Capability-oriented multi-UAV swarm collaborative action management method, device and medium

Abstract

The present application discloses a capability-oriented multi-UAV cluster collaborative action management method, device and medium. First, the management capability of multi-UAV cluster collaborative action is analyzed from the three aspects of situation management, task management and action management. Then, a functional architecture and control architecture that can support on-demand combination of multi-UAV cluster collaborative action is designed. Finally, based on the functional architecture and control architecture of multi-UAV cluster collaborative action and the components selected based on action tasks, a corresponding action task link model is constructed, and the action task is executed through the action task link model. In response to the rapid application development and emerging uncertainty of multi-UAV cluster actions, the present application proposes a capability-oriented functional architecture and control architecture for multi-UAV cluster collaborative action. Based on the functional architecture and control architecture, on-demand combination and optimized scheduling of multi-UAV cluster capabilities are realized to support efficient completion of action tasks.

Description

Technical Field

[0001] The present invention relates to the technical field of combat system design, and in particular to a capability-oriented multi-UAV cluster collaborative action management method, device and medium. Background Art

[0002] With the development of intelligent unmanned technology, intelligent action has become a new action style. At present, scholars at home and abroad have conducted research on the issue of intelligent unmanned action from different angles and have achieved fruitful research results. The main mode of modern warfare is no longer the action of a single military branch in the past, but a systemic combat of multiple arms coordination. With the rapid development of multi-UAV clusters, how to quickly and effectively manage the coordinated actions of multi-UAV clusters has become a research difficulty. The new combat force contains clustering and systematization characteristics, is parallel in tasks, heterogeneous in attributes, and distributed in functions. The distribution characteristics of intelligent collaborative planning in time, space, function, information and resources make it have stronger working ability and robustness.

[0003] The multi-UAV swarm is like a bee colony foraging, intelligent, orderly and decentralized, automatically forming a stable swarm structure. Using the hyper-network modeling, the entire UAV swarm architecture still has stability and integrity in a certain situation, so that the execution process of the task is guaranteed. This feature allows the members of the UAV swarm to cooperate tacitly, and the progress of completing the task will not be affected by external interference. Based on military communication technology, a variety of sensing, command and attack weapons and equipment are closely linked together, and very complex interactions and relationships occur. The relationship between the internal entities and the entities in the system is integrated to study and establish a combat loop, which can reflect some of the network forms and characteristics of the entire combat system. The sensors, information platforms and weapon attack systems in the battlefield space form an organic military grid, so as to obtain shared battlefield space perception, improve command speed, accelerate the combat process, increase lethality, and improve the survivability and synchronous combat capability of the party. In order to maintain the commanding heights, the United States launched the Cyberin Frastructure program and the TeraGrid (DTF) Phase II program in 2005. The United Kingdom, the Netherlands, Italy, Germany and France in Europe, and Japan and South Korea in Asia have all carried out relevant research on grid computing. IBM, SUN, HP, Platform, Microsoft, NEC, NTT, etc. have also carried out research related to grid computing. In addition, in recent years, there are also some system integration technology and experiment (System of Systems Integration, SOSITE) projects, Collaborative Operations in Denied Environment (Collaborative Operations in Denied Environment, CODE) projects, cluster collaboration projects, etc.

[0004] However, most of the current research on UAV swarm action modes is static task allocation, and only a preliminary model is established for the distributed dynamic task collaborative management under unknown conditions, including the use of random dynamic programming, Markov decision process, Bayesian belief network, information theory and game theory to deal with the uncertainty caused by multi-UAV swarm collaboration. Therefore, these allocation strategies are not perfect, and they are not analyzed from the perspective of action management architecture. The idea of ​​system engineering is not used to analyze the action management capabilities of multi-UAV swarm collaboration from the aspects of situation, task, action and capability requirements. The collaborative action management of multi-UAV swarms is difficult to obtain support in the current network structure. Summary of the invention

[0005] The present invention aims to at least solve the technical problems existing in the prior art. To this end, the present invention proposes a capability-oriented multi-UAV cluster collaborative action management method, device and medium to achieve on-demand combination and optimized scheduling of multi-UAV cluster capabilities and support efficient completion of action tasks.

