面向灾后救援的多无人机通感算一体化资源分配优化方法

徐赐福; 李亦卿

doi:10.12052/gdutxb.250207

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面向灾后救援的多无人机通感算一体化资源分配优化方法

信息与通信工程 | 更新时间：2026-05-27

- 面向灾后救援的多无人机通感算一体化资源分配优化方法
- A Resource Allocation Optimization Method for Multi-UAV Integrated Sensing, Computing, and Communication Towards Disaster Relief
- 广东工业大学学报 2026年43卷第2期页码：111-120
- 作者机构：
  
  广东工业大学计算机学院,广东,广州,510006
- 作者简介：
  
  徐赐福(2000–) ，男，硕士研究生，主要研究方向为通信感知一体化，E-mail：2112305231@mail2.gdut.edu.cn
  李亦卿(1993–) ，女，副教授，博士，主要研究方向为物联网及其他新型智能网络，E-mail：liyiq5@gdut.edu.cn
- 基金信息：
  
  国家自然科学基金青年科学基金资助项目(62102096);广东省基础与应用基础研究基金资助面上项目(2024A1515011823);广州市基础与应用基础研究基金资助青年博士“启航”项目(2024A04J4297)
- DOI：10.12052/gdutxb.250207
  中图分类号： TN929.5
- 纸质出版：2026
- 稿件说明：
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徐赐福, 李亦卿. 面向灾后救援的多无人机通感算一体化资源分配优化方法[J]. 广东工业大学学报, 2026, 43(2): 111-120.
徐赐福, 李亦卿. 面向灾后救援的多无人机通感算一体化资源分配优化方法[J]. 广东工业大学学报, 2026, 43(2): 111-120. DOI： 10.12052/gdutxb.250207.

DOI： 10.12052/gdutxb.250207

摘要

针对自然灾害导致地面通信受损、现场数据处理受限的应急救援场景，本文构建多无人机通信感知计算一体化的联合资源分配优化模型。在满足发射功率、检测可靠性、飞行速度、安全间距、计算能力及无人机–地面接入点关联等约束下，联合优化无人机轨迹、波束成形与关联关系，以最大化回传计算数据量与感知方向增益的加权效能。针对该混合整数非凸且多变量强耦合问题，本文设计交替优化算法将其分解为3个子问题。首先，在无人机与接入点的关联问题上，通过松弛二元变量并引入线性约束，将问题转化为线性规划问题，利用内点法进行高效求解。其次，在波束成形子问题中，通过半正定松弛和凸近似技术，结合高斯随机化方法，恢复秩一解，以平衡通信速率和感知方向图增益。最后，在轨迹优化子问题上，通过一阶泰勒展开对非凸速率和安全距离约束进行线性化处理，转为连续凸近似问题，便于迭代求解。仿真结果表明，在不同参数设置下，所提方法相较其他基线方案可获得更高且更均衡的通信感知计算综合效能。

Abstract

For disaster-relief scenarios where natural disasters damage terrestrial communications and constrain on-site data processing

a multi-unmanned aerial vehicle (UAV) integrated sensing

computing

and communication system is considered and a joint resource allocation optimization model formulated. Under constraints on transmit power

detection reliability

UAV speed

inter-UAV safety distance

computing capability

and UAV-access point (AP) association

the objective is to maximize the weighted computed data and the sensing directional gain by jointly optimizing UAV trajectories

transmit beamforming

and association. The formulated problem is a strongly coupled mixed-integer nonconvex program. To address it

an alternating optimization algorithm is developed to decompose the original problem into three subproblems. Firstly

the UAV-AP association is transformed into a linear program by relaxing binary variables and introducing linear constraints

and is efficiently solved via an interior-point method. Secondly

the beamforming subproblem is handled using semidefinite relaxation

and a rank-one solution is recovered through Gaussian randomization to balance the communication rate and sensing beampattern gain. Finally

the trajectory subproblem linearizes the nonconvex rate expression and safety-distance constraints using first-order Taylor expansion

leading to a sequence of convex approximation problems that can be solved iteratively. Simulation results demonstrate that

under different parameter settings

the proposed method achieves higher and more balanced sensing

computing

and communication performance than other baseline schemes.

关键词

Keywords

references

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