A large-scale heterogeneous unmanned cluster cooperative hierarchical command and control method and system
By adopting a hierarchical command structure for unmanned swarm collaborative control, the collaborative challenges of homogeneous unmanned swarms under diverse tasks and asymmetric threats were solved, and effective control and robustness improvement of large-scale heterogeneous unmanned swarms were achieved.
Patent Information
- Application Number
- CN202611235335.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-08-14
- Publication Date
- 2026-11-06
AI Technical Summary
Existing homogeneous unmanned swarms have limited functionality when facing diverse operational needs, making them unable to handle multiple types of tasks. Furthermore, they lack robustness under asymmetric threats, and traditional command architectures cannot effectively coordinate large-scale heterogeneous unmanned swarms.
A hierarchical command structure is adopted, including an unmanned swarm management layer, an operation layer, and a collaborative control layer, which are respectively responsible for mission planning, formation planning, and platform control. The hierarchical command structure enables collaborative control of heterogeneous unmanned swarms.
It achieves effective command and control of large-scale heterogeneous unmanned clusters, avoiding the problems of complex single-layer functions and unclear command logic. It supports cross-domain collaborative applications and improves the robustness of the system by infinitely expanding control nodes and heterogeneous frequency compatibility.
Smart Images
Figure CN123047652A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of unmanned swarm collaborative command and control technology, and particularly relates to a large-scale heterogeneous unmanned swarm collaborative hierarchical command and control method and system. Background Technology
[0002] Early research on unmanned swarms primarily focused on homogeneous systems, i.e., formations composed of drones or unmanned vehicles of the same model. However, as mission scenarios become increasingly complex, the limitations of homogeneous systems in facing diverse operational demands have become increasingly apparent. First, homogeneous platforms have a single functional dimension, unable to handle multiple types of missions such as high-altitude reconnaissance, low-altitude close-in, ground assault, and surface patrol, making it difficult to support the needs of cross-domain collaborative applications. In practical applications, single-type unmanned platforms, limited by their own design characteristics, inevitably exhibit capability shortcomings when facing complex missions requiring simultaneous wide-area surveillance and precision strikes, leading to mission chain disruptions. Second, the highly homogeneous sensing and execution resources of homogeneous swarms result in insufficient robustness against asymmetric threats. When a certain type of sensor or communication link is specifically suppressed, the entire swarm will simultaneously lose the corresponding capability; failure of one link can lead to the failure of the entire mission.
[0003] The evolution from homogeneous clusters to large-scale heterogeneous clusters has become a significant trend in the development of unmanned systems technology. However, large-scale heterogeneous unmanned platforms present new challenges in command and control aspects such as task decomposition, force deployment, timing control, and heterogeneous collaboration when collaboratively executing missions. Heterogeneous platforms differ not only in type (e.g., drones, unmanned vehicles, unmanned aerial vehicles, and unmanned ships) but also in the payloads they carry, resulting in payload heterogeneity. Traditional single-layer or tightly coupled command architectures, when faced with such large-scale clusters exhibiting both platform type and payload heterogeneity, suffer from unclear command logic due to their highly centralized functionality, making it impossible to rapidly command large-scale heterogeneous unmanned clusters. Summary of the Invention
[0004] To address the aforementioned technical problems, this invention proposes a large-scale heterogeneous unmanned swarm collaborative hierarchical command and control method and system, thereby resolving the issues present in the prior art.
[0005] Firstly, to achieve the above objectives, the present invention provides a large-scale heterogeneous unmanned swarm collaborative hierarchical command and control method, comprising: Construct an unmanned cluster management and control layer, an unmanned cluster operation layer, and an unmanned cluster collaborative control layer. The unmanned cluster management and control layer connects to multiple unmanned cluster operation layers, and the unmanned cluster operation layer connects to at least one unmanned cluster collaborative control layer. The unmanned cluster management layer plans tasks, generates task information, and sends it to the unmanned cluster control layer. The unmanned swarm control layer plans formation, route and payload based on mission information, and feeds the planning results back to the unmanned swarm management layer; The unmanned swarm management layer performs a simulation based on the planning results and task information. If the simulation is not satisfied, it returns to the planning process and re-plans. If the simulation is satisfied, the task information is loaded into the unmanned swarm collaborative control layer. During execution, the unmanned swarm control layer sends control commands to the unmanned swarm collaborative control layer, which controls the unmanned platform and payload and feeds back status information to the unmanned swarm control layer. The unmanned swarm control layer reports the situation to the unmanned swarm management layer. The unmanned swarm management layer or the unmanned swarm control layer initiates replanning based on the situation and sends it to the unmanned swarm collaborative control layer.