[0006] A first aspect of the present invention provides a capability-oriented multi-UAV cluster collaborative action management method, comprising the following steps:

[0007] Obtain the situation management capability requirements, task management capability requirements and action management capability requirements of the coordinated action of multiple UAV swarms; wherein the situation management capability requirement is the capability requirement to build and manage and maintain the situation of the entire action area according to the action environment and the status of both the enemy and us, the task management capability requirement is the capability requirement for the management process of the action task implementation process, and the action management capability requirement is the capability requirement for the command and control process of implementing the action task;

[0008] According to the situation management capability requirements, the task management capability requirements and the action management capability requirements, a functional architecture and a control architecture for coordinated actions of multiple UAV clusters are constructed;

[0009] According to the preset action task, select the component element corresponding to the preset action task;

[0010] According to the functional architecture, the control architecture and the components, a corresponding action task link model is constructed;

[0011] The preset action task is executed according to the action task link model.

[0012] According to a second aspect of the present invention, an electronic device is provided, comprising at least one control processor and a memory for communicating with the at least one control processor; the memory stores instructions executable by the at least one control processor, and the instructions are executed by the at least one control processor so that the at least one control processor can execute the above-mentioned capability-oriented multi-UAV cluster collaborative action management method.

[0013] According to a third aspect of the present invention, a computer-readable storage medium is provided, which stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the above-mentioned capability-oriented multi-UAV cluster collaborative action management method.

[0014] According to the embodiments of the present invention, there are at least the following technical effects:

[0015] The first aspect of the embodiment of the present application provides a capability-oriented multi-UAV cluster collaborative action management method. The method first analyzes the management capabilities of the multi-UAV cluster collaborative action from the three aspects of situation management, task management and action management, selects the situation management capability requirements, task management capability requirements and action management capability requirements of the multi-UAV cluster collaborative action, and then designs a functional architecture and control architecture that supports on-demand combination of multi-UAV cluster collaborative actions. Finally, based on the functional architecture and control architecture of the multi-UAV cluster collaborative action and the components selected based on the action task, a corresponding action task link model is constructed, and the action task is executed through the action task link model. In response to the rapid application development and uncertainty of multi-UAV cluster actions, the method proposes a functional architecture and control architecture for multi-UAV cluster collaborative actions oriented to the three capabilities of situation management, task management and action management. Based on the functional architecture and control architecture, on-demand combination and optimized scheduling of multi-UAV cluster capabilities are achieved to support efficient completion of action tasks.

[0016] It can be understood that the beneficial effects of the second to third aspects compared with the related art are the same as the beneficial effects of the first aspect compared with the related art. Please refer to the relevant description in the first aspect, and no further details will be given here. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0018] Figure 1 A schematic diagram of a flow chart of a capability-oriented multi-UAV cluster collaborative action management method provided by an embodiment of the present invention;

[0019] Figure 2A schematic diagram of a functional architecture for a multi-UAV swarm coordinated action according to an embodiment of the present invention;

[0020] Figure 3 A schematic diagram of the top-level control architecture for coordinated actions of a multi-UAV swarm provided by an embodiment of the present invention;

[0021] Figure 4 A schematic diagram of a control architecture for coordinated actions of a multi-UAV swarm provided by an embodiment of the present invention;

[0022] Figure 5 A result schematic diagram of a cluster collaborative saturation attack task link model provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0023] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0024] At present, most of the research on the action mode of drone swarms is static task allocation. For the distributed dynamic task collaborative management under unknown conditions, only a preliminary model is established, including the use of random dynamic programming, Markov decision process, Bayesian belief network, information theory and game theory to deal with the uncertainty caused by the collaboration of multiple drone swarms. Therefore, these allocation strategies are not perfect, and they are not analyzed from the perspective of action management architecture. The idea of ​​system engineering is not used to analyze the action management capabilities of multiple drone swarms from the aspects of situation, task, action and capability requirements. The collaborative action management of multiple drone swarms is difficult to obtain support in the current network structure.

