CN107017940A - Unmanned plane repeat broadcast communication system route optimization method - Google Patents

Unmanned plane repeat broadcast communication system route optimization method Download PDF

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CN107017940A
CN107017940A CN201710276186.7A CN201710276186A CN107017940A CN 107017940 A CN107017940 A CN 107017940A CN 201710276186 A CN201710276186 A CN 201710276186A CN 107017940 A CN107017940 A CN 107017940A
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unmanned plane
node
outage probability
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broadcast communication
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CN107017940B (en
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李冬霞
李春鸣
赵文强
刘海涛
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Civil Aviation University of China
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/18502—Airborne stations
    • H04B7/18504—Aircraft used as relay or high altitude atmospheric platform
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
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Abstract

A kind of unmanned plane repeat broadcast communication system route optimization method.It includes setting up unmanned plane repeat broadcast communication system；Set up three-dimensional cartesian coordinate system；Fixed base stations node transmits signals to unmanned plane via node；Unmanned plane via node broadcasts signal to user node；User node receives broadcast singal；Determine the outage probability of all user nodes；Determine the outage probability of the maximum user node of outage probability；The unmanned aerial vehicle flight path Optimized model based on maximum-minimize criterion is set up, the steps such as optimum heading angle are searched out.Effect of the present invention：This method considers unmanned plane to influence of the base station link to systematic function, with more preferable integrality.Compared with unmanned plane repeat broadcast communication system unmanned plane method for optimizing position, the present invention is used as trunking traffic platform by the use of fixed-wing unmanned plane, the position of unmanned plane can be adjusted with the change dynamic of environment by relaying unmanned plane, and the present invention has more preferable adaptivity, and application is more extensive.

Description

Unmanned plane repeat broadcast communication system route optimization method
Technical field
The invention belongs to unmanned plane repeat broadcast communication technical field, particularly a kind of unmanned plane repeat broadcast communication system Route optimization method.
Background technology
In recent years, set with the reduction and avionics of unmanned plane (unmanned aerial vehicle, UAV) manufacturing cost Standby miniaturization, unmanned plane is obtained a wide range of applications military with civil area, and typical case's application includes：Battle reconnaissance, relaying Communication, environmental surveillance, geological survey and emergency management and rescue etc..Trunking traffic is a key areas of unmanned plane application, with tradition Fixed relay communication compare, unmanned plane trunking traffic has that communication distance is remote, deployment is convenient, intermediate position is flexibly controllable, be System builds all many advantages such as fast, maintenance cost is cheap, therefore unmanned plane trunking traffic is obtained military with civil area Obtain and widely pay close attention to.At the same time, the trunking traffic based on unmanned plane also brings a series of new technical problems, for example nobody Machine trunking traffic track optimization problem, unmanned plane relay power assignment problem, reachability problem of unmanned plane junction network etc..
In terms of unmanned plane trunking traffic track optimization, correlative study is as follows：
For the track optimization problem of point-to-point unmanned plane relay communications system, some documents are proposed based on transmitting with receiving The unmanned plane relay transmission method of beam forming, and give out-trunk unmanned aerial vehicle flight path optimization side based on signal to noise ratio maximization criterion Method, but this method requires that access node emitter is both needed to the fading information of accurate channel knowledge with base station receiver, it is actual to answer It is difficult to the fading information for obtaining channel with middle emitter.
For the track optimization problem of unmanned plane relay multi-user access system, some documents are based on ergodic normalization Transmission rate maximizes criterion and gives unmanned aerial vehicle flight path optimization method.For same problem, some documents are based on average and speed Rate maximizes criterion and user's minimum-rate maximizes criterion and proposes two kinds of unmanned aerial vehicle flight path optimization methods.In optimization unmanned plane boat During mark, some documents only consider unmanned plane to user node one hop link, do not account for base station to unmanned plane link pair and are integrally The influence for performance of uniting.
To solve rotor wing unmanned aerial vehicle repeat broadcast communication system performance optimization problem, it is minimum that some documents are based on outage probability Change optimum position and power distribution method that criterion proposes unmanned plane.But the result of study needs further genralrlization to fixation Wing unmanned plane relay communications system.
