【摘要】 多弹协同是导弹制导领域近年来重要的研究方向。本文基于任务需求、通信结构、约束条件等分类标准，对当前多弹协同末制导策略进行分类总结，对时间协同制导律、空间协同制导律、时空协同制导律的研究现状进行梳理，分析了现阶段协同制导面临的关键问题，如剩余飞行时间估计问题、机动目标协同拦截问题、闭环协同制导信息配准问题、闭环协同弹间通信问题等，提出了未来多弹协同末制导技术的4个研究方向：大机动目标协同拦截技术、面向真实场景的鲁棒协同制导技术、智能化自主化协同制导技术、协同作战并行交互式设计技术。更多还原

【Abstract】 Cooperative guidance is an important research direction in the field of missile guidance in recent years. Based on the classification criteria such as mission requirements, communication structure, constraints, etc., this paper classifies and summarizes the current multi-missile cooperative terminal guidance strategies, and combs the research status of time cooperative guidance law, spatial cooperative guidance law, and spatial-time cooperative guidance law. It analyzes the key issues for cooperative guidance at this stage, such as the estimation problem of remaining flight time, the cooperative interception problem of maneuvering targets, the information registration problem of closed-loop coope rative guidance, the communication problem of closed-loop cooperative missile, etc. Finally, this paper proposes four research directions of the future multi-missile cooperative terminal guidance technologies: cooperative interception technology for large maneuvering targets, robust cooperative guidance technology for real scenes, intelligent autonomous cooperative guidance technology, and parallel interactive design technology for cooperative operations.更多还原