Unmanned aerial vehicle-based guidance and warhead cooperation control method and control system

Abstract

The application discloses a guidance and warhead guiding cooperation control method and control system based on a UAV. The method provided by the application comprises the following steps: acquiring position information and speed information of the UAV in real time; acquiring position information and speed information of a target in real time; judging the distance between the UAV and the target in real time; when the distance is less than an alarm value, controlling a fuze to start working; and after the fuze starts working, controlling the line-of-sight angle of the UAV to restrict the UAV to attack the target. The method can guarantee that the UAV accurately hits the target and obtains zero miss distance by controlling the speed direction of the UAV.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) control, and specifically to a guidance and control method and control system based on UAVs. Background Technology

[0002] Traditional missile detonation systems often employ impact fuses and proximity fuses (i.e., fragmentation warheads). For stationary or large targets, impact fuses are typically used, achieving destruction through direct impact. However, for highly mobile and smaller targets, precise target location is often difficult, hindering direct hits and significantly reducing warhead effectiveness. Therefore, fragmentation warheads are often used for these targets. The explosion of the warhead disperses fragments, confining its destructive force to a specific area, thus destroying the target and greatly improving warhead effectiveness.

[0003] Due to their greater maneuverability, drones can attack highly mobile and small targets by carrying fuses and fragmentation warheads. However, there is very little research on specific implementation schemes in the current technology, and there is no reasonable control system or control method. Summary of the Invention

[0004] To address the problems existing in the prior art, this invention provides a guidance and control method and control system based on unmanned aerial vehicles (UAVs).

[0005] In a first aspect, the present invention provides a guidance and control method for unmanned aerial vehicles (UAVs), comprising the following steps:

[0006] Step S101: Obtain the drone's location and speed information in real time;

[0007] Step S102: Obtain the target's position and velocity information in real time;

[0008] Step S103: Real-time determination of the distance between the UAV and the target; when the distance is less than the warning value, activate the control fuse.

[0009] Step S104: After the fuse is activated, control the drone's line-of-sight angle constraint so that the drone attacks the target.

[0010] Secondly, the present invention provides a guidance and combat coordination control system based on unmanned aerial vehicles (UAVs), comprising:

[0011] The satellite signal receiving module enables it to obtain the drone's position and speed information in real time.

[0012] An optoelectronic pod is a module that obtains real-time information about the target's position and speed.

[0013] The startup module determines the distance between the drone and the target in real time. When the distance is less than the warning value, it controls the fuse to start working.

[0014] The constraint module, when activated by the fuse, controls the line-of-sight angle constraint of the UAV, enabling the UAV to attack the target.

[0015] Thirdly, the present invention provides an electronic device comprising: a memory and a processor;

[0016] Memory is used to store processor-executable instructions;

[0017] The processor is used to implement the guidance and control method based on unmanned aerial vehicles (UAVs) according to the executable instructions stored in the memory, as described in the first aspect.

[0018] The beneficial effects of the guidance and control method and control system based on unmanned aerial vehicles (UAVs) of the present invention include:

[0019] (1) The guidance and combat control method based on UAV provided by the present invention ensures that the UAV accurately hits the target by controlling the speed and direction of the UAV, and obtains zero miss distance;

[0020] (2) The guidance and detonation control method based on UAV provided by the present invention can obtain accurate detonation time in real time, thereby controlling the warhead carried on the aircraft to detonate at a determined time, thereby placing the target within the damage range of the warhead. Attached Figure Description

[0021] Figure 1 A flowchart illustrating a guidance and control method based on an unmanned aerial vehicle (UAV) according to the present invention is shown.

[0022] Figure 2 A schematic diagram of a guidance and combat coordination control system based on an unmanned aerial vehicle (UAV) according to the present invention is shown.

[0023] Figure 3 The motion trajectories of the UAV and the target in Embodiment 1 of the present invention are shown;

[0024] Figure 4 A schematic diagram showing the detonation range of the warhead in the UAV in Embodiment 1 of the present invention;

[0025] Figure 5 Show Figure 4 A schematic diagram of the detonation cone range in another rotational direction;

[0026] Figure 6 A schematic diagram showing the detonation range of the UAV warhead in Comparative Example 1 of the present invention is shown. Detailed Implementation

[0027] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention.

