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In order to realize the tactical task of anti-ship missile attacking target in the predetermined direction, and improve its penetration effect under the condition of enemy ship-to-air missile interception, a guidance law with attack angle control and maneuvering avoidance is designed. Using the terminal sliding mode theory, based on the relative motion model between missile and target, the guidance law defined a sliding surface, which includes miss distance requirement, terminal angle constraint and terminal maneuvering information. The guidance law can attack the target in the predetermined direction and realize its own trajectory maneuvering penetration. The simulation results verify the validity of the designed method. Introduction With the continuous development of modern science and technology, anti-ship missiles are under the guard of enemy satellites, early warning aircraft, long-range warning radar and other sensor early warning systems from launch, and are always facing the interception of enemy anti-missile weapons. Therefore, how to successfully penetrate under the interception of anti-missile missiles and strike the target accurately is an important problem to be solved. A large number of research documents show that [1,2] , in order to break through the interception of anti-missile missiles, maneuvering in the course of missile guidance is a feasible technical way to miss the target of anti-missile missiles. At present, the related literature mainly focus on the trajectory transfer technology, terminal maneuvering penetration guidance law designing, penetration effect caused by maneuvering transfer, and miss distance analysis of ship-to-air missile caused by maneuvering transfer, and so on [3-5] . According to guidance theory, the guideline for designing missile guidance law without considering the maneuver of missile terminal is to make the line-of-sight angular rate reach zero as soon as possible in the course of missile attacking target. That is, the line-of-sight angle between the missile and the target does not change and attacks the target with a constant line-of-sight angle, which can realize the smooth trajectory of the missile [6-7] . Considering the terminal maneuver, the angular rate of the line of sight (LOS) of the missile changes with the change of its trajectory in the course of hitting the target. That is to say, the line-of-sight angular rate between missile and target is no longer a constant value in the course of tracking target. It converges to zero with a certain law, so as to ensure that the final target is hit. However, there is an additional uncertainty factor affecting the miss distance at the end of the missile, that is, the uncertainty caused by the variable line-of-sight angular rat. Therefore, how to realize the organic combination of Maneuvering Penetration trajectory and self-guided trajectory, so that the anti-ship missile under the guidance of guidance law can not only hit the target accurately, but also achieve its own trajectory maneuverability, thus improving its penetration probability, is the problem to be solved in this paper. Relative Motion Model of Missile and Target The relative motion relationship between the anti-ship missile and the ship target is shown in Fig. 1. The reference coordinate system is the ground coordinate system ( , , x y z ). M, T, and MT 273 respectively represent missiles, targets and line of sight between missile and target (LOS), r is the distance between missiles and targets, q is the inclination angle of MT, q is the azimuth angle of MT, t v is the velocity of target and t  is the azimuth angle of t v . The inclination angle of t v is zero, this is because the enemy ship always moves in the course plane, and there is no movement in the longitudinal plane. m v is the velocity of the missile. The inclination and azimuth angles of m v are m  and m  , respectively. m  and m  are defined in the same way as q and q .

Guidance Law Design with Attack Angle Control and Maneuvering Avoidance