[0006] Optionally, the task planning process of the unmanned swarm management layer includes: dividing the collaborative task into multiple task stages based on swarm information, swarm organization information, airspace information and target information, and determining the sub-tasks to be completed, the completion time, the required swarm type, the number of swarm members and the payload type for each task stage.
[0007] Optionally, the process of unmanned swarm control layer in planning formation, route and payload includes: planning swarm formation, swarm mission sequence, swarm route and payload based on swarm information, swarm organization information, airspace information and target information, and binding the planning results to the unmanned swarm collaborative control layer.
[0008] Optionally, the process of the unmanned swarm control layer performing simulations based on planning results and task information includes: constructing a force simulation platform, performing simulations and evaluations on task completion rate, task completion time, combat loss rate, and the coordination relationship between forces; if the simulation and evaluation results do not meet the requirements, the process is returned to replanning.
[0009] Optionally, the process of the unmanned swarm management layer or the unmanned swarm control layer initiating replanning based on the situation includes: the unmanned swarm management layer issuing task replanning information based on global situation information, or the unmanned swarm control layer initiating ad hoc dynamic replanning based on the situation information of its own swarm, and sending the replanning result to the unmanned swarm collaborative control layer.
[0010] Optionally, the process of the unmanned swarm collaborative control layer controlling the unmanned platform and payload includes: the unmanned swarm collaborative control layer calling the formation control algorithm, route planning algorithm, obstacle avoidance control algorithm, task allocation algorithm, collaborative strike control algorithm and trajectory control algorithm in the algorithm processing module, and controlling the movement of the unmanned platform and the execution of tasks by the payload according to the control commands and algorithm results.
[0011] Secondly, the present invention also provides a large-scale heterogeneous unmanned swarm collaborative hierarchical command and control system for implementing a large-scale heterogeneous unmanned swarm collaborative hierarchical command and control method, the system comprising: The cloud-based management module is used for mission planning, mission simulation, comprehensive situational command, assessment and playback, and resource management. The ground control module is connected to the cloud management module and is used for task planning, cluster platform monitoring, cluster load monitoring, network link monitoring, and upper-layer data transmission and reception. The collaborative control module, deployed on the unmanned platform and connected to the ground control module, is used for cluster task management, data management, algorithm processing, equipment management, and communication management.
[0012] Thirdly, the present invention also provides a computer terminal device, comprising: One or more processors; A memory, coupled to the processor, for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the steps of the large-scale heterogeneous unmanned swarm collaborative hierarchical command and control method in the first aspect described above.
[0013] Fourthly, the present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, it implements the steps of the large-scale heterogeneous unmanned swarm collaborative hierarchical command and control method in the first aspect described above.
[0014] Fifthly, the present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the large-scale heterogeneous unmanned swarm collaborative hierarchical command and control method described in the first aspect above.
