CN115347939A - Optimization method of full-freedom full-duplex amplification forwarding unmanned aerial vehicle relay system - Google Patents
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Abstract
The invention discloses an optimization method of a full-freedom full-duplex amplifying and forwarding unmanned aerial vehicle relay system, which utilizes position information of a source node, a destination node and an unmanned aerial vehicle to optimize and adjust the flight speed and time of the unmanned aerial vehicle according to the size of data volume required to be sent to the destination node by the source node, and realizes the minimization of the flight energy consumption of the unmanned aerial vehicle under the condition of meeting the requirement of the data volume sent by the system. Simulation experiments show that the optimization method has remarkable advantages in reducing energy consumption.
Description
Technical Field
The invention belongs to the technical field of wireless communication, and particularly relates to an optimization method of a full-freedom full-duplex amplification forwarding unmanned aerial vehicle relay system.
Background
In recent years, unmanned aerial vehicle cooperative communication technology has become a hot spot of research in the field of wireless communication. Compared with the traditional ground communication, the unmanned aerial vehicle cooperative communication is easy to realize distribution as required, so that higher cost benefit is achieved; the unmanned aerial vehicle has high mobility, so that the unmanned aerial vehicle is more flexible and rapid to deploy; unmanned aerial vehicle is mostly the line of sight link with the channel link of ground terminal, can provide better channel environment. Therefore, the unmanned aerial vehicle will play an extremely important role in the future wireless communication field, and its application mainly includes: (1) as a temporary base station; (2) as a mobile relay; and (3) the system is used for the Internet of things.
At present, a great deal of literature researches on the optimization problem of information capacity and spectral efficiency of an unmanned aerial vehicle relay cooperative communication system when the unmanned aerial vehicle is used as a mobile relay. Meanwhile, drones have limited onboard energy, so the energy saving problem is considered as a key problem for drone communication. Currently, most of research considerations are a decoding forwarding relay communication form, the research on the amplification forwarding relay form adopted by the unmanned aerial vehicle is less, especially, the amplification forwarding unmanned aerial vehicle relay communication in a full-freedom full-duplex mode is not considered, and the research is worth.
Disclosure of Invention
The invention aims to provide an optimization method of a full-freedom full-duplex amplification forwarding unmanned aerial vehicle relay system, which is used for adjusting the flight speed and time of the unmanned aerial vehicle relay system and realizing the minimization of the flight energy consumption of the unmanned aerial vehicle under the condition of meeting the requirement of the data volume sent by the system, thereby improving the energy efficiency of the system.
The invention is realized in this way, a full-freedom full-duplex amplifies the optimization method which transmits the unmanned aerial vehicle relay system, in this method, the unmanned aerial vehicle relay R flies to the destination node D along the straight line with the uniform velocity from the straight line right above the source node S, the unmanned aerial vehicle R transmits the message to the destination node while receiving S sending signal, the unmanned aerial vehicle receives the signal and transmits the message to go on at the same time on a frequency channel, and the relay transmits and adopts AF agreement, this method includes the following steps:
(1) Before the unmanned aerial vehicle flies formally, calculating the constant flying speed v of the fixed-wing unmanned aerial vehicle and the time limit T for completing Q data volume forwarding;
(2) Will be provided with
Setting a constraint condition that the unmanned aerial vehicle needs to finish data forwarding in the time from the position right above the source node S to the position right above the destination node D; wherein, L is the distance between the source node S and the destination node D;
(3) Judging the uniform flying speed V and the minimum flying speed V of the unmanned aerial vehicle min Maximum flying speed V max According to the comparison result, the constraint condition is checked, and the flight speed and time of the unmanned aerial vehicle are optimized and adjusted under the condition that the requirement of the system for sending the data volume is met according to the judgment result of the check result.