[0028] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0029] Currently, with the increasing concealment, diversity, miniaturization, and dispersion of targets, UAV-borne fuses and fragmentation warheads with high cost-effectiveness, low collateral damage, and high accuracy are becoming the development trend. However, there is very little research on specific implementation plans in existing technologies.

[0030] To address the aforementioned problems, this invention provides a guidance and detonation control method based on unmanned aerial vehicles (UAVs). This method obtains the target's position and velocity information in real time, as well as the UAV's own position and velocity information in real time. Combined with known warhead information, it selects appropriate overload control commands and detonation timing to ensure that the UAV can accurately hit the target.

[0031] The UAV is preferably a multi-rotor UAV, which has advantages such as low cost and hovering capability, facilitating large-scale deployment. The UAV carries a warhead, specifically a fragmentation warhead. Upon detonation in the air, the warhead generates numerous high-speed fragments, forming a fragmentation zone. These fragments damage the target in a specific way. The overall motion of all fragments is composed of the movement of individual fragments. A fuse is incorporated into the warhead; its function is to detect the target and provide a detonation signal.

[0032] Specifically, in a first aspect, the present invention provides a guidance and control method for unmanned aerial vehicles (UAVs), such as... Figure 1 As shown, the main steps include:

[0033] Step S101: Obtain the drone's location and speed information in real time.

[0034] In this invention, the drone's position and speed information can be obtained using functional modules such as satellite signal receiving modules or radar modules within the drone. The drone's position information includes its latitude, longitude, and altitude. The drone's speed information includes its speed magnitude and direction.

[0035] Step S102: Obtain the target's location and speed information in real time.

[0036] In this step, the target's position and velocity information can be obtained in real time using an electro-optical pod. The target's position information includes its latitude, longitude, and altitude. The target's velocity information includes its magnitude and direction.

[0037] Step S103: Real-time determination of the distance between the UAV and the target. When the distance is less than the warning value, the control fuse is activated.

[0038] Among them, the distance between the drone and the target can be determined in real time by comparing the drone's location information with the target's location information.

[0039] In this invention, the drone can be remotely controlled by the user, who can then determine the target. Alternatively, an image recognition module can be installed on the drone to automatically identify the target. Once the target is identified, the drone's flight direction can be adjusted to gradually approach it. When the distance between the drone and the target is less than a warning threshold, the fuse can be activated.

[0040] The preferred warning value is 10 to 30 meters, and more preferably 15 to 20 meters, so as to ensure that the drone has enough time or distance to adjust the line of sight and increase the accuracy of the attack.

[0041] Step S104: After the fuse is activated, control the drone's line-of-sight angle constraint so that the drone attacks the target.

[0042] When the fuse is activated, the control of the drone will be affected accordingly, that is, the speed and direction of the drone will change, so that the damage range of the warhead cannot reach the optimal state.

[0043] Since the detonation delay time is generally small, how to enable the UAV to achieve the best damage effect by changing the velocity direction during the detonation delay time in the terminal guidance phase, assuming that the velocity direction and magnitude of the target remain unchanged, is the key problem to be solved by this invention.

[0044] Research has shown that by controlling the drone's line-of-sight angle, within a set detonation delay time, corresponding overload control commands can be used to orient the drone's velocity and direction toward the target, ultimately achieving θ = q = ψ. T This allows for precise strikes against targets, where θ represents the drone's velocity vector angle; q represents the drone's line-of-sight angle; and ψ... T This represents the target's velocity vector angle.

[0045] Specifically, step S104 may further include:

[0046] Step S104-1: Determine the sliding surface of the UAV based on the UAV's line-of-sight angle constraint.

[0047] In this invention, the overload control command of the UAV is based on sliding mode variable structure control. In sliding mode variable structure control, the selection of the sliding surface has a great influence on the control effect.

[0048] Furthermore, the sliding surface of the UAV is represented by Equation 1:

[0049]

[0050] Where s represents the sliding surface; q represents the line-of-sight angle of the UAV, obtained through the electro-optical pod; k1 represents a set constant; t d Indicates the detonation delay setting time; q d The desired end-line sight angle is generally taken as the target's velocity vector angle ψ. T The electro-optical pod can obtain the target's speed and direction, i.e., determine the target's velocity vector. The angle between the projection of the target's velocity vector onto the horizontal plane in the geographic coordinate system and the X-axis is ψ. T In practical applications, the information obtained by GPS is established in a geographic coordinate system. The velocity vector angle ψ can be calculated by mathematically determining the velocity information. T .

