中文摘要：

现代战场环境的日益复杂化和激烈化,多约束条件下制导律的设计成为研究热点.本文首先介绍了末端制导律的研究背景和研究意义,概述了由于环境的复杂,目标的高机动性,及飞行器运动的非线性、强耦合性和多时变性性等因素带来制导律设计上的困难.然后对具有多终端约束条件下末端制导律的设计方法进行分类,将其分为单终端约束制导律和多终端约束制导律,并对具有终端角度、弹着时间、和终端速度的某一种或几种约束的制导律方法进行归纳总结.最后对下面4种末端制导律的发展趋势进行了展望：三维制导律、制导控制一体化、多飞行器协同制导和多模复合末制导.

英文摘要：

With the increasing complexity of battlefield and the intensification in modem war, the guidance law with multiple constraints has drawn more and more extensive attention recently. First, we introduce the research background and the significance of terminal guidance law, and outline the complex environments, high maneuvering targets, and the strong nonlinear coupling as well as the time-varying motion, which cause difficulties in designing the guidance law with multiple constraints. Then, a classification of guidance law with terminal constraints is made. It is classified in two categories： one is the single terminal constraint guidance law and the other is the multiple terminal guidance law. The guidance law methods with one or more terminal constraints such as impact angle, impact time and terminal velocity are summarized. The research key technologies for the terminal guidance law are also summarized and elaborated. Finally, we address four future directions of terminal guidance law, which are three dimensional guidance law, integrated guidance law for control and guidance, and the cooperative guidance law for multiple flight vehicles and multimodal compound terminal guidance.