CN112436916A - Multilink interference elimination method applied to satellite and unmanned aerial vehicle integrated networking - Google Patents
Multilink interference elimination method applied to satellite and unmanned aerial vehicle integrated networking Download PDFInfo
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- H—ELECTRICITY
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- H04B7/185—Space-based or airborne stations; Stations for satellite systems
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- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
- H04B7/18519—Operations control, administration or maintenance
Abstract
The invention relates to a multilink interference elimination method applied to satellite and unmanned aerial vehicle comprehensive networking, which determines access modes of all ground terminals, so that at least one ground terminal is accessed to a satellite, and one ground terminal is accessed to an unmanned aerial vehicle to complete networking; to access a satellite or drone. After networking is completed, determining the uplink rate and the downlink rate of each ground terminal and the accessed corresponding satellite communication link; determining the uplink rate and the downlink rate of the ground terminal and the accessed corresponding unmanned aerial vehicle communication link at different heights within the height adjustable range of the unmanned aerial vehicle; when the co-frequency interference of any one communication link is calculated, the time division duplex modes of the other communication links are fixed; calculating the co-channel interference value of the communication link in a time division duplex mode; obtaining co-frequency interference values of all communication links in a time division duplex mode; and determining the optimal heights of all unmanned aerial vehicles and the optimal time division duplex mode of all links, and eliminating co-channel interference to the maximum extent.
Description
Technical Field
The invention relates to a multilink interference elimination method applied to satellite and unmanned aerial vehicle integrated networking, and belongs to the technical field of satellite communication and unmanned aerial vehicle communication.
Background
Definition and composition of satellite communications. Satellite communication refers to a wireless communication mode for information interaction between a user terminal and a core network through a satellite, and the satellite used for the communication mode comprises a GEO (geosynchronous Earth orbit) communication satellite deployed at an orbit position of about 36000 kilometers, an MEO (Medium Earth orbit) communication satellite deployed at an orbit position of 36000 kilometers and an LEO (Low Earth orbit) communication satellite deployed at an orbit position of 50-2000 kilometers. A simple satellite communication system typically consists of a user terminal, a satellite and a gateway station, with the flow of information from the gateway station to the user terminal via the satellite typically being referred to as a forward link and from the user terminal to the gateway station via the satellite being a return link. The user terminal is usually a mobile communication terminal or a fixed ground receiving station, the gateway station is usually a fixed ground receiving station and is used for connecting a core network and carrying out information interaction with the user terminal, the user terminal can establish a one-way or two-way communication link with a communication satellite, and the gateway station establishes a two-way communication link with the communication satellite; the processing of information by communication satellites can be divided into two modes of transparent forwarding and on-satellite processing.
Composition and classification of drone communications. In recent years, unmanned planes typified by quad-rotor unmanned planes have been widely used in many aspects of social development and recreational life. Meanwhile, wireless communication technologies represented by a fifth Generation (5th Generation,5G) mobile communication system are rapidly developing, application scenarios are expanding, and communication performance is improving.
Performance and application scenarios for satellite communications. The uplink and downlink transmission rate provided by the traditional wide-beam GEO satellite is generally not more than 500kpbs, the system capacity of 50-300Gbps can be provided by the narrow-beam high-throughput GEO satellite developed in recent years, and the end-to-end delay (terminal-satellite-gateway station) of the GEO satellite is about 500 ms. LEO satellite can provide 0.5-5.2Gbps up-and-down transmission rate, and end-to-end delay can be as low as tens of ms. Satellite communications are generally applied in three categories: 1) providing mobile communication service for remote areas without or with insufficient coverage of a ground communication network; 2) when mobile terminals such as airplanes, trains, automobiles, ships and the like access to a traditional ground communication network, the mobile terminals face the difficulties of no network coverage or high-complexity mobility management and the like, and satellite communication can provide wireless communication service for the mobile terminals; 3) the method provides services such as multicast and multicast for the edge of the traditional ground communication network or the non-coverage area, such as satellite television broadcasting, emergency communication and the like.
Spatial spectrum resources are in short supply. The spectrum resource used for wireless communication is an important strategic resource which is not renewable, and with the rapid development of satellite communication and terrestrial cellular mobile communication for decades, the shortage of the spectrum resource has become one of the important factors for restricting the development of future wireless communication. The method makes full use of limited frequency spectrum resources and performs effective interference management, and is a key point and a difficult point in the comprehensive networking of the satellite and the unmanned aerial vehicle.
Disclosure of Invention
The technical problem solved by the invention is as follows: the invention overcomes the defects of the prior art, provides a multilink interference elimination method applied to the comprehensive networking of a satellite and an unmanned aerial vehicle, considers that the wireless communication links of the satellite and the unmanned aerial vehicle both use the same frequency band, and aims at the problem that the throughput of a system is reduced due to the same frequency interference between the multilinks when the satellite and the unmanned aerial vehicle are comprehensively networked. The core principle of the invention for reducing interference and improving throughput is that the direction and the size of co-channel interference can be changed by changing the height of the unmanned aerial vehicle and the link transmission direction, so that the interference on a receiver when a satellite and the unmanned aerial vehicle are comprehensively networked is minimized.
The technical scheme of the invention is as follows: a multilink interference elimination method applied to satellite and unmanned aerial vehicle comprehensive networking comprises the following steps:
step one, acquiring the transmitting power P of all satellites, unmanned aerial vehicles and ground terminals in a comprehensive networking application scenes、PuAnd PgMain lobe width theta of antenna beam for satellite and dronesAnd thetauUnmanned aerial vehicle height adjustable scope HumaxAnd HuminAll satellite, unmanned aerial vehicle and ground terminalNumber and location coordinates.
Step two, acquiring the transmitting power P of all satellites, unmanned aerial vehicles and ground terminals in the comprehensive networking application scene according to the step ones、PuAnd PgMain lobe width theta of antenna beam for satellite and dronesAnd thetauUnmanned aerial vehicle height-adjustable scope HumaxAnd HuminDetermining the access modes of all the ground terminals according to the number and the position coordinates of all the satellites, the unmanned aerial vehicles and the ground terminals, so that at least one ground terminal is accessed to the satellite, and one ground terminal is accessed to the unmanned aerial vehicle to complete networking; to access a satellite or drone.
