DE102008017975A1 - Unmanned missile and method of flight guidance - Google Patents

Abstract

An unmanned missile, in particular cruise missile, having a payload-receiving fuselage (10); Control surfaces (16) movably mounted to the fuselage (10) by means of cam drives; a propulsion device (14) for the missile (1) and an on-board computer (30) having a mission data memory (32) and a control computer (34) which acts on the control surface drives with control signals; is characterized by a mission planning computer (36) electrically connected to the mission data memory (32) for data exchange and a data communication device (17, 31) electrically connected to the mission planning computer (36) for data exchange.

Description

TECHNICAL AREA

The The present invention relates to an unmanned missile according to the preamble of claim 1. you further relates to a method for flight guidance according to Preamble of claim 5.

Of the Use of generic missile takes place conventionally only after extensive advance planning, in the case of a complex mission planning in an example ground-based mission planning station must become. This mission planning is based on terrain models the planned flight route an optimal flight path for the unmanned Developed missile. This flight path is based on a Chain of so-called waypoints, which by latitude, longitude and Height coordinates are defined determined. Beside these Waypoints of the flight path are also other mission parameters, such as for example, terrain and landmark models as well as warhead parameters, developed, which together with the waypoints form a mission plan. This mission plan will be before the launch of the carrier aircraft into the mission data memory of the unmanned missile with stored.

STATE OF THE ART

If during the flight, in which the unmanned aerial vehicle is transported from the carrier aircraft to a set-off point, the so-called "release point", a current need to change the flight path or the stored destination, this is possible only with great difficulty by the mission planning station is drafted a new mission plan and this mission plan is sent over a data link, such as a satellite radio link to the carrier aircraft and loaded by this in the mission data memory of the unmanned aerial vehicle. An example of this is in the non-prepublished German patent application DE 10 2007 056 661.3 described.

Out For this reason, generic unmanned Missiles so far only enlightened against long in advance stationary goals used.

Often However, it is necessary or desirable generic Missiles also against so-called stationary, time-critical To use goals ("traget of opportunity"). such For example, targets can be mobile missile launchers or be mobile command and communication centers in the short term be established and therefore only be detected with a short lead time can.

PRESENTATION OF THE INVENTION

It is therefore an object of the present invention, a generic unmanned missile capable of also being able to is used against stationary, time-critical targets too become. Furthermore, it is an object of the present invention a method for flight guidance of an unmanned missile that allows such missiles in the short term to use against stationary, time-critical goals.

The The task concerning the missile is solved through the unmanned missile with the characteristics of Patent claim 1.

Of the unmanned aerial vehicles according to the invention, which in particular can be a cruise missile, is provided with a payload receiving hull; Control surfaces, which mounted by means of cam drives movable on the fuselage are; a drive device for the missile and an on-board computer containing a mission data store and a Control computer having which the control surface drives subjected to control signals. He is characterized by a Mission planning calculator, which with the mission data storage for data exchange connected, and a data communication device with connected to the mission planning computer for data exchange.

ADVANTAGES

By the provision of the mission planning computer in the unmanned missile myself and no longer in a ground-based mission planning station, is it possible to transfer target data to short term identified targets a data link connection directly or via the carrier aircraft to transfer to the unmanned flying missile, whereupon then the mission planning calculator aboard the unmanned missile an optionally simplified mission planning automatically and by the on-board mission planning calculator stored mission data stored in its own mission data memory, so that the unmanned missile then independent fly to the new destination using this new mission data can.

Preferably is the mission planning computer by one in the on-board computer of the missile running mission planning software formed. This software solution allows easy retrofitting of existing ones unmanned missiles through a software update, without that a hardware conversion is required.

The data communication device of the The missile is preferably connected to an associated data communication device of an aircraft carrying the missile in a wing flight for data exchange with an on-board computer of the aircraft. This makes it possible that the target data required for the calculation of the mission plan can be transmitted from the on-board computer of the aircraft in the missile.

