A novel modification of IP networks integrated optimization method for heterogeneous networks, for example, the seamless Wi-Fi network serving simultaneously mobile users and wireless sensors, has been developed in this article. The mutual influence of signal reception, frequency-territorial planning, and routing procedures in heterogeneous networks have been analyzed in the case of simultaneous data transmission by both mobile users and wireless sensors. New principles for the listed procedures interaction and the basic functions for their describing are formulated. A novel modification of the integrated optimization method and its algorithm have been developed. The developed method's effectiveness has been analyzed for the IEEE 802.11ax network segment. Its result showed that the network load was decreased by an average of 20%, the data rate over the network as a whole increased for users and sensors by an average of 25% and 40%, respectively, and the sensors’ lifetime increased by an average of 20% compared to the novel modification of the Collective Dynamic Routing method.