Algorithm 1 Cruise communication coverage algorithm based on internal helix

Input: cell center location, key area location, UAV coverage radius R Output: UAV cruise track $q\left(t\right)$ The process: Set the center point of the cell closest to the origin of coordinates in the target region as the initial waypoint $q_0$; The UAV looks for the geometric center point of the nearest cell as the next waypoint $q_1$ in the internal spiral direction clockwise or counterclockwise. If the cell of the next geometric center point $q_i$ contains key regions g, the number of key regions $s_j$ in the cell is calculated; Find the next nearest central point $q_{i+1}$ and judge the number of key regions $s_{j+1}$ in the cell of the central point $q_{i+1}$ until there is no key region in the cell of the next nearest central point $q_{i+n}$. The shortest path algorithm is adopted to calculate the shortest path from the current central point $q_i$ through the key area g to the central point $q_{i+n}$. Otherwise, directly take the center point of the next cell as the current optimal waypoint. Repeat Steps 2–5. Use a straight line to connect each waypoint in the order of access. Return the cruise track $q\left(t\right)$ of the UAV.