( ) ( ) ( ) ( ) cos sin

x y x y
x y r r = + = + r 1 1 1 1
( )
( )
( )
cos
1
sin
r v
r v
o
o
=
=
( ) ( )
2
2
r t
r r r r e e e = + + a 1 1
( )
2 2
sin
y x
x y
xv yv v
r r r
xv yv
r
r r
o
e

= = =
+

= =
r v
r v
LOS Guidance
0 0
2
cos
1
f
T
r K
t
v K
u +
=

M
T
v
K
v
=
2 2
2 M M
M
dr v
r
d
| | | |
+ = :
| |
\ . \ .
( 1 )
( )
2
2
M M M M
M
M
M
M
M
a v v
v
r
v
v
r
o

= = + =
| | | |

| |
\ . |
+
|
|
|
\ .




- LOS
Modified LOS Guidance
( ) ( ) ( )
( )
; 0
2
2
f
f
M
M M
M
t f t f t
f t t t
r
a v
r
q c

= =
=
| |
~ +
|
|
\ .
Pure Pursuit
( ) ( )
1 1
2
2 2
1
1 1 1 1 1 K 1
2 1
1
1 log 1 1 K=1
4
K K
K K
K x x
K K
c c K
y
c
x x
c c
+
(
| | | |

(
+ + =
` | |

( \ . \ .

)
=

(
| | | |

(
| |
\ . \ . (

In case:
( )
( )
T
T T
x t c
y t v t
=
=
2
if v .
1
f
T f
T T
y
K c
const t
v v K
= = =

if 1
2
M T
c
K

= A =
T
u u = + =
( )
( )
( ) ( )
( )
cos
cos
sin
sin
T M
T
r v v
r K
dr
v
d
r
u
u
u
u u
u
=

=
= =
( )
( )
0
0
0
tan
sin 2
;
sin
tan
2
K
rbm rbm K
r r r r
u
u
u
u
u
| |
|
\ .
= =
| |
|
\ .
( ) ( )
1
1 1
min
1 1 1
K K
rbm
K r r K K

+
(
< = +

Pure Pursuit
( )
( )
0
0 0
2
0 0
0
0
when v .
cos cos
K 1
1
tan
1 cos
2
1 1 cos ln K=1
2 1 cos
tan
2
T
T
T
const
r
K K
r r
v K
t
r
v
u u
u
u
u
u
u
=
| |
+ +
|
\ .
=

=

| | | |

| |
+

+ | |
+
| |
| |
\ . \ .
( )
2
2
2
4 cos
2
0
sin
2
K
T
T M K
rbm
K
v
a
r

| |
|
\ .
= =
| |
|
\ .
( ) ( ) ( ) ( )
2
2 2
,max ,max
arccos 2 2
2
4
K K
T
M M
rbm
v K
K
a a K K
r

+
= = +
( )
( )
( ) ( )
( )
cos
cos
sin
sin
T M
T
T
r v v
r K T circle dr
v
r d
r
v
u
u
u
e e u u
u e e
u
=

=
=
= =

Deviated Pure Pursuit
( ) ( )
( ) ( )
( ) ( ) ( )
( ) ( )
0 cos cos
cos cos
sin sin
sin sin
T T M
T M
r v v
r K
dr
v v
d K
r
u o
u o
u o
u o u
u
u
= =

=


= =
=
( )
( )
1
1
2 2
When K>1 and sin 1:
arcsin sin ; sin
2
; cos cos
cos cos
1 sin
2
K
K
r C K
K
K

o
u |
| o
u o o
u |
|
o

+
<
| |
|
\ .
=
= + | |
|
\ .
( )
0
For Ksin =sin we get 0 PN
For 1 and sin >1 we get spiral convergance
t
K K
o u u
o
=
>
( )
( )
( )
( )
0
0
When K 1 no catch :
1 cos
1 cos
r r
u o
u
u o
=
+ +
=
+ +
( ) ( )
( )
0
0 0
2
cos cos
K>1
1 cos
T
r
K K
r r
t
v K
u o u o
o
+ + + + (

