CN110418286A - Communication means, device, unmanned plane and the system of information and energy cooperative transmission - Google Patents
Communication means, device, unmanned plane and the system of information and energy cooperative transmission Download PDFInfo
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- CN110418286A CN110418286A CN201810399265.1A CN201810399265A CN110418286A CN 110418286 A CN110418286 A CN 110418286A CN 201810399265 A CN201810399265 A CN 201810399265A CN 110418286 A CN110418286 A CN 110418286A
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/42—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for mass transport vehicles, e.g. buses, trains or aircraft
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- 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
- H04W52/26—TPC being performed according to specific parameters using transmission rate or quality of service QoS [Quality of Service]
- H04W52/265—TPC being performed according to specific parameters using transmission rate or quality of service QoS [Quality of Service] taking into account the quality of service QoS
Abstract
The present invention provides communication means, device, unmanned plane and the system of a kind of information and energy cooperative transmission.The communication means of information provided by the invention and energy cooperative transmission, include: the power distribution for initializing unmanned plane, first between flight path and source point transmitter and terminal receiver cooperate handling capacity, then the best decision distribution of unmanned plane, best power distribution and flight optimization track are calculated according to power distribution, flight path and the first cooperation optimized throughput, collaboration communication is finally carried out according to best decision distribution, best power distribution and flight optimization track.The communication means of information provided by the invention and energy cooperative transmission, it is introduced into unmanned plane subsidiary communications by that wirelessly will take to communicate, so that the energy limit of unmanned plane can by from the radio signal that source point emits obtain wireless energy and be effectively relieved, and make between source point transmitter and terminal receiver cooperate it is throughput-maximized.
Description
Technical field
The present invention relates to the communication means of field of communication technology more particularly to a kind of information and energy cooperative transmission, device,
Unmanned plane and system.
Background technique
In order to enhance the network coverage, meet growing data traffic demand, the deployment of wireless network is from tradition
2D planar transfer arrived 3d space.According to this trend, unmanned plane (Unmanned Aerial Vehicle, abbreviation UAV) is auxiliary
Wireless communication is helped to cause the very big concern of industry and academia.Compared with traditional ground infrastructure, due to its at
This is low, and mobility and the high characteristic of disposition flexibility, the skyborne unmanned plane that hovers more likely are established with more preferable channel item
The Radio Link (for example, sighting distance) of part, therefore unmanned plane subsidiary communications is considered to preferably support in many practical applications
Wireless communication, such as public safety and disaster management.
Wherein, an important application of unmanned plane auxiliary radio communication is as relaying in cooperation communication system, this is
One kind (existing remote or serious hindrance of source point and terminal) under weak channel condition, improves communication performance and expands covering
The effective technology of range.It is relayed as aerial mobile, unmanned plane can adjust position neatly to obtain channel advantageously
Condition.Even if the direct link between source point and terminal is seriously obstructed, collaboration communication performance can be also improved.
But existing unmanned plane auxiliary radio communication there are still some drawbacks, one of practical problem be in order to
The problem of catering to unmanned aerial vehicle onboard limited battery capacity caused by unmanned plane small size and light-weighted characteristic.For this reality
Border problem, the energy efficiency that existing most of work all concentrates on unmanned plane auxiliary radio communication system are improved.Relative to
Energy consumption is reduced, exploring renewable energy is also another important selection.However, be far longer than unmanned plane itself it is non-from
Main energy acquisition equipment (such as solar panel) may dramatically increase load, so that energy consumption is higher.
Summary of the invention
The present invention provides communication means, device, unmanned plane and the system of a kind of information and energy cooperative transmission, to solve.
In a first aspect, the present invention provides the communication means of a kind of information and energy cooperative transmission, it is applied to information and energy
The cooperation communication system of cooperative transmission emits the system comprises: source point transmitter, terminal receiver and as the source point
The unmanned plane of communication relay between device and the terminal receiver, the unmanned plane are also used to transmitted by the source point transmitter
Source signal in collect energy；The described method includes:
Initialize power distribution, flight path and the source point transmitter and the terminal receiver of the unmanned plane
Between the first cooperation handling capacity, wherein power distribution includes output work of the unmanned plane in each timing node
Rate value, the flight path are the location information that the unmanned plane includes in each timing node；
The unmanned plane is calculated according to power distribution, the flight path and the first cooperation optimized throughput
Best decision distribution, best power distribution and flight optimization track, wherein best decision distribution include it is described nobody
Working condition of the machine in each timing node, the working condition are as the source point transmitter and the terminal receiver
Between communication relay unmanned plane or collect energy from source signal transmitted by the source point transmitter；
It is logical that cooperation is carried out according to best decision distribution, best power distribution and the flight optimization track
Letter, so that cooperating between the source point transmitter and the terminal receiver is throughput-maximized.
It is described according to power distribution, the flight path and first cooperation in a kind of possible design
Optimized throughput calculates the best decision distribution of the unmanned plane, best power distribution and flight optimization track, comprising:
The decision distribution of the unmanned plane is calculated according to power distribution and flight path optimization；
The power distribution is updated according to decision distribution and the flight path；
According to flight path described in decision distribution and the power distributed update；
According to decision distribution, power distribution and the flight path calculate the source point transmitter with it is described
The second cooperation handling capacity between terminal receiver；
Judge it is described second cooperation handling capacity and described first cooperate handling capacity difference whether be less than preset tolerance；
If the determination result is YES, then the decision distribution, power distribution and the flight path is exported to make respectively
For the best decision distribution, best power distribution and the flight optimization track of the unmanned plane.