After networking is completed, determining the uplink rate and the downlink rate of each ground terminal and the accessed corresponding satellite communication link according to the path loss of the link for communication between the satellite and the ground terminal and the large-scale shadow fading of signal transmission in the link;
determining uplink rates and downlink rates of the ground terminals and the accessed corresponding unmanned aerial vehicle communication links at different heights within the height adjustable range of the unmanned aerial vehicle according to the path loss of the links of the ground terminals and the accessed corresponding unmanned aerial vehicle communication links and the large-scale shadow fading of signal transmission in the links;
step four, calculating the bidirectional speed sum of each ground terminal and the satellite communication link correspondingly accessed and the bidirectional speed sum of each ground terminal and the unmanned aerial vehicle communication link correspondingly accessed under different heights within the height adjustable range of the unmanned aerial vehicle;
fifthly, when the co-frequency interference of any communication link is calculated, the time division duplex modes of the other communication links are fixed; calculating the bidirectional rate sum of each ground terminal and the satellite communication link correspondingly accessed and the bidirectional rate sum of each ground terminal and the unmanned aerial vehicle communication link correspondingly accessed under different heights within the height adjustable range of the unmanned aerial vehicle according to the fourth step, calculating the same frequency interference value of the communication link under the time division duplex mode, and so on, traversing the time division duplex mode combination of all the other communication links to obtain the same frequency interference value of all the communication links under the time division duplex mode;
sixthly, determining the communication network throughput under the comprehensive networking application scene under different heights in the height adjustable range of the unmanned aerial vehicle and the time division duplex mode according to the calculated bidirectional rate sum of each ground terminal and the corresponding accessed satellite communication link, the bidirectional rate sum of each ground terminal and the corresponding accessed unmanned aerial vehicle communication link under different heights in the height adjustable range of the unmanned aerial vehicle, and the same frequency interference values under the time division duplex mode of all the communication links obtained in the fifth step;
step seven, comparing the communication network throughput under the comprehensive networking application scene under different heights in the height adjustable range of the unmanned aerial vehicle and the time division duplex mode to obtain the heights of the unmanned aerial vehicles corresponding to the maximum network throughput and the time division duplex mode of each communication link; the optimal height of each unmanned aerial vehicle and the optimal time division duplex mode of each link are obtained;
and step eight, according to the optimal heights of all the unmanned aerial vehicles and the optimal time division duplex mode of all the links, adjusting the heights of all the unmanned aerial vehicles with the optimal current height adjustment values of all the unmanned aerial vehicles in the comprehensive networking application scene, and adjusting the current time division duplex mode of all the communication links to the optimal time division duplex mode of all the links, namely, eliminating co-channel interference to the maximum extent.
Preferably, the height of the drone is the height of the drone from the sea level.
Preferably, the ground terminal access modes include two modes, namely a satellite access mode and an unmanned aerial vehicle access mode, and the access criterion is the nearest criterion, namely the ground terminal selects the satellite or the unmanned aerial vehicle which is closest to the ground terminal to access until the service is finished.
Preferably, the time division duplex mode comprises: an odd upper part and an odd lower part; the odd time, the upper time and the even time are uplink communication at odd time and downlink communication at even time, which are sequentially alternated; the odd-down even-up is the odd-up even-down, i.e. the odd time, and the even time, i.e. the odd time, performs uplink communication and the even time performs downlink communication, which are sequentially alternated.
Preferably, the comprehensive networking application scenario includes: an unmanned aerial vehicle, a plurality of satellites and a ground terminal;
the unmanned aerial vehicle can be deployed between 100m and 1000m from the sea level, and is one or more; the number of the satellites is one or more, and when only one satellite is provided, the satellite can be LEO, MEO or GEO; when a plurality of satellites exist, only LEO and MEO or only LEO and GEO can be provided; alternatively, only MEO or GEO; LEO, MEO and GEO are also possible.
The number of the ground terminals is more than two;
the unmanned aerial vehicle and the satellite are both provided with directional antennas to the ground; an omnidirectional antenna is arranged on the ground terminal;
the satellite and the unmanned aerial vehicle are integrated in a networking mode and a communication mode. The multilink interference elimination method provided by the invention is suitable for comprehensive networking of any unmanned aerial vehicle and satellite, the unmanned aerial vehicle can be deployed between 100 plus 1000m, the satellite can be LEO, MEO and GEO, the unmanned aerial vehicle and the satellite can simultaneously provide communication service for ground users at the same frequency, the unmanned aerial vehicle and the satellite are connected with a ground core network by being connected with a ground gateway station, and a ground terminal can be connected with the unmanned aerial vehicle and the satellite. The air-ground links used by the drones and the satellites both use a Time Division Duplex (TDD) mode of operation with load balancing.
Preferably, the drone may be a fixed wing, or a multi-rotor drone, requiring that the drone be able to carry at least the wireless communication load and be used to communicate sufficient energy.
Preferably, the ground core network has a function of receiving a backhaul link of the satellite and the drone, and may also have a function of forwarding core network information to the satellite and the drone.
Preferably, the ground terminal is provided with a wireless communication terminal, and the terminal has a function of selectively accessing the unmanned aerial vehicle and also can selectively access the satellite. The receiving sensitivity of the wireless communication terminal needs to be matched with a satellite and an unmanned aerial vehicle.
Preferably, the air-ground link of the drone refers to: a link for communication between the unmanned aerial vehicle and the ground terminal;
the air-ground link used by the satellite refers to: a link for communication between the satellite and the ground terminal.
Preferably, the air-ground links used by the drone and the satellite both use a Time Division Duplex (TDD) operating mode of load balancing, specifically: in two continuous time slots, the first time slot carries out uplink communication, the second time slot carries out downlink communication, and the uplink and downlink communication use all frequency bands allocated to links.
Preferably, the height adjustable range H of the unmanned aerial vehicleumaxAnd HuminThe requirements are as follows: minimum height HuminNeed to consider the geographic environment for collision avoidance, maximum height HumaxIt is necessary to support maximum altitude matching with the drone used.
Preferably, the bidirectional rate sum refers to the sum of the uplink rate and the downlink rate of the link.
Preferably, the path loss of the link refers to amplitude fading experienced by the wireless communication signal during free space propagation.
Compared with the prior art, the invention has the advantages that:
(1) when the satellite and the unmanned aerial vehicle are comprehensively networked, the satellite link and the unmanned aerial vehicle link are considered to be simultaneously communicated at the same frequency, so that the frequency spectrum utilization rate is effectively improved, and the method can be used as a comprehensive networking mode of the satellite/the unmanned aerial vehicle under the condition that the current wireless communication frequency spectrum resources are increasingly in shortage.
(2) Aiming at the problem of interference when multiple links simultaneously carry out same-frequency communication, the invention provides that the same-frequency interference is reduced as much as possible by adjusting the link transmission direction and the height of the unmanned aerial vehicle, wherein the source and the experienced channel of the interference can be changed by adjusting the link transmission direction, and the reasonable balance between the path loss and the satellite link interference of the unmanned aerial vehicle can be made by adjusting the height of the unmanned aerial vehicle.
