UAV Air-Ground Communication Method Based on Joint Optimization of Cooperative Jamming and Flight Position

Abstract

The present application discloses a UAV air-ground communication method based on joint optimization of cooperative jamming and flight position, including: initializing multi-dimensional initial parameters preset in advance, where the multi-dimensional initial parameters include the receiving rate of the legitimate receiver, the eavesdropping rate of the eavesdropper, and the system security rate; using successive convex approximation to transform the non-convex constraints of the multi-dimensional initial parameters into convex functions; under preset constraint conditions, using a convex optimization toolbox to solve according to the convex functions to obtain the optimal UAV transmission power, cooperative jamming power, UAV flight position, and maximize the system security rate, so as to perform data communication according to the optimal UAV transmission power, cooperative jamming power, UAV flight position, and maximize the system security rate; thus, based on cooperative jamming of the UAV, jointly optimizing the UAV flight path, thereby improving the secure communication effect.

Description

Technical Field

[0001] The present application relates to the technical field of secure communication, and particularly relates to an unmanned aerial vehicle (UAV) air-ground communication method based on joint optimization of cooperative jamming and flight position, a computer-readable storage medium, and a computer device. Background Art

[0002] Due to its high mobility and flexibility, the UAV creates more possibilities for coping with emergencies in wireless communication. At the same time, the UAV increases the probability of line-of-sight transmission in communication. Although the UAV has advantages in line-of-sight links, it also brings risks. While confidential information is more easily transmitted to the target receiver, it is also more vulnerable to eavesdropping by eavesdroppers, resulting in a slower communication rate, a decrease in the work efficiency of the UAV, and even a decrease in the security and confidentiality rate of the communication system, threatening the security of confidential information transmission.

[0003] In related technologies, cooperative jamming is a promising solution to the physical layer security problem. By arranging a source UAV to send confidential information to a legitimate receiver and another UAV acting as a cooperative jammer to send artificial noise interference to the eavesdropper, the impact of the eavesdropper on the transmission of confidential information is reduced, and the security performance of the communication system is improved; however, since the maximum system security rate cannot be determined, and the maximum system security rate represents the best confidentiality effect, the secure communication effect is poor. Summary of the Invention

[0004] The present application aims to at least solve one of the technical problems in the above technologies to some extent. For this purpose, one objective of the present application is to propose an unmanned aerial vehicle (UAV) air-ground communication method based on joint optimization of cooperative jamming and flight position, which jointly optimizes the UAV trajectory based on cooperative jamming UAVs, thereby improving the secure communication effect.

[0005] The second objective of the present application is to propose a computer-readable storage medium.

[0006] The third objective of the present application is to propose a computer device.

[0007] To achieve the above object, an embodiment of the first aspect of the present application proposes a UAV air-ground communication method based on joint optimization of cooperative jamming and flight position, including the following steps: Initialize the pre-set multi-dimensional initial parameters, where the multi-dimensional initial parameters include the receiving rate of the legitimate receiver, the eavesdropping rate of the eavesdropper, and the system security rate; Use successive convex approximation to transform the non-convex constraints of the multi-dimensional initial parameters into convex functions; Under the preset constraint conditions, use a convex optimization toolbox to solve according to the convex function to obtain the optimal UAV transmit power, cooperative jamming power, UAV flight position, and maximize the system security rate, so as to perform data communication according to the optimal UAV transmit power, cooperative jamming power, UAV flight position, and maximize the system security rate.

[0008] For the UAV air-ground communication method based on joint optimization of cooperative jamming and flight position according to the embodiment of the present application, first, initialize the pre-set multi-dimensional initial parameters, where the multi-dimensional initial parameters include the receiving rate of the legitimate receiver, the eavesdropping rate of the eavesdropper, and the system security rate; Then, use successive convex approximation to transform the non-convex constraints of the multi-dimensional initial parameters into convex functions; Next, under the preset constraint conditions, use a convex optimization toolbox to solve according to the convex function to obtain the optimal UAV transmit power, cooperative jamming power, UAV flight position, and maximize the system security rate, so as to perform data communication according to the optimal UAV transmit power, cooperative jamming power, UAV flight position, and maximize the system security rate; Thus, based on the cooperative jamming UAV, jointly optimize the UAV trajectory, thereby improving the secure communication effect.

