The two were targeted in Majazah area, a military source, speaking on condition of anonymity, told Saba news agency on Tuesday.
In another development, Saudi mercenaries’ positions near Alab crossing in the Asir province were targeted.
The attacks against Saudi forces came in retaliation for the continued massacre of civilians and destruction of Yemen’s infrastructure by the Saudi-led coalition.
Yemen’s defenseless people have been under massive attacks by the coalition for more than three years but Riyadh has reached none of its objectives in Yemen so far.
Since March 2015, Saudi Arabia and some of its Arab allies have been carrying out deadly airstrikes against the Houthi Ansarullah movement in an attempt to restore power to fugitive former president Abd Rabbuh Mansour Hadi.
Over 14,000 Yemenis, including thousands of women and children, have lost their lives in the deadly military campaign.