EP2133648A1 - Unmanned missile and method of flight control - Google Patents

Abstract

The unmanned missile (1) has a fuselage (10) with a payload. Control surfaces (16) are fitted on the fuselage, and are moved by control surface actuators. A drive device (14) is provided for the missile. An on-board computer (30), which has a mission data memory (32) and a control computer (34), impinges the control surface actuators with control signals. A mission planning computer (36) is connected with the mission data memory for exchanging data. Data communication devices (17,31) are connected with the mission planning computer for data exchange. An independent claim is included for a method for flight control of unmanned missiles.

Description

TECHNICAL AREA

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

The use of generic missiles is conventionally only after extensive advance planning, in which a complex mission planning must be carried out in an example ground-based mission planning station. In this missile planning, an optimal flight path for the unmanned aerial vehicle is developed based on terrain models of the planned flight route. This flight path is determined by a chain of so-called waypoints, which are defined by latitude, longitude, and altitude coordinates. In addition to these waypoints of the flight path, other mission parameters, such as terrain and landmark models and warhead parameters, are developed, which together with the waypoints form a mission plan. This mission plan is stored in the mission data memory of the unmanned missile before the launch of the carrier aircraft.

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 A new mission plan is prepared for the mission planning station and sent to the carrier aircraft via a data link, for example a satellite link, and from there to the carrier aircraft Mission data memory of the unmanned missile is loaded. An example of this is in the non-prepublished German patent application DE 10 2007 056 661.3 described.

For this reason, generic unmanned missiles are used so far only against long-enlightened stationary targets.

Often, however, it is necessary or desirable to use generic missiles against so-called stationary, time-critical targets ("traget of opportunity"). Such targets may be, for example, mobile missile launchers or mobile command and communication centers that are set up at short notice and therefore can only be detected with a short lead time.

PRESENTATION OF THE INVENTION

It is therefore an object of the present invention to provide a generic unmanned missile, which is also able to be used against stationary, time-critical targets. Furthermore, it is an object of the present invention to provide a method for flight guidance of an unmanned missile, which makes it possible to use such missiles in the short term against stationary, time-critical targets.

The object concerning the missile is solved by the unmanned missile having the features of patent claim 1.

The unmanned missile according to the invention, which may be in particular a cruise missile, is provided with a payload receiving hull; Control surfaces movably mounted to the fuselage by means of cam drives; a drive device for the missile and an on-board computer, which has a mission data memory and a control computer, which acts on the control surface drives with control signals. He is characterized by a mission planning computer connected to the mission data memory for data exchange and a data communication device connected to the mission planning computer for data exchange.

ADVANTAGES

By providing the mission planning computer in the unmanned missile itself and no longer in a ground-based mission planning station, it is possible to transmit target data of short-term targets via a datalink connection directly or via the carrier aircraft to the unmanned missile in flightplane, whereupon the mission planning computer aboard the unmanned aircraft Missile automatically carries out an optionally simplified mission planning and stores the mission mission computer determined by the mission mission data in its own mission data memory, so that the unmanned missile then independently using this new mission data can approach the new target.

The mission planning computer is preferably formed by a mission planning software running in the on-board computer of the missile. This software solution allows easy retrofitting of existing unmanned missiles through a software update, without the need for a hardware upgrade.

The data communication device of the missile is preferably connected to an associated data communication device of an aircraft carrying the missile in the flying 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.

Further preferably, the connection between the data communication device of the aircraft and the data communication device of the missile is formed by an umbilical cable connecting the missile to the aircraft.

The object relating to the method is solved by the method for flight guidance of an unmanned missile according to claim 5.

This unmanned missile flight guidance method, wherein the unmanned missile is deployed from a carrier aircraft, comprises the steps of: creating a mission plan based on predetermined start and end coordinates; Storing the mission plan in a memory of an onboard computer of the unmanned missile; and controlling the missile dropped from the carrier aircraft to the predetermined target by means of a control computer and missile control means based on the mission plan stored in the missile's memory. This method is characterized in that at least the target coordinates are fed via a data communication connection in the on-board computer of the unmanned missile and that the mission plan is created by means of these injected target coordinates of a mission planning computer of the missile and stored in the memory of the onboard computer of the unmanned missile. Further target data, which are preferably fed into the on-board computer of the unmanned missile, the parameters (heading, altitude, speed) for the cruise flight and the decoupling from the carrier aircraft and as a further attack parameters in addition to the target coordinates data on 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 ).