In a kind of possible design, judge it is described second cooperation handling capacity and described first cooperate handling capacity difference whether
Less than preset tolerance, judging result is no；
The first cooperation handling capacity is updated to the second cooperation handling capacity；
The decision distribution of the unmanned plane is calculated according to power distribution and flight path optimization；
The power distribution is updated according to decision distribution and the flight path；
According to flight path described in decision distribution and the power distributed update；
According to decision distribution, power distribution and the flight path update the source point transmitter with it is described
The second cooperation handling capacity between terminal receiver；
Judge it is described second cooperation handling capacity and described first cooperate handling capacity difference whether be less than the preset tolerance
Value；
If the determination result is YES, then the decision distribution, power distribution and the flight path is exported to make respectively
For the best decision distribution, best power distribution and the flight optimization track of the unmanned plane.
It is described that the unmanned plane is calculated according to power distribution and the flight path in a kind of possible design
Decision distribution, comprising:
The continuous variable that the decision variable relaxation that the decision is distributed is 0 to 1, so that the optimization meter of decision distribution
Calculation problem is converted into linear programming problem；
The linear programming problem is solved to obtain the decision distribution.
It is described that the power point is updated according to decision distribution and the flight path in a kind of possible design
Cloth, comprising:
Lagrange duality equation is converted by the optimization computational problem that the power is distributed according to method of Lagrange multipliers
Solve problems；
The solution of optimal solution is carried out to the Lagrange duality equation to obtain the power distribution.
In a kind of possible design, the flight rail according to decision distribution and the power distributed update
Mark, comprising:
The track increment in the unmanned plane unit time is calculated according to decision distribution and power distribution；
According in the flight path initial position parameters and the track incremental update described in flight path.
In a kind of possible design, the decision distribution, power distribution and the flight path point are being exported
It is not distributed as the best decision of the unmanned plane, before best power distribution and the flight optimization track,
Further include:
The best decision is distributed and carries out binarization, so as to work as the value that the unmanned plane is distributed in the best decision
When being 1, as the relaying between the source point transmitter and the terminal receiver, when the unmanned plane is in the best decision
When the value of distribution is 0, energy is collected from source signal transmitted by the source point transmitter.
Second aspect, the present invention also provides the communication devices of a kind of information and energy cooperative transmission, are applied to information and energy
The cooperation communication system for measuring cooperative transmission is sent out the system comprises: source point transmitter, terminal receiver and as the source point
The unmanned plane of communication relay between emitter and the terminal receiver, the unmanned plane are also used to be sent out from the source point transmitter
Energy is collected in the source signal sent；Include:
Initialization module, for initializing power distribution, flight path and the source point transmitter of the unmanned plane
First between the terminal receiver cooperates handling capacity, wherein the power distribution includes the unmanned plane when each
Output power value when intermediate node, the flight path are the location information that the unmanned plane includes in each timing node；
Optimize computing module, for according to power distribution, the flight path and the first cooperation handling capacity
Optimization calculates the best decision distribution of the unmanned plane, best power distribution and flight optimization track, wherein described most preferably to determine
Plan distribution includes working condition of the unmanned plane in each timing node, and the working condition is to emit as the source point
It the unmanned plane of communication relay or is collected from source signal transmitted by the source point transmitter between device and the terminal receiver
Energy；
Collaboration communication module, for being distributed according to the best decision, the best power is distributed and described best winged
Row track carries out collaboration communication, so that cooperating between the source point transmitter and the terminal receiver is throughput-maximized.
In a kind of possible design, the optimization computing module is specifically used for:
The decision distribution of the unmanned plane is calculated according to power distribution and flight path optimization；
The power distribution is updated according to decision distribution and the flight path；
According to flight path described in decision distribution and the power distributed update；
According to decision distribution, power distribution and the flight path calculate the source point transmitter with it is described
The second cooperation handling capacity between terminal receiver；
Judge it is described second cooperation handling capacity and described first cooperate handling capacity difference whether be less than preset tolerance；
If the determination result is YES, then the decision distribution, power distribution and the flight path is exported to make respectively
For the best decision distribution, best power distribution and the flight optimization track of the unmanned plane.
In a kind of possible design, the optimization computing module, also particularly useful for: when it is described second cooperation handling capacity with
When the difference of the first cooperation handling capacity is not less than preset tolerance；
The first cooperation handling capacity is updated to the second cooperation handling capacity；
The decision distribution of the unmanned plane is calculated according to power distribution and flight path optimization；
The power distribution is updated according to decision distribution and the flight path；
According to flight path described in decision distribution and the power distributed update；
According to decision distribution, power distribution and the flight path update the source point transmitter with it is described
The second cooperation handling capacity between terminal receiver；
Judge it is described second cooperation handling capacity and described first cooperate handling capacity difference whether be less than the preset tolerance
Value；
If the determination result is YES, then the decision distribution, power distribution and the flight path is exported to make respectively
For the best decision distribution, best power distribution and the flight optimization track of the unmanned plane.
In a kind of possible design, the optimization computing module, also particularly useful for:
The continuous variable that the decision variable relaxation that the decision is distributed is 0 to 1, so that the optimization meter of decision distribution
Calculation problem is converted into linear programming problem；
The linear programming problem is solved to obtain the decision distribution.
In a kind of possible design, the optimization computing module, also particularly useful for:
Lagrange duality equation is converted by the optimization computational problem that the power is distributed according to method of Lagrange multipliers
Solve problems；
The solution of optimal solution is carried out to the Lagrange duality equation to obtain the power distribution.
In a kind of possible design, the optimization computing module, also particularly useful for:
The track increment in the unmanned plane unit time is calculated according to decision distribution and power distribution；
According in the flight path initial position parameters and the track incremental update described in flight path.
