Attack-Time Cooperative Guidance of Multi-missile System Based on Bessel Curve

In this paper, an attack-time cooperative guidance scheme is proposed to improve the penetration ability of the guided missiles, which aim at realizing the saturated attack on a single target and it has a specified angle of attack. The guidance scheme consists of three stages. In the first stage, a time coordination method based on paranoid proportional navigation method for tracking guided missile is designed. In the second stage, the missiles are adjusted to achieve the coordination of attack angle. In the third stage, Bessel curve is used to design the trajectory with large climb and dive to improve the penetration ability during the attacking. Finally, the feasibility of the guidance law is verified by simulation.