CN116233867B - Method and device for calculating communication interruption probability during unmanned aerial vehicle hover fluctuation - Google Patents
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Abstract
The specification relates to the field of unmanned aerial vehicle communication, in particular to a method and a device for calculating communication interruption probability during unmanned aerial vehicle hover fluctuation. The method comprises the steps of establishing a working flow taking the unmanned aerial vehicle as a relay node based on a free space optical communication link and a radio frequency link, calculating the system outage probability and outage capacity in the communication process and the outage probability asymptotic value under high signal to noise ratio, analyzing the system performance of the unmanned aerial vehicle in different environments, and improving the stability of the unmanned aerial vehicle and satellite communication. According to the embodiment of the specification, the problem that in the prior art, factors considered in communication interruption performance analysis of a satellite and an unmanned aerial vehicle are single is solved, the influence of the direction deviation of the unmanned aerial vehicle, the relative position of the unmanned aerial vehicle and a ground user and the stability of the unmanned aerial vehicle on interruption performance of a system under different conditions is calculated more accurately, the unmanned aerial vehicle is used as an interruption node to connect the satellite and the ground user, the advantages of the satellite and the ground user are combined, information communication is facilitated, and the system performance is improved.
Description
Technical Field
The specification relates to the field of unmanned aerial vehicle communication, in particular to a method and a device for calculating communication interruption probability during unmanned aerial vehicle hover fluctuation.
Background
Satellite communication is a promising technology to provide flexible communication services and navigation assistance for remote areas where wired or wireless terrestrial communication is difficult to deploy, free space communication has been proposed for satellite communication networks due to the advantages of high bandwidth, unlicensed spectrum, improved security and ease of deployment, but it is greatly affected by refractive index changes caused by atmospheric temperature and pressure non-uniformity and terrestrial relay stations have problems of high cost, low return, etc. Compared with the ground relay station, the unmanned aerial vehicle has the advantages of flexible positioning, high cost efficiency, easiness in deployment, application in a plurality of fields and the like, so that the unmanned aerial vehicle is selected as a flight relay node to assist the satellite to communicate with the ground user, and the coverage range and the service quality of a network are enhanced. However, due to factors such as wireless channel fading and path loss, the communication network between the satellite and the unmanned aerial vehicle is often interrupted, so that the real communication situation can be better reflected by accurately calculating the probability of interruption of the communication network between the satellite and the unmanned aerial vehicle.
In the prior art, the factors considered in the communication interruption performance analysis of the satellite and the unmanned aerial vehicle are single, only the signal problem in the communication process of the satellite and the unmanned aerial vehicle is considered, and the influence of three damages such as atmospheric turbulence, pointing error and arrival angle fluctuation on the communication performance is not considered, and the influence of the displacement deviation, the direction deviation, the relative position with a ground user and the stability of the influence on a free space optical communication link and a radio frequency link of the hovering unmanned aerial vehicle are not considered. For example, under the premise that the free space optical communication link of the unmanned aerial vehicle is affected by fluctuation of an arrival angle, displacement deviation and direction deviation of the hovering unmanned aerial vehicle cause interruption of the communication link, and the vertical distance between the unmanned aerial vehicle and a ground user determines whether a line-of-sight wireless transmission link exists on the radio frequency link, so that performance of a wireless system is reduced.
Disclosure of Invention
In order to solve the problem that in the prior art, the factors considered in the analysis of the communication interruption performance of a satellite and an unmanned aerial vehicle are single, the direction deviation of the unmanned aerial vehicle, the relative position between the unmanned aerial vehicle and a ground user and the influence of the stability of the unmanned aerial vehicle on a free space optical communication link and a radio frequency link are not considered, the embodiment of the description provides a method and a device for calculating the communication interruption probability when the unmanned aerial vehicle hovers and fluctuates, a workflow taking the unmanned aerial vehicle as a relay node can be established based on the free space optical communication link and the radio frequency link, the interruption probability and interruption capacity in the communication process and interruption probability asymptote values under high signal to noise ratio are calculated, the system performance of the unmanned aerial vehicle under different environments is analyzed, and the stability of the unmanned aerial vehicle and satellite communication is improved.
In order to solve the technical problems, the specific technical scheme in the specification is as follows:
in one aspect, the present description embodiments provide a method of calculating a probability of communication disruption for unmanned hover fluctuation, comprising,
when the free space optical communication link is interrupted, calculating three losses of atmospheric turbulence, pointing error and arrival angle fluctuation of the satellite and the unmanned aerial vehicle under the influence of the unmanned aerial vehicle offset and a probability distribution function and a free space optical communication link cumulative distribution function of the satellite and the unmanned aerial vehicle;
Establishing a probability model of a wireless transmission link between the unmanned aerial vehicle and the user according to the probability distribution function, and generating a cumulative distribution function of the wireless transmission link between the unmanned aerial vehicle and the user according to an output value of the probability model;
calculating an outage probability analysis type during normal communication between the user and the satellite according to the free space optical communication link cumulative distribution function and the wireless propagation link cumulative distribution function;
and calculating the outage probability of abnormal communication between the user and the satellite according to the outage probability analysis type.
Further, calculating the probability distribution function of the satellite and the unmanned aerial vehicle under the influence of three losses of atmospheric turbulence, pointing error and angle of arrival fluctuation and displacement deviation and direction deviation of the unmanned aerial vehicle on the free space optical communication link further comprises,
the formula for calculating the probability distribution function of the satellite and the unmanned aerial vehicle under the influence of three losses on the free space optical communication link is as follows,
，
wherein,,is a probability distribution function of satellites and unmanned aerial vehicles under a free space optical communication link,γis the signal to noise ratio, exp is an exponential function based on e,θ UAV for the angle of view of the unmanned plane node, +. >For the displacement variance of the satellite transmit beam,δ(.) is a dirac function, ψ represents the displacement deviation of the hovering drone, G (|.) is a Meijer-G function,Nindicating the deviation of the direction of the hovering drone,ξis the pointing error displacement of the unmanned plane node, Γ () is a gamma function,rthe type of probing scheme employed for the unmanned aerial vehicle node,iandjfor the values specified in the severe fading and flicker caused by atmospheric turbulence,μ r is the average signal-to-noise ratio of the free-space optical communication link.
