Multi-unmanned ship collaborative interception method based on angle constraint

The invention discloses a multi-unmanned-ship collaborative interception method based on angle constraint. The method comprises the following steps of (1) obtaining control signals of all unmanned ships based on a preset unmanned ship kinematic model and a preset unmanned ship kinetic model, and performing formation; and (2) in a formation stage, determining a pilot unmanned ship and a following unmanned ship, and constructing an unmanned ship formation based on consistency. Judging whether an incoming unmanned ship exists in a preset range or not; (3) simplifying a task environment into a two-dimensional plane, acquiring task environment information of each unmanned ship in the unmanned ship formation at the current moment, and dividing a task into a tracking stage and an interception stage; (4) a tracking stage: enabling the unmanned surface vehicle to move towards the incoming unmanned surface vehicle according to a navigation-following formation strategy; in the intercepting stage, all the unmanned ships