多级仿真架构，如下图所示

详情可参见论文：

K. Xiao, L. Ma, S. Tan, Y. Cong , X. Wang, "Implementation of UAV Coordination Based on a Hierarchical Multi-UAV Simulation Platform," Advances in Guidance, Navigation and Control. Lecture Notes in Electrical Engineering, 2022, vol 644. Springer, Singapore. doi: 10.1007/978-981-15-8155-7_423

预印版：[2005.01125] Implementation of UAV Coordination Based on a Hierarchical Multi-UAV Simulation Platform

平台网址：

https://gitee.com/robin_shaun/XTDrone?_from=gitee_search#%E6%95%99%E7%A8%8B
平台使用文档：

https://www.yuque.com/xtdrone/manual_cn