DE102018125992A1 - Missile and method for controlling a missile - Google Patents

Abstract

The invention relates to a missile comprising at least two missile modules (2a, 2b), each of which has at least one propeller drive (3), preferably at least one pair of propeller drives (3), and which are mechanically coupled to form the missile (1), each Missile module (2a, 2b) has a flight control unit (4), which is designed to control flight functions of the missile (1), wherein the missile modules (2a, 2b) are coupled to one another at least in terms of control technology via at least one communication and control connection (5) The missile modules (2a, 2b) are designed to exchange information via the communication and control connection (5), in such a way that the flight control units (4) communicate with one another to define a flight control unit (4) of a missile module (2a , 2b) are designed as a master flight control unit, the master flight flight control unit is configured to provide control information for all missile modules (2a, 2b) so that flight functions of the missile (1) can be controlled by the master flight control unit.

Description

The invention relates to a missile and a method for controlling such a missile.

Reliability, particularly in the case of missiles, is an important criterion since failures of certain components, for example the flight control unit located in the missile, can result in the missile falling.

In conventional, manned aircraft, reliability is achieved by means of multiple redundant systems. If one system fails, the system switches automatically or manually to a second system, which then takes over the tasks of the failed system.

Reliability is a critical parameter, especially in the case of unmanned missiles, such as drones, since these are often flown in the vicinity of objects (e.g. streets, buildings, public places with people) where a fall causes personal injury or damage to the objects can.

In addition, missiles are increasingly being offered in a low price segment, so that the increase in reliability has to be carried out at a limited cost.

Another requirement for a missile is to be able to flexibly adapt it to different requirements.

Proceeding from this, it is the object of the invention to provide a missile which has a variable area of application and offers a high level of reliability with limited costs.

The object is achieved by a missile with the features of independent claim 1. Preferred embodiments are the subject of the dependent claims. A method for controlling a missile is the subject of the independent claim 18.

According to a first aspect, the invention relates to a missile. The missile is of modular construction and comprises at least two missile modules, each of which has at least one propeller drive, preferably at least one pair of propeller drives, and which are mechanically coupled to form the missile. The missile modules are in particular detachably coupled to one another, so that the missile can be expanded or reduced by adding or detaching missile modules.

Each missile module has a flight control unit, which is designed to control flight functions of the missile. In other words, the flight control unit is thus not only able to control the respective missile module in which the flight control unit is provided, but also the further missile modules of the missile.

The missile modules are coupled to one another at least in terms of control technology via at least one communication and control connection. The missile modules are designed to exchange information via the communication and control connection, specifically in such a way that the flight control units are designed as master flight control units by means of communication with one another to define a flight control unit of a missile module. In other words, among the missile modules that are coupled to form the missile, which missile module provides the master flight control unit is negotiated.

The master flight control unit is configured to provide control information, hereinafter also referred to as flight control information, for all missile modules, so that flight functions of the entire missile can be controlled by the master flight control unit.

The technical advantage of the missile according to the invention is that its size and performance allow it to be scaled due to its modular structure. In addition, the use of a flight control unit of a missile module offers the technical advantage that the entire missile can be controlled by a single flight control unit of a missile module.

According to one embodiment, the master flight control unit is designed for sole control of the flight functions of the missile. In other words, the control information required to control the missile is provided exclusively by the master flight control unit. As a result, the flight control units of the other missile modules, which were not determined as the master flight control unit, can be operated, for example, in a standby mode or can be deactivated entirely. The flight control units of the other missile modules preferably run in parallel, ie also generate control information which is used to monitor the functionality of the master flight control unit. For example, the control information provided by the master flight control unit is combined with the Control information of the other missile modules compared. The comparison can determine whether the control information provided by the master flight control unit differs from the control information provided by the other flight modules, which would indicate an error in the master flight control unit.

According to one exemplary embodiment, the flight control units of the respective missile modules are at least functionally identical. This can ensure that the flight control units of all missile modules can provide the same control functionality, so that the flight control unit of each missile module can be selected as the master flight control unit.

