This paper considers the situation that our high-value aircraft launches two defender to intercept the interceptor when it is faced with interception by the other interceptor. Based on the optimal control theory, an explicit cooperative guidance law with relative interception angle at the end of interception is designed under the assumption that all four aircraft have first-order linear dynamic characteristics. The explicit cooperative guidance law takes into account the cooperation of high-value aircraft and two defenders, and gives the analytical solution of the optimal control input of the three objects. The simulation results show that the designed guidance law can make the two defenders intercept the interceptor successfully, and impose a relative interception angle at the end of the interception. By comparing with the implicit cooperative guidance law which only considers two defenders, the explicit cooperative guidance law is superior to the implicit cooperative guidance law in control requirements and energy consumption. In addition, the stability of the cooperative guidance law under different launching conditions is verified.
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