CN114938236B - Unmanned aerial vehicle communication method, device, equipment and medium - Google Patents

Unmanned aerial vehicle communication method, device, equipment and medium Download PDF

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Publication number
CN114938236B
CN114938236B CN202210460953.0A CN202210460953A CN114938236B CN 114938236 B CN114938236 B CN 114938236B CN 202210460953 A CN202210460953 A CN 202210460953A CN 114938236 B CN114938236 B CN 114938236B
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unmanned aerial
aerial vehicle
current
channel gain
information
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CN114938236A (en
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熊俊
马东堂
魏急波
胡实
赵海涛
张晓瀛
黄圣春
张姣
刘潇然
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National University of Defense Technology
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/18502—Airborne stations
    • H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/02—Protecting privacy or anonymity, e.g. protecting personally identifiable information [PII]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/03—Protecting confidentiality, e.g. by encryption
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/60—Context-dependent security
    • H04W12/63—Location-dependent; Proximity-dependent
    • 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

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  • Computer Security & Cryptography (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • Astronomy & Astrophysics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The application discloses a communication method, a device, equipment and a medium of an unmanned aerial vehicle, which relate to the technical field of communication safety transmission and comprise the following steps: based on illegal node position information and legal node position information, constructing a secret speed function taking the flight track information and signal transmission power of the target unmanned aerial vehicle as variables, and carrying out iterative computation on a current function value of the secret speed function, a next signal transmission power, next flight track information and a next function value of the secret speed function by utilizing the set current flight track information, the current signal transmission power and the secret speed function until a preset convergence condition is met between the current function value and the next function value of the secret speed function, and carrying out communication between the target unmanned aerial vehicle and the legal node based on the current flight track information and the current signal transmission power corresponding to the current function value of the secret speed function. The flexible characteristic of the unmanned aerial vehicle and the good characteristic of the intelligent reflecting surface can be combined, and the communication safety of the unmanned aerial vehicle is improved.

Description

Unmanned aerial vehicle communication method, device, equipment and medium
Technical Field
The application relates to the technical field of communication safety transmission, in particular to an unmanned aerial vehicle communication method, device, equipment and medium.
Background
The flexibility of the unmanned aerial vehicle and the line-of-sight transmission characteristic of the unmanned aerial vehicle communication system can effectively improve the throughput of the wireless network. However, due to the complex propagation environment, high frequency signals are often blocked by buildings, and especially in urban areas, the line-of-sight LOS (line if sight) link is liable to be seriously deteriorated, thereby affecting the communication quality. In recent years, intelligent reflection surfaces (intelligent reflection surface, i.e., IRS) control the reflection characteristics of wireless signals by means of low-cost electromagnetic units, and improve the propagation quality of the signals, thereby attracting extensive attention from students at home and abroad. At present, the existing schemes aiming at unmanned aerial vehicle communication safety mainly have the advantages that the flight path of the unmanned aerial vehicle is planned to improve energy efficiency, and the unmanned aerial vehicle is interfered cooperatively, but the schemes mainly improve secret transmission rate by increasing the gain of legal channels and reducing the gain of eavesdrop channels. The scheme is mostly used for increasing unmanned aerial vehicle assistance or increasing information complexity at a transmitting end to improve safety, and can certainly increase extra energy consumption and calculation complexity for an unmanned aerial vehicle system.
In summary, how to combine the flexible characteristics of the unmanned aerial vehicle with the good characteristics of the intelligent reflecting surface to improve the communication safety of the unmanned aerial vehicle is a problem to be solved in the field.
Disclosure of Invention
In view of the above, the present application aims to provide a method, a device, equipment and a medium for unmanned aerial vehicle communication, which can combine the flexible characteristics of unmanned aerial vehicles with the good characteristics of intelligent reflection surfaces to promote the communication safety of unmanned aerial vehicles. The specific scheme is as follows:
in a first aspect, the application discloses an unmanned aerial vehicle communication method, which comprises the following steps:
based on the obtained illegal node position information and legal node position information, constructing a secret rate function taking the flight track information and signal transmitting power of the target unmanned aerial vehicle as variables, and setting the current flight track information and the current signal transmitting power;
determining a current function value of the security rate function and next flight trajectory information by utilizing the security rate function based on the current flight trajectory information and the current signal transmitting power;
based on the next flight path information, obtaining the next signal transmitting power by utilizing the secret rate function, and calculating the next function value of the secret rate function;
judging whether a preset convergence condition is met between the current function value and the next function value, if not, taking the next flight path information and the next signal transmitting power as the current flight path information and the current signal transmitting power respectively, then re-jumping to the step of determining the current function value and the next flight path information of the secret rate function by utilizing the secret rate function based on the current flight path information and the current signal transmitting power until the preset convergence condition is met between the current function value and the next function value, and carrying out communication between the target unmanned aerial vehicle and a legal node based on the current flight path information and the current signal transmitting power corresponding to the current function value.
Optionally, the constructing a secret rate function with the flight track information and the signal transmitting power of the target unmanned aerial vehicle as variables based on the obtained illegal node position information and legal node position information includes:
creating a three-dimensional Cartesian coordinate system, dividing a single flight period of a target unmanned aerial vehicle into a preset number of time slots, acquiring time intervals between adjacent time slots, and creating constraint conditions based on the flight speed, signal emission power and the time intervals of the target unmanned aerial vehicle;
and constructing a secret rate function taking the flight track information of the target unmanned aerial vehicle and the signal transmitting power as variables based on the obtained illegal node position information, legal node position information and the constraint conditions.
Optionally, the creating a constraint condition based on the flying speed, the signal transmitting power and the time interval of the target unmanned aerial vehicle includes:
determining a maximum flight distance at a single one of the time intervals and a flight distance at each of the time intervals based on the time intervals and the flight speeds, and creating a first constraint based on the maximum flight distance and the flight distance;
And acquiring the signal transmission power of each time slot, determining the maximum signal transmission power and the average signal transmission power, and then creating a second constraint condition based on the maximum signal transmission power and the average signal transmission power.
Optionally, the determining the current function value of the security rate function and the next flight path information based on the current flight path information and the current signal transmitting power by using the security rate function includes:
setting first position information and phase shift information of an intelligent reflecting surface based on the current flight track information and the current signal transmitting power, and calculating a first distance between the target unmanned aerial vehicle and the intelligent reflecting surface, a second distance between the intelligent reflecting surface and the legal node, a third distance between the target unmanned aerial vehicle and the legal node, a fourth distance between the target unmanned aerial vehicle and an illegal node and a fifth distance between the intelligent reflecting surface and the illegal node in each time slot;
calculating a first channel gain of the target unmanned aerial vehicle and the intelligent reflecting surface, a second channel gain of the target unmanned aerial vehicle and the legal node, a third channel gain of the target unmanned aerial vehicle and the illegal node, a fourth channel gain of the intelligent reflecting surface and the legal node and a fifth channel gain between the intelligent reflecting surface and the illegal node by using the first distance, the second distance, the third distance, the fourth distance and the fifth distance, and obtaining a current function value of the secret rate function and the next flight path information by using a CVX program packet and the secret rate function based on the first channel gain, the second channel gain, the third channel gain, the fourth channel gain and the fifth channel gain.