In a kind of possible design, the optimization computing module, also particularly useful for:
The best decision is distributed and carries out binarization, so as to work as the value that the unmanned plane is distributed in the best decision
When being 1, as the relaying between the source point transmitter and the terminal receiver, when the unmanned plane is in the best decision
When the value of distribution is 0, energy is collected from source signal transmitted by the source point transmitter.
The third aspect, the present invention also provides a kind of unmanned planes, comprising: on-vehicle battery and as it is any in second aspect can
The collaboration communication device of energy；
The on-vehicle battery, for providing power for the maneuvering flight of the unmanned plane；
The collaboration communication device, for provided between the source point transmitter and the terminal receiver relaying or from
Energy is collected in source signal transmitted by the source point transmitter；
Wherein, the energy that the collaboration communication device is collected from the source point transmitter is used for as the unmanned plane
Communications provide power.
Fourth aspect, the present invention also provides the communication systems of a kind of information and energy cooperative transmission, comprising: source point transmitting
Device, terminal receiver and the unmanned plane such as third aspect offer, the unmanned plane are used to be used as the source point transmitter and institute
It states communication relay between terminal receiver or collects energy from source signal transmitted by the source point transmitter.
Communication means, device, unmanned plane and the system of a kind of information provided by the invention and energy cooperative transmission, pass through by
It wirelessly takes to communicate and be introduced into unmanned plane subsidiary communications, so that the energy limit of unmanned plane can be by sending out from source point
Power distribution, the flight for obtaining wireless energy in the radio signal penetrated and being effectively relieved, and pass through initialization unmanned plane
First between track and source point transmitter and terminal receiver cooperate optimized throughput calculate the unmanned plane it is best certainly
Plan distribution, best power distribution and flight optimization track, so that cooperating between source point transmitter and terminal receiver
It is throughput-maximized.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the communication means application scenario diagram of information shown according to an exemplary embodiment Yu energy cooperative transmission；
Fig. 2 is that the process of the communication means of information shown according to an exemplary embodiment and energy cooperative transmission is illustrated
Figure；
Fig. 3 is the process signal of the information shown according to another exemplary embodiment and the communication means of energy cooperative transmission
Figure；
Fig. 4 is to compare figure using the effect of method provided in this embodiment and art methods；
Fig. 5 is the structural representation of the communication device of information shown according to an exemplary embodiment and energy cooperative transmission
Figure.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Fig. 1 is the communication means application scenario diagram of information shown according to an exemplary embodiment Yu energy cooperative transmission.
As shown in Figure 1, the communication means of information provided in this embodiment and energy cooperative transmission, is applied to information and energy cooperative transmission
Cooperation communication system, specifically, which includes: source point transmitter, terminal receiver and as source point transmitter and end
The unmanned plane of communication relay, unmanned plane are also used to collect energy from source signal transmitted by source point transmitter between point receiver
Amount.
(Simultaneous Wireless Information and Power can be communicated by wirelessly taking
Transfer, abbreviation SWIPT) realize that simultaneous transmission of signals and energy are that is, while carrying out information exchange with wireless device
Wireless device provides energy.It can not only make full use of information, the energy that radio signal can also be made full use of to carry.Cause
This, becomes a kind of cost-effective mode due to without installing additional energy gathering devices, wirelessly taking to communicate to supplement nothing
Man-machine energy.
Fig. 2 is that the process of the communication means of information shown according to an exemplary embodiment and energy cooperative transmission is illustrated
Figure.As shown in Fig. 2, the communication means of information provided by the embodiment and energy cooperative transmission, comprising:
Step 101 initializes between power distribution, flight path and source point transmitter and the terminal receiver of unmanned plane
First cooperation handling capacity.
Specifically, the cooperation communication system of above-mentioned information and energy cooperative transmission is one classical by having amplification to turn
The unmanned plane for sending out agreement (Amplify-and-Forward, abbreviation AF) relays the point-to-point nothing assisted as aerial mobile
Line communication system, two different locations that wherein source point transmitter and terminal receiver fix on the ground.In order to efficiently use
The energy of ambient enviroment can be introduced into wirelessly taking to communicate in unmanned plane cooperation communication system, i.e. the transmission energy of unmanned plane
Power is supplied by the radio signal of source point transmitter completely, and on-vehicle battery is only mobility power supply.It is being not necessarily to additional energy
Under collecting device, the energy acquisition of wireless communication system and information transmission are optimized whithin a period of time.
Taking for unmanned plane can be wirelessly communicated, it is usually required mainly for consider its time division mechanism, in this mechanism, the energy of unmanned plane
Amount acquisition and relay transmission are nonoverlapping within the same period.
It is contemplated that indicating that source point transmitter and terminal receive with S and D respectively in a three Cartesian coordinates system
The position of device.At this time, it is assumed that unmanned plane is used as mobile relay in finite time range T with solid from initial position to final position
Determine height H to fly in the sky, and by the discrete N number of time slot turned to equal gap of time range T, unmanned plane is in time slot n
Interior position coordinates can indicate that wherein the mobility constraint of unmanned plane can be flown by the maximum of each time slot with two-dimensional coordinate [x, y]
Row distance show that the displacement that is, between adjacent time-slots is less than the maximum flying distance equal to unmanned plane in each time slot, it may be assumed that
Wherein, xnThe position abscissa for being unmanned plane in time slot n, ynThe position ordinate for being unmanned plane in time slot n, V
For preset maximum flying distance value.
Assuming that source point transmitter to unmanned plane and unmanned plane to the channel of terminal receiver based on line of sight link, therefore
Source point follows free space path loss model to unmanned plane and unmanned plane to the channel power synergy of terminal in time slot n, with two
Distance between person is inversely, it may be assumed that
Wherein,For channel power synergy,For in time slot n source point transmitter at a distance from unmanned plane, be η it is mono-
The reference channel power gain of position distance (such as 1 meter).
