Interception of low-altitude intruding targets with low-cost drones equipped strapdown camera presents a competitive option. However, the malicious maneuvers by the non-cooperative target and the coupling of the camera make the task challenging. To solve this problem, an Image-Based Visual Servoing (IBVS) control algorithm based on proportional navigation guidance with field-of-view holding capability is designed. The proposed controller reduces the miss distance while improving the stability of the visual servo system during interception. Software-in-the-loop (SITL) simulation experiments show a 72.8% reduction in the circular error probability (CEP) compared to the most recent study. This improvement enhances interception accuracy from the decimeter to the centimeter level. Real-world experiments further validate the effectiveness of the proposed algorithm.

翻译：利用搭载捷联式摄像头的低成本无人机拦截低空入侵目标是一种具有竞争力的方案。然而，非合作目标的恶意机动以及摄像头的耦合效应使得该任务充满挑战。为解决此问题，本文设计了一种基于比例导引律并具备视场保持能力的图像视觉伺服控制算法。所提出的控制器在降低脱靶距离的同时，提高了拦截过程中视觉伺服系统的稳定性。软件在环仿真实验表明，与最新研究相比，该算法将圆概率误差降低了72.8%，从而将拦截精度从分米级提升至厘米级。实际飞行实验进一步验证了所提算法的有效性。