[0051] The sliding surface has the advantages of finite-time convergence, high accuracy, and strong robustness. The first term of the sliding surface ensures that the line-of-sight angular velocity between the terminal target and the UAV is zero, that is, the terminal miss distance is zero. The second term of the sliding surface, combined with the detonation delay setting time, ensures that within this time, through the set approach state, the UAV can hit the target at the optimal angle and achieve maximum damage.

[0052] Preferably, k1 > 0, which can be adjusted according to the target's maneuverability. Furthermore, after extensive experiments and combined with design experience, the parameters of the sliding surface were determined to be: k1 = 1. Under this parameter, the sliding surface exhibits extremely strong robustness and accuracy.

[0053] Preferably, the detonation delay setting time t d It is the delay adjustment time set based on the relationship between the UAV and the target, such as position and speed; that is, the time elapsed from the fuze detecting the target to the detonation of the warhead. It is determined through a geometric model built on the firing plane.

[0054] More preferably, the detonation delay setting time t d Equation 2 represents:

[0055]

[0056] Among them, R d α represents the detection distance along the fuze detection angle, i.e., the maximum detection distance. Its specific value is related to the fuze model parameters, and is preferably 10 meters; α represents the fuze detection angle, the specific value of which is related to the fuze model parameters, and is preferably 30 degrees; θ represents the UAV velocity vector angle, which can be obtained by the UAV flight control system to obtain the UAV's velocity magnitude and direction, i.e., the UAV's velocity vector. The angle between the projection of the UAV's velocity vector onto the horizontal plane in the geographic coordinate system and the X-axis is θ; V T The target velocity is represented by V, which is obtained in real time via an electro-optical pod. A The speed of the drone can be obtained in real time via a satellite signal receiving module.

[0057] This represents the average relative velocity components of all fragments of the warhead with the target in the X direction of the geographic coordinate system. This represents the relative average velocity components of all fragments of the warhead and the target in the Y direction of the geographic coordinate system.

[0058] Among them, the origin O of the geographic coordinate system e Set at the drone's takeoff point; the X-axis is O. e X e The axis lies within the horizontal plane passing through the takeoff point and points geographically east; the Y-axis is O. e Y e The axis lies within the horizontal plane passing through the takeoff point and points geographically north; O e Z e Axis and O e X e O e Y e The axes form a right-handed rectangular coordinate system.

[0059] The above The values ​​obtained during the determination process are obtained using the following formula:

[0060]

[0061]

[0062] Among them, V c This indicates the initial velocity of the fragments when the warhead explodes at rest. Let V be the static dispersion center angle of the fragments, and the angle between the angle bisector of the fragment dispersion angle and the UAV axis; where V c and These are all inherent parameters of the warhead.

[0063] Formula 2 allows for the accurate determination of the detonation delay setting time, thus preparing for precise UAV target attacks. This involves considering the distance error caused by the relative motion between the target and the UAV in the period before the fragments hit the target, and setting the detonation delay time after the fuze detects the target, ensuring that the warhead fragments hit the target at the optimal velocity after detonation.

[0064] Preferably, the remaining flight time is expressed by Equation 3:

[0065]

[0066] Among them, V r This indicates the relative speed between the target and the drone (on the line of sight).

[0067] Step S104-2: Design the convergence law.

[0068] In this invention, a parameter adaptive approach law is designed by setting the detonation delay time to ensure the arrival conditions and good dynamic characteristics, guaranteeing that when t... d When the value is large, slow down the rate of approach to the sliding surface to ensure that the UAV overload control command is not too large; when t d When the speed is small, increase the speed of approaching the sliding surface to ensure that the sliding motion accurately hits the target at the desired line-of-sight angle.

[0069] Preferably, the approach law of the UAV is expressed by Equation 4:

[0070]

[0071] Where k2 and k3 are set constants.

