CN109962727A - Face empty communication mixed-beam figuration and non-orthogonal multiple access transmission method - Google Patents
Face empty communication mixed-beam figuration and non-orthogonal multiple access transmission method Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
- H04B7/04—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas
- H04B7/0413—MIMO systems
- H04B7/0426—Power distribution
- H04B7/043—Power distribution using best eigenmode, e.g. beam forming or beam steering
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
- H04B7/04—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas
- H04B7/06—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station
- H04B7/0613—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station using simultaneous transmission
- H04B7/0615—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station using simultaneous transmission of weighted versions of same signal
- H04B7/0617—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station using simultaneous transmission of weighted versions of same signal for beam forming
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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
- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
Abstract
Face empty communication mixed-beam figuration and non-orthogonal multiple access transmission method the invention discloses one kind, using mixed-beam figuration and non-orthogonal multiple access technology, to belong to for sky communications traveling downstream system is faced and face sky field of communication technology.The method includes constructing the communication scenes of ground base station and unmanned plane, unmanned plane is grouped according to channel response vector, co-design mixed-beam figuration and power distribution, realize minimum reachable rate constraint it is lower maximize more space bases, multi-user up to the sum of rate purpose；Access unmanned plane quantity can be doubled up under same running time-frequency resource, effectively improve spectrum efficiency.
Description
Technical field
It is specifically a kind of to face empty communication mixed-beam figuration and non-orthogonal multiple the invention belongs to face sky field of communication technology
Access transmission method.
Background technique
With the high speed development of mobile communication technology, ground infrastructure is constantly improve, the message transmission rate of support
It is stepping up, the 5th third-generation mobile communication at least improves 10 times or more compared to previous generation technology in transmission rate, data industry
Business, which increases, reaches 1000 times, and internet device quantity expands 100 times or more.However, the bottleneck that Mobile Communication Development faces
Be exactly covering problem, mobile communication can only cover the high land area of the density of population at present, for remote districts, high mountain, forest,
Desert and ocean etc. all cannot achieve covering.For the coverage hole of these ground base stations, a solution is to use to defend
Star covering, however since satellite orbit is usually higher, the range attenuation of signal is serious, the transmission rate of satellite communication is limited,
Also along with higher delay problem, and satellite communication higher cost, becoming its, further development hinders.
Covering power and transmission rate in order to balance, facing empty communication becomes a new developing direction, also by the world
The attention of various countries.Compared with satellite orbit, near space and low altitude airspace are closer apart from ground, can compensate for satellite communication
The defect of delay problem；On the other hand, face sky aircraft with flexible mobility, may be implemented flexibly to dispose and cover,
Effectively service of the supplement to ground base station coverage hole.In addition, facing sky aircraft can also complete to investigate, monitor, take photo by plane, is distant
The each tasks such as sense, disaster alarm reduce human cost, improve operating efficiency, and the real-time control and communication to aircraft are more aobvious
It obtains particularly important.
Although facing sky communication role distance to have greatly reduced compared with satellite, compared to for ground base station communication away from
From still farther out, it might even be possible to reach tens to hundreds of kilometer, in order to improve traffic rate, higher frequency range, example can be used
Such as millimeter wave frequency band (30-300GHz).Since high-frequency signal range attenuation is serious, can be determined using large scale array antenna
To communication, since millimeter-wave signal wavelength is shorter, it can be carried in lesser region while be aided with beamforming technique, improved
Channel gain.Currently, the beamforming technique of mainstream is divided into two kinds, one is digital beam forming technologies, more using more radio frequencies
Multiple signals are passed through multi-channel rf transmitting/reception, digital beam forming flexibility with higher and communication by the structure of antenna
Capacity, but the cost and power consumption due to radio frequency are higher, are difficult practical application；Another kind is analog beam figuration technology, is only adopted
Mutiple antennas is connected with single radio frequency, and changes the phase of signal by phase converter, obtains higher battle array in specific direction
Column gain, although analog beam figuration hardware cost and power consumption are lower, single radio frequency can only support signal transmission all the way, lead to
Letter ability is limited.In order to realize the compromise of communications cost and rate, mixed-beam figuration structure can be used, a small amount of radio frequency is used
Mutiple antennas is connected, wave beam forming is decomposed into the digital beam forming of low-dimensional and the analog beam figuration of higher-dimension, realizes space division
Multiple access access.
