Unmanned aerial vehicle (UAV) and sidelink technology are becoming more and more important in emergency communication. To optimize overall energy efficiency, joint subchannel, transmit power, and multi-UAV trajectory optimization algorithms are examined in a multi-cell heterogeneous network of UAV and sidelink with quality of service (QoS) sensitivity restrictions. To allocate subchannel appropriately in each period, a grouping and matching approach is first developed that can handle the subchannel assignment of multi-cell. Then, successive convex approximation method is used to approximate the non-deterministic polynomial hard problem of power allocation. Taylor expansion approximation method is finally introduced to deal with multi-UAV trajectory optimization. In addition, the complexity analysis is provided and numerical results confirm the optimization methods' reasonableness.