CN109916372A - Unmanned plane base station optimum height calculation method under channel state information inaccuracy - Google Patents
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Abstract
The invention discloses the unmanned plane base station optimum height calculation methods under a kind of channel state information inaccuracy, there are problems that evaluated error channel in actual scene, comprising the following steps: unmanned plane base station Air-Ground link channel error model is established according to Air-Ground transmission of radio links characteristic；Using unmanned plane base station and terrestrial user pitch angle and channel errors coefficient as optimized variable, derives unmanned plane base station Air-Ground and transmit signal interruption probability function expression formula；Using outage probability as optimization aim, the low complex degree unmanned plane base station optimum height calculation method based on linear search is obtained.Unmanned plane base station optimum height calculation method under channel state information inaccuracy provided by the invention, the unmanned plane base station break probability function analytical expression for meeting vacant lot radio transmission characteristics is given, discloses in actual scene channel errors to the mechanism of action of unmanned plane base station optimum height.
Description
Technical field
The present invention relates to the unmanned planes under UAV Communication technical field more particularly to a kind of channel state information inaccuracy
Base station optimum height calculation method.
Background technique
Currently, traditional cellular radio is capable of providing reliable and stable communication quality to a certain extent, but can not
Meet some emergency communication demands fast moved.Forest patrol, traffic monitoring, cargo transport, interim battlefield etc. are communicated
Scene, traditional base station cell communication network cannot preferably solve to need because fast moving due to being limited by coverage area
The problem of asking caused network coverage to change.Therefore, need to seek a kind of communications platform of fast and flexible to solve nothing
The mobile problem of line network's coverage area.
As the development of unmanned aerial vehicle platform is aided with existing terrestrial communication networks and carries out using unmanned plane as mobile base station
The high-speed traffic covering of specific region may be implemented in wireless information transfer.Unmanned plane has the advantage that as communication base station
(1) the function property taken into account is strong, can flexibly build communication equipment according to mission requirements, meet various tasks demand；(2) system deployment
Fast and flexible can adjust in time deployment according to current work environment；(3) there is no communication blind spot, networking mode is effectively improved
Flexibility ratio；(4) inexpensive, it is wide to cover.Unmanned plane is as air base station, and flying height is to expanding coverage area of network, raising
Connectivity and reduction via net loss have remarkable effect.Therefore, many documents study drone flying height.
A. Al-Hourani et al. proposes a kind of optimization low latitude platform using low latitude platform maximum coverage range as target
The analysis method of height, but author only consider it is empty-link path loss, the channel for not relating to link decline over the ground
It falls, referring to IEEE Wirel. Commun.Lett. document.M.Madhdi Azari et al. is equal by path loss and fading channel
In view of in space-to-earth link, having derived the analytical expression of outage probability, but there is no consider that channel is deposited in actual scene
The evaluated error the problem of, referring to IEEE Trans. Commun..
Summary of the invention
It is an object of the present invention to there is evaluated error channel in actual scene, by establishing unmanned plane
Base station Air-Ground link channel error model, using outage probability as optimization aim, unmanned plane pitch angle and error coefficient are optimization
Variable, proposes that under a kind of channel state information inaccuracy, the low complex degree unmanned plane base station based on linear search is most preferably high
Calculation method is spent, discloses channel errors to the mechanism of action of optimum height.
To achieve the goals above, the invention adopts the following technical scheme:
A kind of unmanned plane base station optimum height calculation method under channel state information inaccuracy, includes the following steps:
S1: unmanned plane base station Air-Ground link channel error model is established according to Air-Ground transmission of radio links characteristic；
S2: using unmanned plane base station and terrestrial user pitch angle and channel errors coefficient as optimized variable, unmanned plane base station sky-is obtained
Transmit signal interruption probability function expression formula in ground；
S3: using outage probability as optimization aim, the low complex degree unmanned plane base station optimum height based on linear search is obtained, is disclosed
The mechanism of action of the channel errors to optimum height.
Further, in step S1, unmanned plane base station Air-Ground link channel mould under the inaccuracy channel state information
Type can model are as follows:
Wherein,For Rician fading channel coefficients, Δ g is channel errors, and obeying mean value is 0, variance σ2Gauss
Distribution, σ are channel errors coefficient, and PL is path loss, and K is the Rician factor, are defined as receiving signal line of sight component and dissipate
The average energy ratio of component is penetrated,For scattering component coefficient.
