论文标题
无人机的3D移动模型和分析
3D Mobility Models and Analysis for UAVs
论文作者
论文摘要
我们提出了适用于无人机（UAV）的3D移动模型的灵活家族。基于随机微分方程，模型提供了明确结合移动性控制机制和环境扰动的独特属性，同时启用了可拖动的稳态解决方案，例如位置和连通性。具体而言，是由无人机飞行数据激励的，对于具有任意控制机制的对称迁移率模型，我们得出了距目标位置距离的稳态分布。我们为Ornstein-Uhlenbeck（OU）过程和开关控制（OC）的特殊情况提供了封闭式表达式。我们扩展了模型以结合不完美的定位和不对称控制。对于局部对称的实际情况（例如在X-Y平面中），我们给出了OU控制的稳态位置结果。在这些结果的基础上，我们根据瑞利褪色环境中的SNR标准得出了无人机的连接概率结果。
We present a flexible family of 3D mobility models suitable for unmanned aerial vehicles (UAV). Based on stochastic differential equations, the models offer a unique property of explicitly incorporating the mobility control mechanism and environmental perturbation, while enabling tractable steady state solutions for properties such as position and connectivity. Specifically, motivated by UAV flight data, for a symmetric mobility model with an arbitrary control mechanism, we derive the steady state distribution of the distance from the target position. We provide closed form expressions for the special cases of the Ornstein-Uhlenbeck (OU) process and on-off control (OC). We extend the model to incorporate imperfect positioning and asymmetric control. For a practically relevant scenario of partial symmetry (such as in the x-y plane), we present steady state position results for the OU control. Building on these results, we derive UAV connectivity probability results based on a SNR criterion in a Rayleigh fading environment.