According to one exemplary embodiment, the flight control units of the respective missile modules are designed identically with regard to the hardware and software used in the flight control units. This can significantly reduce the effort involved in developing the missile modules.

According to one exemplary embodiment, the flight control units of the missile modules each have a plurality of functional levels, the functional levels in each case being assigned at least partially the same control functionality and the flight control unit being selectively operable on the basis of one of these functional levels. The functional levels can be, for example, physically separate functional areas in the flight control unit, it being sufficient to activate a functional area in order to provide the control functionality for the missile. By providing several functional levels within a flight control unit, a high level of reliability of the flight control unit is achieved.

According to one exemplary embodiment, at least some functional levels have independent control hardware and independent control software. In other words, at least some functional levels are independent of one another both with regard to the hardware and the software used. For example, an independent processor and / or microcontroller or an independent memory unit and preferably also an independent flight controller and an independent sensor unit can be used to determine the flight attitude in the hierarchically viewed upper functional levels for each functional level. The lowest function level can be designed, for example, as an analog function level or as an analog flight controller. This can further increase the reliability of the flight control unit.

According to one exemplary embodiment, the control hardware of the individual functional levels of the flight control units and preferably also the control software of the individual functional levels of the flight control units are different (apart from a lowest functional level, which is designed as an analog functional level or as an analog flight controller). For example, the flight control hardware of the individual functional levels can come from different manufacturers. Additionally or alternatively, the flight control software can be based on a different program code and preferably also come from a different manufacturer. This effectively prevents systematic errors and increases reliability.

According to one exemplary embodiment, at least two functional levels are provided, the first functional level forming a hierarchically higher functional level than a second, further functional level and the first functional level having a greater control functional scope than the second functional level. The flight control unit is preferably first operated in the first functional level. The second function level is only activated when it has an error or fails entirely. In this way, if an error occurs or fails in the first functional level, the flight control unit can continue to be operated on the second functional level with a smaller range of control functions.

It goes without saying that more than two functional levels can also be provided and / or the functional levels can at least partially have the same control functional scope. For example, the highest and the second highest functional level can have the same control functional scope and only the next functional level underneath can have a limited functional scope compared to these upper functional levels.

According to one exemplary embodiment, each missile module, preferably the respective functional levels of the flight control unit, has a monitoring system which is designed to assess the functionality of the flight control unit of this missile module. The monitoring system can be designed, for example, to determine errors or partial or total failures of a functional level of the flight control unit. As a result, the flight control unit can be monitored automatically by the monitoring system.

According to one embodiment, the monitoring unit is designed to switch over from a first functional level to a second functional level. As a result, the control unit can automatically move the control tasks from the first functional level to a further functional level. The switching between the functional levels can be effected within a flight control unit of a missile module or the flight control unit of another missile module takes over the flight control tasks, ie then forms the master flight control unit. Preferably, a hierarchically lower functional level is also used when moving the flight control tasks to the flight control unit of another missile module, although the first functional level in this flight control unit is still functional. As a result, the flight control unit active as the master flight control unit can be monitored by comparing the flight control information provided by the respective hierarchically identical functional levels of the flight control units of the missile modules.

According to one embodiment, the missile modules, preferably the respective functional levels of the flight control unit, each have a sensor unit with at least one sensor for measuring information determining the flight attitude. The sensor unit can in particular have one or more sensors for measuring the acceleration in different spatial directions and one or more sensors for measuring the angular acceleration about one or more spatial axes. As a result, each missile module, in particular each functional level of the flight control unit, can provide measurement information that can be used to evaluate the flight position of the missile.

According to one exemplary embodiment, the master flight control unit of a missile module is designed to receive sensor information from the sensor units of a plurality of missile modules, to process it and to generate control information based thereon. The sensor information of different missile modules are preferably fused and the control information is generated based on the fused sensor information.

Alternatively, it is possible for the control information to be generated only on the basis of sensor information from an individual missile module.

According to one exemplary embodiment, the missile modules each have at least one energy store, in particular a rechargeable battery. All missile modules preferably each have their own energy store. As a result, the energy store required for the operation of the missile can be distributed over a plurality of missile modules, which improves the flight properties of the missile.

