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To improve applicability and adaptability of the impact time control guidance (ITCG) in practical engineering, a twostage ITCG law with simple but effective structure is proposed based on the hybrid proportional navigation, namely, the pureproportional-navigation and the retro-proportional-navigation. For the case with the impact time error less than zero, the first stage of the guided trajectory is driven by the retro-proportionalnavigation and the second one is driven by thedoi:10.23919/jsee.2022.000046 fatcat:b3tc53scf5ajvjrpza7gkhpi54