Dynamic access scheduling method and system for multi-mobile user oriented unmanned aerial vehicle

Abstract

This application provides a dynamic access scheduling method and system for multiple mobile users of unmanned aerial vehicles (UAVs), applied in the field of wireless communication resource management technology. The method involves acquiring a set of scheduling frames for a UAV to complete one round of communication service for a number of communication users, each scheduling frame containing a number of scheduling time slots; determining a first set of candidate users for the first scheduling time slot from the number of communication users, and then determining the minimum necessary transmit power for each first candidate user in the first scheduling time slot; retaining the first candidate users whose minimum necessary transmit power is less than or equal to a preset power threshold and constructing a second set of candidate users; determining a target candidate user from the second set of candidate users based on a joint priority metric of each second candidate user; and determining that the communication service is completed when the target candidate user completes data transmission to the UAV if the actual transmission rate is greater than or equal to the target minimum service rate threshold. This achieves stable, efficient, and balanced UAV access scheduling.

Description

Technical Field

[0001] This application relates to the field of wireless communication resource management technology, and in particular to a method and system for dynamic access scheduling of unmanned aerial vehicles (UAVs) for multiple mobile users. Background Technology

[0002] Faced with the urgent needs of next-generation wireless communication systems for wide-area coverage, dynamic access, and low-latency transmission, unmanned aerial vehicle (UAV)-assisted communication has attracted widespread attention due to its advantages such as flexible deployment, high mobility, and rapid establishment of air-to-ground links. Compared to traditional fixed ground base stations, UAVs can temporarily provide access services in complex environments, making them suitable for various application scenarios such as emergency communication, low-altitude sensing, intelligent transportation, and temporary hotspot coverage. In UAV-assisted dynamic communication networks, the air-to-ground link status of ground mobile users (or communication users) changes rapidly with changes in user location, service time slots, and fluctuations in the propagation environment. When a UAV provides time-slot-level services to multiple mobile users, the UAV system needs to dynamically manage user access and power allocation.

[0003] Traditional UAV access scheduling methods primarily focus on UAV trajectory optimization, user association, or average throughput improvement, selecting target mobile users in the current time slot through ranking based on channel gain, distance, or instantaneous rate. Another approach considers power-constrained resource allocation, but this is prone to fluctuations and failures under extreme channel conditions, failing to effectively determine target mobile users in the current time slot. Furthermore, existing technologies often lack continuous maintenance and utilization of long-term service status, making it difficult to balance service fairness while pursuing instantaneous efficiency.

[0004] Therefore, how to achieve stable, efficient and balanced drone access scheduling while meeting the business needs of multiple mobile users and system power constraints in complex and dynamic environments has become an urgent problem to be solved. Summary of the Invention

[0005] This application provides a method and system for dynamic drone access scheduling for multiple mobile users. Through time-slot-level power feasibility pre-screening and service rate closed-loop verification, it achieves drone access scheduling that balances communication reliability, on-demand service allocation, and global service fairness in resource-constrained and complex dynamic environments. In other words, it can achieve stable, efficient, and balanced drone access scheduling while meeting the service needs of multiple mobile users and system power constraints in complex dynamic environments.

[0006] This application provides a method for dynamic access scheduling of unmanned aerial vehicles (UAVs) for multiple mobile users, including: Acquired by drones and A dynamic communication network model constructed by individual communication users, and the UAV for the... One communication user completes one round of communication service Each scheduling frame contains [number] scheduling frames. Each scheduling time slot , and All are integers greater than 1; Under the dynamic communication network model, from the Among the communication users, the target scheduling frame contains the first... The first candidate user set under each scheduling time slot, the target scheduling frame is the Any scheduling frame in the first scheduling frame; and according to the first candidate user in the first candidate user set in the first scheduling frame; The equivalent channel gain under each scheduling time slot determines the minimum necessary transmit power for each first candidate user; The first candidate users corresponding to the minimum necessary transmit power less than or equal to the preset power threshold in the first candidate user set are retained, and a second candidate user set is constructed. For each second candidate user in the second candidate user set, a joint priority metric for the second candidate user is constructed based on the underservice quantity item corresponding to the underservice level of the second candidate user and the energy efficiency item used to characterize the power utilization efficiency of the second candidate user; and a target candidate user is determined from the second candidate user set based on all joint priority metrics. If, in the case where the target candidate user completes data transmission to the drone, the actual transmission rate of the target candidate user is greater than or equal to the target candidate user's target minimum service rate threshold, then it is determined that the drone and the target candidate user have completed the data transmission in the specified... Communication services under a scheduling time slot.

[0007] According to an embodiment of this application, a dynamic access scheduling method for unmanned aerial vehicles (UAVs) for multiple mobile users is provided, wherein the method involves scheduling each first candidate user in the first candidate user set according to the... Determining the minimum necessary transmit power for each first candidate user based on the equivalent channel gain under each scheduling time slot includes: for each first candidate user, in the [number]th scheduling time slot... In each scheduling time slot, the Euclidean distance between the UAV and the first candidate user is determined based on the first position coordinates of the UAV and the second position coordinates of the first candidate user; the equivalent channel gain of the first candidate user is determined based on the Euclidean distance, the array gain parameter of the UAV, and the reference channel gain; and the minimum necessary transmit power of each first candidate user is determined based on the equivalent channel gain of each first candidate user.

[0008] According to an embodiment of this application, a dynamic access scheduling method for unmanned aerial vehicles (UAVs) for multiple mobile users is provided. The step of retaining the first candidate users in the first candidate user set whose minimum necessary transmission power is less than or equal to a preset power threshold includes: using the ratio between the upper limit of the system transmission power of the UAV and a preset safety margin coefficient as the preset power threshold; and retaining the first candidate users in the first candidate user set whose minimum necessary transmission power is less than or equal to the preset power threshold.

[0009] According to an embodiment of this application, a method for dynamic access scheduling of unmanned aerial vehicles (UAVs) for multiple mobile users is provided. The step of determining a target candidate user from a second candidate user set based on all joint priority metrics includes: taking the second candidate user corresponding to the maximum value among all joint priority metrics as the target candidate user based on the second candidate user set.

[0010] According to an embodiment of this application, a dynamic access scheduling method for unmanned aerial vehicles (UAVs) for multiple mobile users is provided. The step of determining the minimum necessary transmit power for each first candidate user based on the equivalent channel gain of each first candidate user includes: for each first candidate user, obtaining a first minimum service rate threshold for the first candidate user and the noise power of the UAV; and determining the minimum necessary transmit power required to satisfy the first minimum service rate threshold based on the equivalent channel gain of the first candidate user, the first minimum service rate threshold, and the noise power of the UAV.

[0011] According to an embodiment of this application, a dynamic access scheduling method for unmanned aerial vehicles (UAVs) for multiple mobile users is provided. The step of constructing a joint priority metric for the second candidate user based on the underservice level of the second candidate user and an energy efficiency metric characterizing the power utilization efficiency of the second candidate user includes: [The text abruptly ends here, so the translation also ends here.] The underservice item is determined by the cumulative deviation between the actual transmission rate of the second candidate user and the second minimum service rate threshold within the historical scheduling time slots prior to the first scheduling time slot; based on the second candidate user's... The equivalent channel gain under each scheduling time slot is used to determine the energy efficiency term; based on the underservice term and the energy efficiency term, a joint priority metric for the second candidate user is constructed.