Further, it is contemplated that near-earth region drone flying height is influenced by factors such as landform and ground objects,
The probability-distribution function that line of sight component and scattering component can be used establishes path loss model, it may be assumed that
PLdB(θ)=PrLoS(h)×PLLoS+PrNLoS(h)×PLNLoSFormula three
Wherein, PrLoSWith PrNLoSThe respectively probability-distribution function of line of sight and scattering component can indicate are as follows:
A=α exp (α β) formula five
Wherein, A, B respectively represent as constant, the parameter of α, β for ground environment, PLLoS、PLLNoSRespectively line of sight component and
The path loss of scattering component, f are system carrier frequency, and c is the light velocity, ηLoSWith ηNLoSRespectively extra path loss component system
Number.
It further, is that optimization becomes with unmanned plane base station and terrestrial user pitching angle theta and channel errors factor sigma in step S2
Amount obtains unmanned plane base station Air-Ground under inaccurate channel information and transmits signal interruption probability function are as follows:
Wherein, GAFor antenna gain,For average signal-to-noise ratio, PL (θ) is link path loss；
γthFor signal-noise ratio threshold value.
Further, in step S3, using outage probability as optimization aim, unmanned plane base station optimum height h is indicated are as follows:
H=rtan (θ *) formula ten
Wherein, θ * is optimal pitch angle, can solve following analytical expression by linear search algorithm and obtain；
Linear search algorithm is as follows:
Step 1: following parameter being initialized: system carrier frequency f, signal-noise ratio threshold value γth, antenna gain GA, signal
Send power Pu, noise power N0, selection environmental parameter A, B and extra path loss component coefficient ηLoSWith ηNLoS；
Step 2: enabling f (θ)=f1(θ)-f2(θ), wherein f1(θ)、f2(θ) is calculated according to formula 11 and formula 12 respectively
It arrives:
Step 3: setting pitching angle theta linear search section is θ ∈ (00,89.90), calculates f (θl) and f (θu), the maximum of permission
Error is ε；
Step 4: enabling θc=(θl+θu)/2 calculate f (θc), if f (θl)*f(θu) < 0, then θu=θc, f (θu)=f (θc)；Otherwise
Are as follows: θl=θc, f (θl)=f (θc)；
Step 5: judgement | θu-θlWhether |≤ε is true, and establishment then continues step 6, invalid, continues step 4；
Step 6: calculating θ *=(θu+θl)/2, and then unmanned plane base station optimum height is obtained by calculating h=rtan (θ *).
Further, outage probability is an important indicator for measuring radio communication service quality, is defined as signal output noise
It is lower than a certain specified threshold γ than γthProbability, it may be assumed that
Wherein, GAFor antenna gain,For average signal-to-noise ratio, Φ=m2+n2,
Further, the closure expression formula of pitch angle is derived, comprising the following steps: based on minimal disruption probability for the ease of meter
It calculates, enables:
Wherein, formula 13 is equivalent to Pout(θ)=1-Q (x, y), to Pout(θ) derivation obtains:
In above formula, I0(xy) and I1It (xy) is first kind zero and first order modified Bessel function,
S311: it calculatesFor ease of calculation, logarithm is taken to it:
Derivation obtains formula 13:
S312: available with step S311:
S313: it considersObtain the closure expression formula of pitch angle are as follows:
Further, unmanned plane base station optimum height h is obtained according to step S3, channel errors are cancelled in analytic expression, are become
Change does not influence unmanned plane pitch angle, and then on flying height without influence, channel errors factor sigma is to Outage probability of distributed antenna
It influences greatly, with the reduction of channel errors coefficient, system performance improves.
Compared with prior art, what the present invention reached has the beneficial effect that
The invention discloses the unmanned plane base station optimum height calculation method under a kind of channel state information inaccuracy, including it is following
Step: unmanned plane base station Air-Ground link channel error model is established according to Air-Ground transmission of radio links characteristic；With unmanned plane base
Standing with terrestrial user pitch angle and channel errors coefficient is optimized variable, and it is general to derive unmanned plane base station Air-Ground transmission signal interruption
Rate function expression；Using outage probability as optimization aim, it is most preferably high to obtain the low complex degree unmanned plane base station based on linear search
Calculation method is spent, discloses channel errors to the mechanism of action of optimum height.Channel state information inaccuracy provided by the invention
Under unmanned plane base station optimum height calculation method, give the unmanned plane base station break probability for meeting vacant lot radio transmission characteristics
Function analytical expression discloses in actual scene channel errors to the mechanism of action of unmanned plane base station optimum height.
