WO2017096542A1 - 基于累加正反馈变步长的最佳中继位置搜寻方法与系统 - Google Patents

基于累加正反馈变步长的最佳中继位置搜寻方法与系统 Download PDF

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WO2017096542A1
WO2017096542A1 PCT/CN2015/096739 CN2015096739W WO2017096542A1 WO 2017096542 A1 WO2017096542 A1 WO 2017096542A1 CN 2015096739 W CN2015096739 W CN 2015096739W WO 2017096542 A1 WO2017096542 A1 WO 2017096542A1
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relay
mobile relay
optimal
bit information
positive feedback
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PCT/CN2015/096739
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English (en)
French (fr)
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谢宁
陈敬坤
王晖
林晓辉
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深圳大学
谢宁
陈敬坤
王晖
林晓辉
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Priority to PCT/CN2015/096739 priority Critical patent/WO2017096542A1/zh
Publication of WO2017096542A1 publication Critical patent/WO2017096542A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
    • H04W16/18—Network planning tools

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  • the invention belongs to the field of wireless communication technologies, and in particular relates to an optimal relay position searching method and system based on accumulating positive feedback variable step size.
  • the communication relay is used to forward information sent between different nodes, which expands the communication range and improves the performance of the communication system.
  • Terrestrial radio communications are easily obstructed and shielded by obstacles, and aircraft, satellites, and unmanned aerial vehicles (UAVs) can act as communication relays because airborne relays can effectively interact with each other in rugged mountains or urban areas. The two sides of the communication establish a connection.
  • UAVs unmanned aerial vehicles
  • the existing algorithms for UAV relay location search mainly include: using GPS to measure the location information of the ground communication unit (source S, destination D) and being used by the drone to search for the optimal relay location, based on Disturbum Seeking Control (ESC) algorithm based on multi-airborne antenna.
  • ESC Disturbum Seeking Control
  • the existing UAV relay position search algorithms can make the UAV find the best relay position on their own basis, but the applicable scope of these algorithms also has certain deficiencies and defects, mainly reflected in: 1) Both the source and the destination need to have GPS function to provide their respective location information to the mobile relay, and in many special cases, the communication parties have no GPS function or the GPS device is damaged, such as the GPS device damage caused by natural disasters, (2 Using the airborne multi-antenna to estimate the Signal Of Arrival (DOA) to find the optimal relay position, the estimation error is easy to occur, and the complexity and algorithm complexity of the UAV communication equipment are increased.
  • DOA Signal Of Arrival
  • the technical problem to be solved by the present invention is to provide an optimal relay location searching method and system based on accumulating positive feedback variable step size, aiming at improving the performance of relay communication without obtaining location information of the source end and the destination end, without With multiple antennas, the mobile relay can use the single-bit information fed back from the destination to find the best relay communication position within a given range of motion trajectories.
  • an optimal relay position searching method based on an accumulated positive feedback variable step size includes the following steps:
  • Step A The mobile relay initializes its position information and records the initial position information at any starting position of the fixed track, and then receives the training sequence transmitted from the source end, and then amplifies and forwards it to the destination end;
  • Step B The destination end calculates the performance of the received signal according to the received amplified training sequence, and feeds the single bit information to the mobile relay according to the calculation result; the single bit information includes information about whether the received signal performance is improved. ;
  • step C the mobile relay calculates the next time position according to the single-bit information fed back and moves to the next time position, and returns to step A until finally determining the optimal relay position.
  • the fixed track is a circular track.
  • the mobile relay performs positional movement on a fixed track, calculates a random disturbance step size and a correction factor according to the single bit information, and introduces a cumulative positive feedback counter, a continuous negative feedback counter, and The threshold correction mechanism then moves the mobile relay according to the calculation result to change the motion step and direction, and returns to step A.
  • step C specifically includes:
  • Step C1 the mobile relay records its known optimal position, the known optimal position is represented by ⁇ (n), and n represents the nth time slot;
  • Step C2 the mobile relay transforms a motion step according to the single bit information in each iteration slot, and the transformed motion step includes a random disturbance step and a correction factor;
  • Step C3 the mobile relay calculates the next time position according to the transformed motion step, then moves to the next time position, returns to step A, receives the training sequence transmitted from the source, and performs amplification and forwarding to Destination end;
  • Step C4 the destination end calculates the communication performance strength of the new received signal, compares the calculated communication performance strength result with the known best received signal communication performance strength, and updates the optimal received signal in the memory according to the comparison result. Communication performance strength, and then the destination end feeds back single-bit information to the mobile relay;
  • Step C5 the mobile relay updates the known optimal position according to the fed single-bit information and stores, calculates the motion step and direction to determine the next time position and moves to the next time position, and repeats steps C3 to C4. Until the final determination of the optimal relay position.
  • step C5 specifically includes:
  • Step C51 The mobile relay determines the single bit information.
  • Step C52 when it is determined that the performance of the received signal is improved, the correction factor is cleared and the continuous negative feedback counter is cleared, the accumulated positive feedback counter is incremented by 1, and it is determined whether the accumulated positive feedback counter reaches a preset cumulative positive feedback threshold;
  • Step C53 if it is determined that the cumulative positive feedback counter in step C52 reaches the preset cumulative positive feedback threshold, the cumulative positive feedback counter is cleared, and the motion step size is increased and the cumulative positive feedback threshold is increased and returned to step C3;
  • Step C54 if it is determined that the cumulative positive feedback counter in step C52 does not reach the preset cumulative positive feedback threshold, then return to step C3;
  • Step C55 when it is determined that the performance of the received signal is not improved, the mobile relay returns to the position of the previous time slot, and the continuous negative feedback counter is incremented by 1, the correction factor is modified to the opposite of the motion step of the previous time slot, and the continuous negative is determined. Whether the feedback counter reaches a preset continuous negative feedback threshold;
  • Step C56 if it is determined that the continuous negative feedback counter in step C55 reaches the preset continuous negative feedback threshold, the accumulated positive feedback counter and the continuous negative feedback counter are cleared, and the motion step size is decreased and the continuous negative feedback counter threshold is decreased. Return to step C3;
  • Step C57 if it is determined that the continuous negative feedback counter in step C55 does not reach the preset continuous negative reaction If the threshold is fed, the process returns to step C3.