Farther Preferably, the connection is between the data communication device of the aircraft and the data communication device of the missile from a connecting the missile with the aircraft Umbilical cable formed.

The The object concerning the method is solved by Method for guiding the flight of an unmanned missile according to claim 5.

This Method for guiding the flight of an unmanned aerial vehicle, in which the unmanned missile from a carrier aircraft off, points out the steps: Creating a mission plan based on given start and finish coordinates; to save of the mission plan into a memory of an onboard computer of the unmanned Missile; and controlling the carrier aircraft Deposed missile to the specified destination by means of a Control computer and control devices of the missile based on the stored in the memory of the missile Mission Plan. This method is characterized in that at least the destination coordinates via a data communication connection fed into the onboard computer of the unmanned missile and that the mission plan by means of these fed destination coordinates created by a mission planning calculator of the missile and in the memory of the onboard computer of the unmanned missile is stored. Other target data, preferably in the on-board computer of the unmanned missile are the parameters (Heading, altitude, speed) for the cruise flight and the decoupling from the carrier aircraft and as another Attack parameters next to the destination coordinates data about the attack trajectory (pop-up trajectory, airburst trajectory) and warhead parameters, such as precharge parameters (on / off, distance sensor on / off, impact switch on / off) and penetrator parameters (on / off, Type of Fuze program, Airburst delays).

at This mission planning is a greatly simplified one Mission planning without threat analysis. This simplified mission planning alternatively, outside the missile, for example, performed on the ground by means of a portable computer with the resulting simplified mission planning dataset via a radio link in the memory of the onboard computer of the unmanned Missile is transferred and loaded.

• – Transformation einer Standard-Angriffstrajektorie, derart dass der Auftreffpunkt der Angriffstrajektorie mit den Koordinaten des Zieles zusammenfällt und die Angriffstrajektorie in Richtung des Headings der Zieldaten aus der Sicht eines das Ziel anfliegenden unbemannten Flugkörpers ausgerichtet ist;
• – Berechnung eines Marschflugpfades in einer Marschhöhe, die einer berechneten optimalen Flughöhe entspricht,
• – Berechnung eines Einfädelflugpfades derart, • dass der Einfädelflugpfad aus dem Marschflugpfad aus der Marschhöhe und einer vorgegebenen Marschgeschwindigkeit unter Berücksichtigung der kinematischen Flugleistungen des unbemannten Flugkörpers in die Angriffstrajektorie überleitet und • dass während des Marsches des Flugkörpers auf dem Flugpfad bei der vorgegebenen Marschgeschwindigkeit ausreichend Zeit zur Verfügung steht, um den Gefechtskopf des Flugkörpers zu schärfen und das gewählte Zündprogramm in den Gefechtskopfrechner zu laden;
• – Verbindung der transformierten Angriffstrajektorie, des Einfädelpfades und des Marschflugpfades zu dem gemeinsamen Flugpfad, so dass der Flugpfad einen Marschflugpfad, einen Einfädelflugpfad und die in das Ziel führende Angriffstrajektorie aufweist.

In the mission planning according to the invention, the following measures are preferably carried out:

• Transformation of a standard attack trajectory such that the impact point of the attack trajectory coincides with the coordinates of the target and the attack trajectory is oriented towards the heading of the target data from the point of view of an unmanned aerial vehicle approaching the target;
• Calculation of a cruise flight path at a march altitude corresponding to a calculated optimum flight altitude,
• Calculation of a threading flight path such that the threading flight path from the cruise flight path from the march height and a given cruising speed, taking into account the kinematic flight performance of the unmanned missile, leads into the attack trajectory; and sufficient time for the missile flight on the flight path at the specified cruising speed Is available to sharpen the warhead of the missile and load the selected ignition program into the warhead computer;
• - Connection of the transformed attack trajectory, the Einfädelpfades and the cruise flight path to the common flight path, so that the flight path has a cruise flight path, a Einfädelflugpfad and leading into the target attack trajectory.

