Method and apparatus for optimal guidance

A system for guiding a steerable object, such as a torpedo, from a launch site, such as a submarine, to a contact or target. The system generates two distinct sets of guidance commands. One set is based upon a guidance command model that is selected to be the optimal model for a given tactical situation; the other, for a situation in which a communications path between the launch site and steerable object fails. At the steerable object, an integrity detector determines the integrity of the communications path. A command receptor and storage unit receives the two sets of signals corresponding to the two sets of selected commands. The one set is passed along so long as the communications path has integrity. Otherwise the system defaults and pursues guidance according to the second set of commands.