RU2539703C2 - Method for precision landing of unmanned aerial vehicle - Google Patents

Abstract

FIELD: physics; control.

SUBSTANCE: invention relates to methods of landing unmanned aerial vehicles and can be used when solving tasks for facilitating precision automatic landing of unmanned aerial vehicles on small areas. The method comprises landing an unmanned aerial vehicle in a recovery net, forming a circular approach area, for which an omnidirectional radio-frequency radiation source is placed at a given landing point and a radio direction-finder is mounted on-board the unmanned aerial vehicle, performing autonomous approach of the unmanned aerial vehicle, using standard on-board navigation equipment, receiving signals of the omnidirectional radio-frequency radiation source and performing angular tracking thereof in the horizontal and vertical planes by the on-board radio direction-finder, the data of which are used by an on-board control system to generate a command for self-guidance of the unmanned aerial vehicle towards the radio-frequency radiation source in the horizontal plane. The method comprises simultaneous self-guidance of the unmanned aerial vehicle towards the radio-frequency radiation source in the horizontal plane and flying the unmanned aerial vehicle at a given altitude, upon achieving a given angle of sight of the radio-frequency radiation source in the vertical plane, switching the unmanned aerial vehicle to pitching, from the data of the on-board radio direction-finder using the on-board control system, generating a command for self-guidance of the unmanned aerial vehicle towards the radio-frequency radiation source in the vertical plane, performing self-guidance of the unmanned aerial vehicle towards the radio-frequency radiation source in the vertical and horizontal planes until falling into the recovery net, placed horizontally over the radio-frequency radiation source.

EFFECT: improved independence of precision landing of an unmanned aerial vehicle.

1 dwg

Description

The invention relates to the field of landing methods for unmanned aerial vehicles (UAVs) and can be used to solve the problem of ensuring the accurate automatic landing of UAV aircraft design on a small area.

There is a method of landing UAVs in an airplane [Adaptive control systems for aircraft. / A.S. Novoselov, V.E. Bolnokin, P.I. Chinaev, A.N. Yuriev. - M.: Mechanical Engineering, 1987, S. 9-10]. This method involves the use of a runway with varying degrees of equipment. For UAV landing according to this scheme, conventional aerodromes of manned aviation or quickly deployed landing strips in suitable terrain sections (road sections, horizontal terrain sections) can be used.

A known method of landing UAVs using the aerofinisher [Adaptive control systems for aircraft. / A.S. Novoselov, V.E. Bolnokin, P.I. Chinaev, A.N. Yuriev. - M.: Mechanical Engineering, 1987, S. 9-10]. The implementation of this method also requires an equipped landing strip, but shorter than when landing on an airplane.

The main disadvantage of UAV landing methods on an airplane and using an aerofinisher is the low autonomy of landing, which is due to the impossibility of implementing these methods without supporting ground infrastructure (airfields with a landing strip, course-glide path and other landing equipment). This significantly limits the permissible conditions, the flexibility and efficiency of the UAV.

A known method of landing UAVs using a parachute [Adaptive control system for aircraft. / A.S. Novoselov, V.E. Bolnokin, P.I. Chinaev, A.N. Yuriev. - M.: Mechanical Engineering, 1987, S. 9-10]. To implement this method, the UAV should be equipped with a parachute and inflatable landing balloons (pillows) located under the fuselage and under the wings and protect the UAV from damage at the moment of touching the ground. The main disadvantage of the parachute method is the low accuracy of landing, as a result of which it requires a large landing pad (up to 5 × 5 km or more), free from interfering objects, a collision with which can lead to loss of UAVs. The additional time spent on the search for UAVs over a large area and the subsequent evacuation of UAVs to the launch area results in low efficiency of re-use of UAVs. In addition, the search and evacuation of UAVs requires the use of additional equipment (vehicles), which reduces the degree of autonomy of the method.

