本文就计及弹体－自动驾驶仪惯性的高阶受控对象，基于二次型性能指标，导出了以剩余飞行时间及对象动力学系数为参变量的通用最优制导指令解析表达式，提出只需将终端飞行时刻更改为交班时刻，并按相应更改的剩余飞行时间算法，便可获得使交班误差为最小的最优中制导指令。仿真结果表明所作分析与设计是有效的。 Based on the quadratic performance index, this paper derives the analytical expression of general optimal guidance order taking the remaining flight time and the dynamic coefficient of the object as the parameters, and puts forward the analytical expression of general optimal guidance order, which takes into account the inertia of the projectile-autopilot. Simply change the terminal’s flight time to the shift-on-time, and according to the corresponding change of the remaining flight-time algorithm, you can get the best mid-course guidance to minimize the shift error. The simulation results show that the analysis and design are effective.