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The Smart Crane Ammunition Transfer System (SCATS) is designed to handle, deliver, and reload missiles/ammunitions in the battlefield. The system objectives are as follow: faster missile reloading, decreased utilization of manpower, increased operator safety, reduced missile/munitions damage, reduced operator skills and training, and increased material flow. In this paper, the smart crane ammunition transfer system is introduced and discussed, including the crane, the hydraulic system, the control system, and the development environment. The emphasis is on the design, analysis, and implementation of the SCATS control system. State-of-the-art engineering techniques, such as robotic control, trajectory generation, sensory processing and task planning, are also addressed as to the way in which they will enhance the SCATS system performance and functionality as applied to the automation of complex material handling and resupply actions.

A reference architecture model of a typical fire control system has been established with the Real-time Object-Oriented Modeling (ROOM) environment, ObjecTime. An external graphics user interface (GUI) has also been developed to communicate with the reference architecture, thus making the reference architecture an ideal tool to test a specific design based on the architecture implementation. The GUI also communicates with an independent ballistics calculation program to send the target parameters and receive the ballistics calculation results. The ObjecTime model, the GUI, and the external ballistics calculation program constitute a demonstration system for the fire control reference architecture.

In this paper, the problem of estimation and prediction of the projectile trajectory, MET data, and the impact point is formulated within the extended Kalman filtering framework. Factorized implementations of extended Kalman filtering, smoothing, and prediction algorithms are presented. Different wind models are discussed. The algorithms are demonstrated through simulation.