[0009] In addition, the UAV air-ground communication method based on joint optimization of cooperative jamming and flight position proposed in the above embodiment of the present application may further have the following additional technical features:

[0010] Optionally, initializing the pre-set multi-dimensional initial parameters includes: obtaining the pre-set flight time of the UAV, and dividing the flight time into multiple time slots; obtaining the source UAV position information, legitimate receiver position information, cooperative jamming UAV position information, and eavesdropper position information within each pre-set time slot, so as to obtain the initialized receiving rate of the legitimate receiver and the eavesdropping rate of the eavesdropper; obtaining the system security rate within each time slot according to the initialized receiving rate of the legitimate receiver and the eavesdropping rate of the eavesdropper.

[0011] Optionally, obtaining the source UAV position information, legal receiver position information, cooperative jamming UAV position information, and eavesdropper position information within each preset time slot to obtain the initial receiving rate of the legal receiver and the eavesdropping rate of the eavesdropper, includes: obtaining the channel gain from the source UAV to the legal receiver, the channel gain from the cooperative jamming UAV to the legal receiver, the channel gain from the source UAV to the eavesdropper, and the channel gain from the cooperative jamming UAV to the eavesdropper according to the source UAV position information, legal receiver position information, cooperative jamming UAV position information, and eavesdropper position information within each time slot; obtaining the ambient noise of the legal receiver and the eavesdropper, so as to obtain the signal-to-noise ratio of the legal receiver and the eavesdropper according to the ambient noise of the legal receiver and the eavesdropper, the channel gain from the source UAV to the legal receiver, the channel gain from the cooperative jamming UAV to the legal receiver, the channel gain from the source UAV to the eavesdropper, and the channel gain from the cooperative jamming UAV to the eavesdropper; obtaining the receiving rate of the legal receiver according to the signal-to-noise ratio of the legal receiver, and obtaining the eavesdropping rate of the eavesdropper according to the signal-to-noise ratio of the eavesdropper.

[0012] Optionally, using successive convex approximation to transform the non-convex constraints of the multi-dimensional initial parameters into convex functions, includes: obtaining the outage probability corresponding to the transmission delay according to the Poisson distribution, and obtaining the constraint condition of the transmission rate using the Lambert function according to the outage probability; setting the number of iterations and the iteration condition, and using the successive convex approximation method to iteratively process the constraint condition according to the number of iterations and the iteration condition, so as to transform the original non-convex optimization problem into a convex optimization problem.

[0013] Optionally, the preset constraint conditions include: obtaining the maximum moving speeds of the source UAV and the cooperative jamming UAV to obtain the moving distance constraint conditions corresponding to the source UAV and the cooperative jamming UAV within each time slot; obtaining the maximum transmission powers of the source UAV and the cooperative jamming UAV to obtain the transmission power constraint conditions corresponding to the source UAV and the cooperative jamming UAV within each time slot.

[0014] According to the above technical means, using the successive convex approximation algorithm, based on cooperative jamming, jointly optimizing the transmission power and the UAV flight trajectory to improve the achievable data rate on the legal device and reduce the eavesdropping risk brought by the line-of-sight link characteristics of the UAV in wireless communication.

[0015] To achieve the above object, an embodiment of the second aspect of the present application provides a computer-readable storage medium, on which a UAV air-ground communication program based on joint optimization of cooperative jamming and flight position is stored. When the UAV air-ground communication program based on joint optimization of cooperative jamming and flight position is executed by a processor, the UAV air-ground communication method based on joint optimization of cooperative jamming and flight position as described above is implemented.

[0016] According to the computer-readable storage medium of the embodiment of the present application, by storing a UAV air-ground communication program based on joint optimization of cooperative jamming and flight position, when the processor executes the UAV air-ground communication program based on joint optimization of cooperative jamming and flight position, the UAV air-ground communication method based on joint optimization of cooperative jamming and flight position as described above is implemented. Thus, based on cooperative jamming of UAVs, the UAV flight path is jointly optimized, thereby improving the secure communication effect.

[0017] To achieve the above object, an embodiment of the third aspect of the present application provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the UAV air-ground communication method based on joint optimization of cooperative jamming and flight position as described above is implemented.