[0025] In response to the rapid application development and emerging uncertainty of multi-UAV swarm actions, this application proposes a capability-oriented functional architecture and control architecture for multi-UAV swarm collaborative actions. Based on the functional architecture and control architecture, on-demand combination and optimized scheduling of multi-UAV swarm capabilities are achieved to support the efficient completion of action tasks.

[0026] Reference Figure 1 An embodiment of the present invention provides a capability-oriented multi-UAV cluster collaborative action management method, comprising the following steps:

[0027] Step S101: Obtain the situation management capability requirements, task management capability requirements, and action management capability requirements for the coordinated action of a multi-UAV cluster.

[0028] In this embodiment, the coordinated action of multiple drone swarms usually refers to the completion of tasks such as destruction against action targets in a specific environment through coordinated scheduling and the use of unmanned equipment. Therefore, tasks, equipment, environment, and targets are system elements closely related to the coordinated action process of multiple drone swarms. On this basis, this embodiment analyzes the core capability requirements of the coordinated action management of multiple drone swarms, including three types of capability requirements: situation management, task management, and action management. Among them, situation management aims to build and manage and maintain the situation of the entire action area based on the action environment and the status of both the enemy and us; task management is the management process of the action task implementation process based on situation management; action management focuses on the equipment application process, which is a specific command process for realizing action tasks.

[0029] In some embodiments, the situation management capability requirements, task management capability requirements, and action management capability requirements mainly include:

[0030] Situation management mainly involves action environment management, action target management and situation information processing, etc. The action situation display that supports commanders' decision-making and action management is based on the perception of the action environment and action targets, and is formed by superimposing the action force data of the party. The situation management capability requirements involve the action environment management capability requirements, action target management capability requirements and situation information processing capability requirements, etc., as follows:

[0031] (1) The operational environment management capability requirement mainly refers to the management of the operational environment, including sensing and identifying operational environment elements such as mountains and weather, and comprehensively understanding the operational environment sensing results and supporting the generation of battlefield environment situation;

[0032] (2) The demand for action target management capability mainly refers to the management of action targets, which can be broken down into the identification of action target identity attributes, action status such as movement and defense, action intentions, and threat levels;

[0033] (3) The demand for situation information processing capabilities mainly refers to the processing of action situation information, which usually includes the in-depth collection, multi-source fusion and visualization of action area situation information such as action environment elements and action target data.

[0034] Task management mainly involves task planning, task allocation and task coordination, and is an important support for the planning and control of the entire process of action tasks. Task management capability requirements include task planning capability requirements, task allocation capability requirements and task coordination capability requirements, as follows:

[0035] (1) Mission planning capability requirements mainly refer to the decomposition and logical timing planning of action tasks, which specifically includes decomposing action tasks into executable levels for unmanned platforms and performing logical timing planning;

[0036] (2) Task allocation capability mainly refers to the task of allocating action tasks to designated action units, which is usually divided into two aspects: platform load management and weapon-target allocation. The two aspects work together to achieve the optimal match between action targets and platform loads.

[0037] (3) Task coordination capability requirements mainly refer to the coordination and processing of action tasks, including re-planning of action tasks when the conditions on which the task planning results depend change, conflicts or emergencies are detected, real-time scheduling and management of the time, location and resources of the assigned tasks, and the distribution and negotiation of task collaboration information between unmanned platforms.

[0038] Action management mainly involves action sequence management, action process coordination and action effect evaluation, aiming to achieve full-process action management. Action management capability requirements mainly include action sequence management capability requirements, action process coordination capability requirements and action effect evaluation capability requirements, as follows.

