Air-ground unmanned cooperative multi-terminal combined control method

The invention relates to an air-ground unmanned cooperative multi-terminal combined control method. The control method comprises the following specific steps: step 1, standardizing terminal control instruction information; a unified frame format is formulated, and minimum bandwidth occupation transmission of effective information is realized; 2, establishing a central information receiving node; extracting the effective content of the received information flow, and enabling the new frame information to be in one-to-one correspondence with the terminal numbers; 3, formulating a terminal information arbitration rule; formulating a terminal priority sequence and a function priority sequence during cooperation of the multi-heterogeneous terminals; 4, intelligent switching between automatic driving and remote control is carried out; 5, integrally controlling the remote control handle and the ground station; the remote control handle and the ground station realize interaction through the central information receivi