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Unmanned aerial vehicle (UAV) communication has been deemed as a promising technology to collect data for the Internet of Things (IoT) in inaccessible areas. However, due to the limited UAV flight time, traditional UAV communication may not be competent for large-scale IoT data collection. This paper considers integrating non-orthogonal multiple access (NOMA) into UAV communication systems to collect data for large-scale IoT devices within UAV flight time. We aim to minimize the total energy consumption of IoT devices while ensuring data collection, by jointly optimizing UAV trajectory, IoT device scheduling and transmit power. The formulated problem is a mixed integer non-convex problem, which is challenging to solve in general. We propose a data collection optimization algorithm (DCOA) to solve it by applying the Generalized Benders Decomposition (GBD) and successive convex approximation (SCA) techniques. Then, a greedy algorithm (GA) is also proposed to reduce complexity by simplifying the optimization of UAV trajectory and IoT device scheduling. Finally, the numerical results demonstrate that, compared with traditional UAV communication systems, the NOMA-aided UAV system performs better in terms of data collection and lower total energy consumption of IoT devices can be achieved by DCOA. INDEX TERMS Unmanned aerial vehicle (UAV) communication, non-orthogonal multiple access (NOMA), data collection, Internet of Things (IoT), energy consumption minimization.

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