For multiple missile simultaneously intercepting a maneuvering target, under the directed communication topologies between missiles, this paper designs a fixed-time cooperative guidance law based on three-dimensional guidance system. Furthermore, the radial velocity measurements are not required for the designed method. First, we construct the cooperative guidance model by using the three-dimensional missile–target intercepting geometry. Then, based on the fixed-time differentiator and the bi-limit homogeneity theory, a consensus protocol is designed in line-of-sight (LOS) direction, which can ensure missile’s impact time achieve fixed-time consensus. Next, in normal direction of LOS, two continuous adaptive fixed-time guidance laws are designed to guarantee LOS angular rates achieve fixed-time convergence. Finally, the excellent performance of the designed method is validated by simulation results.

针对多枚导弹同时拦截一个机动目标，在导弹间定向通信拓扑下，设计了一种基于三维制导系统的定时协同制导律。此外，设计方法不需要径向速度测量。首先，利用三维导弹-目标拦截几何构造协同制导模型。然后，基于固定时间微分器和双极限同质性理论，设计了视距（LOS）方向的共识协议，可以保证导弹的撞击时间达到固定时间共识。其次，在LOS法线方向，设计了两个连续自适应固定时间制导律，保证LOS角速率达到固定时间收敛。最后，