In this paper we consider the problem of planar homing guidance for a vehicle with a known heading angle traveling to a beacon with unknown location and using only a measurement of binary range-rate. We present a planar homing guidance law utilizing a sliding mode controller and an observer. This guidance law does not require knowledge of the vehicle's location, the closest points of approach for multiple headings, or the time history of binary range-rate measurements. We also present this guidance law's response to initial conditions and measurement errors. This approach provides a method of low-cost, autonomous homing-guidance that utilizes a single, omnidirectional receiver to guide a vehicle to a single, omnidirectional transmitting beacon.
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