UKACC Me|unarodna konferencija za avtomatsko upravuvawe ’98 , Vel{ki Univerzitet, Svonsi,

Velika Britanija, 1-4 septemvri 1998 god., Zbornik na trudovi br. 455, Sojuz na Elektro-in`eneri,
London, 1998, str. 307-312
GUIDED ANTI-TANK MISSILE CONTROL TRAINING SIMULATOR DESIGN
VIA OBJECT-ORIENTED MODELLING

Darko D. Mohenski1, Georgi M. Dimirovski2* Sen Mem IEEE, and Stojce M. Deskovski1,
1 Dept. of Information & Control Systems, Military Academy of RM “General M. Apostolski”
MK-91000 Skopje, Republic of Macedonia; E-mail: stodes@lotus.mpt.com.mk
2 ASE Institute – Faculty of Electrical Engineering, “St.Cyril & St.Methodius” University, P.O.Box 574
MK-91000 Skopje, Republic of Macedonia; Fax # +389-91-112-163; Phone +389-91-363-565
E-mail: dimir@cerera.etf.ukim.edu.mk
Abstract: A PC platform based training simulator for
personnel on anti-tank guided missile (ATGM) systems
has been designed and implemented as a complex
system which is controlled by instructor-trainee
interaction. It makes use of object oriented simulation
modelling, 6DOF missile model and mask modelling of
terrain and weather conditions. To cope with the system
complexity, both a modular designs of the system and
its subsystems is adopted, and an object-oriented
programming is applied. A fully elaborated set of
compatible models and respective software implemen-
tations for missile and moving ground target involving
their interrelated kinematics has been developed. An
appropriate user-system interface has been designed to
enhance instructor-trainee co-operation. It is aimed both
for simulation studies of anti-tank combat (ATC) using
command-to-line-of-sight (CLOS) guided missiles and
for training operators of such systems. An implemented
hardware-in-the-loop (HIL) element in the system is the
real guidance system. Sample results for an experi-
mental session with real-world data and situation are
given.
Keywords: CLOS guided missiles; training simulators;
object-oriented modelling; instructor-trainee co-opera-
tion; test simulators.
INTRODUCTION
Simulation modelling of complex hybrid systems
control has been a subject of extensive research for
quite some time, and recently one of theme projects
within COSY Scientific Programme 1995-99 of the
European Science Foundation has been dedicated to this
aspect in conduction with control systems integration
[1]. On the other hand, a fundamental conceptualisation
in terms of hybrid system control in aerospace and
missile technology has been introduced long ago and
continues to play a major role [2]-[6]. Experimental
simulation of high accuracy and implementable
computer-aided design appeared to be rather instru-
mental in control of hybrid systems [7]-[10]. Our
research on the ATGM systems simulator, reported in
here, stems from previous modest results in the former
federal state [8]-[9], and follows defence needs of a
small and peripheral country (striving to join NATO
defence community) in Europe [7].
*) Author to whom all correspondence should be
addressed
Because of known general circumstances, it was not
possible for us to get study the many remarkable
contributions we have heard of. We are aware, however,
that extensive research is going on in the mainstream of
on accurate simulation modelling and training simulator
developments, involving some hardware-in-the-loop
(HIL) experiments and/or real-time simulations too [8],
[11]-[15]. In the present research on anti-tank defence
systems [16]-[17] and their guidance and control [7], we
follow this streamline and make use of object-oriented
modelling and object-oriented programming [18]-[20].
From a systems engineering viewpoint, it is known that
various types of simulation modelling of missiles and
their guidance and control systems are needed at all
stages of training simulator development. Operating and
maintenance such systems as well as training operating,
and support a maintenance personnel training needs
simulation experiments. Lastly, but not least, such a
training simulator should enable to explore and
conceptualise various scenarios of combat against
moving ground targets (armoured vehicles, boats or
tanks). Therefore, a through system analysis to evaluate
the concepts and laws of missile guidance and control,
and target tracking as well as of performance indices is
needed in order to estimate the overall performance in
the real-time and have some HIL elements included
[11]-[14].
