METHOD OF CONTROLLING UNMANNED PLANNING AERIAL VEHICLE Russian patent published in 2018 - IPC G05D1/00 

FIELD: aeronautics.

SUBSTANCE: invention relates to a method for controlling a planning unmanned aerial vehicle (UAV). To control the UAV in each homing cycle to each reference point, solved is the boundary homing problem in the accompanying coordinate system with the beginning of the UAV at an altitude at the current radius-vector of the centre of mass of the UAV, equal to the altitude of the next reference point of the trajectory, converted are the obtained components of the required acceleration into a velocity and a half-velocity systems of coordinates, determined are the required values of the angle of aerodynamic roll and the angle of attack.

EFFECT: UAV is controlled at large distances from the point of guidance.

1 cl, 3 dwg, 2 tbl