UAV data link has been considered as an important part of UAV communication system, through which the UAV could communicate with warships. However, constant coding and modulation scheme that UAV adopts does not make f...UAV data link has been considered as an important part of UAV communication system, through which the UAV could communicate with warships. However, constant coding and modulation scheme that UAV adopts does not make full use of the channel capacity when UAV communicates with warships in a good channel environment. In order to improve channel capacity and spectral efficiency, adaptive coded modulation technology is studied. Based on maritime channel model, SNR estimation technology and adaptive threshold determination technology, the simulation of UAV data link communication is carried out in this paper. Theoretic analysis and simulation results show that according to changes in maritime channel state, UAV can dynamically adjust the adaptive coded modulation scheme on the condition of meeting target Bit-Error-Rate (BER), the maximum amount of data transfer is non-adaptive systems three times.展开更多
<div style="text-align:justify;"> Due to its air superiority and high mobility, unmanned aerial vehicle (UAV) can obtain better line-of-sight (LoS) link transmission channel. Therefore, UAV assisted da...<div style="text-align:justify;"> Due to its air superiority and high mobility, unmanned aerial vehicle (UAV) can obtain better line-of-sight (LoS) link transmission channel. Therefore, UAV assisted data collection for wireless sensor networks (WSNs) has become an important research direction. This paper intends to minimize the loss of WSNs for the robust data acquisition and communication assisted by UAV under the imperfect channel state information (CSI). On the premise of ensuring the completion of the communication task, we jointly optimize the wake-up schedule of SNs and the flight trajectory of the UAV, by considering the flight speed of the UAV and the sparse access of all sensor nodes (SNs) in WSN. Because the formulated optimization problem is a mixed integer nonconvex problem, we decompose the original problem into the efficient suboptimal solutions to overcome the difficulty of the optimization. Finally, the number of access node corresponding to the optimized operation time and access efficiency is induced for the entire WSN system efficiency improving. The simulation shows the performance gains of our proposed scheme and the influences of the system parameters are analyzed. </div>展开更多
Based on the M-ary spread spectrum （M-ary-SS）, direct sequence spread spectrum （DS-SS）, and orthogonal frequency division multiplex （OFDM）, a novel anti-jamming scheme, named orthogonal code time division multi-...Based on the M-ary spread spectrum （M-ary-SS）, direct sequence spread spectrum （DS-SS）, and orthogonal frequency division multiplex （OFDM）, a novel anti-jamming scheme, named orthogonal code time division multi-subchannels spread spectrum modulation （OC-TDMSCSSM）, is proposed to enhance the anti-jamming ability of the unmanned aerial vehicle （UAV） data link. The anti-jamming system with its mathematical model is presented first, and then the signal formats of transmitter and receiver are derived. The receiver＇s bit error rate （BER） is demonstrated and anti-jamming performance analysis is carded out in an additive white Ganssian noise （AWGN） channel. Theoretical research and simulation results show the anti-jamming performance of the proposed scheme better than that of the hybrid direct sequence frequency hopping spread spectrum （DS/FH SS） system. The jamming margin of the OC-TDMSCSSM system is 5 dB higher than that of DS/FH SS system under the condition of Rician channel and full-band jamming, and 6 dB higher under the condition of Rician channel environment and partial-band jamming.展开更多
In order to test the anti-interference ability of an Unmanned Aerial Vehicle(UAV) data link in a complex electromagnetic environment,a method for simulating the dynamic electromagnetic interference of an indoor wirele...In order to test the anti-interference ability of an Unmanned Aerial Vehicle(UAV) data link in a complex electromagnetic environment,a method for simulating the dynamic electromagnetic interference of an indoor wireless environment is proposed.This method can estimate the relational degree between the actual face of an UAV data link in an interface environment and the simulation scenarios in an anechoic chamber by using the Grey Relational Analysis(GRA) theory.The dynamic drive of the microwave instrument produces a real-time corresponding interference signal and realises scene mapping.The experimental results show that the maximal correlation between the interference signal in the real scene and the angular domain of the radiation antenna in the anechoic chamber is 0.959 3.Further,the relational degree of the Signal-toInterference Ratio(SIR) of the UAV at its reception terminal indoors and in the anechoic chamber is 0.996 8,and the time of instrument drive is only approximately 10 μs.All of the above illustrates that this method can achieve a simulation close to a real field dynamic electromagnetic interference signal of an indoor UAV data link.展开更多