[0012] According to an embodiment of this application, a dynamic access scheduling method for unmanned aerial vehicles (UAVs) for multiple mobile users is provided. The method further includes: determining the product between the minimum necessary transmit power of the target candidate user and a preset safety margin coefficient when the target candidate user meets preset constraints; determining the minimum value between the product and the upper limit of the system transmit power of the UAV as the actual transmit power of the target candidate user; and determining the actual transmission rate of the target candidate user according to a preset transmission rate model based on the actual transmit power, the equivalent channel gain of the target candidate user, and the noise power of the UAV.

[0013] According to an embodiment of this application, a dynamic access scheduling method for unmanned aerial vehicles (UAVs) for multiple mobile users is provided, wherein the preset constraints include at least: in the first... Only one candidate user is allowed to access the system under each scheduling time slot. The actual transmit power of the target candidate user is greater than or equal to the minimum necessary transmit power required to meet the target minimum service rate threshold, and less than or equal to the system transmit power limit.

[0014] According to an embodiment of this application, a method for dynamic access scheduling of drones for multiple mobile users is provided, which obtains the drone's access information for the... One communication user completes one round of communication service A scheduling frame, including: obtaining the drone's... Each communication user completes a service cycle of one round of communication service; the service cycle is divided to obtain the... One scheduling frame.

[0015] This application also provides a dynamic access scheduling system for unmanned aerial vehicles (UAVs) for multiple mobile users, including: The acquisition module is used to acquire data from drones and A dynamic communication network model constructed by individual communication users, and the UAV for the... One communication user completes one round of communication service Each scheduling frame contains [number] scheduling frames. Each scheduling time slot , and All are integers greater than 1; The processing module is used to, under the dynamic communication network model, from the... Among the communication users, the target scheduling frame contains the first... The first candidate user set under each scheduling time slot, the target scheduling frame is the Any scheduling frame in the first scheduling frame; and according to the first candidate user in the first candidate user set in the first scheduling frame; The equivalent channel gain under each scheduling time slot is used to determine the minimum necessary transmit power for each first candidate user. First candidate users in the first candidate user set whose minimum necessary transmit power is less than or equal to a preset power threshold are retained, and a second candidate user set is constructed. For each second candidate user in the second candidate user set, a joint priority metric for the second candidate user is constructed based on the underservice level of the second candidate user and the energy efficiency metric used to characterize the power utilization efficiency of the second candidate user. Based on all joint priority metrics, a target candidate user is determined from the second candidate user set. If the target candidate user completes data transmission to the UAV, and the actual transmission rate of the target candidate user is greater than or equal to the target minimum service rate threshold of the target candidate user, then it is determined that the UAV and the target candidate user have completed data transmission under the first scheduling time slot. Communication services under a scheduling time slot.

[0016] This application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the dynamic access scheduling method for multiple mobile users described above.

[0017] This application also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the UAV dynamic access scheduling method for multiple mobile users as described above.

[0018] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the UAV dynamic access scheduling method for multiple mobile users as described above.

[0019] The UAV dynamic access scheduling method and system for multiple mobile users provided in this application embodiment obtains information from the UAV and... A dynamic communication network model constructed by individual communication users, and the UAV for the... One communication user completes one round of communication service Each scheduling frame contains [number] scheduling frames. Each scheduling time slot , and All are integers greater than 1; under the dynamic communication network model, from the Among the communication users, the target scheduling frame contains the first... The first candidate user set under each scheduling time slot, the target scheduling frame is the Any scheduling frame in the first scheduling frame; and according to the first candidate user in the first candidate user set in the first scheduling frame; The equivalent channel gain under each scheduling time slot is used to determine the minimum necessary transmit power for each first candidate user. First candidate users in the first candidate user set whose minimum necessary transmit power is less than or equal to a preset power threshold are retained, and a second candidate user set is constructed. For each second candidate user in the second candidate user set, a joint priority metric for the second candidate user is constructed based on the underservice level of the second candidate user and the energy efficiency metric used to characterize the power utilization efficiency of the second candidate user. Based on all joint priority metrics, a target candidate user is determined from the second candidate user set. If the target candidate user completes data transmission to the UAV, and the actual transmission rate of the target candidate user is greater than or equal to the target minimum service rate threshold of the target candidate user, then it is determined that the UAV and the target candidate user have completed data transmission under the first scheduling time slot. This method provides communication services within a single scheduling time slot. By introducing a "minimum necessary transmit power" estimation and a "power threshold" filtering mechanism, it pre-emptively eliminates high-risk communication users caused by link fluctuations at the time slot level. This effectively addresses the pain points of scheduling schemes being prone to failure and large fluctuations under extreme channel conditions, ensuring the robustness of the air link. Power back-calculation and post-verification using a "minimum service rate threshold" as a hard constraint achieve on-demand allocation, accurately meeting the differentiated service needs of communication users. Furthermore, dynamic decision-making and rate attainment judgment at the time slot level provide data support for maintaining the long-term service status of users, avoiding the service imbalance caused by traditional methods that only pursue instantaneous throughput. Ultimately, it achieves optimal overall performance for multi-communication user coverage under limited UAV power resources. In other words, this method can achieve stable, efficient, and balanced UAV access scheduling while meeting the service needs of multiple mobile users and system power constraints in complex dynamic environments. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart illustrating the UAV dynamic access scheduling method for multiple mobile users provided in an embodiment of this application. Figure 2 This is a schematic diagram of a scenario for the dynamic communication network model provided in an embodiment of this application; Figure 3This is a comparison chart of the interruption rates after conditional access under high fairness weight conditions provided in the embodiments of this application; Figure 4 This is a comparison chart of the successful service throughput of various schemes under different fairness weights provided in the embodiments of this application; Figure 5 This is a schematic diagram of the structure of a dynamic access scheduling system for multiple mobile users provided in an embodiment of this application; Figure 6 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] To better understand the embodiments of this application, the application scenarios of the UAV dynamic access scheduling method for multiple mobile users provided in the embodiments of this application are first described: This method is mainly used in UAV-assisted dynamic communication service scenarios, involving the reliable access and resource allocation of ground mobile users under conditions of rapid fluctuation in link status. It belongs to the field of user scheduling and power allocation technology in wireless communication networks. In addition, it is also applicable to various application scenarios such as emergency communication, low-altitude sensing, intelligent transportation, and temporary hotspot coverage.

[0024] It should be noted that the execution entity involved in the embodiments of this application can be a dynamic access scheduling system for drones targeting multiple mobile users, or it can be an electronic device, both of which are devices independent of drones and communication users.

[0025] Optionally, the electronic device may include: a computer / laptop, a mobile terminal, a server, a terminal device, an edge device, a cloud device, and a communication processing unit equipped in a drone, etc.

[0026] The following uses an electronic device as an example to illustrate in detail the UAV dynamic access scheduling method for multiple mobile users provided in this application: Figure 1 This is a flowchart illustrating the UAV dynamic access scheduling method for multiple mobile users provided in an embodiment of this application. Figure 1 As shown, the method includes the following steps 101-105.

