Bang-off-bang image based homing and attitude control of a guided bomb

Guided bombs use different sensors as an input to correct its trajectory to a desired target. Some of them use optical sensors to compute the relative state between the guided system and the target. These systems usually use bang-off-bang controllers to align the line of sight towards the target, producing a quasi-straight path and a fixed attitude angle. The present work proposes an extension of this controller to control both the final position and the orientation at the impact on the target. This is performed using a camera as the input sensor and by changing the desired position of an image characteristic. The paper studies two possible variations of the desired position: using a pre-established time and changing according to detection of a given state within a region in the state space.