Attitude Determination With Magnetometers 

for Gun-Launched Munitions 

by Michael J. Wilson 

ARL-TR-3209 August 2004 

Approved for public release; distribution is unlimited.
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Army Research Laboratory 

Aberdeen Proving Ground, MD 21005-5069 

ARL-TR-3209 August 2004 

Attitude Determination With Magnetometers 

for Gun-Launched Munitions 

Michael J. Wilson 

Weapons and Materials Research Directorate, ARL 

Approved for public release; distribution is unlimited.
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4. TITLE AND SUBTITLE 

 Attitude Determination With Magnetometers for Gun-Launched 

 Munitions 

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 1L1622618.H80 

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6. AUTHOR(S) 

 Michael J. Wilson (ARL) 

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U.S. Army Research Laboratory 

Weapons and Materials Research Directorate 

Aberdeen Proving Ground, MD 21005-5069

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13. SUPPLEMENTARY NOTES 

14. ABSTRACT 

Recent advances in digital signal processors (DSPs) and low cost sensing technology provide the capability for on-board 

attitude (orientation) determination for gun-launched projectiles. A complete, real-time solution for all three Euler angles 

(azimuth, elevation, and roll) that describes a projectile’s attitude is presented, which uses magnetometers and angular rate 

sensors processed by a DSP. Unlike attitude estimation systems that rely exclusively on costly rate gyroscopes, magnetometers 

are used to stabilize drift errors. The proposed system fulfills the requirements of passive sensing, high-g survivability, small 

size, low cost, and low power. 

15. SUBJECT TERMS

 attitude; magnetometers 

16. SECURITY CLASSIFICATION OF:

19a. NAME OF RESPONSIBLE PERSON

 Michael J. Wilson 

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iii

Contents 

List of Figures iv 

1. Introduction 1 

2. Coordinate Systems and Parameters 2 

3. Flight Parameter Solution 3 

3.1 Singular Points..................................................................................................................5 

3.2 Algorithm Summary and DSP Implementation................................................................5 

4. Performance 6 

5. Conclusion 10 

6. References 11 

Distribution List 13 
iv

List of Figures 

Figure 1. Euler sequence.................................................................................................................3 

Figure 2. q and r for M483 simulation............................................................................................6 

Figure 3. Magnetometer output for M483 simulation ....................................................................7 

Figure 4. Azimuth angle (ψ) for M483 simulation.........................................................................7 

Figure 5. Elevation angle (θ) for M483 simulation ........................................................................8 

Figure 6. Roll angle (φ) for M483 simulation.................................................................................8 

Figure 7. Roll angle (φ), first 100 samples .....................................................................................9 

Figure 8. Mean square error for Euler angles .................................................................................9
1

1. Introduction 

Recent advances in digital signal processor (DSP) technology provide the capability for low cost, 

real-time processing of navigation sensors. Attitude determination is a critical element of a 

guidance, navigation, and control (GN&C) system, which can be implemented with DSPs. The 

requirements for GN&C systems on board gun-launched munitions exclude many traditional 

attitude determination systems. Such systems typically use rate gyroscopes that are high cost 

and not well suited to munitions with high spin rates. This report proposes an attitude determination system that employs magnetometers and angular rate sensors with a DSP to provide a 

complete solution for all three Euler angles that describe the attitude of a projectile. The proposed system fulfills the requirements of passive sensing, high-g survivability, small size, low 

cost, and low power. 

Magnetometers have been used to estimate partial attitude information through the postprocessing of flight data (1). The proposed system is designed to operate in real time and 

provide a full attitude solution. It uses three magnetometers aligned within the projectile so that 

the first is aligned with the spin axis and the other two are aligned orthogonally to the first and to 

each other. Each sensor output is proportional to the component of the magnetic field in the 

direction of the sensitive axis of the sensor. The magnetometer triad therefore resolves the earthfixed magnetic field vector in the projectile- or body-fixed coordinate system defined by the 

magnetometers’ orientations. This naturally leads to a vector-matching algorithm to estimate the 

Euler angles. 