By taking ground base station is to the transmission of multiple unmanned planes as an example, as unmanned plane quantity increases, the sky under analog beam figuration
Point multiple access not can guarantee all unmanned planes and all access, in order to further increase spectrum efficiency and traffic rate, can using it is non-just
Multiple access technique is handed over, multiple signals are superimposed in same time-frequency and are emitted, and are distinguish in power domain.Receiving end is using serial
Interference cancellation techniques successively decode each road signal, can thus double up the access quantity of unmanned plane.However, due to
The problems such as mutually interfering with more resource variables once in a while there are signal, using mixed-beam figuration and non-orthogonal multiple in facing empty communication
Access technology still suffers from very big difficulty.
Summary of the invention
Present invention proposition is facing empty communication using mixed-beam figuration and non-orthogonal multiple access technology, passes through optimization design
Grouping, mixed-beam figuration and power distribution, maximize the total capacity of system.
The method of the present invention is applicable in scene: 1. ground base stations service the downlink transfer of multiple low latitude unmanned planes；2. ground base station
To multiple downlink transfers for facing null base station；3. facing null base station to the downlink transfer of terrestrial user；4. facing null base station to multiple low latitudes
The downlink transfer of unmanned plane.Each scene transfer mechanism is similar, and explanation is unfolded just for scene 1 below.
The present invention provides one kind and faces empty communication mixed-beam figuration and non-orthogonal multiple access transmission method, and specific steps are such as
Under:
Step 1: facing sky non-orthogonal multiple access communications system for downlink, to the letter between ground base station and unmanned plane
Road modeling.
Step 2: K unmanned plane is divided into M group according to channel gain and channel relevancy.
Step 3: ground base station emits the power normalization Signal averaging sent to each group unmanned plane, and pass through wave beam
Figuration, channel response, antenna noise are received by each unmanned plane.
Step 4: determining every group of unmanned plane signal decoding order.
Step 5: calculating unmanned plane up to rate.
Step 6: building objective function: when the sum of reachable rate of all unmanned planes reaches maximization, designing combined transceiving
The constraint condition that the power distribution and wave beam forming at end need to meet.
Step 7: solving the power distribution under fixed mixed-beam figuration.
Step 8: fixed-analog wave beam formed matrix, solves digital beam forming matrix using force zero method.
Step 9: analog beam figuration, by the power distribution acquired in step 7 and step 8 and digital beam forming square
Battle array substitutes into the objective function in step 6, finally obtains analog beam figuration matrix.
The present invention has the advantages that
1. one kind faces empty communication mixed-beam figuration and non-orthogonal multiple access transmission method, the nothing of low complex degree is proposed
Man-machine group technology；
2. one kind faces empty communication mixed-beam figuration and non-orthogonal multiple access transmission method, propose in same group
Unmanned plane is accessed using non-orthogonal multiple, and the unmanned plane between different groups is accessed using orthogonal multiple access；
3. one kind faces empty communication mixed-beam figuration and non-orthogonal multiple access transmission method, co-design mixed-beam
Figuration and power distribution have lower computation complexity；
4. one kind faces empty communication mixed-beam figuration and non-orthogonal multiple access transmission method, can be in same running time-frequency resource
It is lower to double up access unmanned plane quantity, effectively improve spectrum efficiency.
Detailed description of the invention
Fig. 1 is that the present invention faces empty communication mixed-beam figuration and the signal of non-orthogonal multiple access system transmitting terminal antenna structure
Figure；
Fig. 2 is that the present invention faces empty communication mixed-beam figuration and non-orthogonal multiple access transmission method flow chart.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawings and examples.
