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Multi-radio fast routing recovery protocol based on spectrum situation awareness
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作者 Chuanxin ZHOU Chao DONG +3 位作者 Xiaojun ZHU Fuhui ZHOU Qihui WU Zhengrui QIN 《Chinese Journal of Aeronautics》 2025年第3期435-446,共12页
UAV networks often encounter jamming attacks, under which multi-radio protocols have to switch radios to accelerate communication recovery. However, the existing protocols rely on exchange of hello messages to detect ... UAV networks often encounter jamming attacks, under which multi-radio protocols have to switch radios to accelerate communication recovery. However, the existing protocols rely on exchange of hello messages to detect jamming, leading to long sensing time and thus slow routing recovery. To address the issues raised by jamming attacks, we propose a new routing protocol, Electromagnetic Spectrum situation awareness Optimized Link State Routing (ESOLSR) protocol, to improve the existing OLSRv2 protocol. ESOLSR utilizes the spectrum situation awareness capability from the physical layer, and adopts joint-updating of link status, updating of interface functions, and adaptive adjustment of parameters. Our simulation results show that the improved protocol, ESOLSR, can recover routing and resume normal communication 26.6% faster compared to the existing protocols. 展开更多
关键词 UAV ad hoc network OLSR protocol Routing recovery Electromagnetic spectrum situation awareness multi-radio
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Multi-radio无线网络中基于协议冲突模型的功率分配算法研究
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作者 李金宝 王鲜 《黑龙江大学自然科学学报》 CAS 北大核心 2011年第4期561-570,共10页
为了提高无线Ad hoc网络中的Multi-radio Multi-channel利用率,最大化全网吞吐量,提出了一种基于协议冲突模型的功率分配算法-LPCA。LPCA首先利用整数线性规划方法得到了最小功率下所有链路并行传送数据所需的最小信道数,然后又分别估... 为了提高无线Ad hoc网络中的Multi-radio Multi-channel利用率,最大化全网吞吐量,提出了一种基于协议冲突模型的功率分配算法-LPCA。LPCA首先利用整数线性规划方法得到了最小功率下所有链路并行传送数据所需的最小信道数,然后又分别估计了相同功率和混合功率下Multi-radio Multi-channel网络的吞吐量上界。实验结果表明,LPCA算法能较好的利用多信道资源,有效地提高网络的吞吐量等性能。 展开更多
关键词 multi-radio 整数线性规划 功率控制 吞吐量
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基于Multi-Radio Multi-Channel传感器网络无冲突信道分配算法的研究 被引量:2
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作者 蔡凤丽 刘新永 《吉林工程技术师范学院学报》 2014年第5期95-96,共2页
为降低通信冲突和信道干扰,对Mult-i Radio Mult-i Channel传感器网络无冲突信道进行研究,结果证实在网络通信半径大于3倍的网络最大功率通信半径的前提下,Sensor节点规模满足2倍网络功率级数加1的环境下,网络无冲突信道分配的信道数达... 为降低通信冲突和信道干扰,对Mult-i Radio Mult-i Channel传感器网络无冲突信道进行研究,结果证实在网络通信半径大于3倍的网络最大功率通信半径的前提下,Sensor节点规模满足2倍网络功率级数加1的环境下,网络无冲突信道分配的信道数达到网络信道冲突图的最大值。文章通过对无冲突信道算法的运用,最终证实其可以有效地提高传感器网络的工作效率,大幅度提升网络的吞吐量。 展开更多
关键词 multi-radio MULTI-CHANNEL 传感器网络 无冲突信道信道分配
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一种通用的Beyond 3G Multi-Radio接入架构 被引量:3
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作者 李军 宋梅 宋俊德 《武汉大学学报(理学版)》 CAS CSCD 北大核心 2005年第S2期95-98,共4页
下一代移动通信网(Beyond 3G)是多种无线接入(Multi-Radio)共存的融合网络.如何有效集成异构无线网络,优化使用全部的无线资源是B3G研究领域内关键课题之一.在分析目前多种异构无线网络整合方案的基础上,借鉴欧洲IST 6th框架中Multi-Ra... 下一代移动通信网(Beyond 3G)是多种无线接入(Multi-Radio)共存的融合网络.如何有效集成异构无线网络,优化使用全部的无线资源是B3G研究领域内关键课题之一.在分析目前多种异构无线网络整合方案的基础上,借鉴欧洲IST 6th框架中Multi-Radio接入架构的基本思想,考虑在链路层实现异构无线网络之间的整合,从而提出一种通用B3G Multi-Radio接入架构模型,该模型可以无缝融合多种无线接入技术、有效利用全网无线资源. 展开更多
关键词 BEYOND3G 异构网络 multi-radio接入 联合无线资源管理
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Multi-Power Multi-Radio传感器网络跨层优化的路由方法研究 被引量:1
