An Ad Hoc Communication Network Topology Device and Method for UAV Cooperative Operations

Abstract

A self-organizing communication network topology architecture and method applied to the collaborative operation of manned and unmanned aerial vehicles. In the self-organizing communication network topology architecture, the lead manned aircraft is directly connected to the ground station, and the lead manned aircraft is connected to multiple wingman manned aircraft; all unmanned aerial vehicle units are connected to the appropriate wingman manned aircraft or the lead manned aircraft according to their types and communication traffic; during the collaborative operation mission of manned and unmanned aerial vehicles, the lead manned aircraft, wingman manned aircraft, and unmanned aerial vehicle units complete the state initialization and unit networking process through the startup module to form a collaborative operation network; then the collaborative operation network will continuously execute the cycle module; at the fixed interval after the execution of the cycle module, special situations will be analyzed and judged, and the defined task module will be executed for corresponding processing work; repeat this cycle until the end of the operation process. Using this method, a self-organizing communication network topology strategy suitable for the command and communication requirements in various collaborative operation scenarios of manned and unmanned aerial vehicles can be realized.

Description

Technical Field

[0001] The field involved in the present invention includes the field of network topology architecture, and specifically relates to a self-organizing communication network topology architecture and method applied to collaborative combat of unmanned aerial vehicles (UAVs). Background Art

[0002] In the modern air combat environment, manned aircraft have strong combat capabilities, but are costly and affected by the subjective psychology of pilots; UAVs are less expensive and can accurately complete commands, but are less capable of handling special situations. By adopting a collaborative combat method with UAVs, it has the characteristics of economy, flexibility, continuity, and rapidity, can effectively extend the combat radius, improve the combat level, and form a stronger combat capability.

[0003] Collaborative combat, compared with single-aircraft combat, mainly shares information and commands through a communication network. Therefore, the adaptability of the communication network topology strategy to combat tasks directly affects the effect of collaborative combat.

[0004] At present, there are mainly two strategies for the formation control of UAV cluster systems, and the corresponding communication network structures include a centralized architecture and a distributed architecture, as Figure 1 shown. Among them, in the centralized architecture, both manned aircraft and UAVs communicate and are controlled directly by the ground station, which requires a high communication level and control level of the ground station, is difficult to give full play to the characteristics of collaborative combat of manned and unmanned aircraft, and the combat radius is also limited by the coverage range of the ground station.

[0005] In the distributed architecture, except that the backbone aircraft communicates directly with the ground station, the rest of the aircraft are communicated and controlled by the backbone aircraft. The network has high flexibility. The distributed architecture includes self-organizing networks, multi-group networks, and multi-layer self-organizing networks, specifically as follows:

[0006] 1. Self-organizing network

[0007] A self-organizing network means that the ground station communicates and controls the lead manned aircraft, and the lead manned aircraft communicates and controls other wing manned aircraft and UAVs. The lead manned aircraft is equivalent to an extension of the ground station. Therefore, the self-organizing network is similar to the centralized architecture and also has problems such as a short combat radius and high requirements for the communication level and control level of the lead manned aircraft.

[0008] 2. Multi-group network

[0009] A multi-group network means that the ground station communicates and controls manned aircraft, and the manned aircraft communicates and controls UAVs. Each manned aircraft is equivalent to an extension of the ground station. Although the ground station broadens the combat width by communicating and controlling multiple manned aircraft, the combat depth is not extended. At the same time, the ground station needs to coordinate multiple groups of manned aircraft simultaneously, which requires a high control level. In addition, when a certain manned aircraft is damaged or has a communication malfunction, it will directly cause all the UAV devices under the group to be out of control, which is not conducive to actual combat.