[0015] Compared with the prior art, the present invention has the following advantages and technical effects: This invention provides a large-scale heterogeneous unmanned swarm collaborative hierarchical command and control method and system. It employs a hierarchical command structure, with each layer focusing on its own content. Through joint efforts, it achieves command of a large-scale heterogeneous unmanned swarm, avoiding the problems of complex functions and unclear command logic inherent in single-layer systems. By adding an unmanned swarm collaborative control layer to the unmanned platform, the platform can connect to a control network, enabling control from a single platform to a swarm collaborative system. The hierarchical structure, through the addition of an unmanned swarm control layer, allows for the unlimited expansion of control nodes. By setting different communication frequencies between the control terminals and the platform, different control frequencies can be used within the same area, achieving compatible operation of large-scale unmanned swarms. Attached Figure Description
[0016] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a diagram of the hierarchical command and control architecture for large-scale heterogeneous unmanned swarm collaboration according to an embodiment of the present invention. Figure 2 This is a diagram illustrating the hierarchical structure of a large-scale heterogeneous unmanned swarm collaborative hierarchical command and control system according to an embodiment of the present invention. Figure 3 This is a diagram showing the interface relationships of the unmanned cluster management terminal in an embodiment of the present invention. Figure 4 This is a diagram showing the interface relationships of the unmanned cluster control terminal in an embodiment of the present invention. Figure 5 This is a diagram showing the interface relationships of the unmanned cluster collaborative control terminal in an embodiment of the present invention. Detailed Implementation
[0017] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.
[0018] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.
[0019] Example 1 This embodiment provides a large-scale heterogeneous unmanned swarm collaborative hierarchical command and control method, including: Construct an unmanned cluster management and control layer, an unmanned cluster operation layer, and an unmanned cluster collaborative control layer. The unmanned cluster management and control layer connects to multiple unmanned cluster operation layers, and the unmanned cluster operation layer connects to at least one unmanned cluster collaborative control layer. The unmanned cluster management layer plans tasks, generates task information, and sends it to the unmanned cluster control layer. The unmanned swarm control layer plans formation, route and payload based on mission information, and feeds the planning results back to the unmanned swarm management layer; The unmanned swarm management layer performs a simulation based on the planning results and task information. If the simulation is not satisfied, it returns to the planning process and re-plans. If the simulation is satisfied, the task information is loaded into the unmanned swarm collaborative control layer. During execution, the unmanned swarm control layer sends control commands to the unmanned swarm collaborative control layer, which controls the unmanned platform and payload and feeds back status information to the unmanned swarm control layer. The unmanned swarm control layer reports the situation to the unmanned swarm management layer. The unmanned swarm management layer or the unmanned swarm control layer initiates replanning based on the situation and sends it to the unmanned swarm collaborative control layer.
[0020] Furthermore, the task planning process of the unmanned swarm control layer includes: dividing the collaborative task into multiple task stages based on swarm information, swarm organization information, airspace information and target information, and determining the sub-tasks to be completed, the completion time, the required swarm type, the number of swarm members and the payload type for each task stage.
[0021] Furthermore, the process of unmanned swarm control layer in planning formation, route and payload includes: planning swarm formation, swarm mission sequence, swarm route and payload based on swarm information, swarm organization information, airspace information and target information, and binding the planning results to the unmanned swarm collaborative control layer.
[0022] Furthermore, the process of the unmanned swarm control layer performing simulations based on planning results and task information includes: constructing a force simulation platform to simulate and evaluate task completion rate, task completion time, combat loss rate, and the coordination relationship between forces; if the simulation and evaluation results do not meet the requirements, the process is returned to replanning.
[0023] Furthermore, the process of the unmanned swarm management layer or the unmanned swarm control layer initiating replanning based on the situation includes: the unmanned swarm management layer issuing task replanning information based on global situation information, or the unmanned swarm control layer initiating ad hoc dynamic replanning based on the situation information of its own swarm, and sending the replanning result to the unmanned swarm collaborative control layer.
[0024] Furthermore, the process by which the unmanned swarm collaborative control layer controls the unmanned platform and payload includes: the unmanned swarm collaborative control layer calling the formation control algorithm, route planning algorithm, obstacle avoidance control algorithm, task allocation algorithm, collaborative strike control algorithm and trajectory control algorithm in the algorithm processing module, and controlling the movement of the unmanned platform and the execution of tasks by the payload according to the control commands and algorithm results.