The present embodiment uses timesharing receiver structure of the SWIPT on unmanned plane, that is, in each time slot, unmanned plane
It has to decide on and collects energy from the signal that signal source is sent, or forward the data to destination as relaying.Unmanned plane
Decision distribution indicated by binary indicator, wherein 1 indicate be used as relaying, 0 indicate from source signal obtain energy；Certainly,
It can also be that 1 expression obtains energy from source signal, 0 indicates to be used as relaying, in the present embodiment to this and without specifically limiting.
And the handling capacity that cooperates end to end is maximized according to the distribution of the decision of unmanned plane, power distribution and flight path
Objective function is as follows:
Wherein, n is n-th of time slot, pnFor the unmanned plane power in n-th of time slot, βnFor the nothing in n-th of time slot
Man-machine binary decision, wherein βn=1 indicates to be serviced in nth slot unmanned plane as relaying, βn=0 indicate n time slot without
It is man-machine that energy, r are obtained from source signalnFor in the collaboration communication rate of nth slot, rdFor source point transmitter to terminal receiver
Direct-connected rate, [xn,yn] be nth slot unmanned plane position.
It cooperates end to end the solution of throughput problem to above-mentioned maximization, specifically needs to meet constraint condition below:
(x1-xs)2+(y1-ys)2≤V2
(xe-xN)2+(ye-yN)2≤V2
Wherein, piFor the unmanned plane power in i-th of time slot, βiIt determines for the unmanned plane binary system in i-th of time slot
Plan, PsFor source point transmitter transimission power, γ0For cooperate channel reference signal-to-noise ratio,For in i-th of time slot origin with
The distance of unmanned plane, xsFor unmanned plane initial position abscissa, ysFor unmanned plane initial position ordinate, xeFor unmanned plane terminal
Position abscissa, yeFor unmanned plane final position ordinate.
But since above problem solution is not convex optimization problem, optimal solution can not be obtained by standard solution.Cause
This, above formula is decomposed into three subproblems and carries out rotation optimization by the method that we solve every group of variable by giving two variables
(also referred to as block descent method): decision distribution, power distribution and unmanned plane during flying track.Subproblem fixes other two changes when optimizing
Amount, optimizes the variable and end-to-end cooperation handling capacity is allowed iteratively to be increased up convergence.
In the present embodiment, can give unmanned plane power distribution, flight path and initialize source point transmitter with
The first cooperation handling capacity between terminal receiver, wherein power distribution includes output of the unmanned plane in each timing node
Performance number, flight path are that unmanned plane includes location information in each timing node, and by decision distribution variable βnPine
Relaxation is 0 to 1 continuous variable, so that typical linear programming problem is converted by above-mentioned non-convex optimization problem, so as to
It is effectively solved by existing optimisation technique.
Step 102 calculates most preferably determining for unmanned plane according to power distribution, flight path and the first cooperation optimized throughput
Plan distribution, best power distribution and flight optimization track.
Cooperation throughput problem decline end to end will be maximized through the above steps are as follows:
Wherein, n is n-th of time slot, βnFor the unmanned plane binary decision in n-th of time slot, wherein βn=1 indicates
Nth slot unmanned plane is serviced as relaying, βn=0 indicates to obtain energy, r from source signal in n time slot unmanned planenFor
The collaboration communication rate of nth slot, rdFor the direct-connected rate of source point transmitter to terminal receiver.
It cooperates end to end the solution of throughput problem to above-mentioned maximization, specifically needs to meet constraint condition below:
Wherein, piFor the unmanned plane power in i-th of time slot, βiIt determines for the unmanned plane binary system in i-th of time slot
Plan, PsFor source point transmitter transimission power, γ0For cooperate channel reference signal-to-noise ratio,For in i-th of time slot origin with
The distance of unmanned plane.
Since the optimal solution of above formula is usually non-binary, so after total problem iteration optimization, the feasible decision that obtains
Distribution variable needs to carry out binarization.Therefore, it can propose that is used for the distribution of binarization decision in this subproblem
Algorithm: if the constraint condition of subproblem all meets, optimizing decision distribution, which is rounded, is used as feasible solution；Otherwise, inside entire N time slot
Divide integer that must overturn as negative value.As greedy algorithm, operation switching process is in each positive number decision distribution so as in satisfaction
Under whole constraints of problem, the minimum of successively decreasing of end-to-end cooperation handling capacity caused by the distribution of overturning decision.
β is distributed according to the decision that optimization obtainsnAnd flight path [the x given in above-mentioned stepsn,yn], it can be by problem
It is reduced to power distribution pnSolution, will maximize end to end cooperation throughput problem decline are as follows:
Wherein, n is n-th of time slot, pnFor the unmanned plane power in n-th of time slot, βnFor the nothing in n-th of time slot
Man-machine binary decision, wherein βn=1 indicates to be serviced in nth slot unmanned plane as relaying, βn=0 indicate n time slot without
It is man-machine that energy, r are obtained from source signalnFor in the collaboration communication rate of nth slot.
It cooperates end to end the solution of throughput problem to above-mentioned maximization, specifically needs to meet constraint condition below:
Wherein, piFor the unmanned plane power in i-th of time slot, βiIt determines for the unmanned plane binary system in i-th of time slot
Plan, PsFor source point transmitter transimission power, γ0For cooperate channel reference signal-to-noise ratio,For in i-th of time slot origin with
The distance of unmanned plane.
The subproblem is the convex optimization problem of standard, and meets Slaters condition, so that strong dual is set up, Ke Yigen
Obtain the Lagrange duality equation of above formula according to method of Lagrange multipliers, then by solve its dual equation obtain it is optimal
Solution.
