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It is hoped that there will never be a war in the world, but one of thedefensive requirements of any country during the war is the missiles used fordestruction and defense. Todays, missiles movement from origin to destinationis an important problem due to abundant application of missiles in wars. Thisis important because of the range of some missiles is low and other are veryhigh. Parametric indeterminacy are several factors in missile movementprediction and trajectory such as speed, movement angle, accuracy, movementtime, and situation and direct control. So this research trying to provide amethod based on LQR controller with 3d Kalman filter and then set motion andspecify path without deviations based on Firefly Algorithm. It is expected thatthe results of an appropriate evaluation can be obtained by simulating theMATLAB environment and graphic display of a cruise missile.

Cruise Missile Target Trajectory Movement Prediction based on Optimal 3D Kalman Filter with Firefly Algorithm