Spatiotemporal Cooperative Guidance with Field-of-View Constraints via Lead-Angle Shaping

This paper presents a spatiotemporal cooperative guidance law for multiple missiles in three-dimensional space with different field-of-view constraints. Unlike conventional approaches that directly coordinate time-to-go estimates, the proposed method shapes lead-angle profiles throughout the engagement, offering clear geometric meaning and facilitating constraint handling. In the first phase, a hyperbolic tangent-based profile is developed for state coordination under directed communication topologies. The profile is tailored to individual field-of-view limits and is sufficiently smooth to allow closed-form guidance command derivation. A transition mechanism enables seamless switching to the second phase, where a new lead-angle profile is introduced for impact angle control. Under this profile, impact time is adjusted via a single tunable parameter with an explicitly defined feasible range, allowing efficient bisection-based tuning for impact time synchronization. Guidance commands are synthesized through decoupled lead-angle tracking and engagement plane correction. Numerical simulations validate the effectiveness, robustness, and superiority of the proposed guidance law.