针对传统多飞行器协同航迹规划适应环境变化的能力较弱的缺陷,提出了多飞行器协同裕度的概念,建立了航迹规划的协同裕度模型,研究了基于协同裕度的多飞行器协同航迹规划方法,提高了编队协同能力,仿真结果验证了改进方法的有效性。 In order to overcome the shortcomings of traditional multi-flight path planning to adapt to environmental changes, the concept of multi-aircraft cooperative margin is proposed, and a collaborative margin model of the flight path planning is established. The multi-aircraft coordinated flight Trace planning method improves the coordination ability of formation and the simulation results verify the effectiveness of the improved method.