CN112770330A - Regional wireless coverage deployment method for unmanned aerial vehicle group - Google Patents

Regional wireless coverage deployment method for unmanned aerial vehicle group Download PDF

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CN112770330A
CN112770330A CN202011637537.0A CN202011637537A CN112770330A CN 112770330 A CN112770330 A CN 112770330A CN 202011637537 A CN202011637537 A CN 202011637537A CN 112770330 A CN112770330 A CN 112770330A
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unmanned aerial
aerial vehicle
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CN112770330B (en
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张玉恒
陈海峰
赵鑫
彭浩
许寿朋
苏敏
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Zhengzhou Yabo Intelligent Technology Co ltd
Henan Mechanical and Electrical Vocational College
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Henan Mechanical and Electrical Vocational College
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
    • H04W16/18—Network planning tools
    • 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
    • H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
    • H04W52/04—TPC
    • H04W52/06—TPC algorithms
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
    • H04W52/04—TPC
    • H04W52/18—TPC being performed according to specific parameters
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
    • H04W52/04—TPC
    • H04W52/18—TPC being performed according to specific parameters
    • H04W52/24—TPC being performed according to specific parameters using SIR [Signal to Interference Ratio] or other wireless path parameters
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
    • H04W52/04—TPC
    • H04W52/18—TPC being performed according to specific parameters
    • H04W52/28—TPC being performed according to specific parameters using user profile, e.g. mobile speed, priority or network state, e.g. standby, idle or non transmission
    • H04W52/283—Power depending on the position of the mobile
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
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Abstract

The invention relates to the technical field of unmanned aerial vehicle group regional coverage, in particular to a regional wireless coverage deployment method of an unmanned aerial vehicle group, which comprises the following steps: step 1: the performance of each unmanned aerial vehicle in the unmanned aerial vehicle cluster is the same, the area to be covered by the unmanned aerial vehicle cluster is a rectangular area A, the length L and the width W of the area are far larger than the coverage radius of a single unmanned aerial vehicle, and the ground users are randomly distributed in the area A; step 2: determining the coverage radius R of a single unmanned aerial vehicle; and step 3: pressing the unmanned aerial vehicle group into an equilateral triangleDetermining the position of each unmanned aerial vehicle; and 4, step 4: assigning a ground user to the drone; and 5: according to the formula hnm＝Rnm×tan(θopt) Calculating the height h of each unmanned aerial vehiclenm(ii) a Step 6, according to the formula
Figure DDA0002877045350000011
Figure DDA0002877045350000012
Calculating the transmitting power of each unmanned aerial vehicle

Description

Regional wireless coverage deployment method for unmanned aerial vehicle group
Technical Field
The invention relates to the technical field of unmanned aerial vehicle group regional coverage, in particular to a regional wireless coverage deployment method of an unmanned aerial vehicle group.
Background
Unmanned aerial vehicles have been widely used in military and civilian applications due to their advantages of small size, high flexibility, low cost, etc. An important application in the civil field is that when a ground base station communication system cannot work due to a disaster, the unmanned aerial vehicle can provide communication service for ground personnel in time; in addition, as an auxiliary communication means, the unmanned aerial vehicle can reduce the burden of a 5G communication system and provide real-time and reliable communication service for users.
In order to improve efficiency, the unmanned aerial vehicle covers a large area as much as possible, services are provided for users as many as possible, a series of research achievements are obtained for the problem of wireless coverage of the unmanned aerial vehicle, but relevant theories and key technologies are far immature, for example, the problem of wireless coverage of a circular area still needs to be further researched, because the coverage capability of a single unmanned aerial vehicle is limited, multiple unmanned aerial vehicles need to be used for coverage deployment for a larger area or number of users, and how to scientifically deploy the multiple unmanned aerial vehicles so as to improve the coverage efficiency of the multiple unmanned aerial vehicles still does not provide an effective solution.
Disclosure of Invention
In view of this, the present invention provides a method for deploying regional wireless coverage of an unmanned aerial vehicle cluster, which effectively improves the coverage efficiency of the unmanned aerial vehicle cluster.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the invention provides a wireless coverage deployment method for an unmanned aerial vehicle group region, which comprises the following steps:
step 1: the performance of each unmanned aerial vehicle in the unmanned aerial vehicle cluster is the same, the area to be covered by the unmanned aerial vehicle cluster is a rectangular area A, the length L and the width W of the area are far larger than the coverage radius of a single unmanned aerial vehicle, and the ground users are randomly distributed in the area A;
step 2: determining the coverage radius R of a single unmanned aerial vehicle;
and step 3: determining the position of each unmanned aerial vehicle according to the mode of an equilateral triangle;
and 4, step 4: assigning a ground user to the drone;
and 5: according to the formula hnm＝Rnm×tan(θopt) Calculating the height h of each unmanned aerial vehiclenm；
Step 6, according to the formula
Figure BDA0002877045330000011
Calculating the transmitting power of each unmanned aerial vehicle
Figure BDA0002877045330000012
As an improvement: the step 2 comprises the following steps: searching for the optimum elevation angle theta according to equation (1)opt。
Figure BDA0002877045330000013
Wherein (a, b, η)L，ηN) The suburban parameter is (4).88,0.43,0.1, 21); the value of the urban area parameter is (9.61,0.16,1, 20); the dense urban area parameter values are (12.08,0.11,1.6, 23); the urban area parameter value of the high-rise building is (27.23,0.08,2.3, 34);
according to equation (2), the initial coverage radius R of the drone is determined.
