Beam forming and flight path design method for communication perception fusion system of unmanned aerial vehicle

The invention relates to an unmanned aerial vehicle communication perception fusion system beam forming and flight path design method, and belongs to the technical field of wireless communication. The method comprises the following steps: S1, modeling an unmanned aerial vehicle communication perception fusion system model; s2, modeling an unmanned aerial vehicle communication perception fusion system to jointly send signals; s3, modeling an unmanned aerial vehicle communication channel model; s4, modeling an unmanned aerial vehicle sensing channel model; s5, modeling a user communication rate; s6, modeling a target discovery probability; s7, modeling flight energy consumption and joint signal power constraints of the unmanned aerial vehicle; s8, modeling unmanned aerial vehicle communication perception association variable constraints; and S9, determining the flight path, beam forming and association strategy of the unmanned aerial vehicle based on system performance optimization. According to the method, the