A drone collision system and collision control method

Abstract

The present application provides a kind of unmanned aerial vehicle impact system and impact control method, the impact system includes mobile computer, data link ground terminal, remote controller and unmanned aerial vehicle flight device;Mobile computer is configured to display unmanned aerial vehicle situation and photoelectric image, while used to send instruction to unmanned aerial vehicle flight device;Remote controller is configured to carry out flight remote control to unmanned aerial vehicle flight device;Onboard computer on unmanned aerial vehicle flight device is configured to run combined navigation algorithm, give the position, attitude and heading information of unmanned aerial vehicle flight device, realize the navigation, guidance and control of unmanned aerial vehicle flight device;Photoelectric module on unmanned aerial vehicle flight device is configured to real-time investigation and identify target;Communication between mobile computer and unmanned aerial vehicle flight device realizes information interaction;The scheme provided by the present application can realize the control of unmanned aerial vehicle flight device, and impact target through remote control, improve impact response speed, reduce impact cost.

Description

Technical Field

[0001] This invention belongs to the field of drone collision technology, specifically relating to a drone collision system and collision control method. Background Technology

[0002] In recent years, with the rapid development of drone technology, the application scenarios of military drones have expanded from traditional reconnaissance, command, and reconnaissance-strike integration to various scenarios such as ground attack and air strike. In particular, in modern warfare, a large number of small and medium-sized drones have participated in combat, which fully demonstrates the importance of drones in modern warfare. Drones have defined modern warfare to a certain extent. However, in the existing technology, there is a lack of systematic research on drone collisions.

[0003] Given the technical problems existing in the use of drones, there are currently no relevant solutions; therefore, there is an urgent need to find effective solutions to address these issues. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of the aforementioned technologies by proposing a drone collision system and collision control method, aiming to solve the problems associated with collisions in existing drone systems.

[0005] This invention provides a drone collision system, comprising a ground control subsystem and a drone flight device. The ground control subsystem includes a mobile computer, a data link ground terminal, and a remote controller. The mobile computer is configured to display the drone's situation and photoelectric images, and to send commands to the drone flight device. The data link ground terminal is configured to enable communication between the mobile computer and the drone flight device, facilitating data interaction between the ground control subsystem and the drone flight device. The remote controller is configured to remotely control the drone flight device. The drone flight device is equipped with an onboard computer, a photoelectric module, and a data link onboard terminal. The onboard computer is configured to run a combined navigation algorithm, providing the drone flight device's position, attitude, and heading information, and simultaneously running guidance and control laws to achieve navigation, guidance, and control of the drone flight device. The photoelectric module is configured to detect and identify targets in real time and transmit the data to the ground control subsystem. The data link onboard terminal is configured to enable communication between the drone flight device and the ground control subsystem, facilitating information interaction between the drone flight device and the ground control subsystem.

[0006] Furthermore, the drone flight device is also equipped with external sensor modules and internal sensor modules, which respectively include a GPS receiver, a magnetometer, and a barometer.

[0007] Furthermore, the drone situation refers to the distribution pattern formed by multiple drone flight devices; the drone situation includes the situation of friendly drones and the situation of enemy drones; the optoelectronic module includes a visible light camera and an optoelectronic computer; the visible light camera is used to acquire optoelectronic images of the target for identification; the optoelectronic computer is used to process the optoelectronic images.

[0008] Furthermore, the UAV flight device includes a fuselage and rotors; the fuselage is a long strip structure and is set vertically during flight; the left and right sides of the fuselage extend along the horizontal X direction to form wings, and the wings on the left and right sides of the fuselage are symmetrical about the vertical centerline of the fuselage; the front and rear sides of the wings extend along the horizontal Y direction to form rotor arms, and rotor motors are installed on the rotor arms; the rotors are set on the top of the rotor arms and are connected to the output end of the rotor motors.

[0009] Furthermore, the fuselage and wings are integrally injection molded from plastic; the rotor arms are carbon tubular structures; the projected area of ​​the wings in the vertical direction is smaller than the projected area of ​​the wings in the horizontal direction; the projected area of ​​the fuselage in the vertical direction is smaller than the projected area of ​​the fuselage in the horizontal direction.

