Swarm unmanned aerial vehicle grouping method

The invention relates to a swarm unmanned aerial vehicle grouping method to solve the problems that an existing grouping method is prone to signal leakage, complex in system, low in reliability and high in cost. The method comprises the following steps that: a plurality of position points Px are selected on a route of each unmanned aerial vehicle, and arrival time Tx is assigned the plurality of position points Px; when one unmanned aerial vehicle flies to a certain position point Px, the actual arrival time Tx' of the unmanned aerial vehicle is compared with the specified arrival time Tx corresponding to the Px for judgment, and the subsequent flight speed vP of the unmanned aerial vehicle is determined according to a judgment result; or when the unmanned aerial vehicle flies to a certainspecified arrival time Tx, the actual position Px' of the unmanned aerial vehicle is compared and judged with the position point Px corresponding to the Tx, and the subsequent flight speed vT of theunmanned aerial vehicle is