万俊 肖霖 杨鼎成 吴法辉 汪昭

摘  要： 研究部署无人机与固定地面终端（GT）通信，无人机需要完成特定的任务，即从地面终端收集预定数量的数据。文中研究了一种圆形轨迹的无人机信息采集系统，联合考虑系统的能耗和任务完成时间。由于地面终端的通信能量消耗与无人机的飞行推进能量消耗之间存在博弈关系，需要设计合适的基于能量考量和任务需求的飞行策略。通过联合二分法和循环迭代的方法，分别得到了系统的能量消耗最小和地面终端的能耗最小两种飞行方案。此外，对应的最佳飞行半径和最佳瞬时传输功率也一并给出。最后，给出了数值结果以验证所提方案的性能，仿真结果表明，当传输功率和飞行半径取得最佳值时，无人机与地面终端系统将实现最佳性能和最小完成时间，同时系统的总能耗和GT的传输功耗也最小。

关键词： 无人机通信; 圆形轨迹; 能耗最小化; 功率分配; 资源优化; 信息采集

中图分类号： TN915?34                         文献标识码： A                          文章编号： 1004?373X（2020）17?0006?05

Abstract： The UAV （unmanned aerial vehicle） communication with the fixed ground terminals （GTs） is researched. One of the missions of UAV is to collect a given amount of data from the ground terminals. A new circular trajectory information acquisition system jointly considering both the energy consumption of the system and completion time of a mission is researched for UAVs. However， a circular flight strategy based on proper energy trade?off needs to be designed first due to the contradiction between the communication energy consumption of GTs and the propulsion energy consumption of UAVs. Two schemes to minimize energy consumption of the system and transmission power consumption of GTs are obtained with the bisection method and loop iteration method. The optimal flight radius and the optimal instantaneous transmission power are also given in this paper. The numerical results are provided to verify the performance of the scheme proposed in this paper. Simulation results show that， when the transmission power and flight radius get the best value， the UAV and ground terminal system will achieve the best performance and minimum completion time， and the total energy consumption of the system and the transmission power consumption of GT are also the smallest.

Keywords： UAV communication; circular trajectory; energy consumption minimization; power allocation; resource optimization; information acquisition

0  引  言

近年來，随着电子科学以及材料科学的快速发展，无人机的制造成本不断下降，逐渐被应用在各行各业，例如，交通控制、货物运输、航拍、公共救援等，同时，基于无人机的无线通信也受到了广泛地关注[1]。一方面，研究无人机通信是实现无人机监管，打造低空数字化的内在需求;另一方面，与传统的陆地通信系统相比，无人机辅助通信系统具有灵活性高、易于部署、成本低等优点。因此，把无人机作为空中基站搭载平台，能够增加无线网络的容量，扩大系统的通信覆盖范围[2]，实现低成本、按需部署的通信服务要求[3]。……