This study focuses on the robustness against noise and time lag for the previously proposed guidance method. Proportional navigation (PN) is popular as the missile's terminal guidance law. Proportional navigation provides an optimal input under ideal conditions such as point mass approximation, constant speed and so on. For the accelerating missile, modified proportional navigation (MPN) was proposed. But it assumes constant acceleration. In order to cope with the changing acceleration, we improved modified proportional navigation to guide the missile more optimally by adjusting gains. We succeeded in improving the performance, however no consideration was given to noise or time lag. In this paper, the robustness against noise and time lag is demonstrated with some representative simulations. Also, consider the method of determining the gain used in the proposed method from the perspective of the dimension of time to go (t_(go)). In the full paper, we are going to show the method to determine the required lateral acceleration which considering unknown time constant, disturbance, and noise.
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