The problem of solving for the direction cosine matrix (DCM) by matching two or more nonzero, non-collinear vectors in multiple coordinate frames was first published by Wabha in 1965 

(2). (Two vector matches are required for a complete attitude solution.) Since then, several 

methods have been proposed to solve the vector-matching problem (for examples, see references 

(3, 4, 5)). Santoni and Bolotti devised an attitude determination system using magnetometers 

and solar panels (6). These approaches were created for satellite applications when two or more 

vectors were known in the navigation and body frames. Psiaki (7) and Michalareas et al. (8) 

have spacecraft attitude determination systems that use only magnetometers. However, the 

filters used in these systems do not apply to projectiles. The proposed algorithm is different 

from all these because of a coordinate system transformation that allows angular rate sensors to 

naturally assist the attitude determination while keeping the system heavily dependent on 

magnetometers. This algorithm is therefore suitable for gun-launched munition applications, for 

which multiple vector matching is not readily available. 
2

2. Coordinate Systems and Parameters 

Many coordinate systems exist for describing projectile motion (9). All parameters of interest 

considered here are resolved in an earth-fixed Cartesian reference frame {Xn, Yn, Zn}. This 

system is usually chosen to be the north, east, down system: the Xn axis points northward in a 

local plane tangential to the earth’s surface. Likewise, the Yn axis points eastward. The righthanded system is completed with the Zn axis pointing toward the center of the earth. The 

subscript n will denote this navigation frame {Xn, Yn, Zn}. Let {Xb, Yb, Zb} be a body-fixed 

Cartesian system with the Xb axis along the body’s axis of symmetry or spin axis pointed in the 

direction of motion and the Yb and Zb oriented to complete the orthogonal right-handed system. 

The subscript b will denote this frame. Figure 1 shows both coordinate systems and the Euler 

angle relations between them. 

Figure 1. Euler sequence. 

The transformation between the navigation frame and the body frame is now demonstrated. The 

navigation frame is first rotated about the Zn axis through an azimuth angle ψ n b → . The system is 

then rotated about the new Y axis through an elevation angle θ n b → . Finally, the system is rotated 

about the new X axis through a roll angle φn b → . The two systems are related by a DCM, C( ) αn b →

G , 

parameterized by the three Euler angles, ( ) , , T

α ψθφ nb nb nb nb → →→→ = G . The form for the DCM is 
3

( )

( ) () ( ) () ()

( ) () ()

( ) ()

( ) () ()

( ) () () ()

( ) () ()

( ) ()

( ) () ()

( ) () () ()

cos cos sin cos sin

cos sin sin sin sin sin

cos sin

sin cos cos cos

cos sin cos sin sin cos

cos cos

sin sin cos sin

C

ψθ ψθ θ

ψθφ ψθφ α θφ ψφ ψφ

ψθ φ ψθ φ θ φ ψφ ψφ

 

  −

   =   

− +   

     

+ −     

G . (1) 

Let the angular velocity vector of the projectile-fixed system with respect to the earth-fixed 

system be denoted as ( ) , , T

b Ω = p q r G , in which p is the angular velocity of the Yb and Zb axes 

about the Xb axis; q is the angular velocity of the Zb and Xb axes about the Yb axis; r is the angular 

velocity of the Xb and Yb axes about the Zb axis. 

3. Flight Parameter Solution 

The algorithm to estimate the Euler angles that relate the body frame to the navigation frame is 

considered to use vector matching. A direct approach is considered, based on a transformation to 

an intermediate coordinate system. With magnetometer values and knowledge of the local 

magnetic field, the magnetic field vector can be matched in the earth- and body-fixed systems. 

The angular rate sensors are then used to determine the ambiguity that results from only one 

vector match. 

Let Hn

G and HbG be the earth’s magnetic field vector resolved in the navigation and body frames, 

respectively. The vectors are related by 

HC H b nb n = ( ) α →

G G G (2) 

in which C( ) α

G is given by equation 1. Equation 2 represents three simultaneous equations 

involving ψ n b → , θ n b → , and φn b → . To simplify the solution, an intermediate coordinate system is 

introduced as in (10) that separates variables. 

