CN113692010B - Dynamic simulation method for random occurrence and extinction of ground communication propagation path of unmanned aerial vehicle - Google Patents
Dynamic simulation method for random occurrence and extinction of ground communication propagation path of unmanned aerial vehicle Download PDFInfo
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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
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, landforms and the like, propagation paths between the transmitting and receiving ends are complex and comprise sight distance paths, ground reflection paths, scattering paths and the like. In addition, because unmanned aerial vehicle's large-scale fast moving, there is certain randomness to the sheltering from of propagation route to the scatterer, leads to the propagation route not exist all the time, but presents dynamic random emergence and death 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 occurrence and extinction of a ground communication propagation path of an unmanned aerial vehicle 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 scene TX (t) unmanned plane Pitch Angle θ TX (t) initial unmanned aerial vehicle height h TX (t 0 ) Speed v of receiver RX (t), receiver Pitch Angle θ RX (t) initial receiver height h RX (t 0 ) Initial communication distance d between unmanned aerial vehicle and receiver RX (t 0 ) Duration T, sampling rate f s And 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 vehicle TX (t) unmanned plane Pitch Angle θ TX (t) initial unmanned aerial vehicle height h TX (t 0 ) Calculate the height h of the unmanned aerial vehicle at any moment TX (t) according to the receiver velocity v RX (t) receiver Pitch Angle θ RX (t), initial receiver height h RX (t 0 ) Calculating the height h of the receiver at any time RX (t) according to the initial communication distance d RX (t 0 ) And unmanned aerial vehicle velocity v TX (t) unmanned aerial vehicle Pitch Angle θ TX (t) receiver velocity v RX (t) receiver Pitch Angle θ RX (t) calculating the communication distance d RX (t)；
(3) According to the initial unmanned aerial vehicle height h TX (t 0 ) Initial communication distance d RX (t 0 ) Initial receiver height h RX (t 0 ) Acquiring existence probabilities P of different paths at initial time by using building height characteristic coefficient gamma i (t 0 ) 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 the stationary time interval
And settling time interval
Inner transition probability matrix P i (t u-1 ) And according to the last time t u-1 Is present probability P i (t u-1 ) To obtain (t) u-1 ，
]Probability of existence P of different paths at time i (t u )：
Wherein the content of the first and second substances,
representing a stationary interval
Probability of extinction of the disappearance of the inner propagation path i,
representing a steady interval
The new probability of the new occurrence of the propagation path i;
(5) When t is u If the current time is less than T, repeating the step (4) to calculate the existence probability of different paths at the next moment; when t is u When 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 simulation sampling interval be T s Generating a set (0, 1) of uniformly distributed random sequences { X } n N =1, 2.., N }, the sequence length being
(7) Denote the life-time process of the different paths as B i (nT s )，nT s ∈(t u-1 ，t u ]Using random sequences X n Comparison with the probability of existence of a path determines whether a path exists, X n ≤P i (nT s ) When it is, let B i (nT s ) =1, indicating that the i path corresponding to the time exists; otherwise, when X n ＞P i (nT s ) When it is, let B i (nT s ) And =0, which indicates that the i path corresponding to the time does not exist, and a dynamic simulation process in which the earth-based 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 h RX (t) and communication distance d RX The calculation process of (t) is specifically as follows:
further, the existence probability P of the sight distance path at the initial time in the step (3) LoS (t 0 ) The acquisition process comprises the following steps:
wherein n is b Index representing a building, N b (t 0 ) Representing the number of buildings that the drone is routed to,
floor () is a rounded down function,
denotes the n-th b The horizontal distance of each building from the drone,
w represents the average width of the building of the ground scene,
further, the existence probability P of the ground reflection path at the initial moment in the step (3) GS (t 0 ) The acquisition process comprises the following steps:
wherein n is b Index representing a building, N b (t 0 ) Representing the number of buildings that the drone is wired to,
floor () is a rounded down function,
denotes the n-th b The horizontal distance of each building from the drone,
w represents the average width of the building of the ground scene,
d GS (t 0 ) Indicating that the ground reflection path is from the split point,
further, the existence probability P of the single-hop scattering path at the initial moment in the step (3) SB (t 0 ) The acquisition process comprises the following steps:
wherein n is b Index representing a building, N b (t 0 ) Representing the number of buildings that the drone is wired to,
floor () is a floor function, d SB1 (t 0 ) Representing a first distance division point on the single-hop scatter path, d SB2 (t 0 ) Representing a second distance division point on the single-hop scatter path, d SB3 (t 0 ) Representing a third distance split point on the single-hop scatter path.