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作者 郭晓行 李金宝 《计算机研究与发展》 EI CSCD 北大核心 2011年第S2期180-184,共5页
针对Multi-Power Multi-Radio无线传感器网络的特性,研究了跨层优化的最小传输时延路由问题,利用线性规划方程设计了该问题的最优问题模型,并设计了有效的多项式时间解决方案.实验结果表明,提出的联合优化的路由方案能有效地减小端到端... 针对Multi-Power Multi-Radio无线传感器网络的特性,研究了跨层优化的最小传输时延路由问题,利用线性规划方程设计了该问题的最优问题模型,并设计了有效的多项式时间解决方案.实验结果表明,提出的联合优化的路由方案能有效地减小端到端的传输时延. 展开更多
关键词 无线传感器网络 Multi-Powermulti-radio 路由 跨层
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Multi-Radio传感器网络MAC协议可靠性的研究
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作者 周莹 冯亚娜 +2 位作者 纪守领 李金宝 惠丽 《黑龙江大学自然科学学报》 CAS 北大核心 2009年第6期836-840,共5页
研究了Multi-Radio传感器网络MAC协议的可靠性问题,建立Multi-Radio传感器网络MAC协议可靠性的概率模型,并分了协议的可靠性,同时比较了Multi-Radio传感器网络与现有传感器网络的差别。实验结果表明,对MAC协议可靠性的分析与实验结果相... 研究了Multi-Radio传感器网络MAC协议的可靠性问题,建立Multi-Radio传感器网络MAC协议可靠性的概率模型,并分了协议的可靠性,同时比较了Multi-Radio传感器网络与现有传感器网络的差别。实验结果表明,对MAC协议可靠性的分析与实验结果相一致,从而验证了本理论分析的正确性。 展开更多
关键词 multi-radio传感器网络 MAC协议 MAC协议可靠性
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Multi-Radio无线Ad Hoc网络中基于协议冲突模型的功率分配方案研究
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作者 王鲜 李金宝 《计算机研究与发展》 EI CSCD 北大核心 2011年第S2期176-179,共4页
为了提高无线Ad Hoc网络中的Multi-Radio Multi-Channel利用率,最大化全网吞吐量,提出了一种基于协议冲突模型的功率分配算法———LPCA.LPCA首先利用整数线性规划方法得到了最小功率下所有链路并行传送数据所需的最小信道数.然后又分... 为了提高无线Ad Hoc网络中的Multi-Radio Multi-Channel利用率,最大化全网吞吐量,提出了一种基于协议冲突模型的功率分配算法———LPCA.LPCA首先利用整数线性规划方法得到了最小功率下所有链路并行传送数据所需的最小信道数.然后又分别估计了相同功率和混合功率下Multi-Radio Multi-Channel网络的吞吐量上界.实验结果表明,LPCA算法能较好地利用多信道资源,有效地提高网络的吞吐量等性能. 展开更多
关键词 multi-radio 整数线性规划 功率控制 吞吐量
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Joint channel assignment and cross-layer routing protocol for multi-radio multi-channel Ad Hoc networks 被引量:2
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作者 Yang Lu Junming Guan +1 位作者 Zhen Wei Qilin Wu 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2010年第6期1095-1102,共8页
To study multi-radio multi-channel (MR-MC) Ad Hoc networks based on 802.11, an efficient cross-layer routing protocol with the function of joint channel assignment, called joint channel assignment and cross-layer ro... To study multi-radio multi-channel (MR-MC) Ad Hoc networks based on 802.11, an efficient cross-layer routing protocol with the function of joint channel assignment, called joint channel assignment and cross-layer routing (JCACR), is presented. Firstly, this paper introduces a new concept called channel utilization percentage (CUP), which is for measuring the contention level of different channels in a node’s neighborhood, and deduces its optimal value for determining whether a channel is overloaded or not. Then, a metric parameter named channel selection metric (CSM) is designed, which actually reffects not only the channel status but also corresponding node’s capacity to seize it. JCACR evaluates channel assignment by CSM, performs a local optimization by assigning each node a channel with the smaller CSM value, and changes the working channel dynamically when the channel is overloaded. Therefore, the network load balancing can be achieved. In addition, simulation shows that, when compared with the protocol of weighted cumulative expected transfer time (WCETT), the new protocol can improve the network throughput and reduce the end-to-end average delay with fewer overheads. 展开更多
关键词 Ad Hoc network multi-radio multi-channel channel assignment routing protocol channel utilization percentage.