The present invention provides one kind and faces empty communication mixed-beam figuration and non-orthogonal multiple access transmission method, and specific steps are such as
Under:
Step 1: facing sky non-orthogonal multiple access communications system for downlink, to the letter between ground base station and unmanned plane
Road modeling.
Ground base station connects K long-range single antenna unmanned planes in same time domain, frequency domain and code domain resource block, names respectively
For unmanned plane 1, unmanned plane 2 ..., unmanned plane K.Millimeter wave mixed-beam figuration structure is used to be oriented in ground base station logical
Letter, as shown in Figure 1, it is N that ground base station, which carries antenna number, radio frequency quantity is M, wherein K > M；Radio frequency and antenna are full-mesh knot
Structure, each antenna are controlled by a power amplifier and phase converter respectively.Channel response between ground base station and unmanned plane
Vector hkAre as follows:
Wherein, k=1,2 ..., K；λk,lIndicate the complex coefficient of the l paths of unmanned plane k, Ωk,lIndicate the of unmanned plane k
Cosine value of the l paths in the ground base station angle of departure, LkIndicate unmanned plane k multipath component total number, a () indicate be directed toward to
The function of amount, expression formula are as follows:
Step 2: K unmanned plane is divided into M group according to channel gain and channel relevancy, concrete mode is as follows:
201, the channel gain of each unmanned plane is calculated | | hk||2；
202, the channel relevancy coefficient between unmanned plane is calculatedhiAnd hjGround base station respectively with
The channel response vector of unmanned plane i, unmanned plane j.
203, M unmanned plane is randomly selected to be assigned in M group as representative；
204, remaining unmanned plane in unmanned plane representative selection with its channel relevancy coefficient is maximum assigns to same group；
205, each group unmanned plane reselects the maximum unmanned plane of channel gain as representing, and repeats step 204 until dividing
Group is no longer changed, and each group unmanned plane set is denoted as { Gm,1≤m≤M}。
Step 3: ground base station emits the power normalization Signal averaging sent to each group unmanned plane, successively pass through wave
It is received after beam figuration, channel response and antenna noise by each unmanned plane；
The reception signal expression of n-th of unmanned plane of m group are as follows:
Wherein hm,nIt is the channel response vector of m group n-th of unmanned plane and ground base station,Indicate analog wave
Beam figuration matrix,Indicate digital beam forming matrix, P=diag { p1,p2,…,pMIndicate power distribution matrix,
WhereinFor power normalization signal,
um,nBe power be σ2White Gaussian noise.WithRespectively indicate N × M and M × M dimension complex matrix space；|Gm| it indicates
The number of unmanned plane in m group, m=1,2 ..., M.
Step 4: every group of unmanned plane signal decoding order is determined, to every group of unmanned plane according to efficient channel gain
It sorts, wherein wmFor mixed-beam figuration matrix W=AD m column, it is assumed that the efficient channel gain row of any one group of unmanned plane
Sequence isEfficient channel gain is lower, and decoding priority is higher.
Step 5: calculating unmanned plane up to rate.Other group of unmanned plane signal is regarded interference by each unmanned plane, to same group of nothing
Man-machine signal carries out serial interference elimination, then the reception signal of n-th of unmanned plane of m group is up to rate Rm,nAre as follows:
Wherein, pm,nIndicate n-th of unmanned plane signal transmission power of m group, | Gi| indicate unmanned plane in i-th group
Number, pi,qIndicate the signal transmission power of i-th group of q-th of unmanned plane.
Step 6: when all the sum of reachable rates for facing null base station reach maximization, the power point at design combined transceiving end
Match and constraint condition that wave beam forming need to meet.
Reach maximization i.e. objective function up to the sum of rate, as follows:
The constraint condition that need to meet is as follows:
Subject to
Wherein, rm,nIndicating that the minimum of n-th of unmanned plane of m group is constrained up to rate, P is ground base station maximum transmission power,
[AD]:,mThe m of representing matrix is arranged；
Step 7: the power distribution of fixed mixed-beam figuration is solved, power distribution variable between definition group
In fixed beam figuration, problem is converted are as follows:
Subject to
It is as follows to solve the problem method:
701, power distribution between initialization group
702, power distribution in each group group is calculated:
703, it is interfered between fixed group, using power distribution problems between water-filling algorithm solution group, obtains power point between new group
With { Pm, step 702 is repeated until convergence.