The Calculation of the mission plan in the on-board computer of the unmanned missile allows only a few target data from a ground station transmitted to the missile of the new target and not a multitude of oneself Mission plan calculation resulting mission data.

These Target data can be transmitted over a data connection which only has a low bandwidth or if only still low transmission capacities are free. For example, the target data may be from a ground station transmitted via a tactical data link to the carrier aircraft and from this then via an umbilical cable to the unmanned Missiles are forwarded.

Preferably, during the flight of the missile connected to the carrier aircraft, the target data is transmitted by the carrier aircraft via a data communication link to the unmanned missile. To carry out This transmission can be used between the carrier aircraft and a ground station existing data transmission radio link, without the need for a separate radio link from a ground station to the unmanned missile. Since according to the invention only a few target data are to be transmitted to the missile and not, as in the prior art, the data of an entire mission plan must be transmitted to the carrier aircraft existing data communication connection (data link) can be easily shared, even if only low transmission capacity is free on this datalink connection.

Preferably is the mission planning from the on-board computer of the unmanned missile in the wing flight of the associated with the carrier aircraft unmanned missile carried out. The implementation the mission planning in the on-board computer of the missile allows it, on providing extra hardware in the unmanned Miss missile. The implementation of Mission planning in the wing flight uses computing capacity of the On-board computers that are free during the flight.

Advantageous is also when the starting coordinates of the on-board computer of the carrier aircraft on the Data communication connection to the mission planning computer of the Unmanned missile will be delivered and when the creation of the mission plan using the mission planning calculator via the data communication connection supplied start and destination coordinates he follows.

• – die Geschwindigkeit des Trägerluftfahrzeugs liegt zwischen Mach = 0,65 und Mach = 0,85;
• – die Flughöhe des Trägerluftfahrzeugs über Seehöhe ist größer als oder gleich 2500 Fuß;
• – ein Flugpfad zu einem Ziel ist erfolgreich berechnet worden;
• – Flughöhe des Trägerluftfahrzeugs über Seehöhe liegt oberhalb der berechneten Marschflughöhe für den unbemannten Flugkörper zuzüglich eines vertikalen Sicherheitsabstandes von vorzugsweise 100 m innerhalb eines vertikalen Release-Höhenbereichs von vorzugsweise 200 m;
• – die Navigationsausrichtung des Trägerluftfahrzeugs und des Flugkörpers in Richtung auf das Ziel liegt in einem ausreichenden Winkelbereich;
• – der Geschwindigkeitsvektor des Trägerluftfahrzeugs liegt innerhalb der aus den Zieldaten berechneten Marschfluggeschwindigkeitsbandbreite und ist auf das Ziel zufliegend gerichtet;
• – die aktuelle Entfernung zum Ziel ist geringer als die geschätzte Reichweite des Flugkörpers, vorzugsweise bei verbrauchsarmem Geradeausflug in konstanter Höhe während des Marschflugs.

The method of the invention is preferably characterized in that the preparation of the mission plan has a determination of release criteria for the deployment of the unmanned aerial vehicle from the carrier aircraft, in which the following parameters are incorporated:

• The speed of the carrier aircraft is between Mach = 0.65 and Mach = 0.85;
• - the altitude of the carrier aircraft above sea level is greater than or equal to 2500 feet;
• A flight path to a destination has been successfully calculated;
• - Altitude of the carrier aircraft above sea level is above the calculated altitude of flight for the unmanned aerial vehicle plus a vertical safety distance of preferably 100 m within a vertical release altitude range of preferably 200 m;
• The navigation orientation of the carrier aircraft and of the missile towards the target is within a sufficient angular range;
• The velocity vector of the carrier aircraft is within the cruise flight velocity bandwidth calculated from the target data and is directed towards the target;
• - The current distance to the target is less than the estimated range of the missile, preferably in low-consumption straight flight at a constant altitude during the cruise.

Preferably becomes the unmanned missile after weaning from the carrier aircraft steered directly to the first waypoint of the cruise flight path, in which the cruise flight path merges into the threading flight path, and he flies in compliance with a given target speed there.

