以海面舰艇编队为背景，研究多平台舰载雷达侦察设备在协同侦察情况下对空中目标测向定位与跟踪问题。
On background of warship formation on sea, bearing location of aerial target with multi-platform cooperative reconnaissance is discussed in this paper.
例如，无人机协同侦察和攻击有时需要到达要求的终止位置同时具有正确的机头指向，并且保证花费的时间最小。
For example, UAV integrated reconnaissance and attack functions sometimes need to arrive at its terminal position with right heading angles and cost the minimum time.
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