Step 8: fixed-analog wave beam formed matrix, solves digital beam forming matrix using force zero method；Specific method is such as
Under:
801, every group of highest unmanned plane of efficient channel gain, which is chosen, as the group represents acquisition equivalent channel matrix are as follows:
802, digital beam forming matrix is calculated using force zero methodWhereinIndicate generalized inverse matrix；
803, power normalization is carried out to each column of digital wave beam formed matrix, obtained
Step 9: analog beam figuration, by the power distribution acquired in step 7 and step 8 and digital beam forming square
Battle array substitutes into the objective function in step 6, then objective function can be attributed to an analog beam figuration problem, can use base
In the PSO Algorithm of boundary compression, the specific method is as follows:
901, the search space for defining analog beam figuration matrix is
902, in search space I particle of random initializtion position xl=AlAnd initial velocity vl；
Wherein AlIndicate the analog beam figuration matrix of first of particle, each AlIt is all N × M dimension matrix；vlIt indicates first
The movement velocity of the analog beam figuration matrix of particle；L=1,2 ..., I；
903, the local optimum position p of current each particle is foundbest,lWith global optimum position gbest；
904, for iterative cycles each time, for t from 1 to T, T indicates maximum number of iterations.It calculates inertial factor and search is empty
Between inner boundary；
Inertial factor calculation formula is as follows:
Wherein ωmaxIndicate inertial factor maximum value, ωminIndicate inertial factor minimum value；
The inner boundary formula of search space is as follows:
905, speed and the position of each component of each particle are updated:
[vl]i,j=ω [vl]i,j+c1rand()*([pbest,l]i,j-[xl]i,j)+c2rand()*([gbest]i,j-
[xl]i,j)
[xl]i,j=[xl]i,j+[vl]i,j
Wherein, c1For perception factor, c2For the social factor, rand () indicates the uniform random number between 0 to 1,
pbest,lIndicate the local optimum position of first of particle experience, gbestIndicate the global optimum position that all particles live through；
[xl]i,jIndicate the i-th row jth column of first of particle current location matrix；[vl]i,jIndicate first of particle current kinetic velocity moment
The i-th row jth column of battle array.
906, for the particle beyond search space inside/outside boundary, it is directly compressed on inside/outside boundary；
I.e. if | [xl]i,j| < d then takesIfThen take
IfThen take
It 907, will be Step 7: power distribution in eightAnd digital beam forming matrix D * substitutes into the mesh in step 6
Scalar functions obtain the value of fitness function R (x), and wherein R (x) indicates the sum of the reachable rate under present day analog wave beam forming；
908, the local optimum position p of each particle is updatedbest,lWith global optimum position gbest；
909, after all loop iterations, analog beam figuration matrix A is obtained*=gbest。
Claims (9)
1. facing empty communication mixed-beam figuration and non-orthogonal multiple access transmission method, it is characterised in that: the method includes such as
Lower step,
Step 1: facing sky non-orthogonal multiple access communications system for downlink, the channel between ground base station and unmanned plane is built
Mould；
Step 2: K unmanned plane is divided into M group according to channel gain and channel relevancy；K be ground base station same time domain,
The long-range single antenna unmanned plane number of connection in frequency domain and code domain resource block；The value of M is radio frequency quantity；
Step 3: ground base station emits the power normalization Signal averaging sent to each group unmanned plane, and process wave beam forming,
Channel response, antenna noise are received by each unmanned plane；
Step 4: determining every group of unmanned plane signal decoding order；
Step 5: calculating unmanned plane up to rate；
Step 6: building objective function: when the sum of reachable rate of all unmanned planes reaches maximization, design combined transceiving end
The constraint condition that power distribution and wave beam forming need to meet；
Step 7: solving the power distribution of fixed mixed-beam figuration；
Step 8: fixed-analog wave beam formed matrix, solves digital beam forming matrix using force zero method；
Step 9: analog beam figuration, by the power distribution acquired in step 7 and step 8 and digital wave beam formed matrix generation
Enter the objective function in step 6, finally obtains analog beam figuration matrix.
