403 370 396 387 387Z" id="g113-114"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="491" vert-adv-y="491"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,6.407,3.864)"><path d="M547 100L523 123C489 76 461 62 452 62C442 62 433 71 427 109C405 243 387 408 378 495C360 666 322 710 263 710C230 710 182 688 161 667L170 639C184 646 203 651 218 651C247 651 272 634 288 562C297 521 300 485 304 436C230 267 111 104 24 11L33 -12L116 6C163 73 263 255 311 362L347 84C355 26 373 -12 406 -12C440 -12 489 12 547 100Z" id="g50-233"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="571" vert-adv-y="571"></glyph.data></g></svg></span></td></tr><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr><td align="left">Max estimation error</td><td align="center">0.345°</td><td align="center">0.352°</td><td align="center">0.478°/s</td><td align="center">0.366°/s</td></tr><tr><td align="left">Estimation accuracy (1<svg height="6.34998pt" id="M259" style="vertical-align:-0.2063899pt" version="1.1" viewbox="-0.0498162 -6.14359 7.47218 6.34998" width="7.47218pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M548 455L523 469C505 448 490 439 461 439C416 439 374 447 316 447C144 447 23 310 23 161C23 47 89 -12 179 -12C312 -12 429 106 429 244C429 303 419 344 368 386L371 388C404 383 440 378 474 378C507 378 530 411 548 455ZM350 274C350 191 308 25 198 25C144 25 108 75 108 157C108 264 170 395 276 395C296 395 320 384 333 360C347 334 350 316 350 274Z" id="g113-240"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="565" vert-adv-y="565"></glyph.data></g></svg>)</td><td align="center">0.100°</td><td align="center">0.097°</td><td align="center">0.110°/s</td><td align="center">0.096°/s</td></tr><tr class="table-tr"><td colspan="5"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Mathematical Problems in Engineering

tab6

Table 6

Table 6: Line-of-Sight Rate Estimation Based on UKF for Strapdown Seeker 