Optionally, the calculating, using the first distance, the second distance, the third distance, the fourth distance, and the fifth distance, a first channel gain of the target drone and the smart reflection surface, a second channel gain of the target drone and the legitimate node, a third channel gain of the target drone and the illegitimate node, a fourth channel gain of the smart reflection surface and the legitimate node, and a fifth channel gain between the smart reflection surface and the illegitimate node, and based on the first channel gain, the second channel gain, the third channel gain, the fourth channel gain, and the fifth channel gain, obtaining, using a CVX package and the confidentiality rate function, a current function value of the confidentiality rate function, and the next flight path information includes:
calculating a first cosine value between the target unmanned aerial vehicle and the intelligent reflecting surface, a second cosine value between the intelligent reflecting surface and the legal node and a third cosine value between the intelligent reflecting surface and the illegal node by using the first distance, the second distance, the third distance, the fourth distance and the fifth distance, and determining a first channel gain between the target unmanned aerial vehicle and the intelligent reflecting surface, a second channel gain between the target unmanned aerial vehicle and the legal node, a third channel gain between the target unmanned aerial vehicle and the illegal node, a fourth channel gain between the intelligent reflecting surface and the legal node and a fifth channel gain between the intelligent reflecting surface and the illegal node based on the first cosine value, the second cosine value and the third cosine value;
And calculating a first information rate of the legal node and a second information rate of the illegal node based on the first channel gain, the second channel gain, the third channel gain, the fourth channel gain and the fifth channel gain, and obtaining a current function value of the secret rate function and next flight path information by using the first information rate, the second information rate, the CVX program package and the secret rate function.
Optionally, the determining the current function value of the security rate function and the next flight path information based on the current flight path information and the current signal transmitting power by using the security rate function includes:
carrying out phase combination on the reflection signals of all reflection units of the intelligent reflection surface to obtain combined reflection signals, and obtaining the phase angle of the combined reflection signals so as to update the secret rate function based on the phase angle to obtain a first secret rate function;
updating the first security rate function by using a preset first relaxation variable to obtain a second security rate function, and obtaining a current function value of the security rate function, next flight path information and a second relaxation variable by using the second security rate function based on the current flight path information and the current signal transmitting power.
Optionally, the obtaining the next signal transmitting power by using the secret rate function based on the next flight trajectory information, and calculating a next function value of the secret rate function includes:
updating the secret rate function based on the next flight path information and a taylor formula to obtain a third secret rate function, obtaining the next signal transmitting power by using the third secret rate function, and calculating the next function value of the secret rate function.
In a second aspect, the present application discloses an unmanned aerial vehicle communication device, comprising:
the function construction module is used for constructing a secret rate function taking the flight track information and the signal transmitting power of the target unmanned aerial vehicle as variables based on the obtained illegal node position information and legal node position information;
the information setting module is used for setting the current flight track information and the current signal transmitting power;
the track calculation module is used for obtaining the current function value of the security rate function and the next flight track information by utilizing a preset program package and the security rate function based on the current flight track information and the current signal transmitting power;
The information calculation module is used for obtaining the next signal transmitting power by utilizing the secret rate function based on the next flight track information and calculating the next function value of the secret rate function;
the judging module is used for judging whether a preset convergence condition is met between the current function value and the next function value, if not, taking the next flight path information and the next signal transmitting power as the current flight path information and the current signal transmitting power respectively, then re-jumping to the step of determining the current function value and the next flight path information of the secret rate function by utilizing the secret rate function until the preset convergence condition is met between the current function value and the next function value;
and the communication module is used for carrying out communication between the target unmanned aerial vehicle and a legal node based on the current flight track information and the current signal transmitting power which correspond to the current function value.
In a third aspect, the present application discloses an electronic device, comprising:
a memory for storing a computer program;
And a processor for executing the computer program to implement the steps of the unmanned aerial vehicle communication method disclosed above.
In a fourth aspect, the present application discloses a computer-readable storage medium for storing a computer program; wherein the computer program when executed by the processor implements the steps of the previously disclosed drone communication method.
Firstly, constructing a secret rate function taking flight track information and signal transmitting power of a target unmanned aerial vehicle as variables based on the obtained illegal node position information and legal node position information, and setting the current flight track information and the current signal transmitting power; determining a current function value of the security rate function and next flight trajectory information by utilizing the security rate function based on the current flight trajectory information and the current signal transmitting power; based on the next flight path information, obtaining the next signal transmitting power by utilizing the secret rate function, and calculating the next function value of the secret rate function; judging whether a preset convergence condition is met between the current function value and the next function value, if not, taking the next flight path information and the next signal transmitting power as the current flight path information and the current signal transmitting power respectively, then re-jumping to the step of determining the current function value and the next flight path information of the secret rate function by utilizing the secret rate function based on the current flight path information and the current signal transmitting power until the preset convergence condition is met between the current function value and the next function value, and carrying out communication between the target unmanned aerial vehicle and a legal node based on the current flight path information and the current signal transmitting power corresponding to the current function value. Therefore, the application takes illegal node position information and legal node position information into consideration when constructing the secret rate function, so that the intelligent reflecting surface is utilized to improve the communication strength between the target unmanned aerial vehicle and the legal node, and reduce the possibility that the illegal node obtains communication data; and continuously optimizing the flight track information and the signal transmitting power of the target unmanned aerial vehicle in the process of judging whether the current function value and the next function value meet the preset convergence condition or not until the current function value and the next function value meet the preset convergence condition, so as to maximize the function value of the secret rate function and enable the secret rate function to meet the convergence condition, and achieve the purpose of improving the communication safety of the target unmanned aerial vehicle.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present application, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a communication method of an unmanned aerial vehicle disclosed by the application;
fig. 2 is a schematic illustration of a specific unmanned aerial vehicle communication disclosed in the present application;
fig. 3 is a flowchart of a specific unmanned aerial vehicle communication method disclosed in the present application;
FIG. 4 is a schematic representation of the creation of a specific three-dimensional Cartesian coordinate system in accordance with the present disclosure;
fig. 5 is a flowchart of a specific unmanned aerial vehicle communication method disclosed in the present application;
FIG. 6 is a schematic diagram of iterative optimization of flight trajectory information in accordance with the present disclosure;
FIG. 7 is a schematic diagram of iterative optimization of flight trajectory information according to one embodiment of the present disclosure;
FIG. 8 is a graph of a specific secret rate function value versus iteration number of the present disclosure;
FIG. 9 is a graph showing the relationship between a specific current function value and a next function value according to the present disclosure;
FIG. 10 is a comparative schematic diagram of a specific privacy rate function value of the present disclosure;
fig. 11 is a schematic structural diagram of a communication device of an unmanned aerial vehicle according to the present disclosure;
fig. 12 is a block diagram of an electronic device according to the present disclosure.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
At present, the existing schemes aiming at unmanned aerial vehicle communication safety mainly include planning of unmanned aerial vehicle flight paths to improve energy efficiency, unmanned aerial vehicle cooperative interference and the like, but the schemes mainly improve secret transmission rate by increasing gain of legal channels and reducing gain of eavesdropping channels. The scheme is mostly used for increasing unmanned aerial vehicle assistance or increasing information complexity at a transmitting end to improve safety, and can certainly increase extra energy consumption and calculation complexity for an unmanned aerial vehicle system.
Therefore, the application correspondingly provides the unmanned aerial vehicle communication scheme, and the flexible characteristic of the unmanned aerial vehicle and the good characteristic of the intelligent reflecting surface can be combined to improve the communication safety of the unmanned aerial vehicle.