[0018] According to the computer device of the embodiment of the present application, the UAV air-ground communication program based on joint optimization of cooperative jamming and flight position is stored in the memory, so that when the processor executes the UAV air-ground communication program based on joint optimization of cooperative jamming and flight position, the UAV air-ground communication method based on joint optimization of cooperative jamming and flight position as described above is implemented. Thus, based on cooperative jamming of UAVs, the UAV flight path is jointly optimized, thereby improving the secure communication effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 FIG. is a schematic flowchart of a UAV air-ground communication method based on joint optimization of cooperative jamming and flight position according to an embodiment of the present application;

[0020] Figure 2 FIG. is a diagram of a joint optimization algorithm model according to an embodiment of the present application;

[0021] Figure 3 FIG. is a comparison diagram of secrecy rates of the joint optimization algorithm under different transmission powers according to an embodiment of the present application. DETAILED DESCRIPTION

[0022] Embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where like or similar reference numerals denote like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present application, and should not be construed as a limitation of the present application.

[0023] To better understand the above technical solution, exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present application can be more thoroughly understood and the scope of the present application can be fully conveyed to those skilled in the art.

[0024] To better understand the above technical solution, the above technical solution will be described in detail below in combination with the accompanying drawings of the specification and specific implementation manners.

[0025] Figure 1 is a schematic flow chart of a UAV air-to-ground communication method based on joint optimization of cooperative jamming and flight position according to an embodiment of the present application, as Figure 1 shown, the UAV air-to-ground communication method based on joint optimization of cooperative jamming and flight position includes the following steps:

[0026] S101, initialize preset multi-dimensional initial parameters, where the multi-dimensional initial parameters include the receiving rate of a legitimate receiver, the eavesdropping rate of an eavesdropper, and the system security rate.

[0027] As an embodiment, initializing the preset multi-dimensional initial parameters includes: obtaining the preset flight time of the UAV and dividing the flight time into multiple time slots; obtaining the position information of the source UAV, the position information of the legitimate receiver, the position information of the cooperative jamming UAV, and the position information of the eavesdropper within each preset time slot to obtain the initialized receiving rate of the legitimate receiver and the eavesdropping rate of the eavesdropper; obtaining the system security rate within each time slot according to the initialized receiving rate of the legitimate receiver and the eavesdropping rate of the eavesdropper.

[0028] As an embodiment, obtaining the source UAV position information, legal receiver position information, cooperative jamming UAV position information, and eavesdropper position information within each preset time slot to obtain the receiving rate of the initialized legal receiver and the eavesdropping rate of the eavesdropper includes: obtaining the channel gain from the source UAV to the legal receiver, the channel gain from the cooperative jamming UAV to the legal receiver, the channel gain from the source UAV to the eavesdropper, and the channel gain from the cooperative jamming UAV to the eavesdropper according to the source UAV position information, legal receiver position information, cooperative jamming UAV position information, and eavesdropper position information within each time slot; obtaining the ambient noise of the legal receiver and the eavesdropper, so as to obtain the signal-to-noise ratios of the legal receiver and the eavesdropper according to the ambient noise of the legal receiver and the eavesdropper, the channel gain from the source UAV to the legal receiver, the channel gain from the cooperative jamming UAV to the legal receiver, the channel gain from the source UAV to the eavesdropper, and the channel gain from the cooperative jamming UAV to the eavesdropper; obtaining the receiving rate of the legal receiver according to the signal-to-noise ratio of the legal receiver, and obtaining the eavesdropping rate of the eavesdropper according to the signal-to-noise ratio of the eavesdropper.

[0029] It should be noted that, as Figure 2 shown, the communication system to which the UAV air-ground communication method based on the joint optimization of cooperative jamming and flight position is applied includes a source UAV, a cooperative jamming UAV, a legal ground receiving device, and an eavesdropper.

[0030] S102. Using successive convex approximation to transform the non-convex constraints of multi-dimensional initial parameters into convex functions.

[0031] As an embodiment, using successive convex approximation to transform the non-convex constraints of multi-dimensional initial parameters into convex functions includes: obtaining the outage probability corresponding to the transmission delay according to the Poisson distribution, and obtaining the constraint condition of the transmission rate using the Lambert function according to the outage probability; setting the number of iterations and the iteration condition, and using the successive convex approximation method to iteratively process the constraint condition according to the number of iterations and the iteration condition, so as to transform the original non-convex optimization problem into a convex optimization problem.

[0032] S103. Under the preset constraint conditions, using a convex optimization toolbox to solve according to the convex function to obtain the optimal UAV transmission power, cooperative jamming power, UAV flight position, and maximize the system security rate, so as to perform data communication according to the optimal UAV transmission power, cooperative jamming power, UAV flight position, and maximize the system security rate.