Detailed description of the invention
Fig. 1 is UAV Communication system model figure of the invention；
Fig. 2 is specific steps flow chart of the invention；
Fig. 3 is algorithm flow chart of the invention；
Fig. 4 is channel errors coefficient in the present invention to the influence schematic diagram of height and outage probability；
Fig. 5 is signal-noise ratio threshold value in the present invention to the influence schematic diagram of height and outage probability.
Specific embodiment
In order to make objects and advantages of the present invention, more clearly the present invention is described in detail with reference to the accompanying drawing.
As shown in Figs. 1-5, the unmanned plane base station optimum height calculation method under a kind of channel state information inaccuracy, including
Following steps:
There are problems that evaluated error channel in actual scene, nothing is first established according to Air-Ground transmission of radio links characteristic
Man-machine base station Air-Ground link channel error model；It derives with unmanned plane base station and terrestrial user pitch angle and channel errors coefficient
For the Air-Ground signal Transmission probability function analytical expression of optimized variable；Using outage probability as optimization aim, it is based on
The low complex degree unmanned plane base station optimum height of linear search discloses channel errors to the mechanism of action of optimum height.
As shown in Figure 1, present system model includes a unmanned plane base station (UAV), M terrestrial user (GUs), nobody
Machine base station and terrestrial user are equipped with single antenna.In view of the scene of M terrestrial user is served in unmanned plane base station simultaneously, because
This, to guarantee that all terrestrial users meet minimum quality of service qos requirement, boundary discontinuities probability should be lower than minimum threshold.
A kind of unmanned plane base station optimum height calculation method under channel state information inaccuracy, comprising the following steps:
S1: unmanned plane base station Air-Ground link channel error model is established according to Air-Ground transmission of radio links characteristic.
Under inaccurate channel state information, unmanned plane base station Air-Ground link channel error model are as follows:
Wherein,For Rician fading channel coefficients, K is the Rician factor, be defined as receiving signal line of sight component with
The average energy ratio of scattering component,For scattering component coefficient, Δ g is channel errors, and obeying mean value is 0, and variance is
σ2Gaussian Profile, PL is path loss.
In view of near-earth region unmanned plane during flying height is influenced by factors such as landform and ground objects, can be used through
The probability-distribution function of diameter component and scattering component establishes path loss model, it may be assumed that
PLdB(θ)=PrLoS(h)×PLLoS+PrNLoS(h)×PLNLoSFormula three
Wherein, PrLoSWith PrNLoSThe respectively probability-distribution function of line of sight and scattering component can indicate are as follows:
A=α exp (α β) formula five
In above formula, A, B are represented as constant, and α, β are the parameter of ground environment, PLLoS、PLLNoSRespectively line of sight component and dissipate
The path loss of component is penetrated, f is system carrier frequency, and c is the light velocity, ηLoSWith ηNLoSRespectively extra path loss component system
Number.
S2: using unmanned plane base station and terrestrial user pitch angle and channel errors coefficient as optimized variable, unmanned plane base station is derived
Air-Ground transmits signal interruption probability function expression formula.Outage probability is an important finger for measuring radio communication service quality
Mark is defined as signal output signal-to-noise ratio γ lower than a certain specified threshold γthProbability, it may be assumed that
Wherein, GAFor antenna gain,For average signal-to-noise ratio, Φ=m2+n2,
S3: using outage probability as optimization aim, unmanned plane base station optimum height h is calculated, the specific steps are as follows:
In step S3, using outage probability as optimization aim, unmanned plane base station optimum height h is indicated are as follows:
H=rtan (θ *) formula ten
Wherein, θ * is optimal pitch angle, can solve following analytical expression by linear search algorithm and obtain；
Linear search algorithm is as follows:
Step 1: following parameter being initialized: system carrier frequency f, signal-noise ratio threshold value γth, antenna gain GA, signal
Send power Pu, noise power N0, selection environmental parameter A, B and extra path loss component coefficient ηLoSWith ηNLoS；
Step 2: enabling f (θ)=f1(θ)-f2(θ), wherein f1(θ)、f2(θ) is calculated according to formula 11 and formula 12 respectively
It arrives:
Step 3: setting pitching angle theta linear search section is θ ∈ (00,89.90), calculates f (θl) and f (θu), the maximum of permission
Error is ε；
Step 4: enabling θc=(θl+θu)/2 calculate f (θc), if f (θl)*f(θu) < 0, then θu=θc, f (θu)=f (θc)；Otherwise
Are as follows: θl=θc, f (θl)=f (θc)；
Step 5: judgement | θu-θlWhether |≤ε is true, and establishment then continues step 6, invalid, continues step 4；
Step 6: calculating θ *=(θu+θl)/2, and then unmanned plane base station optimum height is obtained by calculating h=rtan (θ *).
