Spatiotemporal Cooperative Guidance with Generalized Estimation of Time to Go

To address the multimissile cooperative guidance problem with impact-angle constraints, this paper proposes a spatiotemporal cooperative guidance law with the generalized time-to-go estimation. First, the engagement geometry under the impact-angle constraints is thoroughly analyzed. Using the polynomial approach, an analytical expression for the generalized time to go is obtained, which can be adapted to different impact-angle-control-guidance (IACG) laws by adjusting the polynomial order. Subsequently, based on this expression, a polynomial IACG is derived, and a detailed analysis of its performance is conducted. Furthermore, the time to go is adopted as the coordination variable. Based on a novel fixed-time stability control method, a spatiotemporal cooperative guidance law is designed, with a desingularization process implemented to ensure robustness. Finally, the effectiveness of the proposed method in achieving spatiotemporal cooperation under time-varying missile speed conditions is theoretically proven and then validated by numerical simulations.