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Intelligent Network Selection for Data Offloading in 5G Multi-Radio Heterogeneous Networks 被引量:1
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作者 WU Jin LIU Jing +3 位作者 HUANG Zhangpeng DU Chen ZHAO Hui BAI Yu 《China Communications》 SCIE CSCD 2015年第S1期132-139,共8页
In next generation networks, multiradio networks are emerging in order to deal with exponential data traffic increasing. Integrated Femto-WiFi(IFW) small cells have been introduced by 3GPP to offload data from cellula... In next generation networks, multiradio networks are emerging in order to deal with exponential data traffic increasing. Integrated Femto-WiFi(IFW) small cells have been introduced by 3GPP to offload data from cellular networks recently. These IFW cells are multi-mode capable(i.e., both licensed bands via cellular interface and unlicensed bands via WiFi interface). Therefore how to offload data effectively has become one of the most significant discussions in 5G Multi-Radio Heterogeneous Network. So far, most researches mainly focus on the generality of UEs, few attention has been paid to UEs' individual requirements. Considering UE's preference vary from individual to individual, in this paper, we present an UE preference-aware network selection scheme for mobile data offloading. It intelligently supports the distribution of heterogeneous classes of services, considers different types of UEs and delay-tolerant flows, and handles the mobility of UEs. The simulation results show the superiority of the proposed algorithm in user fairness, enhanced capacity and energy saving maximization. 展开更多
关键词 LTE WIFI multi-radio hetero geneous network DATA OFFLOADING
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Centralized Quasi-Static Channel Assignment for Multi-Radio Multi-Channel Wireless Mesh Networks 被引量:3
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作者 Juan REN Zhengding QIU 《Wireless Sensor Network》 2009年第2期104-111,共8页
Employing multiple channels in wireless multihop networks is regarded as an effective approach to increas-ing network capacity. This paper presents a centralized quasi-static channel assignment for multi-radio multi-c... Employing multiple channels in wireless multihop networks is regarded as an effective approach to increas-ing network capacity. This paper presents a centralized quasi-static channel assignment for multi-radio multi-channel Wireless Mesh Networks (WMNs). The proposed channel assignment can efficiently utilize multiple channels with only 2 radios equipped on each mesh router. In the scheme, the network end-to-end traffics are first modeled by probing data at wireless access points, and then the traffic load between each pair of neighboring routers is further estimated using an interference-aware estimation algorithm. Having knowledge of the expected link load, the scheme assigns channels to each radio with the objective of mini-mizing network interference, which as a result greatly improves network capacity. The performance evalua-tion shows that the proposed scheme is highly responsive to varying traffic conditions, and the network per-formance under the channel assignment significantly outperforms the single-radio IEEE 802.11 network as well as the 2-radio WMN with static 2 channels. 展开更多
关键词 Wireless Mesh Networks MULTIHOP Network Channel ASSIGNMENT multi-radio
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Multi-Radio Cooperation Technology and Heterogeneous Network Convergence 被引量:1
