针对带攻击角度约束的自杀式无人机(Suicide Unmanned Aerial Vehicle, SUAV)对地攻击机动目标问题设计了一种三维末制导律。首先, 考虑了SUAV的气动力、发动机推力及阵风的影响, 建立了SUAV的三自由度质点模型, 在此基础上建立了三维追逃数学模型；其次, 基于Lyapunov稳定性定理推导了带有攻击角度约束的三维滑模变结构末制导律；最后, 对所设计的导引律进行了仿真。仿真结果表明：带攻击角度约束的三维滑模变结构末制导律能满足攻击角度约束的要求, 具有精度高、脱靶量小和抗干扰性强的优点, 对自杀式无人机对地攻击末制导律问题的工程应用具有一定意义。

A three-dimensional terminal guidance law with attack angle constraint was designed for Suicide Unmanned Aerial Vehicle(SUAV) in attacking maneuvering targets on the ground.First for approaching actual flight environment the SUAV aerodynamic characteristics thrust characteristics and the influence of gust were taken into consideration.A 3-DOF SUAV model was built up based on which a three-dimensional relative geometry relation model was established.Then a novel three-dimensional sliding mode variable structure terminal guidance law with attack angle constraints was proposed based on the Lyapunov stability theory.Finally a simulation about the designed guidance law was carried out.The simulation results showed that the guidance law is satisfied with the desired attack angle constraint and has the merit of high accuracy and short miss distance.