A full autonomous control scheme is presented for aircraft rendezvous in autonomous air refueling, which makes
the unmanned aerial vehicle(UAV) have an ability to rendezvous autonomously without active coordination of tanker. By using modified proportional navigation law with impact angle constraints and viewing the desired rendezvous point as the target, the requirement for the terminal heading is achieved. To satisfy the requirements for maneuvering performance of UAV, a control law is designed by Backstepping method which can achieve the accurate tracking of guidance commands and guarantee the stability of UAV. Finally, the simulation result shows the effectiveness of the control scheme.