2. according to claim 1 face empty communication mixed-beam figuration and non-orthogonal multiple access transmission method, feature
Be: the Channel Modeling between ground base station and unmanned plane described in step 1, refer to establish ground base station and unmanned plane it
Between channel response vector hkAre as follows:
Wherein, k=1,2 ..., K；λk,lIndicate the complex coefficient of the l paths of unmanned plane k, Ωk,lIndicate the l articles of unmanned plane k
Cosine value of the path in the ground base station angle of departure, LkIndicate the multipath component total number of unmanned plane k, a () indicates to be directed toward vector
Function, expression formula are as follows:
N is that ground base station carries antenna number, and K is that ground base station connects remotely in same time domain, frequency domain and code domain resource block
Single antenna unmanned plane number.
3. according to claim 1 face empty communication mixed-beam figuration and non-orthogonal multiple access transmission method, feature
Be: specific step is as follows for step 2:
201, the channel gain of each unmanned plane is calculated | | hk||2；K=1,2 ..., K；
202, the channel relevancy coefficient between unmanned plane is calculatedhiAnd hjIt is ground base station and nobody respectively
The channel response vector of machine i, unmanned plane j；I=1,2 ..., K；J=1,2 ..., K；
203, M unmanned plane is randomly selected to be assigned in M group as representative；
204, remaining unmanned plane in unmanned plane representative selection with its channel relevancy coefficient is maximum assigns to same group；
205, each group unmanned plane reselects the maximum unmanned plane of channel gain as representing, and repeats step 204 until being grouped not
It changes again, each group unmanned plane set is denoted as { Gm,1≤m≤M}。
4. according to claim 1 face empty communication mixed-beam figuration and non-orthogonal multiple access transmission method, feature
It is: unmanned plane received signal in step 3, expression formula are as follows:
Wherein, ym,nFor the reception signal of n-th of unmanned plane of m group；hm,nIt is the letter of m group n-th of unmanned plane and ground base station
Road response vector,Indicate analog beam figuration matrix,Indicate digital beam forming matrix, P=diag
{p1,p2,…,pMIndicate power distribution matrix, wherein For power normalization signal, um,nBe power be σ2White Gaussian noise；
WithRespectively indicate N × M and M × M dimension complex matrix space；|Gm| the number of unmanned plane in expression m group, m=1,2 ...,
M。
5. according to claim 1 face empty communication mixed-beam figuration and non-orthogonal multiple access transmission method, feature
It is: calculates unmanned plane in step 5 up to rate, the reception signal of n-th of unmanned plane of m group is up to rate Rm,nAre as follows:
Wherein, pm,nIndicate n-th of unmanned plane signal transmission power of m group, | Gi| indicate the number of unmanned plane in i-th group,
pi,qIndicate the signal transmission power of i-th group of q-th of unmanned plane；hm,nIt is the channel sound of n-th of unmanned plane of m group and ground base station
Answer vector；wmIt is arranged for the m of mixed-beam figuration matrix.
6. according to claim 1 face empty communication mixed-beam figuration and non-orthogonal multiple access transmission method, feature
It is: in step 6, reaches maximization i.e. objective function up to the sum of rate, as follows:
The constraint condition that need to meet is as follows:
Wherein, rm,nIndicating that the minimum of n-th of unmanned plane of m group is constrained up to rate, P is ground base station maximum transmission power,
[AD]:,mThe m of representing matrix is arranged.
7. according to claim 1 face empty communication mixed-beam figuration and non-orthogonal multiple access transmission method, feature
It is: in step 7, power distribution variable between definition groupIn fixed beam figuration, problem is converted are as follows:
It is as follows to solve the problem method:
701, power distribution between initialization group
702, power distribution in each group group is calculated:
703, it is interfered between fixed group, using power distribution problems between water-filling algorithm solution group, obtains power distribution between new group
{Pm, step 702 is repeated until convergence.
