Unmanned aerial vehicle trajectory planning method in multi-user sensing integrated scene

The invention discloses an unmanned aerial vehicle track planning method in a multi-user sensing integrated scene, and relates to the technical field of unmanned aerial vehicle track planning. The problems of low static deployment freedom, low service efficiency of a single-user system, difficulty in determining a multi-user service sequence and inflexible flight speed and distance design of the unmanned aerial vehicle in a time frame framework in an unmanned aerial vehicle assisted communication and sensing integrated scene are solved. A path discretization method is utilized to discretize an unmanned aerial vehicle track into a limited number of discrete variables, then a non-convex unmanned aerial vehicle track planning problem is established, a first-order Taylor expansion approximation method is utilized, and a successive convex approximation technology is adopted to obtain an unmanned aerial vehicle track planning optimal approximation solution; introducing an unmanned aerial vehicle track re-planning s