  • the invention also provides an optimal relay location searching system based on accumulating positive feedback variable step size, including a source end, a mobile relay and a destination end;
  • the source end is configured to send a training sequence to the mobile relay
  • the mobile relay is configured to initialize its position information and record the initial position information at any starting position of the fixed track, and then receive the training sequence transmitted from the source end, and then forward it to the destination end for calculation;
  • the destination end is configured to perform performance calculation of the received signal according to the received amplified training sequence, and feed back single-bit information to the mobile relay according to the calculation result; the mobile relay records location information according to the The single-bit information is calculated, and the position is moved according to the calculation result, and the training sequence sent by the source end is amplified in real time and then forwarded to the destination end for calculation, and finally the optimal relay position is confirmed.
  • the fixed track is a circular track.
  • the mobile relay performs positional movement on a fixed track, calculates a random disturbance step size and a correction factor according to the single bit information, and introduces a cumulative positive feedback counter, a continuous negative feedback counter, and a threshold correction mechanism, and then The mobile relay performs position shifting according to the calculation result, and moves the training sequence sent by the source end to the destination end for calculation, and finally determines the optimal relay position.
  • search system is specifically configured to:
  • the mobile relay records its known best position, the known best position is represented by ⁇ (n), and n represents the nth time slot;
  • the mobile relay converts a motion step according to the single bit information fed back by the destination end in each iteration time slot, and the transformed motion step includes a random disturbance step size and a correction factor;
  • the mobile relay calculates the next time position according to the transformed motion step and moves to the position, and then receives the training sequence transmitted from the source end, and performs amplification to be forwarded to the destination end;
  • the destination calculates the communication performance strength of the new received signal, compares the calculated result of the communication performance strength with the communication performance strength of the known best received signal, and updates the optimal received signal communication in the memory according to the comparison result. Performance strength, and then the destination end feeds back single-bit information to the mobile relay, the single-bit information including information on whether the received signal performance is improved;
  • the mobile relay updates the known best position according to the fed single bit information and stores, calculates the motion step and direction to determine the next time position and moves to the next time position until finally determining the best relay position.
  • the present invention has the beneficial effects that the present invention can improve the performance of the relay communication, and does not need to obtain the location information of the source end and the destination end, and does not need multiple antennas, and the mobile relay only uses the single-bit information fed back by the destination end.
  • the best relay communication location can be found within a given range of motion trajectories
  • FIG. 1 is a flow chart of an optimal relay location searching method using a drone as a mobile relay provided by the prior art.
  • FIG. 2 is a flowchart of an optimal relay location searching method based on an accumulated positive feedback variable step size according to an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of a search system using an unmanned aerial vehicle as an optimal relay position of a mobile relay according to an embodiment of the present invention.
  • FIG. 4 is a detailed step diagram of an optimal relay location searching method using a drone as a mobile relay according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of signal to noise ratio distribution in a search process using an unmanned aerial vehicle as an optimal relay position of a mobile relay according to an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of a time slot and a signal to noise ratio of a search process using an unmanned aerial vehicle as an optimal relay location for a mobile relay according to an embodiment of the present invention.
  • FIG. 7 is a diagram showing an error rate score corresponding to a mobile relay position using a drone according to an embodiment of the present invention. Schematic diagram.
  • FIG. 8 is a schematic diagram of a time slot and a bit error rate of a search process using an unmanned aerial vehicle as an optimal relay location for a mobile relay according to an embodiment of the present invention.
  • the existing algorithms for UAV relay position search mainly include: 1. Based on the GPS algorithm shown in FIG. 1a, the position information of the ground communication unit (source S and destination D) is measured by GPS and is The drone uses to search for the best relay position; 2 based on the DOA algorithm shown in Figure 1b.
  • the existing UAV relay position search algorithm can make the UAV find the best relay position on its own basis, but these algorithms or applicable scopes also have certain deficiencies and defects, mainly reflected in: 1) Communication relay relies on GPS to be vulnerable to attack, and may also suffer from GPS spoofing or interference, resulting in communication relay failure. More importantly, in many special cases, the communication parties do not have GPS function or the GPS device is damaged, such as natural disasters. Causes damage to the GPS device. (2) Using the airborne multi-antenna to estimate the signal arrival angle (DOA) to search for the optimal relay position, the estimation error is easy to occur, and the complexity and algorithm complexity of the UAV communication equipment are increased.
  • DOA signal arrival angle
  • the present invention provides an optimal relay position searching method based on the accumulated positive feedback variable step size as shown in FIG. 2, and the steps include:
  • the mobile relay initializes its position information and records the initial position information at any starting position of the fixed track, and then receives the training sequence transmitted from the source end, and then amplifies and forwards it to the destination end.
  • the mobile relay first initializes its location information and records the initial location information, then starts the initial position on the circular fixed track, receives the training sequence transmitted from the source, and then amplifies and forwards it to the destination.
  • the destination end calculates the performance of the received signal according to the received amplified training sequence, and And transmitting, according to the calculation result, single bit information to the mobile relay in each time slot; the single bit information includes information about whether the received signal performance is improved;
  • the mobile relay calculates the next time position according to the single-bit information fed back and moves to the next time position, and returns to step A until finally determining the optimal relay position.
  • the mobile relay performs positional movement on a fixed track, calculates a random disturbance step size and a correction factor according to the single bit information, and introduces a cumulative positive feedback counter, a continuous negative feedback counter, and a threshold correction mechanism.
  • the mobile relay then shifts the motion step and direction according to the calculation result to perform positional shift, and returns to step S1.
  • the final determined optimal relay position can be set by the length of time, or by moving a complete fixed trajectory, or the communication performance satisfies the system setting requirements.