[0010] Furthermore, the rotor is made of wood and is a one-piece molded structure.

[0011] Furthermore, the fuselage is equipped with a warhead located at the front of the fuselage; the warhead has a steel cone structure; the warhead is used to impact the target; the target is an enemy drone.

[0012] Furthermore, the total thrust of the rotor is twice the weight of the entire UAV flight device; the thrust-to-weight ratio of the UAV flight device is [value missing], and the maximum acceleration of the UAV flight device is 2 * 9.8 m / s². 2 .

[0013] Accordingly, in conjunction with the above solutions, the present invention also provides a method for controlling UAV collisions, the method comprising the following steps:

[0014] S1: Real-time detection of enemy targets via photoelectric module, displaying target prompt boxes in photoelectric image and transmitting them back to ground command and control subsystem in real time, which are then displayed on the screen of mobile computer.

[0015] S2: Ground control personnel determine the impact target by selecting the screen of a mobile computer according to operational needs; the selection command from the ground control personnel is sent to the onboard computer of the UAV flight device, and then forwarded by the onboard computer to the optoelectronic module;

[0016] S3: The optoelectronic module measures the guidance information of the UAV flight device and the selected target in real time and sends it to the onboard computer. After receiving the guidance information, the onboard computer controls the UAV flight device to switch to attack mode and guides the UAV flight device to crash into the target.

[0017] S4: After the impact is completed, the onboard computer controls the drone's flight device to switch to cruise mode. Once the drone's flight device is stable, it switches to return mode to achieve recovery.

[0018] Furthermore, in step S3: the control parameters for the UAV flight device are as follows based on the guidance information:

[0019] The pitch rate is: q c =k1*∈ y ;

[0020] The yaw rate is: r c =k2*∈ x ;

[0021] The roll angle command is:

[0022] Where, q c For the pitch rate command of the UAV; r c This refers to the yaw rate; The roll angle command is given; k1 and k2 are proportional guidance coefficients; k3 is the proportional coefficient from yaw rate to roll angle command; (∈ x ,∈ y ) represents the angular velocity of the projectile's line of sight.

[0023] The solution provided by this invention has the following technical effects:

[0024] First, the UAV flight device provided by this invention adopts a controlless tail-seat layout, which allows for rapid deployment and takeoff in various terrains, improving the response speed to impact commands. Conventional fixed-wing aircraft require control surfaces for stabilization and control, increasing the installation process and complexity, as well as the inspection and maintenance procedures. The UAV flight device provided by this invention, with its controlless tail-seat layout and high-frequency speed regulation of four motors, can replace the functions of control surfaces and stabilizers, simplifying the complexity of the UAV structure and its overall size, making it easier to carry and deploy.

[0025] Secondly, the UAV flight device provided by this invention adopts a multi-rotor, rudderless, tail-seat configuration. The rotors increase the impact cross-sectional area, improving the probability of mid-air collisions. Simultaneously, the multi-rotor provides significant power redundancy, resulting in high UAV flight speed, high impact accuracy, and excellent damage effect. Specifically, the hover throttle of the multi-rotor is approximately 50% (preferably designed to be 50%), and the total rotor thrust is twice the total weight of the aircraft. During level flight, the thrust-to-weight ratio of the aircraft is 2, achieving a maximum speed of 2*9.8 m / s. 2 Its acceleration enables high-speed flight.

[0026] Third, the drone flight device provided by this invention uses a wooden propeller rotor. Even if it is partially damaged, the remaining part can still provide some thrust, which increases the recovery probability and reduces the cost of use. In contrast, if other materials such as carbon fiber propellers are damaged, the remaining part cannot maintain the original airfoil and cannot work properly.