The technology of attitude control for quadrotor unmanned aerial vehicles(UAVs) is one of the most important UAVs' research areas.In order to achieve a satisfactory operation in quadrotor UAVs having proportional ...The technology of attitude control for quadrotor unmanned aerial vehicles(UAVs) is one of the most important UAVs' research areas.In order to achieve a satisfactory operation in quadrotor UAVs having proportional integration differential(PID) controllers,it is necessary to appropriately adjust the controller coefficients which are dependent on dynamic parameters of the quadrotor UAV and any changes in parameters and conditions could affect desired performance of the controller.In this paper,combining with PID control and fuzzy logic control,a kind of fuzzy self-adaptive PID control algorithm for attitude stabilization of the quadrotor UAV was put forward.Firstly,the nonlinear model of six degrees of freedom(6-DOF) for quadrotor UAV is established.Secondly,for obtaining the attitude of quadrotor,attitude data fusion using complementary filtering is applied to improving the measurement accuracy and dynamic performance.Finally,the attitude stabilization control simulation model of the quadrotor UAV is build,and the self-adaptive fuzzy parameter tuning rules for PID attitude controller are given,so as to realize the online self-tuning of the controller parameters.Simulation results show that comparing with the conventional PID controller,this attitude control algorithm of fuzzy self-adaptive PID has a better dynamic response performance.展开更多
At 5:39 am on June 24, 2017, a landslide occurred in the village of Xinmo in Maoxian County, Aba Tibet and Qiang Autonomous Prefecture(Sichuan Province, Southwest China). On June 25, aerial images were acquired from a...At 5:39 am on June 24, 2017, a landslide occurred in the village of Xinmo in Maoxian County, Aba Tibet and Qiang Autonomous Prefecture(Sichuan Province, Southwest China). On June 25, aerial images were acquired from an unmanned aerial vehicle(UAV), and a digital elevation model(DEM) was processed. Landslide geometrical features were then analyzed. These are the front and rear edge elevation, accumulation area and horizontal sliding distance. Then, the volume and the spatial distribution of the thickness of the deposit were calculated from the difference between the DEM available before the landslide, and the UAV-derived DEM collected after the landslide. Also, the disaster was assessed using high-resolution satellite images acquired before the landslide. These include Quick Bird, Pleiades-1 and GF-2 images with spatial resolutions of 0.65 m, 0.70 m, and 0.80 m, respectively, and the aerial images acquired from the UAV after the landslide with a spatial resolution of 0.1 m. According to the analysis, the area of the landslide was 1.62 km2, and the volume of the landslide was 7.70 ± 1.46 million m3. The average thickness of the landslide accumulation was approximately 8 m. The landslide destroyed a total of 103 buildings. The area of destroyed farmlands was 2.53 ha, and the orchard area was reduced by 28.67 ha. A 2-km section of Songpinggou River was blocked and a 2.1-km section of township road No. 104 was buried. Constrained by the terrain conditions, densely populated and more economically developed areas in the upper reaches of the Minjiang River basin are mainly located in the bottom of the valleys. This is a dangerous area regarding landslide, debris flow and flash flood events Therefore, in mountainous, high-risk disaster areas, it is important to carefully select residential sites to avoid a large number of casualties.展开更多
In this paper, a real-time online data-driven adaptive method is developed to deal with uncertainties such as high nonlinearity, strong coupling, parameter perturbation and external disturbances in attitude control of...In this paper, a real-time online data-driven adaptive method is developed to deal with uncertainties such as high nonlinearity, strong coupling, parameter perturbation and external disturbances in attitude control of fixed-wing unmanned aerial vehicles (UAVs). Firstly, a model-free adaptive control (MFAC) method requiring only input/output (I/O) data and no model information is adopted for control scheme design of angular velocity subsystem which contains all model information and up-mentioned uncertainties. Secondly, the internal model control (IMC) method featured with less tuning parameters and convenient tuning process is adopted for control scheme design of the certain Euler angle subsystem. Simulation results show that, the method developed is obviously superior to the cascade PID (CPID) method and the nonlinear dynamic inversion (NDI) method.展开更多
文摘UAV data link has been considered as an important part of UAV communication system, through which the UAV could communicate with warships. However, constant coding and modulation scheme that UAV adopts does not make full use of the channel capacity when UAV communicates with warships in a good channel environment. In order to improve channel capacity and spectral efficiency, adaptive coded modulation technology is studied. Based on maritime channel model, SNR estimation technology and adaptive threshold determination technology, the simulation of UAV data link communication is carried out in this paper. Theoretic analysis and simulation results show that according to changes in maritime channel state, UAV can dynamically adjust the adaptive coded modulation scheme on the condition of meeting target Bit-Error-Rate (BER), the maximum amount of data transfer is non-adaptive systems three times.