[0027] Step 101: Obtain information from the drone and A dynamic communication network model constructed by individual communication users, and the role of drones in... One communication user completes one round of communication service Each scheduling frame contains [number] scheduling frames. Each scheduling time slot , and All are integers greater than 1.

[0028] The number of drones is one.

[0029] Optionally, dynamic communication network models (such as...) Figure 2 (As shown) This can also be called a UAV-assisted dynamic communication network model. The construction process of this dynamic communication network model is as follows: S1. Electronic equipment defines that the dynamic communication network model can include a UAV and In this dynamic communication network model, an electronic device uses a drone as an aerial access node to communicate with a communication user within discrete time slots. Each communication user provides uplink access service, with a maximum of one communication user scheduled for data transmission per time slot. Furthermore, the electronic device will... One communication user is designated as the service object to be scheduled.

[0030] S2, Electronic equipment is constructed with the underside of the drone as the base. Using a reference plane and a three-dimensional coordinate system with the selected location as the origin, the spatial position of the UAV in this three-dimensional coordinate system is determined given the UAV's position or trajectory. ,in, Indicates that the drone is in The horizontal projection position under the scheduling time slot, the first Each scheduling time slot is contained in the target scheduling frame. One of the scheduling slots in the scheduling slots, the target scheduling frame is as described above. Any scheduling frame among the scheduling frames; This indicates the drone's flight altitude. Simultaneously, the electronic device determines... The first of the communication users The spatial location of each communication user is .

[0031] S3, Electronic Equipment Acquisition Drones for Each communication user completes a service cycle of one round of communication service; the electronic device divides this service cycle into... Each scheduling frame is divided into several segments. For each scheduling frame, the electronic device further divides the scheduling frame into segments. Each scheduling time slot. The entire process facilitates the maintenance of user service status during subsequent service cycles, and performs user access and power allocation at the time slot level.

[0032] S4, Electronic equipment identifies drones and the... The communication user in the first The Euclidean distance under each scheduling time slot is The Euclidean distance is The calculation formula is: .

[0033] Assuming the antenna array is placed on the belly of the drone On a reference plane, with the array normal pointing vertically downwards towards the ground, the UAV includes an antenna array, the elements of which are along... Axial direction and The antenna array is arranged at equal intervals along the axial direction. The coordinates of each element (relative to the center of the antenna array) are The coordinates The expression is: ,in, , , This indicates the total number of transverse elements in the antenna array. This indicates the total number of longitudinal elements in the antenna array. This represents the spacing between adjacent array elements, also known as half a wavelength. The calculation formula is: , Indicates wavelength.

[0034] Drones in Under the scheduling time slot, for the first Antenna array response for each communication user ,in, Indicates the pitch angle; Indicates azimuth; This indicates the total number of elements in the antenna array.

[0035] It should be noted that the antenna array response It can be decomposed into Axial direction guide vector and Axial direction guide vector The Kronecker product, i.e., the response of the antenna array. The calculation formula is: .in, The expression is: ; The expression is: .

[0036] S5. Considering the line-of-sight-dominated air-to-ground channel propagation characteristics, the electronic equipment can determine the first... The communication user The equivalent channel gain under each scheduling time slot is: The equivalent channel gain The calculation formula is: ,in, This represents the array gain parameter of the UAV; This represents the reference channel gain.

[0037] If the first The communication user in the first The transmit power under each scheduling time slot is , No. The communication user The received signal-to-noise ratio under each scheduling time slot is The received signal-to-noise ratio The calculation formula is: ,in, This indicates the noise power of the drone.

[0038] At this time, the The communication user in the first The uplink transmission rate under each scheduling time slot is This uplink transmission rate The calculation formula is: ,in, This indicates the system bandwidth of the drone; the uplink transmission rate. The unit is Mbps.

[0039] Optionally, the aforementioned UAV is equipped with a radar sensing unit and a communication processing unit. The radar sensing unit acquires real-time sensing results (such as real-time location status or equivalent real-time channel status, such as equivalent channel gain, received signal-to-noise ratio, and uplink transmission rate) for each communication user before the start of each scheduling time slot, providing a basis for time slot-level feasibility determination. The communication processing unit performs user feasibility determination, target communication user selection, and power allocation based on the real-time sensing results.

[0040] It should be noted that in scenarios where communication users move and link fluctuations are significant, relying solely on traditional communication measurement information may be insufficient to reflect changes in user status within the current time slot in a timely manner. However, by employing radar sensing units to acquire real-time status information of communication users, it is helpful to estimate the current link conditions of communication users before the start of the current time slot, thereby providing a basis for subsequent time slot-level access decisions.

[0041] Step 102: Under the dynamic communication network model, from... Among the communication users, the target scheduling frame contains the first... The first candidate user set under each scheduling time slot, the target scheduling frame is Any scheduling frame in the scheduling frames; and according to each first candidate user in the first candidate user set in the first scheduling frame in the first scheduling frame; The equivalent channel gain under each scheduling time slot determines the minimum necessary transmit power for each first candidate user.

[0042] In step 102, the electronic device can, based on the aforementioned dynamic communication network model, from Among the communication users, determine the first one. Candidate users who have not yet completed communication services under each scheduling time slot are selected, and a first candidate user set is constructed. The first candidate user set include The first candidate user The electronic device is based on Each of the first candidate users in the first... The equivalent channel gain, received signal-to-noise ratio, and uplink transmission rate under each scheduling time slot are used to construct the first scheduling time slot. Access communication model for each scheduling time slot.

[0043] Because the first candidate users are mobile and their link status changes with time slots, directly prioritizing all first candidate users without considering whether they can meet the minimum service rate threshold within the current power budget may result in the selected candidate users being unable to meet the minimum service rate threshold in the current time slot (e.g., the first...). If a scheduling time slot cannot complete effective transmission, it will cause service interruption and waste time slot resources. Therefore, this application separates the process of determining whether the first candidate user has reliable access capability from the process of prioritizing candidate users.

[0044] Based on this, under the constraints of maximum system transmit power, minimum service rate threshold, and time slot-level single-user access, a time slot-level user feasibility screening and scheduling problem is established. The aim is to select the target communication user in the current time slot from the first candidate users with reliable access capabilities, and further complete the power allocation to reduce the probability of service interruption and improve reliable access capability and service fairness.

[0045] At this point, under the aforementioned access communication model, for The first candidate user The electronic device can, based on the first candidate user, the electronic device can... The first candidate user in Equivalent channel gain under each scheduling time slot Determine the first The first candidate user in this... Minimum necessary transmit power to meet the minimum service rate requirement under a single scheduling time slot. The minimum required transmit power Used to characterize the first The first candidate user in this... The minimum power consumption required to achieve basic service requirements within a scheduling time slot. Based on this, the electronic device can ultimately determine... The minimum required transmit power for each of the first candidate users.

[0046] The entire process decouples reliable access determination from priority scheduling by pre-determining the minimum necessary transmit power for the communication user's minimum service rate threshold (i.e., minimum service rate threshold) at the time slot level. This avoids the ineffective allocation of inefficient scheduling time slots from the source, significantly reduces the probability of service interruption, and improves the overall scheduling robustness of UAVs.