[0025] Specifically, the implementation process of this embodiment includes: like Figure 1 As shown, this embodiment constructs a three-layer control structure: an unmanned swarm management layer, an unmanned swarm control layer, and an unmanned swarm collaborative control layer. The unmanned swarm management layer is deployed in the cloud and can achieve unified command of all connected unmanned swarms. It includes a task planning module, a task simulation module, a comprehensive situational command module, an assessment and playback module, and a resource management module, specifically comprising: The task planning module mainly plans the tasks that need to be completed, including task creation, division of task stages, sub-tasks to be completed in each task stage, completion time, cluster type, number, number of members, payload type, airspace information, target information, etc. for each sub-task.
[0026] The mission simulation module mainly simulates planned missions by building a force simulation platform to simulate the planned mission information, including mission completion rate, mission completion time, combat loss rate, and coordination relationships between forces.
[0027] The integrated situational command module mainly monitors the timing of mission completion, the location, status, and target information of each cluster, alarms for conflicts between clusters, and sends command commands for status adjustment to the unmanned cluster control terminal.
[0028] The evaluation and replay module mainly records and replays the real-time status of the cluster, and evaluates indicators such as task completion, completion time, and battle loss rate.
[0029] The resource management module mainly manages the unmanned swarm's troop resources, swarm organizational relationships, airspace information, target information, etc.
[0030] The unmanned swarm control terminal is primarily vehicle-mounted or portable, deployed at the forefront of the unmanned swarm platform. It is responsible for controlling the swarm and exchanging information with the unmanned swarm management terminal. Communication between the unmanned swarm control terminal and the unmanned swarm is achieved through a self-organizing network. The unmanned swarm control terminal includes a task planning module, a swarm platform monitoring module, a swarm payload monitoring module, a network link monitoring module, and an upper-layer data transceiver module, specifically comprising: The mission planning module mainly receives mission planning tasks sent from the unmanned swarm control terminal, obtains the mission information of the unmanned swarm, and performs swarm formation planning, swarm mission sequence planning, swarm route planning, and payload planning based on swarm information, airspace information, target information, etc. The planning results are loaded onto the unmanned swarm and sent to the unmanned swarm control terminal at the same time; during flight, it performs on-the-spot dynamic replanning in response to changes in the situation.
[0031] The cluster platform monitoring module mainly monitors the cluster's position, attitude, stage, and status in real time during task execution. It also adjusts the cluster's formation, assembly, disbandment, formation generation, formation transformation, flight path adjustment, and tasks.
[0032] The cluster load monitoring module mainly controls the load status of individual unmanned platforms within the cluster, displays images of the loads, and displays the situation of target information identified by the loads.
[0033] The network link monitoring module mainly monitors the connection topology and communication quality of the network link between the cluster control terminal and the unmanned cluster platform, and adjusts the frequency, bandwidth, power, etc. of the network link.
[0034] The upper-layer data transceiver module is mainly responsible for exchanging information with the unmanned control terminal.
[0035] The unmanned swarm collaborative control layer is deployed on the unmanned platform, enabling the platform to control itself from a single machine to a swarm. The unmanned swarm collaborative control layer includes a swarm task management module, a data management module, an algorithm processing module, a device management module, and a communication management module, specifically including: The cluster task management module is responsible for unified data scheduling at the collaborative control end, including network link transmission and reception processing, flight control data transmission and reception processing, payload data transmission and reception processing, sensor data transmission and reception processing, formation management, task sequence management, emergency handling management, etc. The data includes timed data processing and asynchronous message data processing.
[0036] The data management module mainly manages the status data of the local machine, the status data of other unmanned platforms in the formation, and the status data of other clusters within the network communication range.
[0037] The algorithm processing module mainly includes formation control algorithm, route planning algorithm, obstacle avoidance control algorithm, task allocation algorithm, cooperative strike control algorithm, and trajectory control algorithm.
[0038] The device management module primarily manages devices such as platform controllers, task payloads, and navigation and positioning systems. The communication management module mainly manages the data transmission and reception of modules used for ad hoc network communication.