文摘<div style="text-align:justify;"> Due to its air superiority and high mobility, unmanned aerial vehicle (UAV) can obtain better line-of-sight (LoS) link transmission channel. Therefore, UAV assisted data collection for wireless sensor networks (WSNs) has become an important research direction. This paper intends to minimize the loss of WSNs for the robust data acquisition and communication assisted by UAV under the imperfect channel state information (CSI). On the premise of ensuring the completion of the communication task, we jointly optimize the wake-up schedule of SNs and the flight trajectory of the UAV, by considering the flight speed of the UAV and the sparse access of all sensor nodes (SNs) in WSN. Because the formulated optimization problem is a mixed integer nonconvex problem, we decompose the original problem into the efficient suboptimal solutions to overcome the difficulty of the optimization. Finally, the number of access node corresponding to the optimized operation time and access efficiency is induced for the entire WSN system efficiency improving. The simulation shows the performance gains of our proposed scheme and the influences of the system parameters are analyzed. </div>
基金Aeronautical Science Foundation of China (2007ZC53030)
文摘Based on the M-ary spread spectrum （M-ary-SS）, direct sequence spread spectrum （DS-SS）, and orthogonal frequency division multiplex （OFDM）, a novel anti-jamming scheme, named orthogonal code time division multi-subchannels spread spectrum modulation （OC-TDMSCSSM）, is proposed to enhance the anti-jamming ability of the unmanned aerial vehicle （UAV） data link. The anti-jamming system with its mathematical model is presented first, and then the signal formats of transmitter and receiver are derived. The receiver＇s bit error rate （BER） is demonstrated and anti-jamming performance analysis is carded out in an additive white Ganssian noise （AWGN） channel. Theoretical research and simulation results show the anti-jamming performance of the proposed scheme better than that of the hybrid direct sequence frequency hopping spread spectrum （DS/FH SS） system. The jamming margin of the OC-TDMSCSSM system is 5 dB higher than that of DS/FH SS system under the condition of Rician channel and full-band jamming, and 6 dB higher under the condition of Rician channel environment and partial-band jamming.
基金supported by a certain Ministry Foundation under Grant No.20212HK03010
文摘In order to test the anti-interference ability of an Unmanned Aerial Vehicle(UAV) data link in a complex electromagnetic environment,a method for simulating the dynamic electromagnetic interference of an indoor wireless environment is proposed.This method can estimate the relational degree between the actual face of an UAV data link in an interface environment and the simulation scenarios in an anechoic chamber by using the Grey Relational Analysis(GRA) theory.The dynamic drive of the microwave instrument produces a real-time corresponding interference signal and realises scene mapping.The experimental results show that the maximal correlation between the interference signal in the real scene and the angular domain of the radiation antenna in the anechoic chamber is 0.959 3.Further,the relational degree of the Signal-toInterference Ratio(SIR) of the UAV at its reception terminal indoors and in the anechoic chamber is 0.996 8,and the time of instrument drive is only approximately 10 μs.All of the above illustrates that this method can achieve a simulation close to a real field dynamic electromagnetic interference signal of an indoor UAV data link.
