CN113692010A - Dynamic simulation method for random generation and extinguishment of ground communication propagation path of unmanned aerial vehicle - Google Patents

Dynamic simulation method for random generation and extinguishment of ground communication propagation path of unmanned aerial vehicle Download PDF

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CN113692010A
CN113692010A CN202110993635.6A CN202110993635A CN113692010A CN 113692010 A CN113692010 A CN 113692010A CN 202110993635 A CN202110993635 A CN 202110993635A CN 113692010 A CN113692010 A CN 113692010A
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path
unmanned aerial
aerial vehicle
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CN113692010B (en
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柏菲
朱秋明
庞明慧
仲伟志
陈小敏
毛开
田越
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Nanjing University of Aeronautics and Astronautics
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/06—Testing, supervising or monitoring using simulated traffic
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/18502—Airborne stations
    • H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Abstract

The invention discloses a dynamic simulation method for random generation and extinguishment of a ground communication propagation path of an unmanned aerial vehicle, and belongs to the field of wireless information transmission. The dynamic simulation method can effectively simulate the dynamic life and death processes of different propagation paths by considering factors such as mobility, communication height, time-varying scenes and the like between the unmanned aerial vehicle and the receiver. The method for dynamically simulating the random occurrence and extinction of the ground communication propagation path of the unmanned aerial vehicle has the characteristics of simplicity in operation and high calculation speed.

Description

Dynamic simulation method for random generation and extinguishment of ground communication propagation path of unmanned aerial vehicle
Technical Field
The invention belongs to the field of wireless information transmission, and particularly relates to a dynamic simulation method for random occurrence and extinction of a ground communication propagation path of an unmanned aerial vehicle.
Background
In recent years, unmanned aerial vehicles have attracted attention due to their low cost and high flexibility in practical application fields such as communication relay, wireless coverage, and data transmission. In the process of the unmanned aerial vehicle ground communication, due to factors such as buildings, terrain and landform, propagation paths between the transmitting and receiving ends are complex and comprise a sight distance path, a ground reflection path, a scattering path and the like. In addition, due to the large-range rapid movement of the unmanned aerial vehicle, the scattering body shields the propagation path with certain randomness, so that the propagation path does not exist all the time, but presents a dynamic random occurrence and extinction phenomenon. In order to better realize the performance evaluation and scheme design of the unmanned aerial vehicle communication system, the propagation path random birth and death process needs to be accurately modeled and dynamically simulated.
At present, relatively few researches on the dynamic generation and extinction of a wireless channel propagation path exist, most research results are only applicable to traditional ground communication, the influence of the movement of a transmitting and receiving end and the communication height is not considered, and the method is not applicable to the scene of unmanned aerial vehicle ground communication.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a dynamic simulation method for random birth and death of an unmanned aerial vehicle to ground communication propagation path.
In order to achieve the purpose, the invention adopts the following technical scheme: a dynamic simulation method for random generation and extinguishment of an unmanned aerial vehicle ground communication propagation path specifically comprises the following steps:
(1) the user sets the position and the communication state of the unmanned aerial vehicle and the receiver, and the method specifically comprises the following parameters: unmanned aerial vehicle speed v of unmanned aerial vehicle to ground communication sceneTX(t) unmanned aerial vehicle Pitch Angle θTX(t) initial unmanned aerial vehicle height hTX(t0) Speed v of receiverRX(t), receiver Pitch Angle θRX(t) initial receiver height hRX(t0) Initial communication distance d between unmanned aerial vehicle and receiverRX(t0) Duration T, sampling rate fsAnd ground fieldThe scene parameter psi belongs to { alpha, beta, gamma }, wherein alpha is the proportion of the area of the building to the total area of the ground scene, beta is the average number of the buildings in a unit area, and gamma is a building height characteristic coefficient;