[0039] like Figure 2 As shown, in a large-scale heterogeneous unmanned swarm collaborative command and control system, there is only one unmanned swarm management terminal, which is deployed in the cloud. The unmanned swarm management terminal communicates with multiple unmanned swarm control terminals via wired or wireless means. One unmanned swarm control terminal can be connected to multiple unmanned swarm collaborative control terminals, which can be homogeneous or heterogeneous. One unmanned swarm control terminal can be connected to one or more unmanned swarm platforms.
[0040] like Figure 3As shown, the mission planning module plans tasks based on cluster information, cluster organization information, airspace information, and target information provided by the basic data management module. This includes dividing the mission into phases, defining the sub-tasks required for each phase, their completion time, and specifying the cluster type, number, members, payload type, airspace information, and target information required for each sub-task, thus forming mission planning information. This planning information is pushed to the cluster control terminal, which completes formation planning, route planning, and payload planning, and pushes the planning results back to the mission planning module, forming complete mission information. The mission simulation module primarily uses a force simulation platform to simulate the planned mission information, simulating mission completion rate, mission completion time, casualty rate, and inter-force coordination. The results are evaluated and fed back to the mission planning module to determine if the mission needs to be replanned. Simultaneously, the mission information is pushed to the integrated situation command module. The integrated situational command module mainly monitors the timing of mission completion, receives situational information from the unmanned swarm control terminal, monitors the location, status, and target information of each swarm, issues alarms for conflicts between swarms, and sends command commands for status adjustment to the unmanned swarm control terminal.
[0041] like Figure 4 As shown, the mission planning module primarily receives mission planning information from the unmanned swarm management terminal, obtains the mission information of the unmanned swarm, and performs swarm formation planning, swarm mission sequence planning, swarm route planning, and payload planning based on swarm information, airspace information, and target information. The planning results are then loaded onto the unmanned swarm and sent to the unmanned swarm management terminal. During flight, in response to changes in the situation, ad-hoc dynamic replanning is performed, and the replanning results are sent back to the unmanned swarm management terminal via a self-organizing network link. The swarm platform monitoring module receives situational information from the unmanned swarm collaborative control terminal, monitors the swarm's position, attitude, stage, and status in real time during mission execution, and adjusts the swarm's formation, assembly, disbandment, formation generation, formation changes, flight path adjustments, and missions, generating swarm control commands and sending them to the unmanned swarm collaborative control terminal. The swarm payload monitoring module receives payload status information from the unmanned swarm collaborative control terminal, displays the payload status and images, displays the situational information of the targets identified by the payload, and primarily controls the payload status of individual unmanned platforms within the swarm, generating payload control commands and sending them to the unmanned swarm collaborative control terminal. The network link monitoring module primarily monitors the connection topology and communication quality of the network link between the cluster control terminal and the unmanned cluster platform, and adjusts the frequency, bandwidth, and power of the network link. The upper-layer data transceiver module is mainly responsible for exchanging information with the unmanned control terminal, receiving planning data pushed from the unmanned cluster control terminal, and pushing planning results and cluster status information to the unmanned cluster control terminal.
[0042] like Figure 5 As shown, the communication management module receives cluster planning results and cluster control commands from the unmanned swarm control terminal and sends them to the cluster task management module. The communication management module receives situational and coordination information from the cluster task management module and sends it to other unmanned swarm collaborative control terminals. It also receives coordination information from other unmanned swarm collaborative control terminals and sends it to the cluster task management module. The cluster task management module is responsible for unified data scheduling of the collaborative control terminals, mainly including network link transmission and reception processing, flight control data transmission and reception processing, payload data transmission and reception processing, sensor data transmission and reception processing, formation management, task sequence management, and emergency response management. The data includes timed data processing and asynchronous message data processing. The cluster task management module receives planning results, control commands, and coordination information from the communication management module, and receives equipment status information and equipment task data from the equipment management module. The cluster task management module calls the algorithm results of the formation control algorithm, route planning algorithm, obstacle avoidance control algorithm, task allocation algorithm, collaborative strike control algorithm, and trajectory control algorithm from the algorithm processing module. The device management module mainly manages devices such as platform controllers, task payloads, and navigation and positioning systems. It receives device control information from the cluster task management module and sends device status information and device task data to the device management module. The device management module controls the task payloads and receives status data and payload task data sent by the task payloads. The device management module also controls the standalone platforms and receives status information sent by the standalone platforms.
