For tower-type solar thermal power stations, determining related parameters for the heliostat field is an inevitable practical issue during the station’s planning phase. In response to the current deficiencies in the energy transmission efficiency model of the heliostat field, the inadequacy of existing layout mathematical models, and the poor applicability of traditional model algorithms, this paper undertakes an in-depth study on the layout optimization of the heliostat field in tower-type solar thermal power stations. Initially, the energy transmission efficiency model was further optimized by developing models for the solar position, cosine efficiency, shadow blocking efficiency, heat collector truncation efficiency, and atmospheric attenuation. Calculating thermal energy output was conducted, and the average energy efficiency per year and thermal power output were established. Subsequently, the article introduces an innovative semi-circular biomimetic-hybrid heliostat field layout strategy. Based on this strategy, a nonlinear optimization model was established and solved using the Improved Dynamic Multi-Swarm Particle Swarm Optimization (IDM-PSO) algorithm to maximize the field efficiency. Additionally, the study examined the effects of changes in heliostat size and installation height on field efficiency and identified key factors affecting output thermal power through sensitivity analysis. The findings indicate that optimizing the heliostat field design and adjusting heliostat parameters can significantly improve optical efficiency and thermal energy output.