| UAV plays an irreplaceable role in the current war. This thesis works on key issues of the autonomous flight control and management decision-making technologies of UAV.Firstly, the UAV autonomous flight management system structure, which is based on the open hierarchical structure, is studied. Also structure and function of key modules are studies.Secondly, we design the keys of the above structure. First, route planning module and the route tracking module are designed. The route planning is split into two steps: a 2D itinerary planning and a 3D trajectory planning between each couple of 2D points according to factual needs. An algorithm of 3D LPA* based on dynamic weighting is presented to do the 3D-route planning. The D* Lite algorithm is used to do the real-time re-planning to avoid new threats. Afterward a track angle tracking flight controller is designed for the completely non-linear characteristics of the very slow mode. Then a key technology of UAV autonomous control, the autonomous take-off and landing control technology is studied. The longitudinal control laws of three-wheel ground sliding, two-wheel ground sliding and climbing processes are designed. The setting high system, glide beam guiding system, the auto leveling control system and lateral beam guiding system are designed and simulated separately. Then the mission management system is established for the mission planning and scheduling of the UAV flight management system. A complete flight task is decomposed into a number of sub-tasks, using the Petri nets through events triggered to do the management and scheduling. Stateflow realizes complex logic judgment of the UAV to ensure the correct implementation. Meanwhile GUI achieves a friendly man-machine interface.Finally, based on Windows platform, the three dimension visual simulation of the entire process of UAV flight is developed by using MultiGen Creator and Vega softwares, which show the processes of take-off, flight and landing vividly.
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