[0033] As an embodiment, the preset constraint conditions include: obtaining the maximum moving speeds of the source UAV and the cooperative jamming UAV to obtain the moving distance constraint conditions corresponding to the source UAV and the cooperative jamming UAV in each time slot; obtaining the maximum transmission powers of the source UAV and the cooperative jamming UAV to obtain the transmission power constraint conditions corresponding to the source UAV and the cooperative jamming UAV in each time slot.

[0034] As a specific embodiment, it includes the following steps:

[0035] Step 1: Set a range of 150m×150m, divide the flight time of the UAV into T time slots, and set the length of each time slot t as

[0036] Step 2: In each time slot t, set the positions of the legitimate receiver and the eavesdropper as u u [t]=[x u (t),y u (t)] T 、u e [t]=[x e (t),y e (t)] T ,Set the positions of the source UAV and the cooperative jamming UAV as Ω s [t]=[x s (t),y s (t),h] T 、Ω j [t]=[x j (t),y j (t),h] T Let h be the fixed flight altitude of the source UAV and the cooperative jamming UAV, set the positions of the devices unchanged within each time slot, and the position changes between time slots are independent of each other. As an embodiment, h = 100m.

[0037] Step 3: Set the ground-air channel gain of the system to be modeled by the line-of-sight link model, that is, the channel gain from UAV i to ground device l is β is the line-of-sight link channel gain when the reference distance is 1m. As an embodiment, β = -60dB, i∈{s,j}, l∈{u,e}.

[0038] It should be noted that the UAVs include the source UAV and the cooperative jamming UAV, and the ground devices include the legitimate receiver and the eavesdropper.

[0039] Step 4: Set the maximum moving speed of the UAV Obtain the moving distance limit conditions of the UAV in each time slot, As an embodiment,

[0040]

[0041] It should be noted that the maximum moving speed of the UAV is obtained according to the UAV's own conditions. In the subsequent optimization process, if the moving distance within each time slot exceeds this limit value, then this limit value is taken as the moving distance.

[0042] Step 5: Set the transmission powers of the source UAV and the cooperative jammer at time slot t to P s [t] and P j [t]. The maximum transmission powers of the source UAV and the cooperative jammer are to obtain the transmission power limit.

[0043] It should be noted that the transmission powers and the maximum transmission powers of the source UAV and the cooperative jammer are obtained according to their own conditions. In the subsequent optimization process, if the transmission power exceeds the maximum transmission power, then the maximum transmission power is taken as the transmission power of this UAV.

[0044] Step 6: The ambient noise at the legitimate receiver and the eavesdropper is Calculate the signal-to-noise ratios at the legitimate receiver and the eavesdropper respectively as:

[0045]

[0046]

[0047] Step 7: The achievable rate from the source UAV to the legitimate receiver is R u [t] = log2(1 + SINR u [t]), the rate at which the eavesdropper intercepts information is R e [t] = log2(1 + SINR e [t]), and the system security rate is R sec [t] = [R u [t] - R e [t]] + .

[0048] It should be noted that the higher the system security rate, the better the confidentiality effect of the communication and the less likely it is to be intercepted.

[0049] Step 8: Set that the information transmission process is independent and follows a Poisson distribution with arrival rate λ.

[0050] Step 9: Set L packet as the size of each transmission packet in bits, and its average value is The delay of the system consists of two parts: transmission delay and waiting delay, T Latency = T t+T q , the transmission delay in each packet is With a bandwidth B = 1 MHz, due to the transmission delay requirement, the outage probability is

[0051]

[0052] Step 10: Using the Lambert function y = f -1 (ye y ) calculate to get The constraint in Step 9 is non-convex. Using the max-plus queuing theory to change the constraint form, we get

[0053] It should be noted that through the above Steps 8 - 10 combined with the transmission delay existing in the actual communication environment, the minimum requirement for the transmission rate is obtained.

[0054] Step 11: Set the number of iterations m, and set the limiting conditions.

[0055] Step 12: Transform the non-convex constraints of Ω s [t] and Ω j [t] into constraint functions through the successive convex approximation method,

[0056]

[0057] is the concave lower bound of the m-th iteration of A u ,

[0058]

[0059]

[0060] Step 13: The concave lower bound of R u [t] is

[0061]

[0062] Similarly, through Taylor expansion, set as the convex lower bound of R e [t], expressed as

[0063]

[0064] Step 14: Set a new auxiliary value for the communication distance, L i-l [t] ≤ ||Ω i [t] - u l [t] 2 , and transform the constraint in Step 10 into

[0065] Step 15: Objective function R sec [t] is expressed as

[0066]

[0067] Similar to the trajectory optimization, obtain R u Lower bound of [t]

[0068]

[0069] Convert the constraints in Step 14 into Convert the objective into

[0070] Step 16: Update the iteration number m to m + 1.