(3) The method and the system fully acquire parameter information of each node in the comprehensive networking, and calculate the optimal unmanned aerial vehicle height and the optimal link time division duplex mode for maximizing network throughput based on the parameter information.
Drawings
FIG. 1 is a schematic diagram of a comprehensive networking scenario of a satellite and an unmanned aerial vehicle;
FIG. 2 is a schematic diagram of a satellite and unmanned aerial vehicle integrated networking scene II;
FIG. 3 is a schematic diagram of a satellite and unmanned aerial vehicle integrated networking scene;
FIG. 4 is a diagram illustrating a satellite and UAV integrated networking scenario;
fig. 5 is a flow chart of the present invention for multi-link interference cancellation.
Detailed Description
The invention is described in further detail below with reference to the figures and specific embodiments.
The invention relates to a multilink interference elimination method applied to satellite and unmanned aerial vehicle comprehensive networking, which determines access modes of all ground terminals, so that at least one ground terminal is accessed to a satellite, and one ground terminal is accessed to an unmanned aerial vehicle to complete networking; to access a satellite or drone. After networking is completed, determining the uplink rate and the downlink rate of each ground terminal and the accessed corresponding satellite communication link; determining the uplink rate and the downlink rate of the ground terminal and the accessed corresponding unmanned aerial vehicle communication link at different heights within the height adjustable range of the unmanned aerial vehicle; when the co-frequency interference of any one communication link is calculated, the time division duplex modes of the other communication links are fixed; and calculating the co-channel interference value of the communication link in the time division duplex mode. By analogy, traversing the time division duplex mode combination of all the other communication links to obtain the same frequency interference value of all the communication links in the time division duplex mode; and determining the optimal heights of all the unmanned aerial vehicles and the optimal time division duplex mode of all the links, adjusting the heights of all the unmanned aerial vehicles to the optimal heights of all the unmanned aerial vehicles and adjusting the heights of all the unmanned aerial vehicles to the optimal time division duplex mode of all the links, namely eliminating the same frequency interference to the maximum extent.
The unmanned aerial vehicle carries a wireless communication load, on one hand, the unmanned aerial vehicle carries a terminal load which can be used as an aerial user to access a ground base station of a ground mobile communication system, and high-speed return of image/video data is realized. On the other hand, due to the characteristics of rapid deployment and flexibility, the unmanned aerial vehicle can also carry a base station/relay load to be deployed as an aerial base station/aerial relay to provide services such as emergency communication and hot spot area enhanced coverage.
The satellite communication and unmanned aerial vehicle communication comprehensive networking application. The satellite and the unmanned aerial vehicle have the characteristics of wide communication coverage range, flexible and variable coverage area and the like, and the research work of a non-ground communication network formed by platforms such as a 5G mobile communication system application satellite and an unmanned aerial vehicle is developed in the industry represented by 3 GPP. The role of the non-terrestrial network in 5G can be roughly divided into three aspects: 1) providing an economical and efficient internet network access service in an area which cannot be covered or is not covered sufficiently by a ground communication network; 2) the reinforced 5G communication system provides mobile communication service for mobile platforms such as airplanes, ships, high-speed rails, automobiles and the like; 3) efficient multicast and broadcast services are provided for edge users of terrestrial networks. The satellite and the unmanned aerial vehicle are comprehensively networked, so that the characteristics of heterogeneous platforms such as the satellite and the unmanned aerial vehicle can be further explored, and flexible and reliable wireless communication service can be provided for users in different scenes.
The application scene of the invention is a comprehensive networking scene with a satellite, an unmanned aerial vehicle and a ground terminal, and the ground terminal uses a time division duplex mode to carry out two-way communication with the satellite or the unmanned aerial vehicle. Under this scene, ground terminal can select to be connected with satellite or unmanned aerial vehicle and carry out two-way communication, and ground terminal and satellite or unmanned aerial vehicle set up's two-way communication link can select to work in different time division duplex mode, and unmanned aerial vehicle can select to deploy at different heights, therefore this synthesize networking scene communication mode nimble changeable, the combination is complicated, under different conditions same frequency interference different and time division duplex mode and unmanned aerial vehicle deploy high selection have can cause serious inter-link same frequency interference.
The multilink interference elimination method provided by the invention can effectively select the optimal link time division duplex mode and the optimal unmanned aerial vehicle deployment height in flexible and changeable and complex combined communication modes, can eliminate the same frequency interference to the maximum extent, and improves the communication performance of each link in a comprehensive networking scene.
As shown in fig. 1, a first comprehensive networking scene of a satellite and an unmanned aerial vehicle is divided into a left side 1) and a right side 2), wherein 1) the unmanned aerial vehicle is within a satellite coverage range; 2) the two links use the same transmission direction;
fig. 2 is a second comprehensive networking scene of a satellite and an unmanned aerial vehicle, which is divided into a left side 1) and a right side 2), wherein 1) the unmanned aerial vehicle is within a satellite coverage range; 2) the two links use different transmission directions;
fig. 3 is a third comprehensive networking scene of a satellite and an unmanned aerial vehicle, which is divided into a left side 1) and a right side 2), wherein 1) the unmanned aerial vehicle is out of the coverage range of the satellite; 2) the two links use different transmission directions;
fig. 4 shows a fourth scenario of comprehensive networking of a satellite and an unmanned aerial vehicle, which is divided into a left side 1) and a right side 2), wherein 1) the unmanned aerial vehicle is within a satellite coverage range; 2) the two links use the same transmission direction;
as shown in fig. 5, the multilink interference cancellation method applied to the satellite and unmanned aerial vehicle integrated networking of the present invention preferably includes the following steps:
step one, acquiring the transmitting power P of all satellites, unmanned aerial vehicles and ground terminals in a comprehensive networking application scenes、PuAnd PgMain lobe width theta of antenna beam for satellite and dronesAnd thetauUnmanned aerial vehicle height adjustable scope HumaxAnd HuminThe number and position coordinates of all satellites, drones and ground terminals. The preferred scheme is as follows:
the integrated networking management and control can be carried out by a satellite or an unmanned aerial vehicle, namely, a management and control program is installed on the satellite or the unmanned aerial vehicle.
