Abstract
This paper proposes a CKF-MPSP guidance method for hitting stationary targets with impact time and angle constraints for missiles in the presence of modeling errors. This innovative guidance scheme is composed of three parts: First, the model predictive static programming (MPSP) algorithm is used to design a nominal guidance method that simultaneously satisfies impact time and angle constraints. Second, the cubature Kalman filter (CKF) is introduced to estimate values of the influence of the inevitable modeling errors. Finally, a one-step compensation scheme is proposed to eliminate the modeling errors’ influence. The proposed method uses a real missile dynamics model, instead of a simplified one with a constant-velocity assumption, and eliminates the effects of modeling errors with the compensation scheme; thus, it is more practical. Simulations in the presence of modeling errors are conducted, and the results illustrate that the CKF-MPSP guidance method can reach the target with a high accuracy of impact time and angles, which demonstrates the high precision and strong robustness of the method.