In unmanned plane trunking traffic Path Optimization Technique, the route optimization method of point-to-point unmanned plane relay communications system Research object is point-to-point unmanned plane relay system, the route optimization method research object of unmanned plane relay multi-user access system Unmanned plane relay system is accessed for multiple access.
The basic thought of rotor wing unmanned aerial vehicle repeat broadcast communication system performance optimization method is：In order to realize that base-station node is arrived Communication between user node by unmanned plane, it is necessary to be relayed, and system by rotor wing unmanned aerial vehicle by hovering over optimal relaying Position come realize data fast and high quality transmit, but this method be primarily present of both problem：Rotor wing unmanned aerial vehicle is in After platform, power consumption is higher, and cruising time is short, on the other hand, and actual application environment is complicated and changeable, and this method hangs rotor wing unmanned aerial vehicle Fixed relay position is parked in, the ability changed without adaptive environment.
The content of the invention
In order to solve the above problems, it is an object of the invention to provide a kind of unmanned plane repeat broadcast communication system flight path is excellent Change method.
In order to achieve the above object, the unmanned plane repeat broadcast communication system route optimization method that the present invention is provided includes pressing The following steps that order is carried out：
1) unmanned plane repeat broadcast communication system is set up；
2) three-dimensional cartesian coordinate system of above-mentioned unmanned plane repeat broadcast communication system is set up；
3) in first time slot that signal is transmitted, fixed base stations node is with a certain power ρBTransmit signals in unmanned plane After node, unmanned plane via node receives the signal from fixed base stations node；
4) in second time slot, unmanned plane via node is with power ρUUsing amplification forwarding mode by the signal received Broadcast to user node；
5) in second time slot, user node receives the above-mentioned broadcast singal from unmanned plane via node；
6) user node u in T moment unmanned plane repeat broadcast communication systems is determinediOutage probability approximate expression, and The outage probability of all user nodes in unmanned plane repeat broadcast communication system is calculated using the expression formula；
7) outage probability of the maximum user node of outage probability in T moment above-mentioned all user nodes is determined；
8) nothing based on maximum-minimum criterion is set up according to the outage probability of the maximum user node of above-mentioned outage probability Man-machine track optimization model, and search out optimum heading angle using the model.
In step 1) in, described unmanned plane repeat broadcast communication system by fixed base stations node, maneuvering flight nobody Machine via node and N number of user node ui(i=1,2..., N) is constituted；Wherein, fixed base stations node is located at ground, and unmanned plane is taken Carry relaying load to fly with level altitude h, constant speed v, N number of user node uiIt is uniformly distributed a circular service on the ground In region.
In step 2) in, described three-dimensional cartesian coordinate system is used as Descartes's rectangular co-ordinate using the center of circular coverage The origin of system, it is vertical with the origin of coordinates using the line direction of the origin of coordinates and fixed base stations node as the x-axis of rectangular coordinate system In z-axis of the earth upwardly direction as rectangular coordinate system.
In step 3) in, described in first time slot that signal is transmitted, fixed base stations node is with a certain power ρBHair Penetrate signal and give unmanned plane via node, the method that unmanned plane via node receives the signal from fixed base stations node is：
In first time slot, the transmitting antenna of fixed base stations node sends signal s to unmanned plane via node, unmanned plane Via node receives the signal from fixed base stations node：
Wherein, fixed base stations node transmission signal s is metE is expectation computing；ρBRepresent fixed base stations node The power of transmission signal；dB,UFixed base stations node is represented to the distance between unmanned plane via node；α delegated path fissipation factors, Its value is general between [1,2]；nUThe white complex gaussian noise of unmanned plane via node input is represented, it is modeled as average and is 0th, variance isWhite complex gaussian noise；hB,UThe small yardstick for representing channel between fixed base stations node and unmanned plane via node declines Fall coefficient, it is the multiple Gauss stochastic variable that zero, variance is 1 that it, which is modeled as average,.