This paper is organised as follows. In the next section,
we give a brief presentation on the simulation modelling
aspects by 6DOF model of missile motion and target
motion [2]-[4]. Then, an outline description of the basic
modules of system structuring and respective software
engineering of this simulator [15], [16] for CLOS
guidance missiles [7] employing ideas of gain-
scheduling control methods [13]-[14]. In the subsequent
section, we present the main features of this simulation
modelling technique [17] via applied simulation
experiments using model and data for a real-world
missile and environment situation [16].
ON 6DOF MODEL OF MISSILE AND TARGET
MOTION SIMULATION
In the accompanying paper to this conference, more
attention is devoted to the mathematical simulation
modelling [7] (Fig. 1 depicts part of resulting models);
while in this paper the emphasis is placed on the object-
oriented simulation Anti-tank missiles use Fig. 2. The overall ON SIMULATOR
modelling [16]. The CLOS-guidance system,
missile is assumed to be and this has been
a rigid body with six exploited in our
degree of freedom (6- simulation modelling. It
DOF) of motion, and assumed, sensors for
additional facility is measuring the variables
included to define wind of the missile CM
and temperature of the movement and of the
weather environments in target in the guidance
simulation. The derived process are available,
model is non-linear and and suitable models of
parameter time-varying absolute and relative
because all parameters motions have been
are functions of time. derived. The actual
Neglecting Earth’s simulation models
rotation and slopes employed and their
derives missile motion software modules of this
equations. Therefore simulator (Fig. 2) enable
Normal Earth Fixed simulation studies of
Axis System, G0 (O; x0, both a class of CLOS-
y0, z0) is assumed to be guided missiles and a
inertial reference, and wide range of anti-tank
missile carried Normal combat scenarios. It is
Earth Fixed Axis functioning as case
System G (P; xg, yg, zg) study operated
at the centre of mass controlled complex
(CM) is assumed to system entity [2], [15],
remain parallel to the and [17]. The
former one. These underlying conceptual
assumptions refer to simulation modelling of
both Ground to-Ground relative motions of
(especially anti-tank, or missile and target, system structure of the SOFTWARE
anti-boat on water which is essential to simulator also including ENGINEERIN
surface) and Surface-to- achieve simulation of instructor-trainee G
Air short-range missiles ATC scenario, is interaction
with the flight time depicted in Fig. 3. This In the software
within seconds. system engineering implementation of this
approach [7], [10], [15] simulator [16], called
Fig. 3. Trajectory and
has enabled a readily SIMOD1, wherever it
relative motions of
open software structure was possible, for
guided missile and
[16] for further computing mathematical
target on the ground;
extension and/or manipulation and
note planes of image
replacement of existing operations, including
forma-tion (1), and
modules with novel matrix-vector
target interception and
developments. At manipulations and
destruction (2)
present it operates with integration of
generic model of differential equations,
’Malyutka’ missiles and parallel scanning of
targets of type tank or evolving co-ordinate of
boat (on surface of the
Lakes in Macedonia).

Fig. 1. Simplified
structural presentation
of the mathematical
modelling behind this
simulation training
system developed
motion, etc., the
standard library [9] of
algorithms and routines
IMSL has been used.
The co-ordinate
systems, symbols, and
signs [14] which are
defined by means of the
respective ISO standard
[15] have been used in
the phase of deriving the
complete 6DOF models
of missile motion and of
target motion. A device
of scanning in parallel
the evolving change of
missile and target co-
ordinates is also
implemented. In fact,
the concept of this
device is based on the
geometry of absolute
and relative missile and
target motions as
depicted in Fig. 3.
