Then we introduced a systematic camera planning algorithm with four phases including path planning, path smoothing, trajectory planning and orientation planning.

之后本文提出一个完整的摄像机规划算法，包括路径规划、路径平滑、轨迹规划和视角规划四个阶段。

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This guidance law can satisfy the requirements of miss distance and terminal Angle, thus it guarantees that all phases of the large-space variable trajectory smoothly link.

该导引律能同时满足脱靶量要求和末端落角要求，保证了大空域变轨弹道的各段弹道平滑衔接。

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