); [EMAIL_ADDRESS] (X.B. )1 State Key Laboratory of Networking and Switching Technology, Beijing University of Posts and Telecommunications, Beijing 100876, China; [EMAIL_ADDRESS] (C.G. ); [EMAIL_ADDRESS] (X.B. )1 State Key Laboratory of Networking and Switching Technology, Beijing University of Posts and Telecommunications, Beijing 100876, China; [EMAIL_ADDRESS] (C.G. ); [EMAIL_ADDRESS] (X.B. )1 State Key Laboratory of Networking and Switching Technology, Beijing University of Posts and Telecommunications, Beijing 100876, China; [EMAIL_ADDRESS] (C.G. ); [EMAIL_ADDRESS] (X.B. )1 State Key Laboratory of Wireless Mobile Communication, China Academy of Telecommunication Technology, Beijing 100049, China; [EMAIL_ADDRESS] State Key Laboratory of Wireless Mobile Communication, China Academy of Telecommunication Technology, Beijing 100049, China; [EMAIL_ADDRESS] State Key Laboratory of Wireless Mobile Communication, China Academy of Telecommunication Technology, Beijing 100049, China; [EMAIL_ADDRESS] State Key Laboratory of Wireless Mobile Communication, China Academy of Telecommunication Technology, Beijing 10049, China; [EMAIL_ADDRESS] State Key Laboratory of Wireless Mobile Communication, China Academy of Telecommunication Technology, Beijing 100049, China; [EMAIL_ADDRESS] State Key Laboratory of Wireless Mobile Communication, China Academy of Telecommunication Technology, Beijing 10049, China; [EMAIL_ADDRESS] State Key Laboratory of Wireless Mobile Communication, China Academy of Telecommunication Technology, Beijing 100049, China; chensz@ict. By deploying edge servers, satellite network nodes can directly provide task processing services to terrestrial IoT devices. However, due to the high flight altitude of satellites and the limited energy and signal transmission power of a large number of terrestrial IoT devices, terrestrial IoT devices face challenges in sending data to satellites stably and quickly. Different from satellite networks, space-based networks represented by high altitude platform (HAP) drones are deployed at an altitude of several hundred meters to 20 km above the ground [14]. Their flying heights are much lower than satellite networks. Therefore, ground IoT devices can transmit data to air nodes more stably and at a higher speed. According to the definition of the International Telecommunication Union (ITU), a HAP drone is unmanned aerial vehicle (UAV) deployed at an altitude of 20 km above the ground [15; 16]. It can either hover to provide stable communication services for ground equipment or be deployed mobile to respond to emergency service requirements. Since the distance from the ground IoT device to the HAP drone is much smaller than the distance from the ground IoT device to the satellite, the wireless channel from the ground IoT device to the HAP drone is more stable and has a higher channel gain. Therefore, the ground IoT device can communicate with the HAP drone at a higher rate. Similarly, HAP drones can carry edge servers to provide edge computing services to IoT devices. However, since the load capacity of HAP drones and LEO satellites is limited, a single HAP drone and satellite cannot guarantee the provision of stable and effective task processing services for the terrestrial IoT devices it serves. Therefore, sharing the computing resources of the server through the collaboration of multiple non-terrestrial nodes has become a promising method to improve the service capabilities of non-terrestrial networks. By dividing the task into multiple sub-parts and processing them on servers in different locations, the network's task processing capabilities can be effectively improved. However, for HAP drones and satellite collaborative networks, how to reasonably split tasks and optimize the allocation strategy of communication and computing resources have become important issues that need to be solved.