Tracking trajectory optimization method for task grading target motion characteristics

The invention relates to a task grading target motion characteristic-oriented tracking trajectory optimization method, which adopts BCRLB as a measurement function of a resource allocation model for target tracking performance, considers targets with different threat degrees and possible flight switching conditions with wing aircrafts during target motion, sets threat degrees for the targets with different threat degrees, and optimizes the target tracking performance according to the threat degrees. The method comprises the following steps: aiming at a flight switching condition which possibly seriously affects the target tracking performance, setting an attenuation factor, taking the level flight speed and the turning speed of a wing plane as optimization variables, taking minimization of a target estimation state error as a target, and establishing a resource allocation model on the premise of meeting various constraints; the motion state of each wing aircraft at each moment is obtained, then the flight tra