To enhance the cooperative operation pattern of unpowered aircraft and solve the problem of spatiotemporal aggregation of both evader cluster and pursuer cluster, a cooperative strategy is proposed to ensure consistent encounter time and encounter position for each pursuit-evasion group. With the cooperative strategy, the trajectory is solved quickly based on improved Sequential Convex Programming (SCP). The cooperative strategy of evader cluster is designed, and the solution model for multiple pursuit-evasion groups can be transformed into a trajectory optimization problem under the constraints of fixed coordination time and coordination position for each group to be solved in a distributed manner. To satisfy the demands of precision and real-time guidance, this paper integrates the Receding Horizon Control (RHC) to update the coordination time and coordination position during flight, and solve the trajectory optimization problem in real time. The simulation results show that under the set initial state range, the cooperative strategy can promote the consistency of the encounter time and position of all pursuit-evasion groups. Improved SCP can solve the two-side spatiotemporal aggregation problem quickly in real time when combined with RHC.
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