[0047] In some embodiments, the electronic device, based on each first candidate user in the first candidate user set, in the first candidate user set, ... Determining the equivalent channel gain under each scheduling time slot, and determining the minimum necessary transmit power for each first candidate user, may include: for each first candidate user, the electronic device in the [number]th scheduling time slot... In each scheduling time slot, the Euclidean distance between the UAV and the first candidate user is determined based on the first position coordinates of the UAV and the second position coordinates of the first candidate user; the equivalent channel gain of the first candidate user is determined based on the Euclidean distance, the array gain parameters of the UAV, and the reference channel gain; and the electronic device determines the minimum necessary transmit power of each first candidate user based on the equivalent channel gain of each first candidate user.

[0048] In this embodiment of the application, for the first The first candidate user, the electronic device determines the first... In the process of obtaining the minimum necessary transmit power for the first candidate user, the drone can first be obtained in the first... The first position coordinate under each scheduling time slot, i.e., the aforementioned spatial position At the same time, obtain the first The first candidate user in this... The second location coordinate under each scheduling time slot, i.e., spatial location Then, the electronic device, based on the spatial location... and the spatial location To determine the relationship between the drone and the first Euclidean distance between the first candidate users The European distance The calculation formula is: .

[0049] Then, the electronic device determines the distance according to the Euclidean distance. and the array gain parameters of the UAV and reference channel gain Determine the first Equivalent channel gain for the first candidate user The equivalent channel gain The calculation formula is: .

[0050] Finally, the electronic device is based on the equivalent channel gain. Determine the first Minimum necessary transmit power for the first candidate user Based on this, the electronic device can ultimately be determined. The minimum required transmit power for each of the first candidate users.

[0051] The entire process provides a quantitative admission criterion for UAVs by accurately mapping dynamic spatial location to the minimum necessary transmit power at the time slot level, which greatly improves the scientific nature and predictive ability of access decisions.

[0052] In some embodiments, the electronic device determines the minimum necessary transmit power for each first candidate user based on the equivalent channel gain of each first candidate user. This may include: for each first candidate user, the electronic device obtains a first minimum service rate threshold for the first candidate user and the noise power of the UAV; and determines the minimum necessary transmit power required to satisfy the first minimum service rate threshold based on the equivalent channel gain of the first candidate user, the first minimum service rate threshold, and the noise power of the UAV.

[0053] In this embodiment of the application, for the first The first candidate user, the electronic device obtains the first... The first minimum service rate threshold for the first candidate user (i.e., the minimum service rate requirement mentioned above) and the noise power of the drone. Then, the electronic device further adjusts the equivalent channel gain. The first minimum service rate threshold and the noise power Calculations were performed to obtain the first... The first candidate user in The first minimum service rate threshold is met under each scheduling time slot. Minimum required transmit power The minimum required transmit power The calculation formula is: Based on this, the electronic device can ultimately be determined. The minimum required transmit power for each of the first candidate users.

[0054] The entire process is based on the first The link state (i.e., equivalent channel gain) of each first candidate user in each scheduling time slot. The system calculates the minimum necessary transmit power required for each first candidate user to meet the minimum service rate threshold, and sets a minimum service rate threshold. This enables a quantitative assessment of the access cost of each candidate user, providing a precise basis for eliminating high-power and low-efficiency communication users. As a result, the power utilization of the UAV is optimized to the maximum extent while ensuring that the service meets the standards.

[0055] Step 103: Retain the first candidate users in the first candidate user set whose minimum necessary transmit power is less than or equal to the preset power threshold, and construct the second candidate user set.

[0056] In step 103, the electronic device may, according to the first Under each scheduling time slot The minimum necessary transmit power for each of the first candidate users is used to construct a transmit power set, denoted as . This serves as the basis for subsequent feasibility assessments and power allocation; then, the electronic device will... The minimum necessary transmit power of each of the first candidate users is compared with a preset power threshold, and the first candidate users whose minimum necessary transmit power is less than or equal to the preset power threshold are retained. Finally, the electronic device constructs a second candidate user set based on the retained first candidate users. The second candidate user set The expression is: ,in, This indicates the maximum system transmit power of the drone. This represents the preset safety margin coefficient. The entire process establishes an admission filtering mechanism based on a preset power threshold, preemptively excluding high-risk communication users who cannot meet the minimum service rate threshold before scheduling decisions are made. This significantly reduces resource waste and service interruptions caused by ineffective scheduling of UAVs while ensuring the reliability of the access scheme.

[0057] In some embodiments, the electronic device retains the first candidate users in the first candidate user set whose minimum necessary transmit power is less than or equal to a preset power threshold. This may include: the electronic device using the ratio between the upper limit of the system transmit power of the UAV and a preset safety margin coefficient as the preset power threshold; and the electronic device retaining the first candidate users in the first candidate user set whose minimum necessary transmit power is less than or equal to the preset power threshold.

[0058] In this embodiment of the application, during the process of screening the first candidate user, the electronic device can first obtain the maximum system transmit power of the drone, that is, the upper limit of the system transmit power. At the same time, obtain the preset safety margin coefficient. Next, the electronic device will increase the system's transmit power limit. With this safety margin factor The ratio between The preset power threshold is used as the basis for the electronic device's operation; then, the electronic device bases its operation on the preset power threshold and... The minimum necessary transmit power for each of the first candidate users, The feasibility of each of the first candidate users is determined. Specifically, for the current first candidate user, if the minimum necessary transmit power of the current first candidate user is less than or equal to the preset power threshold, it is determined that the current first candidate user is within the first... If a user is a feasible communication user under a given scheduling time slot, then the current first candidate user can be retained; provided that the minimum necessary transmit power of the current first candidate user is greater than the preset power threshold. In this case, it indicates that the current first candidate user is in the [number]th [period]. If a user is deemed infeasible to communicate in a given time slot, then the current first candidate user can be excluded from that slot. Apart from the user selection process for each scheduling slot.

[0059] The entire process involves introducing a safety margin coefficient to constrain and reduce the upper limit of the system's transmit power, thereby constructing a more robust access boundary. This filters out infeasible communication users who are at the edge of the link or consume high energy, ensuring communication stability while significantly improving the resource scheduling safety margin of UAVs in complex environments.

[0060] Step 104: For each second candidate user in the second candidate user set, construct a joint priority metric for the second candidate user based on the underservice quantity item corresponding to the underservice level of the second candidate user and the energy efficiency item used to characterize the power utilization efficiency of the second candidate user; and determine the target candidate user from the second candidate user set based on all joint priority metrics.

[0061] In step 104, during the process of determining the target candidate user, the electronic device may first determine the aforementioned second candidate user set. Is it an empty set? If it is an empty set, then... This indicates that in the first... If no user access is executed in a given scheduling time slot, the selection of target candidate users can proceed directly to the next scheduling time slot. If the set is not empty, i.e. This indicates that in the first... A user access can be performed in a scheduled time slot. At this time, the second candidate user set... include The second candidate user, ,against The first of the second candidate users The electronic device first acquires the second candidate user. The underservice quantity item corresponding to the underservice level of each second candidate user, and the underservice quantity item used to characterize the second candidate user. The energy efficiency item of the power utilization efficiency of the second candidate user, where the degree of underservice refers to the energy efficiency of the second candidate user. The gap between the current actual service level (such as speed, latency, throughput) of the second candidate user and its expected or required service level; then, the electronic device constructs the first... Joint priority metric of second candidate users Based on this, the electronic device can ultimately be determined. Each of the second candidate users has its own joint priority metric; finally, the electronic device uses all joint priority metrics as a basis to determine the priority of each candidate user. The target candidate user is determined from the second-tier candidate users.