In step 4) in, described in second time slot, unmanned plane via node is with power ρUUsing amplification forwarding side The method that the signal received is broadcasted to user node is by formula：
Unmanned plane via node is received after the signal from fixed base stations node, will be received and believed using amplification forwarding mode Number yUIt is multiplied by a gain factor GU：
And with power ρUIt is forwarded to each user node.
In step 5) in, described in second time slot, user node receives above-mentioned from unmanned plane via node The method of broadcast singal is：
In second time slot, i-th of user node u in circular coverageiThe signal of reception is：
Wherein, ρURepresent the power of unmanned plane via node transmission signal；Unmanned plane via node is represented to save to user Point uiDistance；Represent unmanned plane via node and user node uiBetween channel multipath fading coefficient, it is modeled as Average is the multiple Gauss stochastic variable that zero, variance is 1；Represent user node uiThe white complex gaussian noise of input, it is modeled as Average is that zero, variance isWhite complex gaussian noise.
In step 6) in, user node u in described determination T moment unmanned plane repeat broadcast communication systemsiInterruption it is general Rate approximate expression, and the interruption for calculating all user nodes in unmanned plane repeat broadcast communication system using the expression formula is general The method of rate is：
T moment, user node uiOutage probability be defined as the instantaneous signal-to-noise ratio of the user node receiver input signalLess than a certain signal-noise ratio threshold value γthProbability, wherein user node uiThe instantaneous signal-to-noise ratio of receiver input signalRoot The signal of change received according to the user is obtained, and calculation formula is：
WhereinBase station is represented respectively into unmanned plane repeated link, unmanned plane After the instantaneous signal-to-noise ratio that path loss is free of to user node link；
Calculated using the instantaneous signal-to-noise ratio of above-mentioned user node receiver input signal and obtain user node uiInterruption it is general Rate approximate expression is：
Wherein, γthRepresent signal-noise ratio threshold value,Withγ is represented respectively1With γ2Average.
In above-mentioned three-dimensional cartesian coordinate system, it is contemplated that unmanned plane during flying is highly always h, then the T moment, fixed base stations section Point, unmanned plane via node and user node uiThree-dimensional coordinate be respectively b=[R0,0,0]T, rT=[xT,yT,h]TWithIt can be calculated using the coordinate of each above-mentioned node and obtain fixed base stations node between unmanned plane via node Apart from dB,UWith unmanned plane via node to user node uiBetween distanceFurther arrange and obtain T moment user nodes uiOutage probability approximate expression be：
The outage probability of all user nodes in unmanned plane repeat broadcast communication system is finally calculated using the expression formula.
In step 7) in, the maximum user node of outage probability in described determination T moment above-mentioned all user nodes The method of outage probability is：
Using the thought of minimum P multiplication, the interruption for obtaining the maximum user node of outage probability in circular coverage is general Rate calculation formula is as follows：
Wherein, p is larger positive number；
According to the motion model of unmanned plane, the position coordinates r of T moment unmanned planesTAs the T- Δ T moment shown in formula (8) without Man-machine position coordinates rT-ΔT=[xT-ΔT,yT-ΔT,h]TAnd its position time update equation：
Obtain；Wherein, Δ T represents the cycle of unmanned plane location updating, δTThe course angle of T moment unmanned planes is represented, is met | δT-δT-ΔT|≤δmax, wherein δmaxRepresent the maximum course angle of unmanned plane；Further arrange and obtain interrupting in circular coverage The outage probability expression formula of the user node of maximum probability is：
Wherein,
In step 8) in, the outage probability of the user node maximum according to above-mentioned outage probability is set up based on most Greatly-the unmanned aerial vehicle flight path Optimized model of criterion is minimized, and the method for searching out optimum heading angle using the model is：
Nobody based on maximum-minimum criterion is set up according to the outage probability of the maximum user node of above-mentioned outage probability Machine track optimization model is：
Finally, using linear search method in [δT-ΔT-δmax,δT-ΔT+δmax] interval inherent above-mentioned unmanned aerial vehicle flight path optimization mould Scan for that optimum heading angle can be searched out in type.