[0072] Preferably, k2 and k3 > 0, and can be adjusted according to the target's maneuverability. Furthermore, after numerous experiments, it was found that when k2 = 1 and k3 = 0.01, the overload capacity of the UAV can be better utilized, enabling the UAV to accurately hit the target.

[0073] Step S104-3: Obtain UAV overload control commands based on the sliding surface and the approaching law.

[0074] Specifically, a relative motion model between the target and the UAV is established:

[0075]

[0076]

[0077]

[0078]

[0079] α=q-θ

[0080] The UAV overload control command is represented by Equation 5:

[0081]

[0082] Among them, a c This indicates an overload control command for the drone.

[0083] Research has shown that by using the aforementioned overload control commands, the speed and direction of the UAV can be better controlled within the detonation delay time, while ensuring that the line-of-sight constraint of the UAV is met, so as to accurately hit the target.

[0084] In a preferred embodiment of the present invention, step S105 is further included: after the fuse detects the target, the detonation time of the warhead is determined based on the position information and speed information of the UAV and the position information and speed information of the target.

[0085] After the fuse is activated, it continuously probes a certain distance R. d Upon discovering the target entering the R d At that time, the detonation time of the warhead is determined, and the detonation of the warhead is controlled according to the detonation time of the warhead.

[0086] The detonation time of the warhead is obtained through Formula 6:

[0087] T = t d +t sd +t cp Formula Six

[0088] Where T represents the detonation time of the warhead, which is the time interval from the time the fuse detects the target to the time it hits the target. By using the detonation time of the warhead, the target's central area is made to coincide with the center of the warhead fragments, so as to achieve the best damage.

[0089] t sd The preset signal delay time, the specific value of which is related to the type of fuse in the warhead and the communication delay between the sensors, generally does not exceed 20ms.

[0090] t cp The preset detonation compensation time is a compensation amount related to the warhead's installation position and the target's size, and is generally expressed as a length compensation amount, which is related to the warhead's installation position.

[0091] Therefore, the fuse on the drone is in R d Once the target is detected, the detonation time T of the warhead is immediately determined, and the warhead is detonated at time T, so that the fragments after the warhead detonation can attack the target.

[0092] In this invention, the detonation delay setting time td The distance error caused by the relative motion between the target and the UAV in the period before the fragment hits the target was considered, and the t d Combined with the sliding mode control guidance law, it provides a better detonation direction for the warhead explosion.

[0093] Secondly, this invention provides a guidance and combat coordination control system based on unmanned aerial vehicles (UAVs), such as... Figure 2 As shown, it includes:

[0094] The satellite signal receiving module 201 obtains the UAV's position and speed information in real time.

[0095] The optoelectronic pod 202 is a module that obtains the target's position and velocity information in real time.

[0096] The startup module 203 determines the distance between the UAV and the target in real time. When the distance is less than the warning value, it controls the fuse to start working.

[0097] The constraint module 204, when activated by the fuse, controls the line-of-sight angle constraint of the UAV, enabling the UAV to attack the target.

[0098] In a preferred embodiment of the present invention, it further includes: a detonation determination module 205, which determines the detonation time of the warhead based on the position and speed information of the UAV and the position and speed information of the target after the fuse detects the target.

[0099] The guidance and control system based on UAVs provided by this invention can be used to execute the guidance and control method based on UAVs described in the first aspect above. Its implementation principle and technical effect are similar, and will not be repeated here.

[0100] Preferably, the modules in the guidance and combat coordination control system based on UAVs of the present invention can be directly in hardware, in software modules executed by a processor, or in a combination of both.

[0101] Software modules may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium known in this art. An exemplary storage medium is coupled to the processor, enabling the processor to read information from and write information to the storage medium.

[0102] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combination thereof. A general-purpose processor can be a microprocessor, but alternatively, it can be any conventional processor, controller, microcontroller, or state machine. The processor can also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors incorporating a DSP core, or any other such configuration. Alternatively, the storage medium can be integrated with the processor. The processor and storage medium can reside in an ASIC. The ASIC can reside in the user terminal. Alternatively, the processor and storage medium can reside as discrete components in the user terminal.

[0103] Thirdly, the present invention provides an electronic device comprising: a memory and a processor;

[0104] Memory is used to store processor-executable instructions;

[0105] The processor is used to implement the first aspect of the guidance and attack coordination control method based on unmanned aerial vehicles, according to the executable instructions stored in the memory.

