Load-limited unmanned aerial vehicle communication sensing energy consumption optimization method based on hierarchical decision

The invention discloses a load-limited unmanned aerial vehicle communication sensing energy consumption optimization method based on hierarchical decision. The method comprises the following steps: constructing an unmanned aerial vehicle grouping distribution system; constructing a communication model, a user satisfaction model, a grouping distribution sequence model and an energy consumption model, and establishing an optimization target of flight energy consumption minimization; in the upper layer decision, modeling a distribution grouping and access sequence optimization problem into a vehicle path problem with a time window, and solving by adopting an adaptive large neighborhood search algorithm to obtain a global distribution sequence; in the lower-layer decision, a trajectory planning problem is modeled as a Markov decision process, a deep reinforcement learning algorithm is adopted for solving, and a flight strategy network model is obtained; deploying the global distribution sequence and the flight strategy network model to an airborne calculation unit of the unmanned aerial vehicle, and generating a flight direction decision according to the environment information; and outputting the optimal distribution scheme. According to the invention, load, user satisfaction and communication reliability are satisfied, and flight energy consumption is reduced.