在综合考虑飞行器编队的飞行代价和作战效果的基础上,研究了基于任务分配的多飞行器协同航迹规划方法,构建了结合任务分配的飞行器编队协同航迹规划模型,设计了分解式协同航迹规划算法,可以有效地对多目标存在的情况进行综合权衡,得到合理的任务分配和航迹规划方案.仿真算例表明,这种航迹规划方法不仅能保证各飞行器选择合理的协同航迹,也使得作战任务可以获得最佳作战效果,有效地提高编队作战的效费比. After considering the flight cost and combat effectiveness of the aircraft formation, this paper studies the cooperative trajectory planning method of multi-aircraft based on mission assignment, constructs the cooperative flight path planning model of aircraft formation with the task assignment, and designs the decomposition cooperative trajectory Planning algorithm can effectively balance the multi-objective existence situation and get a reasonable task allocation and trajectory planning program.The simulation example shows that this trajectory planning method can not only ensure that each aircraft chooses a reasonable coordination trajectory, Also makes the combat mission can obtain the best combat effectiveness, effectively improve the battle effectiveness cost ratio.