Standoff tracking of a ground target based on coordinated turning guidance law

Target tracking is a typical application of unmanned aerial vehicles(UAVs). However, it is difficult for the existing guidance laws to meet the requirements of convergence speed and tracking accuracy at the same time. A new guidance law based on a coordinated turning equation is proposed to achieve target tracking, and its asymptotic stability is proved. Linear analysis is provided to help select the control parameters. This guidance law is improved to track the moving ground object with time-varying states. Compared with existing methods through numerical simulations, the proposed guidance law offers a faster convergence speed and a higher level of precision. The effectiveness and robustness of the guidance law in different situations are verified by hardware-in-the-loop (HIL) simulations.