为拦截空间高速机动目标, 建立了考虑自动驾驶仪动态特性的三维耦合制导模型。针对模型的强非线性和不确定性, 设计了考虑导弹动态特性和目标机动的三维非线性导引律；然后利用扩张观测器估计目标机动加速度。仿真表明扩张观测器在有噪声干扰的情况下性能优于滑模微分器。将扩张观测器估计的目标机动加速度补偿到导引律中, 形成三维非线性导引律。在拦截高速机动目标时, 所设计的导引律相比于增广比例导引律和其他两种非线性三维导引律有较好的导引性能。

To intercept high-speed maneuvering targets,a three-dimensional guidance model is built taking the autopilot's dynamic characteristics into consideration. To solve the problems of the strong nonlinearity and uncertainty of the guidance model,a three-dimensional nonlinear guidance law was designed with consideration of the dynamic property of the missiles and the maneuvering of the target. Then,an extended observer was used to estimate the maneuvering acceleration of the target. The result of simulation showed that the extended observer had better performance than the sliding mode differentiator under the interference of noise. The estimated target acceleration was used in the guidance law and made it a three-dimensional nonlinear guidance law. The designed guidance law has better guidance performance than Augmented Proportional Navigation Guidance (APNG) and the other two nonlinear guidance laws for intercepting high-speed maneuvering targets.