领弹控制下的多导弹时间协同三维制导律

采用领弹一被领弹策略，在三维空间内设计了一种多导弹时间协同制导律。领弹在俯仰和偏航2个通道都采用增广比例导引，而被领弹在俯仰通道采用增广比例导引，但在偏航通道采用机动控制。该机动控制使被领弹与领弹在偏航面内达到时间协同，即在偏航面内被领弹与领弹的弹道曲率大小（相对于速度而言）趋于一致。俯仰通道上的增广比例导引使被领弹与领弹在该通道上的前置角逐渐趋于0，致使它们的弹道完全落于偏航面内，最终实现被领弹与领弹的协同，这意味着被领弹按照领弹的攻击时间攻击目标。在设计被领弹偏航通道的机动控制指令时，采用了动态逆方法。仿真结果验证了方法的有效性。

Leader-Controlled Three-Dimensional Guidance Law for Time-Cooperative Multi-Missiles

Under the leader-follower strategy, a time-cooperative guidance law in the three-dimensional space for multi-missiles was derived. The leader was guided by APNG both in the pitch channel and the yaw chan- nel. The follower was guided by APNG in the pitch channel and guided by the maneuver control in the yaw channel. This maneuver control would help the follower get time-cooperative status with the leader in the yaw surface, i.e. in the yaw surface bring the follower trajectory curvature （relative to the velocity） into accord with the leader one. The pitch channel APNG let this channel headifig angles of,the leader and the follower went to zero gradually, so their trajectories would fall into the yaw surface completely. Thus, the follower would achieve the cooperative status with the leader finally, which meant that the follower would impact the target at the leader impact time. During the design for the yaw channel maneuver control command, the dynamic inversion ap- proach was adopted. Simulation results showed the validity of the proposed method.