A guidance law for multiple missiles combating cooperatively under multiple constraints

To enhance the ability of multiple missiles combating cooperatively under multiple constraints, the bias related to the constraints of impact angle and impact time was added to pure proportional navigation law, which forms a new four-dimension guidance law. Based on the automatic control theory and the theory of variable coefficient proportional navigation law, parameters of new guidance law were designed in consideration of dynamic characteristic of missile system, overload constraint of the missile and the convergence of trajectory. Simulation results show that missiles adopting the designed guidance law can satisfy the requirement of overload;the trajectory is curve first and convergent in the terminal stage;the difference between actual impact angle and desired impact angle is less than 2°, and the difference between actual impact time and desired impact time is less than 1 s;multiple missiles can cooperatively attack the target effectively.