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The implementation of advanced guidance laws with bearings-only measurements requires estimation of the range information. To improve estimation accuracy and satisfy the impact angle constraint, this paper proposes a two-phase optimal guidance law consisting of an observing phase and an attacking phase. In the observing phase, the determinant of Fisher information matrix is maximized to achieve the optimal observability and a suboptimal solution expressed by leading angle is derived analytically. Then, a terminal sliding-mode guidance law is designed to track the desired leading angle. In the followed attacking phase, an optimal guidance law is integrated with a switching term to satisfy both the impact angle constraint and the field-of-view constraint. Finally, comparison studies of the proposed guidance law and a traditional optimal guidance law are conducted on stationary targets and maneuvering targets cases. Simulation results demonstrate that the proposed guidance law is able to improve the range observability and achieve better terminal performances including impact angle accuracy and miss distance

Two-Phase Optimal Guidance Law considering Impact Angle Constraint with Bearings-Only Measurements