(2) according to the speed v of the unmanned aerial vehicleTX(t) unmanned aerial vehicle Pitch Angle θTX(t) initial unmanned aerial vehicle height hTX(t0) Calculate the height h of the unmanned aerial vehicle at any momentTX(t) according to the receiver velocity vRX(t), receiver Pitch Angle θRX(t) initial receiver height hRX(t0) Calculating the height h of the receiver at any timeRX(t) and according to the initial communication distance dRX(t0) And unmanned aerial vehicle velocity vTX(t) unmanned aerial vehicle Pitch Angle θTX(t) receiver velocity vRX(t), receiver Pitch Angle θRX(t) calculating the communication distance dRX(t)；
(3) According to the initial unmanned aerial vehicle height hTX(t0) Initial communication distance dRX(t0) Initial receiver height hRX(t0) Acquiring existence probabilities P of different paths at initial time by using building height characteristic coefficient gammai(t0) I belongs to { LoS, GS, SB }, wherein LoS represents a line-of-sight path, GS represents a ground reflection path, and SB represents a single-hop scattering path;
(4) calculating a stationary time interval
Figure BDA00032331636500000210
And stationary time intervals
Figure BDA00032331636500000211
Inner transition probability matrix Pi(tu-1) And according to the last time tu-1Is present probability Pi(tu-1) To obtain (t)u-1，
Figure BDA00032331636500000212
]Probability of existence P of different paths at timei(tu)：
Figure BDA0003233163650000021
Wherein the content of the first and second substances,
Figure BDA0003233163650000022
representing a stationary interval
Figure BDA0003233163650000023
Probability of extinction of the disappearance of the inner propagation path i,
Figure BDA0003233163650000024
representing a stationary interval
Figure BDA0003233163650000025
The new probability of the new occurrence of the propagation path i;
(5) when t isuIf the time is less than T, repeating the step (4) to calculate the existence probability of different paths at the next moment; when t isuWhen the path length is more than or equal to T, the calculation of the existence probability of different paths at all the moments is completed;
(6) let the simulation sampling interval be TsGenerating a set of uniformly distributed random sequences { X over (0,1) }nN is 1,2,.. times.n.sequence length is
Figure BDA0003233163650000026
(7) Denote the life-time process of the different paths as Bi(nTs)，nTs∈(tu-1，tu]Using a random sequence XnComparison with the probability of a path being present determines whether a path is present, Xn≤Pi(nTs) When it is, let Bi(nTs) 1, indicating that the i path corresponding to the time exists; otherwise, when Xn＞Pi(nTs) When it is, let Bi(nTs) And 0, the fact that the i path corresponding to the moment does not exist, and a dynamic simulation process that the earth communication propagation path randomly goes on and off is obtained.
Further, the height h of the unmanned aerial vehicle at any moment in the step (2)TX(t), receiver height hRX(t) and communicationDistance dRXThe calculation process of (t) is specifically as follows:
Figure BDA0003233163650000027
Figure BDA0003233163650000028
Figure BDA0003233163650000029
further, the existence probability P of the sight distance path at the initial time in the step (3)LoS(t0) The acquisition process comprises the following steps:
Figure BDA0003233163650000031
wherein n isbIndex representing a building, Nb(t0) Representing the number of buildings that the drone is wired to,
Figure BDA0003233163650000032
floor () is a rounded down function,
Figure BDA0003233163650000033
denotes the n-thbThe horizontal distance of each building from the drone,
Figure BDA0003233163650000034
w represents the average width of the building of the ground scene,
Figure BDA0003233163650000035
further, the existence probability P of the ground reflection path at the initial moment in the step (3)GS(t0) The acquisition process comprises the following steps:
Figure BDA0003233163650000036
wherein n isbIndex representing a building, Nb(t0) Representing the number of buildings that the drone is wired to,
Figure BDA0003233163650000037
floor () is a rounded down function,
Figure BDA0003233163650000038
denotes the n-thbThe horizontal distance of each building from the drone,
Figure BDA0003233163650000039
w represents the average width of the building of the ground scene,
Figure BDA0003233163650000041
dGS(t0) Indicating that the ground reflection path is from the split point,
Figure BDA0003233163650000042
further, the existence probability P of the single-hop scattering path at the initial moment in the step (3)SB(t0) The acquisition process comprises the following steps:
Figure BDA0003233163650000043
wherein n isbIndex representing a building, Nb(t0) Representing the number of buildings that the drone is wired to,
Figure BDA0003233163650000044
floor () is a floor function, dSB1(t0) Representing a first distance division point on a single-hop scatter path, dSB2(t0) Representing a second distance division point on the single-hop scatter path, dSB3(t0) To representA third distance division point on the single-hop scatter path.
