In midcourse guidance, strong constraints and dual-channel control coupling pose major challenges for trajectory optimization. To address this, this paper proposes an optimal guidance method based on terminal relaxation and range convex programming. The study first derived a range-domain dynamics model with the angle of attack and bank angle as dual control inputs, augmented with path constraints including heat flux limitations, to formulate the midcourse guidance optimization problem. A terminal relaxation strategy was then proposed to mitigate numerical infeasibility induced by rigid terminal constraints, thereby guaranteeing the solvability of successive subproblems. Through the integration of affine variable transformations and successive linearization techniques, the original nonconvex problem was systematically converted into a second-order cone programming (SOCP) formulation, with theoretical equivalence between the relaxed and original problems established under well-justified assumptions. Furthermore, a heuristic initial trajectory generation scheme was devised, and the solution was obtained via a sequential convex programming (SCP) algorithm. Numerical simulation results demonstrated that the proposed method effectively satisfies strict path constraints, successfully generates feasible midcourse guidance trajectories, and exhibits strong computational efficiency and robustness. Additionally, a systematic comparison was conducted to evaluate the impact of different interpolation methods and discretization point quantities on algorithm performance.

To address the challenges of strong nonlinearity, stringent terminal constraints, and the trade-off between computational efficiency and accuracy in the midcourse guidance trajectory optimization problem of aerodynamically controlled interceptors, this paper proposes a variable-discrete-scale sequential convex programming (SCP) method. Firstly, a dynamic model is established by introducing the range domain to replace the traditional time domain, thereby reducing the approximation error of the planned trajectory. Second, to overcome the critical issues of solution space restriction and trajectory divergence caused by terminal equality constraints, a terminal error-proportional relaxation approach is proposed. Subsequently, an improved second-order cone programming (SOCP) formulation is developed through systematic integration of three key techniques: terminal error-proportional relaxation, variable trust region, and path normalization. Finally, an initial trajectory generation algorithm is proposed, upon which a variable-discrete-scale optimization framework is constructed. This framework incorporates a residual-driven discrete-scale adaptation mechanism, which balances discretization errors and computational load. Numerical simulation results indicate that under large discretization scales, the computation time required by the improved SOCP is only about 5.4% of that of GPOPS-II. For small-discretization-scale optimization, the SCP method with the variable discretization framework demonstrates high efficiency, achieving comparable accuracy to GPOPS-II while reducing the computation time to approximately 7.4% of that required by GPOPS-II.

In this paper, an online midcourse guidance method for intercepting high-speed maneuvering targets is proposed. Firstly, the affine system is used to build a dynamic model and analyze the state constraints. The midcourse guidance problem is transformed into a continuous time optimization problem. Secondly, the problem is transformed into a discrete convex programming problem by affine control variable relaxation, Gaussian pseudospectral discretization and constraints linearization. Then, the offline midcourse guidance trajectory is generated before midcourse guidance. It is used as the initial reference trajectory for online correction of midcourse guidance. An online guidance framework is used to eliminate the error caused by calculation of guidance instruction time. And the design of discrete points decreases with flight time to improve the solving efficiency. In addition, it is proposed that the terminal guidance capture is used innovatively space to judge the success of midcourse guidance. Numerical simulation shows the feasibility and effectiveness of the proposed method.