针对导弹导引头视场角受限情况下的落角约束或攻击时间约束末制导问题，提出了基于相对距离剖面高阶重塑的多约束末制导律设计方法。首先，针对二维平面末制导模型构建仅含视场角的辅助变量，设计参考弹目相对距离剖面为该辅助变量的高阶多项式。其次，利用制导初始和终端边界条件求解部分剖面参数，通过对辅助变量转化方程进行终端约束积分，给出待解参数的表达形式。进一步，基于模型转化分别给出参考剖面驱动的角度约束制导律和时间约束制导律。同时，为了保证导引头视场角连续衰减特性，给出了剖面参数满足条件，并基于此推理了角度约束和时间约束可达域的显式表征形式。与已有角度约束或时间约束剖面重塑制导律不同，本文设计了一种通用型n阶距离剖面重塑制导方法，不仅具有更宽的约束可达域，而且方便设计/工程人员选取和分析任意阶次重塑剖面下的制导特性。此外，针对不确定或扰动下理想剖面重塑过程存在的剖面偏差问题，对制导律进行了剖面跟踪偏差补偿与鲁棒修正，从而提升复杂工况下的多约束制导精度。最后，通过多种工况下的数值仿真对比分析，以及蒙特卡洛打靶仿真测试，验证了所设计制导律的有效性和鲁棒性。

Aiming at the problem of terminal guidance with angle of fall constraint or attack time constraint under the condition of limited field-of-view of missile’s seeker, a multi-constraint terminal guidance law design method based on high-order reshaping of relative range profile is proposed. Firstly, an auxiliary variable containing only field of view angle is con-structed for the two-dimensional plane terminal guidance model, and a high-order polynomial with the reference mis-sile-target relative range profile as the auxiliary variable is designed. Secondly, some profile parameters are solved by using the initial and terminal boundary conditions of guidance, and the expression form of the parameters to be solved is given by performing terminal constraint integration on the auxiliary variable transformation equation. Furthermore, the angle-constrained guidance law and time-constrained guidance law driven by reference profile are given respec-tively based on model transformation. At the same time, in order to ensure the continuous attenuation characteristics of the seeker’s field-of-view, the conditions for the profile parameters to be satisfied are given, and based on this, the explicit representation form of the reachable domain of angle constraint and time constraint is inferred. Different from the existing guidance law with profile reshaping, this paper designs a general n-order range profile reshaping guid-ance method, not only wider achievable constraint sets are obtained, but also better convenience is provided for de-signers/engineers to analyze the reshaping guidance law performance under arbitrary orders. In addition, in order to solve the profile deviation problem in the ideal profile reshaping process under uncertainty or disturbance, the guid-ance law is compensated for profile tracking deviation and robustly corrected, thereby improving the multi-constraint guidance accuracy under complex working conditions. Finally, the effectiveness and robustness of the designed guid-ance law are verified through numerical simulation comparison analysis under various working conditions and Monte Carlo tests.