[0062] The entire process establishes an error avoidance mechanism based on empty set determination and integrates a joint scheduling logic that combines "historical underservice compensation" and "instantaneous energy efficiency" to achieve a balanced access decision that can both ensure the bottom line of fair user service and maximize the efficiency of system resource utilization in complex and dynamic environments.

[0063] In some embodiments, the electronic device constructs a joint priority metric for the second candidate user based on the underservice quantity item corresponding to the underservice level of the second candidate user and the energy efficiency item characterizing the power utilization efficiency of the second candidate user. This may include: the electronic device prioritizing the second candidate user based on the underservice quantity item corresponding to the underservice level of the second candidate user in the first embodiment. The electronic device determines the underservice quantity based on the cumulative deviation between the actual transmission rate of the second candidate user and the second minimum service rate threshold within the historical scheduling time slots prior to the first scheduling time slot; the electronic device determines the underservice quantity based on the cumulative deviation between the actual transmission rate of the second candidate user and the second minimum service rate threshold within the historical scheduling time slots prior to the first scheduling time slot; The equivalent channel gain under each scheduling time slot is used to determine the energy efficiency term; the electronic device constructs a joint priority metric for the second candidate user based on the underservice term and the energy efficiency term.

[0064] In this embodiment of the application, the electronic device first calculates the second candidate user in the first... Within the historical scheduling slots preceding the current scheduling slot, the cumulative deviation between the actual transmission rate of the second candidate user and the second minimum service rate threshold is used to quantify the degree to which the second candidate user is "owed" service, forming an underservice item to ensure fairness in long-term service. Simultaneously, the electronic device monitors the second candidate user's service performance within the previous scheduling slot. The equivalent channel gain under each scheduling time slot is used to extract features, resulting in an energy efficiency term to characterize the cost-effectiveness of instant communication. Finally, the electronic device integrates these two metrics, namely the underservice quantity and the energy efficiency term, into a joint priority metric for the second candidate user, serving as a comprehensive score to measure the user scheduling order, thereby ensuring that the UAV is prioritized in the first scheduling slot. Under each scheduling time slot, it can accurately identify target candidate users who urgently need compensation and have high transmission efficiency.

[0065] In some embodiments, the electronic device determines the target candidate user from the second candidate user set based on all joint priority metrics, which may include: the electronic device selecting the second candidate user corresponding to the maximum value among all joint priority metrics as the target candidate user based on the second candidate user set.

[0066] In this embodiment of the application, the electronic device sorts and compares all joint priority metrics and selects from the second candidate user set. In the process, the second candidate user corresponding to the maximum value is selected as the target candidate user. The target candidate user The expression is: .

[0067] The entire process selects the second candidate user with the highest joint priority metric as the target candidate user, thereby achieving a fast and deterministic selection of the optimal candidate user, which improves the effectiveness of resource allocation and the overall system performance.

[0068] In some embodiments, after step 104 and before step 105, the method may further include: if the target candidate user meets preset constraints, the electronic device determines the product between the minimum necessary transmit power of the target candidate user and a preset safety margin coefficient; and determines the minimum value between the product and the upper limit of the system transmit power of the UAV as the actual transmit power of the target candidate user; the electronic device determines the actual transmission rate of the target candidate user according to a preset transmission rate model based on the actual transmit power, the equivalent channel gain of the target candidate user, and the noise power of the UAV.

[0069] In this embodiment of the application, the first The problem of user selection and power allocation optimization for scheduling time slots aims to maximize the joint priority metric while satisfying preset constraints. These preset constraints may include at least the following: Only one candidate user is allowed to access the system under each scheduling time slot. The actual transmit power of the target candidate user is greater than or equal to the minimum necessary transmit power required to meet the target minimum service rate threshold, and less than or equal to the system transmit power limit. The specific expression is as follows: ; stC1: ; C2: ; C3: .

[0070] in, Indicates the first The scheduling value of the second candidate user, if Then it means that the first A second candidate user can communicate, if Then it means that the first The second candidate user cannot communicate; C1 represents the first constraint, and C2 represents the second constraint. The first constraint C1 and the second constraint C2 are used to guarantee the single-user access restriction under the Time Division Multiple Access (TDMA) protocol, that is, in the first... Only one candidate user is allowed to access the system under each scheduling time slot; C3 represents the third constraint, which ensures that the minimum necessary transmit power meets the minimum service rate threshold without exceeding the system transmit power limit. Specifically, it ensures that the actual transmit power of the target candidate user is greater than or equal to the minimum necessary transmit power required to meet the target minimum service rate threshold, and less than or equal to the system transmit power limit. It should be noted that the solution domain of this optimization problem is limited to the second candidate user set after the first stage of screening. This effectively eliminates deep-fading users and improves scheduling effectiveness.

[0071] Based on this, the electronic device then obtains the minimum necessary transmit power for the target candidate user. and preset safety margin coefficient And determine the product of these two data points as Then, the electronic device will multiply the product. With the system's maximum transmit power The two values ​​are compared, and the minimum value is determined as the actual transmit power of the target candidate user. The actual transmission power The expression is: Finally, the electronic device is configured based on the actual transmission power. Equivalent channel gain of target candidate users and noise power Determine the actual transmission rate of the target candidate user. The actual transmission rate The corresponding preset transmission rate model is: .

[0072] The entire process, by constructing an optimization model with hard power boundaries and TDMA protocol constraints, and employing a power allocation algorithm with security compensation, achieves a leap from "probabilistic scheduling" to "deterministic access," ensuring the continuity and stability of service transmission rates in highly dynamic and complex environments.

[0073] Step 105: If the actual transmission rate of the target candidate user to the drone is greater than or equal to the target candidate user's target minimum service rate threshold, then it is determined that the drone and the target candidate user have completed the data transmission in the [missing information - likely a specific step or step]. Communication services under a scheduling time slot.

[0074] In step 105, when the target candidate user completes data transmission to the drone, the electronic device can determine the threshold for the first time based on the relationship between the actual transmission rate of the target candidate user and the target minimum service rate threshold. Whether the communication transmission under the scheduling time slot is successful is specifically determined as follows: if the actual transmission rate is greater than or equal to the target minimum service rate threshold, it indicates that the effective throughput of the target candidate user under the current link state has reached the target, that is, the UAV has achieved the target in the current time slot. The communication resources provided within the scheduling time slot are sufficient to support the basic service needs of the target candidate user. At this point, it can be determined that the UAV and the target candidate user have successfully completed the communication process in the [number]th scheduling time slot. Communication services under a scheduling time slot, and simultaneously, the target candidate user from that time slot. Remove from the second candidate user set under the scheduling time slot; if the actual transmission rate is less than the target minimum service rate threshold, it indicates that due to the instantaneous fading of the high dynamic channel or environmental interference, the currently allocated power resources failed to cross the communication threshold, resulting in an invalid service for this transmission. In this case, it can be determined that the UAV and the target candidate user are in the second candidate user set under the scheduling time slot. If a service interruption occurs during a scheduled time slot, the target candidate user can still participate in the construction of the candidate set for subsequent scheduled time slots.

