Abstract:When the two UAVs perform the mission together, the follower cannot fully obtain the state of the leader due to interference from enemy radars and weapons. In order to ensure that the follower can follow the leader as much as possible. This paper proposes a method of tracking and tracing combined with IMM algorithm and adaptive differential evolution (JADE) algorithm. First, the JADE algorithm is used to optimize a smooth route for the leader. At the same time, the motion state of the leader is estimated by using multiple maneuver models. Secondly, according to the estimated information, determine the following track point generation range of the follower. Finally, design the follower fitness function and optimize to generate the next track point. Experiments show that only 8.8% of the track points are outside the range of detection, and can return to the ideal position in a short time, and the two UAVs can maintain coordination in time and space.