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作者 Huang Chuan, Zheng Baoyu (Institute of Signal Processing and Transmission, Nanjing University of Posts and Telecommunications, Nanjing 210003, China) 《ZTE Communications》 2008年第3期29-33,共5页
The heterogeneous network convergence is the trend of future network development. However, many bottlenecks exist in the converged system such as high time delay, high energy consumption, and low data rate. Multi-Radi... The heterogeneous network convergence is the trend of future network development. However, many bottlenecks exist in the converged system such as high time delay, high energy consumption, and low data rate. Multi-Radio Cooperation (MRC) technology is specially designed to overcome these bottlenecks and to satisfy the requirements of heterogeneous network convergence. MRC can improve network capacity, reduce the energy consumption of radio devices, and decrease handover latency between heterogeneous networks by the cooperation of multiple radios, and by efficient management and feasible allocation of multi-radio resources. MRC makes real seamless heterogeneous network convergence possible. 展开更多
关键词 RADIO RATE data multi-radio Cooperation Technology and Heterogeneous Network Convergence MRC WMN
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A ROUTING PROTOCOL BASED ON INTERFERENCE-AWARE AND CHANNEL-LOAD IN MULTI-RADIO MULTI-CHANNEL AD HOC NETWORKS
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作者 Lu Yang Sheng Feng +1 位作者 Bao Hongjie Peng Zhen 《Journal of Electronics(China)》 2010年第6期772-780,共9页
Improving capacity and reducing delay are the most challenging topics in wireless ad hoc networks. Nodes that equip multiple radios working on different channels simultaneously permit ef-fective utility of frequency s... Improving capacity and reducing delay are the most challenging topics in wireless ad hoc networks. Nodes that equip multiple radios working on different channels simultaneously permit ef-fective utility of frequency spectrum and can also reduce interference. In this paper, after analyzing several current protocols in Multi-Radio Multi-Channel (MR-MC) ad hoc networks, a new multi-channel routing metric called Integrative Route Metric (IRM) is designed. It takes channel load, inter-flow, and intra-flow interference into consideration. In addition, an MR-MC routing protocol based on Interference-Aware and Channel-Load (MR-IACL) is also presented. The MR-IACL can assign channels and routings for nodes according to channel load and interference degree of links, and optimize channel distribution dynamically to satisfy the features of topology changing and traffic frequent fluctuation during network running. The simulation results show that the new protocol outperforms others in terms of network throughput, end-to-end delay, routing overhead, and network lifetime. 展开更多
关键词 Ad hoc multi-radio Multi-Channel (MR-MC) Interference-aware Routing protocol Channel assignment strategy
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Multi-Radio无线传感器网络中基于缓存和信道切换的数据查询算法的研究
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作者 张艳卿 李金宝 +1 位作者 郭龙江 朱敬华 《计算机学报》 EI CSCD 北大核心 2012年第11期2403-2414,共12页
针对Multi-Radio Multi-Channel传感器网络中链路服务质量和信道冲突等问题,提出并证明了基于缓存和信道切换的数据查询问题是一个NP完全问题.根据数据流守恒和链路-信道等约束条件,建立线性规划方程,得到该问题的最优解模型,并提出了... 针对Multi-Radio Multi-Channel传感器网络中链路服务质量和信道冲突等问题,提出并证明了基于缓存和信道切换的数据查询问题是一个NP完全问题.根据数据流守恒和链路-信道等约束条件,建立线性规划方程,得到该问题的最优解模型,并提出了一个多项式时间的近似算法——贪心新覆盖数据算法.该算法采用动态规划策略最小化缓存节点将单位数据包传输到查询节点所需要的路径时延,再贪心选择其具有最小路径时延的缓存节点,收集其新覆盖数据.理论分析和实验结果表明,提出的方案能有效地减少数据收集时延,提高数据查询效率. 展开更多
