Autonomous navigation and control method of unmanned aerial vehicle in denial environment

The invention relates to the technical field of navigation systems, in particular to an autonomous navigation and control method for an unmanned aerial vehicle in a denial environment, and the method comprises the steps: obtaining an expected coordinate, an actual coordinate, an actual speed and an actual acceleration of the unmanned aerial vehicle; on the basis of the expected coordinates, the actual coordinates, the actual speed and the actual acceleration, the expected acceleration of the unmanned aerial vehicle is obtained through calculation; acquiring an expected deviation angle and an expected yaw angle of the unmanned aerial vehicle, and calculating and acquiring an expected attitude angle of the unmanned aerial vehicle based on the expected acceleration and the expected yaw angle; and acquiring an actual attitude angle of the unmanned aerial vehicle, and correcting the actual attitude angle based on the expected attitude angle so as to navigate the unmanned aerial vehicle based on the expected attitu