针对三维空间中采用网状拓扑的无人机编队在飞行过程中发生通信故障的问题，基于刚性图和持久图理论，提出了一种分布式拓扑重构方法。考虑到大规模无人机编队拓扑重构过程中的快速响应需求，针对故障拓扑刚性受损的问题，设计了一种基于局部编队信息的刚性拓扑修复算法。为进一步降低修复拓扑的通信代价，设计了一种拓扑持久化算法，通过将双向链路转换为单向链路以优化通信成本。最后，通过分别设计不同规模编队的仿真实验，验证了上述方法的有效性。与现有研究相比，所提出的分布式拓扑重构算法有效减少了参与重构的无人机数量，降低了重构过程的计算时间和消耗，适合大规模的无人机编队，同时最终重构生成的拓扑也具有更低的通信代价。

Aiming to address the problem of communication faults during the flight of unmanned aerial vehicle (UAV) formations with a mesh topology in three-dimensional space, a distributed topology reconstruction method is proposed based on rigid graph and persistent graph theory. the problem of communication faults during the flight of unmanned aerial vehicle (UAV) formations with a mesh topology in three-dimensional space, a distributed topology reconstruction method is proposed based on rigid graph and persistent graph theory. Considering the rapid response requirements in the topology reconstruction process of large-scale UAV formations, a rigid topology repair algorithm based on local formation information is designed to solve the problem of damaged rigidity of fault topology. Subsequently, to further reduce the communication cost of the repaired topology, a topology persistence algorithm was proposed, which optimizes communication cost by converting bidirectional links into unidirectional links. Finally, the effectiveness of the above method is verified by designing simulation experiments of formations of different scales. Compared with existing studies, the proposed distributed topology reconstruction algorithm significantly reduces the number of UAVs involved in the reconstruction process, decreases computational time and resource consumption, and demonstrates better suitability for large-scale UAV clusters. Moreover, the final topology generated by this reconstruction method achieves a lower overall communication cost.