Optimality of Augmented Ideal Proportional Navigation for Maneuvering Target Interception

The augmented ideal proportional navigation guidance law is derived as the closed-loop nonlinear optimal feedback solution for maneuvering target interception. The derived guidance law minimizes a performance index that is similar to the range-weighted control energy of relative motion. The optimal solution is obtained without any linearization of the engagement kinematics or assumption of a near-collision course condition. A method to implement the optimal guidance solution for a constant-speed pursuer is also proposed.