[0106] Fourthly, the present invention provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement, as in the first aspect, the guidance and control method based on an unmanned aerial vehicle.

[0107] Fifthly, a program product comprising a computer program stored in a readable storage medium, at least one processor being able to read the computer program from the readable storage medium, and at least one processor executing the computer program to perform the guidance and control method for unmanned aerial vehicles as described in the first aspect.

[0108] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0109] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0110] Example

[0111] The target's location coordinates are (150m, 150m, 10m), and its initial velocity is (2m / s, 2m / s, 0m / s). The UAV's location coordinates are (0m, 0m, 40m), and its initial velocity is (0m / s, 0m / s, 0m / s).

[0112] The target is undergoing accelerated motion; its acceleration 'a' in the X, Y, and Z directions of the geographic coordinate system is... x a y a z They are respectively:

[0113] The unit of acceleration is m / s². 2 ;

[0114] The drone obtains the target's position and speed information in real time through the electro-optical pod mounted on it, and obtains the drone's own position and speed information in real time through the satellite signal receiving module mounted on it.

[0115] It is known that the warhead carried on the UAV is a fragmentation warhead with an blast radius approximately conical. The radius of the cone is 3.4m and the height of the cone is h = 6.9282. The distance of the fragments from the target is 0.1m.

[0116] The movement trajectories of the drone and the target are as follows Figure 3 As shown in the figure, the solid line represents the drone's trajectory and the dashed line represents the target's trajectory. It can be seen from the figure that the drone and the target met at (217.87, 130.53, 9.99).

[0117] The distance between the drone and the target is determined in real time. When the distance is less than 20 meters from the warning value, the fuse on the drone is activated.

[0118] At this point, the relative motion model between the target and the drone is expressed by the following formula:

[0119]

[0120]

[0121]

[0122]

[0123] α=q-θ

[0124] After the fuse is activated, the UAV uses the overload control command represented by Equation 5, a. c To take flight:

[0125]

[0126] Where s represents the sliding surface; q represents the line-of-sight angle of the UAV; k1 = 1, k2 = 1, k3 = 0.01; t d Indicates the detonation delay setting time; ψ T This represents the target's velocity vector angle; since the UAV is an intercepting target, the desired line-of-sight angle is set to -ψ. T .

[0127] Detonation delay setting time t d Equation 2 represents:

[0128]

[0129] Among them, R d =10m; α=30°; θ represents the UAV velocity vector angle; V T V represents the target velocity. A Indicates the speed of the drone;

[0130] This represents the average relative velocity components of all fragments of the warhead with the target in the X direction of the geographic coordinate system.

[0131] This represents the relative average velocity components of all fragments of the warhead and the target in the Y direction of the geographic coordinate system.

[0132] The above The values ​​obtained during the determination process are obtained using the following formula:

[0133]

[0134]

[0135] Among them, V c =1000m / s,

[0136] The remaining flight time is represented by Equation 3:

[0137]

[0138] Among them, V r This indicates the relative speed between the target and the drone.

[0139] When the distance between the target and the fuse is less than R d When the time is 10m, the detonation time of the warhead is determined, and the detonation operation of the warhead is controlled according to the detonation time of the warhead. The detonation time of the warhead is obtained through Equation 6:

[0140] T = t d +t sd +t cp Formula Six

[0141] Where T represents the detonation time of the warhead, t sd =0,t cp =0. Specific simulation results are as follows: Figure 4 , 5 As shown.

[0142] Figure 4 and Figure 5 The diagram in the middle shows the drone's flight path, the target's movement trajectory, and the detonation damage range. Figure 5 yes Figure 4 Another rotational direction diagram allows for a more intuitive observation of whether the target is within the blasting cone range.

[0143] From that Figure 4 and Figure 5 As can be seen, the damage range formed after the warhead explodes covers the target's expected trajectory, with a deviation of less than 0.1 meters, thus effectively damaging the target.

[0144] Comparative Example

[0145] Comparative Example 1

[0146] Using the traditional proportional guidance method, i.e. Without end-point line-of-sight constraints, the UAV attacks the target; specific simulation results are as follows. Figure 6 As shown.