It is also beneficial if the missile after threading in the attack trajectory automatically detects the target and by means of of an autopilot along the attack trajectory autonomous in the Goal is led.

Further preferred and advantageous design features of the invention Missile and method are the subject of the remaining Dependent claims.

preferred Embodiments of the invention with additional Design details and other advantages are below Referring to the accompanying drawings in more detail described and explained.

BRIEF DESCRIPTION OF THE DRAWINGS

It demonstrate:

1 a partially sectioned side view of the unmanned missile invention and

2 a sketch of a calculated according to the invention flight path.

PRESENTATION OF PREFERRED EMBODIMENTS

1 shows an unmanned missile 1 , which is attached to a schematically illustrated aircraft 2 is releasably coupled. The aircraft 2 has a bomb pylon at the bottom of the fuselage or at the bottom of a wing 20 on that in 1 partially shown cut. The bomb pylon 20 is partially open on its underside and in this area inside the bomb pylon 20 with two releasable holding devices 22 . 24 provided with two corresponding counterhold devices 13 . 13 ' consisting of an upper support element 10 of the missile 1 protrude, engage and the missile 1 on the aircraft 2 fix.

The missile 1 includes a payload receiving hull 10 , on the hull 10 attached wings 12 , at least one drive device, of which only the tine on the side of the fuselage 10 provided air intake 14 the drive device is shown, as well as control surfaces 16 , which by means not shown control surface drives in a known manner movable on the fuselage 10 are attached.

The missile 1 is still with an avionics 3 provided, which is also shown only schematically and inside the fuselage 10 located. The avionics 3 contains an on-board computer 30 , which in addition to effective connections to navigation devices also a mission data storage 32 as well as a control computer 34 having. The control computer 34 will be after the missile has dropped off 1 from the carrier aircraft 2 from the mission data store 32 is supplied with data of a predetermined flight path and a destination to be attached and further receives navigation data from conventionally provided navigation devices, such as a satellite navigation system and / or an inertial navigation system. Based on this data, the control computer generates 34 Control signals that are routed to the cam drives, whereupon these control surfaces 16 to control the missile 1 adjust.

In the area of the open bottom of the bomb pylon 20 is an aircraft-mounted connector 26 provided with a mating connector 17 at the top of the missile 1 mechanically and electrically or opto-electronically connected, wherein the missile side mating connector 17 a signal input 31 which has a signal line 33 with avionics 3 connected to the data transfer.

The aircraft-side connector 26 contains a signal output 23 , via an aircraft-side signal line 25 with an aviation avionics 27 connected is.

During the flight, in which the missile 1 in the 1 shown on the aircraft 2 coupled position is the avionics 3 of the missile 1 via the missile-side data line 33 , the mating connector 17 , the plug connection 26 and the aircraft-side data line 25 with avionics 27 the carrier aircraft for data exchange.

In avionics 3 of the unmanned missile 1 is a mission planning calculator 36 provided that can either be a stand-alone computer or as a computer program in the on-board computer 30 is stored executable. The mission planning calculator 36 is supplied via a data communication device with data of a target to be attached. This data communication device is in the example shown by the mating connector 17 formed by the connector 26 with avionics 27 the carrier aircraft, which contains an on-board computer of the aircraft. The data communication device can also by a in the missile 1 provided receiving device is formed, which receives data transmitted by radio to the missile. In the example shown, in which the unmanned missile 1 in the wing flight under the carrier aircraft 2 is coupled, receives the mission planning calculator 36 the target data from the aircraft avionics 27 over the signal line 25 , the signal output 23 the aircraft-side connector 26 , the signal input 31 the missile side mating connector 17 and the signal line 33 , The avionics 27 of the carrier aircraft 2 get that to the mission planning calculator 36 data to be forwarded via an aircraft-side radio receiving device 28 that with an antenna 29 of the aircraft 2 is connected, by radio from a mission planning station only symbolically represented in the figure 4 , The mission planning station 4 may be stationed on earth or, for example, on a ship or in another aircraft.

