针对固定翼无人机在舰载移动平台上自主着陆所面临的降落点快速移动、固定翼无人机必须维持一定的空速且在空中无法有效制动等问题，提出一种基于动作规划的分段引导策略，实时引导固定翼无人机在舰载移动平台上精准着陆。将固定翼无人机自主着舰过程划分为过渡引导和进近引导两个阶段分别设计不同的引导策略：在过渡引导阶段使用有限状态机将固定翼无人机从任意初始状态引导至移动甲板后方一定距离外，在进近引导阶段通过动作采样实时调整固定翼无人机运动轨迹，直至成功引导无人机降落至移动甲板上。数值仿真和半实物仿真表明所提出的分段引导策略可以将固定翼无人机从任意初始状态引导降落至不同移动速度、颠簸的航母甲板上，着舰误差可控制在2m以内。

In order to land a fixed-wing UAV on a moving platform, serval problems should be addressed. For example, the rapid movement of the landing platform, the UAV has to maintain high speed to generate sufficient lift while it can-not brake in mid-air at will. A segmented guidance strategy based on action planning is proposed. The autonomous shipborne landing process is divided into two stages: transition guidance and approach guidance. During the transi-tion guidance stage, a finite state machine is utilized to guide the fixed-wing UAV from any initial state to a specific distance behind the moving deck. In the approach guidance stage, action sampling based method is used to adjust the trajectory in real-time to guide the UAV to touch the deck accurately. Numerical simulation and FlightGear based semi-physical simulation demonstrate that the proposed segmented guidance strategy can effectively guide a fixed-wing UAV from any initial state to the center of aircraft carrier with different speeds, and the landing error is within 2m.