多无人机通感一体化系统的协同感知方法研究
Research on Cooperative Method of Multi-UAV Integrated Sensing and Communication System
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摘要: 低空经济(Low-Altitude Economy,LAE)有望在交通运输、环境监测、农业生产及文娱活动等领域推动低空应用的规模化部署,并创造显著的经济与社会价值。作为第六代移动通信系统的关键使能技术之一,通感一体化(Integrated Sensing and Communication,ISAC)被认为是支撑LAE发展的重要技术路径。得益于高空部署与高机动性优势,将无人机(Unmanned Aerial Vehicle,UAV)作为空中基站为地面及空中用户提供ISAC服务,能够有效提升通信与感知覆盖能力。然而,传统单基地ISAC系统在同一设备上同时执行信号发射与回波接收,容易受到严重自干扰的影响,从而显著制约通信与感知性能。针对上述问题,本文研究了一种用于协同目标定位与通信的多UAV-ISAC系统,其中分布式探测UAV协同向中心UAV发射ISAC信号,以实现感知回波的集中处理。基于该系统架构,本文推导了协同目标定位的距离估计克拉美罗下界(Cramer-Rao Lower Bound,CRLB),并在考虑UAV协作成本与通信信干噪比约束的条件下,构建了以CRLB最小化为目标的ISAC-UAV选择问题。在此基础上,设计了一种多UAV感知信息的符号级融合方法,通过对多UAV符号信息矩阵进行加权融合以有效提升协同感知精度。数值仿真结果验证了所提出多UAV-ISAC协同感知方案在目标定位中的显著优势,为大规模无人机集群协同感知系统的设计与部署提供了理论依据与实践参考。Abstract: The low-altitude economy (LAE) is expected to drive the large-scale deployment of low-altitude applications in fields such as transportation, environmental monitoring, agricultural production, and cultural entertainment, while generating remarkable economic and social value. As a key enabling technology for sixth-generation mobile communication, integrated sensing and communication (ISAC) is recognized as an important technical pathway to supporting the development of the LAE. Benefiting from the advantages of high-altitude deployment and high mobility, using an unmanned aerial vehicle (UAV) as an aerial base station to provide ISAC services for both ground and aerial users can effectively enhance the coverage capability of communication and sensing. However, traditional monostatic ISAC systems perform signal transmission and echo reception simultaneously on the same device, making them vulnerable to severe self-interference, which significantly impairs the performance of both the communication and sensing functions. To address these issues, this study investigates a multi-UAV-ISAC system for cooperative target localization and communication, in which distributed sensing UAVs cooperatively transmit ISAC signals to a central UAV, enabling centralized processing of sensing echoes. Based on this system architecture, this study derives the Cramer-Rao lower bound (CRLB) for distance estimation in cooperative target localization, and formulates an ISAC-UAV selection problem for CRLB minimization under the constraints of the UAV cooperation cost and communication signal-to-interference-plus-noise ratio (SINR). Based on this approach, a symbol-level fusion method for multi-UAV sensing information is designed, which effectively improves the cooperative sensing accuracy by performing weighted fusion on the symbol information matrices of multiple UAVs. Numerical simulation results verified the significant advantages of the proposed multi-UAV-ISAC cooperative sensing scheme in target localization. The findings provide a theoretical basis and practical reference for the design and deployment of large-scale UAV swarm cooperative sensing systems.
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