  • step S3 the method specifically includes:
  • the mobile relay records its known optimal position, the known optimal position is represented by ⁇ (n), and n represents the nth time slot;
  • the mobile relay transforms a motion step according to the single bit information in each iteration slot, and the transformed motion step includes a random disturbance step and a correction factor.
  • the mobile relay calculates a next time position according to the transformed motion step, then moves to the next time position, returns to step S1, receives the training sequence transmitted from the source, and performs amplification and forwarding to the destination. end;
  • the destination end calculates the communication performance strength of the new received signal, compares the calculated communication performance strength result with the known best received signal communication performance strength, and updates the optimal received signal communication in the memory according to the comparison result. Performance strength, and then the destination end feeds back single-bit information to the mobile relay;
  • the mobile relay updates the known optimal position according to the fed single-bit information and stores, calculates the motion step and direction to determine the next time position and moves to the next time position, and repeats steps S33 to S34. Until the final determination of the optimal relay position.
  • step S35 specifically includes the steps shown in FIG. 4, wherein:
  • the mobile relay determines the single-bit information.
  • step S353 if it is determined that the cumulative positive feedback counter in step S352 reaches the preset cumulative positive feedback threshold, the cumulative positive feedback counter is cleared, and the motion step size is increased and the cumulative positive feedback threshold is increased and the process returns to step S33;
  • step S354 if it is determined that the cumulative positive feedback counter in step S352 does not reach the preset cumulative positive feedback threshold, then return to step S33;
  • step S356 If it is determined that the continuous negative feedback counter in step S355 reaches a preset continuous negative feedback threshold, the accumulated positive feedback counter and the continuous negative feedback counter are cleared, and the motion step size is decreased and the continuous negative feedback counter threshold is decreased and returned. Step S33;
  • step S357 If it is determined that the continuous negative feedback counter in step S355 has not reached the preset continuous negative feedback threshold, then return to step S33.
  • the mobile relay may be a drone, or may be a hot air balloon, a satellite, or the like.
  • a drone is used as a mobile relay, and the present invention is described below with reference to FIGS. 3 to 9. Detailed explanation.
  • an optimal relay location search system based on an accumulated positive feedback variable step size using a drone as a mobile relay including a source end, a mobile relay, and a destination end.
  • the source end is configured to initialize its position information and record the initial position information at any starting position on the fixed track, and then receive the training sequence transmitted from the source end, and then forward it to the destination end for calculation;
  • a destination end configured to perform performance calculation of the received signal according to the received amplified training sequence, and feed back single-bit information to the mobile relay in each time slot;
  • the mobile relay records location information and Calculating according to the single-bit information, performing positional movement according to the calculation result, and amplifying the training sequence sent by the source end in real time, and then forwarding the result to the destination end for calculation, and finally confirming the optimal relay position.
  • the source end and the destination end can be functionally switched to each other, that is, in the implementation process, the source end and the destination end simultaneously have the functions of sending training timing and performing signal
  • the three coordinate variables in the cylindrical coordinate system are (r, ⁇ , z).
  • r is the radius of motion of the drone on the xoy plane
  • ⁇ is the angle rotated from the x-axis in the counterclockwise direction to oR' i from the positive z-axis
  • oR' 1 is the drone in the xy plane
  • the mapping, z is the height of the drone.
  • the drone moves on a circle with a height z and a radius r, the center coordinate o(0,0,z), the source coordinate S(x s ,y s ,z s ), the destination coordinate D(x d , y d , z d ).
  • the coordinates of the drone at time n are R(r, ⁇ (n), z), then the coordinates of the drone at time n+1 are R(r, ⁇ (n+1), z).
  • the communication distance between the source end S and the destination end D of the relay R(r, ⁇ (n), z) at time n is:
  • the gain G is as follows:
  • ⁇ 1 and ⁇ 2 are as follows:
  • the steps of the optimal relay location searching method based on the enhanced variable step disturbance using the drone as the mobile relay include:
  • a correction factor ⁇ (n) a cumulative positive feedback counter C P and a continuous negative feedback counter C N and a threshold correction mechanism are introduced
  • ⁇ 0 is the disturbance step size of the algorithm
  • n is the time slot.
  • the destination receiver calculates a new communication performance strength SNR(n), based on the calculated result of the new communication performance strength, compared with the known communication performance strength of the best received signal, and updates the best in memory.
  • the receiver then feeds back the single bit information to the drone to indicate if the received signal strength is increasing. Specifically, the single bit information indicates that the received signal strength is increased by 1 and the received signal strength is not increased by 0, and vice versa.
  • the drone updates its best known position ⁇ (n) based on the single-bit information returned from the feedback.
  • the update rules are as follows:
  • C P denotes a cumulative positive feedback counter
  • C N denotes a continuous negative feedback counter
  • ⁇ T1 denotes a cumulative positive feedback counter threshold increase factor
  • ⁇ T2 denotes a continuous negative feedback counter threshold decrease factor
  • R D (0 ⁇ R D ⁇ 1) denotes a step
  • the long decline factor, R I (R I >1) represents the step growth factor
  • C T1 represents the cumulative positive feedback threshold
  • C T2 represents the continuous negative feedback threshold.
  • the method provided by the invention is very advantageous for the convergence effect of the initial small step disturbance, that is, the convergence can be accelerated in the early and late convergence of the method, and the invention is in the initial small step situation compared to the fixed step and variable step convergence algorithm.
  • the performance improvement is obvious.
  • the invention slowly approaches the optimal relay position during the loop search process, and finally finds the optimal relay position, that is, the position with the highest received signal strength is the optimal relay. position.
  • the simulation diagram of the UAV relay position search is as follows:
  • the horizontal axis represents ⁇ (n), and the vertical axis represents the end-to-end signal-to-noise ratio ⁇ end of the relay position corresponding to ⁇ (n);
  • the horizontal axis represents the number of time slots spent by the drone in searching for the best position
  • the vertical axis represents the end-to-end signal-to-noise ratio ⁇ end , and it can be seen that 6 dB is found when the 30th time slot is searched. The location found the best relay location in the 60th time slot. That is, the maximum point in Figure 5.