[0010] 3. Multi-layer self-organizing network

[0011] The multi-layer self-organizing network refers to a chain combat network that can be formed by gradually extending from the ground station to the manned aircraft. The unmanned aircraft can communicate and control any manned aircraft within the selected range. Compared with the previous several network strategies, the multi-layer self-organizing network has a low communication control load and more choices of unmanned aircraft. However, the depth network structure is relatively limited, making it difficult to match the ideal combat strategy. Moreover, when the manned aircraft at the front end or in the middle of the chain is damaged or has a communication malfunction, it will be difficult for other manned aircraft to quickly reconstruct the network order. Summary of the Invention

[0012] Limited by the communication network structure, the current mainstream cluster combat formation network strategies all have systematic and irreconcilable problems in the field of unmanned aircraft cooperative combat. The self-organizing communication network topology strategy proposed by the present invention will combine the current mainstream formation control network strategies and be designed in combination with the actual needs of unmanned aircraft combat. According to the needs of unmanned aircraft cooperative combat, the designed communication network topology strategy should have the following characteristics:

[0013] (1) Effectiveness: Network effectiveness mainly includes two aspects. One is whether the current network architecture includes all combat units, and the other is whether the messages received by all combat units in the network are continuous and consistent. To achieve the first aspect, the designed communication network topology strategy needs to be presented as a clear network hierarchy architecture, and at the same time, design a suitable position for each type of combat unit. To achieve the second aspect, it is necessary to ensure that the messages in the network can be quickly and completely transmitted throughout the network without packet loss, long delays, and other problems.

[0014] (2) Security: Network security mainly means that the network strategy can include all combat units while rejecting all external non-authenticated units, and the internal messages of the network cannot be directly obtained by external units of the network. By ensuring network security, the effectiveness of tactical execution can be guaranteed.

[0015] (3) Adaptability: Network adaptability refers to the ability of the network architecture to dynamically adjust according to the changes in the situation, including how to quickly adjust to maintain the overall combat ability after the loss of existing units in the network, and how to add new units to the network when they participate. By ensuring the adaptability of the network, a dynamic combat network can be formed, which can maximize the battlefield vitality of the network and improve the combat ability.

[0016] (4) Compatibility: Network compatibility means that the communication network topology strategy should meet the actual combat tactical needs, be able to reasonably adjust the network structure according to the tactical arrangement for adaptation, so as to give full play to the tactical characteristics to a greater extent and not limit the application and play of tactics.

[0017] Technical solution of the present invention:

[0018] An ad - hoc communication network topology architecture for collaborative combat with unmanned aerial vehicles

[0019] The ad - hoc communication network topology architecture described above includes a ground station, a lead manned aircraft, wingman manned aircraft, and unmanned aerial vehicle units. The lead manned aircraft is directly connected to the ground station and is also connected to multiple wingman manned aircraft; there are connections among the wingman manned aircraft, but they usually do not communicate; all unmanned aerial vehicle units are connected to the appropriate wingman manned aircraft or the lead manned aircraft according to their types and communication traffic. The lead manned aircraft is used for global information integration, tactical planning, and order issuance; the wingman manned aircraft is used to lead small combat unit groups, split and execute superior orders, and share the combat pressure of the lead manned aircraft; the unmanned aerial vehicle units are used to perform specific tasks according to their own characteristics.

[0020] An ad - hoc communication network topology method for collaborative combat with unmanned aerial vehicles is as follows:

[0021] In a collaborative combat mission with unmanned aerial vehicles, it includes a startup module executed at the beginning of the combat, a periodic module executed regularly, and a task module for dealing with special situations.

[0022] In the combat process, the lead manned aircraft, wingman manned aircraft, and unmanned aerial vehicle units complete the status initialization and unit networking process through the startup module to form a collaborative combat network; then the collaborative combat network will continuously execute the periodic module; at the fixed interval after the execution of the periodic module, it will analyze and judge special situations and execute the defined task module for corresponding processing work; repeat this cycle until the combat process ends.

[0023] Furthermore, the startup module is specifically as follows:

[0024] Step 1.1, Connection test: Each unmanned aerial vehicle and manned aircraft sends a message to each manned aircraft to test the connection situation and record it.

[0025] Step 1.2, Lead aircraft election: According to the connection situation of each unmanned aerial vehicle and manned aircraft, sort the priority levels of the manned aircraft message commands, and select the most suitable manned aircraft as the lead aircraft.

