Clustering routing method for cross-medium heterogeneous unmanned cluster system

The invention provides a cross-medium heterogeneous unmanned cluster system clustering routing method, and belongs to the field of heterogeneous unmanned cluster system networking. According to the invention, the method comprises the steps: clustering UAV, USV and UUV cluster nodes in an air-sea environment in turns, wherein the USV nodes have sound wave and radio dual-channel characteristics; ineach clustering period, performing the priority clustering of the USV nodes, and determining cluster members through cluster head competition, selecting cluster head nodes, gateway nodes and cluster member nodes; enabling the UAV nodes and the UUV nodes to wait for corresponding time respectively, and after the USV nodes complete clustering convergence, completing the election of cluster heads, cluster members and gateway nodes of respective clusters according to the position distribution of the cluster heads of the USV nodes; after clustering, according to an intra-cluster protocol and an inter-cluster protocol, maki