S31: the closure expression formula of pitch angle is derived based on minimal disruption probability.For ease of calculation, it enables:
Wherein, formula 13 is equivalent to Pout(θ)=1-Q (x, y), to Pout(θ) derivation obtains:
In above formula, I0(xy) and I1It (xy) is first kind zero and first order modified Bessel function,
S311: it calculatesFor ease of calculation, logarithm is taken to it:
Derivation obtains formula 16:
S312: available with step S311:
S313: it considersObtain the closure expression formula of pitch angle are as follows:
S32: obtaining the closure expression formula of unmanned plane pitching angle theta according to formula 15, using linear search algorithm search to optimal
Pitch angle θ*, unmanned plane base station optimum height h is finally obtained according to h=rtan (θ *).
Fig. 2 is specific steps flow chart, and Fig. 3 is algorithm flow chart of the invention, is linear search algorithm flow step, passes through
This algorithm solves optimal pitch angle θ, inputs θi=00、θu=89.90, the worst error of permission is that ε is 0.00001.
Fig. 4 is error coefficient σ2Schematic diagram is emulated to height and the influence of outage probability.Parameter is chosen as follows: transmission antenna increases
Beneficial GA=3dB sends power Pu=15dB, noise power N0=-100dBm, carrier frequency f=2000MHz；Bad border parameter simultaneously
(α,β,ηLos,ηNLos)=(10.6,0.18,1,20), unmanned plane base station covering radius r=1000m, from figure 3, it can be seen that with
Error coefficient σ2Increase, outage probability constantly increases, this is because large error coefficient will lead under link performance
Drop.In addition, according to formula 15, it is clear that error coefficient does not influence optimum pitch angle, and optimum pitch angle is about 37.8 °,
And then the optimum height in the case where covering radius r is determined is caused to be constant.
Fig. 5 is that different covering radius emulates schematic diagram to height and the influence of outage probability.As shown in figure 5, with covering half
The flying height of the increase of diameter, unmanned plane increases simultaneously, and (unmanned plane height h, covering radius r) are respectively as seen from Figure 5
(720m, 1000m), (1200m, 1500m) and (1650m, 2000m), since longer linkage length leads to link path loss
Increasing, cause Outage probability of distributed antenna to decline.
The above embodiments do not limit the invention in any form, all to be obtained by the way of equivalent substitution or equivalent transformation
Technical solution, all fall within protection scope of the present invention.
Claims (8)
1. the unmanned plane base station optimum height calculation method under a kind of channel state information inaccuracy, which is characterized in that including such as
Lower step:
S1: unmanned plane base station Air-Ground link channel error model is established according to Air-Ground transmission of radio links characteristic；
S2: using unmanned plane base station and terrestrial user pitch angle and channel errors coefficient as optimized variable, unmanned plane base station sky-is obtained
Transmit signal interruption probability function expression formula in ground；
S3: using outage probability as optimization aim, the low complex degree unmanned plane base station optimum height based on linear search is obtained, is disclosed
The mechanism of action of the channel errors to optimum height.
2. the unmanned plane base station optimum height calculating side under a kind of channel state information inaccuracy according to claim 1
Method, which is characterized in that in step S1, unmanned plane base station Air-Ground link channel model can under the inaccuracy channel state information
Modeling are as follows:
Wherein,For Rician fading channel coefficients, Δ g is channel errors, and obeying mean value is 0, variance σ2Gaussian Profile, σ
For channel errors coefficient, PL is path loss, and K is the Rician factor, is defined as receiving signal line of sight component and scattering component
Average energy ratio,For scattering component coefficient.
3. the unmanned plane base station optimum height calculating side under a kind of channel state information inaccuracy according to claim 2
Method, which is characterized in that in view of near-earth region drone flying height is influenced by factors such as landform and ground object, can adopt
Path loss model is established with the probability-distribution function of line of sight component and scattering component, it may be assumed that
PLdB(θ)=PrLoS(h)×PLLoS+PrNLoS(h)×PLNLoSFormula three
Wherein, PrLoSWith PrNLoSThe respectively probability-distribution function of line of sight and scattering component can indicate are as follows:
A=α exp (α β) formula five
Wherein, A, B respectively represent as constant, the parameter of α, β for ground environment, PLLoS、PLLNoSRespectively line of sight component and dissipate
The path loss of component is penetrated, f is system carrier frequency, and c is the light velocity, ηLoSWith ηNLoSRespectively extra path loss component coefficient.