Further, a first distance division point d on the single-hop scattering pathSB1(t0) A second distance division point dSB2(t0) A third distance division point dSB3(t0) The calculation process of (2) is as follows:
Figure BDA0003233163650000045
Figure BDA0003233163650000046
Figure BDA0003233163650000047
further, the stationary time interval in step (4)
Figure BDA0003233163650000051
Obtained by the following equation:
Figure BDA0003233163650000052
further, the transition probability matrix P in step (4)i(tu-1) The calculation process of (2) is as follows:
Figure BDA0003233163650000053
further, the steady interval
Figure BDA0003233163650000054
Probability of extinction of disappearance of internal propagation path i
Figure BDA0003233163650000055
The calculation process of (2) is as follows:
Figure BDA0003233163650000056
wherein, when i is the line-of-sight path, A1Is 1.56, A2Is-0.04685, A3Is-282.9, A4Is 1066, A5Is 1663; when i is the ground reflection path, A1Is 1.389, A2Is-0.01158, A3Is-340.2, A4Is 1623, A52204; when i is a single-hop scattering path, A1Is 0.6118, A2Is 0.027, A3Is-20.1, A4Is 505, A5Is 17800.
Further, the steady interval
Figure BDA0003233163650000057
Probability of new occurrence of propagation path i in internal propagation path i
Figure BDA0003233163650000058
The calculation process of (2) is as follows:
Figure BDA0003233163650000059
wherein, when i is the line-of-sight path, B1Is 0.004279, B2Is 0.655, B3Is 1.336, B4Is-0.003583; when i is the ground reflection path, B1Is 0.003076, B2Is 0.6915, B3Is 1.161, B4Is-0.002738; when i is a single-hop scattering path, B1Is 0.06688, B2Is 0.1631, B3Is 2.053, B4Is-0.01207.
Compared with the prior art, the invention has the following beneficial effects: the dynamic simulation method for random generation and extinction of the ground communication propagation path of the unmanned aerial vehicle simulates the dynamic generation and extinction of the propagation path by using a Markov random process, calculates the existence probabilities of different paths at the initial moment after the parameters are initialized, obtains the existence probabilities of three paths at any moment by updating transition probability matrixes in different stable intervals, finally simulates the generation and extinction changes of the propagation path in the whole communication process by using a generation and extinction factor, and can effectively simulate the dynamic random generation and extinction processes of a sight distance path, a ground reflection path and a single-hop propagation path under the actual unmanned aerial vehicle communication scene by comprehensively considering factors such as mobility, communication height and time-varying scene between the unmanned aerial vehicle and a receiver; the method has the characteristics of simple operation and high calculation speed.
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FIG. 1 is a schematic view of a scene of the UAV communication to ground according to the present invention;
FIG. 2 is a flow chart of a dynamic simulation method for random occurrence and extinction of a ground communication propagation path of an unmanned aerial vehicle according to the present invention;
FIG. 3 is a diagram illustrating the calculation results of the existence probabilities of three propagation paths according to the embodiment of the present invention;
fig. 4 is a diagram showing simulation results of three propagation path birth and death processes according to an embodiment of the present invention.
Detailed Description
The technical solution of the present invention is further explained with reference to the drawings and the embodiments.
