This paper proposes a cooperative guidance law for attacking a ground target with the impact angle constraint based on the motion camouflage strategy in the line-of-sight (LOS) frame. A dynamic model with the impact angle constraint is established according to the relative motion between multiple missiles and the target. The process of cooperative guidance law design is divided into two stages. Firstly, based on the undirected graph theory, a new finite-time consensus protocol on the LOS direction is derived to guarantee relative distances reach consensus. And the value of acceleration command is positive, which is beneficial for engineering realization. Secondly, the acceleration command on the normal direction of the LOS is designed based on motion camouflage and finite-time convergence, which can ensure the missiles reach the target with the desired angle and satisfy the motion camouflage state. The finite-time stability analysis is proved by the Lyapunov theory. Numerical simulations for stationary and maneuver targets have demonstrated the effectiveness of the cooperative guidance law proposed.

中文翻译：

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具有冲击角约束的多枚导弹三维协同制导律

提出了一种基于视距（LOS）视场运动伪装策略的具有冲击角约束的地面目标协同制导律。根据多枚导弹与目标之间的相对运动，建立了具有冲击角约束的动力学模型。合作制导法的设计过程分为两个阶段。首先，基于无向图论，推导了一种新的关于LOS方向的有限时间共识协议，以保证相对距离达到共识。加速度指令值为正，有利于工程实现。其次，基于运动伪装和有限时间收敛，设计了视线法线方向的加速度指令。可以确保导弹以所需角度到达目标并满足运动迷彩状态。李亚普诺夫理论证明了有限时间稳定性。静止和机动目标的数值模拟证明了所提出的合作制导律的有效性。