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This project optimizes the sensing accuracy of a UAV-based dual-baseline InSAR system using a swarm of three drones. Two independent digital elevation models (DEMs) are generated and fused to reduce height estimation errors. Real-time radar data is offloaded via an FDMA air-to-ground link for ground-based processing. The UAV formation and offloading power are jointly optimized to minimize the worst-case height error.