带落角和时间约束的网络化导弹协同制导律

对网络化导弹的协同攻击问题进行了带命中落角约束和攻击时间约束的协同偏置比例导引律研究。对单枚导弹给出了带命中落角约束的偏置比例导引律，并推导出了对应的导弹剩余攻击时间的估算表达式。针对网络化导弹系统,根据各导弹的剩余攻击时间之差对偏置比例导引律中的比例系数进行调节，设计得到了同时满足命中落角和攻击时间约束的协同偏置比例导引律，进一步从理论上证明了该导引律能够使多枚导弹的攻击时间趋于一致。网络化导弹制导系统数学仿真实验结果表明，协同偏置比例导引律及剩余攻击时间估算方法是有效和正确的。

Cooperative Guidance Law with Impact Angle and Impact Time Constraints for Networked Missiles

Cooperative biased proportional guidance law with impact angle and impact time constraints is presented for cooperative attack of networked missiles. The biased proportional guidance law with impact angle constraints is proposed, and the expression of time-to-go in this guidance law is deduced. The proportional coefficient is adjusted by the difference of the time-to-go of each missile in the network. And the cooperative biased proportional guidance law with impact angle and impact time constraints is presented. It is proved theoretically that the multiple missiles trend to have the same time-to-go by the guidance law. Finally, the mathematical simulation of guidance system of networked missiles illustrates the validity of the proposed guidance law and the expression of time-to-go.