[0071] Step 17: Repeat Steps 11 - 16 until the condition in Step 11 is not satisfied and then end.

[0072] It should be noted that through the above Steps 12 - 15, the original non - convex optimization problem is converted into a convex optimization problem, so as to subsequently use the Matlab CVX toolbox to solve for the optimal UAV transmission power, cooperative interference power and UAV flight position, and obtain the maximized system security rate, thereby ensuring the optimal secure communication effect.

[0073] Specifically, as Figure 3 shown, the simulation results show that the secrecy rate of all algorithms increases with the increase of the transmission power at the source UAV and the interfering UAV; compared with the comparison algorithms, the secrecy rate gains obtained by the proposed algorithm increase by 33.69% and 70.75% respectively; that is to say, based on the cooperative interference UAV, this application jointly optimizes the UAV trajectory, reduces the impact of potential eavesdroppers on secure communication in communication, and can effectively approach the optimized transmission power control and UAV deployment while considering the quality of service, thereby obtaining higher security performance.

[0074] In summary, the UAV air - ground communication method based on the joint optimization of cooperative interference and flight position organically combines and optimizes multi - dimensional parameters such as UAV transmission power, cooperative interference power and UAV flight position, comprehensively considers multi - constraint conditions such as transmission delay, secure communication requirements and channel dynamic characteristics existing in the actual communication environment, and proposes an alternating approximation and successive convex optimization scheme based on the joint of cooperative interference and trajectory to seek the maximization of the system security secrecy rate, aiming to effectively reduce the threat of potential eavesdroppers to the information transmission security of the communication system, thereby improving the system secure communication performance.

[0075] In addition, an embodiment of the present application also provides a computer-readable storage medium, on which a UAV air-ground communication program based on joint optimization of cooperative jamming and flight position is stored. When the UAV air-ground communication program based on joint optimization of cooperative jamming and flight position is executed by a processor, the UAV air-ground communication method based on joint optimization of cooperative jamming and flight position as described above is implemented.

[0076] According to the computer-readable storage medium of the embodiment of the present application, by storing the UAV air-ground communication program based on joint optimization of cooperative jamming and flight position, when the processor executes the UAV air-ground communication program based on joint optimization of cooperative jamming and flight position, the UAV air-ground communication method based on joint optimization of cooperative jamming and flight position as described above is implemented. Thus, based on cooperative jamming of the UAV, the UAV flight path is jointly optimized, thereby improving the secure communication effect.

[0077] In addition, an embodiment of the present application also provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the UAV air-ground communication method based on joint optimization of cooperative jamming and flight position as described above is implemented.

[0078] According to the computer device of the embodiment of the present application, the memory stores the UAV air-ground communication program based on joint optimization of cooperative jamming and flight position, so that when the processor executes the UAV air-ground communication program based on joint optimization of cooperative jamming and flight position, the UAV air-ground communication method based on joint optimization of cooperative jamming and flight position as described above is implemented. Thus, based on cooperative jamming of the UAV, the UAV flight path is jointly optimized, thereby improving the secure communication effect.

[0079] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0080] This application is described with reference to the flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing device to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing device generate means for implementing the functions specified in one or more of the flows Figure 1 one or more of the flows and / or blocks Figure 1 or means for implementing the functions specified in one or more of the blocks.

[0081] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means that implement the functions specified in one or more of the flows Figure 1 one or more of the flows and / or blocks Figure 1 or means for implementing the functions specified in one or more of the blocks.

[0082] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operational steps are performed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more of the flows Figure 1 one or more of the flows and / or blocks Figure 1 or means for implementing the functions specified in one or more of the blocks.

[0083] It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in the claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. This application can be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In a unit claim listing several means, several of these means can be embodied by the same item of hardware. The use of the words first, second, and third, etc. does not denote any order. These words can be interpreted as names.

[0084] Although the preferred embodiments of the present application have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0085] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalent technologies, this application is also intended to include these modifications and variations.

[0086] In the description of this application, it should be understood that the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of this application, "a plurality of" means two or more unless otherwise specifically defined.