Figure BDA0002877045330000021
Wherein P istMaximum power allowed for launch (dBm), P for dronenAverage noise power (dBm) for terrestrial user terminals, SNR (signal to noise ratio) required by terrestrial users (dBm), f carrier frequency, and c speed of light.
As an improvement: the step 3 comprises the following steps: the unmanned aerial vehicles are connected in an equilateral triangle manner, and the distance between the unmanned aerial vehicles is
Figure BDA0002877045330000022
There is no gap in coverage and overlap is minimal; if the lower left corner of the area a is the origin of coordinates O, the position coordinates of the unmanned aerial vehicle are:
Figure BDA0002877045330000023
n is an odd number, n is more than or equal to 0 and less than or equal to nmax，0≤m≤mmax；
Figure BDA0002877045330000024
n is an even number, n is more than or equal to 0 and less than or equal to nmax，0≤m≤mmax；
Wherein the content of the first and second substances,
Figure BDA0002877045330000025
Figure BDA0002877045330000026
the operation is a ceiling operation.
As an improvement: the step 4 comprises the following steps: allocating users to the unmanned aerial vehicles covering the users according to the geographical positions of the users on the ground, and marking the users if the users are in the overlapping coverage areas of the two unmanned aerial vehicles;
if no user is allocated in a certain unmanned coverage area, removing the unmanned aerial vehicle;
if the coverage areas of the unmanned aerial vehicles are all marked users, the marks of the users in the coverage areas of the unmanned aerial vehicles are removed, and the unmanned aerial vehicles are removed;
and allocating the marked users to the unique unmanned aerial vehicles according to the principle of minimum distance.
As an improvement: the step 5 comprises the following steps: setting the n, m]The positions of the unmanned aerial vehicle to which the users are allocated are set as
Figure BDA0002877045330000027
Step 5.1: if k is 1, then
Figure BDA0002877045330000028
And R isnm＝0；
Step 5.2: if k is>1, then, the
Figure BDA0002877045330000029
The distance between the two points is the diameter, and a circle is initialized;
step 5.3: if k is 2, RnmAs the position of the center of a circle, RnmIs the radius of the circle;
step 5.4: if k is>2, judging the next point
Figure BDA00028770453300000210
If the circle is in the circle, continuing the step; if not, will
Figure BDA00028770453300000211
One boundary point as a new circle and the other boundary point as a distance
Figure BDA00028770453300000212
The points on the farthest circle, using these two points as diameters to construct a new circle, continue this stepUntil i is k, PnmAs the center position of the new circle, RnmIs the new circle radius.
In summary, the present invention has the following technical effects:
the invention provides a regional wireless coverage deployment method for an unmanned aerial vehicle group, which can effectively improve the coverage efficiency of the unmanned aerial vehicle group and further save the average energy consumption of the unmanned aerial vehicle.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the embodiments or the description of the prior art will be briefly described below.
FIG. 1 is a schematic diagram illustrating a method for determining a coordinate position of an unmanned aerial vehicle cluster;
FIG. 2 is a schematic diagram of an initial deployment of a drone swarm;
FIG. 3 is a schematic view of the adjusted deployment of the unmanned aerial vehicle fleet;
FIG. 4 is a schematic diagram of three-dimensional positions of an unmanned aerial vehicle cluster before deployment and adjustment;
FIG. 5 is a schematic diagram of three-dimensional positions of an unmanned aerial vehicle fleet after deployment adjustment;
FIG. 6 is a schematic diagram comparing average power consumed by a fleet of drones before and after deployment adjustment.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Exemplary embodiments of the present invention are described below in conjunction with specific cases:
a method for deploying wireless coverage in a unmanned aerial vehicle group region comprises the following steps:
step 1: the performance of each unmanned aerial vehicle in the unmanned aerial vehicle cluster is the same, the area to be covered by the unmanned aerial vehicle cluster is a rectangular area A, the length L and the width W of the area are far larger than the coverage radius of a single unmanned aerial vehicle, and the ground users are randomly distributed in the area A;
step 2: determining the coverage radius R of a single unmanned aerial vehicle;
the method specifically comprises the following steps: searching for the optimum elevation angle theta according to equation (1)opt。
Figure BDA0002877045330000031
Wherein (a, b, η)L，ηN) The suburb parameters are (4.88,0.43,0.1, 21); the value of the urban area parameter is (9.61,0.16,1, 20); the dense urban area parameter values are (12.08,0.11,1.6, 23); the urban area parameters of the high-rise building are (27.23,0.08,2.3,34), and exp is an exponential function (the same below) in the embodiment.