关键词 Multi—Radio Multi—Channel网络 数据缓存 数据查询 信道切换 信道冲突
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基于多模态射频信号融合的粮食水分检测 被引量:2
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作者 杨卫东 郭思君 +2 位作者 段珊珊 胡鹏明 单少伟 《中国农机化学报》 北大核心 2025年第2期132-138,共7页
水分检测是粮食存储和贸易中不可或缺的一环,利用各种射频传感技术可以实现无损、快速地粮食水分检测。然而,现有方案都是基于单一种类射频信号开发的,针对不同射频信号需要训练对应检测模型,人力成本增加。基于此,提出一种融合多模态... 水分检测是粮食存储和贸易中不可或缺的一环,利用各种射频传感技术可以实现无损、快速地粮食水分检测。然而,现有方案都是基于单一种类射频信号开发的,针对不同射频信号需要训练对应检测模型,人力成本增加。基于此,提出一种融合多模态射频信号的粮食水分检测方法RF—Grain。首先,针对多径环境和硬件缺陷引起的噪声问题,提出一种WiFi信道状态信息(CSI)数据预处理方法;其次,提出一种域对抗神经网络模型,用以消除不同类型射频信号提取的粮食水分特征分布差异;最后,设计使用3种不同射频传感技术进行粮食水分检测的试验,以卷积神经网络作为对比,对所提出方法的性能进行评估,并与现有方法进行对比分析。试验表明,所提出方法能够有效检测5种不同含水率的粮食样品,总体准确率为分别为98.87%、96.22%和96.56%,优于传统的卷积神经网络,具有准确率高、泛化性好等优点,为粮食水分无损检测研究提供有力的技术支撑。 展开更多
关键词 粮食 水分含量检测 射频传感 多模态 域对抗神经网络
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Multi-power multi-radio传感网中联合调度、信道和功率分配的最优路由策略
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作者 郭晓行 李金宝 《系统工程理论与实践》 EI CSSCI CSCD 北大核心 2011年第S2期114-118,共5页
研究了multi-power multi-radio无线传感器网络中联合调度、信道和功率分配的最优路由问题,并利用线性规划方程设计了该问题的最优路由方案,同时联合解决了链路调度、信道和功率分配问题.然后针对最优路由问题的NP复杂性,设计了有效的... 研究了multi-power multi-radio无线传感器网络中联合调度、信道和功率分配的最优路由问题,并利用线性规划方程设计了该问题的最优路由方案,同时联合解决了链路调度、信道和功率分配问题.然后针对最优路由问题的NP复杂性,设计了有效的多项式时间解决方案.实验结果表明,提出的联合优化的路由方案能有效地减小端到端的传输时延和能量消耗. 展开更多
关键词 无线传感器网络 MULTI-POWER multi-radio 路由 调度 信道分配 功率分配
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Network selection policy in multi-radio access environment using stochastic control theory 被引量:5
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作者 WEI Yi-fei SONG Mei ZHANG Yong LIU Ning-ning 《The Journal of China Universities of Posts and Telecommunications》 EI CSCD 2011年第4期98-103,共6页
Network selection is crucial in improving the performance of heterogeneous wireless access systems. Most of previous work on network selection or radio resource allocation concentrates on the capability of each availa... Network selection is crucial in improving the performance of heterogeneous wireless access systems. Most of previous work on network selection or radio resource allocation concentrates on the capability of each available network and ignores the time-varying nature of wireless media due to channel fading. However, the channel condition determines the state of each wireless network and plays a vital role in ensuring quality of service in multi-radio access environment. In this article, we propose a network selection policy using stochastic control theory considering the time-varying and stochastic character of wireless channels. The proposed scheme selects one network among different alternatives in each decision epoch according to the channel state of each network, which is modeled as finite-state Markov channel, with the objectives of increasing the data-rate, decreasing the bit error rate and minishing the delay. The procedure of network selection is formulated as a stochastic control problem, which can be solved using linear programming and primal-dual index heuristic algorithm. Simulation results are presented to show that network selection has great impact on the system performance, and the proposed scheme can improve the performance significantly. 展开更多
关键词 network selection multi-radio finite-state Markov channel stochastic control
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Fairness-oriented routing algorithm joint with power control and channel assignment for multi-radio multi-channel wireless mesh networks 被引量:2