[0039] (1) Action sequence management capability requirements mainly refer to the full-process management of action sequences, involving the rapid generation, real-time monitoring, and dynamic adjustment of unmanned swarm action sequences;

[0040] (2) The coordination capability requirement during the action process mainly refers to the coordination and scheduling during the action process, including equipment grouping, role allocation, action synchronization, and information exchange when unmanned platforms coordinate actions during the task execution;

[0041] (3) The need for action effectiveness assessment capability mainly refers to the comprehensive assessment of the effectiveness of the action. For coordinated action tasks, the firepower strike effect is usually an effective indicator for measuring the action.

[0042] By analyzing the capability requirements of collaborative actions, a capability requirement list is formed, which is mainly composed of three top-level capability requirements, namely situation management capability requirements, task management capability requirements and action management capability requirements. It is the basis for the design of the functional architecture and control architecture of subsequent collaborative actions, as shown in Table 1 below. In the capability requirement list, the top-level capabilities are decomposed to obtain decomposed capabilities, which can be further derived into derived capabilities. Derived capabilities require corresponding supporting capabilities under special circumstances.

[0043]

[0044]

[0045] Table 1

[0046] Step S102: construct a functional architecture and control architecture for coordinated actions of multiple UAV clusters based on situation management capability requirements, task management capability requirements, and action management capability requirements.

[0047] With UAV swarm capability as the core, the functional architecture and control architecture of multi-UAV swarm collaborative action are designed from two levels: UAV swarm function and its control. Through the functional architecture and control architecture, on-demand combination and optimized scheduling of swarm capabilities are realized to support the efficient completion of action tasks.

[0048] In a specific embodiment, the functional architecture of the coordinated action of multiple drone clusters includes:

[0049] System functions are derived from requirements and can fully cover the entire action requirements. They are also an important basis for guiding the design of action systems. Based on the collaborative action management capability requirements list, some similar functions are merged into 26 sub-functions, with situation management, task management and action management as the main lines, and the functional architecture of multi-UAV cluster collaborative action is designed, such as Figure 2 As shown;

[0050] like Figure 2 As shown in the figure, the functional architecture of multi-UAV swarm coordinated action breaks down the functions from three aspects: situation, task and action. When facing specific coordinated action tasks, by combining the above functions on demand, it can effectively support the completion of different tasks. For example, in the process of executing an action task against a certain target, a time-sensitive target is discovered on the spot, and then by combining functions such as target identity recognition, target state recognition, task re-planning, action sequence generation, action synchronization, and damage effect evaluation, it supports the construction of a combined function package for the time-sensitive target.

[0051] In a specific embodiment, the control architecture of the coordinated action of multiple drone clusters includes:

[0052] The control architecture of multi-UAV swarm coordinated action is based on the functional architecture and is implemented using the Enhanced Functional Flow Block Diagram (EFFBD) method. The important feature of EFFBD is that it integrates the action process with the control system, which facilitates the subsequent execution and simulation of the driving cluster system. Focusing on the core capabilities of multi-UAV swarm coordinated action management, the top-level control architecture of multi-UAV swarm coordinated action is designed, such as Figure 3 shown.

[0053] From situation management to task management, and from task management to action management, there needs to be a control thread between each function. Finally, the action result should be determined through action evaluation to determine whether it is a success or a failure, so as to determine the next step of task planning and action management. Figure 3In order to facilitate the normal flow and process control between the functional modules, the dotted line is the control thread, starting from the task situation management link, driving the subsequent task management process through selective control, and evaluating the action effect after the action is implemented. Based on the top-level control architecture of collaborative action and combined with the collaborative action capability requirement list, the control architecture of collaborative action (implemented through EFFBD) is given, as shown in Figure 4 shown.

