The implementation of advanced guidance laws with bearings-only measurements requires estimation of the range information.\nTo improve estimation accuracy and satisfy the impact angle constraint, this paper proposes a two-phase optimal guidance law\nconsisting of an observing phase and an attacking phase. In the observing phase, the determinant of Fisher information matrix is\nmaximized to achieve the optimal observability and a suboptimal solution expressed by leading angle is derived analytically. Then,\na terminal sliding-mode guidance law is designed to track the desired leading angle. In the followed attacking phase, an optimal\nguidance law is integrated with a switching termto satisfy both the impact angle constraint and the field-of-view constraint. Finally,\ncomparison studies of the proposed guidance law and a traditional optimal guidance law are conducted on stationary targets and\nmaneuvering targets cases. Simulationresults demonstrate that the proposed guidance law is able to improve the rangeobservability\nand achieve better terminal performances including impact angle accuracy and miss distance.
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