Preferably, in step (1), the uniform flying speed v is formulated as:
wherein, c 1 ＝ηC D0 B/2、c 2 ＝2W 2 /[(πe 0 A R )ηB]Eta represents air density, C D0 Represents the zero lift drag coefficient, B represents the wing area, W represents the overall weight of the unmanned aerial vehicle, e 0 Is the span efficiency, A R Representing the aspect ratio of the unmanned wing.
Preferably, in step (1), the time limit T is formulated as:
wherein e is a natural constant, P S Is the transmission power, P, of the transmitting antenna of the node S R Is the transmitting power of the R transmitting antenna of the unmanned aerial vehicle relay, beta represents the channel gain reference value under the condition of 1m distance, H is the flying height, sigma 2 Is the variance of gaussian white noise.
Preferably, in step (2), the checking the constraint condition according to the comparison result, and the determining, according to the check result, that the flight speed and time of the unmanned aerial vehicle are optimally adjusted under the condition that the requirement of the system for sending the data volume is met specifically includes:
the comparison results are processed in the following cases:
case 1: if V min ≤v≤V max Then check
Whether the result is true or not; if it is
If true, let T * ＝T，v * = v, otherwise, order
And checking that v.gtoreq.V min Whether the result is true or not; if V is greater than or equal to V min If true, let T * ＝T，v * = v, otherwise let T * ＝NaN，v * ＝NaN；
Case 2: if V < V min If V = V min Inspection of the bottom
Whether the result is true or not; if it is
If true, let T * ＝T，v * = v, otherwise let T * ＝NaN，v * ＝NaN；
Case 3: if V > V max Let V = V max Inspection of the bottom
Whether the result is true or not; if it is
If true, let T * ＝T，v * = v, otherwise order
And checking that v.gtoreq.V min Whether the result is true or not; if V is not less than V min Is established, T * ＝T，v * = v, otherwise let T * ＝NaN，v * = NaN, wherein NaN means no value present, i.e. no solution;
wherein v is * For the optimum uniform flying speed of unmanned aerial vehicle, T * For optimal total time of flight, naN means no solution, if T * ＝NaN，v * If the destination node is not a source node, the destination node sends a data volume request to the destination node; otherwise, the unmanned aerial vehicle will fly at a uniform speed v * Flying from the height directly above S to D along the straight line with the height of H and the total flying time of T * During flight, the unmanned aerial vehicle R transmits a message to the destination node while receiving the S sending signal by adopting an AF protocol.
The invention overcomes the defects of the prior art and provides an optimization method of a full-freedom full-duplex amplifying and forwarding unmanned aerial vehicle relay system.
For a relay communication system adopting a fixed-wing unmanned aerial vehicle, a source node S and a destination node D are arranged on the ground, a fixed-wing unmanned aerial vehicle relay node R is arranged in the air, the unmanned aerial vehicle works in a full-freedom full-duplex mode (receiving and transmitting signals are carried out simultaneously in the same frequency band), an amplification-and-forwarding (AF) relay protocol is adopted, the distance between S and D is assumed to be L, and because the S and D are far away, a direct link does not exist, and communication needs to be carried out by means of the unmanned aerial vehicle relay R; the unmanned aerial vehicle relay R flies to a destination node D along a straight line at a constant speed v right above S (the flying height is H); assuming that nodes S to R and R to D are both line of Sight (LoS) links, the S to R channel can be written as:
the R to D channels can be written as:
where, α is the wireless channel fading factor,
being the distance from the source node S to the relay R,
for the distance from the relay R to the destination node D, t represents time, and β represents a channel gain reference value in the case of a distance of 1 m;
it should be noted that: the value of the wireless channel fading factor α is usually 2 to 4, and since the channel between the unmanned aerial vehicle and the ground node is formed by the LoS link, α is 2, and at this time, the channel from the node S to the relay R is:
the channel relayed R to node D is:
because the relay R of the unmanned aerial vehicle works in the full-degree-of-freedom full-duplex mode, at this time, a wireless signal transmitted by a transmitting antenna of the unmanned aerial vehicle is received by a receiving antenna of the unmanned aerial vehicle, so that the unmanned aerial vehicle needs to adopt a Loop Interference Cancellation (LIC) technology to cancel Loop Interference generated in the full-degree-of-freedom full-duplex mode, and according to a LoS channel and a Loop Interference hypothesis, a signal expression received by the relay R of the unmanned aerial vehicle can be given:
wherein, P S Is the transmit power of the transmit antenna of node S; x is the number of S Is the transmit signal of node S (assuming power of 1); p is R The transmission power of the unmanned aerial vehicle relay R transmitting antenna; x is the number of R Is the transmit signal of the drone relay R (assuming power of 1); h is LI Is residual interference after LIC; z is a radical of formula R Is white Gaussian noise received by R (assuming mean 0 and variance σ 2 ) The unmanned plane will receive signal y R Multiplying the amplification factor rho becomes the transmission signal x R I.e. x R ＝ρy R Here, the
Then forwarding to a destination node D;
suppose that the drone relays R to receive signal y R Is sufficient to treatIdeally, without any delay, the signal received by the node D is:
wherein z is D Is D white Gaussian noise received (assuming mean 0 and variance σ) 2 )；
Will be provided with
Substitution of formula (4) gives:
then, will
By substituting formula (5), one can obtain:
then, the mixture is mixed with
By substitution of formula (6), one can obtain:
according to the rules of formula (5), (6) and (7), pass through M +1 times
After substitution of (a), y D Can be written as:
according to the formula
Formula (8) can be written as:
now, let M go to infinity, at this time
Towards 0, then equation (9) can be written as:
from the above analysis y D The signal terms of (a) are:
y D the noise term of (a) is:
by y D The received signal power of the destination node D can be found as:
the received noise power is:
thus, the received snr of destination node D can be written as:
wherein
Therefore, the amount of data that can be received by the destination node at time t is:
according to the above analysis, the problem of minimum optimization of energy consumption of the unmanned aerial vehicle can be written as:
V min ≤v≤V max (17c)
here, T is a time limit for completing Q data volume forwarding,
is the power consumption of a fixed wing drone flying in a straight line at a uniform velocity v, where c 1 ＝ηC D0 B/2、c 2 ＝2W 2 /[(πe 0 A R )ηB]Eta represents air density, C D0 Denotes the zero lift drag coefficient, B denotes the wing area, e 0 Is the span efficiency, W represents the overall weight of the drone, A R Aspect ratio, V, of the unmanned wing max And V min Maximum and minimum flight speeds of the drone, respectively, constraint barThe formula (17D) indicates that the unmanned aerial vehicle needs to complete data forwarding in the time of flying from the position right above the source node S to the position right above the destination node D;
it should be noted that: the data size here is normalized for the communication bandwidth, and therefore, the data size here is bit/Hz;
to understand the optimization problem (17), i.e., the optimization problem composed of the formula (17 a), the formula (17 b), the formula (17 c), and the formula (17 d), the constraint formula (17 b) is simplified; for this purpose, log is first simplified 2 (1+γ D ) From equation (15) we can obtain:
then according to the inequality
And formula (18), log can be found further 2 (1+γ D ) The lower bound of (1) can be specifically written as:
because of the fact that
Therefore, it is not only easy to use
If it is true, log is obtained according to the formula (19) 2 (1+γ D ) See, in particular, formula (20);
from equations (16) and (20), the lower bound of the amount of data that the destination node D can receive at time t is obtained:
obtained by the following formula (21)
Lower bound of
Then the drone energy consumption minimum optimization problem, i.e. problem (17) can be transformed into:
V min ≤v≤V max (22c)
it should be noted that: when the lower bound of the data which can be received by the destination node D is more than or equal to Q, the data which can be actually received by the destination node D can be determined to be more than or equal to Q;
to solve the problem (22), that is, the optimization problem composed of the equations (22 a), (22 b), (22 c) and (22 d), first, ignoring the constraint equations (22 b), (22 c) and (22 d), the partial derivative of v with respect to the equation (21 a) is obtained:
and let the partial derivative be 0, we can obtain:
the method of solving the optimization problem (22) is given below, in particular as follows:
step 1: order to
And 2, step: (1) If V min ≤v≤V max Then check
Is there any? If yes, let T * ＝T，v * = v, then jump to step 4, otherwise, order
Jumping to the step 3;
and 2, step: (2) If V < V min Let V = V min Inspection of the bottom
Is there any? If true, let T * ＝T，v * = v, then jump to step 4, otherwise the problem is not solved, let T * ＝NaN，v * = NaN, jump to step 4;
step 2: (3) If V > V max If V = V max Inspection of the bottom
Is there any? If true, T * ＝T，v * = v, then jump to step 4, otherwise order
And 3, step 3: if V is greater than or equal to V min Then let T * ＝T，v * = v, otherwise problem no solution, T * ＝NaN，v * ＝NaN；
And 4, step 4: finishing the algorithm;
here "NaN" means no solution.