[0075] It should be noted that step 105 enables the UAV to complete the first step under the constraints of limited power resources and a minimum service rate threshold. The system manages the access and power allocation of communication users under each scheduling time slot, while effectively preventing high-risk links from being incorrectly accessed and ensuring long-term service fairness.

[0076] Optionally, after determining that the drone has completed the first step with the target candidate user, After communication services are provided in a scheduling time slot, the method may further include: the electronic device entering the next scheduling time slot and repeating the feasibility screening, user selection, and power allocation process, that is, repeating steps 102-105 above until user access control and power allocation for the entire service cycle are completed. The entire process achieves adaptive tracking of link fluctuations and changes in user demand in a highly dynamic communication environment, ensuring optimal resource utilization in each scheduling time slot while guaranteeing the continuity of service transmission and service fairness among users throughout the entire life cycle.

[0077] Optionally, after determining that the drone and the target candidate user have not completed the first step... After the communication service under the scheduling time slot, the method may further include: the electronic device acquiring the target candidate user in the first scheduling time slot. The service results under each scheduling time slot include at least one or more of the following: underservice volume information, historical service status, and cumulative effective service volume. The electronic device then updates the service status information of the target candidate user based on these results, and uses the updated service status information as input for constructing the joint priority metric for subsequent scheduling time slots, forming a time slot-level closed-loop access process. This entire process, through the establishment of a real-time feedback and status update mechanism for multi-dimensional service results, achieves logical coupling and data closure between time slots, ensuring that the UAV can spontaneously adjust its scheduling focus based on historical service gaps. This fundamentally solves the technical challenges of uneven user service quality and long-term service interruptions in highly dynamic and complex environments.

[0078] In this embodiment, the technical solution described in steps 101-105 introduces a "minimum necessary transmit power" estimation and a "power threshold" filtering mechanism to pre-emptively eliminate high-risk communication users caused by link fluctuations at the time slot level. This effectively solves the pain points of scheduling schemes being prone to failure and large fluctuations under extreme channel conditions, ensuring the robustness of the air link. Power back-calculation and post-verification are performed using a "minimum service rate threshold" as a hard constraint, achieving on-demand allocation and accurately meeting the differentiated service needs of communication users. Furthermore, dynamic decision-making and rate compliance determination at the time slot level provide data support for maintaining the long-term service status of users, avoiding service imbalances caused by traditional methods that only pursue instantaneous throughput. Ultimately, under limited UAV power resources, the overall performance of multi-communication user coverage is optimized. In other words, this method can achieve stable, efficient, and balanced UAV access scheduling while meeting the service needs of multiple mobile users and system power constraints in complex dynamic environments.

[0079] To better understand the embodiments of this application, simulation experiments are conducted on the above-described UAV dynamic access scheduling method for multiple mobile users to evaluate the performance of the proposed air-to-ground sensing access protocol (i.e., the aforementioned TDMA protocol) and verify the superiority of this application. Specific simulation parameters are as follows: Number of scheduling frames The number is 20, which represents the number of scheduling slots included in each scheduling frame. The number of communication users is 6. The drone's flight altitude is 10. The system bandwidth is 100m. The frequency is 1MHz, the minimum service rate threshold is 2.76Mbps, the target average service rate is 0.65Mbps, and the safety margin factor is... The value is 1.03. The simulation experiment uses a fixed UAV hovering position to highlight the technical effectiveness of the time-slot-level feasibility screening scheduling and power allocation mechanism. The fairness weights are 0.05, 0.15, 0.30, 0.50, 0.70, 0.85, and 0.95.

[0080] The schemes to be compared during the simulation test include: a scheme based on prediction ranking without feasibility screening (i.e., the PBS-P2 scheme), a method based on radar-assisted ranking without feasibility screening (i.e., the RAS-NS scheme), and a radar-assisted time slot-level feasibility screening scheduling and power allocation scheme (i.e., the TS-PCR scheme). It should be noted that the TS-PCR scheme is the UAV dynamic access scheduling method for multiple mobile users provided in the embodiments of this application.

[0081] For example, Figure 3 This is a comparison chart of interruption rates after conditional access under high fairness weighting conditions, provided in an embodiment of this application. From... Figure 3 As can be seen, under conditions of high fairness weighting, the TS-PCR scheme proposed in this application has a significantly lower post-access interruption rate than other comparative schemes. In the same scenario, the post-access interruption rate of the RAS-NS scheme is approximately 25.90%, while that of the TS-PCR scheme is only approximately 0.25%. This indicates that by calculating the minimum necessary transmit power required for candidate users to meet the minimum service rate threshold before time-slot-level access and constructing a feasible candidate set, this application can effectively avoid high-risk links being incorrectly accessed, thereby significantly reducing the probability of service interruption after access and improving the reliable access capability of the UAV system.

[0082] For example, Figure 4 This is a comparison chart of the successful service throughput of various schemes under different fairness weights provided in the embodiments of this application. From Figure 4As can be seen, the TS-PCR scheme consistently maintains a high success rate in service throughput across the entire range of fair weight changes, and is superior to other comparative schemes overall. This indicates that the embodiments of this application can maintain a high level of effective service capability while significantly reducing the interruption rate after conditional access.

[0083] In summary, this application addresses the high-risk link misselection, service interruption after access, and long-term service imbalance issues in existing technologies by proposing a dynamic UAV access scheduling method for multiple mobile users, involving an air-to-ground sensing access protocol. Based on the technical solutions described in steps 101-105, this method can determine the target candidate users in the current time slot and complete power allocation. Simulation results show that this application's embodiment outperforms other comparative schemes in both the interruption rate and successful service throughput after conditional access, indicating that this application's embodiment can effectively improve time slot-level access reliability and maintain a high level of effective service capability.

[0084] The following describes the UAV dynamic access scheduling system for multiple mobile users provided in the embodiments of this application. The UAV dynamic access scheduling system for multiple mobile users described below can be referred to in correspondence with the UAV dynamic access scheduling method for multiple mobile users described above.

[0085] Figure 5 This is a schematic diagram of the structure of a dynamic access scheduling system for multiple mobile users provided in an embodiment of this application. Figure 5 As shown, the system includes: an acquisition module 501 and a processing module 502.

[0086] Acquisition module 501 is used to acquire data from drones and... A dynamic communication network model constructed by individual communication users, and the drone's role in this... One communication user completes one round of communication service Each scheduling frame contains [number] scheduling frames. Each scheduling time slot , and All are integers greater than 1; Processing module 502 is used to process data from the dynamic communication network model. Among the communication users, the target scheduling frame contains the first... The first candidate user set under a scheduling time slot, the target scheduling frame is the Any scheduling frame in the first scheduling frame; and according to the first candidate users in the first candidate user set in the first scheduling frame; The equivalent channel gain under each scheduling time slot is used to determine the minimum necessary transmit power for each first candidate user. First candidate users whose minimum necessary transmit power is less than or equal to a preset power threshold are retained, and a second candidate user set is constructed. For each second candidate user in the second candidate user set, a joint priority metric is constructed based on the underservice level of the second candidate user and the energy efficiency metric used to characterize the power utilization efficiency of the second candidate user. Based on all joint priority metrics, a target candidate user is determined from the second candidate user set. If the actual transmission rate of the target candidate user is greater than or equal to the target minimum service rate threshold of the target candidate user, then it is determined that the drone and the target candidate user have completed data transmission under the first scheduling time slot. Communication services under a scheduling time slot.

