Aiming at the complexity of maneuvering decision making and multi-aircraft coordination in beyond visual range (BVR) air combat, a hierarchical decision-making framework is proposed in this paper. Based on the state decomposition and dynamic transfer rules of air combat process, the decision logic chain is designed, and dynamic target matching is realized by air combat superiority index. An improved consensus based bundle algorithm (CBBA) is proposed to optimize the dynamic assignment of multi-aircraft cooperative guidance tasks by combining the task time window screening mechanism. Simulation results show that the proposed method can effectively improve the decision-making efficiency, and significantly improve the missile hit rate through cooperative guidance and target allocation. The research results can provide theoretical support and technical path for intelligent decision making and multi-aircraft cooperation in BVR air combat.