针对飞行器未知环境下自主地形跟随问题,提出了基于前视序列图像天地线的地形跟随方法,并利用适应角法设计了制导律,该方法利用被动成像实时探测飞行前方地形信息,降低了对数字地图保障及高精度导航的需求。六自由度非线性数学仿真结果表明:基于前视序列图像天地线的方法较传统基于数字地图的方法,地形跟随平均离地高度可降低35%以上,可大幅提高飞行器超低空突防性能。 Aiming at the issue of autonomous terrain follow-up in unknown environment of aircraft, a terrain following method based on forward looking sequence image horizon is put forward and a guidance law is designed by using adaptive angle method. This method uses passive imaging to detect the terrain information in real time and reduces the number of digits Map support and high-precision navigation needs. The nonlinear mathematical simulation results of six degrees of freedom show that compared with the traditional digital map based method, the method based on forward looking sequence images can reduce the mean ground clearance by 35% or more, which can greatly improve the penetration performance of the aircraft.