Further, calculating a probability distribution function of the unmanned aerial vehicle communication link under the influence of three losses of atmospheric turbulence, pointing error and angle of arrival fluctuation, and displacement deviation and direction deviation of the unmanned aerial vehicle, further comprising,
the formula for calculating the cumulative distribution function of the free-space optical communication link is,
,
wherein,,F SU(γ) A cumulative distribution function of satellites and drones under free space optical communication links,γis the signal to noise ratio, exp is an exponential function based on e,θ UAV is the field angle of the unmanned aerial vehicle node,for the displacement variance of the satellite transmit beam, +.>For unmanned aerial vehicle displacement bias under different detection schemes, G (i.) is the Meijer-G function,Nindicating the deviation of the direction of the hovering drone, rThe type of probing scheme employed for the unmanned aerial vehicle node,μ r is the average signal-to-noise ratio of the free-space optical communication link,k 1 andk 2 is the standard deviation of the equivalent beam radius and the pointing error displacement of the unmanned planeThe ratio Γ ()' is the gamma function,ξis the pointing error displacement of the unmanned aerial vehicle node,iandjis a value specified in whether or not serious fading and flickering are caused by atmospheric turbulence.
Further, a probability model of the wireless transmission link between the unmanned aerial vehicle and the user is established according to the probability distribution function, further comprising,
the probability model of the wireless transmission link is classified into a probability model of the line-of-sight wireless transmission link and a probability model of the line-of-sight wireless transmission link,
,
wherein,,P LOS is the probability of acquiring a line-of-sight wireless transmission link between the unmanned aerial vehicle and the ground user,CandΨis a constant based on environmental conditions, exp is an exponential function based on e,θfor the elevation angle between the drone and the ground user,hfor the vertical distance between the drone and the ground user,Rthe coverage radius of the unmanned aerial vehicle;
the probability model of a line-of-sight wireless transmission link between the drone and the ground user is,
，
in the method, in the process of the invention,P NLOS is the probability of a line-of-sight wireless transmission link between the drone and the ground user, P LOS Is the probability of having a line-of-sight wireless transmission link between the unmanned aerial vehicle and the ground user.
Further, generating a cumulative distribution function of wireless propagation links between the drone and user communications based on the output values of the probabilistic model, further comprising,
the cumulative distribution function of a line-of-sight wireless transmission link is expressed in terms of the Meijer-G function under the rayleigh fading channel model,
，
wherein,,F NLOS is the cumulative distribution function of the range-free wireless transmission link of the radio frequency link,γis the signal-to-noise ratio,λ 2 for multipath power, G (|) is the Meijer-G function;
under random fluctuation of rice and Rayleigh channel fading, a cumulative distribution function between the unmanned aerial vehicle and a ground user in a radio frequency link is calculated:
wherein,,F UG(γ) Is the cumulative distribution function between the drone and the ground user at the radio frequency link,γis the signal-to-noise ratio,P LOS is the probability of acquiring a line-of-sight wireless transmission link between the unmanned aerial vehicle and the ground user,A m is a weight factor, Γ (-) is a gamma function, q is a shape parameter of a Nakagami probability distribution function,nthe following is carried out Is thatnIs expressed as a factorial ofn!=1×2×…×n；wThe diffusion parameter, G (|) is the Meijer-G function,is displacement variance%μ, σ 2 ) As a parameter of the shading which is to be used,ε＞0，ρ=10/ln(10)。
further, calculating an outage probability resolution for normal communication between the user and the satellite based on the free space optical communication link cumulative distribution function and the wireless propagation link cumulative distribution function, further comprising,
The normal communication is a wireless propagation link communication when the instantaneous signal-to-noise ratio is below a predefined threshold;
the calculation formula of the outage probability analysis formula when the instantaneous signal-to-noise ratio is lower than the predefined threshold value is that,
，
wherein,,P out is the probability of interruption when the instantaneous signal to noise ratio of the system is below a predefined threshold,γ th is a predefined threshold, exp is an exponential function based on e,θ UAV is the field angle of the unmanned aerial vehicle node,for the displacement variance of the satellite transmit beam,for unmanned aerial vehicle displacement bias under different detection schemes, G (i.) is the Meijer-G function,rthe type of probing scheme employed for the unmanned aerial vehicle node,Nindicating the deviation of the direction of the hovering drone,μ r is the average signal-to-noise ratio of the free-space optical communication link,γis the signal-to-noise ratio,k 1 andk 2 is the ratio of the equivalent beam radius to the standard deviation of the pointing error displacement of the unmanned aerial vehicle,P LOS is the probability of a line-of-sight wireless transmission link between the drone and the ground user,A m is a weight factor, Γ () is a gamma function,nthe following is carried out Is thatnIs expressed as a factorial ofn!=1×2×…×nQ is the shape parameter of the Nakagami probability distribution function,wis a diffusion parameter of the Nakagami probability distribution function,λ 2 for the multipath power of the signal,P NLOS is the probability of a line-of-sight free wireless transmission link between the unmanned aerial vehicle and the ground user.