  • the horizontal axis represents ⁇ (n)
  • the vertical axis represents the end-to-end error rate of the relay position corresponding to ⁇ (n).
  • the horizontal axis represents the number of time slots spent by the drone in searching for the best position
  • the vertical axis represents the end-to-end error rate. It can be seen that the algorithm basically converges when the 75th time slot is searched. Just find the minimum point in Figure 7.
  • the invention belongs to the field of wireless communication technologies and can be applied to search for an optimal relay location point and improve the performance of relay communication.
  • the method is suitable for enhancing the changing relay motion track. Potential application areas include the construction of temporary communication systems and communication connections at disaster sites.
  • the provided UAV relay technology utilizes an enhanced variable step size single-bit positive and negative feedback mechanism to control the drone to automatically search for the optimal relay position, which can effectively improve the performance of the communication system.

Abstract

本发明适用于无线通信，提供了一种单个移动中继最佳通信位置的搜寻方法，步骤包括：A，移动中继在固定轨道的任意起始位置上，初始化其位置信息并记录初始位置信息，然后接收来自源端发射的训练序列，放大后转发给目的端；B，目的端根据接收到的经放大后的训练序列计算所接收信号的性能，并根据计算结果反馈单比特信息给所述移动中继；C，移动中继根据反馈的单比特信息计算下一时刻位置并移动到下一时刻位置，并返回步骤A，直至最后确定最佳中继位置。本发明可提高中继通信的性能，且无需获得源端和目的端的位置信息，无需多天线，移动中继只利用目的端反馈的单比特信息就能在给定运动轨迹范围内找到最佳的中继通信位置。

Description

基于累加正反馈变步长的最佳中继位置搜寻方法与系统 技术领域
本发明属于无线通信技术领域，尤其涉及一种基于累加正反馈变步长的最佳中继位置搜寻方法与系统。
背景技术
通信中继用来转发不同的节点之间发出的信息，扩大了通信范围，提高了通信系统的性能。陆地无线电通信很容易被障碍物遮挡和屏蔽，飞机、卫星及无人机(Unmanned Aerial Vehicles，UAVs)可以充当通信中继，因为机载中继可以在崎岖的山区或市区有效地为需要相互通信的双方建立起连接。近些年来，使用无人机作为通信中继的问题已吸引不少学者的关注和研究，同时其应用也十分广泛。
现有的应用于无人机中继位置搜寻的算法主要有：利用GPS测量地面通信单元(源端S、目的端D)的位置信息并被无人机利用去搜寻最佳中继位置，基于扰动的极值搜索控制(Extremum Seeking Control，ESC)算法，基于多机载天线的算法。现有的无人机中继位置搜寻算法，在各自的基础上都可以使无人机找到最佳的中继位置，但是这些算法的适用范围也存在一定的不足和缺陷，主要体现在：(1)需要源端和目的端都具有GPS功能以提供各自的位置信息给移动中继，而在很多特殊情况下通信双方没有GPS功能或者GPS设备已损坏，如自然灾害导致GPS设备损坏，(2)使用机载多天线对信号到达角(Direction Of Arrival，DOA)进行估计来搜寻最佳中继位置，容易出现估计误差，且增加了无人机通信设备的复杂度和算法复杂度。
发明内容
本发明所要解决的技术问题在于提供一种基于累加正反馈变步长的最佳中继位置搜寻方法与系统，旨在提高中继通信的性能，且无需获得源端和目的端的位置信息，无需多天线，移动中继只利用目的端反馈的单比特信息就能在给定运动轨迹范围内找到最佳的中继通信位置。
本发明是这样实现的，一种基于累加正反馈变步长的最佳中继位置搜寻方法，步骤包括：
步骤A，移动中继在固定轨道的任意起始位置上，初始化其位置信息并记录初始位置信息，然后接收来自源端发射的训练序列，放大后转发给目的端；
步骤B，目的端根据接收到的经放大后的训练序列计算所接收信号的性能，并根据计算结果反馈单比特信息给所述移动中继；所述单比特信息包含接收信号性能是否提高的信息；
步骤C，移动中继根据反馈的单比特信息计算下一时刻位置并移动到下一时刻位置，并返回步骤A，直至最后确定最佳中继位置。
进一步地，在步骤A中，所述固定轨道为圆形轨道。
进一步地，所述步骤C中，所述移动中继在固定的轨道上进行位置移动，根据所述单比特信息计算随机扰动步长、修正因子，同时引入累积正反馈计数器、连续负反馈计数器和阈值修正机制，然后所述移动中继根据计算结果变换运动步长和方向进行位置移动，并返回步骤A。
