为解决军事对抗训练中作战飞机协同编队飞行进袭态势的构建问题，提出一种多无人机协同编队飞行设 计方法。采用单机个体路径跟踪控制与多机群体集中控制的综合设计方法，设计多无人机协同编队飞行总体架构， 建立多无人机之间的相对运动关系模型，给出飞行实施的控制策略，通过仿真实例验证了多机协同编队控制效果。 仿真结果表明：多无人机协同编队控制方式能够实现跟随机对领航机航迹的跟踪，可有效解决在3 维空间的编队 控制。
In order to solve the problem of cooperative formation flight of combat aircraft in military confrontation training, a cooperative formation flight design method for multi-UAVs is proposed. Using the integrated method of individual path tracking control and group centralized control, the architecture of multi-UAVs cooperative formation flight is designed, the relative motion relationship model between multi-UAVs is established, and the flight implementation control strategy is given. The simulation example verifies the effectiveness of multi-UAVs cooperative formation control. The simulation results show that the cooperative formation control method of multi-UAVs can track the pilot tracks randomly and effectively solve the formation control in 3D space.