As shown in fig. 1, all satellites, drones and ground terminals in the integrated networking scene use the transmission power P of all satellites, drones and ground terminalss、PuAnd PgSatellite and drone antenna beam main lobe width θsAnd thetauUnmanned aerial vehicle height adjustable scope HumaxAnd HuminAnd the data of the number and the position coordinates of all the satellites, the unmanned aerial vehicles and the ground terminals are sent to the satellites or the unmanned aerial vehicles where the management and control programs are located.
The data transmission implementation mode specifically includes: all satellites, unmanned aerial vehicles and ground terminals periodically broadcast own parameter information by using preset frequency bands and power, and the satellites or the unmanned aerial vehicles where management and control programs are located periodically receive the parameter information of all satellites, unmanned aerial vehicles and ground terminals on the preset frequency bands.
Therefore, various parameter information in the comprehensive networking application scene is acquired.
Step two, acquiring the transmitting power P of all satellites, unmanned aerial vehicles and ground terminals in the comprehensive networking application scene according to the step ones、PuAnd PgMain lobe width theta of antenna beam for satellite and dronesAnd thetauUnmanned aerial vehicle height adjustable scope HumaxAnd HuminDetermining the access modes of all the ground terminals according to the number and the position coordinates of all the satellites, the unmanned aerial vehicles and the ground terminals, so that at least one ground terminal is accessed to the satellite, and one ground terminal is accessed to the unmanned aerial vehicle to complete networking; to access a satellite or drone. The preferred scheme is as follows:
the invention is oriented to a comprehensive networking scene of satellites and unmanned aerial vehicles, so that the number of the unmanned aerial vehicles and the satellites is at least 1, the number of ground terminals is at least more than or equal to the number of the unmanned aerial vehicles and the satellites, and the access modes of the ground terminals can be determined to be divided into the following two conditions:
the situation one, ground terminal quantity equals unmanned aerial vehicle + satellite quantity. Can realize that all ground terminals and satellite or unmanned aerial vehicle match the access this moment, according to satellite, unmanned aerial vehicle and ground terminal's coordinate position, according to the communication distance most closely criterion commonly used, with ground terminal access distance each nearest satellite or unmanned aerial vehicle respectively.
And in case two, the number of the ground terminals is greater than the number of the unmanned aerial vehicles and the number of the satellites. At this moment, the number that can realize ground terminal access satellite or unmanned aerial vehicle is less than current ground terminal quantity, selects the ground terminal that equals satellite + unmanned aerial vehicle quantity at random from current all ground terminals, according to the communication distance most closely following criterion commonly used, inserts ground terminal respectively apart from each nearest satellite or unmanned aerial vehicle. In addition, the remaining unaccessed ground terminals try to access again after waiting for the round of communication to be completed.
The specific access method comprises the following steps: the satellite or the unmanned aerial vehicle in which the management and control program in the step one is located can broadcast the matching results determined in the case one and the case two to each access node, and the matching of the communication addresses on the communication protocol is completed, that is, the access is completed.
After networking is completed, determining the uplink rate and the downlink rate of each ground terminal and the accessed corresponding satellite communication link according to the path loss of the link for communication between the satellite and the ground terminal and the large-scale shadow fading of signal transmission in the link;
determining uplink rates and downlink rates of the ground terminals and the accessed corresponding unmanned aerial vehicle communication links at different heights within the height adjustable range of the unmanned aerial vehicle according to the path loss of the links of the ground terminals and the accessed corresponding unmanned aerial vehicle communication links and the large-scale shadow fading of signal transmission in the links; the preferred scheme is as follows:
path loss L of satellite air-ground linksCan be expressed as:
wherein f iscFor the communication carrier frequency, C is the speed of light, dsDistance between satellite and ground terminal, nsIs the path loss attenuation factor of the satellite air-ground link.
The path loss of the drone air-to-ground link may be expressed as
Wherein d isu(Hu) For Euler distance between unmanned aerial vehicle and ground terminal and for height H of unmanned aerial vehicleuFunction of (in light of the foregoing, drone altitude HuIn the range of HumaxAnd HuminBefore), n)uThe path loss attenuation factor of the unmanned aerial vehicle air-ground link.
The shadow fading of the satellite air-ground link and the drone air-ground link may be denoted as Φ, respectivelysAnd phiuThe link noise is expressed asσ。
The satellite air-ground link uplink rate can be calculated by:
the satellite air-ground link downlink rate can be calculated by the following formula:
the uplink rate of the unmanned aerial vehicle air-ground link can be calculated by the following formula:
the downlink rate of the unmanned aerial vehicle air-ground link can be calculated by the following formula:
because the height of the unmanned aerial vehicle can be flexibly adjusted in the invention, the uplink and downlink speed of the unmanned aerial vehicle on the air-ground link is the height H of the unmanned aerial vehicleuThe functions of (a), namely the uplink rate and the downlink rate of the air-ground link of the unmanned aerial vehicle are the uplink rate and the downlink rate of the unmanned aerial vehicle at different heights.
Step four, calculating the bidirectional speed sum of each ground terminal and the satellite communication link correspondingly accessed and the bidirectional speed sum of each ground terminal and the unmanned aerial vehicle communication link correspondingly accessed under different heights within the height adjustable range of the unmanned aerial vehicle; the preferred scheme is as follows:
satellite air-ground link bidirectional rate sum
Can be calculated by the following formula:
bidirectional speed sum of unmanned aerial vehicle air-ground links at different heights within height adjustable range of unmanned aerial vehicle
Can be calculated by the following formula:
fifthly, when the co-frequency interference of any communication link is calculated, the time division duplex modes of the other communication links are fixed; calculating the bidirectional rate sum of each ground terminal and the satellite communication link correspondingly accessed and the bidirectional rate sum of each ground terminal and the unmanned aerial vehicle communication link correspondingly accessed under different heights within the height adjustable range of the unmanned aerial vehicle according to the fourth step, calculating the same frequency interference value of the communication link under the time division duplex mode, and so on, traversing the time division duplex mode combination of all the other communication links to obtain the same frequency interference value of all the communication links under the time division duplex mode; the preferred scheme is as follows:
traversing all the time division duplex mode combinations of the other communication links to obtain the co-channel interference values of all the communication links in the time division duplex mode:
time division duplex mode: time division duplex is a communication mode in which uplink and downlink use the same frequency band but perform uplink or downlink communication in different time slots. The time division duplex can be divided into an odd-up mode, an odd-down mode and an even-up mode; the odd time, the upper time and the even time are uplink communication at odd time and downlink communication at even time, which are sequentially alternated; the odd-down even-up is the odd-up even-down, i.e. the odd time, and the even time, i.e. the odd time, performs uplink communication and the even time performs downlink communication, which are sequentially alternated.