Referring to fig. 1, the embodiment of the application discloses a communication method of an unmanned aerial vehicle, which comprises the following steps:
step S11: based on the obtained illegal node position information and legal node position information, constructing a secret rate function taking the flight track information and signal transmitting power of the target unmanned aerial vehicle as variables, and setting the current flight track information and the current signal transmitting power.
In this embodiment, the target unmanned aerial vehicle is used as a sending end (Alice), and legal node (Bob) position information is obtained, and illegal node (Eve) position information can be detected through a synthetic aperture radar of the target unmanned aerial vehicle, for example, a specific unmanned aerial vehicle communication schematic diagram shown in fig. 2 is used, so that a secret rate function using flight track information and signal transmitting power of the target unmanned aerial vehicle as variables is constructed based on the illegal node position information and the legal node position information by using an Intelligent Reflection Surface (IRS). Wherein the current flight path information q is set k And the current signal transmission power p k Before, the method also comprises the steps of initializing the cycle number k=0 and the signal transmitting power p 0 Phase shift Θ of intelligent reflecting surface 0 Relaxation variable u 0 、z 0 、t 0 The method comprises the steps of carrying out a first treatment on the surface of the At the time of setting current flight path information q k And the current signal transmission power p k In the process, the method also comprises the step of setting the current phase shift theta of the intelligent reflecting surface k A first relaxation variable u k 、z k 、t k 。
Step S12: and determining a current function value of the security rate function and the next flight path information by utilizing the security rate function based on the current flight path information and the current signal transmitting power.
In this embodiment, the determining, based on the current flight trajectory information and the current signal transmission power and using the secret rate function, the current function value of the secret rate function and the next flight trajectory information includes: setting first position information and phase shift information of an intelligent reflecting surface based on the current flight track information and the current signal transmitting power, and calculating a first distance between the target unmanned aerial vehicle and the intelligent reflecting surface, a second distance between the intelligent reflecting surface and the legal node, a third distance between the target unmanned aerial vehicle and the legal node, a fourth distance between the target unmanned aerial vehicle and an illegal node and a fifth distance between the intelligent reflecting surface and the illegal node in each time slot; calculating a first channel gain of the target unmanned aerial vehicle and the intelligent reflecting surface, a second channel gain of the target unmanned aerial vehicle and the legal node, a third channel gain of the target unmanned aerial vehicle and the illegal node, a fourth channel gain of the intelligent reflecting surface and the legal node and a fifth channel gain between the intelligent reflecting surface and the illegal node by using the first distance, the second distance, the third distance, the fourth distance and the fifth distance, and obtaining a current function value of the secret rate function and next flight path information q by using a CVX program packet and the secret rate function based on the first channel gain, the second channel gain, the third channel gain, the fourth channel gain and the fifth channel gain k+1 . Wherein the CVX program package belongs to the MATLAB program package, and can acquire the next phase shift theta of the intelligent reflecting surface k+1 A second relaxation variable u k+1 、z k+1 、t k+1 。
Step S13: and obtaining the next signal transmitting power by using the secret rate function based on the next flight track information, and calculating the next function value of the secret rate function.
The implementation isIn an example, it can be understood that the next flight path information is flight path information optimized for the current flight path information, and the next signal transmission power p k+1 Signal transmission power optimized for current signal transmission power, thus a next function value calculated based on next flight trajectory information and next signal transmission powerCompared with the current function value->More closely to the maximized function value.
Step S14: judging whether a preset convergence condition is met between the current function value and the next function value, if not, taking the next flight path information and the next signal transmitting power as the current flight path information and the current signal transmitting power respectively, then re-jumping to the step of determining the current function value and the next flight path information of the secret rate function by utilizing the secret rate function based on the current flight path information and the current signal transmitting power until the preset convergence condition is met between the current function value and the next function value.
In this embodiment, it is determined whether a preset convergence condition is satisfied between the current function value and the next function value, where the preset convergence condition may be a preset threshold value, for example, the preset threshold value is 10 -4 Calculate the next function valueAnd the current function valueThe difference value between the two values is then determined whether the multiple relation between the difference value and the next function value is less than or equal to a preset threshold value 10 -4 If less than or equal to the preset threshold value 10 -4 Judging that the current function value and the next function value meet the preset convergence condition, and stopping re-jumping to the baseDetermining a current function value of the security rate function and next flight path information by utilizing the security rate function according to the current flight path information and the current signal transmitting power; if it is greater than the preset threshold value 10 -4 And judging that the preset convergence condition is not met between the current function value and the next function value, taking the next flight path information and the next signal transmitting power as the current flight path information and the current signal transmitting power respectively, then re-jumping to the step of determining the current function value and the next flight path information of the secret rate function by utilizing the secret rate function based on the current flight path information and the current signal transmitting power until the preset convergence condition is met between the current function value and the next function value. The formula involved in judging whether the current function value and the next function value meet the preset convergence condition is shown as follows:
In the method, in the process of the application,representing the next function value,/->Representing the current function value, ψ represents a preset threshold value.
Step S15: and carrying out communication between the target unmanned aerial vehicle and a legal node based on the current flight track information and the current signal transmitting power which correspond to the current function value.
In this embodiment, if the preset convergence condition is satisfied between the current function value and the next function value, communication between the target unmanned aerial vehicle and the legal node is performed based on the current flight trajectory information and the current signal transmission power corresponding to the current function value, and it can be understood that the current function value is the function value of the maximized secret rate function, so that communication between the target unmanned aerial vehicle and the legal node is performed based on the current flight trajectory information and the current signal transmission power corresponding to the current function value, and the purpose of improving the communication security between the target unmanned aerial vehicle and the legal node as much as possible is achieved.
Firstly, constructing a secret rate function taking flight track information and signal transmitting power of a target unmanned aerial vehicle as variables based on the obtained illegal node position information and legal node position information, and setting the current flight track information and the current signal transmitting power; determining a current function value of the security rate function and next flight trajectory information by utilizing the security rate function based on the current flight trajectory information and the current signal transmitting power; based on the next flight path information, obtaining the next signal transmitting power by utilizing the secret rate function, and calculating the next function value of the secret rate function; judging whether a preset convergence condition is met between the current function value and the next function value, if not, taking the next flight path information and the next signal transmitting power as the current flight path information and the current signal transmitting power respectively, then re-jumping to the step of determining the current function value and the next flight path information of the secret rate function by utilizing the secret rate function based on the current flight path information and the current signal transmitting power until the preset convergence condition is met between the current function value and the next function value, and carrying out communication between the target unmanned aerial vehicle and a legal node based on the current flight path information and the current signal transmitting power corresponding to the current function value. Therefore, the application takes illegal node position information and legal node position information into consideration when constructing the secret rate function, so that the intelligent reflecting surface is utilized to improve the communication strength between the target unmanned aerial vehicle and the legal node, and reduce the possibility that the illegal node obtains communication data; and continuously optimizing the flight track information and the signal transmitting power of the target unmanned aerial vehicle in the process of judging whether the current function value and the next function value meet the preset convergence condition or not until the current function value and the next function value meet the preset convergence condition, so as to maximize the function value of the secret rate function and enable the secret rate function to meet the convergence condition, and achieve the purpose of improving the communication safety of the target unmanned aerial vehicle.
Referring to fig. 3, the embodiment of the application discloses a specific unmanned aerial vehicle communication method, which comprises the following steps:
step S21: creating a three-dimensional Cartesian coordinate system, dividing a single flight period of a target unmanned aerial vehicle into a preset number of time slots, acquiring time intervals between adjacent time slots, and creating constraint conditions based on the flight speed, signal emission power and the time intervals of the target unmanned aerial vehicle.
