Method and system for integrated unmanned aerial vehicle flight control based on dynamic subcarrier allocation
The integrated sensing UAV flight control method using dynamic subcarrier allocation and OCDM modulation solves the problem of UAV control signals being easily interfered with, improves anti-interference capability and spectrum efficiency, and enables autonomous navigation and mission execution of UAVs.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SUN YAT SEN UNIV
- Filing Date
- 2026-03-20
- Publication Date
- 2026-05-29
Smart Images
Figure CN122120086A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the fields of sensor integration and unmanned aerial vehicle (UAV) control technology, and more specifically, to a sensor integration UAV flight control method and system based on dynamic subcarrier allocation. Background Technology
[0002] With the rapid development of drone technology, drones have been widely used in various fields, including military and civilian applications. However, the security and anti-interference capabilities of drone control signals have become important factors restricting their further development. Traditional drone control signal modulation methods have certain limitations, such as poor anti-interference capabilities and low spectral efficiency, making them susceptible to interception and interference, thus affecting the normal flight and mission execution of drones. Therefore, a safer and more reliable drone control signal modulation method is needed.
[0003] The integrated communication and sensing signal can sense the position and speed of the UAV, and can also issue flight control commands to the UAV through communication functions. At the same time, the integrated signal based on multi-carrier modulation can not only improve the efficient use of increasingly scarce spectrum resources, but also has stronger anti-interference performance than ordinary single-carrier modulation.
[0004] In addition, the integrated sensing signal brings advantages in perception, which can reduce the drone's dependence on its own sensors. The two complement each other, and can better assess the drone's attitude and position information.
[0005] Chinese invention application No. 202411536814.7 discloses "A Method for Integrated Sensory Signal Transmission of Unmanned Aerial Vehicles for Maritime Rescue," which includes steps 1, defining initial data; step 2, designing the UAV's signal waveform as a dual-integrated signal waveform based on fronthaul access and sensory communication; step 3, designing a parallel duplex frame structure to match the waveform, enabling parallel transmission and reception of multiple signals; and step 4, designing a fusion transmission mode for integrated sensory fronthaul access of maritime UAVs based on the dual-integrated signal waveform and parallel duplex frame structure of steps 2 and 3. This prior art solution employs an allocation strategy based on user density and static function partitioning. Summary of the Invention
[0006] To address the technical problems of poor anti-interference capability and low spectral efficiency in existing UAV control signal modulation methods, which make control signals susceptible to interception and interference, thus affecting UAV flight safety and mission execution, this invention provides a sensor-integrated UAV flight control method and system based on dynamic subcarrier allocation. The technical solution adopted by this invention is as follows: The first aspect of this invention provides a sensor-integrated UAV flight control method based on dynamic subcarrier allocation, the method comprising: The communication bits are generated and subjected to convolutional encoding and interleaving to obtain flight control commands and their corresponding command numbers. Based on the instruction sequence number of the current transmission frame, the sensing subcarrier position and the communication subcarrier position of the current frame are dynamically allocated, and a protection interval is set between the two types of subcarriers; The allocated subcarrier sequence is modulated using OCDM to generate an integrated OCDM sensing signal, which is then transmitted. After receiving the OCDM integrated sensing signal and performing OCDM demodulation on the OCDM integrated sensing signal, the communication subcarrier is separated to restore the flight control command, and the flight control command is output to the flight controller through the UART protocol.
[0007] As a preferred embodiment, the flight control commands include flight control information, positioning information, and environmental information.
[0008] As a preferred embodiment, the method of dynamically allocating the sensing subcarrier position and the communication subcarrier position of the current frame according to the instruction sequence number of the current transmission frame, and setting a guard interval between the two types of subcarriers, includes: The state machine presets the number of transmission frames, the initial sensing subcarrier position, and the guard interval length. After each frame modulation is completed, the sensing subcarrier position and the communication subcarrier position are automatically moved to the next position synchronously according to the instruction sequence number, thereby achieving dynamic allocation.
