Cooperative guidance law for imposing relative intercept angle and simultaneous impact of two missiles

A cooperative guidance law for a two-missile salvo attack against a stationary target with relative geometry constraints is proposed. The guidance law results in two interdependent feedback loops system, where the first loop represents the guidance law for imposing designated relative intercept angle, and the second one performs trajectory shaping such that both missiles reach the target at the same time. Correction terms and time-to-go are found analytically from a nonlinear system of equations. The latter is obtained using analytically derived predictions of the optimal trajectories.