[0043] During the mission preparation phase, a large-scale heterogeneous unmanned swarm collaborative mission is created on the unmanned swarm management terminal according to mission requirements. The mission is decomposed according to the mission stage, forming mission information for each swarm, and the planned mission information is pushed to the unmanned swarm control terminal. The unmanned swarm control terminal performs formation planning, route planning, and payload planning based on the mission information, and pushes the planning results to the unmanned swarm management terminal. The unmanned swarm management terminal performs simulations based on the improved planned mission information. If the simulation results meet the requirements, the mission information is pushed to the unmanned swarm control terminal and bound to the unmanned swarm collaborative control terminal, ultimately forming a flight path and sending it to the single-unit control platform. If the simulation results do not meet the requirements, the mission is decomposed again.
[0044] During the mission phase, the unmanned swarm control terminal sends a start command. Upon receiving the start command, the unmanned swarm collaborative control terminal controls the unmanned platform to start. During the mission, the unmanned swarm control terminal sends swarm control commands and payload control commands. Upon receiving the commands, the unmanned swarm collaborative control terminal controls the unmanned platform and mission payload accordingly. During operation, the unmanned swarm collaborative control terminal collects status information of the unmanned platform and payload and sends it to the unmanned swarm control terminal. The unmanned swarm control terminal displays the platform and payload status, and simultaneously pushes the results to the unmanned swarm management terminal for global status display. Based on the real-time status information, the unmanned swarm management terminal issues mission replanning information, or the unmanned swarm control terminal initiates mission replanning based on the status information. The replanning results are sent to the unmanned swarm collaborative control terminal, completing the re-control of the unmanned platform.
[0045] After the mission is completed, the unmanned swarm control terminal sends a return command. Upon receiving the command, the unmanned swarm collaborative control terminal sends a return command to the unmanned platform, controlling the unmanned platform to return, and the mission is completed.
[0046] Example 2 Based on the same general inventive concept, this invention also provides a large-scale heterogeneous unmanned swarm collaborative hierarchical command and control system. The large-scale heterogeneous unmanned swarm collaborative hierarchical command and control system provided by this invention is described below. The large-scale heterogeneous unmanned swarm collaborative hierarchical command and control system described below can be referred to in correspondence with the large-scale heterogeneous unmanned swarm collaborative hierarchical command and control method described above. The system includes: The cloud-based management module is used for mission planning, mission simulation, comprehensive situational command, assessment and playback, and resource management. The ground control module is connected to the cloud management module and is used for task planning, cluster platform monitoring, cluster load monitoring, network link monitoring, and upper-layer data transmission and reception. The collaborative control module, deployed on the unmanned platform and connected to the ground control module, is used for cluster task management, data management, algorithm processing, equipment management, and communication management.
[0047] Example 3 (equivalent to Example 2 above) In this embodiment, a computer terminal device is provided, including: One or more processors; A memory, coupled to the processor, for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the steps of the above-described large-scale heterogeneous unmanned cluster collaborative hierarchical command and control method.
[0048] In this embodiment, a computer-readable storage medium is also provided, on which a computer program is stored. When the computer program is executed by a processor, it implements the steps of the above-described large-scale heterogeneous unmanned swarm collaborative hierarchical command and control method.
[0049] In this embodiment, a computer program product is also provided, including a computer program that, when executed by a processor, implements the steps of the above-described large-scale heterogeneous unmanned swarm collaborative hierarchical command and control method.
[0050] This invention provides a large-scale heterogeneous unmanned swarm collaborative hierarchical command and control method and system. It employs a hierarchical command structure, with each layer focusing on its own content. Through joint efforts, it achieves command of a large-scale heterogeneous unmanned swarm, avoiding the problems of complex functions and unclear command logic inherent in single-layer systems. By adding an unmanned swarm collaborative control layer to the unmanned platform, the platform can connect to a control network, enabling control from a single platform to a swarm collaborative system. The hierarchical structure, through the addition of an unmanned swarm control layer, allows for the unlimited expansion of control nodes. By setting different communication frequencies between the control terminals and the platform, different control frequencies can be used within the same area, achieving compatible operation of large-scale unmanned swarms.