Let {Xm, Ym, Zm} be an earth-fixed Cartesian coordinate system so that the Zm axis is in the 

direction of Hn

G . {Xm, Ym, Zm} will be referred to as the magnetic coordinate system, and the 

subscript m will denote this frame. Let C( ) αn m →

G be the DCM that transforms from the 

navigation frame to {Xm, Ym, Zm}, and let C( ) α m b →

G be the DCM that transforms from 

{Xm, Ym, Zm} to the body frame where ( ) , , T

α ψθφ mb mb mb mb → →→→ = G . Now since 
4

( ) () () () ()

( ) ,0

0

sin cos . cos

t

mb mb

mb mb

m b

qt t rt t t dt

t τ

φ φ

ψ ψ θ

→ →

→ →

= →

   +    = +     ∫ ( ) 0,0,1 T

Hm = G (3) 

by definition, using C( ) α m b →

G to transform Hm

G into the body-fixed system results in the 

following three equations: 

Hbx m b , = −sin ( ) θ →

G (4) 

Hby m b m b , = cos sin ( )( ) θ φ → →

G (5) 

Hbz m b m b , = cos cos ( )( ) θ φ → →

G (6) 

Since Hb

G is known from the magnetometer sensor values, θ m b → can be solved for as 

( ) , arcsin θ m b bx → = −H (7) 

in which arcsin ( )i is defined on the range ,

2 2

  π π   −

 . can then be solved for as 

,

,

arctan b y

m b

b z

H

H φ →

  =      

 (8) 

in which arctan ( )i is the four-quadrant arctan function. 

Magnetometers alone cannot provide a complete attitude solution since ψ m b → cannot be 

determined. Angular rate sensors effectively provide measurements of the angular rates q and r. 

The angular rate vector, ( ) , , T

b Ω = p q r G , is related to the Euler rate vector, ( ) , , T

α φθψ m mm m = G

    , 

through the transformation 

() () () ()

() ()

( )

( )

( )

( )

sin cos

cos cos

1 sin tan cos tan

0 cos sin .

0

b

φ φ

θ θ

φθ φθ

αφ φ

 

 

= −Ω

 

G G

 (9) 

The temporal derivative of ψ m b → is then 

( ) () () () ()

( )

sin cos . cos

mb mb

m b

m b

qt t rt t

t

t

φ φ

ψ θ

→ →

→

→

   +    =    

 (10) 
5

We can then obtain ψ m b → by integrating ψm b → ( )t with knowledge of the initial condition, 

ψ m b → ,0 : 

() () ,0

0

.

t

mb mb mb t t dt

τ

ψψ ψ →→ →

=

= + ∫  (11) 

C( ) αn b →

G can now be calculated with 

C CC ( ) ( )( ) α αα nb mb ns → →→ = G G G (12) 

3.1 Singular Points 

Equation 8 is unreliable when Hb y, and Hb z, are both close to zero. This corresponds to singular 

points in the Euler angle attitude description when the spin axis of the projectile is in the 

direction of the earth’s magnetic field or the opposite direction. Since φs cannot be determined, 

ψ s is also undefined. In many cases, this is not an issue since the projectile may never point in 

the singular direction throughout its flight. However, if this is not the case, the angular rate 

sensor output may be integrated to revise the last known stable solution until the magnetometer 

solution is again stable. Another rate sensor to determine spin rate would be required. 

3.2 Algorithm Summary and DSP Implementation 

Obtain Hn

G from a magnetic model for the coordinates of the launch. Also obtain the initial 

azimuth in the magnetic coordinate system, ψ m,0 . 

For each new set of sensor values, calculate θ m ( )t and φ m ( )t from the magnetometer values, 

Hb

G , as 

() () , arcsin m b bx θ → t Ht = −    (13) 

( ) ( )

( )

,

,

arctan . b y

m b

b z

H t

t

H t φ →

  =    

 (14) 

Then calculate the ψ m ( )t revision using the angular rate sensors as 

( ) () () () ()

( ) ,0

0

sin cos . cos

t

mb mb

mb mb

m b

qt t rt t t dt

t τ

φ φ

ψ ψ θ

→ →

→ →

= →

   +    = +     ∫ (15) 

Form C( ) α m b →

G and use 
6

C CC ( ) ( )( ) α αα nb mb ns → →→ = G G G (16) 

to obtain the full attitude solution. 

The above set of equations has been designed so that they are easily implemented in real time on 

a DSP. Each of the sensor’s values is sampled in time at an appropriate rate. The elevation and 

roll angles and the derivative of the azimuth angle only depend on the current sensor samples and 

are therefore straightforward to implement. At each new sample point, the derivative of the 

azimuth angle times the sampling period is added to the previous azimuth angle. It is then 

possible to transform into any navigation frame. 

