Composite Terminal Guidance Law for Supercavitating Torpedoes with Impact Angle Constraints

Figure 6

Output of TD1 with the noisy heading angle of the target. (a) Target heading angle with noise and its reconstruction. (b) 1^st-order derivative estimate of target heading angle. (c) 2^nd-order derivative estimate of target heading angle.

(a)

(b)

(c)