使用半主动激光寻的制导的155毫米炮射导弹——称作“铜头蛇”的已被研制用于改善攻击运动的硬点目标的炮射效率。从要满足极高的精度和足以能承受9000g的炮射峰值载荷的要求来研究“铜头蛇”制导和控制方案。适合于重力偏差比例导航的设计思想的折衷考虑通过使用光学耦合陀螺的捷联导引头、气动力尾翼控制和滚动位置控制实现了。使用俯仰/偏航陀螺仅仅是在发射后为导弹确定一个垂直基准。在研制期间所研制的方案曾经过8～12次飞行试验得到了充分的验证。 Guided 155mm artillery guided missile using semi-active laser seeker - A copperhead snake has been developed to improve the shooting efficiency of hard-spot targets for attacking motions. The “copperhead snake” guidance and control scheme was studied from the point of view of meeting the requirements of high accuracy and the ability to withstand a 9000g peak shot load. Eclectic Considerations for Design Proposals for Proportional-Gravity Proportional Navigation Made possible by the use of a strap-on seeker with optically coupled gyros, aerodynamic tail control and roll position control. Using a pitch / yaw gyro only determines a vertical reference for the missile after launch. During the development of the program developed by 8 to 12 flight tests have been fully verified.