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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
2
MMTS optical tracking system delivered to Redstone Test Center in 2012:
Background
Mobile Multi-Sensor TSPI System
3
Background
MMTS was spec’d for but quickly showed potential.TSPI 6DOF
TSPI = XYZ target position
6DOF = XYZ target position + pitch, yaw, and roll
4
Tracking
Mount 2
LauncherImpact Missile
Tracking
Mount 1
Triangulating the Target Position
Angle to
Target
5
Feature Identification for 6DOF
Individual target features (tip and tail) being tracked
during post-processing
6
Creating a Direction Vector
Pitch and yaw are components of the
3D vector between the tip and tail points
7
6DOF Post-Processing Session
8
MMTS Tracking Video
9
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
Pitch
10
Pitch
11
Noisy towards the ends
Central “sweet spot”
Yaw
12
2.75” Rocket Video
13
• Data has greater noise and error at ends because:
– Triangulation geometry is worse
– Image quality is worse
14
• Yaw has more noise and error than pitch because:
– yaw motion occurs in-plane with optical pointing lines
15
Tracking
Mount 2
LauncherImpact
Tracking
Mount 1
Nearly Ideal Intersection Angle
16
Tracking
Mount 2
LauncherImpact
Tracking
Mount 1
Poor Intersection Angle
17
Tracking
Mount 2
LauncherImpact
Tracking
Mount 1
Notional 6DOF “Sweet Spot”
18
Questions
Comments
Recommendations
19
MMTS Tracking Pedestal
Phantom Visible
High-speed
LWIR/MWIR
Zoomable Standard-Def Visible
Low-pass Filtered Pitch
20
21
MMTS Control Van With Pedestal
22
Tracking
Mount 2
LauncherImpact
10
00
m
1500 m
Missile
Tracking
Mount 1
1 – 10 km
Typical Layout