Shaped charge penetrator into soil–concrete double-layered target

•We present an analytical model for shaped charge penetrator into soil-concrete double-layered target.•The influence of the soil/concrete interface of a shaped charge penetrator in a soil-concrete double-layered target is discussed.•The reflection and transmission at the soil/concrete interface which remarkably reduce penetration velocity have a significant effect on penetration depth.•Despite the smaller density and strength of soil compared with concrete, the penetration depth in the concrete target was greater than that in the soil-concrete double-layered target.•The predicted penetration depth via theoretical analysis was in good agreement with experimental results.