Cooperative guidance without measuring radial velocity under communication delay

Aiming at solve the problem that multiple cruise missiles attack high-value targets on the sea at the same time in three-dimensional space with communication time delay, a time cooperative guidance law is designed, and there is no need to measure the radial velocity of missile and target. Firstly, based on the three-dimensional space guidance model, the guidance problem is divided into time coordination problem and hit target problem. Then, the time coordination problem is solved based on the multi-agent theory considering the communication delay. In the normal and lateral direction of the line-of-sight (LOS), a guidance law with finite-time convergence is designed based on zero LOS angular rate. Finally, the simulation proves its effectiveness.