Further, a first distance division point d on the single-hop scattering path SB1 (t 0 ) A second distance division point d SB2 (t 0 ) A third distance division point d SB3 (t 0 ) The calculation process of (2) is as follows:
further, the stationary time interval in step (4)
Obtained by the following equation:
further, the transition probability matrix P in step (4) i (t u-1 ) The calculation process of (2) is as follows:
further, the steady interval
Probability of extinction of disappearance of internal propagation path i
The calculation process of (2) is as follows:
wherein, when i is the line-of-sight path, A 1 Is 1.56,A 2 is-0.04685A 3 is-282.9,A 4 Is 1066,A 5 Is 1663; when i is the ground reflection path, A 1 Is 1.389,A 2 Is-0.01158, A 3 is-340.2,A 4 Is 1623,A 5 Is 2204; when i is a single-hop scattering path, A 1 Is 0.6118A 2 Is 0.027,A 3 is-20.1,A 4 Is 505,A 5 Is 17800.
Further, the steady interval
New probability of inner propagation path i new occurrence propagation path i
The calculation process of (2) is as follows:
wherein, when i is the line-of-sight path, B 1 Was found to be 0.004279,B 2 Was 0.655,B 3 Was 1.336,B 4 Is-0.003583; when i is the ground reflection path, B 1 Was 0.003076,B 2 0.6915,691B 3 Was 1.161,B 4 Is-0.002738; when i is a single-hop scattering path, B 1 Is 0.06688,B 2 Is 0.1631, B 3 Is 2.053,B 4 Is-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.
Drawings
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-to-ground communication propagation path of an unmanned aerial vehicle according to the present invention;
FIG. 3 is a diagram of the result of calculating the existence probability 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 scene TX (t) unmanned aerial vehicle Pitch Angle θ TX (t) initial unmanned aerial vehicle height h TX (t 0 ) V, receiver speed v RX (t), receiver Pitch Angle θ RX (t), initial receiver height h RX (t 0 ) Initial communication distance d between unmanned aerial vehicle and receiver RX (t 0 ) Duration T, sampling rate f s And 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 vehicle TX (t) unmanned aerial vehicle Pitch Angle θ TX (t) initial unmanned aerial vehicle height h TX (t 0 ) Calculate the height h of the drone at any time TX (t) based on receiver velocity v RX (t), receiver Pitch Angle θ RX (t) initial receiver height h RX (t 0 ) Calculating the height h of the receiver at any time RX (t) and according to the initial communication distance d RX (t 0 ) And unmanned aerial vehicle velocity v TX (t) unmanned aerial vehicle Pitch Angle θ TX (t) receiver velocity v RX (t) receiver Pitch Angle θ RX (t) calculating the communication distance d RX (t); the specific calculation process is as follows:
(3) According to the initial unmanned aerial vehicle height h TX (t 0 ) Initial communication distance d RX (t 0 ) Initial receiver height h RX (t 0 ) Calculating the existence probability P of different paths at the initial moment by using the building height characteristic coefficient gamma i (t 0 ) 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 moment LoS (t 0 ) The calculation process of (2) is as follows:
n b index representing a building, N b (t 0 ) Representing the number of buildings that the drone is wired to,
floor () is a rounded down function,
denotes the n-th b The horizontal distance of each building from the drone,
w represents the average width of the building of the ground scene,
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 P of existence of ground reflection path at initial moment GS (t 0 ) The calculation process of (2) is as follows:
n b index representing a building, N b (t 0 ) Representing the number of buildings that the drone is wired to,
floor () is a rounded down function,
denotes the n-th b The horizontal distance of each building from the drone,
w represents the average width of the building of the ground scene,
d GS (t 0 ) Indicating that the ground reflection path is from the split point,
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.