The unmanned plane repeat broadcast communication system route optimization method that the present invention is provided has the advantages that：
Compared with unmanned plane relay multi-user access system route optimization method, this method considers unmanned plane to base station chain Influence of the road to systematic function, the present invention has more preferable integrality.
Compared with unmanned plane repeat broadcast communication system unmanned plane method for optimizing position, the present invention utilizes fixed-wing unmanned plane As trunking traffic platform, relaying unmanned plane can adjust the position of unmanned plane with the change dynamic of environment, and the present invention has more preferable Adaptivity, application is more extensive.
Brief description of the drawings
The unmanned plane relaying used in the unmanned plane repeat broadcast communication system route optimization method that Fig. 1 provides for the present invention Broadcast communication system structural representation；
Fig. 2 is each node location coordinate and the optimal flight track schematic diagram of unmanned plane.
Fig. 3 is influence schematic diagram of the circular service area radius to unmanned plane optimal trajectory.
Fig. 4 is influence schematic diagram of the maximum course angle to unmanned plane optimal trajectory.
Fig. 5 is influence schematic diagram of the circular service area radius to user's ergodic capacity performance.
Fig. 6 is influence schematic diagram of the maximum course angle to unmanned plane repeat broadcast communication system ergodic capacity.
Embodiment
The unmanned plane repeat broadcast communication system track optimization provided below in conjunction with the accompanying drawings with specific embodiment the present invention Method is described in detail.
The unmanned plane repeat broadcast communication system route optimization method that the present invention is provided includes the following step carried out in order Suddenly：
1) unmanned plane repeat broadcast communication system as shown in Figure 1 is set up；
The system is by fixed base stations (BS) node, unmanned plane (UAV) via node and N number of user node u of maneuvering flighti (i=1,2..., N) is constituted；Wherein, fixed base stations node is located at ground, and UAV flight relays load with level altitude h, perseverance Constant speed degree v flies, N number of user node uiIt is uniformly distributed in a circular coverage on the ground.Assuming that fixed base stations node It is distant with circular coverage, in the absence of each user node u in fixed base stations node to the circular coverageiIt is straight Up to communication link, fixed base stations node must can realize that fixed base stations node is saved with each user by the relaying of unmanned plane Point uiBroadcast communication.Assume further that fixed base stations node, unmanned plane via node and each user node uiConfigure single day Line.
2) three-dimensional cartesian coordinate system of above-mentioned unmanned plane repeat broadcast communication system is set up；
For ease of calculating fixed base stations node and unmanned plane UAV via nodes and unmanned plane UAV via nodes and each User node uiBetween distance, set up the three-dimensional cartesian coordinate system of above-mentioned unmanned plane repeat broadcast communication system.The three-dimensional right angle Origin of the coordinate system using the center of circular coverage as Descartes's rectangular coordinate system, with the origin of coordinates and fixed base stations node Line direction as rectangular coordinate system x-axis, using the origin of coordinates perpendicular to the earth upwardly direction as rectangular coordinate system z Axle.Assuming that the distance between fixed base stations node and rectangular coordinate system origin is R0, then the coordinate of fixed base stations node is [R0,0, 0]。
3) in first time slot that signal is transmitted, fixed base stations node is with a certain power ρBTransmit signals in unmanned plane After node, unmanned plane via node receives the signal from fixed base stations node；
In first time slot, the transmitting antenna of fixed base stations node sends signal s to unmanned plane via node, unmanned plane Via node receives the signal from fixed base stations node：
Wherein, fixed base stations node transmission signal s is metE is expectation computing；ρBRepresent fixed base stations node The power of transmission signal；dB,UFixed base stations node is represented to the distance between unmanned plane via node；α delegated path fissipation factors, Its value is general between [1,2]；nUThe white complex gaussian noise of unmanned plane via node input is represented, it is modeled as average and is 0th, variance isWhite complex gaussian noise；hB,UThe small yardstick for representing channel between fixed base stations node and unmanned plane via node declines Fall coefficient, it is the multiple Gauss stochastic variable that zero, variance is 1 that it, which is modeled as average,.
