The efficacy of a munition depends on target detection, navigation, guidance, tracking and control; in fact, even more so if the target is moving. This paper is concerned with flight dynamics of a munition in atmosphere under proportional navigation guidance augmented with drag and gravity to intercept an evasive ground target. Three-dimensional flight of the munition and its pitch and yaw motion model are developed and simulated. The forward and lateral motion of a target tank on the ground is modeled as second-order Gauss-Markov process. To estimate the target location on the ground and the line-of-sight rate to intercept it an Extended Kalman Filter is composed whose state vector consists of cascaded state vectors of missile dynamics and target dynamics. The line-of-sight angle measurement from the infrared seeker and range measurement from the millimeter wave radar are used in the Kalman Filter for relative navigation of the munition. It is capable of hitting the target with high accuracy as well as minimizing the lateral acceleration demand.
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