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Aiming at the problem of limited field-of-view of air-to-air missile during cooperative attack, a cooperative guidance law with field-of-view angle and impact point attitude constraints is proposed. After the engagement geometric model between the missile and the maneuvering target is established in the vertical plane, the guidance law is designed. Firstly, based on the time-varying sliding mode surface, the guidance law of the normal direction of the line of sight is designed, and the integral obstacle Lyapunov function is selected to ensure that the missile can stably track the target during the attacking process, and the missile can attack the target at the expected impact point angle. The integral obstacle Lyapunov function is selected to prove the convergence of the guidance law. Secondly, on the basis of estimating the remaining time of the attack, a guidance law with time constraints is designed to ensure that the missile hits the target at the preset time. Finally, the feasibility of the guidance law is verified by simulation in three scenarios.