A novel two-stage guidance law based on the virtual target is proposed to improve the performance of multiple missiles for long-range and effective penetrations.The guidance process is divided into the midcourse guidance and terminal guidance by a set of virtual targets on the periphery of hostile defense systems.In the midcourse guidance stage, the design of guidance law with impact time and angle constraints is transformed to the optimal control problem, and the missiles are controlled to arrive at the virtual targets at given time and angle.The final states of the cooperative missiles at the virtual targets are selected as the initial parameters of the terminal guidance.In the second stage, the decentralized coordination algorithm is proposed on the basis of the impact time control and consensus theory.Numerical simulations demonstrate that the proposed two-stage guidance law is feasible and effective to achieve the salvo attack of multiple missiles satisfying impact time and angle constraints.