A multi-stage combination trajectory design and pose switching control strategy is proposed to address the problem of vertical launch missiles flying around and attacking targets in the opposite direction. Firstly, a model for vertical launch tactical missile motion was established, by using quaternions to represent the attitude rotation matrix. By timely switching the rotation order, it was calculated as the missile attitude angle, adapting to the range of attitude angles for vertical launch diffraction attacks. Secondly, a segmented design was carried out for the diffraction attack trajectory, dividing the entire trajectory into four sections: vertical turning section, diffraction preparation section, diffraction turning section, and final strike section. The control strategies for pitch/yaw/roll three channels of each section of the trajectory were provided; and the transition models for different stages of trajectory were established, and the control methods under different control strategies were provided to achieve the stable flight diffraction and target attack of vertically launched missiles. Finally, taking a certain type of vertically launched tactical missile as an example, the effectiveness of the present method was verified through the comparative simulation. Monte Carlo simulation showed that the miss distance was less than 0.15 m, and the expected yaw angle error of the strike was less than 2°.
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