According to one exemplary embodiment, the energy stores of the missile modules are coupled to one another for the exchange of electrical energy. This coupling can take place, for example, via electrical lines which electrically connect the energy stores of the missile modules to one another. This makes it possible for the locally distributed energy stores to be discharged uniformly, regardless of how high the energy consumption in the respective missile module is.

Furthermore, a battery management system is preferably provided, which is designed to detect abnormalities in the respective energy stores of the missile modules and to react depending on the detected abnormalities. For example, in the event that one energy store is more discharged than another, an energy balance between the energy stores can be carried out. Alternatively or additionally, a defective energy store, for example in the event of a cell short circuit, can be electrically decoupled from the other energy stores.

According to one exemplary embodiment, each missile module has a flight controller, which is controlled based on control information provided by the master flight control unit. The master flight control unit preferably provides control information which is uniquely addressed to the respective missile module or the respective flight controller in the missile module. This enables targeted control of the drives of the respective missile module.

An independent flight controller, which can be controlled by the control information, is preferably provided in each functional level of the flight control unit of the missile modules. This can further increase reliability.

According to one embodiment, the missile modules are each not capable of flying in isolation. Only by coupling at least two missile modules is a flightable missile formed.

• - Austauschen von Informationen zwischen den Flugsteuerungseinheiten der Flugkörpermodule und Bestimmen einer Flugsteuerungseinheit als Master-Flugsteuerungseinheit;
• - Generieren von Steuerungsinformationen für sämtliche Flugkörpermodule des Flugkörpers durch die Master-Flugsteueru ngseinheit;
• - Übertragen der Steuerungsinformationen zu den Flugsteuerungseinheiten der Flugkörpermodule; und
• - Steuern der Propellerantriebe der Flugkörpermodule basierend auf den Steuerungsinformationen.

According to a further aspect, the invention relates to a method for controlling a missile which has a plurality of missile modules mechanically connected to one another. The Missile modules each include at least one propeller drive and a flight control unit, each of which is designed to control flight functions of the missile. The missile modules are coupled to one another at least in terms of control technology via at least one communication and control connection. The process includes the following steps:

• Exchanging information between the flight control units of the missile modules and designating a flight control unit as the master flight control unit;
• - Generation of control information for all missile modules of the missile by the master flight control unit;
• - transmitting the control information to the flight control units of the missile modules; and
• - Controlling the propeller drives of the missile modules based on the control information.

“Missile” in the sense of the present invention means any flying object, in particular manned or unmanned flying objects. The missile can in particular be a remote-controlled missile, for example a drone.

“Modularly constructed missile” is understood to mean a missile which is formed from at least two missile modules and which can be scaled in size, power and / or load capacity by adding or removing missile modules.

For the purposes of the invention, the terms “approximately”, “essentially” or “approximately” mean deviations from the respectively exact value by +/- 10%, preferably by +/- 5% and / or deviations in the form of changes which are insignificant for the function .

Further developments, advantages and possible uses of the invention also result from the following description of exemplary embodiments and from the figures. All of the features described and / or depicted, in themselves or in any combination, are fundamentally the subject of the invention, regardless of how they are summarized in the claims or their relationship. The content of the claims is also made part of the description.

• 1 beispielhaft und schematisch ein aus zwei Flugkörpermodulen bestehender Flugkörper in einem ersten Ausführungsbeispiel in einer perspektivischen Darstellung;
• 2 beispielhaft und schematisch ein aus zwei Flugkörpermodulen bestehender Flugkörper in einem zweiten Ausführungsbeispiel in einer perspektivischen Darstellung;
• 3 beispielhaft ein Flugkörper, bei dem die Flugkörpermodule in einer schematischen, funktionalen Blockdarstellung gezeigt sind; und
• 4 beispielhaft und schematisch ein Blockschaltbild einer Flugsteuerungseinheit eines Flugkörpermoduls.

