Abstract: To deal with the guidance problem of intercepting ground fixed target, a two-dimensional polynomial guidance law was proposed based on a nonlinear engagement dynamics model for the missile. The main feature of this guidance law is that it not only accurately satisfies the terminal impact angle constraint, but also minimizes the specific cost function. Moreover, the closed loop system states can be analytically derived, which realize quantitative analysis for the system states. The effectiveness of the proposed guidance law was verified by numerical simulations.