This mission planning is a much simplified mission plan without threat analysis. This simplified mission planning Alternatively, it can also be performed outside of the missile, for example on the ground by means of a portable computer, wherein the then resulting simplified mission planning data record is transmitted and loaded via a radio link into the memory of the onboard computer of the unmanned missile.

• 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 Angnffstrajektorie, des Einfädelpfades und des Marschflugpfades zu dem gemeinsamen Flugpfad, so dass der Flugpfad einen Marschflugpfad, einen Einfädelflugpfad und die in das Ziel führende Angriffstrajektone 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 toward heading the target data from the point of view of an unmanned missile 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 predetermined cruising speed, taking into account the kinematic flight performance of the unmanned missile into the attack trajectory and that during the march of the missile on the flight path at the predetermined cruising speed sufficient time is available, to sharpen the warhead of the missile and to load the selected ignition program into the warhead computer;
• Connecting the transformed attack trajectory, the threading path, and the cruise flight path to the common flight path so that the flight path has a cruise flight path, a threading flight path, and the attack trajectories leading into the target,

The calculation of the mission plan in the on-board computer of the unmanned missile makes it possible that only a few target data from a ground station of the new target must be transmitted to the missile and not a variety of mission data resulting from a mission plan calculation. This target data can be transmitted over a data link, which has only a small bandwidth or in which only small transmission capacities are free. For example, the target data can be transmitted from a ground station via a tactical data link to the carrier aircraft and then forwarded by this umbilical cable to the unmanned missile.

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, an existing between the carrier aircraft and a ground station data transmission Furtkverbindung can be used without the need for an independent 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 on this data link connection is free.

The mission planning is preferably carried out by the on-board computer of the unmanned missile during the flight of the unmanned missile connected to the carrier air vehicle. Conducting mission planning in the on-board computer of the missile makes it possible to dispense with the provision of additional hardware in the unmanned missile. The execution of the mission planning in the wing flight uses computing capacity of the on-board computer, which are free during the flight.

It is also advantageous if the starting coordinates are supplied by the onboard computer of the carrier aircraft via the Datenkommunikationsverhindung to the mission planning computer of the unmanned missile and if the preparation of the mission plan using the supplied to the mission planning computer via the data communication connection start and destination coordinates.

• 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 Reiease-Höhenbereichs von vorzugsweise 200 m;
• die Navigationsausrichtung des Trägenuftfahrzeugs und des Flugkörpers in Richtung auf das Ziel liegt in einem ausreichenden Winkelbereich;
• der Geschwindigkeitsvektor des Trägerlumahrzeugs 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 the unmanned missile, plus a vertical safety distance of preferably 100 m, within a vertical rake altitude range of preferably 200 m;
• the navigation orientation of the carrier aircraft and of the missile towards the target is in a sufficient angular range;
• the velocity vector of the carrier lathe 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 with low-consumption straight flight at a constant altitude during the cruise.

Preferably, the unmanned missile is immediately after landing from the carrier aircraft to the first waypoint of the cruise flight path steered, in which the cruise flight path merges into the Einfädelflugpfad, and he flies in compliance with a predetermined target speed there.

It is also advantageous if the missile automatically detects the target after being threaded into the attack trajectory and is guided autonomously into the target by means of an autopilot along the attack trajectory.

Further preferred and advantageous design features of the missile according to the invention and method are the subject of the remaining dependent claims.

Preferred embodiments of the invention with additional design details and other advantages are described and explained in more detail below with reference to the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS Show it:

Fig. 1

a partially sectioned side view of the unmanned missile invention and

Fig. 2

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

PRESENTATION OF PREFERRED EMBODIMENTS

FIG. 1 shows an unmanned missile 1, which is releasably coupled to a schematically illustrated aircraft 2. For this purpose, the aircraft 2 has a bomb pylon 20 on the underside of the fuselage or on the underside of an airfoil, which in FIG. 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 which are in engagement with two corresponding counter holding devices 13, 13 ', which protrude from an upper support member 10 of the missile 1 and fix the missile 1 on the aircraft 2.

The missile 1 comprises a payload-receiving hull 10, mounted on the fuselage 10 wings 12, at least one drive device, of which only the left side of the fuselage 10 provided air inlet 14 of the drive device is shown, and control surfaces 16, by means not shown control surface drives in known manner movable on the fuselage 10 are attached.