4) in second time slot, unmanned plane via node is with power ρUUsing amplification forwarding mode by the signal received Broadcast to user node；
Unmanned plane via node is received after the signal from fixed base stations node, will be received and believed using amplification forwarding mode Number yUIt is multiplied by a gain factor GU：
And with power ρUIt is forwarded to each user node.
5) in second time slot, user node receives the above-mentioned broadcast singal from unmanned plane via node；
In second time slot, i-th of user node u in circular coverageiThe signal of reception is：
Wherein, ρURepresent the power of unmanned plane via node transmission signal；Unmanned plane via node is represented to save to user Point uiDistance；Represent unmanned plane via node and user node uiBetween channel multipath fading coefficient, it is modeled as Average is the multiple Gauss stochastic variable that zero, variance is 1；Represent user node uiThe white complex gaussian noise of input, it is modeled as Average is that zero, variance isWhite complex gaussian noise.
6) user node u in T moment unmanned plane repeat broadcast communication systems is determinediOutage probability approximate expression, and The outage probability of all user nodes in unmanned plane repeat broadcast communication system is calculated using the expression formula；
T moment, user node uiOutage probability be defined as the instantaneous signal-to-noise ratio of the user node receiver input signalLess than a certain signal-noise ratio threshold value γthProbability, wherein user node uiThe instantaneous signal-to-noise ratio of receiver input signalRoot The signal of change received according to the user is obtained, and calculation formula is：
WhereinBase station is represented respectively into unmanned plane repeated link, unmanned plane After the instantaneous signal-to-noise ratio that path loss is free of to user node link.
Calculated using the instantaneous signal-to-noise ratio of above-mentioned user node receiver input signal and obtain user node uiInterruption it is general Rate approximate expression is：
Wherein, γthRepresent signal-noise ratio threshold value,Withγ is represented respectively1With γ2Average.
In order to accurately provide fixed base stations node between unmanned plane via node apart from dB,U, unmanned plane via node arrives User node uiBetween distanceIn above-mentioned three-dimensional cartesian coordinate system, it is contemplated that unmanned plane during flying is highly always h, then Assuming that T moment, fixed base stations node, unmanned plane via node and user node uiThree-dimensional coordinate be respectively b=[R0,0,0]T, rT=[xT,yT,h]TWithIt can be calculated using the coordinate of each above-mentioned node and obtain fixed base stations node to nothing Between man-machine via node apart from dB,UWith unmanned plane via node to user node uiBetween distanceFurther arrange To T moment user nodes uiOutage probability approximate expression be：
The outage probability of all user nodes in unmanned plane repeat broadcast communication system is finally calculated using the expression formula. From formula (6) as can be seen that in fixed base stations node and unmanned plane via node transmission power, white complex gaussian noise variance and road In the case of footpath fissipation factor α is given, T moment user nodes uiOutage probability by unmanned plane via node position coordinates rTAnd The position coordinates u of user nodeiJoint is determined.
7) outage probability of the maximum user node of outage probability in T moment above-mentioned all user nodes is determined；
Using the thought of minimum P multiplication, the interruption for obtaining the maximum user node of outage probability in circular coverage is general Rate calculation formula is as follows：
Wherein, p is larger positive number.