The closest in technical essence and the achieved result (prototype) is the method of landing the UAV "Aquila" with capture in the trapping network [Adaptive control systems for aircraft. / A.S. Novoselov, V.E. Bolnokin, P.I. Chinaev, A.N. Yuriev. - M.: Mechanical Engineering, 1987, p.69-76]. The method consists in forming a narrow sector zone of UAV approach for landing and setting a reference landing trajectory, for which two infrared cameras are installed at a given landing site on the mounting structure of the catching vertical network, the fields of view of which define a narrow sector zone of UAV approach for landing in the side and vertical planes, and the optical axis - the reference path of the UAV landing; they carry out radar tracking of UAVs in range and angular coordinates by the ground control station, according to the data of radar tracking they form control commands for entering the UAVs into a narrow sector approach zone, transmit these commands via a radio link to the UAVs, introduce UAVs into the sectorial approach zone by working off of received commands by the UAV onboard control system, include an onboard infrared source, determine the lateral and vertical angular deviations of the UAV from the reference landing path and using two infrared cameras receiving radiation from the onboard source, transmit the UAV deviation values from the reference landing path along the radio line to the UAV board, take the UAV deviation values from the reference landing path and form commands on them to keep the UAV on the landing landing path, UAVs fly along the reference landing path and UAVs land in the catch network.

The main disadvantage of the prototype method is its low autonomy, due to the fact that a significant part of the actions that determine the method is performed on the ground using the appropriate ground equipment, namely:

the formation of the sector zone of the UAV approach for landing and the task of the reference landing path using two infrared cameras installed at a given landing location on the mounting structure of the catching vertical network;

UAV radar tracking in range and angular coordinates by a ground control station;

formation of commands at the ground control station for entering the UAV into the sector approach area;

transmission of control commands for entering the UAV into the sector approach area on the radio link aboard the UAV;

determination of UAV deviations from the reference landing path using two infrared cameras installed at the landing point;

transmission of UAV deviation values from the reference landing trajectory along the radio link to the UAV;

UAV capture by a vertical network.

The disadvantages of the prototype method also lie in the fact that it does not provide a full-angle UAV approach for landing and all-weather landing, due to the formation of narrow sector zones for UAV approach for landing and the use of the infrared wavelength range in the landing equipment. In addition, the landing requires an open, free from interfering objects, significant in size area (at least several hundred meters across), due to the following reasons. In the prototype method, the course-glide path principle of forming the landing path is used, as in the landing methods in an airplane and using an aerofinisher. At the same time, a gentle landing trajectory is realized (at an angle of no more than 2-4 degrees to the horizon) by a corresponding exposure of the infrared camera that determines the angular deviation of the UAV from the landing trajectory in the vertical plane (glide path). In azimuth, the sectoral UAV approach zone for landing is oriented taking into account the wind direction and tactical considerations by means of a corresponding exposure of the infrared camera that determines the angular deviation of the UAV from the landing path in the lateral plane. During the flight mission, which can take up to several hours, it is possible to change the direction of the wind, the tactical situation, which will require a corresponding change in the initial exhibition of the sector area of the UAV approach for landing in azimuth. Therefore, to implement the prototype method, it is necessary to have the ability to quickly change the position of the sector zone of the UAV approach for landing in azimuth, which requires an open, free from interfering objects, horizontal area of significant size (with a radius of at least 200 ... 250 m), in the center of which they set vertical pickup net. In the absence of an open area of the required size, ensuring the implementation of UAV reduction along a gentle landing trajectory, it is necessary to clear it using appropriate equipment, which further reduces the autonomy of the method.

The technical result of the invention is to increase the autonomy of performing an accurate UAV landing, as well as ensuring all-round approach of a UAV to landing, all-weather landing, reducing the size of the landing site to tens of meters across.

The indicated result is achieved by the fact that in the method of landing the UAVs in the capture network, a circular approach zone is formed, for which a non-directional source of radio emission is installed at a given landing point, and a direction finder is installed on board the UAV, autonomous UAVs are entered into the approach zone using the standard airborne navigation equipment, receive signals from an omnidirectional source of radio emission and perform its angular tracking in horizontal and vertical planes by airborne radio the transmitter, according to which, using the on-board control system, UAV homing commands are generated to the horizontal source of the radio emission, UAVs are homing at the horizontal source of the UAV and the UAV is flown at a given height, the UAV is transferred to the vertical viewing angle of the source of the radio emission in the vertical plane into a dive, form UAV homing commands to a source of radio emission in a vertical plane, perform UAV homing at sources radio in the vertical and horizontal planes to enter into the capture net, mounted horizontally above the radio source.