=

( )
( )
0 0
2
cos
K>1
1 cos
f
T
K r
t
v K
u o
o
+ +
=

( )
( )
( )
( ) ( ) ( )
2
,max
sin sin
For sin 1:
arccos cos arccos cos
2 2
M T
M
K
a Kv
r
K a
K
u o
u
u
o

o |

=
s =
| |
=
|
\ .
( )
2
2
Finite a 2 1
1 3sin
M
K
o
< < <
+
Pure Pursuit Guidance Law
( )
( ) 0
2
0
0
sin 1 tan
sin
: 0
sin
c
m m
k r r
d
a kv r kr
dr
r
e r
r
o
o o
o
o
o

= =
=
( )
2
1
0
0
2
2
0
0 0
sin
1 tan
sin
: 0 0
sin
sin
sin
c
M
M
k
k
M M
M m
kv d
a r k
r dr
r
r
r
kv kv r
a v
r r r
o o
o
o
o
o
o
o

= =
| |
=
|
\ .
| |
= =
|
\ .
Parallel Navigation
( ) 2 constant velocities 0
sin sin
cos cos =
cos sin
cos sin
T M
T M
D
v v
r v v
r
K K

u o
u o
u u
o o
=

=
> =
0 0
1
cos cos
f
T
r r
t
r v K o u
= =

,max ,max
T moves on circle . :
cos
; for K>1
cos
T
T
T
M
M T
catch T
a
const
v
a
a a
a

u
o
| |
= =
|
\ .
= >
Parallel Navigation
( )
2 2
0 sin sin
acc. target
0 cos
sin
T T
M T
T
v K
a v
v
K
u u
o
u
=
= =
=

( )
2 2
0 sin
tan acc. missile
0
sin
T M
M M
a
v v
K
u
o
u
=
= =
=

cos sin sin
General case
cos
T T M
M
a v v
a
u u o
o

+
=
M
a

cos
M
a o

o
M
v
T
v
Proportional Navigation
( )
( )
0
1
1
0
0 0
2
2
0
0 0
T stationary 0; 1 :
sin 1
sin
sin
N
N
M
M
N
N
r
r
Nv r
a
r r

o
o
o

>
| | + (

= |
|
\ .
| |
=
|
\ .
( )
( ) ( )
( ) ( )
( )
( )
( )
( )
( )
0
0
0
0
T non-maneuvering 0 :
cos cos 1
sin sin 1
v
T
T M c
T M
v
d
v
v
r v v N v
r v v N v
v dr
d r r e r
r v

u
o
o

= =
= + = (


= + = (

}
= = =
( )
( )
0
1
1
N
N
o
o o
=
:
= +
( )
( )
For K>1 N>2 1 nonmaneuvering target
for 0 miss
For K> 2 N>2 1 maneuvering target
K
K
+
+
PPN
TPN
o
M
v
T
v
GPN
|
( )
( ) ( )
( )
( )
,
2 2
0 , 0
cos
Linear PN ` :
`
cos cos
M M col
c
go
c go c go
T T T M m col M
go
A t B
Nv
N
v
y yt
y ZEM
r v t v t
N
y y v t v
t

| |
| =
|
\ .
+
~ = =
+ = A A
( )
`
homogeneous
N
f
H
f
t t
y t C
t
| |
= |
|
\ .
( ) ( ) heading error
` 1
P
B f
B
y t t t
N
=

( )
( ) ( )
2
const. maneuver
` 1 ` 2
f f f
P
A T
const
t t t t t
y t y
N N
(

(
= +
(

Heading error or const.
maneuver will cause no
miss distance!
( )
( )( )
( )
( )
( )
( )
`
2
`
` 1 1
` 1 ` 2
y
` 1
N
f T f f
A
f f f
N
f f f
B
f f
t t y t t t
t
y t N
N N t t t
t t B t t t
t
N t t
(
| |

