The invention provides an unmanned cluster brain-like navigation map fusion construction and cooperative positioning method. The method comprises the following steps: acquiring multi-
modal perception data, respectively acquiring vision,
sound wave and
pose information through a binocular camera, a
radar and an inertial sensor, simulating a
human brain nerve coding mechanism, and generating a
pulse sequence and a
feature vector in combination with spatio-
temporal information; constructing a multi-
modal coding unit into a
hypergraph node, and based on a dynamic hyperedge connection topological relation, aggregating spatial-temporal characteristics through a heterogeneous
hypergraph convolutional network to generate a high-order brain-like
semantic map of a
single agent; sharing a local brain-like map by multiple agents through distributed communication, detecting geometric and semantic conflicts of an overlapped region, performing space-
time alignment based on an
anchor point reference, eliminating feature contradictions by utilizing probability distribution matching, and generating a global consistent high-confidence brain-like map; and outputting the optimal position
estimation. Through bionic neural coding, heterogeneous
hypergraph modeling and multi-agent collaborative optimization, establishment and positioning of a high-order brain-like map in a dynamic unknown environment are realized.