A three-dimensional integrated guidance law for rotary UAV interception

In this paper, an integrated guidance law is designed for a controlled rotary Unmanned Aerial Vehicle (UAV) to intercept its target. The proposed guidance law is based on the classic proportional navigation, with velocity feedback added as compensator to address target acceleration. It can be proved theoretically that, with the assumption that the target acceleration is bounded, the interceptor UAV can capture the target with a relative hitting velocity. Stochastic factors, such as random target maneuvering, measurement noise and time-delay are considered in the UAV interception, and an Extended Kalman Filter (EKF) is applied to estimate system states. It is illustrated that, in existence of stochastic factors, the interception can be completed with small miss distance.