基金National Natural Science Foundation of China(No.61374114)Natural Science Foundation of Liaoning Province,China(No.2015020022)the Fundamental Research Funds for the Central Universities,China(No.3132015039)
文摘The technology of attitude control for quadrotor unmanned aerial vehicles(UAVs) is one of the most important UAVs' research areas.In order to achieve a satisfactory operation in quadrotor UAVs having proportional integration differential(PID) controllers,it is necessary to appropriately adjust the controller coefficients which are dependent on dynamic parameters of the quadrotor UAV and any changes in parameters and conditions could affect desired performance of the controller.In this paper,combining with PID control and fuzzy logic control,a kind of fuzzy self-adaptive PID control algorithm for attitude stabilization of the quadrotor UAV was put forward.Firstly,the nonlinear model of six degrees of freedom(6-DOF) for quadrotor UAV is established.Secondly,for obtaining the attitude of quadrotor,attitude data fusion using complementary filtering is applied to improving the measurement accuracy and dynamic performance.Finally,the attitude stabilization control simulation model of the quadrotor UAV is build,and the self-adaptive fuzzy parameter tuning rules for PID attitude controller are given,so as to realize the online self-tuning of the controller parameters.Simulation results show that comparing with the conventional PID controller,this attitude control algorithm of fuzzy self-adaptive PID has a better dynamic response performance.
基金funded by the National Key Technologies R&D Program of China (Grants No. 2017YFC0505104)the Key Laboratory of Digital Mapping and Land Information Application of National Administration of Surveying, Mapping and Geoinformation of China (Grants No. DM2016SC09)
文摘At 5:39 am on June 24, 2017, a landslide occurred in the village of Xinmo in Maoxian County, Aba Tibet and Qiang Autonomous Prefecture(Sichuan Province, Southwest China). On June 25, aerial images were acquired from an unmanned aerial vehicle(UAV), and a digital elevation model(DEM) was processed. Landslide geometrical features were then analyzed. These are the front and rear edge elevation, accumulation area and horizontal sliding distance. Then, the volume and the spatial distribution of the thickness of the deposit were calculated from the difference between the DEM available before the landslide, and the UAV-derived DEM collected after the landslide. Also, the disaster was assessed using high-resolution satellite images acquired before the landslide. These include Quick Bird, Pleiades-1 and GF-2 images with spatial resolutions of 0.65 m, 0.70 m, and 0.80 m, respectively, and the aerial images acquired from the UAV after the landslide with a spatial resolution of 0.1 m. According to the analysis, the area of the landslide was 1.62 km2, and the volume of the landslide was 7.70 ± 1.46 million m3. The average thickness of the landslide accumulation was approximately 8 m. The landslide destroyed a total of 103 buildings. The area of destroyed farmlands was 2.53 ha, and the orchard area was reduced by 28.67 ha. A 2-km section of Songpinggou River was blocked and a 2.1-km section of township road No. 104 was buried. Constrained by the terrain conditions, densely populated and more economically developed areas in the upper reaches of the Minjiang River basin are mainly located in the bottom of the valleys. This is a dangerous area regarding landslide, debris flow and flash flood events Therefore, in mountainous, high-risk disaster areas, it is important to carefully select residential sites to avoid a large number of casualties.
文摘In this paper, a real-time online data-driven adaptive method is developed to deal with uncertainties such as high nonlinearity, strong coupling, parameter perturbation and external disturbances in attitude control of fixed-wing unmanned aerial vehicles (UAVs). Firstly, a model-free adaptive control (MFAC) method requiring only input/output (I/O) data and no model information is adopted for control scheme design of angular velocity subsystem which contains all model information and up-mentioned uncertainties. Secondly, the internal model control (IMC) method featured with less tuning parameters and convenient tuning process is adopted for control scheme design of the certain Euler angle subsystem. Simulation results show that, the method developed is obviously superior to the cascade PID (CPID) method and the nonlinear dynamic inversion (NDI) method.