Compared with the defects and shortcomings of the prior art, the invention has the following beneficial effects: according to the method, the flight speed and the flight time of the unmanned aerial vehicle are optimized and adjusted by utilizing the position information of the source node, the destination node and the unmanned aerial vehicle according to the data volume which needs to be sent to the destination node by the source node.
Drawings
FIG. 1 is a schematic view of the position and related parameters of the unmanned aerial vehicle of the present invention during flight;
FIG. 2 is a comparison of power consumption using an optimization method with minimum flight speed of the UAV;
FIG. 3 is a diagram illustrating the actual data volume received by a destination node using an optimization method and at the minimum flying speed of an unmanned aerial vehicle;
FIG. 4 is a comparison of power consumption using an optimization method with maximum flight speed of the UAV;
fig. 5 shows the actual data volume received by the destination node using the optimization method and the maximum flight speed of the drone.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, the drone relay R flies from directly above the source node S to the destination node D along a straight line at a constant velocity v. And the unmanned aerial vehicle R forwards the message to the destination node while receiving the S sending signal. The unmanned aerial vehicle receives signals and forwards messages at the same time on the same frequency band, namely, the unmanned aerial vehicle works in a full-freedom full-duplex mode, and an AF protocol is adopted for relay forwarding. The optimization method comprises the following steps:
(1) Before the unmanned aerial vehicle flies formally, calculating the constant speed v of the fixed-wing unmanned aerial vehicle:
and time limit T for completing Q data volume forwarding:
wherein e is a natural constant, c 1 ＝ηC D0 B/2、c 2 ＝2W 2 /[(πe 0 A R )ηB]Eta represents air density, C D0 Represents the zero lift drag coefficient, B represents the wing area, W represents the overall weight of the unmanned aerial vehicle, e 0 Is the span efficiency, A R Representing the aspect ratio of the unmanned wing;
P S is the transmission power, P, of the transmitting antenna of the node S R Is the transmitting power of the R transmitting antenna of the unmanned aerial vehicle relay, beta represents the channel gain reference value under the condition of 1m distance, H is the flying height, sigma 2 Is the variance of gaussian white noise.
(2) Will be provided with
Setting a constraint condition that the forwarding of data needs to be completed within the time that the unmanned aerial vehicle flies from the position right above the source node S to the position right above the destination node D; wherein L is the distance between the source node S and the destination node D;
(3) Judging the uniform velocity V and the minimum flying velocity V of the unmanned aerial vehicle min Maximum flying speed V max The constraint conditions are checked according to the comparison result, and the flying speed and the flying time of the unmanned aerial vehicle are optimized and adjusted under the condition that the requirement of the system for sending the data volume is met according to the judgment result of the check result:
wherein, checking
And V min 、V max The size relationship of (2) is processed in three cases:
case 1: if V min ≤v≤V max Then check
Is there any? If true, let T * ＝T，v * = v, otherwise, order
And checking that v.gtoreq.V min Is there any? If true, let T * ＝T，v * = v, otherwise let T * ＝NaN，v * ＝NaN。
Case 2: if V < V min Let V = V min Inspection of
Is there any? If true, let T * ＝T，v * = v, otherwise let T * ＝NaN，v * ＝NaN。
Case 3: if V > V max Let V = V max Inspection of the bottom
Is there any? If true, let T * ＝T，v * = v, otherwise order
And checking that v.gtoreq.V min Is there any? If true, T * ＝T，v * = v, otherwise let T * ＝NaN，v * ＝NaN。
Here "NaN" means that there are an infinite number of values, i.e. no solutions.
