本文讲述一种能使导弹增加射程并改进拦截性能的复合中制导末制导律。我们推导了三维飞行的中制导/末制导闭合回路非线性最佳制导规律的解析解。在中制导过程中,当目标方向改变时,这种复合制导律能很快地修正导弹弹道。在中制导向末制导交班时刻的航向误差为零。在惯性坐标系或导引头坐标系中,制导算法采用反馈形式。这些制导律在弹上实践很简单,并已成功地进行了联机操作。 This article describes a composite guidance system that can increase the range of missiles and improve the interception performance. We derive the analytical solution of the nonlinear optimal guidance law of the mid-guidance / final guidance closed loop in three-dimensional flight. During the guidance process, the composite guidance law can quickly correct the missile trajectory when the target direction changes. The heading error at the end of the guidance-to-pilot shift was zero. In inertial or seeker coordinates, the guidance algorithm takes the form of feedback. These guidance laws are very simple to implement on the bombs and have been successfully operated online.