  In wireless sensors networks, integrating localization and communications
techniques is crucial for efficient spectrum and hardware utilization. In this
paper, we present a novel framework of unmanned aerial vehicle (UAV)-aided
localization and communication for ground node (GN), where the average spectral
efficiency (SE) is used to reveal the intricate relationship among frame
structure, channel estimation error, and localization accuracy. In particular,
we first derive the lower bounds for channel estimation error and the three
dimensional location prediction error. Leveraging these comprehensive analysis,
we formulate a problem to maximize the average SE in UAV-GN communication,
where the frame structure, beamwidth and power allocation are jointly
optimized. Subsequently, we propose an efficient iterative algorithm to address
this non-convex problem with closed-form expressions for beamwidth and power
allocation. Numerical results demonstrate that the performance of our proposed
method can approach the upper bound with much lower complexity, and achieve
over 70\% performance gain compared to non-localization benchmarks.
Additionally, the analysis highlights the dominant impacts from the Doppler
effect over noise on the average SE.