Fig. 2 is a flowchart of a dynamic simulation method for random occurrence and extinction of a ground communication propagation path of an unmanned aerial vehicle according to the present invention, and the dynamic simulation method specifically includes the following steps:
(1) fig. 1 is a scene diagram of the ground-to-ground communication of the unmanned aerial vehicle of the present invention, and the positions and communication states of the unmanned aerial vehicle and the receiver are set, specifically including the following parameters: unmanned aerial vehicle speed v of unmanned aerial vehicle to ground communication sceneTX(t) unmanned aerial vehicle Pitch Angle θTX(t) initial unmanned aerial vehicle height hTX(t0) Speed v of receiverRX(t), receiver Pitch Angle θRX(t) initial receiver height hRX(t0) Initial communication distance d between unmanned aerial vehicle and receiverRX(t0) Duration T, sampling rate fsAnd the ground scene parameter psi belongs to { alpha, beta, gamma }, wherein alpha is the proportion of the area of the building to the total area of the ground scene, beta is the average number of the buildings in a unit area, and gamma is a building height characteristic coefficient;
(2) according to unmanned aerial vehicleVelocity vTX(t) unmanned aerial vehicle Pitch Angle θTX(t) initial unmanned aerial vehicle height hTX(t0) Calculate the height h of the unmanned aerial vehicle at any momentTX(t) according to the receiver velocity vRX(t), receiver Pitch Angle θRX(t) initial receiver height hRX(t0) Calculating the height h of the receiver at any timeRX(t) and according to the initial communication distance dRX(t0) And unmanned aerial vehicle velocity vTX(t) unmanned aerial vehicle Pitch Angle θTX(t) receiver velocity vRX(t), receiver Pitch Angle θRX(t) calculating the communication distance dRX(t); the specific calculation process is as follows:
Figure BDA0003233163650000061
Figure BDA0003233163650000063
Figure BDA0003233163650000062
(3) according to the initial unmanned aerial vehicle height hTX(t0) Initial communication distance dRX(t0) Initial receiver height hRX(t0) Calculating the existence probability P of different paths at the initial moment by using the building height characteristic coefficient gammai(t0) And i belongs to { LoS, GS and SB }, wherein LoS represents a line-of-sight path, GS represents a ground reflection path, and SB represents a single-hop scattering path, and the method is more suitable for random occurrence and extinction of a propagation path in the actual communication process.
Wherein, the existence probability P of the sight distance path at the initial momentLoS(t0) The calculation process of (2) is as follows:
Figure BDA0003233163650000071
nbindex representing a building, Nb(t0) Representing the number of buildings that the drone is wired to,
Figure BDA0003233163650000072
floor () is a rounded down function,
Figure BDA0003233163650000073
denotes the n-thbThe horizontal distance of each building from the drone,
Figure BDA0003233163650000074
w represents the average width of the building of the ground scene,
Figure BDA0003233163650000075
the factors such as the communication height, the distance and the scene between the unmanned aerial vehicle and the receiver are comprehensively considered, and the initial existence probability of the sight distance path under the actual unmanned aerial vehicle communication scene can be accurately calculated.
Probability of existence P of ground reflection path at initial momentGS(t0) The calculation process of (2) is as follows:
Figure BDA0003233163650000076
nbindex representing a building, Nb(t0) Representing the number of buildings that the drone is wired to,
Figure BDA0003233163650000077
floor () is a rounded down function,
Figure BDA0003233163650000078
denotes the n-thbThe horizontal distance of each building from the drone,
Figure BDA0003233163650000079
w represents the average width of the building of the ground scene,
Figure BDA0003233163650000081
dGS(t0) Indicating that the ground reflection path is from the split point,
Figure BDA0003233163650000082
the initial existence probability of the ground reflection path is calculated in a segmented mode by the aid of the ground reflection path distance dividing points, so that the calculation process is simplified, and the calculation result is guaranteed to be in accordance with the actual communication process in the unmanned aerial vehicle communication scene.
Probability of existence P of single-hop scattering path at initial momentSB(t0) The calculation process of (2) is as follows:
Figure BDA0003233163650000083
nbindex representing a building, Nb(t0) Representing the number of buildings that the drone is wired to,
Figure BDA0003233163650000084
floor () is a floor function, dSB1(t0) Representing a first distance division point on a single-hop scatter path, dSB2(t0) Representing a second distance division point on the single-hop scatter path, dSB3(t0) Representing a third distance split point on the single-hop scatter path. Considering the position of a building where single-hop scattering occurs, classifying all buildings in a connecting path between the unmanned aerial vehicle and the receiver by using three distance segmentation points, so that the initial existence probability of a single-hop scattering path is calculated, the calculation process is convenient to simplify, and the calculation result is ensured to accord with the actual communication process in the unmanned aerial vehicle communication scene.
