With the transformation of missile engagement manners, the multi-missile cooperative guidance law has drawn extensive attention recently. The research developments of cooperative guidance laws are introduced firstly, and the design difficulties for these guidance laws are pointed out. Then the research areas are proposed to address the development tendency. The guidance law with impact time and impact angle constraints is emphatically discussed. The work of this paper is expected to provide some references for the improvement and design of cooperative guidance law in the future.%随着导弹作战样式的变革，多导弹协同制导规律受到越来越广泛的关注。本文系统地论述了多导弹协同制导规律的研究进展，指出了协同制导规律设计的难点问题，并对未来协同制导规律的研究方向进行了展望。其中着重论述了基于攻击时间和攻击角度控制的协同制导规律。可供从事导弹制导的科研人员对现有协同制导规律有一个全面的认识，以便于更深入地研究。
展开▼