进一步地，所述步骤C具体包括：
步骤C1，所述移动中继记录其已知最佳位置，所述已知最佳位置用θ(n)表示，n表示第n个时隙；
步骤C2，所述移动中继根据所述单比特信息在每个迭代时隙变换运动步长，变换后的运动步长包括随机扰动步长和修正因子；
步骤C3，所述移动中继根据变换后的运动步长计算下一时刻位置，然后移动至所述下一时刻位置，返回步骤A，接收来自源端发射的训练序列，并进行放大后转发至目的端；
以
Figure PCTCN2015096739-appb-000001
表示所述下一时刻位置，以δ(n)所述随机扰动步长，ξ(n)表示修正因子，则：
Figure PCTCN2015096739-appb-000002
步骤C4，目的端计算新的接收信号的通信性能强度，将计算出的通信性能强度的结果与已知的最佳接收信号的通信性能强度相比，根据比较结果更新内存中的最佳接收信号通信性能强度，然后目的端反馈单比特信息给所述移动中继；
步骤C5，所述移动中继根据反馈的单比特信息更新已知最佳位置并存储，计算运动步长和方向以确定下一时刻位置并移动到该下一时刻位置，重复步骤C3至C4，直至最后确定最佳中继位置。
进一步地，所述步骤C5具体包括：
步骤C51，移动中继对所述单比特信息进行判断；
步骤C52，在判断为接收信号性能提高时，修正因子清零和连续负反馈计数器清零，累积正反馈计数器加1，并判断累积正反馈计数器是否达到预设的累积正反馈阈值；
步骤C53，若判断步骤C52中的累积正反馈计数器达到预设的累积正反馈阈值，则累积正反馈计数器清零，并且增大运动步长和增大累积正反馈阈值并返回步骤C3；
步骤C54，若判断步骤C52中的累积正反馈计数器未达到预设的累积正反馈阈值，则返回步骤C3；
步骤C55，在判断为接收信号性能未提高时，移动中继返回上一时隙的位置，同时连续负反馈计数器加1，修正因子修改为上一时隙的运动步长的相反数，并判断连续负反馈计数器是否达到预设的连续负反馈阈值；
步骤C56，若判断步骤C55中的连续负反馈计数器达到预设的连续负反馈阈值，则累积正反馈计数器和连续负反馈计数器清零，并且减小运动步长和减小连续负反馈计数器阈值并返回步骤C3；
步骤C57，若判断步骤C55中的连续负反馈计数器未达到预设的连续负反 馈阈值，则返回步骤C3。
本发明还提供了一种基于累加正反馈变步长的最佳中继位置搜寻系统，包括源端、移动中继和目的端；
所述源端，用于发送训练序列至所述移动中继；
所述移动中继，用于在固定轨道的任意起始位置上，初始化其位置信息并记录初始位置信息，然后接收来自源端发射的训练序列，放大后转发给目的端进行计算；
所述目的端，用于根据接收到的经放大后的训练序列进行接收信号的性能计算，并并根据计算结果反馈单比特信息给所述移动中继；所述移动中继记录位置信息并根据所述单比特信息进行计算，根据计算结果进行位置移动，并实时将所述源端发送的训练序列进行放大后转发至所述目的端进行计算，最终确认最佳中继位置。
进一步地，所述固定轨道为圆形轨道。
进一步地，所述移动中继在固定的轨道上进行位置移动，根据所述单比特信息计算随机扰动步长、修正因子，同时引入累积正反馈计数器、连续负反馈计数器和阈值修正机制，然后所述移动中继根据计算结果变换运动步长和方向进行位置移动，并实时将所述源端发送的训练序列进行放大后转发至所述目的端进行计算，最终确认最佳中继位置。
进一步地，所述搜寻系统具体用于：
首先，所述移动中继记录其已知最佳位置，所述已知最佳位置用θ(n)表示，n表示第n个时隙；
其次，所述移动中继根据所述目的端反馈的所述单比特信息在每个迭代时隙变换运动步长，变换后的运动步长包括随机扰动步长和修正因子；
再次，所述移动中继根据变换后的运动步长计算下一时刻位置并移动到该位置，然后接收来自源端发射的训练序列，进行放大后转发至所述目的端；
以
Figure PCTCN2015096739-appb-000003
表示所述下一时刻位置，以δ(n)所述随机扰动步长，ξ(n)表示修正因 子，则：
Figure PCTCN2015096739-appb-000004
接着，目的端计算新的接收信号的通信性能强度，将计算出的通信性能强度的结果与已知的最佳接收信号的通信性能强度相比，根据比较结果更新内存中的最佳接收信号通信性能强度，然后目的端反馈单比特信息给所述移动中继，所述单比特信息包括接收信号性能是否提高的信息；
最后，所述移动中继根据反馈的单比特信息更新已知最佳位置并存储，计算运动步长和方向以确定下一时刻位置并移动到该下一时刻位置，直至最后确定最佳中继位置。
本发明与现有技术相比，有益效果在于：本发明可提高中继通信的性能，且无需获得源端和目的端的位置信息，无需多天线，移动中继只利用目的端反馈的单比特信息就能在给定运动轨迹范围内找到最佳的中继通信位置
附图说明
图1是现有技术提供的以无人机作为移动中继的最佳中继位置搜寻方法的流程图。
图2是本发明实施例提供的一种基于累加正反馈变步长的最佳中继位置搜寻方法的流程图。
图3是本发明实施例提供的一种以无人机作为移动中继的最佳中继位置的搜寻系统的结构示意图。
图4是本发明实施例提供的一种以无人机作为移动中继的最佳中继位置搜寻方法的详细步骤图。
图5是本发明实施例提供的使用无人机作为移动中继的最佳中继位置的搜寻过程中的信噪比分布示意图。
图6是本发明实施例提供的使用无人机作为移动中继的最佳中继位置的搜寻过程所花时隙与达到信噪比的示意图。
图7是本发明实施例提供的使用无人机作为移动中继位置对应的误码率分 布示意图。
图8是本发明实施例提供的使用无人机作为移动中继的最佳中继位置的搜寻过程所花时隙与达到误码率的示意图。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