In this embodiment, creating the constraint condition based on the flight speed, the signal transmitting power, and the time interval of the target unmanned aerial vehicle includes: determining a maximum flight distance at a single one of the time intervals and a flight distance at each of the time intervals based on the time intervals and the flight speeds, and creating a first constraint based on the maximum flight distance and the flight distance; and acquiring the signal transmission power of each time slot, determining the maximum signal transmission power and the average signal transmission power, and then creating a second constraint condition based on the maximum signal transmission power and the average signal transmission power. A specific three-dimensional cartesian coordinate system such as that shown in fig. 4 creates a schematic diagram, and because there are direct paths and reflected paths when a legitimate node communicates with a target drone, the legitimate node and the target drone are modeled as a rayleigh fading model; because the intelligent reflecting surface is a direct path when communicating with the target unmanned aerial vehicle, the intelligent reflecting surface and the target unmanned aerial vehicle are modeled as a rice fading model. Illegal node position information is [ x ] Eve ,y Eve ,0]Wherein x is Eve Is the abscissa, y of the illegal node position information Eve The ordinate of the illegal node position information is projected horizontally as q Eve ＝[x Eve ,y Eve ]The method comprises the steps of carrying out a first treatment on the surface of the In order to prevent the target unmanned aerial vehicle from colliding, the flying height of the target unmanned aerial vehicle is set to be H 1 Setting the purposeThe single flight period of the unmanned aerial vehicle is T, the unit of the single flight period is s, the single flight period is divided into N time slots, and the time interval between adjacent time slots is d t It should be noted that the smaller the time interval, the position between adjacent time slots of the target unmanned aerial vehicle can be regarded as unchanged, so that the coordinates of the target unmanned aerial vehicle in each time slot are [ x (n), y (n), H 1 ]Wherein x (n) is the abscissa of the target unmanned aerial vehicle under each time slot, y (n) is the ordinate of the target unmanned aerial vehicle under each time slot, and the horizontal projection of the target unmanned aerial vehicle under each time slot is q UAV (n)＝[x(n),y(n)]The method comprises the steps of carrying out a first treatment on the surface of the If the maximum flying speed of the target unmanned aerial vehicle is V max The maximum flight distance of the target unmanned aerial vehicle in each time slot is V max ·d t It can be appreciated that the starting point and the end point of the target unmanned aerial vehicle are respectively [ x (1), y (1), H 1 ]And [ x (N), y (N), H 1 ]Wherein x (1) represents the abscissa of the target unmanned aerial vehicle starting point, y (1) represents the ordinate of the target unmanned aerial vehicle starting point, x (N) represents the abscissa of the target unmanned aerial vehicle ending point, and y (N) represents the ordinate of the target unmanned aerial vehicle ending point; the deployment height of the intelligent reflecting surface is H 2 The position information of the intelligent reflecting surface is [ x ] IRS ,y IRS ,H 2 ]，x IRS Is the abscissa, y of the intelligent reflecting surface IRS Is the ordinate of the intelligent reflecting surface, and the horizontal projection of the intelligent reflecting surface is q IRS ＝[x IRS ,y IRS ]. Wherein the period and time interval satisfy the following relationship:
T＝N·d t ；
creating a first constraint based on the maximum flight distance and the flight distance is as follows:
(x(n+1)-x(n)) 2 +(y(n+1)-y(n)) 2 ≤V max ·d t ；n＝(1,2,…N-1)；
wherein x (n+1) represents the abscissa of the next time slot of the target unmanned aerial vehicle, x (n) represents the abscissa of the current time slot of the target unmanned aerial vehicle, y (n+1) represents the ordinate of the next time slot of the target unmanned aerial vehicle, y (n) represents the ordinate of the current time slot of the target unmanned aerial vehicle, and V max Representing the maximum flight speed of the target unmanned aerial vehicle d t Representing between adjacent time slotsN represents a preset number of time slots.
Creating a second constraint based on the maximum signal transmit power and the average signal transmit power is as follows:
wherein p (n) represents the signal transmission power of the target unmanned aerial vehicle in each time slot, p peak Representing the maximum signal transmit power of the target drone,and representing the average signal transmitting power of the target unmanned aerial vehicle, wherein N represents the preset number of time slots.
Step S22: and constructing a secret rate function taking the flight track information of the target unmanned aerial vehicle and the signal transmitting power as variables based on the obtained illegal node position information, legal node position information and the constraint conditions.
Step S23: and determining a current function value of the security rate function and the next flight path information by utilizing the security rate function based on the current flight path information and the current signal transmitting power.
In this embodiment, the determining, based on the current flight trajectory information and the current signal transmission power and using the secret rate function, the current function value of the secret rate function and the next flight trajectory information specifically includes: setting first position information and phase shift information of an intelligent reflecting surface based on the current flight track information and the current signal transmitting power, and calculating a first distance between the target unmanned aerial vehicle and the intelligent reflecting surface, a second distance between the intelligent reflecting surface and the legal node, a third distance between the target unmanned aerial vehicle and the legal node, a fourth distance between the target unmanned aerial vehicle and an illegal node and a fifth distance between the intelligent reflecting surface and the illegal node in each time slot; calculating a first cosine value between the target unmanned aerial vehicle and the intelligent reflecting surface, a second cosine value between the intelligent reflecting surface and the legal node and a third cosine value between the intelligent reflecting surface and the illegal node by using the first distance, the second distance, the third distance, the fourth distance and the fifth distance, and determining a first channel gain between the target unmanned aerial vehicle and the intelligent reflecting surface, a second channel gain between the target unmanned aerial vehicle and the legal node, a third channel gain between the target unmanned aerial vehicle and the illegal node, a fourth channel gain between the intelligent reflecting surface and the legal node and a fifth channel gain between the intelligent reflecting surface and the illegal node based on the first cosine value, the second cosine value and the third cosine value; and calculating a first information rate of the legal node and a second information rate of the illegal node based on the first channel gain, the second channel gain, the third channel gain, the fourth channel gain and the fifth channel gain, and obtaining a current function value of the secret rate function and next flight path information by using the first information rate, the second information rate, the CVX program package and the secret rate function. The first distance calculation formula between the target unmanned aerial vehicle and the intelligent reflecting surface under each time slot is as follows:
Wherein d UAV-IRS (n) represents a first distance between the target drone and the smart reflective surface, q, for each of said time slots UAV [n]Representing the horizontal projection of the target unmanned aerial vehicle in each time slot, q IRS Representing a horizontal projection of the intelligent reflecting surface.
The second distance calculation formula between the intelligent reflecting surface and the legal node is as follows:
wherein d IRS-Bob (n) represents a second distance between the intelligent reflecting surface and the legal node, q IRS Representing the horizontal projection of the intelligent reflecting surface, q BOB Representing legal node position information horizontal projection, H 2 Representing the deployment height of the intelligent reflective surface.
The third distance calculation formula between the target unmanned aerial vehicle and the legal node is as follows:
wherein d UAV-Bob Representing a third distance, q, between the target drone and the legitimate node UAV [n]Representing the horizontal projection of the target unmanned aerial vehicle in each time slot, q Bob Representing legal node position information horizontal projection, H 1 Representing the flying height of the target unmanned aerial vehicle.