Further, calculating an outage probability at the time of abnormal communication between the user and the satellite based on the outage probability analysis, further comprising,
the abnormal communication is wireless propagation link communication when the signal to noise ratio is higher than a predefined threshold;
calculating an asymptotic value of the system outage probability under the condition of high signal-to-noise ratio according to the outage probability analysis;
the asymptotic interrupt probability resolution is,
，
wherein,,is the asymptotic value of the probability of system outage at high signal-to-noise ratio,γ th is a predefined threshold, exp is an exponential function based on e,θ UAV for the angle of view of the unmanned plane node, +.>For the displacement variance of the satellite transmit beam, +.>For unmanned aerial vehicle displacement deviation under different detection schemes,Mis an influencing factor in free-space optical communication links,μ r is the average signal-to-noise ratio of the free-space optical communication link, N represents the directional deviation of the hovering drone,rthe type of probing scheme employed for the unmanned aerial vehicle node,ιis a constant value, and is a function of the constant,k 5 =∆(k 2 0), wherein>；
Deducing the interrupt capacity corresponding to the position of the unmanned aerial vehicle according to the interrupt probability asymptotic value,
,
wherein,,C out it is the interrupt capacity that is to be used,P out is the probability value of the system asymptotic interrupt in the case of high signal-to-noise ratio,P out is the probability of interruption when the instantaneous signal to noise ratio of the system is below a predefined threshold, γ th Is a predefined threshold value and,Bindicating the direction deviation of the hovering unmanned aerial vehicle;
the interrupt capacity is the maximum transmission rate interrupt capacity that is acceptable to the surface user.
In another aspect, the embodiments of the present specification also provide an apparatus for calculating a communication disruption probability of unmanned aerial vehicle hover fluctuation, comprising,
the communication loss unit is used for calculating three losses of atmospheric turbulence, pointing error and arrival angle fluctuation of the satellite and the unmanned aerial vehicle under the influence of the free space optical communication link, and a probability distribution function and a free space optical communication link cumulative distribution function of the unmanned aerial vehicle under the influence of the displacement deviation and the direction deviation when the free space optical communication link is interrupted;
the probability model unit is used for establishing a probability model of a wireless transmission link between the unmanned aerial vehicle and the user according to the probability distribution function, and generating a cumulative distribution function of the wireless transmission link between the unmanned aerial vehicle and the user according to an output value of the probability model;
the normal communication unit is used for calculating the outage probability analysis type during normal communication between the user and the satellite according to the free space optical communication link cumulative distribution function and the wireless transmission link cumulative distribution function;
And the outage probability unit is used for calculating outage probability during abnormal communication between the user and the satellite according to the outage probability analysis type.
In another aspect, embodiments of the present disclosure further provide a computer device, including a memory, a processor, and a computer program stored on the memory, where the processor implements the method described above when executing the computer program.
Finally, the embodiments of the present specification also provide a computer storage medium having stored thereon a computer program which, when executed by a processor of a computer device, performs the above-described method.
According to the embodiment of the specification, the low-orbit satellite communication outage probability when the unmanned aerial vehicle hovers and fluctuates is calculated, and in order to calculate the accurate outage probability, the influence of three impairments of atmospheric turbulence, pointing error and arrival angle fluctuation on a free space optical communication link established between a satellite and the unmanned aerial vehicle is required to be considered, under the condition that the larger directional deviation occurs to the hovering unmanned aerial vehicle when the free space optical communication link is interrupted, the probability distribution function and the cumulative distribution function of the three impairments of the satellite and the unmanned aerial vehicle on the free space optical communication link are calculated, and whether the unmanned aerial vehicle and a user communication acquire a probability model of a line-of-sight wireless transmission link or not is established, then the outage probability analysis formula of normal communication of the system is calculated according to the cumulative distribution function of the free space optical communication link and the cumulative distribution function of the radio frequency link, and then the system outage probability analysis formula is obtained under the condition of high signal to noise ratio, the probability of the system outage probability and the outage capacity are gradually calculated, and the outage probability of the system under the condition that the three impairments are combined are precisely calculated, so that the performance of the unmanned aerial vehicle and the system is gradually improved under different environments is analyzed, the condition that the overall outage probability is greatly is improved, the overall transmission rate is calculated, the real-time communication is greatly, the outage probability is calculated, and the transmission rate is greatly is guaranteed, and the real-time communication is guaranteed, and the transmission rate is guaranteed, and the transmission rate is greatly is guaranteed. The method solves the problems that only a single factor is considered to analyze the communication interruption performance, so that the communication link is interrupted due to the generation of direction deviation, and the performance of a wireless system is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present description or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present description, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an implementation system of a method for calculating communication disruption probability for unmanned hover fluctuation according to an embodiment of the present disclosure;
FIG. 2 is a schematic structural diagram of an apparatus for calculating communication interruption probability by unmanned hovering fluctuation according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a computer device according to an embodiment of the present disclosure.
[ reference numerals description ]:
201. a communication loss unit;
202. a probability model unit;
203. a normal communication unit;
204. an interrupt probability unit;
302. a computer device;
304. a processing device;
306. storing the resource;
308. a driving mechanism;
310. an input/output module;
312. an input device;
320. a network interface;
322. a communication link;
324. A communication bus.
Detailed Description
The technical solutions of the embodiments of the present specification will be clearly and completely described below with reference to the drawings in the embodiments of the present specification, and it is apparent that the described embodiments are only some embodiments of the present specification, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are intended to be within the scope of the present disclosure.
It should be noted that the terms "first," "second," and the like in the description and the claims of the specification and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the present description described herein may be capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or device that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or device.
In order to solve the problems existing in the prior art. The embodiment of the specification provides a method and a device for calculating communication interruption probability by unmanned aerial vehicle hover fluctuation. Fig. 1 is a flowchart of a method for calculating a communication outage probability according to an embodiment of the present disclosure, where the calculation process of the communication outage probability is described. The order of steps recited in the embodiments is merely one way of performing the order of steps and does not represent a unique order of execution. When a system or apparatus product in practice is executed, it may be executed sequentially or in parallel according to the method shown in the embodiments or the drawings. As shown in fig. 1, the method may include:
step 101: when the free space optical communication link is interrupted, calculating three losses of atmospheric turbulence, pointing error and arrival angle fluctuation of the unmanned aerial vehicle communication link, and a probability distribution function and a free space optical communication link cumulative distribution function under the influence of displacement deviation and direction deviation of the unmanned aerial vehicle;
step 102: establishing a probability model of a wireless transmission link between the unmanned aerial vehicle and the user according to the probability distribution function, and generating a cumulative distribution function of the wireless transmission link between the unmanned aerial vehicle and the user according to an output value of the probability model;
Step 103: calculating an outage probability analysis type during normal communication between the user and the satellite according to the free space optical communication link cumulative distribution function and the wireless propagation link cumulative distribution function;
step 104: and calculating the outage probability of abnormal communication between the user and the satellite according to the outage probability analysis type.
