The problem of cooperative guidance is considered with appointed impact time and collision avoidance for the leader-following flight vehicles, which consist of one leader with the target seeker and the other seeker-less followers. A fixed-time convergent guidance law is presented for the leader to achieve appointed impact time. To guarantee the simultaneous arrival of all the flight vehicles, a cooperative guidance law is proposed to make the follower-leader ranges keep proportional consensus with the range-to-go of leader. A distributed observer is put forward for the followers to estimate the range-to-go of leader. Moreover, the collision avoidance can be reliably fulfilled by the collaborative action of the direction-based and distance-based means.

由一个带目标导引头和另一个无导引头的跟随飞行器组成的有导引头跟随飞行器，考虑了具有指定撞击时间和避免碰撞的协同制导问题。提出了一种固定时间收敛制导律，使领导者达到指定的冲击时间。为保证所有飞行器同时到达，提出了一种协同制导律，使跟随者-领导者的范围与领导者的剩余范围保持比例一致。为追随者提出了一个分布式观察者来估计领导者的范围。此外，基于方向和基于距离的装置的协同动作可以可靠地实现碰撞避免。