Patent ID: 6886774

Claim:
A method for controlling a spinning projectile that revolves about a first axis of three orthogonal axes at a roll angular velocity, the method providing a control order that modifies a parameter of one of second and third orthogonal axes of the projectile, the parameter being controlled for the one orthogonal axis, process in which the control order is evaluated as the sum of a static term, the method comprising: measuring position intensities to obtain a measured acceleration parameter for the one orthogonal axis; determining a required acceleration term to obtain an acceleration index value for the one orthogonal axis; determining a static gain to the measured acceleration term and a phase lead gain to the acceleration index value; multiplying the static gain by the measured acceleration parameter to yield a correction term; multiplying the phase lead gain by the acceleration index value to yield a phase lead term; subtracting the correction term from the phase lead term to yield a static term; determining an angular spin rate about the one orthogonal axis; multiplying a minus dynamic gain by the angular spin rate to yield a dynamic term for the one orthogonal axis; determining a drift through time of a deviation parameter between the acceleration index value and the measured acceleration term for the one orthogonal axis; integrating deviation parameters through time to yield an integral solution for the one orthogonal axis; multiplying an integral gain by the integral solution to yield an integral term for the one orthogonal axis; summing the integral term, the static term and the dynamic term to yield an angular deflection parameter for the one orthogonal axis as a piloting parameter for the one orthogonal axis; evaluating at least one corrective coupling term based on the other of the second and third orthogonal axes and including in the piloting parameter of the one orthogonal axis; modifying the piloting parameter of the one orthogonal axis to be proportional to the roll angular velocity and also proportional to a drift through time of the piloting parameter for the other orthogonal axis.