The invention is explained in more detail below with reference to the figures using exemplary embodiments. Show it:

• 1 exemplary and schematic of a missile consisting of two missile modules in a first embodiment in a perspective view;
• 2nd exemplary and schematic of a missile consisting of two missile modules in a second embodiment in a perspective view;
• 3rd an example of a missile in which the missile modules are shown in a schematic, functional block diagram; and
• 4th an exemplary and schematic block diagram of a flight control unit of a missile module.

1 shows an example of a schematic representation of a missile 1 .

The missile 1 consists of two missile modules in the embodiment shown 2a , 2 B that connect with each other 10th are mechanically coupled. It is understood that the missile 1 can be formed from more than two missile modules. Furthermore, it goes without saying that the connection 10th which, in the exemplary embodiment shown, has rod-like connecting elements, a possible coupling means can be formed and, deviating from this, can be formed by any other mechanical coupling means.

The flight modules 2a , 2 B consist of a base body in the embodiment shown 2.1 , which is shown schematically cuboid in the embodiment shown. The basic body 2.1 can have any other shape and in particular can also provide a space for accommodating people or goods. Alternatively or additionally, on the base body 2.1 Means for holding or fixing goods below the missile module 2a , 2 B be provided.

Any missile module 2a , 2 B has at least one propeller drive 3rd on. In the exemplary embodiment shown is on opposite sides of the base body 2.1 one propeller drive each 3rd provided so that each missile module 2a , 2 B a pair of propeller drives 3rd having. It goes without saying that more than two propeller drives per missile module 2a , 2 B can be provided, in particular several pairs of propeller drives 3rd .

The propeller drives 3rd of a missile module 2a , 2 B are preferably along a transverse axis QA arranged transversely, preferably perpendicular to the longitudinal axis LA of the missile 1 runs.

The propeller drives 3rd are rotatably driven in a known manner, for example by the electric motors assigned to each propeller in order to generate the required lift. The propeller drives are preferred 3rd , as in 1 indicated by the curved double arrows, also by motor around the transverse axis QA pivotable so that the propeller of the propeller drive 3rd can be brought into the required swivel position depending on the respective flight situation.

The individual propeller drives 3rd or pairs of propeller drives 3rd can, as in 2nd shown wing assemblies 11 be assigned. Each wing arrangement can be designed, for example, as a so-called "boxwing", ie it can be a closed wing arrangement. This can in particular from an upper wing 11.1 , a lower wing 11.2 and the upper and lower wing 11.1 , 11.2 interconnecting sections exist. The respective wing arrangement 11 can, as in 2nd shown below or behind the propeller of the propeller drive 3rd be arranged.

The wing assembly 11 can, for example, with the respective propeller drive 3rd be coupled that this together with the propeller drive 3rd around the transverse axis QA is pivoted.

A missile module is preferred 2a , 2 B not airworthy by itself and only by coupling with at least one second missile module 2a , 2 B becomes a flightable missile 1 reached.

As previously stated, multiple missile modules can be used 2a , 2 B mechanically coupled. It becomes a scalable missile 1 created, whose dimensions or load capacity can be adapted to the respective need. The missile modules 2a , 2 B can have suitable coupling interfaces via which the missile modules 2a , 2 B can be coupled to one another both mechanically and electrically or for the exchange of information.

3rd shows a missile in a plan view 1 who, similar to 1 from a pair of missile modules 2a , 2 B is formed. The missile modules 2a , 2 B each include a flight control unit 4th by means of which the missile 1 is controllable. In other words, it is via the flight control unit 4th not just a missile module 2a , 2 B but the entire missile 1 , which consists of several such missile modules 2a , 2 B is formed, controllable.

Between the missile modules 2a , 2 B is a communication and control connection 5 provided over which the missile modules 2a , 2 B and especially the flight control units 4th of these missile modules 2a , 2 B Can exchange information. Through communication via this communication and control connection 5 can the flight control units 4th the missile modules 2a , 2 B negotiate which flight control unit 4th forms the master flight control unit and thus the control of the missile 1 takes over. The at least one further flight control unit 4th , ie the one that does not function as a master flight control unit can, for example, be operated in a stand-by mode or be completely deactivated.