According to the embodiment of the specification, the low-orbit satellite communication outage probability when the unmanned aerial vehicle hovers and fluctuates is calculated, and in order to calculate the accurate outage probability, the influence of three impairments of atmospheric turbulence, pointing error and arrival angle fluctuation on a free space optical communication link established between a satellite and the unmanned aerial vehicle is required to be considered, under the condition that the free space optical communication link is interrupted, the probability distribution function and the cumulative distribution function of the three impairments of the satellite and the unmanned aerial vehicle on the free space optical communication link are calculated under the condition that the free space optical communication link is greatly deviated, and the probability model of whether the unmanned aerial vehicle and a user communication acquire a line-of-sight wireless transmission link is established, then the outage probability analysis mode of normal communication of the system is calculated according to the cumulative distribution function of the free space optical communication link and the cumulative distribution function of the radio frequency link, and then the outage probability analysis mode of the system is obtained under the condition that the system outage probability is high in a signal to noise ratio, the condition that the system outage probability is gradually increased gradually and the outage capacity is combined, and the performance of the unmanned aerial vehicle is greatly improved under the condition that the system is gradually increased gradually and the system outage probability is greatly, the overall operation rate is greatly improved, the real-time communication rate is guaranteed, and the transmission rate is greatly improved, and the performance of the system is guaranteed is greatly when the system is interrupted, and the system is in the condition that the system is automatically interrupted. The method solves the problems that only a single factor is considered to analyze the communication interruption performance, so that the communication link is interrupted due to the generation of direction deviation, and the performance of a wireless system is reduced.
In the embodiment of the present specification, first, the displacement deviation of the hovering unmanned aerial vehicle, the average signal-to-noise ratio of the free space optical communication link, the pointing error displacement of the unmanned aerial vehicle node, and the predetermined value when the atmospheric turbulence may cause serious fading and flickering are obtained, whereby the probability distribution function of the satellite and the unmanned aerial vehicle under the free space optical communication link can be determined, and the cumulative distribution function of the satellite and the unmanned aerial vehicle under the free space optical communication link can also be determined. Then, according to the vertical distance between the unmanned aerial vehicle and the ground user, establishing a probability model of whether the unmanned aerial vehicle and the user communicate to obtain a line-of-sight wireless transmission link, namely evaluating whether the line-of-sight exists between the unmanned aerial vehicle and the user, and more accurately calculating the probability that the signal power is attenuated due to the fact that the unmanned aerial vehicle is shielded by an obstacle or is not high enough when the unmanned aerial vehicle is connected with the satellite to communicate with the ground user, so that satellite communication is affected; and then analyzing the probability model to generate a cumulative distribution function of a wireless propagation link between the unmanned aerial vehicle and the user communication, obtaining an outage probability analysis formula during normal communication according to the cumulative distribution function of the free space optical communication link and the cumulative distribution function of the wireless propagation link, and calculating the outage probability and the outage capacity during abnormal communication between the user and the satellite through the outage probability analysis formula. The interrupt capacity is the maximum transmission rate of the system under the bearable interrupt probability, and if the maximum transmission rate exceeds the maximum transmission rate, communication is interrupted, so that the transmission rate can be adjusted according to the real-time interrupt capacity by accurately calculating the interrupt capacity, and the transmission rate is improved to the maximum extent on the premise of ensuring stable communication. Therefore, the three losses of atmospheric turbulence, pointing error and fluctuation of arrival angle are reduced, meanwhile, the problem that the stability of the system is not high due to the fact that the direction deviation and the angle deviation of the unmanned aerial vehicle are influenced by the outside of two sections of links are considered, meanwhile, the interruption capacity is calculated, the situation that communication is interrupted due to the fact that the channel capacity is smaller than the interruption capacity value in a certain period of time interval is avoided in advance, the transmission rate is adjusted according to the real-time interruption capacity, communication interruption caused by overhigh transmission rate is avoided, the influence factors of the unmanned aerial vehicle and satellite communication interruption are comprehensively considered, accurate response to real communication conditions is facilitated, and the stability of the unmanned aerial vehicle and satellite communication is improved.
According to one embodiment of the present description, calculating a probability distribution function of satellites and unmanned aerial vehicles under the influence of three losses of atmospheric turbulence, pointing error and angle of arrival fluctuation of a free space optical communication link, displacement deviation and direction deviation of the unmanned aerial vehicle, further comprises,
in addition to taking into account the effects of three impairments of atmospheric turbulence, pointing errors and angle of arrival fluctuations on the free space optical communication link established between the satellite and the drone, the effects of displacement bias and direction bias of the hovering drone on the communication link are of great importance. Assuming that the optical turbulence follows the gamma-gamma distribution, calculating probability distribution functions and cumulative distribution functions of three injuries of the satellite and the unmanned aerial vehicle in the free space optical communication link under the conditions that the satellite emission beam falls outside the effective field of view of the unmanned aerial vehicle and the unmanned aerial vehicle hovering and fluctuating when the free space optical communication link is interrupted has larger direction deviation;
，
wherein,,is a probability distribution function of satellites and unmanned aerial vehicles under a free space optical communication link,γis the signal to noise ratio, exp is an exponential function based on e,θ UAV for the angle of view of the unmanned plane node, +.>For the displacement variance of the satellite transmit beam, δ(.) is a dirac function, ψ represents the displacement deviation of the hovering drone, G (|.) is a Meijer-G function,Nindicating the deviation of the direction of the hovering drone,ξis the pointing error displacement of the unmanned plane node, Γ () is a gamma function,rthe type of probing scheme employed for the unmanned aerial vehicle node,iandjfor the values specified in the severe fading and flicker caused by atmospheric turbulence,μ r is the average signal-to-noise ratio of the free-space optical communication link.