Existence probability of single-hop scattering path at initial momentRate P SB (t 0 ) The calculation process of (2) is as follows:
n b index representing a building, N b (t 0 ) Representing the number of buildings that the drone is wired to,
floor () is a floor function, d SB1 (t 0 ) Representing a first distance division point on the single-hop scatter path, d SB2 (t 0 ) Representing a second distance division point on the single-hop scatter path, d SB3 (t 0 ) 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 path SB1 (t 0 ) A second distance division point d SB2 (t 0 ) A third distance division point d SB3 (t 0 ) The calculation process of (2) is as follows:
(4) Calculating a stationary time interval
And stationary time intervals
Inner transition probability matrix P i (t u-1 ) And according to the last time t u-1 Is present probability P i (t u-1 ) To obtain (t) u-1 ，
]Probability of existence P of different paths at time i (t u )：
Wherein, the first and the second end of the pipe are connected with each other,
representing a steady interval
Probability of extinction of disappearance of inner propagation path i:
when i is the line-of-sight path, A 1 Is 1.56,A 2 is-0.04685A 3 is-282.9,A 4 Is 1066,A 5 Is 1663; when i is the ground reflection path, A 1 Is 1.389,A 2 Is-0.01158, A 3 is-340.2,A 4 Is 1623,A 5 Is 2204; when i is a single-hop scattering path, A 1 Is 0.6118A 2 Is 0.027,A 3 is-20.1,A 4 Is 505,A 5 Is 17800.
when i is a line-of-sight path, B 1 Was 0.004279,B 2 Is 0.655,B 3 Is 1.336,B 4 Is-0.003583; when i is the ground reflection path, B 1 Is 0.003076,B 2 0.6915,691B 3 Is 1.161,B 4 Is-0.002738; when i is a single-hop scattering path, B 1 Is 0.06688,B 2 Is 0.1631,B 3 Is 2.053,B 4 Is-0.01207.
Settling time intervals in the present invention
Obtained by the following equation:
transition probability matrix P i (t u-1 ) The calculation process of (2) is as follows:
by the method, the existence probability of different paths at any time can be obtained, and specific scene parameters and time-varying communication parameters can be combined, so that the random occurrence and extinction phenomenon of the propagation path in the actual communication process is more met; meanwhile, in any stable time interval, only one calculation needs to be carried out by utilizing the transition probability matrix, so that the calculation times can be effectively reduced, and the calculation speed is increased.