The flight control unit that does not function as the master flight control unit preferably runs 4th in parallel with and provides reference flight control information about which the master flight control unit uses a monitoring system 6 functionality can be monitored.

The communication and control connection 5 can be a data bus, for example. This can use a communication standard such as the CAN bus standard, the MAVLink standard (Micro Air Vehicle Link) or the Ethernet standard. Other communication standards suitable for aircraft can also be used. For establishing the communication and control connection 5 can the missile modules 2a , 2 B one communication interface each 12th , in particular have a bus controller. The communication interface 12th is preferably designed such that it together with the other communication interfaces 12th the other missile modules the communication between the missile modules 2a , 2 B organized. In particular, the communication interfaces 12th an address assignment for the respective missile modules 2a , 2 B so that when communicating between the missile modules 2a , 2 B it is recognizable which missile module 2a , 2 B has sent information and / or to which missile module 2a , 2 B a sent information is directed or addressed. This enables the communication interfaces 12th depending on how many missile modules the missile 1 form the communication of the missile modules 2a , 2 B via the communication and control connection 5 to organize.

Via the communication and control connection 5 can provide flight control information from the master flight control unit to the at least one further missile module 2a , 2 B be sent so that the master flight control unit is not just the missile module 2a , 2 B , in which this master flight control unit is provided, but also the at least one further missile module 2a , 2 B can control by providing appropriate flight control information.

The missile modules 2a , 2 B can also each have at least one sensor unit 7 exhibit. The sensor unit 7 can have at least one, preferably a plurality of sensors, by means of which, for example, information relating to the flight position of the missile module 2a , 2 B in which the sensor unit 7 is provided are determinable. The sensor unit 7 can have, for example, at least one acceleration sensor and / or at least one rotation rate encoder (gyroscope sensor). The sensor unit preferably comprises 7 an inertial measurement unit (IMU), which can measure both the acceleration in three spatial directions and the angular velocity around three spatial axes.

Based on that from the sensor unit 7 The information provided makes it possible to determine the flight position of the individual missile modules 2a , 2 B and thus the entire missile 1 to determine.

Depending on the particular configuration of the missile 1 , ie how many missile modules 2a , 2 B the missile 1 form and which missile module 2a , 2 B the master flight control unit can either include only that from the sensor unit 7 of a missile module 2a , 2 B information provided for controlling the missile 1 be used or that of several or all sensor units 7 the missile modules 2a , 2 B provided information merged and this merged information to control the missile 1 used.

Based on one or more sensor units 7 Provided information or the merged information, the master flight control unit can send flight control information to the respective missile modules 2a , 2 B send.

The missile modules 2a , 2 B each have at least one flight controller 9 configured to receive and process the control information provided by the master flight control unit. This flight controller 9 evaluates the control information in particular and controls the drives (propeller drives 3rd , Swivel drives for swiveling the propellers around the transverse axis QA and possibly further drives) of the missile module in which the flight controller 9 is provided.

The control information is sent in particular to the respective missile module 2a , 2 B or its flight controller 9 addressed to units of the respective missile module 2a , 2 B , especially their propeller drives 3rd or swivel drives for the propeller drives 3rd suitable to control. This makes it possible for the missile modules 2a , 2 B to be controlled independently of one another by the master flight control unit in order to achieve a desired flight position of the missile 1 to reach.

The missile modules preferably have 2a , 2 B each also has an energy store 8th on. This energy storage 8th can preferably be formed by a rechargeable battery. The energy storage 8th of the individual missile modules 2a , 2 B can be energetically coupled to one another in such a way that this electrical energy between the energy stores 8th can exchange.

4th shows a detailed view of a flight control unit 4th of a missile module 2a , 2 B . The flight control unit 4th has several functional levels, in the exemplary embodiment shown two functional levels 4a , 4b on. Every functional level 4a , 4b is configured to control the missile 1 to take over if the respective flight control unit 4th was designated as the master flight control unit.

The functional levels preferably have 4a , 4b different hardware, ie for example hardware of a different type and / or a different manufacturer. In addition, the functional levels 4a , 4b preferably also another control software. A higher level of reliability can be achieved as a result of an error in the first functional level in the hardware and / or software 4a therefore with a high probability not also in the second functional level 4b is present.