4. Performance 

Simulations were conducted with equations 13 through 16 on simulated flight data to evaluate 

performance. A 10-second flight on an M483 round was generated via CONTRAJ (control 

trajectory simulation) (11) with a gun elevation of 20 degrees and an initial muzzle velocity of 

274 meters per second. From the generated flight data, the sensor values (magnetometers and 

rate sensors) were derived. Additive white Gaussian noise was then added to the sensor values at 

various noise powers. The proposed algorithm was then run to generate estimates of the Euler 

angles. Figure 2 plots the angular rates throughout the flight as measured by the sensors at a 

37-dB signal-to-noise ratio (SNR)1. Likewise, figure 3 plots the magnetometer output at the 

same SNR. 

The orthogonality of the spin axis to the earth’s magnetic field is demonstrated in the first graph 

of figure 3, which is effectively the inner product between the two vectors. The algorithm works 

best when the two vectors are orthogonal. This simulation demonstrates the performance of the 

algorithm when this is not the case. 

Figures 4 through 7 plot the actual and estimated Euler angles and the corresponding error 

throughout the flight. Figure 8 shows the performance of the algorithm for this simulation by 

plotting the mean square error of the Euler angles as a function of the SNR. 

 1

Expected SNRs are 60 dB. 
7

Figure 2. q and r for M483 simulation. 

Figure 3. Magnetometer output for M483 simulation. 
8

Figure 4. Azimuth angle (ψ) for M483 simulation. 

Figure 5. Elevation angle (θ) for M483 simulation. 
9

Figure 6. Roll angle (φ) for M483 simulation. 

Figure 7. Roll angle (φ), first 100 samples. 
10

Figure 8. Mean square error for Euler angles. 

5. Conclusion 

The proposed algorithms have been demonstrated to be successful in determining a full attitude 

solution. The example given shows the performance in a low SNR environment for a high arc 

trajectory munition. Flat fire munitions would provide even better performance since the spin 

axis would stay more orthogonal to the earth’s magnetic field. Programs such as the Defense 

Advanced Research Projects Agency’s SCORPION (self-correcting projectile for infantry 

operations) can use the proposed system for attitude determination since only magnetometers and 

rate sensors are required. 

The algorithm has been implemented on a DSP with low cost, high-g qualified magnetometers 

and angular rate sensors in a configuration similar to a diagnostic fuze (12). The system satisfies 

the design requirements for gun-launched munitions and can provide attitude for various 

projectile dynamics. 
11

6. References 

1. Harkins, T.E. Using Magnetometers for Roll Position Determination in a Spinning 

Projectile Control System: Theory and Flight Test Results; ARL-TR-3142; U.S. Army 

Research Laboratory: Aberdeen Proving Ground, MD, March 2004. 

2. Wahba, G. A Least Squares Estimate of Spacecraft Attitude. SIAM Review 1965, 7 (3). 

3. Bar-Itzhack, I.; Oshman, Y. Attitude Determination From Vector Observations: Quaternion 

Estimation. IEEE Trans. Aerospace and Electronic Systems January 1985, AES-21, (1). 

4. Bar-Itzhack, I.; Idan, M. Recursive Attitude Determination From Vector Observations. 

J. Guidance, Control, and Dynamics March-April 1987, 10 (2). 

5. Mortari, D. Euler-q Algorithm for Attitude Determination From Vector Observations. 

J. Guidance, Control, and Dynamics March-April 1998, 21 (2). 

6. Santoni, F.; Bolotti, F. Attitude Determination of Small Spinning Spacecraft Using ThreeAxis Magnetometer and Solar Panel Data. Proc. IEEE Aerospace March 2000, 7. 

7. Psiaki, M. Global Magnetometer-based Spacecraft Attitude and Rate Estimation. 

J. Guidance, Control, and Dynamics March-April 2004, 27 (2). 

8. Michalareas, G.; Gabriel, S.; Rogers, E. Spacecraft Attitude Estimation Based on 

Magnetometer Measurements and the Covariance Intersection Algorithm. Proc. IEEE 

Aerospace March 2002, 5. 

9. Harkins, T.E. Understanding Body-Fixed Sensor Output From Projectile Flight Experiments; 

ARL-TR-3029; U.S. Army Research Laboratory: Aberdeen Proving Ground, MD, September 

2003. 

10. Hepner, D.J.; Harkins, T.E. Method and System for Determining the Pointing Direction of a 

Body in Flight; U.S. Patent 6398155; U.S. Army Research Laboratory: Aberdeen Proving 

Ground, MD, June 2002. 