[0027] The solution provided by this invention can impact stationary ground targets and ground / airborne moving targets by controlling small and medium-sized UAV flight devices, achieving strike effects similar to cruise missiles or surface-to-air missiles. It can damage ground targets with known latitude and longitude information and ground / airborne moving targets. Compared with traditional cruise missiles and surface-to-air missiles, it greatly reduces combat costs and facilitates clustered and sustained attacks. Attached Figure Description

[0028] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0029] The present invention will be further described below with reference to the accompanying drawings:

[0030] Figure 1 This is a front view of the UAV structure of the present invention;

[0031] Figure 2 This is a flowchart of a drone collision control method according to the present invention;

[0032] Figure 3 This is a schematic diagram of a drone collision system according to the present invention.

[0033] In the picture: 1. Fuselage; 2. Wing; 3. Rotor arm; 4. Rotor. Detailed Implementation

[0034] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0035] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0036] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. "Several" means one or more, unless otherwise explicitly specified.

[0037] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0038] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0039] like Figures 1 to 2As shown, this invention provides a drone collision system, which includes a ground control subsystem and a drone flight device. The ground control subsystem includes a mobile computer, a data link ground terminal, and a remote controller. Specifically, the mobile computer is configured to display the drone's situation and photoelectric images, and simultaneously send commands to the drone flight device. Further, the data link ground terminal is configured to enable communication between the mobile computer and the drone flight device, realizing data interaction between the ground control subsystem and the drone flight device. The interactive data includes photoelectric feedback images and drone control information. Further, the remote controller is configured to remotely control the drone flight device. Further, the drone flight device is equipped with an onboard computer... The invention includes an optoelectronic module and a data link airborne terminal; further, the airborne computer is configured to run a combined navigation algorithm, providing the position, attitude, and heading information of the UAV flight device, while simultaneously running guidance and control laws to achieve navigation, guidance, and control of the UAV flight device; further, the optoelectronic module is configured to detect and identify targets in real time and transmit the data to the ground command and control subsystem; further, the data link airborne terminal is configured to enable communication between the UAV flight device and the ground command and control subsystem, realizing information interaction between the UAV flight device and the ground command and control subsystem; the UAV collision system provided by this invention can control the UAV flight device and collide with targets remotely, improving the collision response speed and reducing collision costs.

[0040] Preferably, in combination with the above schemes, such as Figures 1 to 2 As shown, the drone flight device is equipped with an external sensor module and an internal sensor module. These modules include a GPS receiver, a magnetometer, and a barometer, respectively, providing backup for the drone flight device with external and internal sensors. Preferably, the GPS receiver is a ublox MAX M10s, the magnetometer is an HMC8310L, and the barometer is an MS5611. Furthermore, the drone flight device also includes a rotor electronic speed controller (ESC), which receives control signals from the flight control system and adjusts the current supplied to the motor accordingly, thereby controlling the motor speed and achieving precise attitude control of the drone. Additionally, the drone flight device includes a lithium battery and its power distribution lines, which provide power to the onboard electronic and power equipment via the power distribution lines. Finally, the mobile computer uses a Thinkbook Plus 17 dual-screen laptop, where the left side of the large screen displays photoelectric feedback images, the right side displays the drone's status, and the smaller screen to the right of the keyboard displays the drone's command and control interface for sending commands to the drone flight platform.

[0041] Preferably, in combination with the above schemes, such as Figures 1 to 2As shown, the UAV situation refers to the distribution situation formed by multiple UAV flight devices, that is, the flight distribution state formed by multiple friendly or enemy UAVs in practical applications; specifically, the UAV situation includes the situation of friendly UAVs and the situation of enemy UAVs; furthermore, the optoelectronic module includes a visible light camera and an optoelectronic computer; specifically, the visible light camera is used to acquire optoelectronic images of the target for identification; the optoelectronic computer is used to process the optoelectronic images.

[0042] Preferably, in combination with the above schemes, such as Figures 1 to 2 As shown, the UAV flight device includes a fuselage 1 and a rotor 4. The fuselage 1 is a long strip structure and is positioned vertically during flight to increase the horizontal impact area. Furthermore, wings 2 extend from the left and right sides of the fuselage 1 along the horizontal X direction, and the wings 2 on the left and right sides of the fuselage 1 are symmetrical about the vertical centerline of the fuselage 1 to improve flight balance. Furthermore, rotor arms 3 extend from the front and rear sides of the wings 2 along the horizontal Y direction, and rotor motors are installed on the rotor arms 3. Furthermore, the rotor 4 is located at the top of the rotor arms 3 and is connected to the output end of the rotor motor. Furthermore, the rotor motor is connected to the rotor ESC to achieve backtracking. It should be noted that the above-mentioned horizontal X and horizontal Y directions refer to the coordinate system directions of the X and Y axes of the horizontal plane.