G (|) is a Meijer-G function, where the upper subscript represents the integral threshold range of the function numerator, the lower subscript represents the integral threshold range of the function denominator,
ψ represents the displacement deviation of the hovering unmanned aerial vehicle, meaning that the hovering unmanned aerial vehicle is influenced by the outside to deviate from the original given coordinates (manual input), the displacement deviation of the hovering unmanned aerial vehicle is the difference value of the two,
Nindicating the direction deviation of the hovering unmanned aerial vehicle, meaning that the hovering unmanned aerial vehicle is influenced by the outside to deviate from the originally given angle (manual input), the direction deviation of the hovering unmanned aerial vehicle is the difference value of the two,
rthe type of probing scheme employed for unmanned aerial vehicle nodes (unmanned aerial vehicle nodes represent relay nodes connecting satellites and terrestrial users), which If the polarization direction of the incident signal light is parallel to the polarization direction of the signal megafrequency (or similar), the flow direction of the energy flow is consistent, and the wave surfaces of the two wave segments are matched according to the curvaturer=1Heterodyne detection, otherwiser=2Direct detection for intensity modulation.
The unmanned aerial vehicle wireless communication system comprises a field of view of unmanned aerial vehicle nodes, displacement deviation of hovering unmanned aerial vehicles, average signal-to-noise ratio of free space optical communication links, pointing error displacement of unmanned aerial vehicle nodes and other parameters, and the influence of the direction deviation of the unmanned aerial vehicle, the relative position of the unmanned aerial vehicle and a ground user and the stability of the unmanned aerial vehicle on the free space optical communication links and the radio frequency links is fully considered through a formula.
Further, a cumulative distribution function of the free space optical communication link is obtained through integration:
,
wherein,,F SU(γ) A cumulative distribution function of satellites and drones under free space optical communication links,γis the signal to noise ratio, exp is an exponential function based on e,θ UAV is the field angle of the unmanned aerial vehicle node,for the displacement variance of the satellite transmit beam, +.>For unmanned aerial vehicle displacement bias under different detection schemes, G (i.) is the Meijer-G function,Nindicating the deviation of the direction of the hovering drone,rthe type of probing scheme employed for the unmanned aerial vehicle node, μ r Is the average signal-to-noise ratio of the free-space optical communication link,k 1 andk 2 is the ratio of the equivalent beam radius to the standard deviation of the pointing error displacement of the unmanned aerial vehicle, Γ ()' is a gamma function,ξis the pointing error displacement of the unmanned aerial vehicle node,iandjis a value specified in whether or not serious fading and flickering are caused by atmospheric turbulence.
According to one embodiment of the present description, since the communication of the drone is performed at high altitude, the presence or absence of the line-of-sight wireless transmission link depends on the location of the drone, a probabilistic model of the drone to user communication wireless transmission link is established:
the probability model of the wireless transmission link is classified into a probability model of the line-of-sight wireless transmission link and a probability model of the line-of-sight wireless transmission link,
the probability model of the sight distance wireless transmission link between the unmanned plane and the ground user is established as follows,
,
wherein,,P LOS is the probability of acquiring a line-of-sight wireless transmission link between the unmanned aerial vehicle and the ground user,CandΨis a constant based on environmental conditions, exp is an exponential function based on e,θfor the elevation angle between the drone and the ground user,hfor the vertical distance between the drone and the ground user,Rthe coverage radius of the unmanned aerial vehicle;
the probability model of a line-of-sight wireless transmission link between the drone and the ground user is,
,
In the method, in the process of the invention,P NLOS is the probability of a line-of-sight wireless transmission link between the drone and the ground user,P LOS is the probability of having a line-of-sight wireless transmission link between the unmanned aerial vehicle and the ground user.
The cumulative distribution function of the wireless transmission link without any view under the radio frequency link is expressed by Meijer-G function under the Rayleigh fading channel model:
,
wherein,,F NLOS is the cumulative distribution function of the range-free wireless transmission link of the radio frequency link,γis the signal-to-noise ratio,λ 2 for multipath power, G (|) is the Meijer-G function;
under random fluctuation of rice and Rayleigh channel fading, a cumulative distribution function between the unmanned aerial vehicle and a ground user in a radio frequency link is calculated:
,
wherein,,F UG(γ) Is the cumulative distribution function between the drone and the ground user at the radio frequency link,γis the signal-to-noise ratio,P LOS is the probability of acquiring a line-of-sight wireless transmission link between the unmanned aerial vehicle and the ground user,A m is a weight factor, Γ (-) is a gamma function, q is a shape parameter of a Nakagami probability distribution function,nthe following is carried out Is thatnIs expressed as a factorial ofn!=1×2×…×n；wThe diffusion parameter, G (|) is the Meijer-G function,is displacement variance%μ, σ 2 ) As a parameter of the shading which is to be used,ε＞0，ρ=10/ln(10)。
further, calculating an outage probability resolution for normal communication between the user and the satellite based on the free space optical communication link cumulative distribution function and the wireless propagation link cumulative distribution function, further comprising,
The normal communication is a wireless propagation link communication when the instantaneous signal-to-noise ratio is below a predefined threshold;
the calculation formula of the outage probability analysis formula when the instantaneous signal-to-noise ratio is lower than the predefined threshold value is that,
，
wherein,,P out is the probability of interruption when the instantaneous signal to noise ratio of the system is below a predefined threshold,γ th is a predefined threshold, exp is an exponential function based on e,θ UAV is the field angle of the unmanned aerial vehicle node,for the displacement variance of the satellite transmit beam, +.>For unmanned aerial vehicle displacement bias under different detection schemes, G (i.) is the Meijer-G function,rthe type of probing scheme employed for the unmanned aerial vehicle node,Nindicating the deviation of the direction of the hovering drone,μ r is the average signal-to-noise ratio of the free-space optical communication link,γis the signal-to-noise ratio,k 1 andk 2 is the ratio of the equivalent beam radius to the standard deviation of the pointing error displacement of the unmanned aerial vehicle,P LOS is the probability of a line-of-sight wireless transmission link between the drone and the ground user,A m is a weight factor, Γ () is a gamma function,nthe following is carried out Is thatnIs expressed as a factorial ofn!=1×2×…×nQ is the shape parameter of the Nakagami probability distribution function,wis a diffusion parameter of the Nakagami probability distribution function,λ 2 for the multipath power of the signal,P NLOS is the probability of a line-of-sight free wireless transmission link between the unmanned aerial vehicle and the ground user.