In view of unmanned plane, flying height h and speed v keep constant during trunking traffic, therefore only need by adjustment The course angle δ of unmanned planeTCome the path of change of flight.According to the motion model of unmanned plane, the position coordinates r of T moment unmanned planesTBy The position coordinates r of T- Δ T moment unmanned planes shown in formula (8)T-ΔT=[xT-ΔT,yT-ΔT,h]TAnd its position time update equation：
Obtain；Wherein, Δ T represents the cycle of unmanned plane location updating, δTThe course angle of T moment unmanned planes is represented, is met | δT-δT-ΔT|≤δmax, wherein δmaxRepresent the maximum course angle of unmanned plane.Further arrange and obtain interrupting in circular coverage The outage probability expression formula of the user node of maximum probability is：
Wherein,
From formula (9) as can be seen that in the case of T- Δ T moment unmanned planes position is given, in T moment circle coverage in The outage probability of the user node of disconnected maximum probability is only decided by the course angle δ of T moment unmanned planesT。
8) nothing based on maximum-minimum criterion is set up according to the outage probability of the maximum user node of above-mentioned outage probability Man-machine track optimization model, and search out optimum heading angle using the model；
Due to user node uiIt is uniformly distributed in circular coverage, each user node uiOutage probability not phase Together, it is all user node u in the circular coverage of guaranteeiOutage probability minimize, it is maximum according to above-mentioned outage probability The outage probability of user node sets up the unmanned aerial vehicle flight path Optimized model based on maximum-minimum criterion：
Finally, it is contemplated that unmanned aerial vehicle flight path Optimized model shown in formula (10) is solved to nonlinear programming problem, therefore Can be using linear search method in [δT-ΔT-δmax,δT-ΔT+δmax] scan in interval inherent above-mentioned unmanned aerial vehicle flight path Optimized model Optimum heading angle can be searched out.
In order to verify the effect for the unmanned plane repeat broadcast communication system route optimization method that the present invention is provided, the present inventor Following experiment is carried out：
Fig. 2 is the position coordinates and unmanned plane optimal trajectory schematic diagram of each user node.The border circular areas generation in left side in figure Table circle coverage, " ", " * " and " o " represent fixed base stations node location, the initial position of unmanned plane via node respectively And optimal unmanned plane via node position.Dotted line, dotted line and solid line represent respectively in circular coverage user node number as 10, 100th, 200 when, the optimal unmanned aerial vehicle flight path that linear search method is obtained.Result shows in figure：1) with the increase of user node number, Unmanned aerial vehicle flight path is closer to optimal unmanned plane via node [(R0- L)/2,0, h]), demonstrate the validity of the inventive method； 2) unmanned plane flies to after optimal unmanned plane intermediate position from initial position, due to can not remains stationary, start with circular trace Flight, round radius is 100m, and the cycle is about 25s.
Fig. 3 is influence schematic diagram of the circular service area radius to unmanned plane optimal trajectory.Wherein " o " represent it is optimal nobody Machine via node position.It is optimal when right side graph and leftmost curve represent circular service area radius as 150m and 300m respectively Flight path.It can be seen that the unmanned plane optimal trajectory based on maximum-minimum criterion is with circular service area radius Circular coverage is increasingly partial in increase, and can capture optimal unmanned plane via node position [(R0-L)/2,0, H], so as to demonstrate the correctness of the inventive method.
Fig. 4 is influence schematic diagram of the maximum course angle to unmanned plane flight path optimization.Wherein " * " represents nobody respectively with " o " The initial position of machine via node and optimal unmanned plane via node position.Solid line, dotted line represent that maximum course angle is 15 respectively Degree and optimal trajectory at 25 degree, it can be seen that when maximum course angle is 25 degree, the half of unmanned plane circle flight path Footpath is about 57.3, and the cycle is 14.5, and round radius reduces with the increase of maximum course angle.
Fig. 5 is influence schematic diagram of the circular service area radius to user's ergodic capacity performance.Scheme dotted line and dotted line point in a When not representing circular service area radius as 150m and 300m, the system ergodic capacity based on maximum-minimum criterion is with the time Change curve, when solid line represents circular service area radius as 300m, based on user's average interrupt probability minimum criterion Simulation result.When figure b dotted lines and solid line represent circular service radius as 300m respectively, based on maximum-minimum criterion and base The outage probability maximum link ergodic capacity versus time curve of criterion is minimized in user's average interrupt probability.From figure As can be seen that 1) with the increase of circular service area radius, based on maximum-ergodic capacity that the system of minimum criterion is total is obvious Reduce.2) when service area radius is identical, compared with the optimum results of criterion are minimized based on average interrupt probability, based on most Greatly-total ergodic capacity of system for minimizing criterion has reduced, but the volumetric properties of outage probability maximum link are obviously improved, Demonstrate suggested plans validity.