[0054] Reference Figure 4 The solid line is the action process, and the dotted line is the control process. Through the comprehensive integration of action process and action control (reflected in the figure as the intersection of solid and dotted lines), the optimized scheduling of cluster functions is achieved to ensure the efficient completion of collaborative action tasks.

[0055] Reference Figure 4 Specifically, entering the action area is the input item, and the damage effect assessment result is the output item. In the vertical action control process, there are mainly several types of process control means, such as timing control, event control, mission control, equipment control, and firepower control, among which timing control is the most important means. From the situation collection stage to the situation awareness stage, from the situation management stage to the mission management stage, from the mission management stage to the action management stage, etc., the action process is decided by timing control means. In event-driven processes such as target identification and mission replanning, they are mainly manipulated by event control means. Mission control means are mainly used in the mission management process, and equipment control is mainly used in the action management stage, which is a control process for the equipment allocation and application process. Finally, firepower control is mainly aimed at the firepower strike stage, which is usually a landmark event for the completion of the action.

[0056] Step S103: According to the preset action task, select the component element corresponding to the preset action task.

[0057] In a specific embodiment, the action task link design of multi-UAV swarm coordinated action is assumed to be in a certain action area, using reconnaissance UAV swarm and attack UAV swarm to destroy a certain high-value camouflaged solid target of the enemy, and the UAV swarm is commanded and controlled by the command vehicle and the swarm control center respectively. The specific task execution method is that under the command of the command vehicle and the swarm control center, the reconnaissance UAV swarm goes forward for reconnaissance, obtains information such as the target location and image, and then guides the attack UAV swarm to carry out saturation attack on the target from different directions at the same time, destroying the target with a high probability. Based on this, the elements of the swarm coordinated saturation attack task link are given as shown in Table 2. The task nodes are divided into four categories according to the OODA combat theory: reconnaissance, control, attack and evaluation. The equipment platform node is the task execution entity, and the organization and command node is the command entity corresponding to the equipment platform node.

[0058]

[0059] Table 2

[0060] Step S104: construct a corresponding action task link model according to the functional architecture, control architecture and components.

[0061] Step S105: Execute the action task according to the action task link model.

[0062] In a specific embodiment, based on the analysis of the elements of the action task link, according to the functional architecture and control architecture of the coordinated action, a cluster coordinated saturation attack task link model design is given as follows: Figure 5 shown.

[0063] The cluster coordinated saturation attack task link model is divided into two parts as a whole. The upper part is the task node allocation for fulfilling the task link mission. The task link mission has clear task link effectiveness index requirements, such as "the degree of damage to the enemy target is greater than 80%", "the task completion time is less than 15 minutes", etc. Correspondingly, each task node also has clear index requirements, such as the control task effectiveness index stipulates that "the task planning generation time is less than 1 minute", and the evaluation task effectiveness index requires "the target damage assessment accuracy is greater than 90%".

[0064] In order to meet the requirements of the above-mentioned task links, based on the functional architecture of collaborative actions, the cluster collaborative saturation attack task link gives the functional types corresponding to the equipment platform nodes that perform different tasks, including three types of situation management, task management and action management functions. For example, the functions required by the task platform of the cluster control center include: action environment understanding, target intention identification, target threat identification, situation information fusion, and situation information display in the situation management function; all sub-functions of task management; action sequence monitoring, action sequence adjustment, equipment grouping and damage effect evaluation in the action management function. Further, on the basis of clarifying the functional type, the organization command node determines the required control type for the specific task unit based on the control architecture of the collaborative action. For example, the cluster control center for attacking drone clusters under the strike mission needs to have control types including equipment action mode selection, action equipment platform control, platform action sequence control, and platform fire synchronization control.