[0009] As a preferred embodiment, the OCDM modulation method includes: Constellation mapping is performed on the allocated subcarrier sequences, and the mapped sequences are then compared with the phase matrix. The conjugate of the product is multiplied by the product, then subjected to an inverse fast Fourier transform; and then multiplied by the phase matrix. The conjugate of the signal is multiplied by the dot product to generate the OCDM integrated sensing signal, specifically:
[0010] in, For OCDM integrated sensing signal, The QAM constellation symbol to be modulated. , This is the Fresnel transform matrix of the OCDM modulation core. It can be decomposed into a phase matrix With phase matrix F is the Fourier transform matrix.
[0011] As a preferred embodiment, the constellation mapping is a 16-QAM mapping.
[0012] As a preferred embodiment, the OCDM demodulation method includes: Receive the OCDM sensing signal and combine it with the phase matrix. Perform a dot product, then a fast Fourier transform, and finally combine with the phase matrix. Dot multiplication is performed to obtain the demodulated QAM constellation symbols, which are then used for inverse mapping to restore the encoded information.
[0013] The second aspect of the present invention provides a sensor-integrated UAV flight control system based on dynamic subcarrier allocation, the system comprising a host computer configuration module, a central control communication information module, a subcarrier dynamic allocation module, an OCDM modulation module, a transmitting front end, a receiving front end, an OCDM demodulation module, and a command output module; The host computer configuration module is used to configure the number of modulation subcarriers and the length of flight control commands; The central control communication information module is used to generate communication bits and perform convolutional encoding and interleaving processing to obtain flight control commands; wherein, the flight control commands encapsulate flight control information, positioning information, environmental information and command sequence number; The subcarrier dynamic allocation module is connected to the central control communication information module and is used to dynamically allocate the sensing subcarrier position and communication subcarrier position of the current frame according to the instruction sequence number of the current transmission frame, and set a protection interval between the two types of subcarriers. The OCDM modulation module is connected to the subcarrier dynamic allocation module and is used to perform OCDM modulation on the allocated subcarrier sequence to generate an OCDM integrated sensing signal. The transmitting front end is used to transmit OCDM integrated sensing signals; The receiving front end is used to receive OCDM integrated sensing signals; The OCDM demodulation module is used to demodulate the OCDM integrated sensing signal and separate the communication subcarrier to restore the flight control command. The command output module is connected to the OCDM demodulation module and is used to output flight control commands to the flight controller via the UART protocol.
[0014] As a preferred embodiment, the subcarrier dynamic allocation module is implemented using a state machine. The state machine adjusts the allocation of sensing subcarriers and communication subcarriers frame by frame according to the preset number of transmission frames, the initial sensing subcarrier position, and the guard interval length, and reserves idle subcarriers between frames as guard intervals.
[0015] A third aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the aforementioned sensor-integrated UAV flight control method based on dynamic subcarrier allocation.
[0016] A fourth aspect of the present invention provides a computer device, including a storage medium, a processor, and a computer program stored in the storage medium and executable by the processor, wherein the computer program, when executed by the processor, implements the steps of the aforementioned sensor-integrated UAV flight control method based on dynamic subcarrier allocation.
[0017] Compared with the prior art, the beneficial effects of this invention are: This invention dynamically adjusts the positions of sensing and communication subcarriers based on command sequence numbers and sets a guard interval between them, enabling flexible allocation of subcarrier resources in each frame of signal. This effectively avoids mutual interference between sensing and communication functions, improving the coexistence capability and system reliability of the integrated sensing signal in complex electromagnetic environments. By employing OCDM modulation technology to generate the integrated sensing signal and utilizing the inherent anti-interference characteristics of multi-carrier modulation, this invention enhances the anti-interception and anti-interference capabilities of UAV flight control commands in adversarial environments, while also improving the utilization efficiency of spectrum resources. This invention simultaneously realizes sensing and communication functions through the integrated sensing signal, allowing the UAV to perceive its own position and speed information while acquiring flight control commands. This reduces reliance on dedicated sensors (such as GPS and radar), achieving complementarity between sensing and communication, and improving the UAV's autonomous navigation and mission execution capabilities. Attached Figure Description
[0018] Figure 1 This is a flowchart of the sensor-integrated UAV flight control method based on dynamic subcarrier allocation provided in this embodiment; Figure 2 This is a schematic diagram of dynamic subcarrier allocation provided in this embodiment. Detailed Implementation
[0019] The accompanying drawings are for illustrative purposes only and should not be construed as limiting the invention. It should be understood that the described embodiments are merely some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of the embodiments of this application.