This training simulator,
the first version [16], is
implemented in the
object-oriented language
Visual Basic [21]. In
fact, it is constituted of a
simulator of CLOS-
guidance missiles and
their command and
control, a simulator of
evolution of anti-tank
combat using an ATGM
system. Currently, the
work is in progress to
include facility for the
situation with
simultaneous multiple
targets [12] on the
ground. In constructing
this simulator system,
we have employed the
concept of modularity
via performing relevant
system decomposition
into logically and
functionally linked
entities; they have been
implemented as separate
program modules. The
modules (classes and
some forms) are defined
to have a unique
structure and format, in
particular with respect
to input and output
variables, regardless to
their degree of
complexity, are easily
incorporated in the
overall system
simulation model. Of
course, this modularity
concept also enables
creating libraries of
modules for various
ATGM sub-system
structures, as instances
of general ATGM class,
and various scenarios of
anti-tank combats
according to particular
needs of the user [7],
[15], [17]. It is seen
from the sequel, this
simulation modelling
system may be used for
a wide range of tasks
either in training-
simulator mode or in
combat investigation
mode.
In terms of software
engineering, the use of
ideas of object-oriented
modelling and object-
oriented program-ming
languages for a
simulation application
has involved several
object classes. Namely,
objects of simulator
class with relevant
control instances,
sources classes, and
varying and permanent
simulation objects. The
composite structure of
simulator class object is
worth mentioning:
objects which are
sources for a simulation;
simulation time scale
and its current time; the
sequence of events
involved; and the
number of information
processes active at given
times. Figure 4 depicts
functional behaviours of
most important objects
via controlled
communicating finite
state machines (CFSM),
namely, Operator-
Computer Interface (a),
CLOS-guided missile
(b), target (c), and the
Anti-Tank Combat (d).
When operating combat
systems with CLOS-
guidance controlled
systems, inevitably, they
are subject to vari-ous
disturbances due to
weather conditions
which, of course, are of
stochastic nature. In
Fig. 4. Controlled
simulation experiments,
communicating finite
in addition to the facility
state machines as model
for entering changeable
representations of
quantitative
functional behaviours
specifications
of: Operator-Computer
concerning temperature
Interface (a), missile (b),
and wind, some
target (c), and Anti-Tank
predefined statistics and
Combat (d)
terrain masks are
employed. In order to enable more
realistic overall system
performance evaluation,
responses are being also
computed for some
‘typical’ stochastic
disturbances with
presumed statistics. This
training simulator
design, SIMOD1
(SImulatoin MODel
version 1), is integrated
within a unique frame
(Project) of all objects,
that is, (in general)
forms, modules
incorporating respective
program codes, and
classes including both
member methods and/or
functions and member
variables. For
illustration (see also Fig.
2), the form objects
include: frmCeli.frm
(model-options of
targets on ground or
lake surface);
frmDijagnostika.frm
(dedicated to the
diagnostics of the
command panel of real-
world ATGM system);
frmFagot.frm and
frmMaljutka.frm
(modelling and data for
this type of missile)
which belong to ATGM
module; frmMeteo.frm
(model-options of
weather conditions, and
terrain);
frmInstrukcii.frm
(instructions);
frmTraektorii.frm
(computation and
manipulation of missile
and target trajectories);
and frmPob.frm (visual
presentation of
simulated AT combat). negligible forces and guidance missile in
Similarly, more moments acting on the terms simultaneous
important classes are missile); RMOB evaluation of missile co-
Celta.cls (the target), (computations of the ordinates in both
Presret.cls (the right-hand side of horizontal and vertical
interception), and motion equations). planes along with a
Raketa.cls (the missile), relevant discussion. In
Lastly but not least, the
which contain the most particular, a special
line of SIMOD1 Menu,
important computing attention is devoted to
which predefines the
code. Module present the simulator
operational range of
SimMain.bas defines performance via several
user-simulator interface,
current Windows of respective visual
completes this
working mode. scenarios generated in
descriptive outline.
the course of a training
In more detail (also see Namely, the tree-
simulation.