11. Hathaway, W. CONTRAJ - Control Flight Simulation; BRL-CR-657; U.S. Army Ballistic 

Research Laboratory: Aberdeen Proving Ground, MD, March 1991. 

12. Hepner, D.J.; Hollis, M.S.L.; Muller, P.C.; Harkins, T.E.; Borgen, G.; D’Amico, W.; Davis, 

B.S.; Burke, L. Aeroballistic Diagnostic Fuze; U.S. Patent 6349652; U.S. Army Research 

Laboratory: Aberdeen Proving Ground, MD. 
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 WEAPONS DIVISION 

 ATTN CODE C3904 S MEYERS 

 CHINA LAKE CA 93555-6100 

 2 PROGRAM MANAGER ITTS 

 PEO-STRI 

 ATTN AMSTI EL D SCHNEIDER 

 C GOODWIN 

 12350 RESEARCH PKWY 

 ORLANDO FL 32826-3276 

 1 CDR US ARMY 

 YUMA PROVING GROUND 

 ATTN CSTE DTC YP YT ED M LAUSS 

 YPG AZ 85365-9498 

 2 CDR US ARMY 

 YUMA PROVING GROUND 

 ATTN CSTE DTC YP MT EW D HO 

 I GOODE 

 YPG AZ 85365-9498 

 1 CDR US ARMY 

 YUMA PROVING GROUND 

 ATTN CSTE DTC YP YT GC EV 

 B AYNES 

 YPG AZ 85365-9498 

 1 CDR US ARMY 

 YUMA PROVING GROUND 

 ATTN STEYP TD ATO A HART 

 YPG AZ 85365-9106 

 2 CDR US ARMY RDEC 

 ATTN AMSRD AMR SG SD P JENKINS 

 AMSRD AMR SG SP P RUFFIN 

 BLDG 5400 

 REDSTONE ARSENAL AL 35898-5247 

 3 CDR US ARMY RDEC 

 ATTN AMSRD AMR SG NC V LEFEVRE 

 S BURGETT C ROBERTS 

 BLDG 5400 

 REDSTONE ARSENAL AL 35898-5247 

NO. OF 

COPIES ORGANIZATION

 2 CDR US ARMY RDEC 

 ATTN AMSRD AMR WS P ASHLEY 

 AMSRD AMR WS DP B ROBERTSON 

 BLDG 7804 

 REDSTONE ARSENAL AL 35898-5247 

 1 CDR US ARMY RDEC 

 ATTN AMSRD AMR AS AC 

 G HUTCHESON 

 BLDG 5400 

 REDSTONE ARSENAL AL 35898-5247 

 2 DIR US ARMY RTTC 

 ATTN STERT TE F TD R EPPS 

 ATTN CSTE DTC RT F TD (B 7855) 