Traversing the time division duplex mode: assuming that there are two communication links (the first is the drone air-ground link between a drone and a ground terminal node; the second is the satellite air-ground link between a satellite and a ground terminal node), each communication link has (as mentioned in the above paragraph) two tdd operation modes, namely odd-up, even-down, and odd-down, even-up, so there are four different tdd operation mode combinations: 1) the first link is odd, up and down, and the second link is odd, up and down; 2) the first link is odd, even and lower, and the second abuse link is odd, even and lower; 3) the first link is odd, lower, even and upper, and the second link is odd, upper and lower; 4) the first chain is odd, lower and even, and the second chain is odd, lower and even. The above description can be seen in fig. 1, 2, 3 and 4.
And (3) calculating the same frequency interference: assume that both links (as described in the previous example) operate in the following operating mode: the first link is odd, up and down, and the second link is odd, up and down, so that the first link sends an uplink signal to the unmanned aerial vehicle for the ground terminal node at odd time, and the second link sends an uplink signal to the satellite for the ground terminal node; and the first link at even time is used for sending downlink signals to the ground terminal nodes by the unmanned aerial vehicle, and the second link is used for sending downlink signals to the ground terminal nodes by the satellite. At this time, because the two links work in the same frequency band, the unmanned aerial vehicle and the satellite at the odd moment are interfered by uplink signals from the ground terminal in the other link respectively, and the ground terminal node at the even moment is interfered by the satellite and the unmanned aerial vehicle in the other link respectively. Based on the positions of the unmanned aerial vehicle/satellite/two ground terminal nodes and the transmitting powers of the three nodes, the co-channel interferences can be calculated.
And r is used for indicating the sign of the time division duplex mode of the link, namely r-0 indicates that the link is odd-up or even-down, and r-1 indicates that the link is odd-down or even-up.
The same frequency interference on the uplink of the satellite space-ground link in the above example
(and is in time division duplex mode r and drone altitude HuFunction of) can be calculated by:
co-channel interference suffered by satellite air-ground link downlink
Can be calculated by the following formula:
co-channel interference suffered by unmanned aerial vehicle air-ground link uplink
(and is in time division duplex mode r and drone altitude HuFunction of) can be calculated by:
co-channel interference suffered by satellite air-ground link downlink
Can be calculated by the following formula:
the co-channel interference values of the other links can be obtained similarly. The same frequency interference value is the height H of the unmanned aerial vehicleuThis also relates to the time division duplex mode r.
Sixthly, determining the communication network throughput under the comprehensive networking application scene under different heights in the height adjustable range of the unmanned aerial vehicle and the time division duplex mode according to the calculated bidirectional rate sum of each ground terminal and the corresponding accessed satellite communication link, the bidirectional rate sum of each ground terminal and the corresponding accessed unmanned aerial vehicle communication link under different heights in the height adjustable range of the unmanned aerial vehicle, and the same frequency interference values under the time division duplex mode of all the communication links obtained in the fifth step; the preferred scheme is as follows:
the preferred scheme is as follows: there are two communication links in the networking scenario: one is an unmanned aerial vehicle air-ground link between an unmanned aerial vehicle and a ground terminal node, and the other is a satellite air-ground link between a satellite and a ground terminal node. According to the traversal result of the time division duplex mode of the two links in the fifth example, the combination condition of four time division duplex modes exists at the moment; while in each time division duplex mode combination case, the drones may be deployed at different altitudes: for example, there are two altitudes of 100m and 200m, so the time division duplex mode and the altitude of the drone are 8 combination cases. The bi-directional rate sum and the co-channel interference experienced by the two links can be calculated in each case, and the communication network throughput can be further calculated in each case in 8 cases. )
According to the bidirectional rate sum of the satellite air-ground link
Unmanned aerial vehicle air-ground link bidirectional rate sum
All co-channel interference of satellite air-ground link uplink
Co-channel interference suffered by satellite air-ground link downlink
Co-channel interference suffered by unmanned aerial vehicle air-ground link uplink
And the same frequency interference suffered by the downlink of the air-ground link of the unmanned aerial vehicle
The communication network throughput under different unmanned aerial vehicle heights and different time division duplex modes can be calculated:
step seven, comparing the communication network throughput under the comprehensive networking application scene under different heights in the height adjustable range of the unmanned aerial vehicle and the time division duplex mode to obtain the heights of the unmanned aerial vehicles corresponding to the maximum network throughput and the time division duplex mode of each communication link; the optimal height of each unmanned aerial vehicle and the optimal time division duplex mode of each link are obtained; the preferred scheme is as follows:
according to the formula, traversing each HuAnd r, calculating C under different combinationsnet(r,Hu) Of which the largest C is selectednet(r,Hu) Value and its corresponding HuAnd r is the optimal unmanned aerial vehicle height and the optimal link time division duplex mode when the network throughput is maximum.
And step eight, according to the optimal heights of all the unmanned aerial vehicles and the optimal time division duplex mode of all the links, adjusting the heights of all the unmanned aerial vehicles with the optimal current height adjustment values of all the unmanned aerial vehicles in the comprehensive networking application scene, and adjusting the current time division duplex mode of all the communication links to the optimal time division duplex mode of all the links, namely, eliminating co-channel interference to the maximum extent. The preferred scheme is as follows:
and in the first step, the satellite or the unmanned aerial vehicle where the management and control program is located sends the calculated optimal unmanned aerial vehicle height and the optimal time division duplex mode to other satellites, unmanned aerial vehicles and ground terminals.
And all the satellite and ground terminals configure the time division duplex mode in the communication protocol according to the received optimal time division duplex mode.
All unmanned aerial vehicles adjust the height of the unmanned aerial vehicles to the optimal height of the unmanned aerial vehicles, and all unmanned aerial vehicles configure the time division duplex mode in the communication protocol according to the received optimal time division duplex mode.
At the moment, co-channel interference can be eliminated to the maximum extent through the height adjustment of the optimal unmanned aerial vehicle and the configuration of the optimal time division duplex mode, and the purpose of the invention is realized.
In order to improve the frequency spectrum use efficiency, the invention considers that the wireless communication links of the satellite and the unmanned aerial vehicle both use the same frequency band, and aims at the problem that the system throughput is reduced due to the same frequency interference among multiple links when the satellite and the unmanned aerial vehicle are comprehensively networked. The core principle of the invention for reducing interference and improving throughput is that the direction and the size of co-channel interference can be changed by changing the height of the unmanned aerial vehicle and the link transmission direction, so that the interference on a receiver when a satellite and the unmanned aerial vehicle are comprehensively networked is minimized.
