Abstract:A trajectory planning method has been proposed for the formation cooperative flying of multi-hypersonic vehicles based on the multi-stage modeling and adaptive pseudo-spectral method. Firstly, the dynamic model of a hypersonic vehicle is introduced. Then, the terminal constraint and formation keeping constraint are presented for the formation cooperative flying problem, and the trajectory is divided into three stages: formation form, loose formation and tight formation. On this basis, a comprehensive performance index is presented. Furthermore, the formation cooperative trajectory planning method is proposed based on the hp adaptive Radau pseudo-spectral method and sequential quadratic programming. Finally, the validation of the proposed method is verified by a group of simulation experiments.