The fourth distance calculation formula between the target unmanned plane and the illegal node is as follows:
wherein d UAV-Eve Representing a fourth distance between the target unmanned aerial vehicle and the illegal node, q UAV [n]Representing the horizontal projection of the target unmanned aerial vehicle in each time slot, q Eve Representing illegal node position information horizontal projection, H 1 Representing the flying height of the target unmanned aerial vehicle.
The fifth distance calculation formula between the intelligent reflecting surface and the illegal node is as follows:
wherein d IRS-Eve (n) represents the fifth distance between the intelligent reflecting surface and the illegal node, q IRS Representing the horizontal projection of the intelligent reflecting surface, q Eve Horizontal projection for representing illegal node position information，H 2 Representing the deployment height of the intelligent reflective surface.
The first cosine value calculation formula between the target unmanned aerial vehicle and the intelligent reflecting surface is as follows:
wherein x (n) represents the abscissa of each time slot of the target unmanned aerial vehicle, x IRS Represents the abscissa, d, of the intelligent reflecting surface UAV-IRS (n) represents a first distance between the target drone and the smart reflective surface for each of the time slots.
The second cosine value calculation formula between the intelligent reflecting surface and the legal node is as follows:
wherein x is IRS Representing the abscissa, x, of the intelligent reflecting surface Bob Abscissa representing legal node position information, d IRS-Bob And a second distance between the intelligent reflecting surface and the legal node.
The third cosine value calculation formula between the intelligent reflecting surface and the illegal node is as follows:
wherein x is IRS Representing the abscissa, x, of the intelligent reflecting surface Eve Abscissa, d representing illegal node position information IRS-Eve And a fifth distance between the intelligent reflecting surface and the illegal node.
The first channel gain calculation formula of the target unmanned aerial vehicle and the intelligent reflecting surface is as follows:
in the formula, h 0 Represents the path loss at the reference distance, d UAV-IRS (n) represents a first distance between the target drone and the smart reflective surface, phi, for each of the time slots UAV-IRS (n) represents a first cosine value between the target drone and the intelligent reflecting surface, λ represents a carrier wavelength, d represents an antenna spacing, M represents the number of reflecting units of the intelligent reflecting surface, and T represents a single flight period.
The second channel gain calculation formula of the target unmanned aerial vehicle and the legal node is as follows:
wherein ρ is UAV-Bob To obey a complex gaussian random distribution with zero mean and one variance, a random scattering component d UAV-Bob Representing a third distance, h, between the target drone and the legitimate node 0 Representing the path loss at the reference distance. Kappa is the path loss factor of the drone to the legitimate node.
The third channel gain calculation formula of the target unmanned plane and the illegal node is as follows:
wherein ρ is UAV-Eve To obey the complex gaussian random distribution random scattering component with mean zero, variance one, d UAV-Eve A fourth distance h between the target unmanned plane and the illegal node is represented 0 Representing the path loss at the reference distance. Kappa is the path loss factor of the drone to the illegal node.
The fourth channel gain calculation formula of the intelligent reflecting surface and the legal node is as follows:
wherein d IRS-Bob (n) represents the space between the intelligent reflecting surface and the legal nodeA second distance, h 0 Represents the path loss at the reference distance, α represents the path loss factor of the IRS to the legitimate node, λ represents the carrier wavelength, d represents the antenna spacing, φ IRS-Bob Representing a second cosine value between the intelligent reflective surface and the legitimate node, M representing the number of reflective units of the intelligent reflective surface, T representing a single flight period.
The calculation formula of the fifth channel gain of the intelligent reflecting surface and the illegal node is as follows:
wherein d IRS-Eve (n) represents the fifth distance between the intelligent reflecting surface and the illegal node, h 0 Represents the path loss at the reference distance, alpha represents the path loss factor of IRS to illegal node, lambda represents the carrier wavelength, d represents the antenna spacing, phi IRS-Bob Representing a second cosine value between the intelligent reflective surface and the legitimate node, M representing the number of reflective units of the intelligent reflective surface, T representing a single flight period.
The first information rate calculation formula of the legal node is as follows:
in ( H Representation of conjugate transpose, delta 2 Represents the noise power g UAV-Bob (n) represents the second channel gain of the target unmanned aerial vehicle and the legal node, g IRS-Bob (n) represents the fourth channel gain of the intelligent reflecting surface and legal nodes, p (n) represents the signal transmitting power of the target unmanned aerial vehicle in each time slot, Θ (n) represents the phase shift information of the intelligent reflecting surface in the nth time slot, g UAV-IRS (n) represents the first channel gain of the target unmanned aerial vehicle and the intelligent reflecting surface, g UAV-Bob (n) represents a second channel gain of the target drone and the legitimate node.
The second information rate calculation formula of the illegal node is as follows:
in delta 2 Representing the noise power, and p (n) represents the signal transmission power of the target unmanned aerial vehicle at each time slot.
The secret rate function calculation formula is as follows:
wherein R is Bob (n) represents a first information rate of a legitimate node, R Eve (N) represents a second information rate of the illegal node, and N represents a preset number of slots.
The maximized privacy rate function is the following formula:
and satisfies a first constraint:
(x(n+1)-x(n)) 2 +(y(n+1)-y(n)) 2 ≤V max ·d t ；n＝(1,2,…N-1)；
the second constraint is also satisfied:
in this embodiment, the determining, based on the current flight trajectory information and the current signal transmission power and using the secret rate function, the current function value of the secret rate function and the next flight trajectory information specifically includes: carrying out phase combination on the reflection signals of all reflection units of the intelligent reflection surface to obtain combined reflection signals, and obtaining the phase angle of the combined reflection signals so as to update the secret rate function based on the phase angle to obtain a first secret rate function; updating the first security rate function by using a preset first relaxation variable to obtain a second security rate function, and obtaining a current function value of the security rate function, next flight path information and a second relaxation variable by using the second security rate function based on the current flight path information and the current signal transmitting power. The phase combination is carried out on the reflection signals of all the reflection units of the intelligent reflection surface to obtain combined reflection signals, and the related calculation formulas are as follows:
Wherein M is the number of IRS reflecting units, θ m (n) represents the phase of the mth reflection unit of the smart reflection surface at the nth time slot.
Combining signals from different reflection units:
the above formula is expressed as the phase angle of the mth reflection unit of the nth slot:
/>
will beExpressed in the following form:
the first information rate of a legitimate node may be in the form of:
the second information rate of the illegitimate node may be in the form of:
the form of maximizing the first privacy rate function is thus as follows:
and satisfies a first constraint:
(x(n+1)-x(n)) 2 +(y(n+1)-y(n)) 2 ≤V max ·d t ；n＝(1,2,…N-1)；
the second constraint is also satisfied:
introducing a preset first relaxation variable to update the first privacy rate function, wherein the first relaxation variable is u and t:
u＝[u(1),u(2)...u(N)]；
t＝[t(1),t(2)...t(N)]；
order theThe form of the legal node first secret rate function is as follows:
transforming the non-concave function and the non-convex constraint by SCA method, at a given initial point u 0 ＝[u 0 (1),u 0 (2),…u 0 (N)]，t 0 ＝[t 0 (1),t 0 (2),…t 0 (N)]The method comprises the steps of carrying out a first treatment on the surface of the A first order taylor expansion is performed as follows:
wherein A is Bob,fea (n)，B Bob,fea (n)，C Bob,fea (n) are respectively:
the first information rate of the illegal node is expected, and the upper bound of the first information rate is solved by using the organ generation inequality:
introducing a preset second relaxation variableAnd processing the non-convexity of the first information rate of the illegal node.
