Fig. 5

Model parameters and fit under each guidance law.a–c proportional pursuit (PP), fitted independently to each flight; d–f proportional navigation (PN), fitted independently to each flight; g–i mixed (PP + PN) guidance law, fitted independently to each flight; j–l mixed (PP + PN) guidance law, fitted globally to all flights.a, d, g histograms showing the prediction error ε of the best-fitting model for each flight, where the solid and dashed red lines denote the median prediction error \(\tilde \varepsilon\) and its bootstrapped 95% confidence interval;b, e, h histograms showing the best-fitting guidance constant K (magenta) and/or N (blue) for each flight; c, f, i histograms showing the best-fitting delay τ for each flight. j–l Surface plots showing how median prediction error \(\tilde \varepsilon\) for all flights varies as a function of each pair of the parameters N,K and τ of the mixed guidance law, holding the third parameter constant at its best-fitting value. Surface colour denotes surface height; red dot denotes location of global optimum