[0026] Step 1.3, Networking connection: Connect the lead manned aircraft, wingman manned aircraft, and unmanned aerial vehicles according to the election result and update the corresponding status table.

[0027] Step 1.4, Time synchronization: Messages are sent layer by layer from the parent node to the child nodes to synchronize the time of each node in the overall combat module.

[0028] Furthermore, the periodic module is specifically as follows:

[0029] Step 2.1, Periodic message reporting: At regular intervals, the child node packages and sends heartbeat information, location information, and observation information to the corresponding parent node.

[0030] Step 2.2, Connection confirmation: At regular intervals, the parent node sends a connection valid message to the child node to ensure the validity of the connection between the parent and child nodes.

[0031] Furthermore, the task module is specifically as follows:

[0032] Step 3.1, Command issuance: The parent node conveys the current situation information and execution commands to the child node.

[0033] Step 3.2, Time calibration: When there is a time error, the parent node sends time calibration information to the child node.

[0034] Step 3.3, Error feedback: When the parent node finds that the message reported by the child node is incorrect, it sends a message containing the message ID and error code back to the child node.

[0035] Step 3.4, Confirmation of disconnection of the lead aircraft: When the manned aircraft of the wingman finds that it cannot connect to the manned aircraft of the lead aircraft, it confirms the specific situation with other manned aircraft of the wingman.

[0036] Step 3.5, Confirmation of disconnection of the wingman: When the manned aircraft of the lead aircraft finds that it cannot connect to the manned aircraft of the wingman, it confirms the specific situation with other manned aircraft of the wingman.

[0037] Step 3.6, Reconnection of manned aircraft: When other manned aircraft receive the reconnection signal of a previously disconnected manned aircraft, they arrange for the manned aircraft to reconnect to the network.

[0038] Step 3.7, Active seizure of power: The manned aircraft of the wingman actively sends a power seizure signal to other manned aircraft and becomes the manned aircraft of the lead aircraft after passing the verification.

[0039] Step 3.8, Active waiver: The manned aircraft of the lead aircraft actively sends a waiver signal to other manned aircraft and becomes the manned aircraft of the wingman after verifying and selecting a new lead manned aircraft.

[0040] Furthermore, each manned aircraft and unmanned aircraft is regarded as a different node, and the functions of each node are specifically as follows:

[0041] The functions of the node include node modules for all manned and unmanned aircraft, as well as a global status library, a global scheduling module, and a control terminal set only for manned aircraft.

[0042] The node module is the basic function for all nodes to run, including a basic information table for recording the current node information, a node connection status table for the connection status with other nodes, an interaction information table for exchanging status information with other nodes, a message sending function, and a received message cache. The basic information table includes the node type, node status, and node capabilities. The node connection status table includes a parent node table, a child node table, and a human-machine node table. The interaction information table includes a question message queue, an answer message queue, a periodic message queue, and a command message queue.

[0043] The global status library is used to store general background data. It includes a node type table and a connection relationship table for describing the current network status, as well as a special task table, a functional process table, and a basic operation table for executing and recording specific operation processes.

[0044] The control terminal is used for the interactive control between human-machine operators and the overall network unit, including node status display and communication status display for status output, and task execution buttons for input.

[0045] The global scheduling module is used to parse the control requirements of the control terminal, screen the corresponding task execution functions from the special task table, screen the execution objects from the node type table and the connection relationship table, and record the task execution results at the same time.

[0046] Furthermore, the communication message sending between each node is as follows:

[0047] In the scenario of UAV cooperative combat, the communication information between nodes includes periodic messages sent regularly, command messages that do not require a reply, and question-and-answer messages that require a response. The message format is reasonably designed according to different information characteristics to avoid overlap or delay of different information, which affects the restoration of the overall battlefield situation information and the transmission of commands. The periodic messages include heartbeat information, location information, observation information, and connection messages; the command messages include connection test, leader election, network connection, time synchronization, command issuance, time calibration, and human-machine reconnection; the response messages include active abstention, active seizure of power, leader disconnection confirmation, and wingman disconnection confirmation.