The influence of the position and the stability of the unmanned aerial vehicle on the free space optical communication link and the radio frequency link on the communication performance is considered, the outage probability analytic type of the unmanned aerial vehicle in the whole system is calculated, and the influence of the direction deviation of the unmanned aerial vehicle, the relative position of the unmanned aerial vehicle and the ground user and the stability of the unmanned aerial vehicle on the outage performance of the system under different conditions is calculated more accurately.
Further, calculating an outage probability at the time of abnormal communication between the user and the satellite based on the outage probability analysis, further comprising,
the abnormal communication is wireless propagation link communication when the signal to noise ratio is higher than a predefined threshold;
calculating an asymptotic value of the system outage probability and the outage capacity under the condition of high signal-to-noise ratio according to the outage probability analytic expression, wherein the asymptotic outage probability analytic expression is that,
，
wherein,,is the asymptotic value of the probability of system outage at high signal-to-noise ratio,γ th is a predefined threshold, exp is an exponential function based on e,θ UAV for the angle of view of the unmanned plane node, +.>For the displacement variance of the satellite transmit beam, +.>For unmanned aerial vehicle displacement deviation under different detection schemes,Mis an influencing factor in free-space optical communication links,μ r is the average signal-to-noise ratio of the free space optical communication link, N represents the directional deviation of the hovering unmanned aerial vehicle, is the type of detection scheme adopted by the unmanned aerial vehicle node, ιIs a constant value, and is a function of the constant,k 5 =∆(k 2 0), wherein>；
Deducing the maximum transmission rate interrupt capacity quantity which can be accepted by the ground user corresponding to the position of the unmanned aerial vehicle according to the interrupt probability asymptotic value,
,
wherein,,C out it is the interrupt capacity that is to be used,P out is the probability value of the system asymptotic interrupt in the case of high signal-to-noise ratio,P out is the probability of interruption when the instantaneous signal to noise ratio of the system is below a predefined threshold,γ th is a predefined threshold value and,Bindicating the direction deviation of the hovering unmanned aerial vehicle;
according to the outage probability analysis type, an outage probability asymptotic value for realizing satellite communication under a high signal-to-noise ratio is calculated, the outage probability asymptotic value considers not only the high signal-to-noise ratio, but also the problem that the system stability is not high due to the fact that the unmanned aerial vehicle shields the sight under the influence of the outside and the direction deviation and the angle deviation of two sections of links, influence factors of the unmanned aerial vehicle and the satellite communication outage are comprehensively considered, accurate response to real communication conditions is facilitated, and the quality of the unmanned aerial vehicle and the satellite communication is improved.
The embodiment of the present specification also provides an apparatus for calculating a communication disruption probability of unmanned aerial vehicle hover fluctuation, as shown in fig. 2, comprising,
a communication loss unit 201 for calculating three losses of atmospheric turbulence, pointing error and arrival angle fluctuation of the unmanned aerial vehicle communication link, and probability distribution function and free space optical communication link cumulative distribution function under the influence of displacement deviation and direction deviation of the unmanned aerial vehicle;
The probability model unit 202 establishes a probability model of a wireless transmission link between the unmanned aerial vehicle and the user according to the probability distribution function, and generates a cumulative distribution function of the wireless transmission link between the unmanned aerial vehicle and the user according to an output value of the probability model;
a normal communication unit 203 that calculates an outage probability analysis type at the time of normal communication between the user and the satellite, based on the free space optical communication link cumulative distribution function and the wireless propagation link cumulative distribution function;
and an outage probability unit 204 for calculating outage probability at the time of abnormal communication between the user and the satellite according to the outage probability analysis.
Since the principle of the device for solving the problem is similar to that of the method, the implementation of the device can be referred to the implementation of the method, and the repetition is omitted.
Fig. 3 is a schematic structural diagram of a computer device according to an embodiment of the present disclosure, where an apparatus in the present disclosure may be the computer device in the present embodiment, and perform the method of the present disclosure. The computer device 302 may include one or more processing devices 304, such as one or more Central Processing Units (CPUs), each of which may implement one or more hardware threads. The computer device 302 may also include any storage resources 306 for storing any kind of information such as code, settings, data, etc. For example, and without limitation, storage resources 306 may include any one or more of the following combinations: any type of RAM, any type of ROM, flash memory devices, hard disks, optical disks, etc. More generally, any storage resource may store information using any technology. Further, any storage resource may provide volatile or non-volatile retention of information. Further, any storage resource may represent a fixed or removable component of computer device 302. In one case, the computer device 302 may perform any of the operations of the associated instructions when the processing device 304 executes the associated instructions stored in any storage resource or combination of storage resources. The computer device 302 also includes one or more drive mechanisms 308, such as a hard disk drive mechanism, an optical disk drive mechanism, and the like, for interacting with any storage resources.