The essence of the proposed method for accurate UAV landing, which can significantly increase the autonomy of UAV landing, is to abandon the course-glide path principle of forming the landing trajectory using ground equipment (two infrared cameras installed at a given landing site on the mounting structure of the catching vertical network) and implementing landing by homing UAVs to the source of radio emission accompanied by the angular coordinates of the airborne direction finder installed at a given point Landing under a horizontally extended catching net. At the same time, the use of an omnidirectional source of radio emission provides an all-round UAV approach for landing and removes the requirement for high accuracy of UAV withdrawal to the landing area, which allows the use of standard autonomous on-board navigation equipment for UAVs. Consequently, there is no need for appropriate ground-based equipment that provides high-precision UAV withdrawal to a narrow sector approach zone (in a ground control station that provides radar tracking of UAVs in range and angular coordinates, generation of control commands for entering UAVs in a narrow sector zone according to radar tracking data approach, and in the radio line through which these commands are transmitted aboard the UAV).

The use of landing equipment operating in the radio range (a source of radio emission and an airborne direction finder) ensures all-weather implementation of the proposed method for landing a UAV.

The rejection of the shallow landing path used in the prototype method, and the use of the UAV homing trajectory in a vertical plane at diving angles determined by the flight technical characteristics of the UAV and amounting to tens of degrees, provides for a reduction in the landing pad dimensions required to implement the inventive method to tens of meters across .

Thus, the proposed method for accurate UAV landing ensures that it gets into a small-sized capture network in automatic autonomous mode with a minimum of ground equipment used, including an omnidirectional radio emission source and a horizontal capture network, with an arbitrary angle of UAV landing approach, in simple and difficult weather conditions, under use for landing a small area of no more than tens of meters across.

In FIG. 1 presents a diagram of the implementation of the proposed method for accurate landing of the UAV.

The implementation scheme of the proposed method for accurate landing of UAVs contains UAVs with standard on-board navigation equipment, on-board control system and on-board direction finder 1, an omnidirectional radio emission source installed at a given landing point 2, a horizontal capture network installed above the radio emission source 3.

The method of accurate landing UAV is implemented as follows.

To form a circular zone of UAV 1 approach for landing at a given landing point, an omnidirectional source of radio emission 2 is installed, for example, a centimeter wavelength range. For autonomous introduction of UAV 1 into the approach zone, full-time on-board navigation equipment is used. As such equipment for light UAVs, for example, a micromechanical inertial navigation system (INS) [Inertial Technologies CJSC Technocomplex can be used. Micromechanical ANN. http://www.inertech.ru/en/inertial-navigation-systems.html]. Such a micromechanical ANN provides the determination of UAV coordinates by calculating the path with a radial error, the rms value of which increases at a speed of about 1.1 m / s.

For angular tracking of the source of radio emission 2, a direction finder is installed on board the UAV 1, for example, a phase direction finder, which provides angular tracking of the source of radio emission in horizontal and vertical planes [Denisov VP, Dubinin DV Phase direction finders. - Tomsk: Tomsk State University of Control Systems and Radioelectronics, 2002, 251 pp.]. The root-mean-square errors of such a direction finder with an angular accompaniment of a centimeter wavelength radiation source are of the order of 0.5 ... 1.0 deg, and the viewing area in one plane can reach ± 60 deg.

The radius of the UAV approach zone for landing, determined by the range of the on-board direction-finder from the signals of the radio emission source, is advisable to choose the minimum in the interests of reducing the overall dimensions and cost of the radio emission source. But at the same time, the radius of the UAV approach zone for landing should ensure a guaranteed penetration of the radio emission source into the field of view of the airborne direction finder, taking into account errors in UAV withdrawal to the landing area using ANN. The initial error and the establishment of transient UAV guidance in the horizontal plane, the translation of the UAV into a dive, the development of the initial error and the establishment of transient UAV guidance in the vertical plane must also be provided. With the dynamic and flight performance characteristics characteristic of light UAVs, the main factor determining the admissible minimum radius of the UAV approach zone for landing is the accuracy of the UAV withdrawal to the landing area. For example, suppose a UAV has a flight duration of 1800 s. At a UAV cruising speed of 75 m / s, this time corresponds to a total route length of 135 km (for example, the length of a flight to the target area is 70 km, the length of the flight along the return route to the landing area is 65 km). When the radial root-mean-square error of the dead reckoning path is 1.1 m / s, the resulting root-mean-square error of the UAV withdrawal to the landing area will be 1980 m. Using the two sigma rule, we obtain the maximum radial error of UAV withdrawal to the landing region, equal to 3960 m. In the considered case, the maximum deviation of the UAV at the heading from the line of the given path passing from the area of the target to the landing zone will be 5 ... 6 deg. Then, with the half-width of the field of view of the airborne direction finder in a horizontal plane equal to 60 degrees, we obtain that for a guaranteed hit of the source of radio emission within the range of the field of view of the airborne direction finder, the radius of the UAV approach zone for landing should be no less than 2.4 ... 2.5 times the radial root mean square error of UAV withdrawal to the landing area, i.e. be about 4750 ... 4950 m. With the practical direction finder sensitivity of minus (120 ... 130) dBW, the power of the centimeter wavelength radiation source will be units of W.