First distance division point d on single-hop scattering pathSB1(t0) A second distance division point dSB2(t0) A third distance division point dSB3(t0) The calculation process of (2) is as follows:
Figure BDA0003233163650000091
Figure BDA0003233163650000092
Figure BDA0003233163650000093
(4) calculating a stationary time interval
Figure BDA0003233163650000094
And stationary time intervals
Figure BDA0003233163650000095
Inner transition probability matrix Pi(tu-1) And according to the last time tu-1Is present probability Pi(tu-1) To obtain (t)u-1，
Figure BDA0003233163650000096
]Probability of existence P of different paths at timei(tu)：
Figure BDA0003233163650000097
Wherein the content of the first and second substances,
Figure BDA0003233163650000098
representing a stationary interval
Figure BDA0003233163650000099
Probability of extinction of disappearance of inner propagation path i:
Figure BDA00032331636500000910
when i is a line-of-sight path, A1Is 1.56, A2Is-0.04685, A3Is-282.9，A4Is 1066, A5Is 1663; when i is the ground reflection path, A1Is 1.389, A2Is-0.01158, A3Is-340.2, A4Is 1623, A52204; when i is a single-hop scattering path, A1Is 0.6118, A2Is 0.027, A3Is-20.1, A4Is 505, A5Is 17800.
Figure BDA00032331636500000911
Representing a stationary interval
Figure BDA00032331636500000912
Probability of new occurrence of propagation path i:
Figure BDA00032331636500000913
when i is a line-of-sight path, B1Is 0.004279, B2Is 0.655, B3Is 1.336, B4Is-0.003583; when i is the ground reflection path, B1Is 0.003076, B2Is 0.6915, B3Is 1.161, B4Is-0.002738; when i is a single-hop scattering path, B1Is 0.06688, B2Is 0.1631, B3Is 2.053, B4Is-0.01207.
Settling time intervals in the present invention
Figure BDA00032331636500000914
Obtained by the following equation:
Figure BDA00032331636500000915
transition probability matrix Pi(tu-1) The calculation process of (2) is as follows:
Figure BDA0003233163650000101
by the method, the existence probability of different paths at any time can be obtained, and the random occurrence and extinction phenomena of the propagation paths in the actual communication process can be better met by combining specific scene parameters and time-varying communication parameters; meanwhile, in any stable time interval, only one calculation is needed by utilizing the transition probability matrix, so that the calculation times can be effectively reduced, and the calculation speed is improved.
(5) When t isuIf the time is less than T, repeating the step (4) to calculate the existence probability of different paths at the next moment; when t isuWhen the path length is more than or equal to T, the calculation of the existence probability of different paths at all the moments is completed;
(6) let the simulation sampling interval be TsGenerating a set of uniformly distributed random sequences { X over (0,1) }nN is 1,2,.. times.n.sequence length is
Figure BDA0003233163650000102
(7) Denote the life-time process of the different paths as Bi(nTs)，nTs∈(tu-1，tu]Using a random sequence XnComparison with the probability of a path being present determines whether a path is present, Xn≤Pi(nTs) When it is, let Bi(nTs) 1, indicating that the i path corresponding to the time exists; otherwise, when Xn＞Pi(nTs) When it is, let Bi(nTs) And 0, the fact that the i path corresponding to the moment does not exist, and a dynamic simulation process that the earth communication propagation path randomly goes on and off is obtained.
The method for dynamically simulating the random occurrence and extinction of the ground communication propagation path of the unmanned aerial vehicle can effectively simulate the dynamic random occurrence and extinction process of a sight distance path, a ground reflection path and a single-hop propagation path under the actual communication scene of the unmanned aerial vehicle by comprehensively considering factors such as mobility, communication height and time-varying scene between the unmanned aerial vehicle and a receiver, and has the characteristics of simple operation and high calculation speed.
