Multi-form cooperative penetration flight path planning and voyage adjusting method based on geometric curve

The invention discloses a multiform cooperative penetration flight path planning and voyage adjusting method based on a geometric curve. The method comprises the following steps: acquiring aircraft performance parameter information, flight path constraint information and target situation information; setting a required flight path planning form for each aircraft individual; selecting a cooperative penetration strategy; according to task requirements, the arrival time requirement is converted into voyage constraint, and voyage adjustment is carried out; and if the voyage adjustment cannot be executed, re-planning the track. According to the method, circles and straight lines are flexibly combined, a defense penetration strategy is designed by adopting three flight path planning modes based on task requirements of simultaneous attack and sequential attack, and a flight range adjustment method for different flight path planning modes is constructed. 本发明公开了一种基于几何曲线的多形式协同突防航迹规划和航程调整方法，包括：获取飞行器性能参数信息、航迹约束信息和目标态势信息；