Constraint of the two inequalities of the above equation, at q 0 ＝[q 0 (1),q 0 (2),…q 0 (N)]Performing first-order Taylor expansion to obtain standard non-convex constraint:
so utilize R' Bob (n)，R' Eve (n) updating the first privacy rate function to obtain a second privacy rate function, the maximization of the second privacy rate function having the form:
and satisfies a first constraint:
(x(n+1)-x(n)) 2 +(y(n+1)-y(n)) 2 ≤V max ·d t ；n＝(1,2,…N-1)；
the second constraint is also satisfied:
and solving by adopting a CVX program package to obtain the information of the next flight track of the target unmanned aerial vehicle under the given power and the next phase shift of the intelligent reflecting surface.
Step S24: and obtaining the next signal transmitting power by using the secret rate function based on the next flight track information, and calculating the next function value of the secret rate function.
Step S25: judging whether a preset convergence condition is met between the current function value and the next function value, if not, taking the next flight path information and the next signal transmitting power as the current flight path information and the current signal transmitting power respectively, then re-jumping to the step of determining the current function value and the next flight path information of the secret rate function by utilizing the secret rate function based on the current flight path information and the current signal transmitting power until the preset convergence condition is met between the current function value and the next function value.
Step S26: and carrying out communication between the target unmanned aerial vehicle and a legal node based on the current flight track information and the current signal transmitting power which correspond to the current function value.
Therefore, in the scheme of the application, the function value of the secret rate function is maximized by continuously optimizing the flight track information and the signal transmitting power of the target unmanned aerial vehicle, so that the communication safety of the unmanned aerial vehicle and legal nodes is improved as much as possible.
Referring to fig. 5, the embodiment of the application discloses a communication method of an unmanned aerial vehicle, which comprises the following steps:
step S31: based on the obtained illegal node position information and legal node position information, constructing a secret rate function taking the flight track information and signal transmitting power of the target unmanned aerial vehicle as variables, and setting the current flight track information and the current signal transmitting power.
In this embodiment, the single flight cycle t=300 of the target unmanned aerial vehicle is divided into n=120 time slots, and the flight height H 1 The intelligent reflecting surface is arranged on the surface of the outer wall of a building at the middle position of the connection line of the illegal node and the legal node, and the height of the building is H 2 =40m, the three-dimensional position of the intelligent reflecting surface is [50,0,40 ] ]The maximum flying speed of the target unmanned aerial vehicle is V max =8m/s, the start and end positions of the target unmanned aerial vehicle are [100, -600,50, respectively]、[100,600,50]Legal node position information is [0,0 ]]Illegal node position information is [200,0,0 ]]The average signal transmission power of the target unmanned aerial vehicle isMaximum signal transmission power p peak =2.4w, reference distance path loss of-20 dB, noise power of-80 dBm, path loss factor from unmanned aerial vehicle to ground node of κ=3, path loss factor from irs to ground node of α=2.5, preset threshold value ψ=10 -3 。
Step S32: and determining a current function value of the security rate function and the next flight path information by utilizing the security rate function based on the current flight path information and the current signal transmitting power.
In this embodiment, for example, in the 12-time flight trajectory information iterative optimization process shown in fig. 6, as can be seen from the distribution situation of the curves, the flight trajectory information of the target Unmanned Aerial Vehicle (UAV) is mainly distributed between the legal node and the Intelligent Reflection Surface (IRS), and as the number of iterations increases, the flight trajectory information after multiple iterative optimization approaches to be consistent. Comparing the optimized flight trajectory information with the non-optimized initial flight trajectory information, as shown in fig. 7, by observing the final optimized flight trajectory information diagram and the enlarged black box in fig. 7, when the target unmanned aerial vehicle meets the requirement of flying to the destination in a limited time, the flight speed is slowed down between the legal node and the IRS, and proper stay is performed, so that the function value of the confidentiality rate function in each time slot is maximized. Unlike the case where the IRS is not deployed, the target drone will approach the position where the IRS is deployed when flying above the legitimate node, which also means that, to maximize the signal received by the legitimate node from the target drone itself and the reflected signal from the IRS, the target drone needs to find the optimal position between the legitimate node and the IRS.
Step S33: updating the secret rate function based on the next flight path information and a taylor formula to obtain a third secret rate function, obtaining the next signal transmitting power by using the third secret rate function, and calculating the next function value of the secret rate function.
In the present embodiment, let
The first information rate of the legitimate node is:
R Bob (n)＝log 2 (1+p[n]·a(n))；
the second information rate of the illegal node is:
R Eve (n)＝log 2 (1+p[n]·b(n))；
the secret rate function for the nth time slot is as follows:
R Bob (n)-R Eve (n)＝log 2 (1+p[n]·a(n))-log 2 (1+p[n]·b(n))；
at p 0 ＝[p 0 (1),p 0 (2)...p 0 (N)]The Taylor formula is used for carrying out first-order Taylor expansion, and the non-concavity is processed as follows:
obtaining a third secret rate function through the related formula, and maximizing the third secret rate function to be as follows:
and satisfies a first constraint:
(x(n+1)-x(n)) 2 +(y(n+1)-y(n)) 2 ≤V max ·d t ；n＝(1,2,…N-1)；
the second constraint is also satisfied:
and adopting a CVX program package to solve, and obtaining the next signal transmitting power.
Step S34: judging whether a preset convergence condition is met between the current function value and the next function value, if not, taking the next flight path information and the next signal transmitting power as the current flight path information and the current signal transmitting power respectively, then re-jumping to the step of determining the current function value and the next flight path information of the secret rate function by utilizing the secret rate function based on the current flight path information and the current signal transmitting power until the preset convergence condition is met between the current function value and the next function value.
In this embodiment, for example, in the graph of the privacy rate function value versus the number of iterations shown in fig. 8, the curve change of the average privacy rate function in the 14-time iterative optimization process is shown, and the average privacy rate is almost unchanged after the iteration is completed to 4 times. For example, in the graph of the relationship between the current function value and the next function value based on the number of iterations shown in fig. 9, after the iteration is optimized to 4 times, the relationship between the current function value and the next function value satisfies the preset convergence condition.
Step S35: and carrying out communication between the target unmanned aerial vehicle and a legal node based on the current flight track information and the current signal transmitting power which correspond to the current function value.
In this embodiment, for example, fig. 10, under the same condition of the same environmental parameter configuration, the function values of the secret rate function under each time slot in the scheme of the present application are compared with the following schemes respectively: the IRS is not deployed without track optimization; after track optimization, IRS is not deployed; the IRS is deployed without track optimization. As can be seen from fig. 10: compared with a scheme of path optimization without IRS deployment, the addition of the IRS can obviously improve the confidentiality rate. Compared with a scheme of deploying IRS (inter-radio network system) but not performing path optimization, the scheme of the application can also be found that the area surrounded by a confidentiality rate curve and a transverse axis is larger, which means that the average confidentiality rate is higher than that of the scheme which does not undergo path optimization. The safety performance of the system can be obviously improved by deploying the IRS and optimizing the flight path of the unmanned aerial vehicle.
Therefore, the method and the device acquire the position information of the illegal node and the legal node, and optimize the flight track information and the signal transmitting power of the unmanned aerial vehicle by utilizing the intelligent reflecting surface so as to achieve the purposes of improving the communication intensity of the unmanned aerial vehicle and the legal node and improving the communication safety.