The satellite and the unmanned aerial vehicle are integrated in a networking mode and a communication mode. The multilink interference elimination method provided by the invention is suitable for comprehensive networking of any unmanned aerial vehicle and satellite, the unmanned aerial vehicle can be deployed between 100 plus 1000m, the satellite can be LEO, MEO and GEO, the unmanned aerial vehicle and the satellite both use directional antennas to the ground, and the ground terminal antenna uses an omnidirectional antenna. Unmanned aerial vehicle and satellite can be simultaneously with the same frequency provide communication service to ground user, and unmanned aerial vehicle and satellite are all connected the core network through connecting ground gateway station, and ground user can insert unmanned aerial vehicle, also can insert the satellite. The air-ground links used by the unmanned aerial vehicle and the satellite both use a Time Division Duplex (TDD) working mode of load balancing, that is, in two consecutive Time slots, the first Time slot performs uplink communication, the second Time slot performs downlink communication, and the uplink and downlink communication both use all frequency bands allocated to the links.
And multi-link interference in the comprehensive networking of the satellite and the unmanned aerial vehicle. In order to fully utilize precious frequency spectrum resources, the invention considers the application scenarios as follows: the satellite and the unmanned aerial vehicle can provide service for ground users at the same time and the same frequency. Therefore, the unmanned aerial vehicle earth link and the satellite earth link inevitably generate mutual co-channel interference. Specifically, when the receiving end of one link is within the main lobe range of the transmitting end antenna of the other link, the receiving end will suffer from the co-channel interference of the transmitting end of the other link, which will reduce the receiving signal-to-noise ratio and seriously correspond to the communication performance.
A method for multi-link interference cancellation. The multi-link interference elimination method during the comprehensive networking of the satellite and the unmanned aerial vehicle has the core that 1) the link transmission direction is adjusted. The transmission directions of a plurality of links are adjusted to change the source of interference, so that the interference source more experiences the ground channel rather than the air-ground channel to propagate, and the ground channel experiences more severe shadow fading than the air-ground channel, so that the strength of an interference signal reaching a receiver can be reduced, and the signal-to-interference ratio of a receiving end is improved. 2) The height of the unmanned aerial vehicle is adjusted. The unmanned aerial vehicle can be away from the coverage range of the main beam lobe of the satellite by raising the height of the unmanned aerial vehicle, so that the interference from the satellite is avoided; but raising the height of the unmanned aerial vehicle will increase the link transmission distance and reduce the receiving end received signal strength. Therefore, there is a trade-off in the adjustment of the height of the drone, and the adjustment of the height can be determined by comparing and optimizing the parameters according to different transmission scenarios and system parameters.
The invention designs a multilink interference elimination method applied to comprehensive networking of satellites and unmanned aerial vehicles, which is suitable for comprehensive networking scenes of any unmanned aerial vehicle and any satellite. In the embodiment, we take a comprehensive networking scenario of a satellite and an unmanned aerial vehicle as an example to illustrate the core design of the present invention.
The invention designs a multilink interference elimination method applied to comprehensive networking of satellites and unmanned aerial vehicles, which is suitable for setting different beam main lobe widths for any unmanned aerial vehicle and any satellite. In the present embodiment, the core design of the present invention is illustrated by taking as an example a satellite and a drone set a specific beam main lobe width (and assuming that the transmit beam main lobe width and the receive beam main lobe width are the same at the same time). The invention designs a multilink interference elimination method applied to comprehensive networking of satellites and unmanned aerial vehicles, which is suitable for setting different unmanned aerial vehicle heights and satellite rail position heights for any unmanned aerial vehicle and any satellite. In the specific embodiment, the core design of the invention is described by taking the preferred case that one satellite and one drone are provided with a specific drone height adjustable range and satellite orbit height as an example.
The invention designs a multilink interference elimination method applied to satellite and unmanned aerial vehicle comprehensive networking, an application scene is shown in figure 1, the satellite and unmanned aerial vehicle comprehensive networking scene comprises a satellite (a certain specific orbit position height and a wave beam main lobe width, if a specific number is required to be appointed in the right, the satellite and unmanned aerial vehicle comprehensive networking scene can be set to be 100km and 60 degrees), an unmanned aerial vehicle (a certain specific unmanned aerial vehicle height adjustable range and a wave beam main lobe width, if a specific number is required to be appointed in the right, the wave beam main lobe width can be set to be 0.1km-3km and 60 degrees) and ground nodes, and the ground nodes can be randomly accessed to the satellite or the unmanned aerial vehicle and carry out wireless. Fig. 1-4 respectively depict four transmission scenarios of a service ground node when a drone and a satellite are comprehensively networked.
In fig. 1, the drone is in satellite coverage, and the two links use the same transmission direction. The satellite link and the drone link both consider the time division duplex communication mode of load balancing (explained above), so the whole transmission cycle can be divided into two phases of time slot one and time slot two: in the time slot I, an unmanned aerial vehicle link and a satellite link are both downlinks, a ground user in the unmanned aerial vehicle link is subjected to same frequency interference because of being in a satellite beam coverage range, and the ground user in the satellite link is out of the unmanned aerial vehicle coverage range and is not subjected to same frequency interference; and in the second time slot, the unmanned aerial vehicle link and the satellite link are both uplink links, the satellite in the satellite link is subjected to the same frequency interference of the ground user provided with the omnidirectional antenna, and the main lobe of the receiving antenna of the unmanned aerial vehicle in the unmanned aerial vehicle link does not contain the ground user in the satellite link, so that the unmanned aerial vehicle is not subjected to the same frequency interference.
In fig. 2, the drone is in the coverage of the satellite, and the two links use different transmission directions. The whole transmission cycle can be divided into two stages of a time slot I and a time slot II: in the time slot I, an unmanned aerial vehicle link is a downlink and a satellite link is an uplink, the satellite link is not subjected to same frequency interference because a satellite is positioned outside the coverage of an unmanned aerial vehicle emission beam, and a ground user in the unmanned aerial vehicle link is positioned in the coverage of a ground user omnidirectional antenna in the satellite link and is subjected to same frequency interference; in the time slot II, the link of the unmanned aerial vehicle is an uplink and the link of the satellite is a downlink, the ground user in the link of the satellite is subjected to the same frequency interference of the ground user in the link of the unmanned aerial vehicle, and the main lobe of the receiving antenna of the unmanned aerial vehicle in the link of the unmanned aerial vehicle does not contain the satellite in the link of the satellite, so that the unmanned aerial vehicle is not subjected to the same frequency interference.
