无人机姿态抖动对低空空地信道非平稳性影响的测量与分析

Measurement and Analysis of the Impact of UAV Attitude Jitter on Low-Altitude A2G Channel Non-Stationarity

  • 摘要: 无人机已成为低空通信网络的关键组成部分,但其空地(Air-to-Ground,A2G)信道的非平稳性仍是重大挑战。现有研究主要集中于表征高速移动所引发的非平稳性,而无人机在低速或悬停状态下的信道特性常被忽视。本文通过实测表征了一种在悬停状态下占主导地位的非平稳机制。我们发现,由风力等环境因素引发的姿态不稳定性,会与机载天线的非全向辐射特性产生耦合。具体而言,姿态的波动会改变天线的空间指向,该姿态波动进而调制了接收端感知的方向性增益。该耦合效应最终会导致视距(Line-of-Sight,LoS)路径的接收功率产生剧烈起伏。为实证检验该机制,我们开发了一套高精度A2G信道探测平台,该平台集成了自研的无线通信收发机、高精度惯性测量单元和全球定位系统,能够实现宽带信道冲激响应快照、高频无人机姿态数据(俯仰、滚转、航向)和精确定位数据的同步采集。基于该平台,我们开展了无人机在40 m高度悬停的信道测量实验,对比了平静(姿态稳定)与有风(姿态扰动)两种实验条件下的信道特性。测量结果验证了我们的假设:1)在平静实验条件下,姿态变化极小,A2G信道表现出高度平稳性;2)在有风实验条件下,无人机为保持位置而执行剧烈的姿态调整,这种姿态抖动导致LoS路径在天线增益零点和高增益斜率区域快速扫过,引发了明显且快速的信号衰落。因此,通过平均功率延迟分布相关法量化的信道平稳间隔,从超过40 ms急剧下降至低至1 ms。本研究证实,姿态-天线耦合效应是无人机悬停状态下信道非平稳性的主导机制。这一发现对于高可靠A2G通信系统的设计与优化,特别是在天线选型和信道跟踪算法方面,具有关键指导意义。

     

    Abstract: Although unmanned aerial vehicles (UAVs) have become a critical component of low-altitude communication networks, the non-stationarity of their air-to-ground (A2G) channels remains a significant challenge. Existing research has primarily focused on characterizing non-stationarity induced by high-speed mobility, whereas channel properties during low-speed or hovering states are often overlooked. In this study, we characterized a non-stationarity mechanism that is dominant during the hovering state through field measurements. We found that attitude instability induced by environmental factors such as wind couples with the non-isotropic radiation characteristics of the airborne antenna. Specifically, attitude fluctuations alter the antenna’s spatial orientation, which in turn modulates the directional gain perceived at the receiver. This coupling effect ultimately leads to severe fluctuations in the received power of the line-of-sight (LoS) path. To empirically validate this mechanism, we developed a high-precision A2G channel sounding platform. This platform integrates a self-developed wireless transceiver, a high-precision inertial measurement unit (IMU), and GPS to enable the synchronous acquisition of wideband channel impulse response (CIR) snapshots, high-frequency UAV attitude data (pitch, roll, yaw), and precise positioning data. Leveraging this platform, we conducted channel measurement experiments for a UAV hovering at an altitude of 40 m and compared the channel characteristics under two conditions, including calm (stable attitude) and windy (disturbed attitude) atmospheres. The measurement results validate our hypothesis. 1) Attitude variations are minimal in calm conditions, and the A2G channel exhibited high stationarity. 2) In windy conditions, the UAV executed drastic attitude adjustments to maintain its position. This attitude jitter causes the LoS path to rapidly sweep across the antenna’s gain null and steep-gain-slope regions, which induced significant and rapid signal fading. Consequently, the channel stationary time as quantified using the average power delay profile (APDP) correlation method decreased sharply from over 40 ms to as low as 1 ms. Thus, our results confirm that the attitude-antenna coupling effect is the dominant mechanism for channel non-stationarity during UAV hovering. This finding provides critical guidance for the design and optimization of high-reliability A2G communication systems, particularly regarding antenna selection and channel tracking algorithms.

     

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