中文摘要：

针对现代空地武器多约束、高精度制导的基本需求，本文将空地武器三维运动分解成俯仰平面和转弯平面两个平面运动，以此为基础分别设计制导律。在制导律设计过程中，综合考虑脱靶量、落角、入射角、导弹动态特性等多约束条件，运用二次型最优控制的黎卡提方程推导出一种新的制导律，并给出了0阶无时延系统的近似表达式。最后运用典型弹道仿真和对比试验验证了该制导律的可行性和良好的弹道性能。结果显示该制导律不但能够满足多约束高精度制导的需要，而且对末端攻角控制和早期弹道修正具有较大的优势。

英文摘要：

In order to study the problem of the precision guidance with multiple constraints in the modern air-to-surface weapon. The guidance law was respectively designed on the basis of dividing the 3D terminal movement of aerial vehicle into the movements of pitching plane and swerve plane. Considering the multi-constraint conditions of miss-distance, impact angular, orientation angular and system dynamics. The new guidance law was deduced by the Riccati equation of the quadratic optimal control, and approximate expression of zero-order lag-free system was given. The feasibility and the fine ballistics performance of the guidance law were verified by the simulations of the characteristic trajectory and the compare of guidance laws. The verified result shows that the optimal guidance law with multiple constraints is satisfied with the precision guidance in the multi-constraint conditions, and have more predominance of acceleration control in terminal phase and trajectory compensation in early phase.