[0065] The lower part of the task link model adopts the form of a swim lane diagram. According to the control architecture of the coordinated action, the specific action sequence between the nodes of each equipment platform is planned. It is still divided into three basic processes: situation management, task management and action management. The specific description is as follows: In the situation management stage, the cluster control center commands the reconnaissance drone cluster to carry out the target reconnaissance mission, and then recovers the situation data and completes the situation fusion process; in the task management stage, the cluster control center determines the action target based on the situation information, completes the cluster coordinated saturation attack action task planning, and outputs the task planning plan; in the action management stage, the attack drone cluster completes the steps of action sequence generation and action synchronization according to the task planning plan, and carries out the cluster coordinated saturation attack on the enemy's high-value camouflaged solid targets. Then the reconnaissance drone cluster conducts target damage reconnaissance and transmits the reconnaissance results back to the cluster control center to support it in completing the target damage assessment, and the command vehicle confirms whether to carry out a supplementary attack to determine whether the mission effectiveness requirements are met.

[0066] The embodiment of the present method provides a capability-oriented multi-UAV cluster collaborative action management method. The present method first analyzes the management capabilities of the multi-UAV cluster collaborative action from the three aspects of situation management, task management and action management, selects the situation management capability requirements, task management capability requirements and action management capability requirements of the multi-UAV cluster collaborative action, and then designs a functional architecture and control architecture that supports on-demand combination of multi-UAV cluster collaborative actions. Finally, based on the functional architecture and control architecture of the multi-UAV cluster collaborative action and the components selected based on the action task, a corresponding action task link model is constructed, and the action task is executed through the action task link model. In view of the rapid application development and prominent uncertainty of multi-UAV cluster actions, the present method proposes a functional architecture and control architecture for multi-UAV cluster collaborative actions oriented to the three capabilities of situation management, task management and action management, and realizes on-demand combination and optimized scheduling of multi-UAV cluster capabilities based on the functional architecture and control architecture, supporting the efficient completion of action tasks.

[0067] In one embodiment of the present application, an electronic device is provided; the electronic device may be any type of intelligent terminal, such as a mobile phone, a tablet computer, a personal computer, etc. Specifically, the electronic device includes: one or more control processors and a memory, and this example takes a control processor as an example. The control processor and the memory may be connected via a bus or other means, and this example takes the connection via a bus as an example.

[0068] As a non-transitory computer-readable storage medium, the memory can be used to store non-transitory software programs, non-transitory computer executable programs and modules, such as program instructions / modules corresponding to the electronic device in the embodiment of the present invention; the control processor implements the multi-UAV cluster collaborative action management method in the above method embodiment by running the non-transitory software programs, instructions and modules stored in the memory. The memory may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required by at least one function; in addition, the memory may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one disk storage device, a flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory may optionally include a memory remotely arranged relative to the control processor, and these remote memories may be connected to the electronic device via a network. Examples of the above network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network and combinations thereof. The one or more modules are stored in the memory, and when executed by the one or more control processors, the multi-UAV cluster collaborative action management method in the above method embodiment is executed, such as the above Figure 1 Steps S101 to S105 in .

[0069] The embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more control processors, for example, the one or more control processors can execute the multi-UAV cluster collaborative action management method in the above method embodiment, such as the above Figure 1 Steps S101 to S105 in .

[0070] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a general hardware platform. Those skilled in the art can understand that all or part of the processes in the above embodiment method can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and the program can include the process of the embodiment of the above method when executed. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0071] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0072] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A capability-oriented multi-UAV swarm collaborative action management method, characterized in that: The steps include: Obtain the situation management capability requirements, task management capability requirements and action management capability requirements of the coordinated action of multiple UAV swarms; wherein the situation management capability requirement is the capability requirement to build and manage and maintain the situation of the entire action area according to the action environment and the status of both the enemy and us, the task management capability requirement is the capability requirement for the management process of the action task implementation process, and the action management capability requirement is the capability requirement for the command and control process of implementing the action task; According to the situation management capability requirements, the task management capability requirements and the action management capability requirements, a functional architecture and a control architecture for coordinated actions of multiple UAV clusters are constructed; According to the preset action task, select the component element corresponding to the preset action task; According to the functional architecture, the control architecture and the components, a corresponding action task link model is constructed; The preset action task is executed according to the action task link model.