[0020] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the embodiments of this application. The singular forms “a,” “the,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.
[0021] In the following description, when referring to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims. In the description of this application, it should be understood that the terms "first," "second," "third," etc., are used only to distinguish similar objects and are not necessarily used to describe a specific order or sequence, nor should they be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.
[0022] Furthermore, in the description of this application, unless otherwise stated, "multiple" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. The invention will be further described below with reference to the accompanying drawings and embodiments.
[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments.
[0024] Example 1 Please refer to Figure 1 This embodiment provides a sensor-integrated UAV flight control method based on dynamic subcarrier allocation, the method comprising: S1: Generate communication bits and perform convolutional encoding and interleaving to obtain flight control commands and their corresponding command numbers; In one specific embodiment, the flight control commands include flight control information, positioning information, and environmental information.
[0025] S2: Based on the instruction sequence number of the current transmission frame, dynamically allocate the sensing subcarrier position and the communication subcarrier position of the current frame, and set a protection interval between the two types of subcarriers; Please refer to Figure 2 In one specific embodiment, the method of dynamically allocating the sensing subcarrier position and the communication subcarrier position of the current frame according to the instruction sequence number of the current transmission frame, and setting a guard interval between the two types of subcarriers, includes: The state machine presets the number of transmission frames, the initial sensing subcarrier position, and the guard interval length. After each frame modulation is completed, the sensing subcarrier position and the communication subcarrier position are automatically moved to the next position synchronously according to the instruction sequence number, thereby achieving dynamic allocation.
[0026] S3: Perform OCDM modulation on the allocated subcarrier sequence to generate an OCDM integrated sensing signal and transmit it; In one specific embodiment, the OCDM modulation method includes: Constellation mapping is performed on the allocated subcarrier sequences, and the mapped sequences are then compared with the phase matrix. The conjugate of the product is multiplied by the product, then subjected to an inverse fast Fourier transform; and then multiplied by the phase matrix. The conjugate of the signal is multiplied by the dot product to generate the OCDM integrated sensing signal, specifically:
[0027] in, For OCDM integrated sensing signal, The QAM constellation symbol to be modulated. , The core Fresnel transform matrix and phase matrix of OCDM modulation. With phase matrix The calculation is performed using the Cordic algorithm, where F is the Fourier transform matrix.
[0028] In one specific embodiment, the constellation mapping is a 16-QAM mapping.
[0029] Specifically, the OCDM modulation is implemented through a state machine, including: State 1: Idle state: In this state, the two phase matrices are first calculated using the Cordic algorithm based on the input FFT points. and And store it in Bram for later use.
[0030] State 2: With the phase matrix In the conjugate dot product state, the subcarrier-allocated sequence and the phase matrix are multiplied one by one. In this state, the complex multiplier IP core and the Bram IP core are invoked. First, the pre-stored phase matrix is retrieved from the Bram IP core. It is input as one of the multipliers into the complex multiplier IP core, and then the output result is input into the FFT IP core to implement IFFT; State 3: With the phase matrix In the conjugate dot product state, the IFFT result output from the previous step needs to be delayed to match the phase matrix read from the Bram IP core. By aligning the timings, inputting both into the complex multiplier IP core, and then inputting the result into the divider IP core and dividing by the square root of the FFT points, the OCDM integrated sensing signal can be obtained.