 S HAATAJA 

 REDSTONE ARSENAL AL 35898-8052 

 1 CDR US ARMY RDEC 

 ATTN AMSRD AMR WS ID T HUDSON 

 BLDG 5400 

 REDSTONE ARSENAL AL 35898-5247 

 1 CDR WEST DESERT TEST CENTER 

 US ARMY DUGWAY PROVING GND

 ATTN CSTE DTC DP WD MU T 

 M BULLETT 

 DUGWAY UT 84022-5000 

 1 CDR AFRL/MNMF 

 ATTN S ROBERSON 

 306 W EGLIN BLVD STE 219 

 EGLIN AFB FL 32542-6810 

 1 DARPA/MTO 

 ATTN C NGUYEN 

 3701 N FAIRFAX DRIVE 

 ARLINGTON VA 22203-1714 

 1 OSD DOT&E R&R 

 ATTN W ATTERBURY 

 1700 DEFENSE PENTAGON 

 WASHINGTON DC 20301-1700 

 2 OSD DOT&E 

 CTEIP PROGRAM OFFICE 

 ATTN J TEDESCHI D HINTON 

 4850 MARK CENTER DRIVE 

 ALEXANDRIA VA 22311 

 2 IDA SCIENCE AND TECH DIV 

 ATTN H LAST K WALZL 

 4850 MARK CENTER DRIVE 

 ALEXANDRIA VA 22311-1882 
15

NO. OF 

COPIES ORGANIZATION

 1 ARROW TECH ASSOCIATES 

 ATTN W HATHAWAY 

 1233 SHELBURNE RD STE 8 

 SOUTH BURLINGTON VT 05403 

 1 CAMBER CORP 

 ATTN W CHIUSANO 

 200 VALLEY RD SUITE 403 

 MOUNT ARLINGTON NJ 07856 

 5 ALLIANT TECHSYSTEMS 

 ATTN A GAUZENS J MILLS 

 B LINDBLOOM E KOSCO 

 D JACKSON 

 PO BOX 4648 

 CLEARWATER FL 33758-4648 

 2 ALLIANT TECHSYSTEMS 

 ATTN C CANDLAND R DOHRN 

 5050 LINCOLN DR 

 MINNEAPOLIS MN 55436-1097 

 2 ALLIANT TECHSYSTEMS 

 ATTN G PICKUS F HARRISON 

 4700 NATHAN LANE NORTH 

 PLYMOUTH MN 55442 

 7 ALLIANT TECHSYSTEMS 

 ALLEGANY BALLISTICS LAB 

 ATTN S OWENS C FRITZ J CONDON B NYGA 

 J PARRILL M WHITE S MCCLINTOCK 

 MAIL STOP WV01-08 BLDG 300 RM 180 

 210 STATE ROUTE 956 

 ROCKET CENTER WV 26726-3548 

 2 SAIC 

 ATTN J DISHON G PHILLIPS 

 16701 W BERNARDO DR 

 SAN DIEGO CA 92127 

 3 SAIC 

 ATTN J GLISH J NORTHRUP 

 G WILLENBRING 

 8500 NORMANDALE LAKE BLVD 

 SUITE 1610 

 BLOOMINGTON MN 55437-3828 

 1 SAIC 

 ATTN M PALMER 

 1410 SPRING HILL RD STE 400 

 MCLEAN VA 22102 

NO. OF 

COPIES ORGANIZATION

 1 SAIC 

 ATTN D HALL

 1150 FIRST AVE SUITE 400

 KING OF PRUSSIA PA 19406 

 2 ROCKWELL COLLINS 

 ATTN M JOHNSON R MINOR 

 350 COLLINS RD NE 

 CEDAR RAPIDS IA 52498 

 2 JOHNS HOPKINS UNIV 

 APPLIED PHYSICS LABORATORY 

 ATTN W D’AMICO K FOWLER 

 1110 JOHNS HOPKINS RD 

 LAUREL MD 20723-6099 

 5 CHLS STARK DRAPER LAB 

 ATTN J CONNELLY J SITOMER 

 R POLUTCHKO T EASTERLY 

 A KOUREPENIS 

 555 TECHNOLOGY SQUARE 

 CAMBRIDGE MA 02139-3563 

 2 ECIII LLC 

 ATTN R GIVEN J SWAIN 

 BLDG 2023E 

 YPG AZ 85365 

 2 LOCKHEED MARTIN 

 ATTN MP-562 S BISHOP 

 MP-951 A WINDON 

 5600 SAND LAKE RD 

 ORLANDO FL 32819 

 1 LOCKHEED/MARTIN-SANDERS 

 ATTN M CARLSON 

 NCA1-2078 95 CANAL ST 

 NASHUA NH 03061-0868 

 1 KAMAN AEROSPACE CORP 

 RAYMOND ENGINEERING OPERATIONS 

 ATTN D SPENCER 

 217 SMITH ST 

 MIDDLETOWN CT 06457-9990 

 2 RAYTHEON MISSILE SYSTEMS 

 ATTN B PETERSON P VO 

 MS12-4 

 PO BOX 11337 

 TUSCON AZ 85734-1337 
16

NO. OF 

COPIES ORGANIZATION

 2 RAYTHEON MISSILE SYSTEMS 