[0048] The format of each message is as follows:

[0049] (1) Message header

[0050] (2) Timestamp

[0051] (3) Sender IP

[0052] (4) Receiver IP

[0053] (5) Message ID

[0054] (6) Message type

[0055] (7) Message content length

[0056] (8) Message content

[0057] Inside each node, a queue is used to record periodic messages, a queue is used to record command messages, and a queue is used to record response messages. When sending messages, each time the periodic sending window is reached, the periodic messages in the periodic message queue are sent; each time the aperiodic sending window is reached, the response message at the top of the response message queue is preferentially sent. If the response message queue is empty, the command message at the top of the command message queue is sent until the next periodic sending window is reached or both the response message queue and the command message queue are empty.

[0058] Advantages of the present invention: The present invention fully considers the need for cooperative combat of unmanned aerial vehicles (UAVs), refers to the characteristics of traditional cluster formation strategies, and designs a self-organizing communication network topology strategy with effectiveness, security, adaptability, and compatibility. The strategy should be able to efficiently and quickly upload the sensing information of the end UAVs, integrate and process the combat information from each unit's perspective, and issue combat commands to the terminal manned aircraft; be able to effectively isolate non-authenticated information outside the network and encrypt and protect internal information; be able to instantaneously add or reduce combat units according to the changes in the battlefield situation and adjust the network structure as needed to ensure the operation ability of the network; be able to efficiently adjust the network structure according to tactical needs to adapt to the tactics and fully exert the cooperative combat ability of UAVs. Through measurement, the self-organizing communication network topology strategy designed by the present invention meets the above design indicators, is easy to transplant and use, and highly adapts to the need for cooperative combat of UAVs. Description of the drawings

[0059] Figure 1 It is a mainstream communication network structure diagram.

[0060] Figure 2 It is a self-organizing communication network structure diagram for cooperative combat of UAVs.

[0061] Figure 3 It is a schematic diagram of the self-organizing communication network topology strategy for cooperative combat of UAVs.

[0062] Figure 4 It is a detailed design diagram of the self-organizing communication network topology strategy module for cooperative combat of UAVs.

[0063] Figure 5 It is a node function framework diagram of the self-organizing communication network topology strategy for cooperative combat of UAVs.

[0064] Figure 6 It is a node message structure diagram of the self-organizing communication network topology strategy for cooperative combat of UAVs. Detailed implementation manners

[0065] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0066] The following will be described in detail in combination with a local area network test environment. It should be noted that when this method is applied to different simulation systems or real environments, the adaptive topology architecture is not affected by changes in the structure of the unmanned aerial vehicle combat network. In addition, the described implementation cases are only intended to facilitate the understanding of the present invention and do not limit any actual applications.

[0067] The invention is applied to a local area network environment for testing. Multiple computer devices deploying the self-organizing communication network topology strategy of the invention are used to simulate ground stations, 4 manned aircraft and 8 unmanned aircraft. With the help of the DDS communication framework, the connection network of manned and unmanned aircraft is simulated, and the effectiveness of the invention in the networking of coordinated combat of manned and unmanned aircraft is verified through the response effects under various common processes.

[0068] (1) Network initialization

[0069] Initially, all manned and unmanned aircraft are independent nodes, only connected to the ground station, and need to be interconnected to form a communication network to complete network initialization.

[0070] Under the test conditions, each manned aircraft and unmanned aircraft are independent nodes connected to the DDS communication network. Each node has published its own exclusive topic and has not subscribed to other topics, and needs to simulate the initialization communication network with each other by subscribing to topics.

[0071] The specific test process is as follows:

[0072] A. Connection test

[0073] a) The ground station sends a connection test instruction and all node information to the manned aircraft.

[0074] b) The manned aircraft sends connection requests to other manned aircraft and unmanned aircraft.

