Abstract: In terms of intercepting endoatmospheric maneuvering targets, a differential geometric guidance law is designed based on a generalized differential geometric guidance scheme. Different from forcing the line of sight rate to converge to zero in finite time, a sliding surface is adopted where the line of sight rate asymptotically converges to zero as the relative distance between the missile and the target decreases. Considering the peaking phenomenon of observer estimating target acceleration in the initial stage and the stability difficult to prove for observerembedded guidance laws, target acceleration is regarded as a disturbance with unknown bound and a doublepower adaptive law is proposed to estimate the bound. A modification term is used to eliminate the influence on stability of saturation function replacing sign function and the asymptotic stability of the proposed guidance law is guaranteed by stability analysis. Simulation results indicate that the designed differential geometric guidance law is able to effectively intercept maneuvering targets. In addition, the overload distribution is reasonable and the less energy consumption is required.