then the detection probability of a distributed parallel detection system that consist of multiple distributed detectors is given . ( 2 ) the path planning is studied according to the attacking and the reconnaissance / surveillance mission task requirements (2)本论文对无人机的攻击任务,特别是侦察监视任务进行了分析和研究,根据作战效能评定原则提出了合理的航路评价指标,简便易行,适于实际计算。