[0075] c) After receiving the connection request, the manned aircraft makes a feedback and records the connectable manned aircraft.

[0076] d) After receiving the connection request, the unmanned aircraft makes a feedback and records the connectable manned aircraft.

[0077] e) The manned aircraft records the connection status of the communication network according to the feedback situation.

[0078] B. Leader election

[0079] a) The ground station sends a leader election instruction to the manned aircraft.

[0080] b) The manned aircraft sends a leader election instruction to the unmanned aircraft.

[0081] c) The unmanned aircraft selects a suitable unit from the connectable manned aircraft to return a vote.

[0082] d) The manned aircraft counts the votes according to the feedback vote information.

[0083] e) The manned aircraft communicate the number of votes with each other, and the one with the highest number of votes is selected as the lead aircraft. If there is a tie, a new lead aircraft election is carried out among the manned aircraft.

[0084] C. Network connection

[0085] a) The lead manned aircraft sends a network connection request to other manned aircraft.

[0086] b) The lead manned aircraft and other manned aircraft acting as wingmen send a network connection request to the unmanned aircraft.

[0087] c) The unmanned aircraft determines the source of the first received instruction as its parent node and feeds back a signal.

[0088] d) The manned aircraft determines the child nodes according to the feedback signal and updates the connection table.

[0089] D. Time synchronization

[0090] a) The lead manned aircraft sends a time synchronization request and the current time to the wingman manned aircraft.

[0091] b) All manned aircraft send a time synchronization request and the current time to the child node unmanned aircraft.

[0092] c) The unmanned aircraft feeds back the time synchronization result.

[0093] Through experimental tests, the described experimental conditions can complete the network initialization function within 10 communication cycles (within 250 ms).

[0094] (2) Node fault handling

[0095] When a node fails in the environment, it is necessary to reasonably adjust the network structure to avoid the failure affecting the overall operation of the network.

[0096] Under experimental conditions, the node failure is simulated by canceling the topic published by the node in the DDS communication network. Since the failure of the lead manned aircraft has the greatest impact on the network structure, only the failure situation of the lead manned aircraft node is described.

[0097] The specific experimental process is as follows:

[0098] A. Connection confirmation

[0099] a) The wingman manned aircraft regularly sends a connection confirmation message to the lead manned aircraft.

[0100] b) After receiving the connection confirmation message, the lead manned aircraft sends feedback information to the wingman manned aircraft. When the wingman manned aircraft does not receive the feedback information for multiple cycles, it is determined that the wingman manned aircraft is disconnected from the lead manned aircraft.

[0101] B. Confirmation of Disconnection from the Lead Aircraft

[0102] a) The manned aircraft of the wingman that has not received the confirmation message of the connection with the lead manned aircraft sends a signal for confirming the disconnection from the lead aircraft to other manned aircraft of the wingmen.

[0103] b) Other manned aircraft of the wingmen feedback information according to the result of their own connection confirmation with the lead manned aircraft.

[0104] c) When receiving the feedback signal for confirming the disconnection from the lead aircraft sent by other manned aircraft of the wingmen, it is determined that the lead aircraft is disconnected.

[0105] C. Election of the Lead Aircraft

[0106] a) The manned aircraft issues an instruction for electing the lead aircraft to other manned aircraft.

[0107] b) The manned aircraft issues an instruction for electing the lead aircraft to the unmanned aircraft.

[0108] c) The unmanned aircraft selects a suitable unit from the connectable manned aircraft to feedback a vote.

[0109] d) The manned aircraft counts the votes according to the feedback vote information.

[0110] e) The manned aircraft exchange the number of votes with each other. The one with the highest number of votes is elected as the lead aircraft. If there is a tie, a new election of the lead aircraft is carried out among the manned aircraft.

[0111] D. Network Grouping Connection

[0112] a) The lead manned aircraft issues a request for network grouping connection to other manned aircraft.

[0113] b) The lead manned aircraft and other manned aircraft serving as wingmen issue a request for network grouping connection to the unmanned aircraft.

