To address the problem of depletion shutdown precise guidance for a long-range vehicle in large deviation condition, an online guidance algorithm based on Bezier curves and zero-range orientation (ZRO) is proposed under the conditions of thrust magnitude deviation, thrust direction deviation, mass flow rate deviation, and depletion shutdown time deviation of the solid divert control system. First, the mapping relationship between the apparent velocity to be gained (AVTG) and the impact deviation is analyzed based on the variational principle. The AVTG is solved with the Newton iterative method in the designed AVTG solution plane. Then, in the plane spanned by the AVTG and the ZRO, the key parameters of the Bezier curve are solved to obtain the Bezier energy management curve by taking the apparent acceleration direction and the angular velocity of the energy management terminal as the ZRO and zero, respectively, as constraints, which effectively reduces the influence of the solid divert control system performance parameter perturbation. Finally, the feedback linearization method is applied to track the Bezier energy management curve. A detailed simulation experiment is designed to analyze the advantages and computational complexity of the proposed algorithm. The Monte Carlo simulation results show that the proposed algorithm has high precision and good robustness, and the 3σ error of the proposed algorithm is 2.58 m. On the STM32F407 single-chip microcomputer, the proposed algorithm takes 25.38 ms, which demonstrates good real-time performance and a certain engineering application value.
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