CADAC implementation of line guidance

9.2.4.5 For the five-DoF CAD AC implementation, the guidance law is programmed in the Cl Guidance Module and provided with the necessary input from the INS Module S4, possibly updated by seeker information (see Fig. 9.28). Two components of the acceleration signal are converted to units in gs and sent as normal acceleration command aNc and lateral acceleration command aLc to the autopilot (see Autopilot Sec. 9.2.3.1).

The key input parameters are the guidance gain К, the bias gain G, and the representative norm-distance d. The autopilot will convert the lateral acceleration commands to bank-angle commands if the vehicle is an aircraft or cruise missile.

You can find the line guidance law used in the CADAC CRUISE5 simulation for waypoint guidance and approach to an IP. Given these examples, you should be able to adopt line guidance to your particular needs.