现有的应用于无人机中继位置搜寻的算法主要有：1、如图1a所示的基于GPS算法，即利用GPS测量地面通信单元(源端S、目的端D)的位置信息并被无人机利用去搜寻最佳中继位置；2如图1b所示的基于DOA算法。现有的无人机中继位置搜寻算法，在各自的基础上都可以使无人机找到最佳的中继位置，但是这些算法或适用范围也存在一定的不足和缺陷，主要体现在：(1)通信中继依赖于GPS容易受到攻击，也可能遭受GPS欺骗或干扰而导致通信中继失败，更重要的是，在很多特殊情况下通信双方没有GPS功能或者GPS设备已损坏，如自然灾害导致GPS设备损坏。(2)使用机载多天线对信号到达角(DOA)进行估计来搜寻最佳中继位置，容易出现估计误差，且增加了无人机通信设备的复杂度和算法复杂度。
基于上述所述的算法的缺陷，本发明提供了如图2所示的一种基于累加正反馈变步长的最佳中继位置搜寻方法，步骤包括：
S1，移动中继在固定轨道的任意起始位置上，初始化其位置信息并记录初始位置信息，然后接收来自源端发射的训练序列，放大后转发给目的端。在本步骤中，移动中继先初始化其位置信息并记录初始位置信息，然后开始在圆形的固定轨道上的初始位置，接收来自源端发射的训练序列，然后进行放大后转发给目的端。
S2，目的端根据接收到的经放大后的训练序列计算所接收信号的性能，并 根据计算结果在每个时隙反馈单比特信息给所述移动中继；所述单比特信息包含接收信号性能是否提高的信息；
S3，移动中继根据反馈的单比特信息计算下一时刻位置并移动到下一时刻位置，并返回步骤A，直至最后确定最佳中继位置。在本步骤中，所述移动中继在固定的轨道上进行位置移动，根据所述单比特信息计算随机扰动步长、修正因子，同时引入累积正反馈计数器、连续负反馈计数器和阈值修正机制，然后所述移动中继根据计算结果变换运动步长和方向进行位置移动，并返回步骤S1。最终确定的最佳中继位置，可以通过设定时间长度、或者移动完整个固定轨迹、或者所述通信性能满足系统设定要求。
在上述步骤S3中，具体包括：
S31，所述移动中继记录其已知最佳位置，所述已知最佳位置用θ(n)表示，n表示第n个时隙；
S32，所述移动中继根据所述单比特信息在每个迭代时隙变换运动步长，变换后的运动步长包括随机扰动步长和修正因子；
S33，所述移动中继根据变换后的运动步长计算下一时刻位置，然后移动至所述下一时刻位置，返回步骤S1，接收来自源端发射的训练序列，并进行放大后转发至目的端；
以
Figure PCTCN2015096739-appb-000005
表示所述下一时刻位置，以δ(n)所述随机扰动步长，ξ(n)表示修正因子，则：
Figure PCTCN2015096739-appb-000006
S34，目的端计算新的接收信号的通信性能强度，将计算出的通信性能强度的结果与已知的最佳接收信号的通信性能强度相比，根据比较结果更新内存中的最佳接收信号通信性能强度，然后目的端反馈单比特信息给所述移动中继；
S35，所述移动中继根据反馈的单比特信息更新已知最佳位置并存储，计算运动步长和方向以确定下一时刻位置并移动到该下一时刻位置，，重复步骤S33至S34，直至最后确定最佳中继位置。
进一步地，步骤S35具体包括如图4所示的步骤，其中：
S351，移动中继对所述单比特信息进行判断；
S352，在判断为接收信号性能提高时，修正因子清零和连续负反馈计数器清零，累积正反馈计数器加1，并判断累积正反馈计数器是否达到预设的累积正反馈阈值；
S353，若判断步骤S352中的累积正反馈计数器达到预设的累积正反馈阈值，则累积正反馈计数器清零，并且增大运动步长和增大累积正反馈阈值并返回步骤S33；
S354，若判断步骤S352中的累积正反馈计数器未达到预设的累积正反馈阈值，则返回步骤S33；
S355，在判断为接收信号性能未提高时，移动中继返回上一时隙的位置，同时连续负反馈计数器加1，修正因子修改为上一时隙的运动步长的相反数，并判断连续负反馈计数器是否达到预设的连续负反馈阈值；
S356，若判断步骤S355中的连续负反馈计数器达到预设的连续负反馈阈值，则累积正反馈计数器和连续负反馈计数器清零，并且减小运动步长和减小连续负反馈计数器阈值并返回步骤S33；
S357，若判断步骤S355中的连续负反馈计数器未达到预设的连续负反馈阈值，则返回步骤S33。
但实际应用中，作为移动中继的可以为无人机，也可以为热气球、卫星等，在本实施例中，使用无人机作为移动中继，下面结合图3至图9对本发明进行详细的阐述。
如图3所示，为本发明实施例提供的一种基于累加正反馈变步长的以无人机为移动中继的最佳中继位置搜寻系统，包括源端、移动中继和目的端；所述源端，用于在固定轨道上的任意起始位置上，初始化其位置信息并记录初始位置信息，然后接收来自源端发射的训练序列，放大后转发给目的端进行计算；所述目的端，用于根据接收到的经放大后的训练序列进行接收信号的性能计算，并在每个时隙反馈单比特信息给所述移动中继；所述移动中继记录位置信息并 根据所述单比特信息进行计算，根据计算结果进行位置移动，并实时将所述源端发送的训练序列进行放大后转发至所述目的端进行计算，最终确认最佳中继位置。在具体应用中，源端和目的端可以进行功能上的相互切换，即：在实施过程中，源端和目的端同时具备发送训练时序和进行信号处理等功能。
具体地，在图3中，柱坐标系中的三个坐标变量是(r，θ，z)。其中r为无人机在xoy平面上的运动半径，θ为从正z轴来看自x轴按逆时针方向转到oR′i所转过的角，oR′1为无人机在xy平面的映射，z为无人机的高度。
在本实施例中：
①、无人机运动的增强变步长δ(n)＝±δ0，δ(n)＝+δ0表示逆时针方向移动，δ(n)＝-δ0表示顺时针方向移动。
②、无人机在高度为z，半径为r的圆周上移动，圆心坐标o(0，0，z)，源坐标S(xs，ys，zs)，目的端坐标D(xd，yd，zd)。
③、无人机在n时刻的坐标为R(r，θ(n)，z)，那么无人机在n+1时刻的坐标为R(r，θ(n+1)，z)。
④、柱坐标系(r，θ，z)与空间直角坐标系(x，y，z)的转换关系如下：
Figure PCTCN2015096739-appb-000007
⑤、n时刻中继R(r，θ(n)，z)离源端S与目的端D的通信距离分别是：
Figure PCTCN2015096739-appb-000008
无人机的中继通信过程
第一跳通信：源段(S)到无人机(R)