The missile 1 is further provided with an avionics 3, which is also shown only schematically and is located inside the hull 10. The avionics 3 contains an on-board computer 30 which, in addition to effective connections to navigation devices, also has a mission data memory 32 and a control computer 34. The control computer 34 is supplied after the missile 1 from the carrier aircraft 2 from the mission data memory 32 with data of a predetermined flight path and an approaching target and further receives navigation data from conventionally provided navigation devices, such as a satellite navigation system and / or an inertial navigation system. Based on these data, the control computer 34 generates control signals which are sent to the control surface drives, whereupon they adjust the control surfaces 16 for controlling the missile 1.

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

The aircraft-side connector 26 includes a signal output 23 which is connected via an airborne signal signal line 25 with an aircraft avionics 27.

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

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

Although mission mission data may already be stored in the mission data memory 32 of the unmanned missile 1 prior to the launch of the carrier air vehicle 1 provided with the unmanned missile 1, the missile 1 is adapted, preferably during the airborne flight, on the basis of newly obtained target data a new mission plan in the mission plan computer 36th then calculate the calculated mission plan data in the mission data memory 32 and to control the new target after separation from the carrier aircraft based on this newly calculated mission plan data. For this purpose, the new destination 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, are transmitted to the carrier vehicle 2 by radio. These data are received in the carrier aircraft 2 from the antenna 29 and forwarded via the radio receiving device 28 to the aircraft avionics 27. This then forwards the data to the mission planning computer 36 in the carrier aircraft.

Once the mission planning computer 36 has created the simplified mission plan and computes and stores the mission data required for autonomous navigation and control of the unmanned missile 1, it sends an acknowledgment signal to the aviation avionics 27, which then activates a standby status indicating the unmanned flight Aircraft 1 from the aircraft 2 in principle allows.

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

In addition to the mission plan data, target data and attack trajectories for time-critical targets can be permanently stored in the mission data memory 32 so that the mission planning computer 36 in the unmanned missile 1 after receiving new target coordinates only the distance from a predetermined settling point to an entry point (cruise flight path) in an attack trajectory and must calculate the Einfädelpfad from the cruise flight path in the attack trajectory. The flight path data of a suitable attack trajectory is taken by the mission planning computer 36 from the standard attack trajectories stored in the mission data memory 32, 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 missile 1 takes place on the aircraft 2, but it is in principle also possible to perform the calculation of the mission plan in the mission planning computer 36 at least partially after the detachment of the unmanned missile 1 from the aircraft 2 ,

The procedure for recalculating the mission plan is described in detail below. The avionics 27 of the carrier aircraft 2 sends the target data received via radio from the mission planning station 4 to the avionics 3 of the missile 1 several times at successive time intervals until the avionics 3 of the missile 1 has confirmed receipt of the target data. The avionics 3 of the missile 1 begins with the simplified mission planning in the mission planning computer 36 and reports this to the avionics 27 of the carrier aircraft. The mission planning computer 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 threading path for the unmanned missile 1 takes place in such a way that the missile reaches a defined marching height at a defined altitude Marshalling speed, taking into account the kinematic missile performance in the determined in the previous step attack trajectory.

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 are then stored as new mission plan data in the mission cache memory 32 and made available to the control computer 34 from there. At the same time these newly calculated mission plan data are also forwarded to the 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 is to carry out its mission, that is, in which of the calculated targets the unmanned missile 1 should fly.

Fig. 2 shows a schematic representation of a flight path 100, which has been calculated by means of a simplified mission plan, which has been calculated according to the method according to the invention for flight guidance. The flight path 100 runs at a march height 102 above the reference altitude (sea level) 104. The line 106 represents the terrain contour of the earth surface section to be crossed. The target 110 to be supplied by the unmanned missile 1 is located at the terrain contour point 108. The line 112 terminating at the destination 110 represents a standard attack trajectory and the line 114 represents a cruise flight path for the unmanned missile 1. The entire flight path 100 is composed of the cruise flight path 114, the selected standard attack trajectory 112 and a threading path 116 connecting the cruise flight path 114 and the attack trajectory 112 The transition from the cruise path 114 to the threading path 116 is defined by a first waypoint 118 of the optimal altitude calculation (OFAC).

