LAUSR

Space-air-ocean integrated networks (SAOINs), composed of low earth orbit (LEO) satellites, unmanned aerial vehicles (UAVs), and unmanned surface vehicles (USVs), have been advocated to provide seamless, high-rate, and reliable wireless transmission services for USVs. However, due to the restrictions of limited resources (e.g., spectrum bandwidth, transmission power, etc.), diverse demands of USVs, and selfishness of both UAVs and LEOs, there comes a significant challenge to provision high-quality wireless data rate for USVs to achieve their satisfied quality of experience (QoE). To this end, in this paper, we propose a hierarchical on-demand wireless data rate provisioning scheme to provide ubiquitous transmission services for USVs. Specifically, we first devise a hierarchical wireless data rate provisioning framework. The LEO satellite with an extensive wireless coverage is utilized to provide LEO satellite-to-UAV (L2U) data rate for UAVs with a certain L2U data rate price. Each UAV is employed to provide UAV-to-USV (U2U) data rate for covered multiple USVs with a certain U2U data rate price. We then propose a modified three-stage Stackelberg game to model the wireless data rate assignments among LEO satellites, UAVs, and USVs, where the time-varying data rate demands of USVs are considered to formulate the utility maximization problem. Afterwards, the backward induction approach is leveraged to attain the Stackelberg equilibrium as the solution of the formulated problem, where the closed-form expressions on the optimal strategies of both USVs and UAVs under different data rate budgets are obtained by the nonlinear programming method. Besides, an accelerated conjugate gradient descent (ACGD) based iteration algorithm is also designed to obtain the optimal strategies of the LEO satellites on the L2U data rate prices. At last, extensive simulations are carried out to demonstrate that the proposed scheme can significantly increase the utilities of USVs, as compared to other benchmark schemes.