[0114] c) The unmanned aircraft without a parent node determines the source of the first received instruction as its parent node and feedbacks a signal.

[0115] d) The manned aircraft determines the child nodes according to the feedback signal and updates the connection table.

[0116] Through experimental tests, the above experimental conditions can complete the node fault handling function within 10 communication cycles (within 250 ms).

[0117] (3) Node Addition

[0118] When a new node connected to the ground station wants to join the communication network, it is necessary to reasonably adjust the network structure to reduce the network load.

[0119] Under the experimental conditions, new nodes are simulated by adding new devices and corresponding new topics. Since adding a manned aircraft of the wingman has the greatest impact on the network structure, only the case of adding a node of the manned aircraft of the wingman is described.

[0120] The specific process of the experiment is as follows:

[0121] A. Connection test

[0122] a) The new node sends a connection request to the lead manned aircraft through the ground station.

[0123] b) After the lead manned aircraft verifies the encoding and determines the security, it subscribes to the topic of the new node, adds the new node to the connection table, and sends the information of all nodes.

[0124] c) After receiving the feedback information, the new node connects to other wingman manned aircraft and updates the connection table.

[0125] d) Other manned aircraft send the information of the new node to the unmanned aircraft.

[0126] e) The unmanned aircraft updates the connection table.

[0127] Through experimental tests, the above experimental conditions can complete the function of adding nodes within 10 communication cycles (within 250 ms) and have security verification.

[0128] The above is the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art of this technology, without departing from the technical principle of the present invention, several improvements and deformations can be made, and these improvements and deformations should also be regarded as the protection scope of the present invention.

Claims

1. A self-organizing communication network topology device for cooperative combat with unmanned aerial vehicles, characterized in that: The self-organizing communication network topology device includes a ground station, a leader manned aircraft, a wingman manned aircraft, and an unmanned aircraft unit; the leader manned aircraft is directly connected to the ground station, and the leader manned aircraft is connected to multiple wingman manned aircraft; the wingman manned aircraft are connected to each other; all unmanned aircraft units are connected to the adapted wingman manned aircraft or the leader manned aircraft according to their type and communication flow; the leader manned aircraft is used for global information integration, tactical planning, and command issuance; the wingman manned aircraft is used to lead a small combat unit group, split and execute superior orders, and share the combat pressure of the leader manned aircraft; Drone units are designed to perform specific tasks based on their characteristics.

2. A self-organizing communication network topology method for cooperative combat with unmanned aerial vehicles, characterized in that: The self-organizing communication network topology device for cooperative combat with unmanned aerial vehicles as described in claim 1 is specifically as follows: A UAV coordinated combat mission includes a startup module executed at the beginning of the operation, a periodic module executed regularly, and a mission module for dealing with special situations; In the combat process, the leader manned aircraft, wingman manned aircraft, and unmanned aircraft units complete the state initialization and unit networking process through the startup module to form a collaborative combat network; then the collaborative combat network will continue to execute the cycle module; in the fixed interval after the cycle module is executed, it will analyze and judge special situations, and execute the defined task module to perform corresponding processing; repeat this cycle until the combat process ends; The startup module is specifically as follows: Step 1.1, connection test: each UAV and manned aircraft sends a message to each manned aircraft to test the connection and record it; Step 1.2, leader election: sort the priorities of the manned aircraft message commands according to the connection status of each UAV and manned aircraft, and select the manned aircraft that is most suitable as the leader; Step 1.3, network connection: connect the leader manned aircraft, wingman manned aircraft and unmanned aircraft according to the election results, and update the corresponding status table; Step 1.4, time synchronization: the parent node sends messages to the child nodes layer by layer to synchronize the time of each node in the overall combat module; The leader election is as follows: a) The ground station issues a leader election command to the manned aircraft; b) The manned aircraft issues a leader election command to the unmanned aircraft; c) The drone selects a suitable unit from the connectable manned aircraft to feedback the vote; d) A human machine counts the votes based on the feedback ballot information; e) The manned and unmanned aircraft exchange votes with each other, and the one with the highest votes is elected as the leader. If there is a tie, the manned and unmanned aircraft will re-elect the leader.

