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Japanese made one in 1945 for Ke-Go IR guided bomb (though they didn't have time to put her into service), and US designed at least two IR seekers for Navy & Army guided bomb programs. But this was bomb seekers: they were designed to hit the relatively large target on surface.Putting IR seeker on Wasserfall would be a two order of magnitude more complex task, because it would need to hit a target in 3D space, homing on it on supersonic speed & dealing with relatively small IR signature. If I recall correctly, the first IR seeker capable of something like that was Sidewinder's one in early 1950s.
Japanese made one in 1945 for Ke-Go IR guided bomb (though they didn't have time to put her into service), and US designed at least two IR seekers for Navy & Army guided bomb programs. But this was bomb seekers: they were designed to hit the relatively large target on surface.
Putting IR seeker on Wasserfall would be a two order of magnitude more complex task, because it would need to hit a target in 3D space, homing on it on supersonic speed & dealing with relatively small IR signature. If I recall correctly, the first IR seeker capable of something like that was Sidewinder's one in early 1950s.