Unmanned aerial vehicle dynamic target estimation method used in information denial environment

The invention discloses an unmanned aerial vehicle dynamic target estimation method used in an information denial environment. The method comprises the following steps: acquiring three-dimensional angle information, wherein the three-dimensional angle information comprises an arrival angle from an unmanned aerial vehicle to a first anchor point, an arrival angle from the unmanned aerial vehicle to a second anchor point and an arrival angle from the unmanned aerial vehicle to a target; for the three-dimensional angle information, an expansion Kalman filter is facilitated for filtering, estimated unmanned aerial vehicle state information and corresponding state covariance information are obtained, and the unmanned aerial vehicle state information is used for representing the position and speed of an unmanned aerial vehicle and the position and speed of a target; and constructing a loss function by using the unmanned aerial vehicle state information and the state covariance information so as to optimize the flig