To address the problems of complex and variable unmanned combat missions and low efficiency of traditional mission planning, an intelligent mission planning method based on dynamic combination of template libraries was studied through behavior tree-based visual mission orchestration technology. The results show that this technology reduces the pre-planning time of unmanned aerial vehicle (UAV) swarm missions to 25% of that of traditional methods. The command transmission delay based on the data distribution system (DDS) middleware is controlled within 10 ms. It is evident that this solution effectively breaks through the response bottleneck of traditional static planning and provides technical support for the intelligent collaborative combat of unmanned systems. In the future, further exploration can be made on the in-depth integration with intelligent decision-making algorithms and the multi-domain collaborative orchestration mechanism.