 ATTN R GOURLEY D STREETER 

 MS11-10 

 PO BOX 11337 

 TUSCON AZ 85734-1337 

 2 CUSTOM ANALYTICAL ENG SYSTEMS 

 ATTN A ALEXANDER S ADAMS 

 13000 TENSOR LANE NE 

 FLINTSTONE MD 21530 

 9 UNITED DEFENSE LP 

 ATTN C BIES T BLUMER B CITRO 

 B ENGEL M HAFTON T MELODY 

 S MILLER D MIERHOFFER J RUPERT 

 4800 EAST RIVER RD MS380 

 MINNEAPOLIS MN 55421-1498 

 1 ALION SCIENCE 

 ATTN P KISATSKY 

 12 PEACE RD 

 RANDOLPH NJ 07861 

 1 PM MANEUVER AMMO SYS DIRECT FIRE 

 ATTN SFAE AMO D J RICE 

 PICATINNY ARSENAL NJ 07806-5000 

 1 PM CLOSE COMBAT SYSTEMS 

 ATTN SFAE AMO MCD J C SUTTON 

 PICATINNY ARSENAL NJ 07806-5000 

 1 PM COMBAT AMMO SYS INDIRECT FIRE 

 ATTN SFAE AMO CAS N H SLEDGE JR 

 BLDG 171 

 PICATINNY ARSENAL NJ 07806-5000 

 1 PM MORTAR SYSTEMS 

 ATTN SFAE AMO CAS MS A C KIRNES 

 BLDG 162 SOUTH 

 PICATINNY ARSENAL NJ 07806-5000 

 1 PM EXCALIBUR 

 ATTN J K WILSON 

 PICATINNY ARSENAL NJ 07806-5000 

 1 PM TMDE 

 ATTN SFAE CSS ME T R B PAUL 

 BLDG 5300 RM 5436 

 REDSTONE ARSENAL AL 35898 

 1 PM NLOS CANNON/MORTAR 

 ATTN SFAE GCS FCS NL J V DAY 

 4800 E RIVER ROAD 

 MINNEAPOLIS MN 55421 

NO. OF 

COPIES ORGANIZATION

 1 PM PRECISION GUIDED MUNITIONS 

 ATTN SFAE MSL ML PGM S H LEE JR 

 REDSTONE ARSENAL AL 35898-5700 

 ABERDEEN PROVING GROUND

 1 DIRECTOR 

 US ARMY RSCH LABORATORY 

 ATTN AMSRD ARL CI OK (TECH LIB) 

 BLDG 4600 

 4 CDR US ARMY TACOM ARDEC 

 ATTN AMSRD AAR AEF T 

 R LIESKE J MATTS 

 F MIRABELLE J WHITESIDE 

 BLDG 120 

 1 CDR ABERDEEN TEST CENTER 

 ATTN CSTE DTC AT TC M ZWIEBEL 

 BLDG 400 

 2 CDR ABERDEEN TEST CENTER 

 ATTN CSTE DTC AT FC S T GARCIA 

 CSTE DTC AT CO J WALLACE 

 BLDG 400 

 2 CDR ABERDEEN TEST CENTER 

 ATTN CSTE DTC AT TD B K MCMULLEN 

 CSTE DTC AT SL B D DAWSON 

 BLDG 359 

 2 CDR ABERDEEN TEST CENTER 

 ATTN CSTE DTC AT FC L R SCHNELL 

 J DAMIANO 

 BLDG 400 

 1 CDR ABERDEEN TEST CENTER 

 ATTN CSTE DTC AT TD S WALTON 

 BLDG 359 

 1 CDR USAEC 

 ATTN CSTE AEC SVE B D SCOTT 

 BLDG 4120 

 3 DIR USARL 

 ATTN AMSRD ARL WM T ROSENBERGER 

 AMSRD ARL WM B T KOGLER 

 AMSRD ARL WM SG B RINGERS 

 BLDG 4600 

 3 DIR USARL 

 ATTN AMSRD ARL WM BD M NUSCA 

 J COLBURN T COFFEE 

 BLDG 390 
17

NO. OF 

COPIES ORGANIZATION

 18 DIR USARL 

 ATTN AMSRD ARL WM BA D LYON 

 J CONDON B DAVIS (5) 

 T HARKINS D HEPNER 

 G KATULKA M WILSON 

 P MULLER P PEREGINO 

 A THOMPSON T BROWN 

 R HALL B PATTON 

 M CHILDERS 

 BLDG 4600 

 6 DIR USARL 

 ATTN AMSRD ARL WM BC P PLOSTINS 

 B GUIDOS P WEINACHT 

 M BUNDY J NEWILL 

 J GARNER 

 BLDG 390 

 2 DIR USARL 

 ATTN AMSRD ARL WM BF 

 S WILKERSON H EDGE 

 BLDG 390 

 2 DIR USARL 

 ATTN AMSRD ARL WM MB 

 J BENDER W DRYSDALE 

 BLDG 390 

 6 DIR USARL 

 ATTN AMSRD ARL WM T B BURNS 

 ATTN AMSRD ARL WM TC R COATES 

 R MUDD B SORENSEN 

 R SUMMERS R PHILLABAUM 

 BLDG 309