According to equation (2), the initial coverage radius R of the drone is determined.
Figure BDA0002877045330000032
Wherein P istMaximum power allowed for launch (dBm), P for dronenAverage noise power (dBm) for terrestrial user terminals, SNR (signal to noise ratio) required by terrestrial users (dBm), f carrier frequency, and c speed of light.
And step 3: determining the position of each unmanned aerial vehicle according to the mode of an equilateral triangle;
referring to fig. 1, the following embodiments: the unmanned aerial vehicles are connected in an equilateral triangle manner, and the distance between the unmanned aerial vehicles is
Figure BDA0002877045330000033
There is no gap in coverage and overlap is minimal; if the lower left corner of the area a is the origin of coordinates O, the position coordinates of the unmanned aerial vehicle are:
Figure BDA0002877045330000034
n is an odd number, n is more than or equal to 0 and less than or equal to nmax，0≤m≤mmax；
Figure BDA0002877045330000041
n is an even number, n is more than or equal to 0 and less than or equal to nmax，0≤m≤mmax；
Wherein the content of the first and second substances,
Figure BDA0002877045330000042
Figure BDA0002877045330000043
the operation is a ceiling operation.
And 4, step 4: assigning a ground user to the drone;
the method specifically comprises the following steps: allocating users to the unmanned aerial vehicles covering the users according to the geographical positions of the users on the ground, and marking the users if the users are in the overlapping coverage areas of the two unmanned aerial vehicles;
if no user is allocated in a certain unmanned coverage area, removing the unmanned aerial vehicle;
if the coverage areas of the unmanned aerial vehicles are all marked users, the marks of the users in the coverage areas of the unmanned aerial vehicles are removed, and the unmanned aerial vehicles are removed;
and allocating the marked users to the unique unmanned aerial vehicles according to the principle of minimum distance.
And 5: according to the formula hnm＝Rnm×tan(θopt) Calculating the height h of each unmanned aerial vehiclenm；
The method specifically comprises the following steps: setting the n, m]The positions of the unmanned aerial vehicle to which the users are allocated are set as
Figure BDA0002877045330000044
Step 5.1: if k is 1, then
Figure BDA0002877045330000045
And R isnm＝0；
Step 5.2: if k is>1, then, the
Figure BDA0002877045330000046
The distance between the two points is the diameter, and a circle is initialized;
step 5.3: if k is 2, PnmAs the position of the center of a circle, RnmIs the radius of the circle;
step 5.4: if k is>2, judging the next point
Figure BDA0002877045330000047
If the circle is in the circle, continuing the step; if not, will
Figure BDA0002877045330000048
One boundary point as a new circle and the other boundary point as a distance
Figure BDA0002877045330000049
The furthest point on the circle, using the two points as diameters to construct a new circle, continues this step until i is k, PnmAs the center position of the new circle, RnmIs the new circle radius.
Step 6, according to the formula
Figure BDA00028770453300000410
Calculating the transmitting power of each unmanned aerial vehicle
Figure BDA00028770453300000411
In this embodiment, sec is a secant function.
The specific embodiment is as follows: the length L of an area to be covered by the unmanned aerial vehicle group in a certain urban area is 20000 meters, and the width W of the area is 20000 meters. The carrier frequency f of the unmanned aerial vehicle communication system is 2.0GHz, the bandwidth B is 1MHz, the maximum transmitting power is 1w, the noise power at the ground user is-110 dBm, and the signal-to-noise ratio required by the user is 30 dB. Thus, the optimal elevation angle theta from the ground user to the unmanned aerial vehicle can be obtainedopt42.5 degrees, and the maximum coverage radius R of the drone is 2235.8 m.
Referring to fig. 2, when the number of ground users is 200, the unmanned aerial vehicle is initially deployed; referring to fig. 3, the deployment is adjusted according to the method for deploying wireless coverage in a drone swarm region proposed by the present invention; referring to fig. 4 and 5, the three-dimensional positions of the unmanned aerial vehicles after deployment and adjustment are obviously changed, so that the coverage radius is reduced, and the height is reduced.
