Three-Dimensional Cooperative Guidance Law with Time-Varying Velocities

To solve the problem of multiply missiles with varying velocities attacking the target simultaneously, a cooperative guidance strategy with impact time and angle constraint is proposed. Firstly, a three-dimensional cooperative guidance model is presented by establishing the kinematics and dynamics equations of each missile, the relative motion relationship between the missile and the target is derived. Then a time-to-go method with time-varying velocities is designed. Considering the constraint of field of view angle and attack angle, the three-dimensional cooperative guidance law is designed based on offset proportional guidance method. Finally, simulation results verify the effectiveness and superiority of the proposed guidance law.