This paper systematically introduces the ground physical, simulation, of the terrain-following system of the Chang Kong pilotless aircraft designed with the theory of adaptive Angle.

A nonlinear PD controller is presented in this paper and is used in the design of the control laws for an automatic terrain following flight control system.

All-digital terrain following (TF ) simulation system and hardware-in-loop real-time terrain follow simulation system are designed to verify the TF algorithms.