Examples
(1) According to the dynamic simulation method for random generation and extinction of the ground communication propagation path of the unmanned aerial vehicle, a user sets the positions and the communication state of the unmanned aerial vehicle and the receiver, and the initialization parameters are shown in the table 1:
TABLE 1 UAV-TO-GROUND COMMUNICATION LINK INITIALIZATION PARAMETERS
vTX(t) (5+0.1t)m/s vRX(t) 2m/s
θTX(t) π/6 θRX(t) 0
hTX(t0) 10m hRX(t0) 2m
dRX(t0) 20m T 50s
fs 2Hz ψ {0.3,500,15}
(2) Calculating the height h of the unmanned aerial vehicle corresponding to any time tTX(t), receiver height hRX(t) and communication distance dRX(t) the expression is as follows:
Figure BDA0003233163650000111
(3) let t equal to 0, respectively calculate the existence probabilities of the initial moments of the line-of-sight path, the ground reflection path and the single-hop scattering path as follows:
Figure BDA0003233163650000112
(4) last moment t of orderu-1Calculating to obtain a stationary time interval of 0
Figure BDA0003233163650000113
Current time of day
Figure BDA0003233163650000114
And calculates the last time tu-1The transition probability matrices corresponding to the line-of-sight path, the ground propagation path and the single-hop path within the stationary time interval are as follows:
Figure BDA0003233163650000115
thereby obtaining the current time tuThe existence probabilities of the corresponding line-of-sight path, the ground propagation path and the single-hop path are as follows:
Figure BDA0003233163650000116
(5) judging the current time tuT is 7.6 < T is 50, let Tu-1Returning to step (4) as input, recalculating new time intervals, transition probability matrices and differencesProbability of existence of a path. The existence probability results of the three propagation paths in the whole communication period are shown in fig. 3, and it can be seen that the existence probabilities of the line-of-sight path and the ground reflection path show a descending trend in the whole communication process, the main reason is that the two paths are blocked due to the continuous increase of the communication distance, and the single-hop scattering path mainly scatters through a building, so that the whole change is relatively smooth. Considering the time variation of the transmitter speed in the whole communication process, the transition probability matrix and the path existence probability in different stationary intervals also need to be updated in real time, and the calculation results in two typical stationary intervals are selected and shown in table 2.
TABLE 2 results of two exemplary stationary Interval calculations
Figure BDA0003233163650000121
(6) Let simulation interval Ts0.5s, yielding a set of sizes N T/Ts100, random sequences { X from uniform distribution within (0,1)n,n＝1,2,...,100}。
(7) For the nth random number XnWhen X is presentn≤Pi(nTs) When it is going to be extinct, factor Bi(nTs) 1, indicating that the corresponding path exists at the moment; otherwise, when Xn＞Pi(nTs) When it is going to be extinct, factor Bi(nTs) 0 indicates that the corresponding path does not exist at that time. Finally using the life extinction factor BLoS(nTs)、BGS(nTs) And BSB(nTs) The dynamic process of random occurrence and extinction of the line-of-sight path, the ground reflection path and the single-hop propagation path of the unmanned aerial vehicle is reproduced as shown in fig. 4, along with the progress of the communication process, the more the occurrence and extinction factors of the line-of-sight path and the ground reflection path take values of 0, the more the occurrence and extinction factors of the single-hop scattering path change stably, and the probability change trend of the occurrence and extinction of the three paths in fig. 3 is basically consistent.
In the embodiment, the existence probabilities of different paths at the initial moment are calculated by setting the positions of the unmanned aerial vehicle and the receiver and the related parameters of the communication state, the existence probabilities of three paths at any moment are obtained by updating the transition probability matrixes in different stable intervals, the birth-death factors of different paths are judged by comparing the existence probabilities of the paths with the random sequence numerical value, and finally the dynamic random birth-death processes of a sight distance path, a ground reflection path and a single-hop propagation path under the actual unmanned aerial vehicle communication scene are effectively simulated.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.