Figs. 1, 2), this Visual structure of the menu
Basic object-oriented may be described as The menu command
software package is follows: FILE: New / ‘Simulation of ATC’
constituted of the Open / Exit; PROGRAM: (Simulacija na POB) opens
following functionally Simulation of ATC / the main operational
dedicated modular Diagnostics of ATGM / form, frmPob.frm,
entities: (GPR (basic Display of Trajectories / which presents ATC
data on CLOS-guided Demo; OPTIONS: Type simulation on the screen
of ATGM / Sort of
missiles); RM (basic from the user’s point of
Target / Terrain:
physical characteristics (Ground / Lake) /
view. This is the basic
of a given missile rocket Weather: (Wind / mode of operation, for it
engine); MASI (data on Precipitation: Fog / enables both simulation
mass, and moments of Rain / Snow / Dry ); training and simulation
inertia and centre-of- INFO: Instructions / investigation of various
mass position as About SIMOD. Note that scenarios of anti-tank
functions of time); the commands in capital combat situations.
AKSM (derivatives of letters constitute the first Moreover, the actual
aerodynamic layer, the subsequent training of personnel for
coefficients of forces layer is indicated by
and moments as commands written in a
function of Mach standard way, further
number of a reference layer is indicated by
point relative to the commands in bold-
missile top); MTKS italic, and final layer is
(computes matrices of indicated by commands
transformation of the G in italic. Algorithmic
to B co-ordinate system flow chart of SIMOD1
and vice versa); VETER is omitted.
(generates components
of wind velocity in the
G co-ordinate system); ON PERFORMANCE
ARMOB (computes OF THIS ATGM systems via
components of realistic SIMULATION instructor-trainee co-
missile flight velocity in MODELLING operation too is best
the air); ATM (computes TECHNIQUE performed within this
parameters mode of operating this
characterising the In the sequel, for the type of simulators.
atmospheric purpose of a kind of
environment); RSM almost self-explained
(computes missile illustration, we present a
reactive forces and discussion on the
moments); AEROS resulting training
(computes aerodynamic simulator performance
forces of missile in a physical session. In
motion); AEROM what follows, we give a
(computes selection of sample
aerodynamically results (Figs. 5, 6, 7, 8 a,
moments of missile b) of a session exploring
rotation); OSM the case of anti-tank
(computes other non- combat using CLOS-
 images and events. defined, there appears
Moreover, every session on the screen a scenario
sequence will well representing solely the
depicted and animated simulated environment
visually so as to and weather conditions
enhance the operational alone. Thereafter, user
training, and not solely can explore the CLOS-
experimental simulation guided missile activities,
for investigation studies and furthermore he can
(Figs 7, 8 a, b). The explore combat
visual part of simulation activities using CLOS-
produced results, the guidance short-range
outlook of which is seen missiles.
a) relevant commands, one in Figs. 7, 8, may
can composite Indeed, as it may be
b) indicate the flow of a
simulating models of readily inferred from the
final stage of a
Fig. 5. Windows for various ATC situations discussion and
simulation session
specifying data of the and under various illustrations given so far,
sequence.
missile (a) and of the presumed (and defined
target (b) in a particular at the initiating stage)
experiment session conditions with respect
to weather and terrain.
Figure 5 depicts both
windows for specifying
data of the missile
(mass, average speed,
range, max. flytime,
ballistic part of flytime,
angle of launching,
rotation, and degrees of
controlling action) and
a b
of the target (moving /
static, tank / APC /
boat / bunker, motion the combined
speed, motion application of the
direction). In Figure 6, analytical modelling
the final results of the technique for the rigid
actual trajectories of bodies in motion and of
CLOS-guided missile Fig. 7. A visual scenario a) the object-oriented
are presented. with weather and terrain
defined immediately
after the starting

Fig. 6. Display of moment: the flying

b) modelling using Visual
missile trajectory phase of the missile
Basic do complement
evaluation: horizontal towards the target Fig. 8. Two visual
well to each other in the
co-ordinate (a) and scenarios: target
construction of such a
vertical co-ordinate (b) Analytical models built destroyed (a), and
training simulator.
in the code and VB missile hit the ground
Although SIMOD1 models within the before the target (b)
algorithmic flow chart is support of user
CONCLUSION
not given in here, via symbiotic interface will Prior to Fig. 7, after the
combined composite always enable a realistic required simulation In this paper, a training
usage of strings of instructive sequence of modelling has been simulator design for
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