Thus, upon reaching the boundary of the UAV 1 approach zone for landing, the conditions for receiving signals from the radio emission source 2 by the on-board direction finder are ensured due to its energy availability and getting into the on-board direction finder sector of view (the angle between the UAV flight direction and the line of sight of the radiation source ψ _and does not exceed the half-width of the viewing sector side direction finder in the horizontal plane).

An on-board direction finder receives signals from a radio emission source and its angular tracking in horizontal and vertical planes. The tracking data in the form of angles and angular velocities of the line of sight of the radio emission source is fed to the onboard UAV control system, in which UAV homing commands are generated to the radio emission source in the horizontal plane in accordance with the adopted guidance method, for example, by the method of proportional navigation [Maximov MV Gorgonov G.I. Electronic homing systems. - M .: Radio and communications, 1982, p.56-60]. With this method, the normal acceleration of a UAV should be proportional to the angular velocity of the line of sight of the source of radio emission with a proportionality coefficient called the navigation constant and equal to 3 ... 5. UAV homing to a source of radio emission in a horizontal plane and flying at a constant predetermined height H _ass in a vertical plane, which is selected from the condition of flying over obstacles in the approach zone, translating the UAV into a dive at a given angle and working out the initial error and establishing transient processes UAV guidance during the dive process. The angle of translation of the UAV into the dive θ _ass is set from the conditions for the subsequent dive of the UAV at a given angle θ _peak , taking into account the flight technical and maneuverable characteristics of the UAV. The diving angle θ _peak is selected in terms of absolute value to the maximum possible for UAVs to ensure a minimum slip in the plane of the horizontal catching network 3. In addition, in this case, the dimensions of an open area free from obstacles required for landing are reduced.

After translating the UAV 1 into a dive, its on-board control system generates homing commands to the radio emission source in the vertical plane according to its tracking data in the form of angles and angular velocities of the line of sight of the radiation source coming from the on-board direction finder. Homing UAV 1 is carried out in accordance with the accepted method, for example, the method of proportional navigation [Maximov MV, Gorgonov G.I. Electronic homing systems. - M .: Radio and communications, 1982, p.56-60].

As a result of homing UAV 1 to the source of radio emission 2 in the horizontal and vertical planes, it is planted in a horizontal catching network 3.

The horizontal catch network 3, as in the prototype method, can be made of nylon fabric and mounted on racks with guides and a braking device that dampens the energy of the UAV when it is caught by the network [Adaptive control systems for aircraft. / A.S. Novoselov, V.E. Bolnokin, P.I. Chinaev, A.N. Yuriev. - M.: Mechanical Engineering, 1987, p.76]. The dimensions of the network 3 are selected taking into account the accuracy of the homing of the UAV, for example, in accordance with the rule of two sigma, to ensure guaranteed capture of the UAV by the network. Thus, a method for accurately landing a UAV in a horizontal catching network is implemented.

The analysis of the prior art, including a search by patent and scientific and technical sources of information, and identifying sources containing information about analogues of the claimed inventions, allowed us to establish that the applicant did not find analogues that are characterized by signs that are identical to all the essential features of the proposed method of landing UAVs. The selection from the list of identified analogues of the prototype, as the closest in the set of essential features of the analogue, allowed to identify the set of essential in relation to the formulated technical result of the features in the claimed method, which are set forth in the claims. Therefore, the claimed invention meets the criterion of "novelty."

To verify the compliance of the claimed invention with the criterion of "inventive step", a search and analysis of known technical solutions was carried out in order to identify signs that match the features of the proposed method for the exact landing of the UAV. The search results showed that the claimed invention does not follow explicitly from the prior art determined by the applicant. The claimed invention does not provide for the following transformations:

supplementing the known means with any known unit attached to it according to known rules to achieve a technical result;

replacing any part of the known means with another known part to achieve a technical result;

the increase in the same type of elements to achieve the formulated technical result;

the creation of a tool consisting of known parts, the choice of which and the connection between them is carried out according to known rules, and the technical result achieved in this case is due only to the known properties of the parts of this tool and the relationships between them.

