关键词: 关键词：无人机自组织网络, 无人机集群作战, 通信架构模式, 模型检测

Abstract: Abstract: The traditional unmanned aerial vehicle (UAV) cluster communication architecture is limited by the ground base station， resulting in weak anti-interference ability. At the same time， the inflexible communication mode also makes its autonomous coordination ability poor. In order to cope with the ability of executing tasks in dynamic uncertain environment and get rid of the restriction of ground base station on UAV cluster， a communication architecture mode of UAV cluster based on central node control is proposed. The communication architecture mode is a multi-level hierarchical structure based on the characteristics of the central node responsible for cluster member scheduling and task release and it avoids the problem of weak distributed decision-making ability of the cluster caused by the traditional GSC mode. The reliability of the communication architecture is verified using the graphical model detection tool ISPIN. The verification results show that the communication architecture adopts dynamic adjustment layout， which improves the communication performance， reduces the dependence on the ground base station， and improves the anti-interference ability and collaborative execution efficiency of the UAV cluster cooperative combat as a whole.

Key words: Key words: UAV self-organizing network, UAV swarm combat, communication architecture mode, model checking