[0031] S4: Receives the OCDM integrated sensing signal, performs OCDM demodulation on the OCDM integrated sensing signal, separates the communication subcarrier to restore the flight control command, and outputs the flight control command to the flight controller through the UART protocol; In one specific embodiment, the OCDM demodulation method includes: Receive the OCDM sensing signal and combine it with the phase matrix. Perform a dot product, then a fast Fourier transform, and finally combine with the phase matrix. Dot multiplication is performed to obtain the demodulated QAM constellation symbols, which are then used for inverse mapping to restore the encoded information.
[0032] Specifically, the OCDM demodulation is implemented through a state machine, including: State 1: Idle state. In this state, the phase matrix calculation is performed at the receiver end first. After the calculation is completed, the completion signal is output and the system waits for the detected OCDM inductive integrated signal. State 2: With the phase matrix In the dot product state, when the input OCDM waveform is valid, its phase matrix is first... The signal is taken from the Bram IP core and input into the complex multiplier IP core along with the OCDM signal for dot multiplication. At the same time, the result of the multiplier is input into the FFT IP core for FFT. State 3: With the phase matrix In the dot product state, the result of the previous step also needs to be delayed for a certain time to align with the timing of the phase matrix extracted from the Bram. The dot product result is the OCDM demodulation result. State 4: Subcarrier separation state. In this state, the communication subcarrier and sensing subcarrier sequences need to be separated. After the communication subcarrier is separated, it is input into the 16-QAM inverse mapping module to obtain the decomposition instructions.
[0033] Example 2 This embodiment provides a sensor-integrated UAV flight control system based on dynamic subcarrier allocation. The system includes a host computer configuration module, a central control communication information module, a subcarrier dynamic allocation module, an OCDM modulation module, a transmitting front-end, a receiving front-end, an OCDM demodulation module, and a command output module. The host computer configuration module is used to configure the number of modulation subcarriers and the length of flight control commands; The central control communication information module is used to generate communication bits and perform convolutional encoding and interleaving processing to obtain flight control commands; wherein, the flight control commands encapsulate flight control information, positioning information, environmental information and command sequence number; The subcarrier dynamic allocation module is connected to the central control communication information module and is used to dynamically allocate the sensing subcarrier position and communication subcarrier position of the current frame according to the instruction sequence number of the current transmission frame, and set a protection interval between the two types of subcarriers. The OCDM modulation module is connected to the subcarrier dynamic allocation module and is used to perform OCDM modulation on the allocated subcarrier sequence to generate an OCDM integrated sensing signal. The transmitting front end is used to transmit OCDM integrated sensing signals; The receiving front end is used to receive OCDM integrated sensing signals; The OCDM demodulation module is used to demodulate the OCDM integrated sensing signal and separate the communication subcarrier to restore the flight control command. The command output module is connected to the OCDM demodulation module and is used to output flight control commands to the flight controller via the UART protocol.
[0034] It should be noted that this invention uses AMD Xilinx's Ultrascale + RFSoC for signal modulation and transmission. This module also serves as an external flight control processing module for the UAV, responsible for receiving and demodulating signals to provide flight control commands. The RFSoC has abundant logic resources and fast processing speed, meeting the system's real-time requirements. Furthermore, the RFSoC integrates a radio frequency module internally, eliminating the need for an external AD / DA converter, thus achieving miniaturization and meeting the requirements for UAV installation.
[0035] All functional verifications in this system are implemented using FPGA devices, making reasonable use of on-chip resources. In the OCDM modulation / demodulation module, Xilinx-provided FFT IP cores, complex multiplier IP cores, divider IP cores, and on-chip Bram resources are utilized. During the generation of the OCDM phase matrix, this invention uses the Cordic algorithm to calculate the phase matrix. The internal ports and resource calls of these modules can all be easily implemented using FPGA devices, with reserved parameters for the number of FFT points and instruction length. The number of FFT points controls the number of subcarriers in the OCDM modulator, and the instruction length parameter represents the information that the flight control command can carry. Both of these can be configured via a host computer. The FFT optional parameter is a power of 2.