[0051] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.
Claims
1. A large-scale heterogeneous unmanned swarm collaborative hierarchical command and control method, characterized in that, include: Construct an unmanned cluster management and control layer, an unmanned cluster operation layer, and an unmanned cluster collaborative control layer. The unmanned cluster management and control layer connects to multiple unmanned cluster operation layers, and the unmanned cluster operation layer connects to at least one unmanned cluster collaborative control layer. The unmanned cluster management layer plans tasks, generates task information, and sends it to the unmanned cluster control layer. The unmanned swarm control layer plans formation, route and payload based on mission information, and feeds the planning results back to the unmanned swarm management layer; The unmanned swarm management layer performs a simulation based on the planning results and task information. If the simulation is not satisfied, it returns to the planning process and re-plans. If the simulation is satisfied, the task information is loaded into the unmanned swarm collaborative control layer. During execution, the unmanned swarm control layer sends control commands to the unmanned swarm collaborative control layer, which controls the unmanned platform and payload and feeds back status information to the unmanned swarm control layer. The unmanned swarm control layer reports the situation to the unmanned swarm management layer. The unmanned swarm management layer or the unmanned swarm control layer initiates replanning based on the situation and sends it to the unmanned swarm collaborative control layer.
2. The method according to claim 1, characterized in that, The process of task planning by the unmanned swarm control layer includes: dividing the collaborative task into multiple task stages based on swarm information, swarm organization information, airspace information and target information, and determining the sub-tasks to be completed, the completion time, the required swarm type, the number of swarm members and the payload type for each task stage.
3. The method according to claim 1, characterized in that, The process of unmanned swarm control layer in planning formation, route and payload includes: planning swarm formation, swarm mission sequence, swarm route and payload based on swarm information, swarm organization information, airspace information and target information, and binding the planning results to the unmanned swarm collaborative control layer.
4. The method according to claim 1, characterized in that, The process of the unmanned swarm control layer performing simulations based on planning results and task information includes: building a force simulation platform, performing simulations and evaluations on task completion rate, task completion time, combat loss rate, and the coordination relationship between forces; if the simulation and evaluation results do not meet the requirements, the process is returned to replanning.
5. The method according to claim 1, characterized in that, The process of the unmanned swarm management layer or the unmanned swarm control layer initiating replanning based on the situation includes: the unmanned swarm management layer issuing task replanning information based on global situation information, or the unmanned swarm control layer initiating ad hoc dynamic replanning based on the situation information of its own swarm, and sending the replanning result to the unmanned swarm collaborative control layer.
6. The method according to claim 1, characterized in that, The process by which the unmanned swarm collaborative control layer controls the unmanned platform and payload includes: the unmanned swarm collaborative control layer calling the formation control algorithm, route planning algorithm, obstacle avoidance control algorithm, task allocation algorithm, collaborative strike control algorithm and trajectory control algorithm in the algorithm processing module, and controlling the movement of the unmanned platform and the execution of tasks by the payload according to the control commands and algorithm results.
7. A large-scale heterogeneous unmanned swarm collaborative hierarchical command and control system, characterized in that, The system for implementing the method of any one of claims 1-6 comprises: The cloud-based management module is used for mission planning, mission simulation, comprehensive situational command, assessment and playback, and resource management. The ground control module is connected to the cloud management module and is used for task planning, cluster platform monitoring, cluster load monitoring, network link monitoring, and upper-layer data transmission and reception. The collaborative control module, deployed on the unmanned platform and connected to the ground control module, is used for cluster task management, data management, algorithm processing, equipment management, and communication management.
8. A computer terminal device, characterized in that, include: One or more processors; A memory, coupled to the processor, for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors perform the steps of the method as described in any one of claims 1-6.
9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1-6.
10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1-6.