[0087] In this application, unless otherwise clearly specified and defined, the terms such as "installed", "connected", "linked", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0088] In this application, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0089] In the description of this specification, the description with reference to terms such as "an embodiment", "some embodiments", "examples", "specific examples", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic expressions of the above terms should not be understood as necessarily referring to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0090] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A UAV air-ground communication method based on joint optimization of cooperative jamming and flight position, characterized in that It includes the following steps: Initialize the preset multi-dimensional initial parameters, where the multi-dimensional initial parameters include the receiving rate of the legitimate receiver, the eavesdropping rate of the eavesdropper, and the system security rate; Use successive convex approximation to transform the non-convex constraints of the multi-dimensional initial parameters into convex functions; Under the preset constraint conditions, use a convex optimization toolbox to solve according to the convex function to obtain the optimal UAV transmission power, cooperative interference power, UAV flight position, and maximize the system security rate, so as to perform data communication according to the optimal UAV transmission power, cooperative interference power, UAV flight position, and maximize the system security rate; Among them, using successive convex approximation to transform the non-convex constraints of the multi-dimensional initial parameters into convex functions includes: Obtain the outage probability corresponding to the transmission delay according to the Poisson distribution, and obtain the constraint condition of the transmission rate using the Lambert function according to the outage probability; Set the number of iterations and iteration conditions, and use the successive convex approximation method to iteratively process the constraint conditions according to the number of iterations and iteration conditions, so as to transform the original non-convex optimization problem into a convex optimization problem; Among them, the preset constraint conditions include: Obtain the maximum moving speeds of the source UAV and the cooperative interference UAV to obtain the moving distance constraint conditions corresponding to the source UAV and the cooperative interference UAV in each time slot; Obtain the maximum transmission powers of the source UAV and the cooperative interference UAV to obtain the transmission power constraint conditions corresponding to the source UAV and the cooperative interference UAV in each time slot.

2. The method for UAV air-ground communication based on joint optimization of cooperative jamming and flight position according to claim 1, wherein Initialize the preset multi-dimensional initial parameters, including: Obtain the preset flight time of the UAV and divide the flight time into multiple time slots; Obtain the position information of the source UAV, legitimate receiver, cooperative interference UAV, and eavesdropper in each preset time slot, so as to obtain the receiving rate of the legitimate receiver and the eavesdropping rate of the eavesdropper after initialization; Obtain the system security rate in each time slot according to the receiving rate of the legitimate receiver and the eavesdropping rate of the eavesdropper after initialization.

3. The method for UAV air-ground communication based on joint optimization of cooperative jamming and flight position according to claim 2, characterized in that, Obtain the position information of the source UAV, legitimate receiver, cooperative interference UAV, and eavesdropper in each preset time slot, so as to obtain the receiving rate of the legitimate receiver and the eavesdropping rate of the eavesdropper after initialization, including: Obtain the channel gain from the source UAV to the legitimate receiver, the channel gain from the cooperative interference UAV to the legitimate receiver, the channel gain from the source UAV to the eavesdropper, and the channel gain from the cooperative interference UAV to the eavesdropper according to the position information of the source UAV, legitimate receiver, cooperative interference UAV, and eavesdropper in each time slot; Obtain the ambient noises of the legitimate receiver and the eavesdropper, so as to obtain the signal-to-noise ratios of the legitimate receiver and the eavesdropper according to the ambient noises of the legitimate receiver and the eavesdropper, the channel gain from the source UAV to the legitimate receiver, the channel gain from the cooperative jamming UAV to the legitimate receiver, the channel gain from the source UAV to the eavesdropper, and the channel gain from the cooperative jamming UAV to the eavesdropper; Obtain the receiving rate of the legitimate receiver according to the signal-to-noise ratio of the legitimate receiver, and obtain the eavesdropping rate of the eavesdropper according to the signal-to-noise ratio of the eavesdropper.

4. A computer-readable storage medium, characterized in that, Stored thereon is a UAV air-ground communication program based on the joint optimization of cooperative jamming and flight position. When the UAV air-ground communication program based on the joint optimization of cooperative jamming and flight position is executed by a processor, it implements the UAV air-ground communication method based on the joint optimization of cooperative jamming and flight position as described in any one of claims 1-3.

5. A computer device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the UAV air-ground communication method based on the joint optimization of cooperative jamming and flight position as described in any one of claims 1-3.

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