Although already before the start of the unmanned missile 1 provided carrier aircraft 2 Mission plan data in the mission data store 32 of the unmanned missile 1 can be stored, is the missile 1 designed, preferably during the flight, on the basis of newly obtained target data, a new mission plan in the mission plan computer 36 then calculate the calculated mission plan data in the mission data store 32 to store and after the separation from the carrier aircraft based on these newly calculated mission plan data to head for the new destination. For this purpose, the new target coordinates as well as other data about target properties, which are relevant, for example, for the target approach procedure or the triggering of a warhead, to the carrier aircraft 2 transmitted by radio. These data are in the carrier aircraft 2 from the antenna 29 received and via the radio receiving device 28 to the aviation avionics 27 forwarded. This then forwards the data to the mission planning computer 36 in the carrier aircraft on.

Has the mission planning calculator 36 created the simplified mission plan and the autonomous navigation and control of the unmanned aerial vehicle 1 required mission data and stored in the mission data store 32 stored, it sends a confirmation signal to the aircraft avionics 27 , which then activates a standby status, which is a discontinuation of the unmanned missile 1 from the aircraft 2 basically possible.

It is also possible to use the mission planning calculator 36 not in the unmanned missile 1 to provide, but in avionics 27 of the carrier aircraft, so that then from the carrier aircraft only the newly calculated mission plan data in the mission data memory 32 the avionics 3 be transferred to the unmanned missile.

In addition to the mission plan data can be stored in the mission data store 32 also target data and attack trajectories for time-critical targets are stored permanently, so that the mission planning calculator 36 in the unmanned missile 1 after obtaining new target coordinates, only the distance from a given settling point to an entry point (cruise flight path) into an attack trajectory and the threading path from the cruise flight path to the attack trajectory must be calculated. The flight path data of a suitable attack trajectory is taken by the mission planning computer 36 from those in the mission data store 32 stored default attack trajectories, where it combines the selected attack trajectory with the target coordinates.

Although it was described above that the recalculation of a mission plan during the wing flight of the unmanned aerial vehicle 1 on the aircraft 2 but it is basically also possible to calculate the mission plan in the mission planning calculator 36 at least partially even after the detachment of the unmanned missile 1 from the aircraft 2 perform.

The procedure for recalculating the mission plan is described in detail below. The avionics 27 of the carrier aircraft 2 sends the radio over from the mission planning station 4 received target data to the avionics 3 of the missile 1 several times at intervals in a row, until the avionics 3 of the missile 1 confirmed the receipt of the target data. The avionics 3 of the missile 1 begins with simplified mission planning in the mission planning calculator 36 and reports this to the avionics 27 of the carrier aircraft. The mission planning calculator 36 transforms the default attack trajectory selected according to the target data such that the impact point of the attack trajectory coincides with the target coordinates of the target data and the attack trajectory is aligned in the approach direction to the target coordinates. Subsequently, the calculation of a cruise flight path and a Einfädelpfades for the unmanned missile 1 in such a way that the missile from a defined marching height at a defined cruising speed, taking into account the kinematic missile performance, threads it into the attack trajectory determined in the preceding step.

When calculating the cruise flight path, take into account that there is sufficient time during the flight along this cruise flight path to sharpen the weapons (warhead) carried in the missile and program the smart weapons with the target data received. Subsequently, the data of the transformed attack trajectory, the calculated cruise flight path and the calculated threading path from the cruise flight path to the attack trajectory are summarized in an overall flight path. The data (waypoints) of this overall flight path will then become new mission plan data in the mission data memory 32 stored and from there the control computer 34 made available. At the same time, these newly calculated mission plan data are also sent to avionics 27 of the carrier aircraft, so that the crew of the carrier aircraft can decide with which of the stored mission plans the unmanned missile 1 to carry out its mission, that is, in which of the calculated targets the unmanned missile 1 should fly.

