UNMANNED AERIAL VEHICLE GUIDANCE LAW USING SPHERICAL PENDULUM MOTION

PURPOSE: A method for guiding an unmanned aerial vehicle using a spherical pendulum motion is provided to generate a guidance command to stably turning the unmanned aerial vehicle within a velocity range even through the moving space of a moving target is increased. CONSTITUTION: A method for guiding an unmanned aerial vehicle using a spherical pendulum motion is as follows. A position vector and a velocity vector of the unmanned aerial vehicle are calculated in an inertial frame. The position vector and the velocity vector of a moving target are calculated in the inertial frame. A point right above the moving target in the inertial coordinate system is defined as an arbitrary center point of a spherical pendulum. The position of the unmanned aerial vehicle based on the arbitrary center point of the spherical pendulum is calculated as a pendulum variable(1). A guidance command of the unmanned aerial vehicle is calculated by the pendulum variable in the inertial frame(2). The calculated guidance command is converted to a guidance command of the unmanned aerial vehicle in an aircraft body frame(3). [Reference numerals] (1)) Calculate a pendulum variable; (2)) Calculate an inertial frame guidance command; (3)) Calculate an aircraft body frame guidance command; (AA) State variable of an aerial vehicle; (BB) Phase angle of a neighboring aerial vehicle; (CC) State variable of a moving target