针对多UAV在空间路径跟踪下的协同编队控制问题,设计了一种机动指令决策算法。对单架UAV的路径跟踪引入视距导航算法并进行改进,得到航迹方位角和航迹倾斜角的参考指令;对于多UAV协同编队控制,应用图论知识得到空速大小的参考指令;依据参考指令,通过函数解析与数值编程相结合的方法计算出机动指令。仿真结果表明,该算法能够有效控制多UAV从任意初始状态进行预期的路径跟踪协同编队飞行。 Aiming at the cooperative formation control of multi-UAV under the space path tracking, a maneuver decision algorithm is designed. The path navigation algorithm of single-bay UAV is introduced and improved to obtain the reference commands of track azimuth and track tilt angle. For multi-UAV cooperative formation control, airspeed reference command is obtained by applying graph theory. Based on Reference instruction, through the function analysis and numerical programming combined method to calculate the motor instruction. The simulation results show that this algorithm can effectively control the multi-UAV from any initial state for the expected path-tracking cooperative flight.