3. The method according to claim 2, characterized in that The cycle modules are as follows: Step 2.1, periodic message reporting: every once in a while, the child node packages the heartbeat information, location information, and observation information and sends it to the corresponding parent node; Step 2.2, connection confirmation: At regular intervals, the parent node sends a connection validity message to the child node to ensure that the connection between the parent and child nodes is valid.

4. The method according to claim 2, characterized in that: The task modules are as follows: Step 3.1, command issuance: the parent node conveys the current situation information to the child node and executes the command; Step 3.2, time calibration: when a time error occurs, the parent node sends time calibration information to the child node; Step 3.3, error feedback: When the parent node finds that the message reported by the child node is wrong, it will return a message containing the message ID and error code to the child node; Step 3.4, leader disconnection confirmation: When the wingman finds that it cannot connect with the leader, it confirms the specific situation with other wingman; Step 3.5, wingman disconnection confirmation: When the leader finds that it cannot connect with the wingman, it confirms the specific situation with other wingman; Step 3.6, UAV reconnection: When other UAVs receive the reconnection signal of the previously disconnected UAV, they arrange for the UAV to reconnect to the network; Step 3.7, Actively seize power: The wingman manned aircraft actively sends a seizure signal to other manned aircraft, and becomes the leader manned aircraft after verification; Step 3.8, Actively give up: The leader manned aircraft actively sends a give up signal to other manned aircraft, verifies and selects a new leader manned aircraft to become the wingman manned aircraft.

5. The method according to claim 2, characterized in that: Consider each manned aircraft and unmanned aircraft as a different node, and the functions of each node are as follows: The node functions include node modules for all manned and unmanned aircraft, as well as a global state library, a global scheduling module, and a control terminal set only for manned aircraft; The node module is the basic function of all node operations, including a basic information table that records the current node information, a node connection status table for connection status with other nodes, an interactive information table for exchanging status information with other nodes, a message sending function, and a received message cache; the basic information table includes node type, node status, and node capability; the node connection status table includes a parent node table, a child node table, and a man-machine node table; the interactive information table includes a question message queue, an answer message queue, a periodic message queue, and a command message queue; The global state library is used to store common background data; including the node type table and connection relationship table used to describe the current network state, as well as the special task table, function flow table and basic operation table used to execute and record specific operation processes; The control terminal is used for interactive control between the manned machine operator and the overall network unit, including node status display and communication status display for status output, and task execution buttons for input; The global scheduling module is used to analyze the control requirements of the control terminal, select the corresponding task execution function from the special task table, select the execution object from the node type table and the connection relationship table, and record the task execution results.

6. The method according to claim 2, characterized in that The communication messages between each node are sent as follows: In the scenario of coordinated combat with drones, the communication information between nodes includes periodic messages sent regularly, command messages that do not require reporting, and question-and-answer messages that require responses; the message format is reasonably designed according to the characteristics of different information to avoid overlap or delay of different information, which affects the restoration of global battlefield situation information and the transmission of commands; the periodic messages include heartbeat information, location information, observation information, and connection messages; the command messages include connection test, leader election, network connection, time synchronization, command issuance, time calibration, and manned-machine reconnection; the response messages include active waiver, active seizure of power, leader disconnection confirmation, and wingman disconnection confirmation; The format of each message is as follows: (1) Message header (2) Timestamp (3) Sender IP (4) Receiving party IP (5) Message ID (6) Message type (7) Message content length (8) Message content Each node records periodic messages through a queue, command messages through a queue, and reply messages through a queue. When sending messages, each time the periodic sending window is reached, the periodic message in the periodic message queue is sent. Each time the non-periodic sending window is reached, the reply message at the top of the reply message queue is sent first. If the reply message queue is empty, the command message at the top of the command message queue is sent until the next periodic sending window is reached or both the reply message queue and the command message queue are empty.

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