Method for correcting heading error of unmanned aerial vehicle tracking target in initial segment based on dynamic inversion

The invention discloses a method for correcting the heading error of an unmanned aerial vehicle tracking target in an initial segment based on dynamic inversion. The method comprises the steps of calculating the initial heading error; performing dynamic reverse heading correction; and updating the heading error and correcting until the heading error approaches zero to complete the correction. Themethod well solves the problem of time separation between the heading convergence process and the tracking convergence of the unmanned aerial vehicle to the target circle in the existing method, can realize rapid correction of the great heading error existing in the initial segment of the unmanned aerial vehicle tracking target, is controllable in convergence speed and continuously reduces the overload in the correction process. The method further has the advantages of global stability, good effectiveness, practicability and the like. 本发明公开了一种基于动态逆的无人机跟踪目标初始段航向误差修正方法，该方法包括以下步骤：计算初始航向误差；进行动态逆航向修正；更新航向误差并修正，直至航向误差趋近于零时完