Therefore, the claimed invention meets the criterion of "Inventive step".

The proposed solution meets the criterion of "industrial applicability", since the combination of characteristics characterizing it provides the possibility of its existence, performance and reproducibility, since well-known materials and equipment can be used to implement the proposed solution.

Let us quantify the accuracy of UAV landing by the claimed method. To do this, we use the formulas for the variances of the final UAV homing (miss) error when landing in a trapping network [Volobuev MF, Zamyslov MA, Mikhailenko SB, Orlov SV Methodology for assessing the accuracy of an automatic aircraft landing system under the influence of random disturbances. - Collection of reports of the XII ISTC “K and VT of the XXI Century”, volume 2. Voronezh, NPF SAKVOEE, 2011, p.531-539]:

$${\sigma }_{\Delta \epsilon }^2=\frac{{({\sigma }_{\epsilon }NVT)}^2}{a_0(N+\mathrm{one})}\cdot \frac{l_{\epsilon }\cdot {\displaystyle \sum _{j=0}^{N-\mathrm{one}}{a}_{\epsilon j}(N)\cdot l_{\epsilon }^j}}{{(\mathrm{one}+l_{\epsilon })}^{N+\mathrm{one}}},(\mathrm{one})$$

$${\sigma }_{\Delta \mathrm{at}}^2=\frac{{({\sigma }_{\mathrm{at}}T)}^2}{a_0(N)}\cdot \frac{l_{\mathrm{at}}\cdot {\displaystyle \sum _{j=0}^{N-2}{a}_{\mathrm{at}j}(N)\cdot l_{\mathrm{at}}^j}}{{(\mathrm{one}+l_{\mathrm{at}})}^N},(2)$$

- дисперсия составляющей промаха БЛА, обусловленной ошибками бортового радиопеленгатора; $${\sigma }_{\Delta в}^2$$

- дисперсия составляющей промаха БЛА, обусловленной воздействием случайных порывов бокового ветра; σ_ε - среднеквадратическая ошибка бортового радиопеленгатора; σ_в - среднеквадратическое значение скорости случайных порывов бокового ветра; N - навигационная постоянная; V - скорость БЛА; Т - эквивалентная постоянная времени бортовой системы управления БЛА; Т_ε - время корреляции случайных ошибок радиопеленгатора; $$l_{\epsilon }=\frac{T_{\epsilon }}{T}$$

; Т_в - время корреляции случайных порывов бокового ветра; $$l_{в}=\frac{T_{в}}{T}$$

; a₀(N), a_ξij(N) - полиномиальные коэффициенты.Where $${\sigma }_{\Delta \epsilon }^2$$

- the dispersion of the UAV miss component due to errors on the direction finder; $${\sigma }_{\Delta \mathrm{at}}^2$$

- variance of the UAV miss component due to the influence of random gusts of crosswind; σ _ε is the mean square error of the onboard direction finder; σ _in - the rms value of the velocity of random gusts of side wind; N is the navigation constant; V is the speed of the UAV; T is the equivalent time constant of the onboard UAV control system; T _ε is the correlation time of random errors of the direction finder; $$l_{\epsilon }=\frac{T_{\epsilon }}{T}$$

; T _in - time correlation of random gusts of side wind; $$l_{\mathrm{at}}=\frac{T_{\mathrm{at}}}{T}$$

; a ₀ (N), a _ξij (N) are polynomial coefficients.

Calculations will be carried out with the following initial data:

σ _ε = 1.0 deg; σ _in = 2.5 m / s; N = 3; V = 50 m / s; T = 1.1 s; T _ε = 0.1 s; T _in = 1.0 s; UAV dive angle during landing θ _peak = 30 deg.

The values of the polynomial coefficients given in [Volobuev MF, Zamyslov M.A., Mikhailenko SB, Orlov SV Methodology for assessing the accuracy of an automatic aircraft landing system under the influence of random disturbances. - Collection of reports of the XII ISTC “K and VT of the XXI Century”, volume 2. Voronezh, NPF SAKVOEE, 2011, p.536], are equal to:

a ₀ (3) = 8; a ₀ (4) = 16; a _ε0 (3) = 1; a _ε1 (3) = 4; a _ε2 (3) = 1; and _b0 (3) = 3; and _in1 (3) = 1.

