Table 1 Simulation parameters

Maximal CPU frequency of UAV

5 GHz

CPU frequency of GN

50 MHz

Total bandwidth B

10 MHz

Max storage capacity C at UAV

200 M

GN remaining storage capacity \(C_k\)

0.5–5 MBits

Transmit power of GN

1 W

Task size at GN

100–500 Kbits

Computation intensity \(\theta ,\theta _{k}\)

900–1000 cycles/bit

Background noise \(N_0\)

− 130 dBm

Channel gain at \(d_0=1\) m

50 dB

UAV blade power \(P_0\)

158.76 W

Induced power \(P_i\)

88.63 W

Blade speed \(Q_{\mathrm{tip}}\)

120 m/s

Air density \(\rho\)

1.225 kg/m\(^3\)

Rotor disc area A

1 m\(^2\)

Hover induced velocity \(V_0\)

4.03

Fuselage drag ratio \(d_0\)

0.3

Fuselage rotor solidity s

0.05

UAV maximum velocity \(V_{\mathrm{max}}\)

15 m/s

UAV flight height H

100 m