The functional levels preferably have 4a , 4b a different range of control functions. For example, the first upper functional level 4a have a higher control functional scope than the underlying, at least one further functional level.

The lowest functional level preferably has a greatly restricted range of functions. This severely restricted range of functions can, for example, be such that the lowest functional level offers a control range of functions of an analog flight controller or similarly of an analog flight controller. For example, the lowest functional level can be designed such that at least the horizontal flight position is maintained. The lowest functional level can preferably also be configured such that the missile 1 initiates a controlled descent to the missile 1 to land safely.

The missile module 2a , 2 B can preferably be a surveillance system 6 have that for monitoring the sensor unit 7 is trained. The surveillance system 6 can for example configured to be the functionality of the sensor unit 7 to monitor. If through the surveillance system 6 it is found that the top functional level 4a , ie the functional level with the highest control functional scope of the master flight control unit 4th not working properly can be caused by the monitoring system 6 a switch to a second function level 4b the master flight control unit 4th are then initiated, for example in comparison to the top functional level 4a has limited control functionality.

The surveillance systems 6 of the respective missile modules 2a , 2 B can be networked with each other and for example via the communication and control connection 5 communicate with each other to the functionality of an active surveillance system 6 to be checked or to carry out the monitoring tasks in a distributed manner.

In addition to a possibly provided lowest function level designed as an analog flight controller, the hierarchically higher function levels preferably each have at least one processor P , a storage unit S , a sensor unit 7 and a flight controller 9 on. As a result, the overall reliability can be increased significantly, since when switching between the functional levels for the flight control of the missile 1 essential functional elements are replaced functionally.

The surveillance system 6 can be configured to the functionality of the master flight control unit 4th by checking that this surveillance system 6 from the currently active functional level of the master flight control unit 4th provided flight control information with flight control information of the other, not as a master flight control unit 4th acting flight control units (slave flight control units) compares the flight control information provided to determine whether the active functional level of the master flight control unit is operating correctly or not. Flight control information that is provided by at least one functional level of a slave flight control unit is preferably used for this comparison. The hierarchy level of the functional levels of the master flight control unit and the at least one slave flight control unit are preferably the same.

The functional levels are preferred 4a , 4b at least partially formed by different hardware modules (eg circuit boards), each with at least one processor P , a storage unit S , a sensor unit 7 and a flight controller 9 exhibit. The hardware modules of the flight control units 4th that are in the different missile modules 2a , 2 B are provided in hierarchically identical functional levels, are preferably of identical design. This can ensure high reliability and redundancy of the missile 1 can be achieved.

In a preferred variant, they form in different missile modules 2a , 2 B provided storage units S a storage array in which the information is distributed and stored redundantly. For example, the memory array can be designed such that the stored information is still available even if a memory unit S of a missile module 2a , 2 B fails. The distributed, redundant storage preferably takes place within storage units S , in hierarchically identical functional levels (eg first functional level) of different flight control units 4th are provided.

The invention has been described above using exemplary embodiments. It goes without saying that numerous changes and modifications are possible without thereby leaving the scope of protection defined by the patent claims.

Reference list

1

Missile

2a, 2b

Missile module

2.1

Basic body

3rd

Propeller drive

4th

Flight control unit

4a, 4b

Functional level

5

Communication and control connection

6

Surveillance system

7

Sensor unit

8th

Energy storage

9

Flight controller

10th

connection

11

Wing arrangement

11.1

upper wing

11.2

lower wing

12th

Communication interface

LA

Longitudinal axis

P

processor

S

Storage unit

QA

Transverse axis

Claims (18)

