In this study, an adaptive impact-time-control cooperative guidance law based on deep reinforcement learning considering field-of-view (FOV) constraints is proposed for high-speed UAVs with time-varying velocity. Firstly, a reinforcement learning framework for the high-speed UAVs’ guidance problem is established. The optimization objective is to maximize the impact velocity; and the constraints for impact time, dive attacking, and FOV are considered simultaneously. The time-to-go estimation method is improved so that it can be applied to high-speed UAVs with time-varying velocity. Then, in order to improve the applicability and robustness of the agent, environmental uncertainties, including aerodynamic parameter errors, observation noise, and target random maneuvers, are incorporated into the training process. Furthermore, inspired by the ${\mathrm{RL}}^2$ algorithm, the recurrent layer is introduced into both the policy and value network. In this way, the agent can automatically adapt to different mission scenarios by updating the hidden states of the recurrent layer. In addition, a compound reward function is designed to train the agent to satisfy the requirements of impact-time control and dive attack simultaneously. Finally, the effectiveness and robustness of the proposed guidance law are validated through numerical simulations conducted across a wide range of scenarios.

Thermal infrared cameras can image stably in complex scenes such as night, rain, snow, and dense fog. Still, humans are more sensitive to visual colors, so there is an urgent need to convert infrared images into color images in areas such as assisted driving. This paper studies a colorization method for infrared images based on a generative adversarial model. The proposed dual-branch feature extraction network ensures the stability of the content and structure of the generated visible light image; the proposed discrimination strategy combining spatial and frequency domain hybrid constraints effectively improves the problem of undersaturated coloring and the loss of texture details in the edge area of the generated visible light image. The comparative experiment of the public infrared visible light paired data set shows that the algorithm proposed in this paper has achieved the best performance in maintaining the consistency of the content structure of the generated image, restoring the image color distribution, and restoring the image texture details.

Rapid preliminary reconnaissance of Critical Transportation Hubs (CTHs) by UAV swarms is vital during post-disaster rescue operations. However, limited camera fields of view, large heading variances, and GNSS multipath errors near massive steel-concrete structures complicate multi-view cooperative perception. This paper introduces a discrete, vision-based cooperative perception framework utilizing a decentralized anchor-wingman architecture. The pipeline integrates a Prob-IoU-optimized YOLO26m-OBB detector to extract oriented infrastructure footprints. To handle severe rotational discrepancies without IMU priors, a global scene registration cascade—combining SuperPoint and an Optimal Transport-driven LightGlue—is employed to establish robust geometric correspondences. Furthermore, a Projected Polygon Intersection over Union (Proj-IoU) mechanism, coupled with an RMSE-weighted spatial fusion strategy, dynamically associates and deduplicates overlapping targets across distributed views. Experimental results indicate that the framework achieves a low pixel-level RMSE of 2.12 pixels on the source domain and maintains a highly stable 2.36 pixels during zero-shot cross-domain testing (SUES-200 dataset), successfully resolving extreme heading variances up to 270°. The Proj-IoU mechanism resolves multi-source redundancies—collapsing overlapping projections by over 50%—bounding the localization error to approximately 1.06 m. Operating at 6.7 FPS on edge hardware via low-bandwidth tensor transmission, this system provides a rigorous geometric foundation for autonomous swarms, enabling downstream collision-free trajectory planning and Multi-Target Task Allocation (MTTA) in GNSS-denied environments.

A UAV operating without GNSS faces unbounded inertial drift. A layered navigation architecture is evaluated in which terrain contour matching (TERCOM) provides periodic position corrections and satellite-image scene matching adds a condition-dependent precision layer. The architecture is examined through a single-trajectory simulation over a 1° × 1° ASTER GDEM V2 tile (N31E081, Tibetan Plateau, 4555–6468 m elevation, 16.1 mean slope) representing a one-hour flight (127 km, 35.2 m/s). The simulation models GNSS loss with idealised sensor behaviour: IMU error is described by a Gauss–Markov model without temperature dependence, and the radar altimeter is represented with additive Gaussian noise. Under these conditions, TERCOM reduced RMS position error from 1467 m to 317 m (78.4% reduction); with ideal noise-free scene-matching registration added, RMS further decreased to 103 m (a best-case estimate). The idealised Cramér–Rao lower bound already incorporates the 5 m radar-altimeter and 20 m DEM noise terms (it is therefore not a noise-free value) at the flight mean slope of 16.1°; averaging this local bound over the full trajectory—where near-flat segments inflate it—gives the tile-averaged CRLB of ≈150 m. The remaining gap between the realised TERCOM RMS (317 m) and this realistic bound is attributed to residual INS drift during profile collection, DEM interpolation error, and low-entropy terrain segments; a quantitative decomposition of these factors is provided in this paper. Results are based on a single noise realisation and a single trajectory; they characterise the specific simulation scenario rather than the architecture’s general performance. The altitude-error decomposition argument—that TERCOM’s sensitivity depends primarily on short-term dynamic altitude drift rather than the accumulated systematic error—is developed specifically for the normalised cross-correlation (NCC) metric and requires mean-centring of the terrain profile for generalisation to other correlation metrics.