For the moving target composed of scatters, the yaw motion is only considered in the simulation for its influence in the result is more significant, so that the amount of computation is reduced.

On the basis of hardware in existence, the algorithm can make use of the journey and provide fidelity sense of pitch, roll, yaw, heave, surge and sway motion.

According to the dynamic equation of relative motion between the missile and the target, Lyapunov stability theory is used to design a new yaw plane guidance law for missiles.