In fig. 3, the drone is out of satellite coverage, and the two links use different transmission directions. The whole transmission cycle can be divided into two stages of a time slot I and a time slot II: in the time slot I, an unmanned aerial vehicle link is a downlink and a satellite link is an uplink, the satellite link is not subjected to same frequency interference because a satellite is positioned outside the coverage of an unmanned aerial vehicle emission beam, and a ground user in the unmanned aerial vehicle link is positioned in the coverage of a ground user omnidirectional antenna in the satellite link and is subjected to same frequency interference; in the time slot II, the link of the unmanned aerial vehicle is an uplink and the link of the satellite is a downlink, the ground user in the link of the satellite is subjected to the same frequency interference of the ground user in the link of the unmanned aerial vehicle, and the main lobe of the receiving antenna of the unmanned aerial vehicle in the link of the unmanned aerial vehicle does not contain the satellite in the link of the satellite, so that the unmanned aerial vehicle is not subjected to the same frequency interference.
In fig. 4 where the drone is out of satellite coverage, both links use the same transmission direction. The whole transmission cycle can be divided into two stages of a time slot I and a time slot II: in the time slot I, both the link of the unmanned aerial vehicle and the link of the satellite are uplink links, the unmanned aerial vehicle in the link of the unmanned aerial vehicle does not contain the ground user in the link of the satellite within the range of the receiving main lobe, so that the same frequency interference does not exist, and the satellite in the link of the satellite contains the ground user in the link of the unmanned aerial vehicle within the range of the receiving main lobe, so that the same frequency interference is received; and in the second time slot, the unmanned aerial vehicle link and the satellite link are both downlink links, and the ground user in the satellite link is positioned outside the main lobe of the unmanned aerial vehicle transmitting beam in the unmanned aerial vehicle link, so that the same frequency interference does not exist, and the ground user in the unmanned aerial vehicle link is in the main lobe of the transmitting antenna of the satellite link satellite and suffers from the same frequency interference.
Based on the above discussion of the four transmission scenarios, the method for eliminating the multi-link interference in the present invention can be described as follows:
the method comprises the steps of firstly, acquiring transmitting power P _ s, P _ u and P _ g of a satellite, an unmanned aerial vehicle and ground users in a comprehensive networking application scene, antenna beam main lobe widths Theta _ s and Theta _ u of the satellite and the unmanned aerial vehicle, a track position height H _ s of the satellite, a height H _ uav of the unmanned aerial vehicle, adjustable ranges H _ umax and H _ uman, the number and distribution of the ground users and the like.
And step two, determining a user access mode. The ground user can access the satellite and the unmanned aerial vehicle by adopting a random access mode.
Step three, each pair of service users traverse the four transmission scenarios of fig. 1-4. In each transmission scenario, the sum of the bidirectional rates of each link, i.e., the uplink rate plus the downlink rate, is calculated. The invention considers the path loss and the large-scale shadow fading when calculating the uplink and downlink rates, wherein the path loss can be calculated according to a widely applied free space fading model and the parameters of the first step, and the large-scale shadow fading is an empirical parameter in the propagation environment and can be obtained from historical measurement data.
And step four, comparing the bidirectional speed sums under the four transmission conditions to obtain the optimal unmanned aerial vehicle height and link transmission direction under the maximum bidirectional speed sum.
And step five, repeating the step three and the step four to finish the service under the comprehensive networking scene.
The invention realizes the further proposal of improving the anti-interference efficiency: the pitch angle of the ground terminal in the unmanned aerial vehicle and other unmanned aerial vehicle air-ground links or satellite air-ground links after the access is finished is set to be thetap(furthermore as described in step one of the description, the drone antenna beam main lobe width θu) Then, the constraint condition is satisfied: thetap>θuThe anti-interference efficiency can be further improved; similarly, the pitch angle of the ground terminal in the space-ground link of the satellite and other unmanned aerial vehicles or the space-ground link of the satellite after the access is set to be thetaq(furthermore, as described in step one of the description, satellite antenna main lobe width θs) Then, the constraint condition is satisfied: thetaq>θsThe anti-interference efficiency can be further improved; 2) the scheme for improving the anti-interference stability is as follows: let unmanned aerial vehicle air-ground link path loss phiuHas a rate of change of etauLet us say the path loss of the satellite air-ground linksHas a rate of change of etasThen, the constraint condition is satisfied: etau-ηs<1 hour, can effectively improve anti-interference stability.
Setting the network throughput without using the multilink interference cancellation method of the present invention to
The network throughput after using the multilink interference elimination method of the invention is
After actual measurement, if
The advantages of the present invention are embodied.
According to the invention, when a satellite and an unmanned aerial vehicle are comprehensively networked, simultaneous same-frequency communication of a satellite link and an unmanned aerial vehicle link is considered, the spectrum utilization rate is effectively improved, the method can be used as a satellite/unmanned aerial vehicle comprehensive networking mode under the condition that the current wireless communication spectrum resources are increasingly tensed, and the method aims at the interference problem when multiple links are simultaneously communicated with the same frequency.
The method and the system fully acquire parameter information of each node in the comprehensive networking, and calculate the optimal unmanned aerial vehicle height and the optimal link time division duplex mode for maximizing network throughput based on the parameter information.
Claims (13)
1. A multilink interference elimination method applied to satellite and unmanned aerial vehicle integrated networking is characterized by comprising the following steps:
step one, acquiring the transmitting power P of all satellites, unmanned aerial vehicles and ground terminals in a comprehensive networking application scenes、PuAnd PgMain lobe width theta of antenna beam for satellite and dronesAnd thetauNobodyHeight adjustable range HumaxAnd HuminThe number and position coordinates of all satellites, drones and ground terminals.
Step two, acquiring the transmitting power P of all satellites, unmanned aerial vehicles and ground terminals in the comprehensive networking application scene according to the step ones、PuAnd PgMain lobe width theta of antenna beam for satellite and dronesAnd thetauUnmanned aerial vehicle height-adjustable scope HumaxAnd HuminDetermining the access modes of all the ground terminals according to the number and the position coordinates of all the satellites, the unmanned aerial vehicles and the ground terminals, so that at least one ground terminal is accessed to the satellite, and one ground terminal is accessed to the unmanned aerial vehicle to complete networking; to access a satellite or drone.
