Multi-aircraft cooperative intelligent decision-making and trajectory online planning method and system, and medium

The invention provides a multi-aircraft cooperative intelligent decision-making and trajectory online planning method and system and a medium, and is realized based on multi-target dynamic allocation, and the method comprises the steps: integrating a battlefield environment, a target situation and the information of aircrafts, and constructing a multi-dimensional target dominance model and a hierarchical planning strategy; dynamically obtaining an optimal strike target in combination with a reinforcement learning method, and outputting an optimal target distribution matrix; performing convex processing on a multi-aircraft cooperative formation trajectory planning problem based on a multi-target dynamic allocation result, and converting a nonlinear problem into a linear problem; and calculating a solution of the linearized multi-aircraft cooperative formation trajectory planning problem by using a convex optimization solver, and outputting a convergence solution. According to the method, the problem of collabo