Cooperative attack strategy during the terminal guidance phase for loitering munitions based on impact angle and impact time constraints

\nIn order to solve the cooperative attack problem during the terminal guidance phase for loitering munition swarm, a cooperative attack strategy for loitering munitions with impact angle constraints is proposed. By using the small deviation method, an offset proportional guidance law with impact angle constraints is derived in order to solve the problem of directional strike in the longitudinal plane. Combining with the present guidance scheme, a method for estimating the remaining time of proportional control and angle control is derived. In the lateral plane, a time control bias term with time-varying coefficients and no singularity in the division of zero is designed to solve the time control problem. In addition, taking the remaining time as the coordination variable, a two-layer cooperative architecture is used to solve the problem of coordinated directional strike of multiple loitering munitions. The simulation results show that the cooperative guidance strategy has a good performance of impact angle control and cooperative attack for low-speed loitering munitions.\n