2 shows a schematic representation of a flight path 100 by means of a simplified mission plan calculated according to the flight guidance method according to the invention. The flight path 100 runs at a marching height 102 above the reference altitude (sea level) 104 , The line 106 represents the terrain contour of the earth's surface section to be crossed. That of the unmanned missile 1 target 110 is located on the terrain contour point 108 , The at the finish 110 opening line 112 represents a standard attack trajectory and the line 114 provides a cruise flight path for the unmanned missile 1 dar. The entire flight path 100 is composed of the cruise flight path 114 , the chosen standard attack trajectory 112 as well as the cruise flight path 114 and the attack trajectory 112 connecting threading path 116 , The transition from the cruise flight path 114 in the threading path 116 is through a first waypoint 118 the optimum altitude calculation (OFAC) defined.

The detachment of the unmanned missile 1 from the carrier aircraft takes place at a release altitude, including a safety area above the marsh altitude 102 that is above the cruise flight path 114 lies. This choice of the release height is a threat to the carrier aircraft by the uncoupled unmanned missile 1 locked out. The decoupling of the unmanned missile 1 from the carrier aircraft takes place at a distance from the target which is less than the maximum range of the unmanned aerial vehicle, which is calculated as a variable from the parameters flight altitude, airspeed, atmospheric data, wind data as well as the type of attack and a safety reserve. This maximum range is provided by the mission planning calculator 36 of the unbe manned missile 1 estimated during simplified mission planning by a rough calculation.

Although the simplified mission plan contains the coordinates of the target to be approached, but no image data and thus no data model of the target, an automatic target recognition and tracking device (target tracker) provided in the unmanned missile can not be used, so that the target end approach is exclusively navigation-based. In order to compensate for the consequent lower precision of the destination end-approach and to avoid overly detrimental target achievement accuracy, satellite navigation may be based on not only one satellite navigation system but using navigation data from multiple satellite navigation systems (eg GPS , Gallileo). In addition, other methods for navigation support may additionally be performed in which information from a satellite-based navigation system is combined with information from an inertial navigation system to increase navigation accuracy, as described, for example, in US Pat US 6,900,760 B2 is described.

reference numeral in the claims, the description and the drawings are only for a better understanding of the invention and are not intended to limit the scope of protection.

1

missile

2

aircraft

3

Avionics

4

Mission Planning Station

10

hull

12

wing

13 13 '

Backup device

14

driving means

16

control surfaces

17

Against connector

20

bomb pylon

22

holder

23

signal output

24

holder

25

signal line

26

connector

27

Aircraft avionics

28

Radio receiver

29

antenna

30

board computer

31

signal input

32

Mission data storage

33

signal line

34

control computer

36

Mission planning computer

100

flight path

102

march height

104

Elevation

106

terrain contour

108

Terrain contour point

110

aim

112

Angriffstrajektorie

114

Cruise path

116

threading path

118

first waypoint

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - DE 102007056661 [0003]
• - US 6900760 B2 [0046]

Claims (12)