[0043] Preferably, in combination with the above schemes, such as Figures 1 to 2 As shown, the fuselage 1 and wings 2 are integrally injection molded from plastic, which makes the cost of the UAV flight device low and the production efficiency high. Furthermore, the rotor arm 3 is a carbon tube structure. Specifically, the rotor arm uses standard-sized carbon tubes as the main structure, which is relatively inexpensive. Furthermore, the wing 2 is a plate structure, and the projected area of ​​the wing 2 in the vertical direction is smaller than the projected area of ​​the wing 2 in the horizontal direction, which can effectively increase the probability of impact. Furthermore, the fuselage 1 is a plate structure, and the projected area of ​​the fuselage 1 in the vertical direction is smaller than the projected area of ​​the fuselage 1 in the horizontal direction, which can effectively increase the probability of impact.

[0044] Preferably, in combination with the above schemes, such as Figures 1 to 2 As shown, rotor 4 is made of wood and is a one-piece molded structure; specifically, rotor 4 is designed with wooden blades, so that after being damaged by an impact, the remaining blades can provide better pulling force to complete the return and recovery.

[0045] Preferably, in combination with the above schemes, such as Figures 1 to 2As shown, the UAV flight device provided by the present invention adopts a control method without control surfaces, and uses rotors to achieve fixed-wing mode control, eliminating control surfaces and supporting servos and cables, reducing manufacturing costs and assembly workload; wherein, the fuselage 1 is also provided with a warhead, which is located at the front of the fuselage 1; the warhead is a steel cone structure; specifically, the warhead is used to achieve impact with the target; furthermore, the optoelectronic module detects and identifies the target as an enemy UAV or a stationary object (i.e., an impact target).

[0046] Preferably, in combination with the above schemes, such as Figures 1 to 2 As shown, the airborne computer has a built-in GPS receiver, barometer, accelerometer, angular rate gyroscope, and magnetometer. Specifically, the airborne computer runs a combined navigation algorithm to provide information such as the position, attitude, and heading of the UAV flight device. At the same time, the airborne computer runs guidance and control laws to realize the navigation, guidance, and control of the UAV flight device. Furthermore, the GPS receiver built into the airborne computer is a ublox MAXM10s, the barometer is an MS5611, the accelerometer is a BMI088, the angular rate gyroscope is a BMI088, and the magnetometer is an RM3100.

[0047] Preferably, in combination with the above schemes, such as Figures 1 to 2 As shown, the total thrust of rotor 4 is twice the weight of the entire UAV flight device; the thrust-to-weight ratio of the UAV flight device is 2, and the maximum acceleration of the UAV flight device is 2*9.8m / s². 2 .

[0048] Accordingly, in conjunction with the above schemes, such as Figures 1 to 3 As shown, the present invention also provides a method for controlling drone collisions, the method comprising the following steps:

[0049] S1: Real-time detection of enemy targets via photoelectric module, displaying target prompt boxes in photoelectric image and transmitting them back to ground command and control subsystem in real time, which are then displayed on the screen of mobile computer.

[0050] S2: Ground control personnel determine the impact target by selecting the screen of a mobile computer according to operational needs; the selection command from the ground control personnel is sent to the onboard computer of the UAV flight device, and then forwarded by the onboard computer to the optoelectronic module;

[0051] S3: The optoelectronic module measures the guidance information of the UAV flight device and the selected target in real time and sends it to the onboard computer. After receiving the guidance information, the onboard computer controls the UAV flight device to switch to attack mode and guides the UAV flight device to crash into the target.