4. the unmanned plane base station optimum height calculating side under a kind of channel state information inaccuracy according to claim 1
Method, which is characterized in that be that optimization becomes with unmanned plane base station and terrestrial user pitching angle theta and channel errors factor sigma in step S2
Amount obtains unmanned plane base station Air-Ground under inaccurate channel information and transmits signal interruption probability function are as follows:
Wherein, GAFor antenna gain,For average signal-to-noise ratio, PL (θ) is link path loss；
γthFor signal-noise ratio threshold value.
5. unmanned plane optimal height calculation method under a kind of inaccurate channel state information according to claim 1, special
Sign is, in step S3, using outage probability as optimization aim, unmanned plane base station optimum height h is indicated are as follows:
H=rtan (θ *) formula ten
Wherein, θ * is optimal pitch angle, can solve following analytical expression by linear search algorithm and obtain；
Linear search algorithm is as follows:
Step 1: following parameter being initialized: system carrier frequency f, signal-noise ratio threshold value γth, antenna gain GA, signal
Send power Pu, noise power N0, selection environmental parameter A, B and extra path loss component coefficient ηLoSWith ηNLoS；
Step 2: enabling f (θ)=f1(θ)-f2(θ), wherein f1(θ)、f2(θ) is calculated according to formula 11 and formula 12 respectively
It arrives:
Step 3: setting pitching angle theta linear search section is θ ∈ (0 °, 89.9 °), calculates f (θl) and f (θu), the maximum of permission misses
Difference is ε；
Step 4: enabling θc=(θl+θu)/2 calculate f (θc), if f (θl)*f(θu) < 0, then θu=θc, f (θu)=f (θc)；Otherwise
Are as follows: θl=θc, f (θl)=f (θc)；
Step 5: judgement | θu-θlWhether |≤ε is true, and establishment then continues step 6, invalid, continues step 4；
Step 6: calculating θ *=(θu+θl)/2, and then unmanned plane base station optimum height is obtained by calculating h=rtan (θ *).
6. unmanned plane optimal height calculation method under a kind of inaccurate channel state information according to claim 4, special
Sign is that outage probability is an important indicator for measuring radio communication service quality, and it is low to be defined as signal output signal-to-noise ratio γ
In a certain specified threshold γthProbability, it may be assumed that
Wherein, GAFor antenna gain,For average signal-to-noise ratio, Φ=m2+n2,
7. unmanned plane optimal height calculating side under a kind of -5 any inaccurate channel state informations according to claim 1
Method, which is characterized in that the closure expression formula of pitch angle is derived based on minimal disruption probability, comprising the following steps:
For ease of calculation, it enables:
Wherein, formula 13 is equivalent to Pout(θ)=1-Q (x, y), to Pout(θ) derivation obtains:
In above formula, I0(xy) and I1It (xy) is first kind zero and first order modified Bessel function,
S311: it calculatesFor ease of calculation, logarithm is taken to it:
Derivation obtains formula 13:
S312: available with step S311:
S313: it considersObtain the closure expression formula of pitch angle are as follows:
8. the unmanned plane base station optimum height calculation method under channel state information inaccuracy according to claim 1,
It is characterized in that, obtain unmanned plane base station optimum height h according to step S3, channel errors are cancelled in analytic expression, variation pair
Unmanned plane pitch angle does not influence, and then on flying height without influence, channel errors factor sigma influences Outage probability of distributed antenna
Greatly, with the reduction of channel errors coefficient, system performance improves.
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| CN110809274A (en) * | 2019-10-28 | 2020-02-18 | 南京邮电大学 | Narrowband Internet of things-oriented unmanned aerial vehicle base station enhanced network optimization method |
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| CN113328775B (en) * | 2021-05-28 | 2022-06-21 | 怀化学院 | UAV height positioning system and computer storage medium |
| CN113692010A (en) * | 2021-08-27 | 2021-11-23 | 南京航空航天大学 | Dynamic simulation method for random generation and extinguishment of ground communication propagation path of unmanned aerial vehicle |
| CN113692010B (en) * | 2021-08-27 | 2023-03-14 | 南京航空航天大学 | Dynamic simulation method for random occurrence and extinction of ground communication propagation path of unmanned aerial vehicle |
| CN116156459A (en) * | 2023-02-21 | 2023-05-23 | 北京航空航天大学 | Unmanned aerial vehicle auxiliary ultra-reliable low-delay transmission method based on lighthouse spiral |
| CN116156459B (en) * | 2023-02-21 | 2023-09-26 | 北京航空航天大学 | Unmanned aerial vehicle auxiliary ultra-reliable low-delay transmission method based on lighthouse spiral |
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