Claims (10)

1. A dynamic simulation method for random generation and extinguishment of an unmanned aerial vehicle to ground communication propagation path is characterized by comprising the following steps:
(1) the user sets the position and the communication state of the unmanned aerial vehicle and the receiver, and the method specifically comprises the following parameters: unmanned aerial vehicle speed v of unmanned aerial vehicle to ground communication sceneTX(t) unmanned aerial vehicle Pitch Angle θTX(t) initial unmanned aerial vehicle height hTX(t0) Speed v of receiverRX(t), receiver Pitch Angle θRX(t) initial receiver height hRx(t0) Initial communication distance d between unmanned aerial vehicle and receiverRX(t0) Duration T, sampling rate fsAnd the ground scene parameter psi belongs to { alpha, beta, gamma }, wherein alpha is the proportion of the area of the building to the total area of the ground scene, beta is the average number of the buildings in a unit area, and gamma is a building height characteristic coefficient;
(2) according to the speed v of the unmanned aerial vehicleTX(t) unmanned aerial vehicle Pitch Angle θTX(t) initial unmanned aerial vehicle height hTX(t0) Calculate the height h of the unmanned aerial vehicle at any momentTX(t) according to the receiver velocity vRX(t), receiver Pitch Angle θRX(t), initialHeight h of receiverRX(t0) Calculating the height h of the receiver at any timeRX(t) and according to the initial communication distance dRX(t0) And unmanned aerial vehicle velocity vTX(t) unmanned aerial vehicle Pitch Angle θTX(t) receiver velocity vRX(t), receiver Pitch Angle θRX(t) calculating the communication distance dRX(t)；
(3) According to the initial unmanned aerial vehicle height hTX(t0) Initial communication distance dRX(t0) Initial receiver height hRX(t0) Acquiring existence probabilities P of different paths at initial time by using building height characteristic coefficient gammai(t0) I belongs to { LoS, GS, SB }, wherein LoS represents a line-of-sight path, GS represents a ground reflection path, and SB represents a single-hop scattering path;
(4) calculating a stationary time interval
Figure FDA0003233163640000011
And stationary time intervals
Figure FDA0003233163640000012
Inner transition probability matrix Pi(tu-1) And according to the last time tu-1Is present probability Pi(tu-1) To obtain
Figure FDA0003233163640000018
Probability of existence P of different paths at timei(tu)：
Figure FDA0003233163640000013
Wherein the content of the first and second substances,
Figure FDA0003233163640000014
representing a stationary interval
Figure FDA0003233163640000015
Internal propagationThe probability of extinction that the path i disappears,
Figure FDA0003233163640000016
representing a stationary interval
Figure FDA0003233163640000017
The new probability of the new occurrence of the propagation path i;
(5) when t isuIf the time is less than T, repeating the step (4) to calculate the existence probability of different paths at the next moment; when t isuWhen the path length is more than or equal to T, the calculation of the existence probability of different paths at all the moments is completed;
(6) let the simulation sampling interval be TsGenerating a set of uniformly distributed random sequences { X over (0,1) }nN is 1,2,.. times.n.sequence length is
Figure FDA0003233163640000019
(7) Denote the life-time process of the different paths as Bi(nTs)，nTs∈(tu-1，tu]Using a random sequence XnComparison with the probability of a path being present determines whether a path is present, Xn≤Pi(nTs) When it is, let Bi(nTs) 1, indicating that the i path corresponding to the time exists; otherwise, when Xn＞Pi(nTs) When it is, let Bi(nTs) And 0, the fact that the i path corresponding to the moment does not exist, and a dynamic simulation process that the earth communication propagation path randomly goes on and off is obtained.