Figure PCTCN2015096739-appb-000009
E[|n1|2]＝N01   (2)
第一跳通信的自由空间路径损耗：
Figure PCTCN2015096739-appb-000010
第二跳通信：无人机(R)到目的端(D)
Figure PCTCN2015096739-appb-000011
E[|n2|2]＝N02   (5)
第二跳信道的自由空间路径损耗：
Figure PCTCN2015096739-appb-000012
其中增益G如下：
Figure PCTCN2015096739-appb-000013
由公式(4)得端到端的信噪比为：
Figure PCTCN2015096739-appb-000014
其中γ1、γ2如下：
Figure PCTCN2015096739-appb-000015
详细地，本实施例中，基于增强变步长扰动的以无人机作为移动中继的最佳中继位置搜寻方法的步骤包括：
1)无人机在内存中记录其最佳已知位置θ(n)，每个迭代时隙增加一个随机扰动δ(n)＝±δ0。同时引入了修正因子ξ(n)、累计正反馈计数器CP和连续负反馈计数器CN及阈值修正机制，δ0为本算法的扰动步长，n表示时隙。
2)无人机计算它的当前位置
Figure PCTCN2015096739-appb-000016
即：
Figure PCTCN2015096739-appb-000017
3)目的端接收机计算新的通信性能强度SNR(n)，根据计算出的新的通信性 能强度的结果与已知的最佳接收信号的通信性能强度相比，并且更新内存中的最佳接收信号通信性能强度，更新规则为SNRbest(n+1)＝max(SNRbest(n)，SNR(n))。随后接收机反馈单比特信息给无人机，以此表明接收信号强度是否提高。具体的，单比特信息以1表示接收信号强度提高，以0表示接受信号强度未提高，反之亦然。
4)无人机根据反馈回来的单比特信息，更新自己的最佳已知位置θ(n)，更新规则如下：
if SNR(n)＞SNRbest(n)
   θ(n+1)＝θ(n)+δ(n)+ξ(n)；
   ξ(n+1)＝0；CN＝0；
   CP＝CP+1；
   if CP≥CT1
      CP＝0；δ0＝δ0·RI；
      CT1＝CT1+ΔT1；
   end
else
   θ(n+1)＝θ(n)；ξ(n+1)＝-δ(n)；
   CN＝CN+1；
   if CN≥CT2
      CN＝0；δ0＝δ0·RD；
      CP＝0；CT2＝CT2-ΔT2；
   end
                        (10)
end
CP表示累积正反馈计数器，CN表示连续负反馈计数器，ΔT1表示累积正反馈计数器阈值增长因子，ΔT2表示连续负反馈计数器阈值下降因子，RD(0＜RD＜1)表示步长下降因子，RI(RI＞1)表示步长增长因子，CT1表示累积正反馈阈值，CT2表示连续负反馈阈值。
本发明提供的方法对于初始小步长扰动的收敛效果十分有利，即在方法收敛前期和后期都能加速收敛，相比于固定步长、变步长收敛算法，本发明在初始小步长情境下的性能提升很明显。本发明在循环搜寻过程中慢慢地接近最佳中继位置，最后找到最佳中继位置，即接收信号强度最高的位置即为最佳中继 位置。
无人机中继位置搜寻仿真图如下：
初始步长：
Figure PCTCN2015096739-appb-000018
CT1＝3，CT2＝7，ΔT1＝0.3，ΔT2＝0.3，RI＝1.1，RD＝0.75；
(1)以信噪比为基准表示通信性能的好坏，也就是公式(8)；
源端的位置坐标：(xs，ys，zs)＝(0，-700，1)；
目的端的位置坐标：(xd，yd，zd)＝(30，600，1)；
无人机的位置坐标：(r，θ(n)，z)＝(500，θ(n)，30)；
图5中，横轴表示θ(n)，纵轴表示与θ(n)相对应的该中继位置的端到端信噪比γend；
(2)以信噪比为基准表示通信性能的好坏，也就是公式(8)；
源端的位置坐标：(xs，ys，zs)＝(0，-700，1)；
目的端的位置坐标：(xd，yd，zd)＝(30，600，1)；
无人机的位置坐标：(r，θ(n)，z)＝(500，θ(n)，30)；
图6中，横轴表示无人机搜寻最佳位置过程中花费的时隙数，纵轴表示端到端信噪比γend，可以看到在搜寻到第30个时隙时就找到了6dB的位置，在第60个时隙找到了最佳的中继位置。也就是图5中的极大值点。
(3)以误码率为基准表示通信性能的好坏：
源端的位置坐标：(xs，ys，zs)＝(0，-700，1)；
目的端的位置坐标：(xd，yd，zd)＝(30，600，1)；
无人机的位置坐标：(r，θ(n)，z)＝(500，θ(n)，30)
图7中，横轴表示θ(n)，纵轴表示与θ(n)相对应的该中继位置的端到端误码率。
(4)以误码率为基准表示通信性能的好坏：
源端的位置坐标：(xs，ys，zs)＝(0，-700，1)
目的端的位置坐标：(xd，yd，zd)＝(30，600，1)
无人机的位置坐标：(r，θ(n)，z)＝(500，θ(n)，30)
图8中，横轴表示无人机搜寻最佳位置过程中花费的时隙数，纵轴表示端到端误码率，可以看到在搜寻到第75个时隙时算法基本收敛结束，也就是找到了图7中的极小值点。
本发明属于无线通信技术领域，可以被应用来搜寻最佳中继位置点，提高中继通信的性能。本方法适用于增强变的中继运动轨道。潜在的应用领域有：临时通信系统的搭建、灾害现场的通信连接等。而提供的无人机中继技术，利用增强变步长单比特正负反馈机制去控制无人机自动搜寻最佳中继位置，能有效地提升通信系统性能。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。

Claims (9)

  1. 一种基于累加正反馈变步长的最佳中继位置搜寻方法，其特征在于，所述搜寻方法的步骤包括：
    步骤A，移动中继在固定轨道的任意起始位置上，初始化其位置信息并记录初始位置信息，然后接收来自源端发射的训练序列，放大后转发给目的端；