[0052] S4: After the impact is completed, the onboard computer controls the drone's flight device to switch to cruise mode. Once the drone's flight device is stable, it switches to return mode to achieve recovery.

[0053] Preferably, in combination with the above schemes, such as Figures 1 to 2 As shown, in step S3: the control parameters of the UAV flight device are as follows based on the guidance information:

[0054] The pitch rate is: q c =k1*∈y;

[0055] The yaw rate is: r c =k2*∈x;

[0056] The roll angle command is:

[0057] Where, q c For the pitch rate command of the UAV; r c This refers to the yaw rate; The roll angle command is given; k1 and k2 are proportional guidance coefficients; k3 is the proportional coefficient from yaw rate to roll angle command; (∈ x ,∈ y ) represents the angular velocity of the projectile's line of sight.

[0058] The solution provided by this invention has the following technical effects:

[0059] First, the UAV flight device provided by this invention adopts a controlless tail-seat layout, which allows for rapid deployment and takeoff in various terrains, improving the response speed to impact commands. Conventional fixed-wing aircraft require control surfaces for stabilization and control, increasing the installation process and complexity, as well as the inspection and maintenance procedures. The UAV flight device provided by this invention, with its controlless tail-seat layout and high-frequency speed regulation of four motors, can replace the functions of control surfaces and stabilizers, simplifying the complexity of the UAV structure and its overall size, making it easier to carry and deploy.

[0060] Secondly, the UAV flight device provided by this invention adopts a multi-rotor, rudderless, tail-seat configuration. The rotors increase the impact cross-sectional area, improving the probability of mid-air collisions. Simultaneously, the multi-rotor provides significant power redundancy, resulting in high UAV flight speed, high impact accuracy, and excellent damage effect. Specifically, the hover throttle of the multi-rotor is approximately 50% (preferably designed to be 50%), and the total rotor thrust is twice the total weight of the aircraft. During level flight, the thrust-to-weight ratio of the aircraft is 2, achieving a maximum speed of 2*9.8 m / s. 2 Its acceleration enables high-speed flight.

[0061] Third, the drone flight device provided by this invention uses a wooden propeller rotor. Even if it is partially damaged, the remaining part can still provide some thrust, which increases the recovery probability and reduces the cost of use. In contrast, if other materials such as carbon fiber propellers are damaged, the remaining part cannot maintain the original airfoil and cannot work properly.

[0062] The solution provided by this invention can impact stationary ground targets and ground / airborne moving targets by controlling small and medium-sized UAV flight devices, achieving strike effects similar to cruise missiles or surface-to-air missiles. It can damage ground targets with known latitude and longitude information and ground / airborne moving targets. Compared with traditional cruise missiles and surface-to-air missiles, it greatly reduces combat costs and facilitates clustered and sustained attacks.

[0063] The above description is merely a preferred embodiment of the present invention and does not constitute any limitation on the present invention. Any person skilled in the art can make many possible variations and modifications to the technical solution of the present invention, or modify it into equivalent embodiments, without departing from the scope of the present invention. Therefore, any modifications, equivalent changes, and alterations made to the above embodiments based on the technology of the present invention without departing from the scope of the present invention are within the protection scope of the present invention.

Claims

1. A drone impact system, characterized in that, The impact system comprises a ground control subsystem and a UAV flight device; the ground control subsystem comprises a mobile computer, a data link ground terminal and a remote controller; The mobile computer is configured to display a UAV situation and an optoelectronic image, and is used for sending instructions to the UAV flight device; The data link ground terminal is configured to realize communication between the mobile computer and the UAV flight device, and realize data interaction between the ground control subsystem and the UAV flight device; The remote controller is configured to perform flight remote control on the UAV flight device; The UAV flight device is provided with an airborne computer, an optoelectronic module and a data link airborne terminal; The airborne computer is configured to run a combined navigation algorithm, give position, attitude and heading information of the UAV flight device, run a guidance law and a control law, and realize navigation, guidance and control of the UAV flight device; The optoelectronic module is configured to realize real-time investigation and identification of a target, and transmit to the ground control subsystem; the data link airborne terminal is configured to realize communication between the UAV flight device and the ground control subsystem, and realize information interaction between the UAV flight device and the ground control subsystem.

