The integrated guidance and control design of ground missiles with angular constraints can effectively improve the guidance precision and destructive effect of missiles, which has become a hot topic in recent researches.Firstly, the integrated model of small air-to-ground missiles in pitch plane was established.It was transformed into a linear system containing angular constrain in order to achieve the angular constraint.Then, the linear quadratic optimal control method was used to design the integrated optimal control law of missiles with angle constraint.Finally, simulation was made to compare the designed control law with the sliding mode variable structure control law.The simulation results show that the optimal control law can not only ensure the accuracy of the missile guidance with angular constraint, but also can guarantee smooth trajectory and shorten the time of guidance, which shows good performance for missiles.