The invention discloses a low-altitude communication and sensing integrated resource collaborative optimization method, which comprises the following steps: firstly, carrying out three-dimensional space modeling on a
base station, a cooperative unmanned aerial vehicle and a non-cooperative unmanned aerial vehicle in a
system, defining communication and sensing dual-function attributes of the
base station, and establishing a
communication channel model and a sensing echo model; establishing a communication and
perception echo model between the
base station and the unmanned aerial vehicle, defining an association relationship and a power distribution optimization variable, constructing a joint
performance objective function, and introducing power constraint, communication rate and positioning precision
system constraint to form a mixed integer non-convex
optimization problem; and finally, decomposing a mixed integer non-convex
optimization problem into two sub-problems, and realizing double improvement of
system communication efficiency and sensing precision through joint optimization. According to the method, high-precision positioning of the non-cooperative unmanned aerial vehicle can be realized while the
communication quality of the cooperative unmanned aerial vehicle is guaranteed, so that the communication
resource utilization efficiency and the airspace management safety are effectively improved, and the method is suitable for the intelligent deployment requirement of a future complex urban air network.