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作者 LIU Kai-ming MA Tao +1 位作者 LIU Yuan-an KOU Ke-hao 《The Journal of China Universities of Posts and Telecommunications》 EI CSCD 2014年第5期55-60,共6页
The multi-radio multi-channel wireless mesh network (MRMC-WMN) draws general attention because of its excellent throughput performance, robustness and relative low cost. The closed interactions among power control ... The multi-radio multi-channel wireless mesh network (MRMC-WMN) draws general attention because of its excellent throughput performance, robustness and relative low cost. The closed interactions among power control (PC), channel assignment (CA) and routing is contributed to the performance of multi-radio multi-channel wireless mesh networks (MRMC-WMNs). However, the joint PC, CA and routing (JPCR) design, desired to achieve a global optimization, was poor addressed. The authors present a routing algorithm joint with PC and CA (JPCRA) to seek the routing, power and channel scheme for each flow, which can improve the fairness performance. Firstly, considering available channels and power levels, the routing metric, called minimum flow rate, is designed based on the physical interference and Shannon channel models. The JPCRA is presented based on the genetic algorithm (GA) with simulated annealing to maximize the minimum flow rate, an non-deterministic polynomial-time hard (NP-Hard) problem. Simulations show the JPCRA obtains better fairness among different flows and higher network throughput. 展开更多
关键词 channel assignment ROUTING power control mesh networks multi-radio multi-channel
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线性阵列分布RFID系统性能建模方法研究
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作者 佐磊 张一卓 +2 位作者 孔维业 雷碧航 丁雨晴 《电子测量与仪器学报》 北大核心 2025年第1期176-186,共11页
标签间互耦效应对不同位置标签的作用效果不同,使得线性阵列分布RFID系统的整体性能随标签间距与数量的改变呈现非线性变化。鉴于此,基于RFID工作原理与电磁波传播理论,推导了多标签RFID系统中标签互阻抗及功率传输系数的表达式;利用功... 标签间互耦效应对不同位置标签的作用效果不同,使得线性阵列分布RFID系统的整体性能随标签间距与数量的改变呈现非线性变化。鉴于此,基于RFID工作原理与电磁波传播理论,推导了多标签RFID系统中标签互阻抗及功率传输系数的表达式;利用功率传输系数,分析了标签线性等距分布情形下,互耦效应对不同位置标签及系统整体性能的影响,并建立了系统最小功率传输系数随标签间距与标签数量变化的数学模型;在开阔室内环境中,测试了标签间距和数量变化时的应答信号功率。理论分析与实验结果表明,线性等距分布时,标签的功率传输系数与间距呈非线性关系;互耦效应对标签的影响程度以工作波长为周期逐步减小,在间距为波长倍数时取得极大值;最小功率传输系数出现的位置随着间距的增大在中心与外侧之间以波长为周期波动;系统性能测试结果与所建立模型的变化规律保持一致。 展开更多
关键词 射频识别 互耦效应 互阻抗 多标签RFID系统 线性阵列分布
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具有保密增强的认知多跳中继网络安全性能分析
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作者 许传英 刘卿云 +3 位作者 林颖 董健 罗轶 秦宏毅 《通信技术》 2025年第5期544-551,共8页
针对认知多跳中继网络的物理层安全问题,构建了一种新的具有多个主接收端的衬底式认知多跳中继网络,并提出了基于人工噪声的保密增强方案。在该网络中,源节点和多个中继节点产生人工噪声信号,并采用功率分配策略,与信息信号线性叠加后... 针对认知多跳中继网络的物理层安全问题,构建了一种新的具有多个主接收端的衬底式认知多跳中继网络,并提出了基于人工噪声的保密增强方案。在该网络中,源节点和多个中继节点产生人工噪声信号,并采用功率分配策略,与信息信号线性叠加后发送给目的节点,同时混淆窃听。在可获取干扰链路完美信道状态信息的场景下,推导出次网络的端到端安全中断概率精确闭合式,并分析了干扰容忍阈值、主接收端数目、次网络多跳数、功率分配因子、目标安全容量等参数对该网络安全性能的影响。研究结果表明,各网络参数对次网络安全性能影响显著,联合优化功率分配因子和目标安全容量将有助于实现次网络安全性能的最优。 展开更多
关键词 认知无线电 多跳中继 人工噪声 安全中断概率
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基于不确定性感知的多智能体主动式无线电地图估计
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作者 张蕴霖 邵晋梁 +2 位作者 陈凯 程玉华 李铁山 《电子科技大学学报》 北大核心 2025年第5期660-670,共11页
无线电地图是掌握电磁环境态势的关键要素。针对多机协同监测与构建无线电地图的场景,提出一种基于不确定性感知的采样轨迹规划协同控制方法,涵盖地图估计、区域探索和邻域探索三大模块。首先,采用高斯过程回归对无线电地图进行周期性重... 无线电地图是掌握电磁环境态势的关键要素。针对多机协同监测与构建无线电地图的场景,提出一种基于不确定性感知的采样轨迹规划协同控制方法,涵盖地图估计、区域探索和邻域探索三大模块。首先,采用高斯过程回归对无线电地图进行周期性重构,通过后验分布方差表征不确定性,为轨迹规划提供量化依据。其次,利用维诺图动态分配探索窗口,并设计不确定区域的质心检测与评估方法,以引导智能体优先探索高不确定性子区域。最后,智能体抵达质心位置后,结合历史采样点的空间分布特征,设计基于贪心测量的搜索方法,以实现低采样密度空间的邻域优先采样。仿真实验结果表明,提出的算法能够在短时间内采集高质量的数据,并在地图探索时间以及地图估计精度等方面均得到提升。 展开更多
关键词 无线电地图估计 多智能体系统 协同控制 高斯过程回归 采样轨迹规划
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