(5) When t is u If the time is less than T, repeating the step (4) to calculate the existence probability of different paths at the next moment; when t is u When T is more than or equal to T, all the steps are completedCalculating the existence probability of different paths at different moments;
(6) Let the simulation sampling interval be T s Generating a set (0, 1) of uniformly distributed random sequences { X } n N =1, 2.., N }, the sequence length being
(7) Denote the life-time course of the different paths as B i (nT s )，nT s ∈(t u-1 ，t u ]Using a random sequence X n Comparison with the probability of existence of a path determines whether a path exists, X n ≤P i (nT s ) When it is, let B i (nT s ) =1, which indicates that the i path corresponding to the time exists; otherwise, when X n ＞P i (nT s ) When it is, let B i (nT s ) And =0, which indicates that the i path corresponding to the time does not exist, and a dynamic simulation process in which the earth-based 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 unmanned aerial vehicle to ground communication link initialization parameters
| v TX (t) | (5+0.1t)m/s | v RX (t) | 2m/s |
| θ TX (t) | π/6 | θ RX (t) | 0 |
| h TX (t 0 ) | 10m | h RX (t 0 ) | 2m |
| d RX (t 0 ) | 20m | T | 50s |
| f s | 2Hz | ψ | {0.3,500,15} |
(2) Calculating the height h of the unmanned aerial vehicle corresponding to any time t TX (t), receiver height h RX (t) and communication distance d RX (t) the expression is as follows:
(3) Let t =0, the existence probabilities at the initial times of the line-of-sight path, the ground reflection path and the single-hop scattering path are respectively calculated as follows:
(4) Last moment t of order u-1 =0, calculating the stationary time interval
The current time
And calculates the last time t u-1 The 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:
thereby obtaining the current time t u The existence probabilities of the corresponding line-of-sight path, the ground propagation path and the single-hop path are as follows:
(5) Judging the current time t u =7.6 < T =50, let T u-1 And (4) returning to the step (4) as input, and recalculating a new time interval, a transition probability matrix and the existence probability of different paths. 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 two typical stationary intervals are selected for calculationThe results are shown in Table 2.
TABLE 2 results of two exemplary stationary Interval calculations
(6) Let simulation interval T s =0.5s, yielding a set size of N = T/T s =100, random sequence { X from uniform distribution within (0, 1) n ,n＝1,2,...,100}。
(7) For the nth random number X n When X is present n ≤P i (nT s ) When it is going to be extinct, factor B i (nT s ) =1, indicating that the path corresponding to the time exists; otherwise, when X n ＞P i (nT s ) When it is going to be extinct, factor B i (nT s ) And =0, indicating that the path corresponding to the time does not exist. Finally using the life extinction factor B LoS (nT s )、B GS (nT s ) And B SB (nT s ) 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 are only preferred embodiments of the present invention, and the scope of the present invention is not limited to the above examples, and all technical solutions that fall under the spirit of the present invention belong to the 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 occurrence and extinction of a ground communication propagation path of an unmanned aerial vehicle 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 scene TX (t) unmanned aerial vehicle Pitch Angle θ TX (t) initial unmanned aerial vehicle height h TX (t 0 ) Speed v of receiver RX (t), receiver Pitch Angle θ RX (t) initial receiver height h RX (t 0 ) Initial communication distance d between unmanned aerial vehicle and receiver RX (t 0 ) Duration T, sampling rate f s And 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 vehicle TX (t) unmanned aerial vehicle Pitch Angle θ TX (t) initial unmanned aerial vehicle height h TX (t 0 ) Calculate the height h of the drone at any time TX (t) based on receiver velocity v RX (t), receiver Pitch Angle θ RX (t) initial receiver height h RX (t 0 ) Calculating the height h of the receiver at any time RX (t) and according to the initial communication distance d RX (t 0 ) And unmanned aerial vehicle velocity v TX (t) unmanned aerial vehicle Pitch Angle θ TX (t) receiver velocity v RX (t), receiver Pitch Angle θ RX (t) calculating the communication distance d RX (t)；
(3) According to the initial unmanned aerial vehicle height h TX (t 0 ) Initial communication distance d RX (t 0 ) Initial receiver height h RX (t 0 ) Characteristic coefficient of height of buildingGamma obtaining existence probability P of different paths at initial moment i (t 0 ) 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 the stationary time interval
And settling time interval
Inner transition probability matrix P i (t u-1 ) And according to the last time t u-1 Is present probability P i (t u-1 ) To obtain
Probability of existence P of different paths at time i (t u )：
Wherein, the first and the second end of the pipe are connected with each other,
representing a stationary interval
The probability of extinction that the inner propagation path i disappears,
representing a steady interval
The new probability of the new occurrence of the propagation path i;
(5) When t is u If the current time is less than T, repeating the step (4) to calculate the existence probability of different paths at the next moment; when t is u When the time 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 T s To produce a group (0, 1) of uniform fractionsRandom sequence of cloth { X n N =1, 2.., N }, the sequence length being
(7) Denote the life-time course of the different paths as B i (nT s )，nT s ∈(t u-1 ，t u ]Using random sequences X n Comparison with the probability of a path being present determines whether a path is present, X n ≤P i (nT s ) While making B i (nT s ) =1, indicating that the i path corresponding to the time exists; otherwise, when X n ＞P i (nT s ) While making B i (nT s ) And =0, which indicates that the i path corresponding to the time does not exist, and obtains a dynamic simulation process in which the ground communication propagation path randomly goes out.