Referring to fig. 11, an embodiment of the present application discloses a communication device for an unmanned aerial vehicle, including:
the function construction module 11 is used for constructing a secret rate function taking the flight track information and the signal transmitting power of the target unmanned aerial vehicle as variables based on the obtained illegal node position information and legal node position information;
an information setting module 12 for setting the current flight trajectory information and the current signal transmission power;
a track calculation module 13, configured to obtain, based on the current flight track information and the current signal transmission power, a current function value of the security rate function and the next flight track information by using a preset program package and the security rate function;
an information calculation module 14, configured to obtain a next signal transmitting power by using the secret rate function based on the next flight trajectory information, and calculate a next function value of the secret rate function;
A judging module 15, configured to judge whether a preset convergence condition is satisfied between the current function value and the next function value, if not, regarding the next flight path information and the next signal transmission power as the current flight path information and the current signal transmission power, and then re-jumping to the step of determining the current function value and the next flight path information of the secret rate function based on the current flight path information and the current signal transmission power by using the secret rate function until the preset convergence condition is satisfied between the current function value and the next function value;
and a communication module 16, configured to perform communication between the target unmanned aerial vehicle and a legal node based on the current flight trajectory information and the current signal transmission power corresponding to the current function value.
Firstly, constructing a secret rate function taking flight track information and signal transmitting power of a target unmanned aerial vehicle as variables based on the obtained illegal node position information and legal node position information, and setting the current flight track information and the current signal transmitting power; determining a current function value of the security rate function and next flight trajectory information by utilizing the security rate function based on the current flight trajectory information and the current signal transmitting power; based on the next flight path information, obtaining the next signal transmitting power by utilizing the secret rate function, and calculating the next function value of the secret rate function; judging whether a preset convergence condition is met between the current function value and the next function value, if not, taking the next flight path information and the next signal transmitting power as the current flight path information and the current signal transmitting power respectively, then re-jumping to the step of determining the current function value and the next flight path information of the secret rate function by utilizing the secret rate function based on the current flight path information and the current signal transmitting power until the preset convergence condition is met between the current function value and the next function value, and carrying out communication between the target unmanned aerial vehicle and a legal node based on the current flight path information and the current signal transmitting power corresponding to the current function value. Therefore, the application takes illegal node position information and legal node position information into consideration when constructing the secret rate function, so that the intelligent reflecting surface is utilized to improve the communication strength between the target unmanned aerial vehicle and the legal node, and reduce the possibility that the illegal node obtains communication data; and continuously optimizing the flight track information and the signal transmitting power of the target unmanned aerial vehicle in the process of judging whether the current function value and the next function value meet the preset convergence condition or not until the current function value and the next function value meet the preset convergence condition, so as to maximize the function value of the secret rate function and enable the secret rate function to meet the convergence condition, and achieve the purpose of improving the communication safety of the target unmanned aerial vehicle.
Fig. 12 is a schematic structural diagram of an electronic device according to an embodiment of the present application. Specifically, the method comprises the following steps: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input output interface 25, and a communication bus 26. Wherein the memory 22 is configured to store a computer program that is loaded and executed by the processor 21 to implement relevant steps in the unmanned aerial vehicle communication method performed by the electronic device as disclosed in any of the foregoing embodiments.
In this embodiment, the power supply 23 is configured to provide an operating voltage for each hardware device on the electronic device; the communication interface 24 can create a data transmission channel between the electronic device and the external device, and the communication protocol to be followed is any communication protocol applicable to the technical solution of the present application, which is not limited herein in detail; the input/output interface 25 is used for acquiring external input data or outputting external output data, and the specific interface type thereof may be selected according to the specific application requirement, which is not limited herein.
Processor 21 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 21 may be implemented in at least one hardware form of DSP (Digital Signal Processing ), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array ). The processor 21 may also comprise a main processor, which is a processor for processing data in an awake state, also called CPU (Central Processing Unit ); a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 21 may integrate a GPU (Graphics Processing Unit, image processor) for rendering and drawing of content required to be displayed by the display screen. In some embodiments, the processor 21 may also include an AI (Artificial Intelligence ) processor for processing computing operations related to machine learning.
The memory 22 may be a carrier for storing resources, such as a read-only memory, a random access memory, a magnetic disk, or an optical disk, and the resources stored thereon include an operating system 221, a computer program 222, and data 223, and the storage may be temporary storage or permanent storage.
The operating system 221 is used for managing and controlling various hardware devices on the electronic device and the computer program 222, so as to implement the operation and processing of the processor 21 on the mass data 223 in the memory 22, which may be Windows, unix, linux. The computer program 222 may further include a computer program that can be used to perform other specific tasks in addition to the computer program that can be used to perform the drone communication method performed by the electronic device as disclosed in any of the previous embodiments. The data 223 may include, in addition to data received by the electronic device and transmitted by the external device, data collected by the input/output interface 25 itself, and so on.
Further, the embodiment of the application also discloses a computer readable storage medium, wherein the storage medium stores a computer program, and when the computer program is loaded and executed by a processor, the method steps executed in the communication process of the unmanned aerial vehicle disclosed in any embodiment are realized.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above describes in detail a method, apparatus, device and medium for unmanned aerial vehicle communication provided by the present invention, and specific examples are applied herein to illustrate the principles and embodiments of the present invention, and the above description of the examples is only for helping to understand the method and core ideas of the present invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.

Claims (8)

1. A method of unmanned aerial vehicle communication, comprising:
based on the obtained illegal node position information and legal node position information, constructing a secret rate function taking the flight track information and signal transmitting power of the target unmanned aerial vehicle as variables, and setting the current flight track information and the current signal transmitting power;
determining a current function value of the security rate function and next flight trajectory information by utilizing the security rate function based on the current flight trajectory information and the current signal transmitting power;
based on the next flight path information, obtaining the next signal transmitting power by utilizing the secret rate function, and calculating the next function value of the secret rate function;
judging whether a preset convergence condition is met between the current function value and the next function value, if not, taking the next flight path information and the next signal transmitting power as the current flight path information and the current signal transmitting power respectively, then re-jumping to the step of determining the current function value and the next flight path information of the secret rate function by utilizing the secret rate function based on the current flight path information and the current signal transmitting power until the preset convergence condition is met between the current function value and the next function value, and carrying out communication between the target unmanned aerial vehicle and a legal node based on the current flight path information and the current signal transmitting power corresponding to the current function value;
The method for constructing the confidentiality rate function taking the flight track information and the signal transmitting power of the target unmanned aerial vehicle as variables based on the obtained illegal node position information and legal node position information comprises the following steps:
creating a three-dimensional Cartesian coordinate system, dividing a single flight period of a target unmanned aerial vehicle into a preset number of time slots, acquiring time intervals between adjacent time slots, and creating constraint conditions based on the flight speed, signal emission power and the time intervals of the target unmanned aerial vehicle; constructing a secret rate function taking the flight track information of the target unmanned aerial vehicle and the signal transmitting power as variables based on the obtained illegal node position information, legal node position information and the constraint conditions;
the determining the current function value of the security rate function and the next flight path information based on the current flight path information and the current signal transmitting power by utilizing the security rate function comprises the following steps:
setting first position information and phase shift information of an intelligent reflecting surface based on the current flight track information and the current signal transmitting power, and calculating a first distance between the target unmanned aerial vehicle and the intelligent reflecting surface, a second distance between the intelligent reflecting surface and the legal node, a third distance between the target unmanned aerial vehicle and the legal node, a fourth distance between the target unmanned aerial vehicle and the illegal node and a fifth distance between the intelligent reflecting surface and the illegal node in each time slot; calculating a first channel gain of the target unmanned aerial vehicle and the intelligent reflecting surface, a second channel gain of the target unmanned aerial vehicle and the legal node, a third channel gain of the target unmanned aerial vehicle and the illegal node, a fourth channel gain of the intelligent reflecting surface and the legal node and a fifth channel gain of the intelligent reflecting surface and the illegal node by using the first distance, the second channel gain, the third channel gain, the fourth channel gain and the fifth gain, and obtaining a current function value of the confidentiality rate function and the next flight path information by using a CVX program package and the confidentiality rate function based on the first channel gain, the second channel gain, the third channel gain, the fourth channel gain and the fifth gain.
