  It is hoped that there will never be a war in the world, but one of the
defensive requirements of any country during the war is the missiles used for
destruction and defense. Todays, missiles movement from origin to destination
is an important problem due to abundant application of missiles in wars. This
is important because of the range of some missiles is low and other are very
high. Parametric indeterminacy are several factors in missile movement
prediction and trajectory such as speed, movement angle, accuracy, movement
time, and situation and direct control. So this research trying to provide a
method based on LQR controller with 3d Kalman filter and then set motion and
specify path without deviations based on Firefly Algorithm. It is expected that
the results of an appropriate evaluation can be obtained by simulating the
MATLAB environment and graphic display of a cruise missile.