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 h RX (t) and communication distance d RX The calculation process of (t) is specifically as follows:
3. the method for dynamically simulating random occurrence and extinction of the ground-to-ground communication propagation path of the unmanned aerial vehicle in accordance with claim 1, wherein in the step (3), the existence probability P of the sight-distance path at the initial moment LoS (t 0 ) The acquisition process comprises the following steps:
wherein n is b Index representing a building, N b (t 0 ) Representing the number of buildings that the drone is wired to,
floor () is a rounded down function,
denotes the n-th b The horizontal distance of each building from the drone,
w represents the average width of the building of the ground scene,
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 in the step (3), the existence probability P of the ground reflection path at the initial moment is GS (t 0 ) The acquisition process comprises the following steps:
wherein n is b Index representing a building, N b (t 0 ) Representing the number of buildings that the drone is routed to,
floor () is a rounded down function,
denotes the n-th b The horizontal distance of each building from the drone,
w represents the average width of the building of the ground scene,
indicating that the ground reflection path is from the split point,
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 is SB (t 0 ) The acquisition process comprises the following steps:
wherein n is b Index representing a building, N b (t 0 ) Representing the number of buildings that the drone is wired to,
floor () is a floor function, d SB1 (t 0 ) Representing a first distance division point on a single-hop scatter path, d SB2 (t 0 ) Representing a second distance division point on the single-hop scatter path, d SB3 (t 0 ) 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 d SB1 (t 0 ) A second distance division point d SB2 (t 0 ) A third distance division pointd SB3 (t 0 ) The calculation process of (c) is as follows:
7. the dynamic simulation method for 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 (4), the stationary time interval is set
Obtained by the following equation:
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 (t u-1 ) The calculation process of (2) is as follows:
9. the method for dynamically simulating random occurrence and extinction of the ground-to-ground communication propagation path of an unmanned aerial vehicle according to claim 1, wherein the intervals are stable
Inner propagation pathProbability of extinction of i disappearance
The calculation process of (2) is as follows:
wherein, when i is the line-of-sight path, A 1 Is 1.56,A 2 is-0.04685A 3 is-282.9,A 4 Is 1066,A 5 Is 1663; when i is the ground reflection path, A 1 Is 1.389,A 2 Is-0.01158, A 3 is-340.2,A 4 Is 1623,A 5 2204; when i is a single-hop scattering path, A 1 Is 0.6118A 2 Is 0.027,A 3 is-20.1,A 4 Is 505,A 5 Is 17800.
10. The method of claim 1, wherein the intervals are stationary and are spaced apart from each other
Probability of new occurrence of propagation path i in internal propagation path i
The calculation process of (2) is as follows:
wherein, when i is the line-of-sight path, B 1 Was found to be 0.004279,B 2 Is 0.655,B 3 Is 1.336,B 4 Is-0.003583; when i is the ground reflection path, B 1 Is 0.003076,B 2 Is 0.6915,B 3 Is 1.161,B 4 Is-0.002738; when i is a single-hop scattering path, B 1 Is 0.06688,B 2 Is 0.1631,B 3 Is 2.053,B 4 Is-0.01207.
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