β is distributed according to the decision that optimization obtainsnAnd power distribution pn, can be to flight path [x by problem reductionn,
yn] solution, will maximize end to end cooperation throughput problem decline are as follows:
Wherein, n is n-th of time slot, βnFor the unmanned plane binary decision in n-th of time slot, wherein βn=1 indicates
Nth slot unmanned plane is serviced as relaying, βn=0 indicates to obtain energy, r from source signal in n time slot unmanned planenFor
The collaboration communication rate of nth slot, [xn,yn] be nth slot unmanned plane position.
It cooperates end to end the solution of throughput problem to above-mentioned maximization, specifically needs to meet constraint condition below:
(x1-xs)2+(y1-ys)2≤V2
(xe-xN)2+(ye-yN)2≤V2
Wherein, piFor the unmanned plane power in i-th of time slot, βiIt determines for the unmanned plane binary system in i-th of time slot
Plan, PsFor source point transmitter transimission power, γ0For cooperate channel reference signal-to-noise ratio,For in i-th of time slot origin with
The distance of unmanned plane, xsFor unmanned plane initial position abscissa, ysFor unmanned plane initial position ordinate, xeFor unmanned plane terminal
Position abscissa, yeFor unmanned plane final position ordinate.
Since above-mentioned objective function is in flight path variable [xn,yn] on be non-convex, so the subproblem is non-convex.
Therefore convex row optimisation technique can be used, optimizes track increment iteratively to maximize track lower bound.Due to convex function
First order Taylor be approximately global lower bound.Therefore, the initial track for first giving unmanned plane, in predefined range of tolerable variance
It is interior, pass through interior point method solution optimum trajectory increment and updates unmanned plane track to obtain unmanned plane optimum trajectory.
The best decision of unmanned plane is calculated according to above-mentioned power distribution, flight path and the first cooperation optimized throughput
Distribution, best power distribution and flight optimization track, wherein best decision distribution includes unmanned plane in each timing node
Working condition, working condition be as the unmanned plane of communication relay between source point transmitter and terminal receiver or from source point send out
Energy is collected in source signal transmitted by emitter.
Step 103 carries out collaboration communication according to best decision distribution, best power distribution and flight optimization track.
Specifically, unmanned plane according to above-mentioned steps optimization be calculated best decision distribution, best power distribution and
Flight optimization track carries out collaboration communication, so that cooperating between source point transmitter and terminal receiver is throughput-maximized.
In the present embodiment, it is introduced into unmanned plane subsidiary communications by that wirelessly will take to communicate, so that unmanned plane
Energy limit can be effectively relieved and obtaining wireless energy from the radio signal that source point emits, and pass through
The power distribution of initialization unmanned plane, first between flight path and source point transmitter and terminal receiver cooperate handling capacity
Optimization calculates the best decision distribution of the unmanned plane, best power distribution and flight optimization track, so that source point is sent out
Cooperating between emitter and terminal receiver is throughput-maximized.
Fig. 3 is the process signal of the information shown according to another exemplary embodiment and the communication means of energy cooperative transmission
Figure.As shown in figure 3, the communication means of information provided in this embodiment and energy cooperative transmission, comprising:
Step 201 initializes between power distribution, flight path and source point transmitter and the terminal receiver of unmanned plane
First cooperation handling capacity.
It is worth explanatorily, the description of step 101 in the specific implementation reference embodiment illustrated in fig. 2 of step 201, here
It repeats no more.
Step 202 is distributed according to the decision that power distribution and flight path optimization calculate unmanned plane.
Specifically, cooperation throughput problem decline end to end will be maximized through the above steps are as follows:
Wherein, n is n-th of time slot, βnFor the unmanned plane binary decision in n-th of time slot, wherein βn=1 indicates
Nth slot unmanned plane is serviced as relaying, βn=0 indicates to obtain energy, r from source signal in n time slot unmanned planenFor
The collaboration communication rate of nth slot, rdFor the direct-connected rate of source point transmitter to terminal receiver.
It cooperates end to end the solution of throughput problem to above-mentioned maximization, specifically needs to meet constraint condition below:
Wherein, piFor the unmanned plane power in i-th of time slot, βiIt determines for the unmanned plane binary system in i-th of time slot
Plan, PsFor source point transmitter transimission power, γ0For cooperate channel reference signal-to-noise ratio,For in i-th of time slot origin with
The distance of unmanned plane.
Since the optimal solution of above formula is usually non-binary, so after total problem iteration optimization, the feasible decision that obtains
Distribution variable needs to carry out binarization.Therefore, it can propose that is used for the distribution of binarization decision in this subproblem
Algorithm: if the constraint condition of subproblem all meets, optimizing decision distribution, which is rounded, is used as feasible solution；Otherwise, inside entire N time slot
Divide integer that must overturn as negative value.As greedy algorithm, operation switching process is in each positive number decision distribution so as in satisfaction
Under whole constraints of problem, the minimum of successively decreasing of end-to-end cooperation handling capacity caused by the distribution of overturning decision.
Step 203 updates power distribution according to decision distribution and flight path.
Specifically, β is distributed according to the decision that optimization obtainsnAnd flight path [the x given in above-mentioned stepsn,yn], it can
To be to power distribution p by problem reductionnSolution, will maximize end to end cooperation throughput problem decline are as follows:
Wherein, n is n-th of time slot, pnFor the unmanned plane power in n-th of time slot, βnFor the nothing in n-th of time slot
Man-machine binary decision, wherein βn=1 indicates to be serviced in nth slot unmanned plane as relaying, βn=0 indicate n time slot without
It is man-machine that energy, r are obtained from source signalnFor in the collaboration communication rate of nth slot.