If T * ＝NaN，v * If the destination node is not the source node, indicating that the destination node cannot meet the data volume sending requirement, and selecting the unmanned aerial vehicle to quit the forwarding service; otherwise, the unmanned aerial vehicle will fly at a uniform speed v * Flying from the height H to D along a straight line from the position right above S for the total flying time T * During the flight, the unmanned aerial vehicle R adopts an AF protocol, receives the S sending signal and forwards the message to the destination node.
Aiming at the optimization method provided by the invention, the invention carries out simulation experiment and is most suitable for the unmanned aerial vehicleThe power consumption of the system under the small-speed flight and the maximum-speed flight is compared, and the experimental environment is the Matlab environment. Wherein, assuming that the distance L =5000m between the source node S and the destination node D, the minimum and maximum speeds of flight of the unmanned aerial vehicle are v min ＝5m/s、v max =50m/s, the signal transmission power of the unmanned aerial vehicle flying at a fixed height H =200m, the S and R nodes is P S ＝P R = -20dBm, variance σ of Gaussian white noise in the environment 2 = -110dBm, loop interference | h LI | 2 ＝10 -6 Channel gain β =1,c per unit distance 1 ＝9.26×10 -4 ，c 2 ＝2250。
Fig. 2 shows a comparison of the proposed optimization method with the power consumption at minimum flying speed of the drone. As can be seen from fig. 2, the proposed optimization method provides a significant saving in power consumption compared to the method of flying at minimum speed. Fig. 3 shows the data volume that the destination node can receive after the optimization method is adopted and the data volume that the destination node can receive at the minimum flying speed of the unmanned aerial vehicle.
Fig. 3 shows that, in the two methods, the destination node can receive data with a quantity larger than the set Q value, which illustrates the correctness of the proposed optimization method.
Fig. 4 shows a comparison of the proposed optimization method with the power consumption at maximum flight speed of the drone. As can be seen from fig. 4, the proposed optimization method provides a significant power saving compared to the method of flying at maximum speed. In addition, because the unmanned aerial vehicle flies at the maximum speed, the time for the unmanned aerial vehicle to fly from the position right above S to the position right above D is short, and therefore, when the set Q value is large, the requirement for forwarding the data volume cannot be met by the maximum flight method for the unmanned aerial vehicle represented by the dotted line in fig. 4, and therefore, the forwarding requirement for the large data volume cannot be met (no numerical value is shown on the right side of the dotted line in fig. 4).
Fig. 5 shows the data amount that the destination node can receive after the optimization method is adopted and the data amount that the destination node can receive at the maximum flying speed of the unmanned aerial vehicle. Fig. 5 shows that, under the proposed optimization method, the amount of data that can be received by the destination node is greater than the set Q value, further explaining the correctness of the proposed optimization method.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (4)
1. In the method, an unmanned aerial vehicle relay R flies to a destination node D from the right above a source node S along a straight line at a constant speed, the unmanned aerial vehicle R forwards a message to the destination node while receiving a signal sent by the source node S, the unmanned aerial vehicle receives the signal and forwards the message on a common frequency band simultaneously, and the relay forwarding adopts an AF protocol, and the method is characterized by comprising the following steps:
(1) Before the unmanned aerial vehicle flies formally, calculating the constant flying speed v of the fixed-wing unmanned aerial vehicle and the time limit T for completing Q data volume forwarding;
(2) Will be provided with
Setting a constraint condition that the unmanned aerial vehicle needs to finish data forwarding in the time of flying from the position right above the source node S to the position right above the destination node D; wherein, L is the distance between the source node S and the destination node D;
(3) Judging the uniform flying speed V and the minimum flying speed V of the unmanned aerial vehicle min Maximum flying speed V max According to the comparison result, the constraint condition is checked, and the flight speed and time of the unmanned aerial vehicle are optimized and adjusted under the condition that the requirement of the system for sending the data volume is met according to the judgment result of the check result.
