飞机在面对先进空空导弹的攻击时，诱饵、干扰等传统手段已无法满足防御需求，发射拦截弹毁伤来袭弹正成为一种更有效的防御方式，能大大提高载机战场生存和突防能力。本文针对机载防御中高机动目标的拦截制导问题，开展了多约束条件下的防御弹群中制导编队、末制导协同拦截研究，主要工作及创新点包括：（1）针对传统二维时间/角度约束制导律剩余飞行时间估计不准、终端性能控制确定性不足的问题，提出了一种基于Bezier曲线的多约束协同制导方法。在建立导弹二维运动模型基础上，设计了一种基于Bezier曲线的二段式轨迹，分析了最大轨迹曲率和飞行时间，并通过设置碰撞轨迹斜率实现终端角度约束、调节切换点实现飞行时间和过载约束，最后使用基于线性二次型控制的轨迹跟踪算法生成制导指令。仿真结果验证了在非定常速度、飞控系统时间常数非零的情况下，所提方法获得了比传统方法更好的弹群终端时间、角度控制性能。（2）针对二维制导律依赖三维运动学分解、不利于实际应用的问题，提出了一种基于优美对数空间曲线的三维多约束协同制导方法。在建立导弹三维运动模型基础上，引入Frenet标架描述三维飞行几何特征，设计了基于优美对数空间曲线的二段式轨迹，通过调节终段轨迹斜率和轨迹切换点位置，实现多约束三维编队飞行。仿真结果表明所提方法获得了比传统方法更好的终端时间、角度控制性能。（3）针对传统制导律难以拦截高速高机动目标的问题，提出了一种基于可达集分析的末制导协同拦截策略。在建立多对一拦截模型的基础上，从飞行可达范围和等时间线的角度分析了交会几何态势，得出了非线性运动学下拦截的必要条件，基于覆盖目标可达集的理念，构建了将拦截弹数量优势转化为拦截优势的编队阵形和协同方法。仿真结果表明所提方法能用劣势性能导弹有效拦截高速高机动目标，且弹群易于扩展、兼容个体性能差异。（4）针对机载防御这一新型运用场景，设计了拦截规划环节将中、末制导整合，形成完整制导方案。建立了机载防御六自由度仿真平台，以来袭弹预测轨迹为基础，获取具有飞行可行性和时间匹配性的拦截阵形和发射时机，有效衔接中、末制导过程，并进行了拦截全过程仿真验证。仿真结果表明，所提制导方案能有效拦截高速高机动目标，提高载机防护能力。关键词：导弹防御；协同制导；轨迹规划；多约束条件；机动目标

Traditional means of aircraft defense, such as infrared decoy and radar jammings, are not able to achieve satisfying performance when confronted with advanced incoming air-to-air missiles. Under such condition, it is more effective to intercept incoming missiles by launching defensive missiles. This defense approach has significant values and a wide range of application. This thesis studies on the midcourse and terminal cooperative guidance laws for intercepting highly maneuvering target in the aircraft defense scenario. The main research work and innovations are concluded as follows:(1) A novel cooperative guidance method considering time-varying speed, impact angle and impact time is proposed to address the two-dimensional midcourse guidance problem of inaccurate prediction of time-to-go and undeterministic control of terminal constraints. A missile kinematic model involving engine thrust and drag force is built. The flight trajectory is designed based on Bezier curves and has two phases. The impact angle constraint is satisfied by making the missile fly along the designed straight terminal phase trajectory. The entire trajectory length and maximum trajectory curvature are controlled by tuning the phase-switching point position. Linear quadratic regulator based tracking algorithm is used to track the desired trajectory. Numerical simulations demonstrate that the proposed two-dimensional cooperative guidance can control the impact angle and flight time under variable speeds and autopilot lags.(2) To solve the problem that two-dimensional midcourse guidance relies on three-dimensional kinematics decomposition, a novel cooperative guidance law is proposed based on log-aesthetic space curves. A three-dimension missile kinematic modelling is built and Frenetic frame is introduced to describe the geometry characters of the three-dimensional flight trajectory. A two-phase trajectory based on Log-aesthetic space curve is designed. The impact time control and missile’s maximum acceleration limit is achieved by adjusting the phase-switching point along the terminal straight course. Numerical simulations demonstrate that the proposed three-dimensional cooperative guidance can control the impact angle and time as expected, which can be further used for the formation flight of missile team.(3) To intercept high-speed, highly maneuvering target, a novel intercepting formation and strategy for defensive missiles are proposed. The engagement geometry is analyzed from the perspective of reachable set and equal time line, which leads to a modified necessary condition for zero-miss-distance interception. Based on this, an interception strategy is derived by covering the target’s reachable set with the union of the missiles’ reachable sets. The disadvantage of defensive missiles’ flight performance is compensated by their quantity advantage, which further leads to the engagement advantage. Numerical simulations demonstrate that the proposed cooperative strategy can be used to intercept high-speed, highly maneuvering target. The missile team using this strategy can be easily extended to improve interception performance. Moreover, the proposed strategy is applicative for a diversified missile team. (4) A launch planning process is designed to combine the proposed midcourse and terminal guidance methods in for the aircraft defense scenario. A six-degree-of-freedom numerical simulation platform including dynamic models and flight control systems of aircraft and missiles is established. Base on the predicted flight trajectory of the target, the whole-process simulation, consists of missile launch, midcourse guidance and terminal guidance, is conducted. The simulation results verify that the proposed midcourse guidance and interception strategy can intercept superior, high speed and highly maneuvering target effectively, which offers great value in military application.Keywords: Missile defense; cooperative guidance; trajectory planning; multi-constrainted condition; maneuvering target