Missile comprising at least two missile modules (2a, 2b), each having at least one propeller drive (3), preferably at least one pair of propeller drives (3), and mechanically coupled to form the missile (1), each missile module (2a, 2b) has a flight control unit (4), which is designed to control flight functions of the missile (1), the missile modules (2a, 2b) being coupled to one another at least in terms of control technology via at least one communication and control connection (5), the missile modules (2a, 2b) are designed for the exchange of information via the communication and control connection (5), specifically in such a way that the flight control units (4) communicate with one another to define a flight control unit (4) of a missile module (2a, 2b) as Master flight control unit are formed, the master flight control unit conf It is configured to provide control information for all missile modules (2a, 2b) so that flight functions of the missile (1) can be controlled by the master flight control unit. Missile after Claim 1 , characterized in that the master flight control unit is designed for sole control of the flight functions of the missile (1). Missile after Claim 1 or 2nd , characterized in that the flight control units (4) of the respective missile modules (2a, 2b) are at least functionally identical. Missile according to one of the preceding claims, characterized in that the flight control units (4) of the respective missile modules (2a, 2b) are of identical design with regard to the hardware and software used in the flight control units (4). Missile according to one of the preceding claims, characterized in that the flight control units (4) of the missile modules (2a, 2b) each have a plurality of functional levels (4a, 4b), the functional levels (4a, 4b) being assigned at least partially the same flight control functionality and that the flight control unit (4) can be operated selectively based on one of these functional levels (4a, 4b). Missile after Claim 5 , characterized in that at least some functional levels (4a, 4b) have independent flight control hardware and independent flight control software. Missile after Claim 5 or 6 , characterized in that a hierarchically lowest function level (4a, 4b) has an analog or essentially analog flight controller. Missile after Claim 6 or 7 , characterized in that the flight control hardware of the individual functional levels (4a, 4b) of the flight control units (4) and preferably also the flight control software of the individual functional levels (4a, 4b) of the flight control units (4) are each designed differently. Missile according to one of the Claims 5 to 8th , characterized in that at least two functional levels (4a, 4b) are provided, the first functional level (4a) forming a higher functional level than a second, further functional level (4b) and in that the first functional level (4a) has a larger flight control functional scope than that a second functional level (4b). Missile according to one of the preceding claims, characterized in that each missile module (2a, 2b) has a monitoring system (6) which is designed to assess the functionality of the flight control unit (4) of this missile module (2a, 2b). Missile after Claim 10 , characterized in that the monitoring unit (6) is designed to switch over from a first functional level (4a) to a second functional level (4b). Missile according to one of the preceding claims, characterized in that the missile modules (2a, 2b), preferably the respective functional levels (4a, 4b) of the flight control unit (4), each have a sensor unit (7) with at least one sensor for measuring the attitude Show information. Missile after Claim 12 , characterized in that the master flight control unit of a missile module (2a, 2b) is designed to receive and process sensor information from the sensor units (7) of a plurality of missile modules (2a, 2b) and to generate control information based thereon. Missile according to one of the preceding claims, characterized in that the missile modules (2a, 2b) each have at least one Have energy storage (8), in particular a battery. Missile after Claim 14 , characterized in that the energy stores (8) of the missile modules (2a, 2b) are coupled to one another for the exchange of electrical energy. Missile according to one of the preceding claims, characterized in that each missile module (2a, 2b), preferably the respective functional levels (4a, 4b) of the flight control unit (4), have a flight controller (9) which is provided by the master flight control unit Control information is controlled. Missile according to one of the preceding claims, characterized in that the missile modules (2a, 2b) are each not capable of flying in isolation, and only a flightable missile (1) is formed by coupling at least two missile modules (2a, 2b). Method for controlling a missile (1) which has a plurality of mechanically interconnected missile modules (2a, 2b), the missile modules (2a, 2b) each having at least one propeller drive (3) and a flight control unit (4), each for controlling Flight functions of the missile (1) are formed, the missile modules (2a, 2b) being coupled to one another at least in terms of control technology via at least one communication and control connection (5), the method comprising the following steps: - Exchanging information between the flight control units (4) of the missile modules (2a, 2b) and determining a flight control unit (4) as the master flight control unit; - Generating control information for all missile modules (2a, 2b) of the missile (1) by the master flight control unit; - Transfer of the control information to the flight control units (4) of the missile modules (2a, 2b); and - Controlling the propeller drives (3) of the missile modules (2a, 2b) based on the control information.

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