[0036] Therefore, it is evident that the functions of each module in this invention can be supported by the characteristics of FPGA devices, and the logic is reasonable, the functions are effective, the resource utilization and layout / routing are reasonable, and the timing is convergent. Thus, based on the feasibility of the method in this invention, the FPGA is effectively utilized, improving the stability of the system. Please refer to Figure 2In one specific embodiment, the subcarrier dynamic allocation module is implemented using a state machine. The state machine adjusts the allocation of sensing subcarriers and communication subcarriers frame by frame according to the preset number of transmission frames, the initial sensing subcarrier position, and the guard interval length, and reserves idle subcarriers between frames as guard intervals.
[0037] Specifically, the OCDM modulation module is implemented through a state machine, and includes: State 1: Idle state: In this state, the two phase matrices are first calculated using the Cordic algorithm based on the input FFT points. and And store it in Bram for later use.
[0038] State 2: With the phase matrix In the conjugate dot product state, the subcarrier-allocated sequence and the phase matrix are multiplied one by one. In this state, the complex multiplier IP core and the Bram IP core are invoked. First, the pre-stored phase matrix is retrieved from the Bram IP core. It is input as one of the multipliers into the complex multiplier IP core, and then the output result is input into the FFT IP core to implement IFFT; State 3: With the phase matrix In the conjugate dot product state, the IFFT result output from the previous step needs to be delayed to match the phase matrix read from the Bram IP core. By aligning the timings, inputting both into the complex multiplier IP core, and then inputting the result into the divider IP core and dividing by the square root of the FFT points, the OCDM integrated sensing signal can be obtained.
[0039] Specifically, the OCDM demodulation module is implemented through a state machine, and includes: State 1: Idle state. In this state, the phase matrix calculation is performed at the receiver end first. After the calculation is completed, the completion signal is output and the system waits for the detected OCDM inductive integrated signal. State 2: With the phase matrix In the dot product state, when the input OCDM waveform is valid, its phase matrix is first... The signal is taken from the Bram IP core and input into the complex multiplier IP core along with the OCDM signal for dot multiplication. At the same time, the result of the multiplier is input into the FFT IP core for FFT. State 3: With the phase matrix In the dot product state, the result of the previous step also needs to be delayed for a certain time to align with the timing of the phase matrix extracted from the Bram. The dot product result is the OCDM demodulation result. State 4: Subcarrier separation state. In this state, the communication subcarrier and sensing subcarrier sequences need to be separated. After the communication subcarrier is separated, it is input into the 16-QAM inverse mapping module to obtain the decomposition instructions.
[0040] Example 3 This embodiment provides a computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements the steps of the sensor-integrated UAV flight control method based on dynamic subcarrier allocation described in Embodiment 1. Example 4 This embodiment provides a computer device, including a storage medium, a processor, and a computer program stored in the storage medium and executable by the processor. When the computer program is executed by the processor, it implements the steps of the sensor-integrated UAV flight control method based on dynamic subcarrier allocation described in Embodiment 1.
[0041] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.
Claims
1. A sensor-integrated UAV flight control method based on dynamic subcarrier allocation, characterized in that, The method includes: The communication bits are generated and subjected to convolutional encoding and interleaving to obtain flight control commands and their corresponding command numbers. Based on the instruction sequence number of the current transmission frame, the sensing subcarrier position and the communication subcarrier position of the current frame are dynamically allocated, and a protection interval is set between the two types of subcarriers; The allocated subcarrier sequence is modulated using OCDM to generate an integrated OCDM sensing signal, which is then transmitted. After receiving the OCDM integrated sensing signal and performing OCDM demodulation on the OCDM integrated sensing signal, the communication subcarrier is separated to restore the flight control command, and the flight control command is output to the flight controller through the UART protocol.
2. The sensor-integrated UAV flight control method based on dynamic subcarrier allocation according to claim 1, characterized in that, The flight control commands include flight control information, positioning information, and environmental information.
