collecting missile 6dof using an optical tracking system
TRANSCRIPT
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U.S. Army Test and Evaluation Command
Mr. Michael Tousek
US Army Redstone Test Center
12 May 2016
Collecting Missile 6DOF Using
an Optical Tracking System
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MMTS optical tracking system delivered to Redstone Test Center in 2012:
Background
Mobile Multi-Sensor TSPI System
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Background
MMTS was spec’d for but quickly showed potential.TSPI 6DOF
TSPI = XYZ target position
6DOF = XYZ target position + pitch, yaw, and roll
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Tracking
Mount 2
LauncherImpact Missile
Tracking
Mount 1
Triangulating the Target Position
Angle to
Target
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Feature Identification for 6DOF
Individual target features (tip and tail) being tracked
during post-processing
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Creating a Direction Vector
Pitch and yaw are components of the
3D vector between the tip and tail points
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6DOF Post-Processing Session
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MMTS Tracking Video
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Tracking
Mount 2
LauncherImpact
50
0 m
1000 m
Rocket
Tracking
Mount 1
3 km
Layout for 2.75” Rocket
rocket height at apogee = 30 m AGL
rocket max velocity = Mach 2
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Pitch
10
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Pitch
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Noisy towards the ends
Central “sweet spot”
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Yaw
12
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2.75” Rocket Video
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• Data has greater noise and error at ends because:
– Triangulation geometry is worse
– Image quality is worse
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• Yaw has more noise and error than pitch because:
– yaw motion occurs in-plane with optical pointing lines
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Tracking
Mount 2
LauncherImpact
Tracking
Mount 1
Nearly Ideal Intersection Angle
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Tracking
Mount 2
LauncherImpact
Tracking
Mount 1
Poor Intersection Angle
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Tracking
Mount 2
LauncherImpact
Tracking
Mount 1
Notional 6DOF “Sweet Spot”
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Questions
Comments
Recommendations
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MMTS Tracking Pedestal
Phantom Visible
High-speed
LWIR/MWIR
Zoomable Standard-Def Visible
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Low-pass Filtered Pitch
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MMTS Control Van With Pedestal
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Tracking
Mount 2
LauncherImpact
10
00
m
1500 m
Missile
Tracking
Mount 1
1 – 10 km
Typical Layout