The invention discloses an unmanned aerial vehicle cluster autonomous decision-making method and
system fusing Beidou enhancement service and multi-source
perception, and the method comprises the steps: enabling each unmanned aerial vehicle to receive a
satellite-based enhancement
signal, carrying out the real-time calculation of the
satellite-based enhancement
signal through employing a precise single-point
positioning technology, and obtaining precise PVT information; each unmanned aerial vehicle synchronously collects sensor information, carries out space-
time alignment on the sensor information and the precise PVT information, and processes local sensing features and wide-area geographic information by using an
information fusion model to generate a global environment situation
tensor; inputting the global environment situation
tensor into a deep
reinforcement learning strategy network to obtain a task
instruction set; carrying out
consensus confirmation on key instructions in the task
instruction set by utilizing a Beidou global short message to obtain a task instruction after
consensus; and each unmanned aerial vehicle performs collaborative operation based on the task instruction after
consensus, performs real-time fusion on new
perception data generated in the execution process and precise PVT information, and inputs the fused data into the
information fusion model again to complete an autonomous decision
closed loop.