The computer device 302 may also include an input/output module 310 (I/O) for receiving various inputs (via an input device 312) and for providing various outputs. In other embodiments, input/output module 310 (I/O), input device 312 may not be included, but merely as a computer device in a network. The computer device 302 may also include one or more network interfaces 320 for exchanging data with other devices via one or more communication links 322. One or more communication buses 324 couple the above-described components together.
The communication link 322 may be implemented in any manner, for example, through a local area network, a wide area network (e.g., the internet), a point-to-point connection, etc., or any combination thereof. Communication link 322 may include any combination of hardwired links, wireless links, routers, gateway functions, name servers, etc., governed by any protocol or combination of protocols.
Corresponding to the method in fig. 1, the present embodiment also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method described above.
The present description also provides computer-readable instructions, wherein the program therein causes the processor to perform the method as shown in fig. 1 when the processor executes the instructions.
It should be understood that, in various embodiments of the present disclosure, the sequence numbers of the foregoing processes do not mean the order of execution, and the order of execution of the processes should be determined by the functions and internal logic thereof, and should not constitute any limitation on the implementation of the embodiments of the present disclosure.
It should also be understood that, in the embodiments of the present specification, the term "and/or" is merely one association relationship describing the association object, meaning that three relationships may exist. For example, a and/or B may represent: a exists alone, A and B exist together, and B exists alone. In the present specification, the character "/" generally indicates that the front and rear related objects are an or relationship.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps described in connection with the embodiments disclosed herein may be embodied in electronic hardware, in computer software, or in a combination of the two, and that the various example components and steps have been generally described in terms of function in the foregoing description to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present specification.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.
In the several embodiments provided in this specification, it should be understood that the disclosed systems, apparatuses, and methods may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. In addition, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices, or elements, or may be an electrical, mechanical, or other form of connection.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purposes of the embodiments of the present description.
In addition, each functional unit in each embodiment of the present specification may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on this understanding, the technical solution of the present specification is essentially or a part contributing to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in the embodiments of the present specification. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The principles and embodiments of the present specification are explained in this specification using specific examples, the above examples being provided only to assist in understanding the method of the present specification and its core ideas; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope based on the ideas of the present specification, the present description should not be construed as limiting the present specification in view of the above.
Claims (10)
1. A method of calculating a probability of communication disruption for unmanned hover fluctuation, the method comprising,
when the free space optical communication link is interrupted, calculating three losses of atmospheric turbulence, pointing error and arrival angle fluctuation of the unmanned aerial vehicle communication link, and a probability distribution function and a free space optical communication link cumulative distribution function under the influence of displacement deviation and direction deviation of the unmanned aerial vehicle;
establishing a probability model of a wireless transmission link between the unmanned aerial vehicle and the user according to the probability distribution function, and generating a cumulative distribution function of the wireless transmission link between the unmanned aerial vehicle and the user according to an output value of the probability model;
calculating an outage probability analysis type during normal communication between the user and the satellite according to the free space optical communication link cumulative distribution function and the wireless propagation link cumulative distribution function;
And calculating the outage probability of abnormal communication between the user and the satellite according to the outage probability analysis type.
2. The method for calculating a probability of communication disruption as claimed in claim 1, wherein calculating the probability distribution function of the unmanned aerial vehicle communication link under the influence of three losses of atmospheric turbulence, pointing error and angle of arrival fluctuation, and displacement deviation and direction deviation of the unmanned aerial vehicle further comprises,
the formula for calculating the probability distribution function of the satellite and the unmanned aerial vehicle under the influence of three losses on the free space optical communication link is as follows,
,
wherein,,is a probability distribution function of satellites and unmanned aerial vehicles under a free space optical communication link,γis the signal to noise ratio, exp is an exponential function based on e,θ UAV for the angle of view of the unmanned plane node, +.>For the displacement variance of the satellite transmit beam,δ(.) is a dirac function, ψ represents the displacement deviation of the hovering drone, G (|.) is a Meijer-G function,Nindicating the deviation of the direction of the hovering drone,ξis the pointing error displacement of the unmanned plane node, Γ () is a gamma function, rthe type of probing scheme employed for the unmanned aerial vehicle node,iandjfor the values specified in the severe fading and flicker caused by atmospheric turbulence, μ r Is the average signal-to-noise ratio of the free-space optical communication link.
3. The method for calculating a probability of outage for a communication system according to claim 1, wherein calculating a cumulative distribution function of the satellite and the unmanned aerial vehicle over the free space optical communication link under the influence of three losses of atmospheric turbulence, pointing error and angle of arrival fluctuation further comprises,
the formula for calculating the cumulative distribution function of the free-space optical communication link is,
,
wherein,,F SU (γ) Satellite and unmanned aerial vehicleA cumulative distribution function under a free-space optical communication link,γis the signal to noise ratio, exp is an exponential function based on e,θ UAV is the field angle of the unmanned aerial vehicle node,for the displacement variance of the satellite transmit beam, +.>For unmanned aerial vehicle displacement bias under different detection schemes, G (i.) is the Meijer-G function,Nindicating the deviation of the direction of the hovering drone,rthe type of probing scheme employed for the unmanned aerial vehicle node,μ r is the average signal-to-noise ratio of the free-space optical communication link,k 1 andk 2 is the ratio of the equivalent beam radius to the standard deviation of the pointing error displacement of the unmanned aerial vehicle, Γ ()' is a gamma function,ξis the pointing error displacement of the unmanned aerial vehicle node,iandjis a value specified in whether or not serious fading and flickering are caused by atmospheric turbulence.