Fig. 6 is influence schematic diagram of the maximum course angle to system ergodic capacity.Wherein solid line and dotted line represent maximum respectively When course angle is 15 degree and 25 degree, the system ergodic capacity versus time curve based on maximum-minimum criterion.From figure As can be seen that with the increase of the maximum course angle of unmanned plane, system ergodic capacity increases.

Claims (9)

1. a kind of unmanned plane repeat broadcast communication system route optimization method, it is characterised in that：Described unmanned plane repeat broadcast Communication system route optimization method includes the following steps carried out in order：
1) unmanned plane repeat broadcast communication system is set up；
2) three-dimensional cartesian coordinate system of above-mentioned unmanned plane repeat broadcast communication system is set up；
3) in first time slot that signal is transmitted, fixed base stations node is with a certain power ρBTransmit signals to unmanned plane relaying section Point, unmanned plane via node receives the signal from fixed base stations node；
4) in second time slot, unmanned plane via node is with power ρUThe signal received is broadcasted using amplification forwarding mode To user node；
5) in second time slot, user node receives the above-mentioned broadcast singal from unmanned plane via node；
6) user node u in T moment unmanned plane repeat broadcast communication systems is determinediOutage probability approximate expression, and using should Expression formula calculates the outage probability of all user nodes in unmanned plane repeat broadcast communication system；
7) outage probability of the maximum user node of outage probability in T moment above-mentioned all user nodes is determined；
8) unmanned plane based on maximum-minimum criterion is set up according to the outage probability of the maximum user node of above-mentioned outage probability Track optimization model, and search out optimum heading angle using the model.
2. unmanned plane repeat broadcast communication system route optimization method according to claim 1, it is characterised in that：In step 1) in, described unmanned plane repeat broadcast communication system is by fixed base stations node, the unmanned plane via node of maneuvering flight and N number of User node ui(i=1,2..., N) is constituted；Wherein, fixed base stations node is located at ground, and UAV flight relays load with solid Determine height h, constant speed v flight, N number of user node uiIt is uniformly distributed in a circular coverage on the ground.
3. unmanned plane repeat broadcast communication system route optimization method according to claim 1, it is characterised in that：In step 2) in, the origin of described three-dimensional cartesian coordinate system using the center of circular coverage as Descartes's rectangular coordinate system, to sit The line direction of origin and fixed base stations node is marked as the x-axis of rectangular coordinate system, it is upward perpendicular to the earth with the origin of coordinates Direction as rectangular coordinate system z-axis.
4. unmanned plane repeat broadcast communication system route optimization method according to claim 1, it is characterised in that：In step 3) in, described in first time slot that signal is transmitted, fixed base stations node is with a certain power ρBTransmit signals to unmanned plane Via node, unmanned plane via node receive the signal from fixed base stations node method be：
In first time slot, the transmitting antenna of fixed base stations node sends signal s to unmanned plane via node, unmanned plane relaying Node receives the signal from fixed base stations node：
Wherein, fixed base stations node transmission signal s meet E | s |2}=1, E is expectation computing；ρBRepresent fixed base stations node hair Penetrate the power of signal；dB,UFixed base stations node is represented to the distance between unmanned plane via node；α delegated path fissipation factors, its Value is general between [1,2]；nURepresent the white complex gaussian noise of unmanned plane via node input, its be modeled as average be zero, Variance isWhite complex gaussian noise；hB,URepresent the multipath fading of channel between fixed base stations node and unmanned plane via node Coefficient, it is the multiple Gauss stochastic variable that zero, variance is 1 that it, which is modeled as average,.
5. unmanned plane repeat broadcast communication system route optimization method according to claim 1, it is characterised in that：In step 4) in, described in second time slot, unmanned plane via node is with power ρUUsing amplification forwarding mode by the letter received Number broadcast to the method for user node is：
Unmanned plane via node is received after the signal from fixed base stations node, and signal y will be received using amplification forwarding modeU It is multiplied by a gain factor GU：
And with power ρUIt is forwarded to each user node.