The detachment of the unmanned missile 1 from the carrier aircraft takes place in a release height which, including a safety area, is above the marsh altitude 102, ie above the cruise flight path 114. This choice of the release height precludes any endangerment of the carrier aircraft by the decoupled unmanned aerial vehicle 1. The uncoupled missile 1 from the carrier aircraft is at a distance from the target, which is less than the maximum range of the unmanned missile, which is calculated as a variable from the parameters flight altitude, airspeed, atmospheric data, wind data and the type of attack and a safety reserve. This maximum range is estimated by the mission planning computer 36 of the unmanned missile 1 during the simplified mission planning by means of an approximate 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 resulting 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 signs in the claims, the description and the drawings are only for the better understanding of the invention and are not intended to limit the scope.

LIST OF REFERENCE NUMBERS They denote:

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

Claims (12)

Unmanned missile, in particular cruise missile, with - a payload receiving hull (10); - Control surfaces (16) which are mounted by means of cam drives movable on the hull (10); - A drive 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;
marked by a mission planning computer (36) connected to the mission data memory (32) for data exchange; and - A data communication device (17, 31), which is connected to the mission planning computer (36) for data exchange. Unmanned missile according to claim 1,
characterized,
that the mission planning computer (36) through an on-board computer (30) of the missile (1) running mission planning software is formed. An unmanned missile according to claim 1 or 2,
characterized,
in that the data communication device of the missile (1) is connected to an associated data communication device of an aircraft (2) carrying the missile (1) in the wing flight for data exchange with an on-board computer of the aircraft (2). Unmanned missile according to claim 3,
characterized,
that the connection between the data communication device of the aircraft (2) and the data communication means of the missile is formed of a Umbilicalkabel. A method for flight guidance of an unmanned missile in which the unmanned missile is deposited from a carrier aircraft, comprising the steps - create a mission plan based on given start and finish coordinates; - storing the mission plan in a memory of an on-board computer of the unmanned missile; Control of the missile fired by the carrier aircraft to the predetermined target by means of a control computer and control devices of the missile on the basis of the mission plan stored in the memory of the missile; characterized, - That at least the target coordinates are fed via a data communication connection in the on-board computer of the unmanned missile; - That the mission plan is created by means of these fed target coordinates of a mission planning computer of the missile and stored in the memory of the onboard computer of the unmanned missile. Method according to claim 5,
characterized,
in that the target data is transmitted to the unmanned missile from the carrier aircraft via a data communication link during the flight of the missile connected to the carrier aircraft. Method according to claim 5 or 6,
characterized,
that the mission planning is performed by the computer on board the unmanned missile in the supporting flight of the unmanned missile connected to the carrier aircraft. Method according to one of claims 5 to 7,
characterized, - That the starting coordinates are supplied from the onboard computer of the carrier aircraft via the data communication link to the mission planning computer of the unmanned aerial vehicle; and - that the mission plan is prepared using the start and destination coordinates provided to the mission planning computer via the data communication link. Method according to one of claims 5 to 8,
characterized,
that are performed for the simplified mission planning the following measures: - 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 in the direction of the heading of the target data from the perspective of an approaching unmanned missile (1) is aligned; Calculating a cruise flight path (114) at a cruise altitude (102) corresponding to a calculated optimum flight altitude, Calculating a threading flight path (116) such that the threading flight path (116) from the cruise flight path (114) is determined from the march height (102) and a predetermined cruising speed taking into account the kinematic flight performance of the unmanned missile (1) in the attack trajectory (112) passes and that during the march of the missile (1) on the flight path (100) at the predetermined cruising speed sufficient time is available to sharpen the warhead of the missile and the to load the selected ignition program into the warhead computer; Connecting the transformed attack trajectory (112), the threading path (116) and the marching flight path (114) to the common flight path (100), such that the flight path (100) includes a cruise flight path (114), a threading flight path (116) and the Target (110) leading attack trajectory (112). Method according to one of claims 5 to 9,
characterized,
that the preparation of the mission plan has a determination of release pauses 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 air vehicle above sea level is above the calculated unmanned aircraft march altitude 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 inertial vehicle velocity vector 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. Method according to one of claims 5 to 10,
characterized,
that the unmanned missile is directed after landing from the carrier aircraft directly to the first waypoint of the cruise flight path, in which the cruise flight path merges into the Einfädelflugpfad, and flying there in compliance with a predetermined target speed. Method according to one of claims 5 to 11,
characterized,
that the missile automatically detects the target after being threaded into the attack trajectory and is guided autonomously into the target by means of an autopilot along the attack trajectory.

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