Two-dimensional cooperative guidance method for free control time of initial track angle

The invention provides a two-dimensional cooperative guidance method for free control time of an initial track angle. The method is characterized by comprising the steps of calculating an expected flight distance, determining a trajectory search initial value, determining an expected attack angle, calculating a control point of a bezier curve, calculating a bezier trajectory length, adjusting the size of an initial track angle according to the bezier trajectory length, adjusting parameters by using an adaptive mesh direct search algorithm, adjusting the initial track angle in the flight process in real time according to the real flight speed, tracking the trajectory in real time and other calculation steps. According to the method, on the basis of a bezier curve length monotonicity change rule, a dichotomy and the adaptive mesh direct search algorithm are used for determining the initial track angle, an expected attack angle and a dynamic trajectory adjustment controller, and high-precision control over the a