2. The unmanned aerial vehicle communication method of claim 1, wherein the creating a constraint based on the target unmanned aerial vehicle's flight speed, signal transmit power, and the time interval comprises:
determining a maximum flight distance at a single one of the time intervals and a flight distance at each of the time intervals based on the time intervals and the flight speeds, and creating a first constraint based on the maximum flight distance and the flight distance;
and acquiring the signal transmission power of each time slot, determining the maximum signal transmission power and the average signal transmission power, and then creating a second constraint condition based on the maximum signal transmission power and the average signal transmission power.
3. The drone communication method of claim 1, wherein the calculating a first channel gain of the target drone and the smart reflection surface, a second channel gain of the target drone and the legitimate node, a third channel gain of the target drone and the illegitimate node, a fourth channel gain of the smart reflection surface and the legitimate node, and a fifth channel gain between the smart reflection surface and the illegitimate node using the first channel gain, the second channel gain, the third channel gain, the fourth channel gain, and the fifth channel gain, and the deriving the current function value of the secret rate function and the next flight trajectory information using a CVX package and the secret rate function using the first channel gain, the second channel gain, the third channel gain, the fourth channel gain, and the fifth channel gain includes:
Calculating a first cosine value between the target unmanned aerial vehicle and the intelligent reflecting surface, a second cosine value between the intelligent reflecting surface and the legal node and a third cosine value between the intelligent reflecting surface and the illegal node by using the first distance, the second distance, the third distance, the fourth distance and the fifth distance, and determining a first channel gain between the target unmanned aerial vehicle and the intelligent reflecting surface, a second channel gain between the target unmanned aerial vehicle and the legal node, a third channel gain between the target unmanned aerial vehicle and the illegal node, a fourth channel gain between the intelligent reflecting surface and the legal node and a fifth channel gain between the intelligent reflecting surface and the illegal node based on the first cosine value, the second cosine value and the third cosine value;
and calculating a first information rate of the legal node and a second information rate of the illegal node based on the first channel gain, the second channel gain, the third channel gain, the fourth channel gain and the fifth channel gain, and obtaining a current function value of the secret rate function and next flight path information by using the first information rate, the second information rate, the CVX program package and the secret rate function.
4. The unmanned aerial vehicle communication method of claim 3, wherein the determining the current function value of the privacy rate function and the next flight trajectory information based on the current flight trajectory information and the current signal transmit power and using the privacy rate function comprises:
carrying out phase combination on the reflection signals of all reflection units of the intelligent reflection surface to obtain combined reflection signals, and obtaining the phase angle of the combined reflection signals so as to update the secret rate function based on the phase angle to obtain a first secret rate function;
and updating the first security rate function by using a preset first relaxation variable and a second relaxation variable to obtain a second security rate function, and obtaining the current function value of the security rate function and the next flight path information by using the second security rate function based on the current flight path information and the current signal transmitting power.
5. The unmanned aerial vehicle communication method of any of claims 1 to 4, wherein the deriving the next signal transmit power using the secret rate function based on the next flight trajectory information, and calculating the next function value of the secret rate function, comprises:
Updating the secret rate function based on the next flight path information and a taylor formula to obtain a third secret rate function, obtaining the next signal transmitting power by using the third secret rate function, and calculating the next function value of the secret rate function.
6. An unmanned aerial vehicle communication device, comprising:
the function construction module is used for constructing a secret rate function taking the flight track information and the signal transmitting power of the target unmanned aerial vehicle as variables based on the obtained illegal node position information and legal node position information;
the information setting module is used for setting the current flight track information and the current signal transmitting power;
the track calculation module is used for determining the current function value of the security rate function and the next flight track information by utilizing the security rate function based on the current flight track information and the current signal transmitting power;
the information calculation module is used for obtaining the next signal transmitting power by utilizing the secret rate function based on the next flight track information and calculating the next function value of the secret rate function;
The judging module is used for judging whether a preset convergence condition is met between the current function value and the next function value, if not, taking the next flight path information and the next signal transmitting power as the current flight path information and the current signal transmitting power respectively, then re-jumping to the step of determining the current function value and the next flight path information of the secret rate function by utilizing the secret rate function until the preset convergence condition is met between the current function value and the next function value;
the communication module is used for carrying out communication between the target unmanned aerial vehicle and a legal node based on the current flight track information and the current signal transmitting power which correspond to the current function value of the secret rate function;
the function construction module is specifically configured to:
creating a three-dimensional Cartesian coordinate system, dividing a single flight period of a target unmanned aerial vehicle into a preset number of time slots, acquiring time intervals between adjacent time slots, and creating constraint conditions based on the flight speed, signal emission power and the time intervals of the target unmanned aerial vehicle; constructing a secret rate function taking the flight track information of the target unmanned aerial vehicle and the signal transmitting power as variables based on the obtained illegal node position information, legal node position information and the constraint conditions;
The track calculation module is specifically configured to:
setting first position information and phase shift information of an intelligent reflecting surface based on the current flight track information and the current signal transmitting power, and calculating a first distance between the target unmanned aerial vehicle and the intelligent reflecting surface, a second distance between the intelligent reflecting surface and the legal node, a third distance between the target unmanned aerial vehicle and the legal node, a fourth distance between the target unmanned aerial vehicle and the illegal node and a fifth distance between the intelligent reflecting surface and the illegal node in each time slot; calculating a first channel gain of the target unmanned aerial vehicle and the intelligent reflecting surface, a second channel gain of the target unmanned aerial vehicle and the legal node, a third channel gain of the target unmanned aerial vehicle and the illegal node, a fourth channel gain of the intelligent reflecting surface and the legal node and a fifth channel gain of the intelligent reflecting surface and the illegal node by using the first distance, the second channel gain, the third channel gain, the fourth channel gain and the fifth gain, and obtaining a current function value of the confidentiality rate function and the next flight path information by using a CVX program package and the confidentiality rate function based on the first channel gain, the second channel gain, the third channel gain, the fourth channel gain and the fifth gain.
7. An electronic device, comprising:
a memory for storing a computer program;
a processor for executing the computer program to implement the steps of the unmanned aerial vehicle communication method of any of claims 1 to 5.
8. A computer-readable storage medium storing a computer program; wherein the computer program when executed by a processor implements the steps of the unmanned aerial vehicle communication method of any of claims 1 to 5.
CN202210460953.0A 2022-04-28 2022-04-28 Unmanned aerial vehicle communication method, device, equipment and medium Active CN114938236B (en)

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