限制导弹落角和落点的最优制导律

推导一种能命中目标并保证大落角的最优制导律，在目标函数中用罚函数代替终点限制条件，利用拉格朗日乘子法和欧拉方程推导出使目标函数极小化的条件，得出以导弹侧向位移，侧向速度两个状态以及导弹速度，剩余飞行时间表示的最公有制导律，并可转化为可用硬件实现的由目标视线角和目标视线角速度两个状态表示的最优制导律。

Impact Angle and Final Position Constrained Optimal Guidance Law

The paper aims at deriving an optimal guidance law which can satisfy both interception and high impact angle requirements. Using penalty function in the object function instead of final constraint condition, with Euler equation and Lagrange multiplier method, the condition for the minimization of the value of the object function can be derived. An optimal guidance law expressed by two missile states (lateral position and lateral velocity), together with the relative velocity between missile and target and the residual time is obtained. It can be transformed into an implementable optimum guidance law expressed by the line of sight angle and angular rate.