Cooperative spectrum sensing access method based on real-time channel state estimation

The invention discloses a cooperative spectrum sensing access method based on real-time channel state estimation. The method comprises the following steps of: initializing a node and sensing an initial spectrum; determining the unmanned aerial vehicle node as a cluster head or a cluster child node; if the cluster head is the cluster head, instantiating a spectrum manager, and if the cluster head is the cluster sub, entering a sub-node mode to complete networking work; the cluster head issuing and the cluster child node receiving uplink and macro cellular channels; all the nodes perform in-band spectrum sensing on the current working channel to form a channel set and upload the channel set to the cluster head; the spectrum manager maintains an alternative channel set and updates a channel switching suggestion; the MAC layer makes a channel switching decision according to the channel switching suggestion and the alternative channel set; the cluster head executes the MAC layer instruction and issues a channel sw