第一部份研究了需要速度的显式制导方法，给出了制导公式。
The first part is to discuss the method of explicit guidance of required-velocity, and obtains the formulation of guidance.
仿真表明，采用改进的显式制导，发动机工作时间有所增加，但邻近关机时推力方向平稳。
Simulations show that using the improved explicit guidance, the working time of the engine is increased while the direction of the thrust near shutoff keeps stable.
首先，基于简化的软着陆动力学模型，通过求解特殊两点边值问题，给出了一种实时显式制导方法。
Firstly, based on simplified dynamics of lunar soft landing, an explicit guidance law was induced by solving the special two-point boundary value problem.
首先，基于简化的软着陆动力学模型，通过求解特殊两点边值问题，给出了一种实时显式制导方法。
Firstly, based on simplified dynamics of lunar soft landing, an explicit guidance law was induced by solving the special two-point boundary value problem.
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