It cooperates end to end the solution of throughput problem to above-mentioned maximization, specifically needs to meet constraint condition below:
Wherein, piFor the unmanned plane power in i-th of time slot, βiIt determines for the unmanned plane binary system in i-th of time slot
Plan, PsFor source point transmitter transimission power, γ0For cooperate channel reference signal-to-noise ratio,For in i-th of time slot origin with
The distance of unmanned plane.
The subproblem is the convex optimization problem of standard, and meets Slaters condition, so that strong dual is set up, Ke Yigen
Obtain the Lagrange duality equation of above formula according to method of Lagrange multipliers, then by solve its dual equation obtain it is optimal
Solution.
Step 204, according to decision distribution and power distributed update flight path.
Specifically, β is distributed according to the decision that optimization obtainsnAnd power distribution pn, can be to flight rail by problem reduction
Mark [xn,yn] solution, will maximize end to end cooperation throughput problem decline are as follows:
Wherein, n is n-th of time slot, βnFor the unmanned plane binary decision in n-th of time slot, wherein βn=1 indicates
Nth slot unmanned plane is serviced as relaying, βn=0 indicates to obtain energy, r from source signal in n time slot unmanned planenFor
The collaboration communication rate of nth slot, [xn,yn] be nth slot unmanned plane position.
It cooperates end to end the solution of throughput problem to above-mentioned maximization, specifically needs to meet constraint condition below:
(x1-xs)2+(y1-ys)2≤V2
(xe-xN)2+(ye-yN)2≤V2
Wherein, piFor the unmanned plane power in i-th of time slot, βiIt determines for the unmanned plane binary system in i-th of time slot
Plan, PsFor source point transmitter transimission power, γ0For cooperate channel reference signal-to-noise ratio,For in i-th of time slot origin with
The distance of unmanned plane, xsFor unmanned plane initial position abscissa, ysFor unmanned plane initial position ordinate, xeFor unmanned plane terminal
Position abscissa, yeFor unmanned plane final position ordinate.
Since above-mentioned objective function is in flight path variable [xn,yn] on be non-convex, so the subproblem is non-convex.
Therefore convex row optimisation technique can be used, optimizes track increment iteratively to maximize track lower bound.Due to convex function
First order Taylor be approximately global lower bound.Therefore, the initial track for first giving unmanned plane, in predefined range of tolerable variance
It is interior, pass through interior point method solution optimum trajectory increment and updates unmanned plane track to obtain unmanned plane optimum trajectory.
Step 205, calculated according to decision distribution, power distribution and flight path source point transmitter and terminal receiver it
Between second cooperation handling capacity.
Specifically, decision distribution, power distribution, flight path and the above-mentioned objective function meter calculated according to above-mentioned optimization
Second between source point transmitter and terminal receiver is calculated to cooperate handling capacity.
Step 206, judge second cooperation handling capacity and first cooperate handling capacity difference whether be less than preset tolerance.
Specifically, judge second cooperation handling capacity and first cooperate handling capacity difference whether be less than preset tolerance.Its
In, if the determination result is YES, then follow the steps 207, if judging result be it is no, then follow the steps 209.
The best decision point of step 207, the distribution of output decision, power distribution and flight path respectively as unmanned plane
Cloth, best power distribution and flight optimization track.
If the decision distribution calculated according to above-mentioned optimization, power distribution, flight path and above-mentioned objective function calculate source
Point transmitter and terminal receiver between second cooperate handling capacity and first cooperate handling capacity difference whether be less than preset appearance
Difference.Then illustrate that optimization calculates the iteration extremely convergence of end-to-end cooperation handling capacity.
Step 208 carries out collaboration communication according to best decision distribution, best power distribution and flight optimization track.
It is worth explanatorily, the description of step 103 in the specific implementation reference embodiment illustrated in fig. 2 of step 208, here
It repeats no more.
First cooperation handling capacity is updated to the second cooperation handling capacity by step 209.
Specifically, the specific value of the be calculated through the above steps second cooperation handling capacity is assigned to the first cooperation
Handling capacity repeats step 201- step 206 then according to the power distribution of the unmanned plane of above-mentioned calculating, flight path, until
Second cooperation handling capacity with first cooperate handling capacity difference whether be less than preset tolerance, i.e., optimization calculating it is end-to-end cooperate gulp down
Iteration extremely restrains the amount of spitting.
Below with reference to information provided in this embodiment and energy cooperative transmission communication means and two baseline strategies for
End-to-end cooperation handling capacity compared with source point power setting, Fig. 4 is using method provided in this embodiment and the prior art
The effect of method compares figure.As shown in figure 4, specifically, for static policies, referring to unmanned plane in the midpoint of source point and terminal
It constantly spirals, first to deposit energy, the mode transmitted afterwards carries out energy acquisition, can divide time into 50 time slots, i.e. unmanned plane
Energy is collected from source point in m initial time slot, and carries out information transmission as a relaying in remaining 50-m time slot,
And the energy harvested mean allocation in 50-m time slot, determine that optimum capacity collects number of time slot, final choice by enumerating m
It is optimal；Another strategy is linear movement strategy, refers to that unmanned plane flies from initial position to terminal along straight path, respectively preceding
Collection of energy and relay transmission are carried out in 25 time slots afterwards；Finally, being that the information provided through this embodiment cooperates with biography with energy
Strategy provided by defeated communication means.From figure can it can clearly be seen that due to the present embodiment unmanned plane decision be distributed, function
Rate curve and unmanned plane during flying Trajectory Design are reasonable, and with the increase of source point power, performance gap is also significantly increased.