2. The method for dynamically simulating random occurrence and extinction of the ground-to-ground communication propagation path of the unmanned aerial vehicle according to claim 1, wherein the height h of the unmanned aerial vehicle at any time in the step (2)TX(t), receiver height hRX(t) and communication distance dRXThe calculation process of (t) is specifically as follows:
Figure FDA0003233163640000021
Figure FDA0003233163640000022
Figure FDA0003233163640000023
3. the method for dynamically simulating random occurrence and extinction of the ground-to-ground communication propagation path of the unmanned aerial vehicle according to claim 1, wherein in the step (3), the existence probability P of the sight-distance path at the initial moment isLoS(t0) The acquisition process comprises the following steps:
Figure FDA0003233163640000024
wherein n isbIndex representing a building, Nb(t0) Representing the number of buildings that the drone is wired to,
Figure FDA0003233163640000025
floor () is a rounded down function,
Figure FDA0003233163640000026
denotes the n-thbThe horizontal distance of each building from the drone,
Figure FDA0003233163640000027
w represents the average width of the building of the ground scene,
Figure FDA0003233163640000028
4. the method for dynamically simulating random occurrence and extinction of the ground-to-ground communication propagation path of the unmanned aerial vehicle according to claim 1, wherein the step (3) is initiatedProbability of existence P of ground reflection path at timeGS(t0) The acquisition process comprises the following steps:
Figure FDA0003233163640000031
wherein n isbIndex representing a building, Nb(t0) Representing the number of buildings that the drone is wired to,
Figure FDA0003233163640000032
floor () is a rounded down function,
Figure FDA0003233163640000033
denotes the n-thbThe horizontal distance of each building from the drone,
Figure FDA0003233163640000034
w represents the average width of the building of the ground scene,
Figure FDA0003233163640000035
dGS(t0) Indicating that the ground reflection path is from the split point,
Figure FDA0003233163640000036
5. the method for dynamically simulating random occurrence and extinction of the ground-to-ground communication propagation path of the unmanned aerial vehicle according to claim 1, wherein in the step (3), the existence probability P of the single-hop scattering path at the initial moment isSB(t0) The acquisition process comprises the following steps:
Figure FDA0003233163640000041
wherein n isbIndex representing a building, Nb(t0) To indicate nobodyThe number of buildings the machine and receiver wiring path is through,
Figure FDA0003233163640000042
floor () is a floor function, dSB1(t0) Representing a first distance division point on a single-hop scatter path, dSB2(t0) Representing a second distance division point on the single-hop scatter path, dSB3(t0) Representing a third distance split point on the single-hop scatter path.
6. The method of claim 5, wherein the first distance division point d on the single-hop scattering path is a division point dSB1(t0) A second distance division point dSB2(t0) A third distance division point dSB3(t0) The calculation process of (2) is as follows:
Figure FDA0003233163640000043
Figure FDA0003233163640000044
Figure FDA0003233163640000045
7. the method for dynamically simulating random occurrence and extinction of the ground-to-ground communication propagation path of the unmanned aerial vehicle according to claim 1, wherein the step (4) comprises a stationary time interval
Figure FDA0003233163640000051
Obtained by the following equation:
Figure FDA0003233163640000052
8. the method for dynamically simulating random occurrence and extinction of the ground-to-ground communication propagation path of the unmanned aerial vehicle according to claim 1, wherein the transfer probability matrix P in the step (4)i(tu-1) The calculation process of (2) is as follows:
Figure FDA0003233163640000053
9. the method of claim 1, wherein the intervals are stationary and are spaced apart from each other
Figure FDA0003233163640000054
Probability of extinction of disappearance of internal propagation path i
Figure FDA0003233163640000055
The calculation process of (2) is as follows:
Figure FDA0003233163640000056
wherein, when i is the line-of-sight path, A1Is 1.56, A2Is-0.04685, A3Is-282.9, A4Is 1066, A5Is 1663; when i is the ground reflection path, A1Is 1.389, A2Is-0.01158, A3Is-340.2, A4Is 1623, A52204; when i is a single-hop scattering path, A1Is 0.6118, A2Is 0.027, A3Is-20.1, A4Is 505, A5Is 17800.
10. The method of claim 1, wherein the intervals are stationary and are spaced apart from each other
Figure FDA0003233163640000057
Probability of new occurrence of propagation path i in internal propagation path i
Figure FDA0003233163640000058
The calculation process of (2) is as follows:
Figure FDA0003233163640000059
wherein, when i is the line-of-sight path, B1Is 0.004279, B2Is 0.655, B3Is 1.336, B4Is-0.003583; when i is the ground reflection path, B1Is 0.003076, B2Is 0.6915, B3Is 1.161, B4Is-0.002738; when i is a single-hop scattering path, B1Is 0.06688, B2Is 0.1631, B3Is 2.053, B4Is-0.01207.
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