(
| = +
`
( |

)
\ . (

(
| | | |
(
| = |
| ( |
\ .
\ . (

( ) ( )
( )
( )
( ) ( )
( )
` 2
` 2
`
1
` 2
`
y
N
f
T
M
A
f
N
f
M
B
f f
t t
y N
y t
N t
t t
B N
t
t t

(
| |
(
| =
( |
\ . (

(
| |

(
| =
( |
\ . (

Linear Proportional Navigation
Bounded acc. N`<2
( ) ( )
( )
( )
( )( )
2
2
Blind range:
2
Saturation:
2
go
blind blind
go f T
blind blind
c
T sat go
sat
f
sat
t
R
t y t ZEM y
v
y y t
y t ZEM
= = +

= +
Augmented Proportional Navigation
2
TPN version:
`
`
2
c
T
M c APN
go
a N
a N v ZEM
t

| |
= + =
|
\ .
2
2
T go
APN PN
a t
ZEM ZEM = +
Advantages: - monotonously decreasing acc.
- Smaller velocity increment (smaller integral over the acc.)
` 2 ` 2
, ,
.
` `
1
` 2 2
T
N N
go go
M PN T M APN T
f f
y Const
t t
N N
y y y y
N t t

(
| | | |
(
= = | |
| |
(
\ . \ .

,
0
,
0
2
f
f
t
PN M PN
PN
t
APN
APN M APN
V y dt
V
V
V y dt
A =
A
=
A
A =
}
}
` `

` 2 2
M M
T T PN APN
y y N N
y N y
| | | |
= =
| |

\ . \ .
Optimal Guidance Law (OGL)
( ) ( ) ( ) ( ) ( )
2
2
2
T go
OGL go M
a t
ZEM t y t y t t a t t u = + +
Optimal Guidance Law (OGL)
( )
( ) ( ) ( ) ( ) ( )
2
2
With first order dynamic ; 1 0 :
2
go
T go
OGL go M
t
e
a t
ZEM t y t y t t a t
,
u , ,
t
t u

| |
= + >
|
\ .
= + +
( )
2
`
c
M OGL
go
N
a ZEM
t
u
=
( )
( )
2
3 2 2
6
`
2 6 6 3 12 3
N
e e
u u
u u
u
u u u u

=
+ +
Effects of Nonlinearities
( )
2 2
Variable missile speed 0 :
sin
tan
sin
significant when is high
T
M
M
v
a
v
K
u
o
u
o
=
= =

( )
'
Effect on N' :
cos
'
cos
cos
m M M
Extreme
c m T
m T
PPN
Nv Nv Nv
N N
v v v
v v
o
u
o
= = =

( )
( )
Overcome effect
: 3 tan
cos
sin '
:
cos 2
1
: sin ;
c
c
c
M
M c M
M
M c
m go
M M m M M
go
v
ACPN a v v
v N
TG a v
S t
GC a Nv v v v
r t

o
o
o

o
o
=
| |
=
|
\ .
(
= + =
(

Radom refraction:
rr
meas B
s
d
d
c
u

=
Imperfect seeker stabilization:
fric fric B
K u =
M
v
M
v
( ) ( ) arccos cos K u o =
o
M
T
a
K
a
=
M
T
R
K
R
=
( )
2 2
1 cos sin
f T
r R K K o o =
f
r
DPP (T on circle)
LOS Guidance
- T
- . .
- " , , .
- - O 2 .
PP
- 1 < K
- - TC
- 2 < K : . 2 > K : .
- PP " .
- .
DPP
- .
- K DPP
PP
- - DPP
.
- DPP .

- , 1 < K PN . 1 > K
PN 1 = K HO .
- - PN .
- ( )
- t .
-

- 1 = N PP DPP
- N
- : 2 > N . 2 = N ( .) 2 < N
.
( )
0
0 t o =
2 <
( )
M T
a t a s
M T
v v >
,max M T
a a >