After networking is completed, determining the uplink rate and the downlink rate of each ground terminal and the accessed corresponding satellite communication link according to the path loss of the link for communication between the satellite and the ground terminal and the large-scale shadow fading of signal transmission in the link;
determining uplink rates and downlink rates of the ground terminals and the accessed corresponding unmanned aerial vehicle communication links at different heights within the height adjustable range of the unmanned aerial vehicle according to the path loss of the links of the ground terminals and the accessed corresponding unmanned aerial vehicle communication links and the large-scale shadow fading of signal transmission in the links;
step four, calculating the bidirectional speed sum of each ground terminal and the satellite communication link correspondingly accessed and the bidirectional speed sum of each ground terminal and the unmanned aerial vehicle communication link correspondingly accessed under different heights within the height adjustable range of the unmanned aerial vehicle;
fifthly, when the co-frequency interference of any communication link is calculated, the time division duplex modes of the other communication links are fixed; calculating the bidirectional rate sum of each ground terminal and the satellite communication link correspondingly accessed and the bidirectional rate sum of each ground terminal and the unmanned aerial vehicle communication link correspondingly accessed under different heights within the height adjustable range of the unmanned aerial vehicle according to the fourth step, calculating the same frequency interference value of the communication link under the time division duplex mode, and so on, traversing the time division duplex mode combination of all the other communication links to obtain the same frequency interference value of all the communication links under the time division duplex mode;
sixthly, determining the communication network throughput under the comprehensive networking application scene under different heights in the height adjustable range of the unmanned aerial vehicle and the time division duplex mode according to the calculated bidirectional rate sum of each ground terminal and the corresponding accessed satellite communication link, the bidirectional rate sum of each ground terminal and the corresponding accessed unmanned aerial vehicle communication link under different heights in the height adjustable range of the unmanned aerial vehicle, and the same frequency interference values under the time division duplex mode of all the communication links obtained in the fifth step;
step seven, comparing the communication network throughput under the comprehensive networking application scene under different heights in the height adjustable range of the unmanned aerial vehicle and the time division duplex mode to obtain the heights of the unmanned aerial vehicles corresponding to the maximum network throughput and the time division duplex mode of each communication link; the optimal height of each unmanned aerial vehicle and the optimal time division duplex mode of each link are obtained;
and step eight, according to the optimal heights of all the unmanned aerial vehicles and the optimal time division duplex mode of all the links, adjusting the heights of all the unmanned aerial vehicles with the optimal current height adjustment values of all the unmanned aerial vehicles in the comprehensive networking application scene, and adjusting the current time division duplex mode of all the communication links to the optimal time division duplex mode of all the links, namely, eliminating co-channel interference to the maximum extent.
2. The method of claim 1, wherein the method comprises the following steps: the height of the unmanned aerial vehicle is the height of the unmanned aerial vehicle from the sea level.
3. The method of claim 1, wherein the method comprises the following steps: the ground terminal access modes comprise two modes, namely a satellite access mode and an unmanned aerial vehicle access mode, wherein the access criteria are the nearest criteria, namely the ground terminal selects the satellite or the unmanned aerial vehicle which is closest to the ground terminal to access until the service is finished.
4. The method of claim 1, wherein the method comprises the following steps: a time division duplex mode comprising: an odd upper part and an odd lower part; the odd time, the upper time and the even time are uplink communication at odd time and downlink communication at even time, which are sequentially alternated; the odd-down even-up is the odd-up even-down, i.e. the odd time, and the even time, i.e. the odd time, performs uplink communication and the even time performs downlink communication, which are sequentially alternated.
5. The method of claim 1, wherein the method comprises the following steps: the comprehensive networking application scene comprises the following steps: an unmanned aerial vehicle, a plurality of satellites and a ground terminal;
the unmanned aerial vehicle can be deployed between 100m and 1000m from the sea level, and is one or more; the number of the satellites is one or more, and when only one satellite is provided, the satellite can be LEO, MEO or GEO; when a plurality of satellites exist, only LEO and MEO or only LEO and GEO can be provided; alternatively, only MEO or GEO; LEO, MEO and GEO are also possible.
The number of the ground terminals is more than two;
the unmanned aerial vehicle and the satellite are both provided with directional antennas to the ground; an omnidirectional antenna is arranged on the ground terminal;
the satellite and the unmanned aerial vehicle are integrated in a networking mode and a communication mode. The multilink interference elimination method provided by the invention is suitable for comprehensive networking of any unmanned aerial vehicle and satellite, the unmanned aerial vehicle can be deployed between 100 plus 1000m, the satellite can be LEO, MEO and GEO, the unmanned aerial vehicle and the satellite can simultaneously provide communication service for ground users at the same frequency, the unmanned aerial vehicle and the satellite are connected with a ground core network by being connected with a ground gateway station, and a ground terminal can be connected with the unmanned aerial vehicle and the satellite. The air-ground links used by the drones and the satellites both use a Time Division Duplex (TDD) mode of operation with load balancing.
6. The method of claim 1, wherein the method comprises the following steps: unmanned aerial vehicle can be the fixed wing, also can be many rotor unmanned aerial vehicle, requires that unmanned aerial vehicle can carry on wireless communication load at least and be used for communicating the sufficient energy.
7. The method of claim 1, wherein the method comprises the following steps: the ground core network has the function of receiving the return link of the satellite and the unmanned aerial vehicle and also has the function of forwarding the core network information to the satellite and the unmanned aerial vehicle.
8. The method of claim 1, wherein the method comprises the following steps: the ground terminal is provided with a wireless communication terminal, and the terminal has the function of selectively accessing the unmanned aerial vehicle and the satellite. The receiving sensitivity of the wireless communication terminal needs to be matched with a satellite and an unmanned aerial vehicle.
9. The method of claim 1, wherein the method comprises the following steps: the air-ground link of the unmanned aerial vehicle means: a link for communication between the unmanned aerial vehicle and the ground terminal;
the air-ground link used by the satellite refers to: a link for communication between the satellite and the ground terminal.
10. The method of claim 1, wherein the method comprises the following steps: the air-ground links used by the unmanned aerial vehicle and the satellite both use a Time Division Duplex (TDD) working mode of load balancing, which specifically includes: in two continuous time slots, the first time slot carries out uplink communication, the second time slot carries out downlink communication, and the uplink and downlink communication use all frequency bands allocated to links.
11. The method of claim 1, wherein the method comprises the following steps: unmanned aerial vehicle height-adjustable scope HumaxAnd HuminThe requirements are as follows: minimum height HuminNeed to consider the geographic environment for collision avoidance, maximum height HumaxIt is necessary to support maximum altitude matching with the drone used.
12. The method of claim 1, wherein the method comprises the following steps: bi-directional rate sum refers to the sum of the uplink rate and the downlink rate of the link.
13. The method of claim 1, wherein the method comprises the following steps: the path loss of a link refers to the amplitude fading experienced by a wireless communication signal during free space propagation.
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