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Unmanned aerial vehicles (UAVs) have been widely used in both military and civilian applications. Equipped with diverse communication payloads, UAVs cooperating with satellites and base stations constitute a space-air-ground three-tier heterogeneous network, which are beneficial in terms of both providing the seamless coverage as well as of improving the capacity for increasingly prosperous Internet of Things networks. However, cross-tier interference may be inevitable among these tightly embraced heterogeneous networks when sharing the same spectrum. The power association problem in satellite, UAV and macrocell three-tier networks becomes a critical issue. In this paper, we propose a two-stage joint hovering altitude and power control solution for the resource allocation problem in UAV networks considering the inevitable cross-tier interference from space-air-ground heterogeneous networks …