Referring to fig. 5, when the number of users in the ground is from 200 to 2000, the average power consumed by the unmanned aerial vehicle cluster before and after deployment adjustment can be compared according to the power calculation formula in step 6, and it can be seen that the average power after deployment adjustment is obviously reduced, especially when the number of users is small.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing detailed description of the embodiments of the present invention has been presented for purposes of illustration and description, and is intended to be exemplary only and is not intended to be exhaustive or to limit the invention to the precise forms disclosed; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims (5)

1. A method for deploying regional wireless coverage of an unmanned aerial vehicle group, comprising:
step 1: the performance of each unmanned aerial vehicle in the unmanned aerial vehicle cluster is the same, the area to be covered by the unmanned aerial vehicle cluster is a rectangular area A, the length L and the width W of the area are far larger than the coverage radius of a single unmanned aerial vehicle, and the ground users are randomly distributed in the area A;
step 2: determining the coverage radius R of a single unmanned aerial vehicle;
and step 3: determining the position of each unmanned aerial vehicle according to the mode of an equilateral triangle;
and 4, step 4: assigning a ground user to the drone;
and 5: according to the formula hnm＝Rnm×tan(θopt) Calculating the height h of each unmanned aerial vehiclenm；
Step 6: according to the formula
Figure FDA0002877045320000011
Calculating the transmitting power of each unmanned aerial vehicle
Figure FDA0002877045320000012
2. The method for deploying Unmanned Aerial Vehicle (UAV) fleet regional wireless coverage as claimed in claim 1, wherein said step 2 comprises: searching for the optimum elevation angle theta according to equation (1)opt。
Figure FDA0002877045320000013
Wherein (a, b, η)L，ηN) The suburb parameters are (4.88,0.43,0.1, 21); the value of the urban area parameter is (9.61,0.16,1, 20); the dense urban area parameter values are (12.08,0.11,1.6, 23); the urban area parameter value of the high-rise building is (27.23,0.08,2.3, 34);
according to equation (2), the initial coverage radius R of the drone is determined.
Figure FDA0002877045320000014
Wherein P istMaximum power allowed for launch (dBm), P for dronenAverage noise power (dBm) for terrestrial user terminals, SNR (signal to noise ratio) required by terrestrial users (dBm), f carrier frequency, and c speed of light.
3. The method for deploying Unmanned Aerial Vehicle (UAV) fleet regional wireless coverage, according to claim 1, wherein the step 3 comprises: the unmanned aerial vehicles are connected in an equilateral triangle manner, and the distance between the unmanned aerial vehicles is
Figure FDA0002877045320000019
There is no gap in coverage and overlap is minimal; if the lower left corner of the area a is the origin of coordinates O, the position coordinates of the unmanned aerial vehicle are:
Figure FDA0002877045320000015
n is an odd number, n is more than or equal to 0 and less than or equal to nmax，0≤m≤mmax；
Figure FDA0002877045320000016
n is an even number, n is more than or equal to 0 and less than or equal to nmax，0≤m≤mmax；
Wherein the content of the first and second substances,
Figure FDA0002877045320000017
Figure FDA0002877045320000018
the operation is a ceiling operation.
4. The method for deploying Unmanned Aerial Vehicle (UAV) fleet regional wireless coverage as claimed in claim 1, wherein said step 4 comprises: allocating users to the unmanned aerial vehicles covering the users according to the geographical positions of the users on the ground, and marking the users if the users are in the overlapping coverage areas of the two unmanned aerial vehicles;
if no user is allocated in a certain unmanned coverage area, removing the unmanned aerial vehicle;
if the coverage areas of the unmanned aerial vehicles are all marked users, the marks of the users in the coverage areas of the unmanned aerial vehicles are removed, and the unmanned aerial vehicles are removed;
and allocating the marked users to the unique unmanned aerial vehicles according to the principle of minimum distance.
5. The method for deploying Unmanned Aerial Vehicle (UAV) fleet regional wireless coverage as claimed in claim 1, wherein said step 5 comprises: setting the n, m]The positions of the unmanned aerial vehicle to which the users are allocated are set as
Figure FDA0002877045320000021
Step 5.1: if k is 1, then
Figure FDA0002877045320000022
And R isnm＝0；
Step 5.2: if k > 1, then
Figure FDA0002877045320000023
The distance between the two points is the diameter, and a circle is initialized;
step 5.3: if k is 2, PnmAs the position of the center of a circle, RnmIs the radius of the circle;
step 5.4: if k is greater than 2, judging the next point
Figure FDA0002877045320000024
If the circle is in the circle, continuing the step; if not, will
Figure FDA0002877045320000026
One boundary point as a new circle, the other boundary point being a distanceSeparation device
Figure FDA0002877045320000025
The furthest point on the circle, using the two points as diameters to construct a new circle, continues this step until i is k, PnmAs the center position of the new circle, RnmIs the new circle radius.
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