Unmanned missile, in particular cruise missile, with - a hull receiving a payload ( 10 ); - control surfaces ( 16 ), which can be moved by means of cam drives on the fuselage ( 10 ) are attached; A drive device ( 14 ) for the missile ( 1 ) and - an on-board computer ( 30 ) containing a mission data store ( 32 ) and a control computer ( 34 ), which supplies the control surface drives with control signals; characterized by - a mission planning computer ( 36 ) with the mission data memory ( 32 ) is connected to the data exchange and - a data communication device ( 17 . 31 ) with the mission planning calculator ( 36 ) is connected to the data exchange. Unmanned missile according to claim 1, characterized in that the mission planning computer ( 36 ) by an on-board computer ( 30 ) of the missile ( 1 ) running mission planning software is formed. Unmanned missile according to claim 1 or 2, characterized in that the data communication device of the missile ( 1 ) with an associated data communication device of the missile ( 1 ) in the wing carrying the aircraft ( 2 ) for data exchange with an on-board computer of the aircraft ( 2 ) connected is. Unmanned aerial vehicle according to claim 3, characterized in that the connection between the data communication device of the aircraft ( 2 ) and the data communication device of the missile is formed by a Umbilicalkabel. Method for guiding the flight of an unmanned aerial vehicle, in which the unmanned missile from a carrier aircraft is discontinued, with the steps - Create of a mission plan based on pre-set start and end dates Target coordinates; - Save the mission plan in a memory of an onboard computer of the unmanned missile; - Control of the missile fired by the carrier aircraft to the predetermined destination by means of a control computer and control means of the missile based on the in the memory of the missile stored mission plan; characterized, - that at least the destination coordinates via a data communication connection fed into the onboard computer of the unmanned missile become; - that the mission plan using these fed destination coordinates created by a mission planning calculator of the missile and in the memory of the onboard computer of the unmanned missile is stored. Method according to claim 5, characterized in that that the target data during the flight of the carrier aircraft connected missile from the carrier aircraft over transmit a data communication link to the unmanned missile become. A method according to claim 5 or 6, characterized in that the mission planning from the onboard computer of the unmanned missile in the wing flight of the associated with the carrier aircraft unmanned missile is carried out. Method according to one of claims 5 to 7, characterized, - that also the starting coordinates from the on-board computer of the carrier aircraft over the data communication link to the mission planning computer be delivered to the unmanned missile; and - that the preparation of the mission plan using the mission planning calculator on the Data communication connection supplied start and destination coordinates he follows. Method according to one of Claims 5 to 8, characterized in that the following measures are carried out for simplified mission planning: transformation of a standard attack trajectory such that the point of impact of the attack trajectory coincides with the coordinates of the target and the attack trajectory in the direction of heading the target data the view of an unmanned missile approaching the target ( 1 ) is aligned; - calculation of a cruise flight path ( 114 ) in a marching height ( 102 ), which corresponds to a calculated optimum altitude, - calculation of a threading flight path ( 116 ) such that the threading path ( 116 ) from the cruise path ( 114 ) from the height of the march ( 102 ) and a predetermined cruising speed taking into account the kinematic flight performance of the unmanned missile ( 1 ) into the attack trajectory ( 112 ) and that during the march of the missile ( 1 ) on the flight path ( 100 ) at the given cruising speed sufficient time is available to sharpen the warhead of the missile and to load the selected ignition program into the warhead computer; - connection of the transformed attack trajectory ( 112 ), the threading path ( 116 ) and the cruise flight path ( 114 ) to the common flight path ( 100 ), so that the flight path ( 100 ) a cruise flight path ( 114 ), a threading flight path ( 116 ) and those in the goal ( 110 ) leading attack trajectory ( 112 ) having. Method according to one of claims 5 to 9 characterized, that creating the mission plan a determination of release criteria for weaning of the unmanned missile from the carrier aircraft with the following parameters: - the Speed of the carrier aircraft is between Mach = 0.65 and Mach = 0.85; - the altitude of the carrier aircraft above sea level is greater than or equal to 2500 feet; - one Flight path to a destination has been successfully calculated; - altitude of the carrier aircraft is above sea level above the calculated flight altitude for the unmanned aerial vehicle plus a vertical one Safety distance of preferably 100 m within a vertical Release height range of preferably 200 m; - the Navigation orientation of the carrier aircraft and the Missile towards the target is in a sufficient Angle range; - the velocity vector of the carrier aircraft is within the cruise flight bandwidth calculated from the target data and is aimed at the target; - the actual Distance to the target is less than the estimated range of the missile, preferably in low-consumption straight flight at a constant altitude during the cruise. Method according to one of claims 5 to 10, characterized in that the unmanned missile after settling from the carrier aircraft directly to first waypoint of the cruise flight path is steered, in which the Cruise flight path merges into the threading flight path, and there in compliance with a predetermined target speed flies. Method according to one of claims 5 to 11, characterized in that the missile after threading in the attack trajectory automatically detects the target and by means of of an autopilot along the attack trajectory autonomous in the Goal is led.