Impact Time and Angle Cooperative Guidance for Multiple Unmanned Air Vehicles (UAVs) with Coupled Dynamics Among Velocity and Normal Accelerations

An impact time and angle cooperative guidance law was proposed for multiple missiles with coupled dynamics among velocity and normal accelerations to realize impact time and impact angle cooperation simultaneously. The coupling property was modeled concretely and introduced to the cooperative guidance design. With regarding to the impact time cooperation, flight velocity control was developed, while considering the coupling effects arising from normal accelerations in longitudinal and lateral plane. And besides, for the impact angle cooperation, an impact angle cooperative guidance (IACG) was derived on the basis of modified proportional navigation guidance (PNG), taking the velocity variation into account. In addition, the target was assumed to execute evasive maneuver. To depress the negative effects arising from the coupled dynamics among velocity and normal accelerations, the compensated parts in the velocity and normal accelerations control commands were designed on the concrete model of the coupled dynamics. Consequently, an ITACG was achieved to realize salvo attack with impact angle cooperation, and its effectiveness was verified by mathematical simulations.