4. The method for calculating a communication outage probability according to claim 1, wherein establishing a probability model of a wireless transmission link between the drone and the user based on said probability distribution function, further comprises,
the probability model of the wireless transmission link is classified into a probability model of the line-of-sight wireless transmission link and a probability model of the line-of-sight wireless transmission link,
the probability model of the sight distance wireless transmission link between the unmanned plane and the ground user is established as follows,
,
wherein,,P LOS is the probability of acquiring a line-of-sight wireless transmission link between the unmanned aerial vehicle and the ground user, CandΨis a constant based on environmental conditions, exp is an exponential function based on e,θis unmanned plane and ground userThe elevation angle between the two,hfor the vertical distance between the drone and the ground user,Rthe coverage radius of the unmanned aerial vehicle;
the probability model of a line-of-sight wireless transmission link between the drone and the ground user is,
,
in the method, in the process of the invention,P NLOS is the probability of a line-of-sight wireless transmission link between the drone and the ground user,P LOS is the probability of having a line-of-sight wireless transmission link between the unmanned aerial vehicle and the ground user.
5. The method of calculating a communication disruption probability according to claim 1, wherein generating a cumulative distribution function of wireless propagation links between the drone and user communications from output values of the probability model, further comprises,
The cumulative distribution function of a line-of-sight wireless transmission link is expressed in terms of the Meijer-G function under the rayleigh fading channel model,
,
wherein,,F NLOS is the cumulative distribution function of the range-free wireless transmission link of the radio frequency link,γis the signal-to-noise ratio,λ 2 for multipath power, G (|) is the Meijer-G function;
under random fluctuation of rice and Rayleigh channel fading, a cumulative distribution function between the unmanned aerial vehicle and a ground user in a radio frequency link is calculated:
,
wherein,,F UG (γ) Is the cumulative distribution function between the drone and the ground user at the radio frequency link,γis the signal-to-noise ratio,P LOS is the probability of acquiring a line-of-sight wireless transmission link between the unmanned aerial vehicle and the ground user,A m is a weight factor, Γ ()' is a gamma function,P NLOS the probability of no line-of-sight wireless transmission link between the unmanned aerial vehicle and the ground user is; q is the shape parameter of the Nakagami probability distribution function, n is the antenna number constant,nthe following is carried out Is thatnIs expressed as a factorial ofn!=1×2×…×n；wThe diffusion parameter, G (|) is the Meijer-G function,is displacement variance%μ, σ 2 ) For the shadow parameters, μ and σ are the mean and variance of the data amplitude of the receiver signals between the drone and the ground user, respectively, ε is a random variable,ε＞0，ρ=10/ln(10)。
6. the method of calculating a probability of outage of communication according to claim 1, wherein calculating an outage probability resolution for normal communication between said user and said satellite based on said free-space optical communication link cumulative distribution function and said wireless propagation link cumulative distribution function, further comprises,
The normal communication is a wireless propagation link communication when the instantaneous signal-to-noise ratio is below a predefined threshold;
the calculation formula of the outage probability analysis formula when the instantaneous signal-to-noise ratio is lower than the predefined threshold value is that,
，
wherein,,P out is the probability of interruption when the instantaneous signal to noise ratio of the system is below a predefined threshold,γ th is a predefined threshold, exp is an exponential function based on e,θ UAV is the field angle of the unmanned aerial vehicle node,for the displacement variance of the satellite transmit beam, +.>For unmanned aerial vehicle displacement bias under different detection schemes, G (i.) is the Meijer-G function,rthe type of probing scheme employed for the unmanned aerial vehicle node,Nindicating the deviation of the direction of the hovering drone,μ r is the average signal-to-noise ratio of the free-space optical communication link,γis the signal-to-noise ratio,k 1 andk 2 is the ratio of the equivalent beam radius to the standard deviation of the pointing error displacement of the unmanned aerial vehicle,P LOS is the probability of a line-of-sight wireless transmission link between the drone and the ground user,A m is a weight factor, Γ (-) is a gamma function, n is an antenna number constant,nthe following is carried out Is thatnIs expressed as a factorial ofn!=1×2×…×nQ is the shape parameter of the Nakagami probability distribution function,wis a diffusion parameter of the Nakagami probability distribution function,λ 2 for the multipath power of the signal,P NLOS is the probability of a line-of-sight free wireless transmission link between the unmanned aerial vehicle and the ground user.
7. The method for calculating a communication outage probability according to claim 1, wherein calculating an outage probability for an abnormal communication between said user and said satellite based on said outage probability analysis further comprises,
the abnormal communication is wireless propagation link communication when the signal to noise ratio is higher than a predefined threshold;
calculating an asymptotic value of the system outage probability under the condition of high signal-to-noise ratio according to the outage probability analysis;
and deducing the interrupt capacity corresponding to the position of the unmanned aerial vehicle according to the interrupt probability asymptotic value, wherein the interrupt capacity is the maximum transmission rate interrupt capacity measurement acceptable by the ground user.
8. An apparatus for calculating a communication disruption probability for unmanned aerial vehicle hover fluctuation, the apparatus comprising,
the communication loss unit is used for calculating three losses of atmospheric turbulence, pointing error and arrival angle fluctuation of the unmanned aerial vehicle communication link, and probability distribution function and free space optical communication link cumulative distribution function under the influence of displacement deviation and direction deviation of the unmanned aerial vehicle when the free space optical communication link is interrupted;
the probability model unit is used for establishing a probability model of a wireless transmission link between the unmanned aerial vehicle and the user according to the probability distribution function, and generating a cumulative distribution function of the wireless transmission link between the unmanned aerial vehicle and the user according to an output value of the probability model;
The normal communication unit is used for calculating the outage probability analysis type during normal communication between the user and the satellite according to the free space optical communication link cumulative distribution function and the wireless transmission link cumulative distribution function;
and the outage probability unit is used for calculating outage probability during abnormal communication between the user and the satellite according to the outage probability analysis type.
9. A computer device comprising a memory, a processor, and a computer program stored on the memory, characterized in that the computer program, when being executed by the processor, performs the instructions of the method according to any one of claims 1 to 7.
10. A computer storage medium having stored thereon a computer program, which, when executed by a processor of a computer device, performs the instructions of the method according to any of claims 1 to 7.
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