The invention discloses a Stackelberg game-based calculation unloading and cooperative calculation method in an unmanned aerial vehicle. The method comprises the steps of constructing a mobile edge calculation
system; defining a task unloading strategy of the MUE and a cooperative forwarding strategy of the UAV; establishing
system cost models including a G2A communication model, an A2A communication model, a calculation queuing model and a
system energy consumption model, and establishing a
task completion time
delay model including constructing an
optimization problem; modeling the
optimization problem as a Stackelberg game; the UAV is used as a leader, and the MUE is used as a follower; alternately updating the cooperative forwarding strategy and the task unloading strategy by adopting a distributed iteration strategy solving
algorithm, and outputting a balanced unloading strategy and a balanced forwarding strategy; and the MUE offloads the task to the UAV according to a balanced offload strategy, and controls the UAV to forward the task to an adjacent UAV or to process locally according to a balanced forwarding strategy. According to the method, cooperative
processing of tasks is realized based on the Stackelberg game, and the comprehensive cost is effectively reduced.