6. unmanned plane repeat broadcast communication system route optimization method according to claim 1, it is characterised in that：In step 5) it is described in second time slot in, the method that user node receives the above-mentioned broadcast singal from unmanned plane via node It is：
In second time slot, i-th of user node u in circular coverageiThe signal of reception is：
Wherein, ρURepresent the power of unmanned plane via node transmission signal；Unmanned plane via node is represented to user node ui Distance；Represent unmanned plane via node and user node uiBetween channel multipath fading coefficient, it is modeled as average It is the multiple Gauss stochastic variable that zero, variance is 1；Represent user node uiThe white complex gaussian noise of input, it is modeled as average It is that zero, variance isWhite complex gaussian noise.
7. unmanned plane repeat broadcast communication system route optimization method according to claim 1, it is characterised in that：In step 6) in, user node u in described determination T moment unmanned plane repeat broadcast communication systemsiOutage probability approximate expression, and The method for calculating the outage probability of all user nodes in unmanned plane repeat broadcast communication system using the expression formula is：
T moment, user node uiOutage probability be defined as the instantaneous signal-to-noise ratio of the user node receiver input signalIt is low In a certain signal-noise ratio threshold value γthProbability, wherein user node uiThe instantaneous signal-to-noise ratio of receiver input signalAccording to this The signal of change that user receives is obtained, and calculation formula is：
WhereinBase station is represented respectively to be relayed to unmanned plane repeated link, unmanned plane User node link is free of the instantaneous signal-to-noise ratio of path loss；
Calculated using the instantaneous signal-to-noise ratio of above-mentioned user node receiver input signal and obtain user node uiOutage probability it is approximate Expression formula is：
Wherein, γthRepresent signal-noise ratio threshold value,Withγ is represented respectively1With γ2Average；
In above-mentioned three-dimensional cartesian coordinate system, it is contemplated that unmanned plane during flying is highly always h, then the T moment, fixed base stations node, Unmanned plane via node and user node uiThree-dimensional coordinate be respectively b=[R0,0,0]T, rT=[xT,yT,h]TWithIt can be calculated using the coordinate of each above-mentioned node and obtain fixed base stations node between unmanned plane via node Apart from dB,UWith unmanned plane via node to user node uiBetween distanceFurther arrange and obtain T moment user nodes uiOutage probability approximate expression be：
The outage probability of all user nodes in unmanned plane repeat broadcast communication system is finally calculated using the expression formula.
8. unmanned plane repeat broadcast communication system route optimization method according to claim 1, it is characterised in that：In step 7) in, the method for the outage probability of the maximum user node of outage probability in described determination T moment above-mentioned all user nodes It is：
Using the thought of minimum P multiplication, the outage probability meter of the maximum user node of outage probability in circular coverage is obtained Calculate formula as follows：
Wherein, p is larger positive number；
According to the motion model of unmanned plane, the position coordinates r of T moment unmanned planesTAs the T- Δ T moment unmanned planes shown in formula (8) Position coordinates rT-ΔT=[xT-ΔT,yT-ΔT,h]TAnd its position time update equation：
Obtain；Wherein, Δ T represents the cycle of unmanned plane location updating, δTThe course angle of T moment unmanned planes is represented, is met | δT- δT-ΔT|≤δmax, wherein δmaxRepresent the maximum course angle of unmanned plane；Further arrange and obtain outage probability in circular coverage The outage probability expression formula of maximum user node is：
Wherein,
9. unmanned plane repeat broadcast communication system route optimization method according to claim 1, it is characterised in that：In step 8) in, the outage probability of the user node maximum according to above-mentioned outage probability is set up based on maximum-minimum criterion Unmanned aerial vehicle flight path Optimized model, and the method for searching out optimum heading angle using the model is：
The unmanned plane boat based on maximum-minimum criterion is set up according to the outage probability of the maximum user node of above-mentioned outage probability Mark Optimized model is：
Finally, using linear search method in [δT-ΔT-δmax,δT-ΔT+δmax] in interval inherent above-mentioned unmanned aerial vehicle flight path Optimized model Scan for that optimum heading angle can be searched out.
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