With the rapid development of unmanned swarm combat systems, the heterogeneous unmanned swarm network adaptable to drones/unmanned vehicles/manned vehicles has become a hot topic of research. The current gap in the establishment of wireless channel simulation models for heterogeneous unmanned swarm networking simulations by proposing a method based on the OPNET wireless pipeline model to establish a wireless channel simulation model is addressed. By integrating the wireless channel simulation model in the OPNET simulation system, the large-scale network construction, rapid network access protocols, and the network's flexible splitting and self-healing capabilities for heterogeneous unmanned swarms are verified. Compared with the traditional simulation process that only verifies network protocols, the established simulation model is closer to real-world network usage scenarios. It can more fully verify the effectiveness and rationality of network protocols and ensure the network's flexible self-healing ability.