2. The optimization method according to claim 1, wherein in step (1), the uniform flying speed v is formulated as:
wherein, c 1 ＝ηC D0 B/2、c 2 ＝2W 2 /[(πe 0 A R )ηB]Eta represents air density, C D0 Represents the zero lift drag coefficient, B represents the wing area, W represents the overall weight of the drone, e 0 Is the wingspan efficiency, A R Representing the aspect ratio of the unmanned aerial vehicle wing.
3. The optimization method according to claim 1, wherein in step (1), the time limit T is formulated as:
wherein e is a natural constant, P S Is the transmission power, P, of the transmitting antenna of node S R Is the transmitting power of the R transmitting antenna of the unmanned aerial vehicle relay, beta represents the channel gain reference value under the condition of 1m distance, H is the flying height, sigma 2 Is the variance of gaussian white noise.
4. The optimization method according to claim 1, wherein the step (2) is specifically configured to process the comparison result according to the following cases:
case 1: if V min ≤v≤V max Then check
Whether the result is true or not; if it is
If true, let T * ＝T，v * = v, otherwise, order
And checking that v.gtoreq.V min Whether the result is true; if V is greater than or equal to V min If true, let T * ＝T，v * = v, otherwise let T * ＝NaN，v * ＝NaN；
Case 2: if V < V min Let V = V min Inspection of the bottom
Whether the result is true or not; if it is
If true, let T * ＝T，v * = v, otherwise let T * ＝NaN，v * ＝NaN；
Case 3: if V > V max Let V = V max Inspection of
Whether the result is true or not; if it is
If true, let T * ＝T，v * = v, otherwise let
And checking that v.gtoreq.V min Whether the result is true or not; if V is greater than or equal to V min Is established, T * ＝T，v * = v, otherwise let T * ＝NaN，v * = NaN, wherein NaN means no value present, i.e. no solution;
wherein v is * For the optimum uniform flying speed of unmanned aerial vehicle, T * For optimal total time of flight, naN means no solution, if T * ＝NaN，v * If the destination node is not a source node, the destination node sends a data volume request to the destination node; otherwise, the unmanned aerial vehicle will fly at a uniform speed v * Flying from the height directly above S to D along the straight line with the height of H and the total flying time of T * During flight, the unmanned aerial vehicle R transmits a message to the destination node while receiving the S sending signal by adopting an AF protocol.
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| CN108337034A (en) * | 2018-01-29 | 2018-07-27 | 郑州航空工业管理学院 | Full duplex unmanned plane mobile-relay system and its method for optimizing route |
| CN111953397A (en) * | 2020-05-20 | 2020-11-17 | 南京航空航天大学 | Full-duplex unmanned aerial vehicle relay communication method facing free channel |
| CN111813167A (en) * | 2020-07-22 | 2020-10-23 | 南通大学 | Flight speed and trajectory combined optimization method and system |
| CN112491458A (en) * | 2020-11-12 | 2021-03-12 | 南通大学 | Communication method for mobile relay of variable-acceleration unmanned aerial vehicle |
| CN113179116A (en) * | 2021-04-20 | 2021-07-27 | 南通大学 | Joint optimization method for transmission power and flight trajectory of unmanned aerial vehicle relay system |
| CN114665949A (en) * | 2022-03-09 | 2022-06-24 | 南京工业大学 | Energy collection type unmanned aerial vehicle communication method based on physical layer safety |
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