MainframeIndex = 0
prev_time = 0
prev_target_position = nil
prev_update_time = nil
prev_missile_positions = {}

function Update(I)
  local current_time = I:GetTime()
  local delta_time = current_time - prev_time
  prev_time = current_time

  local num_targets = I:GetNumberOfTargets(MainframeIndex)
  -- Check if there are any enemies present
  if num_targets == 0 then
    return
  end

  local target_info = I:GetTargetInfo(MainframeIndex, 0)
  if target_info ~= nil then
    local target_position = target_info.Position
    local target_velocity = target_info.Velocity * delta_time

-- Loop through all transceivers and missiles
for transceiver_index = 0, I:GetLuaTransceiverCount() - 1 do
  local num_missiles = I:GetLuaControlledMissileCount(transceiver_index)
  for missile_index = 0, num_missiles - 1 do
    local missile_info = I:GetLuaControlledMissileInfo(transceiver_index, missile_index)
    local current_missile_position = missile_info.Position
    local missile_speed = missile_info.Velocity.magnitude

    -- Predict target position with basic lead
    local predicted_target_position = target_position + target_velocity * delta_time

    -- Improve accuracy using proportional navigation guidance
    local target_direction = (predicted_target_position - current_missile_position).normalized
    local guidance_factor = 1.5 -- adjust this value for desired responsiveness
    local proportional_term = guidance_factor * Vector3.Cross(target_velocity, target_direction) / missile_speed^2

    -- Check for nil values before calculating
    if prev_target_position ~= nil and prev_missile_positions[missile_index] ~= nil then
      -- Utilize previous missile positions and target info for future predictions
      local previous_missile_position = prev_missile_positions[missile_index]
      local target_acceleration = (target_position - prev_target_position) / delta_time - target_velocity
      predicted_target_position = predicted_target_position + proportional_term + target_acceleration * delta_time
    else
      -- Use basic lead if previous information is unavailable
      predicted_target_position = predicted_target_position + proportional_term
    end

    -- Detonate the missile if within 2 meters of the target
    local distance_to_target = Vector3.Distance(current_missile_position, target_position)
    if distance_to_target <= 9 then
      I:DetonateLuaControlledMissile(transceiver_index, missile_index)
    end

    -- Update aim point and store current position
    I:SetLuaControlledMissileAimPoint(transceiver_index, missile_index, predicted_target_position.x, predicted_target_position.y, predicted_target_position.z)
    prev_missile_positions[missile_index] = current_missile_position
  end
end

-- Update previous values for next iteration
prev_target_position = target_position
prev_update_time = current_time
  end
end