In this paper,a new homing guidance method is used to control the flying time and falling angle for guided missiles. Through this approach,it finds the approximate solution to the quadratic equation of time-togo,which is used for the formula derivation of the flying time control command. In this guidance law design,the acceleration rate control command is adopted. The guidance law is composed of a PN guidance command and a flying time control command. Firstly,it obtains a desired falling angle with accurate guidance. Secondly,it introduces to satisfy the constraint of flying time. The flying time control requires an assumption on the future evolution of missile,which is called time-to-go. To cope with the time-varying speed of missiles,a method of compensating the estimation of time-to-go is presented. The new guidance law is evaluated by using a simulation of typical terminal guidance for rocket-propelled torpedo. The simulation results show that the guidance achieves excellent control performance and exhibits insensitivity to initial trajectory parameter over a widen flight envelope. In this paper, a new homing guidance method is used to control the flying time and falling angle for guided missiles. Through this approach, it finds the approximate solution to the quadratic equation of time-togo, which is used for the formula derivation of the flying time control command. In this guidance law design composed of a PNG guidance command and flying time control command. Secondly, it introduces to satisfy the constraint of flying time. The flying time control requires an assumption on the future evolution of missile, which is called time-to-go. The new guidance law is evaluated by using a simulation of typical terminal guidance for rocket-propelled torpedo. The simulation results show that the guidance achieves excellent contro l performance and exhibits insensitivity to initial trajectory parameter over a widen flight envelope.