3. The sensor-integrated UAV flight control method based on dynamic subcarrier allocation according to claim 1, characterized in that, The method of dynamically allocating the sensing subcarrier position and the communication subcarrier position of the current frame according to the instruction sequence number of the current transmission frame, and setting a guard interval between the two types of subcarriers, includes: The state machine presets the number of transmission frames, the initial sensing subcarrier position, and the guard interval length. After each frame modulation is completed, the sensing subcarrier position and the communication subcarrier position are automatically moved to the next position synchronously according to the instruction sequence number, thereby achieving dynamic allocation.
4. The sensor-integrated UAV flight control method based on dynamic subcarrier allocation according to claim 1, characterized in that, The OCDM modulation method includes: Constellation mapping is performed on the allocated subcarrier sequences, and the mapped sequences are then compared with the phase matrix. The conjugate of the product is multiplied by the product, then subjected to an inverse fast Fourier transform; and then multiplied by the phase matrix. The conjugate of the signal is multiplied by the dot product to generate the OCDM integrated sensing signal, specifically: in, For OCDM integrated sensing signal, The QAM constellation symbol to be modulated. , The core Fresnel transform matrix and phase matrix of OCDM modulation. With phase matrix The calculation is performed using the Cordic algorithm, where F is the Fourier transform matrix.
5. The sensor-integrated UAV flight control method based on dynamic subcarrier allocation according to claim 4, characterized in that, The constellation mapping is a 16-QAM mapping.
6. The sensor-integrated UAV flight control method based on dynamic subcarrier allocation according to claim 1, characterized in that, The OCDM demodulation method includes: Receive the OCDM sensing signal and combine it with the phase matrix. Perform a dot product, then a fast Fourier transform, and finally combine with the phase matrix. Dot multiplication is performed to obtain the demodulated QAM constellation symbols, which are then used for inverse mapping to restore the encoded information.
7. A sensor-integrated UAV flight control system based on dynamic subcarrier allocation, characterized in that, The system includes a host computer configuration module, a central control communication information module, a subcarrier dynamic allocation module, an OCDM modulation module, a transmitting front end, a receiving front end, an OCDM demodulation module, and an instruction output module; The host computer configuration module is used to configure the number of modulation subcarriers and the length of flight control commands; The central control communication information module is used to generate communication bits and perform convolutional encoding and interleaving processing to obtain flight control commands; wherein, the flight control commands encapsulate flight control information, positioning information, environmental information and command sequence number; The subcarrier dynamic allocation module is connected to the central control communication information module and is used to dynamically allocate the sensing subcarrier position and communication subcarrier position of the current frame according to the instruction sequence number of the current transmission frame, and set a protection interval between the two types of subcarriers. The OCDM modulation module is connected to the subcarrier dynamic allocation module and is used to perform OCDM modulation on the allocated subcarrier sequence to generate an OCDM integrated sensing signal. The transmitting front end is used to transmit OCDM integrated sensing signals; The receiving front end is used to receive OCDM integrated sensing signals; The OCDM demodulation module is used to demodulate the OCDM integrated sensing signal and separate the communication subcarrier to restore the flight control command. The command output module is connected to the OCDM demodulation module and is used to output flight control commands to the flight controller via the UART protocol.
8. The sensor-integrated UAV flight control system based on dynamic subcarrier allocation according to claim 7, characterized in that, The subcarrier dynamic allocation module is implemented using a state machine. The state machine adjusts the allocation of sensing subcarriers and communication subcarriers frame by frame according to the preset number of transmission frames, the initial sensing subcarrier position, and the guard interval length, and reserves idle subcarriers between frames as guard intervals.
9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, it implements the steps of the sensor-integrated UAV flight control method based on dynamic subcarrier allocation as described in any one of claims 1 to 6.
10. A computer device, characterized in that: The method includes a storage medium, a processor, and a computer program stored in the storage medium and executable by the processor, wherein the computer program, when executed by the processor, implements the steps of the sensor-integrated UAV flight control method based on dynamic subcarrier allocation as described in any one of claims 1 to 6.