2. The capability-oriented multi-UAV swarm collaborative action management method according to claim 1 is characterized by: The situation management capability requirements include action environment management capability requirements, action target management capability requirements and situation information processing capability requirements; wherein, the action environment management capability requirements include action environment sensing capability requirements and action environment understanding capability requirements; the action target management capability requirements include target identity recognition capability requirements, target state recognition capability requirements, target intention recognition capability requirements and target threat recognition capability requirements; the situation information processing capability requirements include situation information collection capability requirements, situation information fusion capability requirements and situation information display capability requirements; The task management capability requirements include task planning capability requirements, task allocation capability requirements and task coordination capability requirements; wherein the task planning capability requirements include task decomposition capability requirements and task timing planning capability requirements; the task allocation capability requirements include payload management capability requirements and missile-target matching capability requirements; the task coordination capability requirements include task re-planning capability requirements, task scheduling capability requirements and task collaboration capability requirements, and the task scheduling capability requirements include task resource scheduling capability requirements, task time scheduling capability requirements and task location scheduling capability requirements; The action management capability requirements include action sequence management capability requirements, action process coordination capability requirements and action effect evaluation capability requirements; wherein, the action sequence management capability requirements include action sequence generation capability requirements, action sequence monitoring capability requirements and action sequence adjustment capability requirements; the action process coordination capability requirements include equipment grouping capability requirements, role allocation capability requirements, action synchronization capability requirements and information interaction capability requirements; the action effect evaluation capability requirements include target identity recognition capability requirements, target status recognition capability requirements and damage effect evaluation capability requirements.

3. The capability-oriented multi-UAV swarm collaborative action management method according to claim 1 is characterized in that: The control architecture for multi-UAV swarm coordinated actions is constructed in the following ways: According to the functional architecture of the multi-UAV swarm coordinated action, the enhanced functional flow chart EFFBD is adopted to construct the control architecture of the multi-UAV swarm coordinated action.

4. The capability-oriented multi-UAV swarm collaborative action management method according to claim 3 is characterized in that: The control architecture uses entry into the action area as an input item and uses damage effect assessment results as an output item.

5. The capability-oriented multi-UAV swarm collaborative action management method according to claim 3 is characterized in that: The control architecture includes timing control, event control, mission control, equipment control and fire control processes.

6. The capability-oriented multi-UAV swarm collaborative action management method according to claim 3 is characterized by: The components include a number of task nodes, a number of equipment platform nodes and a number of organization control nodes; wherein the equipment platform node is an execution entity that executes the corresponding task node; and the organization control node is a command and control entity that corresponds to the equipment platform node.

7. The capability-oriented multi-UAV swarm collaborative action management method according to claim 6 is characterized in that: The task nodes are divided into four task nodes: reconnaissance, control, attack and evaluation according to the Bao Yide cycle.

8. The capability-oriented multi-UAV swarm collaborative action management method according to claim 6 is characterized in that: The step of constructing a corresponding action task link model according to the functional architecture, the control architecture and the components includes the following steps: Planning the function type corresponding to each equipment platform node according to the functional architecture; On the basis of planning the function type corresponding to each of the equipment platform nodes, planning the action sequence corresponding to each of the organization control nodes according to the control architecture; The action task link model is constructed by combining the function type corresponding to each of the equipment platform nodes and the action sequence corresponding to each of the organization control nodes.

9. An electronic device, characterized in that: It includes at least one control processor and a memory for communicating with the at least one control processor; the memory stores instructions that can be executed by the at least one control processor, and the instructions are executed by the at least one control processor so that the at least one control processor can execute the capability-oriented multi-UAV cluster collaborative action management method as described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the capability-oriented multi-UAV cluster collaborative action management method described in any one of claims 1 to 8.

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