Fig. 5 is the structural representation of the communication device of information shown according to an exemplary embodiment and energy cooperative transmission
Figure.As shown in figure 5, the communication device of information provided in this embodiment and energy cooperative transmission, is applied to information and cooperates with energy
The cooperation communication system of transmission, the system comprises: source point transmitter, terminal receiver and as the source point transmitter with
The unmanned plane of communication relay between the terminal receiver, the unmanned plane are also used to the source transmitted by the source point transmitter
Energy is collected in signal；Include:
Initialization module 301, the power for initializing the unmanned plane is distributed, flight path and the source point emit
First between device and the terminal receiver cooperates handling capacity, wherein the power distribution includes the unmanned plane each
Output power value when timing node, the flight path are the position letter that the unmanned plane includes in each timing node
Breath；
Optimize computing module 302, for handling up according to power distribution, the flight path and first cooperation
Amount optimization calculates the best decision distribution of the unmanned plane, best power distribution and flight optimization track, wherein described best
Decision distribution includes working condition of the unmanned plane in each timing node, and the working condition is to send out as the source point
It the unmanned plane of communication relay or is received from source signal transmitted by the source point transmitter between emitter and the terminal receiver
Collect energy；
Collaboration communication module 303, for being distributed according to the best decision, the best power is distributed and described best
Flight path carries out collaboration communication, so that the handling capacity maximum that cooperates between the source point transmitter and the terminal receiver
Change.
In a kind of possible design, the optimization computing module 302 is specifically used for:
The decision distribution of the unmanned plane is calculated according to power distribution and flight path optimization；
The power distribution is updated according to decision distribution and the flight path；
According to flight path described in decision distribution and the power distributed update；
According to decision distribution, power distribution and the flight path calculate the source point transmitter with it is described
The second cooperation handling capacity between terminal receiver；
Judge it is described second cooperation handling capacity and described first cooperate handling capacity difference whether be less than preset tolerance；
If the determination result is YES, then the decision distribution, power distribution and the flight path is exported to make respectively
For the best decision distribution, best power distribution and the flight optimization track of the unmanned plane.
In a kind of possible design, the optimization computing module 302, also particularly useful for: when second cooperation is handled up
Amount with described first cooperate handling capacity difference be not less than preset tolerance when；
The first cooperation handling capacity is updated to the second cooperation handling capacity；
The decision distribution of the unmanned plane is calculated according to power distribution and flight path optimization；
The power distribution is updated according to decision distribution and the flight path；
According to flight path described in decision distribution and the power distributed update；
According to decision distribution, power distribution and the flight path update the source point transmitter with it is described
The second cooperation handling capacity between terminal receiver；
Judge it is described second cooperation handling capacity and described first cooperate handling capacity difference whether be less than the preset tolerance
Value；
If the determination result is YES, then the decision distribution, power distribution and the flight path is exported to make respectively
For the best decision distribution, best power distribution and the flight optimization track of the unmanned plane.
In a kind of possible design, the optimization computing module 302, also particularly useful for:
The continuous variable that the decision variable relaxation that the decision is distributed is 0 to 1, so that the optimization meter of decision distribution
Calculation problem is converted into linear programming problem；
The linear programming problem is solved to obtain the decision distribution.
In a kind of possible design, the optimization computing module 302, also particularly useful for:
Lagrange duality equation is converted by the optimization computational problem that the power is distributed according to method of Lagrange multipliers
Solve problems；
The solution of optimal solution is carried out to the Lagrange duality equation to obtain the power distribution.
In a kind of possible design, the optimization computing module 302, also particularly useful for:
The track increment in the unmanned plane unit time is calculated according to decision distribution and power distribution；
According in the flight path initial position parameters and the track incremental update described in flight path.
In a kind of possible design, the optimization computing module 302, also particularly useful for:
The best decision is distributed and carries out binarization, so as to work as the value that the unmanned plane is distributed in the best decision
When being 1, as the relaying between the source point transmitter and the terminal receiver, when the unmanned plane is in the best decision
When the value of distribution is 0, energy is collected from source signal transmitted by the source point transmitter.
The communication device of information and energy cooperative transmission that embodiment illustrated in fig. 5 provides, can be used for executing above-mentioned Fig. 2-Fig. 3
Shown in embodiment provide method, specific implementation is similar with technical effect, and which is not described herein again.
In addition, the present invention also provides a kind of unmanned planes, comprising: on-vehicle battery and the information of embodiment illustrated in fig. 4 offer
With the communication device of energy cooperative transmission；
The on-vehicle battery, for providing power for the maneuvering flight of the unmanned plane；
The collaboration communication device, for provided between the source point transmitter and the terminal receiver relaying or from
Energy is collected in source signal transmitted by the source point transmitter；
Wherein, the energy that the collaboration communication device is collected from the source point transmitter is used for as the unmanned plane
Communications provide power.
In addition, the present invention also provides the communication systems of a kind of information and energy cooperative transmission, comprising: source point transmitter, end
Point receiver and unmanned plane provided by the above embodiment, the unmanned plane are used for as the source point transmitter and the terminal
Between receiver communication relay or energy is collected from source signal transmitted by the source point transmitter.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or part of or all technical features are carried out etc.
With replacement；And these modifications or substitutions, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution
Range.
Claims (10)
1. the communication means of a kind of information and energy cooperative transmission, which is characterized in that applied to information and energy cooperative transmission
Cooperation communication system, the system comprises: source point transmitter, terminal receiver and as the source point transmitter and the end
The unmanned plane of communication relay, the unmanned plane are also used to from source signal transmitted by the source point transmitter between point receiver
Collect energy；The described method includes:
It initializes between power distribution, flight path and the source point transmitter and the terminal receiver of the unmanned plane
The first cooperation handling capacity, wherein power distribution includes output power value of the unmanned plane in each timing node,
The flight path is the location information that the unmanned plane includes in each timing node；
The unmanned plane is calculated most according to power distribution, the flight path and the first cooperation optimized throughput
Good decision distribution, best power distribution and flight optimization track, wherein the best decision distribution includes that the unmanned plane exists
Working condition when each timing node, the working condition are as between the source point transmitter and the terminal receiver
The unmanned plane of communication relay collects energy from source signal transmitted by the source point transmitter；
Collaboration communication is carried out according to best decision distribution, best power distribution and the flight optimization track, with
Make between the source point transmitter and the terminal receiver cooperate it is throughput-maximized.