Substituting the values given in the formulas (1) and (2), we obtain the root mean square values of the components of the UAV miss due to errors of the direction finder and random gusts of wind in the lateral plane:

; $${\sigma }_{\underset{бок}{\Delta в}}=0,7м$$

$${\sigma }_{\underset{b\mathrm{about}\mathrm{to}}{\Delta \epsilon }}=0,25m$$

; $${\sigma }_{\underset{b\mathrm{about}\mathrm{to}}{\Delta \mathrm{at}}}=0,7m$$

Taking into account the value of the UAV dive angle during landing, θ _peak = 30 deg, the rms values of the UAV miss components due to radio direction finder errors and random wind gusts in the longitudinal plane of the lateral plane, calculated on the horizontal plane, are:

; $${\sigma }_{\underset{прод}{\Delta в}}=1,4м$$

$${\sigma }_{\underset{PR\mathrm{about}d}{\Delta \epsilon }}=0,5m$$

; $${\sigma }_{\underset{PR\mathrm{about}d}{\Delta \mathrm{at}}}=\mathrm{one},\mathrm{four}m$$

Accordingly, the root mean square values of the UAV total miss to the radio beacon in the lateral and longitudinal guidance planes, calculated on the plane of the horizontal capture network, will be equal to:

; $${\sigma }_{\underset{прод}{\Delta }}=1,49м$$

$${\sigma }_{\underset{b\mathrm{about}\mathrm{to}}{\Delta }}=0,74m$$

; $${\sigma }_{\underset{PR\mathrm{about}d}{\Delta }}=\mathrm{one},49m$$

, и требуемой вероятностью попадания в сеть. Полагая закон рассеивания точек приземления БЛА гауссовым и круговым, запишем вероятность Р попадания БЛА в сеть радиусом R в виде:We determine the required dimensions of the horizontal capture network, based on the need to ensure all-round approach and practically reliable UAV penetration into the network. To ensure all-roundness, the network should have the shape of a circle, the radius of which, in order to obtain a guaranteed result, is determined by the maximum rms value of the total missed UAV, i.e. value $${\sigma }_{\underset{PR\mathrm{about}d}{\Delta \epsilon }}=\mathrm{one},49m$$

, and the required probability of getting into the network. Assuming the dispersion law of the UAV landing points to be Gaussian and circular, we write down the probability P of the UAV entering the network with a radius R in the form:

$$3=\mathrm{one}-\exp \left(-\frac{R^2}{2{\sigma }_{\underset{PR\mathrm{about}d}{\Delta }}^2}\right).(3)$$

Given the probability P = 0.96 (according to the two sigma rule), in accordance with (3) we obtain:

$$R={\sigma }_{\underset{PR\mathrm{about}d}{\Delta }}\sqrt{-2\ln (\mathrm{one}-P)}=\mathrm{one},49\cdot 2,54=3,78m$$

Therefore, for a practically reliable UAV to get into the catching horizontal network in the form of a circle, its radius should be 3.78 m. You can use a network in the form of a square with a side equal to the diameter of the circle, i.e. 7.56 m.

Thus, the calculations show that the claimed method of UAV landing is characterized by a high degree of autonomy with high accuracy of getting into the horizontal catching network, and also provides all-round approach of the UAV to the landing, all-weather landing, a significant reduction in the size of the landing site.

Claims (1)

A method for accurately landing an unmanned aerial vehicle (UAV), which consists in landing a UAV in a catching network, characterized in that a circular approach zone is formed, for which a non-directional source of radio emission is installed at a given landing point, and a direction finder is installed on board the UAV perform UAV autonomous input to the approach zone using standard on-board navigation equipment, receive signals from an undirected source of radio emission and perform its angular tracking in horizontal and vertical planes by the airborne direction finder, according to which, using the onboard control system, UAV homing commands to the radio source in the horizontal plane are generated, UAV homing at the horizontal radio source and UAV flight at a given height, upon reaching a given viewing angle a source of radio emission in a vertical plane translates the UAV into a dive, according to the airborne direction finder using the onboard system control form the UAV homing commands to the source of radio emission in the vertical plane, perform homing of the UAV to the radio source in vertical and horizontal planes before it enters the capture network installed horizontally above the radio emission source.