8. according to claim 1 face empty communication mixed-beam figuration and non-orthogonal multiple access transmission method, feature
Be: step 8 is specific as follows:
801, every group of highest unmanned plane of efficient channel gain, which is chosen, as the group represents acquisition equivalent channel matrix are as follows:
802, digital beam forming matrix is calculated using force zero methodWhereinIndicate generalized inverse matrix；
803, power normalization is carried out to each column of digital wave beam formed matrix, obtained
9. according to claim 1 face empty communication mixed-beam figuration and non-orthogonal multiple access transmission method, feature
Be: step 9 is specific as follows:
901, the search space for defining analog beam figuration matrix is
902, in search space I particle of random initializtion position xl=AlAnd initial velocity vl；
Wherein AlIndicate the analog beam figuration matrix of first of particle, each AlIt is all N × M dimension matrix；vlIndicate first of particle
Analog beam figuration matrix movement velocity；L=1,2 ..., I；
903, the local optimum position p of current each particle is foundbest,lWith global optimum position gbest；
904, for iterative cycles each time, for t from 1 to T, T indicates maximum number of iterations.Calculate inertial factor and search space
Inner boundary；
Inertial factor calculation formula is as follows:
Wherein ωmaxIndicate inertial factor maximum value, ωminIndicate inertial factor minimum value；
The inner boundary formula of search space is as follows:
905, speed and the position of each component of each particle are updated:
[vl]i,j=ω [vl]i,j+c1rand( )*([pbest,l]i,j-[xl]i,j)+c2rand()*([gbest]i,j-[xl]i,j)
[xl]i,j=[xl]i,j+[vl]i,j
Wherein, c1For perception factor, c2For the social factor, rand () indicates the uniform random number between 0 to 1, pbest,lTable
Show the local optimum position of first of particle experience, gbestIndicate the global optimum position that all particles live through；[xl]i,jIt indicates
The i-th row jth column of first of particle current location matrix；[vl]i,jIndicate the i-th row of first of particle current kinetic rate matrices
Jth column；
906, for the particle beyond search space inside/outside boundary, it is directly compressed on inside and outside boundary；
I.e. if | [xl]i,j| < d then takesIfThen take
If | [pbest,l]i,j| < d then takes
It 907, will be Step 7: power distribution in eightAnd digital beam forming matrix D*Substitute into the target letter in step 6
Number, obtains the value of fitness function R (x), and wherein R (x) indicates the sum of the reachable rate under present day analog wave beam forming；
908, the local optimum position p of each particle is updatedbest,lWith global optimum position gbest；
909, after all loop iterations, analog beam figuration matrix A is obtained*=gbest。
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| CN110856193A (en) * | 2019-11-11 | 2020-02-28 | 哈尔滨工业大学（深圳） | Relay communication system and communication method based on spatial information network |
| CN111224706A (en) * | 2020-01-15 | 2020-06-02 | 西安电子科技大学 | Surface multi-beam shaping method based on hybrid adaptive particle swarm algorithm |
| CN112153593A (en) * | 2020-06-22 | 2020-12-29 | 北京航空航天大学 | Unmanned aerial vehicle-assisted energy-efficient Internet of things data collection method |
| CN113438009A (en) * | 2021-04-22 | 2021-09-24 | 珠海大横琴科技发展有限公司 | Channel allocation method, power control method, corresponding device, equipment and medium |
| CN114448490A (en) * | 2021-12-22 | 2022-05-06 | 天翼云科技有限公司 | Path planning and spectrum resource allocation method and system for multiple unmanned aerial vehicles |
| CN116567642A (en) * | 2023-07-07 | 2023-08-08 | 中国电信股份有限公司 | Spectrum sharing method, device, equipment and storage medium |
| CN114448490B (en) * | 2021-12-22 | 2024-04-26 | 天翼云科技有限公司 | Path planning and spectrum resource allocation method and system for multiple unmanned aerial vehicles |
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