A cooperative guidance law that controls impact time and angle can enhance penetration capability and maximize striking effectiveness, thus becoming a current research hotspot. Most existing cooperative guidance laws assume the missile’s flight speed remains constant and overlook the influence of speed variation on arrival time estimation. In this paper, a Bezier curve is adopted as the impact trajectory, with the arrival time estimated based on the velocity profile and the Bezier curve length. After the paper proves that the Bezier curve length increases monotonically with the initial flight-path angle, the arrival time is adjusted through the virtual initial flight-path angle. Assuming that shortening the curve length reduces the arrival time, we prove the proposed algorithm ensures consistency in the estimated arrival time. Simulation experiments are conducted under constant and variable speed conditions, verifying high consistency in impact time while ensuring the accuracy of impact angle control.