[0147] from Figure 6As can be seen from the data, when Comparative Example 1 hits the target at the terminal stage, the central axis of the detonation cone is only along the velocity vector direction of the UAV. In other words, the probability of the target being inside the detonation cone is reduced, making it impossible to achieve a precise strike.

[0148] The present invention has been described above with reference to preferred embodiments; however, these embodiments are merely exemplary and illustrative. Various substitutions and modifications can be made to the present invention based on these embodiments, all of which fall within the scope of protection of the present invention.

Claims

1. A guidance and control method based on unmanned aerial vehicles (UAVs), characterized in that, Includes the following steps: Step S101: Obtain the drone's location and speed information in real time; Step S102: Obtain the target's position and velocity information in real time; Step S103: Real-time determination of the distance between the UAV and the target; when the distance is less than the warning value, control the fuse to start working. Step S104: After the fuse is activated, control the UAV's line-of-sight angle constraint to enable the UAV to attack the target; Step S104 includes: Step S104-1: Determine the sliding surface of the UAV based on the UAV's line-of-sight angle constraint; Step S104-2: Design the convergence law; Step S104-3: Obtain UAV overload control commands based on the sliding surface and the approaching law; In step S104-1, the sliding surface of the UAV is represented by Equation 1: Set 1 Where s represents the sliding surface; q represents the line-of-sight angle of the UAV; and k1 represents a set constant. This indicates the detonation delay setting time. Indicates the desired end-view angle; In step S104-2, the approach law of the UAV is expressed by Equation 4: Formula 4 in, This is a constant to be set.

2. The guidance and control method based on unmanned aerial vehicles (UAVs) according to claim 1, characterized in that, Also includes: Step S105: After the fuse detects the target, determine the detonation time of the warhead based on the UAV's position and speed information and the target's position and speed information.

3. The guidance and control method based on unmanned aerial vehicles (UAVs) according to claim 2, characterized in that, The detonation delay setting time is expressed by Equation 2: Formula 2 in, Indicates the maximum detection range; Indicates the fuze detection angle; Indicates the velocity vector angle of the UAV; Indicates the target's velocity vector angle; Indicates the target speed; Indicates the speed of the drone; Indicates the remaining flight time; This represents the average relative velocity components of all warhead fragments and the target in the X direction of the ground coordinate system. This represents the average relative velocity components of all warhead fragments and the target in the Y-direction of the ground coordinate system. The remaining flight time is represented by Equation 3: Formula 3 Among them, V r This indicates the relative speed between the target and the drone.

4. The guidance and control method based on unmanned aerial vehicles (UAVs) according to claim 3, characterized in that, The UAV overload control command is represented by Equation 5: Formula 5 in, This indicates an overload control command for the drone.

5. The guidance and control method based on unmanned aerial vehicles (UAVs) according to claim 4, characterized in that, The detonation time of the warhead is obtained using Equation 6: Formula Six in, Indicates the detonation time of the warhead. This indicates the preset signal delay time. This is the preset detonation compensation time.

6. A guidance and control system based on unmanned aerial vehicles (UAVs), characterized in that, include: The satellite signal receiving module enables it to obtain the drone's position and speed information in real time. An optoelectronic pod is a module that obtains real-time information about the target's position and speed. The startup module determines the distance between the drone and the target in real time, and controls the fuse to start working when the distance is less than the warning value. The constraint module, when activated by the fuse, controls the line-of-sight constraint of the UAV, enabling the UAV to attack the target, including: Based on the line-of-sight angle constraint of the UAV, the sliding surface of the UAV is determined; Design convergence law; Based on the sliding surface and the approach law, the UAV overload control command is obtained; The sliding surface of the UAV is represented by Equation 1: Set 1 Where s represents the sliding surface; q represents the line-of-sight angle of the UAV; and k1 represents a set constant. This indicates the detonation delay setting time. Indicates the desired end-view angle; The approach law of the drone is expressed by Equation 4: Formula 4 in, To set a constant.

7. An electronic device, characterized in that, include: Memory, processor; The memory is used to store the processor-executable instructions; The processor is used to implement the guidance and control method for unmanned aerial vehicles (UAVs) as described in any one of claims 1 to 6, according to the executable instructions stored in the memory.

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