2. the method according to claim 1, wherein it is described according to the power distribution, the flight path with
And the first cooperation optimized throughput calculates the best decision distribution of the unmanned plane, best power distribution and flight optimization
Track, comprising:
The decision distribution of the unmanned plane is calculated according to power distribution and flight path optimization；
The power distribution is updated according to decision distribution and the flight path；
According to flight path described in decision distribution and the power distributed update；
The source point transmitter and the terminal are calculated according to decision distribution, power distribution and the flight path
The second cooperation handling capacity between receiver；
Judge it is described second cooperation handling capacity and described first cooperate handling capacity difference whether be less than preset tolerance；
If the determination result is YES, then the decision distribution, power distribution and the flight path are exported respectively as institute
State the best decision distribution, best power distribution and the flight optimization track of unmanned plane.
3. according to the method described in claim 2, it is characterized in that, judging that the second cooperation handling capacity cooperates with described first
Whether the difference of handling capacity is less than preset tolerance, and judging result is no；
The first cooperation handling capacity is updated to the second cooperation handling capacity；
The decision distribution of the unmanned plane is calculated according to power distribution and flight path optimization；
The power distribution is updated according to decision distribution and the flight path；
According to flight path described in decision distribution and the power distributed update；
The source point transmitter and the terminal are updated according to decision distribution, power distribution and the flight path
The second cooperation handling capacity between receiver；
Judge it is described second cooperation handling capacity and described first cooperate handling capacity difference whether be less than the preset tolerance；
If the determination result is YES, then the decision distribution, power distribution and the flight path are exported respectively as institute
State the best decision distribution, best power distribution and the flight optimization track of unmanned plane.
4. the method according to shown in claim 2, which is characterized in that described according to power distribution and the flight path
Calculate the decision distribution of the unmanned plane, comprising:
The continuous variable that the decision variable relaxation that the decision is distributed is 0 to 1, so that the optimization calculating of decision distribution is asked
Topic is converted into linear programming problem；
The linear programming problem is solved to obtain the decision distribution.
5. the method according to shown in claim 2, which is characterized in that described according to decision distribution and the flight path
Update the power distribution, comprising:
Lagrange duality equation solution is converted by the optimization computational problem that the power is distributed according to method of Lagrange multipliers
Problem；
The solution of optimal solution is carried out to the Lagrange duality equation to obtain the power distribution.
6. the method according to shown in claim 2, which is characterized in that described to be distributed according to decision distribution and the power
Update the flight path, comprising:
The track increment in the unmanned plane unit time is calculated according to decision distribution and power distribution；
According in the flight path initial position parameters and the track incremental update described in flight path.
7. according to method shown in any one of claim 2-6, which is characterized in that exporting decision distribution, described
Power distribution and the flight path are distributed respectively as the best decision distribution of the unmanned plane, the best power
And before the flight optimization track, further includes:
The best decision is distributed and carries out binarization, so that working as the unmanned plane in the value that the best decision is distributed is 1
When, as the relaying between the source point transmitter and the terminal receiver, when the unmanned plane is in the best decision point
When the value of cloth is 0, energy is collected from source signal transmitted by the source point transmitter.
8. the communication device of a kind of information and energy cooperative transmission, which is characterized in that applied to information and energy cooperative transmission
Cooperation communication system, the system comprises: source point transmitter, terminal receiver and as the source point transmitter and the end
The unmanned plane of communication relay, the unmanned plane are also used to from source signal transmitted by the source point transmitter between point receiver
Collect energy；Include:
Initialization module, for initializing power distribution, flight path and the source point transmitter and the institute of the unmanned plane
State the first cooperation handling capacity between terminal receiver, wherein the power distribution includes unmanned plane segmentum intercalaris when each
Output power value when point, the flight path are the location information that the unmanned plane includes in each timing node；
Optimize computing module, for according to power distribution, the flight path and the first cooperation optimized throughput
Calculate the best decision distribution, best power distribution and flight optimization track of the unmanned plane, wherein the best decision point
Cloth includes working condition of the unmanned plane in each timing node, the working condition be as the source point transmitter with
Between the terminal receiver unmanned plane of communication relay or energy is collected from source signal transmitted by the source point transmitter；
Collaboration communication module, for according to best decision distribution, best power distribution and the flight optimization rail
Mark carries out collaboration communication, so that cooperating between the source point transmitter and the terminal receiver is throughput-maximized.
9. a kind of unmanned plane characterized by comprising on-vehicle battery and collaboration communication device as claimed in claim 8；
The on-vehicle battery, for providing power for the maneuvering flight of the unmanned plane；
The collaboration communication device, for providing relaying between the source point transmitter and the terminal receiver or from described
Energy is collected in source signal transmitted by source point transmitter；
Wherein, the communication that the energy that the collaboration communication device is collected from the source point transmitter is used for as the unmanned plane
Transmission provides power.
10. the communication system of a kind of information and energy cooperative transmission characterized by comprising source point transmitter, terminal receiver
And unmanned plane as claimed in claim 9, the unmanned plane are used for as the source point transmitter and the terminal receiver
Between communication relay or collect energy from source signal transmitted by the source point transmitter.
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