[0087] Optionally, the processing module 502 is specifically used for each first candidate user, in the... In each scheduling time slot, the Euclidean distance between the UAV and the first candidate user is determined based on the first position coordinates of the UAV and the second position coordinates of the first candidate user; the equivalent channel gain of the first candidate user is determined based on the Euclidean distance, the array gain parameters of the UAV, and the reference channel gain; and the minimum necessary transmit power of each first candidate user is determined based on the equivalent channel gain of each first candidate user.

[0088] Optionally, the processing module 502 is specifically used to take the ratio between the upper limit of the system transmission power of the UAV and the preset safety margin coefficient as the preset power threshold; and to retain the first candidate users in the first candidate user set whose minimum necessary transmission power is less than or equal to the preset power threshold.

[0089] Optionally, the processing module 502 is specifically used to select the second candidate user corresponding to the maximum value in all joint priority metrics as the target candidate user based on the second candidate user set.

[0090] Optionally, the processing module 502 is specifically configured to, for each first candidate user, obtain the first minimum service rate threshold of the first candidate user and the noise power of the UAV; and determine the minimum necessary transmit power required to meet the first minimum service rate threshold based on the equivalent channel gain of the first candidate user, the first minimum service rate threshold and the noise power of the UAV.

[0091] Optionally, the processing module 502 is specifically configured to, based on the second candidate user in the... The underservice item is determined by the cumulative deviation between the actual transmission rate of the second candidate user and the second minimum service rate threshold within the historical scheduling time slots prior to the first scheduling time slot; based on the second candidate user's performance in the previous scheduling time slot, the underservice item is determined by the cumulative deviation between the actual transmission rate of the second candidate user and the second minimum service rate threshold within the historical scheduling time slots. The equivalent channel gain under each scheduling time slot is used to determine the energy efficiency term; based on the underservice term and the energy efficiency term, a joint priority metric for the second candidate user is constructed.

[0092] Optionally, the processing module 502 is further configured to, under the condition that the target candidate user meets the preset constraints, determine the product between the minimum necessary transmit power of the target candidate user and the preset safety margin coefficient; and determine the minimum value between the product and the upper limit of the system transmit power of the UAV as the actual transmit power of the target candidate user; and determine the actual transmission rate of the target candidate user according to the actual transmit power, the equivalent channel gain of the target candidate user and the noise power of the UAV, according to the preset transmission rate model.

[0093] Optionally, the preset constraint includes at least: in the first Only one candidate user is allowed to access the system under each scheduling time slot. The actual transmit power of the target candidate user is greater than or equal to the minimum necessary transmit power required to meet the minimum service rate threshold of the target, and less than or equal to the upper limit of the system transmit power.

[0094] Optionally, the acquisition module 501 is specifically used to acquire information about the UAV regarding the... Each communication user completes a service cycle of one round of communication service; this service cycle is divided into segments to obtain the... One scheduling frame.

[0095] Figure 6 This is a schematic diagram of the structure of the electronic device provided in an embodiment of this application. For example... Figure 6 As shown, the electronic device may include: a processor 610, a communications interface 620, a memory 630, and a communication bus 640, wherein the processor 610, the communications interface 620, and the memory 630 communicate with each other via the communication bus 640. The processor 610 can call logical instructions in the memory 630 to execute a dynamic access scheduling method for UAVs with multiple mobile users, the method including: acquiring information from the UAV and... A dynamic communication network model constructed by individual communication users, and the UAV for the... One communication user completes one round of communication service Each scheduling frame contains [number] scheduling frames. Each scheduling time slot , and All are integers greater than 1; under the dynamic communication network model, from the Among the communication users, the target scheduling frame contains the first... The first candidate user set under each scheduling time slot, the target scheduling frame is the Any scheduling frame in the first scheduling frame; and according to the first candidate user in the first candidate user set in the first scheduling frame; The equivalent channel gain under each scheduling time slot is used to determine the minimum necessary transmit power for each first candidate user. First candidate users in the first candidate user set whose minimum necessary transmit power is less than or equal to a preset power threshold are retained, and a second candidate user set is constructed. For each second candidate user in the second candidate user set, a joint priority metric for the second candidate user is constructed based on the underservice level of the second candidate user and the energy efficiency metric used to characterize the power utilization efficiency of the second candidate user. Based on all joint priority metrics, a target candidate user is determined from the second candidate user set. If the target candidate user completes data transmission to the UAV, and the actual transmission rate of the target candidate user is greater than or equal to the target minimum service rate threshold of the target candidate user, then it is determined that the UAV and the target candidate user have completed data transmission under the first scheduling time slot. Communication services under a scheduling time slot.

[0096] Furthermore, the logical instructions in the aforementioned memory 630 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0097] On the other hand, embodiments of this application also provide a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the UAV dynamic access scheduling method for multiple mobile users provided by the above methods. This method includes: acquiring data from the UAV and... A dynamic communication network model constructed by individual communication users, and the UAV for the... One communication user completes one round of communication service Each scheduling frame contains [number] scheduling frames. Each scheduling time slot , and All are integers greater than 1; under the dynamic communication network model, from the Among the communication users, the target scheduling frame contains the first... The first candidate user set under each scheduling time slot, the target scheduling frame is the Any scheduling frame in the first scheduling frame; and according to the first candidate user in the first candidate user set in the first scheduling frame; The equivalent channel gain under each scheduling time slot is used to determine the minimum necessary transmit power for each first candidate user. First candidate users in the first candidate user set whose minimum necessary transmit power is less than or equal to a preset power threshold are retained, and a second candidate user set is constructed. For each second candidate user in the second candidate user set, a joint priority metric for the second candidate user is constructed based on the underservice level of the second candidate user and the energy efficiency metric used to characterize the power utilization efficiency of the second candidate user. Based on all joint priority metrics, a target candidate user is determined from the second candidate user set. If the target candidate user completes data transmission to the UAV, and the actual transmission rate of the target candidate user is greater than or equal to the target minimum service rate threshold of the target candidate user, then it is determined that the UAV and the target candidate user have completed data transmission under the first scheduling time slot. Communication services under a scheduling time slot.

[0098] In another aspect, embodiments of this application also provide a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, this computer program implements the above-described method for dynamic access scheduling of unmanned aerial vehicles (UAVs) for multiple mobile users. This method includes: acquiring data from the UAV and... A dynamic communication network model constructed by individual communication users, and the UAV for the... One communication user completes one round of communication service Each scheduling frame contains [number] scheduling frames. Each scheduling time slot , and All are integers greater than 1; under the dynamic communication network model, from the Among the communication users, the target scheduling frame contains the first... The first candidate user set under each scheduling time slot, the target scheduling frame is the Any scheduling frame in the first scheduling frame; and according to the first candidate user in the first candidate user set in the first scheduling frame; The equivalent channel gain under each scheduling time slot is used to determine the minimum necessary transmit power for each first candidate user. First candidate users in the first candidate user set whose minimum necessary transmit power is less than or equal to a preset power threshold are retained, and a second candidate user set is constructed. For each second candidate user in the second candidate user set, a joint priority metric for the second candidate user is constructed based on the underservice level of the second candidate user and the energy efficiency metric used to characterize the power utilization efficiency of the second candidate user. Based on all joint priority metrics, a target candidate user is determined from the second candidate user set. If the target candidate user completes data transmission to the UAV, and the actual transmission rate of the target candidate user is greater than or equal to the target minimum service rate threshold of the target candidate user, then it is determined that the UAV and the target candidate user have completed data transmission under the first scheduling time slot. Communication services under a scheduling time slot.