    步骤B，目的端根据接收到的经放大后的训练序列计算所接收信号的性能，并根据计算结果反馈单比特信息给所述移动中继；所述单比特信息包含接收信号性能是否提高的信息；
    步骤C，移动中继根据反馈的单比特信息计算下一时刻位置并移动到下一时刻位置，并返回步骤A，直至最后确定最佳中继位置。
  2. 如权利要求1所述的最佳中继位置搜寻方法，其特征在于，在步骤A中，所述固定轨道为圆形轨道。
  3. 如权利要求1所述的最佳中继位置搜寻方法，其特征在于，所述步骤C中，所述移动中继在固定的轨道上进行位置移动，根据所述单比特信息计算随机扰动步长、修正因子，同时引入累积正反馈计数器、连续负反馈计数器和阈值修正机制，然后所述移动中继根据计算结果变换运动步长和方向进行位置移动，并返回步骤A。
  4. 如权利要求3所述的最佳中继位置搜寻方法，其特征在于，所述步骤C具体包括：
    步骤C1，所述移动中继记录其已知最佳位置，所述已知最佳位置用θ(n)表示，n表示第n个时隙；
    步骤C2，所述移动中继根据所述单比特信息在每个迭代时隙变换运动步长，变换后的运动步长包括随机扰动步长和修正因子；
    步骤C3，所述移动中继根据变换后的运动步长计算下一时刻位置，然后移动至所述下一时刻位置，返回步骤A，接收来自源端发射的训练序列，并进行 放大后转发至目的端；
    以
    Figure PCTCN2015096739-appb-100001
    表示所述下一时刻位置，以δ(n)所述随机扰动步长，ξ(n)表示修正因子，则：
    Figure PCTCN2015096739-appb-100002
    步骤C4，目的端计算新的接收信号的通信性能强度，将计算出的通信性能强度的结果与已知的最佳接收信号的通信性能强度相比，根据比较结果更新内存中的最佳接收信号通信性能强度，然后目的端反馈单比特信息给所述移动中继；
    步骤C5，所述移动中继根据反馈的单比特信息更新已知最佳位置并存储，计算运动步长和方向以确定下一时刻位置并移动到该下一时刻位置，重复步骤C3至C4，直至最后确定最佳中继位置。
  5. 如权利要求4所述的最佳中继位置搜寻方法，其特征在于，所述步骤C5具体包括：
    步骤C51，移动中继对所述单比特信息进行判断；
    步骤C52，在判断为接收信号性能提高时，修正因子清零和连续负反馈计数器清零，累积正反馈计数器加1，并判断累积正反馈计数器是否达到预设的累积正反馈阈值；
    步骤C53，若判断步骤C52中的累积正反馈计数器达到预设的累积正反馈阈值，则累积正反馈计数器清零，并且增大运动步长和增大累积正反馈阈值并返回步骤C3；
    步骤C54，若判断步骤C52中的累积正反馈计数器未达到预设的累积正反馈阈值，则返回步骤C3；
    步骤C55，在判断为接收信号性能未提高时，移动中继返回上一时隙的位置，同时连续负反馈计数器加1，修正因子修改为上一时隙的运动步长的相反数，并判断连续负反馈计数器是否达到预设的连续负反馈阈值；
    步骤C56，若判断步骤C55中的连续负反馈计数器达到预设的连续负反馈阈值，则累积正反馈计数器和连续负反馈计数器清零，并且减小运动步长和减 小连续负反馈计数器阈值并返回步骤C3；
    步骤C57，若判断步骤C55中的连续负反馈计数器未达到预设的连续负反馈阈值，则返回步骤C3。
  6. 一种基于累加正反馈变步长的最佳中继位置搜寻系统，其特征在于，所述搜寻系统包括源端、移动中继和目的端；
    所述源端，用于发送训练序列至所述移动中继；
    所述移动中继，用于在固定轨道的任意起始位置上，初始化其位置信息并记录初始位置信息，然后接收来自源端发射的训练序列，放大后转发给目的端进行计算；
    所述目的端，用于根据接收到的经放大后的训练序列进行接收信号的性能计算，并并根据计算结果反馈单比特信息给所述移动中继；所述移动中继记录位置信息并根据所述单比特信息进行计算，根据计算结果进行位置移动，并实时将所述源端发送的训练序列进行放大后转发至所述目的端进行计算，最终确认最佳中继位置。
  7. 如权利要求6所述的最佳中继位置搜寻系统，其特征在于，所述固定轨道为圆形轨道。
  8. 如权利要求6所述的最佳中继位置搜寻系统，其特征在于，所述移动中继在固定的轨道上进行位置移动，根据所述单比特信息计算随机扰动步长、修正因子，同时引入累积正反馈计数器、连续负反馈计数器和阈值修正机制，然后所述移动中继根据计算结果变换运动步长和方向进行位置移动，并实时将所述源端发送的训练序列进行放大后转发至所述目的端进行计算，最终确认最佳中继位置。
  9. 如权利要求6所述的最佳中继位置搜寻系统，其特征在于，所述搜寻系统具体用于：
    首先，所述移动中继记录其已知最佳位置，所述已知最佳位置用θ(n)表示，n表示第n个时隙；
    其次，所述移动中继根据所述目的端反馈的所述单比特信息在每个迭代时隙变换运动步长，变换后的运动步长包括随机扰动步长和修正因子；
    再次，所述移动中继根据变换后的运动步长计算下一时刻位置并移动到该位置，然后接收来自源端发射的训练序列，进行放大后转发至所述目的端；
    以
    Figure PCTCN2015096739-appb-100003
    表示所述下一时刻位置，以δ(n)所述随机扰动步长，ξ(n)表示修正因子，则：
    Figure PCTCN2015096739-appb-100004
    接着，目的端计算新的接收信号的通信性能强度，将计算出的通信性能强度的结果与已知的最佳接收信号的通信性能强度相比，根据比较结果更新内存中的最佳接收信号通信性能强度，然后目的端反馈单比特信息给所述移动中继，所述单比特信息包括接收信号性能是否提高的信息；
    最后，所述移动中继根据反馈的单比特信息更新已知最佳位置并存储，计算运动步长和方向以确定下一时刻位置并移动到该下一时刻位置，直至最后确定最佳中继位置。
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