带有攻击角度和攻击时间控制的三维制导

 在三维空间导引动力学与运动学模型的基础上，假设目标静止，而导弹本身以恒速运动，根据实际的攻击角度与设定的攻击角度误差，分析和设计了期望的视线（LOS）角运动学，基于李雅普诺夫稳定性理论设计了带有攻击角度控制的三维导弹导引律。为了对攻击时间进行预测与控制，假设导弹本身以恒速或者匀加/减速运动，先将导弹导引到预定的攻击角度上，根据待飞直线距离对待飞时间进行估算，再根据预测时间误差，确定导弹按照特定的圆弧轨迹机动飞行的指令和机动飞行的时间，通过机动飞行来对时间误差进行补偿，最后，再利用所设计的导引律攻击目标。给出了仿真结果。

Three-dimensional Guidance Law with Impact Angle and Impact Time Constraints

Under the assumptions that the target is stationary and the velocity of missile is constant,based on the dynamics and kinematics of the relative motion between missile and target,and according to the error between the real impact angle and the designated impact angle,the desired kinematics of line of sight(LOS) is analyzed and designed.Then,a three-dimensional guidance law is designed by using Lyapunov stability theory.In order to predict and control the impact time,it is supposed that the velocity of missile is constant or time-varying with a constant positive/negative acceleration,the missile is guided to the designated impact angle,and the time-to-go is estimated according to the range-to-go.Then,the accelerations and time periods for missile maneuver along specifically designed circular arcs is determined according to the impact time error which is then compensated by the determined maneuver.Finally,the missile is guided to impact the target by the designed guidance law. Simulation results are given.