[0099] The system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0100] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0101] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for dynamic access scheduling of unmanned aerial vehicles (UAVs) for multiple mobile users, characterized in that, include: Acquired by drones and A dynamic communication network model constructed by individual communication users, and the UAV for the... One communication user completes one round of communication service Each scheduling frame contains [number] scheduling frames. Each scheduling time slot , and All are integers greater than 1; Under the dynamic communication network model, from the Among the communication users, the target scheduling frame contains the first... The first candidate user set under each scheduling time slot, the target scheduling frame is the Any scheduling frame among the scheduling frames; And according to each first candidate user in the first candidate user set at the time of The equivalent channel gain under each scheduling time slot determines the minimum necessary transmit power for each first candidate user; The first candidate users corresponding to the minimum necessary transmit power less than or equal to the preset power threshold in the first candidate user set are retained, and a second candidate user set is constructed. For each second candidate user in the second candidate user set, a joint priority metric for the second candidate user is constructed based on the underservice quantity item corresponding to the underservice level of the second candidate user and the energy efficiency item used to characterize the power utilization efficiency of the second candidate user. And based on all joint priority metrics, target candidate users are determined from the second candidate user set; If, in the case where the target candidate user completes data transmission to the drone, the actual transmission rate of the target candidate user is greater than or equal to the target candidate user's target minimum service rate threshold, then it is determined that the drone and the target candidate user have completed the data transmission in the specified... Communication services under a scheduling time slot.

2. The UAV dynamic access scheduling method for multiple mobile users according to claim 1, characterized in that, The first candidate user in the first candidate user set is in the first... The equivalent channel gain under each scheduling time slot, determining the minimum necessary transmit power for each first candidate user, includes: For each of the first candidate users, in the first... In each scheduling time slot, the Euclidean distance between the UAV and the first candidate user is determined based on the first position coordinates of the UAV and the second position coordinates of the first candidate user; the equivalent channel gain of the first candidate user is determined based on the Euclidean distance, the array gain parameters of the UAV, and the reference channel gain. The minimum necessary transmit power for each first candidate user is determined based on the equivalent channel gain of each first candidate user.

3. The UAV dynamic access scheduling method for multiple mobile users according to claim 1, characterized in that, The step of retaining the first candidate users in the first candidate user set whose minimum necessary transmit power is less than or equal to a preset power threshold includes: The ratio between the upper limit of the system transmission power of the UAV and the preset safety margin coefficient is used as the preset power threshold; The first candidate users in the first candidate user set whose minimum necessary transmit power is less than or equal to the preset power threshold are retained.

4. The UAV dynamic access scheduling method for multiple mobile users according to claim 1, characterized in that, The step of determining the target candidate user from the second candidate user set based on all joint priority metrics includes: Based on the second set of candidate users, the second candidate user corresponding to the maximum value in all joint priority metrics is taken as the target candidate user.

5. The UAV dynamic access scheduling method for multiple mobile users according to claim 2, characterized in that, The step of determining the minimum necessary transmit power for each first candidate user based on the equivalent channel gain of each first candidate user includes: For each first candidate user, obtain the first minimum service rate threshold of the first candidate user and the noise power of the UAV; based on the equivalent channel gain of the first candidate user, the first minimum service rate threshold and the noise power of the UAV, determine the minimum necessary transmit power required to satisfy the first minimum service rate threshold.

6. The method for dynamic access scheduling of unmanned aerial vehicles (UAVs) for multiple mobile users according to claim 1, characterized in that, The step of constructing a joint priority metric for the second candidate user based on the underservice quantity item corresponding to the underservice level of the second candidate user and the energy efficiency item used to characterize the power utilization efficiency of the second candidate user includes: According to the second candidate user in the... The cumulative deviation between the actual transmission rate of the second candidate user and the second minimum service rate threshold within the historical scheduling time slots prior to the scheduling time slot is used to determine the underservice quantity item. According to the second candidate user in the... The equivalent channel gain under each scheduling time slot is used to determine the energy efficiency term; Based on the underserved service item and the energy efficiency item, a joint priority metric for the second candidate user is constructed.

7. The method for dynamic access scheduling of unmanned aerial vehicles (UAVs) for multiple mobile users according to any one of claims 1-6, characterized in that, The method further includes: If the target candidate user meets the preset constraints, determine the product between the minimum necessary transmission power of the target candidate user and the preset safety margin coefficient; and determine the minimum value between the product and the upper limit of the system transmission power of the UAV as the actual transmission power of the target candidate user; The actual transmission rate of the target candidate user is determined according to the actual transmission power, the equivalent channel gain of the target candidate user, and the noise power of the UAV, based on a preset transmission rate model.

8. The method for dynamic access scheduling of unmanned aerial vehicles (UAVs) for multiple mobile users according to claim 7, characterized in that, The preset constraint includes at least: in the first Only one target candidate user is allowed to access the system under each scheduling time slot. The actual transmit power of the target candidate user is greater than or equal to the minimum necessary transmit power required to meet the target minimum service rate threshold, and less than or equal to the system transmit power limit.

9. The method for dynamic access scheduling of unmanned aerial vehicles (UAVs) for multiple mobile users according to any one of claims 1-6, characterized in that, Obtain the drone for the One communication user completes one round of communication service One scheduling frame, including: Obtain the drone for the Each communication user completes one service cycle of communication service. The service period is divided into segments to obtain the... One scheduling frame.

10. A dynamic access scheduling system for unmanned aerial vehicles (UAVs) for multiple mobile users, characterized in that, include: The acquisition module is used to acquire data from drones and A dynamic communication network model constructed by individual communication users, and the UAV for the... One communication user completes one round of communication service Each scheduling frame contains [number] scheduling frames. Each scheduling time slot , and All are integers greater than 1; The processing module is used to, under the dynamic communication network model, from the... Among the communication users, the target scheduling frame contains the first... The first candidate user set under each scheduling time slot, the target scheduling frame is the Any scheduling frame among the scheduling frames; And according to each first candidate user in the first candidate user set at the time of The equivalent channel gain under each scheduling time slot is used to determine the minimum necessary transmit power for each first candidate user; the first candidate users in the first candidate user set whose minimum necessary transmit power is less than or equal to a preset power threshold are retained, and a second candidate user set is constructed. For each second candidate user in the second candidate user set, a joint priority metric for the second candidate user is constructed based on the underservice quantity item corresponding to the underservice level of the second candidate user and the energy efficiency item used to characterize the power utilization efficiency of the second candidate user. And based on all joint priority metrics, target candidate users are determined from the second candidate user set; If, in the case where the target candidate user completes data transmission to the drone, the actual transmission rate of the target candidate user is greater than or equal to the target candidate user's target minimum service rate threshold, then it is determined that the drone and the target candidate user have completed the data transmission in the specified... Communication services under a scheduling time slot.

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