Design of Guidance and Control System for Cylindrical Fixed-Pitch Coaxial Twin-Rotor Unmanned Aerial Vehicle

Cylindrical fixed-pitch coaxial twin-rotor unmanned aerial vehicle can balance structural weight, payload size, and endurance, making them suitable for use as suicide drones carried by individual soldier. In order to achieve precise strike of ground targets by cylindrical fixed-pitch coaxial twin rotor unmanned aerial vehicles(UAV), a dynamic model is established based on the definition of the relevant coordinate system. Based on this model, an input allocation is proposed that converts three linear acceleration and three angular acceleration commands into UAV upper and lower rotor speeds and steering engine deflection angles.A cascade PID attitude controller of UAV is designed to stabilize the attitude angle of UAV body, and a three-dimensional guidance law based on L1 guidance law is proposed to guide unmanned aerial vehicles to attack ground targets by determining the direction of guidance command space through vector cross multiplication. Finally, numerical simulation of UAV is conducted. The simulation r