2. The drone impact system of claim 1, wherein, The UAV flight device is further provided with an external sensor module and an internal sensor module; the external sensor module and the internal sensor module respectively comprise a GPS receiver, a magnetometer and a barometer.

3. The drone impact system of claim 1, wherein, The UAV situation comprises a distribution situation formed by a plurality of UAV flight devices; the UAV situation comprises a friendly UAV situation and an enemy UAV situation; the optoelectronic module comprises a visible light camera and an optoelectronic computer; the visible light camera is used for acquiring an optoelectronic image of an identified target; the optoelectronic computer is used for processing the optoelectronic image.

4. The drone impact system of claim 1, wherein, The UAV flight device comprises a fuselage (1) and a rotor (4); the fuselage (1) is in a long strip shape and is arranged in a vertical direction during flight; wings (2) are formed on the left and right sides of the fuselage (1) in a horizontal X direction; the wings (2) on the left and right sides of the fuselage (1) are symmetrical structures with the vertical center line of the fuselage (1) as the symmetry center; rotor arms (3) are formed on the front and back sides of the wings (2) in a horizontal Y direction; the rotor arms (3) are provided with rotor motors; the rotor (4) is arranged on the top of the rotor arms (3) and is in transmission connection with the output end of the rotor motor.

5. The drone impact system of claim 4, wherein, The fuselage (1) and the wings (2) are integrally injection molded by plastic; the rotor arms (3) are carbon tube structures; the projection area of the wings (2) in the vertical direction is smaller than the projection area of the wings (2) in the horizontal direction; the projection area of the fuselage (1) in the vertical direction is smaller than the projection area of the fuselage (1) in the horizontal direction.

6. The drone impact system of claim 4, wherein, The rotor (4) is made of wood material and is an integral molding structure.

7. The drone impact system of claim 4, wherein, The fuselage (1) is provided with a warhead, the warhead is located in the front section of the fuselage (1); the warhead is a steel cone structure; the warhead is used to realize the impact with the target; the target is an enemy unmanned aerial vehicle.

8. The drone impact system of claim 4, wherein, The total pull force of the rotor (4) is twice the weight of the entire unmanned aerial device; the thrust-to-weight ratio of the unmanned aerial device is 2, and the maximum acceleration of the unmanned aerial device is 2*9.8 m / s 2 . 9.A method for controlling impact of a drone, the method comprising: The impact control method comprises the following processes: S1: the enemy target is detected in real time by an optoelectronic module, a target prompt box is given in an optoelectronic image, and is transmitted back to a ground control subsystem in real time and displayed on the screen of a mobile computer; S2: a ground control personnel determines the impact target by selecting the screen of the mobile computer according to combat requirements; the selection instruction of the ground control personnel is sent to the airborne computer of the unmanned aerial vehicle flight device, and is forwarded to the optoelectronic module by the airborne computer; S3: the optoelectronic module measures the guidance information of the unmanned aerial vehicle flight device and the selected target in real time, and sends the guidance information to the airborne computer; after receiving the guidance information, the airborne computer controls the unmanned aerial vehicle flight device to enter the attack mode, and guides the unmanned aerial vehicle flight device to collide with the target; S4: after the collision is completed, the airborne computer controls the unmanned aerial vehicle flight device to enter the cruising mode, and after the state of the unmanned aerial vehicle flight device is stable, the unmanned aerial vehicle flight device enters the homing mode to realize the recovery. 10.The UAV impact control method of claim 9, wherein, In the S3 step: according to the guidance information, the control parameters of the unmanned aerial vehicle flight device are as follows: Pitch rate is: q c = k1 * e y ; The yaw rate is: r c = k2 * e x ; The roll angle command is: where q c is the pitch angle rate command of the UAV; r c is the yaw angle rate; is the roll angle command; k1 and k2 are proportional guidance coefficients, respectively; k3 is the proportional coefficient of the yaw angle rate to the roll angle command; (e x , e y ) are the missile-target line-of-sight angle rates.

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